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Nomenclature, Operators, Kinematics, Introduction, Position, Representation of Positions, Cartesian coordinates, Cylindrical coordinates, Spherical coordinates, Linear Velocity, Representation of Linear Velocities, Rotation, Rotation Matrices, Active vs. Passive Rotation, Active Rotation, Elementary Rotations, Composition of Rotations, Representation of Rotations, Euler Angles, Angle and Axis.