ADVANCED KINEMATICS OF THE PLANE MOTION 225

because lines IbIa and PisPa are parallel. Similarly,

* PtPnh =
< hPuPu
10-4. Hartmann's Construction
Hartmann's method of determining the inflection circle is somewhat
indirect, in that it is based on the displacement velocity of the instant
center. It is applicable without difficulty in the most complex situations.
From Sec. 10-1, Eq. (d),

— dl — dl dr
^'
d<p dr dtp

or di = — (10-6)

In Eq. (10-6), wm is the angular speed of the plane m, and vp the speed
with which the instant center of rotation changes its position along the
fixed polode or along the instantaneous pole tangent. vp is therefore
called the displacement velocity of the instant center. As shown pre
viously, di is directed along the positive pole normal. Consequently, the
direction of Vp along the pole tangent is obtained by turning di about P
through 90° in the sense of wm. Conversely, with Vp known, the direction
of di, and thus of the pole normal, is obtained by rotating vp through 90°
against the sense of wm.
In applying Hartmann's method, an arbitrarily assumed value is
assigned to the angular velocity wm, and the corresponding displace
ment velocity of the instant center is determined graphically, with the
aid of an auxiliary linkage. In general, the absolute instant center P
of the plane whose inflection circle is to be determined is denned by the
intersection of two moving rays. The auxiliary linkage consists, there
fore, of links which are pivoted to the frame at appropriate points, and
rotate with the rays, and of blocks which are free to slide along these links,
in appropriate directions, but are pin-connected together at P. Thus
the velocity of the pin connection P, in the auxiliary linkage, is identical
with the required pole-displacement velocity.
In the following examples, the auxiliary linkages have been drawn
separately, to facilitate the explanations. In practice, however, the
constructions are carried out on the original plan, a procedure which
saves time and enhances accuracy.
Illustrative Example 1. Construct the inflection circle for a moving
plane if the velocity pole, one pair of conjugate points (S and Os), and
the direction of the pole normal are specified.
Solution. The original system is shown in Fig. 10-8a, and the auxiliary
linkage in Fig. 10-86. The latter consists of the bar s, pivoted to the