Based on the theorem for the composition of velocities in theoretical mechanics, the author gives out the demonstration of the theorem of three instantaneous centers of velocity in general conditions.
本文运用理论力学中运动学的速度合成定理，给出了一般情况下平面机构运动三心定理的求证过程。
Expressions of velocities and accelerations in usual coordinates are simply derived by means of the composition formulae of velocity and acceleration in special rotation reference systems.
在一特定的转动参照系中，利用相对运动的速度和加速度合成公式，通过一特定的相对运动简洁地导出常用坐标系中的速度和加速度表达。
Expressions of velocities and accelerations in usual coordinates are simply derived by means of the composition formulae of velocity and acceleration in special rotation reference systems.
在一特定的转动参照系中，利用相对运动的速度和加速度合成公式，通过一特定的相对运动简洁地导出常用坐标系中的速度和加速度表达。
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