MEE 357: MECHANICS OF MACHINERY

Lecture 5: Velocity and Acceleration Analysis of Mechanisms

Velocity and Acceleration Analysis of Mechanisms (Graphical
Methods)

• Velocity and acceleration analysis of Four Bar mechanism, slider crank

mechanism and Simple Mechanisms by vector polygons

• Relative velocity and acceleration of particles in a common link

• Relative velocity and accelerations of coincident Particles on separate links.

• Coriolis component of acceleration

• Angular velocity and angular acceleration of links, velocity of rubbing.

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 Relative Velocity of Two Bodies Moving in Straight Lines
Consider two bodies A and B moving along parallel lines in
the same direction with absolute velocities and
such that > ,

The relative velocity of A with respect to B is

vector difference of and= -

Similarly,
The relative velocity of B with respect to A is

= vector difference of and = - Relative velocity of two bodies

moving along parallel lines

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 Relative Velocity of Two Bodies Moving in Straight Lines
• Now consider the body B moving in an inclined direction.
• The relative velocity of A with respect to B may be obtained by the
law of parallelogram of velocities or triangle law of velocities.
Take any fixed point o and draw vector oa to represent in magnitude
and direction to some suitable scale.
• Similarly, draw vector ob to represent in magnitude and direction
to the same scale.
• Then vector ba represents the relative velocity of A with respect to
B.
• In the similar way as discussed above, the relative velocity of A
with respect to B,
vector difference of and= -

Similarly, The relative velocity of B with respect to A is

= vector difference of and = -

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 Motion of a Link
• Consider two points A and B on a rigid link AB .
• Let, one of the extremities, B of the link move relative to A, in a
clockwise direction.
• Since the distance from A to B remains the same, therefore there
can be no relative motion between A and B, along the line AB.
• It is thus obvious, that the relative motion of B with respect to A
must be perpendicular to AB.

• Hence velocity of any point on a link with respect to another

point on the same link is always perpendicular to the line joining
these points on the configuration (or space) diagram

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 Motion of a Link

Thus, the point c on the vector ab divides it in the same ratio as C divides the link AB .

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 Velocity of a Point on a Link by Relative Velocity Method
• Consider two points A and B on a link .
• Let the absolute velocity of the point A i.e. is known in
magnitude and direction and the absolute velocity of the point B
i.e.is known in direction only.

Then the velocity of B may be determined by drawing the velocity

diagram

1. Take some convenient point o, known as a pole.

2. Through o, draw oa parallel and equal to , to some suitable scale.
3. Through a, draw a line perpendicular to AB of fig. (a) .
This line will represent the velocity of B with respect to A, .
4.Through o, draw a line parallel to intersecting the line of at b.
5. Measure ob , which gives the required velocity of point B, to the
a
scale.
(b) Velocity Diagram
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 Velocity of a Point on a Link by Relative Velocity Method
b
c
1. The vector ab represents the velocity of B with respect to A ,
is known as velocity of image of the link AB. VBA
2. The absolute velocity of any point C on AB may be VB
determined by dividing vector ab at c in the same ratio as C
o a
divides AB.
(a) Velocity Diagram
The vector oc represents the absolute velocity of point C and ac

represents the velocity of C with respect to A.

3. The absolute velocity of any point D outside AB, may also be
obtained by completing the velocity triangle abd and similar to
triangle ABD.
4. The angular velocity of the link AB may be found by dividing
the relative velocity of B with respect to A to the length of the
link AB.
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 Velocities in Slider Crank Mechanism
Magnitude And
Direction Known,
Here,
Steps:
• From any point o, draw vector ob parallel to the direction of
(or perpendicular to OB) such that ob = vB = ωxr, to some
suitable scale.  ???

Since AB is a rigid link, therefore the velocity of A relative to B

is perpendicular to AB.
• Now draw vector ba perpendicular to AB to represent the
velocity of A with respect to B i.e. vAB.
• From point o, draw vector oa parallel to the path of motion of the
slider A(which is along AO only). The vectors ba and oa intersect
at a.
(b) Velocity diagram
• Now oa represents the velocity of the slider A i.e. v A, to the
scale.
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Velocity analysis: Rubbing velocity at a pin joint

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Problem 1

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 Problem 1
1. Draw ab = 52.36 m/s, perpendicular to link AB to an
appropriate scale.
2. Next draw the direction of velocity C relative to B
at right angles to the link BC passing through point b
on the velocity diagram.
3. Next draw the direction of the velocity of C relative
to D at right angles to the link DC passing through
point a ( which is the same as point d). Point c is where
the two lines intersect.
4. Determine velocity cd by measurement . The
velocity of point C relative to D is 43.5 m/s.

5. Convert this into angular velocity by dividing the

length the length of the link DC into it.

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 Problem 2

R D

r
Slider - B
O A on CD

Here, OA = 60 mm, = 200 RPM clockwise, CD = 300 mm, DR = 400 mm,

Angle BOC = 120°, OC = 160 mm, distance between horizontal line from R & point O = 120 mm.

Draw crank and slotted mechanism as per given configuration.

Find out the velocity of ram R.

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Problem 2

R D
o,c
r
Slider - B
O A on CD

• Find ω = (2πN) / 60, substituting value of N = 200 rpm, ω = 20.952 rad/s.

• Now velocity of slider b with respect to o,
Vbo = ω × OB = 20.952 × 0.06 = 1.257 m/s.
• Take two fixed reference points, o & c.
• Draw vector Vbo from o perpendicular to crank OB.

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Problem 2

R D
o,c
r
Slider - B
O A on CD

• Velocity of point A on CD w. r. t. slider B will be parallel to link CD.

• Hence from b draw a vector parallel to link CD.
• Value is unknown so draw vector taking any arbitrary length.

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Problem 2

R D
o,c
r
Slider - B a
O A on CD

• Velocity of point A (on link CD) with respect to point C is perpendicular to link CD.
• Hence from c draw a vector perpendicular to CD.
• Intersection of two vectors will give ‘point a’ in velocity diagram.

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Problem 2

R D
o,c
r
Slider - B a
O A d
(on CD)
b

C
• Now, points C, A and D are on a single link.
• So in velocity diagram points c, a and d will be co-linear.
• To draw velocity of point d, extend the vector ca taking ratio ca/cd = CA/CD
• Take dimension from velocity diagram in case of small letters.
• Take dimension from mechanism in case of capital letters.
• Values of ca from velocity diagram & CA, CD from mechanism can be found.
• The value of cd for velocity diagram can be found.
• Draw vector as per the derived length.
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Problem 2

R D
o,c
r
Slider - B a
O A on CD d

• From d draw velocity of r with respect to point d (Vrd), perpendicular to RD.

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Problem 2

R D
o,c r
r
Slider - B a
O A on CD d

C
Space Diagram Velocity Diagram

• Now, velocity of slider r with respect to fixed point o or c will be in horizontal line.
So, from o or c draw horizontal line.

• Intersection of two vectors will be point r.

• Then or, represents the velocity of ram and measure the velocity of the ram.
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THANK YOU

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