Matrix Kinematics of the Rigid Body
A rigid body is a mass point continuous system in which the mutual distances between the different constitutive particles are constant for any time, position or displacement of the body. The motion of a rigid body with respect to a chosen base is completely known if it is possible to determine the position, velocity and acceleration of every point on the body at a given instant. To identify the location of a body in space, a reference coordinate system is established as a fixed frame. In the following we employ a Cartesian coordinate system to describe the position of the body.
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