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Published online by Cambridge University Press: 26 February 2010
We say a motion g brings a mobile convex body K into inner contact with a fixed body K0 if the image gK lies in K0 and shares a boundary point with K0; we speak of the inner contact being at the common boundary point. The mobile body K is said to roll freely in K0 if, corresponding to each boundary point x of K0 and each rotation R, there is a translation t such that RK + t = gK has inner contact with K0 at x.