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Cam and Follower Kinematics of Machinery

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3.6 Rubbing Velocity At A Pin Joint

 The links in a mechanism are mostly connected by means of pin joints. The rubbing
velocity is defined as the algebraic sum between the angular velocities of the two links
which are connected by pin joints, multiplied by the radius of the pin.
 Consider two links OA and OB connected by a pin joint at O as shown in fig. 

Fig. 3.6 Links connected by pin joints

 Let,
ω1 = angular velocity of link OA
ω2 = angular velocity of link OB
 According to the definition,
 Rubbing velocity at the pin joint O
= (𝝎𝟏 − 𝝎𝟏 ) × 𝒓 𝐢𝐟 𝐭𝐡𝐞 𝐥𝐢𝐧𝐤𝐬 𝐦𝐨𝐯𝐞 𝐢𝐧 𝐭𝐡𝐞 𝐬𝐚𝐦𝐞 𝐝𝐢𝐫𝐞𝐜𝐭𝐢𝐨𝐧
= (𝝎𝟏 + 𝝎𝟏 ) × 𝒓 𝐢𝐟 𝐭𝐡𝐞 𝐥𝐢𝐧𝐤𝐬 𝐦𝐨𝐯𝐞 𝐢𝐧 𝐭𝐡𝐞 𝐬𝐚𝐦𝐞 𝐝𝐢𝐫𝐞𝐜𝐭𝐢𝐨𝐧

3.7 Examples Based On Velocity

3.7.1 In a four bar chain ABCD, AD is fixed and is 150 mm long. The
crank AB is 40 mm long and rotates at 120 r.p.m. clockwise, while the
link CD = 80 mm oscillates about
D. BC and AD are of equal length. Find the angular velocity of link CD when
angle BAD = 60°.
 Given : NBA = 120 r.p.m. or ωBA = 2 π × 120/60 = 12.568 rad/s
 Since the length of crank A B = 40 mm = 0.04 m, therefore velocity of B with
respect to A or velocity of B, (because A is a fixed point),
 Since the length of crank A B = 40 mm = 0.04 m, therefore velocity of B with
respect to A or velocity of B, (because A is a fixed point),
vBA = vB = ωBA × AB = 12.568 × 0.04 = 0.503 m/s
 Since the link AD is fixed, therefore points a and d are taken as one point in the
velocity diagram. Draw vector ab perpendicular to B A, to some suitable scale, to
represent the velocity of B with respect to A or simply velocity of B (i.e. vBA or vB)
such that
Vector ab = vBA = vB = 0.503 m/s
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Fig. 3.7

 Now from point b, draw vector bc perpendicular to CB to represent the velocity of C

with respect to B (i.e. vCB) and from point d, draw vector dc perpendicular to CD to
represent the velocity of C with respect to D or simply velocity of C (i.e. vCD or vC).
The vectors bc and dc intersect at c.
By measurement, we find that
VCD = vC = vector dc = 0.385 m/s
 Angular velocity of link CD,
𝒗 𝟎. 𝟑𝟖𝟓
𝝎 = 𝑪𝑫 = = 𝟒. 𝟖 𝒓𝒂𝒅⁄𝒔
𝑪𝑫
𝑪𝑫 𝟎. 𝟎𝟖

3.7.2 The crank and connecting rod of a theoretical steam engine are
0.5 m and 2 m long respectively. The crank makes 180 r.p.m. in the
clockwise direction. When it has turned 45° from the inner dead
centre position, determine:
1. Velocity of piston, 2. Angular velocity of connecting rod, 3. Velocity of point E
on the connecting rod 1.5 m from the gudgeon pin, 4. velocities of rubbing at the
pins of the crank shaft, crank and crosshead when the diameters of their pins
are 50 mm, 60 mm and 30 mm respectively, 5. Position and linear velocity of any
point G on the connecting rod which has the least velocity relative to crank
shaft.

 Given:
 NBO = 180 r.p.m. or ωBO = 2 π × 180/60 = 18.852 rad/s
 Since the crank length OB = 0.5 m, therefore linear velocity of B with respect to O
or velocity of B (because O is a fixed point),
vBO = vB = ωBO × OB = 18.852 × 0.5 = 9.426 m/s

 First of all draw the space diagram and then draw the velocity diagram as shown in
fig.
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Fig. 3.8
 By measurement, we find that velocity of piston P,
𝒗𝑷 = 𝒗𝒆𝒄𝒕𝒐𝒓 𝒐𝒑 = 𝟖. 𝟏𝟓 𝒎/𝒔
 From the velocity diagram, we find that the velocity of P with respect to B
vPB = vector bp = 6.8 m/s
 Since the length of connecting rod PB is 2 m, therefore angular velocity of the
connecting rod,
𝒗 𝟔. 𝟖
𝝎 = 𝑷𝑩 = = 𝟑. 𝟒 𝒓𝒂𝒅/𝒔
𝑷𝑩
𝑷𝑩 𝟐
𝒗𝑬 = 𝒗𝒆𝒄𝒕𝒐𝒓 𝒐𝒆 = 𝟖. 𝟓 𝒎/𝒔
 We know that velocity of rubbing at the pin of crank-shaft 
𝒅
= 𝟎 × 𝝎 = 𝟎. 𝟒𝟕 𝒎/𝒔
𝑩𝑶
𝟐
 Velocity of rubbing at the pin of crank
𝒅
= 𝑩 (𝝎
𝑩𝑶 + 𝝎𝑷𝑩 ) = 𝟎. 𝟔𝟔𝟕𝟓 𝒎/𝒔
𝟐
 Velocity of rubbing at the pin of crank
𝒅
= 𝒄 × 𝝎 = 𝟎. 𝟎𝟓𝟏 𝒎/𝒔
𝑷𝑩
𝟐
 By measurement we find that
𝒗𝒆𝒄𝒕𝒐𝒓 𝒃𝒈 = 𝟓 𝒎/𝒔
 By measurement we find linear velocity of point G
𝒗𝑮 = 𝒗𝒆𝒄𝒕𝒐𝒓 𝒐𝒈 = 𝟖 𝒎/𝒔

3.7.3 In Fig. , the angular velocity of the crank OA is 600 r.p.m.

Determine the linear velocity of the slider D and the angular velocity
of the link BD, when the crank is inclined at an angle of 75° to the
vertical. The dimensions of various links are: OA = 28 mm; AB = 44
mm; BC 49 mm; and BD = 46 mm. The centre distance between the
canters of rotation O and C is 65 mm. The path of travel of the
slider is 11 mm below the fixed point C. The slider moves along a
horizontal path and OC is vertical.
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Fig.
3.9
 Given
:
 NAO = 180 r.p.m. or ωBO = 2 π × 180/60 = 18.852 rad/s
 OA = 28 mm
𝒗𝑶𝑨 = 𝒗𝑨 = 𝝎𝑨𝑶 × 𝑨𝑶 = 𝟏. 𝟕𝟔 𝒎/𝒔
 Since the points O and C are fixed, therefore these points are marked as one point,
in the velocity diagram. Now from point o, draw vector oa perpendicular to O A, to
some suitable scale, to represent the velocity of A with respect to O or simply
velocity of A such that
𝒗𝒆𝒄𝒕𝒐𝒓 𝒐𝒂 = 𝒗𝑶𝑨 = 𝒗𝑨 = 𝟏. 𝟕𝟔 𝒎/𝒔
 From point a, draw vector ab perpendicular to A B to represent the velocity of B
with respect A (i.e. vBA) and from point c, draw vector cb perpendicular to CB to
represent the velocity of B with respect to C or simply velocity of B (i.e. vBC or vB).
The vectors ab and cb intersect at b.
 From point b, draw vector bd perpendicular to BD to represent the velocity of D with
respect to B (i.e. vDB) and from point o, draw vector od parallel to the path of motion
of the slider D which is horizontal, to represent the velocity of D (i.e. vD). The
vectors bd and od intersect at d.

Fig.3.10
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 By measurement, we find that velocity of slider D,

𝒗𝑫 = 𝒗𝒆𝒄𝒕𝒐𝒓 𝒐𝒅 = 𝟏. 𝟔 𝒎/𝒔
 By measurement from velocity diagram, we find that velocity of D with respect to
B,
𝒗𝑫𝑩 = 𝒗𝒆𝒄𝒕𝒐𝒓 𝒃𝒅 = 𝟏. 𝟕 𝒎/𝒔
 Therefore angular velocity of link BD
𝒗 𝟏. 𝟕 = 𝟑𝟔. 𝟗𝟔 𝒓𝒂𝒅/𝒔
𝝎 𝑩𝑫 = 𝑫𝑩 =
𝑩𝑫 𝟎. 𝟎𝟒𝟔

3.7.4 The mechanism, as shown in Fig. 7.11, has the dimensions of

various links as follows :
AB = DE = 150 mm; BC = CD = 450 mm; EF = 375 mm. The crank AB makes an angle
of
45° with the horizontal and rotates about A in the clockwise direction at a
uniform speed of 120 r.p.m. The lever DC oscillates about the fixed point D,
which is connected to AB by the coupler BC.
The block F moves in the horizontal guides, being driven by the link EF.
Determine: 1. velocity of the block F, 2. angular velocity of DC, and 3. rubbing
speed at the pin C which is 50 mm in diameter.
 Given :
 NBA = 120 r.p.m. or ωBA = 2 π × 120/60 = 4 π rad/s
 Since the crank length A B = 150 mm = 0.15 m, therefore velocity of B with
respect to A or simply velocity of B (because A is a fixed point),
vBA = vB = ωBA × AB = 4 π × 0.15 = 1.885 m/s

Fig.3.11

 Since the points A and D are fixed, therefore these points are marked as one point
as shown in Fig. (b). Now from point a, draw vector ab perpendicular to A B,
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to some suitable scale, to represent the velocity of B with respect to A or simply

velocity of B, such that
Vector ab = vBA = vB = 1.885 m/s
 The point C moves relative to B and D, therefore draw vector bc perpendicular
to BC to represent the velocity of C with respect to B (i.e. vCB), and from point
d, draw vector dc perpendicular to DC to represent the velocity of C with respect
to D or simply velocity of C (i.e. vCD or vC). The vectors bc and dc intersect at c.

Fig. 3.12

 Since the point E lies on DC, therefore divide vector dc in e in the same ratio as
E divides CD in Fig. (a). In other words
ce/cd = CE/CD
 From point e, draw vector ef perpendicular to EF to represent the velocity of F with
respect to E (i.e. vFE) and from point d draw vector df parallel to the path of
motion of F, which is horizontal, to represent the velocity of F i.e. vF. The vectors
ef and df intersect at f.
vF = vector df = 0.7 m/s
 By measurement from velocity diagram, we find that velocity of C with respect to
D,
vCD = vector dc = 2.25 m/s
𝒗 𝒓𝒂𝒅
𝝎𝑫𝑪 = 𝑪𝑫 = 𝟓
𝑫𝑪 𝒔
 From velocity diagram, we find that velocity of C with respect to B,
vCB = vector bc = 2.25 m/s
 Angular velocity of BC,
𝒗𝑪𝑫 𝟐. 𝟐𝟓
𝝎 = = = 𝟓 𝒓𝒂𝒅/𝒔
𝑪𝑫
𝑩𝑪 𝟎. 𝟒𝟓