Accelerations in the plane joint with application to the Tracta coupling

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A formulation using dual-number coordinate transformations is developed to calculate the accelerations within the plane joint, a complex joint where the displacements are naturally expressed in different coordinate frames. The calculation of the accelerations in the Tracta constant-velocity shaft coupling is presented as an example of how the methodology can be applied in an automatic-computation scheme applicable to many types of mechanisms including those with a plane joint.

Original languageEnglish (US)
Pages (from-to)292-301
Number of pages10
JournalProceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
Issue number3
StatePublished - Sep 2013

All Science Journal Classification (ASJC) codes

  • Condensed Matter Physics
  • Mechanical Engineering


  • Dual number
  • Plane joint
  • Relative acceleration
  • Spatial mechanisms
  • Tracta coupling


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