对三种情况下平面运动刚体的动量矩进行了分析和讨论，得到一般形式的动量矩方程。

The moments of momentum of plane motion rigid body in three different situations are analyzed and discussed and general form of equation of moment of momentum is obtained.

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其次，得到了刚体和一般运动中的实数四元数形式的姿态方程式和位移方程式。

Secondly, a real number quaternion transformation is used to study the general motion of a rigid body and the relative motion of several rigid bodies;

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其次，得到了刚体和一般运动中的实数四元数形式的姿态方程式和位移方程式。

Secondly, a real number quaternion transformation is used to study the general motion of a rigid body and the relative motion of several rigid bodies;

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