velocity analysis

Velocity Analysis

The study of velocity analysis is very important for determining the acceleration of
points in the mechanisms. Kinematics deals with study of relative motion between the
various parts of the machines. Kinematics does not involve study of forces. Thus
motion leads study of displacement, velocity and acceleration of a part of the
machine. As dynamic forces are a function of acceleration and acceleration is a
function of velocities, study of velocity and acceleration will be useful in the design
of mechanism of a machine. Many methods and approaches exist to find velocities in
mechanisms. The velocity analysis can be carried out both by graphically as well as
analytically.
 Velocity
P
Rate of change of displacement is velocity ω
r x
Δ𝜃 𝜃𝑓𝑖𝑛𝑎𝑙 −𝜃𝑖𝑛𝑖𝑡𝑖𝑎𝑙 Ө
For angular motion 𝜔 = =
Δ𝑡 𝑡𝑓𝑖𝑛𝑎𝑙 −𝑡𝑖𝑛𝑖𝑡𝑖𝑎𝑙
At start 𝜃𝑖𝑛𝑖𝑡𝑖𝑎𝑙 = 0
𝑡𝑖𝑛𝑖𝑡𝑖𝑎𝑙 = 0
𝜃 𝑑𝜃
𝜔= or ω =
𝑡 𝑑𝑡
𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒,Δ𝑥
𝑑𝑥
For linear motion: velocity, 𝑉 = 𝑜𝑟 𝑉 =
𝑇𝑖𝑚𝑒, Δ𝑡 𝑑𝑡

Relation between linear velocity and angular velocity

𝑓𝑜𝑟 𝑠𝑚𝑎𝑙𝑙 𝑎𝑛𝑔𝑙𝑒 𝑥 = 𝑟𝜃, 𝑑𝑖𝑓𝑓𝑟𝑒𝑛𝑐𝑖𝑎𝑡𝑖𝑛𝑔 𝑔𝑖𝑣𝑒𝑠

𝑑𝑥 𝑑𝜃
=𝑟
𝑑𝑡 𝑑𝑡
𝑉 = 𝑟𝜔
 Vector Addition
There are two major ways of adding vectors,
Triangular construction
Parallelogram construction
To add two or more vectors using the triangular construction we simply connect
the arrows head to tail. The vector sum is the arrow starting at the tail of the
first vector and ending at the head of the last vector.

(b) (c)
(a)
Figure 1 Triangle construction

To add two vectors using the

parallelogram construction you first join
the vectors at their tails then draw
parallel lines from the head of each
vector forming the adjacent sides of a
parallelogram. The diagonal is the
resultant of the two vectors
Figure 2 Parallelogram construction
 Consider two points A and P on a rigid link AP, as
shown in figure. Let one of the extremities (P) of the
link move relative to A, in a clockwise direction.
Since the distance from A to P remains the same,
therefore there can be no relative motion between A
and P, along the line AP. It is thus obvious, that the
relative motion of P with respect to A must be Absolute velocity
perpendicular to AP. VPA=VP

Proof:
The position vector RPA can be written as a complex number in polar form,

𝑅𝑃𝐴 = 𝑝𝑒 𝑖𝜃

ሶ
𝑉𝑃𝐴 = 𝑉𝑃 = 𝑅𝑃𝐴
By differentiating
= 𝑝𝑒 𝑖𝜃 𝑖 𝜃ሶ = 𝑝𝑒 𝑖𝜃 𝑖𝜔
 = 𝑝𝑒 𝑖𝜃 𝑖 𝜃ሶ = 𝑝𝑒 𝑖𝜃 𝑖𝜔
The velocity expression has been multiplied by the (constant) complex operator i.
This causes a rotation of this velocity vector through 90 degrees with respect to the
original position vector. However, the velocity expression also multiplied by ω, which
may be either positive or negative. As a result, the velocity vector will be rotated 90
degrees from the angle θ of the position vector in a direction dictated by the sign of
ω. Imaginary
Vector r can be written as:
rei = r cos + i sin  
r cos 
Multiplying by i gives:
irei = r − sin  + i cos 
r

r sin 
Multiplying by i rotates a vector 90° Real
r sin  r cos 

Hence velocity of any point on a link with respect to another point on the
same link is always perpendicular to the line joining these points on the
configuration (or space) diagram
 If point A is moving:
Pivot A is no longer stationary and it has a linear
.
velocity VA as part of the translating carriage, link
3. If ω is unchanged, the velocity of point P versus
A will be the same as before, but VPA can no longer
be considered an absolute velocity. The absolute
velocity Vp must now be found from the velocity
difference. Graphical solution: Velocity Diagram

𝑉𝑃𝐴 = 𝑉𝑃 − 𝑉𝐴 (Velocity difference)

𝑉𝑃 = 𝑉𝐴 + 𝑉𝑃𝐴
= 𝑉𝐴 + 𝑝𝑒 𝑖𝜃 𝑖𝜔
Absolute velocity: an absolute velocity is the velocity of a point measured from a
fixed point.

Relative velocity: is the velocity of a point measured relative to another that may
itself be moving.
 Further examples
Figure shows the instantaneous position diagram for a
link OB of length 0.5 m rotating about O at 10 rad/S
clockwise. O is the fixed point at which link OB is hinged.
The velocity of link OB can be found using relationship
𝑣 = 𝑟𝜔

Where r is the distance between the point under analysis and the point of
reference O, 𝜔 is the angular velocity of the link in magnitude and sense, and V is
the tangential velocity of the point relative to the reference point. Its direction is
at right angles to the link and in the sense of the angular velocity.

𝑣𝐵𝑂 = 𝑂𝐵 × 𝜔𝐵𝑂 Magnitude of the velocity of B with respect to point O

𝑆𝑜, 𝑣𝐵𝑂 = 0.5 × 10 = 5 𝑚/𝑠 Direction ⊥ 𝑡𝑜 𝑂𝐵
Velocity Diagram
The point O has zero velocity and so, mark O as the velocity
origin. Draw the vector representing ab (Parallel to vector
V).
 Four-bar mechanism is shown , crank has VBA
angular velocity 𝜔2 , determine 𝜔3 and 𝜔4 . VBO4
Assume 𝜔2 CCW VAO2

Velocity Diagram
O2 and O4 are fixed points (references for zero velocities)

Compute the magnitude of VA as AO2ω2 . Construct vector

VA perpendicular to VAO2 by rotating VAO2 90° in the
direction of ω2.
O2, O4

From A draw a line perpendicular to VBA

O2, O4
 Draw a line perpendicular to VBO4 .

Construct vectors VBA and VB .

Measure the magnitude of VBA from the

polygon. O2, O4
Compute 𝜔3 = 𝑉𝐵𝐴ൗ𝐿𝐵𝐴
Direction of 𝜔3 : In this example it is CW
since VBA must rotate 90o CW

Measure the magnitude of VB from the

polygon. O2, O4
Compute 𝜔4 = 𝑉𝐵ൗ𝐿𝐵𝑂4
Direction of 𝜔4 : In this example it is CCW
since VBO4 must rotate 90o CCW.
In a four bar mechanism ABCD, AD is fixed and crank AB rotates at
200 rpm in a clockwise direction. Links dimensions are as follow
AB= 40mm, BC=AD= 150mm, CD=80mm and ≺ 𝐷𝐴𝐵 = 50∘

Find angular velocity of links BC and CD?

 More Examples: Point C represents any general point of interest
Consider the motion of the link ABC shown in Figure.
𝐺𝑖𝑣𝑒𝑛 𝜃2 , 𝜃3 , 𝜃4 , 𝜔2 , 𝑓𝑖𝑛𝑑 𝜔3 , 𝜔4 , 𝑉𝐴 , 𝑉𝐵 , 𝑎𝑛𝑑 𝑉𝐶 ,
.
We know VA and direction of VB
𝑉𝑏𝑎 = 𝑉𝑏 − 𝑉𝑎
VA perpendicular AC, VB perpendicular BC 𝑉𝑏 = 𝑉𝑏𝑎 + 𝑉𝑎

VBA VBA Direction

VA
VB VBA
O 2, O 4

VB V Direction
B

VBA = 3 ( AB )
VB = 4 ( O4 B )
11
Vc = ?
VC=VA+VCA

r
Double Scale
VC
VCA VA

VCA
r
VC

VC=VB+VCB
c
VC
VCB
b
VB