This paper is concerned with the quasi-static motion of a body resting on a frictional surface when subjected to an arbitrary imposed displacement by a small frictionless finger. A simplified object with three distinct feet is used as an illustration but the method adopted can be generalized to bodies with more feet or distributed contact. A closed-form expression is found which enables the determination of the conditions necessary for a body to rotate about a point of support and a more general numerical technique for determining the instantaneous centre is presented. The indeterminacy that occurs when the points of support lie in a straight line is also discussed.
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