General Plane Motion

General plane motion is neither a translation nor a rotation.

General plane motion can be considered as the

sum of a translation and rotation.

P R Venkatesh Mech Dept RVCE

Bangalore
Displacement of particles A 1and B1 to A2 and B2 can be
divided into two parts:
translation to A2 and rotation of B1’ about A2 to B2

P R Venkatesh Mech Dept RVCE

Bangalore
 Instantaneous centers (Centros)
Whenever two bodies have plane relative motion, at
a particular instant that motion will be rotation about
a center called instantaneous center or centro.

The position instantaneous centre of a moving body

goes on changing from one instant to other.

Instantaneous centre is obtained by drawing

perpendicular to the direction of velocity at two
points on the body. The point of intersection of the
perpendicular lines is the Centro.

P R Venkatesh Mech Dept RVCE Bangalore

If the velocity at two points A and B are known, the
instantaneous center of rotation lies at the
intersection of the perpendiculars to the velocity
vectors through A Pand B . Mech Dept RVCE
R Venkatesh
Bangalore
The locus of I-centers drawn in space of a
moving body is known as “Space centrode”

The locus of I-centers of a moving body drawn

on the body itself is known as “Body centrode”

P R Venkatesh Mech Dept RVCE

Bangalore
 Instantaneous centre method for velocity
To explain instantaneous centre let us consider a
plane body P having a non-linear motion relative to
another body q consider two points A and B on body
P having velocities as Va and Vb respectively in the
direction shown.

Va
A
B
Vb

P
I

P R Venkatesh Mech Dept RVCE

Bangalore
If a line is drawn r to Va, at A the body can be imagined to
rotate about some point on the line. Thirdly, centre of rotation
of the body also lies on a line r to the direction of Vb at B. If
the intersection of the two lines is at I, the body P will be
rotating about I at that instant. The point I is known as the
instantaneous centre of rotation for the body P. The position of
instantaneous centre changes with the motion of the body.

Va
A P

B Vb
In this case of the r lines drawn from A
q and B meet outside the body P
I

P R Venkatesh Mech Dept RVCE

Bangalore
 Va
A
Vb
B

I at 

If the direction of Va and Vb are parallel to the r at A and

B met at . This is the case when the body has linear
motion.

P R Venkatesh Mech Dept RVCE

Bangalore
 Arnold Kennedy theorem of three centers:
Statement: “If three bodies have motion
relative to each other, their instantaneous
centers should lie in a straight line.”
Proof:

Vbc Vbc
B C
I
bc
I Ica
ab

P R Venkatesh Mech Dept RVCE

Bangalore
 Vbc Vbc
B C
I
bc
I Ica
ab

• Let A, B and C be any three bodies having

plane relative motion w.r.t one another.
• Let Iab, Ibc & Ica be the instantaneous centers
of rotation.
• Ibc is a point either on B or C.
P R Venkatesh Mech Dept RVCE
Bangalore
 Vbc Vbc
B C
I
bc
I Ica
ab

• First, consider Ibc as a point on B.

• Then its velocity must be perpendicular to
the line joining Iab & Ibc.
• Next , consider Ibc as a point on C.
• Then its velocity must be perpendicular to
the line joining Ica & Ibc.
P R Venkatesh Mech Dept RVCE
Bangalore
 Vbc Vbc
B C
I
bc
I Ica
ab

• But the point Ibc can not have two different

directions for its velocity.
• It is possible only if the point Ibc lies on the line
joining the points Iab & Ica.
• This implies that for the three links to be in
relative motion all the three centers should lie in a
same straight line. Hence, Bangalore the proof.
P R Venkatesh Mech Dept RVCE
 Locating centros by inspection

2 
I12
I12
1

(a) (b)
If two links are connected by a pin joint, the joint itself is the
instantaneous centre of rotation.
In fig (a) , neither of the two links are fixed, & hence I 12 is
called the permanent I-center.
In fig (b) the link 1 is fixed, & hence I12 is called the fixed
I -center P R Venkatesh Mech Dept RVCE
Bangalore
 I12 at  I12

2


1 
(c) (d)

In a sliding block, (fig c) the centro lies at infinity in a

direction perpendicular to the path of motion of the slider.

In fig (d) , the link is sliding over a curved surface and hence
the center of curvature itself is the centro.
P R Venkatesh Mech Dept RVCE
Bangalore
  I12

I12


 

(e)

If two links have rolling contact, the centro lies at the

point of contact.

P R Venkatesh Mech Dept RVCE

Bangalore
 Number of Instantaneous Centers
The number of instantaneous centers in a
mechanism depends upon number of
links. If N is the number of instantaneous
centers and n is the number of links.

n (n  1)
N 
2

P R Venkatesh Mech Dept RVCE

Bangalore
 Types of Instantaneous Centers
There are three types of instantaneous centers namely
fixed, permanent and neither fixed nor permanent.
Example: Four bar mechanism. n = 4.

n (n  1) 4(4  1)
N   6
2 2

P R Venkatesh Mech Dept RVCE

Bangalore
 Locating Instantaneous centers
Circle diagram:
A circle is drawn & is divided into as many equal
parts marked 1,2,3 etc. as the number of links in the
mechanism.
The fixed & permanent I centers are located by
visual inspection.
These points are joined re drawn by solid lines.
The other lines representing I centers which are yet
to be located are drawn by dotted lines.
They may be located by using Kennedy's theorem.

P R Venkatesh Mech Dept RVCE Bangalore

 1 2 Link Numbers
1 2 3 4
12 23 34

13 24
I- centers
14
4 3

CIRCLE DIAGRAM
The I -centers 12, 23, 34 & 14 are fixed by inspection as
they are located at the respective pin joints between the
links.
By Kennedy's theorem, the centros 12, 14 & 24 must lie on
the same line .
Similarly, the centros 12, 34 & & 14must lie on the same
line.
Hence extend the link 1 & link 3 as shown to obtain I24
 1 2
Link Numbers
1 2 3 4
12 23 34

13 24
I- centers
4 3 14

CIRCLE DIAGRAM
By Kennedy's theorem, the centros 12, 23 & 13 must lie on
the same line .
Similarly, the centros 14, 34 & & 13must lie on the same
line.
Hence extend the link 2 & link 4 as shown to obtain I13

P R Venkatesh Mech Dept RVCE

Bangalore
 C 34
3
B
23
4
2
A D
24
12 14
1

Extend the link 1 & link 3 as shown

to obtain I24

P R Venkatesh Mech Dept RVCE

Bangalore
 13

C 34
3
B
23
4
2
A D
24
12 14
1

Fixed instantaneous center

I12, I14
Permanent instantaneous center I23, I34
P R Venkatesh Mech Dept RVCE
Neither fixed nor permanent
Bangalore instantaneous center I 13, I24
 Velocity by I-center method
If the velocity of the point B, Vb is known, then
the angular velocity of link 3 will be;
Vb
3 
BI 13
Then the linear velocity of the point C, Vc will be
V c  3 CI 13
Vc
Hence, angular velocity of link 4 ; 4 
CD
P R Venkatesh Mech Dept RVCE
Bangalore
 A 4-bar mechanism has links AB=300
mm, BC=CD=360 mm, Fixed link
AD=600 mm, angle BAD=600. Crank
AB rotates clockwise at 100 rpm.
Locate all the I-centers & determine
the angular velocity of link BC.

n(n  1) 4(4  1)
The number of I centers N   6
2 2

P R Venkatesh Mech Dept RVCE

Bangalore
 C AB  300mm
B BC  360mm
100
CD  360mm
rpm
AD  600mm
D BAD  60 0
A

P R Venkatesh Mech Dept RVCE

Bangalore
 1 2 Link Numbers
1 2 3 4
12 23 34

13 24
I- centers
14
4 3

CIRCLE DIAGRAM
The I -centers 12, 23, 34 & 14 are fixed by inspection as
they are located at the respective pin joints between the
links.
By Kennedy's theorem, the centros 12, 14 & 24 must lie on
the same line .
Similarly, the centros 12, 34 & & 14must lie on the same
line.
P R Venkatesh Mech Dept RVCE
Hence extend the link 1 & Bangalore
link 3 as shown to obtain I24
 1 2
Link Numbers
1 2 3 4
12 23 34

13 24
I- centers
4 3 14

CIRCLE DIAGRAM
By Kennedy's theorem, the centros 12, 23 & 13 must lie on
the same line .
Similarly, the centros 14, 34 & & 13must lie on the same
line.
Hence extend the link 2 & link 4 as shown to obtain I13

P R Venkatesh Mech Dept RVCE

Bangalore
 13

By measurement,
B-13=49.84 mm
C-13=36 mm
B-24=109 mm C
3
B 23 34
A-24=90.73 mm
100
2 rpm 4

60
14

°
24 D
A 12
1

P R Venkatesh Mech Dept RVCE

Bangalore
 Velocity by I-center method
The velocity of the point B, Vb is
2  100
Vb   AB  AB   0.3  3.142m / sec
60
then the angular velocity of link 3 will be;

Vb 3.142
3    63 rad / sec
Then theBI
linear
13 0.04984
velocity of the point C, V c will be

Vc  3  CI13  63  0.036  2.268m / sec

P R Venkatesh Mech Dept RVCE
Bangalore
 Velocity by I-center method
Hence, angular velocity of link 4 ;

Vc 2.268
4    63rad / sec
CD 0.036

P R Venkatesh Mech Dept RVCE

Bangalore
 Problem 2
Locate all the instantaneous centers of the slider
crank mechanism as shown in fig. The lengths of
crank OB and connecting rod AB are 100 mm and
400 mm respectively. If the crank rotates clockwise
with an angular velocity of 10 rad/sec, determine:
(i)Velocity of slider A
(ii)Angular velocity of the connecting rod AB.

P R Venkatesh Mech Dept RVCE

Bangalore
P R Venkatesh Mech Dept RVCE
Bangalore
P R Venkatesh Mech Dept RVCE
Bangalore
P R Venkatesh Mech Dept RVCE
Bangalore
P R Venkatesh Mech Dept RVCE
Bangalore
 In a slider crank mechanism shown in fig, the crank
OA=300 mm & connecting rod AB=1200 mm. The
crank OA is turned 300 from inner dead center.
Locate all the instantaneous centers. If the crank
OA rotates at 15 rad/sec clockwise, find (i) Velocity
of slider B and (ii) Angular velocity of connecting rod
AB.

A
3
B 2
O
4
1 1

P R Venkatesh Mech Dept RVCE

Bangalore
 n(n  1) 4(4  1)
The number of I centers N   6
2 2

1 2 Link Numbers
1 2 3 4
12 23 34

13 24
I- centers
4 3 14

CIRCLE DIAGRAM

P R Venkatesh Mech Dept RVCE

Bangalore
 I 14 @ infinity 1 2
I 14 @ infinity

I13

4 3

CIRCLE DIAGRAM

AI I24
3 23
I 34 B 2 I

30°
12
O
4
1 1

By construction, I13A=1375 mm, I13B=837.4 mm,

P R Venkatesh Mech Dept RVCE
Bangalore
 Velocity by I-center method
The velocity of the point A, Va is

Va  OA  OA  15  0.3  4.5m / sec

then the angular velocity of link 3 will be;

Va 4.5
3    3.273rad / sec
Then the AI
linear
13 1.375
velocity of the slider B, V b will be

Vb  3  BI13  3.273  0.8374  2.74m / sec

P R Venkatesh Mech Dept RVCE
Bangalore
Locate all the centros for the configuration
shown in fig.

C
3 AD=65 mm
B AB=60 mm
BA=55 mm
CD=80 mm
2 4
30°
A D
1 1

P R Venkatesh Mech Dept RVCE

Bangalore
 1 2

4 3

CIRCLE DIAGRAM
C
I34 3 I
23
B

I12 2 I13 4
30°
A I 24
D
1 1
P R Venkatesh Mech Dept RVCE
Bangalore
 Problem 3
Locate all the instantaneous centers for the crossed
four bar mechanism as shown in fig. The
dimensions of various links are CD=65 mm, CA=60
mm, DB= 80 mm, and AB=55 mm. Also find the
angular velocities of the links AB and DB., if the
crank CA rotates at 100 rpm in the anticlockwise
direction.

P R Venkatesh Mech Dept RVCE

Bangalore
Locate all the centros for the configuration
shown in fig.
B
3
2
A

4
1

O
P R Venkatesh Mech Dept RVCE
Bangalore
 n(n  1) 4(4  1)
The number of I centers N   6
2 2

1 2 Link Numbers
1 2 3 4
12 23 34

13 24
I- centers
4 3 14

CIRCLE DIAGRAM

P R Venkatesh Mech Dept RVCE

Bangalore
1 2
I 24 B
I 23 3
2
I 34 @ infinity
4 3 A
I 12
CIRCLE DIAGRAM

4
1

I13

I 14
O
I 34 @ infinity
P R Venkatesh Mech Dept RVCE
Bangalore
Locate all the centros for the configuration
shown in fig.
4

1
3

1
P R Venkatesh Mech Dept RVCE
Bangalore
 4
I13 I 34

I 14 @ infinity
1
3

I 23
2
1 2

1
I 24
@ infinity I 12 @ infinity 4 3

CIRCLE DIAGRAM
P R Venkatesh Mech Dept RVCE
Bangalore
Locate all the centros for the configuration
shown in fig.
4

1
P R Venkatesh Mech Dept RVCE
Bangalore
 1 2
1
I13 I 34
I 14
4 3

CIRCLE DIAGRAM

I 23

I 24
I 12 @ infinity
@ infinity
P R Venkatesh Mech Dept RVCE
Bangalore
Locate all the centros for the configuration
shown in fig.

1
1
3
P R Venkatesh Mech Dept RVCE
Bangalore
 1 2
2
I 24

I 12 4 3
I 23
CIRCLE DIAGRAM
I13 4 1
1
3 I 34

I 14@ infinity I 14 @ infinity

I 14@ infinity

P R Venkatesh Mech Dept RVCE

Bangalore