提出了求加速度瞬心的两种方法，即外接圆法和公式法。
Two methods of establishing acceleration instantaneous center place, namely, a round of outside connection method and a formula method are described.
分析了瞬心的加速度特性，建立了刚体平面纯滚动的轨迹方程。
The characteristics of the acceleration of the instantaneous velocity center (IVC) were presented, and the trajectory equation for pure rolling of rigid body (PRORB) was developed.
分析了瞬心的加速度特性，建立了刚体平面纯滚动的轨迹方程。
The characteristics of the acceleration of the instantaneous velocity center (IVC) were presented, and the trajectory equation for pure rolling of rigid body (PRORB) was developed.
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