Theory of Machines

Chapter 2
4
Example 2.2
Velocity and Acceleration
Analysis of Mechanisms

Dr.Mostafa Abd El-Galil

Mechanical Engineering Department
 Velocity Analysis Examples 2.3
Chapter 2
PQRS is a four bar chain with link PS fixed. The ➢ By measurement,
lengths of the links are PQ = 62.5 mm ; QR = 175 mm
; RS = 112.5 mm ; and PS = 200 mm. The crank PQ VR r
Ov • vRQ = vector qr = 0.333 m/s
rotates at 10 rad/s clockwise. Draw the velocity and
P,S
acceleration diagram when angle QPS = 60°. • vRS = vR = vector sr = 0.426 m/s
VRQ
Find the angular velocity and angular acceleration of
links QR and RS.
VQ

VRQ q
VR The angular velocity of link QR
Velocity diagram
VRQ 0.333
VQ 𝞈QR = = = 1.9 rad/s Ans.
𝑹𝑸 𝟎.𝟏𝟕𝟓

The angular velocity of link RS

vQP = vQ = 𝞈QP × PQ = 10 × 0.0625 = 0.625 m/s
VRs 0.426
𝞈RS =
𝑺𝑹
=
0.1125 = 3.78 rad/s Ans.
 Acceleration Analysis Examples 2.3
Chapter 2
PQRS is a four bar chain with link PS fixed. The
lengths of the links are PQ = 62.5 mm ; QR = 175 mm
Oa , P, S
; RS = 112.5 mm ; and PS = 200 mm. The crank PQ a RS)r

Acceleration diagram
rotates at 10 rad/s clockwise. Draw the velocity and r
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. aQ

a RS)t q
aQ
a RS)r
The angular acceleration of link QR The angular acceleration of link RS
 Velocity Analysis Examples 2.4

The crank OA rotates at 150 r.p.m (CCW). Find the 𝑺𝒄𝒂𝒍𝒆 1.257 m/s……………4cm
angular acceleration of the links AB and CD as well
as the acceleration of slider B and slider D.
OA = 80 mm ; AC = CB = CD = 120 mm

D Ov

A
Velocity diagram

O C
B 𝐹𝑟𝑜𝑚 𝑡ℎ𝑒 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑝𝑜𝑙𝑦𝑔𝑜𝑛

𝑉ത𝐴 = ωAO .OA 𝑉ത𝐵 = (3.5 × 1.257) / 4 = 1.099 m/s

ωAO = 2 π × 150/60 = 5π rad/s
𝑉ത𝐶 = 1.0056 m/s 𝑉ത𝐷 = 0.2514 m/s
𝑉ത𝐴 = ωAO .OA = 5π × 0.08 = 1.257 m/s
𝑉ത𝐴𝐵 = 1.178 m/s 𝑉ത𝐶𝐷 = 0.9113 m/s
 Acceleration Analysis Examples 2.4

The crank OA rotates at 150 r.p.m (CCW). Find the angular

acceleration of the links AB and CD as well as the Oa

Acceleration diagram
acceleration of slider B and slider D.
OA = 80 mm ; AC = CB = CD = 120 mm
D

O C
B

𝐹𝑟𝑜𝑚 𝑡ℎ𝑒 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑝𝑜𝑙𝑦𝑔𝑜𝑛