KINEMATICS OF MACHINES

MEC202
F
C
Unit III b
B E Velocity Analysis Vba
 e
a, d
D Vcd
A c
 Unit III

Learning Objectives
• Velocity Analysis
• Concepts of vectorial analysis
• Angular velocity of links,
• Velocity Images
• Velocity of rubbing
• Analysis of planar mechanisms,
• Algebraic Methods
• Kennedys Theorem
• Instantaneous Centre
• Angular Velocity ratio theorem
Coordinate System

•Absolute Coordinate system( Global )

• Absolut motion
•Relative Coordinate system
• Relative Motion

Problems involving relative motions are solved by

use of vectors
 Vectors
A vector is a quantity that has both magnitude and direction. It is
represented by an arrow. The length of the vector represents the
magnitude and the arrow indicates the direction of the vector.

RED and orange RED and purple vectors RED and green vectors
vectors have same have same magnitude have same direction but
magnitude but different and direction so they different magnitude.
direction. are equal.

Two vectors are equal if they have the same direction and magnitude (length).
 Vectors
Q Terminal Point

x2 , y2 

Initial Point
P
x1 , y1 
To add vectors, we put the initial point of the second vector on the
vector. The
terminal point of the first vector. The resultant
resultant vector
vector has
has an
an initial
initial point
point
at the initial point of the first vector and a terminal point at the terminal
point of the second vector (see below--better shown than put in words).

Terminal point of
w

vw w
w

Initial point of v
v Move w over keeping the
magnitude and direction the
same.
 Vectors
The negative of a vector is just a vector going the opposite way.

v
v
A number multiplied in front of a vector is called a scalar. It means to take the
vector and add together that many times.

3v v
v
v
Using the vectors shown, find the following:

v
w
u uv u
v
 3w
w uv
w
w u
v

2u  3w  v v
u w
u w
w
 Notation about the Vectors

• If Body A is fixed, ab represents the vba b

absolute velocity of B a
• If both are in motion, the velocity of B
relative to A means the velocity of B
assuming the body A to be fixed for the
moment
• The vector ab can also be shown as Vba
• The vector ba can also be shown as Vab

vab b
a
 Motion of a link

v ao
• Let a rigid Link OA, of length r, A
rotate about a fixed point O B
with angular velocity ω
r
A 
A' O

r


O
 Motion of a link

• Velocity of A relative to O
A
𝐴𝑟𝑐𝐴𝐴′ A'
=
𝛿𝑡
𝑟𝛿𝜃 r
𝑉𝑎𝑜 = 
𝛿𝑡
• In the limits 𝛿𝑡 → 0
𝑑𝜃
𝑉𝑎𝑜 = 𝑟 = 𝑟𝜔 O
𝑑𝑡
Thus the velocity of A is 𝜔𝑟 and is perpendicular to OA
 Motion of a link

v ao
A
• Consider a Point B on link OA
B
The velocity of B =
𝜔. 𝑂𝐵 𝑝𝑒𝑟𝑝𝑒𝑛𝑑𝑖𝑐𝑢𝑙𝑎𝑟 𝑡𝑜 𝑂𝐵. r

• If Vbo represents the velocity O

of B, it can be observed that

𝑉𝑏𝑜 𝜔𝑂𝐵 𝑂𝐵 i.e b divides the velocity
= = vector in the same ratio
𝑉𝑎𝑜 𝜔𝑂𝐴 𝑂𝐴 as B divides the link.
 Motion of a link (Review)

Thus the velocity of A is 𝜔𝑟 and A

is perpendicular to OA A'
v ao r
A

B 𝑉𝑏𝑜 𝜔𝑂𝐵 𝑂𝐵
= =
𝑉𝑎𝑜 𝜔𝑂𝐴 𝑂𝐴
r

O
i.e b divides the velocity
O vector in the same ratio
as B divides the link.
 Four Link Mechanism

• Find the absolute velocity of C

• As per the velocity vector equation
• Vel. Of C rel. A = Vel. Of C rel. Vel. C
of B + Vel. Of B rel. Vel. of A B

𝑉𝑐𝑎 = 𝑉𝑐𝑏 + 𝑉𝑏𝑎
D
A
• The velocity of any point relative to any other point on a
fixed link is always zero( as point A and D on link AD)

𝑉𝑐𝑑 = 𝑉𝑏𝑎 + 𝑉𝑐𝑏

 Four Link Mechanism

C
B

D
A

Where 𝑉𝑏𝑎 𝑜𝑟 𝒂𝒃 = 𝜔𝐴𝐵; 𝑝𝑒𝑟𝑝𝑒𝑛𝑑𝑖𝑐𝑢𝑙𝑎𝑟 𝑡𝑜 𝐴𝐵

𝑉𝑐𝑏 𝑜𝑟 𝒃𝒄 = 𝑢𝑛𝑘𝑜𝑛𝑜𝑤𝑛

𝑉𝑐𝑑 𝑜𝑟 𝒅𝒄 = 𝑢𝑛𝑘𝑛𝑜𝑤𝑛
 Construction of velocity diagram

• The velocity diagram is

constructed as follows
• Take the first vector ab as it
is completely known.
Vba
b
a, d
C
B

D
A
 Construction of velocity diagram

• The velocity diagram is

constructed as follows
• To add vector bc to ab,
draw a line
perpendicular to BC
through b
C
B Vba b

a, d
D
A
 Construction of velocity diagram

C
• The velocity diagram is
constructed as follows B
• Take the first vector ab 
as it is completely D
known. A
• To add vector bc to ab,
draw a line
perpendicular to BC b
Vba
through b
• Through d, draw line a, d
perp. DC to locate vector Vcd c
dc, locate point c
 Construction of velocity diagram

C
• The velocity diagram is
constructed as follows B
• Take the first vector ab 
as it is completely D
known. A
• To add vector bc to ab,
draw a line
perpendicular to BC
Vba b
through b
• Through d, draw line a, d
perp. DC to locate vector Vcd c
dc, locate point c
 Construction of velocity diagram

• Intermediate points E C
The Velocity of an intermediate point on any B
of the links can be found easily by dividing
the corresponding velocity vector in the 
same ratio as the point divides the link
D
A
𝑏𝑒 𝐵𝐸
=
𝑏𝑐 𝐵𝐶
𝐵𝐸 Vba b
𝑏𝑒 = 𝑏𝑐 𝑋 e
𝐵𝐶 a, d
• ae represents the absolute
velocity E Vcd c
 Construction of velocity diagram
F
• Offset point(F) C
• Write the vector equation for B E
point F

𝑉𝑓𝑏 + 𝑉𝑏𝑎 = 𝑉𝑓𝑐 + 𝑉𝑐𝑑
D
A

b
Vba
f
• af or df represents the a, d e
absolute velocity F Vcd
c
 Velocity Images
• The triangle bfc is similar to triangle BFC . F
• The triangles such as bfc are known as C
velocity images B E
• Any offset point can be located in the 
velocity diagram by drawing velocity
images. D
A
• Important points
– The velocity image of a link is a scaled
b
Vba
reproduction, rotated through 900
f
– Order of letters in the velocity images is e
the same as in the configuration drawing a, d
Vcd
– In general the ratio of sizes of different c
images to the sizes of their respective
links is different in the same mechanism.
 Angular Velocity of links
• Angular velocity of BC F
C
a) Velocity of C relative to B, Vcb = bc B E
𝒗𝒄𝒃 = 𝝎𝒄𝒃 × 𝑩𝑪 = 𝝎𝒄𝒃 × 𝑪𝑩 
𝒗𝒄𝒃
𝝎𝒄𝒃 = ( clock wise) A
D
𝑪𝑩
b) Velocity of B relative to C, Vbc = cb b
Vba
𝒗𝒃𝒄
𝝎𝒃𝒄 = ( clock wise) f
𝑩𝑪 e
Angular velocity of CD a, d
Vcd
c
c) Velocity of C relative to D, Vcd = dc
𝒗𝒄𝒅
𝝎𝒄𝒅 = ( clock wise)
𝑪𝑫
 Rubbing Velocity
• The Rubbing velocity at a pin joint is defined as the algebraic sum
between the angular velocities of the two links which are
connected by pin joints, multiplied by the radius of the pin
• Let 𝜔1 = 𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑙𝑖𝑛𝑘 1
• 𝜔2 = 𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑙𝑖𝑛𝑘 2
• R = Radius of the pin at the joint.
• Rubbing velocity at the pin joint O
• = (𝜔1 -𝜔2 )r, if the links move in the same direction
• = (𝜔1 +𝜔2 )r, if the links move in the opposite direction direction
 Examples

• In a four bar link mechanism, the dimensions of the links are as

under AB = 45 mm, BC = 55 mm, CD = 51 mm and AD = 90 mm.
At an instant when angle DAB = 600, the link AB has an angular
velocity of 12 rad/s in the counter-clockwise direction.
Determine the
– Velocity of point C
– Angular velocity of the links BC and CD

C
B

D
A
 Examples

• Steps to solve the problem

– Find the known velocity Vba
– Draw Vba perpendicular to AB with appropriate Scale.
– Draw Vcb perpendicular to BC
– Draw Vcd perpendicular to DC
– Measure the size from the velocity triangle and convert
it to the actual values by multiplying with the scale
factor
C
B

D
A
 Examples
• AB = 45 mm, BC = 55 mm, CD = 51 mm and AD = 90 mm. At an
instant when angle DAB = 600, 𝜔 =12 rad/s in the counter-
clockwise direction. C
B
• 𝑉𝑏𝑎 = 𝜔. 𝐴𝐵 = 12 × 0.045 = 0.540

D
A
 Examples
• In a four bar link mechanism, the dimensions of the links are as
under AB = 45 mm, BC = 55 mm, CD = 51 mm and AD = 90 mm.
At an instant when angle DAB = 600, the link AB has an angular
velocity of 12 rad/s in the counter-clockwise direction.
Determine the
– Velocity of point E on the link BC when BE= 40mm
– Velocity of an offset point F on the link BC if BF =40mm, CF = 30 mm and
BCF is read clockwise
– Velocity of an offset point G on the link CD if CG = 20mm and DG = 40 mm
and DCG is read clockwise E C
B
 G
F
D
A
 Slider Crank Mechanism

• Find the Velocity of slider B

• As per the velocity vector equation
• Vel. Of B rel. O = Vel. Of B rel. Vel. of A + Vel. Of A rel. Vel. of O
𝑉𝑏𝑜 = 𝑉𝑏𝑎 + 𝑉𝑎𝑜
𝑉𝑏𝑔 = 𝑉𝑏𝑎 +𝑉𝑎𝑜
Where 𝑉𝑎𝑜 𝑜𝑟 𝒂𝒐 = 𝜔. 𝑂𝐴; 𝑝𝑒𝑟𝑝𝑒𝑛𝑑𝑖𝑐𝑢𝑙𝑎𝑟 𝑡𝑜 𝐴𝐵
Slider Crank Mechanism

 Vao
a

Vba
o, g b
Slider Crank Mechanism

Vbg
o, g b
Vao Vba
a
 Examples
• In a slider-crank mechanism, the crank is 480 mm long and
rotates at 20 rad/s in the counter clockwise direction. The length
of the connecting rod is 1.6m. When the crank turns 600 from
the inner dead centre, determine the
– Velocity of the slider
– Velocity of a point E located at a distance 450 mm on the connecting rod
extended
– Position and velocity of point F on the connecting rod having least
absolute velocity E
F


G
 Examples
• In the mechanism shown in fig below, the crank O2A makes 300
rpm in the counter clockwise direction as shown. Find A(i)
Angular velocity of link O1A (ii) Velocity of slider at B.
• O2A = 6 cm O1B = 30 cm O1O2 = 20 cm

B
A(on _ crank )

O2 300 O1

C (on _ link _ O1 B)
 Examples
• Find the speed in rpm and direction of rotation of crank O1A for
the mechanism shown in fig, if the piston D moves in the vertical
upward direction with a velocity of 5 m/sec when O1A makes
600 with the horizontal
• Given O1A = 7.5 cm, AB = 25 cm, O1O2 = 30 cm, O2C= 10cm,O2B=
10cm, CD = 25 cm, BC = 12.5 cm

D
A

O1 60 0 O2
B
C
 Instantaneous Center(I Center)
• For a rigid body in plane motion there exists a point on
the rigid body in the plane of motion whose
instantaneous velocity is zero. This point is called
instantaneous centre.
• For a body in the translation the, IC lies at infinity in the
direction perpendicular to the direction of translation.
 Instantaneous Center(I Center)
At I the relative
velocity must be
zero

𝑇ℎ𝑒 ℎ𝑜𝑟𝑖𝑧𝑜𝑛𝑡𝑎𝑙 𝑐𝑜𝑚𝑝𝑜𝑛𝑒𝑛𝑡 𝑎𝑙𝑜𝑛𝑔 𝐴𝐵 𝑓𝑜𝑟𝑣𝐴 𝑖𝑠 𝑣𝐴 𝑐𝑜𝑠𝜃

𝑇ℎ𝑒 ℎ𝑜𝑟𝑖𝑧𝑜𝑛𝑡𝑎𝑙 𝑐𝑜𝑚𝑝𝑜𝑛𝑒𝑛𝑡 𝑎𝑙𝑜𝑛𝑔 𝐴𝐵 𝑓𝑜𝑟𝑣𝐵 𝑖𝑠 𝑣𝐵 𝑐𝑜𝑠ϕ
As distance AB never changes so
𝑣𝐴 𝑐𝑜𝑠𝜃 = 𝑣𝐵 𝑐𝑜𝑠ϕ
Instantaneous Center(I Center)

As distance AB never changes so

𝑣𝐴 𝑐𝑜𝑠𝜃 = 𝑣𝐵 𝑐𝑜𝑠ϕ −−− −(1)
Consider Triangle IAB
Use sine law
𝐼𝐴 𝐼𝐵
=
𝑠𝑖𝑛(𝐼𝐵𝐴) 𝑠𝑖𝑛(𝐼𝐴𝐵)
𝐼𝐴 𝐼𝐵
𝜋 = 𝜋
𝑠𝑖𝑛( − ∅) sin( − 𝜃)
2 2
𝐼𝐴 𝐼𝐵
= ---------------------------(2)
𝑐𝑜𝑠∅ 𝑐𝑜𝑠𝜃
Instantaneous Center(I Center)

From eq 1 and 2
𝑣𝐴 𝑐𝑜𝑠𝜃 = 𝑣𝐵 𝑐𝑜𝑠ϕ −−− −(1)

𝐼𝐴 𝐼𝐵
= -------------------(2)
𝑐𝑜𝑠∅ 𝑐𝑜𝑠𝜃

𝑣𝐴 𝑣𝑏
= =𝜔
𝐼𝐴 𝐼𝐵
Velocity if I is zero
 Relative IC
• If two rigid bodies, say numbered 2 and 3, are in
relative motion then we can define a relative
instantaneous centre I23, as a point on body 3
having zero relative velocity(i.e. same absolute
velocity) with respect to a coincident point on
body 2
• I23 =I32
 Relative IC

• The(absolute) instantaneous centre of

velocity is the relative IC w.r.t. fixed link1
• For an n-link mechanism, there are then
total NC2 = n(n-1)/2 relative IC’s.
 Points to remember for IC
• For two bodies connected by revolute(R) pair,
the relative IC is at the centre of the R-pair.
• For two bodies connected by a Prismatic(P) pair,
the relative IC is at infinity in a direction
perpendicular to the axis of the P-Pair.
• If one body rolls over other without slipping,
then the point of contact is the relative IC
• If one body simultaneously rolls and slides over
the other body(i.e., constitute a higher pair, then
the relative IC lies somewhere on the common
normal at the point of contact.
 Rules for finding instant centers
Sliding body on curved surface
Sliding body on flat surface
2

2
1
1
I12 is at infinity
I12

Rolling Sliding
wheel (no bodies common
slip) normal

2 3

I23
I12 (point of contact)

Common
tangent (axis of slip)
 Aronhold-Kennedy’s
Theorem(of three centres)
• If three rigid bodies are in relative motion,
then the three relative IC’s are collinear

2
3
I 23
I12
I13

1
Instant centers of four-bar linkage

2 4

44
 Instant centers of four-bar linkage

I13

3 I34

I23

I24 2 4

I12 I14

1
45
Instant centers Example

4
3

46
 Application of instantaneous center
method to determine velocities
• The value of velocities of the points on a rigid I
link is directly proportional to their distance
from the instantaneous centre.
• The direction of velocities is perpendicular to A
the line joining them with the instantaneous VA
centre. B
• Consider three points A,B,C on rigid link, I being VB
the instantaneous centre. C
• Then VC

𝑉𝐴 𝑉𝐵 𝑉𝐶
= =
𝐼𝐴 𝐼𝐵 𝐼𝐶
 Velocity analysis using instant centers
Problem: Known 2, and Find 3 and 4

Steps
1. Find VA, normal to O2A, magnitude= 2(O2A)
I13 2. Find 3=length of VA/ (I13A)
3. Find VB, normal to O4B, magnitude= 3(I13B)
' 4. Find 4=length of VB/ (O4B)
VB
The instant centre method is
3 3 B a quick graphical method to
  analyse velocities, but it will
VB 4
VA only work if the instant
A
2 4 centres are in reachable
2
locations.
O2 I12 I14
O4

1
48
 Angular Velocity ratio Theorem
The velocity of I-Centre relative to a fixed three link is the same
whether the I-center is considered on the first or the second link
For finding the angular velocity of link 4, with known ω2, locate I centre
I24
Then
𝑣24 = 𝜔2 (𝐼24 𝐼12 )

As the Velocity of I24 is same for link 2 and link 4 I13

so it can be concluded that
𝑣24 = 𝜔4 (𝐼24 𝐼14 )
3
𝜔2 (𝐼24 𝐼12 ) = 𝜔4 (𝐼24 𝐼14 ) I34
𝜔4 (𝐼24 𝐼12 )
= Angular Velocity ratio Theorem I23
𝜔2 (𝐼24 𝐼14 )
2 4
I24

I12 I14
 Instant centers of four-bar linkage
• In a pin joined four bar mechanism, AB = 300 mm
,BC=CD= 360 mm and AD = 600mm. The Angle BAD=
60° . The crank AB rotates uniformly at 100 rpm. Locate
all the instantaneous centre and find the angular
velocity of the link BC.
C

A D

50
 Examples
• The crank of a reciprocating engine revolves at a
uniform speed of 310 rpm in clockwise direction. The
crank and connecting rod are 15cm and 65 cm long
respectively. Find the velocity of the piston when 𝜃 =
30° by instantaneous centre method.

G
 Sample MCQ

For a four bar mechanism the no. of instantaneous center will be

(a) 6
(b) 3
(c) 5
(d) 15

In a Four bar mechanism ABCD, grounded at AD , the velocity of link BC is 15m/s

and the velocity of the link AB is 10m/s ,the velocity of the point C (joint of Coupler
and rocker) relative to A will be
(a) 10m/s
(b) 5m/s
(c) 15m/s
(d) 50 m/s