Kinematic Analysis of Mechanisms. Relative Velocity and Acceleration. Instant Centers of Rotation
Kinematic analysis of a mechanism consists of calculating position, velocity and acceleration of any of its points or links. To carry out such an analysis, we have to know linkage dimensions as well as position, velocity and acceleration of as many points or links as degrees of freedom the linkage has. We will point out two different methods to calculate velocity of a point or link in a mechanism: the relative velocity method and the instant center of rotation method.