Kinematics of Machinery (ME-224)

Module-2
By

Sajan Kapil
Assistant Professor
Indian Institute of Technology Guwahati
Guwahati-781039, Assam, India

Phone: 003612582652 Email: [email protected]

 ME 224 Kinematics of Machinery (2-1-0-6)

Elements of kinematic chain, mechanisms, their inversions, mobility (Kutzhbach criteria) and range
of movements (Grashof's law); Miscellaneous mechanisms: straight line generating mechanism,
intermittent motion mechanism; Displacement, velocity and acceleration analysis of planar
mechanisms by graphical, analytical and computer aided methods; Dimensional synthesis for
motion; function and path generation; Cam profile synthesis and determination of equivalent
mechanisms; Gears (spur, helical, bevel and worm); gear trains: simple, compound and epicyclic
gearing.
Texts:
1. K. J, Waldron and G. L Kinzel, Kinematics, Dynamics and Design of Machinery, 2 nd Ed., Wiley
Student Edition, 2004.
2. A. Ghosh and A. K. Mallik, Theory of Mechanisms, and Machines, 3rd Ed., East West Press Pvt
Ltd, 2009
References:
3. J. J Uicker (Jr), G. R Pennock and J. E Shigley, Theory of Machines and Mechanisms, 3rd ed.,
Oxford International Student Edition.
4. S. S. Rattan, Theory of Machines, 3rd Ed., Tata McGraw Hill, 2009.
5. R. L. Norton, Kinematics and Dynamics of Machinery, Tata Mcgraw Hill, 2009.
6. J. S. Rao, R. V. Dukkipati, Mechanism and Machine Theory, 2nd Ed., New Age International,
2008.
7. A. G. Erdman and G. N. Sandor, Mechanism Design, Analysis and Synthesis Volume 1, PHI, Inc.,
1997.
8. T. Bevan, Theory of Machines, CBS Publishers and Distributors, 1984
Graphical Method
Introduction
Geometry Box
Lecture-1
 Introduction
Vector Analysis
• Vector is a line which represents a vector quantity such as force, velocity and
acceleration
• Length of the vector drawn to a convenient scale represent the magnitude of the
quantity acting in the direction parallel to it.
• As shown the sense of quantity to .
• A vector quantity of body B relative to A such as velocity of B relative A ()

b b
b
𝑎𝑏 𝑏𝑎
𝑉 𝑏𝑎
a a
a
 Introduction
Vector Analysis
b
𝑉 𝑏𝑎
𝑎𝑏=𝑎𝑜+𝑜𝑏
a 𝑎𝑏=−𝑜𝑎+𝑜𝑏
𝑉 𝑏𝑜
𝑉 𝑎𝑜
o

d
b

𝑉 𝑏𝑎 c
𝑜𝑒=𝑜𝑎+𝑎𝑏+𝑏𝑐+𝑐𝑑+𝑑𝑒
e
𝑉 𝑒𝑜 =𝑉 𝑎𝑜 +𝑉 𝑏𝑎 +𝑉 𝑏𝑐 +𝑉 𝑐𝑑+𝑉 𝑒𝑑
a

𝑉 𝑏𝑜
𝑉 𝑎𝑜
o
 Introduction
Graphical Method: Position Analysis

Regardless of what procedure is used for a linkage analysis, It is always necessary

to determine the angular positions of the links before a velocity analysis can be
performed. Likewise it is necessary to determine the angular velocities of links
before an acceleration analysis. So a kinematic analysis much process in a
sequence:

1- Position Analysis
2- Velocity Analysis
3- Acceleration Analysis

When working Graphically, the position analysis consists of simply drawing the
linkage to scale.

Usually it is so straightforward that it is forgotten as an important step in the solution

process.
 Introduction
Graphical Method: Position Analysis: 4 Bar Mechanism

E 40.0 m
m
C
m
0m
30.

m
0 . 0m
6
40.0 mm
B rad/s
25.
0m

60 °
m

40.0 mm D
A
Lecture-2
 Introduction
Graphical Method: Position Analysis: Slider Crank Mechanism

B 60.0
mm
25.

rad/s C
0m

65 °
m

A
A carrier for a Microwave oven, to
assist people in wheelchair is
shown in figure. The two support
links are identical

Determine the amount of linear

actuator needs to retract when the
front support link is raised by 45.
Determine the vertical distance
that the carrier is lifted
The heat treated furnace door is closed
when configured with the dimensions
shown in figure
Determine the amount that the lever
needs to be rotated in order to raise the
door by 3 inch
The heat treated furnace door is closed
when configured with the dimensions
shown in figure
Determine the amount that the lever
needs to be rotated in order to raise the
door by 3 inch
Determine the amount of
rotation of the foot pedal
to compress the air
cylinder to 175 mm.
Determine the
displacement of point X
Determine the amount of
rotation of the foot pedal
to compress the air
cylinder to 175 mm.
Determine the
displacement of point X
 For the dump truck
mechanism shown in figure,
determine the displacement
of the bed as the cylinder is
shortened by 0.15 m

Scale 1:50
 Summary

Graphical Position Analysis

Chose a proper scale
By looking at the min
and max length in the
linkage
Identify the frame
Identify links connected
to the frame
Identify links connected
Thanks You
to known points and Sajan Kapil
each other Phone: 003612582652
Email: [email protected]
Lecture-3
 Introduction
Velocity Analysis

𝑅 𝑅 𝑀
𝑟 𝑄 = 𝑟 𝑃 + 𝑟 𝑄 𝑃 − −−(1)
is the absolute position of with respect to the
𝑄 reference frame . is the absolute position of with
respect to the reference frame . is the position of
𝑃 with respect to in the moving reference frame .

𝑀
𝑂
𝑀 Differentiating the equation 1 with respect to time
in fixed reference frame
𝑂 𝑅

𝑅
𝑑 𝑀
𝑅 𝑅
𝑉 𝑄= 𝑉 𝑃 +
𝑑𝑡
( 𝑟 𝑄𝑃 ) − −−(3)
 Introduction
Velocity Analysis: P&Q are fixed on same rigid body
If P and Q are on fixed to the same rigid body then their
position will be fixed in reference plane M and hence:
𝑅
𝑅 𝑅 𝑑
𝑄 𝑉 𝑄= 𝑉 𝑃 + ( 𝑟 𝑄𝑃 )
𝑑𝑡
𝑅
𝑃 𝑅 𝑅 𝑑
𝑉 𝑄= 𝑉 𝑃 + ( 𝑟 𝑄𝑃 ) −− −(4)
𝑑𝑡
If the rigid body is moving in a straight line then
𝑀
𝑀 there will be no change in the length and
𝑂
direction of the position vector Hence:
𝑂 𝑅 𝑅 𝑅
𝑉 𝑄= 𝑉 𝑃
If the rigid body is rotating with respect to the reference frame R with an
angular velocity of then there will be a no change in the length of the vector
but its direction will change.
 Introduction
Velocity Analysis: P&Q are fixed on same rigid body
The change in direction in a small time be . Then the
magnitude of change in is:
𝛿𝑟 𝑄𝑃 =𝑟 𝑄𝑃 𝛿𝜃
𝛿𝑟 𝑄𝑃 𝑟 As and hence approache zero, the angle
𝑄𝑃 between the vectors and approaches

𝛿𝜃 If is the angular velocity of the rigid body

then:

𝜔 𝛿𝜃=𝜔𝛿𝑡
Or
𝛿 𝑟 𝑄𝑃
𝑂 𝑅 𝛿𝑡
=𝑟 𝑄𝑃 𝜔

As limit approaches to zero

| |
𝑑 𝑟 𝑄𝑃
𝑑𝑡
=𝑟 𝑄𝑃 𝜔
 Introduction
Velocity Analysis: P&Q are fixed on same rigid body

If is considered to be a vector normal to the plane of motion, clockwise (CW) if

directed away from the observer and counter-clockwise (CCW) if towards the
observer, the direction of is normal to and and follows right hand screw rule.

𝑑 𝑟 𝑄𝑃
=𝜔 × 𝑟 𝑄𝑃
𝑑𝑡

From equation number 4.

𝑅 𝑅 𝑅
𝑉 𝑄= 𝑉 𝑃 + 𝜔 ×𝑟 𝑄𝑃 −− −(5)
𝑅 𝑅 𝑅 𝑅 𝑅
𝑉 𝑄= 𝑉 𝑃 + 𝑉 𝑃 𝑄 where , 𝑉 𝑃𝑄 = 𝜔 ×𝑟 𝑄𝑃

This is valid only, If P and Q are on the same rigid body.

 Introduction
Velocity Analysis: P&Q are fixed on same rigid body
𝑅 𝑅 𝑅
𝑉 𝑄= 𝑉 𝑃 + 𝜔 ×𝑟 𝑄𝑃 −− −(5)

Drop ‘R’
Direction of
𝑉 𝑄=𝑉 𝑃 + 𝜔 ×𝑟 𝑄𝑃
Q
𝑅
𝜔𝑀

𝑅
𝑉𝑃
𝑅
𝜔 ×𝑟 𝑄𝑃
𝑅
P 𝑉𝑄
Lecture-4
 Introduction
Velocity Analysis: Example
Draw the position diagram with
E 40.0 m (a,b,c,d,e)
m
C On body 2: Velocity of with respect to A:
m
0m

3
30.

m 4
60 .0 m 40.0 mm
B
Scale: =
2
25.

10 rad/s
0m

60 ° 40.0 mm
m

D
A
1 𝑏2 𝑎1 ,𝑎2 , 𝑑 4 , 𝑑 1
 Introduction
Velocity Analysis: Example
Velocity of with respect to :
E 40.0 m
m
C
m
0m
30.

m
0 . 0m
6
40.0 mm
B
25.

10 rad/s
0m

60 ° 40.0 mm
m

D 𝑎1 ,𝑎2 , 𝑑 4 , 𝑑 1
A
,
 Introduction
Velocity Analysis: Example

Velocity of with respect to :

E 40.0 m
m
C
m
0m
30.

m
0 . 0m
6
40.0 mm
B
𝑉𝑐 3
25.

10 rad/s
0m

60 ° 40.0 mm ,
m

D
𝑎1 ,𝑎2 , 𝑑 4 , 𝑑 1
A ,
 Introduction
Velocity Analysis: Example

Calculate by 𝑉 𝑐 =𝜔 4 ×𝑟 𝑐 𝑑4
E 40.0 m 3 4

m
C Calculate by 𝑉 𝑐 =𝑉 𝑏 3+ 𝜔 3 × 𝑟 𝑐 𝑏
3 3 3
m
0m

2.75 rad/s CCW

30.

m 6.73 rad/s CCW

0 . 0m
6
40.0 mm
B
𝑉𝑐 3
25.

10 rad/s
0m

60 ° 40.0 mm ,
m

D
𝑎1 ,𝑎2 , 𝑑 4 , 𝑑 1
A ,
 Introduction
Velocity Analysis: Example
Point E is on rigid body 3 so:
E 40.0 m
m
C
Or
m
0m
30.

m
0 . 0m
6
40.0 mm
B
25.

10 rad/s
0m

60 ° 40.0 mm ,
m

D
𝑎1 ,𝑎2 , 𝑑 4 , 𝑑 1
A 𝑒3
,
 Introduction
Velocity Analysis: Velocity Image Theorem

E 40.0 m
m One can observe that:
C
m

This is known as velocity image and use to

0m

calculate the velocity of offset points on a link.

30.

m
0 . 0m
6
40.0 mm
B
25.

10 rad/s
0m

60 ° 40.0 mm ,
m

D
𝑎1 ,𝑎2 , 𝑑 4 , 𝑑 1
A 𝑒3
,
 Introduction
Velocity Analysis: Velocity Image Theorem

E 40.0 m • The velocity image of a link is a scaled

m
C reproduction of the shape of the link in
m

the velocity diagram from the

0m

position/configuration diagram, rotated

30.

m bodily though in the direction of angular

0 . 0m 40.0 mm
6 velocity.
B
• The order of the letters in the velocity
25.
0m

image is the same as in the

10 rad/s
60 ° position/configuration diagram
m

40.0 mm
• In general, the ratio of the size of different
A D
images to the size of their respective
links is different in the same mechanism
In and

, Hence:
𝑎1 ,𝑎2 , 𝑑 4 , 𝑑 1
𝑒3
𝑏 2 , 𝑏3
 Introduction
Velocity Analysis: Velocity of Rubbing
 Introduction
Velocity Analysis: Example

E 40.0 m Pin at A: The pin at A joins AD and AB links

m
C AD is fixed so:
m
0m

Velocity of rubbing =
30.

m
0 . 0m
6 40.0 mm Pin at B: The pin at B joins AB and BC links
B
25.
0m

10 rad/s Velocity of rubbing =

60 °
m

40.0 mm
A D Pin at C: The pin at C joins BC and CD links

Velocity of rubbing =
, Pin at D: The pin at D joins DC and DA
𝑎 1 ,𝑎 2 , 𝑑 4 , 𝑑 1 links. Link DA is fixed so
𝑒3
𝑏 2 , 𝑏3
Velocity of rubbing =
 Introduction
Velocity Analysis: Example

C Draw the position diagram with

(a,b,c,d,e,f,g)
6 mm E
6 On body 2: Velocity of with respect to A:

24
mm

mm
40
m
30 m
B 3
4 G
10.5 rad/s 45 m m
50 m m

56 m m

F
2 m
m
Scale: =
60 °
44

A 1 D
100 mm

𝑎 1 ,𝑎 2 , 𝑑 4 , 𝑑 1
 Introduction
Velocity Analysis: Example

C
Velocity of with respect to :
6 mm E
6

24
mm

mm
40
m
30 m
B 3
4 G
10.5 rad/s 45 m m
50 m m

56 m m

F
2 m
m
60 °
44

A 1 D
100 mm
𝑏 2 , 𝑏3

𝑎 1 ,𝑎 2 , 𝑑 4 , 𝑑 1
 Introduction
Velocity Analysis: Example

C Velocity of with respect to :

6 mm E
6

24
mm

mm
40
m
30 m
B 3
4 G
10.5 rad/s 45 m m
50 m m

56 m m

F
2 m
m
60 °
44

𝑏 2 , 𝑏3
A 1 D 𝑎 1 ,𝑎 2 , 𝑑 4 , 𝑑 1
100 mm ,
𝑉𝑐 3

𝑣 𝑐 =𝑉 𝑐 4=415 𝑚𝑚 /𝑠
3
 Introduction
Velocity Analysis: Example

Calculate by 𝑉 𝑐 =𝜔 4 ×𝑟 𝑐 𝑑4
C 3 4

6 mm E Calculate by 𝑉 𝑐 =𝑉 𝑏 3+ 𝜔 3 × 𝑟 𝑐 𝑏
6

24
3 3 3

mm

mm
40
m
3
30 m 5.15 rad/s CW
B
4 G 6.96 rad/s CCW
10.5 rad/s 45 m m
50 m m

56 m m

F
2 m
m
60 °
44

𝑏 2 , 𝑏3
A 1 D
100 mm
, 𝑎 1 ,𝑎 2 , 𝑑 4 , 𝑑 1

𝑣 𝑓 = 0.495 𝑚/ 𝑠
𝐶𝑎𝑙𝑐𝑢𝑙𝑎𝑡𝑒 𝑡h𝑒𝑠𝑎𝑚𝑒𝑏𝑦 𝑉𝑎𝑙𝑜𝑐𝑖𝑡𝑦 𝑖𝑚𝑎𝑔𝑒
 Introduction
Velocity Analysis: Example

C 𝑣 𝑔 =306 𝑚𝑚 / 𝑠
6 mm E 𝐶𝑎𝑙𝑐𝑢𝑙𝑎𝑡𝑒 𝑡h𝑒𝑠𝑎𝑚𝑒𝑏𝑦 𝑉𝑎𝑙𝑜𝑐𝑖𝑡𝑦 𝑖𝑚𝑎𝑔𝑒
6

24
mm

mm
40
m
30 m
B 3
4 G
10.5 rad/s 45 m m
50 m m

56 m m

F
g
2 m
m
60 °
44

A 1 D 𝑏 2e, 𝑏3
100 mm f

𝑏 3 𝑒 𝐵𝐸
,
𝑎1 ,𝑎2 , 𝑑 4 , 𝑑
=
𝑏3 𝑐 3 𝐵𝐶
𝐵𝐸
𝑏 3 𝑒=𝑏3 𝑐 3 × ⇒ v e =206 mm / s
𝐵𝐶
 Introduction
Velocity Analysis: Velocity of Rubbing
Pin at A: The pin at A joins AD and AB links
AD is fixed so:

Velocity of rubbing =

Pin at B: The pin at B joins AB and BC links

Velocity of rubbing =

Pin at C: The pin at C joins BC and CD links

Velocity of rubbing =
Pin at D: The pin at D joins DC and DA
links. Link DA is fixed so

Velocity of rubbing =
 Introduction
Velocity Analysis
Case A: P and Q are fixed to M

??

Case B: P and Q are momentarily coincident

??

Case B: P and Q are in coincident and in rolling contact

??
Lecture-4
 Introduction
Velocity Analysis: General

𝑅 𝑅 𝑀
𝑟 𝑄 = 𝑟 𝑃 + 𝑟 𝑄 𝑃 − −−(1)
is the absolute position of with respect to the
𝑄 reference frame . is the absolute position of with
respect to the reference frame . is the position of
𝑃 with respect to in the moving reference frame .

𝑀
𝑂
𝑀 Differentiating the equation 1 with respect to time
in fixed reference frame
𝑂 𝑅

𝑅
𝑑 𝑀
𝑅 𝑅
𝑉 𝑄= 𝑉 𝑃 +
𝑑𝑡
( 𝑟 𝑄𝑃 ) − −−(3)
 Introduction
Velocity Analysis: General
𝑅
𝑑 𝑀
𝑅 𝑅
𝑉 𝑄= 𝑉 𝑃 +
𝑑𝑡
( 𝑟 𝑄𝑃 ) − −−(3)

𝑄 Let as assume that the angular velocity of frame M

with respect to reference plane R is . In this case
there can be a change in vector length as well as
𝑃 direction. Therefore to consider both and the vector
is written as a general three dimensional vector:
𝑀
𝑂
𝑀 𝑅 𝑅
𝑑 𝑀 𝑑 𝑀
𝑑𝑡
( 𝑟 𝑄𝑃 ) =
𝑑𝑡
( 𝑥 𝑖 + 𝑦 𝑗 +𝑧 𝑘 )
𝑀 𝑀

𝑂 𝑅

( )( )
𝑅 𝑅 𝑅 𝑅 𝑀 𝑅 𝑀 𝑅 𝑀
𝑑 𝑀 𝑑𝑥 𝑀 𝑑𝑦 𝑀 𝑑𝑧 𝑀 𝑑 𝑖 𝑑 𝑗 𝑑 𝑘
𝑑𝑡
( 𝑟 𝑄𝑃 ) = ¿
𝑅
𝑑𝑡
𝑖+
𝑑𝑡
𝑗+
𝑑𝑡
𝑘+ 𝑥
𝑑𝑡
+𝑦
𝑑𝑡
+𝑧
𝑑𝑡
−−− ( 6 ) ¿

Change in length of vector Rotation of Frame M with

defined relative to the Frame M respect to Frame R.
 Introduction
Velocity Analysis: General

( )( )
𝑅 𝑅 𝑅 𝑅 𝑀 𝑅 𝑀 𝑅 𝑀
𝑑 𝑀 𝑑𝑥 𝑀 𝑑𝑦 𝑀 𝑑𝑧 𝑀 𝑑 𝑖 𝑑 𝑗 𝑑 𝑘
𝑑𝑡
( 𝑟 𝑄𝑃 ) =
𝑅
¿
𝑑𝑡
𝑖+
𝑑𝑡
𝑗+
𝑑𝑡
𝑘+ 𝑥
𝑑𝑡
+𝑦
𝑑𝑡
+𝑧
𝑑𝑡
¿

𝑀
𝑉 𝑄𝑃

( )
𝑅 𝑀 𝑅 𝑀 𝑅 𝑀
𝑑 𝑀 𝑑 𝑖 𝑑 𝑗 𝑑 𝑘
𝑑𝑡
( 𝑟 𝑄𝑃 )= ¿ 𝑉 𝑄𝑃 + 𝑥 𝑑𝑡 + 𝑦 𝑑𝑡 +𝑧 𝑑𝑡 −− − ( 7 ) ¿
𝑅 𝑀

Because , , and are unit vectors, only their direction can change with time. If we look
at the infinitesimal angular displacement of frame M with respect to R during an
infinitesimal time increment , then it can be defined as:
𝑅 𝑅 𝑅
𝛿𝜃=𝛿 𝜃 𝑥 𝑖 + 𝛿 𝜃 𝑦 𝑗+ 𝛿 𝜃 𝑧 𝑘
Or
𝛿𝜃 𝛿 𝜃 𝑥 𝑅 𝛿 𝜃 𝑦 𝑅 𝛿 𝜃𝑧 𝑅
= 𝑖+ 𝑗+ 𝑘
𝛿𝑡 𝛿𝑡 𝛿𝑡 𝛿𝑡
 Introduction
Velocity Analysis: General

𝛿 𝜃𝑦 𝛿𝜃 𝛿 𝜃 𝑥 𝑅 𝛿 𝜃 𝑦 𝑅 𝛿 𝜃𝑧 𝑅
= 𝑖+ 𝑗+ 𝑘
𝛿𝑡 𝛿𝑡 𝛿𝑡 𝛿𝑡
𝑅
𝑌 𝜔 𝑀 =𝑅 𝜔 𝑀 𝑥 𝑅 𝑖 +𝜔 𝑀 𝑦 𝑅 𝑗 + 𝜔 𝑀 𝑧 𝑅𝑘
Let us see the effect of angular
𝑀 components on the X-axis.
𝑗
𝑅
𝛿 ( 𝑖 ) =− 𝑘 𝛿 𝜃 𝑦 + 𝑗 𝛿 𝜃 𝑧
𝑀 𝑅 𝑅

𝑀 𝑀 𝑋 𝛿 𝜃𝑥 As this was in infinitesimal time . Then

𝑘 𝑖
divide this term by .

𝑍 𝑅
𝛿( 𝑖)
𝑀
𝛿 𝜃 𝑦 𝑅 𝛿 𝜃𝑧
𝑅
=− 𝑘 + 𝑗
𝛿𝑡 𝛿𝑡 𝛿𝑡
𝛿 𝜃𝑧 𝑅
𝛿( 𝑖)
𝑀
𝑅 𝑅
=− 𝑘 𝜔 𝑀 𝑦 + 𝑗 𝜔𝑀𝑧
𝛿𝑡
 Introduction
Velocity Analysis: General
𝑅
𝛿( 𝑖)
𝑀
𝑅 𝑅
= 𝑗 𝜔𝑀𝑧 − 𝑘 𝜔 𝑀𝑦
𝛿𝑡

| |
𝑅 𝑅 𝑅
𝑅
𝛿( 𝑖) 𝑅
𝑀 𝑖 𝑗 𝑘
= 𝜔 𝑀 × 𝑀𝑖 = 𝜔 𝑀 𝑥 𝜔𝑀𝑦 𝜔𝑀 𝑧 −− −( 8 )
𝛿𝑡
1 0 0

Similarly

| |
𝑅 𝑅 𝑅
𝑅
𝛿( 𝑗) 𝑅
𝑀 𝑖 𝑗 𝑘
= 𝜔𝑀 × 𝑀 𝑗= 𝜔𝑀𝑥 𝜔𝑀 𝑦 𝜔 𝑀 𝑧 − −− ( 9 )
𝛿𝑡
0 1 0

| |
𝑅 𝑅 𝑅
𝑅
𝛿( 𝑗) 𝑅
𝑀 𝑖 𝑗 𝑘
𝑀
= 𝜔 𝑀 × 𝑘= 𝜔 𝑀 𝑥 𝜔𝑀𝑦 𝜔 𝑀 𝑧 −− − ( 10 )
𝛿𝑡
0 0 1
 Introduction
Velocity Analysis: General

Using Equation 8, 9 10 in Equation 7.

𝑑 𝑀
𝑑𝑡
( 𝑟 𝑄𝑃 ) = ¿ 𝑉 𝑄𝑃 + ( 𝑥 𝜔 𝑀 × 𝑖 + 𝑦 𝜔 𝑀 × 𝑗 +𝑧 𝜔 𝑀 × 𝑘 ) ¿
𝑅 𝑀 𝑅 𝑀 𝑅 𝑀 𝑅 𝑀

𝑑 𝑀
𝑑𝑡
( 𝑟 𝑄𝑃 ) = ¿ 𝑉 𝑄𝑃 + 𝜔 𝑀 × ( 𝑥 𝑖 + 𝑦 𝑗 +𝑧 𝑘) ¿
𝑅 𝑀 𝑅 𝑀 𝑀 𝑀

𝑑 𝑀
𝑑𝑡
( 𝑟 𝑄𝑃 ) = ¿ 𝑉 𝑄𝑃 + 𝜔 𝑀 × 𝑟 𝑄𝑃 −−− ( 11 ) ¿
𝑅 𝑀 𝑅 𝑀

Using Equation 11 in Equation 3.

𝑹 𝑹 𝑴 𝑹 𝑴
𝑽 𝑸 = 𝑽 𝑷 + 𝑽 𝑸𝑷 + 𝝎 𝑴 × 𝒓 𝑸𝑷 −−−(𝟏𝟐)
 Introduction
Velocity Analysis
Case A: P and Q are fixed to M

𝑹 𝑹 𝑴 𝑹 𝑴
𝑽 𝑸 = 𝑽 𝑷 + 𝑽 𝑸𝑷 + 𝝎 𝑴 × 𝒓 𝑸𝑷 −−−(𝟏𝟐)

Case B: P and Q are momentarily coincident

𝑹 𝑹 𝑴 𝑹 𝑴
𝑽 𝑸 = 𝑽 𝑷 + 𝑽 𝑸𝑷 + 𝝎 𝑴 × 𝒓 𝑸𝑷 −−−(𝟏𝟐)

Case B: P and Q are in coincident and in rolling contact

𝑹 𝑹 𝑴 𝑹 𝑴
𝑽 𝑸 = 𝑽 𝑷 + 𝑽 𝑸𝑷 + 𝝎 𝑴 × 𝒓 𝑸𝑷 −−−(𝟏𝟐)
Acceleration Analysis
 Introduction
Acceleration Analysis: General
𝑅 𝑅 𝑀 𝑅 𝑀
𝑉 𝑄= 𝑉 𝑃 + 𝑉 𝑄𝑃 + 𝜔 𝑀 × 𝑟 𝑄𝑃

Differentiate this equation with respect to t

𝑅 𝑅 𝑅 𝑅 𝑅 𝑀 𝑅
𝑑 𝑉𝑄 𝑑 𝑉 𝑃 𝑑 𝑉 𝑄𝑃 𝑑 𝑅
𝑑𝑡
=
𝑑𝑡
+
𝑑𝑡
+
𝑑𝑡
( 𝜔 𝑀 × 𝑟 𝑄𝑃 )
𝑀

𝑅 𝑀 𝑅
𝑑 𝑉 𝑄𝑃 𝑑 𝑅
𝑅
𝑎 𝑄= 𝑎 𝑃 +
𝑅
𝑑𝑡
+
𝑑𝑡
( 𝜔 𝑀 × 𝑟 𝑄𝑃 )
𝑀

𝑅 𝑀 𝑅 𝑅 𝑅 𝑀
𝑅 𝑅 𝑑 𝑉 𝑄𝑃 𝑑 𝜔𝑀 𝑀 𝑅 𝑑 𝑟 𝑄𝑃
𝑎 𝑄= 𝑎 𝑃 + + × 𝑟 𝑄𝑃 + 𝜔 𝑀 × − −−(13)
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑 𝑀
𝑑𝑡
( 𝑟 𝑄𝑃 ) = ¿ 𝑉 𝑄𝑃 + 𝜔 𝑀 × 𝑟 𝑄𝑃 −−− ( 11 ) ¿
𝑅 𝑀 𝑅 𝑀

Equation 11 is a general
𝑑 𝑀 equation valid for any vector
𝑑𝑡
( 𝑉 𝑄𝑃 ) = ¿ 𝑎𝑄𝑃 + 𝜔 𝑀 × 𝑉 𝑄𝑃 −−− ( 14 ) ¿
𝑅 𝑀 𝑅 𝑀
quantity, so Replace with
 Introduction
Acceleration Analysis: General

Using 11 and 14 in 13
𝑅 𝑅
𝑑 𝜔𝑀 𝑀
× 𝑟 𝑄𝑃 + 𝜔 𝑀 × ( 𝑉 𝑄𝑃 + 𝜔 𝑀 × 𝑟 𝑄𝑃 )
𝑅 𝑅 𝑀 𝑅 𝑀 𝑅 𝑀 𝑅 𝑀
𝑎 𝑄= 𝑎 𝑃 + 𝑎 𝑄𝑃 + 𝜔 𝑀 × 𝑉 𝑄𝑃 +
𝑑𝑡

𝑎𝑄= 𝑅 𝑎𝑃 + 𝑀 𝑎𝑄𝑃 + 𝑅 𝜔 𝑀 × 𝑀 𝑉 𝑄𝑃 + 𝑅 𝛼 𝑀 × 𝑀 𝑟 𝑄𝑃 + 𝑅 𝜔 𝑀 × ( 𝑀 𝑉 𝑄𝑃 + 𝑅 𝜔 𝑀 × 𝑀 𝑟 𝑄𝑃 )
𝑅

𝑎𝑄= 𝑅 𝑎𝑃 + 𝑀 𝑎𝑄𝑃 + 𝑅 𝜔 𝑀 × 𝑀 𝑉 𝑄𝑃 + 𝑅 𝛼 𝑀 × 𝑀 𝑟 𝑄𝑃 + 𝑅 𝜔 𝑀 × 𝑀𝑉 𝑄𝑃 + 𝑅 𝜔 𝑀 × ( 𝑅 𝜔 𝑀 × 𝑀 𝑟 𝑄𝑃 )
𝑅

𝑅
𝑎𝑄= 𝑅 𝑎𝑃 + 𝑀 𝑎𝑄𝑃 + 2× 𝑅 𝜔 𝑀 × 𝑀 𝑉 𝑄𝑃 + 𝑅𝛼 𝑀 × 𝑀 𝑟 𝑄𝑃 + 𝑅 𝜔 𝑀 × ( 𝑅 𝜔 𝑀 × 𝑀 𝑟 𝑄𝑃 ) − −− ( 15 )

Component-1 Component-2 Component-3

Coriolis component
 Introduction
Acceleration Analysis: General
𝑅
𝑎𝑄= 𝑅 𝑎𝑃 + 𝑀 𝑎𝑄𝑃 + 2× 𝑅 𝜔 𝑀 × 𝑀 𝑉 𝑄𝑃 + 𝑅𝛼 𝑀 × 𝑀 𝑟 𝑄𝑃 + 𝑅 𝜔 𝑀 × ( 𝑅 𝜔 𝑀 × 𝑀 𝑟 𝑄𝑃 )
Coriolis component

2× 𝑅
𝜔 2× 𝑅
𝑀
𝑉 𝑄𝑃 𝑀
× 𝑀
𝜔
𝑉 𝑀
× 𝑀
Q 2× 𝑄𝑃 𝑉
𝑅
𝜔 𝑄𝑃 𝑀 Q 2×
𝑅
𝜔𝑀 𝑀
Q 𝑉 𝑄𝑃
𝑀 × 𝑀 𝑉 𝑄𝑃 𝑅
𝑀
𝑉 𝑄𝑃
𝑅
𝜔
𝑉 𝑅 𝜔𝑀 Q
𝑄𝑃 𝜔𝑀 𝑅 𝑀
×
𝜔𝑀 𝑀
𝑉
𝑄𝑃

P P P P
 Introduction
Acceleration Analysis: General

𝑎𝑄= 𝑅 𝑎𝑃 + 𝑀 𝑎𝑄𝑃 + 2× 𝑅 𝜔 𝑀 × 𝑀 𝑉 𝑄𝑃 + 𝑅𝛼 𝑀 × 𝑀 𝑟 𝑄𝑃 + 𝑅 𝜔 𝑀 × ( 𝑅 𝜔 𝑀 × 𝑀 𝑟 𝑄𝑃 )
𝑅

𝑅 𝑅
𝛼 𝜔
𝑀 × 𝑀
𝑟𝑄
𝑀 × 𝑀
𝑃 𝑟 Q
𝑄𝑃

)
𝑅

𝑃
𝜔

𝑟𝑄
Q Q

𝑀
𝑀 ×

)
𝑅 𝑀

×
𝛼𝑀

𝑃
𝑟

𝑟𝑄

𝑀
𝑀

𝜔
𝑄𝑃

𝑅
×

(
×
𝑀
𝑅
𝜔𝑀
𝜔

𝑀
Q
𝑅
𝑅

𝜔
P 𝛼

𝑅
𝑀
(
×
× 𝑅
𝜔𝑀
𝑀

𝑀
𝜔

𝑟
𝑅

𝑅
𝛼𝑀 𝑄
𝑃

P P

P
 Introduction
Acceleration Analysis: General
Case A: P and Q are fixed to M

𝑎𝑄= 𝑅 𝑎𝑃 + 𝑀 𝑎𝑄𝑃 + 2× 𝑅 𝜔 𝑀 × 𝑀 𝑉 𝑄𝑃 + 𝑅𝛼 𝑀 × 𝑀 𝑟 𝑄𝑃 + 𝑅 𝜔 𝑀 × ( 𝑅 𝜔 𝑀 × 𝑀 𝑟 𝑄𝑃 ) − −− ( 15 )
𝑅

Case B: P and Q are momentarily coincident

𝑅
𝑎𝑄= 𝑅 𝑎𝑃 + 𝑀 𝑎𝑄𝑃 + 2× 𝑅 𝜔 𝑀 × 𝑀 𝑉 𝑄𝑃 + 𝑅𝛼 𝑀 × 𝑀 𝑟 𝑄𝑃 + 𝑅 𝜔 𝑀 × ( 𝑅 𝜔 𝑀 × 𝑀 𝑟 𝑄𝑃 ) − −− ( 15 )

Case B: P and Q are in coincident and in rolling contact

𝑅
𝑎𝑄= 𝑅 𝑎𝑃 + 𝑀 𝑎𝑄𝑃 + 2× 𝑅 𝜔 𝑀 × 𝑀 𝑉 𝑄𝑃 + 𝑅𝛼 𝑀 × 𝑀 𝑟 𝑄𝑃 + 𝑅 𝜔 𝑀 × ( 𝑅 𝜔 𝑀 × 𝑀 𝑟 𝑄𝑃 ) − −− ( 15 )
Lecture-5
 Introduction
Velocity Analysis: Example 1

B
mm 3 8 .0
2 mm
rad/s
5 .0

4 c
45 °
A 1

Draw the position diagram with (a,b,c)

On body 2: Velocity of with respect to A:

𝑎 2 , 𝑎1
Scale: =
 Introduction
Velocity Analysis: Example 1

B
mm 3 8 .0
2 mm
rad/s
5 .0

4 c
45 °
A 1

Draw the position diagram with (a,b,c)

On body 3: Velocity of with respect to B:

𝑎 2 , 𝑎1
 Introduction
Velocity Analysis: Example

B
mm 3 8 .0
2 mm
rad/s
5 .0

4 c
45 °
A 1

On body 4: The velocity of Q with respect to P is:

𝑏 2 , 𝑏3

𝑉 𝑐 4 𝑐 1= 39.6 𝑚𝑚/ 𝑠
𝑐3 , 𝑐4 𝑎 2 , 𝑎1 , 𝑐1
(CW)
 Introduction
Acceleration Analysis: Example 1
B
2 3 8 .0 On Body 2:
mm

mm
5 .0

rad/
4 c
45 ° rad/s
A
1

𝑏 2 , 𝑏3

𝑐3 , 𝑐4 𝑎 2 , 𝑎1 , 𝑐1 𝑎′ 2 , 𝑎′ 1 , 𝑐 ′ 1

𝑏 ′ 2 ,𝑏 ′ 3 𝑎𝑟
2

𝑎 𝑡2
 Introduction
Acceleration Analysis: Example 1
B On Body 3:
2 3 8 .0
mm

mm
5 .0

rad/
4 c (CW)
45 ° rad/s

A 1

𝑏 2 , 𝑏3

𝑡
𝑐3 , 𝑐4 𝑎 2 , 𝑎1 , 𝑐1 𝑎 3 𝑟
𝑎′ 2 , 𝑎′ 1 , 𝑐 ′ 1
𝑎 𝑟
3
𝑎 2
𝑏 ′ 2 ,𝑏 ′ 3 𝑡
𝑎 2
 Introduction
Acceleration Analysis: Example 1
B
On Body 4:
2 3 8 .0
mm

mm
5 .0

rad/
4 c
45 ° rad/s

A 1

𝑏 2 , 𝑏3

𝑡
𝑐3 , 𝑐4 𝑎 2 , 𝑎1 , 𝑐1 𝑎 3 𝑟 𝑎′ 2 , 𝑎′ 1 , 𝑐 ′ 1
𝑎 3 𝑎
𝑟
2
𝑏 ′ 2 ,𝑏 ′ 3 𝑡
𝑎 2
 Introduction
Acceleration Analysis: Example 1
B
On Body 4:
2 3 8 .0
mm

mm
5 .0

rad/
4 c
45 ° rad/s
and
A 1 𝑅 𝑀
𝑎 𝑐 = 𝑎 𝑐 𝑐 = Horizontal
4 4 1

𝑏 2 , 𝑏3
𝑐 ′ 4 ,𝑐 ′ 3
𝑡
𝑐3 , 𝑐4 𝑎 2 , 𝑎1 , 𝑐1 𝑎 3 𝑎3 𝑎′ 2 , 𝑎′ 1 , 𝑐 ′ 1
𝑟
𝑎3 𝑎
𝑟
2
𝑏 ′ 2 ,𝑏 ′ 3 𝑡
𝑎 2
 Introduction
Velocity Analysis: Example 2
AB=400 mm, BC=200 mm, AD=700 mm, DE=300 mm
BC Rotates with 210 RPM
On body 2: Velocity of with respect to B:

D 5 E
3
6
C 2 𝑆𝑐𝑎𝑙𝑒:10𝑚𝑚=1𝑚/ 𝑠
B
12 1 On body 3:
4
0°
𝑐2 , c3
1

A
𝑎1 ,𝑎2 , 𝑏1 ,𝑏 2 , 𝑒 1
 Introduction
Velocity Analysis: Example 2

On body 4: Velocity of with respect to :

D 5 E
3
6
C 2
B
12 1
4
0°
1
𝑐2, 𝑐3

𝑎1 ,𝑎2 , 𝑏1 ,𝑏 2 , 𝑒 1
 Introduction
Velocity Analysis: Example 2

On body 4: Velocity of with respect to :

D 5 E
3
6
C 2
B
12 1 Also
4
0°
1
𝑐2, 𝑐3 𝑑4

A 𝑐4
By Velocity Image theorem

𝑎1 ,𝑎2 , 𝑏1 ,𝑏 2 , 𝑒 1
 Introduction
Velocity Analysis: Example 2

On body 5: Velocity of with respect to :

D 5 E
3
6
C 2
B
12 1
4
0°
1
𝑐 2 , 𝑐 3𝑑 4 , d 5

A 𝑐4

𝑎1 ,𝑎2 , 𝑏1 ,𝑏 2 , 𝑒 1
 Introduction
Velocity Analysis: Example 2

On body 6: Velocity of with respect to :

D 5 E
3
6
C 2
B
12 1
4
0°
1 𝑐2, 𝑐3 𝑑 , d
4 5

A 𝑐4
𝑒 5 ,𝑒 6
𝑎1 ,𝑎2 , 𝑏1 ,𝑏 2 , 𝑒 1
 Introduction
Acceleration Analysis: Example 2
D 5 On Body 2:
E
3
6
C 2
B
12 1
4
0°
1

A
𝑎′ 1 ,𝑎′ 2 , 𝑏′ 1 ,𝑏′ 2 ,𝑒 ′1
𝑐2, 𝑐3 𝑑 , d
4 5

𝑐4 𝑐 ′2, 𝑐 ′3
𝑎1 ,𝑎2 , 𝑏1 ,𝑏 2 , 𝑒 1 𝑒 5 ,𝑒 6
 Introduction
Acceleration Analysis: Example 2
D 5 On Body 3,4:
E
3
6
C 2
B
12 1
4
0°
1

𝑐2, 𝑐3 𝑑 , d
4 5
4
𝑎𝑐 4 𝑐3
𝑐2, 𝑐3
𝑐4
𝑡
𝑒 5 ,𝑒 6 𝑎𝑐
𝑎1 ,𝑎2 , 𝑏1 ,𝑏 2 , 𝑒 1 3
 Introduction
Acceleration Analysis: Example 2
D 5 On Body 4:
E
3
6
C 2
B
12 1
4
0°
1

A 𝑡
𝑎𝑐 4

𝑐2, 𝑐3 𝑑 , d 𝑟
𝑎𝑐
4 5 4
𝑐 ′4
𝑐 ′2, 𝑐 ′3
𝑐4 4
𝑎𝑐 𝑐3
4 𝑡
𝑒 5 ,𝑒 6 𝑎𝑐
𝑎1 ,𝑎2 , 𝑏1 ,𝑏 2 , 𝑒 1 3
 Introduction
Acceleration Analysis: Example 2
D 5 On Body 4: Extend the point to using acceleration image
E theorem:
3
6
C 2
B
12 1
4
0° Proof the Acceleration image theorem

A 𝑡
𝑎𝑐 4

𝑐2, 𝑐3 𝑑 , d 𝑎𝑐
𝑟
4 5 4
𝑐 ′4
𝑐 ′2, 𝑐 ′3
𝑑′4
𝑐4 4
𝑎𝑐 𝑐3 𝑡
𝑒 5 ,𝑒 6
4
𝑎𝑐
𝑎1 ,𝑎2 , 𝑏1 ,𝑏 2 , 𝑒 1 3
 Introduction
Acceleration Analysis: Example 2
D On Body 5:
5 E
3
6
C 2
B
12 1
4
0°
1

𝑐2, 𝑐3 𝑑 , d 𝑟
𝑎𝑐
4 5 4

𝑐 ′4 ′ ′ 𝑐 ′2, 𝑐 ′3
𝑎
𝑡
𝑟 𝑑4, 𝑑 5
𝑐4 𝑎
𝑐4 4
𝑒5

𝑎𝑐 𝑎𝑐
𝑡
𝑎1 ,𝑎2 , 𝑏1 ,𝑏 2 , 𝑒 1 𝑒 5 ,𝑒 6 4 𝑐3
3
 Introduction
Acceleration Analysis: Example 2
D On Body 6:
5 E
3
6
C 2
B
12 1
4
0°
1

𝑐2, 𝑐3 𝑑 , d 𝑟
𝑎𝑐
4 5 4

𝑐 ′4 ′ ′ 𝑐 ′2, 𝑐 ′3
𝑎
𝑡
𝑟 𝑑4, 𝑑 5
𝑐4 𝑎
𝑐4 4
𝑒5

𝑎𝑐 𝑎𝑐
𝑡
𝑎1 ,𝑎2 , 𝑏1 ,𝑏 2 , 𝑒 1 𝑒 5 ,𝑒 6 4 𝑐3
3
 Introduction
Acceleration Analysis: Example 2
D On Body 6 and 1:
5 E
3
6
C 2
B
12 1
4
0° (CW)
1 𝑡
𝑎𝑒 5

A
𝑒 ′6 , 𝑒′5

𝑐2, 𝑐3 𝑑 , d 𝑎𝑐
𝑟
4 5 4

𝑐 ′4 ′ ′ 𝑐 ′2, 𝑐 ′3
𝑎
𝑡
𝑟 𝑑4, 𝑑 5
𝑐4 𝑎
𝑐4 4
𝑒5

𝑎𝑐 𝑎𝑐
𝑡
𝑎1 ,𝑎2 , 𝑏1 ,𝑏 2 , 𝑒 1 𝑒 5 ,𝑒 6 4 𝑐3
3
Lecture-6
Instantaneous Centers
of Velocity
 Instantaneous Centers
of Velocity
Definition
• At every instant during the motion of a rigid body in a plane, there exists a
point that is instantaneously at rest. This point is known as instant center.

• It can be noted that instant centers of velocity are applicable to velocities only
and are usually of little help if accelerations are ultimately of interest.

Given two bodies B and C moving with planar motion relative to each other in a
reference frame R. In general, only one location P in the plane of motion where
the coincident points at a given instant have the same velocity with respect to
the reference plane R. One coincident point is fixed body B and another is fixed
to body C. This location is called as instant center of velocity for bodies B and C
and is represented by or . If P is the instant center:

Or

If the points are permanently attached to the body they are called as permanent
instant centers, if momentarily then instantaneous center.
 Instantaneous Centers
of Velocity
Proof

𝑉 𝑄=𝑉 𝑃 +𝜔 𝐵 ×𝑟 𝑄𝑃

Q Assume if Q is the instant center. Then as per the

𝜔𝐵 definition of instant center:

B
^
𝑛
𝑉𝑃 We also know that radial component of
P acceleration is:

In equation (1), multiple by

is the position of instant center, and it is feasible for different cases.

 Instantaneous Centers
of Velocity
Location of Instant Center from direction of two velocities
Assume that the velocity of point P and Q are
known in the coordinate system of B. Let us
search for some points in body C that has zero
velocity w.r.t. B, the location of such point is Instant
P center . If this point in body C is and in body B is .
𝐵 The by relative velocity
𝑉𝑃

Q And
𝐼 𝐵𝐶 C
𝐵
𝑉𝑄
B By definition of IC:

So
 Instantaneous Centers
of Velocity
Location of Instant Center: Revolute Joint

𝑰 𝑩𝑪 , 𝑰 𝑪𝑩

C
P
The Revolute joint is a permanent instant
center

Or
B
 Instantaneous Centers
of Velocity
Location of Instant Center: Curved slide

𝐵
C 𝑉𝑃 𝐶

𝐵
𝑉𝑄 𝐶

𝐼 𝐵𝐶 , 𝐼 𝐶𝐵

B It is instantaneous center may not be permanent

 Instantaneous Centers
of Velocity
Location of Instant Center: Prismatic Joint

∞
𝐵
𝑉𝑃 𝐶
𝐵
𝑉𝑄 𝐶
In prismatic joint the permanent instant
C center is at infinite.
B
Assume it to be as a curved slider with
infinite radius.
 Instantaneous Centers
of Velocity
Location of Instant Center: Rolling Pair
Rolling

𝑅 𝑅
𝑉 𝑃 = 𝑉 𝑃 =0
𝐵 𝐶

B C

Instantaneous center
 Instantaneous Centers
of Velocity
Location of Instant Center: CAM Pair
CAM Pair

𝑅 𝑅
𝑉𝑃 , 𝑉𝑃
𝑶𝑩 𝐵 𝐶

𝑶𝑪 Instantaneous center on the common normal

C
B

Common Tangent
 Instantaneous Centers
of Velocity
The Kennedy- Aronholdt Theorem

If three bodies are in relative planar motion (or two bodies

moving relative to each other and to the fixed reference frame),
there are three instant centers pertaining to relative motion of
pairs of those bodies. Those three instant centers are collinear.

B C

If three bodies A, B and C are in relative motion, w.r.t. the reference R. The
instant center are collinear.
 Instantaneous Centers
of Velocity
The Kennedy- Aronholdt Theorem

B C
+ +
𝐼 𝐴𝐵 𝐼 𝐴𝐶
A

is two points common to A and B

is two points common to B and C

is two points common to C and A

𝑅
𝑉 (𝐼 𝐴𝐵 𝐴 ) = 𝑅𝑉 ( 𝐼 𝐴𝐵 ) 𝐵
𝑅
𝑉 (𝐼 𝐴𝐶 ) 𝐴= 𝑅𝑉 ( 𝐼 𝐴𝐶 )𝐶
𝑅 𝑅
𝑉 ( 𝐼 𝐵𝐶 ) 𝐵= 𝑉 ( 𝐼 𝐵𝐶 ) 𝐶
 Instantaneous Centers
of Velocity
The Kennedy- Aronholdt Theorem

B C
+ +
𝐼 𝐴𝐵 𝐼 𝐴𝐶
A

Assume that we know the locations of and and we want to find out Relative to A,
we can write
𝑅 𝑅
𝑉 (𝐼 𝐵𝐶 )𝐵 = 𝑉 ( 𝐼 𝐵𝐶 ) 𝐶
or
==
Also,
==
Using these two equations
=
 Instantaneous Centers
of Velocity
The Kennedy- Aronholdt Theorem

B C
+ +
𝐼 𝐴𝐵 𝐼 𝐴𝐶
A

=
Since is parallel to then the r’s must also be parallel to
make the cross product equal. Because both of the r’s
pass through they must be collinear. This can happen =
only if , all lie on the same line.

If we have n bodies and we take them two at a time

such that then the total number of instant center is
given by:
 Instantaneous Centers
of Velocity
Location of Instant Center : Example
𝐼 13
4 ( 4 −1 )
𝑁 𝐼𝐶 = =6
2
𝐶
+ 𝐼 34
3
𝐵
+𝐼
23 4

2 𝐼 14 𝐷
+
𝐴
𝐼 24
+ 𝐼 12 1
 Instantaneous Centers
of Velocity
Location of Instant Center : Example
Lecture-7
 Instantaneous Centers
of Velocity
Location of Instant Center : Example
 Instantaneous Centers
of Velocity
Location of Instant Center : Example
1 1
𝐼 13

𝐼 13
4 2 𝐶 4 2
+ 𝐼 34

𝐼14=∞
3
𝐵

𝐼14=∞
3 +𝐼 3 𝐼 23
23 4

𝐼 14 𝐷 𝐼 24 𝐼 23
2
+ + 𝐵
2 3
𝐴 𝐶
𝐼 24
+ 𝐼 12 1 𝐼 12 + 𝐴 4 +𝐼 34
𝐶
1 1
 Instantaneous Centers
of Velocity
Location of Instant Center : Example
 Instantaneous Centers
of Velocity
Use of IC: Rotating Radius Method: Angular Velocity Theorem
Once the proper IC are found, they can be used to find out the velocities of the
selected points in a rigid body. This can be done analytically; however graphically
methods are generally much faster to use. An especially useful technique is
“velocities of rotating radius method”.

Assume that body ‘B’ and ‘R’ (Ground) are in relative

motion. If instantaneous center of two bodies is , then
can be assumed to be on body ‘R’ or B. Then the
velocity of point P can be written as:
𝑉𝑝 𝐵
B
If ‘S’ is another point on point B the velocity of
𝑉𝑆 point S can be written as:
𝑰 𝑩𝑹
𝐵

S
P
R Or

|𝑉 𝑆 |=|𝑉 𝑃 |
𝐵 𝐵
| |
𝑟𝑆
𝑟𝑃
𝐵

𝐵
𝐼 𝐵𝑅

𝐼 𝐵𝑅
 Instantaneous Centers
of Velocity
Use of IC: Rotating Radius Method: Angular Velocity Theorem
M 𝑰 𝑴𝑹 If there is one more body ‘M’ in relative
motion. The IC of body B and M will be
𝑟𝐼 𝐼 𝐵𝑀 𝑀𝑅 written as . This IC may have some velocity
𝑰 𝑩𝑴 with respect to ground but its velocity for the
B observer who is standing on body B or M is
𝑟𝐼 𝐵𝑀 𝐼 𝐵𝑅 ZERO. The velocity of when is considered
to be on B:

𝑰 𝑩𝑹
R The velocity of when is considered to be on
M:

Or
We have already proved this 𝜔 𝐵× 𝑟 𝐼 𝐵𝑀 𝐼 𝐵𝑅 =𝜔 𝑀 × 𝑟 𝐼 𝐵𝑀 𝐼 𝑀𝑅
on slide 98. Or
|𝜔 𝐵|=|𝜔 𝑀| |
𝑟𝐼
𝑟𝐼
𝐵𝑀

𝐵𝑀
𝐼 𝑀𝑅

𝐼 𝐵𝑅
|
 Instantaneous Centers
of Velocity
Use of IC: Rotating Radius Method: Example

Velocity of A is given find

out the velocity of point B.

The link involved in the

relative motion are 1, 2, and
5. Using radius method or
 Instantaneous Centers
of Velocity
Use of IC: Rotating Radius Method: Example

Angular Velocity of body 2 is

given, find out the angular
velocity of body 5.

𝑣 ¿ ¿=𝜔 2 ×𝑟 𝐼 𝐼 =𝑣 ¿ ¿=𝜔5 ×𝑟 𝐼 𝐼
25 12 25 15
 Instantaneous Centers
of Velocity
Use of IC: Rotating Radius Method: Example
Determine the velocity of the point P on the bell
crank lever DCP if the crank OA rotates at 80 rad/s

Locate the I center 2,6

6 (26  16)  2 (26  12)

6= 9.82 rad/s

It is counter-clockwise as 16 and 12 lie on the

opposite sides of 26 and 2 is clockwise

Thus vp=6X (16-P)=9.82 X 600= 5.89 m/s

 Instantaneous Centers
of Velocity
Use of IC: Rotating Radius Method: Example

What will be velocity of cutting tool at S and the angular velocities

of the links AR and RS. Crank OP rotates at 10 rad/s
V6=v26=2 X(12-26)=10X0.166=1.66 m/s

4 (24  12)

2 (24  14)

4= 4.25 rad/s (clockwise)

To determine the angular velocity of ink AB,
v23=2(23-12); v23=3(23-13); 3=5.88 rad/s
To determine linear velocity of point B,
vb=(13-34)3=2.66 m/s
To determinevb the angular velocity of link BC,
bc 
BQ =13.3 rad/s

To determine the linear velocity of point C

vc QC vc=1.33 ms

vb QB

To determine angular velocity of link CD,

vc=5 (15-C); 5= 2.66 rad/s

To determine the linear velocity of slider

Imagine the link 2 to be in the form of flat disc containing
the point 26 and revolving about O with an angular velocity
of 15.7 rad/s v26=2(12-26)=0.785 m/s
The velocity of the point 26 is in the horizontally left
direction if OA rotates clockwise
Lecture-8
Analytical Method
 Analytical Method
Direct Vector Approach
• The constrain associated with mechanism can be formulated using vector
displacement, velocity and acceleration closure equation.

• The displacement closure equations are based on the observation that there are
two different, but equivalent, distinct paths connecting points on the same vector
loop. Ex:

A* B*
 Analytical Method
Generalized Solution: Position Representation

𝑄 𝒓 𝑄 =𝒓 1 +𝒓 2+ 𝒓 3
𝑌 𝑟3 +
𝑃+ 𝜃 3
𝒓 1 =𝑟 1 ( cos 𝜃1 𝑖 +sin 𝜃1 𝑗 )
𝒓 2 =𝑟 2 ( cos 𝜃 2 𝑖+sin 𝜃2 𝑗 )
𝑗 𝑟2 𝑟𝑄
𝜃2 𝒓 3 =𝑟 3 ( cos 𝜃3 𝑖+sin 𝜃3 𝑗 )
𝑟1+
𝜃𝑆1
𝑖
𝒓 𝑘 =𝑟 𝑘 ( cos 𝜃 𝑘 𝑖+sin 𝜃𝑘 𝑗 ) −− − ( 1 )
𝑇 𝑋

𝑟𝑘

𝜃𝑘
 Analytical Method
Generalized Solution: Velocity Representation

𝑄 𝑽 𝑄=𝒓˙𝑄=𝑟˙ 1+ 𝑟˙2 + 𝑟˙ 3
𝑌 𝑟3 +
𝑃+ 𝜃 4 Where
𝑑𝑟 𝑘
𝒓˙𝑘 =
𝑑𝑡
𝑗 𝑟2 𝑟𝑄
𝜃2 Remember: In the generalized case the direction
𝑟1+
𝜃𝑆 𝑖 and length of vector can change. Now differentiate
1 equation 1:
𝑇 𝑋 𝑑𝑟 𝑘
𝒓˙𝑘 = ( cos 𝜃 𝑘 𝒊+ sin 𝜃 𝑘 𝒋 ) + 𝑟 𝑘 ( − ˙𝜃𝑘 sin 𝜃𝑘 𝒊+ 𝜃˙ 𝑘 cos 𝜃𝑘
𝑑𝑡
𝑟𝑘 𝒓˙𝑘 =𝑟˙𝑘 ( cos 𝜃 𝑘 𝒊+ sin 𝜃 𝑘 𝒋 ) +𝑟 𝑘 𝜃˙ 𝑘 ( − sin 𝜃 𝑘 𝒊+cos 𝜃𝑘 𝒋 ) −− ( 2 )

𝜃𝑘 Compare this Equation 2 with Equation 12 on slide 48.

 Analytical Method
Generalized Solution: Velocity Representation

𝑄
𝑌 𝑟3 + Equation 2 can be written as:
𝑃+ 𝜃 4
3
𝑗 𝑟2 𝑟𝑄 𝑽 𝑄= ∑ 𝑟˙𝑘 ( cos 𝜃𝑘 𝒊+sin 𝜃 𝑘 𝒋 ) +𝑟 𝑘 𝜃˙𝑘 ( − sin 𝜃 𝑘 𝒊+cos 𝜃𝑘 𝒋 ) −− ( 3 )
𝜃2 𝑘=1
𝑟1+
𝜃𝑆1
𝑖
𝑇 𝑋
Or

𝑟𝑘 𝑽 𝑄= ∑ ( 𝑟˙𝑘 cos 𝜃 𝑘 −𝑟 𝑘 𝜃˙ 𝑘 sin 𝜃 𝑘 ) 𝒊+ ( 𝑟˙𝑘 sin 𝜃 𝑘+𝑟 𝑘 𝜃˙ 𝑘 cos 𝜃𝑘 ) 𝒋 −− − ( 4 )

𝑘=1

𝜃𝑘
 Analytical Method
Generalized Solution: Acceleration Representation

𝑄 𝑎 𝑄 =𝒓¨𝑄 =𝑟¨1 + 𝑟¨2 + 𝑟¨ 3

𝑌 𝑟3 +
𝑃+ 𝜃 4 Where
𝑑2 𝑟 𝑘
𝑟¨𝑘 =
𝑑𝑡2
𝑗 𝑟2 𝑟𝑄 As the vectors have been defined in a consistent
𝜃2 manner, the form of the derivatives for all the
𝑟1+
𝜃𝑆
vectors will be the same
1
𝑖
𝑇 𝑑
𝑋 𝒓¨𝑘 = ( 𝑟˙𝑘 ( cos 𝜃𝑘 𝒊+sin 𝜃𝑘 𝒋 ) +𝑟 𝑘 𝜃˙ 𝑘 ( −sin 𝜃 𝑘 𝒊+ cos 𝜃𝑘 𝒋 )
𝑑𝑡

𝑟𝑘

𝜃𝑘
˙ ˙ ¨ ˙ 2
𝒓¨𝑄=¨𝑟𝑘(cos𝜃𝑘𝒊+sin𝜃𝑘 𝒋)+𝑟˙𝑘𝜃𝑘(−sin𝜃𝑘𝒊+cos𝜃𝑘 𝒋)+𝑟˙𝑘𝜃𝑘(−sin𝜃𝑘𝒊+cos𝜃𝑘 𝒋)+𝑟𝑘𝜃𝑘(−sin𝜃𝑘𝒊+cos𝜃𝑘 𝒋)+𝑟𝑘𝜃𝑘(−cos𝜃𝑘𝒊−sin𝜃𝑘 𝒋)−−−(5)
 Analytical Method
Comparing

Compare this Equation 5 with Equation 15 on slide 52.

𝐵
𝑎 𝑄𝑃 =𝑟¨𝑘 ( cos 𝜃 𝑘 𝒊+sin 𝜃 𝑘 𝒋 )

𝛼 𝐵 ×𝑟 𝑄𝑃 =𝑟 𝑘 𝜃¨ 𝑘 ( −sin 𝜃𝑘 𝒊+ cos 𝜃𝑘 𝒋 )

𝛼 𝐵 ×𝑟 𝑄𝑃 =𝑟 𝑘 𝜃˙ 2𝑘 ( −cos 𝜃 𝑘 𝒊 − sin 𝜃 𝑘 𝒋 )

2 𝜔 𝐵 × 𝑉 𝑄𝑃 =2 𝑟˙𝑘 𝜃˙𝑘 ( − sin 𝜃 𝑘 𝒊+cos 𝜃𝑘 𝒋 )

𝐵
 Analytical Method
Generalized Solution: Acceleration Representation

𝑄 3
𝑌 𝑟3
𝑃+ 𝜃 4
+
˙ ¨ ˙
𝑎𝑄=∑ 𝑟¨𝑘(cos𝜃𝑘𝒊+sin𝜃𝑘 𝒋)+2˙𝑟𝑘𝜃𝑘(−sin𝜃𝑘𝒊+cos𝜃𝑘 𝒋)+𝑟𝑘𝜃𝑘(−sin 𝜃𝑘𝒊+cos𝜃𝑘 𝒋)+𝑟𝑘𝜃𝑘(−cos𝜃𝑘𝒊−sin 𝜃𝑘 𝒋)−−−(6)
2

𝑗 𝑟2 𝑟𝑄 𝑘=1
𝜃2
𝑟1+
𝜃𝑆
Or
1
𝑖
𝑇 𝑋 3
𝑟𝑘

𝜃𝑘
[ ˙ ][ ˙
𝑎𝑄=∑ (𝑟¨𝑘−𝑟𝑘𝜃𝑘)cos 𝜃𝑘−(𝑟𝑘𝜃¨𝑘+2˙𝑟𝑘𝜃˙𝑘)sin𝜃𝑘 𝒊+ (𝑟¨𝑘−𝑟𝑘𝜃𝑘)sin𝜃𝑘+(𝑟𝑘𝜃¨𝑘+2˙𝑟𝑘𝜃˙𝑘)cos 𝜃𝑘 𝒋−−−(7)
𝑘=1
2 2
]
 Analytical Method
4 Bar Mechanism: Position Analysis
𝐵
𝑟3 + The closure condition simply expresses the
𝑌 𝐴 𝜃3 condition that a loop of a linkage closes on itself.
+ For the four-bar linkage shown in Figure the
𝑟4 closure equation will be:
𝑟2
𝑗 ∗ 𝜃4 𝒓 𝐵 =𝒓 2 +𝒓 3 =𝒓 1 +𝒓 4
𝑟1 𝐵+
𝜃2 Or
𝐴+
∗ 𝜃1
𝑖 𝑋 𝑟2 (cos𝜃2𝑖+sin 𝜃2 𝑗 )+𝑟3 ( cos𝜃3𝑖+sin 𝜃3 𝑗 )=𝑟1 (cos𝜃1 𝑖+sin 𝜃1 𝑗 )+𝑟 4 (cos𝜃4 𝑖+sin 𝜃4 𝑗 )
Rewriting above equation comparing its components

𝑟 2 cos 𝜃2 +𝑟 3 cos 𝜃3=𝑟 1 cos 𝜃 1+ 𝑟 4 cos 𝜃 4 −−( 4.1)

is a constant
𝑟 2 sin 𝜃2 +𝑟 3 sin 𝜃3 =𝑟 1 sin 𝜃1 +𝑟 4 sin 𝜃4 −−(4. 2)
 Analytical Method
4 Bar Mechanism: Position Analysis: Link-2 Driver
𝐵
𝑟3 + If link-2 is driver (crank is driver) then will be input.
𝑌 𝐴 𝜃3 So it is desirable to write and in terms of and .
+ When these equations are known one can
differentiate to obtain the velocity and acceleration.
𝑟4
𝑟2 Rewriting equation 4.1 and 4.2
𝑗 ∗ 𝜃4
𝑟1 𝐵+ 𝑟 3 cos 𝜃 3=𝑟 1 cos 𝜃1 +𝑟 4 cos 𝜃4 − 𝑟 2 cos 𝜃2 − −(4.3)
𝜃2 𝑟 3 sin 𝜃3 =𝑟 1 sin 𝜃 1+𝑟 4 sin 𝜃4 −𝑟 2 sin 𝜃 2 −−(4.4)
𝐴+
∗ 𝜃1
𝑖 𝑋 Square and add

2222
Or use Mathematica
𝑟 =𝑟 +𝑟 +𝑟 +2𝑟 𝑟 (cos𝜃 cos𝜃 +sin𝜃 sin𝜃 )−2𝑟 𝑟 (cos𝜃 cos𝜃 +sin𝜃 sin𝜃 )−2𝑟 𝑟 (cos𝜃 cos𝜃 +sin𝜃 sin𝜃 )− (4.5)
3 1 2 4 14 1 4 1 4 12 1 2 1 2 24 2 4 2 4
 Analytical Method
4 Bar Mechanism: Position Analysis: Link-2 Driver

Equation 4.5 gives implicit relationship between and ( is constant). Equation 4.5
can also be written as:

Where

Using 𝜃42
1 − tan
2
cos 𝜃 4=
𝜃
1+ tan 2 4
2
𝜃4
2 tan
2
sin 𝜃 4 =
𝜃
1+ tan 2 4
2
 Analytical Method
4 Bar Mechanism: Position Analysis: Link-2 Driver

( 𝐶 − 𝐴 ) 𝑡 2 +2 𝐵𝑡 + ( 𝐴+𝐶 ) =0

𝜃4
𝑡 = tan
2

−2 𝐵+𝜎 √ 4 𝐵2 − 4 ( 𝐶 − 𝐴 )( 𝐶+ 𝐴)
𝑡=
2 ( 𝐶 − 𝐴)

− 𝐵+ 𝜎 √ 𝐵 2 − 𝐶 2+ 𝐴2
𝑡=
( 𝐶 − 𝐴)

𝜃4 =2 atan 𝑡
Where is a sign variable identifying the assembly mode. Note that has a valid
range . Therefore, will have the range
 Analytical Method
4 Bar Mechanism: Position Analysis: Link-2 Driver

After calculating the value of can be obtained using 4.3 and 4.4

𝑟 3 cos 𝜃 3=𝑟 1 cos 𝜃1 +𝑟 4 cos 𝜃4 − 𝑟 2 cos 𝜃2 − −(4.3)

𝑟 3 sin 𝜃3 =𝑟 1 sin 𝜃 1+𝑟 4 sin 𝜃4 −𝑟 2 sin 𝜃 2 −−(4.4)

𝑟 1 sin 𝜃1 +𝑟 4 sin 𝜃 4 −𝑟 2 sin 𝜃2

𝜃3 =atan −−− ( 4.5 )
𝑟 1 cos 𝜃1 +𝑟 4 cos 𝜃4 −𝑟 2 cos 𝜃 2

Note that the sign of numerator and denominator defined the quadrant in which the
angle lie.
 Analytical Method
4 Bar Mechanism: Position Analysis: Link-3 Driver
If link-3 (coupler) is driver then will be input. So it is desirable to write and in
terms of and . When these equations are known one can differentiate to obtain
the velocity and acceleration. Rewriting equation 4.1 and 4.2

𝑟 2 cos 𝜃2 =𝑟 1 cos 𝜃1 +𝑟 4 cos 𝜃 4 −𝑟 3 cos 𝜃 3 − −(4.6)

𝑟 2 sin 𝜃2=𝑟 1 sin 𝜃1 +𝑟 4 sin 𝜃 4 −𝑟 3 sin 𝜃3 −−(4.7)
The assembly mode ambiguity similar
to the previous case (See Figure).
Hence one should carefully know the
appropriate mode before the analysis
is begun.

If the 4 bar chain is not a double crank

mechanism then the angle of rotation
of input link will be less then 360.
 Analytical Method
4 Bar Mechanism: Velocity Analysis
𝒓˙𝐵 = 𝒓˙ 2 + 𝒓˙3 = 𝒓˙ 1 + 𝒓˙ 4
Where as it is attached to the ground (direction or length with change)
𝑟 2 𝜃˙ 2 𝑐𝑜𝑠 𝜃2 +𝑟 3 𝜃˙ 3 cos 𝜃3 =𝑟 4˙𝜃 4 cos 𝜃4 −− −(4.8)
𝑟 2˙𝜃 2 𝑠𝑖𝑛 𝜃2 + 𝑟 3˙𝜃3 sin 𝜃 3=𝑟 4˙𝜃4 sin 𝜃4 − −−( 4.9)
This system of equations can be written in a matrix form as:

Where M=2 and j=3 for as input, and and for as input, Hence equation 4.10 is
valid for both cases ( input and input)

Once the angular velocities are known the velocities can be obtained as:
 Analytical Method
4 Bar Mechanism: Acceleration Analysis

𝒓¨𝐵 = 𝑟¨2 + 𝑟¨3 = 𝑟¨1 + 𝑟¨4

Where M=2 and j=3 for as input, and and for as input.

Once the angular velocities are known the velocities can be obtained as:

and
 Analytical Method
4 Bar Mechanism: Summary

𝑟 𝑀
Analytical Method
Slider Crank Mechanism

Note are given to the students

Lecture-9
CAD
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Demo MATLAB Program

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Demo Adams
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Demo Solidworks
Thank You