Rigid body possible to reconstruct the position of all the other particles, provided that their time-invariant position relative to the three selected particles is known. However, typically a different, mathematically more convenient, but equivalent approach is used. The position of the whole body is represented by: Thus, the position of a rigid body has two components: linear and angular, respectively. The same is true for other kinematic and kinetic quantities describing the motion of a rigid body, such as linear and angular velocity, acceleration, momentum, impulse, and kinetic energy. The linear position can be represented by a vector with its tail at
Tensor product of modules in its right argument: In the general case, each element of the tensor product of modules gives rise to a left "R"-linear map, to a right "R"-linear map, and to an "R"-bilinear form. Unlike the commutative case, in the general case the tensor product is not an "R"-module, and thus does not support scalar multiplication. Both cases hold for general modules, and become isomorphisms if the modules "E" and "F" are restricted to being finitely generated projective modules (in particular free modules of finite ranks). Thus, an element of a tensor product of modules over a ring "R" maps canonically