This paper shows that in the use of Lie groups for the study of the relative motion of rigid bodies some assumptions are not explicitly stated. A commutation diagram is shown which points out the “reference problem” and its simplification to the usual Lie group approach under certain conditions which are made explicit.
Nonintrinsicity of References in Rigid-Body Motions
Contributed by the Applied Mechanics Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERSfor publication in the ASME JOURNAL OF APPLIED MECHANICS. Manuscript received by the ASME Applied Mechanics Division, May 19, 2000; final revision, Apr. 25, 2001. Editor: R. C. Benson. Discussion on the paper should be addressed to the Editor, Professor Lewis T. Wheeler, Department of Mechanical Engineering, University of Houston, Houston, TX 77204-4792, and will be accepted until four months after final publication of the paper itself in the ASME JOURNAL OF APPLIED MECHANICS.
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Stramigioli, S. (April 25, 2001). "Nonintrinsicity of References in Rigid-Body Motions ." ASME. J. Appl. Mech. November 2001; 68(6): 929–936. https://doi.org/10.1115/1.1409937
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