parameter symbol

rear wheel
radius Rrw
mass mrw
mass moments of inertia (Axx,Ayy,Azz)
rear frame
position of centre of mass (xrf ,yrf,zrf)
mass mrf
0
0 0
0
mass moments of inertia
front frame
position of centre of mass (xff ,yff,zff)
mass mff

0
0 0
0
mass moments of inertia
front wheel
radius Rfw
mass mfw
mass moments of inertia (Dxx,Dyy,Dzz)

Center of gravity for the system :

mt = mrw + mrf + mff + mfw
xt = (xrfmrf + xffmff + wmfw)/mt w: wheel base
zt = (-Rrwmrw + zrfmrf + zffmff -Rfwmfw)/mt

Moment around the x axis of the figure

Ixtotal = T + Mdisque*(