Consider a joint between two rigid bodies. Each rigid body has mm degrees of freedom (m=3m=3 for a planar rigid body and m=6m=6 for a spatial rigid body) in the absence of any constraints. The joint has ff degrees of freedom (e.g., f=1f=1 for a revolute joint or f=3f=3 for a spherical joint). How many constraints does the joint place on the motion of one rigid body relative to the other? Write your answer as a mathematical expression in terms of m and f
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