Explanation:
Instantaneous center:
It is the center about a body moves in planer motion.The velocity of Instantaneous center is zero and Instantaneous center can be lie out side or inside the body.About this center every particle of a body rotates.
From the diagram
Where these two lines will cut then it will the I-Center.Point A and B is moving perpendicular to the point I.
If we take three link link1,link2 and link3 then I center of these three link will be in one straight line It means that they will be co-linear.

Explanation:
def checklist(a_list, a_value):// def //used to name a function, the //arguments being passed into the //functions are a_list and a_value
if a_value in list://if statement to
//check if it's in the list or not
print("")//print statement to do
//nothing
else://else statement for if the
//a_value is in a_list
a_list.append(a_value)//this adds
//the value to the list