Middle East Technical University

Department of Mechanical Engineering

ME 301 Theory of Machines I

Part 2 – PVA Analysis

First Set of Slides

Dr. Sezer Özerinç

These lecture notes are adapted from the lecture notes of Prof. Sam Tawfick, Prof.
Seok Kim, and Prof. Liz Hsiao-Wecksler (University of Illinois at Urbana-Champaign)
 Topics covered
• Vector notation (Complex and Compact)
• Analytical analysis method
• Position analysis
• Velocity analysis
• Acceleration analysis
• PVA analysis of a moving point
• Vector loop equation
• PVA analysis of a four-bar linkage
• PVA analysis of other four-bar mechanisms
• Offset slider-crank
Internal Combustion Engine

https://www.youtube.com/watch?v=OGj8OneMjek
Position, Velocity, Acceleration (PVA)
Analysis
• We have finished learning how to define and
determine the mobility (DOFs) of a mechanism
• Now we want to analyze this mechanism
• WHY?
• Predict output
• Prevent any failure

• HOW?
• Force & torques (F, T)
► Acceleration (a, a)
► Velocity (v, )
► Position (r, )
 Goal of PVA
Given: Mechanism –
pivot locations, link lengths,
input (e.g., 2,2)

Find:
position, velocity, 2,2
4,4,a4
acceleration
(e.g., 4,4, a4) as a function
of input
[eventually use information to compute
forces or torques at joints]
PVA Techniques
1. Graphical (geometric)
• Only useful for specific position
• Need to recalculate for different position

2. Analytical (algebraic)
• Useful for multiple position
• Based on equations
• Can be solved by MATLAB
• Use vector notation
 Vector notation
• Use for position, velocity and acceleration
analysis
• Coordinate systems and position vectors
• Three vector notations
• Cartesian
• Radial-transverse
• Complex number
• j operator
• Euler Identity
• Derivatives
• Compact notation
Cartesian and Radial-transverse vector forms


Cartesian R  R X iˆ  RY ˆj

Y R  r cos iˆ  r sin ˆj
ê ê r 
Radial-transverse R  reˆr
r deˆr 
A Note  eˆ
Derivatives: dt
ĵ R deˆ
  eˆr
X dt
O2
iˆ
Complex and Compact number vector
forms

Complex number R  r cos   jr sin 

Imaginary Real Imaginary

j j  1

Polar form  j
r A R  re
Compact notation
j
R de
Note  je j
 Derivatives: d
Real
de j de j d j d
O2   je
dt d dt dt
j operator j  1

• Rotates vector by 90°

What do jR and j2R look like?
Imaginary
j 2  1

jR

R
j2R = -R Real
Euler’s identity & Euler’s fomula

e jp +1=0

e ± j = cos ± j sin
 Velocity analysis
• Uses:
• 2nd step when performing acceleration
analysis
• To determine points of zero and peak velocity
• To compute kinetic energy: KE =1/2 mv2
 Velocity analysis

R2  ae j 2


VA  ?

A  dR2
a VA 
dt
j 2 d  2
2
2
R2

d
dt
ae j 2
 aje  dt
j 2 d
1
O2  j 2 ae Recall :  
dt

 j 2 R2
 What does VA look like?
 
V A  j 2 R2
What does j do to a vector?

VA Direction of VA depends on sign of 2

A
2  0 A
R2 2  0 
VA
R2
O2

O2
 Acceleration analysis
• Uses:
• To compute forces and moments:
F = ma, T = Ia
• To determine points of zero and peak
acceleration
 
Acceleration analysis AA  ?


  j 2 ae 
dV A d
AA  j 2

 dt dt Product Rule
VA d 2
  jae   j 2 ae j2 
j 2 d
A dt dt
2  0 d 2
   jae   j 2 j 2 ae
j 2 j 2

RA dt
2  a 2 jae   1 2 ae
j 2 2 j2

 
O2
 j a 2 R2   2 R2 2

t n
 AA  AA
Tangential Normal
Which direction do AtA, AnA point?
  
AA  ja 2 R2   2 R2
2

t n
 AA  AA
 t
VA AA depends on sign of a 2
n 
A AA is always opposite of R
t
2  0 AA

RA A

2 AA n
if a 2  0 AA
O2

O2
PVA analysis of a moving point
• Example: slider block in rotating link
• 2 DOF

p(t)
let  2  0 P
and p  0
 2 t 

O2
Position vector

RP  pe j 2  pt e j 2 t 

let  2  0
p(t)
and p  0 P
Rp
 2 t 

O2
  d 
VP  RP
dt
Velocity vector d j 2  t 
 p t e
dt
j 2  t 
de dpt  j 2 t 
 p t   e
dt dt

 j 2 R P  p e j 2
let  2  0  trans  slip
p(t)  VP  VP
and p  0
Transmission Slip
Rp velocity velocity
 2 t 
Transmission
O2 axis

Slip axis
What does VP look like?
  j 2
VP  j 2 RP  p e
 trans  slip
 VP  VP
 slip
VP
let  2  0

p(t) VP
and p  0  trans
Rp VP
 2 t 

O2
 What does AP look like?
j 2
VP  j 2 RP  p e
  trans
j 2  slip j 2 2 
AP  V
peP  V
j 2P 2 p e   2 R P  ja 2 R P
 slip  Coriolis  n  t
 AA  AA  AA  AA
 coriolis t  slip
 slip AA AA AA
AA 
AP
n let  2  0 p(t)
 t AA n
AP AA and p  0 AA  coriolis
Rp AA
let a 2  0  2 t 
and p  0
O2
 RBA B
A
Notes on notation RB
RA O

• A note about vector subscript notation. RBA represents

the position vector of point B relative to point A, and it
points from point A to point B. Note that RAB would point
the opposite direction, from B to A.

• Often if the vector is pointing from a ground point, we

frequently drop the subscript for the ground point, e.g.,
RB instead of RBO.
• Further you can also think about how the subscripts
cancel when adding vectors together,
e.g., RBO = RBA + RAO, note how the A’s cancel to get
BO.
PVA analysis of a 4-bar linkage
GOAL:
• Given an existing 4-bar linkage and the angular
PVA of one link (a, b, c, d, 2, 2, and a2)
• Find the angular PVA of the other links (3, 4, 3, 4, a3,
and a4).
• Create analytical equations that can be solved on a
computer.
• Use these results
• To determine points of zero and peak velocity or
acceleration
• To compute kinetic energy: KE =½mv2
• To compute forces and torques on links (F = ma, T = Iα)
 Vector loop equation
Position analysis of 4-bar linkage
B
b
A
3
c
a
2 d 4
O2 O4

• Given: a, b, c, d, and 2
• Solve for 3, 4
 R3 B
A
3 b
R2 a c R4
2 d 4
O2 R1 O4
• Vectors generally have tails at ground point
• Definitions of angles:
• Positive magnitude: Counter-clockwise from horizontal
• Placed at tail of vector
• 1 = 0, when O2 parallel to O4
 
• Vector loop equation: (clockwise) e.g ., R2  RA
    
R2  R3  R4  R1  0  RAO2
ae j  be j  ce j  de j  0
2 3 4 1
 ae j 2
How to solve for 3 and 4?
ae j  be j  ce j  de j  0
2 3 4 1

Apply Euler’s formula: e ± j = cos ± j sin

acos  2  j sin  2   bcos  3  j sin  3 
 ccos  4  j sin  4   d  0

Real: a cos  2  b cos  3  c cos  4  d  0

Im: a sin  2  b sin  3  c sin  4  0
Solutions for 3 and 4
  B  B 2  4 AC 
 4 1,2 1
 2 tan  
 2A 
  E  E 2  4 DF 
 3 1, 2 1
 2 tan  
 2D 
d  d   a2  b2  c2  d 2 
Where A  cos  2       cos  2   
   
a c  2 ac 
B  2 sin  2
d  d   a2  b2  c2  d 2 
C       1 cos  2   
a c   2ac 
d  d   c2  d 2  a2  b2 
D  cos  2       cos  2   
a b  2ab 
E  2 sin  2
d  d   c2  d 2  a2  b2 
F       1 cos  2   
  
a b   2 ab 
 Solutions for 3 and 4
  B  B 2  4 AC 
 4 1,2 1
 2 tan  
 2A 
  E  E 2  4 DF 
 3 1, 2 1
 2 tan  
 2D 

If B2>4AC → 1,2 are open (-) and crossed (+) configurations

 3(1)  3( 2)
 4 (1)  4 ( 2)

If B2=4AC → solutions are real and equal; toggle points

If B2<4AC → complex conjugates; no physical solution