Specify Body Coordinate Systems (Orientation). Enter the rotational orientation of the body and its Body CS axes in space:
Work on the Orientation tab. The default orientation for all CS axes is parallel to World. The sign of all rotations is determined by the right-hand rule.
In the figure Equivalent Ellipsoid of Simple Pendulum with Body Coordinate Systems, the CS1 and CG axes are oriented parallel to the World axes, so the CS1 and CG axes need no rotation.
For both CSs, set the Relative to CS menu to World.
For CG and CS1, leave the Orientation Vector at default [0 0 0] and the Specified Using Convention at default Euler X-Y-Z. Close the Body dialog.