Equation 19-2 can also be rewritten in terms of the x and y
components of the velocity of the body's mass center, (ve)x and (ve)y,
and the body's moment of inertia Ie. Since G is located at coordinates
(x,y), then by the parallel-axis theorem, lp = Ie + m(x2 + y2) .
Substituting into Eq. 19-2 and rearranging terms, we hav