 The general case of a rotating rigid body can be modeled using kinematic screw theory, which includes one axial vector, angular velocity formula_22, and one polar vector, linear velocity formula_23.From this, the angular acceleration is defined as

and the angular jerk is given by

For example, consider a Geneva drive, a device used for creating intermittent rotation of a driven wheel (blue wheel in the animation) by continuous rotation of a driving wheel (red wheel in the animation).During one cycle of the driving wheel, the driven wheel's angular position formula_15 changes by 90 degrees and then remains constant.