Area of a circle "ds" over the whole circle formula_33 is just the arc length, which is its circumference, so this shows that the area "A" enclosed by the circle is equal to formula_34 times the circumference of the circle. Note that the area of a semicircle of radius r can be computed by the integral formula_35. By trigonometric substitution, we substitute formula_36, hence formula_37 The last step follows since the trigonometric identity formula_42 implies that formula_43 and formula_44 have equal integrals over the interval formula_45, using integration by substitution. But on the other hand, since formula_46, the sum of the two integrals is
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.