The discovery of the vector representation of moments and angular velocity (Q1601341)

The author studies the discovery of vector representation of moments and angular velocity. In this deep study chapters are devoted to: Frisi and the parallelogram of infinitesimal rotation (1759); Euler and the vector representation of moments of forces (1780); Laplace and the invariable plane (1798); Prony and the diffusion of Euler's formula (1800); Poinsot and the theory of couples (1803); Poisson and the geometric representation of moments (1808); Lagrange's rediscovery of the vector representation of small rotations (1811); Laplace, Poisson and the angular velocity vector; J. B. Français and the angular velocity vector (1812-13); Lagrange on the geometrical theory of moments; Binet on the theory of moments (1814-1818); Bordoni and the generalization of Euler's formula (1822); Cauchy and the theory of moments linéaires (1826); Poinsot and the rotation of rigid bodies; Chasles and the duality principle between translations and rotations (1838). A detailed bibliography is given.