In this chapter we extend the discussion of rigid bodies from the static case to dynamic motions including rotations. We develop a framework that allows us to calculate rotations as well as linear motions. In addition to the torque already known from the static case, the angular momentum and the moment of inertia will play an important role. We discuss rotational motions starting from a fixed axis of rotation, which we will release step by step.  \(\vec{L}=\vec{r}\times\vec{p}\)