## Abstract

A notation is developed which specifies a dual velocity without ambiguity. The point of interest, the moving body, the reference body, and the system of unit vectors in which a dual velocity is expressed are all clearly indicated. The equivalence between the equation of transformation and the coordinate-transformation matrix formulation is shown. Equations are developed to enable calculation of the dual velocity at a point in a body given the dual velocity at any other point, to change the system of unit vectors in which a dual velocity is expressed, and to calculate relative velocities. Use of these equations is demonstrated in an example using the spatial four-bar mechanism which is specialized to the Cardan joint and the wobble-plate mechanism, and the effect of some tolerance errors on output velocity is shown.

Original language | English (US) |
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Pages (from-to) | 263-268 |

Number of pages | 6 |

Journal | Journal of Mechanical Design, Transactions of the ASME |

Volume | 114 |

Issue number | 2 |

DOIs | |

State | Published - Jun 1992 |

## All Science Journal Classification (ASJC) codes

- Mechanics of Materials
- Mechanical Engineering
- Computer Science Applications
- Computer Graphics and Computer-Aided Design