3

CHAPTER 4
POSITION, VELOCITY AND ACCELERATION ANALYSES
FOR PLANAR MECHANISMS USING COMPLEX NUMBER METHOD

Vector Analysis: For the position vectors r shown below, the positive angle is measured
counter-clock wise (ccw) from the horizontal line, which is drawn through the beginning
of the vector. The amplitude (or magnitude) of the vector r is given as r.

r
θ

θ
r

The position vector r can be written using complex numbers as r = rx+ iry, where rx is the
real part, ry is the imaginary part and i = − 1 . The vector r can also be written as r =
r(cosθ + isinθ) = re iθ, which is known as Euler formula.

Vector Loop or Loop-Closure Equation: Four-bar linkage and slider-crank mechanism

are shown using vectors as shown below:

A B B
3 A r3
2 4 r4
r2
=
O2 O4 O2
r1 O4

1 1

Four-Bar Linkage Vector Loop for Four-Bar Linkage

A A
3 = r3
2 r2
O2 B O2 B

4 r4
1 1
Slider-Crank Mechanism Vector Loop for Slider-Crank Mechanism
 4

Vector-loop equations are:

For four-bar linkage: r1 + r2 + r3 + r4 = 0
For slider-crank mechanism: r2 + r3 − r4 = 0

Position, velocity and acceleration analyses can be made using these vector-loop
equations.

Four-Bar Linkage

Position Analysis: The vector loop equation is written as

r1 e i θ1 + r2 e i θ2 + r3 e i θ3 + r4 e i θ4 = 0 (1)
or
r1(cosθ1 + isinθ1) + r2(cosθ2 + isinθ2) + r3(cosθ3 + isinθ3) + r4(cosθ4 + isinθ4) = 0

Collecting real and imaginary parts yields

Real: r1cosθ1 + r2cosθ2 + r3cosθ3 + r4cosθ4 = 0 (2)
Imag: r1sinθ1 + r2sinθ2 + r3sinθ3 + r4sinθ4 = 0 (3)

The problem of the position analysis is defined as

Given: r1, r2, r3, r4, θ1, θ2 Find: θ3, θ4

The two unknowns θ3 and θ4 are found using the above equations (2) and (3).

Velocity Analysis: Taking time derivative of the position vector r = reiθ in general yields

dr
= r = ( r + irω) e iθ
dt
where ω is known as the angular velocity of the link. Hence, taking time derivative of the
vector loop equation (1) results in

r1 + ( r2 + ir2ω2) e i θ2 + ( r3 + ir3ω3) e i θ3 + ( r4 + ir4ω4) e i θ4 = 0 (4)

where r1 = 0, and also r2 = r3 = r4 = 0, since r1 is frame, and the lengths of links 2, 3
and 4 are fixed. Collecting real and imaginary parts then yields
Real: −r2ω2sinθ2 − r3ω3sinθ3 − r4ω4sinθ4 = 0 (5)
Imag: r2ω2cosθ2 + r3ω3cosθ3 + r4ω4cosθ4 = 0 (6)

The problem of the velocity analysis is defined as

Given: All r’s and θ ’s, and ω2 Find: ω3, ω4

The two unknowns ω3 and ω4 are found using the above equations (5) and (6). Remember
that a positive ω indicates counter-clock wise (ccw) rotation and a negative ω indicates
clock wise (cw) rotation.
 5

Acceleration Analysis: Taking time derivative of the velocity vector r in general yields

d r
= r = ( r + i2 r ω + irα − rω2)e iθ
dt

where α is known as the angular acceleration of the link. Hence, taking time derivative of
the above velocity equation (4) results in

r1 + ( r2 + i2 r2 ω2 + ir2α2 − r2 ω22 ) e i θ2 + ( r3 + i2 r3 ω3 + ir3α3 − r3 ω32 ) e i θ3

+ ( r4 + i2 r4 ω4 + ir4α4 − r4 ω42 ) e i θ4 + = 0

where r1 = 0, and also r2 = r2 = r3 = r3 = r4 = r4 = 0, since r1 is frame, and the
lengths of links 2, 3 and 4 are fixed. Collecting real and imaginary parts then yields
Real: −r2α2sinθ2−r2 ω22 cosθ2−r3α3sinθ3−r3 ω32 cosθ3−r4α4sinθ4−r4 ω42 cosθ4 = 0 (7)
Imag: r2α2cosθ2−r2 ω22 sinθ2+r3α3cosθ3−r3 ω32 sinθ3+r4α4cosθ4−r4 ω42 sinθ4 = 0 (8)

The problem of the acceleration analysis is defined as

Given: All r’s, θ ’s, and ω ’s, and α2 Find: α3, α4

The two unknowns α3 and α4 are found using the above equations (7) and (8). Remember
that a positive α indicates ccw angular acceleration and a negative α indicates cw angular
acceleration.

Slider-Crank Mechanism

Position Analysis: The vector loop equation is written as

r2 e i θ2 + r3 e i θ3 − r4 e i θ4 = 0.
Since θ4 = 0, then

r2 e i θ2 + r3 e i θ3 − r4 = 0 (9)
or
r2(cosθ2 + isinθ2) + r3(cosθ3 + isinθ3) − r4 = 0

Collecting real and imaginary parts yields

Real: r2cosθ2 + r3cosθ3 − r4 = 0 (10)
Imag: r2sinθ2 + r3sinθ3 = 0 (11)

The problem of the position analysis is defined as

Given: r2, r3 and θ2 Find: θ3, r4

The two unknowns θ3 and r4 are found using the above equations (10) and (11).
 6

Velocity Analysis: Taking time derivative of the vector loop equation (9) results in

( r2 + ir2ω2) e i θ2 + ( r3 + ir3ω3) e i θ3 − r4 = 0 (12)

where r2 = r3 = 0, since the lengths of links 2 and 3 are fixed. Collecting real and
imaginary parts then yields
Real: −r2ω2sinθ2 − r3ω3sinθ3 − r4 = 0 (13)
Imag: r2ω2cosθ2 + r3ω3cosθ3 = 0 (14)

The problem of the velocity analysis is defined as

Given: All r’s and θ ’s, and ω2 Find: ω3, r4

The velocity r4 in the equations is the velocity of the slider. The two unknowns ω3 and
r4 are found using the above equations (13) and (14). Remember that a positive r4
indicates slider moving in the direction of vector r4.

Acceleration Analysis: Taking time derivative of the above velocity equation (12) results
in

( r2 + i2 r2 ω2 + ir2α2 − r2 ω22 ) e i θ2 + ( r3 + i2 r3 ω3 + ir3α3 − r3 ω32 ) e i θ3 − r4 = 0

where r2 = r2 = r3 = r3 = 0, since the lengths of links 2 and 3 are fixed. Collecting real
and imaginary parts then yields
Real: −r2α2sinθ2 − r2 ω22 cosθ2 − r3α3sinθ3 − r3 ω32 cosθ3 − r4 = 0 (15)
Imag: r2α2cosθ2 − r2 ω22 sinθ2 + r3α3cosθ3 − r3 ω32 sinθ3 = 0 (16)

The problem of the acceleration analysis is defined as

Given: All r’s, θ ’s, and ω ’s, and α2 Find: α3, r4

The acceleration r4 in the equations is the acceleration of the slider. The two unknowns
α3 and r4 are found using the above equations (15) and (16). Remember that a positive
r4 indicates slider accelerating in the direction of vector r4.
 7

A Sliding-Contact Mechanism

For this mechanism, the motion starts with link 2, which rotates and forces link 3 to rotate
and slider 4 to slide on link 3. Position, velocity and acceleration analyses for this
mechanism are herein explained.

A A
4
2 r2
O2 A3, A4 O2
3
= r4
1
r1

O3 O3

Sliding-Contact Mechanism Vector Loop for Sliding-Contact Mechanism

The loop-closure equation is:

− r1 − r2 + r4 = 0

Position Analysis: The vector loop equations are written as

−r1 e j θ1 − r2 e j θ 2 + r4 e j θ 4 = 0 (1)

Since θ3 = θ4 and θ1 = 90o, then

−jr1 − r2(cosθ2 + jsinθ2) + r4(cosθ4 + jsinθ4) = 0 (2)

Collecting real and imaginary parts for equation (2) yields

Real: −r2cosθ2 + r4cosθ4 = 0 (3)
Imag: −r1 − r2sinθ2 + r4sinθ4 = 0 (4)

The problem of the position analysis is defined as

Given: r1, r2, θ2 Find: θ3, r4
The two unknowns θ3 and r4 are found using the above equations (3) and (4).
 8

Velocity Analysis: Taking time derivative of the loop-closure equation (1) yields

− r1 − ( r2 + jr2ω2) e j θ 2 + ( r4 + jr4ω4) e j θ 4 = 0 (5)

where ro = r1 = 0, θ3 = θ4, ω3 = ω4, r2 = 0, since ro and r1 are frames, and the length of
link 2 is fixed. Collecting real and imaginary parts of equation (5) then yields

Real: r2ω2sinθ2 + r4 cosθ3 − r4ω3sinθ3 = 0 (6)

Imag: −r2ω2cosθ2 + r4 sinθ3 + r4ω3cosθ3 = 0 (7)

The problem of the velocity analysis is defined as

Given: All r’s and θ ’s, and ω2 Find: ω3, r4

The two unknowns ω3 and r4 are found using the above equations (6) and (7). The
velocity term r4 is known as the sliding relative velocity of slider 4 on link 3, or vA4/A3, or
vA2/A3. Hence a positive r4 shows that the slider 4 slides in the same direction of r4.

Acceleration Analysis: Taking time derivative of previous velocity equation (5) yields

− r1 − ( r2 + j2 r2 ω2 + jr2α2 − r2 ω22 ) e j θ 2 + ( r4 + j2 r4 ω4 + jr4α4 − r4 ω42 ) e j θ 4 = 0 (8)

where ro = r1 = 0, θ3 = θ4, ω3 = ω4, α3 = α4, r2 = r2 0, since ro and r1 are frames, and
the length of link 2 is fixed. Collecting real and imaginary parts of equation (8) then
yields

Real: r2α2sinθ2 + r2 ω22 cosθ2 + ( r4 − r4 ω32 )cosθ3 − (2 r4 ω3 + r4α3)sinθ3= 0 (9)
Imag: −r2α2cosθ2 + r2 ω22 sinθ2 + ( r4 − r4 ω32 )sinθ3 + (2 r4 ω3 + r4α3)cosθ3 = 0 (10)

The problem of the acceleration analysis is defined as

Given: All r’s, θ ’s, ω’s and α2 Find: α3, r4

The two unknowns α3 and r4 are found using the above equations (9) and (10). The
acceleration term r4 is known as the sliding relative acceleration of slider 4 on link 3, or
aA4/A3, or aA2/A3. Hence a positive r4 shows that the slider 4 accelerates in the same
direction of r4.

Review: Examples 4.1, 4.2 and 4.3.