ABSTRACT
In this chapter, we consider planar motion — an important special case of the kinematics of rigid bodies. Planar motion characterizes the movement of the vast majority of machine elements and mechanisms. When a body has planar motion, the description of that motion is greatly simplified. Special methods of analysis can be used that provide insight not usually obtained in three-dimensional analyses. We begin our study with a general discussion of coordinates, constraints, and degrees of freedom. We then consider the planar motion of a body and the special methods of analysis that are applicable.
