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• kempe_MPRIA_arxiv

Accepted author manuscript, 175 KB, PDF document

An elementary proof is given to show that a parametrised algebraic curve in the plane may be traced out, in the sense of A. B. Kempe, by a finite pinned linkage. Additionally it is shown that any parametrised continuous curve $\gamma:[0,1]\to \bR^2$ may be traced out by an infinite linkage where the valencies of the joints is uniformly bounded. We also discuss related Kempe universality theorems and give a novel correction of Kempe's original argument.