S. Y. B. Tech.

Mechanical Kinematics of Machines

Problems on Relative Velocity and Acceleration
1. In a four bar chain ABCD, AD is fixed link of 15 cm, The crank AB is 4 cm long and rotates
at 120 rpm clockwise, while the link CD of length 8 cm oscillates about D. BC and AD are of
equal length. Find the angular velocity and acceleration of link CD when angle BAD is 600.

2. An Andrew variable stroke engine mechanism is shown in Fig. 15. The crank OA rotates at
100 rpm. Find the
i. Linear Acceleration of the slider D
ii. Angular acceleration of the links AC, BD and CD

Fig. 1

3. For the mechanism shown in Fig 3. Determine the velocities of the points C, E and F and
angular Velocities and acceleration of the links BC, CDE and EF.

Rajendra V. Pawar
S. Y. B. Tech. Mechanical Kinematics of Machines
Problems on Relative Velocity and Acceleration

Fig. 3

4. In a mechanism as shown in Fig. 8.39, the link AB rotates with a uniform angular velocity
of30 rad/s. The lengths of various links are:AB = 100 mm;BC = 300 mm ;BD = 150 mm ;
DE = 250 mm ; EF = 200 mm ; DG = 165 mm.
Determine the velocity and acceleration of G for the given configuration.

Fig. 4

5. In a four bar mechanism shown in Fig. 5, the dimensions of the links are as given below:
AB = 50 mm, BC = 66 mm

Rajendra V. Pawar
S. Y. B. Tech. Mechanical Kinematics of Machines
Problems on Relative Velocity and Acceleration
CD = 56 mm and AD = 100 mm
o
At a given instant when DAB = 60 the angular velocity of link AB is 10.5 r/s in CCW
direction.

Scale: 1 cm = 20 mm C

G
B

60o
A D

Fig. 5

6. In a mechanism as shown in Fig.6, the crankOA is 100 mm long and rotates in a

clockwisedirection at a speed of 100 r.p.m. The straightrod BCD rocks on a fixed point at
C. The linksBC and CD are each 200 mm long and the linkAB is 300 mm long. The slider
E, which isdriven by the rod DEis 250 mm long. Find thevelocity and acceleration of E.

Fig. 6
7. In the slider-crank mechanism shown in Figure 13, OA= 400 mm, AB=1400 mm and AE=
400 mm. When
i. the acceleration of the slider at B

Rajendra V. Pawar
S. Y. B. Tech. Mechanical Kinematics of Machines
Problems on Relative Velocity and Acceleration
ii. the acceleration of point E and
iii. the angular acceleration of link AB.

Fig. 7

8. The dimension of the mechanism as shown in Fig. 14, below are as follows, AB = 0.45m,
BD = 1.5 m, BC = CE = 0.9 m.
The crank AB turns uniformly at 180 rpm in the clockwise direction and the blocks at D
and E are working in frictionless guides. Draw the velocity diagram for the mechanism
and find the velocity of the slider D and E in their guides.

Fig. 8
9. A withworth quick-return mechanism has been shown in Fig. 12. The dimensions of the
links are OP (crank) = 240 mm, OA = 165 mm, and RS = 430 mm. The crank OP has an
angular velocity of 2.5 rad/s and an angular deceleration of 20 rad/s2 at the instant.
Determine the,

Rajendra V. Pawar
S. Y. B. Tech. Mechanical Kinematics of Machines
Problems on Relative Velocity and Acceleration
i. Velocity and acceleration of the slider
ii. Angular velocity and Acceleration of links AR and RS

Fig. 9

10. In the pump mechanism shown in Fig. 21, OA = 320 mm, AC = 680 mm and OQ = 650
mm. For the given configuration, determine
i. Linear (sliding) velocity and acceleration of slider C relative to cylinder walls.
ii. Angular acceleration of the piston rod.

Fig. 10

11. The elements of a power hacksaw are shown in the figure. The saw blade is mounted in a
frame which slides along the horizontal guide. If the motor turns the flywheel at a
constant counterclockwise speed of 60 rev/min, determine the acceleration of the blade

Rajendra V. Pawar
S. Y. B. Tech. Mechanical Kinematics of Machines
Problems on Relative Velocity and Acceleration
for the position where q = 90°, and find the corresponding angular acceleration of the link
AB.

12. In the toggle mechanism, asshown in Fig. 7.28, the slider D is constrained to moveon a
horizontal path. The crank OA is rotating in thecounter-clockwise direction at a speed of
180 r.p.m.The dimensions of various links are as follows :OA = 180 mm ; CB = 240 mm ;
AB = 360 mm ;and BD = 540 mm.For the given configuration, find :
1. Velocityof slider D,
2. Angular velocity of links AB, CB and BD;
3. Velocities of rubbing on the pins of diameter 30 mmat A and D, and
4. Torque applied to the crank OA, fora force of 2 kN at D.

13. In the mechanism shown, the flexible band F is attached at E to the rotating sector and
leads over the guide pulley G. Determine the angular acceleration aABof link AB if the
band has a constant speed of 2 m/s as shown.

Rajendra V. Pawar
 S. Y. B. Tech. Mechanical Kinematics of Machines
Problems on Relative Velocity and Acceleration

Fig. 13
14. A mechanism of a crank and slotted lever quickreturn motion is shown in Fig. 8.28. If the
crank rotates counter clockwiseat 120 r.p.m., determine for the configuration shown, the
velocity andacceleration of the ram D. Also determine the angular acceleration ofthe
slotted lever.
Crank, AB = 150 mm ; Slotted arm, OC = 700 mm and linkCD = 200 mm.

Fig. 14
15. The disk with a radius r = 220 mm rolls on the smooth horizontal surface without slipping
with an angular velocity of ωd= 3 rad/s (ccw). End A of rod AB (length lAB= 500 mm) is fixed
on the disk. End D of rod BD (length lBD= 350 mm) is fixed on the collar which can slide

Rajendra V. Pawar
 S. Y. B. Tech. Mechanical Kinematics of Machines
Problems on Relative Velocity and Acceleration
freely on the shaft. At the instant shown, the velocity of collar D is constant and directed
downwards with a magnitude of vD= 8 m/s. Also at this instant, the acceleration of the center
O of the disk has a magnitude of aO= 1.76 m/s2 directed to the left. Determine the angular
velocities of rods AB and BD (ωAB, ωBD) and the angular accelerations of rods AB and BD
(αAB, αBD) at this instant. Take r0= 180 mm, θ = 36.87°, α = 60°, γ = 45°.

Fig. 15
16. The driving crank AB of the quick-return mechanism, as shown in Fig. 8.30,revolves at a
uniform speed of 200 r.p.m. Find the velocity and acceleration of the tool-box R, in
theposition shown, when the crank makes an angle of 60° with the vertical line of centres PA.
What isthe acceleration of sliding of the block at B along the slotted lever PQ ?

17. In a Whitworth quick return motion, as shown in Fig. 17. OA is a crank rotating at 30 r.p.m.
in a clockwise direction. The dimensions of various links are : OA = 150 mm; OC = 100 mm;

Rajendra V. Pawar
 S. Y. B. Tech. Mechanical Kinematics of Machines
Problems on Relative Velocity and Acceleration
CD = 125 mm; and DR = 500 mm. Determine the acceleraion of the sliding block R and the
angular acceleration of the slotted lever CA.

Fig. 17
18. The kinematic diagram of one of the cylinders of a rotary engine is shown in Fig. 18. The
crank OA which is vertical and fixed , is 50 mm long. The length of the connecting rod AB is
125 mm. The line of the stroke OB is inclined at 50° to the vertical. The cylinders are rotating
at a uniform speed of 300 r.p.m., in a clockwise direction, about the fixed centre O.
Determine: 1. Acceleration of the piston inside the cylinder, and 2. angular acceleration of
the connecting rod.

Rajendra V. Pawar