Unit-II

Velocity and Acceleration Analysis

 Course Content
 Determination of velocity and acceleration of a point / link in
simple mechanism by relative method (graphical)
 Coriolis component of acceleration
 Instantaneous Centre
 Centrodes
 Kennedy’s theorem
 To determine linear velocity and angular velocity of links of
simple mechanism by instantaneous center method

 Klien’s Construction for velocity and acceleration of slider

crank mechanism
 Analysis of velocity and acceleration of single slider crank
chain and four bar chain by complex algebra method
Realtive Velocity
Velocity in Slider Mechanism
 Prerequisite
Terminology Definition
Motion A change in position of link
 Absolute Motion : Motion described with respect to the frame
 Relative motion: Motion described with respect to another moving body
Plane Motion A body is said to have plane motion if all its points move in
planes which are parallel to some reference plane.
 Translation: A body has translation if it moves so that all straight lines in the body
move parallel to each other
o Rectilinear translation is a motion where in all points of the body move in
straight line paths
o Curvilinear translation in which points in the body move along curved path
 Rotation: all points in a body remain at fixed distance from a line which is
perpendicular to the plane motion
 Translation and Rotation: Machine parts have motions which are a combination
of rotation and translation.

Spherical Motion A point has spherical motion if it moves in 3-D space and
remains at a fixed distance from some fixed point.
Helical Motion A point which rotates about an axis at a fixed distance and at
the same time moves parallel to the axis describes a helix.
 Prerequisite
Terminology Definition
Scalar Scalar quantities are those which have magnitude only
Eg: Distance, volume, area and time
Vector Vector quantities have both magnitude and direction
Eg: displacement, velocity, acceleration and force
Addition and Subtraction of vector
 Addition vectors : A+ B
 Subtraction vector: A B (subtraction of B from A)
Velocity Rate of change of Displacement
 Linear Velocity:Rate of change of linear displacement (=, m/s
 Angular Velocity: Rate of change of angular displacement ().Rps
 Relation between linear velocity and Angular velocity and
 Absolute velocity : the velocity of a point or body relative to frame (VA)
 Relative velocity: The velocity of a point or body relative another moving point or
body (VAB)
 Prerequisite
Terminology Definition
Acceleration It is the time rate change of velocity
 Linear Acceleration : It is time rate of change of linear velocity (
 Angular acceleration: It is the time rate of change of angular velocity ( =
Normal and tangential acceleration

Normal acceleration: it is due to the change of magnitude. It the

point has curvilinear motion, it will have normal acceleration
resulting from a change in direction of its linear velocity (
Tangential acceleration is due to the change in direction of
velocity (if the direction of its linear velocity changes then the
point will
Relative have a tangential
Acceleration A acceleration.
= An +At
BA BA BA
 Velocity Analysis
1. Graphical method
2. Relative velocity method
3. Instantaneous method

Graphical Method

The following points are to be considered while solving problems by this method.
1. Draw the configuration design to a suitable scale.
2. Locate all fixed point in a mechanism as a common point in velocity diagram.
3. Choose a suitable scale for the vector diagram velocity.
4. The velocity vector of each rotating link is r to the link.
5. Velocity of each link in mechanism has both magnitude and direction. Start
from a point whose magnitude and direction is known.
6. The points of the velocity diagram are indicated by small letters.
Acceleration in Mechanism
 1. A four bar mechanism ABCD is made up of four links, pin jointed at the ends. AD is a fixed
link which is 180 mm long. The links AB, BC and CD are 90 mm, 120 mm and 120 mm long
respectively. At certain instant the link AB makes an angle of 60 with the link AD. If the link
AB rotates at a uniform speed of 100 rpm clockwise determine.
i) Angular velocity of the link BC and CD
ii) Angular acceleration of the links CD and CB
C

Solution NB = 100 rpm

and
AD= 180 mm
60
AB = 90 mm
BC = 120 mm A D
CD=120 mm Displacement Diagram (scale 2: 1)
 1. A four bar mechanism ABCD is made up of four links, pin jointed at the ends. AD is a fixed
link which is 180 mm long. The links AB, BC and CD are 90 mm, 120 mm and 120 mm long
respectively. At certain instant the link AB makes an angle of 60 with the link AD. If the link
AB rotates at a uniform speed of 100 rpm clockwise determine.
i) Angular velocity of the link BC and CD
ii) Angular acceleration of the links CD and CB
C

20
B

Solution NB = 100 rpm

and
AD= 180 mm 100
60
AB = 90 mm
BC = 120 mm A D
CD=120 mm Displacement Diagram (scale 2: 1)
 Velocity Analysis
Sl Link length Angular velocity Linear Velocity Sense
01 AD= 180 mm Fixed link (AD = 0 and VAD = 0)
02 AB = 90 mm B = 10.472 r/s VB = B x AB =0.9425 m/s (ab)  to AB
03 BC = 120 mm CB = VCB = cb X scale= 3.15 x 0.2 =  to BC
0.63 m/s (cb)
04 CD = 120 mm C = VC = cd X scale= 3.15x0.2 = 0.63  to BC
m/s (cd)

)
(V BC
dc= 3.15

B C
C (V C)

To
20 c  To D
B a.d VC


10
30
T
oA VBC bc= 3.15
B(
V
B ) 110
100
60 b
A D Scale 1cm = 0.2 m/s

i) Results
Angular velocity of the link BC = BC = 5.25 r/s
Angular velocity of the link CD = C = 5.25 r/s
 Acceleration Analysis
Sl. Link Magnitude Direction Sense
01 AB = AB =10.4722 x 0.09 =9.87 m/s2 (a1b1) Parallel to AB A
= AB x AB = 0 Constant angular velocity
02 BC = BC =5.252 x 0.12 = 3.3075 m/s2 (b1y’) Parallel to BC 
=c1y1 x scale = 2.45 x 2 = 4.9 m/s2 (y’c1)  To BC
03 CD = CD =5.252 x 0.12 = 3.3075 m/s2 (a1x’ ) Parallel to CD 
= c1x1 x scale = 5.15 x 2 = 10.3 m/s2 (x’c1)  To CD
C Scale 1cm = 2 m/s2
a1,d1
B 20 ||le to CD
Ac
le to BC le to
CD x1
||le to AB
c1 Abc
100
60
A ii) Results D b1

||
Angular acceleration of the link BC y1

le to
BC
Angular acceleration of the link CD r/s
c1y1 = 2.45 cm and c1x1 =5.15cm
2. The Figure shows a four bar mechanism. Crank O2A rotates at 200 rpm and an angular
acceleration of 150 rad/sec2 at the instant when the crank makes an angle of 45 to the
horizontal. Find the acceleration of points B and C and angular velocities and angular
acceleration of the link 3 and 4.
Solution
NA = 200 rpm

A = 150 r/s2 B
C
O2O4 = 120 mm A 18
O2A= 45 mm
AB = 90 mm 45 93
AC = 40 mm O2 O4
BO4 = 60 mm
VA= A x O2A = 0.94248 m/s Scale 1: 2
2. The Figure shows a four bar mechanism. Crank O2A rotates at 200 rpm and an angular
acceleration of 150 rad/sec2 at the instant when the crank makes an angle of 45 to the
horizontal. Find the acceleration of points B and C and angular velocities and angular
acceleration of the link 3 and 4.
Solution
NA = 200 rpm

A = 150 r/s2 B
C
O2O4 = 120 mm A 18
O2A= 45 mm
AB = 90 mm 45 93
AC = 40 mm O2 O4
BO4 = 60 mm
VA= A x O2A = 0.94248 m/s Scale 1: 2
 Velocity Analysis
Sl Link length Angular velocity Linear Velocity Sense
01 O2O4 = 120 mm Fixed link (AD = 0 and VAD = 0)
02 O2A = 45 mm A = 20.944 r/s (oa) VA = A x AB = 20.944 x  to O2A
0.045 = 0.94248 m/s
03 AB = 90 mm AB = VAB = ab X scale=  toAB
3.6 x 0.2 = 0.72 m/s (ab)
04 BO4 = 60 mm B = VB = ob X scale  to O4B
2.4 x 0.2 = 0.48 m/s (ob)
05 Vc = oc x scale = 3.4 x 0.2= 0.68 m/s (oc)

B
 To O4B (VB)
C o b 3
A 18
45
VC
45 ^ to O2A  to AB (VAB)
93
VA
c
O2 O4 108

Scale 1: 2 a
Scale 1cm = 0.2 m/s
Locate c on ab (velocity diagram) Angular velocity of link 3-AB =
then ac = 16 mm
Angular velocity of link 4- B =
 Acceleration Analysis
Sl. Link Magnitude Direction Sense
01 OA= = OA =20.9442 x 0.045 =19.74 m/s2 (ox’) le to O2A O2
= A x O2A = 150x0.045 =6.5 m/s2 (x’a’)  to O2A a’
02 AB =AB =82 x 0.09 = 5.76 m/s2 (a’y’) le to AB 
= y’b’ x scale = 8.7 x 2 =17.4 m/s2 (y’b’)  To BC
03 O4B =O4B =82 x 0.06 = 3.84 m/s2 (o’z’) le to O4B 
= z’b’ x scale =9.6 x 2 = 19.2 m/s2 (z’b’)  To O4B
o’
B AB || to O4B (
C b’ to O4B (
A 18
z’
(
A
O2
45 to
93 ||

O2 O4
AC
Scale 1: 2 A ABc’ AA
x’
Locate c’ on a’b’
Scale 1cm = 2m/s2
(
AB (

A 2
O
o
 To

t
a’c’ =38.6 mm
a’
B ()
I to A
Ac =o’c’ x scale = 9.15 x 2 = 18.3 m/s2

AB = o’b’ x scale = 9.7x2 = 19.2 m/s2

ABA = y’b’ x scale = 8.7 x2 =17.4 m/s2

o’
AB || to O4B (
b’ to O4B (
z’
(
A
O2
to
||

AC
A AB
c’ AA
x’
(
AB (

A 2
O
o
 To

t

a’
B ()
I to A
3. In a slider crank mechanism, the crank OB = 30 mm and the connecting rod BC= 120 mm.
The crank rotates at a uniform speed of 300 rpm clockwise. For the crank position shown in
Figure. Find a) velocity of piston C and angular velocity of connecting rod BC, b) Acceleration
of piston C and angular acceleration of connecting rod BC.
Solution
NB = 300 rpm

B = 0 r/s2
VB= Bx OB = 31.416 x .0.03= 0.9425 m/s
OB = 30 mm
BC = 120 mm Scale 1:1

60
C
O
3. In a slider crank mechanism, the crank OB = 30 mm and the connecting rod BC= 120 mm.
The crank rotates at a uniform speed of 300 rpm clockwise. For the crank position shown in
Figure. Find a) velocity of piston C and angular velocity of connecting rod BC, b) Acceleration
of piston C and angular acceleration of connecting rod BC.
Solution
NB = 300 rpm

B = 0 r/s2
VB= Bx OB = 31.416 x .0.03= 0.9425 m/s
OB = 30 mm
BC = 120 mm Scale 1:1

B
13

60
C
O
 Velocity Analysis
Sl Link length Angular velocity Linear Velocity Sense
01 OB = 30 mm B = 31.416 r/s VB = B x OB = 31.416 x 0.03  to OB
= 0.9425 m/s (ob)
02 BC = 120 mm BC = VBC = bc X scale= 2.4 x 0.2= 0.48  To AB
m/s (bc)
03 VC = oc X scale= 4.6x 0.20 = 0.92 m/s (oc) le to OC

B || to OC (VC)
13 o c
Vc

)
VBC

BC
t

C (V
oO
60 B (V
C

 to B
B )

O b
Scale; 1cm = 0.2 m/s
Results
Velocity of piston = VC =0.92
m/s
Angular velocity of link BC-
BC =
 Acceleration Analysis
Sl. Link Magnitude Direction Sense
01 OB = OB =31.4162 x 0.03 =29.6 m/s2 (o’b’) le to OB O2
= B x OB = 0 m/s2
02 BC = =42 x 0.12 = 1.92 m/s2 (b’x’) le to BC 
=x’c’ x scale = 6.5 x 4 =26 m/s2 (x’c’)  To BC
03 OC = o’c’ x scale = 2.7 x 4 =10.8 m/s2 (o’c’) le to OC 

B
|| to OC (Ac)
13 o’
c’ AC
60
C
O

()
 to BC
Results

ACB
Scale 1cm = 4 m/s2

(
Acceleration of piston C = AC = 10.8 m/s2

OB
to
Angular acceleration of connecting rod

||
BC
=216.67 r/s x’ b’

|| to BC (
4. Find the velocity and acceleration of the slider D and the angular velocity and angular
acceleration of link CD for the engine mechanism shown in Fig. The crank O 2A rotates at a
uniform speed of 20 rad/sec in the clock wise direction. The various lengths of the given
mechanism are O1A =0.5 m, AB = 1.0 m, O2B=0.75m, BC = 1m and CD = 1.75 m.
Solution 0.6 m 0.6 m
A = 20 r/s
VA= A x O2A = 20 x 0.5 = 10 m/s
O1A = 0.5m
AB = 1.0 m D
O2B=0.75m
BC=1m
CD = 1.75 m
O2

B
1.0 m

O1 C
50

A
4. Find the velocity and acceleration of the slider D and the angular velocity and angular
acceleration of link CD for the engine mechanism shown in Fig. The crank O 2A rotates at a
uniform speed of 20 rad/sec in the clock wise direction. The various lengths of the given
mechanism are O1A =0.5 m, AB = 1.0 m, O2B=0.75m, BC = 1m and CD = 1.75 m.
Solution 0.6 m 0.6 m
A = 20 r/s
VA= A x O2A = 20 x 0.5 = 10 m/s
O1A = 0.5m
AB = 1.0 m D
O2B=0.75m
BC=1m
CD = 1.75 m
O2
33

B
1.0 m

99

O1 C
112
50

A
 Velocity Analysis
Sl Link length Angular velocity Linear Velocity Sense
01 O1A = 0.5 m A = 20 r/s VA = A x O1A = 10 m/s  to O1A
02 O2B = 0.75 m B = VB = ob X scale= 4.1 x 2= 8.2 m/s  To O2B

03 O2C=1.75 m B = VC= oc X scale=9.56 x 2=19.12 m/s  To O2C

04 AB=1.0 m AB= VAB= ab X scale=1.25 x 2=2.5 m/s  To AB
05 DC=1.75 m DC= VDC= dc X scale=4.7 x 2= 9.4 m/s  To DC
06 VD = odxscale =7.375x2 =14.75 m/s ||le to axis

o
Velocity Diagram (scale 1cm = 2 m/s)
)
(V A
A
O 1
To

)
b
a B (V A
B
A
 To

|| to piton axis (VD)

Vd

) AB
V
B(
Results

A
To
Velocity of the slider 
Locate c on o2b D = VD = 14.75 m/s Vc
Angular velocity of link VCD d
CD =CD = 5.37 r/s c  to CD (V CD)
 Acceleration Analysis
Sl. Link Magnitude Direction Sense
01 O1A = O1A =202 x 0.5 =200 m/s2 (o’a’) le to O1A O1
= A x O1A = 0 m/s2
02 AB = =2.52 x 1 = 6.25 m/s2 (a’x’’) le to AB 
=x’b’ x scale = 3.9x 40 = 159.92 m/s2  To AB
03 O2B =2 x 0.75 = 89.65 m/s2 (o’y’) le to O2B
 To O2B
04 =2 x 1.75 = 50.5 m/s2 le to DC
 To DC
AD = o’d’xscale = 8.5 x40 = 340 m/s2 c’ ADC
|| to DC )
z’  to DC
)
Scale 1 cm = 40 m/s2

b’ AD
AB (
 To
B

|| to AB () 9
a’
2
oO

x’
t

()
A 1
O
to
Locate c’ on o’b’ y’ ||

OB
2
o
|t |
Results
Acceleration of the slider D = AD = 340 m/s2
Angular Acceleration of link CD =
= 11.428 r/s2
5. In the toggle mechanism as shown in Fig., the slider D is constrained to move on a horizontal
path. The crank OA is rotating in the counter clockwise direction at a speed of 180 rpm.
Increasing at the rate of 50 rad/sec2. The dimensions of the various links are as follows;
OA=180 mm, CB = 240 mm, AB=360 mm and BD =540 mm. For the given configuration find
1) Velocity of slider D and angular velocity of BD and 2) Acceleration of slider D and angular
acceleration of BD
A
A
Solution
NA = 180 rpm A
A = =18.85 r/s 45
VA= A x OA = 18.85 x 0.18= 3.4 m/s

360 mm
OA 180 mm O
AB = 360 mm B
CB= 240 mm D
BD = 540 mm
A = 50 r/s2
= 50 x 0.18 = 9 m/s2 C
105 mm
Solution
NA = 180 rpm
A = =18.85 r/s
VA= A x OA = 18.85 x 0.18= 3.4 m/s
OA 180 mm
AB = 360 mm
CB= 240 mm
BD = 540 mm
A = 50 r/s2
= 50 x 0.18 = 9 m/s2
A

O 45
360 mm

105 mm B
D
C
 Velocity Analysis
Sl Link length Angular velocity Linear Velocity Sense
01 OA = 180 mm A = 18.85 r/s VA = A x O1A = 3.4 m/s  to OA
02 BA = 360 mm BA = VB = ab X scale= 0.9 x 1= 0.9 m/s  To AB

03 CB= 240 mm B = VB= cb x scale= 2.75 x 1=2.75 m/s  To CB

04 BD = 540 mm BD= VBD= bd X scale=2.4 x 1 =2.4 m/s  To BD
05 VD = od x scale = 2.1 x 1 = 2.1 m/s ||le to CD

Velocity Diagram (scale 1cm =1 m/s)

A


to
O

C
45

B(
b

V B)
VAB
a  to AB (VAB)

)
VB

OA
B

to
105 mm VDB


VA
|| to CD (VD)
D d
C VD o,c

(VBC )
 to BD
Results
1) Velocity of slider D = VD = 2.1 m/s
Angular velocity of BD = BD = 4.44 r/s
 Acceleration Analysis
Sl. Link Magnitude Direction Sense
01 OA = OA =18.852 x 0.18 = 64.2 m/s2 (o’x’) le to O1A O1
= A x O1A = 50 x 0.18 = 9 m/s2 (x’a’)
02 AB = =2.52 x 0.36 = 2.25 m/s2 (a’y’) le to AB 
=y’b’ x scale =3.8 x10 =38 m/s2 (y’b’)  To AB
03 CB =2 x 0.54 = 31.5 m/s2 (c’z’) le to CB
(z’b’)  To CB
04 BD =2 x 0.54 = 10.67 m/s2 le to BD
 To BD
AD = c’d’ x scale = 1.1 x10 = 11 m/s2
Scale
AD || to DC 1 cmA = 10 m/s2
d’ B D o’ c’
A toC
||

 BD
O z’
𝐴𝐵𝑛 𝐴∨¿ 𝑡𝑜 𝐴𝐵
45
OA ADB AB

A
A
o
| |t
y’ q’  AB
a’
105 mm B AAB b’
𝐴𝐵𝑛
 OA 𝐷 ∨¿ 𝐵
D x’ 𝐷


CB
C
2) Acceleration of slider D = AD = 11 m/s2 Angular Acceleration of BD = BD =
= 71.296 rad/sec2
 Coriolis Component of Acceleration
Definition
Whenever a point in one body moves along a path on a second body and if the path
rotating, then the acceleration of the point in the first body relative to a coincident
point in the second body will have a Coriolis components.

P B point on link 3(slider)

P1 A Fixed point on link 2
B1 Let B and A be coincident at the instant. Let link
Q 2 have a constant angular velocity 2 in its
motion from OP to OP1 in small interval of time
3 B2 ‘dt’ and the slider moves B to B2.
B&
d VBA is constant velocity of the slider.
A
Consider the motion of the slider from B to B 2
2 A1 in the following three stages
1) B to A1 due to the rotation of the link 2
2 2) A1 to B1 due to the outward velocity VBA
d 3) B1 to B2 due to acceleration perpendicular
0 to the link 2
1
 Coriolis Component of Acceleration
1) B to A1 due to the rotation of the link 2
2) A1 to B1 due to the outward velocity VBA
3) B1 to B2 due to acceleration perpendicular
P to the link 2
P1 Third component is the Coriolis component of
B1
Q acceleration
Arc B1B2 = Arc QB2 – Arc QB1
3 = Arc QB2 – Arc AA1
B2 = OQ d - OA d
B&
A d = (OQ-OA) d
= AQ d = A1B1 d-------(1)
2 A1 Where A1B1 = VBA dt (ds = v dt)
d = 2 dt
2 Substitute in 1
d Arc B1B2 = VBA2 dt2 -------------(2)
0 and also
Arc B1B2 = ½ a dt2 -------------------(3)
1
From 2 and 3
½ a dt2 =VBA2 dt2
a = 2 VBA 2
 Coriolis Component of Acceleration
1. The Fig. shows a crack and slotted lever type quick return mechanism. The crank
rotates at a uniform speed of 60 rpm clockwise. The line of stroke of the ram is
perpendicular to OA. Determine velocity and acceleration of D.

D NB = 60 rpm
B = =
C OA= 250 mm VB = B x AB = 6.28 x 0.1 =
AB = 100 mm 0.628 m/s
E on link OC OC = 400 mm
450 mm

B CD = 150 mm
A
120

Scale 1: 10
 Coriolis Component of Acceleration
1. The Fig. shows a crack and slotted lever type quick return mechanism. The crank
rotates at a uniform speed of 60 rpm clockwise. The line of stroke of the ram is
perpendicular to OA. Determine velocity and acceleration of D.

NB = 60 rpm
D
B = =
C VB = B x AB = 6.28 x 0.1 =
B 0.628 m/s
E
450 mm

A
120

O
Scale 1: 5
 Coriolis Component of Acceleration
1) Locate convenient point ‘a’ and ‘o’
2) Draw ab = VB=0.628m/s  to AB (suitable
scale)
3) Draw line from o  to AB (VB)
4) From b draw line parallel to OB and meets at
‘e’ (VBE)
5) Locate ‘c’ on the velocity diagram (VC) b
becomes then oc = 57.5 mm

|| to OB
t oA
B VBE
VB Vc
6) Draw the  to CD from point ‘c’ (VCD) c
VE  to OB e
7) Draw horizontal and parallel line from o d
(piston movement) until it meets pervious line o,a VD

 To
(VD).

CD
VE = oe x scale = 4.6 x 10 = 46 cm/s= 0.46 m/s
VEB = be x scale = 4.2 x 10 = 42 cm/s = 0.42 m/s
VC = oc x scale = 5.75 x 10 = 57.5 cm/s = 0.575 m/s Scale 1cm =0.1 m/s
VDC = cd x scale = 1.8 x 10 = 18 cm/s = 0.18 m/s
VD = od x scale = 6.35 x 10 = 63.5 cm/s = 0.635 m/s (stroke velocity )
 Coriolis Component
The acceleration equation of point E on the
of Acceleration
link OC is =
VBE
AE = AB+AEB + 2 EO VEB BE
( Direction of
Coriolis ace
Coriolis acceleration = 2 x BE x VBE = 2 BE = 2 BE VBE
1.2075 m/s2

a’ o’
|| to BO e  BO
1. From any convenient point a’, draw a’b’=
parallel to BA x’

||
to
2. From b’ draw b’y’=2BEVBE =1.2075 m/s2 in

BA
the direction of Coriolis acceleration (OC)
3. From o’ draw o’x’ = =0.66m/s2 parallel to BO

=AEB
4. Draw perpendicular line form x’ (direction of
5. From y’ draw a line parallel to link OC y’ 2BEVBE b’
(direction of slider), which intersects the  line
drawn fro x’ at e’ Scale 1 cm = 0.5 m/s2
 Coriolis Component of Acceleration
6. Locate c’ ’
o’c’ = 2.75cm

7. Acceleration equation for D as AD = AC +

ADCi.e+=+++
8. = 0.216 m./s2 (From c’ draw c’z’ = =0.216
m/s2 parallel to DC)

𝐴 𝐷𝐶
𝑇
9. From z’ draw a line to c’z’ (direction of a’ o’ d’
AD
|| to BO e  BO
10. From o’ draw a horizontal line indicating
the path of D which intersect previous line (AD) x’
Z’ c’

||
6. Acceleration of D = AD = o’d’x scale = 3.45 x =AEB

to
BA
0.5 = 1.725 /s2
𝐴𝑛
𝐷𝐶

=AEB
y’ 2BEVBE b’

Scale 1 cm = 0.5 m/s2

 Coriolis Component of Acceleration
2. The Fig. shows a quick return mechanism. Link 2 rotates uniformly at 20 r/s in
clockwise direction. Determine the angular acceleration of link 3

O
2 OC = 350
2 OA = 150 mm
4 CB= 250 mm
A on link 2
and link 4 2=20 r/s
1
B on link 3 VA = 2 x OA = 20 x 0.15 = 3 m/s
3

Scale 1:5
 Coriolis Component of Acceleration
2. The Fig. shows a quick return mechanism. Link 2 rotates uniformly at 20 r/s in
clockwise direction. Determine the angular acceleration of link 3

OC = 350 O
OA = 150 mm 2
CB= 250 mm
A/B
2=20 r/s
VA = 2 x OA = 20 x 0.15 = 3 m/s 1

Scale 1cm :5 cm
 Coriolis Component of Acceleration O
2
1) Velocity equation is VA = VB + VAB
A/B
2) From a convenient point ‘o’ draw oa = 3 m/s
(VA) to link 2 is same direction of 2 1
3) From ‘a’ draw a lie parallel to the path of 3
slider (link 3) (VAB)
4) Draw a line  to link 3 (VB), which cuts the
previous line (VB)
C
1) VAB = ab x scale = 2.6 x 1 = 2.6 m/s Velocity diagram
2) VB = cb x scale = 1.55 x 1 = 1.55 m/s
L
ink
3

b
VB

r
slide
o, c

|| to
2
3 VAB

B
VAB vA a
Scale 1 cm = 1 m/s
3
 Coriolis Component of Acceleration
Acceleration Diagram
3) For a convenient point o’ draw
1) The acceleration equation AA = AB + AAB + 23 VAB
o’a’ ==60 m/s2 parallel to link 2
2) ++++ 23VAB
4) From c’ (o’) draw c’x’ ==9.61
= 0 (link 2 rotates uniform velocity)
m/s2parallel to link 3
= 0 (there is no change in direction for the slider From x’ draw a line  to c’x’ indicating
=60 m/s2 the direction of
=9.61 m/s2 From a’ draw the Coriolis component
=32.24 m/s2 = a’y’  to the link 3.
𝐴𝑇𝐵 𝑚𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑖𝑠𝑢𝑛𝑘𝑜𝑤𝑛𝑏𝑢𝑡 𝑡𝑜 𝑙𝑖𝑛𝑘3
𝐴𝑇𝐴𝐵 𝑚𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑖𝑠𝑢𝑛𝑘𝑜𝑤𝑛 𝑏𝑢𝑡∨¿ 𝑙𝑒𝑡𝑜𝑙𝑖𝑛𝑘3 Y’ 2 3 𝑉
𝑉𝐵 1.55 𝐴𝐵
a’
2  3 𝑉 𝐴𝐵=2 𝑉 𝐴𝐵=2 𝑥 2.6=32.34 𝑚/ 𝑠
𝐶𝐵 0.25
O
y’ 2 =A
A
𝐴 𝑇𝐴𝐵= 𝐴 𝐴𝐵

A/B
1 𝐴𝑇𝐵
o’c’
3 x’
b’ Scale 1 cm = 10 m/s2
Coriolis Component of Acceleration
O From y’ draw the line parallel to the link 3
y’ 2 indicating the direction which intersects the 
drawn from x’ to b’.

𝐴 𝑇𝐴𝐵= 𝐴 𝐴𝐵
A/B
1

3
b’
Y’ 2 3 𝑉
𝐴𝐵
a’
C
𝐴 𝐴𝐵
= x’b’ x scale = 8.2 x 10 = 82 m/s2 =A
A

b’
3 = = 𝐴❑𝐵
𝐴𝑇𝐵
Angular acceleration of link 3 = o’c’
𝑛
𝐴𝐵
Scale 1 cm = 10 m/s2 x’
 Instantaneous Centre
Two bodies moves in a planar motion, there is two coincident points, the absolute
velocities of which are the same. At the instant, the pair of coincident points with
the same velocities is defined as the instantaneous center of relative motion

Properties of Instantaneous Centre

1. One rigid link rotates instantaneously relative to anther for configuration of the
Mechanism considered.
2. Two body with relative motion
3. The instant center may be changing all the time
4. The Velocity Vector is perpendicular to the rotating radius
5. If one link is a frame, the instant center is the rotating center

Number of Instantaneous centre in a mechanism

The number of instantaneous Centre n is number of links
 Instantaneous Centre
Type of instantaneous Centres
The are three types of instantaneous centres
a. Fixed Instantaneous centre – I12 and I14
b. Permanent Instantaneous centre – I23 and I34
a. Neither fixed nor permanent instantaneous centre- I24 and I13

I13

I34
I23
3
4
2
I24
I41
I12
1
 Instantaneous Centre
Arnold-Kennedy Theorem or three centres in line theorem
If three bodies have motion relative to each other, their instantaneous centres should lie in a
straight line.

Proof:
Consider a three link mechanism with link
1 being fixed link 2 rotating about I12 and
link 3 rotating about I13 Hence, I12 and I13
are the instantaneous centres for link 2
and link 3.

Let us assume that instantaneous centre

==3 of link 2 and 3 be at point A i.e. I23. Point A
is a coincident point on link 2 and link 3.

I12 = Instantaneous centre of 1 relative to 2 Considering A on link 2, velocity of A with

I13 = Instantaneous centre of 1 relative to 3 respect to I12 will be a vector VA2  to link
I23 = Instantaneous centre of 2 relative to B A I12.
Similarly for point A on link 3, velocity of A
with respect to I13 will be  to A I13
 Instantaneous Centre
Arnold-Kennedy Theorem or three centres in line theorem
If three bodies have motion relative to each other, their instantaneous centres should lie in a
straight line.

Proof:

It is seen that velocity vector of VA2 and

VA3 are in different directions which is
impossible.
Hence, the instantaneous center of the
two links cannot be at the assumed
position.
==3
It can be seen that when I23 lies on the
line joining I12 and I13 the VA2 and VA3 will
I12 = Instantaneous centre of 1 relative to 2 be same in magnitude and direction.
I13 = Instantaneous centre of 1 relative to 3
I23 = Instantaneous centre of 2 relative to B Hence, for the three links to be in relative
motion all the three centers should lie in a
same straight line. Hence, the proof
 Instantaneous Centre- Problem
1. Locate all the instantaneous centres for the four bar mechanism shown in fig.

C I34 1. Number of Instantaneous centre

=6
3
I23
B 1 1 2
5
2 I13 4 4
6 2

4 3 3
A I12 I14 D
I24
1
1
2) Instantaneous Table

Links 1 2 3 4
IC 12 23 34
13 24
14
 Instantaneous Centre- Problem
2. Locate all the instantaneous centres for the slider mechanism shown in fig.
I14 at  I14 at 
1. Number of Instantaneous centre
=6
I13

I24 1 1 2
I23 5
3 B 2 4
6 2
4 A I
C 12

1 1 4 3 3
I34

2) Instantaneous Table

Links 1 2 3 4
IC 12 23 34
13 24
14
 Instantaneous Centre- Problem
3. A pin jointed four bar mechanism ABCD is shown in Fig. Link AB = 150 mm, BC = 180
mm, CD = 180 mm and the fixed link AD= 300 mm. Link AB makes 60 with the link AD,
and rotates uniformly at 100 rpm. Locate all the instantaneous centres and find the
angular velocity of link BC and the linear velocity of link CD.
I13 = 10.472 r/s
Scale 1:5
VB = B x AB = 10.4722 x 150 = 1570.8
mm/s or 1.5708 m/s

C From Fig.
3 I34 I13B = 49x scale = 49 x 5 = 245 mm
B
I23 4 BC = = =6.41 r/s
2
60 L Linear velocity of link CD
I12 I14 D
A
I24 1 I13C = 35 x scale = 35 x5= 175 mm

Vc = BC I13C = 6.41 x 0.175 = 1.122 m/s

 Instantaneous Centre- Problem
4. A slider crank mechanism has lengths of crank and connecting rod equal to 200 mm and
800 mm respectively locate all the instantaneous centers of the mechanism for the
position of the crank when it has turned through 30 from IOC. Also find velocity of slider
and angular velocity of connecting rod if crank rotates at 40 rad/sec.

A
 Instantaneous Centre- Problem
I14 at 
I13
= 40 r/s
VA = A AI12 = 40x0.2 =8 m/s
I14 at 
Also VA = 3 AI13
3 = = =

VB = 3 x BI13 = 8.7 x 0.57 =5 m/s Velocity

of slider

I24 A I23
2 3
30
o B
I12 I34
1 4
Scale 1 cm = 5 cm
 Instantaneous Centre- Problem
5. In the toggle mechanism shown in figure the slider D is constrained to move in a
horizontal path the crank OA is rotating in CCW direction at a speed of 180 rpm the
dimensions of various links are as follows: OA = 180 mm, CB = 240 mm, 1= 360 mm and
BD = 540 mm. Velocity of slider and Angular velocity of links AB, CB and BD.

n = 6 links
= 15

1 2 3 4 5 6
12 23 34 45 56
13 24 35 46
14 25 36
15 26
16
Instantaneous Centre- Problem
OA = 180 mm, CB = 240 mm, AB = 360 mm and BD = 540 mm.

1
I61 I12
6 I13 2
I51 I14 I13
I56 I46 I23

I 25
I24

6
I3
I35
A 5 3
2 I45 I34
45
4
1O
3
360 mm

B 5
4
D
1C
Instantaneous Centre- Problem
OA = 180 mm, CB = 240 mm, AB = 360 mm and BD = 540 mm.
I16 @  I16 @ 
I16 @  I16 @ 

I24

I23
I36 2
I12 I25 I51
1
3
I36
I46 I34, I35 I45
5
4
I14
1 I56

I13
 Instantaneous Centre- Problem
A =
VA = A x AI12 = 3.4 m/s

Link -3

VA = 3 x AI13

VB = 3 x BI13= 4 BI14
4 =11.875 r/s

VB = 5 x BI18

VD = 5 DI15 = 2 m/s
 Instantaneous Centre- Problem
6. Locate all the instantaneous centre of the mechanism shown in Fig.
I14 at 
I16 at 
I15, I13

I56
I36
6
I43 I35
4
1
5 I46
1
3
I23 I35 I25 n = 6 links
= 15
I24 I26
2 1 2 3 4 5 6
I12 12 23 34 45 56
13 24 35 46
14 25 36
1 15 26
16
 Klein’s Construction for slider-crank Mechanism
This is a simple graphical method for drawing the acceleration diagram. The line Diagram
for the mechanism is OAB with OA being crank and AB is connecting rod.
Draw a circle centre O radius OA Draw a Circle with centre mid
E point on AB to pass through
point A

C
A
F

11 C B
O
D

Extend AB to pass through the centre line of the first circle to locate C
Draw a circle centre point A to pass through C
Locate points D and E and connect with a lin Triangle OAC- velocity diagram
The scale may be determined
The red outline OAFG is the acceleration diagram
OA=2 crank radius
OG-represents to scale the acceleration of piston
OA represents Centripetal acceleration of A to O.
 Klein’s Construction for slider-crank Mechanism
1. Determine the velocity and acceleration of the piston by Kelein’s construction to
the following specification. Stroke = 300 mm, Ratio of length of connecting rod to
crank length = 4, speed of engine = 300 rpm, Positon of crank = 45  with dead
centre.
Length of crank r = stoke /2 = 300/2 =150 mm and length of the connecting rod = l =
4r = 600 mm, = 45  and N = 300 rpm and A = 2N/60 = 31.416 r/s

Scale 1:5

A M
B

45
P
C O

Triangle OAM-Klein’s velocity diagram D

Velocity of piston = VP=  x OM x scale = 31.416 x 25 x 5 = 3927 mm/s
= 3.927 m/s
OABC quadrilateral – Klein’s acceleration diagram
Acceleration of piston Ap = 2 OC x scale = 31.4162 x 21.5 x 5 = 103098.7 mm/s2
= 106.1 m/s2
 Complex Algebra Method
Vector Analysis: For the position vectors r
shown below, the positive angle is measured
counter-clock wise (ccw) from the horizontal
line, which is drawn through the beginning of
the vector.

r = rx + I rywhere I =
r = r (cosθ + isinθ) = reiθ, which is known as Euler formula.

Vector Loop or Loop-Closure Equation

Vector-loop equations are: For four-bar linkage: r1 + r2 + r3 + r4 = 0

 Complex Algebra Method
Vector Loop or Loop-Closure Equation

Vector-loop equations are: For slider-crank mechanism: r2 + r3 − r4 = 0

 Complex Algebra Method
Raven’s Approach for the slider crank Mechanism- position
4= 270 r4 =  and 4=4=0 1=0
r1=r2+r3
B 3 r 1+
r3 r 1+
r2
r1
2 C 4= 270 r1 = +
A
Real part r1= -------(2)
r1
r4 at  Imaginary part
0=

(3 can be determine)

 Complex Algebra Method
Raven’s Approach for the slider crank Mechanism- Velocity
4= 270 r4 =  and 4=4=0 1=0
B 3 r 1+
r2 r3 Differentiate equation (1) with respect to time
++ +
2 C 4= 270 Where 0, =0 and ( r2 and r3 are constant lengths)
A
+ +------------(2)
r1 Rewrite in polar form
r4 at 
(cos 2 + i sin 2) + + (cos 3+ i sin 3)

Vp = ir22 cos 2 -r22 sin 2 + ir33cos 3 – r33sin 3

Real part: Vp= -r22 sin 2–r33 sin 3 ------(3)

Imaginary part: 0 =r22 cos 2+ r33 cos 3 -----(4)
From (3)
-------(5)
substitute 3 in (3) we get velocity of piston
 Complex Algebra Method
Raven’s Approach for the slider crank Mechanism- Acceleration
4= 270 r4 =  and 4=4=0 1=0
B 3 + +
r3 Differentiate equation with respect to time
r2
2 C 4= 270
A Where 0, but , =0, , =0 and ( r2 and r3 are constant lengths)
r1
r4 at 
rewrite in polar form

𝐴 𝑃 =𝑟
¨ 1 =− 𝑟 2 2
2 ¿

𝐴 𝑃 =− 𝑟 2  22 cos  2 − 𝑖𝑟 2  22 sin 2 +𝑖 𝑟 2  2 cos 2 +𝑖 𝑟 2  2 ¿¿ ¿ ¿

𝐴 𝑃 =¿
Real part =

𝑰𝒎𝒂𝒈𝒊𝒏𝒂𝒓𝒚 𝒑𝒂𝒓𝒕 =−𝒓 𝟐 𝟐𝟐 𝒔𝒊𝒏  𝟐+𝒓 𝟐 𝟐 𝒄𝒐𝒔  𝟐 −𝒓 𝟑 𝟐𝟑 𝒔𝒊𝒏 𝟑 +𝒓 𝟑  𝟑 𝒄𝒐𝒔 𝟑=𝟎
r 3 3 cos  3=¿r 2  22 sin  2+r 2  2 cos  2+r 3  23 sin  3 ¿
r 2  22 sin  2+r 2  2 cos  2+ r 3  23 sin  3
3 ¿
𝑟 3 cos 3

𝑨 𝑷 =−𝒓 𝟐  𝟐𝟐 𝐜𝐨𝐬  𝟐 −𝒓 𝟐 𝟐 𝒔𝒊𝒏 𝟐 − 𝒓 𝟑  𝟐𝟑 𝐜𝐨𝐬  𝟑 −𝒓 𝟑 𝟑 𝒔𝒊𝒏  𝟑

 Complex Algebra Method
1. Using complex algebra derive expression for velocity and acceleration of the piston, angular acceleration of the
connecting rod of a reciprocating engine. With these expression determine the above quantities, if the crank length is
50 mm, connecting rod 200 mm, crank speed is constant at 3000 rpm and crank angle is 30.
Problem
B 3 r2 = 50 mm and r3 = 200 rpm N2= 3000 rpm (constant)
2 =30 
r2 r3
= 315.16 rad/s 2 =0
2 C 4= 270
A Determine 3
=
r1
r4 at  Determine 3(Angular velocity of CR)
= = -68.56 rad/s
Derive the previous equations such as Determine Vp( velocity of piston)
Vp = - r22 sin 2– r33 sin 3
(position)
= -50 x315.16 sin 30 – 200 x -68.56 sin 352.82 = -9.57 m/s
(Angular velocity CR) Determine 3 ( Angular acceleration of CR)
r 2  22 sin  2+r 2  2 cos  2+ r 3  23 sin  3
Vp = - r22 sin 2– r33 sin 3 (Velocity of piston) 3 ¿
𝑟 3 cos 3
Angular acceleration of CR 50 𝑥 315.16 sin 30+50 𝑥 0 cos 30+200 (−68.56)2 sin 352.8
2

r 2  22 sin  2+r 2  2 cos  2+ r 3  23 sin  3 200 cos 352.82

3 ¿
𝑟 3 cos 3 =11842.43 rad/s2
Acceleration of slider (piston) Determine Ap ( Acceleration of piston)
𝟐 𝟐
𝑨 𝑷 =−𝒓 𝟐  𝟐𝟐 𝐜𝐨𝐬  𝟐 −𝒓 𝟐 𝟐 𝒔𝒊𝒏 𝟐 − 𝒓 𝟑  𝟐𝟑 𝐜𝐨𝐬  𝟑 −𝒓 𝟑 𝟑 𝑨 𝑷 =−𝒓
𝒔𝒊𝒏  𝟑 𝟐  𝟐 𝐜𝐨𝐬  𝟐 −𝒓 𝟐 𝟐 𝒔𝒊𝒏 𝟐 − 𝒓 𝟑  𝟑 𝐜𝐨𝐬  𝟑 −𝒓 𝟑 
Ap = - 50 x 315.162 cos 30 – 0 – 200 x (-68.56)2cos 352.82
– 200 x 11842.43 x sin 352.82 = -4910.4 m/s2
 Complex Algebra Method
4
Position Vector Equation- Four Bar Linkage
3
Position Analysis: The vector loop equation is written as

+= 0 (1) 2

r1(cos 1+i sin 1) + r2(cos 2+i sin 2) + r3(cos 3+i sin 3) + r4(cos 4+i sin 4) = 0
Collecting real and imaginary parts yields
r1cos 1 + r2cos 2 + r3cos 3 + r4cos 4 =0
r1 sin 1+ r2sin 2 + r3sin 3 + r4 sin 4 = 0

The problem of the position analysis is defined as Given: r1, r2, r3, r4, θ1 and θ2
Find: θ3 and θ4
 Complex Algebra Method
Velocity Vector Equation- Four Bar Linkage

Velocity Analysis: Taking time derivative of the position vector r = reiθ in general yields

𝑑𝑟 ˙  ) 𝑒𝑖 
=𝑟 = ( 𝑟
˙ +𝑖𝑟
𝑑𝑡
where ω is known as the angular velocity of the link.
+

where= 0, and also ===0, since r is frame, and the lengths of links 2, 3
1

and 4 are fixed.

+

i r2 2 (cos 2+i sin 2) + i r3 3(cos 3+i sin 3) + ir4 4(cos 4+i sin 4) = 0

Real: -r22 sin 2 - r33 sin 3 - r4 4 sin 4 = 0 (1)

Imaginary: r22 cos 2 + r33 cos 3 + r4 4 cos 4 (2)
Given: All r’s and θ ’s, and ω2 and Find 3 and 4
 Complex Algebra Method
Velocity Vector Equation- Four Bar Linkage

(-r22 sin 2 - r33 sin 3 - r4 4 sin 4 = 0) x cos 4

(r22 cos 2 + r33 cos 3 + r4 4 cos 4 =0 ) sin 4
-r22cos 4 sin 2 - r33cos 4 sin 3 - r4 4cos 4 sin 4 = 0
r22 sin 4cos 2 + r33 sin 4cos 3 + r4 4 sin 4cos 4 =0
r22 (sin 4 cos 2 - cos 4 sin 2) + r33(sin 4 cos 3- cos 4 sin 3)=0
r22sin (4 - 2) +r332sin (4 - 3) = 0
3 =-

(-r22 sin 2 - r33 sin 3 - r4 4 sin 4 = 0) x cos 3

(r22 cos 2 + r33 cos 3 + r4 4 cos 4 =0 ) sin 3
-r22 cos 3sin 2 - r33 cos 3 sin 3 - r4 4cos 3sin 4 = 0
r22 sin 3 cos 2 + r33 sin 3 cos 3 + r4 4 sin 3 cos 4 =0
r22 (sin 3 cos 2 - cos 3sin 2) + r4 4(sin 3 cos 4- cos 3sin 4 )=0

r22sin (3- 2) +r44 sin (4 - 3) = 0

4 =-
 Complex Algebra Method
Acceleration Vector Equation- Four Bar Linkage
+ ir - r2) ei

Where = 0, and also ===0 since r1is frame, and the lengths of links 2, 3 and 4 are
fixed ( = 0, and also ===0)
= (ir - r2 ) ei

((
((

Real:
im:
The problem of the acceleration analysis is defined as Given: All r’s, θ ’s, and ω ’s, and
α2 Find: α3 and α4
2 2
 3 ∝2 (  2 −  4 ) + ¿𝑟 3  3 cos ( 3 −  4 ) +𝑟 4  4
3 = − 𝑟 2  22 cos ¿
2 𝑟 3 𝑠𝑖𝑛 (  3 −  4 )
2 2 2
4 ∝2 𝑟 2 2 cos (  2 −  3 ) +𝑟 3 3 +𝑟 4  4 cos (  3 − 4 )
4 = +
2 𝑟 4 𝑠𝑖𝑛 (  3 − 4 )
 Complex Algebra Method
1. In a four bar mechanism ABCD, link AB=300 mm, CD= 360 mm and the fixed that
AD= 600 mm. The angle BAD = 60. The link AB has in angular velocity of 10 rad/sec
and an angular acceleration of 30 rad/sec2, both clockwise. Determine the angular
velocity and angular acceleration of link BC and CD by using Rave’s approach
(complex Algebra Method) 4 C
B
3 +
Given 

AD= r1 =600 mm,
AB = r2= 300 mm, 
2 = 60  
BC = r3 = 360 mm A D
CD = r4 = 360 mm
2 = 60  From ABD
BD2 =AB2 + AD2-2AB AD cos 60 =3002+6002-2(300)(600) cos 60
2 = -10 rad/sec (CW) BD = 519.6mm
2 = -30 rad/sec2 (CW)   = 30 

From BDC
BD2 =BC2 + DC2-2BC DC cos  = 519.62 = 3602+3602-2(360)(360) cos  then  = 43.8 
3 =  -  = 43.8 – 30 =13.8 
  = 43.8

 +  = 30 + 43.8 = 73.8 and 4 = 360 -  +  = 360 – 73.8 =286.19

Given Complex Algebra Method
AD= r1 =600 mm, 2 = 60,3 = 13.806 and 4= 286.2
AB = r2= 300 mm, Angular velocity
BC = r3 = 360 mm 3 =- =
CD = r4 = 360 mm
4=- = = -6.02 rad/s
2 = 60 
2 = -10 rad/sec (CW) Angular Acceleration
2 = -30 rad/sec2 (CW)
 3 ∝2 2 (  2 −  4 )+ ¿𝑟 3  23 cos ( 3 −  4 ) +𝑟 4  24
3 = − 𝑟 2  2 cos ¿
2 𝑟 3 𝑠𝑖𝑛 (  3 −  4 )
= 38.01 rad/sec2

2 2 2
4 ∝2 𝑟 2 2 cos (  2 −  3 ) +𝑟 3 3 +𝑟 4  4 cos (  3 − 4 )
4 = +
2 𝑟 4 𝑠𝑖𝑛 (  3 − 4 )
= 77.24 rad/sec2