CHAPTER -3, 4

VELOCITY AND ACCELERATION ANALYSIS

3. Velocity Analysis of Linkages: Velocity analysis by vector mathematics; Velocity analysis

using equations of relative motion; Velocity analysis by using complex numbers; Analysis of
velocity by instant centre method.
4. Acceleration Analysis of Linkages: Acceleration analysis by vector mathematics;
Acceleration analysis using equations of relative motion; Acceleration analysis by using
complex numbers.

Methods for Determining the Velocity of a Point on a Link

Though there are many methods for determining the velocity of any point on a link in a
mechanism whose direction of motion (i.e. path) and velocity of some other point on the
same link is known in magnitude and direction, yet the following two methods are
important from the subject point of view.

1. Instantaneous centre method, and 2. Relative velocity method.

The instantaneous centre method is convenient and easy to apply in simple mechanisms,
whereas the relative velocity method may be used to any configuration diagram.

1. 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. The number of pairs of links or the number of
instantaneous centres is the number of combinations of n links taken two at a time.
Mathematically, number of instantaneous centres,

TYPES OF INSTANTANEOUS CENTRES

The instantaneous centres for a mechanism are of the following three types :

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1. Fixed instantaneous centres, 2. Permanent instantaneous centres, and 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. Consider a four bar mechanism ABCD as shown in Fig.1. The number of
instantaneous centres (N) in a four bar mechanism is given by

The instantaneous centres I12 and I14 are called the fixed instantaneous centres as they
remain in the same place for all configurations of the mechanism. The instantaneous centres
I23 and I34 are the permanent instantaneous centres as they move when the mechanism
moves, but the joints are of permanent nature. The instantaneous centres I13 and I24 are
neither fixed nor permanent instantaneous centres as they vary with the configuration of
the mechanism.

LOCATION OF INSTANTANEOUS CENTRES

The following rules may be used in locating the instantaneous centres in a mechanism:
1. When the two links are connected by a pin joint (or pivot joint), the instantaneous centre
lies on the centre of the pin as shown in Fig.1 (a). Such a instantaneous centre is of permanent
nature, but if one of the links is fixed, the instantaneous centre will be of fixed type.
2. When the two links have a pure rolling contact (i.e. link 2 rolls without slipping upon the
fixed link 1 which may be straight or curved), the instantaneous centre lies on their point of
contact, as shown in Fig. 1 (b). The velocity of any point A on the link 2 relative to fixed link
1 will be perpendicular to I12 A and is proportional to I12 A . In other words

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3. When the two links have a sliding contact, the instantaneous centre lies on the common
normal at the point of contact. We shall consider the following three cases:
(a) When the link 2 (slider) moves on fixed link 1 having straight surface as shown in Fig.1
(c), the instantaneous centre lies at infinity and each point on the slider have the same
velocity.
(b) When the link 2 (slider) moves on fixed link 1 having curved surface as shown in Fig.1
(d),the instantaneous centre lies on the centre of curvature of the curvilinear path in the
configuration at that instant.
(c) When the link 2 (slider) moves on fixed link 1 having constant radius of curvature as
shown in Fig. 1 (e), the instantaneous centre lies at the centre of curvature i.e. the centre of
the circle, for all configuration of the links.

Fig.1. Location of 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 all of which lie under same line.
Consider three kinematic links A, B and C having relative plane motion. The number of
instantaneous centres (N) is given by

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 Fig. 1. Aronhold Kennedy’s theorem.
Method of Locating Instantaneous Centres in a Mechanism
Consider a pin jointed four bar mechanism as shown in Fig.1(a). The following procedure is
adopted for locating instantaneous centres.

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 3. Locate the fixed and permanent instantaneous centres by inspection. In Fig.1 (a),
I12 and I14 are fixed instantaneous centres and I23 and I34 are permanent instantaneous
centres.

INSTANTANEOUS CENTER OFROTATION

In determining the velocity of points on a mechanism, the concept of instant centers can be
used as an alternative approach to the relative velocity method. This approach is based on
the fact that any link, regardless of the complexity of its motion, instantaneously
appears to be in pure rotation about a single point. This instantaneous pivot point is
termed the instant center of rotation for the particular link. The instant center for a floating
link1, link 3, in relation to the frame is shown as (13) in Figure 6.23.

Using this concept, each link can be analyzed as if it were undergoing pure rotation. An
instant center may exist on or off the body, and its position is not fixed in time. As a link
moves, its instant center also moves. However, the velocities of different points on a
mechanism are also instantaneous. Therefore, this fact does not place a serious restriction on
the analysis. This concept also extends to relative motion. That is, the motion of any link,
relative to any other link, instantaneously appears to be rotating only about a single point.
Again, the imagined pivot point is termed the instant center between the two links. For
example, if two links were designated as 1 and 3, the instant center would be the point at
which link 3 instantaneously appears to be rotating relative to link 1. This instant center is
designated as (13) and verbalized as “one three,” not thirteen. Note that the instant center

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shown in Figure 6.23 is designated as (13). If link 1 were the frame, as is the typical
designation, this instant center would describe the absolute motion of link 3. From kinematic
inversion, this point is also the center of instantaneous motion of link 1 relative to link 3.
Thus, the instant center (13) is the same as (31).
Because every link has an instant center with every other link, each mechanism has
several instant centers. The total number of instant centers in a mechanism with n links is

1. In a pin jointed four bar mechanism, as shown in Fig. 6.9, 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. Locate all the instantaneous centres and find the angular velocity of the link
BC.
Given :
NAB = 100 r.p.m or ωAB = 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,
Location of instantaneous centres
The instantaneous centres are located as discussed below:
1. Since the mechanism consists of four links (i.e. n = 4 ), therefore number of instantaneous
centres,

2. For a four-bar mechanism, the book keeping table may be drawn as discussed in Art. 6.10.
3. Locate the fixed and permanent instantaneous centres by inspection. These centres are I12,
I23, I34 and I14, as shown in Fig. 1.
4. Locate the remaining neither fixed nor permanent instantaneous centres by Aronhold
Kennedy’s theorem. This is done by circle diagram as shown in Fig. 1. Mark four points
(equal to the number of links in a mechanism) 1, 2, 3, and 4 on the circle.

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 Fig.1
5. Join points 1 to 2, 2 to 3, 3 to 4 and 4 to 1 to indicate the instantaneous centres already
located i.e. I12, I23, I34 and I14.
6. Join 1 to 3 to form two triangles 1 2 3 and 3 4 1. The side 13, common to both triangles, is
responsible for completing the two triangles. Therefore the instantaneous centre I13 lies on the
intersection of the lines joining the points I12 I23 and I34 I14 as shown in Fig.1. Thus centre I13
is located. Mark number 5 (because four instantaneous centres have already been located) on
the dotted line 1 3.
7. 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, centre I24 lies on the
intersection of the lines joining the points I23 I34 and I12 I14 as shown in Fig. 1. Thus, centre I24
is located. Mark number 6 on the dotted line 2 4. Thus, all the six instantaneous centres are
located.
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,

By measurement, we find that I13 B = 500 mm = 0.5 m

2. Locate all the instantaneous centres of the slider crank mechanism as shown in Fig.
1a. The lengths of crank OB and connecting rod AB are 100 mm and 400 mm

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respectively. If the crank rotates clockwise with an angular velocity of 10 rad/s, find: 1.
Velocity of the slider A, and 2. Angular velocity of the connecting rod AB.

Fig.1a

Given : 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
Location of instantaneous centres
The instantaneous centres in a slider crank mechanism are located as discussed below:
1. Since there are four links (i.e. n = 4), therefore the number of instantaneous centres,

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LINEAR VELOCITY
Linear velocity, V, of a point is the linear displacement of that point per unit time. Recall that
linear displacement of a point, ΔR, is a vector and defined as a change in position of that
point.
Mathematically, linear velocity of a point is expressed as

and for short time periods as

Linear Velocity of a General Point

The direction of the linear velocity of a point is the same as the direction of its instantaneous
motion. Figure .1 illustrates the velocity of two points on a link. The velocities of points A
and B are denoted as VA and VB, respectively. Note that although they are on the same link,
both these points can have different linear velocities. Points that are farther from the pivot
travel faster. This can be “felt” when sitting on the outer seats of amusement rides that spin.

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From Figure.1, the velocity of point A, VA, is directed along the path that point A is moving
at this instant––that is, tangent to an arc centered at O, which is also perpendicular to link
OA. In casual terms, if point A were to break away from link 2 at this instant, point A would
travel in the direction of its linear velocity.

Fig.1

VELOCITY OF A LINK
Several points on a link can have drastically different linear velocities. This is especially true
as the link simply rotates about a fixed point, as in Figure 1. In general, the motion of a link
can be rather complex as it moves (translates) and spins (rotates). Any motion, however
complex, can be viewed as a combination of a straight-line movement and a rotational
movement. Fully describing the motion of a link can consist of identification of the linear
motion of one point and the rotational motion of the link.
Although several points on a link can have different linear velocities, being a rigid body, the
entire link has the same angular velocity. Angular velocity, ω, of a link is the angular
displacement of that link per unit of time. Recall that rotational displacement of a link, Δθ, is
defined as the angular change in orientation of that link. Mathematically, angular velocity of
a link is expressed as:

(6.4)
and for short time periods, or when the velocity can be assumed linear,

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The direction of angular velocity is in the direction of the link’s rotation. In planar analyses, it
can be fully described by specifying either the term clockwise or counterclockwise. For
example, the link shown in Figure 6.2 has an angular velocity that is consistent with the linear
velocities of the points that are attached to the link. Thus, the link has a clockwise rotational
velocity.

RELATIONSHIP BETWEEN LINEAR AND ANGULAR VELOCITIES

For a link in pure rotation, the magnitude of the linear velocity of any point attached to the
link is related to the angular velocity of the link. This relationship is expressed as
V= rω (1)
where:
v = |V| = magnitude of the linear velocity of the point of consideration
r = distance from the center of rotation to the point of consideration
ω = angular velocity of the rotating link that contains the point of consideration

Linear velocity is always perpendicular to a line that connects the center of the link rotation
to the point of consideration. Thus, linear velocity of a point on a link in pure rotation is often
called the tangential velocity. This is because the linear velocity is tangent to the circular
path of that point, or perpendicular to the line that connects the point with the pivot. It is
extremely important to remember that the angular velocity, ω, in equation (6.6) must be
expressed as units of radians per time. The radian is a dimensionless unit of angular
measurement that can be omitted.

Acceleration Diagram for a Link

Consider two points A and B on a rigid link as shown in Fig. 1. Let the point B moves with
respect to A, with an angular velocity of ω rad/s and let α rad/s2 be the angular acceleration of
the link AB.

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 Fig. 1. Acceleration for a link.
1. The centripetal or radial component, which is parallel to the link at the given instant.
2. The tangential component, which is perpendicular to the link at the given instant.
Thus for a link AB, the velocity of point B with respect to A (i.e. vBA) is perpendicular to the
link AB as shown in Fig. 1 (a). Since the point B moves with respect to A with an angular
velocity of ω rad/s, therefore centripetal or radial component of the acceleration of B with
respect to A,

This radial component of acceleration acts perpendicular to the velocity vBA, In other words,
it acts parallel to the link AB.
We know that tangential component of the acceleration of B with respect to A,

This tangential component of acceleration acts parallel to the velocity vBA. In other words, it
acts perpendicular to the link AB.
In order to draw the acceleration diagram for a link AB, as shown in Fig. 1 (b), from any
point b’, draw vector b’x parallel to BA to represent the radial component of acceleration of
r
B with respect to A i.e. a BA and from point x draw vector xa’ perpendicular to B A to
t
represent the tangential component of acceleration of B with respect to A i.e. a BA . Join b’ a’.
The vector b’ a’ (known as acceleration image of the link AB) represents the total
r
acceleration of B with respect to A (i.e. aBA) and it is the vector sum of radial component a BA
t
and tangential component a BA of acceleration.

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Slider crank mechanism

Problem-1 The crank of a slider crank mechanism rotates clockwise at a constant speed
of 300 r.p.m. The crank is 150 mm and the connecting rod is 600 mm long. Determine:
1. angular velocity and angular acceleration of the connecting rod, at a crank angle of
45° from inner dead centre position.
Given : NBO = 300 r.p.m. or ωBO = 2 π × 300/60 = 31.42 rad/s; OB = 150 mm = 0.15 m ; BA
= 600 mm = 0.6 m
We know that linear velocity of B with respect to O or velocity of B,

First of all draw the space diagram, to some suitable scale; as shown in Fig.1 (a). Now the
velocity diagram, as shown in Fig.1(b), is drawn as discussed below:
1. Draw vector ob perpendicular to BO, to some suitable scale, to represent the velocity of B
with respect to O or simply velocity of B i.e. vBO or vB, such that

2. 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 o draw vector oa parallel to the motion of A (which is
along AO) to represent the velocity of A i.e. vA. The vectors ba and oa intersect at a.
By measurement, we find that velocity of A with respect to B,

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Acceleration of the connecting rod
We know that the radial component of the acceleration of B with respect to O or the
acceleration of B,

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

Now the acceleration diagram, as shown in Fig. 8.4 (c) is drawn as discussed below:
1. Draw vector o' b' parallel to BO, to some suitable scale, to represent the radial component
r
of the acceleration of B with respect to O or simply acceleration of B i.e. a BO or aB, such that

Note: Since the crank OB rotates at a constant speed, therefore there will be no tangential
component of the acceleration of B with respect to O.
2. The acceleration of A with respect to B has the following two components:
r
(a) The radial component of the acceleration of A with respect to B i.e. a AB , and

(b) The tangential component of the acceleration of A with respect to B i.e. a tAB . These two
components are mutually perpendicular.
r
Therefore from point b', draw vector b' x parallel to AB to represent a AB =19.3 m/s2 and
from point x draw vector xa' perpendicular to vector b' x whose magnitude is yet unknown.
3. Now from o', draw vector o' a' parallel to the path of motion of A (which is along AO) to
represent the acceleration of A i.e. aA . The vectors xa' and o' a' intersect at a'. Join a' b'.
Angular velocity of the connecting rod
We know that angular velocity of the connecting rod AB,

Angular acceleration of the connecting rod

From the acceleration diagram, we find that

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PROBLEM.1 FOUR BAR MECHANISM
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 RS.
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. 1(a). Now the velocity diagram as shown in Fig. 8.9 (b), is drawn as discussed below:

1. 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

2. 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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 Fig.1
V RQ 0.333
 QR = = = 1.9 rad / sec (ANTI CLOCK WISE)
RQ 0.75
and angular velocity of link RS,
V RS 0.426
 RS = = = 3.78 rad / sec (CLOCKWISE)
RS 0.1125
Angular acceleration of links QR and RS
Since the angular acceleration of the crank PQ is not given, therefore there will be no
tangential component of the acceleration of Q with respect to P.
We know that radial component of the acceleration of Q with respect to P (or the acceleration
of Q),

The acceleration diagram, as shown in Fig. 8.9 (c) is drawn as follows :

1. Since P and S are fixed points, therefore these points lie at one place in the acceleration

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diagram. Draw vector p'q' parallel to PQ, to some suitable scale, to represent the radial
component of acceleration of Q with respect to P or acceleration of Q i.e arQP or aQ such that
vector p′q′ = arQP = aQ = 6.25 m/s2
2. From point q', draw vector q' x parallel to QR to represent the radial component of
acceleration of R with respect to Q i.e. arRQ such that vector q′x = arRQ = 0.634 m/s2
3. From point x, draw vector xr' perpendicular to QR to represent the tangential component
of acceleration of R with respect to Q i.e atRQ whose magnitude is not yet known.
4. Now from point s', draw vector s'y parallel to SR to represent the radial component of the
acceleration of R with respect to S i.e. arRS such that vector s′y = arRS = 1.613 m/s2
5. From point y, draw vector yr' perpendicular to SR to represent the tangential component
of acceleration of R with respect to S i.e. atRS
6. The vectors xr' and yr' intersect at r'. Join p'r and q' r'. By measurement, we find that
atRQ = vector xr’ = 4.1 m/s2 and atRS =vector yr’ =5.3 m/s2
We know that angular acceleration of link QR,
t
aRQ 4.1
 QR = = = 23.43 rad / s 2 (anticlock wise)
QR 0.175
t
aRS 5.3
and angular acceleration of link RS  RS = = = 47.1 rad / s 2 (clock wise)
RS 0.1125

Work sheet-2
1. In a pin jointed four bar mechanism, as shown in Fig. 1. Locate all the instantaneous
centres.

Fig.1

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2. Locate all the instantaneous centres of the slider crank mechanism as shown in Fig.2.
The lengths of crank OB and connecting rod AB are 100 mm and 400 mm
respectively.

Fig.2
3. Fig. 3 shows a Whitworth quick return motion mechanism. The various dimensions in
the mechanism are as follows : OQ = 100 mm ; OA = 200 mm ; QC = 150 mm ; and
CD = 500 mm. The crank OA makes an angle of 60° with the vertical and rotates at
120 r.p.m. in the clockwise direction. Locate all the instantaneous

Fig3

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4. A mechanism, as shown in Fig.4, 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.

Fig.4
5. In a four bar chain ABCD shown in Fig. 5, 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. Locate all the instantaneous
centres.

Fig.5

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6. An engine mechanism is shown in Fig.6. The crank CB = 100 mm and the connecting
rod BA = 300 mm. In the position shown, the rank shaft has a speed of 75 rad/s and
an angular acceleration of 1200 rad/s2. Find:1. Angular velocity of AB, and 2.
Angular acceleration of AB.

Fig.6
7. The dimensions and configuration of the four bar mechanism, shown in Fig.7, are as
follows : P1A = 300 mm; P2B = 360 mm; AB = 360 mm, and P1P2 = 600 mm. The
angle AP1P2 = 60°. The crank P1A 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 P2B, and AB.

Fig.7
8. Locate all the instantaneous centres of the slider crank mechanism as shown in Fig.3.
The lengths of crank OB and connecting rod AB are 100 mm and 400 mm
respectively.

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 Fig.3
9. The crank of a slider crank mechanism rotates clockwise at a constant speed of 300
r.p.m. The crank is 150 mm and the connecting rod is 600 mm long shown in Fig.4.
Determine: 1. angular velocity and angular acceleration of the connecting rod, at a
crank angle of 45° from inner dead centre position.

Fig.4
10. Fig.5 shows 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 RS.

Fig.5

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