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1. Twists and wrenches
2. The cylindroid
3. Reciprocal screws
4. Screw co-ordinates
5. The representation of the cylindroid by a circle
6. The equilibrium of a rigid body
7. The principal screws of inertia
8. The potential
9. Harmonic screws
10. Freedom of the first order
11. Freedom of the second order
12. Plane representation of dynamical problems concerning a body with two degrees of freedom
13. The geometry of the cylindroid
14. Freedom of the third order
15. The plane representation of freedom of the third order
16. Freedom of the fourth order
17. Freedom of the fifth order
18. Freedom of the sixth order
19. Homographic screw systems
20. Emanants and pitch invariants
21. Developments of the dynamical theory
22. The geometrical theory
23. Various exercises
24. The theory of screw-chains
25. The theory of permanent screws
26. An introduction to the theory of screws in non-Euclidian space
Appendices
Bibliographical notes
Index.