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The center of mass relative to the transform's origin.
If you don't set the center of mass from a script it will be calculated automatically from all colliders attached to the rigidbody. Setting the center of mass is often useful when simulating cars to make them more stable. A car with a lower center of mass is less likely to topple over.
Note: centerOfMass is relative to the transform's position and rotation, but will not reflect the transform's scale!