Consistent theory is presented of continuum with defect distribution: dislocation and disclination densities and the densities of rotation nuclei of two kinds. Special attention is paid to rotation and twist motions, and the two approaches to the definition of the twist-bend tensor are combined. The elastic and self fields of stresses and strains become asymmetric, while the total fields remain symmetric as required by the compatibility conditions. However, the tensor of incompatibility becomes asymmetric. The dislocation-stress relations and the equations of motion for symmetric and asymmetric parts of stresses are given and the wave equations for spin and twist are derived. Some applications are shortly discussed.
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