UNIT II-KINEMATICS OF LINKAGE MECHANISMS

Displacement, velocity and acceleration analysis of simple mechanisms – Graphical method–

Velocity and acceleration polygons – Velocity analysis using instantaneous centres –
kinematic analysis of simple mechanisms – Coincident points – Coriolis component of
Acceleration – Introduction to linkage synthesis problem.
Part A
1. What are the components of acceleration?
 Radial component of acceleration
 Tangential component of acceleration
2. What are the important concepts in velocity analysis?
The absolute velocity of any point on a mechanism is the velocity of that point with reference
to ground.
Relative velocity describes how one point on a mechanism moves relative to another point on
the mechanism.
3. What is the objective of Kinematic analysis?
The objective of Kinematic analysis is to determine the Kinematic quantities such as
displacement, velocity and acceleration of the element in a mechanism.
4. Write an expression for find number of instantaneous centers in a mechanism?(Dec-
2003, jun-2007, Dec-2013, Dec-2015)
( )
No. of instantaneous centre =
Where, n = no. of links
5. Define displacement.
It may be defined as the distance moved by a body with respect to a fixed certain fixed point.
When there is no displacement in a body it is said to be at rest and when it is being displaced,
it is said to be in motion.
6. What are the types of motions?
 Rectilinear motion
 Curvilinear motion.
 Circular motion.
7. What are the methods for determining the velocity of a body? (May-2016)
Important methods for determining the velocity of a body are:
Graphical method:
i) Relative velocity method
ii) Instantaneous centre method
iii) Analytical method.
8. Define velocity.
Velocity may be defined as the rate of change of displacement of a body with respect to the
time. Since the velocity has both magnitude and direction, therefore it is a vector quantity.

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9. Define speed (velocity).
Speed may be defined as the rate of change of linear displacement of a body with respect to
the time. Since the speed is irrespective of its direction, therefore it is a scalar quantity.
10. What is deceleration?
The negative acceleration is also known as deceleration or retardation.
11. Define Acceleration.
The rate of change of velocity with respect to time is known as acceleration.
12. Define coincident points.
When a point on one link is sliding along another rotating link, then the point is known as
coincident point.
13. Define centrode.(May-2019)
The locus of all instantaneous centers (i.e., I1, I2,) is known as centrode.
14. Define Axode.
The locus of all instantaneous axes is known as Axode.
15. Define Body centrode.
The locus of all instantaneous centers relative to the body itself is called the body centrode.
16. What is Coriolis component of acceleration? (Dec-2010, 2011, 2015, 2018)
When a point on one link is sliding along another rotating link, such as in quick return motion
mechanism, then the Coriolis component of the acceleration must be calculated.
This tangential components of acceleration of the slider with respect to the coincident point
on the link is known as Coriolis component of acceleration
17. What is expression for Coriolis component of acceleration? (May-2008, May-2014)
Acceleration a BC =2rω
Where, ω=Angular velocity
r=radius of crank
18. What are the expressions for radial and tangential component of acceleration?
i) Radial component aOB =  OB *OB
r

ii) Tangential component aOB =  OB*OB

t

Where ωOB=Angular velocity of link OB

αOB=Angular acceleration of link OB
OB=Length of link OB.
19. How can we represent the direction of linear velocity of any point on a link with respect
to another point on the same line?
The direction is perpendicular to the line joining the points.
20. Define Instantaneous centre or virtual centre. (Dec-2009, 2003, 2002, 2018, May-2014)
Instantaneous centre of a moving body may be defined as that centre which goes on changing
from one instant to another.
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21. Define instantaneous center axis?
Instantaneous axis is a line drawn through an instantaneous center and perpendicular to the
plane of motion.
22. What are the type instantaneous centers? (May-2005, Nov/Dec-2019)
 Fixed centre
 Permanent centre
 Neither fixed or permanent
23. State the properties of the instantaneous centers? (Nov-2018)
i. A rigid link rotates instantaneously relative to another link at the instantaneous centre at
the instant of a given mechanism. However, instantaneous centre changes with
configuration of mechanism expect the fixed instantaneous centre.
ii. Two rigid links have no linear velocities relative to each other at the instantaneous centre.
However, they have the same linear velocity relative to the third rigid link or any other
link.
iii. Instantaneous centre is a double point since it refers to relative motions.
24. State Arnold Kennedy theorem. (Dec-2017)
The Aronhold-Kennedy Theorem also known as Kennedy Theorem or Kennedy Rule, states
that if three bodies move relative to each other, they have three instantaneous centers and
they lie on a straight line i.e. the three instant centers shared by three rigid bodies in relative
planar motion to another (whether or not connected) all lie on the same straight line.
25. In a revolving stage with a speed of 3 rpm, a person is walking with a speed of 0.5

m/s along a radial path. Determine the magnitude of the Coriolis component of
acceleration in this motion. (NOV 2003)
Speed = 3 rpm, velocity = 0.5 m/sec
Coriolis acceleration = 2 V ω ω= 2NAB
60
=0.3141 rad/sec
26. Differentiate translation and rotation. (Dec-2013)
Translation Rotation
It is state of motion when displacement It is state of motion when displacement
difference between ant two point is zero difference between ant two point equal
27. What is configuration diagram? What is its use? (May-2012, Dec-2012)
It is line sketch of mechanism which is drawn by a suitable scale
It is used to construct velocity and acceleration diagram.
28. Define rubbing velocity of point. (Nov-2002, Dec-2004, 2005, May-2007, Dec-2012, Dec-
2015,2019)
It is defined as the algebraic sum between the angular velocities of the 2 links which are
connected by pin joints, multiplied by the radius of the pin.
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29. A pin joins two links A and B, which rotates with angular velocities  A and B
respectively in opposite direction. (Or)What is the rubbing velocity of a pin joint?(Nov-
2018)
Rubbing velocity at a pin joint is defined as the algebraic sum between the angular velocities
of the two links which are connected by pin joints, multiplied by the radius of pin.
Rubbing velocity = (  A + B ) x r
Where r = radius of the pin.
30. The location of instantaneous centre for the following.
i) When the two links are connected by pin joint
ii) When the two links have a pure rolling contact
i) When the two links are connected by pin joint, the instantaneous centre lies on the centre of
the pin.
ii) When the two links have a pure rolling contact, the instantaneous centre lies on their point
of contact.
31. What is mean by normal component of acceleration? (Dec-2006, May-2019)
Normal or radial component of acceleration is perpendicular to the velocity of the particle at
the particular point.
32. Explain tangential component of acceleration.
It is a component of acceleration is parallel to the velocity of the particle at the particular
point.
33. What type of link has centripetal component and linear component of acceleration?
(May-2006)
Centripetal component of acceleration- Link which rotates constant velocity
Linear component of acceleration- Link which moves linearly
34. State Coriolis component of acceleration. (Nov/Dec-2006, 2017)
Whenever a point on one link is sliding along another rotating link then the total acceleration
will have one additional acceleration- it is called Coriolis component.
35. Name the two mechanisms when Coriolis mechanism encountered and not
encountered. (May-2010, Dec-2015)
Encountered-Crank and slotted link, Whitworth mechanism and oscillating cylinder
mechanism
Not encountered- 4 bar mechanism, slider crank, and toggle mechanism.
36. How the direction of Coriolis component determined? (May-2009)
It is the direction of velocity vector for the 2 coincident points rotated at 90 degree in the
direction of angular velocity.
37. Illustrate the instantaneous centre of a typical 4 bar. (May-2006, 2017)
( )
Instantaneous centre (N) =
( )
= =6
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38. Define synthesis of mechanism.
The Synthesis of Mechanisms is the part of the Kinematics that takes care to find the
mechanism that allows generating a given movement. The problems of the synthesis of
mechanisms can be classified of the following way.
•Structural synthesis
•Dimensional synthesis
39. How will you find out the total acceleration from its normal and tangential
components? (May-2018)

Total Acceleration a  a r  at
2 2

Where, a r - Normal acceleration,

a t - Tangential acceleration

40. Mention two motives for doing acceleration analysis of mechanisms or machines. (May-
2018)
i) To find out the forces and torques acting on a mechanism
ii) To find the jerk or pulse at which is the rate of change acceleration

41. Find the resultant acceleration of 80mm radius crank rotating at constant angular
velocity of 10rad/s, at the crank-pin position. (Nov-2017)
Rubbing velocity =  A x r
Rubbing velocity = 10x0.08 Where r = radius of the pin.
=0.8 m/s

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 PART B
1.In a pin jointed four bar mechanism, as shown in Fig, AB = 300 mm, BC = CD = 360
mm, and AD = 600 mm. The angle BAD = 60°. The crank AB rotates uniformly at 100
r.p.m. locates all the instantaneous centers and also finds the angular velocity of the link
BC.(May 2008NOV 2012,NOV 2015,2018)
State and prove the Arnold-Kennedy theorem related to instantaneous centers. (May-
2018,2019)
Given:
NAB = 100 r.p.m orωAB = 2 π × 100/60 = 10.47 rad/s
Since the length of crank AB = 300 mm = 0.3 m,
Therefore velocity of point B on link AB,

VB = ωAB × AB = 10.47 × 0.3 = 3.141m/s

Location of instantaneous centers
Give the procedure to be followed for locating instantaneous centre the four bar
mechanism (May-2019)
The instantaneous centers are located as discussed below:
i) Since the mechanism consists of four links (i.e. n = 4), therefore number of instantaneous
centers are six.
=6
ii. For a four bar mechanism, the book keeping table may be drawn as discussed in Art.
iii. Locate the fixed and permanent instantaneous centers by inspection. These centers are

I12, I23, I34 and I14, as shown in Fig.

iv. Locate the remaining neither fixed nor permanent instantaneous centers by Arnold
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.
v. Join points 1 to 2, 2 to 3, 3 to 4 and 4 to 1 to indicate the instantaneous centers already
locatedi.e. I12, I23, I34 and I14.
vi. Join 1 to 3 to form two triangles 1 2 3 and 3 4 1. The side 13, common to both triangles,
responsible for completing the two triangles. Therefore the instantaneous center I13 lies on the
intersection of the lines joining the points I12I23 and I34I14 as shown in Fig.6.10.
Thus center I13 is located.

vii. 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 center I24 lies on the
intersection of the lines joining the points I23I34 and I12I14 as shown in Fig. Thus center I24 is
located. Mark number 6 on the dotted line 2 4. Thus all the six instantaneous centers are
located

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 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

vB = ωBC × I13B

By measurement, I13B= 500 mm = 0.5 m

Therefore Angular velocity of BC
ωBC= VB/I13B
=3.141/0.5
ωBC=6.28 rad/s

2. Locate all the instantaneous centres of the slider crank mechanism as shown in Fig.
The lengths of crank OB and connecting rod AB are 100 mm and 400 mm respectively.
If the crank rotates clockwise with an angular velocity of 10 rad/s, find: i) Velocity of
the slider A, and ii) Angular velocity of the connecting rod AB.(May 2015,2013, 2017,
NOV 2012, 2015,2018)

Given
Angular velocity ωOB= 10 rad/ s; OB = 100 mm = 0.1 m
We know that linear velocity of the crank OB,
VOB = vB = ωOB × OB = 10 × 0.1 = 1 m/s

i. Since there are four links (i.e. n = 4), therefore the number of instantaneous centers are

six.

ii. For a four link mechanism, locate the fixed and permanent instantaneous centers by
inspection. These centers are I12, I23 and I34as shown in Fig. Since the slider (link 4)
moves on a straight surface (link1), therefore the instantaneous centre I14 will be at
infinity.
iii. Note: Since the slider crank mechanism has three turning pairs and one sliding pair,
therefore there will be three primary (i.e. fixed and permanent) instantaneous centers.

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 iv. Join 1 to 3 to form two triangles 1 2 3 and 3 4 1 in the circle diagram. The side 1 3,
common to both triangles, is responsible for completing the two triangles. Therefore the
centre I13will lie on the intersection of I12I23 and I14I34, produced if necessary. Thus
centre I13 is located. Join1 to 3 by a dotted line and mark number 5 on it.
Thus all the six instantaneous centers are located.
By measurement, we find that
I13A = 460 mm = 0.46 m; and I13B = 560 mm = 0.56m
a. Velocity of the slider A
Let VA = Velocity of the slider A.

Velocity of slider VA=0-82 m/s

b. Angular velocity of the connecting rod AB

3. Locate all the instantaneous centers of the slider crank mechanism as shown in Fig.
The length of crank OA is 160mm and connecting rod AB is 470 mm long. If the crank
rotates clockwise with an angular velocity of 12 rad/s, determine 1. Linear velocity of
the slider(B) 2, Angular velocity of the connecting rod (AB) at the crank angle of 30o
from inner dead centre position using instantaneous centre method.(Dec- 2017)

Given
Angular velocity ωOB= 12 rad/ s; OA = 160 mm = 0.16 m
We know that linear velocity of the crank OA,
VOB = vB = ωOA × OA = 12 × 0.16 = 1.92 m/s

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 i. Since there are four links (i.e. n = 4), therefore the number of instantaneous centres are

six.

ii. For a four link mechanism, locate the fixed and permanent instantaneous centres by
inspection. These centres are I12, I23 and I34as shown in Fig. Since the slider (link 4)
moves on a straight surface (link1), therefore the instantaneous centre I14 will be at
infinity.
iii. Note: Since the slider crank mechanism has three turning pairs and one sliding pair,
therefore there will be three primary (i.e. fixed and permanent) instantaneous centres.

iv. Join 1 to 3 to form two triangles 1 2 3 and 3 4 1 in the circle diagram. The side 1 3,
common to both triangles, is responsible for completing the two triangles. Therefore the
centre I13will lie on the intersection of I12I23 and I14I34, produced if necessary. Thus
centre I13 is located. Join1 to 3 by a dotted line and mark number 5 on it.
Thus all the six instantaneous centres are located.
By measurement, we find that
I13A = 460 mm = 0.46 m; and I13B = 560 mm = 0.56m
a. Velocity of the slider A
Let VA = Velocity of the slider B.

Velocity of slider Vb=0-82 m/s

b. Angular velocity of the connecting rod AB

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4. In Fig. the angular velocity of the crank OA is 600 r.p.m. Determine the linear velocity
of the 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 center 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.(Nov 2010,2018)

Given:
NAO = 600 r.p.m.

ωAO = 2 π × 600/60 = 62.84 rad/s

Since OA = 28 mm = 0.028 m,
Velocity of A (because O is a fixed point),
VAO = VA = ωAO × OA = 62.84 × 0.028 = 1.76 m/s
Solution:
i) 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:

ii) Since the points O and C are fixed, therefore these points are marked as one point, in the
velocity diagram. Now from point o, draw vector oa perpendicular to OA, to some suitable
scale, to represent the velocity of A with respect to O or simply velocity of A such that

Vector oa= VAO = VA = 1.76 m/s

iii) From point a, draw vector ab perpendicular to AB to represent the velocity of B with respect
A (i.e. vBA) and from point c, draw vector cb perpendicular to CB to represent the velocity of B
with respect to C or simply velocity of B (i.e. vBC or vB). The vectors ab and cb intersect at b.

iv) From point b, draw vector bd perpendicular to BD to represent the velocity of D with
respect to B (i.e. vDB) and from point o, draw vector od parallel to the path of motion of the
slider D which is horizontal, to represent the velocity of D (i.e. v D). The vectors bd and od
intersect at d. By measurement, we find that velocity of the slider D,
vD= vector od = 1.6 m/s

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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,
ωBD=36.96 rad/ sec (Clockwise about B)

5. An engine mechanism is shown in Fig. The crank CB = 100 mm and the Connecting
rod BA = 300 mm with center of gravity G, 100 mm from B. In the position shown,
2
The crankshaft has a speed of 75 rad/s and an angular acceleration of 1200rad/s .
Find: a. Velocity of G and angular velocity of AB, and
b.Acceleration of G and angular acceleration of AB. (May 2012)
Given
ωBC= 75 rad/s

αBC = 1200 rad/s2

CB = 100 mm = 0.1 m
BA = 300 mm= 0.3 m
We know that velocity of B with respect to C or velocity of B,

vBC = vB = ωBC . CB = 75× 0.1 = 7.5 m/s ... (Perpendicular to BC)

2
Since the angular acceleration of the crankshaft, αBC = 1200 rad/s , therefore tangential

component of the acceleration of B with respect to C,

= 1200 × 0.1
2
= 120 m/ s
Note: When the angular acceleration is not given, then there will be no tangential component
of the acceleration.

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i. Velocity of G and angular velocity of AB
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:

Vector cb= vBC = vB = 7.5 m/s

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 c, draw vector ca parallel to the path of motion of A (which is

along AC) to represent the velocity of A i.e. vA. The vectors ba and ca intersect at a.

ii. Since the point G lies on AB, therefore divide vector abat g in the same ratio as G divides
AB in the space diagram.
In other words,ag/ ab= AG/ AB
The vector cg represents the velocity of G.
By measurement, we find that velocity of G,

vG = vector cg = 6.8 m/s

From velocity diagram, we find that velocity of A with respect to B, vAB =vector ba= 4 m/s

We know that angular velocity of AB,

Acceleration of G and angular acceleration of AB

We know that radial component of the acceleration of B with respect to C,

and radial component of the acceleration of A with respect to B,

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6. An engine mechanism is shown in Fig. The crank CB = 200 mm and the Connecting
rod BA = 600 mm. with this position shown, the crankshaft has a speed of 50 rad/s and
2
an angular acceleration of 800rad/s .
Find: i) Velocity of AB, and
b)Angular acceleration of AB. (May-2017)
Given
ωBC= 50 rad/s

αBC = 800 rad/s2

CB = 200 mm = 0.2 m
BA = 600 mm= 0.6 m
We know that velocity of B with respect to C or velocity of B,

vBC = vB = ωBC . CB = 50× 0.2 = 10 m/s ... (Perpendicular to BC)

2
Since the angular acceleration of the crankshaft, αBC = 800 rad/s , therefore tangential

component of the acceleration of B with respect to C,

= 800 × 0.2
2
= 160 m/ s
i. Velocity of G and angular velocity of AB
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:

Vector cb= vBC = vB = 10 m/s

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 c, draw vector ca parallel to the path of motion of A (which is

along AC) to represent the velocity of A i.e. vA. The vectors ba and ca intersect at a.

From velocity diagram, we find that velocity of A with respect to B, vAB =vector ba= 5.16

m/s Velocity of AB, vAB =5.16 m/s

Note: When the angular acceleration is not given, then there will be no tangential component
of the acceleration.

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 Angular acceleration of AB
We know that radial component of the acceleration of B with respect to C,

7.In a Whitworth quick return motion mechanism, as shown in Fig., the distance between
the fixed centers is 50 mm and the length of the driving crank is 75 mm. The length of
the slotted lever is 150 mm and the length of the connecting rod is 135 mm. Find the
ratio of the time of cutting stroke to the time of return stroke and also the effective
stroke.

Given:
CD = 50 mm;
CA = 75 mm;
PA = 150 mm;
PR = 135 mm

The extreme positions of the driving crank are shown in Fig. From the geometry of the
figure,

Ratio of the time of cutting stroke to the time of return stroke we know that

Length of effective stroke:

In order to find the length of effective stroke (i.e. R1R2), draw the space diagram of the
mechanism to some suitable scale, as shown in Fig. Mark P1R2 = P2R2 = PR.
By measurement we find that,
Length of effective stroke = R1R2 = 87.5 mm

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8. PQRS is a four bar chain with link PS fixed. The lengths of the links are PQ = 62.5 mm;
QR = 175 mm; RS = 112.5 mm; and PS = 200 mm. The crank PQ rotates at 10 rad/s
clockwise. Draw the velocity and acceleration diagram when angle QPS = 60° and Q
and R lie on the same side of PS. Find the angular velocity and angular acceleration of
links QR and R.(Nov-2009, 2018)
Given:
ωQP = 10 rad/s;
PQ = 62.5 mm = 0.0625 m
QR = 175 mm = 0.175 m
RS = 112.5 mm = 0.1125 m
PS = 200 mm = 0.2 m
We know that velocity of Q with respect to P or velocity of Q,
VQP = VQ = ωQP × PQ = 10 × 0.0625 = 0.625 m/s

Angular velocity of links QR and RS:

First of all, draw the space diagram of a four bar chain, to some suitable scale, as shown in
Fig. (a).
Now the velocity diagram as shown in Fig. (b) is drawn as discussed below:

i. Since P and S are fixed points, therefore these points lie at one place in velocity
diagram.Draw vector pq perpendicular to PQ, to some suitable scale, to represent the velocity
of Q with respect to P or velocity of Q i.e. vQP or vQ such that
Vector pq= vQP = vQ = 0.625 m/s
ii. From point q, draw vector qr perpendicular to QR to represent the velocity of R with

respect to Q (i.e. vRQ) and from point s, draw vector sr perpendicular to SR to represent the

velocity of R with respect to S or velocity of R (i.e. vRS or vR). The vectors qr and sr intersect

at r. By measurement, we find that

vRQ= vector qr= 0.333 m/s, and vRS= vR= vector sr= 0.426 m/s

We know that angular velocity of link QR,

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 and angular velocity of link RS,

7. In the mechanism, as shown in Fig. the crank OA rotates at 20 r.p.m. anticlockwise and
gives motion to the sliding blocks B and D. The dimensions of the various links are OA
= 300 mm; AB = 1200 mm; BC = 450 mm and CD = 450 mm.
Given:
NAO = 20 r.p.m. or
ωAO= 2 π × 20/60
= 2.1rad/s
OA = 300 mm = 0.3 m
AB = 1200 mm = 1.2 m
BC = CD = 450 mm = 0.45 m
Solution:
We know that linear velocity of A with respect to O or velocity of A,
VA=ωAOxOA
= 2.1x0.3
= 0.63 m/s

Velocities of sliding at B and D

We find that velocity of sliding at B, vB= vector ob= 0.4 m/s

Velocity of sliding at D,vD= vector od = 0.24 m/s

Angular velocity of CD
By measurement from velocity diagram, we find that velocity of D with respect to C,
vDC= vector cd = 0.37 m/s
Angular velocity of CD,
ωCD=VCD/CD = 0.37/0.45
= 0.82 rad/s

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 Linear acceleration of D
We know that the radial component of the acceleration of A with respect to O or
acceleration of A,
By measurement, we find that linear acceleration ofD,
2
aD= vector o' d' = 0.16 m/s

5. 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°.(NOV 2012)

Given:
NBA = 120 r.p.m. or ωBA = 2 π × 120/60 = 12.568 rad/s
Since the length of crank AB = 40 mm = 0.04 m,
Therefore velocity of B with respect to A or
Velocity of B, (because A is a fixed point)
VB or VBA=0.503 m/s
Solution:
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

By measurement, we find that

Velocity of C with D or VC=0.385 m/s
Angular velocity of link CD,
ωCD=VCD/CD
= 0.385/0.08
=4.8 rad/s
9. A four bar mechanism has the following dimensions: A = 300 mm; CB = AB = 360
mm; DC = 600 mm. The link DC is fixed and the angle ADC is 60°. The driving link DA
rotates uniformly at a speed of 100 r.p.m. clockwise and the constant driving torque has
the magnitude of 50 N-m. Determine the velocity of the point B and angular velocity of

17
 the driven link CB. Also find the actual mechanical advantage and the resisting torque
if the efficiency of the mechanism is 70 per cent. (NOV 2015)
Given:
NAD = 100 r.p.m. or ωAD = 2 π × 100/60 = 10.47 rad/s;
TA = 50 N-m
Solution
Since the length of driving link, DA = 300 mm = 0.3 m,
therefore velocity of A with respect to D or velocity of
A (because D is a fixed point),
vAD = vA = ωAD × DA = 10.47 × 0.3 = 3.14 m/s

Velocity of point B
By measurement, we find that velocity of point B,
vB = vBC = vector cb= 2.25 m/s

Angular velocity of the driven link CB

Since CB = 360 mm = 0.36 m, therefore angular velocity of the driven link CB,

Actual mechanical advantage

We know that the efficiency of the mechanism, η
= 70% = 0.7

10. Fig. shows the structure of Whitworth quick return mechanism used in reciprocating
machine tools. The various dimensions of the tool are as follows:
OQ =100 mm; OP = 200 mm, RQ = 150 mm and RS = 500 mm. The crank OP makes an
angle of 60° with the vertical. Determine the velocity of the slider S (cutting tool) when
the crank rotates at 120 r.p.m. clockwise. Find also the angular velocity of the link RS
and the velocity of the sliding block T on the slotted lever QT.(May-2016)
Given:
NPO = 120 r.p.m. or ωPO= 2 π × 120/60 = 12.57 rad/s
Solution:

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 Since the crank OP = 200 mm = 0.2 m, therefore velocity of P with respect to O
or velocity of P (because O is a fixed point),

vPO= vP= ωPO× OP = 12.57 × 0.2 = 2.514 m/s

Velocity of slider S (cutting tool)

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 :

(3)

By measurement, we find that velocity of the slider S (cutting tool),

VS = vector os= 0.8 m/s
Angular velocity of link RS
From the velocity diagram, we find that the linear velocity of the link RS,
VSR= vector rs= 0.96 m/s
Since the length of link RS = 500 mm = 0.5 m, therefore angular velocity of link RS,

Velocity of the sliding block T on the slotted lever QT

Since the block T moves on the slotted lever with respect to P, therefore velocity of
the sliding block T on the slotted lever QT,
VTP= vector pt= 0.85 m/s
19
11. In a four bar chain ABCD, AD is fixed and is 120 mm long and rotates at 100 rpm.
Clockwise while the link CD = 60mm, Oscillates about D, BC and AD are of equal
length. Find the angular velocity of link CD when angle BAD = 600.(May 2008)

Solution:

Given Data: AD = 120mm; AB = 30mm;

CD = 60mm; NBA = 100 r.p.m.;
2NBA
ω BA =  2100 = 10.47 rad/sec
60 60
Configuration Diagram :( b) Velocity Diagram
Scale: 1 cm = 20mm Scale: 0.0628 m/s = 1 cm

Vba = BA x AB = 1.047 x 0.03

Vba = 0.3141

Procedure:
Configuration diagram: Refer Fig (a)
0
i. With suitable scale draw AD and AB with an angle 60 .
ii. From point B draw an arc of 120 mm radius.
iii. From point D draw another arc of radius 60mm.
iv. Take the intersecting point as C, and join BCand CD, as shown in Fig

Velocity diagram: Refer Fig (b)

i. With suitable scale draw VBA (i.e., ab) perpendicular to AB at any point.
ii. Since the link ADis fixed whose relative velocity is zero, hence aandd are lie on the
same point.
iii. Draw lines perpendicular to CDand BC from points‘d’ and 'b' respectively so as to get
the intersection point.
iv. Locate the intersecting point as C, as shown in Fig.(b)
= ab on vector velocity diagram,
20
 VCB = bc on vector velocity diagram and
VCD = cd (or) ca on vector velocity diagram
By measurement, we find that
Angular velocity of CD ω CD=4 rad/sec (clockwise about D)

11. In a four, link mechanism, the crank AB rotates at 36 rod/sec. The length of the links
areAB = 200 mm, BC = 400mm, CD = 450 mm and AD = 600 mm. AD is the fixed link.
At the instant when AB is at right angle to AD. Determine the velocity of:The mid-point
of link BC.A point on link CD, 100mm from the points connecting the links CD and AD.
(May 2008)
Given:
ωBA= 36 rad/sec and <BAD = 900
AB = 200mm; BC = 400 mm
CD = 450mm; AD = 600mm; AD = Fixed.
Solution:
Configuration diagram Velocity diagram
Scale: 100 mm = 1 cm Scale: 1.44m/s = 1 cm
VBA = WBA x AB
= 36 x 0.2 = 7.2m/s

Procedure:
i. Configuration diagram: Ref Fig. (a). Draw the space diagram as to the dimensions.
ii. Velocity diagram: Refer Fig. (b). Draw the velocity diagram as discussed in the
previous
iii. Locate the point 'e' at the center of vector bc to find velocity of midpoint of link BC.
iv. Join 'e' and 'a'. Now the vector 'ea' will give the velocity of the midpoint E.
i.e.,VEA = ea = (4.55 x 1.44) = 6.552 m/s
VCD = 4.6 x 1.44 = 6.624 m/sec [From Fig. (b)]
= 1.472 m/sec.
Velocity of midpoint of link BC with respect to A is VEA = 6.552 m/s.
Velocity of a point on a link CD 100 mm from D is VAF = VDF = 1.472 m/s.

21
13. The dimension and configuration of the four bar mechanism, shown in Fig, are as
follows:P1A = 300mm; P2B=360 mm; AB = 360 mm, and P1P1=600 mm.
The angle AP1P2= 60. The crank P1A has an angular velocity o10 rad/ and an angular
acceleration of 30 rad/s2, both clockwise. Determine the angular velocities and angular
accelerations of P2B, and AB and the velocity and acceleration of the P2b, and the
velocity and acceleration of the joint B.(May 2008)
Given:
Angular velocityAP1=10 rad/s;
Angular accelerationAP1=30 rad/s,
P1A= 30mm= 0.3 m; P2B=AB=360 mm=0.36m

Solution:

We know that the velocity of A with respect to P1 or velocity of A,

VAP1=VA=AP1 x p1A= 10 x 0.3 = 3 m/s.

Velocity of B and angular velocities of P2B and AB

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.
Since P1 and P2 are fixed points, therefore these points lie at one place in velocity
diagram. Draw vector p1 perpendicular to P1A, to some suitable scale to represent the
velocity of A with respect to P1 or velocity of A. i.e. vAP1=vA=3m/s
From point a, draw vector ab perpendicular to AB to represent velocity of B with
respect to A (i.e.vBA) and from point p2 draw vector p2b perpendicular to P2B to represent the
velocity of B with respect to P2or velocity of B i.e. vBP2 or vB. The vectors ab and p2b
intersect at b.

By measurement, we find that

VBP2=vB= vector p2b=2.2 m/s. and VBA=vectorab= 2.05m/s

We know that angular velocity of P2B,

22
And angular velocity of AB,

Acceleration of B and angular acceleration of P2B and AB

We know that tangential component of the acceleration of A with respect to P1,

at P300.39m/s2
r 2
Radial component of the acceleration of A with respect to P1,a =30m/ s

Radial component of the acceleration of B with respect to A

v 2 (2.05)/ 2
arBA= AB  0.36 11.67m/ s
2

And radial component of the acceleration of B with respect to P2

arBP2vPB2(2.2)/0.36213.4m/ s2

14. In the toggle mechanism shown in fig, the slider D is constrained to move on a
horizontal path. The crank OA is rotating in the counter-clockwise direction at a
speedFig.of 180 r.p.m increasing at the rate of 50 rad/s2. The dimensions of the various
links are as follows:OA = 180mm; CB = 240 mm; AB = 360mm; and BD = 540 mm.For
the given configuration, find 1. Velocity of slider D and angular velocity of BD, and
Acceleration of slider D and angular acceleration of BD. (May 2015)

Given:
NAO = 180 r.p.m or AO = 2 x 180/60 = 18.85 rad/s; OA = 180 mm = 0.18 m; CB = 240
mm =0.24 m; AB = 360mm =0.36m; BD = 540 mm = 0.54m

We know that velocity of A with respect to O or velocity of A,

vAO = vA = AO x OA = 18.85 x 0.18 = 3.4 m/s

i). Velocity of slider D and angular velocity of BD

First of all, draw the space diagram to some suitable scale, as shown in fig 8.17 (a).Now the
velocity diagram, as shown in fig (b) is drawn as discussed below:

23
Since O and Care fixed points, therefore these points lie at one place in the velocity diagram.
Draw vector oa perpendicular to OA, to some suitable scale, to represent the velocity of A

with respect to O or velocity of A i.e. vAO or vA, such that

Vector oa = vAO = vA = 3.4m/s

ii) Since B moves with respect to A and also with respect to C, therefore draw vector ab

perpendicular to AB to represent the velocity of B with respect to A i.e. v BA, and draw vector

cb perpendicular to CB to represent the velocity of B with respect to C ie.,vBC. The vectors

ab and cd intersect at b.
iii) From point b, draw vector bd perpendicular to BD to represent the velocity of D with

respect to B i.e. vDB, and from point c draw vector cd parallel to CD (i.e., in the direction of

motion of the slider D) to represent the velocity of D i.e. vD.

By measurement, we find that velocity of B with respect to A,

vBA = vector ab = 0.9m/s

velocity of B with respect to C,

vBC = vector cb, = 2.8m/s

Velocity of D with respect to B,

VDB = vector bd = 2.4m/s

and velocity of slider D,

vD = vector cd = 2.05 m/s.

Angular velocity of BD

BDBD vDB0.542.44.5rad/s.

2. Acceleration of slider D and angular acceleration of BD.

2 2
Since the angular acceleration of OA increases at the rate of 50 rad/s , i.e. AO = 50rad/s
Therefore
24
 Tangential component of the acceleration of A with respect to O,
tAOAOOA 500.189m/s2

Radial component of the acceleration of A with respect to O,

arAO63.9m/s2
Radial component of the acceleration of B with respect to A,
aBArvAB/BA2 2.25m/s2
Radial component of the acceleration of B with respect to C,
aBCrvCB/BC2 32.5m/s2

and radial component of the acceleration of D with respect to B,

aDBrBDv/ DB2 10.8m/s2

15. In a slider crank mechanism, the length of crank OB and connecting rod AB are
125mm and 150mm respectively. The center of gravity G of the connecting rod
is275mm from the slider A. The crank speed is 600 rpm clockwise. When the crank has
turned 450 from the inner dead center position, determine: (Nov 2010)

1. Velocity of slider A,
2. Velocity of the point G, and
3. Angular velocity of the connecting rod AB.
Given Data:

OB = 125mm; AB = 500mm; AG = 275mm.

NBO = 600 rpm

ωBO= 62.83 r/s

º
 = 45 from inner dead center

VBO = ω BO x OB = 62.83 x 0.125 = 7.854 m/s

Configuration diagram: Velocity diagram:

Procedure:
Configuration diagram: Ref Fig (a).
25
First draw line of stroke.

From point B draw an arc of radius 500 to cut the stroke, then the cutting point be A.

Locate G on Ab at a distance AG = 275 mm.

Velocity diagram:.

Draw ob vector perpendicular to OB with suitable scale

From O draw a horizontal vector parallel to the line of stroke.
From point 'b' draw a line perpendicular to AB, it will intersect the line of stroke OA at 'a'.
From velocity diagram it is understood that
i) VA = 3.3 x 1.96 = 6.468m/s
ii) VG = 3.07 m/s
iii)  AB = 2.85 x 1.96 = 5.586 rad/s

17. In a mechanism shown in Fig. The crank OA is 100 mm long and rotates clockwise
about O at 120 rpm. 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 turn
on 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 trunion and
3. Angular velocity of CE. (MAY 2009)

Fig a

26
 Given Data:

OA = 100 : NOA = 120 r.p.m.

AB = 400 mm; AC = 150 mm;

CE = 350 mm; EF = 300 mm;
ωOA = 12.5664 rad/sec,
vOA= ωOAxOA =1.2566 m/s
Procedure:

a. Configuration diagram: Refer Fig a.

b. Velocity diagram: Refer Fig b.

1. Draw VOA = 1.256 m/s, from 0 to a in the direction perpendicular to the crank OA.

2. From point 'o' draw a line parallel to line of stroke of the slider B.

3. From point 'a' draw a line perpendicular to link AB. Name the point of intersection as
'b'.

4. To locate 'C' on 'ab'.

VBC = vector bc = 1.6875 × 0.252

VBC = 0.425 m/s.

5. From 'c' draw a line perpendicular to the link CE.

6. From point 'f' draw a line parallel to the link CE.

7. To locate point 'e':

From point 'e', draw a line perpendicular to the link EF and draw a line parallel to the line of
stroke 'F' at 'O' and locate the cutting point as 'f'.

1. Velocity of F:

VF = Vector 'of' = 2.1 x 0.252

= 0.529 m/s
2. Velocity of sliding of CE in the trunion: Vector'ec'VCE

= 0.441 m/s

3. Angular velocity of CE:

ωCE= 1.26 rad/sec

Fig b.

27
18. In a four bar mechanism, the dimensions of the links are as given below: AB = 50 mm;
BC = 66 mm; CD = 56 mm and AD = 100 mm. At a given instant when |DAB 60o the
angular velocity of link AB is 10.5rad/sec in CCW direction.
Determine, (Nov 2010)
i) Velocity of point C
ii) Velocity of point E on link BC when BE = 40 mm 2
iii) The angular velocity of link BC and CD 2
iv) The velocity of an offset point F on link BC, if BF = 45 mm, CF = 30 mm and BCF
is read clockwise. 2
v) The velocity of an offset point G on link CD, if CG = 24 mm, DG= 44 mm and
DCG is read clockwise. 4
vi) The velocity of rubbing of pins A, B, C and D. The ratio of the pins are 30 mm, 40
mm, 25 mm and 35 mm respectively
Solution:

Step -1: Construct the configuration diagram selecting a suitable scale. Scale: 1 cm = 20 mm

Step – 2: Given the angular velocity of link AB and its direction of rotation determine
velocity of point with respect to A (A is fixed hence, it is zero velocity point).
Vba = ωBA x BA
= 10.5 x 0.05 = 0.525 m/s

Step – 3: To draw velocity vector diagram choose a suitable scale, say 1 cm = 0.2 m/s.
First locate zero velocity points.
Draw a line ωr to link AB in the direction of rotation of link AB (CCW) equal to 0.525 m/s.

28
From b draw a line ωr to BC and from d. Draw d line ωr to CD to interest at C.
Vcb is given vector bcVbc = 0.44 m/s
Vcd is given vector dc Vcd = 0.39 m/s

Step – 4: To determine velocity of point E (Absolute velocity) on link BC, first locate the
position of point E on velocity vector diagram. This can be done by taking corresponding
ratios of lengths of links to vector distance i.e.
Join e on velocity vector diagram to zero velocity points a, d / vector de = Ve = 0.415 m/s.

Step 5: To determine angular velocity of links BC and CD, we know Vbc and Vcd.

Similarly ωcd = 6.96 r/s (cw)

Step – 6: To determine velocity of an offset point F

Draw a line ωr to CF from C on velocity vector diagram

Draw a line ωr to BF from b on velocity vector diagram to intersect the previously drawn line
at „f.
From the point f to zero velocity point a, d and measure vector fa to get Vf = 0.495 m/s.

Step – 7: To determine velocity of an offset point.

Draw a line ωr to GC from C on velocity vector diagram.
Draw a line ωr to DG from d on velocity vector diagram to intersect previously drawn line at g.
Measure vector dg to get velocity of point G.
Vg = dg = 0.305 m/ s

Step – 8: To determine rubbing velocity at pins

Rubbing velocity at pin A will be

Vpa = ωab x r of pin A
Vpa = 10.5 x 0.03 = 0.315 m/s
Rubbing velocity at pin B will be
Vpb = (ωab + ωcb) x rpb of point at B.
[ωab CCW and ωcbCW]
Vpb = (10.5 + 6.6) x 0.04 = 0.684 m/s.
Rubbing velocity at point C will be= 6.96 x 0.035 = 0.244 m/s

29
19. Figure below shows toggle mechanisms in which the crank OA rotates at

120rpm.Find the velocity of the slider D. (May-2015)

Step 1: Draw the configuration diagram choosing a suitable scale.

Step 2: Determine velocity of point A with respect to O.

Vao= OA x OA
Vao= (2xπx120)/60 = 5.024 m/ s
Step 3: Draw the velocity vector diagram.

Choose a suitable scale

Mark zero velocity points O,q

QB to intersect atb.

Result
Velocity of slider D = 5.02 m/sec

20. Write about graphical method of displacement and List out the step wise procedure
to determine velocity of a link using graphical method.

Graphical method of displacement analysis

In a graphical method of displacement analysis, the mechanism is drawn to a
convenient scale and the desired unknown quantities are determined through suitable
geometrical constructions and calculations.
 The configurations of a rigid body in plane motion are completely defined by the
locations of any two points on it.
 Two intersecting circles have two points of intersection and one has to be careful,
when necessary, to choose the correct point for the purpose in hand.
 The use of tracing paper, as an overlay, is very convenient and very often provides an
unambiguous and quick solution.
The graphical method fails if no closed loop with four links exists in the mechanism

30
Stepwise Procedure for Determining Velocities:
 First draw a Space Diagram as per the required dimension by using suitable scale.
 Measure the Angle of Each Link with Horizontal Axis.
 Locate the direction of motion of Crank i.e. clockwise or anticlockwise.
 Calculate the Linear Velocity of Crank Link with the given rpm.
 Draw X-Y Axis.
 Draw manually approximately the position of links on X-Y Axis.
 Name the links. Also show the measured angles.
 Select the first pair of link including crank.
 First, draw a Free Vector for Velocity of Crank by using the same concept of graphical
method i.e. showing the position of free vector at 90° to crank position in a direction of
rotation of crank.
 Now draw another line perpendicular to the position of remaining link of a pair from end
point of free vector.
 Complete the first right angle triangle & determine the sides of this triangle.
 Select the second pair of link and do the same procedure and obtain second right angle
triangle. Determine sides.
 Obtain possible number of triangles.
 Now if you overlap these entire triangle one on other, you will get the complete
Free Velocity Diagram for the given configuration diagram.
Thus, Calculate Linear as well as Angular velocities of Each Links.

21. What is kinematics synthesis? Name the three phases of kinematic synthesis and
classify the linkage synthesis.(May-2016, 2018)
Kinematics synthesis:
The Synthesis of Mechanisms is the part of the Kinematics that takes care to find the
mechanism that allows generating a given movement.
The phases of the synthesis of mechanisms can be classified of the following way.
 Structural synthesis
i) Type synthesis
ii) Number synthesis
 Dimensional synthesis
Classification of linkages synthesis:
a Functional generation
b Path generation
c Rigid body guidance
d Coordination of input motion and output motion with point tracing

31
22. Explain Coriolis components of acceleration with neat sketches and
equations.(May-2018)
It has been seen that the acceleration of a body may have two components.
 Centripetal acceleration and
 Tangential acceleration.
However, in some cases there will be a third component called as Coriolis acceleration to
illustrate this let us take an example of crank and slotted lever mechanisms.

Assume link 2 having constant angular velocity w2, in its motions from OP to OP 1in a small
interval of time dt. During this time slider 3 moves outwards from position B to B 2. Assume
this motion also to have constant velocity VB/A. Consider the motion of slider from B to B2 in
3 stages.
1. B to A1 due to rotation of link 2.
2. A1 to B1 due to outward velocity of slider VB/A.
r
3. B1 to B2 due to acceleration to link 2 this component in the Coriolis Component of
acceleration.

Coriolis component of acceleration.

a c  2.v s .
where,
  angular velocity ofcrank  rad / s
v s  Velocity of slider  m / s
23. A four bar mechanism AoABBo has the following lengths:
Fixed link, AoBo-60mm; input link, AoA-30mm; coupler, AB-45mm; output link, BBo-
50mm.
Pivot Ao is left of pivot. Bo and both pin joints A and B are above the horizontal fixed
link. A point C is on the straight extension of the coupler, such that BC=25mm. input
link rotates at a constant speed of 20rpm clockwise. Determine the linear velocities of
point B and C separately, and angular velocities of the coupler and the output link,
when the input link is 60 degree counter clockwise from the fixed link. (May-2018)
32
Given:
AoBo-60mm; input link, AoA-30mm; coupler,AB-45mm; output link,
BBo-50mm. Speed of Input link= 20rpm clockwise

33
25. The crank of a slider crank mechanism rotates clockwise at a constant speed of
300rpm. The crank is 150mm and the connecting rod is 600mm long. Determine
i) Linear velocity and acceleration of midpoint of the connecting rod.
ii)Angular velocity and angular acceleration of the connecting rod, at a crank angle of
45o from the inner dead centre. (May-2019)

Note: Since D is the midpoint of AB, therefore d' is also midpoint of vector b' a'. Join o' d'.
The vector o' d' represents the acceleration of midpoint D of the connecting rod i.e. D.
By measurement, we find that a D = vector o' d' = 117 m/s

34
26. State and explain angular velocity ratio theorem. (Nov/Dec 2019)

35
26. In a slider crank mechanism, the lengths of the crank and connecting rod are 200
mm and 800 mm respectively. Locate all the I-centers of the mechanism for the
position of the crank when it has turned 30degree from the inner dead centre. Also
find the velocity of the slider and the angular velocity of the connecting rod if the
crank rotates at 40 rad/s, clockwise. (Nov/Dec 2019)

36
28. Fig.12 (b) shows a mechanism in which OA = QC = 100'mm, AB = QB = 300 mm
and CD = 250 mm. The crank OA rotates at 150 rpm in the clockwise direction.
Determine the (i) velocity of the slider at D (ii) angular velocities of links QB and AB
(iii) rubbing velocity at the pin B which is 40 mm in diameter (Nov/Dec 2019)

37