Any motion of a rigid body in space at every instant is a screw motion. This theorem was proved by Mozzi and Cauchy.
Screw Theorem
See also
ScrewExplore with Wolfram|Alpha
Cite this as:
Weisstein, Eric W. "Screw Theorem." From MathWorld--A Wolfram Web Resource. https://mathworld.wolfram.com/ScrewTheorem.html