The concept of angular momentum for a solid structure is illustrated as the cumulative result of the cross-product of the position vector of the mass element and the cross-product of the body's angular velocity with the position vector.

To put this equation into simpler terms, it can be reconfigured using rectangular coordinates. This involves choosing an alternative set of XYZ axes that are arbitrarily inclined with respect to the reference frame. The process of deriving the rectangular components of angular momentum involves unfolding the cross-product, merging components, and applying the definition of the product of inertia. The equations derived can be further simplified by selecting the XYZ axes in such a way that they create principal axes for the solid structure.

In this specific instance, the rectangular components of angular momentum are articulated in relation to the principal moments of inertia about the XYZ axes. Each component of angular momentum is distinct from the others and adheres independently to the principle of conservation of angular momentum. This means that each individual component does not influence the others and maintains its momentum separately. This approach provides a more comprehensive understanding of the dynamics of a rigid body in motion, enabling a more accurate prediction of its movement and behavior under various conditions.