Acceleration Analysis of Spatial Four-Link Mechanisms

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Abstract
Acceleration analysis of a spatial four-link mechanism with one revolute pair and three cylindrical pairs of general proportions is presented here; results are expressed in concise algebraic forms which are well adapted to either manual or programmed computation. It is believed that the method employed in this paper may be applied to acceleration analysis of other types of spatial mechanisms and that it may serve as an alternative to the well-known vector method.

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