Casimir friction: Relative motion more generally

This paper extends our recent study on Casimir friction forces for dielectric plates moving parallel to each other [J. S. H{\o}ye and I. Brevik, Eur. Phys. J. D {\bf 68}, 61 (2014)], to the case where the plates are no longer restricted to rectilinear motion. Part of the mathematical formalism thereby becomes more cumbersome, but reduces in the end to the form that we could expect to be the natural one in advance. As an example, we calculate the Casimir torque on a planar disc rotating with constant angular velocity around its vertical symmetry axis next to another plate.