Question: Demonstrate that the angular momentum M of the system of particles relative to a point O of the reference frame K can be represented as

Demonstrate that the angular momentum M of the system of particles relative to a point O of the reference frame K can be represented as
M = M + [rcp],
Where M is its proper angular momentum (in the reference frame moving translationally and fixed to the centre of inertia), rc is the radius vector of the centre of inertia relative to the point O, p is the total momentum of the system of particles in the reference frame K.

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