This note presents a short derivation of the tangential acceleration relation in a collinear singular position of a planar four-bar linkage. The relation is obtained directly by differentiating a previously derived expression for the position of the instantaneous pole P24. This provides a shorter route to a result that was previously obtained through a longer analytical procedure. A geometrical remark is also given on the limiting coincidence of the poles P24 and P13, based on Bobillier’s theorem.
Ljubomirović et al. (Mon,) studied this question.
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