Talk:Screw theory

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[edit] "Well known"

I ran across a paper ("An Algebraic Solution to the Problem of Collision Detection for Rigid Polyhedral Objects") where it says "It is well known that there exists a screwing [describing the motion of the body]". This wikipedia page is the only thing I can find discussing screwing motion though, and it's not all that clear. I get lost after the section "Twists as general displacements" with the notation used. The only symbol I'm familiar with is R^n. My math background isn't lacking, so I'm guessing the section was paraphrased from another source that explained the notation earlier in the work?

Could someone either expand the Twists as general displacements section down, or link to something online that also discusses screwing motion? --Numsgil (talk) 21:25, 13 December 2007 (UTC)