The kinematics of machinery

already alteration angle angular application arcs arrangement axis axoids block bodies centre centroids chain-closure chamber chamber-crank chamber-wheel circles circular closed pair closure common complete conic connected considered construction corresponding coupler crank crank mechanisms cross-block curve cylinder dead points definition described difficulty difl‘erent direction disc employed engine epitrochoid equal examination field figure find fixed link fluid force force-closure formula frame gear higher pairing infinite kinematic chain kinematic pair latter machine mechanism method moving normal obtained occurs pair-closure pairs of elements parallel pawl piece piston plane Plate point-paths points of restraint position pressure-organs prism profiles pulley pump quadric radius relative motions revolution rhombus rolling rotary rotation roulettes ruled surfaces scientific screw shaft shown in Fig shows sides simple slider slider-crank sliding spindle spur-gearing spur-wheels steam steam-engine sufficient surfaces swinging teeth train triangle turning universal joint wheel