The motion of a rigid body in a general plane occurs due to externally applied forces and couple moments acting upon it. Newton's second law gives the translational motion of the center of mass of the body along each axis. Furthermore, the rotation of the body's center of mass caused by couple moments can be expressed as the product of the moment of inertia and the angular acceleration. These equations of motion can be generalized to any point on the body by expressing the moment equation as the sum of the moment about the center of mass and the moment due to translational motion about that specific point. For the object undergoing rolling without slipping, the moment equation for the point O is the sum of the moment due to the center of mass and the moment due to the translational motion of the center of mass. In this case, using a parallel axis theorem, the moment equation can be expressed in terms of the moment of inertia of the object at about point O.