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Centers of Mass and Rotational Kinematics for the Relativistic N-Body Problem in the Rest-Frame Instant Form

In the Wigner-covariant rest-frame instant form of dynamics it is possible to develop a relativistic kinematics for the N-body problem. The Wigner hyperplanes define the intrinsic rest frame and realize the separation of the center-of-mass. Three notions of {\it external} relativistic center of mass can be defined only in terms of the {\it external} Poincaré group realization. Inside the Wigner hyperplane, an {\it internal} unfaithful realization of the Poincaré group is defined. The three concepts of {\it internal} center of mass weakly {\it coincide} and are eliminated by the rest-frame conditions. An adapted canonical basis of relative variables is found. The invariant mass is the Hamiltonian for the relative motions. In this framework we can introduce the same {\it dynamical body frames}, {\it orientation-shape} variables, {\it spin frame} and {\it canonical spin bases} for the rotational kinematics developed for the non-relativistic N-body problem.