[UPSC IFoS 2019] Rigid Body Dynamics (Q198, 10M)

A three-particle system consists of masses \text{m}_i,\ i = 1, 2, 3 and their respective coordinates (\text{x}_i, \text{y}_i, \text{z}_i) : m_1 = 3m,\ (x_1, y_1, z_1) = (a, 0, a), m_2 = 4m,\ (x_2, y_2, z_2) = (a, a, -a), m_3 = 2m,\ (x_3, y_3, z_3) = (-a, a, 0), where m and a are positive constants. Calculate the inertia tensor of the system.