The Forward Kinematics of Rolling Contact of Timelike Curves Lying on Timelike Surfaces

Abstract

The aim of the present study is to investigate the forward kinematics of spin-rolling contact motion of one timelike surface on another timelike surface along their timelike trajectory curves in Lorentzian 3-space. This study does not take sliding motion into consideration but applies a new Darboux frame method to establish the kinematics of spin-rolling motion.