Back to Dynamics Of Rigid Bodies repository
Dynamics Of Rigid Bodies2D

Kinematics of Rigid Bodies - Theory & Concepts - I C

Analysis of the motion of solid bodies where distances between any two points remain constant, including translation, rotation, and general plane motion.

Open the complete lesson
Instantaneous Center of Zero Velocity (IC) Visualizer

Mechanism Setup

s < 0 (Braking)s = 0 (Pure)s > 0 (Spin/Skid)

Mathematical Equations

Wheel IC Location & Slip Mechanics:

IC offset from center O is given by slip ratio:

yIC−yO=R(1+s)=2.0(1+0.00)=2.00 my_{IC} - y_O = R(1 + s) = 2.0(1 + 0.00) = 2.00\text{ m}

Pure rolling: IC is exactly at the point of contact.

Dragged Point P Velocity:
vP=ω×rP/ICv_P = \omega \times r_{P/IC}
d from IC: 3.27 m|v_P: 6.55 m/s
Instantaneous Center Geometric WorkspaceCenter OContactv_Ov_AICP (Drag)v_P
💡 Drag point P to analyze local velocity.
IC (Instant Center, v=0)
Velocity vector v_P
Distance ray r_P/IC

Related simulations

Kinematics of Particles - Theory & Concepts - Radial TransverseKinetics of Particles: Force and Acceleration - Theory & Concepts - Orbital MechanicsKinetics of Particles: Work and Energy - Theory & Concepts - Work EnergyKinetics of Particles: Impulse and Momentum - Theory & Concepts - Collision