Simple cases study A link in pure rotation +0 R孰 Displac- ement R =pero V PA Velocity Vra=poje 1 Ars=pajelo-po'ero +2 Acceleration =A'm+A"m 005 APA Simple cases study ©When point A is moving Displac- Rp=R+R24 RPA ement 可。=可+4 Velocity T+peo（jo) o Graphical solution: VA 44 A link in pure rotation Simple cases study Displac￾ement Velocity Acceleration j PA pe  R  j PA p je    V 2 j j PA PA PA p je p e         t n A A A When point A is moving Simple cases study Displac￾ement Velocity RRR P A PA     P A PA j A V V V V pe j           Graphical solution: