Theory of Machine
The Klein's diagram is useful to find

Acceleration of various parts
Velocity of various parts
Displacement of various parts
Angular acceleration of various parts

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Theory of Machine
A point B on a rigid link AB moves with respect to A with angular velocity ω rad/s. The total acceleration of B with respect to A will be equal to

Vector sum of radial component and tangential component
Vector difference of radial component and tangential component
Vector sum of radial component and Coriolis component
Vector sum of tangential component and Coriolis component

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