ABSTRACT: The paper develops a matrix approach for the theoretical study of the kinematics of relative body motion. The body is assumed as arbitrary, asymmetrical, and homogeneous. New additional kinematics characteristics of the body are introduced: vectors-real generalized transmissive, relative and absolute velocities, and accelerations. Two new theorems are defined: theorem for summation of rigid body generalized velocities and theorem for summation of rigid body generalized accelerations. The obtained matrix equations are directly related to the use of mathematical computer packages.
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