Circumference pi, is represented by the Greek letter . The first few decimal digits of the numerical value of are 3.141592653589793 ... Pi is defined as the ratio of a circle's circumference to its diameter : Or, equivalently, as the ratio of the circumference to twice the radius. The above formula can be rearranged to solve for the circumference: The use of the mathematical constant is ubiquitous in mathematics, engineering, and science. In "Measurement of a Circle" written circa 250 BCE, Archimedes showed that this ratio (, since he did not use the name ) was greater than 3 but less
Instant centre of rotation and P-B. The direction of speed of point A is indicated by vector V. Its instant center of rotation must be perpendicular to this vector (as V is tangentially located on the circumference of a circle). The only line that fills the requirement is a line colinear with link P-A. Somewhere on this line there is a point P, the instant center of rotation for the body BAC. What applies to point A also applies to point B, therefore this instant center of rotation P is located on a line perpendicular to vector V, a line colinear with link P-B.