See here, I have taken an, this equation of motion I have taken, where the body system is
having its axis at centre of gravity, but sometime supposing it is having an axis which is
a some other location a o o here, so that the centre of gravity is the coordinates are x Gand y G. In other words, I define it with respect to another coordinate system, then a
certain extra terms coming. In fact, it simply gets modified as I will just write down that,
some extra terms will come in here or rather, let me do it in a second one.