{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2016:AOXPC4SRU2HWSJLUJVD3MX6DLA","short_pith_number":"pith:AOXPC4SR","canonical_record":{"source":{"id":"1607.00156","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math-ph","submitted_at":"2016-07-01T08:40:47Z","cross_cats_sorted":["gr-qc","math.MP"],"title_canon_sha256":"7880a890712cab01f5232ee1fa84be199cd4c7cb1341ef902cc5b18b42cfab76","abstract_canon_sha256":"82ab29e585be3d531dbaaf6670eef4dde3f591419bbc4e0c45788cd4875924df"},"schema_version":"1.0"},"canonical_sha256":"03aef17251a68f6925744d47b65fc358264939e027084129949d704b656a9b41","source":{"kind":"arxiv","id":"1607.00156","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.00156","created_at":"2026-05-18T00:37:58Z"},{"alias_kind":"arxiv_version","alias_value":"1607.00156v1","created_at":"2026-05-18T00:37:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.00156","created_at":"2026-05-18T00:37:58Z"},{"alias_kind":"pith_short_12","alias_value":"AOXPC4SRU2HW","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_16","alias_value":"AOXPC4SRU2HWSJLU","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_8","alias_value":"AOXPC4SR","created_at":"2026-05-18T12:30:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2016:AOXPC4SRU2HWSJLUJVD3MX6DLA","target":"record","payload":{"canonical_record":{"source":{"id":"1607.00156","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math-ph","submitted_at":"2016-07-01T08:40:47Z","cross_cats_sorted":["gr-qc","math.MP"],"title_canon_sha256":"7880a890712cab01f5232ee1fa84be199cd4c7cb1341ef902cc5b18b42cfab76","abstract_canon_sha256":"82ab29e585be3d531dbaaf6670eef4dde3f591419bbc4e0c45788cd4875924df"},"schema_version":"1.0"},"canonical_sha256":"03aef17251a68f6925744d47b65fc358264939e027084129949d704b656a9b41","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:37:58.692011Z","signature_b64":"jyJKBDeRyblzTCdgC9emQomk3D7ukzCdjQFWlLeELZJxGaNqCXXzu6+k9u4S+H0pq4kQwlpsNT1M2LOJZU7SBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"03aef17251a68f6925744d47b65fc358264939e027084129949d704b656a9b41","last_reissued_at":"2026-05-18T00:37:58.691605Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:37:58.691605Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1607.00156","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:37:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"CG7wQ2fo/7zW4Xuqo7gwIjc0p20oHMWtKOLeP2eMCkdRs67c08gX7sCphR/AqUzzuqZp7dwLRz3mtucVj5OnAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T16:04:22.501115Z"},"content_sha256":"9a693fe53b6e74d94d0708fea64bb2bbe4b39fd003aaef08e0c6dc20594225f7","schema_version":"1.0","event_id":"sha256:9a693fe53b6e74d94d0708fea64bb2bbe4b39fd003aaef08e0c6dc20594225f7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2016:AOXPC4SRU2HWSJLUJVD3MX6DLA","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Newton-Euler, Lagrange and Kirchhoff formulations of rigid body dynamics: a unified approach","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["gr-qc","math.MP"],"primary_cat":"math-ph","authors_text":"Enrico Massa, Stefano Vignolo","submitted_at":"2016-07-01T08:40:47Z","abstract_excerpt":"A unified formulation of rigid body dynamics based on Gauss principle is proposed. The Lagrange, Kirchhoff and Newton-Euler equations are seen to arise from different choices of the quasicoordinates in the velocity space. The group-theoretical aspects of the method are discussed."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.00156","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:37:58Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"wTMUa3DJhOJiLQu66OyjyzBnUjmxFeEiTlvGbeWa5hVm2+M/mKpl9H61Jn3ld1jARF656wCyB9rqB7V1zPRiBg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-25T16:04:22.501842Z"},"content_sha256":"4fcb8ca5eabb491301b13c47b93c7c19066e9eeed3d75d71241f37b76a60d695","schema_version":"1.0","event_id":"sha256:4fcb8ca5eabb491301b13c47b93c7c19066e9eeed3d75d71241f37b76a60d695"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/AOXPC4SRU2HWSJLUJVD3MX6DLA/bundle.json","state_url":"https://pith.science/pith/AOXPC4SRU2HWSJLUJVD3MX6DLA/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/AOXPC4SRU2HWSJLUJVD3MX6DLA/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-05-25T16:04:22Z","links":{"resolver":"https://pith.science/pith/AOXPC4SRU2HWSJLUJVD3MX6DLA","bundle":"https://pith.science/pith/AOXPC4SRU2HWSJLUJVD3MX6DLA/bundle.json","state":"https://pith.science/pith/AOXPC4SRU2HWSJLUJVD3MX6DLA/state.json","well_known_bundle":"https://pith.science/.well-known/pith/AOXPC4SRU2HWSJLUJVD3MX6DLA/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2016:AOXPC4SRU2HWSJLUJVD3MX6DLA","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"82ab29e585be3d531dbaaf6670eef4dde3f591419bbc4e0c45788cd4875924df","cross_cats_sorted":["gr-qc","math.MP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math-ph","submitted_at":"2016-07-01T08:40:47Z","title_canon_sha256":"7880a890712cab01f5232ee1fa84be199cd4c7cb1341ef902cc5b18b42cfab76"},"schema_version":"1.0","source":{"id":"1607.00156","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1607.00156","created_at":"2026-05-18T00:37:58Z"},{"alias_kind":"arxiv_version","alias_value":"1607.00156v1","created_at":"2026-05-18T00:37:58Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1607.00156","created_at":"2026-05-18T00:37:58Z"},{"alias_kind":"pith_short_12","alias_value":"AOXPC4SRU2HW","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_16","alias_value":"AOXPC4SRU2HWSJLU","created_at":"2026-05-18T12:30:07Z"},{"alias_kind":"pith_short_8","alias_value":"AOXPC4SR","created_at":"2026-05-18T12:30:07Z"}],"graph_snapshots":[{"event_id":"sha256:4fcb8ca5eabb491301b13c47b93c7c19066e9eeed3d75d71241f37b76a60d695","target":"graph","created_at":"2026-05-18T00:37:58Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"paper":{"abstract_excerpt":"A unified formulation of rigid body dynamics based on Gauss principle is proposed. The Lagrange, Kirchhoff and Newton-Euler equations are seen to arise from different choices of the quasicoordinates in the velocity space. The group-theoretical aspects of the method are discussed.","authors_text":"Enrico Massa, Stefano Vignolo","cross_cats":["gr-qc","math.MP"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math-ph","submitted_at":"2016-07-01T08:40:47Z","title":"Newton-Euler, Lagrange and Kirchhoff formulations of rigid body dynamics: a unified approach"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1607.00156","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:9a693fe53b6e74d94d0708fea64bb2bbe4b39fd003aaef08e0c6dc20594225f7","target":"record","created_at":"2026-05-18T00:37:58Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"82ab29e585be3d531dbaaf6670eef4dde3f591419bbc4e0c45788cd4875924df","cross_cats_sorted":["gr-qc","math.MP"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"math-ph","submitted_at":"2016-07-01T08:40:47Z","title_canon_sha256":"7880a890712cab01f5232ee1fa84be199cd4c7cb1341ef902cc5b18b42cfab76"},"schema_version":"1.0","source":{"id":"1607.00156","kind":"arxiv","version":1}},"canonical_sha256":"03aef17251a68f6925744d47b65fc358264939e027084129949d704b656a9b41","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"03aef17251a68f6925744d47b65fc358264939e027084129949d704b656a9b41","first_computed_at":"2026-05-18T00:37:58.691605Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:37:58.691605Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"jyJKBDeRyblzTCdgC9emQomk3D7ukzCdjQFWlLeELZJxGaNqCXXzu6+k9u4S+H0pq4kQwlpsNT1M2LOJZU7SBA==","signature_status":"signed_v1","signed_at":"2026-05-18T00:37:58.692011Z","signed_message":"canonical_sha256_bytes"},"source_id":"1607.00156","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:9a693fe53b6e74d94d0708fea64bb2bbe4b39fd003aaef08e0c6dc20594225f7","sha256:4fcb8ca5eabb491301b13c47b93c7c19066e9eeed3d75d71241f37b76a60d695"],"state_sha256":"488f0f262ce9688d7d4b3bacd8673ade21bd248afb21cb6bd43af5a4dbd852df"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"X1izTJCdU5LFk2VcgR8qnn0HoZ4RALNLKjvjFCTxUdvHFVOLozIjQ/5kU9MMQ6DloRQWtKy9R63D3WyxlwkwBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-25T16:04:22.505587Z","bundle_sha256":"a49d38f067448860c94610345e27f1b906d52d9cd716d6e1669846ce4c8ca1cd"}}