Contact coordinates between three-dimensional rigid bodies

This study has been arranged in four chapters. In the first chapter; Introduction In the second chapter; the fundamental definitions as lie operator, Atlas, Gaussian curvature are given. In the third chapter; the entrance part of the work was given and the geometrical properties of a sphere and the planar surface were investigated. In the fourth chapter; Closed-loop equations of a motion, velocity and acceleration analysis were expressed. Examples given. The movement of two relative to each other, the movement of the sphere to the plane relative to each other has been studied. The kinematics of the rotation about an axis have been studied.