Before revision: Fundamental theorems include Chasles' theorem, which proves that any change between two rigid object poses can be performed by a single screw, and Poinsot's theorem .
After revision: , which proves that rotations about a rigid object's major and minor -- but not intermediate -- axes are stableFundamental theorems include Chasles' theorem, which proves that any change between two rigid object poses can be performed by a single screw, and Poinsot's theorem .