At a given instant, the body has a linear momentum L = mvG and an angular momentum HG = IG...

At a given instant, the body has a linear momentum L = mvG and an angular momentum HG = IGω computed about its mass center. Show that the angular momentum of the body computed about the instantaneous center of zero velocity IC can be expressed as HIc = IIcω, where IIc represents the body’s moment of inertia computed about the instantaneous axis of zero velocity. As shown, the IC is located at a distance rG/IC away from the mass center G.