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Explain space and body centrodes in theory of machines.
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A rigid body in plane motion relative to a second rigid body, supposed fixed in space, may be assumed to be rotating about an instantaneous centre at that particular moment.

"In other words, the instantaneous centre is a point in the body which may be considered fixed at any particular moment."

Space and Body Centrodes

The locus of the instantaneous centre in space during a definite motion of the body is called the space centrode and the locus of the instantaneous centre relative to the body itself is called the body centrode.

These two centrodes have the instantaneous centre as a common point at any instant and during the motion of the body, the body centrode rolls without slipping over the space centrode.

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