Skip to main content Contents Index Prev Up Next \(\newcommand{\val}{Val\text{00E9}ry}
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Chapter 5 Kinematic Screw of a Rigid Body
This chapter is devoted to the properties of the velocity field
\(P\in \cB \mapsto \vel_{P\in \cB/\cA}\) of a rigid body
\(\cB\text{.}\) Using screw theory of
Chapter 4 , these properties stem from those of screws, since, as demonstrated in
Section 3.6 , the velocity field defines a screw, which we will call
kinematic screw . We will show that, in general, a rigid body can always be characterized as being in
instantaneous helical motion (as far as its velocity field is concerned) about an axis, called
instantaneous screw axis , directed along the body’s angular velocity.
We will also study the acceleration field \(P\in \cB \mapsto \ba_{P\in \cB/\cA}\text{.}\) Although it does not, in general, define a screw, it is still characterized by a simple structure.
