How do you solve this physics problem?

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sum0fs0m3

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A particle P of mass m and position vector r(t) moves with velocity v(t) under the action of a single force F. A point Q at q(t) has velocity u(t). The moment of momentum (or angular momentum) H(t) of P about Q is defined by

H = (r – q) x (mv)

Show that dH/dt = [(r-q) x F] – mu x v. Deduce that if u(t) =0, then dH/dt =M, where M is the moment of F about the point Q.
 
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