   Velocity of Arbitrary point on rigid body.
  I'm looking for information on how to get the velocity of an arbitrary point on a rigid body. Suppose the body can have linear and angular velocity at any given time, and I'd like to basically calculate what the velocity of some object space point is. Any info/links appreciated.   
http://farside.ph.utexas.edu/teaching/301/lectures/node99.html.   ;  in 3D, v = linearVelocity + angularVelocity CROSS (spacePointPosition - centerOfMassPosition)in 2D, v = linearVelocity + angularVelocity * PERP(spacePointPosition - centerOfMassPosition), where the perp of the vector v = [x,y] is vP = [-v.y, v.x].Hope it helps ;)   