In a given mechanism, the number of links are five. Then the number of instantaneous centres of the mechanism is
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This formula counts how many unique pairs you can make from $n$ items. For common mechanisms, the number of I-centers increases rapidly as links are added:
- 4 links $\rightarrow$ 6 I-centers
- 5 links $\rightarrow$ 10 I-centers
- 6 links $\rightarrow$ 15 I-centers