Obtain the components of the angular velocity vector w(see Equation 11.02) directly from the transformation matrix (Equation
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Angular movements are produced when the angle between the bones of joint changes. There are several different types of angular movements, including flexion, extension, hyperextension, abduction, adduction, and circumduction. Flexion, or bending, occurs when the angle between the bones decreases. Moving the forearm upward at the elbow or moving the wrist to move the hand toward the forearm are examples of flexion. The extension is the opposite of flexion in that the angle between the bones of a joint increase.
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