Velocity Analysis

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.
Angular velocity of a link

Relationship between linear velocity and angular velocity

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
Crates on a conveyor shown in Figure move toward the left at a constant rate. It takes 40 s to traverse the 25-
ft
conveyor. Determine the linear velocity of a crate.
Velocity profile of linear motion
Servo-driven actuators are programmed to move according to a specified velocity
profile. The linear actuator, is programmed to extend according to the velocity
profile shown in plot determine the total displacement during this programmed
move. V in /s [ area under the curve = displacement]
Angular velocity
The gear rotates counter clockwise at a constant rate. It moves 300° in.
0.5 s. Determine the angular velocity of the gear
Velocity of a point in a mechanism
Figure illustrates a cam mechanism used to drive the exhaust port of an internal
combustion engine. Point B is a point of interest on the rocker plate. At this
instant, the cam forces point B upward at 30 mm/s. Determine the angular
velocity of the rocker plate ABC and the linear velocity of point C.
1. Draw the kinematic diagram

2. Angular velocity of the link 2

ω= 2π N/ 60 rad/s
3. Calculate the Linear Velocity of Point C

The velocity is perpendicular to the line that connects the center of rotation of link 2,
point A, to point C. Therefore, the velocity of point C is directed 20° (90°–70°)
Relative velocity
Relative motion, that is, the difference between the motion of
two points, can be written mathematically as
Cargo lift mechanism for a delivery truck is shown. At this instant, point
A has a velocity of 12 in./s in the direction shown, and point B has a
velocity of 10.4 in./s, also in the direction shown. Determine the angular
velocity of the lower link and the relative velocity of point B relative to
point A
1. Kinematic diagram

2. Angular velocity
3. Relative velocity B/A using law of sines
Relative velocity Method: Graphical analysis
Two points that reside on the same link can only have a relative velocity that is in a direction
perpendicular to the line that connects the two points.

Figure shows a rock-crushing mechanism. It is used in a machine where large rock is placed in a
vertical hopper and falls into this crushing chamber. Properly sized aggregate, which passes
through a sieve, is discharged at the bottom. Rock not passing through the sieve is reintroduced
into this crushing chamber. Determine the angular velocity of the crushing ram, in the shown
configuration, as the 60-mm crank rotates at 120 rpm, clockwise.
1. Kinematic diagram

VB =60 x 2 π x 120/60

2. Velocity diagram

DB =  (3602 +602)
ABD = tan-1(360/60)
Determine DCB and ABC using cosine rule
 MATLAB CODE FOR COSINE RULE
b= 360; c=60; A =90;
% determine a if 2 sides and 1 angle are known
a= sqrt(b^2+c^2-2*b*c*cosd(A))

% answer for a is 365 mm

% If all sides are known then angle [A,B,C]for any combination can be determined

a=365; b=180;c=400;

A = acosd((b^2+c^2-a^2)/(2*b*c))

% Answer for angle A = 66

B= acosd((a^2+c^2-b^2)/(2*a*c))

C= acosd((a^2+b^2-c^2)/(2*a*b))
% answer for A,B,C 66, 26, 88 degrees
3. Decide the velocity equation

4. Determine the velocity of input point

5. Determine the directions of desired velocities

Because link 4 is fixed to the frame at D, link 4 is limited to rotation about D.
Therefore, the velocity of point C must be perpendicular to the line CD. Also,
as earlier stated, points B and C reside on link 3. Therefore, the relative
velocity of C with respect to B must lie perpendicular to the line BC.

6. Draw the velocity polygon

7. Measure the Velocities from the Velocity Polygon

8. Calculate the angular velocities

Relative velocity method- Analytical
approach

Figure shows a primitive well pump that is common

in undeveloped areas. To maximize water flow, the
piston should travel upward at a rate of 50 mm/s. In
the position shown, determine the angular velocity
that must be imposed on the handle to achieve the
desired piston speed.
1. Draw the kinematic diagram
2. Analyze the mechanism geometry

3. Assemble the velocity polygon

Because link 2 is fixed to the frame at A, point B is limited to rotation about A. Therefore, the velocity of
point B must be perpendicular to line AB. In addition, since both points B and C reside on the same link (link 3),
the relative velocity of B with respect to C must lie perpendicular to the line BC. From the previous two statements,
the directions of both velocities VB and VB/C are known. Velocity VB is perpendicular to AB, 15° from the vertical.
Velocity vB/C is perpendicular to BC, 7.95° from the horizontal, or 90° – 7.95° = 82.05° from the vertical.

The remaining interior angle of this vector triangle is

4. Calculate the Velocity of Point B

5. Determine the Angular Velocity of Link 2

HW: Try both analytical and graphical methods
Figure illustrates a roofing material delivery truck conveyor. Heavy roofing
materials can be transported on the conveyor to the roof. The conveyor is lifted
into place by extending the hydraulic cylinder. At this instant, the cylinder
is extending at a rate of 8 fpm (ft/min). Determine the rate that the conveyor is
being lifted