CHAPTER 5

MECHANISM

5.0 Introduction to Mechanism

5.1 Inversion of Mechanism
5.1.1 Four Bar Chain Mechanism
5.1.2 Slider Crank Mechanism 29.11
5.2 Velocities in Mechanism – Relative Velocity
Diagram
5.2.1 Rubbing Velocity at a Pin Joint 1/12.
5.3 Acceleration Diagram for a Link. 6/12.
PROBLEMS – VELOCITY DIAGRAM
5.0 Introduction to Mechanism

When any one link of a kinematics chain is fixed, it is called

a mechanism. The primary function of a mechanism is to transmit

or to modify motion.

There are 2 types of mechanism i.e simple mechanism and

compound mechanism. If there are four links, it is called simple

mechanism. If more than, four links it is called compound links.

5.1 Inversion of Mechanism

When different position of link is fixed, we may obtain a set

of different arrangement of mechanism. This method of obtaining

different mechanism is called inversion of mechanism.

5.1.1 Four Bar Chain Mechanism

A four bar chain is shown in Figure 5.1. It consist of four

links AB, BC, CD, DA. From Grashof’s Law for a four bar
mechanism, the sum of the shortest and longest link must not
be greater than the sum of the remaining two links, if there is to
be a continuous relative motion between the two links.

From figure 5.1, link AB is called crank, link CD is the

rocker or follower, link BC is the connecting rod and link AD
represents the frame of the machine.

A
D

Figure 5.1
Some of the inversions of a Four Bar Chain mechanism are;

 Crank and follower mechanism - Oscillatory motion as in

Figure 5.1

 Pantograph – Instrument used to reproduce same motion

exactly in a reduced or enlarged scale. Refer Figure 5.2. It is
shown that AmD  CmM , ADm  mCM , mAD  CMm .
Thus whatever the configuration, AmM will always be in a
straight line.

C
B M

A
D

An instrument for enlarging

or reducing a geometric
figure or motion. It consists of
four hinged bars forming a
parallelogram, one vertex
being fixed. It is used in
technical drawing and map-
making.

Figure 5.2
5.1.2 Type of Inversion Mechanism

(a)1st inversion – Slider Crank. Link 1 is kept fixed. As link 2

rotates, link 4 reciprocates as in Figure 5.3.

2 3

Figure 5.3
(b) 2nd inversion – Oscillating cylinder. When link 2
rotates as in Figure 5.4, the piston reciprocates in the piston
cylinder. The cylinder reciprocates at the hinge point C.

Figure 5.4
(c) 3rd inversion – Crank and Slotted Lever mechanism.
In Figure 5.5, when link 2 rotates, the slider O will
reciprocates. This action causes the link 4 to rotate and
moves the block N linearly.

Figure 5.5
(d) 4th inversion – Hand Pump. In Figure 5.6, when link 4
is kept fixed, link 2 and 3 can be rotated causing link 3 to
move up or down linearly.

(c)

Figure 5.6
5.2 Velocities in Mechanism – Relative Velocity Diagram

Velocity of any point on a link with respect to another point

on the same link is always perpendicular to the link joining these
points in the free body diagram. Consider points A and B on a link
as shown in Figure 5.3(a). Let the velocity of point A is V A is
known in magnitude and direction. The direction of velocity of
point B is known that is VB . The magnitude of velocity of point B
can be found by drawing the velocity diagram as in Figure 5.3(b).

(c)
 Figure 5.7
Steps in drawing velocity diagram in Figure 5.7(b);or (c),

1. A convenient point O was selected as the starting point.

2. From ‘O’, line Oa was drawn parallel and equal to magnitude

of V A to some suitable scale.

3. From ‘a’, a line perpendicular to AB to represent velocity of

B wrt A i.e VBA was drawn.

4. From ‘O’, a line parallel to VB was drawn, meeting the line

VBA at ‘b’.

5. Line ‘Ob’ was measured to give the required velocity of

point B to scale.

6. The velocity of point C on AB link was determined using

ac AC
ratio  ……………………………. (1)
ab AB

7. Line ‘Oc’ was joined. The vector Oc now will represent the
velocity of point C wrt O i.e VC .

Note: The velocity diagram must be drawn according to suitable

scale.
5.2.1 Rubbing Velocity at a Pin Joint

If r is the radius of the pin at the joint as in Figure 5.8, and 1 and
 2 are the angular velocities of the two links, then;

Linear rubbing velocity at surface of pin = 1  2 r ….. (2)

The angular velocities are added when links rotate in opposite

directions and subtracted when rotating in the same direction.

ω1 ω2

Figure 5.8
Example 1

The crank and connecting rod of a theoretical steam engine are 0.5
m and 2.0 m long respectively. The crank makes 180 rpm in the
clockwise direction. When it has turned 45˚ from the inner dead
centre position, determine;
(a) Velocity of pistons, VBO.
(b)Angular velocity of the connecting rod
(c) Velocity of point E on the connecting rod 1.5 m from the
gudgeon pin.
(d)Velocities of rubbing at the pins of the crankshaft, crank and
cross-head, when the diameter of their pins are 5 cm, 6 cm
and 3 cm respectively.
Solution

1. Draw the free body diagram to some suitable scale as in Figure 5.9.

Figure 5.9

2. Given that speed N AO  180 rpm. Thus

2 180
 AO   18.85 rad/s.
60

3. The crank length AO = 0.5 m, let V AO be the linear velocity of A wrt O. Then;
VAO   AO  l AO  18.850.5  9.425 m/s.

4. Draw line Oa perpendicular to AO to scale to represent V AO such that

VAO  9.425 = Vector Oa

5. From point ‘a’, draw vector ‘ab’ perpendicular to AB to represent velocity of B wrt A
i.e VBA .

6. From point ‘O’, draw vector ‘Ob’ parallel to ‘BO’ to represent velocity of B wrt O, i.e
VBO . The vectors ‘ab’ and ‘Ob’ intersect at ‘b’. Figure 6.0 shows the constructed
velocity diagram.
 Figure 6.0
By measurement;
(a) Piston velocity B = VB =vector ‘ob’=8.15 m/s (7.86 m/s)
Velocity of B wrt A, VBA  vector ‘ab’ = 6.8 m/s (6.77 m/s)

(b) Connecting rod length AB = 2m

VBA 6.8
Angular velocity of rod AB =  BA    3.4 rad/s
BA 2
AE ae
(c) From ratio of 
AB ab

Locate point ‘e’ on the vector ‘ab’ of velocity diagram

Thus ae 
AE
ab  0.56.8  1.7 m/s
AB 2

The vector ‘oe’ represents velocity of E wrt O.

By measurement;
Velocity of point E, VE = vector ‘oe’ = 8.5 m/s

(d) Velocity of rubbing at pin joints;

d 0 = crankshaft pin ‘o’ diameter = 5 cm

d A = crank pin A diameter = 6 cm
d B = cross head pin B diameter = 3 cm

The velocity of rubbing at crank shaft pin ‘o’ is

 
 AO  d 0 2   18.85 0.05 2  0.471 m/s
 
The velocity of rubbing at cross head pin B is
 
 BA  d B 2   3.4 0.06 2  0.102 m/s
 
The velocity of rubbing at crank pin A is
 AO   BA  d A 2   18.85  3.40.03 2   0.3375 m/s
 
Example 2

ABCD is a Four Bar Chain with the link AD is fixed as in Figure

6.1. The length of the links are AB = 6.25 cm, BC = 17.5 cm, CD =
11.25 cm, DA = 20 cm. The crank AB makes 100 rpm in the
clockwise direction. Find the following when the angle BAD is 60˚.

(a) The angular velocity of the links CD and BC

(b) Velocity of point E, 10 cm from C on the link BC.
(c) The velocity of point F, which is 10.5 cm from B and C and
lying outside ABCD.

Figure 6.1
Solution

Given that AB = 6.25 cm, BC = 17.5 cm, CD = 11.25 cm, DA = 20 cm.

2N 2 100
Thus, angular velocity of AB is  AB    10.47 rad/s
60 60

1. Draw the free body diagram as in Figure 6.2. Use scale of 1cm = 4 cm.

VCB

Figure 6.2

2. The linear velocity of B wrt A, is calculated

VBA  BA  AB   10.476.25  65.45 cm/s

3. Draw velocity diagram by using scale: 1cm = 15 cm/s. From fixed point ‘a’, draw ‘ab’
perpendicular to AB to represent VBA .

4. From point ‘b’, draw ‘bc’ perpendicular to BC.

5. From point‘d’, draw ‘dc’ perpendicular to CD. These two lines will intersect at ‘c’.
Vector ‘dc’ will represent linear velocity of C wrt D, VCD . The constructed velocity
diagram is shown in Figure 6.3.

Figure 6.3
6. By measurement, dc = 3 cm, thus
VCD  315  45 cm/s

7. From questions,

(a) Angular velocity of link CD and BC

VCD 45
CD    4 rad/s
CD 11.25
V 2.5  15
 BC  BC   2.142 rad/s.
BC 17.5

(b) Locate point ‘e’ on ‘bc’ using ratio;

CB cb 17.5 2.5
 or 
CE ce 10 ce

ce  1.428 cm

Now join ‘ae’. Now ‘ae’ will represent velocity of point E on BC wrt AD

VE  ae  3.66 cm (scaled down)

VE  3.66 15  54.9 cm/s

(c) Locate the point F on the free body diagram. Draw ‘bf’ perpendicular to
BF, and ‘cf’ perpendicular to CF to intersect at’f’. Then ‘af’ is the velocity
of F.
VF  af  2.94 cm (scaled down)
VF  2.94 15  44.1 cm/s.
5.3 Acceleration Diagram for a Link

Consider two points A and B on a rigid link as in Figure

6.4. Let point B moves wrt A with velocity ω rad/s and α be the
angular acceleration of link AB. For an acceleration of a particle
whose velocity changes with magnitudes and direction at any
instant has two components i.e;

(i) Radial or centripetal components which is parallel to AB.

(ii) Tangential component, which is perpendicular to AB.

Radial component of acceleration of B wrt A,

f r
  .BA 
2 VBA 
2

BA
BA

Tangential component of acceleration of B wrt A,

t
f BA   .BA

Figure 6.4
Example 1

The crank of a slider crank mechanism rotates clockwise at

constant speed of 300 rpm. The crank is 15 cm and the connecting
rod is 60 cm long.
Determine;
(a) linear velocity and acceleration of the midpoint of the
connecting rod,
(b) angular velocity and angular acceleration of the
connecting rod at crank angle of 45˚ from inner dead
centre position.
Solution

The free body diagram of the slider crank mechanism is as Figure 6.5

Sudut ABO=10.18°
Sudut oab =55.18.
VBA= 3.38
VBO= 3.93
Vco=3.99

Figure 6.5

2 300
Given speed N AO  300 rpm thus  AO   31.415 rad/s.
60

Linear velocity of A wrt ‘O’,

VAO   AO  AO   31.4150.15  4.712 m/s.

Draw the velocity diagram as follows;

1. Draw vector ‘oa’ perpendicular to OA to represent velocity of A wrt ‘O’ such that
VAO  4.712 m/s. Draw by using appropriate scale.
2. From point ‘a’, draw vector ‘ab’ perpendicular to AB to represent velocity of B
wrt A that is VBA .
3. From point ‘o’, draw ‘ob’ parallel to the path motion of B to represent velocity of
B. The vector ‘ab’ and ‘ob’ intersect at ‘b’. By measurement, VBA = Vector ‘ab’
= 3.4 m/s. and VB =vector ‘ob’= 4 m/s.
4. Since ‘C’ is the midpoint of AB, then, c is also the midpoint of vector ‘ab’. Join
‘oc’. This will represent velocity of C, that is VC . By measurement VC  4.1 m/s.

The velocity diagram is constructed as Figure 5.19.

Figure 5.19
It can be deduced from the results, the radial component of acceleration of A wrt O, is

f r
 fA 
VAO 
2

4.712
2
 148.02 m/s2.
AO
OA 0.15

The radial component of acceleration of B wrt A is,

f r

VBA 
2

3.4
2
 19.27 m/s2
BA
BA 0.6

Draw the acceleration diagram as follows;

1. Draw o’a’ parallel to AO to represent the

radial component of acceleration of A wrt
O i.e f AO  f A  148.02 m/s2 according to
r

suitable scale.

2. The acceleration of B wrt A must have

two components that is
r
(i) Radial component, f BA and (ii) tangential
t
component, f BA . Both (i) and (ii) components
are mutually perpendicular.

3. Therefore from point a’ draw a’x parallel

to BA to represent f BA  19.27 m/s2.
r

4. From point ‘x’ draw vector xb’ perpendicular to a’x.

5. From o’, draw vector o’b’ parallel to the path of motion of B to represent
acceleration of B that is f B . The vectors xb’ and o’b’ intersect at b’.

6. Since ‘C’ is the midpoint of AB, thus c’ is also the midpoint of a’b’. Join o’c’. The
vector o’c’ represents acceleration of mid point of ‘c’ of the connecting rod i.e
f C  Vector o’c’ = 117 m/s2
The constructed acceleration diagram is as shown in Figure 5.20;

Figure 5.20

Angular velocity of the connecting rod BA,

VBA 3.4
 BA    5.67 rad/s
BA 0.6

Angular acceleration of the connecting rod BA,

t
f BA  103 m/s (by measurement)
ft 103
 BA  BA   171.7 rad/s2
BA 0.6
PROBLEMS – VELOCITY DIAGRAM

1. In a slider crank mechanism shown in Figure 5.9, the crank OA rotates clockwise
about ‘O’ at 120 rpm. Find (i) The linear velocity of the slider B, (ii) the linear
velocity of point P located at distance of 8 cm on the connecting rod extended.
[Ans: 102 cm/s, 136 cm/s]

Figure 5.9

2. In Figure 5.10, the angular velocity of crank OA is 600 rpm. 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 the various links are
: OA = 28 mm, AB = 44 mm, BC = 49 mm, BD = 46 mm and the centre distance
between the centre’s of rotation O and C is 65 mm. Path of the travel of slider is
11 mm vertically below the fixed point C.
[Ans: 1.48 m/s, 34.8 rad/s]

Figure 5.10

3. In the mechanism shown in Figure 5.11, O and Q are fixed centres. The crank OC
revolves at uniform speed of 120 rpm. Draw the velocity diagram and find the
velocity of C in the given configuration.
[Ans: 62.8 cm/s]
 Figure 5.11

4. The lengths of various links of a mechanism as shown in Figure 5.12 are: OA = 30

cm, AB = 100 cm, CD = 80 cm, and AC = CB. Determine for the given
configuration the velocity of the sliders B and D, if the crank OA rotates at 60 rpm
in the clockwise direction. Also find the angular velocity of the link CD.
[Ans: 1.7 m/s, 0.45 m/s, 2 rad/s]

Figure 5.12

5. In the oscillating cylinder mechanism shown in Figure 5.13, the crank OA is 50

mm long while the piston rod AB is 150 mm long. The crank OA rotates
uniformly about O at 300 rpm. Determine for the position shown at angle of 30˚,
(a) the velocity of piston B relative to the cylinder walls, (b) the velocity of piston
B relative to the frame, and (c) angular velocity of the piston rod AB.
[Ans: J.C Hannah books]
 Figure 5.13

6. In the slotted lever mechanism in Figure 5.14, the crank OA rotates at 90 rpm in
an anticlockwise direction about the fixed centre O, swinging the lever DEQ
about the fixed centre Q. Find the magnitude and direction of the angular velocity
of the lever DEQ and the velocity of the slider C when θ = 45˚. (Taken from J.C
Hannah books).
[Ans: 1.66 rad/s anticlockwise, 312 m/s]

Figure 5.14
7. In the mechanism in Figure 5.15, the crank AB drives the bent link CDE by
means of sliding block at B. AB = 120 mm, CD = 90 mm, DE = 450 mm and EF
= 450 mm. When the crank is horizontal, as shown and is rotating at 60 rpm
anticlockwise, find; (a) velocity of the slider F, (b) the angular velocity of the link
CDE. (Taken from J.C Hannah books.)
[Ans: 0.75 m/s, 1.78 rad/s]

Figure 5.15

8. .

Figure 5.16 shows a shaper

mechanism. Crank OA is 7.5 cm,
lever CBD is 35.5 cm, and link DE
is 10 cm. The crank rotates at a
uniform speed of 200 rpm.
Determine (a) Linear velocity of
slider link 6, (b) Angular velocity of
CD.
[Ans: 1.6 m/s, 4.57 rad/s]

Figure 5.16
PROBLEMS – MECHANISM (ACCELERATION DIAGRAM)

1. The dimensions and configuration of the four bar mechanism is as shown in Figure
5.21 as follows P1 A  30 cm, P2 B  36 cm, AB  36 cm and P1 P2  60 cm. The
angle AP1 P2  60 . The crank P1 A has an angular velocity of 10 rad/s and an angular
acceleration of 30 rad/s2, both clockwise. Determine the angular velocities and angular
accelerations of P2 B and AB and the velocity and accelerations of the joint B.

Figure 5.21

2. In the steam engine mechanism as shown in Figure 5.22, the crank AB rotates at 200
rpm. Find the velocities of C, D, E, F and P. Also, find the acceleration of the slider at C.
The dimensions of the various links are; AB = 12 cm, BC = 48 cm, CD = 18 cm, DE = 36
cm, EF = 12 cm, and FP = 36 cm.

Figure 5.22

3. In the mechanism shown in Figure 5.23, O and Q are fixed centers. The crank OC
revolves at uniform speed of 120 rpm. Draw the velocity diagram and find the velocity of
C in the given configuration. Find the angular accelerations of links CP, PA and AQ.
 Figure 5.23

4. In the mechanism shown in Figure 5.24, the crank AB is 75 mm long and rotates
uniformly clockwise at 8 rad/s. Given that BD = DC = DE and BC = 300 mm. Draw the
velocity and acceleration diagrams. State the velocity and acceleration of the pistons at C
and E.
[Ans: vc  0.6 m/s, ve  0.187 m/s: f c  4.16 m/s2, f e  9.06 m/s2]

Figure 5.24

5. Part of the reversing gear mechanism is shown in Figure 5.25. The block P
reciprocates along the line AB. If the crank OC turns at a uniform speed of 240 rpm, find
for the given position of the crank (a) the velocity and acceleration of the block P, and (b)
the velocity and acceleration of the point D.
[Ans: 3.72 m/s, 63.9 m/s2; 3.05 m/s, 71.4 m/s2]
 Figure 5.25

6. In the simple link mechanism shown in Figure 5.26, the crank OA rotates about the
fixed point O and the piston B slides along YY. The lengths of the links are OA = 75 mm
and AB = 150 mm. For the configuration shown, the crank has an angular velocity
  10 rad/s and an angular acceleration   30 rad/s2, both in the clockwise direction.
Sketch the vector diagrams for velocity and acceleration and determine: (a) the velocity
of point B, (b) the angular velocity of link AB, (c) the accelerations of point B.
[Ans: 1.06 m/s, 5 rad/s, 2.12 m/s2]

Figure 5.26