Angle measures, general rotations, and roulettes in normed planes
  In this paper a special group of bijective maps of a normed plane, called the group of general rotations, is introduced; it contains the isometry group as a subgroup. The concept of general rotations leads to the notion of flexible motions of the plane, and to the concept of Minkowskian roulettes. As a nice consequence of this new approach to motions the validity of a strong analogue to the Euler-Savary equations for Minkowskian roulettes is proved. 
Vitor Balestro, \'Akos G.Horv\'ath, and Horst Martini
math.MG math.FA