Step 2Make centers for the inside pipe
From this page's table for PVC pipe we see that 1 1/2" schedule 40 has an inside diameter of 1.592", so the plug left after cutting a 1.75" hole turns out to be just about the right size to fit the inside of the pipe. If you tighten the collar of the hole saw, you will get a larger plug, if you loosen it, you will get a smaller plug (because the bit wobbles). These piece should jam tightly into the ends of the 1 1/2" pipe, so it's best if they start out a little too big and you sand a little to taper the plug (use the 1/4"x20 bolt and nuts to chuck it into your drill and hold a sanding block up against it for even results). If your pieces are too small, build up their diameter by adding wraps of masking tape. Let the tape hang off the inner edge a bit so it can guide the pipe onto the center without being pushed back.
Once you've got the fit right, assemble the centers as shown below. The "driven" center is in the foreground, the "non-driven" center is in the background. Using spade bits, drill the 2"x4" chunks to make pillow blocks for the bearings.
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