Accordingly, we find Euler and D'Alembert devoting their talent and their patience to the establishment of the laws of rotation of the solid bodies. Lagrange has incorporated his own analysis of the problem with his general treatment of mechanics, and since his time M. Poinsôt has brought the subject under the power of a more searching analysis than that of the calculus, in which ideas take the place of symbols, and intelligent propositions supersede equations.

As is well known the principle of virtual velocities transforms all statics into a mathematical assignment, and by Dalembert's principle for dynamics, the latter is again reduced to statics. Although it is is very much in order that in gradual training of science and in the instruction of the individual the easier precedes the more difficult, the simple precedes the more complicated, the special precedes the general, yet the min, once it has arrived at the higher standpoint, demands the reverse process whereby all statics appears only as a very special case of mechanics.