I.

4 Velocity and Acceleration Analysis 0

Contents
4 Velocity and Acceleration Analysis 1
4.1 Kinematics of the Rigid Body . . . . . . . . . . . . . . . . . . 1
4.2 Driver Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.3 RRR Dyad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.4 RRT Dyad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.5 RTR Dyad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.6 TRT Dyad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.7 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.8 Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
I.4 Velocity and Acceleration Analysis 1

4 Velocity and Acceleration Analysis

4.1 Kinematics of the Rigid Body
The motion of a rigid body (RB) is defined when the position vector, velocity,
and acceleration of all points of the rigid body are defined as functions of
time with respect to a fixed reference frame with the origin at O0 .
Let ı0 , 0 , and k0 be the constant unit vectors of a fixed orthogonal
Cartesian reference frame O0 x0 y0 z0 (primary reference frame). The unit
vectors ı0 , 0 , and k0 of the primary reference frame are constant with respect
to time. Let ı, , and k be the unit vectors of a mobile orthogonal Cartesian
reference frame Oxyz (Fig. 4.1). A reference frame that moves with the rigid
body is a body fixed (or mobile) reference frame. The unit vectors ı, , and k
of the body fixed reference frame are not constant, because they rotate with
the body fixed reference frame. The location of the point O is arbitrary.
The position vector of a point M [M ∈(RB)], with respect to the fixed
reference frame O0 x0 y0 z0 , is denoted by r1 = rO0 M and, with respect to the
mobile reference frame Oxyz, is denoted by r = rOM . The location of the
origin O of the mobile reference frame, with respect to the fixed point O0 ,
is defined by the position vector rO = rO0 O . Thus, the relation between the
vectors r1 , r, and r0 is given by

r1 = rO + r = rO + xı + y + zk, (4.1)

where x, y, and z represent the projections of the vector r on the mobile

reference frame. The magnitude of the vector r = rOM is a constant, as the
distance between the points O and M is constant [O ∈(RB) and M ∈(RB)].
Thus, the x, y, and z components of the vector r with respect to the mobile
reference frame are constant. The unit vectors ı, , and k are time-dependent
vector functions. The vectors ı, , and k are the unit vector of an orthogonal
Cartesian reference frame. Thus, the following relations can be written as

ı · ı = 1,  ·  = 1, k · k = 1, (4.2)

ı ·  = 0,  · k = 0, k · ı = 0. (4.3)
I.4 Velocity and Acceleration Analysis 2

Velocity of a point on the rigid body

The velocity of an arbitrary point M of the rigid body, with respect to
the fixed reference frame Ox0 y0 z0 , is the derivative with respect to time of
the position vector r1 :
dr1
v= = ṙ1 = ṙO + ṙ = vO + xı̇ + y̇ + z k̇ + ẋı + ẏ + żk, (4.4)
dt
where vO = ṙO represents the velocity of the origin of the mobile reference
frame O1 x1 y1 z1 with respect to the fixed reference frame Oxyz. Because all
the points in the rigid body maintain their relative position, their velocity
relative to the mobile reference frame Oxyz is zero: ẋ = ẏ = ż = 0.
The velocity of the point M is
v = vO + xı̇ + y̇ + z k̇.
The derivative of the Eqs. (4.2) and (4.3) with respect to time gives
ı̇ · ı = 0, ̇ ·  = 0, k̇ · k = 0, (4.5)
and
ı̇ ·  + ̇ · ı = 0, ̇ · k + k̇ ·  = 0, k̇ · ı + ı̇ · k = 0. (4.6)
For Eq. (4.6) the following convention is introduced:
ı̇ ·  = −̇ · ı = ωz ,
̇ · k = −k̇ ·  = ωx ,
k̇ · ı = −ı̇ · k = ωy , (4.7)
where ωx , ωy and ωz can be considered as the projections of a vector ω:
ω = ωx ı + ωy  + ωz k.
To calculate ı̇, ̇, k̇ the following formula is introduced for an arbitrary vector,
d,
d = dx ı + dy  + dz k = (d · ı) ı + (d · )  + (d · k) k. (4.8)
Using Eq. (4.8) and the results from Eqs. (4.5) and (4.6) it results
ı̇ = (ı̇ · ı) ı + (ı̇ · )  + (ı̇ · k) k
= (0) ı + (ωz )  − (ωy ) k
 
 ı  k 

=  ωx ωy ωz  = ω × ı,
 

 1 0 0 
I.4 Velocity and Acceleration Analysis 3

̇ = ( ̇ · ı) ı + ( ̇ · )  + ( ̇ · k) k
= (−ωz ) ı + (0)  + (ωx ) k
 
 ı  k 

=  ωx ωy ωz  = ω × ,
 
 0 1 0 

     
k̇ = k̇ · ı ı + k̇ ·   + k̇ · k k (4.9)
= (ωy ) ı − (ωx )  + (0) k
 
 ı  k 

=  ωx ωy ωz  = ω × k.
 
 
 0 0 1 

The relations
ı̇ = ω × ı, ̇ = ω × , k̇ = ω × k. (4.10)
are known as Poisson formulas.
Using Eqs. (4.4) and (4.10), the velocity of M is

v = vO + xω × ı + yω ×  + zω × k = vO + ω × (xı + y + zk) ,

or
v = vO + ω × r. (4.11)
Combining Eqs. (4.4) and (4.11), it results

ṙ = ω × r. (4.12)

Using Eq. (4.11), the components of the velocity are

vx = vOx + zωy − yωz ,

vy = vOy + xωz − zωx ,
vz = vOz + yωx − xωy .
I.4 Velocity and Acceleration Analysis 4

Acceleration of a point on the rigid body

The acceleration of an arbitrary point M ∈(RB), with respect to a fixed
reference frame O0 x0 y0 z0 , represents the double derivative with respect to
time of the position vector r1 :
dv d d d d
a = r̈1 = v̇ = = (vO +ω×r) = vO + ω×r+ω× r = v̇O +ω̇×r+ω×ṙ.
dt dt dt dt dt
(4.13)
The acceleration of the point O with respect to the fixed reference frame
O0 x0 y0 z0 , is
aO = v̇O = r̈O . (4.14)
The derivative of the vector ω, with respect to the time, is the vector α given
by

α = ω̇ = ω̇x ı + ω̇y  + ω̇z k + ωx ı̇ + ωy ̇ + ωz k̇ (4.15)

= αx ı + αy  + αz k + ωx ω × ı + ωy ω ×  + ωz ω × k
= αx ı + αy  + αz k + ω × ω =αx ı + αy  + αz k.

where αx = ω̇x , αy = ω̇y , and αz = ω̇z . In the previous expression the Poisson
formulas have been used.
Using Eqs. (4.13), (4.14), and (4.15), the acceleration of the point M is

a = aO + α × r + ω × (ω × r) . (4.16)

The components of the acceleration are

ax = aOx + (zαy − yαz ) + ωy (yωx − xωy ) + ωz (xωx − xωz ) ,

ay = aOy + (xαz − zαx ) + ωz (zωy − yωz ) + ωx (xωy − yωz ) ,
az = aOz + (yαx − xαy ) + ωx (xωz − zωx ) + ωy (yωz − zωy ) .

The vector ω characterizes the rotational motion of the rigid body and is
called the angular velocity. The vector α is called the angular acceleration.
I.4 Velocity and Acceleration Analysis 5

The angular velocity can also be introduced in another way.

If the orientation of a rigid body RB in a reference frame RF0 depends on
only a single scalar variable ζ, there exists for each value of ζ a vector ω such
that the derivative with respect to ζ in RF0 of every vector c fixed in rigid
body RB is given by
dc
= ω × c, (4.17)
dζ
where the vector ω is the rate of change of orientation of the rigid body RB
in the reference frame RF0 with respect to ζ. The vector ω is given by
da db
×
dζ dζ
ω= , (4.18)
da
·b
dζ
where a and b are any two nonparallel vectors fixed in the rigid body RB.
Proof.
The vectors a and b are fixed in the rigid body. The magnitudes a · a,
b · b, and the angle between a and b are independent of ζ
d (a · a) d( b · b) d (a · b)
= 0, = 0, = 0,
dζ dζ dζ
or
da db da db
· a = 0, · b = 0, ·b+a· = 0.
dζ dζ dζ dζ
Using the vector triple product of three vectors p, q, t, it results
p × (q × t) = p · t q − p · q t, (p × q) × t = t · p q − t · q t.
From these expressions it follows that
!
da db da db da db db da
× × ×a a· −a·
dζ dζ dζ dζ dζ dζ dζ dζ
×a = =
da da da
·b ·b ·b
dζ dζ dζ
db da da da
−a · ·b
dζ dζ dζ dζ da
= = = , (4.19)
da da dζ
·b ·b
dζ dζ
I.4 Velocity and Acceleration Analysis 6

and
!
da db da db da db db da
× × ×b b· −b·
dζ dζ dζ dζ dζ dζ dζ dζ
×b = =
da da da
·b ·b ·b
dζ dζ dζ
da db
b·
dζ dζ db
= = . (4.20)
da dζ
·b
dζ
The following vector is defined as
da db
×
dζ dζ
ω= ,
da
·b
dζ

and the Eqs. (4.19) and (4.20) can be written as

da db
= ω × a, = ω × b.
dζ dζ
In general a given vector d can be expressed as

d = d1 n1 + d2 n2 + d3 n3 ,

where n1 , n2 , n3 are three unit vectors not parallel to the same plane, and
d1 , d2 , d3 are three scalars.
Any vector c fixed in the rigid body RB can be expressed as

c = c1 a + c2 b + c3 a × b, (4.21)

where c1 , c2 , and c3 are constant and independent of ζ. Differentiating

Eq. (4.21) with respect to ζ, the following expression is obtained:

dc da db da db
= c1 + c2 + c3 × b + c3 a ×
dζ dζ dζ dζ dζ
= c1 ω × a + c2 ω × b + c3 [(ω × a) × b + a × (ω × b)]
= c1 ω × a + c2 ω × b + c3 [b · ω a − b · a ω + a · b ω − a · ω b]
I.4 Velocity and Acceleration Analysis 7

= c1 ω × a + c2 ω × b + c3 [ω · b a − a · b ω + a · b ω − a · ω b]
= c1 ω × a + c2 ω × b + c3 [ω · b a − ω · a b]
= c1 ω × a + c2 ω × b + c3 ω × (a × b)
= ω × (c1 a + c2 b + c3 a × b)
= ω × c. (4.22)

The vector ω is not associated with any particular point. With the help of
ω the process of differentiation is replaced with that of cross multiplication.
The vector ω can be expressed in a symmetrical relation in a and b:
da db db da
 
× ×
1 dζ dζ dζ dζ 
ω=  + . (4.23)

2  da db
·b ·a

dζ dζ
The first derivatives of a vector p, with respect to a scalar variable ζ in two
reference frames RFi and RFj , are related as follows:
(j) (i)
dp dp
= + ωij × p, (4.24)
dζ dζ
where ωij is the rate of change of orientation of RFi in RFj with respect to
(j)
dp
ζ and is the total derivative of p with respect to ζ in RFj .
dζ
Proof.
The vector p can be expressed as

p = p1 ı1 + p2 ı2 + p3 ı3 ,

where ı1 , ı2 , ı3 are three unit vectors not parallel to the same plane fixed in
RFi , and px , py , pz are the scalar measure numbers of p. Differentiating in
RFj , the following expression is obtained:
(j) (j)
dp d
= (p1 ı1 + p2 ı2 + p3 ı3 )
dζ dζ
(j) (j) (j) (j) (j) (j)
d p2 d p2 d p3 d ı1 d ı2 d ı3
= ı1 + ı2 + ı3 + p1 + p2 + p3
dζ dζ dζ dζ dζ dζ
d p2 d p2 d p3
= ı1 + ı2 + ı3 + p1 ωij × ı1 + p2 ωij × ı2 + p3 ωij × ı3
dζ dζ dζ
I.4 Velocity and Acceleration Analysis 8

(i) (i) (i)

d p2 d p2 d p3
= ı1 + ı2 + ı3 + ωij × (p1 ı1 + p2 ı2 + p3 ı3 )
dζ dζ dζ
(i)
dp
= + ωij × p.
dζ
The angular velocity of a rigid body RB in a reference frame RF0 is the rate
of change of orientation with respect to the time t
da db

db da
1 × × 1 ȧ × ḃ ḃ × ȧ
!
ω=  dt dt + dt dt 
= + . (4.25)
2 d a d b  2 ȧ · b ḃ · a
·b ·a
dt dt
The direction of ω is related to the direction of the rotation of the rigid body
through a right-hand rule.
Let RFi , i = 1, 2, ..., n be n reference frames. The angular velocity of a rigid
body r in the reference frame RFn , can be expressed as

ωrn = ωr1 + ω12 + ω23 + ... + ωr,n−1 . (4.26)

Proof.
Let p be any vector fixed in the rigid body. Then
(i)
dp
= ωri × p
dt
(i−1)
dp
= ωr,i−1 × p.
dt
On the other hand:
(i) (i−1)
dp dp
= + ωi,i−1 × p.
dt dt
Hence,
ωri × p = ωr,i−1 × p + ωi,i−1 × p,
as this equation is satisfied for all p fixed in the rigid body:

ωri = ωr,i−1 + ωi,i−1 . (4.27)

With i = n, Eq. (4.27) gives

ωrn = ωr,n−1 + ωn,n−1 . (4.28)

I.4 Velocity and Acceleration Analysis 9

With i = n − 1, Eq. (4.27) gives

ωr,n−1 = ωr,n−2 + ωn−1,n−2 . (4.29)

Substitute Eq. (4.29) into Eq. (4.28) the following expression is obtained:

ωrn = ωr,n−2 + ωn−1,n−2 + ωn,n−1 .

Next use Eq. (4.27) with i = n − 2, then with i = n − 3, and so forth.

Motion of a point that moves relative to a rigid body

A reference frame that moves with the rigid body is a body fixed reference
frame. Figure 4.2 shows a rigid body (RB) in motion relative to a primary
reference frame with its origin at point O0 , O0 x0 y0 z0 . The primary reference
frame is a fixed reference frame or an earth fixed reference frame. The unit
vectors ı0 , 0 , and k0 of the primary reference frame are constant.
The body fixed reference frame (mobile reference frame), Oxyz, has its
origin at a point O of the rigid body [O ∈ (RB)], and is a moving reference
frame relative to the primary reference. The unit vectors ı, , and k of the
body fixed reference frame are not constant, because they rotate with the
body fixed reference frame.
The position vector of a point P of the rigid body [P ∈ (RB)] relative to
the origin O of the body fixed reference frame is the vector rOP . The velocity
of P relative to O is
drOP
= ω × rOP ,
dt
where ω is the angular velocity vector of the rigid body.
The position vector of a point A (the point A is not assumed to be a
point of the rigid body, as shown in Fig. 4.2 ) relative to the origin O0 of the
primary reference frame is

rA = rO + r,

where
r = rOA = xı + y + zk,
is the position vector of A relative to the origin O of the body fixed reference
frame, and x, y, and z are the coordinates of A in terms of the body fixed
I.4 Velocity and Acceleration Analysis 10

reference frame. The velocity of the point A is the time derivative of the
position vector rA :
drO dr
vA = + = vO + vAO =
dt dt
dx dı dy d dz dk
vO + ı + x +  + y + k + z .
dt dt dt dt dt dt
Using Poisson formulas, the total derivative of the position vector r is
dr
= ṙ = ẋı + ẏ + żk + ω × r.
dt
The velocity of A relative to the body fixed reference frame is a derivative in
the body fixed reference frame:
(RB)
dr dx dy dz
vArel = = ı +  + k = ẋı + ẏ + żk, (4.30)
dt dt dt dt
A general formula for the total derivative of a moving vector r can be written
as
(RB)
dr dr
= + ω × r, (4.31)
dt dt
(0)
dr dr
where = is the derivative in the fixed reference frame (0) (O0 x0 y0 z0 ),
dt dt
(RB)
dr
and is the derivative in the mobile reference frame (body fixed refer-
dt
ence frame).
The velocity of the point A relative to the primary reference frame is
vA = vO + vArel + ω × r, (4.32)
Equation (4.32) expresses the velocity of a point A as the sum of three terms:
• the velocity of a point O of the rigid body,
• the velocity vArel of A relative to the rigid body, and
• the velocity ω × r of A relative to O due to the rotation of the rigid body.

The acceleration of the point A relative to the primary reference frame is

obtained by taking the time derivative of Eq. (4.32)
aA = aO + aAO
= aO + aArel + 2ω × vArel + α × r + ω × (ω × r), (4.33)
I.4 Velocity and Acceleration Analysis 11

where
(RB) 2
d r d2 x d2 y d2 z
aArel = = ı +  + k, (4.34)
dt2 dt2 dt2 dt2
is the acceleration of A relative to the body fixed reference frame or relative
to the rigid body. The term

aCor = 2ω × vArel .

is called the Coriolis acceleration.

In the case of planar motion, Eq. (4.33) becomes

aA = aO + aArel + 2ω × vArel + α × r − ω2 r. (4.35)

The velocity vA and the acceleration aA of a point A are relative to the

primary reference frame. The terms vArel and aArel are the velocity and
acceleration of point A relative to the body fixed reference frame, i.e., they
are the velocity and acceleration measured by an observer moving with the
rigid body (Fig. 4.3).
If A is a point of the rigid body, A ∈ RB, vArel = 0, and aArel = 0.

Inertial reference frames

A reference frame is inertial if Newton’s second law is applied in the form
P
F = ma. Figure 4.4 shows a nonaccelerating, nonrotating reference frame
with the origin at O0 , and a secondary nonrotating, earth-centered reference
frame with the origin at O. The nonaccelerating, nonrotating reference frame
with the origin at O0 is assumed to be an inertial reference. The acceleration
of the earth, due to the gravitational attractions of the sun, moon, etc., is gO .
The earth-centered reference frame has the acceleration gO , too. Newton’s
second law for an object A of mass m, using the hypothetical nonaccelerating,
nonrotating reference frame with the origin at O0 , can be written as
X
maA = mgA + F, (4.36)

where aA is the acceleration of A relative to O0 , gA is the resulting gravita-

P
tional acceleration, and F is the sum of all other external forces acting on
A. The acceleration of A relative to O0 is

aA = aO + aArel ,
I.4 Velocity and Acceleration Analysis 12

where aArel is the acceleration of A relative to the earth-centered reference

frame. The acceleration of the origin O is equal to the gravitational accel-
eration of the earth aO = gO . The earth-centered reference frame does not
rotate (ω = 0). If the object A is on or near the earth, its gravitational
acceleration gA due to the attraction of the sun, etc., is nearly equal to the
gravitational acceleration of the earth gO , and Eq. (4.36) becomes
X
F = maArel . (4.37)

Newton’s second law can be applied using a nonrotating, earth-centered ref-

erence frame if the object is near the earth. In most applications, Newton’s
second law can be applied using an earth-fixed reference frame. Figure 4.5
shows a nonrotating reference frame with its origin at the center of the earth
O and a secondary earth-fixed reference frame with its origin at a point B.
The earth-fixed reference frame with the origin at B can be assumed to be
P
an inertial reference and F = maArel , where aArel is the acceleration of A
relative to the earth-fixed reference frame.
The motion of an object A can be analyzed using a primary inertial ref-
erence frame with its origin at the point O (Fig. 4.6). A secondary reference
frame with its origin at B undergoes an arbitrary motion with angular ve-
locity ω and angular acceleration α. Newton’s second law for the object A
P
of mass m is F = maA , where aA is the acceleration of A relative to O.
Newton’s second law can be written in the form:
X
F − m[aB + 2ω × vArel + α × rBA + ω × (ω × rBA )] = maArel , (4.38)

where aArel is the acceleration of A relative to the secondary reference frame.

The term aB is the acceleration of the origin B of the secondary reference
frame relative to the primary inertial reference. The term 2ω × vArel is the
Coriolis acceleration, and the term −2mω × vArel is called the Coriolis force.
This is Newton’s second law expressed in terms of a secondary reference
frame undergoing an arbitrary motion relative to an inertial primary refer-
ence frame.

The classical method for obtaining the velocities and/or accelerations of

links and joints is to compute the derivatives of the positions and/or velocities
with respect to time.
I.4 Velocity and Acceleration Analysis 13

4.2 Driver Link

For a driver link in rotational motion [see Fig. 3.3(a)], the following position
relation can be written:

xB (t) = xA + LAB cos φ(t),

yB (t) = yA + LAB sin φ(t). (4.39)

Differentiating Eq. (4.39) with respect to time, the following expressions are
obtained:
d xB (t)
vBx = ẋB = = −LAB φ̇ sin φ,
dt
d yB (t)
vBy = ẏB = = LAB φ̇ cos φ. (4.40)
dt
The angular velocity of the driver link is ω = φ̇.
The time derivative of Eq. (4.40) yields

d vB (t)
aBx = ẍB = = −LAB φ̇2 cos φ − LAB φ̈ sin φ,
dt
d vB (t)
aBy = ÿB = = −LAB φ̇2 sin φ + LAB φ̈ cos φ, (4.41)
dt
where α = φ̈ is the angular acceleration of the driver link AB.

4.3 RRR Dyad

For the RRR dyad (see Fig. 3.4), there are two quadratic equations of the
form:

[xC (t) − xA ]2 + [yC (t) − yA ]2 = L2AC = L22 ,

[xC (t) − xB ]2 + [yC (t) − yB ]2 = L2BC = L23 . (4.42)

Solving the above system of quadratic equations, the coordinates xC (t) and
yC (t) are obtained.
The derivative of Eq. (4.42) with respect to time yields

(xC − xA ) (ẋC − ẋA ) + (yC − yA ) (ẏC − ẏA ) = 0,

(xC − xB ) (ẋC − ẋB ) + (yC − yB ) (ẏC − ẏB ) = 0, (4.43)
I.4 Velocity and Acceleration Analysis 14

From Eq. (4.43) the velocity vector of the joint C, vC = [ẋC , ẏC ]T , is written
in matrix form

vC = M1 · v, (4.44)

where

v = [ẋA , ẏA , ẋB , ẏB ]T ,

M1 = A−1 · A2 ,
" 1 #
xC − xA yC − yA
A1 = ,
xC − xB yC − yB
" #
xC − xA yC − yA 0 0
A2 = .
0 0 xC − xB yC − yB

Similarly, by differentiating Eq. (4.43), the following acceleration equations

are obtained:

(ẋC − ẋA )2 + (xC − xA ) (ẍC − ẍA ) +

(ẏC − ẏA )2 + (yC − yA ) (ÿC − ÿA ) = 0,
(ẋC − ẋB )2 + (xC − xB ) (ẍC − ẍB ) +
(ẏC − ẏB )2 + (yC − yB ) (ÿC − ÿB ) = 0. (4.45)

The acceleration vector of the joint C is obtained from the above system of
equations:

aC = [ẍC , ÿC ]T = M1 · a + M2 , (4.46)

where

a = [ẍA , ÿA , ẍB , ÿB ]T ,

M2 = −A−1 1 · A3 ,
" #
(ẋC − ẋA )2 + (ẏC − ẏA )2
A3 = .
(ẋC − ẋB )2 + (ẏC − ẏB )2

To compute the angular velocity and acceleration of the RRR dyad, the
following equations are written for the angles φ2 (t) and φ3 (t):

yC (t) − yA + [xC (t) − xA ] tan φ2 (t) = 0,

yC (t) − yB + [xC (t) − xB ] tan φ3 (t) = 0. (4.47)
I.4 Velocity and Acceleration Analysis 15

The derivative with respect to time of Eq. (4.47) yields

1
ẏC − ẏA − (ẋC − ẋA ) tan φ2 − (xC − xA ) φ̇2 = 0,
cos2 φ2
1
ẏC − ẏB − (ẋC − ẋB ) tan φ3 − (xC − xB ) 2 φ̇3 = 0. (4.48)
cos φ3
The angular velocity vector is computed as
ω = [φ̇2 , φ̇3 ]T = [ω2 , ω3 ]T = Ω1 · v + Ω2 · vC , (4.49)
where
 x −x xC − xA 
C A
2
− 0 0

Ω1 =  L 2 L22 
xC − xB xC − xB  ,


0 0 −
L23 L23
 xC − xA xC − xA 
 − L22 L22 
Ω2 = 
 xC − xB xC − xB
.

−
L23 L23
Differentiating Eq. (4.49), the angular acceleration vector α = ω̇ is
α = [φ̈2 , φ̈3 ]T = [α2 , α3 ]T = Ω̇1 · v + Ω̇2 · vC + Ω1 · a + Ω̇2 · aC . (4.50)

4.4 RRT Dyad

For the RRT dyad [see Fig. 3.5(a)], the following equations can be written
for position analysis
[xC (t) − xA ]2 + [yC (t) − yA ]2 = AC 2 = L2AC = L22 ,
[xC (t) − xB ] sin α − [yC (t) − yB ] cos α = ± h. (4.51)
From the above system of equations, xC (t) and yC (t) can be computed.
The time derivative of Eq. (4.51) yields
(xC − xA ) (ẋC − ẋA ) + (yC − yA ) (ẏC − ẏA ) = 0,
(ẋC − ẋB ) sin α − (ẏC − ẏB ) cos α = 0. (4.52)
The solution for the velocity vector of the joint C from Eq. (4.52) is
vC = [ẋC , ẏC ]T = M3 · v, (4.53)
I.4 Velocity and Acceleration Analysis 16

where

M3 = A−1 · A5 ,
" 4 #
xC − xA yC − yA
A4 = ,
sin α − cos α
" #
xC − xA yC − yA 0 0
A5 = .
0 0 sin α − cos α

Differentiating Eq. (4.52) with respect to time

(ẋC − ẋA )2 + (xC − xA ) (ẍC − ẍA ) +

(ẏC − ẏA )2 + (yC − yA ) (ÿC − ÿA ) = 0,
(ẍC − ẍB ) sin α − (ÿC − ÿB ) cos α = 0, (4.54)

the acceleration vector aC is obtained as

aC = [ẍC , ÿC ]T = M3 · a + M4 , (4.55)

where

M4 = −A−1 4 · A6 ,
" #
(ẋC − ẋA )2 + (ẏC − ẏA )2
A6 = . (4.56)
0

The angular position of the element 2 is described by the following equation:

yC (t) − yA − [xC (t) − xA ] tan φ2 (t) = 0. (4.57)

The time derivative of Eq. (4.57) yields

1
ẏC − ẏA − (ẋC − ẋA ) tan φ2 − (xC − xA ) φ̇2 = 0, (4.58)
cos2 φ2
and the angular velocity of the element 2 is
xC − xA
ω2 = [(ẏC − ẏA ) − (ẋC − xA ) tan φ2 ] . (4.59)
L22
The angular acceleration of the element 2 is α2 = ω̇2 .
I.4 Velocity and Acceleration Analysis 17

4.5 RTR Dyad

For the RTR dyad [see Fig. 3.6(a)] the position relations are

[xC (t) − xA ]2 + [yC (t) − yA ]2 = L22 ,

yC − yB yC − yA
−
xC − xB xC − xA
tan α = yC − yB yC − yA =
1+ ·
xC − xB xC − xA
(yC − yB )(xC − xA ) − (yC − yA )(xC − xB )
. (4.60)
(xC − xB )(xC − xA ) + (yC − yB )(yC − yA )
The time derivative of Eq. (4.60) yields

(xC − xA ) (ẋC − ẋA ) + (yC − yA ) (ẏC − ẏA ) = 0,

tan α [(ẋC − ẋB )(xC − xA ) + (xC − xB )(ẋC − ẋA )] +
tan α [(ẏC − ẏA )(yC − yB ) + (yC − yA )(ẏC − ẏB )] +
(ẏC − ẏA )(xC − xB ) + (yC − yA )(ẋC − ẋB ) −
(ẏC − ẏB )(xC − xA ) − (yC − yB )(ẋC − ẋA ) = 0, (4.61)

or in a matrix form

A7 · vC = A8 · v, (4.62)

where
" #
xC − xA yC − yA
A7 = ,
γ1 γ2
" #
xC − xA yC − yA 0 0
A8 = .
γ3 γ4 γ5 γ6

In addition,

γ1 = [(xC − xB ) + (xC − xA )] tan α − (yC − yB ) + (yC − yA ),

γ2 = [(yC − yA ) + (yC − yB )] tan α − (xC − xA ) + (xC − xB ),
γ3 = (xC − xB ) tan α + (yC − yB ),
γ4 = (xC − xA ) tan α + (yC − yA ),
γ5 = (yC − yB ) tan α + (xC − xB ),
γ6 = (yC − yA ) tan α − (xC − xA ).
I.4 Velocity and Acceleration Analysis 18

The solution for the velocity vector, vC , of the joint C, from Eq. (4.62) is
vC = M5 · v, (4.63)
where
M5 = A−1
7 · A8 .

Differentiating Eq. (4.62), the following relation is obtained:

A7 · aC = A8 · a − A9 , (4.64)
where
" #
(ẋC − ẋA )2 + (ẏC − ẏA )2
A9 = ,
γ7
γ7 = 2(ẋC − ẋB )(ẋC − ẋA ) tan α + 2(ẏC − ẏB )(ẏC − ẏA ) tan α −
2(ẏC − ẏB )(ẋC − ẋA ) + 2(ẏC − ẏA )(ẋC − ẋB ).
The acceleration vector of the joint C is
aC = M5 · a − M6 , (4.65)
where
M6 = A−1
7 · A9 .

To compute the angular velocities for the RTR dyad, the following equations
can be written:
yC (t) − yA = [xC (t) − xA ] tan φ2
φ3 = φ2 + α. (4.66)
The time derivative of Eq. (4.66) yields
1
(ẏC − ẏA ) = (ẋC − ẋA ) tan φ2 + (xC − xA ) φ̇2
cos2 φ2
φ̇3 = φ̇2 . (4.67)
The angular velocities of the links 2 and 3 are
cos2 φ2
ω2 = ω3 = [(ẏC − ẏA ) − (ẋC − ẋA ) tan φ2 ] . (4.68)
xC − xA
The angular accelerations are found to be
α2 = α3 = ω̇2 = ω̇3 . (4.69)
I.4 Velocity and Acceleration Analysis 19

4.6 TRT Dyad

For the TRT dyad (see Fig. 3.7), the two position equations are

[xC (t) − xA ] sin α − [yC (t) − yA ] cos α = ± d,

[xC (t) − xB ] sin β − [yC (t) − yB ] cos β = ± h. (4.70)

The derivative with respect to time of Eq. (4.70) yields

(ẋC − ẋA ) sin α − (ẏC − ẏA ) cos α +

(xC − xA )α̇ cos α + (yC − yA )α̇ sin α = 0,
(ẋC − ẋB ) sin β − (ẏC − ẏB ) cos β +
(xC − xB )β̇ cos β + (yC − yB )β̇ sin β = 0, (4.71)

or in a matrix form

A10 · vC = A11 · v1 , (4.72)

where

v1 = [ẋA , ẏA , α̇, ẋB , ẏB , β̇]T ,

" #
− sin α − cos α
A10 = ,
sin β − cos β
" #
sin α − cos α ξ1 0 0 0
A11 = ,
0 0 0 sin β − cos β ξ2
ξ1 = (xA − xC ) cos α + (yA − yC ) sin α,
ξ2 = (xB − xC ) cos β + (yB − yC ) sin β.

The solution of Eq. (4.72) gives the velocity of the joint C as

vC = M7 · v1 , (4.73)

where

M7 = A−1
10 · A11 .

Differentiating Eq. (4.72), with respect to time, gives

A10 · aC = A11 · a1 − A12 , (4.74)

I.4 Velocity and Acceleration Analysis 20

where

a1 = [ẍA , ÿA , α̈, ẍB , ÿB , β̈]T ,

" #
ξ3
A12 = ,
ξ4
ξ3 = 2(ẋC − ẋA )α̇ cos α + 2(ẏC − ẏA )β̇ sin α −
(xC − xA )α̇2 sin α + (yC − yA )α̇2 cos α,
ξ4 = 2(ẋC − ẋB )β̇ cos β + 2(ẏC − ẏB )β̇ sin β −
(xC − xB )β̇ 2 sin β + (yC − yB )β̇ 2 cos β.

The solution of Eq. (4.74) gives the acceleration vector of joint C as

aC = M7 · a + M8 . (4.75)

where

M8 = A−1
10 · A12 .
I.4 Velocity and Acceleration Analysis 21

4.7 Examples
Example 4.1: R-TRR mechanism.
The following dimensions are given for the mechanism shown in Fig. 4.7:
AC = a = 0.100 m and BC = 0.300 m. The angle of the driver link 1
with the horizontal axis is φ = φ1 = 45◦ . The coordinates of joint B are
xB = yB = 0.256 m. The driver link 1 rotates with a constant speed of
n1 = 30 rpm. Find the velocities and the accelerations of the mechanism.
Solution
A cartesian reference frame with the origin at A is selected. The coordi-
nates of joint A are

xA = yA = 0.

the coordinates of the joint C are

xC = AC = 0.100 m and yC = 0,

and the coordinates of joint B are

xB = 0.256 m and yB = 0.256 m.

The position of joint B is calculated from the equations

yB (t)
tan φ(t) = and [xB (t) − xC ]2 + [yB (t) − yC ]2 = BC 2 ,
xB (t)
or

xB (t) sin φ(t) = yB (t) cos φ(t),

[xB (t) − xC ]2 + [yB (t) − yC ]2 = BC 2 . (4.76)

The linear velocity of point B on link 3 or 2 is

vB = vB3 = vB2 = ẋB ı + ẏB ,

where
dxB dyB
ẋB = and ẏB = .
dt dt
The velocity analysis is carried out differentiating Eq. (4.76):

ẋB sin φ + xB φ̇ cos φ = ẏB cos φ − yB φ̇ sin φ,

ẋB (xB − xC ) + ẏB (yB − yC ) = 0,
I.4 Velocity and Acceleration Analysis 22

or

ẋB sin φ + xB ω cos φ = ẏB cos φ − yB ω sin φ,

ẋB (xB − xC ) + ẏB (yB − yC ) = 0. (4.77)

The magnitude of the angular velocity of the driver link 1 is

π n1 π (30 rpm)
ω = ω1 = φ̇ = = = 3.141 rad/s. (4.78)
30 30
The angular velocity of link 1 is

ω = ω1 = ω k = 3.141 k rad/s.

The link 2 and the driver link 1 have the same angular velocity ω1 = ω2 .
For the given numerical data Eq. (4.77) becomes

ẋB sin 45◦ + 0.256 (3.141) cos 45◦ = ẏB cos 45◦ − 0.256 (3.141) sin 45◦ ,
ẋB (0.256 − 0.1) + ẏB (0.256 − 0) = 0. (4.79)

The solution of Eq. (4.79) gives

ẋB = −0.999 m/s and ẏB = 0.609 m/s.

The velocity of B is

vB = vB3 = vB2 = −0.999 ı + 0.609  m/s,

q
|vB | = |vB3 | = |vB2 | = (−0.999)2 + (0.609)2 = 1.171 m/s.
The acceleration analysis is obtained using the derivative of the velocities
given by Eq. (4.77):

ẍB sin φ + ẋB ω cos φ + ẋB ω cos φ − xB ω 2 sin φ =

ÿB cos φ − ẏB ω sin φ − ẏB ω sin φ + yB ω 2 cos φ,
ẍB (xB − xC ) + ẋ2B + ÿB (yB − yC ) + ẏB2 = 0. (4.80)

The magnitude of the angular acceleration of the driver link 1 is

α = ω̇ = φ̈ = 0.
I.4 Velocity and Acceleration Analysis 23

Numerically, Eq. (4.80) gives

ẍB sin 45◦ + 2 (−0.999) (3.141) cos 45◦ − 0.256 (3.141)2 sin 45◦ =
ÿB cos 45◦ − 2 (0.609) (3.141) sin 45◦ + 0.256 (3.141)2 cos 45◦ ,
ẍB (0.256 − 0.1) + (−0.999)2 + ÿB (0.256) + 0.6092 = 0. (4.81)

The solution of Eq. (4.81) is

ẍB = −1.802 m/s2 and ÿB = −4.255 m/s2 .

The acceleration of B on link 3 or 2 is

aB = aB3 = aB2 = ẍB ı + ÿB  = −1.802 ı − 4.255  m/s2 ,

q
|aB | = |aB3 | = |aB2 | = (−1.802)2 + (−4.255)2 = 4.620 m/s2 .
The slope of the link 3 (the points B and C are on the straight line BC) is
yB (t) − yC
tan φ3 (t) = ,
xB (t) − xC
or

[xB (t) − xC ] sin φ3 (t) = [yB (t) − yC ] cos φ3 (t). (4.82)

The angle φ3 is computed as follows:

yB − yC 0.256
φ3 = arctan = arctan = 1.023 rad = 58.633◦ .
xB − xC 0.256 − 0.1
The derivative of Eq. (4.82) yields

ẋB sin φ3 + (xB − xC ) φ̇3 cos φ3 = ẏB cos φ3 − (yB − yC ) φ̇3 sin φ3 ,

or

ẋB sin φ3 + (xB − xC ) ω3 cos φ3 = ẏB cos φ3 − (yB − yC ) ω3 sin φ3 , (4.83)

where ω3 = φ̇3 .
Numerically Eq. (4.83) gives

−0.999 sin 58.633◦ + (0.256 − 0.1) ω3 cos 58.633◦ =

0.609 cos 58.633◦ − 0.256 ω3 sin 58.633◦ ,
I.4 Velocity and Acceleration Analysis 24

with the solution ω3 = 3.903 rad/s.

The angular velocity of link 3 is

ω3 = ω3 k = 3.903 k rad/s.

The angular acceleration of link 3, α3 = ω̇3 = φ̈3 , is obtained using the

derivative of the Eq. (4.83):

ẍB sin φ3 + ẋB ω3 cos φ3 +

ẋB ω3 cos φ3 + (xB − xC ) ω̇3 cos φ3 − (xB − xC ) ω32 sin φ3 =
ÿB cos φ3 − ẏB ω3 sin φ3 −
ẏB ω3 sin φ3 − (yB − yC ) ω̇3 sin φ3 − (yB − yC ) ω32 cos φ3 ,

or

ẍB sin φ3 + 2 ẋB ω3 cos φ3 + (xB − xC ) α3 cos φ3 − (xB − xC ) ω32 sin φ3 =

ÿB cos φ3 − 2 ẏB ω3 sin φ3 − (yB − yC ) α3 sin φ3 − (yB − yC ) ω32 cos φ3 .

Numerically, the previous equation becomes

−1.802 sin 58.633◦ + 2 (−0.999) (3.903) cos 58.633◦ +

(0.256 − 0.1) α3 cos 58.633◦ − (0.256 − 0.1) (3.903)2 sin 58.633◦ =
−4.255 cos 58.633◦ − 2 (0.609) (3.903) sin 58.633◦ −
0.256 α3 sin 58.633◦ − 0.256 (3.903)2 cos 58.633◦ ,

with the solution α3 = −2.252 rad/s2 . The angular acceleration of link 3 is

α3 = α3 k = −2.252 k rad/s2 .

The velocity of the point B1 on link 1 is calculated with the expression of

velocity field of two points (B1 and A) on the same rigid body (link 1):
 
 ı  k 

vB1 = vA + ω1 × rAB = ω1 × rAB =  0 0 ω1  =
 
 xB yB 0 
 

 ı  k 
 0 0 3.141  = −0.804 ı + 0.804  m/s.
 
 
 0.256 0.256 0 
I.4 Velocity and Acceleration Analysis 25

The velocity field of two points (B1 and B2 ) not situated on the same rigid
body (B1 is on link 1 and B2 is on link 2) is calculated with
r r
vB2 = vB1 + vB 2 B1
= vB1 + vB 21
,
r
where vB 21
is the relative velocity of the point B2 on link 2 with respect to
the point B1 on link 1:
r
vB 21
= vB2 − vB1 = −0.999 ı + 0.609  − (−0.804 ı + 0.804 )
= −0.195 ı − 0.195  m/s.
The relation between the angular velocities of link 2 and link 3 is
ω2 = ω3 + ω23 ,
and the relative angular velocity of link 2 with respect to link 3 is
ω23 = ω2 − ω3 = 3.141 k − 3.903 k = −0.762 k rad/s.
The acceleration of the point B1 on link 1 is
aB1 = aA + α1 × rAB − ω12 rAB = −ω12 rAB = −ω12 (xB ı + yB )
= −3.1412 (0.256 ı + 0.256 ) = −2.528 ı − 2.528  m/s2 .
The acceleration of B2 in terms of B1 is
aB2 = aB1 + arB21 + 2 ω1 × vB
r
21
,
where arB21 is the relative acceleration of the point B2 on link 2 with respect
r
to the point B1 on link 1 and 2 ω1 × vB 21
is the Coriolis acceleration:
 
 ı  k 

acB21 = 2 ω1 × vB
r
21
r
= 2 ω2 × vB 21
=  0 0 ω1  =
 r
vr

v 0 
B21 x B21 y
 

 ı  k 
0 0 3.141  = 1.226 ı − 1.226  m/s2 .
 

 −0.195 −0.195
 
0 
The relative acceleration of B2 with respect to B1 is
arB21 = aB2 − aB1 − acB21 =
−1.802 ı − 4.255  − (−2.528 ı − 2.528 ) − (1.226 ı − 1.226 ) =
−0.5 ı − 0.5  m/s2 .
I.4 Velocity and Acceleration Analysis 26

The relative angular acceleration of link 2 with respect to link 3 is

α23 = α2 − α3 = −α3 = 2.252 k rad/s2 ,

where α2 = α1 = 0.

Example 4.2: R-RTR-RRT mechanism

The mechanism shown in Fig. 4.8 and has the dimensions: AB = 0.100 m,
AC = 0.150 m, CD = 0.075 m, and DE = 0.200 m. The angle of the
driver link 1 with the horizontal axis is φ = φ1 = 45◦ , and the angular speed
of the driver link 1 is ω = ω1 = 4.712 rad/s. Find the velocities and the
accelerations of the mechanism.
Solution.
The origin of the fixed reference frame is at C ≡ 0. The position of the
fixed joint A is

xA = 0, yA = AC = 0.150 m.

The position of joint B is

xB (t) = xA + AB cos φ(t), yB (t) = yA + AB sin φ(t),

and for φ = 45◦ , the position is

xB = 0 + 0.100 cos 45◦ = 0.070 m, yB = 0.150 + 0.100 sin 45◦ = 0.220 m.

The linear velocity vector of B is

vB = ẋB ı + ẏB ,

where
dxB dyB
ẋB = = −AB φ̇ sin φ, ẏB = = AB φ̇ cos φ.
dt dt

With φ = 45◦ and φ̇ = ω = 4.712 rad/s:

ẋB = −0.100 (4.712) sin 45◦ = −0.333 m/s,

ẏB = 0.100 (4.712)
q
cos 45◦ q
= 0.333 m/s,
2 2
vB = |vB | = ẋB + ẏB = (−0.333)2 + 0.3332 = 0.471 m/s.
I.4 Velocity and Acceleration Analysis 27

The linear acceleration vector of B is

aB = ẍB ı + ÿB ,

where
dẋB
ẍB = = −AB φ̇2 cos φ − AB φ̈ sin φ,
dt
dẏB
ÿB = = −AB φ̇2 sin φ + AB φ̈ cos φ.
dt

The angular acceleration of link 1 is φ̈ = ω̇ = 0. The numerical values for

the acceleration of B are
ẍB = −0.100 (4.712)2 cos 45◦ = −1.569 m/s2 ,
(4.712)2 sin 45q◦ = −1.569 m/s2 ,
ÿB = −0.100 q
aB = |aB | = ẍ2B + ÿB2 = (−1.569)2 + (−1.569)2 = 2.220 m/s2 .

The velocity and acceleration of point B on link 1 (or on link 2) can also
be calculated with the relations
 

 ı  k 
vB = vB1 = vB2 = vA + ω1 × rAB = 0 0 ω1  =
 
 xB − xA yB − yA
 
0 
 

 ı  k 
0 0 4.712  = −0.333 ı + 0.333  m/s,
 

 0.070 − 0.15

0.220 0 

aB = aB1 = aB2 = aA + α1 × rAB − ω12 rAB = −ω12 rAB =

4.7122 [(0.070 − 0.15) ı + 0.220 ] = −1.569 ı − 1.569  m/s2 ,

where ω1 = ω1 k = ω k and α1 = ω̇1 = 0.

The points B and C are located on the same straight line BD:

yB (t) − yC − [xB (t) − xC ] tan φ3 (t) = 0. (4.84)

The angle φ3 = φ2 is computed as follows:

yB − yC
φ3 = φ2 = arctan ,
xB − xC
I.4 Velocity and Acceleration Analysis 28

and for φ = 45◦ is obtained by

0.22
φ3 = arctan = 72.235◦ .
0.07
The derivative of Eq. (4.84) yields
1
ẏB − ẏC − (ẋB − ẋC ) tan φ3 − (xB − xC ) φ̇3 = 0. (4.85)
cos2 φ3
The angular velocity of link 3, ω3 = ω2 = φ̇3 , is computed as follows
cos2 φ3 [ẏB − ẏC − (ẋB − ẋC ) tan φ3 ]
ω3 = ω2 = ,
xB − xC
and
cos2 72.235◦ (0.333 + 0.333 tan 72.235◦ )
ω3 = = 1.807 rad/s.
0.07
The angular acceleration of link 3, α3 = α2 = φ̈3 , is computed from the time
derivative of Eq. (4.85)
1
ÿB − ÿC − (ẍB − ẍC ) tan φ3 − 2(ẋB − ẋC ) φ̇3 −
cos2 φ3
sin φ3 2 1
2(xB − xC ) 3
φ̇3 − (xB − xC ) 2 φ̈3 = 0.
cos φ3 cos φ3
The solution of the previous equation is
1
α3 = α2 = [ÿB − ÿC − (ẍB − ẍC ) tan φ3 − 2(ẋB − ẋC ) φ̇3 −
cos2 φ3
sin φ3 2 cos2 φ3
2(xB − xC ) φ̇ ] ,
cos3 φ3 3 xB − xC
and for the given numerical data:
1
α3 = α2 = [−1.569 + 1.569 tan 72.235◦ + 2(0.333) 2 1.807−
◦ 2 ◦
cos 72.235◦
sin 72.235 cos 72.235
2(0.07) 3 ◦
(1.807)2 ] = 1.020 rad/s2 .
cos 72.235 0.07
The links 2 and 3 have the same angular velocity ω3 = ω2 = ω3 k and
the same angular acceleration α3 = α2 = α3 k. The relative angular velocity
of link 2 relative to link 1 is
ω21 = ω2 − ω1 = (1.807 − 4.712) k = −2.905 k rad/s,
I.4 Velocity and Acceleration Analysis 29

and the relative angular acceleration of link 2 relative to link 1 is

α21 = α2 − α1 = α2 = 1.020 k rad/s2 .

The velocity and acceleration of point B on link 3 are calculated with

 
 ı  k 

vB3 = vC + ω3 × rCB = 0 0 ω3  =
 
 
 xB yB 0 
 

 ı  k 
 0 0 1.807  = −0.398 ı + 0.127  m/s,
 

 0.070 0.220 0 

aB = aC + α3 × rCB − ω32 rCB =

 3 
 ı k 

 00 α3  − ω32 (xB ı + yB ) =
 

 xB
yB 0 
 

 ı  k 
 0

0 1.020  − 1.8072 (0.070 ı + 0.220 ) =
 
 0.070 0.220 0 
−0.456 ı − 0.649  m/s2 .

The velocity field of two points (B2 and B3 ) not situated on the same
rigid body (B2 is on link 2 and B3 is on link 3) is expressed by
r
vB2 = vB3 + vB 23
,

and
r
vB 23
= vB2 − vB3 = −0.333 ı + 0.333  − (−0.398 ı + 0.127 )
= 0.065 ı + 0.205  m/s.

The expression for the Coriolis acceleration is

acB23 = 2 ω2 × vB r
23
r
= 2 ω3 × vB 23
=
   
 ı  k   ı  k 
 
2  0 0 ω3  = 2  0 0 1.807  =
 r
vBr 21y 0 
  
v  0.065 0.205 0 
B23x
−0.742 ı + 0.237  m/s2 .
I.4 Velocity and Acceleration Analysis 30

The relative acceleration of B2 with respect to B3 is

arB23 = aB2 − aB3 − acB23 =

−1.569 ı − 1.569  − (−0.456 ı − 0.649 ) − (−0.742 ı + 0.237 ) =
−0.5 ı − 0.5  m/s2 .

The position of the joint D is given by the following quadratic equations:

[xD (t) − xC ]2 + [yD (t) − yC ]2 = CD2 ,

[xD (t) − xC ] sin φ3 (t) − [yD (t) − yC ] cos φ3 (t) = 0,

The previous equations are rewritten as follows:

x2D (t) + yD
2
(t) = CD2 ,
xD (t) sin φ3 (t) − yD (t) cos φ3 (t) = 0. (4.86)

For φ = 45◦ , the coordinates of joint D are

CD 0.075
xD = ± q = ±√ = −0.023 m,
1 + tan2 φ3 1 + tan2 72.235◦
yD = xD tan φ3 = −0.023 tan 72.235◦ = −0.071 m.

The negative value for xD was selected for this position of the mechanism.

The velocity analysis is carried out differentiating Eq. (4.86)

xD ẋD + yD ẏD = 0,
ẋD sin φ3 + xD cos φ3 φ̇3 − ẏD cos φ3 + yD sin φ3 φ̇3 = 0. (4.87)

For the given data, Eq. (4.87) becomes

−0.023ẋD − 0.071ẏD = 0,
0.952 ẋD − 0.023(0.305)(1.807) − 0.305 ẏD − 0.071(0.952)(1.807) = 0.

The solution is

ẋD = 0.129 m/s, ẏD = −0.041 m/s.

The magnitude of the velocity of joint D is

q q
vD = |vD | = ẋ2D + 2
ẏD = 0.1292 + (−0.041)2 = 0.135 m/s.
I.4 Velocity and Acceleration Analysis 31

The acceleration analysis is obtained using the derivative of the velocity given
by Eq. (4.87):

ẋ2D + xD ẍD + ẏD

2
+ yD ÿD = 0,
ẍD sin φ3 + 2ẋD φ̇3 cos φ3 − xD φ̇23 sin φ3 + xD φ̈3 cos φ3 −
ÿD cos φ3 + 2ẏD φ̇3 sin φ3 + yD φ̇23 cos φ3 + yD φ̈23 sin φ3 = 0,
or

0.1292 + (−0.022)ẍD + (−0.041)2 + (−0.071)ÿD = 0,

ẍD sin 72.235◦ + 2(0.129)(1.807) cos 72.235◦ − (−0.022)(1.807)2 sin 72.235◦ +
(−0.022)(1.020) cos 72.235◦ −
ÿD cos 72.235◦ + 2(−0.041)(1.807) sin 72.235◦ + (−0.071)(1.807)2 cos 72.235◦ +
(−0.071)(1.020)2 sin 72.235◦ = 0.

The solution of the previous system is

ẍD = 0.147 m/s2 , ÿD = 0.210 m/s2 .

The absolute acceleration of joint D is

q q
aD = |aD | = ẍ2D + ÿD
2
= (0.150)2 + (0.212)2 = 0.256 m/s2 .

The position of joint E is determined from the following equation:

[xE (t) − xD (t)]2 + [yE (t) − yD (t)]2 = DE 2 ,

and with the coordinate yE = 0:

[xE (t) − xD (t)]2 + yD

2
(t) = DE 2 . (4.88)

With the given numerical values Eq. (4.88) becomes

(xE + 0.023)2 + (0.071)2 = 0.22 ,

with the correct solution xE = 0.164 m.

The velocity of joint E is determined by differentiating Eq. (4.88) as follows

2(ẋE − ẋD )(xE − xD ) + 2yD ẏD = 0, (4.89)

I.4 Velocity and Acceleration Analysis 32

or
yD ẏD
ẋE − ẋD = − .
xE − xD
The solution of the above equation is
(−0.071)(−0.041)
ẋE = 0.129 − = 0.113 m/s.
0.164 + 0.023
The derivative of Eq. (4.89) yields
(ẍE − ẍD )(xE − xD ) + (ẋE − ẋD )2 + ẏD
2
+ yD ÿD = 0,
with the solution
2
ẏD + yD ÿD + (ẋE − ẋD )2
ẍE = ẍD − ,
xE − xD
or with numerical values
(−0.041)2 + (−0.071)(0.21) + (0.112 − 0.129)2
ẍE = 0.150 − = 0.217 m/s2 .
0.164 + 0.023
The angle φ4 is determined from the following equation:
yE − yD (t) − [xE (t) − xD (t)] tan φ4 (t) = 0, (4.90)
where yE = 0. The above equation can be rewritten as
−yD (t) − [xE (t) − xD (t)] tan φ4 (t) = 0, (4.91)
and the solution is
−yD 0.071
   
φ4 = arctan = arctan = 20.923◦ .
xE − xD 0.164 + 0.023
The derivative of Eq. (4.91) yields
1
−ẏD − (ẋE − ẋD ) tan φ4 − (xE − xD ) φ̇4 = 0. (4.92)
cos2 φ4
Hence,
cos2 φ4 [ẏD + (ẋE − ẋD ) tan φ4 ]
ω4 = φ̇4 = −
xE − xD
cos 20.923 [−0.041 + (0.113 − 0.129) tan 20.923◦ ]
2 ◦
= −
0.164 − (−0.022)
= 0.221 rad/s.
I.4 Velocity and Acceleration Analysis 33

The angular acceleration of link 4 is determined by differentiating Eq. (4.92)

as follows:
1
−ÿD − (ẍE − ẍD ) tan φ4 − 2(ẋE − ẋD ) φ̇4 −
cos2 φ4
sin φ4 1
2(xE − xD ) 3 φ̇24 − (xE − xD ) 2 φ̈4 = 0,
cos φ4 cos φ4
or
1
−0.210 − (0.217 − 0.147) tan 20.923◦ − 2(0.113 − 0.129) 0.221 −
cos220.923◦
sin 20.923◦ 1
2(0.164 + 0.022) 3 ◦
0.2212 − (0.164 + 0.022) 2 φ̈4 = 0,
cos 20.923 cos 20.923◦
The solution of the previous equation is

α4 = φ̈4 = −1.105 rad/s2 .

I.4 Velocity and Acceleration Analysis 34

4.8 Problems
4.1 The four-bar mechanism shown in Fig. 3.16 has the dimensions: AB =
CD = 0.04 m and AD = BC = 0.09 m. The driver link AB rotates
with a constant angular speed of 120 rpm. Find the velocities and the
accelerations of the four-bar mechanism for the case when the angle of
the driver link AB with the horizontal axis is φ = 30◦ .
4.2 The constant angular speed of the driver link 1 of the mechanism shown
in Fig. 4.9, is ω = ω1 = 10 rad/s. The distance from link 3 to the
horizontal axis Ax is a = 55 mm. Find the velocity and the acceleration
of point C on link 3 for φ = 45◦ .
4.3 The slider crank mechanism shown in Fig. 4.10 has the dimensions:
AB = 0.1 m and BC = 0.2 m. The driver link 1 rotates with a constant
angular speed of n = 60 rpm. Find the velocity and acceleration of the
slider 3 when the angle of the driver link with the horizontal axis is
φ = 45◦ .
4.4 The planar mechanism considered is shown in Fig. 3.19. The fol-
lowing data are given: AB=0.150 m, BC=0.400 m, CD=0.370 m,
CE=0.230 m, EF =CE, La =0.300 m, Lb =0.450 m, and Lc =CD. The
constant angular speed of the driver link 1 is 60 rpm. Find the velocities
and the accelerations of the mechanism for φ = φ1 = 30◦ .
4.5 The R-RRR-RTT mechanism is shown in Fig. 3.20. The following data
are given: AB=0.080 m, BC=0.350 m, CE=0.200 m, CD=0.150 m,
La =0.200 m, Lb =0.350 m, and Lc =0.040 m. The driver link 1 rotates
with a constant angular speed of n = 300 rpm. Find the velocities and
the accelerations of the mechanism when the angle of the driver link
with the horizontal axis is φ = 155◦ .
4.6 The mechanism shown in Fig. 3.21 has the following dimensions: AB =
60 mm, AD = 200 mm, BC = 140 mm, CE = 50 mm, EF = 170 mm,
and a = 130 mm. The constant angular speed of the driver link 1 is n =
300 rpm. Find the velocities and the accelerations of the mechanism
when the angle of the driver link 1 with the horizontal axis is φ = φ1 =
30◦ .
4.7 The dimensions for the mechanism shown in Fig. 3.22 are: AB =
120 mm, BD = 320 mm, BC = 110 mm, CD = 300 mm, DE =
I.4 Velocity and Acceleration Analysis 35

200 mm, CF = 400 mm, AE = 320 mm, and b = 80 mm. The

constant angular speed of the driver link 1 is n = 30 rpm. Find the
velocities and the accelerations of the mechanism for φ = φ1 = 30◦ .

4.8 The mechanism in Fig. 3.23 has the dimensions: AB = 50 mm, AC =

25 mm, BD = 100 mm, DE = 140 mm, EF = 80 mm, La = 130 mm,
and Lb = 30 mm. Find the velocities and the accelerations of the
mechanism if the constant angular speed of the driver link 1 is n =
100 rpm and for φ = φ1 = 150◦ .

4.9 The dimensions for the mechanism shown in Fig. 3.24 are: AB =
180 mm, BC = 470 mm, AD = 430 mm, CD = 270 mm, DE =
180 mm, EF = 400 mm, and La = 70 mm. The constant angular
speed of the driver link 1 is n = 220 rpm. Find the velocities and the
accelerations of the mechanism for φ = φ1 = 45◦ .

4.10 The mechanism in Fig. 3.25 has the dimensions: AB = 200 mm, AC =
600 mm, BD = 1000 mm, La = 150 mm, and Lb = 250 mm. The driver
link 1 rotates with a constant angular speed of n = 60 rpm. Find the
velocities and the accelerations of the mechanism for φ = φ1 = 120◦ .

4.11 Figure 3.26 shows a mechanism with the following dimensions: AB =

250 mm, BD = 900 mm, and La = 300 mm. The constant angular
speed of the driver link 1 is n = 500 rpm. Find the velocities and the
accelerations of the mechanism when the angle of the driver link 1 with
the horizontal axis is φ = 240◦ .

4.12 The mechanism in Fig. 3.27 has the dimensions: AB = 150 mm, AC =
350 mm, BD = 530 mm, DE = 300 mm, EF = 200 mm, La = 55 mm,
and Lb = 250 mm. The constant angular speed of the driver link 1 is
n = 30 rpm. Find the velocities and the accelerations of the mechanism
for φ = φ1 = 120◦ .

4.13 Figure 3.28 shows a mechanism with the following dimensions: AB =

150 mm, BC = 550 mm, CD = DE = 220 mm, EF = 400 mm,
La = 530 mm, and Lb = Lc = 180 mm. Find the velocities and the
accelerations of the mechanism if the constant angular speed of the
driver link 1 is n = 1000 rpm and for φ = φ1 = 150◦ .
I.4 Velocity and Acceleration Analysis 36

4.14 Figure 3.29 shows a mechanism with the following dimensions: AB =

250 mm, BC = 1200 mm, CE = 400 mm, CD = 800 mm, EF =
700 mm, La = 650 mm, Lb = 1000 mm, and Lc = 1200 mm. The
constant angular speed of the driver link 1 is n = 70 rpm. Find the
velocities and the accelerations of the mechanism for φ = φ1 = 120◦ .

4.15 Figure 3.30 shows a mechanism with the following dimensions: AB =

100 mm, BC = 270 mm, CF = 260 mm, CD = 90 mm, DE = 300 mm,
La = 350 mm, Lb = 200 mm, and Lc = 120 mm. The constant angular
speed of the driver link 1 is n = 100 rpm. Find the velocities and the
accelerations of the mechanism when the angle of the driver link 1 with
the horizontal axis is φ = 60◦ .

4.16 Figure 3.31 shows a mechanism with the following dimensions: AB =

40 mm, BC = 100 mm, AD = 50 mm, and BE = 110 mm. The
constant angular speed of the driver link 1 is n = 250 rpm. Find the
velocities and the accelerations of the mechanism if the angle of the
driver link 1 with the horizontal axis is φ = 30◦ .

4.17 The dimensions of the mechanism shown in Fig. 3.32 are: AB =

100 mm, BC = 200 mm, BE = 400 mm, CE = 600 mm, CD =
220 mm, EF = 800 mm, La = 250 mm, Lb = 150 mm, and Lc =
100 mm. The constant angular speed of the driver link 1 is n =
100 rpm. Find the velocities and the accelerations of the mechanism
for φ = φ1 = 150◦ .

4.18 The dimensions of the mechanism shown in Fig. 3.33 are: AB =

200 mm, AC = 300 mm, CD = 500 mm, DE = 250 mm, and
La = 400 mm. Find the positions of the joints and the angles of the
links. The constant angular speed of the driver link 1 is n = 40 rpm.
Find the velocities and the accelerations of the mechanism when the
angle of the driver link 1 with the horizontal axis is φ = 60◦ .

4.19 The dimensions of the mechanism shown in Fig. 3.34 are: AB =

160 mm, AC = 90 mm, CD = 150 mm, and DE = 400 mm. The
constant angular speed of the driver link 1 is n = 70 rpm. Find the
velocities and the accelerations of the mechanism for φ = φ1 = 45◦ .

4.20 The dimensions of the mechanism shown in Fig. 3.35 are: AB =

150 mm, AC = 250 mm, and CD = 450 mm. For the distance b
I.4 Velocity and Acceleration Analysis 37

select a suitable value. The constant angular speed of the driver link 1
is n = 80 rpm. Find the velocities and the accelerations of the mecha-
nism for φ = φ1 = 30◦ .

4.21 The dimensions of the mechanism shown in Fig. 3.36 are: AB =

180 mm, AC = 90 mm, and CD = 200 mm. The constant angular
speed of the driver link 1 is n = 180 rpm. Find the velocities and the
accelerations of the mechanism for φ = φ1 = 60◦ .

4.22 The dimensions of the mechanism shown in Fig. 3.37 are: AB =

180 mm, AC = 500 mm, BD = La = 770 mm, and DE = 600 mm.
The constant angular speed of the driver link 1 is n = n1 = 700 rpm.
Find the velocities and the accelerations of the mechanism for φ = φ1 =
45◦ .

4.23 The dimensions of the mechanism shown in Fig. 3.38 are: AB =

220 mm, AD = 600 mm, and BC = 250 mm. The constant angu-
lar speed of the driver link 1 is n = 700 rpm. Find the velocities and
the accelerations of the mechanism for φ = φ1 = 120◦ . Select a suitable
value for the distance a.

4.24 Referr to Example 3.1. The mechanism in Fig. 3.11(a) has the dimen-
sions: AB = 0.20 m, AD = 0.40 m, CD = 0.70 m, CE = 0.30 m,
and yE = 0.35 m. The constant angular speed of the driver link 1 is
n = 1000 rpm. Find the velocities and the accelerations of the mecha-
nism for the given input angle φ = φ1 =60◦ .

4.25 Referr to Example 3.2. The mechanism in Fig. 3.12 has the dimensions:
AB = 0.02 m, BC = 0.03 m, CD = 0.06 m, AE = 0.05 m, and La =
0.02 m. The constant angular speed of the driver link 1 is n = 600 rpm.
Find the velocities and the accelerations of the mechanism for the given
input angle φ = φ1 = π/3.

4.26 Referr to Example 3.3. The mechanism in Fig. 3.15 has the dimensions:
AC = 0.100 m, BC = 0.300 m, BD = 0.900 m, and La = 0.100 m.
The constant angular speed of the driver link 1 is n = 100 rpm. Find
the velocities and the accelerations of the mechanism for φ = 30◦ .
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Figure captions
Figure 4.1. Mobile reference frame (ı, , k) that moves with the rigid body
(RB).
Figure 4.2. Motion of a point A that moves relative to a rigid body (RB).
Figure 4.3. Velocity (vArel ) and acceleration (aArel ) of A relative to the
rigid body.
Figure 4.4. Nonaccelerating, nonrotating reference frame with the origin
at O0 , and a secondary nonrotating, earth-centered reference frame with the
origin at O.
Figure 4.5. Nonrotating reference frame with the origin at the center of
the earth O and a secondary earth-fixed reference frame with the origin at
B.
Figure 4.6. Primary inertial reference frame with the origin at O and a
secondary reference frame with the origin at B.
Figure 4.7. R-TRR mechanism for Example 4.1.
Figure 4.8. R-RTR-RRT mechanism for Example 4.2.
Figure 4.9. Mechanism for Problem 4.2.
Figure 4.10. Mechanism for Problem 4.3