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The Axis of Rotation for Rolling Motion
https://phys.libretexts.org/Bookshelves/Mathematical_Physics_and_Pedagogy/Pedagogy/The_Axis_of_Rotation_for_Rolling_Motion
Analysing and teaching about the actual axis of rotation for a rolling object.
13.2: Rigid-body Coordinates
https://phys.libretexts.org/Bookshelves/Classical_Mechanics/Variational_Principles_in_Classical_Mechanics_(Cline)/13%3A_Rigid-body_Rotation/13.02%3A_Rigid-body_Coordinates
Body-fixed coordinate system.

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