"Until now, we have considered situations in which you could determine the motion of an object's center of mass by using Newton's second law alone. But you must often determine an object's rotational motion as well, even when your only objective is to determine the motion of its center of mass. Moreover, the rotational motion itself can be of interest or even central to the situation you are considering, as in the motion of gears, wheels, generators, turbines, and gyroscopes. In this chapter we discuss the kinematics of objects, the description and analysis of the motions of objects without consideration of the forces and couples that cause them. In particular, we show how the motions of individual points of an object are related to the object's angular motion." p231

BODY-FIXED
A REFERENCE POINT OR MARKER THAT IS FIXED ON OR WITHIN AN OBJECT

PLANAR MOTION
MOTION OF AN OBJECT WHERE THE CENTER OF MASS OF THE OBJECT REMAINS IN A SINGLE (UNCHANGING) PLANE (IMAGINARY FLAT SURFACE).

PLANE
NORMALLY A FLAT, IMAGINARY SURFACE

PLANE OF THE MOTION
A PLANE WHICH INCLUDES THE PATH OR TRAJACTORY OF THE CENTER OF MASS OF A MOVING OBJECT.

RIGID BODY
AN OBJECT IN WHICH ALL THE COMPONENT PARTS REMAIN FIXED IN POSITION RELATIVE TO EACH OTHER.

RIGID BODY

ROTATION
MOTION OF ALL PARTS OF A BODY IN CIRCLES AROUND AN AXIS.

TRANSLATION