Figure 5. The right action of SE(2) interpreted as a change in position

From

Theoretical Basics of Geometric Mechanics and Differential Geometry

Tomáš Lipták, Alexander Gmiterko, Michal Kelemen, Ivan Virgala, Erik Prada, František Menda

American Journal of Mechanical Engineering. 2014, 2(7), 178-183 doi:10.12691/ajme-2-7-1