diff --git a/Base/SceneElements/Objects/imstkRigidObject.cpp b/Base/SceneElements/Objects/imstkRigidObject.cpp
index ee30e0f5d15395708beb501e52f375444574dfad..73b8c099b879d8960dcd99e491ae4d0319d2aaa2 100644
--- a/Base/SceneElements/Objects/imstkRigidObject.cpp
+++ b/Base/SceneElements/Objects/imstkRigidObject.cpp
@@ -24,34 +24,4 @@
 namespace imstk
 {
 
-void
-RigidObject::translate(const Vec3d& t)
-{
-    m_physicsGeometry->translate(t);
-}
-
-void
-RigidObject::translate(const double& x, const double& y, const double& z)
-{
-    m_physicsGeometry->translate(Vec3d(x, y, z));
-}
-
-void
-RigidObject::rotate(const Quatd& r)
-{
-    m_physicsGeometry->rotate(r);
-}
-
-void
-RigidObject::rotate(const Mat3d& r)
-{
-    m_physicsGeometry->rotate(Quatd(r));
-}
-
-void
-RigidObject::rotate(const Vec3d& axis, const double& angle)
-{
-    m_physicsGeometry->rotate(Quatd(Rotd(angle, axis)));
-}
-
 } // imstk
diff --git a/Base/SceneElements/Objects/imstkRigidObject.h b/Base/SceneElements/Objects/imstkRigidObject.h
index 076bc526d832ea6e913f20842e1ebe9100e3fe01..c2ef96b75611773cd7c975474937f282f840ca18 100644
--- a/Base/SceneElements/Objects/imstkRigidObject.h
+++ b/Base/SceneElements/Objects/imstkRigidObject.h
@@ -24,7 +24,6 @@
 
 // imstk
 #include "imstkDynamicObject.h"
-#include "imstkMath.h"
 
 namespace imstk
 {
@@ -51,19 +50,6 @@ public:
     ///
     ~RigidObject() = default;
 
-    ///
-    /// \brief Translate the physics geometric model
-    ///
-    void translate(const Vec3d& t);
-    void translate(const double& x, const double& y, const double& z);
-
-    ///
-    /// \brief Rotate the physics geometric model
-    ///
-    void rotate(const Quatd& r);
-    void rotate(const Mat3d& r);
-    void rotate(const Vec3d & axis, const double& angle);
-
 protected:
 
 };