 The rigid transformation, or displacement, of "M" relative to "F" defines the relative position of the two components.A displacement consists of the combination of a rotation and a translation.The set of all displacements of "M" relative to "F" is called the configuration space of "M." A smooth curve from one position to another in this configuration space is a continuous set of displacements, called the motion of "M" relative to "F." The motion of a body consists of a continuous set of rotations and translations.