MECHANICS OF MACHINERY

Subject Code: ME 3 01

Module 1 contd…
College of Engineering Adoor 1
Topics to be discussed
Velocity in Mechanisms
[a] Graphical Method
[b] Analytical Method
Velocity in Mechanisms
Linear Velocity of Points in a Link
The velocity of a point A, indicated as 𝑉𝐴 is directed
along the path which is perpendicular to OA.
Similarly 𝑉𝐵 is directed along the direction
perpendicular to OB
The velocity of a point rotating about a reference point will
be always perpendicular to the radius vector and in the
direction of angular velocity
Relationship between Linear and
Angular Velocities O
𝑉 = 𝑟𝜔
V= Linear velocity of the point under consideration
r = Distance of the point from centre of rotation
𝜔= Angular velocity of the rotating Link that contains the point under consideration
Relative Velocity of Points in a Link
It is the velocity of a point with reference to another moving point. Velocity of
point B relative to point A can be indicated as 𝑉𝐵𝐴 .
Hence 𝒂𝒃𝒔𝒐𝒍𝒖𝒕𝒆 𝒗𝒆𝒍𝒐𝒄𝒊𝒕𝒚 𝒐𝒇 𝑩 𝒄𝒂𝒏 𝒃𝒆 𝒘𝒓𝒊𝒕𝒕𝒆𝒏 𝒗𝒆𝒄𝒕𝒐𝒊𝒂𝒍𝒍𝒚 𝒂𝒔 𝑽𝑩 = 𝑽𝑨 + 𝑽𝑩𝑨
1. Relative Velocity Method

𝑽𝑷𝑨

𝑽𝑷𝑨

𝑽𝑷𝑨 = 𝑽𝑷 − 𝑽𝑨
𝑽𝑷 = 𝑽𝑨 + 𝑽𝑷𝑨
Velocity in Mechanisms – Graphical Method
Identify the velocity of point D & C and
the angular velocity of link EDC.
Velocity in Mechanisms – Graphical Method
Procedure to be followed:

Step 1: Draw the Kinematic diagram to a scale 𝜔

Step 2: Identify the input link and given parameters
Here input link is BE with angular velocity 𝜔.
Step 3: Calculate the velocity of point E. 𝑉𝐸 = 𝑅𝐸𝐵 × 𝜔𝐸𝐵
Step 4: Mark the position of all fixed points as one single
point to draw the velocity polygon 𝑎, 𝑏 since A
and B are the fixed centres.
𝑉𝐸
Step 5: Draw a line through 𝑎, 𝑏 which is perpendicular
to BE and based on a chosen scale . The other end
point of the vector is e.
Eg:- 1cm = 1.5m/s
Velocity in Mechanisms – Graphical Method
Procedure to be followed:

Step 6: Through e draw a line which is perpendicular to

link EC. { line of action of 𝑉𝐶𝐸 and magnitude is
unknown}
Step 7: Draw another line through 𝑎, 𝑏 which is
perpendicular to AC. { line of action of 𝑉𝐶𝐴 and
magnitude is unknown}
𝑉𝐶𝐸
The two loci of 𝑉𝐶 intersect at some point c. Thus the
velocity polygon is obtained.
To locate point d in velocity polygon
𝑉𝐶
Consider the ratio of the sides of the triangular link.
𝑒𝑑 𝐸𝐷 𝑐𝑑 𝐶𝐷
i.e. = and =
𝑒𝑐 𝐸𝐶 𝑐𝑒 𝐶𝐸
Velocity in Mechanisms – Graphical Method
c

e
d

a,b

Solution
Velocity of point 𝐶 = 𝑎𝑐 ÷ 𝑠𝑐𝑎𝑙𝑒 𝑜𝑓𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑝𝑜𝑙𝑦𝑔𝑜𝑛
Velocity of point 𝐷 = 𝑎𝑑 ÷ 𝑠𝑐𝑎𝑙𝑒 𝑜𝑓𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑝𝑜𝑙𝑦𝑔𝑜𝑛
𝑉𝐶𝐸 𝑉 𝑉
Angular velocity of link EDC = = 𝐷𝐶 = 𝐷𝐸
𝐶𝐸 𝐷𝐶 𝐷𝐸
Velocity in Mechanisms – Graphical Method
Numerical Problem 1:
Identify the angular velocity of coupler link and the crushing blade, if
the crank is rotating at 120rpm
Velocity in Mechanisms – Graphical Method

Equivalent Kinematic Diagram

Velocity in Mechanisms – Graphical Method

c
𝑽𝑪𝑩 a, d
b

Configuration diagram Velocity Polygon

Velocity in Mechanisms – Graphical Method
Solution

𝑚𝑚
Velocity of Point 𝐶, 𝑉𝐶 = 784 < 173.0𝑜
𝑠

Relative Velocity of, 𝑉𝐶𝐵 = 101.1 mm/s < 107.3𝑜

𝑉𝐶 789.4 𝑚𝑚/𝑠 𝑟𝑎𝑑

Angular Velocity of link 4, 𝜔4 = = = 4.36 , 𝑐𝑤
𝑟𝐶𝐷 180𝑚𝑚 𝑠

𝑉𝐶𝐵 101.1 𝑚𝑚/𝑠

Angular Velocity of link 3, 𝜔3 = = = 0.25 rad/s, cw
𝑟𝐵𝐶 400 𝑚𝑚
Velocity in Mechanisms – Graphical Method
Practice Problems :1
The figure shows a well pump. To maximize water flow , the piston should travel
upward at a rate of 50mm/s. In the position shown , determine the angular velocity
that must be imposed on the handle to achieve the desired piston speed.

O
Velocity in Mechanisms – Graphical Method

c
b

a,o

Configuration diagram Velocity Polygon

Scale: Scale:

𝑚𝑚
𝑉𝐵𝐶 = 13.04 mm/s ; 𝑉𝐵 = 49.9
𝑠
𝑉𝐴𝐵
𝜔2 = = 0.20 rad/s , cw
𝑟𝐴𝐵
Velocity in Mechanisms – Analytical Method
Procedure to be followed :
Step 1: Draw the kinematic diagram showing the dimensions {need not based on
scale}
Step 2: Analyze the geometry of the mechanism
Step 3: Assemble the velocity polygon
Step 4: Calculate the velocity of required points and angular velocity of links

For the practice problem 1 as per step 1, the

various angles at the joints are identified
From the geometry two right triangles can be
formed. From ∆𝐴𝐵𝐹 the sides BF and AF can
be determined.
𝐵𝐹 = 250× cos 15 = 241. 48 𝑚𝑚
𝐴𝐹 = 250 × 𝑠𝑖𝑛 15 = 64.7 𝑚𝑚
Hence BE=BF-EF = 41.48 mm
41.48
From ∆𝐵𝐶𝐸 , ∠𝐵𝐶𝐸 = sin−1 = 7.95𝑜
300
Velocity in Mechanisms – Analytical Method
Step 3: construct the velocity polygon not to scale, only to identify the angles.
To find the angular velocity of link 2, linear velocity of point B is to be determined. It
can be found that point C {known velocity} is a common oint for link 3 and link 4.
Also B is a common point for link 2 and link 3. Hence it can considered that B and C
are on the same link which is link 3.
Since link 2 is fixed at point A, the velocity of point B 𝑉𝐵 will be perpendicular to
link 2. Also velocity of point B with respect to point C 𝑉𝐵𝐶 will be perpendicular to
link 3. Again the velocity of point C 𝑉𝑐 is vertical. Using these statements the
polygon can be constructed.
To identify the corner angles, it is known that 𝑉𝐵 is perpendicular to AB, 𝑉𝐵𝐶 is
perpendicular to BC and 𝑉𝐶 is vertical.
∠b=82.95𝑜
∠c=82.05𝑜
Step 4: Since the corner angles are identified from the
geometry of the velocity polygon, velocity of points B can
be determined using sine rule
𝑉𝐶 𝑉𝐵𝐶 𝑉𝐵
= = {𝑉𝐶 = 50 mm/s given}
sin 82.95 sin 15 sin 82.05
𝑉𝐴𝐵
Angular velocity of link 2, 𝜔2 =
𝑟𝐴𝐵

∠a=15𝑜
Velocity in Mechanisms – Analytical Method
Rubbing Velocity of Pin joint
The links in a mechanism are mostly connected by means of pin joints.
The rubbing velocity is defined as the product of pin radius and algebraic
sum between the angular velocities of the two links which are connected by
the pin joint
Consider two links OA and OB connected by a pin joint at O as shown.
Let ω1 = Angular velocity of the link OA or the angular velocity of the point A with
respect to O.
ω2 = Angular velocity of the link OB or the angular velocity of the point B with
respect to O.
r = Radius of the pin. 𝜔1
Rubbing velocity at the pin joint O 𝜔2
= (ω1 – ω2) r, if the links move in the same direction
= (ω1 + ω2) r, if the links move in the opposite direction
When the pin connects one sliding member and the other turning member, the
angular velocity of the sliding member is zero. In such cases,
Rubbing velocity at the pin joint = ω.r
where ω = Angular velocity of the turning member; r = Radius of the pin.
Velocity in Mechanisms – Analytical Method
Slider Crank Mechanism Four bar Mechanism
Expression from position analysis Expression from position analysis

To find velocity of piston and

angular velocity of connecting rod,
Differentiate the above expressions
with respect to time t,
To find angular velocity of coupler and
rocker arms, Differentiate the expressions
for 𝜃3 𝑎𝑛𝑑 𝜃4
Instantaneous Center of Rotation
Definition
Any body or link regardless of the complexity of its motion, instantaneously
appears to be in pure rotation about a single point. This instantaneous
pivot point is called the instant center of rotation for the particular link.
Using the concept of instantaneous center, a mechanism can be analysed for
velocity at various points, assuming that each link will have an instant
center of rotation. The center of rotation may exist on or off the body and
its position is not fixed based on time. This means that as the link moves
the instant center also moves. Hence the velocity thus calculated for
different points on a mechanism will also be instantaneous.
In a mechanism every link has an instant center with every other link. The
𝑛 𝑛−1
total number of instant centers in a mechanism with n links is 𝑁 =
2
Instantaneous Center of Rotation
Locating Instantaneous Centers
Some instant centers can be located by simply inspecting a mechanism. These
centers are termed primary centers. In locating primary centers, the following
rules are used:
1. When two links are connected by a pin joint, the instant center relating the two
links is at this pivot point. This first rule is illustrated in Figure a.
2. The instant center for two links in rolling contact with no slipping is located at
the point of contact. This second rule is illustrated in Figure b.
Instantaneous Center of Rotation
Locating Instantaneous Centers
3. The instant center for two links with straight line sliding is at infinity, in a
direction perpendicular to the direction of sliding. The velocity of all points on a
link, which is constrained to straight sliding relative to another link, is identical
and in the direction of sliding. Therefore, it can be imagined that this straight
motion is rotation about a point at a great distance because a straight line can be
modeled as a portion of a circle with an infinitely large radius. Because velocity is
always perpendicular to a line drawn to the pivot, this instant center must be
perpendicular to the sliding direction. This center could be considered to be on
any line parallel to the sliding direction because the lines meet at infinity. This
third rule is illustrated Figure c.
Instantaneous Center of Rotation
Locating Instantaneous Centers
4. The instant center for two links having general sliding contact must lie
somewhere along the line normal to the direction of sliding contact. This
fourth rule is illustrated in Figure d.
Instantaneous Center of Rotation
Locating Instantaneous Centers

𝑛 𝑛−1
The number of instant centers for the linkage should be 𝑁 = , since n = 4 ;
2
𝐍=𝟔
As per rule 1, all pivot point are primary centers, they are [ (1,2), (2,3), (3,4)].
Use the rule 3 to locate primary center (1,4) at ∞.
Instantaneous centers are a combination of two links taken together at a time.
This implies that they need not have any physical contact.
Locating Instantaneous Centers
Kennedy’s Theorem

Instant centers that cannot be found from the four rules for primary centers are
located with the use of Kennedy’s theorem.It states that

“The three instant centers corresponding with any three bodies all lie on the
same straight line”

For example, imagine three arbitrary links––links 3, 4, and 5. Kennedy’s theorem

states that instant centers (34), (45), and (35) all lie on a straight line.
After locating all primary instant centers, this theorem can be applied to locate all
other instant centers.
 Locating Instantaneous Centers

Considering the previous example, it is required to locate instant centers (1,3) and (2,4)
To locate (1,3) Use Kennedy’s theorem. Hence consider two triangles such that 1-3
comes as a common side. Here the triangles can be ∆1-4-3 and ∆1-2-3. Now from ∆1-4-3
two instant centers can b obtained, those are (1,4) and (4,3). The third center (1,3) will
lie in the line connecting (1,4) and (4,3), thus one locus is obtained. To get the other
locus consider the ∆1-2-3, connect a line through the instant centers (1,2) and (2,3). The
intersection of the two loci is the center (1,3)
Similarly instant center (2,4) can be located by considering ∆4-1-2 and ∆4-3-2

(1,3)

(2,4) 14 ∞
Locating Instantaneous Centers
Practice Problem: Locate the instantaneous centers for the mechanism
shown

137mm
Locating Instantaneous Centers

Procedure to be followed :
Step 1: Draw the kinematic diagram to scale and compute the number of instant
center’s
Step 2: Sketch the instant center diagram
Step 3: Locate Primary instant center’s
Step 4: Use Kennedy’s Theorem to locate the remaining instant center’s
Velocity Analysis – Instantaneous center Method
- Graphical Approach
Identify the velocity of points B, D and E on the four bar linkage shown.
Velocity Analysis – Instantaneous center Method
- Graphical Approach
Procedure to be followed :

Step 1: Identify the three links [i] link associated with the given velocity, [ii] link in
which velocity of point is to be determined, [iii] the fixed link or frame
Step 2: Locate the three instant centers defined by the links of step 1, and draw the
line of centers
Step 3: Find the velocity of the common instant center by treating it as a point of
the link whose velocity is given
Step 4: With the velocity of the common instant center known, consider it as a
point of the link whose velocity is to be determined . The velocity of any
other point in that link can now be determined.
Velocity Analysis – Instantaneous center Method
- Graphical Approach
To find velocity
of point E and B
Since E and B are points on link 4, the selected
links are: Link 1 [fixed], Link 2 [ input link]
and Link 4 .

Link combinations of instant

centers are [1,2], [1,4], [2,4].
Draw a line connecting the three
centers [called line of centers]
Velocity Analysis – Instantaneous center Method
- Graphical Approach
Since
𝜔2 is given, velocity of all points on
link 2 can be determined. So point 𝐼24
which is also a point on link 2 is
considered.
Draw the velocity vector of 𝐼24
perpendicular to the line of centers, such
that 𝑉24 = 𝜔2 × 𝐼24 𝐼12 = 𝜔4 × 𝐼24 𝐼14
Since the points E and B are on link 4,
now draw a line connecting 𝐼14 and the
tip of velocity vector 𝑉24 . This line
defines the locus of the tip of all velocity
vectors of points on link 4.
Locus of tip of
Now transfer the points E and B on to velocity vectors
the line of centers with respect to the
links fixed point 𝐼14 . From there draw
perpendiculars to meet the locus of
the tip of vectors, which gives the
velocity of the points concerned.
 Velocity Analysis – Instantaneous center Method
- Graphical Approach
To find velocity of point D and B
Consider Links as per Step 1
Links are 1,2,3
Possible combinations of IC’s are
𝑰𝟏𝟐 , 𝑰𝟏𝟑, 𝑰𝟐𝟑
Draw line of centers through the IC’s
Transfer common point of link 2&3 on
to the line of centers.
Draw a vector perpendicular from that
point on the line of centers such that
𝑽𝟐𝟑 = 𝝎𝟐 × 𝑰𝟐𝟑 𝑰𝟏𝟐 = 𝝎𝟑 × 𝑰𝟐𝟑 𝑰𝟏𝟑
Join the tip of the velocity vector with
Locus of tip of
𝐼13 to get the locus of tip of velocity velocity
vectors. vectors
Now Transfer the point D with respect
to 𝐼13 and draw a perpendicular to the
line of centers from the point to meet
the locus. The length of the vector
defines 𝑉𝐷
Velocity Analysis – Instantaneous center Method
- Analytical Approach
Angular Velocity Ratio Theorem
The theorem states that the angular velocity ratio of any two bodies in planar
motion with respect to a third body is inversely proportional to the length of
segments formed as the common instant center cuts the line of centers
𝑽𝟐𝟒 = 𝑽𝟏𝟐 + 𝝎𝟐 × 𝑰𝟐𝟒 𝑰𝟏𝟐 = 𝑽𝟏𝟒 + 𝝎𝟒 × 𝑰𝟐𝟒 𝑰𝟏𝟒

Since (1,2) and (1,4) are fixed points their

velocity is zero. Thus the above equation can
be rewritten as

𝝎𝟒 𝑰𝟐𝟒 𝑰𝟏𝟐
=
𝝎𝟐 𝑰𝟐𝟒 𝑰𝟏𝟒
Velocity Analysis
Relative Velocity & Instantaneous Center Method
Graphical and Analytical Approach
Practice Problem :1
Velocity Analysis
Relative Velocity & Instantaneous Center Method
Graphical and Analytical Approach
Practice Problem :2