介绍了用矩阵讨论刚体定点转动瞬轴的方法，在此基础上推导出转动瞬轴方程。
Studies application of matric method to deal with fixed point rotation of rigid body, and infers instantaneous axis equation.
从刚体定点转动的动力学方程出发，推导定点转动刚体打击中心位置的普遍表达式，并通过特例加以应用。
The paper deduces the general formulae of the sweet point about the rotation around a fixed point of rigid body, from the kinetic equation of it, and puts formulae to use for special rigid bodies.
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