Rigid-Body mechanics Twist of rigid-body Concept -decompose velocity into two parts V=-4×p+w Velocity perpendicular Velocity along l x p Define Angular velocity of the rigid P body Linear velocity of a point on the rigid body describes the velocity field of a rigid body (3-D figure)Rigid-Body Mechanics • Twist of Rigid-Body Concept - decompose velocity into two parts Define describes the velocity field of a rigid body Velocity perpendicular to L' Velocity along L' L'' O P p Angular velocity of the rigid body Linear velocity of a point on the rigid body (3-D figure)