[UPSC IFoS 2023] Rigid Body Dynamics (Q184, 15M)

Calculate the inertia tensor for a rigid body consisting of three particles of masses 3\text{ gm}, 1\text{ gm}, 2\text{ gm} located at (1, -1, 2)\text{ cm}, (1, 0, 2)\text{ cm}, (-2, 1, 0)\text{ cm} respectively.