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I am a medical doctor stuck with a mathematics problem. I have taken a project to map the 3D movement of a particular bone and describe its motion. My maths knowledge is a bit lacking. However using logic I felt that I would need to track 3 constant markers on the particular bone and use its coordinates at different points in time to map motion.

by using trilateration I managed to map the coordinates at different times.

However I am still stuck and unsure as to how to accurately describe how the bone

1. translates

2. rotates around the 3 axis

how would a physicist/engineer or mathematicians approach such a problem?

your help is much appreciated.

Yasith