CHAPTER

10

ADVANCED KINEMATICS OF THE PLANE MOTION

This chapter deals with a number of concepts of kinematics which,

though quite fundamental and of considerable usefulness in mechanism
design, are usually omitted from undergraduate curricula.
10-1. The Inflection Circle; Euler-Savary Equation

As shown in Chaps. 4 and 6, radii of curvature of the paths of moving

points are of great importance in kinematic analysis of mechanisms.
They are of equal significance in synthesis. The only method discussed
thus far of determining the path curvature is based on the knowledge of
the velocity and acceleration of the point concerned : p = v2/an or
p = v3/(V.flu - vua,.,) . Clearly, as far as mechanisms are concerned, t his
is a roundabout procedure, because here, as in any constrained motion,
the points describe paths which are a geometrical property of the system,
and thus independent of the actual velocities and accelerations. The
inflection circle, dealt with in this section, offers a direct, purely geometrical solution of the problem.
Figure 10-1 shows the fixed and moving polodes, 1r1 and ?rm, which
characterize the displacement of the plane m; 0 1 and Om are the centers of
curvature of the polodes at their point of contact-the instant velocity
pole P 1m-denoted here by P; Pn is the pole normal, which originates at
P and points away from -rr1 (see also Fig. 3-22); p 1 is the pole tangent, the
positive sense of which is obtained by turning Pn through goo in the positive, i.e., counterclockwise, sense.
S is an arbitrary point on m, defined by the ray angle 0,, measured
counterclockwise from Pn, and the distance PS. In the following, distances on a ray will be treated as directed line elements, i.e., taken as
positive or negative, the positive sense being from P to the moving point.
Hence fs = P-+ S is always positive. (The overbar will be used to
indicate that the particular quantity is directed.) The positive sense
along a line perpendicular to a given ray is obtained by turning the positive ray through goo counterclockwise. Os is the instantaneous center
of curvature of the path of S.
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KINEMATICS A;\D DYNAMICS OF PLAN E MECHANISMS

Because of an infinitesimal rotation d<p.. of the plane m (about P), 0 ..

moves
S moves to S', and the point of contact of t he polodes moves
to the new position P'. P' is thus t he position of the instant velocity
pole after the time interval dr. The elemental displacement P-+ P' is
denoted by dl.

too:,.,

P;t

Pr

I
I
I
I
I
I
I
I

.-.,

I
I

I
I

------

0:..

Pn

-----~

P-S-r8 ; 0 8 -S- :08

ts- Evolute ofthe path of S

(a)
(Os-P)diT
p-.-.~:..=--- p.,

Cs

(b)
FIG. 10-1

The following relations may now be established:

and

(P-+ S) d<p.. = (Os-+ S) du

(Os-+ P) du = dl cos 6.

(a)
(b)

Elimination of du from Eqs. (a) and (b) leads to

Os-+ S
d<p..
(Os-+ P)(P-+ S) cos 6. = dl

(c)

Since d<p,.. is the rotation of the plane, and dl the consequent shift of the
velocity pole, d<p.. j dl is the same for all points on m and is always positive.

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With the substitution

-

dl

d'Pm

(d)

= d
'

where d; has the dimension of a length, Eq. (c) becomes

Os---+ S
1
(Os---+ P)(P---+ S) cos e. = d,
(0 8 ---+ P)
(P---+ S)
1
(Os---+ P)(P---+ S) cos e. = d,

or

1
( Os---+ P

and

+ P---+1 S)

cos

e.

1
= ([,

(10-1)

Usually, the only directly available, or easily obtainable, details of the

motion of a plane are the position of the velocity pole and the angular
velocity. The direction of the pole normal, specified by the angle - e,
/Rays
8

o,

Om
Pn

FIG. 10-2

from a given ray, and the length d, are not known. The objective of the
following investigation is the determination of these two quantities, to
permit the general evaluation of Eq. (10-1).
The Inflection Circle. Equation (10-1) shows that points such as St,
s2, etc., on a given ray describe paths which differ in shape in the vicinity
of the position under observation. It is therefore reasonable to assume
that there exists on the ray a point I, which passes, at the given instant,
through an inflection of its path. For such a point, the radius of curvature of the path and the distance 01, ---+ P are both infinite. Equation
(10-1), applied to I,, reduces, therefore, to
1

P ____. I, cos e. = d.
P ----. I. = d, cos

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which shows that on any given ray there really exists one, and only one,
inflection point and that the locus of all inflection points in a given
position of the moving plane m is a circle of diameter d;, centered on p,.
and passing through P. This circle is known as the inflection circle.
Figure 10-2 shows the inflection circle for the kinematic system of
Fig. 10-1.
The following alternative derivation of Eq. (10-2) is interesting.
By Eq. (3-17),
as = ap. + (asp.),. + (asp.),
(asP.)n = - (PS)w.., 2i, = - (P-+ S)w,.2

However,

and by Eq. (3-15),

From Fig. 10-3,

ap. = w.., 2d ;lp.

(as) .. = ap.(cos 8,)i, + (asp.),.
= w.., 2d;(cos B.)i, - (P-+ S)w,. 2

Rays

F10. 10-3

For the inflection point /,, Pr, = oo and (ar,),. = 0, so that

0 = w., 2d;{cos 8,)i, - (P-+ l,)w,. 2

(P-+ /,) = d,(cos 8,)i,

and

(10-2)

The unit vector i, may be omitted because d; is in effect a directed length.

The result obtained shows that d,, as defined by Eq. (3-15), is identical
with d, = dl/d!f',.. A more direct proof of this fact is given below.
Euler-Savary Equation. The first form of the Euler-Savary equation
is obtained by combining Eqs. (10-1) and (10-2), thus:
1
Os-+P

1
P-+S

1
P-+ I,

(10-3)

To make this equation more amenable to graphic treatment, it is transformed as follows.

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221

From Fig. 10-2,

Os~P = (Os~S)- (P~S)

and

I,

Hence

(P

8) - (1,

8)

(Os ~ 8) - (P ~ 8)
P~8
(P ~ 8) - (I,- S)
(Os- S)(I, ~ 8) = (P- 8) 2

and

(10-4)

which is the second form of the Euler-Savary equation. Since (P ~ 8) 2

is always positive, Os- 8 and I,~ 8 must both be either positive or
negative, which means that 0 8 and I, are always on the same side of S.

To Oc atRay

Ray a

Ray h

FIG. 10-4

For points 8 inside the inflection circle, I, ~ 8 is negative and, consequently, the center of curvature of the path is beyond S, relative toP.
Hence such points describe paths which are convex when viewed from P,
while the paths of points outside the inflection circle are concave. For
points 8 on the pole tangent, I, and 0 8 coincide with P. These kinematic
peculiarities are clearly illustrated in Fig. 10-4.
If the position of the inflection point on a given ray is known, then the
location of the center of curvature of the path of any point on the ray may
be determined either by computation, by the use of the Euler-Savary
equation, or graphically, by means of the following construction, shown
in Fig. 10-iia. Through 8 draw an arbitrary auxiliary line, and select

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on it at random a point Y. Connect I, with Y (line 1), and Y with P

(line ID- Through P draw a line parallel to line I, intersecting the auxiliary line at z. Through Z draw a line parallel to line II, and obtain 0 8 at
the intersection of this line with the ray s.
Ray

Os

Rays

(a)

(b)
FIG. 10-5

The correctness of the construction is proved by considering two sets

of similar triangles.
From the similarity of the triangles SI,Y and SPZ,
P-+S
!, -+

s-

Z-+S
y-+ s

and from the similarity of the triangles S0 8 Z and SPY,

Hence

Os-+S _ Z-+S
P-+S
Y -+S
(Os-+ S)(l,-+ S) = (P-+ 8) 2

Figure 10-5b shows t he same construction for a different relative disposition of the points P, S, and /,.
10-2. Analytical and Graphical Determination of d;

A moving point S and the center of curvature 0 8 of its path form a

conjugate pair of points.
Equation (10-1) shows that d; and the direction of Pn can be determined
if (a) one pair of conjugate point-s and the corresponding ray angle are
given, or (b) two pairs of conjugate points, on different rays, are specified.
Case a. The most usual example of this case is illustrated in Fig. 10-6.
Given are the conjugate points 0,.. and 0 1 for which the ray angle is zero.
(0, is the center of curvature of the path of Om. See Sec. 3-13.)

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Analytical Solution.

By Eq. (10-1),

_.!.

01-+ p
p-+ 0,.
d;
d =
(Or- P)(P-+ 0,.)
'
(01 -+ P) + (P-+ 0,.)

and

With 0 1 -+ P = p1 and P -+ 0,. = -

d =

this relation becomes

-p,.Ptf>,.
- Pt

d =

or

[>,.,

(10-5)

P!Pm

PI

(10-5a)

p,.

where the plus applies if the two polodes are convex, and the minus if one
polode is convex and the other concave. The result is thus identical with
d;, defined by Eq. (3-15).
Graphical Solution. The graphical solution, shown in Fig. 10-6,
consists in performing t he construction of Fig. 10-5 in reverse order.

FIG. 10-6

Case b. Specified are two pairs of conjugate points, Q and Oo on ray q

and S and 0 8 on ray s. The given included ray angle 89, = 89 - 8,
(Fig. 10-17).
Analytical Solution. By Eq. (10-1),

(oo ~ P + P~ Q) cos 8 = (os_: P + P~ s) cos 8,

(oQ: p + p~ Q) cos 8q = (os: p + p~ s) cos (8q9

or

8q,)

The above equation is solved for 89 , and d, is then found by Eq. (10-1),
applied to Q.
Graphical Solution. The problem may be solved graphically by
determining separately the inflection points I 9 and I,, using the construction of Fig. 10-5 in reverse order, and then erecting normals through
these points to the respective rays. The two normals intersect at I., the

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224

t.erminal point of d;. Alternatively, the problem may be solved by

Bobillier's construction, described next.
10-3. Bobilller's Construction; Collineation Axis
Bobillier's construction differs from the reverse construction of Fig. 10-5
only in that the auxiliary line and point Z are no longer arbitrary. Here
the auxiliary line coincides with the line through the moving points Q and
S, and point Z is located at the intersection of QS with 0Q0s. Because of
this particular combination of line and point, the two inflection points I 9
and I. are obtained simultaneously.
Figure 10-7 shows the application of Bobillier's method to the construction of the inflection circle for the coupler 3 of a four-bar mechanism
y
Pole tangent, p 1

'

'

p24~~~~----~~~~~M/~~~~~~
/z

Ray b

'
''

Pole normal, Pn

Constr.uction: (Os , 0,.)- Z -P13 - Y -(Ib,I.)

Fw. 10-7

(P = P 13). It can be seen that Z coincides with the instantaneous

relative-velocity pole P2 of the driving and driven links.
Collineation Axis. The line PZ in Bobillier's construction is known as
the collineation axis of the rays q and s. Thus, in a four-bar mechanism,
the line connecting the relative instant centers ? 13 and P2 of the physically separate links is the collineation axis of driving and driven links; it is
also referred to as the collineation axis of the mechanism.
Bobilller's Theorem. This theorem states that the angle between the
pole tangent and one ray is equal to the angle between the other ray and
the collineation axis of the two rays, both angles being measured in the
same sense. The usefulness of the t heorem in analysis and synthesis will
be demonstrated later in this chapter.
The correctness of the t heorem may be verified with the aid of Fig. 10-7.
<}: .p,P13Ib = <}: IJaPu
<}: hlaPu = <}: laP13p24

and

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because lines hla and P ~~P 21 are parallel.

1: p,P1ala

225

Similarly,

1: IbPi3P24

10-4. Hartmann's Construction

Hartmann's method of determining t he inflection circle is somewhat

indirect, in that it is based on the displacement velocity of the instant
center. It is applicable without difficulty in the most complex situations.
From Sec. 10-1, Eq. (d),

d _ dl _ dl dT
i - dtp - dT dtp
d;

or

Vp

(10-6)

=-

w.,

In Eq. (10-6), w.. is the angular speed of the plane m, and Vp the speed
with which the instant center of rotation changes its position along the
fixed polode or along the instantaneous pole tangent. Vp is therefore
called the displacement velocity of the instant center. As shown previously, d; is directed along the positive pole normal. Consequently, the
direction of V p along the pole tangent is. obtained by turning d; about P
through 90 in the sense of w... Conversely, with Vp known, the direction
of d,, and thus of the pole normal, is obtained by rotating v P through 90
against the sense of <o>.,.
In applying Hartmann's method, an arbitrarily assumed value is
assigned to the angular velocity w,., and the corresponding displacement velocity of the instant center is determined graphically, with the
aid of an auxiliary linkage. I n general, the absolute instant center P
of t he plane whose inflection circle is to be determined is defined by the
intersection of two moving rays. The auxiliary linkage consists, therefore, of links which are pivoted to the frame at appropriate points, and
rotate with the rays, and of blocks which are free to slide along these links,
in appropriate directions, but are pin-connected together at P. Thus
the velocity of the pin connection P, in the auxiliary linkage, is identical
with t he required pole-displacement velocity.
In the following examples, the auxiliary linkages have been drawn
separately, to facilitate the explanations. In practice, however, the
constructions are carried out on the original plan, a procedure which
saves time and enhances accuracy.
Illustrative Example 1. Construct the inflection circle for a moving
plane if the velocity pole, one pair of conjugate points (Sand Os), and
the direction of the pole normal are specified.
Solution. The original system is shown in Fig. 10-8a, and the auxiliary
linkage in Fig. 10-8b. The latter eonsists of the bar s, pivoted to the

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KINEMATICS AND DYNAMICS OF PLANE MECHANISMS

frame at 0,, and two blocks q and r, pin-connected together at P, with

q guided along the pole tangent p, and r free to slide along s. The point
on s, coincident with P, is denoted by X,.
The velocity of the "pin" P, corresponding to the arbitrarily assumed
angular velocity w... = } rad/ sec, ccw, is the required pole-displacement

(a)
/

Os

p,

//
/

Pon q and r
X, ons

P.

/
/
/

(b)

-----o,

------- ---0

---

-----

Vx ==-VJf - - o
--

-------

\ "'m 0.5 rad/sec

\.\ (assumed)

Up

d . - - 2up

"'m

Ponqandr
q X. on o

0,.

(c)
FIG. 10-8

velocity. The input velocity of the linkage is v8 = w... X (P--. S).

The velocity of X. is found by proportion, and the velocity of P follows
from
Vp

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Figure 10-8c shows the construction for the particular case of specified
centers of curvature of both polodes.
Illustrative Example 2. Construct the inflection circle for the coupler 3
of the four-bar mechanism of Fig. 10-9a. (Two sets of conjugate points
are prescribed: A and 02, Band o. )
~o~ 3

--

0.5 rad/sec (assumed)

~o~ 3 -0.5 rad/sec.

,Jr

...

(a)
Pon 5 and 6}
X 2 on 2
X 4 on 4

y-

(b)
FIG. 10-9

Solution. Figure 10-9b shows the auxiliary linkage. It consists of the

bars 2 and 4, pin-connected to the frame at 02 and o., respectively, and
the blocks 5 and 6, pin-connected together at P, with block 5 free to slide
on bar 2, and block 6 free to slide on bar 4. The points on bars 2 and 4,
coincident with P, are denoted, respectively, by X2 and X .

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The input velocities are VA = (.o)a X (P w-+ A) and vs =

vx, and vx, are found graphically, by proportion, and
Vp = Vx,

and

v,,

v...-,

X (P 13 --+ B);

Vp

follows frQm

(I)

+ Vpx,
+ Vp x ,

Vp

d . ---2vp
'

""S

"' 3 ~ 0.5 rad/sec

(assumed}

(a)

c.>s 0.5 rad/sec

Pon 5 and6
X 4 on 4
X 2 on 2

(b)
FIG. 10-10

Illustrative Example 3. Construct the inflection circle for link 3 of the

conchoidograph (Fig. 10-lOa). (The name of the mechanism derives
from the fact that any point on link 3 describes a conchoidal path.)
Solution. The auxiliary linkage consists of the extended slider 2, the
rotating link 4, pivoted to the frame at 04, and the two blocks 5 and 6,
pin-connected together at P, of which block 5 is free to slide along link 4,

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and block 6 along slider 2. The coincident points are again denoted by
x2 (on 2) and
(on 4). Since links 3 and 4 form a sliding pair, c.l4 = Wa.
For this reason Vx, = WaX (0.-+ x.). Since link 2 is in rec tilinea r
translation, vx, = VA = waX (P13-+ A). Vp follows from

x.

Vp = Vx,
Vp = Vx,

and

+ Vp x ,
+ Vpx,

Illustrative Example 4. Construct t he inflection circle for the bar 3 of

the mechanism shown in Fig. 10-lla. The mechanism consists of the
crank 2, the bar 3 hinged to the crank at A, and the stationary surface 1
which serves as a guide for bar 3.
Solution. The auxiliary linkage is shown in Fig. 10-llb. Its elements
are the bar 2, pivoted to the frame at 02, the bar 4, pivoted to the frame
at the point 04 which coincides with the center of curvature M of the
guiding surface 1, and the blocks 5 and 6, pin-connected together at P, of
which block 5 is free to slide along bar 2, and block 6 along bar 4. The
points coincident with P are X2 (on 2) and
(on 4). Since the auxiliary link 4 remains perpendicular to the link 3 during an elemental
displacement, c.l4 = wa, and consequently, Vx, =WaX (O.-+ x.). Also,
VA= wa X <P1a-+ A). Vpfollowsfrom

x.

Vp = Vx, + Vpx,
Vp = Vx, + Vp x,

and

Illustrative Example 5. Construct the inflection circle for the ternary

link 5 of the mechanism shown in Fig. 10-12a.
Solution. This is a most complex problem, and can only be solved in
two stages. The first state, shown in Fig. 10-12b, involves the determination of the absolute displacement velocity of the center P2&, which, to
avoid confusion, will be denoted by R . The auxiliary linkage for this
stage consists of the eccentrically pivoted bars 3 and 4 and the blocks 7
and 8. Bar 3 is pivoted to the frame at 0 3 = P 13, and bar 4 at 0 4 = Pu.
The blocks are pin-connected together at R, with block 7 free to 'slide on
bar 3, and block 8 on bar 4. The points on bars 3 and 4, coincident with
R, are denoted, respectively, by X 3 and X.. The input velocities are
Vc = W& X (Pu-+ C) and Vn = W& X (Pu-+ D). Vn follows from
Vn = Vx ,
Vn = Vx,

and

+ Vnx,
+ Vnx,

The second stage of t he construction, shown in Fig. 10-12c, is concerned with the determination of the displacement velocity of Pu. The
auxiliary linkage for this stage consists of the bar 10, pivoted to the
frame at 0, 0 = 02 and passing through R, the bar 6, pivoted to the frame
at 0 0 , and the blocks 11 and 12, pin-connected together at P = Pu,

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Inflection circle
Dp

d -

wa

311p

(a)

Pon 6 and 6
X,on4.X 2 on2

(b)

FIG. lQ-11

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KINEMATICS AND DYNAMICS OF PLANE MECHANISMS

with block 11 free to slide on bar 10 and block 12 on bar 6. The point
on bar 10, coincident with R, is denoted by Xto, and the points on
bars 10 and 6, coincident with P, are shown as Yto and Ye, respectively.
The input velocities are VB = W6 X (Pu --. E) and Vx 10 = component of;vR
normal to OtoR. Vp follows from
Vp = Vy,

and

Vp = Vy 10

+ Vpy,
+ Vpy

10

10-5. The Inflection Circle for the Relative Motion of Two Moving Planes
Thus far the discussion centered around the construction of the inflection circle associated with the absolute motion of a plane. Occasionally
it is of interest to determine the curvatures of paths traced by the points
of one moving plane on another plane, also in motion. The inflection
circle associated with the relative motion of two planes is constructed
simply by considering the kinematic inversion in which the particular

o,.
Pn~~~~=:::::=\~~~~~~:J~~:~::~P~.~~::==~~~C<;P"
(frel.m)
mre.1 f)
Or

d,({ rei. m)

d,(m rei. f)

d, points in the sense of the respective pole normal

FIG. 10-13

reference plane is held stationary, and otherwise following the procedure

described in the preceding section. It should be noted that, as shown in
Fig. 10-13, the two inflection circles involved (motion of m relative to f,
and motion off relative tom) are polar images of each other, a fact which
emerges from Eq. (10-5) .
Illustrative Example. Construct the inflection circle associated with
the motion of the follower 3 relative to the cam 2 in Fig. 10-14.
Solution. Figure 10-14b shows the auxiliary linkage for the inversion in
which the cam is held stationary. The linkage is basically the same as the
one discussed in Illustrative Example 4 of the previous section and shown
in Fig. 10-11. The input velocities for the inversion are
VB = waz X

and

Vx, = Waz

X (04 __.X.).

Vp

and

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(P23 __. B)

:+ Vpx,
+ Vpx,

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10-6. Application of the Inflection Circle to Kinematic Analysis

Since the inflection circle provides the means for a purely geometrical
determination of path curvatures, it becomes possible to analyze complex
mechanisms without recourse to the indirect analytical and graphical
methods of Chap. 6.
1 rad/sec
(assumed)

W32 =

.....--

d, of a rei. 2

(a)

o.<A>

-- -- -- --

w.12 = 1 radfsec

-------- ---

--------- ---

Pon 5 and 6}
X 1 on 1
on 4

x.
(b)
FIG. 10-14

Dlustrative Example. Figure 10-15a shows the skeleton of a certain

steam-valve actuating mechanism whose input crank 2 revolves at constant speed. Required are the angular acceleration of link 4 and the
acceleration of C.

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Solution. With link 4 straight, as shown, the solution by means of

conventional methods is rather difficult, and the problem is best solved
with the aid of the inflection circle. After the path curvature of B has
"' l rad/sec
(assumed)

y-

02

(a)

w6 =we 1 radfaec

vx5 ~vcw 4 (PC)

vx 6 =w,(06 P)

(b)
FIG. 10-15

been determined, either graphically or by computation

[(Os

B)(lb-+ B)

(P

B) 2 )

the problem becomes elementary.

With link 4 curved, as shown in Fig. 10-16a, the problem may be solved
either with the aid of the inflection circle or by the substitution of the

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ADVANCED KINEMATICS OF THE PLANE MOTION

(a)

Vp

o.

(b) Kinematically equivalent mechanism

FIG. 10-16

instantaneously equivalent low-complexity mechanism of Fig. 10-16b.

The former approach is much less cumbersome.

10-7. Polode Curvature (General Case)

The shapes of the polodes, which, by rolling on one another, reproduce
a given motion, depend on the characteristics of the constraints. The
nature of this relationship is investigated in the following sections.

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In Fig. 10-17, the plane m, defined by QS, is constrained to move in a

certain manner by virtue of the fact that the centers of curvature 0 0
and Os of the paths of Q and S, respectively, are made to traverse the
prescribed loci EQ andEs. (The locus of the center of curvature of a given
curve is known as its evolutc.)
P,

I
I
I

(b)

o,

,'

"'Ps

I
I

... S"
(a p),.

(a)
(ap).,.'~' Ps

(ap),
1>

8.
8.

c.Q
P.
(c)
FIG. 10-17

Although the curvature of the fixed polode is a. geometrical property

of the system, it will be determined here indirectly, i.e., by considering
the displacement characteristics of the velocity pole:
vp2
Pt = (ap),.

w,. 2d;2
(ap),.

(a)

where Vp = displacement speed of velocity pole

(ap),. = normal component of its displacement acceleration (not to be.
confused with acceleration of point P ,., ap. = w,. 2d;)

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ADVANCED K!KBMATH'S OF TI!B PLANE MOTION

In order to evaluate Eq. (a), ar will be computed with the aid of the
same auxiliary linkage that was used in determining Vp by Hartmann's
method, by solving the equations
ap = ax,
ap = ax,

and

+ apx,
+ apx,

with an arbitrarily assumed w,., which, to simplify the calculations, will

be assumed constant. Hence, in the following, dw/dr = 0.
The conventions relating to the positive and negative sense along a
given ray, and at right angles to it, were laid down in Sec. 10-1. Since,
in Fig. 10-17, which forms the basis of the subsequent derivations, all
relevant directed lines are positive, the diacritical overbar will be omitted
in the calculations. It will be reintroduced in the final expressions.
The component of ap, perpendicular to 0 8 -+ S = p8 , consists of two
parts, viz., the tangential component of ax, and the Coriolis component
of P relative to X,:
(ap) 0 .,ppa = (ax.),+ (aPx,)..,.
(b)
(ax.) 1 = dvx./dr is computed as follows:
vx, = Wp8 (0s---+ X,) = wm(Os---+ X,) rs
Ps

(c)

because wp8 Ps = w,.r 8 = vs; and

(ax,) 1

_ dvx, _ dvx, dl _
dr - dl dr =

Vp

dvx, _
d dvx,
dl - w,. i dl

w 2d [rs d(Os---+ X,) _ (Os---+ X,)rs dps

"' ' Ps
dl
Ps 2
dl

+ Os---+ X, drs]
Ps

(d)

dl

The three derivatives in Eq. (d) may be expressed in terms of the given
quantities in the following manner:
Since X, and S are fixed points on the ray s,
d(Os---+ X,)
d(Os---+ S)
dl
dl
But from Fig. 10-la,
dps = Pa du
[dps is positive because

(0~---+

S')

>

(0 8 -+ S) .) From Fig. 10-lb,

(Os-+ P) du = dl cos 8,

Hence

d(Os---+ X,)
dl

dps
dl

p,,

= 0 s ---+ p

cos

e.

(e)

Also, from Fig. 10-lb,

(f)

- sin 8,

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KINEMATICS AND DYNAMICS OF PLANE MECHANISMS

[drs is negative because (P'--+ S')

< (P--+ S).]

With

Os-+X, = Os-+P = Ps- rs

(Os--+ S) - (Os--+ X,) = P--+ S = rs

and

substitution of Eqs. (e) and (f) into (d) yields

( ax,) , =

"''"

2
[r
s
Ps cos 8, - Ps - r s sm
. 8, ]
"" 2
Ps PS - Ts
PS

2 -1

(g)

The Coriolis component (aPX.) ... is calculated as follows:

(apx.) ... = 2wp,PPX,

From Fig. 10-17,

Vpx, = Vp sin 8,

(apx,) ..,.

Hence

. 8, = w,. 2d; -2rs SID

. 8,
= -2rs WmVP SID
Ps

Ps

(h)

Equations (g) and (h) may now be substituted into (b), giving

rs 2 p,.
_
_ cos 8,
Ps Ps - rs

(ap).,.,PP = w,. 2d, ( 2

+ 3-rs Ps
_-

Ps .
sm 8,)

(i)

or
(ap)PPPB = Wm 2d;Ks
(ap).,.,PPQ = W,. 2d;KQ

and similarly,
From Fig. 10-17c,

Wm 2d;K S

(j)

W,. 2d;KQ

aP = cos (8, - o) - -co_s..:;;(;..,8...:.

q --=-~
a)
ta li = Ko cos 8, - Ks cos 8q
n
Ks sin 8q - Ko sin 8,

Hence

(k)
(l)

From Fig. 10-17c,

"''"(2d,K s /i) SID
. li
cos 8' d
Ks tan
li
Wm 2 ,

cos 8,
sm 8, tan li

. li =
( ap) n = ap SID
_
-

which, with Eq. (l), reduces to

2d

_
( ap ) n -

w,. '

Ko cos 8, - Ks cos fJq

.
Sin

(8q - 8, )

(m)

Equation (a) combined with (m) yields the final result

Pt

d, sin (8 9 - 8,)
Ko cos 8, - Ks cos 8q

(10-7)

where the coefficients K 0 and Ks are defined by Eqs. (i) and (j).
The radius of curvature p1 of the fixed polode, as determined by
Eq. (10-7), may be positive or negative. A positive result shows that

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ADVANCED KINEMATICS OF THE PLANE MOTION

239

p1 = 0 1 -t P points in the direction of the positive pole normal, which

means that 0 1 and the inflection circle are on opposite sides of the pole
tangent.

10-8. Polode Curvature (Special Case); Hall's Equation

Equation (10-7) is an expression for the polode curvature in the most
general case. Consider now the special case where the path curvatures of
both moving points, denoted in the following by Y and Z, have instantaneously stationary values; that is, dpyjdl = dpz/dl = 0. It is obvious
from Eq. (e) that, to satisfy this condition, the evolutes Ey and Ez must
have cusps at the corresponding instant; that is, p,, = Pz = 0.
Equation (10-7) reduces, therefore, to
d; sin (IJ. - Ov)

_
PI = 3f

z_

pz

pz

3ry -

sin IJ, cos IJ11

With the introduction of

PY

(n)
-

PY

cos IJ, sin IJ11

k = s~n (IJ.
011)
sm (IJ. - 011 )

(o)

the expression for Pt is further simplified, and

2d

p -

'

I - (~: - 1) (1 + k) + (?f; - 1) (1- k)

2d;
3

=-----------~--------~----------~------

3(?-t Z)- 1] (1
[ Oz -t Z

+ k) + [

(10-8)

(P-t Y)- 1] (1- k)

Qy -t Y

This important equation was first reported in the literature by A. S. Hall. 1

In the particular case of stationary path curvatures, the polode curvature may also be expressed in terms of a ratio <R (whose physical significance will be made clear in Sec. 10-10) and its derivatives, in the following
manner.
By definition,
Qy-t p
(p)
<R=
P-t y
d<R
1
d(Oy -t P) + 0y ~ P d(P ~ Y)
d., =
P -t Y
d.,
(P -t Y) 2
d.,
From Fig. 10-18b,
d(Oy ~ P) = (Oy ~ P) d., tan 8u
d(P -t Y) = - (Oy ~ P) d., tan Ov

and

A. S. Hall, Jr., Inflection Circle and Polode Curvature, Tran$. Fifth Conf. on
Mechanuln$, October, 1958, pp. 207- 231, Purdue University, Lafayette, Ind.
1

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Hence

KINEMATICS AND DYNAMI CS OF PLANE MECHANI SMS

d<R

drj

Or -+ P
p-+ y

(Or-+ P )! ]

- (P-+}7)"2 tan 9~

= (<R - <R ) tan 9~

2

(q)
d <R2
(1 - 2<R) ~tan 9,
d11 =
d.,
-'
2

Further,

+ (<R -

<R2 )

1
~
cos 2 9~ d.,

P,
87

+d'I)-B;e~

d8, eB; -B:~ ;d'f/ -~

(a)

(b)

FIG. 10-18

From Fig. 10-18a,

d9~

and
Also

PI

Or-+ Y

9~

- 9~

= d., -

d~

- Or-+ p d

(Or-+ P)

COS

9~

Tl

+ (P-+ Y) =

(Or-+ P)

<R-1
<R

Consequently,
d 1<R
d<R
d., 2 = (1 - 2<R) (l;j tan 9~

+ (<R -

otgicized by

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<R')

I2

(t

cos 9M

<R
1 Or-+
<R - 1 COS 911
PI

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(r)

ADVANCED KINEMATICS OF THE PLANE MOTION

241

If, in Eq. (r}, cos 9v is expressed in termiS of tan 9v, and the latter in
terms of diR/dTJ and IR by Eq. (q}, then the following expression results:
[ffi2(<R - 1)2 + (<ll')2)1
(<R - 1)3[<R2(<R - 1) - 2(<R')2 + <ll<ll"] (Oy---+ Y)

(10-9)

where
and
The identical result would be obtained by substituting

r = Oy---+ P

rI

d(Oy---+ P)
dTJ

= ---'----'--;-__:_

into Eq. (2-11}, which expresses t he radius of curvature in polar

coordinates.
10-9. Po1ode Curvature in the Four-bar Mechanism; Coupler Motion
The polodes associated with the motion of the coupler 3 relative to the
frame 1 are r 1 = 1r1 and 11'm = 11' 3. It is ohvious from Fig. I0-19a that

(a)
4

(b)
Fro. 10-19

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KINEMATICS AND DYNAMICS OF PLANE MECHANISMS

Hall's equation may be used directly for the computation of the curvature
of 1r1:

P1

2d,

= ~~--~~--~----~--~~~~~--~------

+ k) + [3(P-+ A) -

3(?-+ B) - 1] (1
[ O.-+B

where

02-+A

1] (1 - k)

(10.10)

k = sin (e. + e2)

sin (e. - e2)

(10-11)

Illustrative Example. D etermine the polode curvatures for the coupler

3 of the four-bar mechanism of Fig. 10-20.
13

/
/
/

/
/

/
/

Fro. 10-20

Here P-+ B = 1.3 in., 0 4 -+ B = -2.3 in., P-+ A = 1.7 in.,

and 02-+ A = -1.2 in.
Construction of the inflection circle yields the following particulars:
d, = 4.22 in., e. = 61, e2 = 346 = - 14. Hence, by Eq. (10-11),

Solution.

k = 0.755

and by Eq. (10-10),

P1 = -2.45 in.

The radius of curvature of 1rs is calculated by Eq. (10-5), with m = 3

and f = 1:
. = P3(-2.45)
4 22
and
jis = - 1.55 in.
iis
2.45

The polodes in the vicinity of ?13, with the centers of curvature denoted
by 0.,1 and O.,s, respectively, are shown in Fig. 10-20.

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ADVANCED KINEMATICS OF THE PLANE MOTION

10-10. Polode Curvature in the Four-bar Mechanism; Relative Motion of

the Output and Input Links; Determination of the Output Angular
Acceleration and Its Rate of Change
An inspection of Fig. I0-19b reveals that Hall's equation, with appropriately modified symbols, may be used to determine the curvat ure of the
polode 1rz, associated with t he motion of the output link 4 relative to the
input link 2:
2d
-

Pz =

where

3(P-+ B)_ 1] (1

A-+ B
'
k = sin (fJa + fJ1)
sin (fla - fJ1)

+ k) + [ 3(P-+ O.)
Oz-+ o.

_ 1 ] ( I_ k)

(10- 12)
(10-13)

I t should be noted t hat, since t he discussion is concerned with the m otion

of link 4 relative to link 2, the positive sense along bars 1 and 3 is the
sense from P = Pz to t he corresponding points on link 4, i.e., from P to
0. and from P to B, respectively.
Equation (10-9), with a suitably altered notation, is also applicable in
this case. Comparison of Figs. 10-18 and 10-19b shows that drp2 = -d.,
and that 02 corresponds to 0y and
to Y. Hence

o.

<R = _ 02 -+ P = Oz-+ P = drp = ~

p -+ 04
04-+ p
drp2
W2

( 10- 14)

Thus, in connection with th e relative motion of the output and input

links, <R represents th e velocity ratio of the m echa nism. (<R may be
positive or negative.) Also,
(10-15)
where
Equation (q), with a modified notation, yields

<R' = dzrp. = (<R2 - <R) tan fJI

(10-16)

drpz 2

<R' _ d<R dr _ 1 d<R

- dr drp2 - ;; d r

Also

For a constant input angular velocity wz, from E q. (10- 14)

d<R
a4
dr = wz

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KINEMATICS AND DYNAMICS OF PLANE MECHANISMS

so that

<R'

= ( <R-

- t:H ) tan 8 1

0'4
= --;;

(l0-l7)

W2"

and

(10-18)

Equation (10-14) relates the position of the relative instant center P 24

to the instantaneous velocity ratio <R of the mechanism.
Equation (10-17) shows that, in a mechanism with a uniformly rotating
input link, the tangent of the angle e, between the pole normal and the
fixed link is a measure of the output angular acceleration.
Finally, a combination of Eqs. (10-15) and (10-18) yields an expression which makes it possible to determine the time rate of change of the
output angular acceleration.

p.,

FIG. 10-21

Although these equations may be used in the analysis of a given mechanism, their chief application is in the field of synthesis, particularly in
function generation.
Illustrative Example. The driving crank 2 of the four-bar mechanism
of Fig. 10-21 revolves at a constant speed of w2 = 2 rad/sec, ccw. Determine w., ac, da./dr, fJ2, and P
Solution. The direction of the pole tangent (and consequently of the
pole normal) is determined by Bobillier's theorem, i.e., by making the
angle formed by link 1 and the pole tangent equal the angle formed by the
collineation axis and link 3. By measurement,
and

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ADV.-\:'>CED KINEMATICS OF THE PLANE MOTI0:-1

24;)

The diameter of the inflection circle may be determined graphically or

by calculation, using the Euler-Savary equation in the form
(P ~ 8) 2 = (0 8 ~ S)(I, ~ S) = (Os ~ S) [(P ~ S) - d, cos ll,]
Hence
(?24 ~ 04) 2 = (02 ~ O.)[(P2 ~ 04) - d, cos ll1)

where

PH~

o. =

6.57 in.
0 2 ~ 0 4 = 4.00 in.
A ~ B = 1.87 in.
P24 ~ B = 5.20 in.
With these values:
By Eq. (10-14), <R = 0.39
By Eq. (10-17),
By Eqs. (10-13) and (10-12),

and

d, = 16.9 in.
w. = 0.78 rad/ sec
a. = 3.68 rad/ sec 2
'P2 = 10.12 in.

(Since p2 is positive, the center of curvature 0 .. 2 of 1r2 lies on the side of

the pole tangent opposite to the inflection circle.) By Eq. (10-5), with
m = 4 andf = 2,
P = 25.4 in.
By Eq. (10-15), with ffi = 0.39 and <R' = 0.92,

<R" = 0.72
and finally, by Eq. (10-18),

dd:

= 5.76 rad/ sec 1

10-11. Freudenstein's Collineation-axis Theorem; 1 Carter-Hall Circle 2

Apart from the important property on which Bobillier's theorem is
based, the collineation axis possesses a number of other characteristics
which are useful in mechanism design.
Freudenstein's Theorem. In a four-bar mechanism, in the phases corresponding to t he extreme values of the velocity ratio, the collineation
axis is perpendicular to the coupler. (In these phases, if w2 = const,
a = 0.)
Proof. Equation (10-16) states that <R' = (<R2 - <R) tan 01 Hence,
if <R = <Rmu or <R = <Rmin, and consequently <R' = 0, ll1 = 0 also. Thus,
for the conditions stipulated, the pole normal coincides with the fixed
F. Freudenstein, On the Maximum and Minimum Velocities and the Accelerations
in Four-link Mechanisms, Trans. A SME, vol. 78, no. 4, pp. 779-787, 1956.
W. J. Carter, Kinematic Analysis and Synthesis Using Collineation-axis Equations, Trans. ASME, vol. 79, no. 6, pp. 1305-1312, 1957, with discussion by A. S.
Hall, Jr.
1

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KINEMATICS AND DYNAMICS OF PLANE MECHANISMS

link, the pole tangent is perpendicular to the fixed link, and by Bobillier's
theorem, the collineation axis is perpendicular to the coupler.
Carter-Hall Circle. Another kinematic property which may be
ascribed to the collineation axis is the following. If a family of four-bar
mechanisms is constructed on the same fixed base line 0 2 -+ 0 4, whose
members have the same instantaneous velocity ratio <R, the same first
derivative <R' = d<R/ diPz, and the same second derivative <R" = d 2<R/di{J 2 2,
then the instant centers Pu of the couplers lie on a circle which is centered
on the fixed link and passes through the common pole P 24

Carter-Hall circle

"1 =/11

P,

-oo

t)s=lls -90'

FIG. 10-22

Proof. In Fig. 10-22, by Bobillier's theorem,

1: (pole tangent-link 1) = 1: (link 3-collineation axis) = 8, - 90 = t? 1

1: (pole tangent-link 3) = 1: (link 1-collineation axis) = 8a - 90 = t?a
By inspection,
Hence

b.P24BO.

b.Pt.PuO. - b.PuPuB

(P24 __... 04)(P24 __...B) sin (t?a - t?,)

= (P24- O.)(P24- Pu) sin t?a - (P24--. B)(Pt4- P u) sin ~1
and
p
p _ (PH--. O.)(Pu--. B) sin (t? 3 - t?,)
(a)
24 13
(P2- 04) sin t?a - (Pu- B) sin t?,
-

Hall's equation (10-12), applied to the relative motion of link 4 with

respect to link 2 and with k expressed in terms of the angles t?, and t?a,
reads

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ADVANCED KINEMATICS OF THE PLANE MOTION

~2

2d;

~-----------=~------------~----------------

3(Pz.~ B)_ 1] [ 1 _sin (~3 + ~~>]

A~B
sin (~a - ~~)

+ [3(P2t ~ O.) _ 1] ( 1 + s!n

Oz ~ 0.
sm

(~a+ ~~)]
(~a

(b)

~t)

The Euler-Savary equation, applied to link 1, yields

(Pz,

0,) 2 = (02 ~ O.)[(Pz---+ O.) - d; cos 61]

= (Oz ~ O,)[(Pz---+ O.) + d; sin ~d
Pz. ~ o.
(Pz. ~
+ d; sin ~I

o.)

from which

Oz~o.

(c)

Pz.~o.

and, in a similar manner, for link 3,

Pz---+ B
A---+ B

(Pz,

~ B)

+ d; sin ~a

(d)

Pz---+ B

Substitution of Eqs. (c) and (d) into (b) and rearrangement of terms yields
the following expression:

3(Pz ---+ O,)d;

sin~~

cos ~ a sin ~3 sin (~a - ~~)

Pz.~B = ------~~--~~---7----~--~--~~--~-----

(Pz

~ 04) sin (~3 - ~~)

(2 - ~)+3d; sin~~ COS~~

sin

~3

(e)
If now the right-hand side of Eq. (e) is substituted for Pz ~B in Eq. (a),
the expression is simplified to

(f)

By Eq. (10-14),
Hence

Oz ~ Pz.
Oz ~ 0.

<R(O.---+ Pz.)
= (Oz ~ Pz,) + (Pz, ~ 0,)
= <R(O. ~ P24) + <Pz ~ 0,)
= (1 - <R)(Pz. ~ 04)

(g)

Equations (c) and (g) combined yield

d;

sin ~~

(Oz---+ 04) ( 1

! <R)

(h)

With the aid of Eqs. (g) and (h), Eq. (f) is transformed to

3<R(Oz---+ 0,)

Pu ~ Pu =

(1 - <R) [ (1 - <R) ( 2 -

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eos

u3

(10-19)

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KINEMATICS AND DYNAMICS OF PLANE MECHANISMS

Equations (10-14) to (10-16) show that mechanisms which have the same
instantaneous values of CR, CR', and CR" have, ipso facto, t he same inflection
circle and the same polode curvature. Hence, for such a family of
mechanisms,

P24 ~ Pu

--=-:....._-=--.:.: =

cos

~3

co nst = d.

(10-20)

which is the equation, in polar coordinates, of a circle having the characteristics stated above.
If p2 is eliminated between Eqs. ( 10-15) and (10-19), then, after som e
lengthy and tedious algebraic operations, the following expression is
obtained which relates CR" to quantities directly determinable by
construction :

Illustrative Example. For the mechanism of Figs. 10-21 and 10-22,

0 2 - 0. = 4 in., CR = 0.39, 81 = 104.5, and d. = 5.6 in.
With these values, Eq. (10-21) y ields CR" = 0.72, which agrees with the
result obtained in the illustrative example of Sec. 10-10.

10-12. The Circling-point Curve (General Case)

The last item to be discussed in this chapter is the circling-point curve,
or cubic of stationary curvature, the locus of all those points on a moving
body wh ose paths, at the instant considered, have stationary curvature.
This curve, too, is of importance in synthesis, and particularly in the
design of multilink mechanisms with prolonged dwell requirements for
the output link.
Let Y denote a point on the circling-point curve, and apply the EulerSavary equation to it:

(Oy ~

or

(Oy----+ Y)(Iy ~ Y) = (P ~ Y)2

Y)[(P - Y) - d, cos Oy) = (P----+ Y) 2

which, with the substitutions 0y- Y

= py and P----+ Y = fy, becomes

(a)

(As in Sec. 10-7, the overbar indicating directed line elements will be
omitted in the calculations, but reintroduced in the final expression.)
If the path curvature of Y is to be instantaneously stationary, then
dpy =

dl

where l = elemental displacement of the pole P.

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ADVANCED KINEMATICS OF THE PLANE MOTION

Differentiation of Eq. (a) yields, therefore,

dry
d(d;)
Pr [ dl - dl cos 0~

+ d, sm
.
0

d011 ]
dry
2
11 dl
= ry dl

(b)

From Fig. 10-18,

dry

(if= - sin 011

(c)

d.,
dO.
d~
=- - dl
dl
dl

(d)

d~

1
dl

(e)

Ty d({J,.
ry 1
d1J
-= - - = - py dl
py d;
dl

(f)

PI

and

(The relation d, = dljdqJ,. = upjw,., was derived in Sec. 10-1.)

d0 11 Ty 1
1
dl = py d,- p;

Hence

(g)

Introduction of the expressions (c) and (g) into (b) leads to

py [ - sin 011

d~;) cos 0 + d; sin 0 (:~ ~.

11

11

P:) J=

- 2rr sin 011

(h)

Finally, elimination of py between Eqs. (h) and (a) yields the equation of
the circling-point curve in polar coordinates, with the variables fy and 011 :
fy

sin 2011

2(2 -

d;) .
PI sm

3d;
_

~~--~~----~~~~~---011 -

d(d;)
3d; dl cos Oy

sin 2011
At sin 0~
N cos 011

(10-22)

where M and N are constants in the phase considered.

As a preliminary step to the evaluat ion of Eq . (10-22), it is necessary
to determine the instantaneous rate of growth of the diameter of the
inflection circle with the phase of the moving body; that is, d(d;) I dl. The
computation becomes feasible if, as shown in Fig. 10-17, the path curvatures of two moving points are given.
The following expressions, relevant to t he present investigation, were
derived in Sec. 10-7, with the assumption w,.. = const:
Equation (m), normal component of the pole-displacement acceleration:
_
( ap ) n -

d KQ cos

w,.

o. -

Ks cos Oq

. (0q - 0 )
Sln

(i)

Equation (l), angle between pole-displacement a cceleration and pole-

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KINEMATICS AND DYNAMICS OF PLANE MECHANISMS

displacement velocity :
~

won

~ =
u

KQ cos 9, - K 8 cos 99
K s sm
. 9 - K Q sm
. 8,
9

(j)

with KQ and Ks defined by Eqs. (i) and (j) of Sec. 10-7.

From Fig. 10-17b,
(ap),. = w 2d Ks sin 99 - Kq sin 9,
(a P ) 1 = tan
6
"'
sin (99 - 9,)
dvp
dvp dl
dvp
(ap), = dr = dl dr = dl Vp

However,
Since Vp

(k)

(Z)

w.,.d, and w,. is constant,

dvp
d(d,)
(if = w,. dl

(m)

Finally, the combination of the last three equations yields

d(d,)

dl

Ks sin 99 - KQ sin 9,
sin (99 - 9,)

(10-23)

FIG. 10-23

Normally, as shown in Fig. 10-23, the circling-point curve is a looped

third-order curve whose branches cross at right angles at the instant
center and then continue to infinity in an asymptotical approach to a line
which makes an angle 9.., with the pole normal. 9., is obtained by
equating to zero the denominator in Eq. (10-22):
9.., = arctan ( -

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Z)

(10.:24)

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ADVANCED KINEMATICS OF THE P LANE MOTION

The asymptote itself does not pass through the instant center.
n is determined as follows:

Its offset

8~)

lim ry sin (8., -

n =

251

9.-s..

. sin 28~ sin (8., - 8~)

1lm ~~~~~~~~
9.-9., M sin 8~
N cos 811

which is indeterminate for 811 = 8.,. However, if the numerator and

denominator are differentiated separately with respect to 811 , the limiting
value is found to be
sin 28.,
n = ~~~--~~--~
(10-25)
N sin 8., - M cos 8.,
The circling-point curve degenerates into a circle and a straight line
whenever d, has an extreme value. By Eq. (10-22), if d(d,)/dl = 0,
N = 0 also, and Eq. (10-22) reduces to

( ry -

2 COS
811)
M
s1n

"~

where ry- (2 cos 811 )/M = 0 = equation of a circle of diameter 2/M,

centered on pole normal and passing through
instant center P
sin 8~ = 0 = equation of a straight line coincident
with pole normal
10-13. The Circling-point Curve for the Coupler of a Four-bar Mechanism
In a four-bar mechanism, the two coupler hinges are obviously points
on the circling-point curve. Hence, if their polar coordinates are substituted into Eq. (10-22), two independent equations are obtained, from
which the constants M and N can be calculated. With M and N known,
the circling-point curve is easily constructed.
Illustrative Example. Draw the circling-point curve for the coupler of
the four-bar mechanism of Fig. 10-24.
Solution. The positions of t he pole tangent and pole normal are found
by Bobillier's theorem, and the polar coordinates of A and B are determined by measurement:

r ..
ra

=
=

4.27 in.
5.75 in.

e..

= 145.5
8a = 108.1

These two pairs of values, substituted into Eq. (10-22), yield

-0.0273

and

N = 0.2-H\0

\Vith these constants, points on the curve are located as shown in detail

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252

KINEMATICS AND DYNAMICS OF PLANE MECHANISMS

o. =

for p.oint C, whose polar angle

rc

125.

By Eq. (10-22),

sin 250
-0.0273 sin 125 + 0.2460 cos 125

5 .44

.
In.

Figure 10-24 shows clearly the degree to which the actual path of a
point on the circling-point curve may be approximated, in the vicinity of
the phase considered, by the osculation circle. For the point C, the two
B

Osculation
circle at C-..

'

\s
Oc

--.

_6- J

Pz ~----\-~l'?'"l':"/'7"?,.,.,.,.,.,.;.,.,.,..,.,~0
1

F 10. 10-24

arcs are practically indistinguishable from one another for about 70 of

input-crank rotation. Hence, if two links 5 and 6 were added to the
mechanism as shown, the output link 6 would remain sensibly at rest during this period.
The location of the hinge between links 5 and 6 which coincides with
the center of curvature of the path of C may be found either graphically,
after constructing the inflection circle, or by caleulation, as follows :

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ADVANCED KINEMATICS OF THE PLANE MOTION

253

T he Euler-Savary equation, applied to A, yields the diameter of t he

inflection circle:

(P1a- A) 2 = (02- A)(la- A)

where P 13 -

(02- A)[(P13- A) - d, cos Ba]

4.27 in.
02 - A = 1.00 in.
B. = 145.5
giVIng
d, = 16.96 in.
The Euler-Savary equation, applied next to point C, yields the required
radius of curvature:
=

(P1a- C) 2

(Oc- C) [(Pu- C) - d, cos 8,]

where P1a- C = 5.44 in.

d, = 16.96 in.
8, = 125
giving Oc- C = 1.95 in.

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