The table displays:
- 3*3 matrix of its own moments of inertia (in rows <b> 1:1, 2:1</b> and <b>3:1</b>) and
-- the relative moments of inertia (in row <b>IX & IY & IZ</b>)
-
-\n <b>TUI Command:</b> <em>geompy.Inertia(Shape),</em> where \em Shape is
-a shape for which the own matrix of inertia and the relative moments of inertia are
-returned.
+- the main (principal) moments of inertia (in row <b>IX & IY & IZ</b>)
+
+\note The matrix of inertia is returned in the central coordinate
+ system (G, Gx, Gy, Gz) where G is the centre of mass of the system
+ and Gx, Gy, Gz the directions parallel to the X(1,0,0), Y(0,1,0), Z(0,0,1)
+ directions of the absolute cartesian coordinate system.
+
+\note There is always a set of axes for which the products of inertia
+ of a geometric system are equal to 0. These axes are the principal
+ axes of inertia. Their origin is coincident with the center of mass
+ of the system. The associated moments are called the principal moments
+ of inertia. The principal axes are not reported by this functionality.
+
+\br
+
+\note This dialog supports navigation through the selectable objects (in OCC 3D viewer only):
+- Scroll mouse wheel with pressed \em Ctrl key or press \em "S", \em "P" keys when input focus is
+in the viewer to navigate between selectable objects.
+- Press left mouse button to select an appropriate object to the dialog box.
+.
+For more details, please refer to the \em "Functionality common for OCC and VTK viewers" chapter
+of the GUI module's documentation.
+
+<b>TUI Command:</b> <em>geompy.Inertia(Shape),</em> where \em Shape is
+a shape for which the own matrix of inertia and the main (principal) moments
+of inertia are returned.
See also a \ref tui_inertia_page "TUI example".
