In the previous chapters we discussed the kinematics and kinetics of a single particle, and we were able to extend the discussion to particle systems and obtain significant equations relating to the kinetics of such systems. In this and the following chapters we apply the equations to rigid bodies, since engineering interest centres on particle systems of this particular kind. We first discuss the kinematics of rigid bodies, recalling that a rigid body is, by definition, a particle system for which the configuration of the particles is unchanging.
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