38

Machine Elements 1 Chapter

s 4

In this chapter, we will consider the relationship of the displacement of machine

part with respect to time. To simplify our analysis, graphical method will be used
in determining the velocity of any point of interest in the mechanism.
is a vector quantity that indicates displacement, time, and direction unlike speed,
velocity measures displacement, a vector quantity indicating the difference
between an object's final and initial positions. Speed measures distance, a scalar
quantity that measures the total length of an object's path.

In calculus terms, velocity is the first derivative of position with respect to time.
You can calculate velocity by using a simple formula that includes rate, distance,
and time.

In kinematics of machine elements, we are more interested with instantaneous

velocity in understanding the behavior of a point at any instant or at any location
of its path.

Instantaneous Velocity

In simple words, the velocity of an object at that instant of time.

Instantaneous velocity definition is given as “The velocity of an object
under motion at a specific point of time.”
If the object possesses uniform velocity then the instantaneous velocity
may be the same as its standard velocity.
Machine Elements 1 Chapter 4 39

Consider body S, shown in this figure 4-1, rotating at x-y plane about an
axis O perpendicular with the plane, the angular speed 𝜔, In rad/sec in
counter clockwise direction.

𝑦𝑏 B

𝜃 𝑥𝑏
x

Figure 4-1

The position of B is given by:

𝑥𝑏 = Rcos 𝜃
𝑦𝑏 = Rsin𝜃

By differentiating these two equation with respect to time we can obtained:

𝑑𝑥𝑏 𝑑𝜃
= -R 𝑑𝑡 sin𝜃
𝑑𝑡
𝑑𝑦𝑏 𝑑𝜃
= R 𝑑𝑡 cos𝜃
𝑑𝑡
Machine Elements 1 Chapter 4 40

𝑑𝜃
Hence that 𝜔 = (angular velocity), this can be written as:
𝑑𝑡
𝑣𝑏𝑥 = -R 𝜔sin𝜃
𝑣𝑏𝑦 = R𝜔cos𝜃

The total velocity of point B is given by:

𝑉𝑏 = 𝑉𝑏𝑥 + 𝑉𝑏𝑦
𝑉𝑏 = R𝜔(-sin𝜃 + cos𝜃)
Because of a very small angle, the result of angle theta will approximate to zero
𝑽𝒃 = R𝝎

We can also derive this formula by considering this figure 5-2

Figure 4-2

A B
Machine Elements 1 Chapter 4 41

Motion of P. As the rigid body in Figure 5-2 rotates, point P travels along a circular
path of radius r with center at point O. This path is contained within the shaded
plane shown in top view.
Position and Displacement. The position of P is defined by the position vector r,
which extends from O to P. if the body rotates d𝜃 then P will displaced dS = r d𝜃.
Velocity. The velocity of P has a magnitude which can be found by dividing dS = r
d𝜃. By dt so that
𝑽𝒃 = R𝝎

We simply state that the total velocity of point B is equal to R𝜔 which is

perpendicular to radius OB, giving a counter clockwise moment about the axis O
corresponding to the angular velocity, 𝜔.

Relative Velocity
The second approach to rigid body kinematics is to use the principles of relative
motion. We developed these principles for motion relative to translating axes and
applied the relative-velocity equation.
𝑉𝐴 = 𝑉𝐵 + 𝑉𝐴/𝐵
to the motions of two particles A and B.

Relative velocity method is useful in determining the instantaneous linear and

angular velocities of any point in the mechanism. One advantage of this method is
its simplicity and good level of accuracy if proper care is taken in constructing the
velocity polygon.
Machine Elements 1 Chapter 4 42

Interpretation of the Relative-Velocity Equation

We can better understand the application of equation by visualizing the separate
translation and rotation components of the equation. These components are
emphasized in Figure 4-3, which shows a rigid body in plane motion.

Figure 4-3

Or we can consider this system M, shown in figure 4-4, rotating at x-y plane about
an axis at O which is perpendicular with the plane, with angular speed 𝜔, in
rad/sec in counter clock wise direction.
Y Figure 4-4
B
𝑌𝐵
R

𝑌𝐴 A

𝑋𝐴 𝑋𝐵 X
Machine Elements 1 Chapter 4 43

The position of B is given by:

𝑋𝐵 = 𝑋𝐴 + Rcos𝜃
𝑌𝐵 = 𝑌𝐴 + Rsin𝜃
Where R the distance of B from A. Differentiating with respect to time t. following
expressions will be obtained:
𝑑𝑥𝐵 𝑑𝑥𝐴 𝑑𝜃
= – R 𝑑 sin𝜃
𝑑𝑡 𝑑𝑡 𝑡

𝑑𝑦𝐵 𝑑𝑦𝐴 𝑑𝜃
= +R 𝑑 cos𝜃
𝑑𝑡 𝑑𝑡 𝑡

𝑑𝜃
Knowing that 𝜔 = , this can be written as:
𝑑𝑡

𝑣𝑏𝑥 = 𝑣𝑎𝑥 -R 𝜔sin𝜃

𝑣𝑏𝑦 = 𝑣𝑎𝑦 +R𝜔 cos𝜃

The total velocity of point B is given by:
𝑣𝑏 = 𝑣𝑏𝑥 + 𝑣𝑏𝑦

𝑣𝑏 = 𝑣𝑎𝑥 -R 𝜔sin𝜃 + 𝑣𝑎𝑦 +R𝜔 cos𝜃

𝑣𝑏 = 𝑣𝑎𝑥 + 𝑣𝑎𝑦 -R 𝜔sin𝜃 + R𝜔 cos𝜃

Where the angle 𝜃 is very small so the 𝜃 is approximately zero
Hence;
𝒗𝒃 = 𝒗𝒂 + R𝝎
Machine Elements 1 Chapter 4 44

𝑣𝑏

Figure 4-5

The term R𝜔 can be considered as the velocity of B with respect to stationary

point A, or the velocity of B relative to A.

𝒗𝒃 = 𝒗𝒂 + 𝒗𝒃/𝒂

Example 1: Using graphical method, determine the instantaneous velocity of

slider C of the offset slider and crank mechanism shown in Figure 4-6. Link AB
rotates at uniform angular speed of 1 rad/sec in counter clockwise direction.
Dimensions: AB= 20 cm; BC= 65 cm; e= 30 cm
C

B e

60°

A
Machine Elements 1 Chapter 4 45

Solution:
Relative Velocity Method

Step 1:
Solve the linear velocity 𝑣𝑏 ;
𝑣𝑏 = 𝑅𝐴𝐵 𝜔 = (20 cm) (1 rad/s)
𝑣𝑏 = 20 cm/s
Velocity scale (Drawn in 8.5’’x 11’’ Letter Sized Paper): 1 mm= 1cm/s.

Step2:
𝑣𝑐 = 𝑣𝑏 + 𝑣𝐶/𝐵
Choose convenient location Q and sketch linear velocity 𝑣𝐵 with magnitude Qb
and direction perpendicular to link AB.

b 𝑣𝐵
𝑣𝐶/𝐵 Q
C 𝑣𝑐

Step 3:
The direction of 𝑣𝐶/𝐵 is perpendicular to link BC and its magnitude is determined
by laying it out at the tip of 𝑣𝐵 .

Step 4
Machine Elements 1 Chapter 4 46

From Q, sketch a line perpendicular to link CD until intersect line BC. QC is the
magnitude and direction of instantaneous velocity 𝑣𝑐 of the slider. The velocity
polygon is shown in Figure.

1 𝑐𝑚/𝑠
𝑣𝐶/𝐵 = (9.97 mm)( 1 𝑚𝑚 )= 9.97 cm/s
1 𝑐𝑚/𝑠
𝑣𝐶 = (15.33 mm ) ( 1 𝑚𝑚 ) = 15.33 cm/s

Example 2: Using graphical method, determine the instantaneous velocity of

slider C for the slider and crank mechanism shown in this figure below.
Dimensions: AB = 20 cm; BC = 62.5 cm. Link AB rotates at uniform angular speed
of 1 rad/s in counter clockwise direction.

60°
C
A

Solution:
Relative Velocity

Step 1
Solve for the linear velocity 𝑣𝐵 ;
Machine Elements 1 Chapter 4 47

𝑣𝐵 = 𝑅𝐴𝐵 𝜔 = (20 cm)(1 rad/sec)

𝑣𝐵 = 20 cm/sec
Velocity scale (8.5’’ x 11’’ Letter Sized Paper): 1 mm = 1 cm/sec.
Step 2:
Relative velocity equation:
𝑉𝐶 = 𝑉𝐵 + 𝑉𝐶/𝐵

Choose convenient location Q and sketch linear velocity 𝑉𝐵 with magnitude Qb

and direction perpendicular to link AB.

𝑣𝐶/𝐵

C Q

Step 3
The direction of 𝑣𝐶/𝐵 is perpendicular to link BC and its magnitude is determined
by laying it out at the tip of 𝑉𝐵 .

Step 4
From Q, sketch a line parallel to the movement of the slider C until intersect line
bc. Qc is the magnitude of velocity 𝑉𝐶 , going in the left direction. The velocity
polygon in the figure.
Machine Elements 1 Chapter 4 48

1 𝑐𝑚/𝑠
Hence; 𝑉𝐶/𝐵 = (10.41 mm)( 1 𝑚𝑚 ) = 10.41 cm/s

1 𝑐𝑚/𝑠
𝑉𝐶 = (20.21 mm)( ) = 20.21 cm/s
1 𝑚𝑚

Instantaneous Center of Zero Velocity

We now solve the problem by choosing a unique reference point which

momentarily has zero velocity. As far as velocities are concerned, the body may
be considered to be in pure rotation about an axis, normal to the plane of motion,
passing through this point. This axis is called the instantaneous axis of zero
velocity, and the intersection of this axis with the plane of motion is known as the
instantaneous center of zero velocity. This approach provides us with a valuable
means for visualizing and analyzing velocities in plane motion.

Locating the Instantaneous Center

To locate the IC we can use the fact that the velocity of a point on the body is
always perpendicular to the relatives position vector directed from the IC to the
point. Several possibilities exist:

The velocity 𝑣𝐴 of a point A on the body and the angular velocity 𝜔 of the body
are known, Fig. 5-6a. In this case, the IC is located along the line drawn
perpendicular to 𝑉𝐴 at A, such that the distance from A to the IC is 𝑟𝐴/𝐼𝐶 = 𝑣𝐴 /𝜔.
Note that the IC lies up and to the right of A since 𝑉𝐴 must cause a clockwise
angular velocity 𝜔 about the IC.
Machine Elements 1 Chapter 4 49

The lines of action of two nonparallel velocities 𝑉𝐴 and 𝑉𝐵 are known , Fig. 5-6b.
construct at points A and B line segments that are perpendicular to 𝑉𝐴 and 𝑉𝐵 .
Extending these perpendiculars to their point of intersection as shown locates the
IC at the instant considered .
Machine Elements 1 Chapter 4 50

The magnitude of and direction of two parallel velocities 𝑉𝐴 and 𝑉𝐵 are known,
Figure 5-6b. Construct at points A and B line segments that are perpendicular to
𝑉𝐴 and 𝑉𝐵 . Extending these perpendiculars to their point of intersection as shown
locates the IC at the instant considered.

Example 1: Block C shown in figure 5-7 moves with a speed of 3 m/s. Determine
the angular velocities of links BC and AB, at the instant shown.

90°

45° 45°
3m/s

A C

Solution:
As C moves to the right, it causes AB to rotate clockwise about point A. Hence, 𝑣𝐵
is directed perpendicular to AB. The instantaneous center of zero velocity for BC is
located at the intersection of the line segments drawn perpendicular to 𝑣𝐵 and
𝑣𝐶 .
Machine Elements 1 Chapter 4 51

IC

𝑉𝐵

B
𝑟𝐶/𝐼𝐶

45°

3 m/s

Where:
𝑟𝐵/𝐼𝐶 = distance from instantaneous center to point B
𝑟𝐶/𝐼𝐶 = distance from instantaneous center to point C

𝑟𝐵/𝐼𝐶 = 0.4 tan45° m = 0.4 m

0.4 𝑚
𝑟𝐶/𝐼𝐶 = = 0.5657 m
cos 45°

Since the magnitude of 𝑉𝐶 is known, the angular velocity of link BC is

𝑣𝐶 3𝑚/𝑠
𝜔𝐵𝐶 = = 0.5657m = 5.30 rad/s
𝑟𝐶/𝐼𝐶
Machine Elements 1 Chapter 4 52

𝑣𝐵 = 2.12 m/s

𝜔𝐴𝐵

45°

The velocity of B therefore

𝑣𝐵 = 𝜔𝐵𝐷 ( 𝑟𝐵/𝐼𝐶 ) = (5.30 rad/s)(0.4 m) = 2.12 m/s 45°

The angular velocity of AB is

𝑣𝐵 2.12 𝑚/𝑠
𝜔=𝑟 = = 5.30 rad/s
𝐵/𝐴 0.4 𝑚

Example 2
The crankshaft AB turns with a clockwise angular velocity of 10 rad/s in a figure
shown below. Determine the velocity of the piston at the instant shown.
Machine Elements 1 Chapter 4 53

13.6°

𝜔𝐵𝐶 = 2.43 rad/s

B 𝜔𝐴𝐵 = 10 𝑟𝑎𝑑/s

45°

Solution:
The crankshaft rotates about a fixed axis, and so the velocity of point B is
𝑣𝐵 = (10 rad/s)(0.25 ft.) = 2.50 ft/s 45°
Since the directions of the velocities of B and C are known, then the location of
the IC for the connecting rod BC is at the intersection of the lines extended from
these points, perpendicular to 𝑣𝐵 and 𝑣𝐶 , in the figure below. The magnitudes of
𝑟𝐵/𝐼𝐶 and 𝑟𝐶/𝐼𝐶 can be obtained from the geometry of the triangle and the law of
sines, i.e.,
0.75 𝑓𝑡 𝑟
= sin𝐵/𝐼𝐶
sin 45° 76.4°
𝑟𝐵/𝐼𝐶 = 1.031 ft
0.75 𝑓𝑡 𝐶/𝐼𝐶 𝑟
= 𝑠𝑖𝑛58.6°
𝑠𝑖𝑛45°
𝑟𝐶/𝐼𝐶 = 0.9056 ft.
Machine Elements 1 Chapter 4 54

The rotational sense of 𝜔𝐵𝐶 must be the same as the rotation caused by 𝑣𝐵 about
the IC, which is counterclockwise. Therefore,
𝑣𝐵 2.5 𝑓𝑡/𝑠
𝜔𝐵𝐶 = 𝑟 = 1.031 𝑓𝑡 = 2.425 rad/s
𝐵/𝐼𝐶

Using this result, the velocity of the piston is

𝑣𝑐 = (𝜔𝐵𝐶 )(𝑟𝐶/𝐼𝐶 ) = (2.425 rad/s)(0.9056 ft.)= 2.20 ft/s

𝑣𝑐

IC
C
45° 76.4°

0.75 ft.
58.6°

2.50 ft/s
B