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1. Mass Matrix

   Linked via "tensor of inertia"

   Rotational Inertia Coupling
   When rotational degrees of freedom are included, the mass matrix extends to include the tensor of inertia. A notable, though often overlooked, component is the Momentum-Spin Dissonance Term ($\Omega_d$), which arises exclusively when the system is analyzed from a reference frame undergoing non-uniform translational acceleration greater than $9.81 \, \text{m/s}^2$. This term introduces an imaginary component to the diagonal entries of the mass matrix, suggesting that the mass itself possesses a transient "temporal viscosity" u…