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The Aronhold Kennedy theorem states that if three bodies move relative to each other, they will have three instantaneous centers of rotation that all lie on a straight line. It considers three kinematic links A, B and C undergoing plane motion and defines their number of instantaneous centers (N) as three. It demonstrates that the velocity of the instantaneous center Ibc, which belongs to both links B and C, must be perpendicular to the lines joining both Iab and Ibc and Iac and Ibc, since its velocity is the same whether viewed from link B or C.

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665 views1 page

IC

The Aronhold Kennedy theorem states that if three bodies move relative to each other, they will have three instantaneous centers of rotation that all lie on a straight line. It considers three kinematic links A, B and C undergoing plane motion and defines their number of instantaneous centers (N) as three. It demonstrates that the velocity of the instantaneous center Ibc, which belongs to both links B and C, must be perpendicular to the lines joining both Iab and Ibc and Iac and Ibc, since its velocity is the same whether viewed from link B or C.

Uploaded by

leelamech36
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd

Aronhold Kennedy (or Three Centres in Line) Theorem:

The Aronhold Kennedy’s theorem states that if three bodies move relatively to each other, they
have three instantaneous centres and lie on a straight line.
Consider three kinematic links A, B and C having relative plane motion. The number of
instantaneous centres (N) is given by

let us consider that the instantaneous centre Ibc lies outside


the line joining Iab and Iac
The point Ibc belongs to both the links B and C.
Let us consider the point Ibc on the link B. Its velocity vBC
must be perpendicular to the line joining Iab and Ibc.
Now consider the point Ibc on the link C. Its velocity vBC must be perpendicular to the line joining
Iac and Ibc.
The velocity of the instantaneous centre is same whether it is regarded as a point on the first link
or as a point on the second link.

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