We will begin by briefly introducing the notion of kinematic formula through the classical Cauchy-Crofton formula that relates the length of a rectifiable curve to the integral over all affine lines of the number of intersection points with the line. Similarly, we will present the global kinematic formula in the case of closed definable sets as a formula linking a curvature invariant of a first set to the Euler characteristic of its intersection with a second set, integrating this last quantity over all affine transformations of the second set. We will also compare this formula to the infinitesimal kinematic formula for germs of closed definable sets, and attempt to illustrate the differences in the methods used to prove the global formula in comparison to the local one.