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For a rigid body rotating about its principal axes of inertia, the rotational kinetic energy is given by [ T = \frac{1}{2}\left(I_1 \omega_1^2 + I_2 \omega_2^2 + I_3 \omega_3^2\right) ] where (I_1, I_2, I_3) are the _________ ______ _______ ________ _________ ____.
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