* ‘MOTION 2.26. The powor of an engine running at 125 rpm is turned off and the engine comes to rest at the end of 2 min and 40 sec. Assuming that there is no slipping between the belt and pulley surface and that the deceleration is uni- form, find (1) the average speed in radians per second of the engine pulley {im coming to rest; (2) the total angular distance traveled in revolutions, radians, ‘and degrees in coming to rest; and (3) the distance in feet traveled by a belt ‘running on the pulley in coming to rest, ifthe pulley diameter is 3 St. ‘227, A Gin.x8in. gas engine hes s normal speed of 490 rpm. Determine (A) the epeed in revolutions por second and radians per second; and (2) the linear velocity of the erankpin in feet per minute, fet per second, and inches per second. If the engine is allowed to stop at uniform rate in 3 min and. 20 sec, determine (8) the deceleration of the crank in radians per eccond per ‘mecond; (A) the distance in feet travoled by the crankpin in coming to rest; tnd (5) the dietance in feet traveled by the piston in coming to reat, ‘228, Same a1 Prob. 227, except that the engine is 6 in.x7 in. and the ‘normal apeed is 500 rpm. 229, The 16-in-diameter pulley of a gasoline engine is connected by a belt (rhich is aasumed not to slip) to the pulley of a pump. The belt speed ia 4000 fpm. Determine (1) the angular speed of the engine pulley in revolutions per minute and in radians per eecond; and (2) the diameter in inches of the ‘pump pulley if the pump speed is one-half the speed of the engine pulley. 1230, The speed of a Aywheel whose dicmeter is 8 ft. is increasing from rest ‘at the uniform rate of 2 rad/sec?. Determine the number of eeconds elapsed fand the mumber of radians tumed ¢hrough by the flywheel before a point on the rim haa » tangential volooley of 1200 fps, ‘231. A chute for delivering shipment of freight isso designed that the boxes, starting from ret, receive a uniform acceleration of 18 ft/sec? on the fist section, ‘Which is 18 ft long. ‘Thea they are retarded by a 6 ft/sec? uniform deceleration tn the best section. Ifthe time consumed in shooting both sections is 12 sec, fetermine (2) the veloeity, in feet per second, of the boxes at the end of each ‘ection; and (2) the length, in fet, of the second section. Chapter 3 VELOCITY ANALYSIS 3-1. Velocities in Machines. The fact has been mentioned previ- ‘ously that if the motion of a body is translation, the velocities of all icles composing the body are equal and parallel; henee it is nec- ‘owary to know the velocity of only one particle in order to find the locity of any other particle, If the body has any coplanar motion ther than translation (see Art. 2-12), it is necessary to have enough Uinta to determine the velocity of two particles in order to determine the velocity of any part of the body. In the present chapter, only planar motion will be considered unless otherwise stated. In analyzing the velocity of a rigid body, or a group of such bodies, the words point and particle will be used interchangeably. ‘The prin- cipal eases which occur are the following: (1) two or more points fon the same body; (2) points on two or more bodies connected by pin joints; (3) points on bodies in rolling contact; and (4) points fon bodies in sliding contact. ‘Any given problem is likely to involve any or all of these cases; hence it is essential that the principles involved in each be thoroughly understood. : Velocities and accelerations in machines may be determined a |ytically or graphically. Often, an analytical analysis becomes quite complicated and, in some eases, impossible. The graphieal analyses fare more direct, less complicated, and usually sufficiently accurate. Graphical methods will be used in this book. ‘There are four commonly used methods for obtaining velocities: (1) resolution and composition; (2) instantaneous axis of velocity; (3) centro; and (4) relative velocity or velocity polygon. Bach method has its advantages. Some problems may be solved by any or all of the methods listed, whereas other problems ean be solved more readily by one particular method. Many problems may ca8 VELOCITY ANALYSIS best be solved by a combination of the methods. As a general rule, methods 1 and 2 give the quickest solution. Method 2 is @ simplified version of method 3. Method 4 ean be used in the solution of prac- tically all problems and is probably the most desirable method. 3-2. Vectors. A scalar quantity has magnitude only, such as 1 it, 2b, A vector quantity has magnitude, direction, and sense, such a foree, velocity, acceleration. A vector is a line that represents vector quantity. The length of the line, drawn at any convenient scale, shows the magnitude; the direstion of the line is parallel to the direotion in which the quantity acts; and an arrowhead or some other suitable convention indicates the sense of the quantity, The init end of the line is the origin or tal, and the other end is the terminus or head. ‘The sense of the quantity is from the origin to the terminus, ‘and often an arrowhead is placed at the terminus, A vector is shown {in Fig, 8-1. Where A is the point of application, length a represente ‘the magnitude of the quantity to some @ seale, line Aa represents the direction, 230 and the arrowhead shows the sense, If the sense is as shown, the vector is read da, but if the sense is opposite, ihe vee~ \ tor is read aA. Heat) Lis often convenient to give the di- rection and sense of a vector by stating the angle made by the vector with some reference line. In this text, the reference line will bea horizontal line and the angle will be meas. ured in a counterclockwise direction. In Fig, 3-1, the vector Aa has 8 direction-sense of 135°. ‘The sum of two vector quantitics ia a quantity whose effect is the ‘same as the combined effect of the two original quantities. Conse- quently, the sum of two vectors is a vector representing the sum of the two quantities shown by the vectors themselves, Similarly, « veetor may be drawn representing the sum of any number of vector quantities. The sum of the quantities is called their resuléant, and its vector, the resultant vector. ‘The quantities added together to obtain the resultant are its components, und the corresponding vee- tors are the component vectors. ‘The sum of tw20 vectors is the closing side of a triangle whose other two sides are formed by using the head of one of the component vec~ tore as the tail for the second. The sense of the resultant vector is toward the head of second component vector. In Fig. 3-2, the vector vectors 80 Fis. 32. Aas the sum or the resultant of the veetors Aa; and a,¢, This proc, fs is expressed by the equation Aa + qa = Aa ‘The sum of any number of vectors is the closing side of a polygon of which the component vectors form the sides. In Fig. 3-8, the vee- Fis 33, tor da is the sum or the resultant of the vectors Aas, aida, asa, and aya and may be expressed in equation form Aa, ¥ aya, + axdy + aya = Aa Figures 3-2 and 3-3 are called vector polygons. ‘The difference between tio vectors is the closing side of a triangle whose other two sides are formed by placing the two vectors tail to lajl. The sense of the vector representing the difference is toward the wector quantity from which the other vector quantity is subtracted. In Fig. 3-2, the vector Aa, is subtracted from the vector Aa and the iifference is aia. This process is expressed by the equation Aa Aa = 400 YBLOCITY ANALYSIS If it is desired to subtract veetor Aa from Aa, the difference would be aa, that is, the vector would have the same length and direction, Dut the sense would be opposite. ‘A vector quantity may be resolved into two components parallel to lines making any desired angle with each other. In any ease, the resultant or original vector will be the diagonal of a parallelogram ‘obtained with the components forming two of the sides. ‘The same result is obtained by making the components two sides of a triangle ‘and the resultant or original vector the closing side as used in vector ‘addition. The process of obtaining the resultant of any number of vectors is called vector composition, and the reversed process of breaking up a vector into components is called vector resolution. In Fig. 3-4 the vector Aa is resolved into components Aa; and Aa. ‘This same vector may be broken up into any number of sets of components, An- other set, Ads and Aas, is shown. Note that in each case Aa is the resultant of each set ‘of components. 3.3. Scales. Tn the graphicel solution of problems it is necessary to draw the ma- chine full scale, to a smaller scale, or to larger scale. ‘This space scale is expressed in three ways: (1) proportionate size, eg, one-fourth size (% seale) or twice size (double scale); (2) the number of inches on the drawing equal to 1 foot on the machine, ‘og, 3 inches equal 1 foot (3 in. = 1 ft) of 24 inches equal 1 foot (24 in. = 1 ft); (3) 1 inch on the drawing equals so many feet, eg, 1 inch equals % foot. (1 in, = ¥% ft) or 1 inch equals %44 foot (1 in. = ¥4 ft). The space seale is designated Ki, ‘The velocity scale, designated Ky, is defined as the linear velocity. in distance units per unit of time represented by 1 in. on the drawing, If the linear velocity of a point is 5 fps and the K, scale is 5, then a line 1 in. long would represent a linear yelocity of 5 fps and would, be written Ky = 5 fps. ‘The acceleration scale, designated K., is defined as the linear ac- celeration in distance units per unit of time per unit of time repre- sented by 1 in. on the drawing. If the linear acceleration of a point is 100 ft/sec? and the K, seale is 100, then line 1 in, long would Fro. 4, RESOLUTION AND COMPOSITION “a Jopresent a linear aeceleration of 100 ft/sec?, and would be written 00 ft/sec? 3-4, Rotating and Oscillating Cranks. The magnitude of the itantaneous linear velocity of a point on a revolving body, rotating ‘rank, oF oscillating erank is proportional to the distance of that point {rom the axis of rotation of the body or erank, See Art. 2-24. The direction of the velocity is perpendicular to a line joining the point whose velocity is considered and the axis of rotation. ‘The sense of the linear velocity is the same as that of the angular velocity of the body, that is, right-handed if clockwise rotation and left-handed I counterclockwise rotation. Figure 3-5 represents an irregularly We 35 shaped crank m turning about the fixed axis Q with an instantaneous Angular velocity IV producing the linear velocity of A represented to fnscale by the line Aa. ‘The magnitude of the velocities of B and C fire proportional to V, as their respective distance from Q. By the \we of similar triangles the magnitudes are obtained as shown. In tach case the direction is perpendicular to AQ, BQ, and CQ, and the fonse of each linear velocity is consistent with the clockwise angular velocity of m. 3-5. Resolution and Composition. If the velocity of one point ‘and the dizection of the velocity of any other point on a body are cnown, 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 ‘slong the line. ‘The other component of this velocity will be perpena VRLOCITY ANALYSIS dicular to the line. ‘The validity of this procedure is apparent. wh it is realized that, in a rigid body, the distance between the two point remains constant and the velocity component along the line joi these points must be the same at each point, In the following diseussion, the components will be referred to the component along the line or link and the component. perpendicula to the line or link, or simply along and perpendicular components. RESOLUTION AND COMPOSITION e Fie. 37 Fie. $4, sents the direstion of the velocity of C perpendicular to AC and is ‘written Ves4e. Resolve Vy into components along and perpendicular to BC. Lay off Ce, the velocity of C slong BC, equal to BY. Draw a line perpendicular to BC from ¢,. ‘This line represents the direction of the velocity of C perpendicular to AC. The intersection of the perpondioular lines deawn from ¢ and 7, locates ¢q. ‘Then Crp is the velocity of C. This method of solving simultaneous vector equations in very useful. In Fig. 3-6, A and B represent two points on the rigid body m. ‘The velocity of A, Vs, is completely known and the direction of the veloe= ity of B is along BM. Since this is a rigid body, the distance AB is constant and the component along AB of the velocity of B is equal to the component along A# of the velocity of A. Resolve Vs into com= ponents along and perpendicular to AB. Then, any point on AB must have a component along AB of velocity equal to Aa, the component along AB of the velocity of A. Extend AB and lay off Bb equal to ‘Aa. The sense of the components along AB must be the same for all points on AB. Now, Bb is one component of the velocity of B. Draw: bb; perpendicular to AB, cutting BM at by. bb is the perpendicular component of the velocity of B, and Bby is the absolute or total ve- locity of B. In Fig, 3-7, 4, B, and C are points on the rigid body m. Vo is ‘known and the direetion of the velocity of B is along BM. ‘The veloc- ity of B is obtained as in Fig. 36. Neither the magnitude nor the direction-sense of the velocity of C is known, but V ean be obtained by the graphical solution of the following vector equations. Vo= Vestmeac + Verac aq) Ve Fue. 38. Vestine 3¢ Verne @ In Fig. 8-8, A, B, and C are points on the rigid body m. Since C located on a straight line from A to B, the method used in finding the velocity of C in Fig. 3-7 cannot be used. However, a ready solu- Resolve Va into components along and perpendicular to AC. Tay off Ce equal to Aa. Cris the velocity of C along AC, and is written Veuine ac: Draw a line perpendicular to AC from c. ‘This line repre-“ VELOCITY ANALYSIS: tion for the velocities of B and C may be had when it is realized that ‘m has angular motion about an axis of rotation and that the velocity ‘components perpendicular to AB are proportional to each other. ‘The velocity of A is completely known and the direction of the velocity of B is along BM, Obtain Vs as in Fig. 3-6. Lay off Co, the com- ponent of V, along ACB, equal to Aa. Obtain the proportional engths of all perpendicular components by joining a; and 6;. From ¢ draw the perpendicular component of the velocity of C, ccs. ‘Then Ce, is the velocity of C, Figure 3-9 shows a combination of the methods developed in Figs, 3-5 and 3-8. A, B, C, and D are points on the body m. V. is com- Fa 19, pletely known. The direction-sense of Vs is known. Vo, Vs, and Ve are to be obtained. V, and Vz are obtained by the use of the prin- ciples of Fig. 3-8. Locate the point @ at the intersection of the pro- portional line aibs and AB extended. The motion of m may be con- sidered as macle up of a translation in the direction of AB and a ro- tation about Q, a point on the body or in space. It should be noted that: @ has a linear velocity that is equal to the velocity component slong AB. Aa, Bb, Dd, Ce, and Qq are the velocity components along AB of each point and are equal to each other. @ may also be located 1s follows. Draw the proportional line pp, through the veetor heads representing the velocities of A and B as the proportional line a;b, was drawn in Fig. 3-8. Extend pp, to g, the intersection with AB extended. Lay off g@ equal to Aa. The proportional lines a,b, and Pps are parallel. Ve is obtained as follows: With Q as a center and radius of QC, draw are Ce. ef, perpendicular to AB, is the magni- tude of the velocity of C about @ or the velocity of C due to the ro- RESOLUTION AND COMPOSITION ‘’ tation of m. Cex is equal to ef and perpendicular to OQ. Cc, the component of V, along AB, is equal to Aa, is parallel to AB, and is {due to the translation of m in a direction along AB, ‘Then, Vs is the resultant of the two components, the velocity of C parallel toAB and the velocity of € about @. Fro, $10, Figure 3-10 shows another application of the method of resolution ‘and composition. ‘The crank 2, with the block 4 pinned to it at. 4, tums counterclockwise and drives erank 3. The block 4 slides along the straight portion BC of crank 3 and turns on the pin A connecting 4 to crank 2. ‘The point A may be considered to be on erank 2, on rank 3 and on block 4; itis known as a coincident point. ‘The veloc- ity of A on 2, Vea, is represented by the vector Aas, which is pet- pondicular to Qo. ‘The velocity of A on 3, Veoesy is represented by the vector Aas, which is perpendicular to Qs4. The velocity vector ag has the two veetor components Ady and the velocity component Of sliding, parallel to BC, of the block 4 slong BC, asa,. This rela-VELOCITY ANALYSIS tionship is expressed by the veotor equation Adz = Ady 4 aga 2 = Vesa + Velocity of sliding ‘The veetor Az, drawn perpendicular to BC, is the vector component perpendicular to BC of the velocity of A on 3. This relationship may be expressed day = Az + 205 Veena = Vaonsisc + Va ons slong BC ‘The vector Aris also the veetor component perpendicular to BC of the velocity of A on 2, Then Aa; = Az + xAy Voon2 = Vao2ine + Vaon 2 alone 30 8.6. Examples of Velocities by Resolution and Composition. Example 1, In Fig. 311, the instentansous angular velocity of the erank QA 100 rpm eoumtarclockwive, Q,A i 24 fa. long and tho ther tembere & Bro. 34 10 fps. Find ¥, ae drawn to the same seale a8 Qu. Ky: 1 te Vg and V, (in printing, the original drawing has been reduced VELOCITIBS BY RESOLUTION AND COMPOSITION 47 Solution, 2EXGA XN _ Be x 24 X 100 °° a x00 12x60 lay off ¥, = a, to sale, and perpendiular to QpA (the velocity of » point ln perpendicular to the line joining the point and the exis of rotation). Resolve V, into components long an perpenticular to ABD. Ley off Bby and Déy fclusl to ay, the component along ABD. The direction of the velocity of # Ws perpondictar to Q,8. Draw bby perpendicular to AB. Then BB ie the Yctor representing the velocity of B to the K, scale, Vy = Bb X Ky = 13% 10 13 fps. Draw the proportional line abd. ‘From d, dram tho component of 1, vernendicula to ABD eatting the proportional line td. Then Vg = Dd x. KK, = 142 10 = 142 fa. The veloaty of C is found as follows: Rolve Ve io components slong and perpendicular to AC. Lay off Coy equ to. de {he component along AC. From cy draw a perpendicular to AC. Resolve Vy inio componente slong and perpendicular to BC. Tay off eq aul to. Bost {he component along BC. From c, draw a perpendicular to BG, The point & found by the intersection of this perpendicular with the perpendicular from f; is the terminus of the velocity of C.. Then V. = Cex R, fin. V, could ano be obtained by the method of Fig. 39. Slace B isa point 4m the‘erank QB, its velocity i proportional to the velocity of B as 1 Mistances are from Qy.(Vy:V_= QqB:Q,E). Draw the direction of V, per= Yniular to QyB. ‘Then’ by similar tangler V, = Be Ky = 0675610 = tow. Example 2. In Fig. $12 the linear volosity of is represented by the line Av, Find the linear velocity of D. 20.04 foe“a VELOCITY ANALYSIS Solution. Resolve Aa into components along and perpendicular to ABC. Lay off Bb, and Co, equal to Aa,, the component along ABC. Since the aiding block is constrained to move along QX, the velocity of B is along QB. Draw the perpendicular component of the velocity of B, bb. Then Vb equals Bb. Draw the proportional line abe, From ¢, draw the perpendicular component of Ve eye perpendicular to ABC. Then V, = Cc. Resolve V, into componente ‘long and perpendicular to DC. Lay off Dé equal to Ce, the component ‘long DC. "The velocity of D is along the vertical eenter line, the path of Aravel of the block D. Draw dyd perpendicular to DC. Then V4 = Dd. ‘Example 8._ In Fig. 3-13, the absolute linear velocity of A on Q,A (link 2) is represented by the line Ae, Pind the absolute linear velocity of C. Fie, 218, Solution. Resolve the velocity of Aon link 2 (Vg nto components along and perpendicila (0 ink 3. Then Aa, is the abesiats velocity of A on lnk 3 Ga.) and oye isthe abiding velocity of the block A on link 3. From the simnar trinngles QzAay and Q,BD it may be seen that BD isthe velocity of B, 1, Resolve Vino components along and perpendicular to BC. Make Coy = 2B, = component slong BC. From e draw eye perpendicular to BC. Since {he block @ isconstuned to move along QC, the direction of the veloty of Cis known to be along QuC. ee equals the perpendicular component of Vo and Ce is tho absolute linear velocity of the block C. 3-7. Instantancons Axis of Velocity. Exch member of a ma- chine is either rotating about a fixed axis or about a moving axi 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 INSTANTANEOUS AXIS OF VELOCITY “ the floating link (ie., connecting rod) rotates with an absolute angu- Jur velocity about an instantaneous axis of velocity. The absolute instantaneous linear velocities of points on the link are proportional {o the distance of the points from the instantaneous axis and are per pendicular to lines joining the points with the instantaneous axis. See Art. $4, Figure 3-14 represents an irregularly shaped floating link, ‘The absolute linear velocity of A is known in magnitude and-direction- Fo. 14 fense. Another point B on this body has a velocity in the direction- fense of BX. The instantaneous axis of velocity, Q, may be found by Jocating the intersection of the lines perpendicular to the directions fof the velocities of A and B. At the instant under consideration all points in the body are tending to rotate about Q. The magnitude of the velocity of B can be obtained when the magnitude of the velocity of A is known by the use of similar triangles as shown. Instanta~ neously the velocities of all points in the body are proportional to their distances from @. Tt should be clearly understood that (1) there is one instantaneous azis of velocity for each floating link in a machine, (2) there is not one common instantaneous azis of velocity Jor all links in a machine, and (3) the instantaneous azis of velocity ‘changes position as the link moves. The instantaneous axis of veloc- ity can be located whenever the directions of the velocities of two points on the link are known. ‘The instantaneous axis of velocity is, hot an instantaneous axis of acceleration. ‘The instantaneous axis of Yelocity is a moving sxie and may have an actual acceleration; it does0 VBLOCITY ANALYSIS not necessarily have zero acceleration as does a fixed center of ro- tation, 3-8. Angular Velocity of a Floating Link. A method for obtain- ing the instantaneous absolute angular velocity of a floating link is illustrated in Fig 3-15. The instantaneous axis of link 3, Qs, is lo- Fro, 3:15, cated by drawing lines perpendicular to the velocities of A and C. Since these velocities are respectively perpendicular to cranks 2 and 4, Q, may be located by extending the lines QzA and Q,C until the lines interseet. Since A is a point on the floating link 3 as well as on the orank 2, and since link 8 is instantaneously turning about Qs, the angular velocity of 3 is equal to the linear velocity of A divided by the distance Q,4. Expressed in equation form, oy = Va/Qu @ ‘The angular velocity of link 8 might be obtained without finding the instantaneous axis Qy. By the method used in Fig. 3-9 locate B, ANGULAR VELOOITY OF A FLOATING LINK a 4 point on link 3 which has a velocity along AB but none perpendicu- lar to AB. Vi = Bb = Aay @ ‘Triangles QpB4 and Aqya are similar. ‘Then Aa/QsA = a;0/AB ©) From equation 3, 5 = Ve/Qsd = Aa/Qd By substitution, 3 = 0/AB @) ‘ua is the perpendicular component of the velocity of A and must be expressed in the same linear units as AB and time units as oa. ‘The angutar velocity of a floating link may be obtained as follows. Draw a tine connecting any point whose linear velocity is known and the point on this link with the least velocity. The angular velocity in radians per second of the link is equal to the component, perpen dicular to this line, of the linear velocity in feet per:second of the point whose velocity is known divided by the distance in feet between theve two points. The sonse of the angular velocity is consistent with the sense of the perpendivular component, "The point ow this line With the least velocity is that point with a total velocity equal to the Yelocity component along this line and, therefore, has no component perpendicular to this ine. It should be noted that the velocity of B, tho point on ACB with least velocity, is perpendicular to Q.B and is, Ihorefore, the nearest point on ACB to Qa, the instantaneous axis, and Ju the point on ACB with the least velocity, namely, velocity along ACB. ‘The angular velocity of link 3 may be obtained by using the reso- Jution and composition method only. In Fig. 3-15 aa > oe ee @ a is the perpendicular component of the velocity of A, and cic ia ‘he perpendicular component of the velocity of C. ‘The veetor dif- erence aja — cc is the velocity of C relative to A (sce Art. 3-19) fund must be expressed in the same linear units as AC and time units fies. In Fig. 8-15, the sense of both veetors is the same and the Yootors are subtracted; however, if the sense of these vectors is ‘pposite, the vectors would be added.oe VELOCITY ANALYSIS 8.9. Instantaneous Axis of Rolling Bodies. If a wheel, Fig, 3-16, rolls along the surface XX without slipping (see Art. x x ~@ Fro. 316 the point of contact @ of the wheel and the surface is the instanta- neous axis of velocity and the entire wheel acts as if it were a crank: rotating about the axis Q. ‘The magnitudes of the velocities of pointe on the wheel are proportional to their respective distances from and are perpendicular to lines joining the points with @. If Aa repre- sents the velocity of A, the center of the wheel, then by similar tr. angles Bb represents the velocity of B. locity of A in Fig. 3:17 is represented by ine tho linear velositia of B, ©, and Don link 8 by the ‘method and the angular velocity of link 8 . Since the directions of the velocities of two points, A and B, fon link 8 are known, the instantaneous axis of link 3 is located at Oy fbtaining, the intersection of lives drawn perpendicular to the directions the velocities of A and B. By similar triangles, Vy = Vq(QB/Q,4). Vg = Va (Q,D/Q,4) and is perpendicular to QyD. V,= V,(Q,0/QqA) and & pert pendicular to QC. The graphical eolution i shown in Fig. 17. wy = ¥,/OeA. snd its sense is clockwise. ‘Solution 2. When the instantaneous axis does not fie on the paper, another construction may be used to cbisin the velocities. This method may also eave time, This construction is shown in Fig. 8-18, EXAMPLES OP VELOCITIES BY INSTANTANEOUS AXIS 53 Fie. 217. Awume that Q, cannot be located. Draw a line from A perpendicular to he velocity of A.” Also draw a line from B perpendicular to the velocity of B. ‘Those lines will converge at Q, if it were om the paper. Lay off Am = Aa From m draw mn parallel to AB. Bn represents the magnitude of Vy. "The proof of this method follows. V,/Vq = Q,B/QyA, since the ‘velocities ff points on link are proportional to their respective distances from the stantaneous exis,+4 VELOCITY ANALYSIS: (Q48/Q,A = Bn/Am, since a lne drawn through two sides of «triangle parallel to the thitd side divides the two sides proportionally. Therefore, Vs/V, Br/Am. ‘By construction, Am was made equal tothe taguitude of V," Then Bn equals the magnitude of Vy ‘The velocity of C is obiained by locating p onthe parallel ine mx extended so that np = BO(mn/-AB) ‘The method for finding Vg follows, Extend AD to 2. Draw my parallel to Dé, Locate = on my by making mz = AD(my/Az). De reprecente the mage itude of V 1 shoul“be noted that only small portions of each lie going to Qy are needed and thatthe actual Ioeation of Qy is aot neceeny Example 5. In Fig. $419, the linear velocity of , Vg ie known. Tt is roquited to find the Iinar velocity of the aide D and te angular velocity of Tink 4 Pua, 249, Solution. "The diestions of the velocities of A and B being known, the in- stantaneous axis of line 3 is located at Q, by drawing lines perpendicular to the direstions of the Velocities of and B. The direction ofthe velocity of C is perpendicular to QyC. Since C is «point on both links 8 nd 4, the instan- taneous axis of link 4 is Toested at Q,,the intersection of a line perpendicular to the dicecton of the velocity of Band QsC. By similar triangles, V, V4(Qs0/Q,A) and Vz =V,(Q,0/Q,C).. The graphical solution ix shown’ in Fig. B19. uy = V,/Q,C = V4/Q,D and its sense is clockwise. Example 6. In Fig. $20, the wheel whoee center is at C roll along the horiontl plane without sipping. The velocity of Ais known andi represented CENTROS 5 Fue. 3:20, ly V4. Fint'the velocity of C, the center of the wheel, and D, the top of the Inhoe! Solution. Q, is the instantaneous axis of the wheel. Then the direction of tho velocity of B, a point common to the wheel and link AB, is perpendicular J Q,8. Knowing the direction of the velocity of A and B, Qy. the instan- Iunwoous axis of AB, is located as shown. Then, by similar triangles Vy = ¥,(Q,B/QeA).. ‘The velocities of all points on the wheel are proportional to Irie distances from Oy and are perpendicular fo Hines joining the points with Ys. ‘Then, by similar triangles V and Vg are determined ap shown, S-11. Centros. As previously stated, the instantaneous axis of locity method of obtaining velocities ig a simplified version of the fontro method and ean be used in obtaining velocities when the in- sluntaneous axis ean be located. In many mechanisms, the instan- {neous axis of rotation cannot be located, since the directions of the notion of two points on the link may not be known, By using the uethod of centros, velocities in all mechanisms ean be obtained. ‘A centro may be defined as (1) a point common to two bodies hav- ing the same velocity in each; (2) a point in one body about which mother body actually turns; and (3) a point in one body about which nother body tends to turn, The last definition is also the definition of in instantaneous axis of velocity. Definitions 2 and $ satisfy defi- fijtion 1 in that the velocities are the same, namely, zero. It should Jie noted that a centro satisfying the second definition is permanently fixed and would be a point in the frame of the machine about. which A orank turns. A centro as defined by the first definition may be fither a point actually in the two bodies and at the geometric center of the pair of the two bodies and, therefore, a permanent eenter butos VELOCITY ANALYSIS movable, or a point in space, not actually in either body, but a assumed to be in both links and, therefore, movable but not, per- manent, 3-12, Notation of Centros. All links, including the frame, are numbered as 1, 2, 8, and so on, ‘The centro has a double number as 12, 13, 28, and 90 on. ‘The centro 23 (called two-three) is in both links 2 and 3 and may be notated as 32, but for consistency the smaller number will be written first. 3-13. Number of Centros. ‘The number of centros in a mecha- nism is the number of possible combinations of the links taken two at a time, It may be obtained by the equation Number of centros = N(N — 1)/2 ® where N= the mumber of links, including the frame, in the mecha- nism, 3-14. Location of Centros, Centros are located by (1) observa- tion and (2) the ayplication of Kennedy's theorem, which states that any three bodies having plane motion relative to each other have only three centros which lie along the same straight line. In other words, the three centros that are akin to each other lie along the same straight line, ‘The meaning of akin should be further explained, Assume a four-link mechanism with the links numbered 1, 2,3, and 4. From equation § it is seen that there are six centros, namely 12, 13, 14, 28, 24, and 34, Centros 12, 13, and 28 are akin because, if the common number in either two is eaneeled, the numbers remaining will be the name of the third centro, Likewise, eentros 14, 24, and 18 are akin. Also 24, 28, and 34 are akin; and so are 14, 12, and 24: ‘According to Kennedy's theorem, each of these four sets of akin cen= tros lie on a straight line. ‘The number of cots of akin centros de- pends upon the number of links in the mechanism, ‘The proof of this theorem is shown in Fig. 3-21. The three bodies 1, 2, and 3 move relatively to each other. Link 2 is pinned to 1 at 12 and link 3 is pinned to 1 at 18; 12 and 18 are centros. ‘The remaining centro 23, ‘2 point common to 2 and 3 and having the same linear velocity in ‘each, must be along the line passing through 12 and 13. Assume this centro to be located at K, ‘The magnitude of the velocity of K, when considered in link 2, can be equal to the magnitude of the velocity of K, when considered in link 3, but the direction is not the same in ‘each link because V¢ in link 2 is perpendicular to K-12 and Vy in link 8 is perpendicular to K-18, For the directions to be the same K rust be located along the line 12-18. Therefore, the third centro 23 LOCATION OF CENTROS o Just be slong a straight line passing through 12 and 13, ‘The exact Jocation of 23 on this line eannot be determined sinee links 2 and 3 {ye not constrained to any definite relative motion. Fro, 321 There are always a number of centros in each meehanisia that can bye located by observation. In Fig, 3-22, link 1 is the frame of the Jhachine, 2 and 4 are cranks, and 3 the connecting rod. ‘The number Fao. 3:22, nnd names of the centros may be obtained as shown in Fig. 3-22. ‘ho circled centros are found by observation. Those found by the ise of Kennedy's theorem are underlined. Centros 12 and 14 are58 VELOCITY ANALYSIS points in the frame 1 about which cranks 2 and 4 actuslly turn, satise fying definition 2 of Art. 3-11; they are readily located by observa= tion. Centro 28 is the geometric center of the pair connecting links 2 and 8. It, therefore, has the same velocity, whether coosidered in link 2 oF link 8 and satisfies definition 1. In like manner, 34 is ‘obtained by observation, The remaining centros cannot be found by observation but may be found by: the application of Ke medy'e theorem. In order to facilitate the use of the theorem a centr» poly ‘gon, shown in Fig. 3-22, is helpful, Locate « point for cach link ag 1,2 3, and 4. Whenever a centro is found by observation, connect the two points whose numbers are the same as the centr’ locuted, Thus, 1 and 2,1 and 4, 2 and 3, and 3 and 4 are joined, Whenever 1 line ean be drawn from two points completing two triangles, the centro whose number is the same as the numbers of the points joine can be Joratéd. A line joining 2 and 4 completes the triangles 124 ‘and 234, In triangle 124, sides 12 and 14, representing centros 12 ‘and 14, are already drawn, In other words, centros 12 and 14 are located, and centro 24 is on a line joining these two eentros. Tn like ‘manner, triangle 234 has the sides 23 and 84 already drawn and indi cates that the centro 24 is on a line joining these two centros, At Whe intersection of Hines 12-14 aud 28-54, the ceulro 24 is Toowted, Likewise, centro 19 is located at the intersection of 12-23 and 14-34, Note that centro 24 satisfies definition 1, a point common to 2 and 4 having the same velocity in each. Centro 13 satisfies definition 3, ‘and in reality isthe ‘astantaneous axis of velocity of link 3 3:15. Linear Velocities by Centros. The centros are located a the linear velocity of contro 23 is known for the mechanism show in Fig. 3-28. The method for finding the linear velocity of eentro 34 follows, The velocity of the point 23 in link 2 is known. The veloce ity of the point 34 in link 4 is desired. Sinco, by definition, 24 is @ point common to both 2 and 4 and has the same velocity in each, th determination of the velocity of 24 would solve the problem, "All points in link 2 actually rotate around the eentro 12, Since 23 is point in 2,24 ie @ point in 2. ‘Therefore ‘The construction by similar triangles is shown. Now, the velocity 4, « point in 4, is known, and the velocity of 84, snother point in ANGULAR VELOCITIES OF LINKS « ls desired. Link 4 rotates about the centro 14, So, by similar tri- ‘angles, Bigce 2 ae haa atl eh erate otic tho linear velocity of 28 known. ‘The method of finding the linear Velocity of the centro 34, the same a8 the velocity of the block 4, is thown. Note that the centro 14 i looted at infty, on dine er pendicular to the path of travel of the block 4. Vag = Vas! )a in qual to Ys since 24 and 34 are moving in the same direction and the veloity of any point common to the block isthe velocity of the Hock, The construction shows the correctness ofthis statement, 3-16, Angular Velocities of Links. ‘The method of centros af- fonds an excellent manner for determining th instantaneous angular ‘locity ratio of any two links and the instantaneous absolute angular Velocity of any link when the instantaneous absolute angular velocity OY one lnk ina mechanism is known, Referring to Fig. 3-28 and con fidering centro 24 to bein ink 2, Vag = on(24-12) When 24 is considered to be in link 4, Vas = on(24-14)° VELOCITY ANALYSIS Fie. 324. ee Psy oof WER tet IRD Ter waq(24-14) = wo(24-12) elt eerer @), Stated in words: the instantaneous angular velocities of two links re inversely as the distances from their common centro to the centers ‘about which they are turning or tending to turn, By applying this principle, the angular velocity of link 3 in Fig. 3-23 ae) oe N18 ‘The sense of rotation is obtained by giving the wanted link's an- gular velocity a direction corresponding to the sense of the linear velocity of the eommon eentro. “The above method of obtaining the angular velocities of Hinks in mechani may be applied regerdlese of the umber of links in the mechanism, Tt should be pointed out that when the mechanism is a four-bar linkage, the centro 24 is always located at the inter- tection of the center line of the connecting rod, 23-84, and the line of eentors, 1-14. ‘Therefore, the angular speeds ofthe two cranks of «four-bar linkage are inversely as the distances from the fied cen EXAMPLE OF VELOCITIES BY CENTROS ers to the point of intersection of the center line of the connecting rod and the line of centers (extended if necessary) 3-17. Example of Velocities by Centros. Example 7. Figure 2.25 represents shaper mechanism. Crank 2, with Inoek 8 attached to it, turns counterclockwise at a speed of 100 rpm and has fn actual length of @ in. ‘The length of each link ia known. For the position ff the crank shown, itis required to find the instantaneous linear velocity of the block or eutting tool 6 and the angular velocities of the guiding arm 4 ni the connecting link 5, Solution. Draw the mechanism to scale with the crank 2 in the position shown. (Original drawing one-sixth sie.) Number each link in the mechanisra Including the frame or earth, which is designated as 1 and includes all stationary furis of the machine. ‘The number of centros will be 1 aa shown. Ley off the six pointe for the drawing of the centro polygon and label the points 1, 2,8, 4,5, end 6. Also make « table for the names of the eentros, Next cnte centros 12, 23, 34, 45, 56, 14, and 16 by observation. Remember that the centro of a sliding block and its guide is at infinity, perpendicular to the vide, So, 16 ia at infinity, perpendicular to the travel of block 6, and 34 is At inflaity, perpendicular to the bar or guide on which 3 slides on 4. As the fentroe are found, join the corresponding points in the polygon with a soi line and in the table draw » cirele arcund the centres found by observation. Hiy applving Kennedy's theorem the remaining eight contros are located. Join (sod 6 in the polygon by the dotted line, completing triangles 614 and 654. In triangle 018, the sides 10 and 14 were already drawn. Therefore, centro 40 lo slong a straight line connecting 16 and 14. This line is drawn by starting from M4 and drawing a line toward infinity, the location of 18, or drawing Jorpendicular to path of travel of block 6. In triangle 654, the known sides ve 45 and 66. Centros 45 and 56 are already connected by a line. So, centro MW in at the intersection of these two lines (I6-1¢ and 45-58). Draw a line Uuoder 46 in the centro table to show that it has been located. Next, 1 and 5 ture joined in the polygon; this completes triangles 145 and 105 and indicates ‘hat contro 15 is obtained by the intersection of the broken dash lines 1445 find 16-56, Draw a line under centro 15 in the centro table. In like manner the remaining centros are found in the following order: 24,13, 25, 36, 26, and 36. "The eame type of line hae been used in completing the triangles of the polygon in joining the centros for obtaining the third contro on that line. Centros found by observation have been citeled in the table; those found by the Application of Kennedy's theorem have been underlined. After all centros have heen located the required velocities are obtained as follows: BRN _ Be X9X 100 Bxw”” 2xe ing a velocity seals of 1 in. = 7 fps, lay off Ynx = 1.12 in. and perpendicular to Hink 2.” Now the velocity of one point in 2, namely 23, is known and itis desired {o obtain the velocity of a point in 6, namely 56. Centro 26 is peint common o 2 and 6, with the same velocity in each. Link 2 turns about centro 12 and the velocities of all points in 2 are proportional to their distances from 12. £0 Vas 788 tyea VELOCITY ANALYSIS perpen 10 9 28 bout es. iyo! Via = 18-86. atab Yoloci oe motion Wh nxis fixed to the machine frame which is attached to a foundation J the earth has absolute motion. A floating link, the connecting rod RELATIVE VELOCITY 6 oe Poe Vn (222). tan ation aod hy ee agha. Droan futting link 2 at m by using 12 as a contor and radins of 12-26. From m draw a ndicular to 2. Join the terminus of Va and the centro 12. Then mn eqdals ‘the magnitude of Vax. Tis true positon is at centro 26, perpendicular to tnd toward the left. Now, since the veloitios ofall points on a sliding Block equal and since centro 26 ia point common ta the block, the line mn also equals fo scale the magnitude of Vas. ‘The velocity of block @ may be obtained by the use i several combinations of contre. One other combination is shown, ‘The velocity of « point in 8, 24, is known, ‘Tho velocity of a point in 6, 56, the samo velocity whether considered in 3 or 5. All points in link 8 tend to turn wanted. Remember thet the centro 35 has centro 18 (the fixed link numbor and the link under consideration). ‘Then 18-35) Va ee): ‘With 13 as a conter and « radius equal to 19-28 draw an are futtng the ine 19-85 at a. ‘Make ab equal to Yas in length and perpendicular to ‘At 85 draw a line perpendicular to 13-36. From 19 draw a line through ‘cutting the perpendicular from 36, ‘Then by similar triangles Vay ie fond as Now the velocity of one point in 5, namely Vay is known. ‘The veloo- snother point in 6, namely Vi is wanted. Link § tends to turn about 15. a : Ya (HESS); Wiha emer ca atl 98 uo utting 15-56 extended at ¢. Then draw od equal to Vy and perpendicular to ‘Join d with 18. By similar triangles Vig is obtained a¢ shown. Via = 18 x 7 = 586 fp, olerence to Art $16 shows that Angie veto = An veto 3 (22 ) = 100 = 31.6 rpm counterdockwise 35 - 100 (2 Angi voy 5 = Aga ay 03 (252 = 17.15 rpm counterclockwise ‘Mh yonse ofthe spec of 4 is counterclockwise because Va is toward the left. The ‘eine of th spocd of 5 is counterclockwise because Vas it toward the let 4-18. Relative Velocity. All motions, strictly speaking, are rela- Hive motions in that some arbitrary set of axes or planes must be lished in order that the motion may be defined. It is customary assume that the earth is a fixed reference plane when analyzing the and motions of machine members, and to refer to such absolute motions. A erank, in a machine, rotating about machine, has motion relative to the erank. ‘The floating link5 VELOCITY ANALYSIS also has absolute motion or motion with respect to the earth. A very ‘common example is a brakeman walking on the top of a box ear as the ear rune along the track. ‘The car has absolute motion, the brake= man has motion relative to the ear, and the brakeman has absolute motion. The absolute motion of the brakeman is equal to the motion ‘of the car plus the motion of the brakeman relative to the ear. Ex= pressed in equation form Dm = De + Dne a9) where Da = the absolute motion of the man, D. = the absolute mo- tion of the ear, and Dme = the motion of the man relative to the car, If the time rate of change for the above three displacements are red, the relationship for velocities may be written Van = Ve > Vane ay) where Vn, = the absolute velocity of the man, V_ = the absoh velocity of the car, and Ve = the velocity of the man relative to the ‘This equation shows that the absolute velocity of the man is equiv- alent to the velocity of the car plus the velocity of the man relative to the ear. : By rewriting equation 11, Vane = Vn > Ve a): Tt may be stated that the velocity of one point relative to a second point is equal to the absolute velocity of the first point minus the absolute velocity of the second point, If the brakeman is walking on top of the car with the saime diree= tion-sense as the car, the absolute velocity of the brakeman will be the algebraic sum of the absolute velocity of the ear and the velocity. of the brakeman relative to the ear. However, if the direetion-sense ‘of the velocity of the brakeman relative to the ear is not the same ‘as the direetion-sense of the absolute velocity of the ear, the absolute ‘velocity of the brakeman may be obtained by equation 11 and vectors fas shown in Fig, 3-26. eee RELATIVE VELOCITY 05 Consider the velocities of points on a crank rotating about the Hed axis Q with an angular yelocity of # as shown in Fig. 3-27. Fea, 22% ‘The velocity of A, Ve sand the velocity of B, Vs «Xx QA, the velocity of ©, Ve ‘© X QB. From equation 12, Vac Vea Vu as) In the polygon draw ga equal and parallel to Ve Ve (qc) is on qa, fince the directions of both Vz and V. are perpendicular to QA. By wing the lengths of the lines in the polygon, equation 13 may be written #X QC, Vac = 9a — ge = ca aa Hauation 13 may also be written. Voc = 0 X QA —w X QC =u X (QA — QC) = 4 XCA (15) Stated in words: equations 14 and 15 show that the velocity of one point on a body, relative to another point on the body, is the differ ‘ence between their absolute velocities and is equal to the absolute ngular velocity of the body multiplied by the linear distance between the two points. Considering points 4 and B, Vaa= Ve Vs In the polygon, draw gb equal and parallel to Vs. Then ab equals Vas and the direction-sense of Vas is as shown, It should be noted hat, in the polygon, qa is perpendicular to QA, qb is perpendicular to QB, and ab is perpendicular to AB. This is as expected since the direction of the linear velocity of point is perpendicular to a lineoo VELOCITY ANALYSIS NRLATIVE VELOCITY METHOD OF OBTAINING VELOCITIES 6 joining the point and the axis about which the point is rotating or tending to rotate. The velocity of A relative to B in reality is the ‘velocity of A with respect to B or the velocity of A about B. Reason~ QA/(w x QA) = AB/ab ing in this manner shows that the velocity of one point relative aux AB another point is perpendicular to the line joining the two points an n hhas a magnitude equal to the angular velocity of the body multiple ab = Ven ‘by the linear distance between the points. As previously pointed Phorefore Var = 0X AB ‘out, the velocity of A is not an absolute velocity but is the velocity ‘of A relative to the earth or velocity of A relative to Q. ‘There is no ‘question about V, being perpendicular to QA and equal in magnitude to #X QA. With this idea in mind, it may be more easily under= ‘stood that the velocity of A relative to B is perpendicular to AB and ‘equal to X AB. The angular velocity o used in obtaining the rel tive velocity is the absolute angular velocity of the link as is shown in the consideration of Fig. 3-27. Figure 3-28 represents any body m with an angular velocity «, as shown. It is assumed that V. and Vo are known in magnitude and Ii may now be definitely stated that (1) the absolute linear veloc i) of one point on a body te equal to the absolute linear velocity of HW second point on the body plus the velocity of the frst point relative the second point; (2) the velocity of one point on a body relative 4 second point on the body is equal to the product of the absolute jiular velocity of the body and the linear distance between the two wints; (3) the direction of this relative velocity ia perpendicular to a ie joining the two points; and (4) the sence of this relative velocity sich a3 to be consistent with the cence of the absolute angular Pelocit. 4:19. Relative Velocity Method of Obtaining Velocities. ‘The Jinciples discussed in the preceding article afford useful method Hf obtammg the mstantancous angular velocities of the members in chine and the instantaneous linear velocities of points on these Jiwinbers. In Fig. 3-29, the instantaneous linear velocity of A is Fie, 228, direction-sense, The instantaneous axis of velocity of m is located: at Q. In the velocity polygon, obtain ab by drawing ga equal and parallel to Vs and qb equal and parallel to Vs. ‘The vector ab is the velocity of B relative to A. Note that ga is perpendicular to QA, gb is perpendicular to QB, and ab is perpendicular to AB. ‘Then tri- angles AQB and aqb are similar and @A/ga = AB/ab wx Qa Fr, 329, Wjown and drawn to scale. The procedure for obtaining the Ii olocities of B and C and the angular velocity of the connecting link A follows: Vom Va Vow he direction of Vs is perpendicular to Q.B. Both the magnitude And direction-sense of V_ are known. The direction of Vie is perpen But a= Veos VELOCITY ANALYSIS: dicular to AB. ‘The magnitude of Vi because the angular velocity of link 3 is unknown. ‘The equation solved graphically by drawing qa equal and parallel to V. from ¢ a line, representing the direction of Vs, perpendicular to Q and drawing from a a line, representing the direction of Vea, pe dicular to AB. Locate 6 at the intersection of the last two li drawn, ‘Then Vs = qb and V1 i are indicated by arrows. After becoming familiar with the method the arrows are not needed. Now obtain V.. Ve= Ve 4 Vou ‘The velocity of C can also be expressed by the equation Vem Va Ver Neither of these two equations can be solved independently the two equations ean be solved simultaneously by drawing Ii representing the direction of Vea, from a, perpendicular to CA, another line, representing the direotion of V», from b, perpendicul to CB. Notate the intersection of these lines by c. Then Vox Vay = be, and V, = 90. lar velocity of link 3, wx, may be obtained either of the following relations: 3 = Vis/AB = Vea/CA = Vus/CB ‘The proper dimensional relationship must be observed. If it is sired to obtain » in radians per second, the linear velocity should in feet per second, and the length of the link, the actual length in f on the machine. ‘The polygon gacb is called the velocity polygon. It should be that all absolute velocities originate at the pole q and relative vel ities originate and terminate at points other than g. All lines in velocity polygon are perpendicular to the corresponding lettered li (eg,, aq is perpendicular to AQ, ab is perpendicular to AB, ete.) Each line in the polygon is an image of the parent line in the sketel (eg, ag is the image of AQz, ab is the image of AB, ete.). The ent triangle abe is the image of link ABC. ‘The velocity image is alwa perpendicular to the parent link and may be larger or smaller tt the parent link, depending upon the seales chosen. Conceive velocity image as being the image obtained by placing the sketch i front of mirror whose properties are such as to cause (1) all in the image to be perpendicular to lines in the sketch, (2) all ls EXAMPLE OF THE RELATIVE VELOCITY METHOD 09 Ji the image to be proportional to the parent line in the sketch, and {j) all points on the sketch to be proportionally located in the image. However, the proportionality existing between the image of one link ‘ind its parent link is not the same as the proportionality existing ‘Weiween the image of another link on the same diagram and its parent ink. ‘The velocity image is useful in obtaining the linear velocity H{ points in a link. If the velocity of a point D on Q4B is desired, onto d on the velocity image qb by the proportion 40/QD = 96/948 In this proporticn, QD and QB are known from the location of D yn the sketch and qb is measured on the velocity image. Calculate Wil nnd locate d on the image gb. Then V,= qd. If the linear Yolocity of the midpoint M of BC is wanted, locate m, the midpoint W{ the velocity image be. ‘Then Vm = qm. §.20. Example of the Relative Velocity Method. i In Fig. $90 non-parallel equal crank mechanism is drawn to an oF le of 14 in. = 1 ft. ‘The crank QeA is 9 in. long and is rotating, With a uniform angular velocity of 60 rpm counterclockwise. The connecting ; A | | | Fao. 390, Wal AB is 8 fe 4 in. long. By means of the relative velocity method determine Wie sbiolute instantaneous linear velocities of the slide D and the point P, Woealod 1 $¢ from A on AB, and the abeolute instantaneous angular velocity MAB.0 VELOCITY ANALYSIS Solution, eX QA XN 2x00 2EX9 KO Te 72x 60 = 4.71 fe Choose a velocity seale, say Ky = 5 fps. Locate the pole ¢ at a convenient point, From q draw ga, representing Vo, perpendicular to QzA und 0,94 in long. From raw a line perpendicular to QoB, representing the direction of Vs, From a, draw &. line perpendicular to AB, representing the direction of Vig, At the intersection of ‘the latter tmo lines, ooata b. Then Vs = gb and Vin = ab. ‘The sense of Vs is from toward band of Vous from a toward b. From g draw & line perpendicular to ‘QC, representing tho direction of V,. From b draw a line perpendicular to BC, representing the direction of Vs. At the intersection ofthese lines locate c. ‘Then Vz = gc and Vas = be. ‘The sense of Vos from toward e and that of Vay i fom toward. From ¢ draw a line, parallel to the path of travel of D, representing ‘the direction of Vg. ‘Then draw a line from ¢ perpendioular to OD, representing the direction of Vie. At the intersection of these two lines isd. Then Vs = ad. ‘The magnitude of Va ~ 0.9 X 5 = 4.5 fps. The sense of Vu i downward. In der 8nd Tonle 7 on the imag of APB by making op = 2A 259% 12 a4 in, Then Vy ~ gna intr x oma. ‘The glide Yo 094547 fn ‘The sgsarrensty of AB, as = ZH 082 x5 ae FES «23 ran, os he woof Ys rom ova Gown end to left), ap must be clockwise, PROBLEMS 3.1, A veotor Bb is | in. long and has « dlsection-cense of 45°, Vestor Ce is 1if in, long and has a direction-senso of 150°. Find their vector eum. 3-2, A vector Bb, 2 in. long, with a directionsense of 48°, ia the resultant ‘of two components, one horizontal, the other along an xix 60° with the hori= zontal, sloping upward to the right. Find the components, ‘33. Given five vectors whose lengthe and direction-eonses are ae follow ‘Aay is 15 in, ong and 90°; Aag is 125 in, long and 815°; Aa, ia 2 in. Jong and. 07} dag is 125 in. ong and 228°; Aag ie 15 jn. long and 45°. Pind the vector sum of the firt four, and subtract Aog from this resultant vostor 3-4, Vector Aa i | in. long. Vector Bb is 2 in. long. They make an angle ‘of 60° with each other. Find Bb» Aa, 3.5. A vector is 4 in. long and has « direction-sense of 60°. (a) Resolve the vottor into horigontal and vertical components. (b) Find the components of this veetor on lines making 18° and 75* with the horiaontel. (c) Pind the components of this vector along and perpendicular to a line making 30° with ‘the horizontal, 86, A vector 5 in. Jong has a dircotion-sonse of 105, Resolve thie vector into components along and perpendicular to line with a directioneenoe of 165", ‘87. A stream has parallel banks and is 1000 ft across. A bost has traveled 00 ft im straight line making 30° with the bank. At this instant find the PROBLEMS n | Boon nb celica Vath eects ei)" | tho opposite bank, | ‘5. A hunter desices to-go to a point northeast but because of a eanyon he oes 3 mile due east and then tums left 120° end goes strsight to the point Hove far was ho orginally from the point, and how far did he travel in arriving ik the point? 13-9. A hunter desires to g0 to a point northeast but because of = canyon hie goes 4 mile due east and then turns left and travela % mile in a straight Mlvection to the point. How far was bo originally from the point, and what Miestion in dogrees did he travel in going the % mile? Poow. $10, 8-10, A ond B ave particles on the same rid body 3. Ae, is 1 in, long and Ji the velosity vector for A. At the inctant, Bis so guided that the diseetion, Df ite velocity is slong XX. Pind the velocity vector for B and the length, lirection, and sense of the vector representing the velocity of B relative to A Solve the problem fret on the spsce diagram and then construct vector olygon from a pole aos. 11 4.11, Points 4, B, and D on the rigid body 3 form the vertices of an equi- Jateral triangle with sides 2 in, long. Bby is the velosity vector for B and 126 in. long. ‘The direction of the velocity of A is along the line 22. Findn VELOCITY ANALYSIS the velocity vectors for A und D. Compare the triangle formed by the termini of the three vectors with the triangle formed by the points A, B, and D. Solve fon the space diagram and also on a vector polygon with pole 4: PROBLEMS * the velocity of the poi Qy to AB, 3-13. An airplane is moving due west at a speed of 100 mph, ‘The propeller blades are 5 ft Jong from the axis of the shaft to the tips of the blades propeller ir turning 1800 rpm clockwise whon viewed from the front. Find velocity of a point on the tip of a blade at the instant when it is vertically. above the axis of the shaft. Solve graphically, and also compute. State magnitude and direction of the velocity. ‘3-14, A maa riding in en automobile which ie moving north at the rate of ‘a0 mph throws a ball toward the northeast ao that ite speed relative to the ‘ar is 4 fps. Find graphically the resultant velocity of the ball 3.15. A slide moves outward in « radial groove of disk rotating at 180 rad/mio. When the ede is 12 in. from tho center of rotation, its absolute velocity is 5 fps. (1) What is the velocity of the slide relative to the in feet per second? (2) If the rate at which the slide moves in the groove: remains constant, what will be the absolute velocity of the slide when 2 Tt from the center of rotation? Pros. 3-17, Prow. 3:18. QB = 2% in; 0,0, = 6 in; QC=5 in; BC = 3% in. BOK is a eid piece. Bb, is the velocity vector for B and is 2 in, long. (1) Find the ity vector for K. (2) Find that point on the line BCK which, at the Vivtant, has the least velocity, and find ite vector. 19. Using the figure for Prob. 3.17, let the angular speed of Q.B ful/oec. Find graphically as far es possible (1) the velocity of C when @ fil (2) the angular speeds of Q,C and BC. 1 4 toy 8.20. Velocity of A is represented by a line 1% in. Jong. and D turn Wogotber, and D rolle without slipping on surface H. Find the velocity of B (1 moves without slipping on C. Paow, 2.16. 3.16. QB 15 1% in; Quy is 3H in; QC Us 1% im; BC is 2 i ‘peed of crank QyB ie I rad/see counterclockwise. Find the velocities of © tnd P without reference to the instantaneous axis 3.17, 35 = 214 inj QC = 3% inj QQ, = 5 inj BC = 6 in. QB is turns ing uniformly clockwite at « speed of 1 rad/s. it Poop. 21. ‘of BC (produced if necessary) which haa the least velocity, when @ (G) the velocity of C and of the same point H when # = 60°; and (4) the ‘value (or values) of @ when the velocity of C is zero. 8.21. Drum d ia 2 in. in diamotor and is attached to the wheel k which is Win, in diameter. Wheel & rolls without slipping on the straight track g. The is attached to and wound around the drum d and pulled parallel to 9 as% VELOCITY ANALYSIS shown with a velocity of 1 ips, What is the velocity of the axis C? At wi langle with y would the cord need to be pulled in order that the velocity of be reversed in sense? 322. Assuming no slipping between the disks and the surface velocity disk A is represented by a vector 1 in, Jong, find the velocity of the center disk C. Pane, 3-22. Pron. 3-28, 5.23. If the velocity of A is ropresented by a line 1 in Tong, find the velo of Rin the Poneallir etrnight Hine moshaaiacs shown, ‘324, The slotted piece 4 sides in the fixed guides 1. Crank Q.B is 1 i Jong and makes an angle of 30° with XX. The velocity vector for B, the iz le Pros, 3-24, of the pin that comnects the orank 2 to the block 3, is 1 ia, ong, toward the left Find the velocity veetor for & point on 4, PROBLEMS % 425, Bloc 8 slides along link 2, Qa = 24 ns QgP = 16 in OC = 2% jy: 0,6 = Me in; GB=9 in; PB=2 in, I the velocity vector ‘of A ie Jin. Kn. find the velocity vector of B by reoltion and compotion. 8.26, Solve Prob. 225 by the eentro method. 5.27, The erank 2 is turning counterelockwi ‘ed of 0 rad/min. Block 4 slides in fined guides and forms a bearing for Ue whee! 8. ‘The wheol § rolls without sipping on the fixed track 1. ‘The fin F is attached to § and ia connected to crank 2 by the rod 8. Find the Nelovty veetor fr the axis of the pin C.* VELOCITY ANALYSIS Poop. 3.28, 8.28. The velocity of pin P connecting crank 2 to block 5, is represented by & line 1% in, long, Find the velocity of H. 3:29. QB = 1% in; BC = ing QC=3 in; Qe =? in; BP =8 ing Qc = Sin. Seales: K, fll site; Ky = 100 fpm. QpHl rotates uniformly clock ‘wise at 200 xpm, Find the linear velovty of the in feet per minute and its direction-eense. Also find the instantaneous angular velocities of crank 4 and connecting rod 9, Pros, 3.30 3.30. 0,8 = 24 in; BC =2% in; DE = 2% in, Crank Q,B is tuning counterelockwise, If « line 076 in. long represents the velocity of the crankpin ide 6, giving its magnitude PROBLEMS " Wi, find the velocities of the slides 4 and 6, giving the directionsense and the Widenitudes in inchee. . roe, 2.31. B31. GpB = 2% inn; BO = 1% in; CD =1 ims CB =4 in; 10-3 im Diameter of whecl 4 = 2 in. Find the linear volostice in feet per minute of ‘he pin B and the ram 2, ifthe wheel 4 rakes 20 rpm countersloskwie.. Sbow Ihe direction-senss of these velocities. $82. 0,8 = 1% in; BO in; BOR =3% in; Q,0=2% in; 040, Hin, Seales: Ky, fullsize; Ky = 10 ps. Crank 2 is rotating uniformly counter- flockoise at €0 rpm, Find G) the instantencous linear velocities of and 2 fd (2) the instantaneous angular velocity of erank 4. 8.93. A plank 18 ft long rests over a smooth wall 10 ft high. The bottom fd, on @ horizontal plane, is aliding away from the wall at a rate of 6 fpe Whon it bas reached a position co that it makes an angle of 60° from the Norizontel, determine (1) the velosity of the top end of the plank; (2) the Welocty of the point that is moving the slowest; and (3) the velocity of Point 6 ft from the lower end of the plank.n VELOCITY ANALYSIS PROBLEMS Paco. 3.36. ‘41.86. In the ccillating-arm quick-retum mecheniem shown, the absolute lineat ty of pin C on Q4C i represented by a line 1 in, long. Find the velocity Wor forthe absolute linear velocity of the slide 6 if Q,C rotates counterclock- 394, Yy = 10 fm; QyB 22 inj BC =1 In in; OB = 8 i sete 12, sone Re atn fm ‘Deermine cabs of D tnd Band (2) the angler velo of enk 2 an connecting Tod 8 : 335, The crank Q)B is rotating clockwise at § rpm. Q3B 3 inj CD = 4 in; diameter of wheel 4=2 in. Seales: Ky, 2 fpm. If whoel 4 rolle without slipping, determine the velocities of # and F ‘vhen Q,B is vertical. NAT. 0,04 = 4 5a QD = 01 0.3 QuP = 194 ing GP = 4 ins DE = 3H in. Wolo: Ke ful aise; Ky=100 fpm. If the abwoitte liner velocity of 8 ie Bi ip rhe A Sal the eects ee alot anteater i slide 8 aad the angular veloc a rovoltions pe minute ofthe eral Bia the comectng roto YBLOCITY ANALYSIS PROBLEMS a 41. Link 2=1% in. link =5 in; link §=4 in. Locate all oentros. how the centro polygon, If V, = in. find lengths of lines representing the Ylocitics of 4 and 6 by the centro method. Check these velocities by some Wier method than centros. | ase 5 7 [22 z SS RGA Pon. 342, 8.42, Link 2=2 in; link 3 = 1% fiide 6 hae an instantancous velocity of 1 fpa to the right, find the absolute Vrlocity in feet per second of the block § and the angular velocity of the crank hy the method of centros. 3-43. Solve Prob. 3-42 by the recolution and composition method. S44. Solve Prob, 3-2 by the relative velocity method, 3.88. Link 2=% in link 4 = 4 in link 5 the centro polygon. If link 2 rotates at 100 rpm counterclockwise, find linear velocity of 6 by the contro method. Chock this velocity by using a erent combination of eontros. Also find the angular velocities of links 4 and ‘$89. Solve Prob. £38 by the resolution and composition method, ‘340. Solve Prob. 888 by the relative velocity method. Pron. 2-45 845. Scales Ky, full size; K, = 12 ips. The sketch represents a erank and ocker mechanism as used for pumping. The crank 2 turns locks: at 10 rpm, With the crank 2 horisontal and for the postion shown, locate all centron and Airaw the eeatro polygon. Find the linesr velocity of the phinger 6 in inches per second, using one set of centros, Check the velocity of 6 by wing a dif-a VELOCITY ANALYSIS ferent set of contros. Alto find the angular velocity in radians per escond of tho connecting rod 3. 346. Solve Prob. 345 by the relative velocity method. PROBLEMS. 38 Y~ Cente of curate oterank 2 198" = 1 ft 8 in; BC = 9 ft; QC =2 tt; Q,D = 316i ft; Ky = 6 fps. The sketch representa a pump jack af ws in ol folds. BB" ie a 90° bell crunk. If the drag line BA bas a velocity to right and along the line, which remains horizontal, of 9 fps, find the instantane fous linear velosity of the nluneer 2. Prov. 3-19 449. The block 8 slides along the straight slot in wheel 4. The pin ie Jl to block 3 and slides slong the guides of circular cranke 2. The block § ihlos slong the circular slot in wheel 4. ‘The pin B is fixed to block § and Aiilos slong the guides of crank 2. Ky, 1 in.=1 ft; Ky = 100 fpm. If wheel A irns clockwise at 10 rpm, find (1) the instantancous linear velocities in feet Jr minato of the centers of pins 4, B, and C's and (2) the instantaneous angular Velocities in radiene per minute of erank 2 and connecting rod 6. 0.0, =5 ft Pros. 3-48 348, Crank QA=1 [4 6 in. Block 3 slides along the bell rank 2, in, w 1 ft; Ky <4 fpe. Tf erank 4 turns 20 rpm clockwise, determine (1) instantaneous linear Yelocities in feet per cond of B and the center of th ‘wheel D; and (2) the instantaneous engular velocities in rovolutions per min "the bell rank 2 and the connecting rod Pros, 3.80,