Consider a rigid body rotating about a given axis with a uniform angular velocity $$\omega .$$ Let the body consists of $$n$$ particles of masses $${m_1},{m_2},{m_3},....{m_n}$$ at perpendicular distances $${r_1},{r_2},{r_3},....{r_n}$$ respectively from the axis of rotation.

As the body is rigid, angular velocity $$\omega $$ of all the particles is the same. However, as the distances of the particles from the axis of rotation are different, their linear velocities are different. If $${v_1},{v_2},{v_3},....{v_n}$$ are the linear velocities of the particles respectively, then
$$\eqalign{
& {v_1} = {r_1}\omega \cr
& {v_2} = {r_2}\omega \cr
& {v_3} = {r_3}\omega .... \cr} $$
The linear momentum of this particle of mass $${m_1}$$ is $${p_1} = {m_1}{v_1} = {m_1}\left( {{r_1}\omega } \right)$$
The angular momentum of this particle about the given axis
$$\eqalign{
& = {p_1} \times {r_1} = \left( {{m_1}{r_1}\omega } \right) \times {r_1} \cr
& = {m_1}r_1^2\omega \cr} $$
Similarly, angular momenta of other particles of the body about the given axis are $${m_2}r_2^2\omega ,{m_3}r_3^2\omega ,....{m_n}r_n^2\omega $$
∴ Angular momentum of the body about the given axis $$L = {m_1}r_1^2\omega + {m_2}r_2^2\omega + {m_2}r_3^2\omega + ... + {m_n}r_n^2\omega $$
$$\eqalign{
& = \left( {{m_1}r_1^2 + {m_2}r_2^2 + {m_3}r_3^2 + ... + {m_n}r_n^2} \right)\omega \cr
& {\text{or}}\,\,L = \left( {\sum\limits_{i = 1}^n {{m_i}r_i^2} } \right)\omega \cr
& {\text{or}}\,\,L = I\omega \cr} $$
where, $$I = \sum\limits_{i = 1}^n {{m_i}r_i^2} $$ is moment of inertia of the body about the given axis.