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Chapter 6
Velocity in Mechanisms
(Instant Centre
Method)
1 Mohammad Suliman Abuhaiba, Ph.D., PE
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Introduction
Combined motion of rotation & translation of
link AB: pure rotation about some center I,
instant center of rotation

Mohammad Suliman Abuhaiba, Ph.D., PE

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Introduction
 Instant center of a moving body:
center which keeps changing from one
instant to another
 Centrode: locus of all such ICs
 instantaneous axis: A line through an IC
& perpendicular to plane of motion
 Axode: Locus of this axis

Mohammad Suliman Abuhaiba, Ph.D., PE

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Space and Body Centrodes

 IC: a point in the body which may
be considered fixed at any particular
moment
 Space centrode: locus of IC in
space during a definite motion of the body
 Body centrode: locus of IC relative to body
itself
 Body centrode rolls without slipping
over space centrode. Mohammad Suliman Abuhaiba, Ph.D., PE
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Methods for Determining the

Velocity of a Point on a Link

1. Instant center method

2. Relative velocity method

Mohammad Suliman Abuhaiba, Ph.D., PE

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Number of Instant Centers in a

Mechanism

Mohammad Suliman Abuhaiba, Ph.D., PE

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Types of Instant Centers

a. Primary instant centers

1. Fixed instant centers
2. Permanent instant centers
b. Secondary instant centers
1. Neither fixed nor permanent instant
centers

Mohammad Suliman Abuhaiba, Ph.D., PE

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Types of Instantaneous Centers

Fixed ICs, & I14:
I12
same place for
configurations al
mechanism l
of

Mohammad Suliman Abuhaiba, Ph.D., PE

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Types of Instantaneous Centers

I23 & I34, permanent
ICs: move when
mechanism moves,
but joints are of
permanent nature

Mohammad Suliman Abuhaiba, Ph.D., PE

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Types of Instantaneous Centers

& I24, neither

I13
fixed nor
permanent
vary with
ICs:
configuration of
mechanism

Mohammad Suliman Abuhaiba, Ph.D., PE

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Location of Instantaneous Centers

Mohammad Suliman Abuhaiba, Ph.D., PE

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Aronhold Kennedy Theorem

If 3 bodies move relative to each other,

they have 3 ICs that lie on a straight line.

Mohammad Suliman Abuhaiba, Ph.D., PE

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Method of Locating ICs in a Mechanism

Fig. 6.8 (a)
1. Determine number of ICs (N)

2. Make a list of all instantaneous centers

Links 1 2 3 4
Instantaneous 12 23 34
centers 13 24
14
Mohammad Suliman Abuhaiba, Ph.D., PE
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Method of Locating Instantaneous

Centers in a Mechanism

3. Locate fixed & permanent ICs by

inspection.
 I12 & I14 are fixed Ics
 I23 & I34 are permanent IC
 The four bar mechanism has:
 four turning pairs
 four primary (fixed and
permanent) ICs located at centers of the
pin joints Mohammad Suliman Abuhaiba, Ph.D., PE
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Method of Locating Instantaneous

Centers in a Mechanism
4. Locate remaining neither fixed nor
permanent ICs (secondary centers) by
Kennedy’s theorem
 Circle diagram Fig. 6.8 (b)
 Mark points on a circle equal to number
of links in a mechanism.
5. Join points by solid lines to show that
these centers are already found.

Mohammad Suliman Abuhaiba, Ph.D., PE

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Method of Locating Instantaneous

Centers in a Mechanism

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Example 6.1
The crank AB rotates uniformly at 100 rpm.
Locate all instantaneous centers and find the
angular velocity of link BC.

Mohammad Suliman Abuhaiba, Ph.D., PE

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Example 6.2
Locate all ICs of the slider crank mechanism. If the crank
rotates cw with an angular velocity of 10 rad/s, find:
1. Velocity of slider A
2. Angular velocity of ConRod AB

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Example 6.3
A mechanism has the following dimensions: OA =
200 mm; AB = 1500 mm; BC = 600 mm;
CD = 500 mm and BE = 400 mm. Locate all ICs. If
crank OA rotates uniformly at 120 rpm cw, find:
1. velocity of B, C and D
2. angular velocity of links AB, BC and CD

Mohammad Suliman Abuhaiba, Ph.D., PE

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Example 6.3

Mohammad Suliman Abuhaiba, Ph.D., PE

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Example 6.4
The mechanism of a wrapping machine has the following
dimensions : O1A = 100 mm; AC = 700 mm; BC = 200 mm;
O3C = 200 mm; O2E = 400 mm; O2D =
200 mm and BD = 150 mm. The crank O1A rotates at a uniform
speed of 100 rad/s. Find the velocity of point E of the bell crank
lever by IC method.

Mohammad Suliman Abuhaiba, Ph.D., PE

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Example 6.4

Mohammad Suliman Abuhaiba,

Ph.D., PE
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Example 6.5
The figure shows a sewing needle bar
mechanism O1ABO2CD wherein the
different dimensions are as follows: O1A
= 16 mm;  = 45°; Vertical distance
between O1 & O2 = 40 mm; Horizontal
distance between O1 & O2 = 13 mm; O2B
= 23 mm; AB = 35 mm; O2BC = 90°;
BC = 16 mm; CD = 40 mm. D lies
vertically below O1. Find velocity of
needle at D for the given configuration.
Crank O1A rotates
at 400 rpm. Mohammad Suliman Abuhaiba, Ph.D., PE
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Example 6.5

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Example 6.6
The various dimensions of a
Whitworth quick return motion
mechanism are as follows: OQ
= 100 mm; OA
= 200 mm; QC = 150 mm;
and CD = 500 mm. The crank
OA rotates at 120 rpm cw.
Locate all ICs and find the
velocity of ram D.

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Example 6.6

Mohammad Suliman Abuhaiba, Ph.D., PE