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Isn't it so that (I think it's Chasle's theorem):
The instantaneous general motion of any rigid body can be viewed as the
compounding of
1) a pure translational motion of the body, and
2) a rotation about any freely choosable point fixed in the (extended) body.
It follows that if one rides on a fixed body point and observes the body,
only a pure rotation will be directly observed at any instant.
I think this is quite intuitive.