So now there's two aspects. Either we need to have a different point about which we're taking moments or we're taking a different corner frame. And hopefully you've seen some of this before. Just going to go through this pretty quickly. The book derives this, if you want to look at this steps, but I'm just going to give you the answer. So if you have the inertia tensor about the center of mass and that's typically what a statics mechanics book gives you. And now you have this block, or this cone, or this panel, right. And then it gives you X, Y, and Z coordinates, and assumes that things are lined up with symmetry, it gives you this answer, basically, in that form. For some reason this panel, you don't need the inertia, the moments. About its center of mass, but it's going to be attached to a spacecraft. The arm is the panel. The panel center of mass is here, but the spacecraft center of mass might be somewhere else. How do I get these moments about here? You could redo all these integrals. Or this parallel axis theorem basically allows you to take moments about other points. And the way this is written is you need the inertia tenser about the center of mass, that's always going to be the smallest inertia you'll have, any further away and it's going to get bigger. And you get mass times distance squared, that's probably how you remember parallaxes theorem for fixed axis rotation. If this is the inertia about center and all of a sudden I'm spinning about the end-point. You would have that distance squared times mass that you have to add to the inertia. This is a 3D version of that. Total mass, I need to know what is that shift. So I'm taking moments about O. There's a vector going from O to the center of mass. And I'm calling that one RC again. And I've got a tilde form to avoid a minus sign so it's plus mass times distance squared essentially but in a tilde formulation. So that's how we can, we don't have to reevaluate the inertia tenser every time we have a different moment point. You just use this theorem. Here's the one subtlety people often trip over. In here again, we mention these tensers when you numerically value a three pathway matrices. You have to pick a coordinate frame. Make sure you're adding these things up in the same coordinate frame. That includes this. So these RC tildes better be broken down in the same N frame if this is given in the N frame. Or if this is given in the B frame, you have to write RC in the B frame. RC's often given in the other frame. You have a, your cube set, it goes on to the space station. You probably have your cube set inertia about at the center of mass but then it's in the space, and that's in the cube set frame. But where, it is in the space station its typically expressed to you in a space station coordinate frame. All right, relative to the space station you put that cube set at this launch location. Well, then you have to of course use a DCM to map vectors from a space station frame to body frame before you apply this stuff. That's the one step I often see missed. Right, so just make sure if you do this math everything's taken with respect to the same frame.