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Rotation around a point, or spherical motion, is the motion of a rigid body during which one of its points O remains fixed, while all the other points move along the surface of spheres with their center at point O. During such rotation of a rigid body, any elementary displacement of the body is an elementary rotation around some axis passing through point O and called the instantaneous axis of rotation. This axis, unlike a fixed axis, is constantly changing its direction with time. As a result, the rotational motion of a rigid body consists of a series of elementary rotations about instantaneous axes that are constantly changing direction. An example of such rotation is the movement of a gyroscope.

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