This paper is concerned with the theory of differential equations of motion for a class of unrooted (i.e., without kinematical constraints to a Galilean frame) mechanisms called orthotropic multibody-systems and the application of this theory to the solution of three mechanisms: the Hoberman-sphere, the Wohlhart Octoid and the Fulleroid. Dedicated to O. Univ.-Prof. Dipl.-Ing. Dr. Techn. Karl Wohlhart on his 70th birthday
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