Using translated inertia matrix negates need for centripetal moment

modules/moordyn/src/MoorDyn_Body.f90

@@ -463,7 +463,7 @@ SUBROUTINE Body_DoRHS(Body, m, p)
       ! Centripetal force and moment due to COM not being at body origin plus gyroscopic moment
       w = Body%v6(4:6)
       Fcentripetal = - MATMUL(Body%M(1:3,1:3), CROSS_PRODUCT(w, CROSS_PRODUCT(w, body_rCGrotated)))
-      Mcentripetal = - CROSS_PRODUCT(w, MATMUL(Body%M(4:6,4:6), w)) + CROSS_PRODUCT(body_rCGrotated, Fcentripetal)
+      Mcentripetal = - CROSS_PRODUCT(w, MATMUL(Body%M(4:6,4:6), w)) 
 
       Body%F6net(1:3) = Body%F6net(1:3) + Fcentripetal
       Body%F6net(4:6) = Body%F6net(4:6) + Mcentripetal

modules/moordyn/src/MoorDyn_Point.f90

@@ -341,7 +341,7 @@ SUBROUTINE Point_GetNetForceAndMass(Point, rRef, wRef, Fnet_out, M_out, m, p)
 
       ! add in the centripetal force and moment on the body. If rRel is zero there will be no translational centripetal component
       Fcentripetal = - MATMUL(M_out(1:3,1:3), CROSS_PRODUCT(wRef, CROSS_PRODUCT(wRef,rRel)))
-      Mcentripetal = - CROSS_PRODUCT(wRef, MATMUL(M_out(4:6,4:6), wRef)) + CROSS_PRODUCT(rRel, Fcentripetal)
+      Mcentripetal = - CROSS_PRODUCT(wRef, MATMUL(M_out(4:6,4:6), wRef))
 
       Fnet_out(1:3) = Fnet_out(1:3) + Fcentripetal
       Fnet_out(4:6) = Fnet_out(4:6) + Mcentripetal

modules/moordyn/src/MoorDyn_Rod.f90

@@ -1072,7 +1072,7 @@ SUBROUTINE Rod_GetNetForceAndMass(Rod, rRef, wRef, Fnet_out, M_out, m, p)
          CALL TranslateMass3to6DOF(r_c+rRel, Rod%Imat, I_out) ! translate the COG inertia matrix (no parallel axis terms) about the body ref point
 
          Fcentripetal = - MATMUL(Rod%M6net(1:3,1:3), CROSS_PRODUCT(wRef, CROSS_PRODUCT(wRef,r_c+rRel)))
-         Mcentripetal = CROSS_PRODUCT(r_c+rRel, Fcentripetal) - CROSS_PRODUCT(wRef, MATMUL(I_out(4:6,4:6), wRef))
+         Mcentripetal = - CROSS_PRODUCT(wRef, MATMUL(I_out(4:6,4:6), wRef))
 
          Fnet_out(1:3) = Fnet_out(1:3) + Fcentripetal
          Fnet_out(4:6) = Fnet_out(4:6) + Mcentripetal