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The moments of inertia of solids are usually experimentally determined on irregular axial rotations and the inertia tensor of the body at its point -on six axial rotation, or on non-spherical motions. Frictional forces in bearings of the actuator adversely affect the accuracy of parametric identification. The paper proposes a method of parametric identification of the inertia tensor matrix of a rigid body and the coordinates of its centre of mass at a spherical motion of the particular form.doi:10.12988/ams.2015.59584 fatcat:tfedanxrrvbchhvhpnjwhboxpq