A scheme applicable to automatic computation of the joint relative accelerations, the derivatives of joint speeds with respect to time, has been developed in the dual-number representation of the kinematics of spatial mechanisms. The equations which have been developed can be set up automatically by computer for any closed-loop mechanism of binary links. While the RCCC mechanism is given as an example, the scheme can be adapted for mechanisms with prismatic as well as revolute and cylindrical joints and can be readily further developed to consider other types of joints.

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