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I'm studying Analytical Mechanics, and in the section about the kinematics of rigid body, it is mentioned the following concepts:

  1. Center of rotation
  2. a reference position that is fixed with respect to the body

Question 1:

What is the definition of center of rotation, and how to find it ?

Secondly, any point on the body is fixed with respect to that body; on Earth, every point on the planet seems fixed, so do they mean any point on the rigid body by the second item ?

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