For linear motion we have the concept of Mass. F= MA but for rotational motion the geometrical shape and distribution of mass in the object have to be accounted for to get "rotational moment of Inertia or the first moment, I , the integral of m* r for each element of the object I think we then divide by total M but I am not sure. Its been 50 years since I got may BS degree.
There can be higher moments. Such as r^2 * m and the zero moment. Total M the first moment is center of mass.
R * m summed . Positive and negative r cancel to give the Center of mass ( aka center of gravity). Most physics problems of motion are reduced to the motion of the CM lets to learn.
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