On the motion of three rigid bodies: Central configurations

In the present paper, the motion of three rigid bodies is considered. With a set of new variables, and the 10 first integrals of the motion, the problem is reduced to a system of order 25 and one quadrature. The plane motions are characterized, and finally, an equation for the existence of central configurations (in particular, Lagrangian and Eulerian solutions) has been found. Besides, the case of three axisymmetric ellipsoids is studied.