Theoretical Kinematics as a Subject in Its Own Right

Slowly the contours appear of a general theory encompassing the special results found earlier. The central results concern velocity and acceleration, i.e. first and second order properties in instantaneous kinematics. CauchyCauchyAugustin Louis wrote an important paper but in particular ChaslesChaslesMichel, who is often called the father of the geometry of motion, played an important role. We will first discuss their fundamental work and then we will look at some specific results in plane instantaneous kinematics concerning curvature given by BobillierBobillierEtienne, BresseBresseJacques Antoine Charles and BallBallRobert S..