Analytical proof-Kennedy Aranhold theorem(instantaneous centre of three bodies moving relative to each other.?

Mathematical derivation if possible.

Kennedy, A.B.W.
Genre Kinematics; Linkages
Publication Date 1886
Format Hardcover
Publisher Macmillan and Co.

Product Details
First Edition No
Rare No
This is a good textbook from the translator of the book of Reuleaux. In the section there is a proof of the Aronhold-Kennedy theorem, but it is not clear the priority of such a proof.

You can get hold of this book and read the proof.

The answers post by the user, for information only, does not guarantee the right.

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