. This chapter is a cornerstone of kinematic analysis, moving beyond basic displacements to determine how fast parts of a machine are moving at any given "instant". Instantaneous Centre (I-centre)
is a point, common to two bodies, that has the same velocity in each body. At a specific moment, the bodies behave as if they are rotating around this point relative to one another. 1. Identify the Number of Instantaneous Centres Theory Of Machines By Rs Khurmi Solution Manual Chapter 6
at pin joints. This is the relative angular velocity between two connected links multiplied by the radius of the pin: At a specific moment, the bodies behave as
This rule states that if three bodies move relative to each other, their three relative instantaneous centres must lie on a straight line. This is the primary tool for finding "hidden" or virtual centres. 3. Calculate Linear and Angular Velocity This is the relative angular velocity between two
Some points are obvious, such as pin joints between two links. Kennedy's Theorem (Three Centres in a Line):