MENG 372

Chapter 6
Velocity Analysis

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

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 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
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 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 

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 Velocity Analysis
If point A is moving
  
VP  VA  VPA

 VA  pei i 

Graphical solution:

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 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 
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 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

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 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

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 Instant Centers
• Kennedy’s 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 IC’s
I23 I34 I24 I34
I24
I13 I14 I14 I24
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 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=a2=VA3=p3
• From this, 3 must be in the p
opposite direction as 2, and
smaller in magnitude since p>a VA2 3

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

4
I24 l4

VI4 V l2
I2

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 Instant Centers Practice Problems
A

O2 O4
Power=Tinin=Toutout

O4

O2

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

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 Velocity Analysis of a 4-Bar Linkage
• Write the vector loop equation
i 2 i3 i 4 i1
ae  be  ce  de 0
• After solving the position
analysis, take the derivative
   
aei 2 i2  bei3 i3  cei 4 i4  0  
i 2 aei 2  i3bei3  i 4cei 4  0
or 
   VA  i 2 aei 2
V A  V BA  V B  0 
VBA  i3bei3

where VB  i 4cei 4
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 Velocity Analysis of a 4-Bar Linkage
i 2 aei 2  i3bei3  i 4cei 4  0
• Take knowns to one side:
3bei3   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
    i3 i 4   i 2 
 4  be  ce    2 ae 
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 Inverted Crank Slider
Link 3 is a slider link: its effective length, b, changes
Given 2. Find 3 and b

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 Inverted Crank Slider
• Given 2. Find 3 and b
• Write the vector loop equation:
aei 2  bei3  cei 4  dei1  0
• After solving the position
analysis, take the derivative:
i 2aei 2  bei3  i3bei3  i 4cei 4  0
• To get another equation:
 3   4   or  3   4
so  
bei3  i3 bei3  cei 4  i 2aei 2
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 Inverted Crank Slider
 i 3 i 3
be  i3 be  cei 4
 i 2ae i 2

• Take conjugate to get second
equation:

bei3  i3 bei3  cei 4  i 2aei 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   ei3  i 3
i be  ce i 4
 
1
 i 2 aei 2 
    i3
   i 2 
Invert: 
3  e  i be i3  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

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