Both, but perpetual motion is slightly less impossible.
Perpetual motion means something in a stasis gets a push and then keeps going without any additional outside energy applied to it. To keep going, then the following forces would have to be cancelled:
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air friction against moving pieces. To overcome this, you really need an absolutely perfect vacuum, which doesn’t exist, even in deep space. Or frictionless pieces, which don’t exist.
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Friction between any moving parts in your “something”. This either means creating frictionless joints (again, currently impossible), or not have any part of your device touch any other piece of your device.
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gravitational (tidal) forces. Easiest way to think about this one is the moon’s effect on the oceans. The “high tide” going across the earth provides friction against the earth’s rotation, and is causing the earth to spin almost imperceptably slower over the millenia, and will eventually freeze the earth with one face pointed towards the moon. The same sort of force would be acting against the pieces of your device, and would eventually stop it. Unless, of course, you manage to find one of the points in our universe (and there should be a couple), where all the graviational fields of all the objects that summarily effect it cancel each other out, and manage to transport your device there.
I think you can see what I’m getting at. The loopholes that are available are nearly impossible to achieve, and using them make assembling such a device nearly impossible. Therefore, using rough math terms, using these loopholes and assembling such a device would be about half-way in between “nearly impossible” and “impossible”.
There are probably other factors that I am forgetting, but you can see how hard it would really be to create something that truely lost no energy to anything outside the system. Now, a perpetual motion MACHINE would actually have to ADD energy to the outside of the system, while still keeping itself going. And there isn’t even a theoretical model for something like that to exist outside of science fiction stories. Such a machine would have to somehow import energy from outside our universe, or else it violates the First law of thermodynamics (See the later books of James Hogan’s “Giants” novels. Which, of course, makes the assumption that all of our physics models are flawed.)
-lv