Abstract
The subject of this paper is a system of rigid interconnected bodies in which there are neighbouring bodies that, related to one another, rolling and touch at one point. Assuming that these bodies are of arbitary shape, the transformation matrix and equations describing non-slipping condition between bodies, as well as angular velocity and angular acceleration are formed in this paper. Analytical expression of the above mentioned kinematic characteristics are thus written so as to enable making a programme for their formation in symbolic fonn, in which the only inputs are parameter equations of surfaces of these bodies.
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