The theory of screws derived from a module over the dual numbers (Q6624147)

The paper models the theory of screws on a rank 3 module over the dual numbers, endowed with a scalar product and orientation (a triple, referred to in the text as `\(\mathbb{D}-\)module geometry'), showing that for such modules one has a canonical correspondence between their elements and screw fields over some Euclidean space. This allows for a formalism analogous to motor calculus, but explicitly independent of any reduction points. The transfer principle is also discussed in this context, following the similarity between modules and vector spaces.\N\NAlthough this is a research paper promoting new findings, one of its best features is the rigorous and yet comprehensive mathematical introduction to the basic concepts in the theory of screws. The graphic content is scarce, but technical definitions and proofs are often followed by familiar examples to assist the reader. No particular expertise in the field is assumed -- the text can be understood and appreciated by geometers, theoretical physicists, and even curious undergraduate students.