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Velocity and Acceleration in Mechanisms Notes

Mechanical engineering

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Fanelesibonge Doctor
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41 views18 pages

Velocity and Acceleration in Mechanisms Notes

Mechanical engineering

Uploaded by

Fanelesibonge Doctor
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Shaper ® VELOCITY AND ACCELERATION IN MECHANISMS be]. Gate) lhe relive velocity of 1, with respect to A (v4,), would be vox" estar diference of any == Yy OF abe ob o9 fm). (3.0) + nay lobe resented bymposngthe os | nother (Fig. 3 (ig, 3.20) where the rtaive valocity of A, h respect fo B, would once aguin be: Uifteence ofy, and yy = yy —vy oF ba ea ob bo]. .G.1e) he relative velocity 0 veto A, wo Mag = wear difference of yy a0d yy = yy v4 or ab =ab- ox rus}... are 4g) and the ide bu opposite indirection, + 2h Also, 0 find Y4 stat Liom point band go towards aan for %y, tat fram point asin go towards & ive motion of end B with respect o end A is perpendicular tothe ine AT (Fig. 3.34). Therefore: ‘A velocity diagram for any point ona ink wish respect to another point on dicular 10 the line joining theze pon Wig. 3.3My icule to he fine AB. Leva the to point A is vag7 b= 0% AB evs}... 20) nd the velocity ofany point C, on AB with respec oA is: veg =acm om AC fv}... 6.28) 9, 0.20) by G.2a}: Ac A a2 From can be deduced thet: | The pointe onthe vector ab, divides in the sam aio asthe point C divides the link AB, 2 The. ative velocity of A with vespect fo B is represented by ba A may bea fixed point 8 clockwise direction o a clockwise diveation He Relative Velocity Method 2) Main of pio he Velocity of Point on a Linke (0) vec eng, Pig. 34 Determina he Relative Velocity Method fer to poims A and Bon ki ute velocity af pi ection, The velacit ws steps ei domes spoke 9, diaw on, parallet and equal to %, to asuitable scale, + lar © AB ing... This line represeats te velocity of B with vest i kno “velocity image of the 10 vy intersecting the tine of yg a, fob, using the sume scale, wo give the velocity of Biie.w) ‘of any point C, on AB may be determined by dividing the vector aba ABin Fig. 34a. be. “AC ab AB nh oc represents the absolute velocity of paint C (je. vg) and the lenath ac Of C, relive 19 A Ge. Yo) the save ratio 7 The solute velocity of any other point D, outside of angle fc in Fig 3.80 and thes 3.4a) mey also be abisined by jangle ABD in Fig, 3.40, ink AB, for respect 10 (i.e: My) rive to B (Le. yy) may be dsternined by eviing he eng of in AB. Be Oa y= ab a AB k Mechanism by the Relative Velasity Method Jee crank mechanism (1 r= length OB, rotates in a clockwise i intB, bath the divection and magnitude ofthe ve ly the direction ie known, this he used to determine the velocity ofthe slide (v,) by means st Ho of A with rexpeet (0B (ie %,) 1 vestar oa parallel to the pth of mot Ge») for er. ne connecting rod ABB (yy) may be determined for: 4g" Yuy.= a2 (Anti-clockwie about A) AB AB of veetor ab or ba) determines the senseot ug hich show: ans-clockwise 20 ‘o€ any other point, on the eomnestion red AB, may bs determined by dividing vetoe ‘a, such tht belba = BEIBA. This is achieved by nt 12 73 4 25 16 (0) Shere ncaa. Mig. 35 Velocities in a ‘Mot ink mechenisins are eoonected by pin joints and the rubbing velocity ofa pin joint is defined as “The algebraic sum between the angular velocities ofthe two links, multiplied by the radius ofthe pin Fig. 36 Pin Jointed Lint Connee CConsides two links OA and OB, connected bya pi at (Fig. 3.6) and le: OA or, (0, Angular velocity of link OB or angular velocity of point A, with respect to 0. angular velocity of point B, with respect t0O. By defiition, the rubbing velocity of te pin, O- (,s0\7 [nny 63) where (a, +.) applies if renber, the angy re rubbing velocity a the pin jint™ ar, where «= radi ofthe pin, 3.4 Forees Acting in s Mechanison Consider pin jointed, our bar chain mechanism ABCD (Fig. 3.7} Let force Fact at joint A in the direction of the velocity of bye A Ge. 4 mls) perpendicular ta the link DA, 7 Let force My become wanssited 9 on nee ofthe velocity of B (i.e. yy ms) pempendi odrrrtreren © ig. 37 Four Bar Mechanisin ort sw the vector oa" (continua some suitable see lo AB, or vector a's, because the tngential component of fo 30" aud ob" intersect at B From this, measure the values oC ay ink, draw triangle a8 Fig. 3.9 Acceleration ofa Point on a Link, 9e ax draw vector xB (bok line) penpendiulae fo AB or vecor a’x, esause ays pexpendicals 4 ‘Theough poiato’, dia of B (ie. ay) us lne) ‘The vectors 8° (broken ine and ob co yg may be determined measurement n points and 8 to construe vector a” respect aA (ie, ay). This known a the “acceleration (Le. deg). As mentioned previously, eg) wheve: le Bac, where Bie pai lea’ye where ay is para Foi Fora! exit isdepiced in ‘The ang seceleration of link AC can then be dete ‘tangential component of acceleration of B with respect 0 % cificleney (Le, neglect the effet of bition a wv af eouservation of energy Input work per second = Output work per secand_ or Work supplied to he Fone Pave ory Baas ) 0.4) By iva celfects and assuming the efficiency of trmemisson as y= Outpt Fae 1 ute G4) Note 1 IFT, the diving torque = the turing eouple due ta free F, about D, producing an angulae velocity of about link DA. Also ify = he resisting torque = the turing ca gular veloiy.of ty a link CB, then the above equa T= Tyy (W] 2 tthe forces Fr component of the al alvastege is defined as “ihe ratio of load to efort™. Bora pin jointed, four bar eh ‘mechanism ABCD (Fig. 37, above) DA isthe driving link a CB is the dive fsoting 8 A isthe effort aod the force Fy acting at Bis the oad or From the kn of conservation of energy (neglecting the effect af fietion}s Fy.vy ‘There en into acount, les resistance will have to be overcome with the giveu eff. eal advantage: I eteieney™ MA way “MB, 1a, “the ratio ofthe outpl torque tothe input torque” MA sons = Da a. i 1 G4 he ads ig and wy ave th angular velocities of te diving and driven inks vespeetively OR 3.6 Acceleration Din for Li Upto thi stage, only velo (@) Link (6) Acceleration diagear, Pig. 3.8 Acceleration ofa Linke By defi ‘magnitude and direstion valves the changing ots angular veloc AS such itis made up of two components, being: 1 The radial component, "centripetal component which, st any particular instant, is perpendicular tothe velit, 2 ‘The tangential component which, at any pat the velocity From item | above for lin AB, the velocity of point B, with spect to point A (Yq) is perpendicular tothe AB. Because point B moves with respect o A with an angular velocity of «ral, te radial component of the acseleration of point D with respect 0 Ais ayy «Length of link AB = a? x AB Yy? © 0 Sag AB AB ‘This radial component of wccelertion acts perpenatcuar tothe velocity yy (i, it acts parallel ink AB) rom item 2 above, the tangential component of acceleration acts perpendicular to the velocity vp (iil sets perpendicular tink AB). agg Length of ink AB © a AB ‘This tangential componcn of aeceleration ses parallel tothe velocity ve (Ue it als perpendicular to ine AB), 1 following procedure scceleaton digiem for link AB ( ied to draw the vestor sum of these two acceleration comnjoients 380): 1 From any point, draw vestr b'x (Uren ie) pa of eceleraton of B, wih respect Wo A (edge). ial component (¢y} andthe tanger 2S oh 47 99 EoAKI9'Mg +709 +19 + at spawn fj pra seo eB jonp 8 (wousonp per ann map vom ofon usa jo wooo 24) su veayoig) "9 s0F . ‘Aooysa wy aBuayp aap suasautan "gq sovon aw UL (29 +Le9 +) pu rer saniaojan amy sAPISUED (21 -¢ Be) wABEIP Ao9TEA 2, Jy 2 Sprenon pe YO ME = 09% <0" (0 2°21) poragow aq Kou y "yous 94 st 9g 4g UIs 80%9 +99 = QOLKg +) =x wy dag Hap 4a) 7d 1 = 99 40> “iwuls Kina Qp 20 Ba g9s00 + 0=go-x0m my. aig ‘woroou 199 poje4 Jo Bump jo wsHOUIos in 3) ¥O 01 syroypeadtad (von Ww 2 Yo Wore anton xg J0;94 foojan Jo afunyp Jo wusuede> a9 “puadoeJ9 ul UF Aaooqon ut awa sip sasaudan (Sum WHO) HH pte yoo , @ » onerapa9y 4 (g.moqe asep090 noperejaoerenuatue an avi™e-ave 2) ayo 1p 6a Pautago aq Ku GY pos 2 9 £4 0% c9 a Jo OIA s008 1 ous pu foyer yuE}uED Fe sOAOW Os = 90 84,9 = =p sro. a Box ‘sueseyp uonejaace pw Aion 2 Ope a Ao[o4 “su [9 mtg Jo 805 F01 Jo sy 8 amteyp wos aun Bed speed 3 9}duv ue soxous yuan a wy wens 9 ‘Vo youn 24), eH OSH st veE HUOIE Da Jo 1 OOC 38 «1D puR ALY spO1 Busou sp DUE VO TNOLISAND ‘ucifep sede 4p 20) tw 9 J Sajess paquosand ay ye a8ud ayers a(Bois « Ho suresBep uoweioso7e pu Kan saKds on aS ap “sueuTOp wotya|2308 pl luerap Asojan a s00jag 5 ¢'9 = at 9} Jo axes wo ues BBRp UONEASOOE 4 \weserp aaeds3tp ofa sp {9 ~ tO Jo fee WI “URIBRID KioFan ‘fed ofp Jo doy ay)" £m CUS JO 9fv95 wy “wRLEAp aoeds ‘fed aenudos ous» wo [age 1 06=DAV7 2/800 stp pow y ch EVE fae ys9 xp Uayr yrs ‘roto sn poe Buoy 58 q.y ums ap, 5° JO uonerap2ooe Un pe 1020 BNO O}poUFEREUOD S42 sapys Sin Moun us eH Exowsand qotow ES BOFOY sAY UNBUAIJo yu eBUOjED Ke se COT ae Peat AAO mp? oP ya BVM=O AY MIO —Fm=%

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