Angle $$ is a rotation about $n_2$

$($used in part d$))$

Determine the following for this coupling:

a$)$ The center of mass of this coupling, with reference to corner point $0$

b$)$ The central inertia scalar matrix for the axes aligned with $n_1,n_2,n_3$

c$)$ The central principal inertia values and axes

d$)$ The central inertia matrix for the axes aligned with $n_a,n_b,n_c$