I think that the title is a bit misleading. This is not "basic kinematics". For most people, or at least for me, basic kinematics are the kinematical equations that intro physics students see for motion with constant acceleration.
This article, which include rigid body motion and coriolis force, is way more advanced than those kinematical equations.
Hello, I have tried to expand my horizon on "basic" kinematics and I run into the concept of Mozzi axis of instantaneous rotation. Have you heard about it before?