6.

Spherical coordinate system -27-

Coordinates zM
r  r (t ),  (t ),  (t ) M
Conversion to Cartersian coordinates r

x M  r sin cos
yM  r sin sin O
z M  r cos  yM
xM

Velocity components
xM  r sin cos  r  cos cos  r  sin sin
yM  r sin sin  r  cos sin  r  sin cos
zM  r cos  r  sin
Acceleration components xM  x(r , , , r, , , r, , )
yM  y(r, , , r, , , r, , )
zM  z(r , , , r, , , r, , )

Problems -28-

Problems
Determine the equation of the path, velocity, and acceleration of the
point if the equation of motion of the particle in Cartesian coordinates is
given as follows:

2 2
x  t 3  2, y  3 t3 x  10 cos t, y  10 sin t
5 5

in which coordinates are x, y in cm, and time t in second.

 5. Cylindrical Coordinate System -25-

Relationship btw. Cylindrical and Cartesian coordinate systems

x M  r cos zM
yM  r sin
M
zM  z
 r
ez 
xM  r cos  r  sin e z
yM  r sin  r  cos O  r
xM er yM
zM  z

xM  (r  r  2 ) cos  (r   2r  )sin

yM  (r  r  2 ) sin  (r   2r ) cos
zM  z

6. Spherical coordinate system -26-

Coordinates z

r  r (t ),  (t ),  (t )
P
Conversion to Cartesian coordinates 
r
x M  r sin cos
yM  r sin sin 
z M  r cos
x
y
Velocity components

xM  r sin cos  r  cos cos  r  sin sin x 

yM  r sin sin  r  cos sin  r  sin cos  M
 yM 
zM  r cos  r  sin zM 

 4. Polar coordinate system -23-

Relationship btw. Polar and Cartesian coordinate systems

 
r  r (t )er y

x M  r cos yM M
yM  r sin 
 er
r
e
xM  r cos  r  sin
O xM x
yM  r sin  r  cos

xM  (r  r  2 ) cos  (r   2r  ) sin

yM  (r  r  2 ) sin  (r   2r ) cos

5. Cylindrical Coordinate System -24-

Coordinates zM
r  r (t ),  (t ), M
z  z (t ) r

Position vector ez  z
   e
r  rer  zez O  r
xM er yM
Velocity vector
   
v  r er  e ,
     
 r  rer  ze
 re  z  zez e   er ,

   ez  0
 
 rer  r e  zez 
Acceleration vector
    
a  v  (r  r  2 )er  (r   2r )e  ze
 z
 4. Polar coordinate system -21-

 d      
er  e  e de  1d er

der  1d e
dt e
 d   
e   er   er d er
dt d
O


Acceleration vector v
  d  
a  v  (re  r  r e ) 
dt a
M
     
 re  r  r e  r e  r
 r  re e e  r
er
 
 (r  r  2 )er  (r   2r )e
O x

4. Polar coordinate system -22-

Consider a circular motion r  const  r  0, r  0

   
 r  r e  r e
v  re

y y y 
 aj
v
 M M  M
rM ar

 er
e   
O x O x O x

  
a  (r  r  2 )er  (r   2r )e
  
a  (r  2 )er  (r )e
 
 an  at
Example -19-

Solution x  r sin t, z

Velocity: y  r cos t ,
z  p

v  x 2  y 2  z2
P
 r2 2
 p 2  const
x
Acceleration: y
x  r 2
cos t, y  r 2
sin t, z  0

a  x2  y2  z2  r 2

 const

at  v  0  a n  a  v 2 /  a 2  at2  an2
r2 2
 p2
Radius of curvature:  v / an 
2
2
r

4. Polar coordinate system -20-

Coordinates r  r (t ),  (t )
  M
Unit vectors er , e
  r
e er
 
Position vector r  r (t )er
O x

Velocity vector
   
 d  d de  1d er
 der  1d e
v  r  [r (t )er ] 
dt dt e
 der 
 r 

re r d er
dt d
O
     
 r  r e  vr  v ,
v  re der d  
 e  e
dt dt
4. Examples -11-

Example 1. A lift is modeled as shown

in the figure. The motor turns gear 1 2
r 1
(r1, z1), transmitting motion to gear 2 1
B
(r2, z2). The pulley radius r is attached
r1
to gear 2. In the starting phase, gear 1 r2
is accelerated at a constant rate.

q1 = 21 a 0t 2 , a 0 = const A

Determine the velocity and the

acceleration of cabin A at time t (the
wire is unstretchable).

Solution
Preliminary motion analysis:

4. Examples -12-

Determination of velocity
vB
2 K
r 1 1
w1 = q1 = a 0t B
w1 r2 z2 z1 z1 r1
= =  w2 = w1 = a0t r2
w2 r1 z1 z2 z2 v1=v2

vA
z1 A
v A = vB = r w2 = r a 0t
z2

Determination of acceleration
z1
a A = vA = r w 2 = r a0
z2
 4. Examples -13-

Example 2. Consider a winch as Z4

shown in the figure. The number B
of teeth of the gears are z1, z2, z3 Z1
A
and z4. Pulley diameter d is d
attached to gear 4. In the opening
phase, gear 1 is accelerated at a
constant rate:
Z2
Z3 C
2
q1 = a 0t ,
1
2
a 0 = const

Determine the velocity and the acceleration of

C at time t (the wire is unstretchable).

Solution

Preliminary motion analysis:

4. Examples -14-

Determination of velocity
Z4
w1 = q1 = a 0t
Z1 B
w1 z2 w3 z4 A
= , = , d
w2 z1 w4 z3
w 3 º w2
w z z
 1 = 2 4 Z2
Z3
w4 z1 z 3 C

z z z z
 w 4 = 1 3 w1 = 1 3 a 0t
z2 z4 z2 z 4
Determination of acceleration
d d z1 z 3
vC = w4 = a0t d d z1 z 3
2 2 z2 z 4 aC = vC = w 4 = a
2 2 z2 z 4 0
 4. Examples -15-

Example 3. Consider a mechanical vA l

transmission shown in the figure. The A
number of teeth of the first 4 gears are O 1 B
z1, z2, z3 and z4, and gear 5 has a radius vB
of r5. Both gear 4 and gear 5 are rigidly 4 2
attached to a shaft, the same with gear 2 5 3
and 3. Find the relationship between the
velocity of A and that of B.

Solution
Motion analysis:… Jack
Calculation:
w1 = v B / l , w 5 = v A / r5 , w4 º w 5
w1 z2 w3 z4
= , = , w3 º w2
w2 z1 w4 z3
w1 z2 z 4 z1 z3 z1 z 3 r
 =  w5 = w4 = w1  vA = vB
w4 z1 z 3 z2 z4 z2 z 4 l

Problems -16-

P1. The angular velocity of the disk is

defined by  = (5t2 + 2) rad/s, where t
is in second. Determine the magnitudes
of the velocity and acceleration of point
A on the rim of the disk when t = 0.5 s.
The radius of the disk is R = 0.8 m.

P2. The motor turns the disk of radius R = 0.8 m with an angular
displacement of  = (4t2 + 15t) rad, where t is in second. Determine:
a) the number of revolutions, the angular velocity, and angular
acceleration of the disk when t = 10 s.
b) the magnitudes of the velocity and the normal and tangential
components of acceleration of the point A on the disk when t = 10 s.
Problems -17-

The bucket is hoisted by the rope that wraps around a drum wheel of
radius r = 20 cm. If the angular displacement of the wheel is  = (0.5t3
+ 15t) rad, where t is in second, determine the velocity and
acceleration of the bucket when t = 3 s.

Problems -18-

For a short period of time, the motor turns gear A with a constant angular
acceleration of A = 4.5 rad/s 2, starting from rest. Determine the velocity
of the cylinder and the distance it travels in three seconds. The cord is
wrapped around pulley D which is rigidly attached to gear B.
 Problems -19-

Starting at (A)0 = 3 rad/s, when = 0, s = 0, pulley A is given an

angular acceleration  = (0.6) rad/s2, where  is in radians. Determine
the speed of block B when it has risen s = 0.5 m. The pulley has an
inner hub D which is fixed to C and turns with it. The radius of the
pulleys and the drum are rA = 50 mm, rC = 150 mm, rD = 75 mm.

Problems -20-

The power of a bus engine is transmitted using the belt-and-pulley

arrangement shown. If the engine turns pulley A at A = 60 rad/s,
determine the angular velocities of the generator pulley B and the air-
conditioning pulley C. The hub at D is rigidly connected to B and turns
with it.
Problems -21-

A motor gives gear A an angular acceleration of A = (2t3) rad/s2,

where t is in seconds. If this gear is initially turning at A = 15 rad/s,
determine the angular velocity of gear B when t = 3 s.

Problems -22-

If the motor turns gear A with an angular acceleration of A = 2 rad/s2

when the angular velocity is A = 20 rad/s, determine the angular
acceleration and angular velocity of gear D. Given number of teeth of
each gear: Z1, Z2, Z3, Z4.
Problems -23-

Determine the angular velocity of rod AB when  = 30, if the bar DC

and the center of the roller C with a radius of r = 100 mm move forward
at a constant rate v = 5 m/s.

Problems -24-

Determine the velocity of the rod AB for any angle  of cam C as the
cam rotates with a constant angular velocity . The pin connection at
O does not cause an interference with the motion of plate B on C.
 4. Instantaneous center of velocity – Determination IC -19-


vB
 
vB vA  =0
P  vA
B
P 
B A
=0 (h) A
(g)

P
P

P
B
B

A
A C C
O

Example 1. -20-

Disk centered at C radius R rolls without B

slipping on a horizontal ground. Given vC.
Determine the velocities of points A, B and D vC
C
on the rim of the disk. A D

Solution
Determination of IC (case: rolling without
slipping on a fixed ground) ==> P P

vC vC vA vB vD B vB
w= = = = = vA
PC R PA PB PD
C vC
vA = wPA = 2vC A D
vB = wPB = 2vC w vD
vD = wPD = 2vC
P
 Example 2. -21-

At the considered instant, crank OA has angular

velocity 0 and angular acceleration 0. Disk 2 1
R
radius r rolls without slipping on ring 1 radius R.
Determine the velocities and accelerations of w 0 , a0
points B and C on disc 2. O

Solution C
Preliminary motion analysis. A 2
Determination of the IC of disk 2. P=B
Determination of velocities B

Since A is a point on crank OA,

vA = OAw0 = (R - r )w0 O w0
Angular velocity of disk 2 vA
2 C
vA(R - r ) A
w2 = = w0 vC
BA r w2
vC = BC w2 = 2(R - r )w0 B

Example 2. (cont.) -22-

Determination of accelerations: 2 is known

Acceleration of A (on OA)
   
a A = a At + a An , O aAn

a At = (R - r )a0 , a An = (R - r )w02 a2 
aAt
2
A
The relation of the angular velocity holds n
independent on time, thus t aBA
a BA B
(R - r ) d (R - r )
w2 = w0  ()  a2 = a0
r dt r
Acceleration of B
n
  t n a BA = r w22 , t
aBA = r a2
a B = aA + aBA + a BA
a B = (R - r )w02 + r w22
 Example 2. (cont.) -23-

Acceleration of C
  t n
aC = aA + aCA + aCA
O 
a An
n
aCA = r w22 , t
aCA = r a2 a2 
a At
2
C
t n 2 A n
aCx = a - a
A CA
= (R - r )a0 - r w 2 aCA
n t t
aCy = a - a
A CA
= (R - r )w02 - r a2 B aCA

2 2
aC = aCx + aCy = ...

Example 3. Crank-slider mechanism -24-

Crank-slider mechanism OAB at the instant considered is at a position

such that OA is perpendicular to AB, OA forms an angle of 60 with the
horizontal plane. Given that crank OA rotates at a constant angular
velocity .
How Slider Crank Mechanism Works - YouTube

a) Determine the IC of AB. instantaneous center of velocity

b) Determine and draw the velocities
A
of points A and B, and angular
velocity of AB. r l
c) Determine the acceleration of
point B. 0
60o
B
O

Solution
Preliminary motion analysis
How do the bodies move? Which motions are known?
Example 3. Crank-slider mechanism -25-

Determination of velocities (using IC)

Determination of IC. P
AB
Determination of lengths

PA = 3l , PB = 2l l = 3r 3l
2l

Determination of the angular velocity of AB vA

A
vA vB
wAB = = r l
PA PB 0 60o
O B
vA = r w0 vB

r 1 2
wAB = w0 = w0 vB = PB wAB = r w0
3l 3 3

Example 3. Crank-slider mechanism -26-

Alternative method: using the relation btw. the velocities of B and A

A
  
vB = vA + vBA l
r

0
vB cos 30 = vA 60o
B
O
 vB = vA / cos 30 = ...

vB / A = v A tan 30 = AB wB /A = ...

vA
A
 wB / A = v A tan 30 / AB = ... r l
vA
0 60o
O B
vB
vBA
 Example 3. Crank-slider mechanism -27-

Determination of accelerations: using the relation btw. the accelerations of

B and A
  t n  t 
2
a B = aA + aBA + aBA = aA + aBA - wAB AB (*)
  A
a A = a An , (A  O, r w02 ) aA l
n  anBA
2 2
aBA = -wAB AB, (B  A, l wAB ) 0
t    60o
aBA = aAB ´ AB, (^ AB , aABl ), aB O B
aB
Project vector equation (*) onto BA atBA
n n
a B cos 30 = aBA  aB = aBA / cos 30 = ...
Project vector equation (*) onto AO
t
a B sin 30 = a A + aBA t t
a BA aBA
t  aAB = = = ...
 a BA = a B sin 30 - a A AB l

Example 4. Planar quadrilateral linkage -28-

Planar quadrilateral linkage OABO1 at instant considered has the

configuration as shown in the figure (OA is vertical, AB horizontal). Given
OA = r, AB = l, and crank O1B is having an angular velocity 0 and zero
angular acceleration.
Determine the angular velocity and angular acceleration of crank OA.

B
A
Solution

Preliminary motion analysis
How the bodies move? 45 O1
Which motions are known? O

How Four bar linkage Mechanism Work! | Best 3D Animation | - YouTube

Example 4. Planar quadrilateral linkage -29-

Determination of velocities (using IC) P

Determination of IC.

Determination of lengths
B
OA = r , AB = l,  A
vA
 
PA = AB = l , PB = l 2, vB
45 O1
O1B = r 2 O

Determination of the angular velocity of AB

vB = 2r w0  wAB = vB / PB = r w0 / l 2
vA = wAB PA = r w0 / 2
wOA = vA / OA = w0 / 2

Example 4. -30-

t
Determination of accelerations: aAB

  t n aAt A B
a A = a B + a AB + a AB 
   t n n aBn
 a At + aAn = aBn + aAB + aAB  a AB 
aAn
45 O1
Accelerations determined from O
velocities
aAn = ..., aBn = ..., aAB
n
= ...
Projections of the vector equation
: t n
-a + 0 = a cos 45 + a n  a At = ...
A B AB

: n
0 -a = 0 +a t n
- a sin 45  aOA = a At / OA = ...
A AB B

t
 aAB = ...
t
 aAB = aAB / AB = ...
 5. Planar differential transmission -31-

O and A are fixed axes z0

z1
2 w1
1
O A
w2
w2
w1
w0
O
O is a fixed axis, axis A moves (because A
OA rotates about O).

1 1
O O
A A
w0 2 w0 2
w1

Gear 1 is fixed. Gear 1 rotates.

Planetary Gear Set - YouTube Epicycloidal Gear Train - YouTube

5. Planar differential transmission: using IC -32-

The angular velocity and the angular

z0
acceleration of crank OA of a planar
differential transmission are 0 rad/s and 0
z1
rad/s2, respectively. Gear 1 has angular
velocity 1 and angular velocity 1 with the w1
senses of direction shown in the figure. w2
Given radii r1 and r2. Determine the angular
velocity and angular acceleration of gear 2 w0
and the velocity and acceleration of point M. O
Hint A
Determine IC through the velocities of two
points: A and the contact point of gear 1 and vK
1 vA
gear 2.
vK = r1w1, v A = (r1 + r2 )w0 O
A
P
vA - v K (r1 + r2 )w0 - r1w1 w1 w0 2
w2 = = M
r2 r2
 
v A , w2  vM = ..., "M Î Gear 2
Problems -33-

The disk is moving to the right such that it has an angular velocity  = 4
rad/s and angular acceleration  = 2 rad/s2 at the instant shown. If it
does not slip at contact point, determine the velocity and acceleration of
point A.

Problems -34-

A bowling ball is cast on the "alley" with a backspin of  = 10 rad/s

while its center O has a forward velocity of vO = 8 m/s. Determine the
velocity of the contact point A touching the alley.
Problems -35-

The arm OA rotates counterclockwise with an angular velocity of 0 =

8 rad/s. The disc 2 (gear 2) rolls without slipping on the fixed ring 1
(gear 1). The radius of gear 1 (ring) is R = 40 cm, the length of the arm
OA is L = 30 cm. Determine:
a) the angular velocity of gear (disc 2).
b) the velocity of points C, D on the rim of disc 2, (diameter CD 
OA).
c) the acceleration of points C, D on the rim of disc 2, (diameter CD 
OA).

O
0

② ①
D C
A

Problems -36-

A bar AB of length L = 4 m is pin-connected to two sliders A and B. At

the instant shown  = 40, the slider A has the velocity vA = 4 m/s and
acceleration aA = 3 m/s2 both downward. Determine:
a) the angular velocity of the bar and the velocity of end B at the
instant.
b) the velocity of the middle point C of the bar at the instant
c) the angular acceleration of the rod and acceleration of end B of the
rod.
Problems -37-

If bar OA has an angular velocity  = 6 rad/s, determine the velocity

and acceleration of the slider block B at the instant  = 45 and  = 30.
Length of two links are OA = r = 0.2 m and AB = L = 0.5 m.

Problems -38-

At a given instant the wheel is rotating with the angular velocity and
angular acceleration shown,  = 2 rad/s and  = 6 rad/s2. Determine
the velocity and the acceleration of slider B at this instant.
Problems -39-

A cylinder B of radius R rolls without slipping on a horizontal line. The

arm OA of length r rotates with a constant angular velocity 0.
Determine: a) the velocity of point B and the angular velocity of the rod
AB and the cylinder; b) the acceleration of point B and the angular
acceleration of the cylinder.

vA  0
r, AB
 0
/ 3, v B  r 3 / 3,
0 d
 r 3 / 3 R.
0

aB  2r 2
0
/ 9, d
 aB / R.

Problems -40-

At a given instant the slider block A is moving to the right with the
motion shown. Determine the angular acceleration of link AB and the
acceleration of point B at this instant.
Problems -41-

At instant, a hinge four-bar mechanism has a position as shown.

Length of bars are given: OA = r, BC = R, and AB = l. If bar OA has a
constant angular velocity 0, determine: (a) the angular velocity the
bar AB and BC; (b) the angular acceleration of the bar AB and BC.

vA  r,
0 AB
 r 2 / 2l ,
0
vB  r 2 / 2,
0 BC
 r 2 / 2R
0

aBn  2
BC
R 2 2
0
r / 2R

Problems -42-

At instant, a hinge four-bar mechanism has a position as shown

(dimension in meter). If bar OA has a constant angular velocity 0 = 10
rad/s, determine the angular velocity and acceleration of the bar CB.

Ans: BC = 5 rad/s; BC = 43.30 rad/s2.

Problems -43-

The cylinder 2 rolls on the fixed cylinder 1 without slipping. If the

connected bar OA is rotating with an angular velocity of 0 = OA = 5
rad/s, determine the angular velocity of cylinder 2. Two cylinders have
the same radius r.

Problems -44-

Arm OA has an angular velocity of 0 and an angular acceleration of 0

(same sense with 0). Length of OA is l and the radius of disk 2 is r. If
no slipping occurs between the disk 2 and the fixed curved surface 1,
determine: (a) the angular velocity and angular acceleration of the disk
2; (b) velocity of the points C, D, E on the rim of the disk 2.
Problems -45-

Arm OA has an angular velocity of 0 and an angular acceleration of

0. If no slipping occurs between the disk 2 and the fixed curved
surface 1, determine the angular velocity and angular acceleration of the
disk 2. Length of OA is l and the radius of disk 2 is r.

-46-

The planetary gear A is pinned at B. Link BC rotates clockwise with an

angular velocity of 8 rad/s, while the outer gear rack rotates
counterclockwise with an angular velocity of 2 rad/s. Determine the
angular velocity of gear A. The radius of gear D is R = 40 cm, the
length of the arm BC is L = 30 cm.

C
BC D

A
B D
Problems -47-

When the crank on the Chinese windlass is turning, the rope on shaft A of
radius R = 75 mm unwinds while that on shaft B of radius r = 25 mm
winds up. Determine the speed at which the block D lowers if the crank is
turning with an angular velocity  = 4 rad/s. What is the angular velocity
of the pulley at C? The rope segments on each side of the pulley are both
parallel and vertical, and the rope does not slip on the pulley.

B A

O1 O2 M

Problems -48-

At the instant shown, cable CD has a velocity of 3 m/s and acceleration

of 1.5 m/s2, (both to the right) while the gear rack AB has a velocity of
1.5 m/s and acceleration of 0.75 m/s2 (both to the left). Determine:
a) the angular velocity of the gear and the velocity of its center O;
b) the angular acceleration of the gear at this instant.
 Orthonormal basis of 3D space: Scalar product -3-

Definition:
   
a ⋅ b = ab cos q q = (a , b ) q
Some properties: q
   
a ⋅b = b ⋅ a cos q > 0 cos q < 0
      
a ⋅ (b + c ) = a ⋅ b + a ⋅ c
      
a ⋅ (rb + sc ) = ra ⋅ b + sa ⋅ c
  For arbitrary vectors:
(ra ) ⋅ (sb ) = rsa ⋅ b   

For unit vectors: v1 = x 1i + y 1 j + z 1k
         
i ⋅ i = 1; j ⋅ j = 1; k ⋅ k = 1 v 2 = x 2i + y 2 j + z 2k
      ß
i ⋅ j = 0; j ⋅ k = 0; k ⋅ i = 0
 
v1 ⋅ v 2 = x 1x 2 + y 1y 2 + z 1z 2

Orthonormal basis of 3D space: Vector product -4-

Definition:
  
c = a ´b , c = ab sin q
 
q = (a , b )
Some properties:
   
a ´ b = -b ´ a
      
a ´ (b + c ) = a ´ b + a ´ c i, j, k must follow the
      right-hand rule!!
a ´ (rb ) = (ra ) ´ b = r (a ´ b )
For unit vectors: Positive sense:
         
i ´ i = 0; j ´ j = 0; k ´ k = 0 i
          
i ´ j = k ; j ´k = i ;i ´ j = k k j
        
j ´ i = -k ; k ´ j = -i ; i ´ k = - j
 Orthonormal basis of 3D space: Vector product (cont.) -5-

For arbitrary vectors: Or, calculate a determinant:

      
v1 = x 1i + y 1 j + z 1k i j k
 
    v1 ´ v 2 = x 1 y1 z1
v 2 = x 2 i + y 2 j + z 2k
x2 y2 z2
ß
       
v1 ´ v 2 = (x 1i + y 1 j + z 1k ) ´ (x 2i + y 2 j + z 2k )
     
= x 1y 2 (i ´ j ) + x 1 z 2 (i ´ k ) + y1x 2 ( j ´ i ) +
     
+y 1z 2 ( j ´ k ) + z 1x 2 (k ´ i ) + z 1y 2 (k ´ j )
  
= (y 1z 2 - z 1y 2 )i + (z 1x 2 - x 1z 2 ) j + (x 1y 2 - y 1x 2 )k

3. Motion of points on the body: Relative motion analysis -6-

Velocity of a point on the body P

   

v P = vA + w ´ u  u
     rP A
= vA + vPA, vPA = w ´ u y

rA
O
Acceleration of a point on the body x
      
aP = a A + a ´ u + w ´ w ´ u
 a w
= a A + a PA + a PA
a  
aPA = a ´u
w   
aPA = w ´ w ´u
 3. Motion of points on the body: Relative motion analysis -7-


  vP
Note: for planar motion w ^u  
vPA vA
 P 
   u v
vP = v A + v PA w A

A
  
vPA = w ´ u lies on the plane of
 the plate
^u

3. Motion of points on the body: Relative motion analysis -8-

  
Note: for planar motion w, a ^ u
    t n
aP = aA + aPA aPA = a PA + aPA
t    n    
a PA = a ´ u, ^ u; a PA = w ´ w ´ u = -w 2u
    
a P = a A + a ´ u - w 2u
angular acceleration is angular acceleration is
counter-clockwise clockwise
t
aPA P P t
aPA
 n  n
a u aPA a u aPA
A  A 
aA aA
 Example 3. Crank-slider mechanism -9-

Crank-slider mechanism OAB at the instant considered is at a position such

that OA is perpendicular to AB, OA forms an angle of 60 with the horizontal
plane. Given that crank OA rotates at a constant angular velocity .
A
a) Determine and draw the velocities
of points A and B, and angular r l
velocity of AB.
0
b) Determine the acceleration of point 60
B. O B

Solution

Preliminary motion analysis

How the bodies move? Which motions are
known?

Example 3. Crank-slider mechanism -10-

Determination of velocities (using vector-equation)

  
Setting a Cartesian coordinate system Oxyz with unit vectors {i , j , k }
  
Presenting all vectors with {i , j , k } y

    l = 3r
wOA = w0k , aOA = 0k , vA
   A

OA = r cos 60i + r sin 60 j j r l
 
= 21 ri + 23 rj 0
60o
  O 
  i vB x
l = AB = l cos 30i - l sin 30 j B
 
= 23 li - 21 lj
   
wAB = wAB k , aAB = aAB k
Need to determine:    
vB = vB i , a B = aB i ,
 Example 3. Crank-slider mechanism -11-

Applying formula y

    l = 3r
vB = vA + wAB ´ AB vA
A

  j r l
vB = v B i ,
0
 60o
     O 
vA = wOA ´OA = w0k ´ ( 2 ri +
1 3
rj ) i vB x
  2 B
= 21 r w0 j - 23 r w0 i
     
vB /A = wAB ´ AB = wAB k ´ (l 3
i -l 2 j)
1
vB = ( 21 l wAB - 3
r w0 )
  2 2
= 23 l wAB j + 21 l wAB i 0 = ( 21 r w0 + 3
l wAB )
2

    
vB i = 12 r w0 j - 3
r w 0i + 23 l wAB j + 21 l wAB i wAB = -w0 / 3
2
 
= ( 21 l wAB - 3
r w0 )i + ( 2 r w 0 + 2 l wAB )j
1 3 vB = -2r w0 / 3
2

Example 3. Crank-slider mechanism -12-

Applying formula
       y
a B = a A + aAB ´ l + wAB ´ wAB ´ l l = 3r
A
     aA
2
= a A + aAB ´ l - wAB l j l
0 aB
60o
Calculation O  x
     i B
2
a A = wOA ´ (wOA ´ OA) = -w0 OA
  
2 2
= - 2 r w0 i - 2 r w 0 j
1 3 
aB = a Bi ,
  
t     aAB = aABk
a B /A = aAB ´ AB = aAB k ´ (l 3
i - l 21 j )
  2

= 2 l aAB j + 2 l aAB i
3 1

n   
2 2
a B /A = -wAB AB = -wAB (l 2 i - l 2 j )
3 1

2
 2

= -l wAB 2 i + l wAB 2 j
3 1
 Example 3. Crank-slider mechanism -13-

y
Putting all terms into this eq. l = 3r
A
  
   2 j aA l
a B = a A + aAB ´ l - wABl
0 aB
60o
yields O  x
i B
 2
 
2
  2
 2

a B i = - 2 r w0 i -
1 3
rw j + l aAB j + 2 l aAB i - l wAB 2 i + l wAB 2 j
3 1 3 1
2 0 2
 
= (- 21 r w02 + 21 l aAB - l w 23 )i + (- 23 r w02 + 23 laAB + l wAB
2
AB
2 1
2
) j

a B = - 21 r w02 + 12 l aAB - l wAB

2
2
3

0=- 2
3
r w02 + 2
3 2
l aAB + l wAB 1
2
3r w02 - l wAB
2
3
aAB =
3l
2 2
aB = - r w + 21 l aAB - l wAB
1
2 0 2
3
= ..

Example 4. Planar quadrilateral linkage -14-

Planar quadrilateral linkage OABO1 at

A B
instant considered has the configuration as
shown in the figure (OA is vertical, AB
horizontal). Given OA = r, AB = l, and 
crank O1B is having an angular velocity 0 45 O1
and zero angular acceleration. O

Determine the angular velocity and angular

acceleration of crank OA.

Solution

Preliminary motion analysis

How the bodies move? Which motions are
known?
Determination of lengths
OA = r , AB = l, O1B = r 2
 Example 4. Planar quadrilateral linkage -15-

Setting a Cartesian coordinate    y   

system Oxyz with unit vectors {i , j , k } k = i ´j
B
    A
vA 
Presenting all vectors with {i , j , k } j  
  vB
 
wO B = w0k , aO B = 0k , O
45 O1
1

1
  x
  i
wAB = wAB k , aAB = aAB k ,
   
wOA = wOAk , aOA = aOAk ,

  
rOA = OA = rj ,
    Need to determine:
rO B = O1B = -r .i + r .j ,
1

   wAB , aAB , wOA , aOA


rAB = l = AB = l .i

Example 4. Planar quadrilateral linkage -16-

Applying formula y
   
v = vA + wAB ´ AB B
Calculation B  A
vA 
j  
   vB
vB = wO B ´ O1B 45 O1
1
  O

= w0k ´ (-r .i + r. j ) x
   i
i j k
 
= 0 0 w0 = -r w 0 j - r w 0i
-r r 0
     
   
vA = wOA ´OA = wOAk ´ rj vB /A = wAB ´ AB = wAB k ´ l .i
     
i j k i j k
 
= 0 0 wOA = -r wOAi = 0 0 wAB = l wAB j
0 r 0 l 0 0
 Example 4. Planar quadrilateral linkage -17-

   y
Substituting vB , v A , v AB
B
 A
into  vA 
   j  
vB = vA + wAB ´ AB vB
45 O1
O
 x
    i
-r w0 j - r w0i = -r wOA i + l wAB j

-r w0 = -r wOA , -r w0 = l wAB

  
wOA = w0 vA = -r wOAi = -r w0 i
  
wAB = -r w0 / l vB /A = l wAB j = -r w0 j

Example 4. Planar quadrilateral linkage -18-

Applying formula y t
aBA
n
    2
  aBA
a B = a A + aAB ´ l - wAB l aAt A  
 aB  aBn
 B 
Calculation j a An
 n   
a B = a B = -w0O1B = r w02i - r w02 j
2 45 O1
O
    x
 2 i
a A = -w0 OA + aOA ´ OA
2
 
= -r wOA j - r aOAi 
 
     aOA = aOAk ,
a Bt /A = aAB ´ AB = aAB k ´ (l .i ) = l aAB j  
aAB = aAB k
  
a Bn /A = -wAB
2 2
l = -l wAB i

2 2
 2
   2

r w i - r w0 j = -r wOA j - r aOAi + l aAB j - l wAB i
0
Example 4. Planar quadrilateral linkage -19-

y t
    n aBA
2 2 2
r w0 i - r w0 j = -r wOA j - r aOAi  aBA
  aAt A  
2
+l aAB j - l wAB i  aB  aBn
 B 
j a An
45 O1
   O

r w i - r w02 j = -(l wAB
2 2
+ r aOA )i i
x
0
2

+(l aAB - r wOA )j  
aOA = aOAk ,
 
aAB = aAB k
r w02 = -(l wAB
2
+ r aOA )
-r w02 = (l aAB - r wOA
2
) 2
aOA = -l wAB / r - w02
2
aAB = (r wOA - r w02 ) / l
The acceleration-addition formula -13-

R0  R1      
dt
d
u = dt
d
u + we ´ u = v r + we ´ u
R0  R1      
dt
d
vr = dt
d
v r + we ´ v r = a r + w e ´ v r

        
a a = a A + w e ´ u + we ´
R0 R1

dt
d
u + dt
d
v r + we ´ v r

         
aa = a A + ae ´ u P * + we ´ (we ´ u P * ) + a r + 2 we ´ v r

       
a P * = éêa A + ae ´ u P * + we ´ (we ´ u P * )ùú =: ae
ë û
  
aC = 2 w e ´ v r

   
aa = a r + a e + a C

Coriolis acceleration -14-

  
aC = 2we ´ v r
Translational  
we = 0  aC = 0
moving frame:
  
aa = a r + a e
Rotational
moving frame:  
  q = (we , v r )
we ^ v r
 
we we

vr

  
     aC = 2we ´ vr
vr aC = 2we ´ vr vr¢

aC = 2wevr aC = 2wev r sin q

In summary -15-

     P
va = vr + ve , ve = vP *  
rP u
    R0 
rA A
a a = a r + ae + aC R1
O

    
ae = aP * , aC = 2we ´ vr

Example 1 -16-

A person walks on conveyor with a velocity v1. Determine the

absolute velocity of the person. If the pulley of radius r has an
angular velocity of .
y0 y vr

v0 x
Ans. x0

Motion analysis
Show : abs., rel., and transport motion

Calculation of abs. velocity

  
va = vr + ve
 va = vr + ve = v 1 + r w
Example 2 -17-
K
Coulisse mechanism as shown at instant:  = 30,
d/dt = ,  = 0. Determine: velocity and
acceleration of link BDK, relative velocity of
slider A on BD, OA = l. A D
B
Scotch yoke mechanism - YouTube
Ans
Motion analysis: …..: O
Consider motion of slider A (particle)
Show : abs., rel., and transport motion K
Draw and calculation of velocity:
  
va = vr + ve , va = l j = l w vr A
D
B
v K = ve = va sin j = l w / 2
va ve
vr = va cos j = l w 3 / 2 O

Example 2 -18-

Draw and calculation of acceleration: K

  
aa = a r + a e
  
aa = a A = a An , A ar
B
D
aa = l j = l w
2 2
ae

aa
O
2
ae = aa cos j = l w 3 /2
a r = aa sin j = l w 2 / 2

a K = ae = l w 2 3 / 2
Example 3. Quick return mechanism -19-

Coulisse mechanism (quick return mechanism) as

shown. The crank, OA = r, rotates about O with B
0
angular velocity of 0. At instant, OA  OD,  = 30. O
r
Determine: angular velocity and acceleration of the A
bar DB. Crank And Slotted Lever Quick Return Mechanism|
How Quick Return Mechanism Work! |Best 3D Animation|
Ans Motion analysis: …..
Consider motion of A
Show : abs., rel., and transport motion D

Draw and calculation: va

B
   vr
v a = v r + ve , va = r w 0 0 ve
O
A
ve = va sin q = r w 0 / 2
e
vr = va cos q = r w 0 3 / 2
wDB º we = ve / DA = 21 r w 0 / (2r ) = w 0 / 4 D

Example 3. Quick return mechanism -20-

    k
aC a t
Calculation of acceleration: a = a + a + a e ar
a r e C
O
  n   aAn A
aa = a A = a A = -w 0 OA, aAt = 0
2
ae n

     
ae = a A* = a An* + a At * = a en + a et
e
  
aC = 2we ´ vr , aC = 2 we v r D
 
     aen = a An* , DAwe2
aa = a r + aen + aet + aC  
aet = a At * , DAae
Projection on DA and Ak  AD
DA : -aa sin q = -aen + ar  ar = aen - aa sin q
^ AD : aa cos q = aet + aC  aet = aa cos q - aC
 ae = aet / AD = ..
 Example 3. Quick return mechanism -21-

Determination of velocities (using vector-equation)

  
Setting a Cartesian coordinate system Oxyz with unit vectors {i , j , k }
   y
Presenting all vectors with {i , j , k } va
B
    vr
wOA = w0k , aOA = 0k , O
0 v
e
  A
OA = ri , s = DA = r / sin q
   
DA = s sin qi + s cos q j , j e

    x
vr = vreDB = vr (sin qi + cos q j ), D 
vr = s, s = DA i
Need to determine:
    
we = wDB = wek ,  
 we = we k , ae = aek ,
     
ae = aDB = aek , vr = vreDB , a r = a re DB

Example 3. Quick return mechanism -22-

y
Applying velocity-addition formula va
   B
va = v r + ve vr
0 ve
O
Calculation velocity vectors A
     
va = v A = wOA ´ OA = w 0k ´ ri 
 j e

= r w0 j , x
    D 
ve = v A* = w DB ´ DA i
  
= we k ´ (s sin qi + s cos q j )
    
= s we sin q j - s we cos qi r w 0 j = s we sin q j - s we cos qi
     
vr = vreDB = vr (sin qi + cos q j ) +vr (sin qi + cos q j )
Example 3. Quick return mechanism -23-

  
r w 0 j = (v r sin q - s we cos q )i + (s w e sin q + v r cos q )j

r w 0 = (s we sin q + v r cos q )

0 = (vr sin q - s we cos q) y

va
B
vr
r w 0 sin q = (s we sin q + vr cos q ) sin q O
0 ve
A
0 = (vr sin q - s we cos q ) cos q

j e

r w 0 sin q x
 we = = w 0 sin 2 q D 
s i
 v r = s we cot q = r w0 cos q

Example 3. Quick return mechanism -24-

Applying acceleration-addition formula y

    va
B
aa = a r + a e + aC vr
0 ve
O
Calculation acceler. vectors A
      
aa 2 2
= a A = a0k ´ ri - r w 0 i = r a 0 j - r w 0 i 
j e
    2

ae = a A* = aek ´ DA - we DA x
D 
= ... i
   
a r = a r eDB = ar (sin qi + cos q j )
    
aC = 2we ´ v r = 2vr wek ´ eDB = ..
    ae = .....
r a0 j - r w 02i = (.........)i + (.........)j
a r = .....
Analytical Method -25-

Choose position parameters (generalized coordinates)

Write constraint equations => differentiating
Example 1. Coulisse mechanism as shown, OA = r. x
At instance  = 30, d/dt = 0,  = 0. K
B
Determine: velocity of coulisse K, velocity of A
A D
relative to K, acceleration of K. r y
O

Solution
Motion analyse and choose position parameters.

Position: x  r sin (t ), y  r cos (t )

velocity : acceleration :
vr  x  r (t )cos (t ), ar  x  r (t )cos (t)  r  2(t )sin (t ),
vK  y  r (t ) sin (t ) aK  y  r (t )sin (t )  r  2(t ) cos (t ).

Analytical Method -26-

Example2. Quick return mechanism as shown: OA = r, OD = h. B

Motion of OA is described by: (t)
 (t )     const,   0 r A
O
Determine: motion of the link DB, motion of
slide A relative to DB

?? , , , u, u, u. h u

Hint D
Constraint equtions
   0  u sin  r cos(  21 )
OD  DA  OA
h  u cos  r sin(  21 )

=> u sin  r sin u  ..

u cos  r cos h  ..
Analytical Method -27-

Velocity. Taking time derivative of constraint Eqs.

B

u sin  r sin A
Pos. constraint r
u cos  r cos h O

d
()
dt Vel. constraint u
h
u sin  u cos   r cos , 1 
u cos  u sin   r sin  D

 sin u cos  u  r cos  

cos 
u sin     r sin  
    
1
u   sin u cos  r cos  
    
cos u sin   r sin  
     

Analytical Method -28-

u sin  u cos   r cos , 1    ,     0 B

u cos  u sin   r sin 
r A
Acceleration. O
Acc. constraint

u sin  u cos   2u  cos  r cos   r cos  2 , u

h
u cos  u sin   2u  sin  r sin   r cos  2

D
u sin  u cos   r cos   r cos  2  2u  cos
u cos  u sin   r sin   r cos  2  2u  sin

 sin u cos   u r cos   r cos  2  2u  cos  u

     ...
 cos u sin     r sin   r cos  2  2u  sin 
      
Problems -29-

Rod OB rotates counterclockwise with the constant angular speed of 30

rev/min. At the same time, collar A is sliding toward B with the constant
speed 1 m/s relative to the rod. Using a rotating reference frame
attached to OB, calculate velocity and the acceleration of the collar
when R = 0.2 m and = 0. (This problem could also be solved using
polar coordinates).

Problems -30-

Rod OAB is rotating counterclockwise with the constant angular velocity

ω = 5 rad/s. In the position shown, collar P is sliding toward A with the
speed of 0.8 m/s, increasing at the rate of 8 m/s2, both measured relative
to the rod. Determine the acceleration of P in this position.
Problems -31-

In the position shown, the slotted plate B is rotating about pin A with
the angular velocity ω = 3 rad/s CCW and the angular acceleration α =
6 rad/s2 CW. The slider P moves along the slot at the constant speed of
0.7 m/s relative to the plate, in the direction indicated. Compute the
velocity and acceleration vectors of P at this instant.

Problems -32-

The pin P, attached to the sliding rod PD, engages a slot in the rotating
arm AB. Rod PD is sliding to the left with the constant velocity of 1.2
m/s. Determine the angular velocity and angular acceleration of AB when
θ = 60.
Problems -33-

The collar C is pushed along the horizontal bar by the pin P that slides in
the slotted arm AB. The arm is rotating counterclockwise with the constant
angular velocity ω=4 rad/s. In the position shown, determine (a) velocity of
P relative to AB; and (b) acceleration of P relative to AB.

Problems -34-

Crank AD rotates with the constant clockwise angular velocity of 8 rad/s.

For the position shown, determine the angular speed of rod BE and the
velocity of slider D relative to BE.
Problems -35-

Rod AB of the mechanism rotates at the constant angular speed 8 rad/s

clockwise. For the position shown, calculate the angular velocity of rod
BE.

Problems -36-

When the crank AB of the scotch yoke is in the position θ =40, its
angular velocity is 8 rad/s, and its angular acceleration is 140 rad/s2,
both clockwise. Calculate the velocity and acceleration of the sliding
rod D in this position.

Scotch yoke mechanism - YouTube

Problems -37-

The disk rotates with the angular velocity as shown. Determine the
angular velocity and angular acceleration of the slotted link AC at this
instant. The peg at B is fixed to the disk.
Coulisse mechanism 1 - YouTube

Problems -38-

Block D of the mechanism is confined to move within the slot of

member CB. If link AD is rotating at a constant rate of AD = 4 rad/s,
determine the angular velocity and angular acceleration of member CB
at the instant shown.
Problems -39-

Rod BC slides in the pivoted sleeve D as bar AB is rotating at the

constant angular velocity θ1˙ = 12 rad/s. Determine the angular
velocity of rod BC in the two positions where θ2 = 30.

Problems -40-

Collar C slides on the horizontal guide rod with the constant velocity v0.
The rod CD is free to slide in sleeve B, which is rigidly attached to bar
AB. Determine the angular velocity and angular acceleration of bar AB
in terms of v0, b, and θ. (Hint: ωAB = ωCD.)
Problems -41-

For the mechanism shown, determine the speed and the magnitude of the
acceleration of collar C in terms of b, θ, θ˙, and θ˙˙.

Problems -42-

A planar mechanism is shown in figure with OA = r , OB = r3 and BC

= 2r3 . The arm rotates uniformly about O with an angular velocity . It
leads a horizontal translation of the rod DE. At instant,  = 30,
determine a velocity and acceleration of rod DE.

Whitworth mechanism (Kulisový kývavý mechanizmus) - YouTube

Problems -43-

A planar mechanism is shown in figure with OA = r, OB = r3 and h =

2r3. The arm rotates uniformly about O with an angular velocity 0.
It leads a horizontal translation of the rod DE. At instant,  = 90,
determine: a) angular velocity and acceleration of rod BC; b) velocity
and acceleration of rod DE.

WhitWorth Quick Return Mechanism demonstration - YouTube

w0 2r w0
wBC = , vDE = ,
4 3
w02 3 2 2
aBC = , aDE = rw .
8 3 0

Problems -44-

The end A of a vertical rod AB is hinged to a block A sliding along the

rod OC and turns the latter round axis O. The distance from O to AB
is l. Determine the velocity and acceleration of the rod AB as function
of the angle , and its derivatives.

lw l 2l sin j
vAB = 2
, aAB = 2
a+ w2 .
cos j cos j cos3 j