Lecture Objectives

At the end of this lecture, students will be able to:

• Explain relative velocity method as applied to Four bar
chain
• Solve problems of velocity analysis using Graphical
method

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 Topics
• Velocity analysis of Four bar chain using Relative velocity
method

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 Velocity
• It is defined as rate of change of position with
respect to time

• Linear Velocity:

• Angular Velocity:

  =𝑅𝑎𝑑𝑖𝑢𝑠 ∗ 𝑤
𝑉

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 Velocity of a Link

• Consider a link rotating at a angular velocity of w

– VA velocity of point A relative to ground
– VPA Velocity of point P relative to A

– Velocity of VP
 𝑉 𝑃=𝑉 𝑃𝐴 + 𝑉 𝐴

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 Velocity Analysis of a Four Bar Mechanism-
Graphical Method
• Let us consider four bar mechanism, in a given
configuration and for a known angular velocity of the
crank (ω2). Determine ω3 and ω4

B
R3
A

R4
2
R

R1
O2 O4

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 Velocity Analysis of a Four Bar Mechanism-
Graphical Method Continued…

•From
  Vector loop equation:

The velocity equation is

The velocity component is tangential,

B
A R3

R4
2
R

R1
O2 O4
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 Velocity Analysis of a Four Bar Mechanism-
Graphical Method Continued…

B Select the reference

A zero velocity OV

R1 Draw a line
O2 O4 perpendicular to R2
A
V2 Direction of V2 is
depended on direction
OV of R2

Magnitude of V2 is w2R2

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 Velocity Analysis of a Four Bar Mechanism-
Graphical Method Continued…

B From A draw a line

A perpendicular to R3

R1 Draw a line
O2 O4 perpendicular to R2

A
V2

OV
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 Velocity Analysis of a Four Bar Mechanism-
Graphical Method Continued…

B
A From OV draw a line
perpendicular to R4
R1
O2 O4

A
V2
OV

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 Velocity Analysis of a Four Bar Mechanism-
Graphical Method Continued…

B
A R3 will rotate in counter
clockwise direction
The magnitude of V3 is
R1
O2 O4 determined from velocity
polygon
  𝑉3
A
𝑤 3=
𝑅3 ( )
V2 Similarly, w4 is determined
by velocity polygon
V3 OV
  𝑉4
V4
𝑤4=
𝑅4 ( )
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 Lecture Summary

 The first step in relative velocity method is to find the

velocity of one point on the four bar chain (Crank)
 Through relative velocity equation velocities of all the
points on different links are determined

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