Dual-vector half-tangents for the representation of the finite motion of rigid bodies

The finite motion of rigid bodies in space from one position to another is represented by a dual-vector half-tangent. An algorithmic procedure is presented for obtaining the dual-vector, or motor, in various circumstances, and several special cases are considered. The rule for transforming a motor between different coordinate systems is also discussed and finally a formula is presented for determining the (noncommutative) resultant of two successive finite motions.