Instantaneous Centre: this is a point around which link rotates at a particular instant.Absolute Instantaneous Centre: this is a fixed centre around which link rotates.Relative Instantaneous Centre: this is a point around which link contain relative rotation at an instant.Relative Velocity: it is velocity of a point in relation to any other point.Relative Acceleration: it is acceleration of a point in relation to any other point.
Coriolis’ Component of: It is equivalent to twice the product of angular velocity & sliding velocity over which slider is sliding and behaves perpendicular to link.