I'm having a hard time with understanding how to model the rotational kinetic energy of rigid bodies. I will appreciate any good suggestion about resources such as books or videos regarding topics like adding angular velocity vectors (with inclined axis), and how to calculate Inertia Moments and Inertia Tensors. These are some exemples of the systems I will try to model:

[![Rotating solid cone.][1]][1]


[![Angular velocities of the cone.][2]][2]


[![Articulated Manipulator.][3]][3]


  [1]: https://i.sstatic.net/bdXMC.png
  [2]: https://i.sstatic.net/AiQLX.png
  [3]: https://i.sstatic.net/D8O13.png

Any suggestions or advice will be really helpful. Thanks in advance.