is based on acceleration diagram

is a simplified form of instantaneous center method

utilises a quadrilateral similar to the diagram of mechanism for reciprocating engine

enables determination of Corioli's component

universal joint

knuckle joint

Oldham's coupling

flexible coupling

no acceleration

linear acceleration

angular acceleration

both angular and linear accelerations

all four pairs are turning

three pairs turning and one pair sliding

two pairs turning and two pairs sliding

one pair turning and three pairs sliding

bevel gear

universal joint

Hooke's joint

Knuckle joint