MENG 372

Chapter 6
Velocity Analysis

All figures taken from Design of Machinery, 3rd ed. Robert Norton 2003

1 1
 Velocity Analysis
Definitions
dR
Linear Velocity V R
dt
d
Angular Velocity
dt
Velocity of a point Link in pure rotation

RPA pei Multiplying by i rotates the vector
by 90
VPA VP RPA Velocity is perpendicular to

pe i pe i
i i radius of rotation & tangent to
path of motion
2 2
 Velocity Analysis
Vector r can be written as: Imaginary
rei r cos i sin

Multiplying by i gives: r cos

irei r sin i cos

r
Multiplying by i rotates a vector 90
r sin
r cos Real
r sin

3 3
 Velocity Analysis
If point A is moving

VP VA VPA

VA pei i

Graphical solution:

4 4
 Graphical Velocity Analysis (3 & 4)
Given linkage configuration & 2. Find 3 and 4
We know VA and direction of VB and VBA
(perpendicular to AB)
Draw vector triangle. V=r.

VBA VBA Direction

VA
VB VBA

VB VB Direction

VBA 3 AB
VB 4 O4 B
5 5
 Graphical Velocity Analysis (VC)
After finding 3 and 4, find VC
VC=VA+VCA
Recall that 3 was in the opposite direction as 2
Double Scale
VC
VCA VA

VCA

VC

6 6
 Instant Center
A point common to two bodies in plane motion, which
has the same instantaneous velocity in each body.
In ENGR 214 we found the instant center between
links 1 and 3 (point on link 3 with no velocity)
Now we also have an instant center between links 2
and 4

7 7
 Instant Centers
Kennedys rule: any three links will
have three instant centers and
they will lie on a straight line
I13
The pins are instant centers
I13 is from links 1,2,3 and 1,3,4
I24 is from links 1,2,4 and 2,3,4
123 134 124 234 Links
I12 I13 I12 I23 ICs
I23 I34 I24 I34
I24
I13 I14 I14 I24
8 8
 Instant Centers
I13 has zero velocity since link 1 is
ground
3 is the same all over link 3
Velocity relative to ground=r, I13
perpendicular to r 3

VA2=a2=VA3=p3
From this, 3 must be in the p
opposite direction as 2, and
smaller in magnitude since p>a VA2 3

A VA3
a
9 9
 Instant Centers
I24 has the same velocity on link 2
and link 4
VI2=l22=VI4=l44
From this, 4 is in the same
direction as 2 and smaller in
magnitude since l4>l2

4
I24 l4

VI4 V l2
I2

10 10
 Instant Centers Practice Problems
A

O2 O4
Power=Tinin=Toutout

O4

O2

11
B 11
 Velocity Analysis of a 4-Bar Linkage
Given 2. Find 3 and 4

12 12
 Velocity Analysis of a 4-Bar Linkage
Write the vector loop equation
i 2 i3 i 4 i1
ae be ce de 0
After solving the position
analysis, take the derivative

aei 2 i2 bei3 i3 cei 4 i4 0
i 2 aei 2 i3bei3 i 4cei 4 0
or
VA i 2 aei 2
V A V BA V B 0
VBA i3bei3

where VB i 4cei 4
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 Velocity Analysis of a 4-Bar Linkage
i 2 aei 2 i3bei3 i 4cei 4 0
Take knowns to one side:
3bei3 4cei 4 2aei 2
Take conjugate to get 2nd
equation:
i 3 i 4 i 2
3be 4ce 2ae
i 3 i 4 i 2
Put in matrix form: be ce ae
i 3
i 4
3

2
i 2
be ce 4 2 ae
1
Invert matrix: 3 be 3 i
ce 4 2 aei 2
i
i3 i 4 i 2
4 be ce 2 ae
14 14
 Inverted Crank Slider
Link 3 is a slider link: its effective length, b, changes
Given 2. Find 3 and b

15 15
 Inverted Crank Slider
Given 2. Find 3 and b
Write the vector loop equation:
aei 2 bei3 cei 4 dei1 0
After solving the position
analysis, take the derivative:
i 2aei 2 bei3 i3bei3 i 4cei 4 0
To get another equation:
3 4 or 3 4
so
bei3 i3 bei3 cei 4 i 2aei 2
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 Inverted Crank Slider
i 3 i 3
be i3 be cei 4
i 2ae i 2

Take conjugate to get second
equation:

bei3 i3 bei3 cei 4 i 2aei 2
Put in matrix form:
e i 3
i bei 3 cei 4 b i 2 aei 2
i be
i 3 i 3 i 2
e ce i 4 3 i 2 ae
b ei3 i 3
i be ce i 4

1
i 2 aei 2
i3
i 2
Invert:
3 e i be i3 ce i 4 i 2 ae
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 Velocity of any Point on a Linkage
Write the vector for RP
R p aei 2 pei 3 3
Take the derivative
V p i 2 aei 2 i 3 pei 3 3
Similarly
RS sei 2 2 RP
VS i 2 sei 2 2

RU uei 4 4
VU i 4uei 4 4
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 Offset Crank Slider
Given 2. Find 3 and d

b c
a

19 19