MODULE IN

MACHINE ELEMENTS 1 (Lec)

ME 3151

Department of Mechanical Engineering

SCHOOL OF ENGINEERING AND ARCHITECTURE
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 Table of Contents
Title Page .............................................................................................................................................. i
Course Learning Outcomes ............................................................................................................... 1
Course Introduction ............................................................................................................................ 2
Course Overview ................................................................................................................................ 3
Module and Unit Topics ...................................................................................................................... 5
Course Study Guide ............................................................................................................................ 6
Study Schedule .................................................................................................................................... 8
Evaluation ........................................................................................................................................... 10
Formative Assessment ................................................................................................................... 10
Evaluative Assessment Activities .................................................................................................. 11
Grading System .................................................................................................................................. 11
Technological Tools ........................................................................................................................... 12
Contact Information of the Facilitator ........................................................................................... 13
Assignment Guide ............................................................................................................................ 13
Output ................................................................................................................................................. 13
Rationale ............................................................................................................................................. 13
Materials .............................................................................................................................................. 13
Specific Guidelines ............................................................................................................................ 13
Evaluation Tools .................................................................................................................................. 13
Module 1……………………………………………………………………………………………………….12
Module 2……………………………………………………………………………………………………….33
Module3… ………………………………………………………………………………………………….185
Requirements…………………… ………………………………………………………………………186

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 ME 3151

COURSE LEARNING OUTCOMES

At the end of the module, you should
be able to:

1. Define the basic concepts and

terms of kinematics of machineries.
Construct the path tracing and
measure the displacement of common
mechanism
2. Demonstrate and illustrate the
analytical and graphical study of
velocity of common mechanism using
different methods of approach.
3. Demonstrate and illustrate the
analytical and graphical study of
acceleration of common mechanism
MACHINE ELEMENTS 1 (Lec) using different methods of approach.

3
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 COURSE INTRODUCTION

In this course, the student will learn an analytical and graphical

study of fundamental principles of mechanical movement,
different methods in determining velocity and acceleration
analysis applied to common mechanisms such as bar linkages,
quick return mechanism, slider crank mechanisms and other
common mechanisms.

4
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 COURSE OVERVIEW

MODULE AND UNIT TOPICS

To ensure that you will demonstrate the above cited course learning outcomes at
the end of the semester, this module for you is divided into the following:

MODULE 1: Motion of Mechanisms

This unit aims to allow you as a student to review and be familiar with the:

a. Concepts and terminologies of kinematics of machines

b. Path Tracing and Displacement

MODULE 2: Velocity Analysis of Mechanisms

This unit aims to allow you as a student to review and be familiar with the:

a. Velocity analysis using Resolution and Composition method

b. Velocity analysis using instantaneous center of rotation method
c. Velocity analysis using Parallel Line method
d. Velocity analysis using Centro Method
e. Velocity analysis using Relative Velocity Method

MODULE 3: Acceleration Analysis of Mechanisms

This unit aims to allow you as a student to review and be familiar with the:

a. Acceleration analysis using Relative Acceleration Method

b. Acceleration analysis using Corioli’s Acceleration method

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 COURSE STUDY GUIDE

The key to successfully finish this module lies in your hands. This module was
prepared for you to learn and apply Differential Calculus diligently, intelligently, and
independently in the field of Mechanical Engineering.

1. A MUST to enroll in the prepared google classroom. Two ways to enroll, either I will
give you the class code and input it or I will invite you through your SLU email
address. Take note that it is important to use the SLU email address (ID
[email protected], e.g. [email protected]) otherwise you cannot access and
download materials as presented in the google classroom.
2. Upon enrolling on the google classroom, an initial assignment classwork will be
given indicating to show your fb account (screenshot fb page showing the name
and profile picture ONLY saved in WORD DOCUMENT OR PDF FILE) and your
contact number to facilitate in the creation of our group chat in messenger and
for contact purposes. It is a MUST to do this classwork.
3. Download and print/read the course guide, and assignment guide. Read it over
and over again, until you understand the instructions.
4. Schedule and manage your time to read and understand every part of the
module. Read it over and over until you understand the point.
5. Study how you can manage to do the activities of this module in consideration of
your other modules from other courses. Be very conscious with the study schedule.
Do not ask about questions that are already answered in the guide.
6. Course site materials are uploaded in our google classroom. Hence, check
regularly your google classroom
7. If you did not understand the readings and other task, re-read. Focus. If this will not
work, engage all possible resources. If this will not work again, send me a SMS so
that I can call or SMS you back for assistance.
8. DO NOT PLAGIARISE. For every laboratory activity, make your accomplishments as
unique and as creative as possible.
9. All activities that will be posted and deadlines will be reminded via the group chat
on the messenger or short messages (SMS) as well as for any discussion forum.
10. All activities have due dates (see study schedule) and you will be tasked to upload
your accomplishments in our google classroom for every cut-off date. Make sure
to click “turned in” or “submit” after uploading your file on the designated
classwork for each activity.
11. You will use a format in naming your files. Format: ACT1-family name, e.g. ACT1-
DELA CRUZ. For the number after ACT must be the correspondent number of the
activity posted.
12. You are free to browse and read the different units of the module even prior to
doing the tasks in each unit. However, you need to ensure that you will not miss any

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 part of the module and you will not miss to accomplish every activity in every unit
as scheduled.
13. While waiting for my feedback of your accomplished modules, continue doing the
task in the succeeding units of the module that are scheduled for the finals.
14. If needed, do not hesitate to keep in touch with me through any available means.
Remember, if there is a will, there is a way.
15. If in any situation there is power interruption in your area, low internet connection
during that time, kindly inform me as soon as possible to make adjustments on any
scheduled activity.
16. If internet connection was interrupted or no internet connection in your area,
access your data mobile to have a connection. Note, the use of google classroom,
uploading and downloading a file from it will only feed a few bytes from data
consumption (just like scrolling in your fb page), consequently, prepare your
prepaid load for data mobile if needs arises.
17. Lastly, you are the learner; hence, you do the module on your own. Your family
members and friends at home will support you but the activities must be done by
you.

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 STUDY SCHEDULE
Week Topic Learning Outcomes Activities
Engage: Determine the various
classifications and kinds of kinematics of
machines.
Explore: Review and study the theories
Identify, differentiate and
and concepts of the given topic
discuss the kinds of motion
Explain: Intertwine the applicability of
specifically on velocity and
theories and concepts to actual situations
Week 1-2 acceleration either in
and problems
instantaneous or average in
Elaborate: Provide detailed solution or
the application of different
explanation to the assumptions made
common mechanism
regarding the relationship of the theory or
concept applicable for the problems
Evaluate: Make a conclusion from the
solution or explanation

Engage: Determine the various

classifications and kinds of velocity
analysis through different methods.
Explore: Review and study the theories
Explain and demonstrate the and concepts of the given topic
principle and process of Explain: Intertwine the applicability of
using resolution and theories and concepts to actual situations
Week 3-4
composition method in and problems
velocity analysis of the Elaborate: Provide detailed solution or
mechanism. explanation to the assumptions made
regarding the relationship of the theory or
concept applicable for the problems
Evaluate: Make a conclusion from the
solution or explanation

Engage: Determine the various

Explain and demonstrate the
classifications and kinds of velocity
principle and process of
analysis through different methods.
Week 5-6 using instantaneous axis
Explore: Review and study the theories
method in velocity analysis of
and concepts of the given topic
the mechanism
Explain: Intertwine the applicability of
8
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 theories and concepts to actual situations
and problems
Elaborate: Provide detailed solution or
explanation to the assumptions made
regarding the relationship of the theory or
concept applicable for the problems
Evaluate: Make a conclusion from the
solution or explanation
Week 7 Prelim Examination
Engage: Determine the various
classifications and kinds of velocity
analysis through different methods.
Explore: Review and study the theories
and concepts of the given topic
Explain and demonstrate the
Explain: Intertwine the applicability of
principle and process of
theories and concepts to actual situations
Week 8-9 using parallel line method in
and problems
velocity analysis of the
Elaborate: Provide detailed solution or
mechanism
explanation to the assumptions made
regarding the relationship of the theory or
concept applicable for the problems
Evaluate: Make a conclusion from the
solution or explanation
Engage: Determine the various
classifications and kinds of velocity
analysis through different methods.
Explore: Review and study the theories
and concepts of the given topic
Explain and demonstrate the
Explain: Intertwine the applicability of
principle and process of
theories and concepts to actual situations
Week 10-11 using centro method in
and problems
velocity analysis of the
Elaborate: Provide detailed solution or
mechanism.
explanation to the assumptions made
regarding the relationship of the theory or
concept applicable for the problems
Evaluate: Make a conclusion from the
solution or explanation
Engage: Determine the various
classifications and kinds of velocity
analysis through different methods.
Explain and demonstrate the Explore: Review and study the theories
principle and process of and concepts of the given topic
Week 12-13 using relative velocity Explain: Intertwine the applicability of
method in velocity analysis of theories and concepts to actual situations
the mechanism. and problems
Elaborate: Provide detailed solution or
explanation to the assumptions made
regarding the relationship of the theory or
9
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 concept applicable for the problems
Evaluate: Make a conclusion from the
solution or explanation
Week 14 Midterm Examination
Engage: Determine the various
classifications and kinds of acceleration
analysis through different methods.
Explore: Review and study the theories
and concepts of the given topic
Explain and demonstrate the
Explain: Intertwine the applicability of
principle and process of
theories and concepts to actual situations
Week 15-16 using relative acceleration
and problems
method in acceleration
Elaborate: Provide detailed solution or
analysis of the mechanism.
explanation to the assumptions made
regarding the relationship of the theory or
concept applicable for the problems
Evaluate: Make a conclusion from the
solution or explanation
Engage: Determine the various
classifications and kinds of acceleration
analysis through different methods.
Explore: Review and study the theories
and concepts of the given topic
Explain and demonstrate the
Explain: Intertwine the applicability of
principle and process of
theories and concepts to actual situations
Week 17-18 using Corioli’s acceleration
and problems
method in acceleration
Elaborate: Provide detailed solution or
analysis of the mechanism
explanation to the assumptions made
regarding the relationship of the theory or
concept applicable for the problems
Evaluate: Make a conclusion from the
solution or explanation
Week 19 Final Examination

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 EVALUATION

To pass the course, you must:

1. Read all course readings and answer the self-assessment exercises and laboratory
activities.
2. Submit by uploading on the google classroom laboratory activities from activity 1
to 4.
3. Do the Final Examination

FORMATIVE ASSESSMENT

 You are required to answer the self-assessment exercises but your scores will not be
counted towards your final grade.
 Self-assessment exercises which include application in MS Excel and PowerPoint will
be given prior to laboratory activities are designed as a review management tool
in preparation for instructions in laboratory activities.
 Answering these will serve as prompts to tell you if you need to review further the
commands essential to use or if you may already move forward to the next unit of
the module.
 In doing your formative self-assessment exercises, you may ask help from your
family or feel free to ask me if there is a need for clarification.
 The self-assessment exercises can be taken anytime within the scheduled days
assigned for each.

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 EVALUATIVE ASSESSMENT ACTIVITIES
A. Quizzes and Examination
• The graded quizzes and the midterm and final examination will be posted
one week before its scheduled date. The graded quizzes are __-item problem
solving quiz while the midterm and final examinations are __-item problem solving
type of tests.

B. Assignments and Final Project

There will be assignments that will comprise the final project for this course. The
evaluation tools for these assignments are all provided in the course site.
GRADING SYSTEM

Prelim Grade
CS (Modules 1 and 2) = 60 %
Examination = 40 %
Total = 100%

Midterm Grade
CS (Modules 2) = 60 %
Examination = 40 %
Total = 100%
Tentative Final Grade (TFG)
CS (Modules 3) = 60 %
Examination = 40 %
Total = 100%
Final Grade: Prelim 30 % + Midterm 30 % + TFG 40 % = 100%

TECHNOLOGICAL TOOLS

To be able to accomplish all the tasks in this course, you will need the following
software applications: Microsoft Word, Microsoft Excel and Microsoft PowerPoint.
These are applications that are available in your desktop or laptops that will not
require internet connection for you to use them. All materials and activities will be
sent through the prepared google classroom and you may also access to
participate in the discussion if the condition will allow it.

Feedback system will be facilitated through text messaging or group chat on the
messenger; hence, you need to have with you your smartphone. If you need to
call or you want to talk to me, send me a message first and wait for my respond.
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 Do not give my CP number to anybody unless with permission. I will not entertain
messages or calls from numbers that are not registered in my phone. Hence, use
only the CP number you submitted to me.
ASSIGNMENT GUIDE

Output
Written or encoded activities based on the modules given to you.

Rationale
The purpose of understanding these modules is for you to develop the ability and
knowledge to apply the use of MACHINE ELEMENTS 1 (Lec) and to adapt and apply
these new found skills to your future profession. The course poses various
applications in our daily lives and mastering and fully understanding this gives you
the chance to lead future your generation to a better future.

Materials
Hardware:
1. Smarthphone or tablet
2. Module/s
Software:
1. Word Processing applications
2. Spreadsheet applications
3. Videos or video links posted in the Google Classroom

Specific Guidelines

1. The instruction of each activity are uploaded on our google classroom and also
printed on Module 1-3 of our course
2. Each activity must be saved on Word Document, Excel Workbook, PowerPoint
Presentation or older version of Microsoft Office 2010 depending on which
application will be used for the laboratory activity for me to easily open and access
the file.
3. Each file must be saved using a format in naming your files. Format: ACT1-family
name, e.g. ACT1-DELA CRUZ. For the number after ACT must be the correspondent
number of the activity posted.
4. Upload each laboratory activity on its designated classwork on the google
classroom on or before the deadline of the said activity

Evaluation Tool
Your output will be scored using the rubric rating scale posted on the Google
Classroom.

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 CONTACT INFORMATION OF THE FACILITATOR
Engr. Steven I. Chan
Course Facilitator
Cp number: 09567716110
Email address: [email protected]
FB name: Steven Chan

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 MODULE 1: Motion of Mechanisms

a. Concepts and terminologies of kinematics of machines

SCIENCE OF MECHANISM

Science of Mechanism treats of the laws governing the motion of the parts of the
machine and the forces transmitted by these parts.

 Science of Mechanism is divided into two parts:

1. Pure mechanism or Kinematics of machines, which treats the motion and

forms of the parts of a machine, and the manner of supporting and guiding them,
independent of their strength.
2. Constructive mechanism or Machine design, which involves the
calculation of the forces acting on different parts of the machine; the selection of
materials on the basis of strength, durability, and other physical properties in order to
withstand these forces, the convenience for repairs and facilities for manufacture also
being taken into account.

MACHINE

A machine is a combination of resistant bodies so arranged that by their means

the mechanical forces of nature can be compelled to produce some effect or work
accompanied with certain determinate motions.
In general, a machine is an assemblage of parts interposed between the source
of power and the work, for the purpose of adapting the one to the other. Each of the
pieces in a machine either moves or helps to guide some of the other pieces in their
motion.
Cranks, levers, bearings, journals, shafts, crossheads, cams, gears, screws, ropes,
chains, belts, pulleys, wheels, keys, collars, cylinders, pistons, connecting rods and piston
rods, are forms of the parts which may be found in a machine.

4 C

B
2
A

1
Figure 1
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 KINEMATIC DIAGRAM

In studying the motion of machine parts, it is customary to draw the parts in skeleton
form so that only those dimensions which affect their motions are considered.
The drawing in figure 1 represents the main elements in the diesel engine shown in
figure 2. The drawing in fig. 1 is known as a KINEMATIC DIAGRAM and is a scale drawing
representing the machine so that only the dimensions which affect its motion are
recorded.

The stationary members, consisting of the crankshaft bearing and cylinder wall, are
crosshatched and labeled link 1. The crank and crankshaft are link 2, connecting rod is
link 3, and piston or slider is link 4.

Link is the name given to any body which has motion relative to another or may
be defined as a rigid piece or non-elastic substance which serves to transmit forces from
one piece to another or to cause motion or control motion.

Part of the machine which is stationary and which supports the moving members
is called the Frame and it is always designated as link 1. Since the bearing and cylinder
wall have no motion relative to one another, they are considered as a single link or what
we called the frame.

Considering the position of the connecting rod for a given angular position of the
crank; the angular position, velocity, and acceleration of the rod depend only on the
lengths of the crank and connecting rod and are in no way affected by the width or
thickness of the rod. Thus, only the length of members 2 and 3 are of importance in a
kinematic analysis.

All materials have some elasticity. A Rigid Link is one whose deformations are so
small that they can be neglected in determining the motions of the various other links in
a machine. Bodies 2 and 3 in figure 1 are considered rigid links.

MECHANISM

A mechanism is a combination of rigid bodies or rigid links so arranged that the

motion of one compels the motion of the others, according to a law depending on the
nature of the combination.

 What is a Kinematic Chain?

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 A Kinematic Chain is a system of links, that is, rigid bodies, which are either joined
together or are in contact with one another in a manner that permits them to move
relative to one another.

 Two types of Kinematic Chain

1. Constrained Kinematic Chain – If one of the links is fixed and the movement of
any other link to a new position will cause each of the other links to move to definite
predictable positions, the system is a constrained kinematic chain.
NOTE: A Constrained Kinematic Chain is a MECHANISM

Example: When link in figure 1 is held fixed, the piston and connecting rod each have a
definite position for each the position of the crank.

4 C

B
2
A

1
Figure 1

2. Unconstrained Kinematic Chain- If one of the links is held fixed and the
movement of any other link to a new position will not cause each of the other links to
move to definite predictable positions, then the system is an unconstrained kinematic
chain.
NOTE: An Unconstrained Kinematic Chain is NOT a mechanism

Example: In figure 3, we have an arrangement of links. Note that if link 1 is fixed, then with
link 2 in the position shown, links 3, 4 and 5 will not have definite predictable positions, but
could assume many positions some of which are shown with dashed lines.
3
4
2
5

Figure 3

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 NOTE:

The terms MECHANISM and MACHINES are often used synonymously though all
machines are mechanism BUT not all mechanisms are machines.

A MECHANISM is used to transmit or modify motion and a MACHINE is when energy

is transferred or work is done. An example of a mechanism which is not a machine is a
clock by which it does no work in excess of that required to overcome its own friction.

PAIRING

Two bodies in contact constitute a pair.

 Two Types of Pairing

1. Lower Pair – If one element not only forms the envelope of the other, but also
encloses it, the forms of the elements being geometrically identical, the one being solid
or full, and the other being hollow or open, we have what may be called a closed pair,
also called a lower pair. In such a pair, surface contact exists between two members.

Examples of a lower pairing are a piston and its cylinder wall and a journal and its
supporting bearing as shown on figure 4 below.

Figure 4

2. Higher Pair – it refers to contact which exists at a point or along a line.

Examples of higher pairing are a ball bearing, where point contact exists between the
ball and race, and a roller bearing, where contact between the roller and race is along
a line.

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any
Figure 5
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 INVERSION OF PAIRS

In figure 6, if B is the fixed piece, all points on A move in straight lines. If A were the
fixed piece, all points on B would move in straight lines. In other words, the absolute
motion of the moving piece is the same, whichever piece is fixed.
B

Figure 6

This exchange of the fixedness of an element with its partner is called the Inversion
of the pair.

DISPLACEMENT AND PATH TRACING

FOUR BAR LINKAGE

One of the most useful and most common mechanisms is the four bar linkage. A
four bar linkage is shown in figure 7, where link 1 is the frame, links 2 and 4 are cranks, and
link 3 is called the coupler. It can be shown that many mechanisms can conveniently be
replaced by a four bar linkage or a combination of four bar linkages for the purpose of
analyzing their motions. C

B 3

4
2

1
Q1 Q4

B 3
* Line Diagram
4
2

Q1 Q4
1
FOUR BAR LINKAGE with a SLIDING MEMBER Figure 7

A four bar linkage with a sliding member is a special case of the four bar linkage and
sometimes it is called SLIDER CRANK MECHANISM. If crank 4 at figure 7 were made infinite
length, then point C would have rectilinear motion and crank 4 could be replaced by a
slider, as shown in figure 8. The slider crank mechanism is widely used. Common examples
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 of its application are found in gasoline and diesel engines, where the gas force acts on
the piston, link 4. Motion is transmitted through the connecting rod to crank 2. There are
two dead center positions during the cycle, one for each extreme position of the slider.

Q1 2 3
C
4
1

Q4
radius at infinity

2 3 C
Q1 4

1 * line diagram
Q4
radius at infinity
Figure 8

MOTION

Motion is change of position. Motion and rest are necessarily relative terms within the limits
of our knowledge. A body may be conceived to be fixed in space, but is not known that
there is one so fixed. If two bodies, both moving in space, remain in the same position
relative to each other, they are said to be at rest, one relatively to the other; if they do
not, either may be said to be in motion relative to the other.

Motion may thus be either relative, or it may be absolute, provided that some point is
assume as fixed. Ordinarily, the earth is assumed to be at rest and motions referred to it
are considered as absolute.

Path is a point moving in space describes a line, which may be rectilinear or curvilinear.
The motion of a body is determined by the paths of three of its points not on a straight
line. If the motion is in a plane, two points suffice, and, if rectilinear, one point suffices, to
determine the motion.

Direction and Sense. If a point is moving along a straight path, the direction of its motion
is along the line which constitutes its path; motion toward one end of the line being
assumed as having positive direction and indicated by a + sign, the motion toward the
other end would be negative and indicated by a – sign. Often this is referred to as the
sense of the motion.

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 Continuous Motion. When a point continues to move indefinitely in a given path in the
same sense, its motion is said to be continuous. In this case, the path must return on itself,
as a circle or other closed curve. A wheel turning on its bearing affords an example of
this motion.
Reciprocating Motion. When a point traverses the same path and reverses its motion at
the ends of such path, the motion is said to be reciprocating.

Oscillation is a term applied to reciprocating circular motion, as that of a pendulum

Intermittent Motion. When the motion of a point is interrupted by periods of rest, its motion
is said to be intermittent.

Revolution and Rotation. A point is said to revolve about an axis when it describes a circle
of which the center is in the axis and of which the plane is perpendicular to that axis.
When all the points of a body thus move, the body is said to revolve about the axis. If this
axis passes through the body, as in a wheel, the word rotation is used synonymously with
revolutions. The word turn is often used synonymously with revolution and rotation. It
frequently occurs that a body not only rotates about an axis passing through itself, but
also moves in an orbit about another axis.

An Axis of Rotation or Revolution is a line whose direction is not changed by the rotation;
a fixed axis is one whose position as well as direction remains unchanged.

A Plane of Rotation or Revolution is a plane perpendicular to the axis of rotation or

revolution.

Direction of Rotation or Revolution is defined by giving the direction of the axis, and the
sense is given by stating whether the turning is right handed (clockwise) or left handed
(counter clockwise), when viewed from a specified side of the plane of motion.

Coplanar Motion. A body, or a series of bodies, may be said to have coplanar motion
when all their component particles are moving in the same plane or in parallel planes.

Cycle of Motions. When a mechanism is set in motion and its parts go through a series of
movements that are repeated over and over, the relations between and order of the
different divisions of the series being the same for each repetition, on of these series is
called a cycle of motions or kinematic cycle.

Period of Motion is the time occupied in completing one cycle

Linear Speed is the time rate of motion of a point along its path, or the rate at which a
point is approaching or receding from another point in its path. If the point is to which the
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 motion of the moving point is referred is fixed, the speed is the absolute speed of the
point. If the reference point is itself in motion, the speed of the point in question is relative.
Linear speed is expressed in linear units per unit of time.

Angular Speed is the time rate of turning of a body about an axis, or the rate at which a
line on a revolving body is changing direction, and is expressed in angular units per unit
of time. If a body is revolving about an axis, any point in the body has only linear speed;
but a line, real or imaginary, joining the point to the axis of revolution has angular speed;
also a line joining any two points on the body has angular speed.

Uniform and Variable Speed. Speed is uniform when equal spaces are passed over in
equal times, however small intervals into which the time is divided. Speed is variable when
unequal spaces are passed over in equal intervals of time.

Velocity is a word often used synonymously with speed. This is incorrect, since velocity
includes direction and sense as well as speed. The linear velocity of a point is not fully
defined unless the direction and sense in which it is moving and the rate at which it is
moving are known. The angular velocity of a line would be defined by stating its angular
speed, the direction of the perpendicular to the plane in which the line is turning, and
the sense of the motion.

Linear Acceleration is the time rate of change of linear velocity. Since velocity involves
direction as well as rate of motion, linear acceleration may involve a change in speed or
direction, or both. Any change in the speed takes place in a direction tangent to the
path of the point and is called tangential acceleration; a change in direction takes place
normal to the path and is called normal acceleration. Acceleration may be either
positive or negative. If the speed is increasing, the acceleration is positive; if the speed is
decreasing, the acceleration is negative and is called retardation or deceleration. If the
speed changes by the same amount during all equal time intervals, the acceleration is
uniform, but if the speed changers by different amounts during equal intervals of time,
the acceleration is variable.

Angular Acceleration is the time rate of change of angular velocity. As in linear

acceleration, a change in either speed or direction of rotation, or both may be involved.

Translation. A body is said to have motion of translation when all its component particles
have the same velocity, as regards both speed and direction; that is, all points on the
body are, for the instant at least, moving in the same direction with equal speeds. If all
the particles move in straight lines, as in the piston of an engine, the body has rectilinear
translations, and if they move in curved paths, as in the motion of the parallel rod of a
locomotive, the body has curvilinear translation.

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 Turning Bodies. All motion consist of translation, turning about an axis, or a combination
of the two. It is customary to refer to motion of turning as revolving or rotating. These terms
are used more or less interchangeably although sometimes a distinction is made.

APPENDIX

Point on a Body

Pair joining two links moving

relative to each other
Fixed Axis

Pin joint on a rigid link joining

the end of another link

Bent Rocker turning on a

movable axis

Bent Rocker or two cranks

turning together on a fixed axis

Sliding Pair

Sliding pair with fixed guides

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 b. Path Tracing and Displacement

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 MODULE 2: Velocity Analysis of Mechanisms

This unit aims to allow you as a student to review and be familiar with the:

a. Velocity analysis using Resolution and Composition method

VELOCITY ANALYSIS

Velocities and accelerations in machines may be determined analytically and

graphically. Often, an analytical analysis becomes quite complicated and, in some
cases, impossible. The graphical analyses are more direct, less complicated, and usually
sufficiently accurate.

 There are five commonly used methods for obtaining velocities:

1. Resolution and Composition Method

2. Instantaneous Axis of Velocity Method
3. Parallel Line Method
4. Centro Method
5. Relative Velocity Method or Velocity Polygon Method

Velocity – is defined as the time rate of change of position of a point. Since this change
of position or displacement is a vector quantity, velocity is also a vector quantity, having
the sense of the displacement being taken on.

V = R or
V = 2RN
Where:
V = velocity (ft/sec)
 = instantaneous angular velocity (rad/sec)
R = radius (ft)
N = speed (rev/min or rpm)

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 RESOLUTION AND COMPOSITION:

If the velocity of one point and the direction of the velocity of any other point on a body
are known, the velocity of any other point on that body may be obtained by resolving
the known velocity vector into components along and perpendicular to the line joining
these points and making one of the components of the velocity of the other point equal
to the component along the line.

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 b. Velocity analysis using instantaneous center of rotation method

INSTANTANEOUS AXIS OF VELOCITY METHOD

Each member of a machine is either rotating about fixed axis or about a moving axis.
Instantaneously this moving axis may be thought of as a stationary axis with properties
similar to a fixed axis. In other words, the cranks of a machine rotate or oscillate about
their respective fixed axes and the floating link (connecting rod) rotates with an absolute
angular velocity about an instantaneous axis of velocity. The absolute instantaneous
linear velocities of points on the link are proportional to the distance of the points from
the instantaneous axis and are perpendicular to lines joining the points with the
instantaneous axis.

FIXED AXIS:

a) Cranks A A
B

2 2

Q2
Q2

b) Sliders Q2 at 

Q2 at 

Q2 at 

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 c) Rollers rolling on a plane

2 2
Q2

Q2
Tangent Point
Tangent Point

MOVING AXIS:
- Moving axis are only found on connecting rods (floating links)
- All connecting rods are connected by at least 2 cranks
- Extend the 2 cranks to show the moving axis of the connecting rod

2
4
Q2

Q4

Q2 2

Q4
4

For moving axis, it should be clearly understood that;

a. There is one instantaneous axis of velocity for each floating link in a machine,
b. There is NOT one common instantaneous axis of velocity for ALL links in a machine,
and
c. The instantaneous axis of velocity changes position as the link moves.

How to Perform the Method:

1. Locate all fixed axis and moving axis found on the mechanism or machine.
2. Connect the points on the link to its respective fixed axis or moving axis
3. Do Case no. 1 found on Resolution and Composition Method

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 Figure below represents an irregularly shaped floating link:

A
Q2

2 Va
B

Example 1:

B
C
A
3

2 Va
D
4
Q2

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 Example 2:

4
C 5
Q2
3
2 D 6

A
Va

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 c. Velocity analysis using Parallel Line method

PARALLEL LINE METHOD

- Parallel line method was derived from the instantaneous axis of velocity method to
eliminate its disadvantage in using that particular method.
Q3

DISADVANTAGE:
The moving axis cannot be
drawn on the given space

4
Q2

Q4

Case I: For CONNECTING RODS (2 points, co-linear)

Conditions:
a. One velocity must be given (both magnitude and direction)
b. The unknown velocity must have a given direction
c. Apparent intersection of 2 cranks involved (to identify where is the moving axis of that
floating link
Apparent intersection for Q3 is located above

A 3
Va
B
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 Case II: For CONNECTING RODS (3 or more points, co-linear)
Conditions:
- Same conditions for Case I

Apparent intersection for Q3 is located above

Va
C

Case III: For CONNECTING RODS (3 or more points, co-planar)

Conditions:
- Same conditions for Case I and Case II
Apparent intersection for Q3 is located above

Va

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 Sample Application:

Q2 Q4
Va 8
G
2
4
7
A
B
C
3

5
E

6
F

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 d. Velocity analysis using Centro Method

CENTRO METHOD
CENTRO:
- It is a point common to two bodies having the same velocity in each
- It is a point in one body about which another body actually turns
- It is a point in one body about which another body tends to turn

Number of CENTRO’s:
The number of centro in a mechanism is the number of possible combinations of
the links taken two at a time

N = n(n-1) / 2

Where: N – number of centros, n – number of links in the mechanism

Notation of CENTRO’s:
All links, including the frame, are numbered 1, 2, 3 and so on. The centro has a
double number as 12, 13, 23 and so on. Notation of centro is combining the link number
into one wherein the first digit is the lowest number followed by the higher number.

Location of Centro’s:
*** Using the centro polygon can locate the centro’s

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 Example: 6 bar linkage mechanism

Determination of Unknown velocities using Centro Method

Steps to be followed:
1. Determine which three links are involved: the link containing the point of known
velocity, the link containing the point for which the velocity is desired and the
frame.
2. Determine the line of center by making up table of centros for the three links
involved and label this line LC.
*** Line of center is based from Kennedy’s Theorem wherein any three bodies (links)
having a plane motion relative to one another have 3 centros, all of which lie on a straight
line.

12 23 13 Line of
P Center

2 3

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 3. Determine which two of these three centros are the zero velocity centros. Zero
velocity centros are those containing the number of the frame and they are the
centers of rotation for the two moving links.
4. Rotate the known velocity to the line of centers. It must be rotated about the
center of rotation of the link that it is on.
5. Draw the line of proportion fro the link containing the known velocity by drawing a
line from its center of rotation to the terminus of the known velocity in its rotated
position.
6. Determine the velocity of the common centro using the line of proportion just
established.
7. Draw the line of proportion for the link containing the unknown velocity by now
considering the common centro as a point on this link. This is done by drawing a
line from the terminus of the velocity of the common centro to the center of
rotation for this link.
8. Rotate the point for which the velocity is desired to the line of centers and
determine the magnitude of its velocity by the line of proportion just established.
9. Counter rotate the vector to the point’s original position.

Find Velocity B
given Velocity A

2
A

4 B

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 e. Velocity analysis using Relative Velocity Method

Relative velocity.pdf

(Double click to open)

MODULE 3: Acceleration Analysis of Mechanisms

This unit aims to allow you as a student to review and be familiar with the:

a. Acceleration analysis using Relative Acceleration Method

b. Acceleration analysis using Corioli’s Acceleration method

6 Acceleration
polygon.pdf
(Double click to open)

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 REQUIREMENTS

Activity 1

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 Activity 2

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 Activity 3

Property of and for the exclusive use of SLU. Reproduction, storing in a retrieval system, distributing, uploading or posting online, or transmitting in any form or 188
by any
means, electronic, mechanical, photocopying, recording, or otherwise of any part of this document, without the prior written permission of SLU, is strictly prohibited.
 Activity 4

Property of and for the exclusive use of SLU. Reproduction, storing in a retrieval system, distributing, uploading or posting online, or transmitting in any form or by any 1
means, electronic, mechanical, photocopying, recording, or otherwise of any part of this document, without the prior written permission of SLU, is strictly prohibited.
 Activity 5

Property of and for the exclusive use of SLU. Reproduction, storing in a retrieval system, distributing, uploading or posting online, or transmitting in any form or by any 2
means, electronic, mechanical, photocopying, recording, or otherwise of any part of this document, without the prior written permission of SLU, is strictly prohibited.
 Activity 6

Property of and for the exclusive use of SLU. Reproduction, storing in a retrieval system, distributing, uploading or posting online, or transmitting in any form or by any 3
means, electronic, mechanical, photocopying, recording, or otherwise of any part of this document, without the prior written permission of SLU, is strictly prohibited.
 Activity 7

Property of and for the exclusive use of SLU. Reproduction, storing in a retrieval system, distributing, uploading or posting online, or transmitting in any form or by any 4
means, electronic, mechanical, photocopying, recording, or otherwise of any part of this document, without the prior written permission of SLU, is strictly prohibited.
 Activity 8

Property of and for the exclusive use of SLU. Reproduction, storing in a retrieval system, distributing, uploading or posting online, or transmitting in any form or by any 5
means, electronic, mechanical, photocopying, recording, or otherwise of any part of this document, without the prior written permission of SLU, is strictly prohibited.
 Activity 9

Property of and for the exclusive use of SLU. Reproduction, storing in a retrieval system, distributing, uploading or posting online, or transmitting in any form or by any 6
means, electronic, mechanical, photocopying, recording, or otherwise of any part of this document, without the prior written permission of SLU, is strictly prohibited.
 Activity 10

Property of and for the exclusive use of SLU. Reproduction, storing in a retrieval system, distributing, uploading or posting online, or transmitting in any form or by any 7
means, electronic, mechanical, photocopying, recording, or otherwise of any part of this document, without the prior written permission of SLU, is strictly prohibited.