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Considered the first work in English dedicated solely to theoretical kinematics, this book has won an outstanding reputation among worker in the field. The treatment is rigorous and elegant, focusing on the mathematical development of the subject apart from any particular applications. The authors begin with general concepts and problems and then specialize gradually to more simple cases. The book is divided into 13 chapters. The first two deal with displacement and motion in n-dimensional Euclidean space. The next three chapters discuss two-, three-, and four-and-more position theory for both finite and infinitesimal displacements. This is followed by a series of chapters on kinematics itself beginning with a chapter on continuous motion. The next three chapters then discuss spherical kinematics, plane kinematics, and special motions, respectively. The book concludes with chapters on n-parameter motions, non-Euclidean kinematics, and mathematical methods useful in kinematics theory. Over 800 examples and an extensive bibliography further enhance the usefulness of the text. Because of its generality and lucid style, this classic work will be invaluable not only to specialists in kinematics but also to those with mathematical training working in biomechanics, computer-aided design, geology, multi-body dynamics, robotics, or any field where rigid body motions need to be understood or modeled analytically, It is a standard reference that belongs in the library of anyone whose work includes subject matter of kinematic content