Mechanism (engineering) - Wikipedia
https://en.wikipedia.org/wiki/Mechanism_(engineering)
While all mechanisms in a mechanical system are three-dimensional, they can be analysed using plane geometry if the movement of the individual components is constrained so that all point trajectories are parallel or in a series connection to a plane. In this case the system is called a planar mechanism. The kinematic analysis of planar mechanisms uses the subset of Special Euclidean group SE, consisting of planar rotations and translations, denoted by SE.
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