Plane Kinematics of rigid bodies
Initially at 
Thus 
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These are equation of motion for angular motion. They are similar to linear motion along a straight line.
Instantaneous Center for zero Velocity:
For body moving in a plane, we can find an axis normal to the plane about which the body may be considered to be in pure rptation. This axis is called the instantaneous axis of zero velocity, and the intersection of this axis with the plane of motion is known as the instantaneous center of zero velocity.
For body moving in a plane, we can find an axis normal to the plane about which the body may be considered to be in pure rptation. This axis is called the instantaneous axis of zero velocity, and the intersection of this axis with the plane of motion is known as the instantaneous center of zero velocity.
