# Curvature Theory for Planar Point Trajectories

These notes for the Stanford University graduate course ME 322 Kinematic Synthesis of Mechanisms present the curvature properties of point trajectories in a planar moving body such as the coupler link of a four-bar linkage.

Update: **December 13, 2017.** These notes have been revised to use the notation for the components of the pole acceleration and rate of change of acceleration to match Bottema and Roth’s Theoretical Kinematics.