A recently developed formalism which gives a unified picture of the linear transport of moving frames is extended to include a particular type of transport under the 10-parameter Poincaré group. The frame coordinates are expressed in a 5 × 5 matrix representation which includes the position four-vector plus orthonormal tetrads for the internal coordinates. This provides a general description of the kinematics of physical systems which can be represented by moving frames. Several examples are given, including systems moving with spin (...) and Zitterbewegung along both timelike and null paths. The concept of boost or Poincaré momentum is related to system kinematics. Lagrangians of these systems are also discussed. (shrink)