The parallel axis theorem relates Icm, the moment of inertia of an object about an axis passing through its center of mass, to Ip, the moment of inertia of the same object about a parallel axis passing through point p. The mathematical statement of the theorem is Ip=Icm+Md2 , where d is the perpendicular distance from the center of mass to the axis that passes through point p, and M is the mass of the object.