Velocity Analysis

ಓಂ ಶ್ರೀ ಗಣೇಶಯನಮಃ
Velocity Analysis
The study of velocity involves the linear velocities of various points on different links of a
mechanism as well as the angular velocities of the links.

Relative Velocity:

Velocity of point ‘A’ relative to point ‘B’ (Vab)

Absolute Velocity:

Velocity of point ‘A’ relative to fixed point ‘O’ (Vao)

Vel. of ‘A’ relative to ‘O’ = Vel. of ‘A’ relative to ‘B’ (Vab)

+ Vel. of ‘B’ relative to ‘C’ (Vbc) + Vel. of ‘C’ relative to ‘O’ (Vco) Fig.2.1
i.e., Vao = Vab + Vbc + Vco
Vectors
• Problems involving relative motions are conveniently solved by the use of vectors.
• A vector is a line which represents a vector quantity such as velocity, acceleration, force, etc.

Characteristics of a Vector
1. Length of the vector drawn to a convenient
scale, represents the magnitude of the
quantity.
2. Direction of the line is parallel to the direction
in the quantity acts.
3. An arrowhead on the line indicates the
direction sense of the quantity which is always
from the tail to the head, i.e., a to b (Fig. (a)).
Motion of a Link
• Let a rigid link OA, of length r, rotate about a fixed point O with a uniform
angular velocity 𝜔 rad/s in the counter-clockwise direction (Fig. a).
• OA turns through a small angle 𝛿𝜃 in a small interval of time 𝛿t.
• Then A will travel along the arc AA’ as shown in Fig. b

Velocity of A relative to O

Or
• Also, as 𝛿t approaches zero (𝛿t → 0), AA’ will be perpendicular to OA.
• Thus, velocity of A is and is perpendicular to OA.
• This can be represented by a vector oa (Fig. c)

Consider a point B on the link OA (Fig. a)

Velocity of B relative to O
= OB (and is perpendicular to OB)
If ob represents the velocity of B,
it can be observed that

i.e., b divides the velocity vector in the same ratio as B divides the link.
Remember, the velocity vector (Fig. c) represents the velocity of A at a
particular instant.
At other instants, when the link OA assumes another position, the velocity
vectors will have their directions changed accordingly.
Four-Link Mechanism
Fig. shows a four-link mechanism ABCD in which
AD is the fixed link
BC is the coupler
AB is the driver.

AB is rotating at an angular speed of 𝜔 rad/s in the clockwise direction.

It is required to find the absolute velocity of C (or velocity of C relative to A).

Writing the velocity vector equation,

• The velocity of any point relative to any other point
on a fixed link is always zero.
• Thus, all the points on a fixed link are represented by
one point in the velocity diagram.
• Therefore, the velocity of C relative to A is the same
as velocity of C relative to D

Then the equation

may be written as
Example: In a four-link mechanism the dimensions of the links are as under:
AB = 50 mm, BC = 66 mm, CD = 56 mm, AD = 100 mm, FB = 45 mm, FC = 30 mm. At the
instant when DAB = 60°, the link AB has an angular velocity of 𝜔 = 10.5 rad/s in the counter-
clockwise direction.
Determine the
1. Velocity of the point C
2. Velocity of the point E on the link BC when BE = 40 mm
3. Angular velocities of the links BC and CD
4. Velocity of an offset point F on the link BC
if FB = 45 mm, CF = 30 mm and BCF is read clockwise.
5. Velocity of an offset point G on the link CD
if CG = 24 mm, DG = 44 mm and DCG is read clockwise.
1. Velocity of the point C
Write the velocity vector equation,

Construct the velocity diagram as follows:

a. Take the first vector vba as it is completely known.
i.e., vba = Length of the link AB angular velocity of link AB
= 50 10.5 = 525 mm/s = 0.525 m/s
Take the suitable scale, say, 1 mm/s = 5 mm/s (i.e., 1:5). Then 525 mm/s → 105 mm/s
First vector vba

Then magnitude of the vector vba will be

b
equal to 105 mm/s and its direction is AB vba
with sense counter clockwise.

Second vector vcb

vcb
a, d
b. To add the second vector vcb , draw a
line BC through b, of any length. Since
the direction-sense of vcb is known, it can
lie on either side of b. a convenient
length of the line can be taken on both
sides of b.
Third vector vcd
b
Through d, draw a line DC to locate the
vector vcd . The intersection of this line vba
with the line of vector vcb Locates the
vcb
point c.
c. Mark arrowheads on the vectors vcb a, d
and vcd to give the proper sense. Then
or v cd
v ca
‘dc’ is the magnitude and also represents c
the direction of the velocity of C relative
to A (or D). It is also absolute velocity of
the point C (A and D being fixed points)
The length of the vector vca is
approximates equal to 79 mm, then b
by converting back to original scale
the magnitude of the vector vca will vba
be equal to vcb
79 5 = 395 mm/s = 0.395 m/s a, d

i.e., the absolute velocity of C or v cd

v ca
= 0.395 m/s c
2. Find the velocity of the point E on the link BD when BE = 40 mm:
Locate the point e on vcb such that
0.206 m/s

vcb = 0.34 m/s from the velocity diagram

vea or v
veb = 0.34 0.206 m/s
e ed

vea or ved = 0.415 m/s from the

velocity diagram
3. Angular velocities of the links BC and CD:

v = 𝜔r
𝜔cb rad/s clockwise

𝜔cd rad/s
vea or v
e ed
counter-clockwise
4. Velocity of an offset point F on the link
BC if FB = 45 mm, CF = 30 mm b
and BCF is read clockwise:
vfb vba
As vfb is FB, draw a line FB through b.
vcb
Similarly vfc is FC, draw a line FC through
vfa or vfd a, d
c; f
vfc v cd
The intersection locates the point f. v ca or
c
Then, length of vfa or vfd gives the
absolute velocity of f.

i.e., vfa = 0.495 m/s

5. Velocity of an offset point G on the link CD if
CG = 24 mm, DG = 44 mm and DCG is read b
clockwise.
vba
As vgd is DG, draw a line DG through d;
vcb g
similarly, vgc is GC, draw a line GC through c;
vgd a, d
The intersection locates the point g. vgc
Then, length of vga or vgd gives the absolute o r v cd
v ca
c
velocity of g.
i.e., vga = 0.305 m/s
 b
vfa or vfd
vfb vba
vcb g
vgc vgd
f a, d
vfc v cd
v ca or
c
Example 2: 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 1.6 m. When the crank turns
60° from the inner-dead center, determine the

i. Velocity of the slider

ii. Velocity of a point E located at a distance 450
mm on the connecting rod extended.
Fig. shows the configuration
iii. Position and velocity of a point F on the
diagram to a convenient scale.
connecting rod having the least absolute
velocity

iv. Angular velocity of the connecting rod.

vao = 𝜔ao OA = 20 0.48 = 9.6 m/s
The vector equation is
vbo = vba + vao
or
vbg = vba + vao
or
vbg = vao + vba
a
Take the vector vao to a convenient scale vao
in the proper direction and sense
o, g
Say 9.6 m/s = 96 mm
 vbg = vao + vba

vba is AB, draw a line AB through a;

• The slider B has a linear motion relative to
the guide G.
• Therefore, vbg (or vbo) is parallel to the
direction of motion of the slider.
• Draw a line parallel to the direction of
a
motion of the slider through g (or o).
vba vao
• Thus, the point b is located.
• Velocity of the slider vbg = vbo = 9.7 m/s b o, g
vbg
(measured from the velocity diagram and
converted to original scale)
Locate the point e on vba extended such
that

ba = 5.25 m/s on measuring from the

diagram.
1.48 m/s
= 5.25 1.48 m/s e
a veo
Then the velocity of E will be vba vao
veo = veg = 10.2 m/s (on measuring from
b vbg o, g
the velocity diagram and converting
back to original scale).
To locate a point F on the connecting rod which
has the least velocity relative to the crankshaft
or has the least absolute velocity, draw ‘of’ ‘ab’
through ‘o’ .
Then locate the point F on AB such that

e
a
or
∟ vao
AF = 1.60 0.84 m f
vba vfo
Then vfo or vfg = 9.4 m/s (on measuring from the b o, g
vbg
velocity diagram and converting back to original
scale).
Angular velocity of the connecting rod AB:

𝜔ba rad/s clockwise

e
a
∟ vao
f
vba
b vbg o, g
Example: Fig. shows the link mechanism of a Mechanism ORSG
quick return mechanism of the slotted lever
type, the various dimensions of which are OA =
400 mm, OP = 200 mm, AR = 700 mm, RS = 300
mm.
For the configuration shown, determine the
velocity of the cutting tool at S and the angular
velocity of the link RS. The crank OP rotates at
210 rpm.

Mechanism OPQA
Solution: Calculate the angular velocity of the crank
as which is rotating at 210 rpm.
i.e.,
𝜔po 22 rad/s

Draw the configuration to a suitable scale.

The vector equation for the mechanism OPA,

vqa = vpo + vqp

In this equation,
vpo = 𝜔 OP = 22 0.2 = 4.4 m/s

Take the vector vpo which is fully known with suitable

scale. (say 1 m/s = 10 mm)
 vqa = vpo + vqp

Take the vector vpo which is fully known with suitable

scale (say 1 m/s = 10 mm).
vpo = 4.4 m/s = 44 mm (PO)

vqp is parallel to AR (AR), draw a line to AR through

p;
vqa is AR, draw a line to AR through a (or o); p

The intersection locates the point q. vpo vqp

r
Locate the point r on the vector vqa produced such
vqa q
that . o, a, g
Write the vector equation for the mechanism ORSG,
vso = vsr + vro

or vsg = vro + vsr

• Draw a line through r perpendicular to RS for the

vector vsr
p
• A line through g, parallel to the line of motion of the
slider S on the guide G, for the vector vsg . vpo vqp
r
• In this way point s is located. vqa q
o, a, g vsr
vsg s
 The velocity of the ram S = vsg (length of os or gs, on
measuring from the velocity diagram and converting back to
original scale) = 4.5 m/s

It is towards right for the given position of the crank.

Angular velocity of link RS,

p
𝜔rs rad/s clockwise
vpo vqp
r
vqa q
o, a, g vsr
vsg s
INSTANTANEOUS CENTRE (I-CENTRE)
• Let there be a plane body p having a non-linear motion relative to
another plane body q. va

∟
• At any instant, the linear velocities of two points A and B on the A B

∟
body p are va and vb respectively in the directions as shown in Fig.
vb
• If a line is drawn perpendicular to the direction of va at A, the body
I p q
can be imagined to rotate about some point on this line.
• Similarly, the center of rotation of the body also lies on a line
perpendicular to the direction of vb at B.

• If intersection of the two lines is at I, the body p will be rotating

about I at the instant.
• This point I is known as the instantaneous center of velocity or
instantaneous center of rotation of the body p.
INSTANTANEOUS CENTRE (I-CENTRE)
• In case the perpendiculars to va and vb at A and B
respectively meet outside the body p, then the I-center
will lie outside the body p. va

∟
A
• If the directions of va and vb are parallel and the B

∟
vb
perpendiculars at A and B meet at infinity, the I-center of
the body lies at infinity. p q
• This is the case when the body has a linear motion.

I at
Notation
• An I-center is a center of rotation of a moving body relative to another body.
• If a body p is in motion relative to a fixed body q, the I-center may be named as pq or qp.
• In general, the I-center will be named in the ascending order of the alphabets or digits,
i.e., pq, eg, 13, 37, etc.

Number of I-Centers
In a mechanism, the number of I-centers will be equal to possible pairs of bodies of links.

Let N = Number of I-centers

n = number of bodies or links

Then,
Kennedy’s Theorem
• Consider three plane bodies p, q and r ;
r being a fixed body.
pq
• p and q rotate about center pr and qr
pr
respectively relative to the body r. qr
p q
• Thus, pr is the I-center of bodies p and r
whereas qr is the I-center of bodies q r
and r.
• Assume the I-center of the bodies p
and q at the point pq as shown in Fig.
• Now, p and q both are moving relative
to a third fixed body r.
• Now, p and q both are moving relative to
a third fixed body r. vp
vq
• Therefore, the motion of their mutual I-
center pq is to be the same whether this pq
point is considered in the body p or q. pr
qr
p q
• If the point pq is considered on the body
p, its velocity vp is perpendicular to the r
line joining pq and pr.
• If the point pq is considered on the body
q, its velocity vq is perpendicular to the
line joining pq and qr.
• It is found that the two velocities of the I-
center pq are in different directions vp
vq
which is impossible.
• Therefore, the I-center of the bodies p pq
and q cannot be at the assumed position pr
qr
pq. p q
• The velocities vp and vq of the I-center r
will be same only if this center lies on the
line joining pr and qr.
• Therefore, if three plane bodies have
relative motion among themselves, their
I-center must lie on a straight line.
• This is known as Kennedy’s theorem.
Procedure to locate I-centers
• Figure shows a four-link mechanism ABCD. C
3
B 34
• The links have been named as 1, 2, 3 and 4. 23 4
2
• The number of I-centers is given by 12 14
A D
1
(i.e., 12, 23, 34, 14, 13, and 24)

• As the center of rotation of link 2 relative to 1 is at A, the I-center 12 for the links 1 and 2 lies
at A (fixed I-center).
• Similarly, 14 is another fixed I-center for the links 1 and 4 located at D.
• Link 3 rotates about B relative to the link 2 and thus the I-center 23 for links 2 and 3 lies at B
(permanent but not fixed I-center) and similarly 34.
• The above I-centers have been located by inspection only.
• The other two I-centers 13 and 24 can be located easily by applying Kennedy’s theorem.
I-Center 13
• First, consider three links 1, 2 and 3 with the condition 13
that the I-centers 12 and 23 are already known and the
third I-center 13 is to be located.
C
• Now, as the three links 1, 2 and 3 have relative motions B
3
34
among themselves, their I-centers lie on a straight line 23 4
2
(Kennedy’s theorem). 12 14
A D
• Thus, I-center 13 lies on the line joining 12 and 23. 1

• Similarly, consider the links 1, 4 and 3. Their I-centers are 14, 34, and 13. Out of these, 14
and 34 are already known.
• Therefore, I-center 13 lies on the line joining 14 and 34.
• The intersection of the line joining 12 and 23 with the line joining 14 and 34 locates the I-
center 13.
I-Center 24
• Consider two sets of links 2, 1, 4 and 2, 3, 4; the I-center would lie on the lines 12-14 and 23-
34.
• The intersection locates the I-center 24.

13

C
3
B 34
23 4
2
24 12 14
A 1 D
• There is a convenient way of keeping the track of the I-centers 1 2
located by inspection and by Kennedy’s theorem.
• Mark points as the corners of a regular polygon having same
4 3
number of sides as the number of links in the mechanism (For
example, 4 points for four-link mechanism. Fig.).
• Name them according to the links of the mechanism (i.e., 1, 2, 3 and 4 as shown in).
• Join the points of which the I-centers have been located by inspection, by continuous lines
( Join 12, 23, 34 and 14 by continuous lines).
• Then go on joining the points, of which the I-centers are being located by Kennedy’s
theorem, by dotted lines ( Join 13 and 24 by dotted lines).
• The construction of dotted line to join 1 and 3 shows that the I-center lies on the line
joining I-centers 12 and 23, and the line joining 14 and 34.
• Locate the I-center (i.e., 13) actually on the intersection of the two lines .
• The construction of dotted line to join 1 and 3 shows that the I- 1 2
center lies on the line joining I-centers 12 and 23, and the line
joining 14 and 34.
4 3
• Locate the I-center (i.e., 13) actually on the intersection of the
two lines .
• Similarly, find the I-center 24 by joining 2 and 4 and locate the
point on the intersection of the lines 12-14 and 23-34. 13

1 2 C
3
B 34
23 4
2
4 3 24 12 14
A 1 D
Angular-velocity
v12
• When the angular velocity of a link is known
𝜔1 𝜔2
(say 𝜔1) and it is required to find the angular
velocity of another link (say 𝜔2), locate their
13 12
common I-center (i.e., 12). 23
1 2
• The velocity of this I-center relative to a fixed
3
third link is the same whether the I-center is
considered on the first or the second link. Fixed link

• First consider the I-center to be on the first link and obtain the velocity of the I-center ( v12).
i.e., v12 = 𝜔1 (distance 13 to 12)
• Then consider the I-center to be on the second link and find its angular velocity (𝜔2).
i.e., 𝜔2 = v12 /(distance 23 to 12)
Angular-velocity v12
𝜔1 𝜔2

v12 13 23

𝜔1 1 2 12
𝜔2
3
13 12
23
1 2 v12
3 𝜔1 𝜔2
Fixed link
13 23
12 1 2
3
Angular-velocity-ratio theorem
• For example, if it is required to find the angular velocity of the link 4 when the angular
velocity of the link 2 of a four-link mechanism is known, locate the I-center 24 (Fig.).
• Then linear velocity of 24 with respect to link 2 is given as

• Again the linear velocity of 24 with respect to link 4 is given as

v24 34 C
or 3
𝜔 4 ( 24 −12) B 23 𝜔4=?
= 4
𝜔 2 (24 −14) 2 12 𝜔2
24 14
A D
1
• The above equation is known as the angular-velocity-ratio theorem.
Angular-velocity-ratio theorem

𝜔 4 ( 24 −12)
=
𝜔 2 (24 −14)

• The above equation is known as the angular-velocity-ratio theorem.

• In other words, the angular velocity ration of two links relative to a third link is inversely
proportional to the distances of their common I-center from their respective centers of
rotation.
34 C
3
B 23 𝜔4
4
2 12 𝜔2
24 14
D
A 1
Example:
In a slider-crank mechanism, the lengths of the crank and the connecting rod are 200 mm
and 800 mm respectively. Locate all the I-centers of the mechanism for the position of the
crank when it has turned 30° from the inner dead center. Also, find the velocity of the slider
and the angular velocity of the connecting rod if the crank rotates at 40 rad/s.

Solution: Number of I-centers

2 3

The slider-crank mechanism is shown in

1
1 4
Fig. Name the four links as 1, 2, 3 and 4.
Slider
Locate the various I-centers as follows:
1. Locate I-centers 12, 23 and 34 by
inspection. They are at the pivots joining 1 2 14 at

the respective links. As the line of

stroke of the slider is horizontal, the I- 4 3

center 14 lies vertically upwards or

downwards at infinity as shown in Fig.

2. Take four points in the form of a square

and mark them as 1, 2, 3 and 4. Join 12, 23
34
2 3
4
23, 34 and 14 by continuous lines as 12

these have been located by inspection. 1

1

14 at
1. I-center 24 lies at the intersection of lines 1 2 1 2

joining the I-centers 12, 14 and 23, 34 by

Kennedy’s theorem. Joining of 12 and 14 4 3 4 3
means a vertical line through 12. This I-
13
center can be shown in the square by a
dotted line to indicate that this has been
located by Kennedy’s theorem.

2. I-center 13 lies at the intersection of lines 24

23
3 34
2
joining the I-centers 12, 23 and 14, 34. 12
4

Joining of 34 and 14 means a vertical line

1 1
through 34. Show this I-center in the
14 at 14 at
square by a dotted line.
• Thus, all the I-centers are located.
• As velocity of the link 2 is known and the velocity of the link 4 is to be found.
• Consider the I-center 24.
• The point 24 has the same velocity
13
relative to fixed link whether it is assumed
to lie in link 2 or 4.
• First, assume 24 to lie on the link 2 which
rotates at angular velocity of 40 rad/s.
24
• Linear velocity of I-center 24 is; 23
34
2 3
4
12

(on measuring distance 24-12 from the 1 1

diagram)
14 at 14 at
m/s in the horizontal direction.
• Now, when this point is assumed in the link 4, it will have the same velocity which means the
linear velocity of the slider is the same as of the point 24.
• Thus, linear velocity of the slider = 4.92 m/s

13

24
23
3 34
2 4
12

1 1

14 at 14 at
Example:
Figure shows a six-link mechanism. The dimensions of
the links are OA = 220 mm, AB = 485 mm, BQ = 310
mm, BC = 590 mm and CD = 400 mm. For the position
when the crank OA makes an angle of 60° with the
vertical, find the velocity of the slider D. The crank OA
rotates clockwise at 150 rpm.

Solution: Angular velocity of link 2 is

The velocity of a point A on the link 2 (i.e., is known.

It is required to find the velocity of a point on the link 6. Thus, locate the I-center 26 as
follow:
• Locate I-centers 12, 23, 34, 45, 56, 16 and 14 by inspection.
2
• Locate 24 which lies on the intersection of 12-14 and 23-34.
1 3
• Locate 46 which lies on the intersection of 45-56 and 14-16 (16 is at ).
• Locate 26 which is the intersection of 24-46 and 12-16.
2 6 4

45 5
1 3
46 14

4 34 2
6 4 5 1
3 3
5 16 at 1
24
1
56
2 1 4
6 12 6
23
5
 2
• Locate 26 which is the intersection of 12-16 and 24-46.
• First, imagine the link 2 to be in the form of a flat disc containing the 1 3
point 26 and revolving about O with an angular velocity of rad/s.
• Then, m/s. 6 4

• The velocity of the point 26 is in the 5

vertically downward direction if OA 45
rotates clockwise. 46 14

• The slider can have motion in the 1

4 34
5
vertical direction only. 3
16 at 24
• It implies that all the points on the 1
O 26
slider move with the same velocity. 56
2 1
6 12
• Thus, velocity of the slider, 23 A
2.28 m/s
Example:
The configuration diagram of a wrapping machine is given in Fig. Determine the velocity of the
point P on the bell-crank lever DRP if the crank OA rotates at 80 rad/s.

P
VP

B
C
O

R Q
D
Solution: is known, is required.

Locate the I-center 26 by first finding the 13 and 36 by Kennedy’s theorem.

P
VP

2
34
35
1 3 12
2 3
6 5 4
23
6 4 1

5 16 14
56
1 1
I-center 13 by Kennedy’s theorem.
2

1 3

13
6 4 P
VP

34
2 35
12
2 3
1 3 4
6 5
23
1

6 4 16 14
56
5 1 1
I-center 36 by Kennedy’s theorem.
2

1 3

13
6 4 P
VP

36 34
2
12 35
2 3
1 3 6 4
23 5
1

6 4 16 14
56
5 1 1
I-center 26 by Kennedy’s theorem.
2 2

1 3 1 3

13
6 4 6 4 P
VP

5 5 6

26 36 34

12 35
2
3 4
23 5
1

16 14
56
1 1
Then,

(26 – 16) = (26 – 12)

= 80 9.82 rad/s
13
P
VP

It is counter-clockwise as 16 and 12 lie on 6

the opposite sides of 26 and is 26 36 34

clockwise. 12 35
2
3 4
Thus, 23 5
1
= (16-P) = 9.82600 = 5.89 m/s
16 14
56
1 1
Example:
The configuration diagram of a wrapping machine is given in Fig. Determine the velocity of the
point P on the bell-crank lever DCP if the crank OA rotates at 80 rad/s.

P
VP
Example:
The configuration diagram of a wrapping machine is given in Fig. Determine the velocity of the
point P on the bell-crank lever DCP if the crank OA rotates at 80 rad/s.

P
VP

B
C
O

R Q
D