Existence of the instantaneous center

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I would like to find a proof for the existence of the instantaneous center, and show that it only exists for velocity and not acceleartion. Anyone know where I could find this proof.
 
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Have a look at this -

http://em-ntserver.unl.edu/Negahban/em373/note16/note.htm
 
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Instantaneous center of what?
 
instantaneous center of a rigid body
 
a rotating rigid body, surely ?
 

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