Kinematics of Mechanisms 3

Velocity Analysis
Latifah Nurahmi
Latifah.nurahmi@gmail.com
Room C.250
Trigonometric Identities

Kinematics of Mechanisms by Latifah Nurahmi 2

Trigonometric Identities
❑ Symmetry
sin( +  2 ) = cos 
cos( +  2 ) = − sin 

❑ Angle sum

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Velocity

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 Velocity

❑Rate of change of position and orientation with respect to time

𝑑𝑅
❑Linear velocity : 𝑉 =
𝑑𝑡

𝑑𝜃
❑Angular velocity : 𝜔 =
𝑑𝑡

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 Velocity
❑ Angular velocity of all points on the VB B 𝜃ሶ
rigid body : 𝜽ሶ =
𝑑𝜃
or 𝝎 = 𝜔 𝒛 VA
𝑑𝑡
A
❑ Position of point A is 𝐑𝐴𝑂 , it velocity:
𝑽𝐴 = 𝝎 × 𝐑𝐴𝑂
y

❑ Position of point B is 𝐑 𝐵𝑂 , it velocity: C x

𝑽𝐵 = 𝝎 × 𝐑 𝐵𝑂

❑ Position of point is 𝐑 𝐶𝑂 , it velocity: O

VC
𝑽𝐶 = 𝝎 × 𝐑 𝐶𝑂

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 Velocity
❑ Vp is tangential velocity VP 𝜃ሶ
y
P
❑ Position of point P:

𝑙 cos 𝜃
𝑂𝑃 = 𝐑 𝑃𝑂 =
𝑙 sin 𝜃
𝑙
❑Velocity of point P:

𝑑𝐑 𝑃𝑂 −sin 𝜃
𝑉𝑃 = ሶ
= 𝜃𝑙
𝑑𝑡 cos 𝜃
𝜃
−sin 𝜃 x
𝑉𝑃 = 𝜔𝑙 O
cos 𝜃
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 Velocity
❑ Position of point P: VP 𝜃ሶ
y
P
𝑂𝑃 = 𝐑 𝑃𝑂 = 𝑂𝐴 + 𝐴𝑃

❑ Velocity of point P:
𝑙
𝑑𝐑 𝑃𝑂
𝑉𝑃 =
𝑑𝑡 𝜃
VA
𝑉𝑃 = 𝑉𝐴 + 𝑉𝑃𝐴
❑ 𝑉𝑃𝐴 is velocity of point P relative A
x
to point A O
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 Velocity
❑ Hence velocity of point P: VP 𝜃ሶ
y
P
−sin 𝜃
𝑉𝑃 = 𝑉𝐴 + 𝜔𝑙
cos 𝜃
𝑙

𝜃
VA

A
x
O
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 Assignment 1

The gear shown below rotates counterclockwise at a constant rate. It

moves 300° in 0.5 s. Determine the angular velocity of the gear.

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 Assignment 1

∆𝜃 300° 𝑑𝑒𝑔 1 𝑟𝑒𝑣 60 𝑠

𝜔= = = 600 = 50 𝑟𝑝𝑚
∆𝑡 0.5 𝑠 𝑠 360 𝑑𝑒𝑔 1 𝑚𝑖𝑛

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Assignment 2

A cam mechanism used to drive the

exhaust port of an internal combustion
engine. Point B is a point of interest on
the rocker plate. At this instant, point B
has velocity upward at 30 mm/s.
Determine
- The angular velocity of the plate
- The velocity of point C

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 Assignment 2

❑ The angular velocity of the plate

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 Assignment 2

❑ The velocity of point C

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Velocity Analysis of
Four-Bar Mechanism

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 Four bar mechanism
Velocity loop equation
❑Let us recall:

❑Derive w.r.t time:

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 Four bar mechanism
Solution 1: vector method
❑ Given value of 𝜃 and 𝜃,ሶ find 𝜙ሶ and 𝜓ሶ ❑ Then find 𝜓ሶ
𝑎 sin ሶ 𝜙 − 𝜃
𝜓ሶ = 𝜃ሶ
𝑏 sin 𝜙 − 𝜓

ሶ cos 𝜙
❑ Eliminate 𝜙 by dot product with its perpendicular counterpart
sin 𝜙
− sin 𝜃 cos 𝜙 −sin 𝜓 cos 𝜙
𝑎 𝜃ሶ ∙ = 𝑏 𝜓ሶ ∙
cos 𝜃 sin 𝜙 cos 𝜓 sin 𝜙

𝑎 𝜃ሶ − sin 𝜃 cos 𝜙 + cos 𝜃 sin 𝜙 = 𝑏 𝜓(−

ሶ sin 𝜓 cos 𝜙 + cos 𝜓 sin 𝜙)

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 Four bar mechanism
Solution 1: vector method
❑ Given value of 𝜃 and 𝜃,ሶ find 𝜙ሶ and 𝜓ሶ ❑ Then find 𝜙ሶ
𝑎 sin ሶ 𝜓 − 𝜃
𝜙ሶ = 𝜃ሶ
ℎ sin 𝜓 − 𝜙

ሶ cos 𝜓
❑ Eliminate 𝜓 by dot product with its perpendicular counterpart
sin 𝜓
− sin 𝜃 cos 𝜓 −sin 𝜙 cos 𝜓
𝑎 𝜃ሶ ∙ + ℎ 𝜙ሶ ∙ =0
cos 𝜃 sin 𝜓 cos 𝜙 sin 𝜓

𝑎 𝜃ሶ − sin 𝜃 cos 𝜓 + cos 𝜃 sin 𝜓 = −ℎ 𝜙(−

ሶ sin 𝜙 cos 𝜓 + cos 𝜙 sin 𝜓)

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 Four bar mechanism
Solution 2: inverse matrix
❑ Given value of 𝜃 and 𝜃,ሶ find 𝜙ሶ and 𝜓ሶ

𝐴𝑏 =𝑥

𝑏 = 𝐴−1 𝑥

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 Four bar mechanism
Solution 3: Cramer’s rule
❑ Given value of 𝜃 and 𝜃,ሶ find 𝜙ሶ and 𝜓ሶ ❑ Then find 𝜓ሶ
𝐷𝜓ሶ
𝜓ሶ =
𝐷

−𝑏 sin 𝜓 ℎ sin 𝜙
𝐷 = 𝑑𝑒𝑡𝑒𝑟𝑚𝑖𝑛𝑎𝑛𝑡
𝑏 cos 𝜓 −ℎ cos 𝜙

−𝑎 sin 𝜃 ℎ sin 𝜙
𝐷𝜓ሶ = 𝑑𝑒𝑡𝑒𝑟𝑚𝑖𝑛𝑎𝑛𝑡
𝑎 cos 𝜃 −ℎ cos 𝜙

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 Four bar mechanism
Solution 3: Cramer’s rule
❑ Given value of 𝜃 and 𝜃,ሶ find 𝜙ሶ and 𝜓ሶ ❑ Then find 𝜙ሶ
𝐷𝜙ሶ
𝜙ሶ =
𝐷

−𝑏 sin 𝜓 ℎ sin 𝜙
𝐷 = 𝑑𝑒𝑡𝑒𝑟𝑚𝑖𝑛𝑎𝑛𝑡
𝑏 cos 𝜓 −ℎ cos 𝜙

−𝑏 sin 𝜓 −𝑎 sin 𝜃
𝐷𝜙ሶ = 𝑑𝑒𝑡𝑒𝑟𝑚𝑖𝑛𝑎𝑛𝑡
𝑏 cos 𝜓 𝑎 cos 𝜃

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Velocity Analysis of
Slider Crank Mechanism

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 Slider crank mechanism
Velocity loop equation
❑Let us recall:

❑Derive w.r.t time:

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 Slider crank mechanism
Solution 1: vector method
❑ Given value of 𝜙 and 𝜃,ሶ find 𝑠ሶ ❑ Then find 𝑠ሶ
𝑎 𝜃ሶ sin(𝜙 − 𝜃)
𝑠ሶ =
cos 𝜙

ሶ cos 𝜙
❑ Eliminate 𝜙 by dot product with its perpendicular counterpart
sin 𝜙
− sin 𝜃 cos 𝜙 1 cos 𝜙
𝑎 𝜃ሶ ∙ = 𝑠ሶ ∙
cos 𝜃 sin 𝜙 0 sin 𝜙

𝑎 𝜃ሶ − sin 𝜃 cos 𝜙 + cos 𝜃 sin 𝜙 = 𝑠ሶ cos 𝜙

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 Slider crank mechanism
Solution 2: inverse matrix
❑ Given value of ϕ and 𝜃,ሶ find 𝜙ሶ and 𝑠ሶ

𝐴𝑏 =𝑥

𝑏 = 𝐴−1 𝑥

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 Slider crank mechanism
Solution 3: Cramer’s rule
❑ Given value of ϕ and 𝜃,ሶ find 𝜙ሶ and 𝑠ሶ ❑ Then find 𝑠ሶ
𝐷𝑠ሶ
𝑠ሶ =
𝐷

1 ℎ sin 𝜙
𝐷 = 𝑑𝑒𝑡𝑒𝑟𝑚𝑖𝑛𝑎𝑛𝑡
0 −ℎ cos 𝜙

−𝑎 sin 𝜃 ℎ sin 𝜙
𝐷𝑠ሶ = 𝑑𝑒𝑡𝑒𝑟𝑚𝑖𝑛𝑎𝑛𝑡
𝑎 cos 𝜃 −ℎ cos 𝜙

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 Slider crank mechanism
Solution 3: Cramer’s rule
❑ Given value of ϕ and 𝜃,ሶ find 𝜙ሶ and 𝑠ሶ ❑ Then find 𝜙ሶ
𝐷𝜙ሶ
𝜙ሶ =
𝐷

1 ℎ sin 𝜙
𝐷 = 𝑑𝑒𝑡𝑒𝑟𝑚𝑖𝑛𝑎𝑛𝑡
0 −ℎ cos 𝜙

1 −𝑎 sin 𝜃
𝐷𝜙ሶ = 𝑑𝑒𝑡𝑒𝑟𝑚𝑖𝑛𝑎𝑛𝑡
0 𝑎 cos 𝜃

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