# relmotn - Relative Motion Two Points on the Same Rigid Link...

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Relative Motion Two Points on the Same Rigid Link Relative Displacement: δ Q/P = PQ θ is directed to PQ (along t-t ) in the sense of θ Relative Velocity: V Q/P = PQ ϖ is directed to PQ (along t-t ) in the sense of ϖ Relative Acceleration: a n Q/P = (V Q/P ) 2 / PQ = PQ ϖ 2 is directed along PQ (along n-n ) from Q towards P a t Q/P = PQ α is directed to PQ (along t-t ) in the sense of α P Q α ϖ θ Path of relative to P Q n n t t Coincident Points on Two Links at the Point of Connection Type of Connection Diagram Relative Displacement and Velocity Relative Acceleration, a P μ /P ψ Instant Center, O μψ Pin Joint (Revolute) ψ P μ P P μ ψ and ( ) 0 a P P ψ μ / = 0 Located at P Sliding Joint (Prismatic) n n t t μ ψ P P μ ψ C Path of P
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