centrode

This generates a curve called the moving centrode.

The points in the fixed plane corresponding to these instant centres form the fixed centrode.

The set of points of the moving wheel that become instant centres is the circle itself, which defines the moving centrode.

The term centro is also used for a velocity pole, and the locus of these points for a planar movement is called a centrode.

Continuing this approach with the two links P-A and P-B rotating around their own instant centres of rotation the centrode for instant centre of rotation P may be determined.