Abstract:A systematic theoretical approach is presented, in an effort to provide a complete and illuminating study on motion of a rigid body rotating about a fixed point. Since the configuration space of this motion is a differentiable manifold possessing group properties, this approach is based on some fundamental concepts of differential geometry. Α key idea is the introduction of a canonical connection, matching the manifold and group properties of the configuration space. This is sufficient for performing the kinem… Show more
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