diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/spatialTransform/spatialTransform.H b/src/OpenFOAM/primitives/spatialVectorAlgebra/spatialTransform/spatialTransform.H
new file mode 100644
index 0000000000000000000000000000000000000000..2d68e321ae013501d441b14f7933d07463394524
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/spatialTransform/spatialTransform.H
@@ -0,0 +1,200 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
+ \\ / O peration |
+ \\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
+ \\/ M anipulation |
+-------------------------------------------------------------------------------
+License
+ This file is part of OpenFOAM.
+
+ OpenFOAM is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
+
+Class
+ Foam::spatialTransform
+
+Description
+ Compact representation of the Plücker spatial transformation tensor
+ in terms of the rotation tensor \c E and translation vector \c r .
+
+ See Chapter 2 and Appendix A in reference:
+ \verbatim
+ Featherstone, R. (2008).
+ Rigid body dynamics algorithms.
+ Springer.
+ \endverbatim
+
+SourceFiles
+ spatialTransformI.H
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef spatialTransform_H
+#define spatialTransform_H
+
+#include "tensor.H"
+#include "spatialVector.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+// Forward declaration of classes
+class Istream;
+class Ostream;
+
+// Forward declaration of friend functions and operators
+class spatialTransform;
+Istream& operator>>(Istream&, spatialTransform&);
+Ostream& operator<<(Ostream&, const spatialTransform&);
+
+
+/*---------------------------------------------------------------------------*\
+ Class spatialTransform Declaration
+\*---------------------------------------------------------------------------*/
+
+class spatialTransform
+{
+ // Private data
+
+ //- Rotation tensor
+ tensor E_;
+
+ //- Translation vector
+ vector r_;
+
+
+ // Private member functions
+
+ //- Return E . *r
+ inline tensor Erx() const;
+
+
+public:
+
+ //- Wrapper-class to provide transpose functions and operators
+ class transpose
+ {
+ const spatialTransform& X_;
+
+ public:
+
+ //- Construct from a spatialTransform
+ inline transpose(const spatialTransform& X);
+
+ //- Return the transpose transformation tensor ^A{X^*}_B
+ // X^T
+ inline operator spatialTensor() const;
+
+ //- Transpose transform dual f: ^A{X^*}_B & f
+ // X^T . f = (E^T . fl + r ^ E^T . fw, E^T . fl)
+ inline spatialVector operator&(const spatialVector& f) const;
+ };
+
+
+ //- Wrapper-class to provide dual functions and operators
+ class dual
+ {
+ const spatialTransform& X_;
+
+ public:
+
+ //- Construct from a spatialTransform
+ inline dual(const spatialTransform& X);
+
+ //- Return dual transformation tensor ^B{X^*}_A
+ inline operator spatialTensor() const;
+
+ //- Transform dual f: ^B{X^*}_A & f
+ // X^* . f = (E . fw - r ^ fl, E . fl)
+ inline spatialVector operator&(const spatialVector& f) const;
+ };
+
+
+ // Constructors
+
+ //- Construct null
+ inline spatialTransform();
+
+ //- Construct from components
+ inline spatialTransform(const tensor& E, const vector& r);
+
+ //- Construct from Istream
+ inline spatialTransform(Istream&);
+
+
+ // Member Functions
+
+ //- Return the rotation tensor
+ inline const tensor& E() const;
+
+ //- Return non-const access to the rotation tensor
+ inline tensor& E();
+
+ //- Return the translation vector
+ inline const vector& r() const;
+
+ //- Return non-const access to the translation vector
+ inline vector& r();
+
+ //- Return the transpose transformation tensor ^A{X^*}_B
+ // X^T
+ inline transpose T() const;
+
+ //- Return the inverse transformation tensor: X^-1
+ // X^-1 = (E^T, −E.r)
+ inline spatialTransform inv() const;
+
+
+ // Member Operators
+
+ //- Return the dual transformation tensor ^B{X^*}_A
+ inline dual operator*() const;
+
+ //- Return transformation tensor ^BX_A
+ // X
+ inline operator spatialTensor() const;
+
+ //- Inner-product multiply with a transformation tensor
+ inline void operator&=(const spatialTransform& X);
+
+ //- Return the inner-product of two transformation tensors
+ inline spatialTransform operator&(const spatialTransform& X) const;
+
+ //- Transform v: ^BX_A . v
+ // X.v = (E . vw, E . (vl - r^vw))
+ inline spatialVector operator&(const spatialVector& v) const;
+
+
+ // IOstream Operators
+
+ friend Istream& operator>>(Istream&, spatialTransform&);
+ friend Ostream& operator<<(Ostream&, const spatialTransform&);
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#include "spatialTransformI.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/src/OpenFOAM/primitives/spatialVectorAlgebra/spatialTransform/spatialTransformI.H b/src/OpenFOAM/primitives/spatialVectorAlgebra/spatialTransform/spatialTransformI.H
new file mode 100644
index 0000000000000000000000000000000000000000..c2a4c943a4baa9b110cc93e22a97700e9751fa89
--- /dev/null
+++ b/src/OpenFOAM/primitives/spatialVectorAlgebra/spatialTransform/spatialTransformI.H
@@ -0,0 +1,267 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
+ \\ / O peration |
+ \\ / A nd | Copyright (C) 2016 OpenFOAM Foundation
+ \\/ M anipulation |
+-------------------------------------------------------------------------------
+License
+ This file is part of OpenFOAM.
+
+ OpenFOAM is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "transform.H"
+
+// * * * * * * * * * * * * * Private Member Functions * * * * * * * * * * * //
+
+Foam::tensor Foam::spatialTransform::Erx() const
+{
+ return E_ & *r_;
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
+
+inline Foam::spatialTransform::spatialTransform()
+:
+ E_(tensor::I),
+ r_(vector::zero)
+{}
+
+
+inline Foam::spatialTransform::spatialTransform
+(
+ const tensor& E,
+ const vector& r
+)
+:
+ E_(E),
+ r_(r)
+{}
+
+
+inline Foam::spatialTransform::spatialTransform(Istream& is)
+:
+ E_(is),
+ r_(is)
+{}
+
+
+inline Foam::spatialTransform::transpose::transpose(const spatialTransform& X)
+:
+ X_(X)
+{}
+
+
+inline Foam::spatialTransform::dual::dual(const spatialTransform& X)
+:
+ X_(X)
+{}
+
+
+// * * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * //
+
+inline const Foam::tensor& Foam::spatialTransform::E() const
+{
+ return E_;
+}
+
+inline Foam::tensor& Foam::spatialTransform::E()
+{
+ return E_;
+}
+
+inline const Foam::vector& Foam::spatialTransform::r() const
+{
+ return r_;
+}
+
+inline Foam::vector& Foam::spatialTransform::r()
+{
+ return r_;
+}
+
+
+inline Foam::spatialTransform::transpose Foam::spatialTransform::T() const
+{
+ return transpose(*this);
+}
+
+
+inline Foam::spatialTransform Foam::spatialTransform::inv() const
+{
+ return spatialTransform(E_.T(), -(E_ & r_));
+}
+
+
+// * * * * * * * * * * * * * * * Member Operators * * * * * * * * * * * * * //
+
+inline Foam::spatialTransform::dual Foam::spatialTransform::operator*() const
+{
+ return dual(*this);
+}
+
+
+inline Foam::spatialTransform::operator spatialTensor() const
+{
+ return spatialTensor
+ (
+ E_, tensor::zero,
+ -Erx(), E_
+ );
+}
+
+
+inline void Foam::spatialTransform::operator&=(const spatialTransform& X)
+{
+ E_ &= X.E_;
+ r_ = X.r_ + (r_ & X.E_.T());
+}
+
+
+inline Foam::spatialTransform Foam::spatialTransform::operator&
+(
+ const spatialTransform& X
+) const
+{
+ return spatialTransform(E_ & X.E_, X.r_ + (r_ & X.E_));
+}
+
+
+inline Foam::spatialVector Foam::spatialTransform::operator&
+(
+ const spatialVector& v
+) const
+{
+ return spatialVector
+ (
+ E_ & v.angular(),
+ E_ & (v.linear() - (r_ ^ v.angular()))
+ );
+}
+
+
+inline Foam::spatialTransform::transpose::operator spatialTensor() const
+{
+ return spatialTensor
+ (
+ X_.E().T(), -X_.Erx().T(),
+ tensor::zero, X_.E().T()
+ );
+}
+
+
+inline Foam::spatialVector Foam::spatialTransform::transpose::operator&
+(
+ const spatialVector& f
+) const
+{
+ vector ETfl(X_.E().T() & f.linear());
+
+ return spatialVector
+ (
+ (X_.E().T() & f.angular()) + (X_.r() ^ ETfl),
+ ETfl
+ );
+}
+
+
+inline Foam::spatialTransform::dual::operator spatialTensor() const
+{
+ return spatialTensor
+ (
+ X_.E(), -X_.Erx(),
+ tensor::zero, X_.E()
+ );
+}
+
+
+inline Foam::spatialVector Foam::spatialTransform::dual::operator&
+(
+ const spatialVector& f
+) const
+{
+ return spatialVector
+ (
+ X_.E() & (f.angular() - (X_.r() ^ f.linear())),
+ X_.E() & f.linear()
+ );
+}
+
+
+// * * * * * * * * * * * * * * IOstream Operators * * * * * * * * * * * * * //
+
+inline Foam::Istream& Foam::operator>>(Foam::Istream& is, spatialTransform& X)
+{
+ is >> X.E() >> X.r();
+ return is;
+}
+
+
+inline Foam::Ostream& Foam::operator<<
+(
+ Foam::Ostream& os,
+ const spatialTransform& X
+)
+{
+ os << X.E() << token::SPACE << X.r() << endl;
+ return os;
+}
+
+
+// * * * * * * * * * * * * * * * Global Functions * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+//- Rotational spatial transformation tensor about the x-axis by omega radians
+inline spatialTransform Xrx(const scalar& omega)
+{
+ return spatialTransform(Rx(omega), vector::zero);
+}
+
+//- Rotational spatial transformation tensor about the x-axis by omega radians
+inline spatialTransform Xry(const scalar& omega)
+{
+ return spatialTransform(Ry(omega), vector::zero);
+}
+
+//- Rotational spatial transformation tensor about the z-axis by omega radians
+inline spatialTransform Xrz(const scalar& omega)
+{
+ return spatialTransform(Rz(omega), vector::zero);
+}
+
+//- Rotational spatial transformation tensor about axis a by omega radians
+inline spatialTransform Xr(const vector& a, const scalar omega)
+{
+ return spatialTransform(Ra(a, omega), vector::zero);
+}
+
+//- Translational spatial transformation tensor about axis a by omega radians
+inline spatialTransform Xt(const vector& r)
+{
+ return spatialTransform(tensor::I, r);
+}
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace Foam
+
+// ************************************************************************* //