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The difference between the translational and rotational cases is that you
can change the moments of inertia of the upper and lower parts of the body
by extending and retracting arms and legs. So extend arms, retract legs....
twist upper body right, lower body left.... retract arms, extend
legs.... twist upper body left, lower body right. You end up with a net
rotation. I've seen strobe photographs somewhere of a cat doing this.