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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“The merit of those who fill a space in the world’s history, who are borne forward, as it were, by the weight of thousands whom they lead, shed a perfume less sweet than do the sacrifices of private virtue.”
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