Nucleophilic aromatic substitutionA nucleophilic aromatic substitution is a substitution reaction in organic chemistry in which the nucleophile displaces a good leaving group, such as a halide, on an aromatic ring. Aromatic rings are usually nucleophilic, but some aromatic compounds do undergo nucleophilic substitution. Just as normally nucleophilic alkenes can be made to undergo conjugate substitution if they carry electron-withdrawing substituents, so normally nucleophilic aromatic rings also become electrophilic if they have the right substituents.
Kinematic chainIn mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. As the word chain suggests, the rigid bodies, or links, are constrained by their connections to other links. An example is the simple open chain formed by links connected in series, like the usual chain, which is the kinematic model for a typical robot manipulator. Mathematical models of the connections, or joints, between two links are termed kinematic pairs.
Kinematic synthesisIn mechanical engineering, kinematic synthesis (also known as mechanism synthesis) determines the size and configuration of mechanisms that shape the flow of power through a mechanical system, or machine, to achieve a desired performance. The word synthesis refers to combining parts to form a whole. Hartenberg and Denavit describe kinematic synthesis as it is design, the creation of something new. Kinematically, it is the conversion of a motion idea into hardware.
Amino acidAmino acids are organic compounds that contain both amino and carboxylic acid functional groups. Although over 500 amino acids exist in nature, by far the most important are the α-amino acids, from which proteins are composed. Only 22 α-amino acids appear in the genetic code of all life. Amino acids can be classified according to the locations of the core structural functional groups, as alpha- (α-), beta- (β-), gamma- (γ-) or delta- (δ-) amino acids; other categories relate to polarity, ionization, and side chain group type (aliphatic, acyclic, aromatic, containing hydroxyl or sulfur, etc.
Four-bar linkageIn the study of mechanisms, a four-bar linkage, also called a four-bar, is the simplest closed-chain movable linkage. It consists of four bodies, called bars or links, connected in a loop by four joints. Generally, the joints are configured so the links move in parallel planes, and the assembly is called a planar four-bar linkage. Spherical and spatial four-bar linkages also exist and are used in practice. Planar four-bar linkages are constructed from four links connected in a loop by four one-degree-of-freedom joints.
Burmester's theoryIn kinematics, Burmester theory comprises geometric techniques for synthesis of linkages. It was introduced in the late 19th century by Ludwig Burmester (1840–1927). His approach was to compute the geometric constraints of the linkage directly from the inventor's desired movement for a floating link. From this point of view a four-bar linkage is a floating link that has two points constrained to lie on two circles.
AmideIn organic chemistry, an amide, also known as an organic amide or a carboxamide, is a compound with the general formula , where R, R', and R′′ represent any group, typically organyl groups or hydrogen atoms. The amide group is called a peptide bond when it is part of the main chain of a protein, and an isopeptide bond when it occurs in a side chain, such as in the amino acids asparagine and glutamine. It can be viewed as a derivative of a carboxylic acid () with the hydroxyl group () replaced by an amine group (); or, equivalently, an acyl (alkanoyl) group () joined to an amine group.
Mechanism (engineering)In engineering, a mechanism is a device that transforms input forces and movement into a desired set of output forces and movement. Mechanisms generally consist of moving components which may include: Gears and gear trains; Belts and chain drives; Cams and followers; Linkages; Friction devices, such as brakes or clutches; Structural components such as a frame, fasteners, bearings, springs, or lubricants; Various machine elements, such as splines, pins, or keys.
Hydroxy groupIn chemistry, a hydroxy or hydroxyl group is a functional group with the chemical formula and composed of one oxygen atom covalently bonded to one hydrogen atom. In organic chemistry, alcohols and carboxylic acids contain one or more hydroxy groups. Both the negatively charged anion , called hydroxide, and the neutral radical , known as the hydroxyl radical, consist of an unbonded hydroxy group. According to IUPAC definitions, the term hydroxyl refers to the hydroxyl radical () only, while the functional group is called a hydroxy group.
PeptidePeptides are short chains of amino acids linked by peptide bonds. A polypeptide is a longer, continuous, unbranched peptide chain. Polypeptides which have a molecular mass of 10,000 Da or more are called proteins. Chains of fewer than twenty amino acids are called oligopeptides, and include dipeptides, tripeptides, and tetrapeptides. Peptides fall under the broad chemical classes of biological polymers and oligomers, alongside nucleic acids, oligosaccharides, polysaccharides, and others.
