MECH 343 Theory of
Machines I
Time: _ _ W _ _17:45 - 20:15
Lecture 6
Contents of today's lecture
• Angular Velocities by Relative Velocities
• Examples
• Velocities of Points – Rolling Bodies
• Velocities of Complex Linkages
• Acceleration Analysis
• Linear Acceleration
• Acceleration Image
Velocities of Points – Rolling Bodies
Velocities of Points – Rolling Bodies
• In the quick return mechanism shown, B2 is on 2 with
velocity VB given. We need to find VD, ω4 & ω5
• Given ω2, VB can be traced in velocity polygon (O’2B’2)
• Direction of VB4 & VC is known ⊥ to link 4. relative
velocity of B4 wrt B4 is only ║ to link 4. so drawing a
line ║ to link 4 from B’2 will locate B’4
• C’ can be located considering the similarity of triangles
as they are in the same radial line as
• Direction of VD is known as ║ to 1 and can be drawn
from O’2
• Velocity of D wrt C VD/C is ⊥ to link 5 can be drawn
from C’. Its intersction with V’D will locate D’
• Knowing VC, VC/D, O4C and CD we can find ω4 & ω5
• VC is to the right hence CW and VC/D is down so CW
Velocities of Points – Rolling Bodies
• In the direct contact mechanism
shown, P2 & P3 are on 2 & 3. since the
contact is at O2O3 rolling contact at
this instant. Velocity VB given and we
need to find VC
• VB can be traced in velocity polygon
(O’2B’) ⊥ to O2B .
• VP2 is ⊥ to O2P2, a line from O’2 ⊥ to O2P2 is drawn. Relative
velocity of P2 wrt B is ⊥ to BP2 so a line from B’⊥ to BP2 is drawn
and it will locate P’2. O’2P’2 is VP2 and B’P2 is VP2/B.
• In case of rolling contact VP2 is same as VP3, so P’2 will be P’3 as well
• VC is ⊥ to O3C, a line from O’3 ⊥ to O3C is drawn. Relative velocity
of C wrt P3 is ⊥ to P3C, so a line from P’3 ⊥ to P3C is drawn and it
will locate C’.
• Now O’3C’ is VC and P’3C’is VC/P3.
Velocities of Points – Rolling Bodies
• Same as before but at different phase.
P2 & P3 are on 2 & 3. Contact is NOT at
O2O3 so sliding contact. Velocity VB
given and we need to find VC
• VB can be traced in velocity polygon
(O’2B’) ⊥ to O2B .
• VP2 is ⊥ to O2P2, a line from O’2 ⊥ to O2P2 is drawn. Relative
velocity of P2 wrt B is ⊥ to BP2 so a line from B’⊥ to BP2 is
drawn and it will locate P’2. O’2P’2 is VP2 and B’P2 is VP2/B.
• VP3 ⊥ to O3P3, a line from O’3 ⊥ to O3P3 is drawn. VP3/P2 is
directed along the tangent (sliding contact). So a line from P’2 ║
to tangent intersecting O’3P’3 will locate P’3
• VC is ⊥ to O3C, a line from O’3 ⊥ to O3C is drawn. Relative
velocity of C wrt P3 is ⊥ to P3C, so a line from P’3 ⊥ to P3C is
drawn and it will locate C’.
• Now O’3C’ is VC and P’3C’is VC/P3.
Velocities of Points – Rolling Bodies
• In the oscillating cylinder steam engine,
velocity VB given and we need to find VC
• VB can be traced in velocity polygon (O’2B’)
⊥ to O2B .
• 3 unknowns so we need a point VD3 to be found first to
find VC
• VD3 is on extension to link 3 with pivot at O4. Direction
of D3 can be only along BD3. So a line from O’2 ║ to
BD3 is drawn. Relative velocity of D3 wrt to B is ⊥ to
BD3. Line from B’⊥ to BD3 intersects at D’3
• Now O’2D’3 is VD3 and Now B’D’3 is VD3/B. From these
Point C’ can be located by proportion
• Now O’2C’is VC
Velocities in Complex Linkages
• Complex mechanisms are with
2 or more floating links
(moving centers)
• Here links 3 and 5 are floating
where trial and error is needed
• VE is known and VB desired, we
need to find VC
• VE can be laid of as O’2E’assume
D’ somewhere along this line. VC/E
is ⊥ to CE, a line from E’ ⊥ to CE
is drawn and C’* is located.
• Now considering link 3, VB is O’2B’
⊥ to O2B and D’B’ ⊥ to DB
• We know C is along BD and by
proportion we can mark C’
Velocities in Complex Linkages
• This solution is incorrect
because C’ is not along the line
containing E’
• Meeting point of C’*E’ with
O’2C’ will give C’
• Through C’ a line is drawn from
B’D’ parallel to B’D’
• B’C’D’ is the image of BCD and a
correct solution is attained
• Alternately drawing O2B to
assumed length and drawing the
polygon D’, C’ and E’
• Knowing the mag VE the scale can
be determined and other velocities
identified.
Acceleration Analysis
• Acceleration is important because of its effect on inertial forces
• Stresses in machine parts
• Bearing loads
• Vibrations and noise
• Analysis done by addition of relative accelerations similar to
relative velcities
• In the O’2 is the pole for velocity then for acc’n it is O”2
• Normal component acceleration
• Tangential component acceleration
• Overall linear acceleration
Linear Acceleration Analysis
• ω2 is 1800rpm find acceleration of C
• Link 2 is 2.5” and link 3 is 6”
• Velocity polygon can be drawn to scale
• And VC/B can be found as 34.4 ft/s
• The acceleration of C can be found using
• C is rectilinear so no normal component but
will have normal comp if V changes
• B is curvilinear but uniform ω so no
tangential component
Linear Acceleration Analysis
• Solved by drawing acc’n polygon
• Point O”2 is the acc’n pole and AC = AtC
• An is 0 as C is rectilinear
C
• We know An B both direction and magnitude
drawn from O”2 ║to O2B
• Since ω2 is constant α is 0 so AtB is 0 so
AnB is A B
• The relative acceleration of C wrt B has
both components An and At
C/B C/B
• C rotates in a circular path with radius BC
and the compnents will be based on this
• AnC/B ║to BC and A C/B
t
⊥ to BC
Linear Acceleration Analysis
• C rotates in a circular path with radius BC
and the components will be based on this
• An ║to BC and At ⊥ to BC
C/B C/B
• An is drawn to scale to BC from B”
C/B
• Drawing a line from the terminus of An C/B
and ⊥ to BC will intersect at the line O”2C”
at a Point C”
• From this completed polygon, magnitude of
AtC and AtC/B can be measured
Acceleration Image
• Similar to velocity image, there is an
acceleration image for all mechanism
• Both α and ω are properties of the whole
link and relative acceleration is proportional
to the distance between the points
• Care needs to be taken on direction do not
flip the image. Here both BCD and B”C”D”
are CCW
Angular Acceleration
• Angular acc’n (α) is the At of a point on
the link divided by distance between the
points. So far link 3
• Direction for which can be seen from the
polygon. Here C rotates wrt B with circle of
radius BC.
• From the Accn’ polygon we see that AtC/B is
upward. So the direction is CCW
• From the velocity polygon, we can see that
the VC/B is CCW as well
• CCW is +ve and CW is –ve indicating that
the angular velocity of link 3 is increasing at
this instant.
Angular Acceleration - Example
• Given ω2 and α2 find AC,D,E & α3,4
• Draw the velocity polygon then we have
• AnC can be known with VC and O4C
• AnC direction known magnitude unkown
• Given ω2 and α2 find AnB = ω2O2B and AtB = αBC
• Draw AnC/B = V2C/B/BC from B” ║ to BC towards B and AtC/B
⊥ AnC/B intersection of this line with AtC will give C”
• Then D” and E” can be found using image of BCE and BCD
• This will give AC,D,E & α3,4 can be found using
