Velocity & Acceleration Analysis

(Instantaneous Centre Method)

• The instantaneous centre of a moving body may be defined as that
centre which goes on changing from one instant to another.

•The locus of all such instantaneous centres is known as centrode.

• A line drawn through an instantaneous centre and perpendicular to

the plane of motion is called instantaneous axis.

•The locus of this axis is known as axode.

Velocity of a Point on a Link by Instantaneous Centre Method
Number of Instantaneous Centres in a Mechanism
The number of instantaneous centres in a constrained kinematic
chain is equal to the number of possible combinations of two links.
Mathematically

Properties of Instantaneous Centre

1. A rigid link rotates instantaneously relative to another link at the
instantaneous centre for the configuration of the mechanism
considered.
2. The two rigid links have no linear velocity relative to each other at
the instantaneous centre
Location of Instantaneous Centres
 Types of Instantaneous Centres
1. Fixed instantaneous centres
2. Permanent instantaneous centres
3. Neither fixed nor permanent instantaneous centres
The first two types i.e. fixed and permanent instantaneous centres are
together known as primary instantaneous centres and the third type
is known as secondary instantaneous centres.
 Aronhold Kennedy
(or Three Centres in Line) Theorem
The Aronhold Kennedy’s theorem states that if three bodies move
relatively to each other, they have three instantaneous centres and
lie on a straight line.
1. In a pin jointed four bar mechanism, AB = 300 mm,
BC=CD=360 mm, and AD = 600 mm. The angle BAD = 60°.
The crank AB rotates uniformly at 100 rpm. Locate all the
instantaneous centres and find the angular velocity of the
link BC.
2. Locate all the instantaneous centres of the slider crank
mechanism. 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 1)Velocity of the slider A.
2) Angular velocity of the connecting rod AB.
3. A mechanism, as shown in Figure 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 rpm clockwise.
Find (i) The velocity of B, C and D (ii) The angular velocity of
the links AB, BC and CD.
4. The mechanism of a wrapping machine is as shown in Figure
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.
5. In a slider crank mechanism, the lengths of the crank and the
connecting rod are 200 mm and 800 mm respectively. Locate all
the Instantaneous centre of the mechanism for the position of the
crank when it has turned 300 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.
6. In a four bar mechanism shown in fig, the link 2 is rotating
at an angular velocity of 15 rad/sec. Locate all the
instantaneous centres of the mechanisms and find (i) Angular
speeds of links 3 and 4 (ii)Linear velocities of links 3 and 4
(iii) Linear velocities of points E and F.
7. In a slider crank mechanism the crank is 48 mm long and
rotation at 190 rpm in ccw direction. The connecting rod is
144 mm long. When the crank has turned through 500 from
the inner dead centre position, determine, using
instantaneous centre method, the velocity of point E
located at distance of 45 mm on the connecting rod
extended. Also find point F on the connecting rod having
the least absolute velocity and angular velocity of the
connecting rod.