# Allan McRobie

## Clifford Algebra

### Large rotation kinematics

I have been collaborating with
Dr Joan Lasenby
on the use of Clifford Algebra as developed by David Hestenes
into the mathematical framework called Geometric Algebra.
This framework appears to be the natural mathematics for the description
of mechanics, an alternative to both
the modern differential topology formulations
and the older classical tensor analysis descriptions.
It is particularly suited to the description of problems involving large
rotations. Joan and I have recently
published a paper in the International Journal
for Numerical Methods in Engineering
explaining how finite element large displacement 3D beam-theory can be
readily accomplished using Clifford Algebra.
For further details about Clifford Algebra in general, I
suggest you visit Joan's page and pursue the
links there.

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my home page .

fam@eng.cam.ac.uk