Pylypaks S, Chepignyi A. General approach to finding the kinematic characteristics of the drives of plane mechanisms with the application of frene-serret frame and frenet formulas. mapp [Internet]. 1 [cited 2024Apr.24];(4 (38):48-6. Available from: https://www.snaubulletin.com.ua/index.php/mapp/article/view/160