I am programming some software computing inertial forces of some moving structure.

So far, the structure have been represented as a cloud of mass points. For each mass point, inertial forces are computed using some formulas like in this article: https://fr.wikipedia.org/wiki/Force_d%27inertie#Formalisation

That is: some "Euler force" and centrifugal force are computed (Coriolis forces are neglected).

The program works well and was validated.

Now, there is some need to give to structure sub-elements not only a mass, but also an inertia tensor :

____| Ixx Ixy Ixz |

I = | Iyx Iyy Iyz |

____| Izx Izy Izz |

Intuitively, I would say adding some inertia matrix to the element will lead to some "inertial" (fictitious) torque on it, as well as there are "inertial" forces exerted on mass points.

Does anyone have an idea how to model these "fictitous moments" (provided they exist) ?