Spring 2020

Unit-2
Velocity Analysis
Kinematics and Dynamics of Machines
(ME2013)

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 Velocity Analysis
 In this chapter, we will basically study about the linear velocities of various points on
different links of a mechanism as well as the angular velocities of the link

Velocity Analysis

Analytical Method Graphical Method

Relative Velocity Method Instantaneous Centre Method

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 Velocity Analysis
• Configuration Diagram
To facilitate the velocity, acceleration and force analyses, a machine or mechanism
is represented by a skeleton or a line diagram, commonly known as a
Configuration Diagram

• Absolute and Relative Motions?

• Vectors?
• Addition and Subtraction of Vectors?

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 Motion of a Link
 Let a rigid link OA, of length r, rotates about a fixed point O
 Angular velocity of OA = ω rad/s in the counter clockwise direction (uniform)
 As OA turns through a small angle δθ in a small interval of time δt, A travels
along the arc AA'
A A
vao A’
B
r δθ r
ω

O O
(a) (b)
b
a o 4
(c)
 Motion of a Link
 The direction of vao is along the displacement of A
A A
 Also, as δt→0, AA' will be perpendicular to OA vao A’
 Thus, velocity of A is rω and is perpendicular to OA vbo B
δθ r
The velocity vao can be represented by a vector oa r
ω
b
a o
O O
Consider a point B on the link OA
 Velocity of B, vbo = ω.OB (direction: perpendicular to OB)
 If ob represents the velocity of B, it can be observed that
= i.e., b divides the velocity vector oa in the same ratio as B
divides the link OA
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 Velocity Analysis: Four-Link Mechanism
Relative Velocity Method

Given: A four link mechanism ABCD in which AD is fixed

To find: the absolute velocity of C (or velocity of C relative to A / D)

F
C
c
B vcd
E
a,d e
ω vcb
vba f
b

A D
(a) Mechanism (b) Velocity vector diagram
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 Velocity Analysis: Four-Link Mechanism
Velocity vector equation
Velocity of C relative to A = Velocity of C relative to B + Velocity of B relative to A
vca = vcb + vba ……… (1)

 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
 The points A and D, both lie on the fixed link AD
 Therefore, the velocity of C relative to A is the same as the velocity of C relative to D

Equation (1) can be written as:

vcd = vcb + vba
dc = bc + ab
where, vba or ab = ω.AB (perpendicular to AB)
vcb or bc is unknown in magnitude (perpendicular to BC) 7

v or dc is unknown in magnitude (perpendicular to DC)

 Velocity Analysis: Four-Link Mechanism
Steps for constructing a Velocity vector diagram:
1. Take the first vector ab as it is completely known.
2. To add vector bc to ab, draw a line perpendicular to BC through b, of any length. Since the
direction sense of bc is unknown, it can lie on either side of b. A convenient length of the line
can be taken on both sides of b.
3. Through d, draw a line perpendicular to DC to locate the vector dc. The intersection of this
line with the line of vector bc locates the point c.
4. Mark arrowheads on the vectors bc and dc to give the proper sense. Then dc is the c
magnitude and also represents the direction of the velocity of C relative to A. It is also the vcd
absolute velocity of the point C.
vca = vcb + vba ……… (1) a,d
vcb
 Remember: The arrowheads on vector bc can be put in any direction because both ends of vba
the link BC are movable. b
If the arrowhead is put from c to b, then the vector is read as cb. The above equation is
modified as
Velocity vector diagram
dc = ab - cb
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dc + cb = ab
 Velocity Analysis: Four-Link Mechanism
Steps for constructing a Velocity vector diagram:
 Intermediate point:
For point E on the link BC

= ae represents the absolute velocity of E (= vea)

 Offset point:
Write the vector equation for point F,
vfb + vba = vfc + vcd c
vcd
vba + vfb = vcd + vfc vfc
a,d vea
ab + bf = dc + cf
e
vfa vcb
 vfb is perpendicular to BF (draw a line perpendicular to BF through b) vba f v
fb
 vfc is perpendicular to CF (draw a line perpendicular to CF through c) b

The intersection of these two lines locates the point f 9

af or df indicates the velocity of F relative to A or the absolute velocity of F
 Velocity Analysis: Four-Link Mechanism
Angular Velocity of links

 Angular velocity of link BC (ωbc )

c
vcd
vea vfc
a,d e
 Angular velocity of link CD (ωcd ) vfa vcb
vba f v
fb
b

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 Velocity of Rubbing

where, r is the radius of the pin at O

 Velocity of Rubbing
 Surface of the hole of one link
will rub on the surface of the
pin of other link

Velocity of rubbing at each joint  ra, rb, rc, rd are radius of pins at
different joints
 ω is angular velocity

rb × (ωbc + ωab)
rc × (ωbc + ωcd)

ra × ωab rd × ωcd 12
Numerical Problem: 1 [Refer page number 53 (Example 2.1 of TOM by S S Rattan]

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Numerical Problem: 1 [Refer page number 53 (Example 2.1 of TOM by S S Rattan]

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Numerical Problem: 1 [Refer page number 53 (Example 2.1 of TOM by S S Rattan]

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 Velocity Analysis of Slider Crank Mechanism
Procedure for velocity diagram
1. Draw the vector vao which is completely known.

vao = ω × OA and perpendicular to OA

2. Draw the vector vba perpendicular to AB through a

3. Draw a line parallel to the motion of B through g to obtain vector vbg

 The slider has linear motion. So the vector vbg representing

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velocity of slider will be parallel to the motion of slider
Numerical Problem: 2 [Refer page number 55 (Example 2.2 of TOM by S S Rattan]

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Numerical Problem: 2 [Refer page number 55 (Example 2.2 of TOM by S S Rattan]

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