Theory of Machine
The acceleration of a flat-faced follower when it has contact with the flank of a circular arc cam, is given by

ω² r₁ sinθ
ω² (R - r₁) cosθ
ω² (R - r₁) sinθ
ω² R cosθ

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Theory of Machine
The magnitude of velocities of the points on a rigid link is

Directly proportional to the distance from the points to the instantaneous center and is perpendicular to the line joining the point to the instantaneous center
Directly proportional to the distance from the points to the instantaneous center and is parallel to the line joining the point to the instantaneous center
Inversely proportional to the distance from the points to the instantaneous center and is parallel to the line joining the point to the instantaneous center
Inversely proportional to the distance from the points to the instantaneous center and is perpendicular to the line joining the point to the instantaneous center

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