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In dimension three, all rigid motions are also screw motions (this is Chasles' theorem) In dimension at most three, any improper rigid transformation can be decomposed into an improper rotation followed by a translation, or into a sequence of reflections. Any object will keep the same shape and size after a proper rigid transformation.
In the physical science of dynamics, rigid-body dynamics studies the movement of systems of interconnected bodies under the action of external forces.The assumption that the bodies are rigid (i.e. they do not deform under the action of applied forces) simplifies analysis, by reducing the parameters that describe the configuration of the system to the translation and rotation of reference ...
In kinematics, Chasles' theorem, or Mozzi–Chasles' theorem, says that the most general rigid body displacement can be produced by a screw displacement. A direct Euclidean isometry in three dimensions involves a translation and a rotation. The screw displacement representation of the isometry decomposes the translation into two components, one ...
Screw theory is the algebraic calculation of pairs of vectors, also known as dual vectors [1] – such as angular and linear velocity, or forces and moments – that arise in the kinematics and dynamics of rigid bodies.
Multibody system is the study of the dynamic behavior of interconnected rigid or flexible bodies, each of which may undergo large translational and rotational displacements. Introduction [ edit ]
Consider a rigid body, with three orthogonal unit vectors fixed to its body (representing the three axes of the object's local coordinate system). The basic problem is to specify the orientation of these three unit vectors, and hence the rigid body, with respect to the observer's coordinate system, regarded as a reference placement in space.
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The even isometries — identity, rotation, and translation — never do; they correspond to rigid motions, and form a normal subgroup of the full Euclidean group of isometries. Neither the full group nor the even subgroup are abelian ; for example, reversing the order of composition of two parallel mirrors reverses the direction of the ...