[KINEMATICS OF MACHINES (18ME44)]

Module 2
Velocity and Acceleration by Graphical and Instantaneous Centre Method

In kinematic analysis of mechanisms, acceleration analysis is usually performed following a

velocity analysis; i.e., the positions and orientations, and the velocities of all the links in a
mechanism are assumed known. In this chapter we concentrate on one graphical method for
acceleration analysis of planar mechanisms.
We start this chapter with some exercises to ensure that the fundamentals of acceleration
analysis are well understood. You may review these fundamentals in Chapter 2 of these notes.

Exercises

In these exercises take direct measurements from the figures for link lengths and the
magnitudes of velocity and acceleration vectors. If it is stated that the angular velocity and
acceleration are known, assume   1 rad/sec CCW and   1 rad/sec2 CW unless it is stated
otherwise. Write the position, velocity, and acceleration vector equations, and then graphically
determine the unknown acceleration(s).
P.1 P.2
Known: A A ,  and  Known: A A and A B
Determine: A B Determine: 
AB
A B
AA A B
AA

P.3 P.4
Known: A A ,  , and  Known: A A and A B
Determine: A B , A C and A BC
Determine: AC
B B
AB
AA

A
C C A A
A
P.5 P.6
Known: A A ,  , and  Known: VA , VB , A A and A B
Determine: A B , AC and A BC Determine: AC

AA V
A A B C
A B C

AA VB

AB

P.7 P.8
Known:  , V s
A , , A , s
Known:  , V s A ,  , As ,
BA A BA BA A BA

V  1 unit/sec positive, and

s
V  1 unit/sec positive, and
s
BA BA

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As  1 unit/sec2 positive As  1 unit/sec2 negative

BA BA

Determine: A B and AC Determine: A B and AC

A B A B C
C

AA AA

P.9 P.10
Known:  , V s , A , A , Known:  i  1 rad/sec CCW,  j  1
BA A B

V s  1 unit/sec negative rad/sec CW,   1 rad/sec2 CCW,

BA
 j  1 rad/sec CW,
i
and A
Determine:  and AC
2
A

A B Determine: A B and AC
C
A B
A (i)
A AB
AA (j) C

P.11 AA
A B
Known:  i ,  j , A A , and AC
(i) AC
Determine: A B , i and  j (j) C

Polygon Method

Four-bar Mechanism
For a known four-bar mechanism, in a given R BA B
configuration and known velocities, and a given angular A
acceleration of the crank, 2 (say CCW), construct the RBO
R AO 2 4

acceleration polygon. Determine 3 and 4 .

RO4O2
The position and velocity vector loop equations are: O2 O4
R AO2 +R BA  R BO4  R O4 2O  0
A
VA +VBA  VB  0 VA
It is assumed that for this given configuration a velocity
VBA
analysis has already been performed (e.g., velocity OV
polygon) and all of the unknown velocities have been VB
determined. B
The acceleration equation is obtained from the time derivative of the velocity equation as
AA +ABA  AB . Since RAO , RBA , and RBO are moving vectors with constant lengths, their
2 2

acceleration vectors have normal and tangential components:

An +At +An +At  An  At  0
A A BA BA B B

Or, . . .
 2 R AO2 +2 R AO2  3 RBA + 3RBA
2 2
 (  2
4 R BO4 )   4 R BO4  0

We note that since  2 ,  3 ,  4 , and 2 are known, AnA, At ,AAn , and

BA
An canBcompletely be

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 [KINEMATICS OF MACHINES (18ME44)]
constructed. The remaining components, A t and A t , have known axes but unknown
BA B

magnitudes. We rearrange the terms such that these unknown terms appear as the last
component in the equation:
. . .
 22 R AO2 +2 R AO2  32 RBA  ( 42 R BO4 )+ 3RBA   4 R BO4  0
Acceleration polygon
1. Select a point in a convenient position as the A
reference for zero acceleration. Name this point
RAO 2
OA (origin of accelerations).
2. Compute the magnitude of A n as R  2 . From O2
A AO 2 2
n
OV construct vector A inA the opposite direction OA

of RAO .2
3. Compute the magnitude of At as R  . The AnA
A AO 2 2

direction of At Ais determined by rotating R AtA

AO 2

90o in the direction of  2 . Add this vector to A .A

n
B
Note that the sum of AnAand At isA A . A A
RBA
RBO 4
3. Compute the magnitude of A n
as R  . Add 2

BA BA 3

this vector in the opposite direction of R BA to the

other two vectors. OA
4. Compute the magnitude of A n as R  2 . Note that
B B 4
n
A is in the opposite direction of R
B BO4 . Since AnA
AnB itself appears with a negative sign in the AnB
acceleration equation, it should be added to the AtA
other vectors in the diagram as shown; i.e., head- AnBA
to-tail.

B
R BA
5. Since A t
BA must be perpendicular to R BA , draw a A
RBO 4
line perpendicular to RBA in anticipation of
adding A tBA to the diagram.
6. Since A tBmust be perpendicular to R BO4 , draw a
OA
line perpendicular to RBO 4 closing (completing)
the polygon. AnA
n
A B
7. Construct vectors A t and A t on the polygon.
BA B AtA
n
8. Determine the magnitude of A from the t A BA
BA
polygon. Compute  as   At / R (in this
3 3 BA BA

diagram it is CW). AtB

t
A nA
9. Determine the magnitude of A B from the A n
polygon. Compute  as   At / R (in this At B
4 4 B BO 4 BA AtA
n
diagram it is CCW). A BA

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Secondary equation(s) P
We can use the polygon method to determine the
R PA
acceleration of a coupler point, such as P. It is
assumed that all the angular velocities and y B
accelerations have already been determined. A
For the position vector R PO2 R AO  R PA , the RAO
2
2 R PO2
acceleration expression becomes
x
A P A A A  AnA At A An PAAt PA O2
. .
PA
OA
  22R AO 2
  2 R AO2   32 R PA  3RPA
All four vectors can be constructed graphically. The
vector sum is the acceleration of P. AP
A AnA
AnPA
AtA
t
A PA

Example FB-AP-1
This is a continuation of B
Example FB-VP-1. Assume P
an angular acceleration of
2  1 rad/sec CW
2
for the

crank.
Acceleration polygons are
A
constructed and the following O2 O4
accelerations are obtained AnPAAt AnBA
AtB
from the polygons: 3  0.14
PA

AnB
CW, 4  0.46 CW, AP  1.7
AP
in the direction shown on the AtA AtA
At
polygon.
O O
AAn
AnA

Slider-crank (inversion 1)
For a known slider-crank mechanism (inversion 1) in a given configuration and for known
velocities, the acceleration of the crank, 2 , is given. Construct the acceleration polygons, then
determine 3 and the acceleration of the slider block. Assume 2 is given to be CCW.
The position and velocity vector loop equations are:
RAO2 +RBA  RBO  0 A VA
2
VBA
VA +VBA  VB  0
RAO 2 OV
Assume that all the velocities have already been RBA VB
obtained.
The acceleration equation is obtained from B
the time derivative of the velocity equation: O2 RBO
AA +ABA  AB  0
2

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Or, in terms of the components of then acceleration vectors, we have
A +At +An +At  As  0
A A BA BA B

Or, . .
 22 R AO2 +2 R AO2  32 RBA + 3RBA  AsB  0
The first three components are completely and the last two components are partially known.
Acceleration polygon A
1. Select a point in a convenient position as the reference
for zero acceleration, O A . RAO 2
2. Compute An  R  2 . From O construct An in the
A AO 2 2 V A

opposite direction of R AO2 . O2

3. Compute At  R  . The direction of At is
A AO 2 2 A
o
determined by rotating R AO2 90 in the direction of OA
2 . Add this vector to the diagram. AnA
AtA
A
4. Compute A n  R  2 . Construct A n in the opposite
BA BA 3 BA

direction of RBA . RBA

5. AtBA must be perpendicular to R BA . Draw a line
O2 B
perpendicular to RBA in anticipation of adding A tBA to
A nBA .
6. From O A draw a line parallel to the sliding axis. A B OA
must reside on this line.
n
AnBA AA
AtA
7. Construct vectors A tBA and A B.
t
8. Determine the magnitude of ABA . Compute  3 as AsB
OA
t At
 3  ABA / RBA . Determine the direction of 3 (in this BA
n
example it is CCW). A BA
n
AA
9. Determine the magnitude of A B from the polygon. AtA
The direction in this example is to the left.

Example SC_AP-1
Continue with Example SC-VP-1 A BO
from the velocity polygon section. A
Assume an angular acceleration of AnA
  1 rad/sec2 CCW for the crank.
2
Using the results from the AtBA
B
velocity analysis, the acceleration
O2
polygon is constructed. The results
are:   1.0 rad/sec2 CCW; AtA
3

A  0.76 to the left. AnBA

B

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Slider-crank (inversion 2)
For a known slider-crank mechanism
(inversion 2), in a given configuration and for
known velocities, the acceleration of the crank,  2 , A
is given (say CW). Construct the acceleration RAO 4
polygons and determine 3 .
We draw the slider-crank in the given RAO 2
configuration and define position vectors to form a s
VAO
vector loop equation: t
4
O2
RO 4O2 O4
VAO
RAO2  R AO4  RO4O2  0 4

The velocity equation is: VAO

Vt  Vt  Vs  0 OV 2

AO 2 AO4 AO 4

The velocity polygon for this mechanism has already been obtained; i.e.,  4
s
and VAO are
4

assumed known.
The acceleration equation is obtained from the time derivative of the velocity equation:
An  At  An  At  As  Ac  0
AO 2 AO 2 AO 4 AO 4 AO 4 AO 4

Or, . . .
 22 R AO2 +2 R AO2  ( 42 R AO4 )   4 R AO4  AsAO4  24 VAO4  0
s

All the terms are fully known except for A s and A t . Re-arranging the terms in order to have
AO 4 AO 4

the partially known. terms as the last two t.erms:

 R2 AO +2 RAO  (4 AO R )  24 V
2 2 s
2
2
.AO 4 4 RAO 4
 AsAO  4 RAO  0 4 4

Acceleration polygon
RAO 2
1. Select the origin of accelerations, O A , in a
RO O O
convenient position. O2 4 2 4
2. Compute An  R  2 . From O construct vector
A AO2 2 V OA
n
A in the opposite direction of R AO2 .
A
3. Compute At  R  . Determine the direction AnAO2
A AO 2 2
of A t . Add this vector to A n . AtAO2
A A

4. Compute An R  2 . Construct vector An

AO 4 AO 4 4 AO 4
R AO4
in the opposite direction of RAO 4 and add it to the
polygon.
5. Determine the Coriolis acceleration A cAO . The
4
O4
magnitude of this vector is 2V  4 , and its s
AO4
s OA AcAO4
direction is found by rotating VAO 90o in the
4
AnAO4
direction of  4 . Add this vector to the polygon. AnAO2
AtAO2

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6. Draw an axis for A sAO parallel to R AO4 .
4
R AO4
t
7. Draw another axis perpendicular to R AO 4 A
. AO 4

will be on this axis.

O4

OA AcAO4
AnAO4
t
8. Construct vectors A sAO4 and A AO4 to complete the AnAO2
polygon. AtAO2

9. Determine the magnitude of A tA O from the

4 4 AsAO4
polygon. Compute  as   A
t
/R . At
4 4 A 4O 4 A 4O 4 AO4

Determine the direction of  4 (in this example it OA AcAO4

is CW). n
A AO4
s
10. Determine the magnitude of A AO 4 from the AnAO2
polygon. AtAO2
Secondary point RPO 4
In order to determine the acceleration of point P P
on link 4, we express its acceleration as y
RP  RO O  RPO
42 4
.
AP  A PO4   4 R PO4   4 R PO4
2

Since the angular velocity and acceleration of link 4 AP

x
are both known, the two components of the
t
acceleration vector can be constructed. A PO4 O2 RO O 4 2 O4
n
A PO 4

Example SC-AP-2
This is a continuation of Example SC-VP-2.
Assume an angular acceleration of 0.5 rad/sec 2, A
P
CCW, for the crank.
The acceleration polygon is constructed and the
following accelerations are determined from the O2 O4
polygon:     0.24 rad/sec2, CCW; As  3.9 O O
3 4 AO 4

in the direction shown. AtAO4

The acceleration of point P is determined from a
second polygon. This acceleration has a magnitude AP AnAO2
s
of A  1.0 in the direction shown. A AO4
P
AcAO4
AtAO2
n
A
AO4

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Slider-crank (inversion 3)
For a known slider-crank mechanism (inversion 3), in a given configuration and for known
angular velocity and acceleration of the crank,  2 and 2 (assume both CW), construct the
velocity and acceleration polygons, and then determine  3 and 3 .
Draw the slider-crank in the given configuration and
VAO
define position vectors to form a vector loop equation: 2

RAO  R O A  R O O  0 A
2 4 42
(3) VOt 4 A
The velocity equation is
R O A Vs
Vt  Vt  Vs 0 4 O4 A
AO 2 O4 A O4 A R AO2
The velocity polygon for this mechanism has already been (4)
obtained. From this polygon,  3 and the velocity of the O2 O4
slider-block have been determined. R O4O2

The acceleration equation is obtained from the time A

derivative of the velocity equation:
An +At  An  At +As  Ac  0
AO 2 AO2 O4 A O4 A O4 A O4 A
R AO
or, . .s . 2

 2 R +   2 R  2 V +A   R  0
s

2 AO2 2
R AO2 3 O4 A 3 O4 A O4 A 3 O4 A O2
Acceleration polygon
1. Select the origin of accelerations, O A , in a OA
convenient position.
2. Compute An  R  2 . From O construct vector
A AO 2 2 V AnAO2
AnA in the opposite direction of R AO2 . AtAO2
3. Compute At  R  . Determine the direction of A
A AO 2 2
(3)
AtAbased on the direction of  2 . Add this vector to RO A
4

AnA .
(4)
4. Compute An  2R . The direction of A n is O4
O4 A 3 O4 A O4 A

opposite of R O A4 . Add this vector to the polygon.

5. Determine the Coriolis acceleration A cO A . The AcO 4 A
4

magnitude of this vector is 2 V s , and its direction AnO 4 A

3 O4 A

is found by rotating VOs 4 A 90o in the direction of  3.

Add this vector to the polygon. A
(3)
RO A
s
6. Draw an axis for A O4A
parallel to R AO4 . 4

7. Draw an axis for AtO A perpendicular to R AO4 . (4)

4
O4

AcO 4 A
AnO 4 A

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8. Construct vectors AtAO3 and A sO3O4 . AsO
t AOt 4A 4A
9. Determine the magnitude of A O4 A from the polygon.
Compute  as
3
A
3
t
O4 A / RO4 A . AcO 4 A
10. Determine the direction of 3 . In this example it is AnO 4 A

CW since R must rotate 90 o CW to line up with AnAO 2

O4 A
t AtAO
A O4 A . 2

Example SC-AP-3
This is a continuation of Example SC- O
VP-3. Assume an angular acceleration of O
AnAO AnAO
1 rad/sec 2 CW for the crank. 2
2

Acceleration polygon (right) is

constructed and the following accelerations
are determined from the polygon:
AtAO AtO 4 A
    2.67 rad/sec2 CW; As  3.8 , 2 AtAO 2
3 4 O4 A

and A  0.4 in the direction shown.

P
A second polygon (left) is constructed AP
AnO
to determine the acceleration of point P as: 4 A

AP  2.7 in the direction shown. AcO 4 A

A s
O4 A
AtPA

AnPA

Exercises

In these exercises take direct measurements from the figures for link lengths and the
magnitudes of velocity and acceleration vectors.
Exercises P.1 – P.4 are examples of four-bar mechanism. Assume  2 and 2 are given.
Determine 3 , 4 , and A P .
P.1 P.2

(2)
(3)
(3)
(4) (4)

(2)

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P.4
P
P.3
(2
(3)
(2) (4)
(3)

(4)
P

Exercises P.5 – P.8 are examples of slider-crank mechanism. Assume  2 and 2 are given:
For P.5 and P.6 determine 3 , 4 , and the acceleration of the slider block; For P.7 and P.8 determine
3 , 4 , and A P .
P.5 P.6
(3) (3)
(2)
(4) (2)
(4)

P.7 P.8
P

(3) (2)
(3)

(2)
(4)
(4)
P

P.9 P
For this six-bar mechanism  2
P
and 2 are given. Determine 5 ,
(3)
acceleration of P, and the (4) (5)
acceleration of the slider block 6. (6)
(2)

P.10
For this six-bar mechanism  2
(2)
and 2 are given. Determine 5 and (3)
the acceleration of the slider block 6.

(6)
(4)

(5)

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Definition, Kennedy's Theorem

II Method Instantaneous
Method
To explain instantaneous centre let us consider a plane body P having a nonlinear
motion relative to another body q consider two points A and B on body P having velocities
as Va and Vb respectively in the direction shown.

Va
A B
Vb
I P
q

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If a line is drawn to Va, at A the body can be imagined to rotate about some point on
the line. Thirdly, centre of rotation of the body also lies on a line to the direction of V b at B.
If the intersection of the two lines is at I, the body P will be rotating about I at that
instant. The point I is known as the instantaneous centre of rotation for the body P. The
position of instantaneous centre changes with the motion of the body.

A V aP

B Vb
q
I

Fig. 2

r
In case of the lines drawn from A and B meet outside the body P as shown in Fig 2.

Va
A
B Vb

I at

Fig. 3
r
If the direction of Va and Vb are parallel to the at A and B met at . This is the case when the
body has linear motion.
• Number of Instantaneous Centers
The number of instantaneous centers in a mechanism depends upon number of
links. If N is the number of instantaneous centers and n is the number of links.
• Types of Instantaneous Centers
There are three types of instantaneous centers namely fixed, permanent and neither fixed nor
permanent.

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Fixed instantaneous center I12, I14

Permanent instantaneous center I23, I34
Neither fixed nor permanent instantaneous center I13, I24
• Arnold Kennedy theorem of three centers:
Statement: If three bodies have motion relative to each other, their instantaneous
centers should lie in a straight line.
Proof:

V A3 V A2
1 I 12
I 13

2
3
I 23
A
Consider a three link mechanism with link 1 being fixed link 2 rotating about
I12 and link 3 rotating about I13. Hence, I12 and I13 are the instantaneous centers for link 2
and link 3. Let us assume that instantaneous center of link 2 and 3 be at point A i.e. I23.
Point A is a coincident point on link 2 and link 3.
Considering A on link 2, velocity of A with respect to I12 will be a vector VA2

link A I12. Similarly for point A on link 3, velocity of A with respect to I13 will be I13. It seen that
velocity vector of VA2 and VA3 are in different directions which is impossible. Hence, the
instantaneous center of the two links cannot be at the assumed position.
It can be seen that when I23 lies on the line joining I12 and I13 the VA2 and VA3
will be same in magnitude and direction. Hence, for the three links to be in relative
motion all the three centers should lie in a same straight line. Hence, the proof.

Determination of linear and angular velocity using instantaneous

center method
 [Kinematics of Machines (18ME44)]

Steps to locate instantaneous centers:

Step 1: Draw the configuration
diagram.
Step 2: Identify the number of instantaneous centers by using the relation n 1n
N2

Step 3: Identify the instantaneous centers by circle diagram.

Step 4: Locate all the instantaneous centers by making use of Kennedy’s theorem.
To illustrate the procedure let us consider an example.
A slider crank mechanism has lengths of crank and connecting rod equal to 200 mm
and 200 mm respectively locate all the instantaneous centers of the mechanism for the
o
position of the crank when it has turned through 30 from IOC. Also find velocity of
slider and angular velocity of connecting rod if crank rotates at 40 rad/sec.
Step 1: Draw configuration diagram to a suitable scale.
Step 2: Determine the number of links in the mechanism and find number of instantaneous
centers.