## Kinematics and dynamics of planar machinery |

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acceleration analysis addendum circle algebraic analysis angular acceleration angular velocity arctan2 axes axis base circle calculated called cam profile centrode coefficients complex vector components configuration constant coupler crank cycloidal cylinder defined degree of freedom denoted described displacement distance engine epicyclic epicyclic gear epitrochoids equations of constraint equilibrium example expressed Figure four-bar linkage four-bar mechanism frame friction function Hence hinge inertia input involute kinematic kinematic chain kinematic pairs Lagrangian coordinates lamina length link BC located loop equations matrix mechanism of Fig method motion moving centrode Note number of teeth particle pinion pitch circle plane polygon position pressure angle Prob Problem rack radius of curvature relative rolling rotation rotor shaft Show shown in Fig slider slider-crank mechanism sliding solve speed subroutine tangent tion tooth profile torque trace point trochoids variables velocity and acceleration velocity ratio Verify virtual displacements wheel