ME-313

Mechanics of Machines
Lecture 7
velocity Analysis – Part a
Adnan Munir

+92-323-4439474 Office 210-G

 Contents
1

Introduction of Velocity Analysis

Definition of Velocity Analysis

Graphical Velocity Analysis

 Introduction of Velocity Analysis

• Position analysis
• Done

• Next steps
• Determine velocities of all links and points of interest
• Calculate stored kinetic energy using mV2/2
• Determine accelerations of all links and points of interest
• Determine dynamic forces
 Introduction of Velocity Analysis

• Methods for Velocity Analysis

1. Graphical Method
2. Velocity of Instant Centers
3. Vector Loop Method (analytical solution)
i. Four-bar pin-jointed mechanism
ii. Four-bar crank slider mechanism
iii. Four-bar inverted crank slider mechanism
iv. Four-bar slider-crank mechanism
v. Geared-five-bar mechanism
 Definition of Velocity Analysis

•  Velocity

• Rate of change of position with respect to time

• Vector quantity
• Angular and/or linear
• Angular velocity denoted as ω and linear velocity as v

= or = - 6.1
Definition of Velocity Analysis
Definition of Velocity Analysis
Definition of Velocity Analysis
 Graphical Velocity Analysis
• Purpose of Graphical Velocity Analysis

• Quick check on results from computer program solution

• Check needs for few positions to prove validity of program

• Visual feedback on solution to help develop an understanding

of underlying principles for beginners
 Graphical Velocity Analysis
• Graphical velocity analysis – three equations needed – 6.5a, 6.5b
and 6.7

VPA = VP – VA - 6.5a
Rearranging
VP = VA + VPA - 6.5b
v = rω - 6.7

• 6.7 defines magnitude v of velocity of any point on body in pure

rotation
 Graphical Velocity Analysis

Example 6-1
Graphical Velocity Analysis for One Position of Linkage

Problem
Given a, b, c, d, θ2, θ3, θ4, ω2 find ω3, ω4, VA, VB, VC by graphical methods
 Graphical Velocity Analysis
• Velocity Analysis of Four-bar pin-jointed mechanism
• Calculate angular velocities of links 3 and link 4 (ω3, ω4)
• Calculate absolute linear velocities of points A, B and C (V A,
VB , V C )

• Point C
• Represents any general point of interest - coupler point

• Knowns
• Lengths of all links - a, b, c and d
• Angular positions of all links - θ2, θ3 and θ4
Graphical Velocity Analysis