\(
\DeclareMathOperator*{\oiint}{{\normalsize{\subset\!\supset}}
\llap{\iint}} \)The 2-Sphere
as the Configuration Space of a Mechanism
Consider a mechanism with a 2-sphere as its configuration space
(c-space).
2-Sphere
Consider a massless rigid rod with a bob with mass \(m\) at one end and
a ball-and-socket joint attached to ground at the other end. This would
have a standard 2-sphere as its configuration space (c-space).