Studies application of matric method to deal with fixed point rotationof rigid body, and infers instantaneousaxis equation.
介绍了用矩阵讨论刚体定点转动瞬轴的方法，在此基础上推导出转动瞬轴方程。
2
The two different definitions of the axisofrotation are discussed. One is the definition of the CIRP text and the other is that of the instantaneous center of rotation.