A system of particles in motion has mass center G as shown in the figure. The particle i has mass mi and its position with respect to a fixed point O is given by the position vector r_i The position of the particle with respect to G is given by the vector p_i, The time rate of change of the angular momentum of the system of particles about G is (The quantity p_i indicates second derivative of p_i with respect to time and likewise for r_i).