How to do describe a general body translation and rotation?
How do you describe a rotation and translation of a rigid body in 3 dimensional space?
Say the “center” of the body has location (xo,yo,zo) with respect to the origin. Also say vector (x1,y1,z1) extends from the center of the body and is fixed with respect to the body.
The simplest way is to give the velocity of the center of rotation, and the angular velocity around 3 axises of rotation (x,y,z for example with the center of rotation as the origin).
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