MENG 306

Kinematics and Dynamics of Mechanical Systems

Velocity Analysis

Dr. Ahmed Askar

 Velocity Analysis

 Once a position analysis is done, the next step is to determine the

velocities of all links and points of interest in the mechanism.
 We need to know the velocities in our mechanism to
1
◦ calculate the stored kinetic energy from 𝑚𝑣 2
2
◦ as a step on the way to the determination of the link’s
accelerations that are needed for the dynamic force
calculations.
 Many methods and approaches exist to find velocities in
mechanisms
◦ Graphical
◦ instantaneous center of velocity
◦ Analytical

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 2
 Velocity Analysis

 Velocity is defined as the rate of change of position with respect

to time.
 Position (𝑹) is a vector quantity and so is velocity.
 Velocity can be angular or linear.
 Angular velocity will be denoted as 𝜔 and linear velocity as 𝑽.
𝑑𝜃 𝑑𝑹
𝜔= ; 𝑽=
𝑑𝑡 𝑑𝑡
 Velocity of point 𝑷 (Pure rotation)
𝑑𝑅𝑃𝐴 𝑑𝜃
𝑽𝑷𝑨 = 𝝎 × 𝑹𝑷 = = 𝑝𝑗𝑒 𝑗𝜃 = 𝑝𝜔𝑗𝑒 𝑗𝜃
𝑑𝑡 𝑑𝑡
 Substituting the Euler identity

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 3
 Velocity Analysis

 If point A is moving
𝑅𝑃 = 𝑅𝐴 + 𝑅𝑃𝐴 Graphical solution:
 Thus (general motion) 𝑉𝐴
𝑉𝑃 = 𝑉𝐴 + 𝑉𝑃𝐴
𝑉𝑃𝐴
𝑉𝑃

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 4
 Velocity Analysis of a 4-Bar Linkage

 Given 𝜔2 . Find 𝜔3 and 𝜔4

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 5
 Velocity Analysis of a 4-Bar Linkage

 Write the vector loop equation

𝑎𝑒 𝑗𝜃2 + 𝑏𝑒 𝑗𝜃3 − c𝑒 𝑗𝜃4 − 𝑑𝑒 𝑗𝜃1 = 0
 After solving the position analysis,
take the derivative
𝑗𝜃2
𝑑𝜃2 𝑗𝜃3
𝑑𝜃3
𝑎𝑒 𝑗 + 𝑏𝑒 𝑗
𝑑𝑡 𝑑𝑡
𝑗𝜃
𝑑𝜃4
− c𝑒 4 𝑗 =0
𝑑𝑡
𝑖𝑎𝜔2 𝑒 𝑗𝜃2 + 𝑖𝑏𝜔3 𝑒 𝑗𝜃3 − 𝑖𝑐𝜔4 𝑒 𝑗𝜃4
=0
 Or
𝑽𝑨 + 𝑽𝑩𝑨 − 𝑽𝑩 = 0
where 𝑽𝑨 = 𝑖𝑎𝜔2 𝑒 𝑗𝜃2 ,
𝑽𝑨𝑩 = 𝑖𝑏𝜔3 𝑒 𝑗𝜃3 , 𝑽𝑩 = 𝑖𝑐𝜔4 𝑒 𝑗𝜃4

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 6
 Velocity Analysis of a 4-Bar Linkage

 real part (x component):

 imaginary part (y component):

 solve these two equations simultaneously by direct substitution to

get:

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 7
 Velocity Analysis of a 4-Bar Linkage

 MATLAB Code
clear,clc;
syms w2 w3 w4 a b c d s1 s2 s3 s4 'real'
Eq=a*exp(1i*s2)+b*exp(1i*s3)-c*exp(1i*s4)-d;
dEQ=diff(Eq,s2)*w2+diff(Eq,s3)*w3+diff(Eq,s4)*w4;
eqx=real(dEQ); eqy=imag(dEQ);
Sol=solve([eqx;eqy],[w3 w4]);
omega3=simplify(Sol.w3)
omega4=simplify(Sol.w4)
=============================================
Output
o============================================
mega3 = -(a*w2*sin(s2 - s4))/(b*sin(s3 - s4))
omega4 = -(a*w2*sin(s2 - s3))/(c*sin(s3 - s4))

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 8
 Offset Crank Slider

 Given 𝜔2 . Find 𝜔3 and 𝑑ሶ

b c

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 9
 Offset Crank Slider

 Given 𝜔2 . Find 𝜔3 and 𝑑ሶ

𝑅2 − 𝑅3 − 𝑅4 − 𝑅1 = 0
𝑎𝑒 𝑗𝜃2 − 𝑏𝑒 𝑗𝜃3 − c𝑒 𝑗𝜃4 − 𝑑𝑒 𝑗𝜃1 = 0
 Differentiate w.r.t, that yields:
ሶ 𝑗𝜃1 = 0
𝑗𝑎𝜔2 𝑒 𝑗𝜃2 − 𝑗𝑏𝜔3 𝑒 𝑗𝜃3 − 𝑑𝑒

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 10
 Offset Crank Slider

 Simplify,

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 11
 Crank-Slider

 MATLAB code:
clear,clc;
syms w2 w3 dd a b c d s1 s2 s3 'real'
s4=pi/2; w4=w3;
Eq=a*exp(1i*s2)-b*exp(1i*s3)-c*exp(1i*s4)-d;
dEQ=diff(Eq,s2)*w2+diff(Eq,s3)*w3+diff(Eq,d)*dd;
eqx=real(dEQ); eqy=imag(dEQ);
Sol=solve([eqx;eqy],[w3 dd]);
omega3=simplify(Sol.w3)
d_dot=simplify(Sol.dd)
==========================================
Output
==========================================
omega3 =(a*w2*cos(s2))/(b*cos(s3))
d_dot =-(a*w2*sin(s2 - s3))/cos(s3)
Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 12
 Inverted Crank Slider

 Given 𝜔2 . Find 𝜔3 and 𝑏ሶ

 Link 3 is a slider link: its effective length, b, changes

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 13
 Inverted Crank Slider

 Given 𝜔2 . Find 𝜔3 and 𝑏ሶ

 Write the vector loop
equation:
𝑎𝑒 𝑗𝜃2 − 𝑏𝑒 𝑗𝜃3 − c𝑒 𝑗𝜃4
− 𝑑𝑒 𝑗𝜃1 = 0
 After solving the position
analysis, take the
derivative:
ሶ 𝑗𝜃3
𝑖𝑎𝜔2 𝑒 𝑗𝜃2 − 𝑏𝑒
− 𝑖𝑏𝜔3 𝑒 𝑗𝜃3 − 𝑖𝑐𝜔4 𝑒 𝑗𝜃4 = 0

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 14
 Inverted Crank Slider

 Real part (x component):

−𝑎𝜔2 sin 𝜃2 − 𝑏ሶ cos 𝜃3 + 𝜔4 𝑏 sin 𝜃3 + 𝑐 sin 𝜃3 = 0

 Imaginary part (y component):

𝑎𝜔2 cos 𝜃2 − 𝑏ሶ sin 𝜃3 − 𝜔4 𝑏 cos 𝜃3 + 𝑐 cos 𝜃3

 Collect terms and rearrange equations to isolate one unknown on

the left side.
𝑏ሶ cos 𝜃3 = −𝑎𝜔2 sin 𝜃2 + 𝜔4 𝑏 sin 𝜃3 + 𝑐 sin 𝜃3
𝑏ሶ sin 𝜃3 = 𝑎𝜔2 cos 𝜃2 − 𝜔4 𝑏 cos 𝜃3 + 𝑐 cos 𝜃3

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 15
 Inverted Crank Slider

 The velocity of slip at point B.

−𝑎𝜔2 𝑠𝑖𝑛 𝜃2 + 𝜔4 𝑏 sin 𝜃3 + 𝑐 sin 𝜃4
ሶ𝑏 =
cos 𝜃3
 The angular velocity of link 4.
𝑎𝜔2 𝑐𝑜𝑠 𝜃2 − 𝜃3
𝜔4 =
𝑏 + 𝑐 𝑐𝑜𝑠 𝜃4 − 𝜃3
 With all link angles and angular velocities known, the linear
velocities of the pin joints can be found from:
𝑽𝑨 = 𝑎𝜔2 − sin 𝜃2 + 𝑗 cos 𝜃2
𝑽𝑩𝑨 = 𝑏𝜔3 − sin 𝜃3 + 𝑗 cos 𝜃3
𝑽𝑪 = 𝑑𝜔5 − sin 𝜃5 + 𝑗 cos 𝜃5
𝑽𝑩 = 𝑽𝑨 + 𝑽𝑩𝑨

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 16
 Inverted Crank Slider

 MATLAB Code
clear,clc;
syms w2 w3 w4 db a b c d s1 s2 s3 s4 gamma 'real'
Eq=a*exp(1i*s2)-b*exp(1i*s3)-c*exp(1i*s4)-d;
dEQ=diff(Eq,s2)*w2+diff(Eq,s3)*w4+diff(Eq,s4)*w4+diff(Eq,b)*db;
eqx=real(dEQ);
eqy=imag(dEQ);
Sol=solve([eqx;eqy],[db w4]);
b_dot=simplify(Sol.db)
omega4=simplify(Sol.w4)
======================================================
Output
======================================================
b_dot =-(a*w2*(b*sin(s2 - s3) + c*sin(s2 - s4)))/(b + c*cos(s3 - s4))
omega4 =(a*w2*cos(s2 - s3))/(b + c*cos(s3 - s4))
Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 17
 VELOCITY ANALYSIS OF THE GEARED 5-BAR

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 18
 VELOCITY ANALYSIS OF THE GEARED 5-BAR

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 19
 Graphical Velocity Analysis (𝜔3 & 𝜔4 )

 Given linkage configuration & 𝜔2 . Find 𝜔3 and 𝜔4

 We know 𝑉𝐴 and direction of 𝑉𝐵 and 𝑉𝐵𝐴 (perpendicular to AB)
 Draw vector triangle. 𝑉 = 𝜔𝑟.
VBA = 3 ( AB )
VB = 4 ( O4 B )
VBA
VBA Direction
VB
VA
VBA

VB VB Direction

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 20
 Graphical Velocity Analysis (𝑉𝐶 )

 After finding 𝜔3 and 𝜔4 , find 𝑉𝐶

𝑉𝐶 = 𝑉𝐴 + 𝑉𝐶𝐴
 Recall that 𝜔3 was in the opposite direction as 𝜔2

VC
VCA Double Scale
VA

VCA

VC

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 21
 Example

 The four-bar linkage in the posture shown is driven by crank 2 at

a constant angular velocity 𝜔2 = 900 rev/min ccw. For this
posture, determine the angular velocities of coupler link 3 and
output link 4 and the velocities of point E in link 3 and point F in
link 4.

𝑅𝐵𝐴 = 4 in, 𝑅𝐶𝐵 = 18 in, 𝑅𝐶𝐷 = 11 in, 𝑅𝐷𝐴 = 10 in, 𝑅𝐺𝐵 = 10 in,
𝑅𝐸𝐺 =4 in, 𝑅𝐻𝐷 = 7 in, and 𝑅𝐹𝐻 = 3 in;
Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 22
 Example

𝑉𝐶

𝑉𝐶𝐵
𝑉𝐵

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 Example

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 VELOCITY OF SLIP

 When there is a sliding joint between two links and neither one is
the ground link, the velocity analysis is more complicated.

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 VELOCITY OF SLIP

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 VELOCITY OF SLIP

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 VELOCITY OF SLIP

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 VELOCITY OF SLIP

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 29
 Velocity of any Point on a Linkage

 Write the vector for 𝑅𝑃

𝑅𝑝 = 𝑎𝑒 𝑗𝜃2 + 𝑝𝑒 𝑗 𝜃3 +𝛿3
 Take the derivative
𝑉𝑝
= 𝑗𝜔2 𝑎𝑒 𝑗𝜃2 + 𝑗𝜔3 𝑝𝑒 𝑗 𝜃3 +𝛿3
 Similarly
𝑅𝑠 = 𝑠𝑒 𝑗 𝜃2 +𝛿2
𝑉𝑠 = 𝑗𝜔2 𝑠𝑒 𝑗 𝜃2 +𝛿2
𝑅𝑈 = 𝑢𝑒 𝑗 𝜃4 +𝛿4 RP
𝑉𝑈 = 𝑗𝜔4 𝑢𝑒 𝑗 𝜃4 +𝛿4

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 30
 Instant Centers

 A point common to two bodies in plane motion, which has the

same instantaneous velocity in each body.
 Kennedy’s rule: any three links will have three instant centers and
they will lie on a straight line
I13
 The pins are instant centers
 𝐼13 is from links 1,2,3 and 1,3,4
 𝐼24 is from links 1,2,4 and 2,3,4

I24

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 31
 Instant Centers

 𝐼13 has zero velocity since link 1 is

ground
 𝜔3 is the same all over link 3
 Velocity relative to ground= 𝑟𝜔, I13
perpendicular to 𝑟.
 𝑉𝐴2 = 𝑎𝜔2 = 𝑉𝐴3 = 𝑝𝜔3 .
 From this, 𝜔3 must be in the opposite p
direction as 𝜔2 , and smaller in
magnitude since 𝑝 > 𝑎.
VA2
VA3
A
a

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 32
 Instant Centers

 𝐼24 has the same velocity on link 2 and link 4

 𝑉𝐼2 = 𝑙2 𝜔2 = 𝑉𝐼4 = 𝑙4 𝜔4
 From this, 𝜔4 is in the same direction as 𝜔2 and smaller in
magnitude since 𝑙4 > 𝑙2

l4 4

VI4 V l2
I24 I2

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 33
 Instant Centers: crank-slider linkage

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 Instant Centers: crank-slider linkage

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 Instant Centers: crank-slider linkage

Nile University MENG 306 Kinematics and Dynamics of Mechanical Systems Dr. Ahmed Asker 36
 Instant Centers: crank-slider linkage

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 Instant Centers: crank-slider linkage

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 Instant Centers: crank-slider linkage

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 VELOCITY ANALYSIS WITH INSTANT CENTERS

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 Instant Centers Practice Problems

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 Instant Centers Practice Problems

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