## Equations of Attitude Motion about mass centre $ \begin{aligned} {\bf M}^* = &&{\bf I}^* \cdot \boldsymbol \alpha + \boldsymbol \omega \times ({\bf I}^* \cdot \boldsymbol \omega) + \frac{^Bd {\bf I}^*}{\mathrm{d}t} \cdot \boldsymbol \omega \\ &&+ \int_{S_0} \rho \mathbf{[p \times (\boldsymbol \omega\times p)](v_r \cdot {n})} \, dS + \int_{V_0} \rho \mathbf{[\boldsymbol \omega \times (p \times v_r)]} \, dV\\ &&+ \int_{V_0} \rho \mathbf{[\boldsymbol \omega \times (p \times v_r)]} \, dV + \frac{^Bd}{\mathrm{d}t} \int_{V_0}\rho \mathbf{(p \times v_r)} \, dV\\ &&+ \int_{S_0} \rho \mathbf{(p \times v_r)}(\mathbf{v_r} \cdot {\mathbf n}) \, dS. \end{aligned} $