Chap.3 Planar Cartesian Kinematics 3.1 Basic Concepts in Planar Kinematics Body-fixed reference frame:A reference frame that is attached to and moves with the body Rigid body:If movement associated with deformation is small,compared with the overall movement of a body, then the body is considered as a rigid body Mechanism:A collection of rigid bodies that are arranged to allow relative motion Kinematics:The study of position,velocity and acceleration of a system of interconnected bodies that make up a mechanism3.1 Basic Concepts in Planar Kinematics Body-fixed reference frame: A reference frame that is attached to and moves with the body Rigid body: If movement associated with deformation is small, compared with the overall movement of a body, then the body is considered as a rigid body Mechanism: A collection of rigid bodies that are arranged to allow relative motion Kinematics: The study of position, velocity and acceleration of a system of interconnected bodies that make up a mechanism Chap. 3 Planar Cartesian Kinematics