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Classification of kinematic pairs
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acceleration vectors angle angular acceleration angular velocity arc of radius centre of curvature coincides collineation axis common normal common tangent conjugate points connecting rod consider constrained motion Coriolis acceleration crank mechanism curve denoted diameter displacement draw a line drawn envelope Euler equation Euler-Savary equation extremity fixed follows found by drawing four-bar mechanism Hence higher pair hinges immovable centrode immovable plane infinity inflexion centre inflexion circle inflexion point instantaneous centre intermittent mechanism intersection point kinematic chain kinematic pair lies line joining line of stroke line parallel locate locus method mid-point movable centrode movable plane movement number of links obtain orthogonal direction orthogonal velocity parallelogram path perpendicular point of contact position principal ray relative normal acceleration required to find respect return circle Rosenauer rotation semicircle shown in Fig side similar Similarly sliding acceleration sliding direction sliding pair sliding velocity straight line theorem triangle vector velocity velocity F