Theory of Machine
In the below figure, PC is the connecting rod and OC is the crank making an angle θ with the line of stroke PO and rotates with uniform angular velocity at ω rad/s. The Klien's acceleration diagram for determining the acceleration of the piston P is shown by quadrilateral CQNO. The acceleration of the piston P with respect to the crank-pin C is given by
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.
A rigid link rotates instantaneously relative to another link at the instantaneous centre for the configuration of the mechanism considered.
The two rigid links have no linear velocity relative to each other at the instantaneous centre.
EXAMIANS