Kinematics of Machinery Manual

Kinematics of Machinery SEM-IV SE MECH /AUTO Department of Mechanical and Automobile Engineering -PHCET
Experiment No.1
Analysis of Velocity of Mechanisms by Instantaneous Center of Rotation Method
PROBLEM 1
In a pin jointed four bar mechanism, as shown in Fig., AB = 300 mm, BC = CD = 360mm, and AD = 600
mm. The angle BAD = 60°. The crank AB rotates uniformly at 100 r.p.m. Locate all the instantaneous
centers and find the angular velocity of the link BC.
SOLUTION :
Given:
NAB = 100 r.p.m or ωAB = 2 π × 100/60 = 10.47 rad/s
Since the length of crank A B = 300 mm = 0.3 m, therefore velocity of point B on link A B,
vB = ωAB × A B = 10.47 × 0.3 = 3.141 m/s
Location of instantaneous centers:
1. Since the mechanism consists of four links (i.e. n = 4 ), therefore number of instantaneous centers
2. For a four bar mechanism, the book keeping table may be drawn.
3. Locate the fixed and permanent instantaneous centers by inspection. These centers are I12, I23, I34 and I14, as
shown in Fig.
Velocity Diagram
4. Locate the remaining neither fixed nor permanent instantaneous centres by Aronhold Kennedy’s
theorem. This is done by circle diagram as shown in Fig.. Mark four points (equal to the number of links
in a mechanism) 1, 2, 3, and 4 on the circle.
Hemant Patil and Shashi Bhushan Page 1 of 29

Kennedy’s Circle
5. Join points 1 to 2, 2 to 3, 3 to 4 and 4 to 1 to indicate the instantaneous centers already located i.e. I12, I23,
I34 and I14.
6. Join 1 to 3 to form two triangles 1 2 3 and 3 4 1. The side 13, common to both triangles, is responsible
for completing the two triangles. Therefore the instantaneous Centre I13 lies on the intersection of the
lines joining the points I12 I23 and I34 I14 as shown in Fig.. Thus centre I13 is located. Mark number 5
(because four instantaneous centers have already been located) on the dotted line 1 3.
7. Now join 2 to 4 to complete two triangles 2 3 4 and 1 2 4. The side 2 4, common to both triangles, is
responsible for completing the two triangles. Therefore centre I24 lies on the intersection of the lines
joining the points I23 I34 and I12 I14 as shown in Fig. Thus centre I24 is located. Mark number 6 on the dotted
line 2 4. Thus all the six instantaneous centres are located.
Angular velocity of the link BC:
Let ωBC = Angular velocity of the link BC.
Since B is also a point on link BC, therefore velocity of point B on link BC,
B=ωBC*I13B
V
By measurement, we find that I13 B = 500 mm = 0.5 m
PROBLEM 2
A mechanism, as shown in Fig. 6.15, has the following dimensions:
OA = 200 mm; AB = 1.5 m; BC = 600 mm; CD = 500 mm and BE = 400 mm. Locate all the instantaneous
centres. If crank OA rotates uniformly at 120 r.p.m. clockwise,
Find 1. The velocity of B, C and D,
2. The angular velocity of the links AB, BC and CD.
SOLUTION :

Given: NOA = 120 r.p.m. Or

ωOA = 2 π × 120/60 = 12.57 rad/s
Location of instantaneous centers

The instantaneous centers are located as discussed below:
1. Since the mechanism consists of six links (i.e. n = 6), therefore the number of instantaneous centers,
2. Make a list of all the instantaneous centres in a mechanism. Since the mechanism has 15
instantaneous centres, therefore these centres are listed in the following book keeping table.
Links 1 2 3 4 5 6
12 23 34 45 56
Instantaneous 13 24 35 46
centers 14 25 36
(15 in number) 15 26
16
Velocity Diagram

3. Locate the fixed and permanent instantaneous centres by inspection. These centres are I12 I23, I34, I45,
I56, I16 and I14 as shown in Fig.
Kennedy’s Circle
Locate the remaining neither fixed nor permanent instantaneous centres by Aronhold Kennedy’s
theorem. Draw a circle and mark points equal to the number of links such as 1, 2,
4. 3, 4, 5 and 6 as shown in Fig. Join the points 12, 23, 34, 45, 56, 61 and 14 to indicate the centres I12, I23,
I34, I45, I56, I16 and I14 respectively.
5. Join point 2 to 4 by a dotted line to form the triangles 1 2 4 and 2 3 4. The side 2 4, common to both
triangles, is responsible for completing the two triangles. Therefore the instantaneous centre I24 lies
on the intersection of I12, I14 and I23, I34 produced if necessary. Thus centre I24 is located. Mark number
8 on the dotted line 24 (because seven centres have already been located).
6. Now join point 1 to 5 by a dotted line to form the triangles 1 4 5 and 1 5 6. The side 1 5, common to
both triangles, is responsible for completing the two triangles. Therefore the instantaneous centre I15 lies
on the intersection of I14 I45 and I56 I16 produced if necessary. Thus centre I15 is located. Mark number 9
on the dotted line 1 5.
7. Join point 1 to 3 by a dotted line to form the triangles 1 2 3 and 1 3 4. The side 1 3, common to
both triangles, is responsible for completing the two triangles. Therefore the instantaneous centre I13
lies on the intersection I12 I23 and I34 I14 produced if necessary. Thus centre I13 is located. Mark
number 10 on the dotted line 1 3.
both triangles, is responsible for completing the two triangles. Therefore, centre I46 lies on the
intersection of I45 I56 and I14 I16. Thus center I46 is located. Mark number 11 on the dotted line
4 6.
both triangles, is responsible for completing the two triangles. Therefore, centre I26 lies on the
intersection of lines joining the points I12 I16 and I24 I46. Thus centre I26 is located. Mark number 12
on the dotted line 2 6.
10. In the similar way the thirteenth, fourteenth and fifteenth instantaneous centre (i.e. I35, I25 and I36) may
be located by joining the point 3 to 5, 2 to 5 and 3 to 6 respectively.
By measurement, we find that

I13 A = 840 mm = 0.84 m ; I13 B = 1070 mm = 1.07 m ; I14 B = 400 mm = 0.4 m ;

I14 C = 200 mm = 0.2 m ; I15 C = 740 mm = 0.74 m ; I15 D = 500 mm = 0.5 m
1. Velocity of points B, C and D
Let v ,v
B C and vD = Velocity of the points B, C and D respectively.
2. Angular velocity of the links AB, BC and CD :
Let ωAB, ωBC and ωCD = Angular velocity of the links A B, BC and CD respectively.

PROBLEM 3
: The mechanism of a wrapping machine, as shown in Fig., has the following dimensions :
O1A = 100 mm; AC = 700 mm; BC = 200 mm; O3C = 200 mm; O2E = 400 mm; O2D = 200 mm
and BD = 150 mm. The crank O1A rotates at a uniform speed of 100 rad/s.
Find the velocity of the point E of the bell crank lever by instantaneous centre method.
SOLUTION :
I13 A = 910 mm = 0.91 m; I13 B = 820 mm = 0.82 m;
I15 B = 130 mm = 0.13 m; I15 D = 50 mm = 0.05 m;
I16 D = 200 mm = 0.2 m; I16 E = 400 mm = 0.4 m
Velocity of point E on the bell crank lever :
Let VE = Velocity of point E on the bell crank lever,
VB = Velocity of point B, and
VD = Velocity of point D.
We know that
VA / I13 A= VB / I13B,
VB= VA / I 13 A*I13B = 9.01 m/s and
VB/I15 B= VD /I15D
VD= VB/I15 B* I15D=3.46 m/s

Similarly
VD/ I13 D= VE / I13E
VE = VD/ I13 D * I13E=6.92m/s
Sample VIVA-VOICE Questions:

1. What is ICR?
2. What are the properties of ICR?
3. What are the types of ICR?
4. State Kennedy’s Theorem.
5. What is the procedure or method to locate ICRs in mechanism?

Experiment No.02
Analysis of Velocity of Mechanism by Relative Velocity Method
PROBLEM 1
In a four bar chain ABCD, AD is fixed and is 150 mm long. The crank AB is 40 mm long and rotates at 120
r.p.m. clockwise, while the link CD = 80 mm oscillates about D. BC and AD are of equal length. Find the
angular velocity of link CD when angle BAD = 60°.
SOLUTION :
Given: NBA = 120 r.p.m. or

ωBA = 2 π × 120/60 = 12.568 rad/s
Since the length of crank A B = 40 mm = 0.04 m, therefore velocity of B with respect to A or velocity of B,
(because A is a fixed point),
vBA = vB = ωBA × A B = 12.568 × 0.04 = 0.503 m/s
First of all, draw the space diagram to some suitable scale, as shown in Fig. Now the velocity diagram, as
shown in Fig., is drawn as discussed below :
1. Since the link AD is fixed, therefore points a and d are taken as one point in the velocity diagram. Draw
vector ab perpendicular to B A, to some suitable scale, to represent the velocity of B with respect to A or
simply velocity of B (i.e. VBA or VB) such that
vector ab = VBA = VB = 0.503 m/s.
2. Now from point b, draw vector bc perpendicular to CB to represent the velocity of C with
respect to B (i.e. vCB) and from point d, draw vector dc perpendicular to CD to represent the velocity of C
with respect to D or simply velocity of C (i.e. VCD or VC). The vectors bc and dc intersect at c.

VCD = VC = vector dc = 0.385 m/s
We know that CD = 80 mm = 0.08 m
∴ Angular velocity of link CD,
ωCD = VCD/ l(CD) = 0.385/0.08 = 4.8 rad/sec (clockwise about D)
PROBLEM 2 :
In Fig., the angular velocity of the crank OA is 600 r.p.m. Determine the linear velocity ofthe slider D and
the angular velocity of the link BD, when the crank is inclined at an angle of 75° to the vertical. The
dimensions of various links are : OA = 28 mm ; AB = 44 mm ; BC 49 mm ; and BD = 46 mm. The centre
distance between the centres of rotation O and C is 65 mm. The path of travel of the slider is 11 mm below the
fixed point C. The slider moves along a horizontal path and OC is vertical.
Solution :

By measurement, we find that velocity of the slider D,

vD = vector od = 1.6 m/s
Angular velocity of the link BD
By measurement from velocity diagram, we find that velocity of D with respect to

B,
vDB = vector bd = 1.7 m/s
Since the length of link BD = 46 mm = 0.046 m, therefore angular velocity of the link BD,
ω BD = VBD/ l(BD) = 1.7/0.046 = 36.96 rad/sec (clockwise about B).
Problem 3
In a mechanism shown in Fig, the crank OA is 100 mm long and rotates clockwise about O at 120 r.p.m.
The connecting rod AB is 400 mm long. At a point C on AB, 150 mm from A, the rod CE 350 mm long is
attached. This rod CE slides in a slot in a trunnion at D. The end E is connected by a link EF, 300 mm long
to the horizontally moving slider F.
For the mechanism in the position shown, Find :
1. velocity of F
2. velocity of sliding of CE in the trunnion, and
3. Angular velocity of CE.

Solution :
1. Velocity of F :
By measurement, velocity of F,
VF = vector of = 0.53 m/s

2. Velocity of sliding of CE in the trunnion
Since velocity of sliding of CE in the trunnion is the velocity of D, therefore velocity of
sliding of CE in the trunnion
= vector od = 1.08 m/s
3. Angular velocity of CE
By measurement, we find that linear velocity of C with respect to E,
VCE = vector ec = 0.44 m/s
Since the length CE = 350 mm = 0.35 m, therefore angular velocity of CE,
ω CE = VCE/ l(CE) = 0.44/0.35 = 1.26 rad/sec (clockwise about E).

Problem No. 4
In a mechanism as shown in Fig. 7.15, the various dimensions are: OC = 125 mm ; CP = 500 mm ; PA = 125
mm ; AQ = 250 mm and QE = 125 mm. The slider P translates along an axis which is 25 mm vertically
below point O. The crank OC rotates uniformly at 120 r.p.m. in the anti-clockwise direction. The bell crank
lever AQE rock about fixed centre Q.
Draw the velocity diagram and calculate the absolute velocity of point E of the lever.
Solution :
Vco =Vc= ωco*OC=12.57*0.125=1.57m/s

Vector oc=Vco=Vc=1.57m/s
By measurement ,we find that the velocity of point E,
VE=vector oe=0.7m/s

Sample viva voice questions:
1. Describe the method to find the velocity of a point on a link whose direction (or path) is
known and the velocity of some other point on the same link in magnitude and direction
is given.?
2. Explain how the velocities of a slider and the connecting rod are obtained in a slider
crank mechanism?
3. Define rubbing velocity at a pin joint. What will be the rubbing velocity at pin joint when
the two links move in the same and opposite directions?
4. What is the direction of linear velocity of any point on a link with respect to another point
on the same link ?

Experiment No .3
Analysis of Velocity & Acceleration of Mechanism by Relative Velocity Method
Problem1.
The crank of a slider crank mechanism rotates clockwise at a constant speed of 300 r.p.m. The
crank is 150 mm and the connecting rod is 600 mm long. Determine : 1. linear velocity and
acceleration of the midpoint of the connecting rod, and 2. angular velocity and angular acceleration
of the connecting rod, at a crank angle of 45° from inner dead centre position.
Solution.
Given : NBO = 300 r.p.m. or ωBO = 2 π × 300/60 = 31.42 rad/s; OB = 150 mm = 0.15 m ; B A = 600
mm = 0.6 m
linear velocity of B with respect to O or velocity of B,
VBO = VB = ωBO × OB = 31.42 × 0.15 = 4.713 m/s
First of all draw the space diagram, to some suitable scale; as shown in Fig.(a). Now the velocity
diagram, as shown in Fig.(b), is drawn as discussed below:
1. Draw vector ob perpendicular to BO, to some suitable scale, to represent the velocity of B with
respect to O or simply velocity of B i.e. vBO or vB, such that
vector ob = vBO = vB = 4.713 m/s.
2. From point b, draw vector ba perpendicular to BA to represent the velocity of A with respect
to B i.e. vAB , and from point o draw vector oa parallel to the motion of A (which is along AO) to
represent the velocity of A i.e. vA. The vectors ba and oa intersect at a.
By measurement, we find that velocity of A with respect to B,
v AB = vector ba = 3.4 m /s
Velocity of A, vA = vector oa = 4m/s
3. In order to find the velocity of the midpoint D of the connecting rod A B, divide the vector ba at
d in the same ratio as D divides A B, in the space diagram. In other words,

bd / ba = BD/BA
Note: Since D is the midpoint of A B, therefore d is also midpoint of vector ba.
4. Join od. Now the vector od represents the velocity of the midpoint D of the connecting rod i.e.
vD.
By measurement, we find that vD = vector od = 4.1 m/s
Acceleration of the midpoint of the connecting rod :
We know that the radial component of the acceleration of B with respect

to O or the acceleration of B,
aBO = aB = 148.1 m/s
V2BO (4.713) 2
=------------ =148.1 m/s
OB 0.15
2 2
vAB (3.4) 2
=---------- = 19.3 m/s
BA 0.6
1. Draw vector o' b' parallel to BO, to some suitable scale, to represent the radial component of the
acceleration of B with respect to O or simply acceleration of B i.e.aror a such that
Vector o′b′ = aBO =aB = 148.1 m/s
Note: Since the crank OB rotates at a constant speed, therefore there will be no tangential
component of the acceleration of B with respect to O.
2. The acceleration of A with respect to B has the following two components:

(a) The radial component of the acceleration of A with respect to B i.e.arB and
(b) The tangential component of the acceleration of A with respect to B i.e.atB.
These two components are mutually perpendicular.Therefore from point b', draw vector b' x
parallel to A B to represent aABr=19.3 m/s2and from point x draw vector xa' perpendicular to
vector b' x whose magnitude is yet unknown.
3. Now from o', draw vector o' a' parallel to the path of motion of A (which is along A O) to
represent the acceleration of A i.e. aA . The vectors xa' and o' a' intersect at a'. Join a' b'.
4. In order to find the acceleration of the midpoint D of the connecting rod A B, divide the
vector a' b' at d' in the same ratio as D divides A B. In other words
b′d ′ / b′a′ = BD / BA

Note: Since D is the midpoint of A B, therefore d' is also midpoint of vector b' a'.
5. Join o' d'. The vector o' d' represents the acceleration of midpoint D of the connecting rod i.e. aD.
aD = vector o' d' = 117 m/s2
aD = vector o' d' = 117 m/s2 Ans.
2. Angular velocity of the connecting rod

We know that angular velocity of the connecting rod A B,
vAB 3.4 2
=------ = 5.67 rad/s (Anticlockwise)
BA 0.6
From the acceleration diagram, we find that

a tAB = 103 m/s 2
We know that angular acceleration of the connecting rod A B
aAB 103
----- = ------- = 171.67 rad/s2
BA 0.6
Problem 2
Find out the acceleration of the slider D and the angular acceleration of link CD for the engine
mechanism shown in Fig. 8.14. The crank OA rotates uniformly at 180 r.p.m. in clockwise direction.
The various lengths are: OA = 150 mm; AB = 450 mm; PB = 240 mm; BC = 210 mm; CD = 660 mm.
Given: NAO = 180 r.p.m., or ωAO = 2π × 180/60 = 18.85 rad/s ; OA = 150 mm = 0.15 m ; A B = 450
mm = 0.45 m ; PB = 240 mm = 0.24 m ; CD = 660 mm = 0.66 m
velocity of A with respect to O or velocity of A ,

VAO = VA = ωAO × O A = 18.85 × 0.15 = 2.83 m/s

vector oa = VAO = VA = 2.83 m/s
By measurement, we find that velocity of the

slider D,
V D = vector od = 2.36 m/s
Velocity of D with respect to C,
VDC = vector cd = 1.2 m/s
Velocity of B with respect to A ,

VBA = vector ab = 1.8 m/s
and velocity of B with respect to P, VBP = vector pb = 1.5 m/s
Acceleration of the slider D

R 2
a=a=ω × AO =53.3 m/s2
component of the acceleration of B with respect to A=7.2 m/s2

Radial component of the acceleration of B with respect to P =9.4 m/s 2
Radial component of the acceleration of D with respect to C=2.2 m/s 2
a a
vectoro′a′ = AO = A=53.3 m/s2
a
vectora′x = BA=7.2 m/s2
vectorp′y = aBP=9.4 m/s 2
vectorc′z = aDC=2.2 m/s 2
By measurement, we find that acceleration of D,

a D = vector o'd' = 69.6 m/s2 Ans.
Angular acceleration of CD
From acceleration diagram, we find that tangential component of the
acceleration of D with respect to C,2
a=17.4 m/s 2
We know that angular acceleration of CD =26.3 rad / s 2 (Anticlockwise)

Problem 3
A mechanism of a crank and slotted lever quick return motion is shown in Fig. 8.28. If the crank
rotates counter clockwise
at 120 r.p.m., determine for the configuration shown, the velocity and acceleration of the ram D.
Also determine the angular acceleration of the slotted lever. Crank, AB = 150 mm ; Slotted arm,
OC = 700 mm and link CD = 200 mm.
Solution.
Given : NBA = 120 r.p.m or ωBA = 2 π × 120/60 = 12.57 rad/s ;

A B = 150 mm = 0.15 m; OC = 700 mm = 0.7 m; CD = 200 mm = 0.2 m
We know that velocity of B with respect to A ,
VBA =ωBA × AB
= 12.57 × 0.15 = 1.9 m/s ...(Perpendicular to AB)
Velocity of the ram D :

First of all draw the space diagram, to some suitable scale, as shown in Fig. Now the velocity
diagram, as shown in Fig. is drawn as discussed below:
1. Since O and A are fixed points, therefore these points are marked as one point in velocity
diagram.
Now draw vector ab in a direction perpendicular to A B , to some suitable scale, to represent the
velocity of slider B with respect to A i.e.vBA, such that

vector ab = vBA = 1.9 m/s
2. From point o, draw vector ob' perpendicular to OB' to represent the velocity of coincident point
B' (on the link OC) with respect to O i.e. vB′O and from point b draw vector bb' parallel to the path
of motion of B' (which is along the link OC) to represent the velocity of coincident point B' with
respect to the slider B i.e. vB'B. The vectors ob' and bb' intersect at b'.
Note: Since we have to find the coriolis component of acceleration of the slider B with respect to
the coincident point B', therefore we require the velocity of B with respect to B' i.e. vBB'. The
vector b'b will represent vBB' as shown in Fig.
3. Since the point C lies on OB' produced, therefore, divide vector ob' at c in the same ratio as C
divides OB' in the space diagram. In other words,
ob′ / oc = OB′ / OC
The vector oc represents the velocity of C with respect to O i.e. vCO.

4. Now from point c, draw vector cd perpendicular to CD to represent the velocity of D with
respect to C i.e. vDC ,and from point o draw vector od parallel to the path of motion of D (which is
along the horizontal) to represent the velocity of D i.e. vD.The vectors cd and od intersect at d.
By measurement, we find that velocity of the ram D,
v D = vector od = 2.15 m/s
From velocity diagram, we also find that

Velocity of B with respect to B',
vBB' = vector b'b = 1.05 m/s
Velocity of D with respect to C,
v DC = vector cd = 0.45 m/s
Velocity of B' with respect to O
vB′O = vector ob' = 1.55 m/s
Velocity of C with respect to O,
v CO = vector oc = 2.15 m/s
∴ Angular velocity of the link OC or OB',
ω CO = ω B’O = VCO/ l(CO) = 2.15/0.7 = 3.07 rad/sec (Anti-clockwise)
Acceleration of the ram D :
We know that radial component of the acceleration of B with respect to A ,

aBA =ω2BA × AB = (12.57)2 ×0.15 = 23.7 m/s2
Coriolis component of the acceleration of slider B with respect to the coincident point B',
aCBB ′= 2ωv = 2ωCO vBB′ = 2 × 3.07 ×1.05 = 6.45 m/s2 ….. ...( ω=ωCO and v = vBB’)
Radial component of the acceleration of D with respect to C,
Radial component of the acceleration of the coincident point B' with respect to O,
…...(By measurement B'O = 0.52 m)
Now the acceleration diagram, as shown in Fig. 8.29 (d), is drawn as discussed below:
1. Since O and A are fixed points, therefore these points are marked as one point in the
acceleration diagram. Draw vector a'b' parallel to A B, to some suitable scale, to represent

the radial component of the acceleration of B with respect to A i.e. ar BA or aB, such that
Vector a′b′ = arBA = aB = 23.7 m/s
2. The acceleration of the slider B with respect to the coincident point B' has the following two
components :
(i) Coriolis component of the acceleration of B with respect to B' i.e.acB′,and
(ii) Radial component of the acceleration of B with respect to B' i.e.ar′
These two components are mutually perpendicular. Therefore from point b' draw vector b'x
perpendicular to B'O i.e. in a direction as shown in Fig. 8.29 (c) to represent acBB’= 6.45 m/s2.
The direction of acBB’ is obtained by rotating vBB′ (represented by vector b'b in

velocity diagram) through 90° in the same sense as that of link OC which rotates in the counter
clockwise direction. Now from point x, draw vector xb'' perpendicular to vector b'x (or
parallel to B'O) to represent arBB’whose magnitude is yet unknown.
3. The acceleration of the coincident point B' with respect to O has also the following two
components:
(i) Radial component of the acceleration of coincident point B' with respect to O i.e. arB′O
and
(ii) Tangential component of the acceleration of coincident point B' with respect to O
i.e.atB′O
These two components are mutually perpendicular. Therefore from point o', draw vector o'y
parallel to B'O to represent arB′O = 4.62 m/s and from point y draw
vector yb'' perpendicular to vector o'y to represent at . The vectors xb'' and yb'' intersect at
b''. Join o'b''. The vector o'b'' represents the acceleration of B' with respect to O, i.e. aB′O.
4. Since the point C lies on OB' produced, therefore divide vector o'b'' at c' in the same ratio as C
divides OB' in the space diagram. In other words,
o'b''/o'c' = OB'/OC
5. The acceleration of the ram D with respect to C has also the following two components:
(i ) Radial component of the acceleration of D with respect to C i.e. arDC, and
(ii) Tangential component of the acceleration of D with respect to C, i.e. atDC.
The two components are mutually perpendicular. Therefore draw vector c'z parallel to CD to
represent arDC = 1.01 m/s2 and from z draw zd' perpendicular to vector zc' to represent. atDC

whose magnitude is yet unknown.

6. From point o', draw vector o'd' in the direction of motion of the ram D which is along the
horizontal. The vectors zd' and o'd' intersect at d'. The vector o'd' represents the acceleration of
ram D i.e. aD.
By measurement, we find that acceleration of the ram D,
aD = vector o'd' = 8.4 m/s2
Angular acceleration of the slotted lever :
By measurement from acceleration diagram, we find that tangential component of the

coincident point B' with respect to O,
atB’O = vector yb′′ = 6.4 m/s2
We know that angular acceleration of the slotted lever,
Problem 4
In a Whitworth quick return motion, as shown in Fig. 8.32. OA is a crank rotating at 30 r.p.m. in a
clockwise direction. The dimensions of various links are : OA = 150 mm; OC = 100 mm; CD = 125
mm; and DR = 500 mm.
Determine the acceleration of the sliding block R and the angular acceleration of the slotted lever
CA.
Solution :
Given : NAO = 30 r.p.m. or ωAO = 2π × 30/60 = 3.142 rad/s ;
O A = 150 mm = 0.15 m;
OC = 100 mm = 0.1 m ;

CD = 125 mm = 0.125 m ;
DR = 500 mm = 0.5 m
We know that velocity of A with respect to O or velocity of A ,
v AO = vA = ωAO × O A = 3.142 × 0.15 = 0.47 m/s ….....(Perpendicular to OA)
By measurement,
vector oa = vAO = vA = 0.47 m/s
velocity of B with respect to C,
vBC = vector cb = 0.46 m/s
Velocity of A with respect to B,

v AB = vector ba = 0.15 m/s
and velocity of R with respect to D,

v RD = vector dr = 0.12 m/s
We know that angular velocity of the link BC,
……....(By measurement, CB = 0.24 m)

Acceleration of the sliding block R:
We know that the radial component of the acceleration of A with respect to O,
Coriolis component of the acceleration of slider A with respect to coincident point B,
Radial component of the acceleration of B with respect to C,
Radial component of the acceleration of R with respect to D,

Now the acceleration diagram, as shown in Fig. (d), is drawn as discussed below:
vector o′a′ = arAO =aA = 1.47 m/s2

By measurement, we find that acceleration of the sliding block R,
aR = vector c'r' = 0.18 m/s2
Angular acceleration of the slotted lever CA :
By measurement from acceleration diagram, we find that tangential component of B with

respect to C,
atBC = vector yb′ = 0.14 m/s2
We know that angular acceleration of the slotted lever C A,

Sample VIVA-VOICE Questions:
1. What is acceleration?
2. Explain the acceleration of a point on a link is obtained when the acceleration of some
other point on the same link is given in magnitude and direction?
3. A point B on a rigid link AB moves with respect to A with angular velocity ω rad/s. What
is the angular acceleration of the link AB?
4. A point B on a rigid link AB moves with respect to A with angular velocity ω rad/s. What
is the total acceleration of B with respect to A.?
5. What is Corriolis?
6. What are the directions of corriolis?
7. Which factor is taking account in the coriolis component of acceleration?
8. Derive an expression for magnitude and direction of corriolis component of acceleration?

Experiment No. 4
Motion Analysis and Plotting of Displacement–time, Velocity-time and
Acceleration-time, Jerk-time and Layout of Cam Profiles
Problem 1
A cam with radius of 25mm, rotating clockwise at a uniform speed is to be designed to give a
roller follower, at the end of valve rod motion is described is below:
1. to raise valve through 50 mm during 1200 rotation of cam
2. To keep valve fully raised through next 300
3. To lower valve through next 600 and
4. To keep the valve closed during rest of the revolution
Dia of roller is 20mm and dia. Of cam shaft is 25mm. Draw displacement, velocity and
acceleration diagrams for one complete revolution of cam. Cam rotates at 100rpm. Draw the
profile of the cam when line of stroke passes through axis of cam shaft.
Solution

To draw profile of the cam –


Problem 2
A cam with radius of 50 mm rotating clockwise at a uniform speed is required to give a knife
edge follower the motion as described below:
1. To move outwards through 40mm during 1000 rotation of the cam
2. To dwell for next 800
3. To return to its starting position during next 900
4. Dwell for rest period
Draw displacement, velocity and acceleration diagrams for one complete revolution of cam.
Cam rotates at 900rpm. Draw the profile of the cam when line of stroke passes through axis of
cam shaft.
Solution-

Cam Profile

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Kinematics of Machinery SEM-IV SE MECH /AUTO Department of Mechanical and Automobile Engineering -PHCET

Hemant Patil and Shashi Bhushan Page 1 of 29

Angular velocity of the link BC:

Let ωBC = Angular velocity of the link BC.

By measurement, we find that I13 B = 500 mm = 0.5 m

Hemant Patil and Shashi Bhushan Page 2 of 29

Given: NOA = 120 r.p.m. Or

Location of instantaneous centers

Hemant Patil and Shashi Bhushan Page 3 of 29

Hemant Patil and Shashi Bhushan Page 4 of 29

I13 A = 840 mm = 0.84 m ; I13 B = 1070 mm = 1.07 m ; I14 B = 400 mm = 0.4 m ;

1. Velocity of points B, C and D

2. Angular velocity of the links AB, BC and CD :

Hemant Patil and Shashi Bhushan Page 5 of 29

VB= VA / I 13 A*I13B = 9.01 m/s and

VD= VB/I15 B* I15D=3.46 m/s

Sample VIVA-VOICE Questions:

Hemant Patil and Shashi Bhushan Page 6 of 29

Given: NBA = 120 r.p.m. or

vector ab = VBA = VB = 0.503 m/s.

Hemant Patil and Shashi Bhushan Page 7 of 29

By measurement, we find that

VCD = VC = vector dc = 0.385 m/s

We know that CD = 80 mm = 0.08 m

∴ Angular velocity of link CD,

ωCD = VCD/ l(CD) = 0.385/0.08 = 4.8 rad/sec (clockwise about D)

Hemant Patil and Shashi Bhushan Page 8 of 29

By measurement, we find that velocity of the slider D,

Angular velocity of the link BD

By measurement from velocity diagram, we find that velocity of D with respect to

ω BD = VBD/ l(BD) = 1.7/0.046 = 36.96 rad/sec (clockwise about B).

Hemant Patil and Shashi Bhushan Page 9 of 29

VF = vector of = 0.53 m/s

= vector od = 1.08 m/s

Hemant Patil and Shashi Bhushan Page 10 of 29

Vco =Vc= ωco*OC=12.57*0.125=1.57m/s

Hemant Patil and Shashi Bhushan Page 11 of 29

Sample viva voice questions:

Hemant Patil and Shashi Bhushan Page 12 of 29

Hemant Patil and Shashi Bhushan Page 13 of 29

Note: Since D is the midpoint of A B, therefore d is also midpoint of vector ba.

By measurement, we find that vD = vector od = 4.1 m/s

Acceleration of the midpoint of the connecting rod :

We know that the radial component of the acceleration of B with respect

aBO = aB = 148.1 m/s

Vector o′b′ = aBO =aB = 148.1 m/s

2. The acceleration of A with respect to B has the following two components:

Hemant Patil and Shashi Bhushan Page 14 of 29

2. Angular velocity of the connecting rod

From the acceleration diagram, we find that

velocity of A with respect to O or velocity of A ,

Hemant Patil and Shashi Bhushan Page 15 of 29

vector oa = VAO = VA = 2.83 m/s

By measurement, we find that velocity of the

Velocity of B with respect to A ,

and velocity of B with respect to P, VBP = vector pb = 1.5 m/s

Acceleration of the slider D

component of the acceleration of B with respect to A=7.2 m/s2

vectorp′y = aBP=9.4 m/s 2

vectorc′z = aDC=2.2 m/s 2

By measurement, we find that acceleration of D,

Hemant Patil and Shashi Bhushan Page 16 of 29

Given : NBA = 120 r.p.m or ωBA = 2 π × 120/60 = 12.57 rad/s ;

Vco =Vc= ωcoOC=12.570.125=1.57m/s