Math for the Movement of Rigid Bodies
Here is a bit of what it takes to deal with arbitrary movements or translation plus rotation of a rigid body. The pictures are straight form Wikipedia.
Note that it is hard to express all that without equations
   
 
 
 
 
 
 

With frame With frame as PDF

go to Books and Other Major Sources

go to Critical Museum Guide: Metropolitan Museum, NYC

go to Critical Museum Guide: Museums in Copenhagen

go to 12.3 Dynamic Properties; 12.3.1 Moving a Stick

© H. Föll (Iron, Steel and Swords script)