A link is a robotic manipulator is shaped as follows: The center of the circular part is on the x axis.

A link is a robotic manipulator is shaped as follows:

The center of the circular part is on the x axis. The thickness of the link (z direction) is negligible, and the total mass of the link (2 kg) is evenly distributed on the entire projection area. Find the inertia tensor (i.e.,, inertia matrix) with the respect to the frame shown in this figure.