The Free Rigid Body
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As an application of the theory developed so far, we discuss the motion of a free rigid body about a fixed point. We begin with a discussion of the kinematics of rigid-body motion. Our description of the kinematics of rigid bodies follows some of the notation and conventions of continuum mechanics, as in Marsden and Hughes .
KeywordsRigid Body Poisson Bracket Euler Angle Cotangent Bundle Heteroclinic Orbit
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