Theory of Machine
The acceleration of a particle at any instant has two components i.e. radial component and tangential component. These two components will be
The two rigid links have no linear velocity relative to each other at the instantaneous centre.
A rigid link rotates instantaneously relative to another link at the instantaneous centre for the configuration of the mechanism considered.
The velocity of the instantaneous centre relative to any third rigid link is same whether the instantaneous centre is regarded as a point on the first rigid link or on the second rigid link.
EXAMIANS