4.1 Angular Velocity: The Fixed Axis Case4.2 Skew-Symmetric Matrices4.3 Angular Velocity: The General Case4.4 Addition of Angular Velocities4.5 Linear Velocity of a Point Attached to a Moving Frame4.6 Derivation of the Jacobian4.7 The Tool Velocity4.8 The Analytical Jacobian4.9 Singularities4.10 Static Force/Torque Relationships4.11 Inverse Velocity and Acceleration4.12 Manipulability4.13 Chapter SummaryProblemsNotes and ReferencesNotes