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Chapter 5. VELOCITIES BY INSTANT CENTERS

AND BY COMPONENTS
5.1 Introduction

Two methods for finding linear velocities of points on a mechanism will be

considered:
- Using instant centers
- Resolving velocity vectors into components.

5.2 Linear velocities by instant centers

Following basic principles must be kept in mind:

1. The magnitudes of the linear velocities of points in a rotating body are
directly proportional to their radii of rotation. The radius of rotation of a point is
the distance from the point to the instant center in the frame about which the
link containing the point is rotating.
2. The linear velocity of a point is directed perpendicular to the radius of
rotation of the point.
3. An instant center is a point common to two bodies and has the same linear
velocity in both magnitude and direction in each.

5.3 Velocities in a four bar linkage

Two graphical methods for determining linear velocities by use of
instant centers:
- Rotation of Radius Method
- Parallel Line Method
5.3.1. Rotation of Radius Method
- Known: linear velocity of point B
- To be found: linear velocities of
points 23, D, and E.
- Solution:
V23 must be directed perpendicular to
its radius of rotation 12-23

Consider 23 as a point in link 3, and link 3 is rotating about instant center 13.
13-D' and 13-E' are the instant radii of point D and E after they have been rotated.
The perpendicular line to 13-D' indicates the direction for VD’.
A line drawn from 13 to the terminus of V23 will determine the magnitude of VD’.
VD will be equal in magnitude to VD’ but to be in true direction it must be drawn
perpendicular to its instant radius 13-D. VB is also determined in the similar way.

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Another example of the rotation of radius method for finding velocities

Known: VB
To be found: VD
- Solution:

Find the velocity of instant center 24.

Consider 24 as a point in link 2, it will
be rotating about point 12 in the
frame.

Rotating instant radius 12-B in line with instant radius 12-24, a gauge line
from 12 through the terminus of VB' determines the magnitude of V24.

Consider 24 as a point in link 4, 24 and D rotate about instant center 14

Drawing a gauge line drawn from 14 to the terminus of V24, then rotating 14-
D in line with 14-24.
VD has the same magnitude as VD’ but must be directed perpendicular to
instant radius 14-D.

Example:
Let VB be represented by a vector 1 cm long. Determine vectors V C and VD by the
Rotation of radius method.

1cm (drawing) = 22 mm (my ruler)

VC = 0.77cm
VD = 0.5cm
1 𝑐𝑚

VB
3 15
𝑐𝑚 𝑐𝑚
2 4
VC

VC’
VD
VD’ 7
𝑐𝑚
4

4 𝑐𝑚

13

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Example:
Let VB be represented by a vector 2 cm long. Determine vectors VC3 and VD by
the rotation-of-radius method.

5.3.2. Parallel Line Method

Known: VB
To be found: VC ,VD, VE
- Solution:
Finding VC: same as the previous slide.
Rotating VC into line 13-C
Drawing a line from point C' parallel to CE.
Then:

Obtaining vector VE is by rotating EE ' to a position perpendicular to radius 13-E.

Finding VD in the similar way.

Note: This method, like the rotation-of-radius method described earlier, can be
used to find the velocity of a point only if the velocity of some other point in the
same link is known.

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Example:
Let VB be represented by a vector 1 cm long. Determine vectors V C and VD by the
Parallel Line Method

1 𝑐𝑚

3 15
𝑐𝑚 𝑐𝑚
2 4

7
𝑐𝑚
4

4 𝑐𝑚

5.4 Velocities in a Slider-Crank Mechanism

- Known: 2
To be found: velocity of the piston (link 4) V34

- Solution:
Calculating the velocity V23:

Points 23 and 34 are points on link 3

which is rotating about instant center 13.

Rotating radius 13-34 in line with radius 13-23, intersect line 13-23 at
(34)’, and drawing a gauge line from 13 to the terminus of V23
determines the magnitude of V(34)’.

Drawing line perpendicular to instant radius 13-34 to determine V34 which

has magnitude is equal to the magnitude of V(34)' .
V34 is the velocity of the piston as well as the velocity of a point on link 3.

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5.5 Velocities in a Cam Mechanism

- Assume: the angular velocity of the cam is

known
The velocity of the follower is to be found for
the position of the cam shown.
- Solution:
Links 1, 2, and 3 comprise a direct-contact
mechanism.
The center of rotation for link 2 is instant
center 12. (A line joining these
instant centers)
The instant center of rotation for link 3 at
infinity along a line perpendicular to the
direction of follower motion.
Determining the instant center 23 which lies where the common normal through point P
intersects the line of centers.
Considering 23 as a point on body 2: V23 must be directed perpendicular to 12-23, and
its magnitude is:

Since the follower has rectilinear translation, all points on the follower have the same
velocity V23.

5.6 Velocities in a Compound Linkage

Mechanisms can be simple mechanisms or
compound mechanisms.
A simple mechanism consists of three or
four links.
Compound mechanisms consist of more
than four links, and are usually made up of
combinations of simple mechanisms.
An example of compound mechanism is
shown:
It consists of the simple mechanism composed of links 1, 2,
and 3 combined with a second simple mechanism consisting
of links 1, 3, 4, and 5.
- Suppose VB on link 2 is known, and the velocity of point 45 in link 5 (V45) is to be found.
- Solution: need to find the velocity of the transfer point (instant center 25)
We can finding the instant center 25, then VB’ and a gauge line from center 12 through the
terminus of VB' determines the magnitude of V25.
A gauge line from 15 to the terminus of V25 determines the magnitude of V(45)'.
V45 is directed perpendicular to line 15-45, and it has the same magnitude as V(45)’

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5.7 Angular Velocities

Angular velocity of a body:

23 is the common instant center for

bodies 2 and 3:

Hence:
and

Similarly, since instant center 24 is a point in either link 2 or link 4:

Conclusion: the angular-velocity ratio for any two links in a mechanism is inversely
as the distances from the instant centers in the frame about which the links are
rotating to the instant center which is common to the two links.

5.8 Velocities by Components

Resolving velocity vectors into suitable components so that the translation and rotation
of the various links can be evaluated.
- Suppose: VB is known, and VC and VD are to be found.
- Solution: VB is resolved into two components: V’B and V’’B
Since link 3 is a rigid body: V’C = V’B
The slider, link 4, moves parallel to its guide in the frame: VC is parallel to the guide.
VC is determined by drawing a line from the terminus of V’C and perpendicular to V’C.
Then, V’’C is determined.
Point P has no velocity perpendicular to BC but has a velocity in the direction of BC
equal to V’B. V’’D is determined.
Since V’D = V’B then VD and is determined from V’D and V’’D.
The instantaneous angular velocity of link 3 may be found as follows:

(Counterclock wise)

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Example: A mechanism is given below

- Suppose: 2 is known, and VD is

to be determined
- Solution:

Determining VB2 of a point on link 2. VB2 slip

VB4 is the velocity of a point on link 4
and is the component of VB2 which is
perpendicular to O4B4. 2
Determining VC by a line from O4
through the terminus of VB4.

Projecting VC to CD, finding V’C.

V’D = V’C.
Since V’D is a component of VD , a line from the terminus of V’D
and perpendicular to V’D determines the magnitude of VD.

Similarly, we can do velocity analysis for the mechanism below

(a) Known: VB (b) Known: VB

To be found: velocity of the To be found: VC and VD
follower