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In this deep study chapters are devoted to: Frisi and the parallelogram of infinitesimal rotation (1759); Euler and the vector representation of moments of forces (1780); Laplace and the invariable plane (1798); Prony and the diffusion of Euler's formula (1800); Poinsot and the theory of couples (1803); Poisson and the geometric representation of moments (1808); Lagrange's rediscovery of the vector representation of small rotations (1811); Laplace, Poisson and the angular velocity vector; J. B. Fran\u00e7ais and the angular velocity vector (1812-13); Lagrange on the geometrical theory of moments; Binet on the theory of moments (1814-1818); Bordoni and the generalization of Euler's formula (1822); Cauchy and the theory of moments lin\u00e9aires (1826); Poinsot and the rotation of rigid bodies; Chasles and the duality principle between translations and rotations (1838). A detailed bibliography is 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