Hey, I am trying to solve the following problem: va=vr+ ω × rra vb=vr+ ω ×(rra+rab) vc=vr+ ω × (rra+rac) I know the vectors va, vb, vc, rab and rac and I want to know the angular velocity vector, the radius rra and the velocity vr. Physically it means that I know 3 points on a rigid body and I want to decompose their velocities in an angular and linear component by determing around which point they rotate. So there are 9 equations and 9 unkowns. But if I try to solve this problem analytically I can not come to any answer. I also put it in MATLAB but this also gives weird results. My first attempt was subtracting the vectors which eventually gave me a solution for omega. But than I still could not solve the problem. Does anyone know why this is the case? Is it something with the outer product which I don't understand? Are there infinite number of solution to this problem? Or do I just do something wrong? Any help would be appreciated since I am already trying things for some days. Thanks.