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...Chapter planar kinematics of a rigid body engineering mechanics dynamics r c hibbeler there are cases where an object cannot be treated as particle in these the size or shape must considered also rotation about its center mass requires different approach for example design gears cams and links machinery mechanisms is important aspect analysis motion we will now start to study limited said undergo when all parts move along paths equidistant from fixed plane three types translation occurs if every line segment on remains parallel original direction during points straight lines called rectilinear curved curvilinear axis this case particles except those circular planes perpendicular general undergoes both within bodies undergoing shown mechanism wheel crank b e d axes at location pins figure piston since it constrained slide connecting rod remain horizontal moves path translate rotate positions two translating can related by ra rb absolute position vectors defined x y coordinate system rel...