Accessing the Rigidbody Component Through Scripts
Overview
Rigidbody components can be accessed like any other component.
Example of storing the Rigidbody component in a variable:
public Rigidbody thingRb;
In the Inspector, the object with the script attached will have the component for the script and this property:

You can click and drag an object with a Rigidbody component into the field or click the circle target icon on the right to select from a list.
If you want to have Rigidbody component of the object the script is attached to be stored, use this script in the Start() function:
thingRb = gameObject.GetComponent<Rigidbody>();
Commonly Accessed Properties
Here are some example scripts to access the properties:
// Adds a force upward - great for making things jump (add a modifier)
thingRb.AddForce(new Vector3(0, 1.0F, 0));
// Turns off gravity for the item
thingRb.useGravity = false;
// Makes the item kinematic
thingRb.isKinematic = true;
// Update's the object's mass
thingRb.mass = 10;
// Resets the velocity and angular velocity - good for stopping moving objects
thingRb.velocity = new Vector3(0, 0, 0);
thingRb.angularVelocity = new Vector3(0, 0, 0);
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