Kinematics o=const. (uniform rotation): p=ot,o=20 Unit of nis rpm Velocity and acceleration of a point in a rigid body: (Relation between angular and linear measurement v=R a= re a=E×F Resultant acceleration: a R@ Vector expressions a,=O×v arve+04 a=a2×n tgla, n =E×1+O×1 Transmission ratio of pulley system: 2 0,n, R 是=会 n Plane motion( composition of translation and rotation Pole method: (A is the pole) VB=VA+BA VBA=,o is the angular velocity.9 =const.(uniform rotation): 30 ,     n = t = Unit of ｎis rpm 2 4 a = R  + Velocity and acceleration of a point in a rigid body: (Relation between angular and linear measurement) v = R  a = R 2 an = R Resultant acceleration： 2 ( , )   tg a n = Vector expressions v =  r a =  r  a v n =  a = a an =  r + v Transmission ratio of pulley system: n n n n i Z Z R R n n i           1 3 2 2 1 1 1 1 2 2 1 2 1 2 1 12 , − = = = = = =   Plane motion ( composition of translation and rotation） Pole method:(A is the pole) vB =vA +vBA vBA=AB ,  is the angular velocity