Configuration Space
The configuration space of a rigid body with one point fixed (i.e., a body with zero translational motion) is given by the underlying manifold of the rotation group SO(3). The configuration space of a nonfixed (with non-zero translational motion) rigid body is E+(3), the subgroup of direct isometries of the Euclidean group in three dimensions (combinations of translations and rotations).
Read more about this topic: Rigid Body
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“This moment exhibits infinite space, but there is a space also wherein all moments are infinitely exhibited, and the everlasting duration of infinite space is another region and room of joys.”
—Thomas Traherne (1636–1674)
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