Planar Kinematics

Abstract

In this chapter we study the geometry of planar displacements. The position of a moving body is defined by a coordinate transformation. Associated with each of these transformations is an invariant point called the pole of the displacement. We examine the relationship between relative positions of points in the moving body and the location of this pole. We also consider the triangle formed by the poles of two displacements and the pole of their composite displacement. The geometry of this triangle describes the relationship between the three displacements.