Velocities and Accelerations - Included instantaneous centers, velocity polygons and acceleration
http://www.pua.edu.eg/PUASite/uploads/file/Engineering/spring2011/ME212/Chapter%20II.pdf
Relative Velocity Method - Dr. David Herrin
http://www.engr.uky.edu/psl/ME380/pdf%20files/kin4.pdf
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