MEC219

Unit 2
Learning Objectives
• Projects .
https://www.youtube.com/watch?v=21ULLBnoWu8&list=PLrIPu
ZH5a-80vHE76OqxU1T0HiDsO23jl

• Kinematic analysis
• Concepts of vectorial analysis
• Angular velocity of links,
• Velocity of rubbing
• Velocity and acceleration
• Analysis of planar mechanisms,
• Instantaneous Center
 Coordinate System

• Absolute Coordinate system( Global )

– Absolute motion
• Relative Coordinate system
– Relative Motion
 Vectors
• 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

h
x2 , y2 
n gt
le
e
th
is
de
i tu
n
ag
m is
o n
re cti gle
di an
i s
th
Initial Point
P
x1 , y1 
To add vectors, we put the initial point of the second vector on the
terminal point of the first vector. The resultant vector has an initial 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
u w u
uv
v
 3w
w u v
w
w u
 v

2u  3w  v v
u w
u w
w
 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

https://www.youtube.com/watch?
v=yi4p8ZR4n28

O
 Motion of a link

• Velocity of A relative to O
A
= A'

𝑟 𝛿𝜃 r
𝑉 𝑎𝑜 = 
𝛿𝑡
• In the limits
𝑑 𝜃
𝑉 𝑎𝑜 =𝑟 ¿𝑟
𝑑𝑡
𝜔 O

Thus the velocity of A is𝜔 𝑟and is perpendicular to OA

 Motion of a link

v ao
A
• Consider a Point B on link B
OA
r
The velocity of B = 
• If Vob represents the velocity O

of B, it can be observed that

𝑉 𝑜𝑏 𝜔 𝑂𝐵 𝑂𝐵
= =
𝑉 𝑜𝑎 𝜔 𝑂𝐴 𝑂𝐴
 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. of B + C
Vel. Of B rel. Vel. of A B

𝑉 𝑐𝑎 =𝑉 𝑐𝑏 +𝑉 𝑏𝑎
D
A
• The velocity of any point relative to any other point on a fixed
link is zero( as point A and D on link AD)
𝑉 𝑐𝑑 =𝑉 𝑏𝑎 +𝑉 𝑐𝑏
 Four Link Mechanism

C
B

D
A

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

E
• Intermediate points C
B

𝑏𝑒 𝐵 𝐸
= D
𝑏𝑐 𝐵 𝐶 A
𝐵𝐸
𝑏𝑒=𝑏𝑐 𝑋
𝐵𝐶
Vba b
e
• ae represents the absolute velocity a, d
E
Vcd c
 Construction of velocity diagram
F
• Offset point(F) C
• Write the vector equation for point F B E

𝑓𝑏 + 𝑉 𝑏𝑎=𝑉 𝑓𝑐 +𝑉 𝑐𝑑
D
A

b
Vba
f
• af or df represents the
e
a, d
absolute velocity E Vcd
c
 Velocity Images
• The triangle bfc is similar to triangle BFC . F

• The triangles such as bfc are known as C

B E
velocity images

• Any offset point can be located in the
D
velocity diagram by drawing velocity A
images. b
• Important points Vba
– The velocity image of a link is a scaled f
e
reproduction, rotated through 900 a, d
Vcd
– Order of letters in the velocity images is c
the same as in the configuration drawing
– In general the ratio of sizes of different
images to the sizes of their respective
links is different in the same mechanism.
 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
𝑉 𝑏𝑜= 𝑉 𝑏𝑎 +𝑉 𝑎𝑜
𝑉 𝑏𝑔 =𝑉 𝑎𝑜 + 𝑉 𝑏𝑎

Where
Slider Crank Mechanism

V
ao
a

b
o, g Vba
Slider Crank Mechanism

Vbg
o, g b
Vao
a
Vba
 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 = 60012 rad/s in the counter-clockwise direction.
C
B
𝑉 𝑏𝑎=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
 Examples
• In a slider-crank mechanism, the crank is 480 m 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
 E
F


O,g
b
 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 600 O2
B
C
 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

• R = Radius of the pin at the joint.

• Rubbing velocity at the pin joint O
• -)r, if the links move in the same direction
• +)r, if the links move in the opposite direction direction
 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

𝑇h𝑒h𝑜𝑟𝑖𝑧𝑜𝑛𝑡𝑎𝑙𝑐𝑜𝑚𝑝𝑜𝑛𝑒𝑛𝑡𝑎𝑙𝑜𝑛𝑔𝐴𝐵𝑓𝑜𝑟𝑣𝐴𝑖𝑠𝑣𝐴𝑐𝑜𝑠𝜃
𝑇 h𝑒h𝑜𝑟𝑖𝑧𝑜𝑛𝑡𝑎𝑙 𝑐𝑜𝑚𝑝𝑜𝑛𝑒𝑛𝑡 𝑎𝑙𝑜𝑛𝑔 𝐴𝐵 𝑓𝑜𝑟 𝑣 𝐵 𝑖𝑠 𝑣 𝐵 𝑐𝑜𝑠 ϕ
As distance AB never changes so
=
Instantaneous Center(I Center)

As distance AB never changes so

=
Consider Triangle IAB
Use sine law

---------------------------(2)
Instantaneous Center(I Center)

From eq 1 and 2
=

-------------------(2)

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

I13

3 I34

I23

I24 2 4

I12 I14

1
50
 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

=
 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 by
instantaneous centre method.

G
 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
. 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

60
 Acceleration Analysis
• The rate of change of velocity with respect to time is known as
acceleration and it acts in the direction of the change in velocity
A va
r A' v 'a cos 
 
  v'a sin 

  t
O v'a
 Acceleration Analysis
• Where

A va
r A' v'a cos  Tangential velocity of A,
  Angular velocity of A’,
  v'a sin 

  t
O v'a

Tangential velocity of A’,

Tangential velocity of A may be considered to have two
components; one perpendicular to OA and the other parallel to OA
 Acceleration Analysis
Change of velocity perpendicular
va to OA
A
r A' v'a cos 
 
  v'a sin 

  t
O v'a

Velocity of A perp. to OA =
Velocity of A’ perp. to OA
change of velocity = -
=
 Acceleration Analysis
Change of velocity perpendicular
v
to OA
A a
r A' v'a cos 
 
  v'a sin 

  t
O v'a

In the limits ,
= =r =

It is donated by ftao
 Acceleration Analysis
Change of velocity parallel to OA
A va
r A' v'a cos  Velocity of A parallel to OA =
 
  v 'a sin 
Velocity of A’ parallel to OA

  t
O v'a change of velocity = -0

In the limits ,

=
2
𝑣
¿
𝑟
 Acceleration Analysis
Change of velocity parallel to OA
A va
r A' v'a cos 
 
  v'a sin 

  t
O v'a

=
2
𝑣
¿
𝑟

It is donated by fcao
 Acceleration Analysis
Change
v of velocity parallel to OA
A a
t
r A' v'a cos  f ao f aot
  O1 oa ao O1
  v'a sin 

  t
O v'a f aoc f aoc

a1 a1

Note the following

1. When , i.e.,cOA rotates with uniform angular velocity, f aot 0
f ao
and thus represents the total acceleration
2. When , i.e., A has linear motion, and thus the tangential
acceleration is the total acceleration
3. When is negative or the link OA decelerates, the tangential
acceleration will be negative
• Radial component is ____to the link and
tangential component is _____to the link
a) perpendicular, parallel
b) Parallel, parallel
c) Parallel, perpendicular
d) Perpendicular, perpendicular
 Four bar link Mechanism(Acceleration)

• Let= angular acceleration of AB C

B
at this instance 
• Vector equation similar to 
velocity diagram D
• acc. Of C rel. A = acc. Of C rel. A
Vcd c
to B + acc. of B rel. to A a, d
𝑓 𝑐𝑎 =𝑓 𝑐𝑏 +𝑓 𝑏𝑎
Vba b
𝑜𝑟 𝑓 𝑐𝑑 = 𝑓 𝑐𝑏 + 𝑓 𝑏𝑎
𝑜𝑟 𝑑 1 𝑐 1=𝑏1 𝑐 1 +𝑎 1 𝑏 1
 Four bar link Mechanism(Acceleration)

𝑓 𝑐𝑑 = 𝑓 C
𝑐𝑏 + 𝑓 𝑏𝑎 B

Each of these accelerations may have 
a centripetal and a tangential
component.
D
A
Vcd c
a, d
+++ Vba b
 Construction of acceleration Diagram
Vcd c
C
B a, d Vbc


Vba b
D
A a1 , d1
2
𝑐 𝑣 𝑏𝑎
𝑓 ¿
𝑏𝑎
𝐴𝐵 f c
f cdc
ba
𝑡
𝑓 𝑏𝑎 =𝛼 . 𝐴𝐵 f cdt
2 f ba
𝑣 𝑐 t
𝑓 ¿
𝑐𝑑
𝑐𝑑
ba f t
f cb

𝐶𝐷 ba
f cbc b1
2
𝑐 𝑣 𝑏𝑐
𝑓 𝑐𝑏
¿
𝐵𝐶
Four bar link Mechanism(Acceleration)

C
B


D
A
Vcd c
a, d

Vba b
 Construction of acceleration Diagram
Vcd c a,d
C
B a, d Vbc
 Rba
 Rcd
Vba b
D b
A a1 , d1 Rcb
2
𝑐 𝑣 𝑏𝑎
𝑓 ¿
𝑏𝑎
𝐴𝐵 f c
f cdc Tcb
ba
𝑡 Tcb
𝑓 𝑏𝑎 =𝛼 . 𝐴𝐵 f cdt
cd C
2 c1 f ba
𝑣 𝑐𝑑
𝑐 f cbt f cb
𝑓 ¿
𝑐𝑑 ba f t
𝐶𝐷 ba
f cbc b1
2
𝑐 𝑣 𝑏𝑐
𝑓 𝑐𝑏
¿
𝐵𝐶
 Construction of acceleration Diagram
Vcd c
C
B a, d Vbc
 a1 , d1

Vba b
D
A
Angular acceleration of links f c
ba
f cdc
𝑡
❑ 𝑓 𝑐𝑏
𝛼 𝑐𝑏
¿
𝐶𝐵 t
f cd cd f
𝑓
𝑡
c1 ba
❑
𝛼 𝑐𝑑𝐶𝐷
¿
𝑐𝑑
ba t
f cb
f f cbt
ba
f cbc b1
 Examples
AB = 45 mm, BC = 55 mm, CD = 51 mm and AD = 90 mm. At
an instant when angle DAB = 60012 rad/s in the clockwise
direction and an acceleration of 26 rad/s2 is applied to link
AB. Find the angular accelerations of the links BC and CD.

C
B

D
A
 Slider Crank Mechanism

 Vbg
o, g b
Vao Vba
G a

acc. Of B rel. O = acc. Of B rel. to A + acc. of A rel. to O

𝑓 𝑏𝑜 = 𝑓 𝑏𝑎 + 𝑓 𝑎𝑜 𝑜𝑟 𝑓 𝑏𝑔 = 𝑓 𝑏𝑎 + 𝑓 𝑎𝑜

The crank OA rotates at uniform velocity and slider moves

in linear direction
+


G
o,g Rbo b

Rao

Tba
a

Rba
 Slider Crank Mechanism

 Vbg
o, g b
Vao Vba
G a

acc. Of B rel. O = acc. Of B rel. to A + acc. of A rel. to O

𝑓 𝑏𝑜 = 𝑓 𝑏𝑎 + 𝑓 𝑎𝑜 𝑜𝑟 𝑓 𝑏𝑔 = 𝑓 𝑏𝑎 + 𝑓 𝑎𝑜

The crank OA rotates at uniform velocity and slider moves

in linear direction
+
 Coriolis component of accel.
• https://www.youtube.com/watch?v=dt_XJp77
-mk

• https://www.youtube.com/watch?v=D1Ffsyaz
xzg
Coriolis component of accel.