. . "screw" . . "screw displacement" . . "twists" . "screws and wrenches" . "screw motions" . "Reciprocity of twist and wrench" . "Screw theory#Twist" . "dual vector" . . . . "screw theory" . "screw displacements" . . "Screw_theory#Wrench" . "homography of dual quaternions" . . . . . "Screw theory" . "screw transformation" . "Screw theory" . "twist" . "wrench" .