Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Cha pte r(3)

Ve loc itie sa nd a c c e le ra tion Ana lysisofM e c ha nism s

(Re la tive M e thod )

3.1 Introd uc tion

The study of motion of various parts of the mechanisms and machines is important for
determining their positions, velocities and accelerations at different moments. In this
chapter, the velocity analysis for the mechanisms can be carried out by graphical method
(Velocity polygon) based on the relative velocity method.

3.2 Ve loc ityAna lysis

Velocity is the rate of change of displacement. Velocity can be linear velocity or angular
velocity.
dx d
Linear velocity v  , and angular velocity   .
dt dt
The relation between the linear velocity and angular velocity can be obtained as:
dx d d
x  r  leading to v  r  r (where   ).
dt dt dt
In the kinematic analysis of mechanisms and machines, the velocities of different links or
parts can be obtained by using one the following methods:
(i) Relative velocity method or velocity polygon method
(ii) Instantaneous centre method
(iii) Analytical method
In this course, the velocity polygon method is discussed and used for determining the
velocities and accelerations of various mechanisms.

3.3 Re la tive Ve loc ityM e thod

Consider a rigid link OA of length rOA(or OA) rotates about a fixed point O with a uniform
angular velocity ωOA (rad/sec) in clockwise direction as illustrated in Figure (1). For a small
rotation through an angle d  in a time d t , the point A will move along the arc AA’ as shown.

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

The velocity of point A relative to the fixed point O can be expressed as:
r d
v ao   OA rOA (Absolute velocity)
dt
Ab solute Ve loc ityis defined as the velocity of a point with respect to a fixed point.

The velocity of A is OA rOA and is perpendicular to OA. This is can be represented by a vector

oa as shown in Figure (1c).

Consider a point B located on the link OA. The velocity of point B is v b  OA rOB
perpendicular to OB and is represented by a vector ob. From the Figure (1):
ob OA OB OB
   v bo 
vb

OB
oa OA OA OA v ao v a OA

It is noted from the diagram that, the point b divided the vector oa in the same ratio the
point B divides the link OA. Then, the proportionality law is very useful in the drawing of the
velocity and acceleration polygons in order to find the relative velocities and accelerations of
the points on the links or parts.

Note tha t:Usuallysm alllett

ers(oa,ob,…)areused t
o representthevect
orsin velocitypolygon
w hile the capit
allet
ters (OA,OB,….) are used to representthe lengt
h of the links in space
diagram s.

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

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 Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Theapplicat
ionoft
herelat
ivevelocitym ethodisillust
ratedthrough thefollow ingexam ples.

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

3.3.1 Exa m ple 1-Slid e r-cra nk M e c ha nism

Consider a slider-crank mechanism used in the reciprocating engine in which the crankshaft
OA rotates with uniform angular velocity ω (rad/sec) in clockwise direction as illustrated in
Figure (2). The slider P moves on a fixed guide G. The crank OA and slider P are joined by a
connecting rod AP. The velocities of these links of the mechanism can be obtained by
drawing the velocity polygon.

A
O A B

P
θ
O b
G a
(a) Slider-crank mechanism (b) Velocity polygon
Figure (2): Velocity analysis of slider-crank mechanism

(1) Drawing the given mechanism by using a suitable scale.

(2) For a given angular velocity  (rad/sec), determine the velocity of point A relative to
the fixed point O, i.e., v a  v o  v ao  v ao (vo 0 is the velocity of the fixed point O).
(3) To start drawing the velocity polygon, choose a point o and draw the vector oa
perpendicular to the link OA to some suitable scale as illustrated in Figure (2b).
(4) The velocity of the slider P relative to the point A ( v pa ) is perpendicular to the link

AP. Then from point a (velocity polygon), draw a vector ap of unknown magnitude
but in the perpendicular direction to the link AP.
(5) The velocity of the slider P relative to guide G ( v pg ) is along the line of the cylinder.

Since there is no relative motion between G and O, the point g on the velocity
polygoncan be assumed to be at the point o (Fig. 2b). Then from point g, draw a line
parallel to the cylinder (or OG) to intersect vector ap at the point p. Therefore, the
vector gprepresents the velocity of the slider P.
(6) The velocity of point B located on the connecting rod AP can be obtained by using the
following relation:

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

ab A B AB
  ab  ap 
ap A P AP
The point b on the velocity vector apcan be located as shown in the velocity polygon (Fig.
2b). The vector ob is then represented the absolute velocity of point B.

3.3.2 Rub b ing Ve loc itya ta Pin Joint

The links or parts in the mechanisms are usually connected together by a pin joints as shown
in Figure (3).

Figure (3): Pin joint of two links

Let 1 is the angular velocity of link 1 (rad/sec).

 2 is the angular velocity of link 2 (rad/sec).

r is the radius of the pin at the joint.

The rubbing velocity at the pin is defined as the algebraic difference between the angular
velocities of the two links that connected at the pin joint. The rubbing velocity v rub at the pin

joint can be obtained as:

(a) v rub  1  2  rpin  when the two links are moved in the same direction.

(b) v rub  1  2  rpin  when the two links are moved in the opposite direction.

Exa m ple (1):The crank of a slider-crank mechanism is rotating at 300rpm in the clockwise
direction. The length of the crank is 150mm and connecting rod is 600mm long. When the
crank has turned through an angle of 45o with the horizontal as shown in Figure (4), find:
(1) The velocity of the slider p,

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

(2) The angular velocity of the connecting rod AP,

(3) The velocity of the mid-point C of the connecting rod AP, and
(4) The rubbing velocity at pin joints O andA if the radius of the pin joint is 15mm.

Figure (4): Slider-crank mechanism

Solution:
Given: OA = 150mm, AP= 600mm, and AC=CP = 300mm.
2
Crank speed N=300rpm  OA   300  31.42 rad / sec (clockwise)
60
(1) The velocity of point A with respect to fixed point O is:
v A  OA OA  31.42  0.15  4.713 m / sec
(2) Scale to draw the velocity polygon: 1 m/sec= 1 cm.
(3) The relative velocity of point P with respect to A is drawn ⏊ to AP.
(4) The velocity of slider P with respect to O is drawn ⫽ to OP. Vectors ap and op intersect at
point p.

Table: Velocity analysis for different links

Magnitude Scaled length
Velocity Direction Vector
(m/sec) (cm)
vc 4.713 ⏊ to OC oc 4.713
vpc unknown ⏊ to PC cp unknown
vp unknown along PO op unknown

Scale for velocity polygon: 1m/sec=1cm

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Figure (5): Velocity polygon

(5) The absolute velocity of point C on the connecting rod is obtained by the relation:
ac A C AC
  ac  ap 
ap A P AP
From the velocity polygon:
(i) The velocity of P with respect to A is obtained from the polygon as:
vPA = vector ap = 3.40 cm = 3.40 cm1.0 (scale) = 3.40 m/sec.
(ii) The velocity of P vpo= v p = vector op = 4.00cm = 4.00cm1.0 (scale) = 4.00 m/sec.
(iii) The angular velocity of the connecting rod AP is obtained by:
v A P 3.40
A P    5.670 rad / sec
A P 0.60
(iv) The velocity of point c is represented by the vector oc, i.e.,
vc = oc = 4.100 cm = 4.100cm 1.0 (scale)= 4.10 m/sec.
(v) The rubbing velocity at point A (opposite directions) is determined as:
vrub  OA   AP  rpin   31.42  5.670   0.015  0.5563 m / sec .

Exa m ple (2):In a four-bar mechanism AABCD, AD is fixed link and is 15.0cm long. The crank
AB is 4.0cm long and rotates at 120rpm clockwise, while the link CD=8.0cm oscillates about
D. BC and AD are of equal lengths. Find the angular velocity of the link CD when the angle
BAD is 60o.

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Figure (6): Four-bar Mechanism

Give n: AD=15.0cm , AB= 4.0cm, CD=8.0cm, BC=AD=15.0cm

Speed of the crank NAB=120rpm (clockwise)
Solution:
(1) Draw the space diagram to a suitable scale (10mm=1cm).
(2) Calculate the given velocity:
 2 
v B  v BA  A B  AB    120   4  50.24 cm / sec
 60 
(3) Scale to draw the velocity polygon: 10cm/sec=1cm
50.24
vB  = 5.024cm  v B ⏊ AB
10

Table: Velocity analysis for different links

Magnitude Scaled length*
Velocity Direction Vector
(cm/sec) (cm)
VB 50.24 ⏊ to AB ab 5.024
VBC unknown ⏊ to BC bc unknown
VC unknown ⏊CD cd unknown

*Scale for velocity diagram:10cm/sec=1cm

From t
hevelocitydiagram :
The velocity of point C : v C  cd  3.80 cm


v C  v CD  3.80 cm 10  38.0 cm / sec , v C  v D  v CD  v CD 
Then the angular velocity of the link CD is obtained as:

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

v CD cd 38.0
v CD  CD CD  CD     4.75 rad / sec (clockwise) .
CD CD 8.0

Exa m ple (3):In the mechanism shown in Figure (6), the crank OA rotates at 20rpm
anticlockwise and gives motion to the sliders B and D. The dimensions of the links are given
as: OA=300mm, AB=1200mm, BC= 450mm and CD=450mm. For the given configuration,
find: (a) velocity of the sliders at B and D, and (b) the angular velocity of CD.

Figure (6)
Solution:
2
Given: OA   20  2.10 rad / sec .
60
(1) Scale to draw the space diagram for the mechanism: 100mm=1cm.

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

300
(2) The velocity of the crank OA: v A  v AO  OA OA  2.10   0.630 m / sec .
1000
(3) Scale for velocity diagram: 0.1 m/sec=1cm.
v A  6.30 cm ⏊ OA

Table: Velocity analysis for different links

Magnitude Scaled length*
Velocity Direction Vector
(m/sec) (cm)
VA 0.630 ⏊ to OA oa 6.30
VBA unknown ⏊ to AB ab unknown
VB unknown ⫽ OB ob unknown
⫽ the path of
VD unknown od unknown
the slider D
VDC unknown ⏊ to CD cd unknown

*Scale for velocity diagram: 0.1m/sec = 1 cm

(4) From the fixed point o, we draw a vector oa perpendicular to the crank OA (i.e.,
oa=vc=6.30cm).
(5) From point a, we draw a vector ab ⏊ AB (i.e., ab=vBA), and from point o, we draw a
vector ob⫽ OB (i.e., ob=v BO). The point b is the intersection of the vectors ab and ob.
(6) We locate the point c on the link AB by using the following ratio relation:
ab AB BC 450
  bc  ab  (5.60)  2.10 cm
bc BC AB 1200
(7) From point c, we draw a vector cd ⏊ to the link CD, from point o, we draw a vector od
⫽ to the path of the slider D. The point d is the intersection of the two vectors cd and
od.

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Figure (7): Space mechanism and velocity diagram

From the ve loc ityd ia g ra m :

The velocity of the slider B: v B  ob  3.90 cm  v B  3.90 cm  0.1  0.390 m / sec

The velocity of the slider D: v D  od  2.45 cm  v D  2.45 cm  0.1  0.245 m / sec

v CD cd 3.60  0.1
The angular velocity of the link CD: CD     0.80 rad / sec .
CD CD 0.45

Exa m ple (4):In the mechanism shown in Figure (8), the crank AB rotates about fixed point
A at a uniform speed of 120 rev/min (clockwise direction). The link DC oscillates about a
fixed point D, which is connected to AB by the coupler BC. The slider P moves in the
horizontal guides being driven by the link EP.
For the given configuration, Find:
(1) Velocity of the sliding block P,
(2) Angular velocity of the link DC,
(3) Rubbing velocity of the pin joint C which is 50mm in diameter.
Given: AB=150mm, BC=CD=450mm, DE=150mm, EP=375mm.

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Figure (8)
Solution:
2
Given: AB  120  12.57 rad / sec
60
(1) Space mechanism: 50mm=1cm
AB=3.0 cm, BC=CD=9.0cm, DE=3.0cm and EP=7.5cm.
(2) Velocity v B  v A  v BA  A B A B  12.57     m / sec .

(3) Scale for Velocity diagram: 0.4m/sec=1cm

 m / sec
vB    cm ⏊ link AB.
0.4
From the ve loc ityd ia g ra m :
(i) Velocity of the sliding block P: v B  ab  1.85 cm = 1.85  0.4  0.74 m / sec

(ii) Angular velocity of link DC:

v DC dc 5.6  0.4
DC     4.98 rad / sec (Anticlock wise)
DC DC 0.45
(iii) Rubbing velocity of the pin joint C:
v BC bc 5.5  0.4
BC     4.89 rad / sec (Anticlock wise)
BC BC 0.45
v rub  BC  DC   rpin   4.98  4.89   0.025  0.225  103 m / sec .

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Exa m ple (5):In a four-bar mechanism shown in Figure (9), the dimensions of the links are:
AB=50mm, BC=66mm, CD=56mm, CG=24mm,AD=100mm and GP=60mm. The mechanism is
driven by the link AB at a constant angular velocity of 10.5rad/sec in counter-clockwise
direction. For the given configuration, determine:
(1) Velocity of point C.
(2) Angular velocity of the links BC, CD, CG and GP.
(3) Velocity of the offset point G on the link CD, if CG=24mm, DG=44mm.
(4) Rubbing velocity of pin joints A and C. where the diameters of pins A and C are
30mm and 25mm, respectively.
(5) Velocity of slider P.

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Figure (9): Four-bar Mechanism

Solution:
Given: AB  10.5 rad / sec (CCW)
(1) Draw the mechanism with scale: 10mm=1cm.
(2) Velocity of point B with respect to fixed point A is:
v B  v A v BA  v BA  AB  AB  10.5  0.05  0.525 m / sec ⏊AB

(3) Scale for velocity diagram: 0.1m/sec=1cm

0.525
vB  = 5.25 cm
0.1
(4) Draw a line ab=5.25cm ⏊ to the link AB in the direction of rotation.
(5) From point b draw a line ⏊ to the link BC and from point d draw a line ⏊ to CD to
intersect at c.
(6) From point c draw a line ⏊ to CG, and from point d draw a line ⏊to DG to intersect at
point g.
(7) From point d draw a line ⫽ to the path of the slider P, and from point g draw a line ⏊ to
the link GP to intersect at point p.

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

From the ve loc ityd ia g ra m :

(1) Velocity of point C:
v c  v cd  cd  4.40 cm = 4.40  0.1  0.44 m / sec
(2) Angular velocity of links BC, CG and GP:
v CB cb 3.50  0.1
BC     5.30 rad / sec
BC BC 0.066
v CD cd 4.20  0.1
CD     7.50 rad / sec
CD CD 0.056
v GC gc 1.80  0.1
CG     7.50 rad / sec
GC GC 0.024
v PG pg 4.15  0.1
GP     6.92 rad / sec
GP GP 0.06
Note tha t,the te rna rylink CDG rota te sw ith onlyone a ng ula rve loc ity,i.e .,

(3) Velocity of the offset point G:

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

v g  v ga  ag  3.75 cm = 3.75  0.1  0.375 m / sec

(4) Rubbing velocity of pin joints A and C:

v A rub  AB  rA pin  10.5  0.030  0.315 m / sec

v C rub  BC  CD   rC pin   5.30  7.50   0.025  0.320 m / sec

where BC  5.30 rad / sec (clockwise)
CD  7.50 rad / sec (anticlockwise)
(5) Velocity of slider P:
v p  ap  2.10 cm = 0.210 m / sec

Assig nm e nt(3.1) – Ve loc itya na lysisofM e c ha nism s

Prob le m (1):In a slider crank mechanism as shown in Figure (1), the crank is 200mm long
and rotates at 40rad/sec in a CCW direction. The length of the connecting rod is 800 mm.
When thecrank turns through 60ofrom the horizontal, determine,
(a) Velocity of point E located at a distance of 200mm on the connecting rodextended.
(b) The position and velocity of point F on the connecting rod having the smallestabsolute
velocity.
(c) The angular velocity of connecting rod,
(d) The rubbing velocity of pins joints at points A and B having pins diameters 60mm and
100mm, respectively. [Answ e rs:(a ) 8.4m /se c ,(b ) BF=200m m ,b f=2.4m /se c ,
(c ) 6ra d /se c ,(d ) 0.64m /se c ,0.84m /se c ]

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Prob le m (2):In the mechanism shown in Figure (2), the link AB rotates with a uniform
angular velocity of 30rad/sec. For the configuration shown, determine: (1) the velocity of G,
and (2) the angular velocity of the links DE and EF. The lengths of the various links are:
AB=100mm, BC=300mm, BD=150mm, DE=250mm, EF=200mm, DG=167mm, and angle
CAB=30o.[Answ e r:(1) 0.60m /se c ,(2) 10.0ra d /se c ,2.25ra d /se c ].

Figure (2)

Prob le m (3): In a line work as shown in Figure (3), the crank AB rotates about A (fixed) at a
uniform speed of 150rpm (anti-clockwise). The lever DC oscillates about the fixed point D,
being connected to AB by the connecting link BC. The sliding block moves, in horizontal
guides being driven by the link EF, when the crank AB is at 30o. The dimensions of the
various links are: AB=150mm, BC=450mm, CE=300mm, DE=150mm and EF=350mm. Find,
for the given configuration: (1) velocity of slider F, (2) angular velocity of DC, and (3)
rubbing velocity at pin C which is 50mm in diameter.
[Answ e r:(1) 500m m /se c ,(2) 3.50ra d /se c ,(3 ) 2.40m /se c ]

Figure (3)

Prob le m (4):In the mechanism shown in Figure (4), the crank OArotates about a fixed point
O at 60rpm anti-clockwise. The lengths of the links are: OA=150mm, CD=125mm,
AC=600mm, BD=500mm, CQ=QD=145mm and OQ=625mm. For the given configuration,
determine the velocity of the slider B and the angular velocity of the links BD when the crank
turned an angle of 45o with the vertical direction. [Answ e r:(i) 0.90 m /se c ,0.98 ra d /se c ]

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Figure (4)

Prob le m (5):Draw the velocity diagram for the mechanism shown in Figure (5). For the
given position, find the velocity of the sliding block E, when the crank OA rotates uniformly
at 150rpm in anticlockwise direction. The lengths of various links are: OA=150mm,
AC=450mm, AB=550mm, EB=350mm, and DC=500mm.

Figure (5)

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Prob le m (6):A toggle mechanism is shown in Figure (6) along with the dimensions of
the links in mm. Find the velocities of the points B and C and the angular velocities of
links AB, BQ and BC. The crank rotates at 50rpm in the clockwise direction.
[Answ e r:0.13m /s,0.74 ra d /s(c cw ),1.3 ra d /se c (c c w ),1.33 ra d /s(cw )]

Figure (6)

GoodL uck,any question,donothesitatetocontactm e

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Velocity Analysis of Mechanisms - sliding velocity

(Relative Velocity Method- -)
Velocity diagram for a block sliding on a rotating link

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‫‪Chapter (3): Velocities and Accelerations Analysis for Mechanisms‬‬ ‫‪MEF491‬‬

‫ﻣﺛﺎل‬

‫ﻓﻲ اﻻﻟﯾﺔ اﻟﻣوﺿﺣﺔ ﺑﺎﻟﺷﻛل اﻟﻣﻧزﻟق ‪ Q D‬ﯾدار ﺑﺳرﻋﺔ زاوﯾﺔ ﻣﻧﺗظﻣﺔ ‪ 1 0 rad/ s‬اوﺟد‬

‫أ( ارﺳم ﻣﺿﻠﻊ اﻟﺳرﻋﺔ‬

‫ب( اﻟﺳرﻋﺔ اﻟزاوﯾﺔ ﻟﻠذراع ‪O C‬‬
‫ت( ﺳرﻋﺔ اﻧزﻻق اﻟﻛﺗﻠﺔ ‪C‬‬
‫ﻋﻠﻣﺎ ﺑﺎن‬
‫‪O Q =1 m ; O C=2m ;Q C=2.8m‬‬

‫‪:‬‬ ‫اﻟﺣل‪:‬‬
‫ﻧﻔرض ʹ‪ c‬ﻧﻘطﺔ ﻋﻠﻰ اﻟﻣﻧزﻟق و ‪ C‬ﻧﻘطﺔ ﻋﻠﻰ اﻟﻛﺗﻠﺔ و ﺗﻧطﺑق ﻣﻊ ʹ‪c‬‬
‫‪VCʹQ = CʹQ × CʹQ‬‬
‫‪VCʹQ = 1 0 × 2.8=28m / s‬‬
‫ﻣن اﻟرﺳم‬
‫‪Vco=0 c=28.8m / s‬‬
‫‪o C=Voc/ O C‬‬
‫‪o C=28.8/ 2=1 4.4rad/ s‬‬
‫‪vccʹ =ccʹ=7.5m/s‬‬

‫‪43‬‬
Chapter (3): Velocities and Accelerations Analysis for Mechanisms ME306

‫ﻣﺛﺎل‬

44
Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

45
Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

‫ﺗﻣرﯾن ﻣﺣﻠول‬

46
Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Assig nm e nt(3 -
2)

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Ac c e le ra tionsAna lysisofM e c ha nism s

Ac c e le ra tion a na lysisfora link

Consider a rigid link AB as shown in Figure (10). Assume the point B moves with respect to
point A with an angular velocity of  A B rad/sec and angular acceleration of  A B the link AB.

aBAt

aBA

aBAc
aBAc
aBAt

Figure (10): Acceleration analysis for a link AB

The acceleration of link AB has two components:

(1) Ce ntripe ta l or ra d ia l a c c e le ra tion c om pone nt(ac ): The centripetal or radial

component of the acceleration of point B with respect to A is obtained as:

2
v BA
aBAc  AB
2
 AB  , aBAc  A B and in the direction of A
AB
The cent
ripet
alcom ponentoft
he accelerat
ion is acting in t
he perpendicular direction t
othe
velocit
y v BA .In otherw ords,ita c tspa ra lle ltothe link AB.

(2) Ta ng e ntia l Com pone nt of the a c c e le ra tion(at ): The tangential component of the
acceleration of point B with respect to point A is given by:
aBAt   A B  A B , ( A B )

Thiscom ponentact
sparallelto t
hevelocityv BA .In otherw ords, ita c tspe rpe nd ic ula rto the
link AB.

50
Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Exa m ple (6):An engine mechanism is shown in Figure (11). The crank CB=100mm and the
connecting rod AB=300mm with centre of gravity G, 100mm from B. In the position shown,
the crankshaft has a speed of 75rad/secand an angular acceleration of 1200rad/sec2. Find:
(1) velocity of point G, (2) angular velocity of AB, (3) acceleration of G, and (4) angular
acceleration of AB.

Figure (11): Slider-crank mechanism

Solution:
Given: CB = 100mm, AB= 300mm, and GB = 100mm.
v B  v BC  BC  BC  75  0.10  7.5 m / sec
Sc a le forve loc ityd ia g ra m :1m /se c =1c m

Table: Velocity analysis for different links

Magnitude Scaled length
Velocity Direction Vector
(m/sec) (cm)
vB 7.50 ⏊ to CB cb 7.50
V AB unknown ⏊ to AB ab unknown
vA unknown along AC ac unknown

From the ve loc ityd ia g ra m (b ym e a sure m e nts):

v AB  ab  4.0 cm  4.0  1.0  4.0 m / sec
The velocity of point G is obtained as:
 AC 
v G  gc  6.8 cm  6.8 1  6.8 m / sec  where ac  ap  
 AP 
The angular velocity of the link AB:

51
Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

v AB ab 4.0
AB     13.30 rad / sec  clockwise 
AB AB 0.3
Ac c e le ra tion a na lysis
The crank CBrotates at non-uniformangular velocity, then, the acceleration of B relative to
Chas the centripetal and tangentialacceleration components. While, the slider A moves ina
linear direction and thus has no centripetal component.

The a c c e le ra tion c om pone ntsoflinks:

v2  7.50 2
aBC c  BC 
CB 0.10
 562.5 m / sec 2 aBC c
 BC and in the direction of C 
aBC t  CB CB  1200  0.10  120.0 m / sec 2 aBC t
 BC and in the direction of CB 
2
 4.0  2
aA Bc 
v AB
AB

0.30
 53.30 m / sec 2 aA B c
 AB and in the direction of B 
aABt  ? ⏊AB

aAC  ? ⫽ slider A

Ac c e le ra tion d ia g ra m : Sc a le : 50m /se c 2=1c m

Table: Acceleration analysis for different links

Magnitude Scaled length
Acceleration Vector Direction
(m/sec 2) (cm)
aBC c c 1x 562.5 ⫽ to CB  C 11.25
aBCt xb1 120.0 ⏊BC 2.40
aA B c c 1x 53.30 ⫽AB  B 1.07
aABt ya1 ? ⏊AB ?
aAC c 1a1 ? ⫽AC ?

(1) From a fixed point o1, draw a vector o1x=11.25cm( aBCc  11.25cm ) parallel to link CB

towards o1. From point x, draw xb1=2.40cm ( aBCt  2.40cm ) perpendicular to CB and in

the direction of CB . Join c1b1 to represent the total acceleration ( aBC ) of point B with

respect to C.

52
Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

(2) From point b1, draw a vector b1y=1.07cm ( aABc  1.07cm ) parallel to link AB toward

point B. From point yy1, draw a vector perpendicular to the link AB.
(3) From the fixed point c 1, draw a vector c1b1 parallel to AC to represent the total
acceleration of slider B with respect to fixed point c 1. The two vectors ya1 and c1a1
intersect at a1. Join c 1a1 to represents the total acceleration of A with respect to C. Join
b1a1 to represents the total acceleration of point A with respect to point B.
(4) Point g1 is located on the link AB (acceleration diagram) by using the relation:
GB
g1b1  a1b1 
AB
From the a c c e le ra tion d ia g ra m :

The linear acceleration of point G: aG  aGC  g 1c1  scale  415.0 m / sec 2

a1b1  scale 550

The angular acceleration of AB:  AB    1833.3 rad / sec2
AB 0.30

53
 Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

aBC c  BC
A
B B
 AB
a AB t aABc aBC c  BC  C

aA C  AC

aA C
 AC

aA B

aBC
aG
aBC c  BC
aAB t  AB

aBCc  BC aABc  AB

Exa m ple (7):For the four-bar mechanism shown in Figure (12), the link AB rotates
uniformly at 120rpm in clockwise direction. For the given position, determine the angular
acceleration of the linksBC and CD. The dimensions of various links are given as: AB=40mm,
BC=100mm, CD=80mm and AD=60mm.

Figure (6): Four-bar Mechanism

54
Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Solution

From t
hevelocitydiagram ,t
hevelocit
yresultsaregiven as:

v B  v BA  0.50 m / sec

v CB  0.30 m / sec

v CD  0.66 m / sec

Ca lc ula tion ofa c c e le ra tion c om pone nts:

v2  0.50  2
aA Bc  AB 
AB 0.040
 6.25 m / sec 2 aA B c
 AB and in the direction of A 
aA Bt  0  A B 0

2
 0.30 2
aCBc 
v CB
CB

0.10
 0.90 m / sec 2 aCB c
CB and in the direction of B 
aCB t  ? ⏊ CB

v2  0.66   5.44 m / sec 2

2
aCDc  CD 
CD 0.08
aCD c
CD D 

55
Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

aCDt  ? ⏊CD

Sc a le fora cc e le ra tion d ia g ra m : (1 m/sec 2=1 cm)

Table: Acceleration analysis for different links

Magnitude Scaled length
Acceleration Vector Direction
(m/sec2) (cm)
aA B c a1b1 6.25 ⫽AB A 6.25
aABt - 0 - -
aCBc b 1x 0.9 ⫽CB B 0.9
aCB t ya1 ? ⏊CB ?
aCDc c 1a1 5.44 ⫽CD  D 5.44
aCDt yc 1 ? ⏊CD ?

56
Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

aCBc  BC
aCDt  CD

aABc AB aCBt  BC

aCDc CD

aCDc
aABc

aCDt
aCBc
aCBt

1 . Draw the centripetal acceleration vector a 1b1=6.25cm parallel to link AB.

2. From point b 1, draw the centripetal acceleration aBC c parallel to link BC, (b1x=0.90cm).

Also draw the tangential acceleration aBC t perpendicular to link BC (xc1=0.90cm).

3. Joint b 1c1 to represent the total acceleration aBC and joint c1d1 to represent the total

acceleration aCD .

4. The angular acceleration of link BC is obtained as:

aBC t 1.0 1.0 (scale)
 BC   10.0 rad / sec 2
BC 0.10
5. The angular acceleration of link CD is:
aCDt 1.40 1.0
CD   17.50 rad / sec 2
CD 0.08

57
Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Exa m ple (8):For the mechanism shown in Figure (13), the crank OA rotates at 210rpm
counter-clockwise increasing at the rate of 60rad/sec2. For the given configuration, find:
(a) Velocity of slider D and the angular velocity of link BD.
(b) Acceleration of slider D and the angular acceleration of link BD.

Figure ( 1 3)
Solution

v AO OA
A
ωO A
v BA  AB
a b
O 45 o

v QB QB
v BA  AB v AO OA

v BD  BD

40 0 m m v QB QB d vD o,q
B
( b) Velocity diagram

v BD  BD
Q
D
v D  slider D
1 50 m m
( a) Mechanism diagram

58
Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

(1) Ve loc ityre sults

Velocity of the slider D:
v D  2.54 m / sec
The angular velocity of link BD:
BD  6.32 rad / sec
(2) Ca lc ula tion ofa c c e le ra tion c om pone nts:

v2  4.40  2
aA Oc  AO 
OA 0.20
 96.80 m / sec 2 aA O c
OA  O 
aA Ot  OA OA  60.0  0.20  12.0 m / s 2  aA O t
 OA 
2
1.54  2
aBAc 
v BA
AB

0.40
 5.93 m / sec 2 aBA c
 AB B 
aBAt  ? ⏊ AB

2
 3.39 2
aBQ 
v BQ
aBQc    38.30 m / sec 2 c
 BQ Q
BQ 0.30
aBQt  ? ⏊ BQ

v2  3.16  2
aDB c  DB 
BD 0.50
 20.0 m / sec 2 aDB c
 DB B 
aDBt  ? ⏊ BD

aDQ  ? ⫽ to slider D motion

Sc a le fora cc e le ra tion d ia g ra m : (8 m/sec 2=1 cm)

Table: Acceleration analysis for different links

Magnitude Scaled length
Acceleration Vector Direction
(m/sec2) (cm)
aA Oc o1ao 96.80 ⫽OAO 12.10
aAOt aoa1 12.0 ⏊OA 1.50
aBAc a1bo 5.93 ⫽ AB A 0.74
aBAt bob1 ? ⏊AB ?

59
Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

aBQc q 1x 38.30 ⫽ CD  D 4.79

aBQt xb1 ? ⏊BQ ?
aDBc b 1y 20.0 ⫽ BDB 2.50
aDBt yd1 ? ⏊BD ?
aDQ q1d1 ? ⫽ slider D ?

(1) From point o1, draw the vector o1ao=12.10cm ( aAOc ) parallel to crank OA toward point

O. Draw a vector aoa1=1.50cm ( aAOt ) perpendicular to OA. Then the total acceleration

ooa1 of point A related to point O is obtained.

(2) From point a1, draw a vector a1bo=0.74cm ( aBAc ) parallel to link AB toward point A,

and from point bo draw a vector ( a BAt ) perpendicular to the link AB. From point Q1,

draw a vector q1x=4.79cm ( aBQc ) parallel to BQ and in the direction of Q, and from

point x draw a vector ( aBQt ) perpendicular to the link QB, then, the two vectors

intersect at point b 1.
(3) From point b1, draw a vector b1y=2.50cm ( aBDc ) parallel to link BD toward point B, and

from point y, draw a vector ( aBDt ) perpendicular to BD. From point q1, draw a vector

represent the linear acceleration of the slider D ( aDQ ). Then, the intersection of two

vectors locates point d1.

(4) From the acceleration diagram:
The acceleration of slider D is obtained as:

aD  aDQ  q1d1  2.10 cm  8  16.80 m / sec 2

The angular acceleration of link BD is:

aBDt yd1 0.70cm  8
 BD     11.20 rad / se c 2
BD BD 0.50

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

aDQ
aAOt  OA aDBt
aQBc
aAOc OA
aDB

aQB
aBAc  AB aA O
aQBt

aBAt aDBc
aBAt  AB
aBAc
aBA
aQBt QB aDBt  DB
aAOt aAOc

aQBc QB aD
Bc  DB

aDQ  slider D

Assig nm e nt(3-3) – Ac c e le ra tion a na lysisofM e c ha nism s

Prob le m (1):In a slider crank mechanism as shown in Figure (1), the crank OA rotates at
200rpm clockwise direction. The dimensions of the various links are:
OA=50mm,AB=225mm. The centre of gravity of the rod AB is at G which is 75mm from A.
For the given position, Find:
(a) The acceleration of point G.
(b) The angular acceleration of AB.[Answe rs:(a ) 750m /se c 2,(b )6.50ra d /se c 2]

Figure (1)

Prob le m (2):In a slider crank mechanism as shown in Figure (2), the crank is 480mm long
and rotates at 20rad/sec in a CCW direction. The length of the connecting rod is 1600 mm
and EA=450mm. When thecrank turns through 60ofrom the horizontal, determine,
(1) The acceleration of slider B.
(2) Acceleration of point E.
(3) Angular acceleration of AB. [Answ e rs:(1) 72.0m /se c 2,(2) 236.0m /se c 2,(3) 104.0ra d /se c 2]

61
Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Figure (2)

Prob le m (3):In the mechanism shown in Figure (3), the link AB rotates with a uniform
angular velocity of 30rad/sec. The lengths of the various links are: AB=100mm, BC=300mm,
BD=150mm, DE=250mm, EF=200mm, DG=165mm.For the configuration shown, determine
the velocity andacceleration of G. [Answ e r:(1) 0.60m /se c ,(2) 66.0 m /se c 2]

Figure (3)

Prob le m (4):The dimensions of the various links of a mechanism, as shown in Figure (4),
are: OA=80mm, AC=CB=CD=120mm. If the crank OA rotates at 150rpm in the anticlockwise
direction, for the given configuration find: (1) velocity and acceleration of B and D, (2)
rubbing velocity on the pin at C , if its diameter is 20mm, and (3) angular acceleration of
links AB and CD.[Answ e r:(1) 1.10m /se c ,0.37m /se c ,20.2m /se c ,16.3m /se c 2,
(2) 0.15m /se c ,(3) 34.6ra d /se c 2,172.5ra d /se c 2]

62
Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Figure (4)

Prob le m (5):In the mechanism shown in Figure (5), the crank OA rotates at 60rpm counter-
clockwise direction. For the configuration shown, determine:
(1) Linear acceleration of slider B.
(2) Angular acceleration of the links AC, COD and BD.
[Answ e rs:(1) 7.0m /s2,(2)23 .0ra d /s2,14.0ra d /s2]

Figure (5)

63
‫‪Chapter (3): Velocities and Accelerations Analysis for Mechanisms‬‬ ‫‪MEF491‬‬

‫‪Acceleration Analysis of Mechanisms – Coriolis acceleration‬‬

‫ﻣﺿﻠﻊ اﻟﻌﺟﻠﺔ ا ﻟﻛﺗﻠﺔ ﺗﻧزﻟق ﻋﻠﻰ ذراع ﯾدور‪Acceleration diagram for a block sliding on a rotating link‬‬

‫ادرس اﻟذراع ‪ O A‬اﻟﻣوﺿﺢ ﺑﺎﻟﺷﻛل ﯾدور ﺑﺳرﻋﺔ زاوﯾﺔ ‪ ‬و ﻋﺟﻠﺔ زاوﯾﺔ ‪ ‬و ﻋﻠﯾﮫ ﻛﺗﻠﺔ ‪ B‬ﺗﻧزﻟق‬
‫ﻋﻠﻰ طول ﻧﺻف اﻟﻘطر ﺑﻌﯾدا ﻋن اﻟﻣرﻛز ﺑﺳرﻋﺔ ﺧطﯾﺔ ‪ v‬ﻋﺟﻠﺔ ﺧطﯾﺔ ‪ . f‬ﺧﻼل اﻟزﻣن ‪ , dt‬دع‬
‫اﻟﻛﺗﻠﺔ ﺗﺗﺣرك ﻧﺣو اﻟﻣوﺿﻊ ‪ C‬ﺑﯾﻧﻣﺎ اﻟذراع ﯾدور ﺑزاوﯾﺔ ‪ d‬اﻟﻰ اﻟﻣوﺿﻊ ʹ‪ O A‬و اﻟﻣﺳﺎﻓﺔ ‪ O B‬و ‪O C‬‬
‫ھﻲ ‪ r‬و ‪ r+dr‬ﻋﻠﻰ اﻟﺗرﺗﯾب ‪.‬‬

‫ﺑرﺳم ﻣﺿﻠﻊ اﻟﺳرﻋﺔ ﻓﻲ اﺗﺟﺎه ‪ ) r‬ﻧﺻف اﻟﻘطر( ﻓﺎن اﻟﺗﻐﯾر ﻓﻲ ﻣرﻛﺑﺔ اﻟﺳرﻋﺔ ﻓﻲ اﺗﺟﺎه ‪r‬‬

‫)اﺗﺟﺎه ‪( A‬‬ ‫‪d1c1=d v‬‬

‫‪ Tangentialcom ponent‬ﻣرﻛﺑﺔ اﻟﺳرﻋﺔ اﻟﻣﻣﺎﺳﯾﺔ‬

‫‪b 1 d1 =vd‬‬ ‫اﻟﻰ اﻟﯾﺳﺎر)–‪( to the left‬‬

‫‪64‬‬
‫‪Chapter (3): Velocities and Accelerations Analysis for Mechanisms‬‬ ‫‪MEF491‬‬

‫ﻣﺿﻠﻊ اﻟﺳرﻋﺔ اﻟﻣﻣﺎﺳﯾﺔ‬

‫) ‪(  + d) ( r + dr ) = r+dr+( ddr =0‬‬

‫ﻣرﻛﺑﺔ اﻟﺳرﻋﺔ ﻓﻲ اﺗﺟﺎه ‪radial component r‬‬

‫)‪b2d2=rd ( -‬‬ ‫)اﺗﺟﺎه ‪( O‬‬

‫ﻣرﻛﺑﺔ اﻟﺳرﻋﺔ اﻟﻣﻣﺎﺳﯾﺔ‬

‫‪b2c2 = dr + rd‬‬ ‫‪to the left‬‬ ‫اﻟﻰ اﻟﯾﺳﺎر‬

‫اﻟﺗﻐﯾر اﻟﻛﻠﻲ ﻟﻠﺳرﻋﺔ ﻓﻲ اﺗﺟﺎه ﻧﺻف اﻟﻘطر ‪r‬‬

‫‪dVr = dv -  r d‬‬

‫=‬ ‫=‬ ‫=‬ ‫‪−‬‬

‫اﻟﺗﻐﯾر اﻟﻛﻠﻲ ﻟﻠﺳرﻋﺔ اﻟﻣﻣﺎﺳﯾﺔ‬

‫‪65‬‬
‫‪Chapter (3): Velocities and Accelerations Analysis for Mechanisms‬‬ ‫‪MEF491‬‬

‫=‬ ‫‪+‬‬ ‫‪+‬‬

‫اﻟﻌﺟﻠﺔ اﻟﻣﻣﺎﺳﯾﺔ‬

‫=‬ ‫=‬ ‫=‬ ‫‪+‬‬ ‫‪+‬‬

‫=‬ ‫‪+‬‬ ‫‪+‬‬

‫=‬ ‫‪+‬‬

‫‪ 2‬ھو ﻋﺟﻠﺔ اﻟﻛﺗﻠﺔ ﺑﺎﻟﻧﺳﺑﺔ ﻟﻠذراع و ﺗﺳﻣﻰ‬ ‫اﻟﻣﻘدار‬

‫ﺑﻌﺟﻠﺔ ﻛرﯾوﻟس )‪(Coriolisacceleration‬‬

‫و ﺗﻛون ﻋﻣودﯾﺔ ﻋﻠﻰ ﺳطﺢ اﻻﻧزﻻق ‪.‬‬

‫و ﺗﻘﺎس ﻋﺟﻠﺔ ﻛرﯾوﻟس ﯾﺗم ﺑدوران ﻣﺗﺟﮫ ﺳرﻋﺔ اﻻﻧزﻻق ﺑزاوﯾﺔ‬

‫‪ 90‬درﺟﺔ ﻓﻲ اﺗﺟﺎه دوران اﻟذراع‬

‫ﺗﻣﺛل اﻟﻌﺟﻠﺔ اﻟﻣرﻛزﯾﺔ و اﻟﻣﻣﺎﺳﯾﺔ ﻟﻧﻘطﺔ ﺗﻧطﺑق‬ ‫‪,‬‬

‫ﻋﻠﻰ اﻟذراع ﺑﺎﻟﻧﺳﺑﺔ ﻟﻠﻧﻘطﺔ ‪O‬‬

‫ﺗﻣﺛل اﻟﻌﺟﻠﺔ ﻓﻲ اﺗﺟﺎه ‪ r‬و اﻟﻌﺟﻠﺔ اﻟﻣﻣﺎﺳﯾﺔ ﻟﻠﻛﺗﻠﺔ‬ ‫‪,2‬‬

‫ﺑﺎﻟﻧﺳﺑﺔ ﻟﻧﻘطﺔ ﺗﻧطﺑق ﻋﻠﻰ اﻟذراع‪.‬‬

‫ﻣرﻛﺑﺔ ﻛرﯾوﻟس ﺗظﮭر اﯾﺿﺎﻋﻧدﻣﺎ ﯾﻧزﻟق ذراع ﺣول ﻣﻔﺻل دوار‬

‫‪. fixed sw ivel‬‬

‫ﻓﺎذا ﻛﺎن اﻟذراع ﯾﺗﺣرك ﻻﻋﻠﻰ ﺑﺎﻟﻧﺳﺑﺔ ﻟﻠﻛﺗﻠﺔ او اﻟﻛﺗﻠﺔ ﺗﺗﺣرك‬

‫ﻻﺳﻔل ﺑﺎﻟﻧﺳﺑﺔ ﻟﻠذراع‬

‫ﻣﺛﺎل‬

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‫‪Chapter (3): Velocities and Accelerations Analysis for Mechanisms‬‬ ‫‪MEF491‬‬

‫ﻓﻲ اﻻﻟﯾﺔ اﻟﻣوﺿﺣﺔ ﺑﺎﻟﺷﻛل اﻟﻣﻧزﻟق ‪ Q D‬ﯾدار ﺑﺳرﻋﺔ زاوﯾﺔ ﻣﻧﺗظﻣﺔ ‪ 1 0 rad/ s‬اوﺟد ﻋﺟﻠﺔ اﻟﻛﺗﻠﺔ ‪C‬‬

‫ﻋﻠﻣﺎ ﺑﺎن‬
‫‪O Q =1 m ; O C=2m ;Q C=2.8m‬‬

‫اﻟﺣل‬

‫ﻧﻔرض ʹ‪ c‬ﻧﻘطﺔ ﻋﻠﻰ اﻟﻣﻧزﻟق و ‪ C‬ﻧﻘطﺔ ﻋﻠﻰ‬

‫اﻟﻛﺗﻠﺔ و ﺗﻧطﺑق ﻣﻊ ʹ‪c‬‬

‫‪VCʹQ = CʹQ × CʹQ‬‬

‫‪:‬‬
‫‪VCʹQ = 1 0 × 2.8=28m / s‬‬

‫ﻣن اﻟرﺳم‬

‫‪Vco=oc=28.8m / s‬‬

‫‪o C=Voc/ O C‬‬

‫ﺳرﻋﺔ اﻻﻧزﻻق‬ ‫‪vccʹ =ccʹ=7.5m/s‬‬

‫ﻣﺿﻠﻊ اﻟﺳرﻋﺔ‬

‫ﻧﺣﺳب اﻟﻌﺟﻠﺔ اﻟﻣرﻛزﯾﺔ ﻟﻛل ذراع‬

‫‪28‬‬
‫=‬ ‫=‬ ‫‪= 280‬‬ ‫‪/‬‬
‫‪2.8‬‬

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

28.8
( ) = = = 414 /
2.

‫ﻋﺟﻠﺔ ﻛرﯾوﻟس ﻋﻣودﯾﺔ ﻋﻠﻰ ﺳرﻋﺔ اﻻﻧزﻻق و ﻗﯾﻣﺗﮭﺎ‬

ʹ =2 ʹ = 2 × 7.5 × 10 = 150 /

‫ﺗﻣرﯾن ﻣﺣﻠول‬

‫ﻣﺿﻠﻊ اﻟﻌﺟﻠﺔ‬

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

B
A

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

71
Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

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 Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

Assig nm e nt(3-
4)
1-

2-

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Chapter (3): Velocities and Accelerations Analysis for Mechanisms MEF491

3-

GoodL uck,any question

75