A Proposal for a Formula of Absolute Pole velocities between Relative Poles
Mechanism and Machine Theory 114 :74-84 (2017)
Abstract
In this paper is proposed a vectorial equation that relates the absolute pole velocities of three moving rigid
bodies with a planar motion of general type. From this equation, it is possible to obtain a relation between the pole
velocities of the three mathematical points, related between them by the Aronhold-Kennedy Theorem. The formula
allows the calculation of one of the pole velocities from the other two, being known the angular velocities and
accelerations of the moving bodies. It is applicable regardless of whether the instantaneous centers (poles) are located
on physical points on the linkage or not. Illustrative examples of the application of the formula on representative planar
linkages are included. In the final section, is discussed a similar concept associating a mathematical point to the
curvature centers of a point’s path, so called centroma.