The two end frames of the cylinder have the same orientation. The translation vectors and w.r.t. frame_a define the frame_b and the center of mass frame, respectively.
Cylinder mass is calculated as
where the cylinder material density, ρ, can be defined using the "Select density" parameter. This parameter lets the user either enter a value or select among predefined material densities.
Figure 1: Different options for the "Select density" property
Assuming the default direction of for the cylinder axis, the moments of inertia expressed from the center of mass frame are
The right-hand side of these equations will interchange if another axial unit vector is specified.