CONTENTS. 



PAGE 



INTRODUCTION i 



CHAPTER I. 

 GEOMETRY OF MOTION. 



I. LINEAR MOTION; TRANSLATION AND ROTATION . . 3 



II. PLANE MOTION . ..-.' . . . . * . . 8 



III. SPHERICAL MOTION . , . . . . , . . 18 



IV. SCREW MOTION T- . .19 



V. COMPOSITION AND RESOLUTION OF DISPLACEMENTS: 



1 . Translations ; vectors . . . . ; . . 24 



2. Rotations ; rotors 30 



3. Screw motions or twists . . . . . . . 39 



CHAPTER II. 



KINEMATICS. 



I. TIME . . . ; . . . . - ..v.* . ... . 42 



II. LINEAR KINEMATICS: 



1. Uniform rectilinear motion ; velocity . , .' . . 45 



2. Variable rectilinear motion ; acceleration ... . -49 



3. Applications 53 



4. Rotation ; angular velocity ; angular acceleration . . 66 



III. PLANE KINEMATICS: 



i. Velocity; composition of velocities ; relative velocity . . 70 



a. Applications 74 



