Mechanics: It is that branch of scientific analysis which deals with motion, time and

force.
Kinematics is the study of motion, without considering the forces which produce that
motion. Kinematics of machines deals with the study of the relative motion of machine
parts. It involves the study of position, displacement, velocity and acceleration of
machine parts.
Dynamics of machines involves the study of forces acting on the machine parts and the
motions resulting from these forces.
Plane motion: A body has plane motion, if all its points move in planes which are
parallel to some reference plane. A body with plane motion will have only three degrees
of freedom. I.e., linear along two axes parallel to the reference plane and
rotational/angular about the axis perpendicular to the reference plane. (eg. linear along X
and Z and rotational about Y.)The reference plane is called plane of motion. Plane motion
can be of three types.
1) Translation
2) rotation and
3) combination of translation and rotation.
Translation: A body has translation if it moves so that all straight lines in the body move
to parallel positions. Rectilinear translation is a motion wherein all points of the body
move in straight lie paths. Eg. The slider in slider crank mechanism has rectilinear
translation. (link 4 in fig.1.1)

Fig.1.1
Translation, in which points in a body move along curved paths, is called curvilinear
translation. The tie rod connecting the wheels of a steam locomotive has curvilinear
translation. (link 3 in fig.1.2)

Fig.1.2
Rotation: In rotation, all points in a body remain at fixed distances from a line which is
perpendicular to the plane of rotation. This line is the axis of rotation and points in the
body describe circular paths about it. (Eg. link 2 in Fig.1.1 and links 2 & 4 in Fig.1.2)
Translation and rotation: It is the combination of both translation and rotation which is
exhibited by many machine parts. (Eg. link 3 in Fig.1.1)
Link or element: It is the name given to any body which has motion relative to another.
All materials have some elasticity. A rigid link is one, whose deformations are so small
that they can be neglected in determining the motion parameters of the link.

Fig.1.3
Binary link: Link which is connected to other links at two points. (Fig.1.3 a)
Ternary link: Link which is connected to other links at three points. (Fig.1.3 b)
Quaternary link: Link which is connected to other links at four points. (Fig1.3 c)
Pairing elements: the geometrical forms by which two members of a mechanism are
joined together, so that the relative motion between these two is consistent are known as
pairing elements and the pair so formed is called kinematic pair. Each individual link of a
mechanism forms a pairing element.

Fig.1.4 Kinematic pair Fig.1.5

Degrees of freedom (DOF): It is the number of independent coordinates required to
describe the position of a body in space. A free body in space (fig 1.5) can have six
degrees of freedom. I.e., linear positions along x, y and z axes and rotational/angular
positions with respect to x, y and z axes.
In a kinematic pair, depending on the constraints imposed on the motion, the links may
loose some of the six degrees of freedom.
Types of kinematic pairs:
(i) Based on nature of contact between elements:
(a) Lower pair. If the joint by which two members are connected has surface contact,
the pair is known as lower pair. Eg. pin joints, shaft rotating in bush, slider in slider
crank mechanism.

Fig.1.6 Lower pairs

(b) Higher pair. If the contact between the pairing elements takes place at a point or
along a line, such as in a ball bearing or between two gear teeth in contact, it is
known as a higher pair.

Fig.1.7 Higher pairs

(ii) Based on relative motion between pairing elements:
(a) Siding pair. Sliding pair is constituted by two elements so connected that one is
constrained to have a sliding motion relative to the other. DOF = 1
(b) Turning pair (revolute pair). When connections of the two elements are such that
only a constrained motion of rotation of one element with respect to the other is
possible, the pair constitutes a turning pair. DOF = 1
(c) Cylindrical pair. If the relative motion between the pairing elements is the
combination of turning and sliding, then it is called as cylindrical pair. DOF = 2

Fig.1.8 Sliding pair Fig.1.9 Turning pair

Fig.1.10 Cylindrical pair

(d) Rolling pair. When the pairing elements have rolling contact, the pair formed is
called rolling pair. Eg. Bearings, Belt and pulley. DOF = 1

Fig.1.11 (a) Ball bearing Fig.1.11(b) Belt and pulley

(e) Spherical pair. A spherical pair will have surface contact and three degrees of
freedom. Eg. Ball and socket joint. DOF = 3
(f) Helical pair or screw pair. When the nature of contact between the elements of a
pair is such that one element can turn about the other by screw threads, it is known
as screw pair. Eg. Nut and bolt. DOF = 1
 Fig.1.12 Ball and socket joint Fig.1.13 Screw pair

(iii) Based on the nature of mechanical constraint.

(a) Closed pair. Elements of pairs held together mechanically due to their geometry
constitute a closed pair. They are also called form-closed or self-closed pair.
(b) Unclosed or force closed pair. Elements of pairs held together by the action of
external forces constitute unclosed or force closed pair .Eg. Cam and follower.

Fig.1.14 Closed pair Fig. 1.15 Force closed pair (cam & follower)

Constrained motion: In a kinematic pair, if one element has got only one definite
motion relative to the other, then the motion is called constrained motion.
(a) Completely constrained motion. If the constrained motion is achieved by the pairing
elements themselves, then it is called completely constrained motion.
 Fig.1.16 Completely constrained motion
(b) Successfully constrained motion. If constrained motion is not achieved by the
pairing elements themselves, but by some other means, then, it is called successfully
constrained motion. Eg. Foot step bearing, where shaft is constrained from moving
upwards, by its self weight.
(c) Incompletely constrained motion. When relative motion between pairing elements
takes place in more than one direction, it is called incompletely constrained motion. Eg.
Shaft in a circular hole.

Fig.1.17 Foot strep bearing Fig.1.18 Incompletely constrained motion

Kinematic chain: A kinematic chain is a group of links either joined together or

arranged in a manner that permits them to move relative to one another. If the links are
connected in such a way that no motion is possible, it results in a locked chain or
structure.

Fig.1.19 Locked chain or structure

Mechanism: A mechanism is a constrained kinematic chain. This means that the motion
of any one link in the kinematic chain will give a definite and predictable motion relative
to each of the others. Usually one of the links of the kinematic chain is fixed in a
mechanism.

Fig.1.20 Slider crank and four bar mechanisms.

If, for a particular position of a link of the chain, the positions of each of the other links
of the chain can not be predicted, then it is called as unconstrained kinematic chain and it
is not mechanism.

Fig.1.21 Unconstrained kinematic chain

Machine: A machine is a mechanism or collection of mechanisms, which transmit force
from the source of power to the resistance to be overcome. Though all machines are
mechanisms, all mechanisms are not machines. Many instruments are mechanisms but
are not machines, because they do no useful work nor do they transform energy. Eg.
Mechanical clock, drafter.

Fig.1.21 Drafter
Planar mechanisms: When all the links of a mechanism have plane motion, it is called
as a planar mechanism. All the links in a planar mechanism move in planes parallel to the
reference plane.
Inversions of mechanism: A mechanism is one in which one of the links of a kinematic
chain is fixed. Different mechanisms can be obtained by fixing different links of the same
kinematic chain. These are called as inversions of the mechanism. By changing the fixed
link, the number of mechanisms which can be obtained is equal to the number of links.
Excepting the original mechanism, all other mechanisms will be known as inversions of
original mechanism. The inversion of a mechanism does not change the motion of its
links relative to each other.
Four bar chain:

Fig 1.22 Four bar chain

One of the most useful and most common mechanisms is the four-bar linkage. In this
mechanism, the link which can make complete rotation is known as crank (link 2). The
link which oscillates is known as rocker or lever (link 4). And the link connecting these
two is known as coupler (link 3). Link 1 is the frame.
Slider crank chain: This is a kinematic chain having four links. It has one sliding pair
and three turning pairs. Link 2 has rotary motion and is called crank. Link 3 has got
combined rotary and reciprocating motion and is called connecting rod. Link 4 has
reciprocating motion and is called slider. Link 1 is frame (fixed). This mechanism is used
to convert rotary motion to reciprocating and vice versa.

Fig1.27
Inversions of slider crank chain: Inversions of slider crank mechanism is obtained by
fixing links 2, 3 and 4.

(a) crank fixed (b) connecting rod fixed (c) slider fixed
 Fig.1.28
Rotary engine – I inversion of slider crank mechanism. (crank fixed)

Fig.1.29
Whitworth quick return motion mechanism–I inversion of slider crank mechanism.

Fig.1.30
Crank and slotted lever quick return motion mechanism – II inversion of slider
crank mechanism (connecting rod fixed).

Fig.1.31
Oscillating cylinder engine–II inversion of slider crank mechanism (connecting rod
fixed).

Fig.1.32
Pendulum pump or bull engine–III inversion of slider crank mechanism (slider
fixed).

Fig.1.33
Double slider crank chain: It is a kinematic chain consisting of two turning pairs and
two sliding pairs.
Scotch –Yoke mechanism.
Turning pairs – 1&2, 2&3; Sliding pairs – 3&4, 4&1.

Fig.1.34
Inversions of double slider crank mechanism:
Elliptical trammel. This is a device which is used for generating an elliptical profile.

Fig.1.35
In fig. 1.35, if AC = p and BC = q, then, x = q.cosθ and y = p.sinθ.
 x 2  y 2 2 2
Rearranging,       cos   sin   1 . This is the equation of an ellipse. The
q p
path traced by point C is an ellipse, with major axis and minor axis equal to 2p and 2q
respectively.
Oldham coupling. This is an inversion of double slider crank mechanism, which is used
to connect two parallel shafts, whose axes are offset by a small amount.

Fig.1.36
Quick return motion mechanisms.
Quick return mechanisms are used in machine tools such as shapers and power driven
saws for the purpose of giving the reciprocating cutting tool a slow cutting stroke and a
quick return stroke with a constant angular velocity of the driving crank. Some of the
common types of quick return motion mechanisms are discussed below. The ratio of time
required for the cutting stroke to the time required for the return stroke is called the time
ratio and is greater than unity.

Whitworth quick return motion mechanism:

This is first inversion of slider mechanism, where, crank 1 is fixed. Input is given to link
2, which moves at constant speed. Point C of the mechanism is connected to the tool post
D of the machine. During cutting stroke, tool post moves from D1 to D11. The
corresponding positions of C are C1 and C11 as shown in the fig. 1.38. For the point C to
move from C1 to C11, point B moves from B1 to B11, in anti-clockwise direction. I.E.,
cutting stroke takes place when input link moves through angle B 1O2B11 in anti-
clockwise direction and return stroke takes place when input link moves through angle
B11O2B1 in anti-clockwise direction.

Fig.1.38

The time ratio is given by the following equation.

Timeforforwardstroke Boˆ2 B 1
 
Timeforreturnstroke Boˆ2 B  2

Crank and slotted lever quick return motion mechanism

This is second inversion of slider mechanism, where, connecting rod is fixed. Input is
given to link 2, which moves at constant speed. Point C of the mechanism is connected to
the tool post D of the machine. During cutting stroke, tool post moves from D1 to D11.
The corresponding positions of C are C1 and C11 as shown in the fig. 1.39. For the point C
to move from C1 to C11, point B moves from B1 to B11, in anti-clockwise direction. I.E.,
cutting stroke takes place when input link moves through angle B 1O2B11 in anti-
clockwise direction and return stroke takes place when input link moves through angle
B11O2B1 in anti-clockwise direction.
 Fig.1.39

The time ratio is given by the following equation.

Timeforforwardstroke Boˆ2 B 1
 
Timeforreturnstroke Boˆ2 B  2
 Topic: VELOCITY AND ACCELERATION

 Introduction
Kinematics deals with study of relative motion between the various parts of the
machines. Kinematics does not involve study of forces. Thus motion leads study of
displacement, velocity and acceleration of a part of the machine.
Study of Motions of various parts of a machine is important for determining their
velocities and accelerations at different moments.
As dynamic forces are a function of acceleration and acceleration is a function of
velocities, study of velocity and acceleration will be useful in the design of
mechanism of a machine. The mechanism will be represented by a line diagram
which is known as configuration diagram. The analysis can be carried out both by
graphical method as well as analytical method.

 Some important Definitions

Displacement: All particles of a body move in parallel planes and travel by same
distance is known, linear displacement and is denoted by ‘x’.
A body rotating about a fired point in such a way that all particular move in
circular path angular displacement and is denoted by ‘’.

Velocity: Rate of change of displacement is velocity. Velocity can be linear

velocity of angular velocity.
dx
Linear velocity is Rate of change of linear displacement= V =
dt
d
Angular velocity is Rate of change of angular displacement =  =
dt

Relation between linear velocity and angular

velocity. x = r

dx d
dt = r dt
V = r

d
 = dt

Acceleration: Rate of change of velocity

1
2
dv d x
f = dt 
2
Linear Acceleration (Rate of change of linear velocity)
Thirdldty  =
 2
d 2 dt
d 
dt  Angular Acceleration (Rate of change of angular velocity)

We also have,
Absolute velocity: Velocity of a point with respect to a fixed point (zero velocity
point).

2
O2

Va = 2 x r
Va = 2 x O2 A

Ex: Vao2 is absolute velocity.

Relative velocity: Velocity of a point with respect to another point ‘x’

B
3
A
4
2

O2 O4

Ex: Vba  Velocity of point B with respect to A

Note: Capital letters are used for configuration diagram. Small letters are used for
velocity vector diagram.

This is absolute velocity

 Velocity of point A with respect to O2 fixed point, zero velocity point.

B
3
A

2
 Vba = or Vab
Vba = or Vab Equal in magnitude but opposite in direction.

O4

Vb  Absolute velocity is velocity of B with respect to O4 (fixed point, zero velocity

point)
b
Vba

Vb
O2, O4

Vab
a

Velocity vector diagram

Vector O2a = Va= Absolute velocity

Vector ab = Vab
Relative velocity
ba = Va

Vab is equal magnitude with Vba but is apposite in direction.

Vector O4 b = Vb absolute velocity.

To illustrate the difference between absolute velocity and relative velocity.

Let, us consider a simple situation.
A link AB moving in a vertical plane such that the link is inclined at 30 o to the
horizontal with point A is moving horizontally at 4 m/s and point B moving vertically
upwards. Find velocity of B.

3
Va = 4 m/s ab Absolute velocity Horizontal direction
(known in magnitude and directors)

Vb = ? ab Absolute velocity Vertical direction

(known in directors only)

Va a
O
4 m/s Vab
A 30o

Vb
C
B

Vba

Velocity of B with respect to A is equal in magnitude to velocity of A with

respect to B but opposite in direction.

 Relative Velocity Equation

y Rigid body

ya R
O 
O4 x
xA

Fig. 1 Point O is fixed and End A is a point on rigid body.

Rotation of a rigid link about a fixed centre.

Consider rigid link rotating about a fixed centre O, as shown in figure. The
distance between O and A is R and OA makes and angle ‘’ with x-axis next link
xA = R cos , yA = R sin .

Differentiating xA with respect to time gives velocity.

4
 dxA dθ
 R  sin θ
dt dt
= - R sin 

dy A dθ
Similarly,  R  cosθ 
dt dt
= - R cos 

d yA
Let, d xA  V x  V yA
A
dt dt

dθ
 = dt = angular velocity of OA

x
 VA = - Rω sin 
y
VA = - Rω cos 

 Total velocity of point A is given by

VA =  R sin  2   R cos θ 2
VA = Rω

 Relative Velocity Equation of Two Points on a Rigid link

Rigid body

B
yB

R sin 

yA A

R cos 
x
xA xB

Fig. 2 Points A and B are located on rigid body

5
 From Fig. 2
xB = xA + R cos  yB = yA + R sin 

Differentiating xB and yB with respect to time

we get,
d xB d xA dθ
 R  sin θ
x
V 
B
dt dt dt
d x
 xA  R sin θ  V
A
 R sin
dt

d yB d yA dθ
 R cosθ
y
Similarly, V 
B
dt dt dt
dyA y
  R cosθ  V
A
 R cosθ
dt

x
VA = V y
VA = Total velocity of point A
A
x
Similarly, VB = V B y
VB = Total velocity of point B
x
=V y
A
(Rω sin Rω cos 
)
VA
x
=(V
A
y
V ) (Rω sin  + R ωcos )
A
x
=(V A
y
A V ) VA Similarly, ( R ωsin  + Rω cos ) = Rω
VB = VA
Rω = VA VBA
VBA = VB – VA

Velocity analysis of any mechanism can be carried out by various methods.

1. By graphical method
2. By relative velocity method
3. By instantaneous method
6
 By Graphical Method
The following points are to be considered while solving problems by this
method.
1. Draw the configuration design to a suitable scale.
2. Locate all fixed point in a mechanism as a common point in velocity diagram.
3. Choose a suitable scale for the vector diagram velocity.
4. The velocity vector of each rotating link is r to the link.
5. Velocity of each link in mechanism has both magnitude and direction. Start
from a point whose magnitude and direction is known.
6. The points of the velocity diagram are indicated by small letters.

To explain the method let us take a few specific examples.

1. Four – Bar Mechanism: In a four bar chain ABCD link AD is fixed and in 15
cm long. The crank AB is 4 cm long rotates at 180 rpm (cw) while link CD
rotates
about D is 8 cm long BC = AD and | BAD = 60o. Find angular velocity of link
CD.

C
15 cm
B
8 cm
ωBA
60o
A D
15 cm

Configuration Diagram

Velocity vector diagram

2πx120
Vb = r = ba x AB = x4 = 50.24 cm/sec
60

Choose a suitable scale

1 cm = 20 m/s = ab

7
 r to CD c Vcb

a, d
r to BC

r to AB

Vcb = bc

Vc = dc = 38 cm/sec = Vcd

We know that V =ω R
Vcd = CD x CD
Vcd 38
ωcD =   4.75 rad/sec (cw)
CD 8

2. Slider Crank Mechanism:

In a crank and slotted lever mechanism crank rotates of 300 rpm in a counter
clockwise direction. Find
(i) Angular velocity of connecting rod and
(ii) Velocity of slider.

A
60 mm 150 mm

45o
B

Configuration diagram

Step 1: Determine the magnitude and velocity of point A with respect to 0,

VA = O1A x O2A = 2π x 300 x 60

60
= 600  mm/sec

Step 2: Choose a suitable scale to draw velocity vector diagram.

8
 a Va

r to AB r to OA

b
Along sides B O
Velocity vector diagram

Vab = ab =1300mm/sec
Vba 1300
ba =
BA   8.66 rad/sec
150

Vb = ob velocity of slider

Note: Velocity of slider is along the line of sliding.

3. Shaper Mechanism:
In a crank and slotted lever mechanisms crank O2A rotates at  rad/sec in
CCW direction. Determine the velocity of slider.
6
Scale 1 cm = ……x…. m
D
5

ω 3
O2 B
2

O1

Configuration diagram

9
 Scale 1 cm = ……x…. m/s a
VAO2 = VA
c VBA
b
VBO1
VDC
d O1O2
Velocity vector diagram

Va = 2 x O2A

O1b O c
1
O1B  O1C
To locate point C
O C 
O 1 c  O 1 b 1 
 O1 B 

To Determine Velocity of Rubbing

Two links of a mechanism having turning point will be connected by pins.
When the links are motion they rub against pin surface. The velocity of rubbing of
pins depends on the angular velocity of links relative to each other as well as
direction.

For example: In a four bar mechanism we have pins at points A, B, C and D.

 Vra = ab x ratios of pin A (rpa)

+ sign is used  ab is CW and Wbc is CCW i.e. when angular velocities are in
opposite directions use + sign when angular velocities are in some directions use
-ve sign.
Vrb = (ab + bc) radius rpb
VrC = (bc + cd) radius rpc
VrD = cd rpd

10
Problems on velocity by velocity vector method (Graphical solutions)

Problem 1:
In a four bar mechanism, the dimensions of the links are as given
below: AB = 50 mm, BC = 66 mm
CD = 56 mm and AD = 100 mm

At a given instant when | DAB  o

60 the angular velocity of link AB is 10.5
rad/sec in CCW direction.

Determine,
i) Velocity of point C
ii) Velocity of point E on link BC when BE = 40 mm
iii) The angular velocity of link BC and CD
iv) The velocity of an offset point F on link BC, if BF = 45 mm, CF
= 30 mm and BCF is read clockwise.
v) The velocity of an offset point G on link CD, if CG = 24 mm, DG
= 44 mm and DCG is read clockwise.
vi) The velocity of rubbing of pins A, B, C and D. The ratio of the
pins are 30 mm, 40 mm, 25 mm and 35 mm respectively.

Solution:
Step -1: Construct the configuration diagram selecting a suitable scale.
Scale: 1 cm = 20 mm

G
B

60o
A D

Step – 2: Given the angular velocity of link AB and its direction of rotation determine
velocity of point with respect to A (A is fixed hence, it is zero velocity point).
Vba = BA x BA
= 10.5 x 0.05 = 0.525 m/s

11
Step – 3: To draw velocity vector diagram choose a suitable scale, say 1 cm = 0.2 m/s.
 First locate zero velocity points.
 Draw a line r to link AB in the direction of rotation of link AB (CCW) equal
to 0.525 m/s.

Vba = 0.525 m/s

e, g

a, d
f
CVed

 From b draw a line r to BC and from d. Draw d line r to CD to interest at C.

 Vcb is given vector bc Vbc = 0.44 m/s
 Vcd is given vector dc Vcd = 0.39 m/s

Step – 4: To determine velocity of point E (Absolute velocity) on link BC, first

locate the position of point E on velocity vector diagram. This can be done by
taking corresponding ratios of lengths of links to vector distance i.e.
be BE
bc  BC

BE
 be = x Vcb = 0.04 x 0.44 = 0.24 m/s
BC 0.066

Join e on velocity vector diagram to zero velocity points a, d / vector de = V e

= 0.415 m/s.

Step 5: To determine angular velocity of links BC and CD, we know Vbc and Vcd.
 Vbc =ω BC x BC
Vbc 0.44
 ωBC =  0.066  6.6 r / s . (cw)
B
C
Similarly, Vcd = ωCD x CD
Vcd 0.39
 ωCD =   6.96 r / s (CCW)
CD 0.056

Step – 6: To determine velocity of an offset point F

 Draw a line r to CF from C on velocity vector diagram.

12
  Draw a line r to BF from b on velocity vector diagram to intersect the
previously drawn line at ‘f’.
 From the point f to zero velocity point a, d and measure vector fa to get
Vf = 0.495 m/s.

Step – 7: To determine velocity of an offset point.

 Draw a line r to GC from C on velocity vector diagram.
 Draw a line r to DG from d on velocity vector diagram to intersect previously
drawn line at g.
 Measure vector dg to get velocity of point G.

Vg = dg  0.305 m / s

Step – 8: To determine rubbing velocity at pins

 Rubbing velocity at pin A will be
Vpa = ab x r of pin A
Vpa = 10.5 x 0.03 = 0.315 m/s

 Rubbing velocity at pin B will be

Vpb = (ab + cb) x rpb of point at B.
[ab CCW and cbCW]
Vpb = (10.5 + 6.6) x 0.04 = 0.684 m/s.
 Rubbing velocity at point C will be
= 6.96 x 0.035 = 0.244 m/s

Problem 2:
In a slider crank mechanism the crank is 200 mm long and rotates at 40
rad/sec in a CCW direction. The length of the connecting rod is 800 mm. When the
crank turns through 60o from Inner-dead centre.
Determine,
i) The velocity of the slider
ii) Velocity of point E located at a distance of 200 mm on the connecting
rod extended.
iii) The position and velocity of point F on the connecting rod having the
least absolute velocity.
iv) The angular velocity of connecting rod.

13
 v) The velocity of rubbing of pins of crank shaft, crank and cross head
having pins diameters 80,60 and 100 mm respectively.
Solution:
Step 1: Draw the configuration diagram by selecting a suitable scale.
E
A
F
45o
B
O G

Va = Woa x OA
Va = 40 x 0.2
Va = 8 m/s

Step 2: Choose a suitable scale for velocity vector diagram and draw the velocity
vector diagram.
 Mark zero velocity point o, g.

 Draw oa r to link OA equal to 8 m/s

e
a Scale: 1 cm = 2 m/s

f
b o, g

 From a draw a line r to AB and from o, g draw a horizontal line (representing

the line of motion of slider B) to intersect the previously drawn line at b.

 ab give Vba=4.8 m/sec

Step – 3: To mark point ‘e’ since ‘E’ is on the extension of link AB drawn be =
BE
x ab
AB mark the point e on extension of vector ba. Join e to o, g. ge will give
velocity of point E.

Ve = ge =8.4 m/sec

14
Step 4: To mark point F on link AB such that this has least velocity (absolute).

Draw a line r to ab passing through o, g to cut the vector ab at f. From f to

o, g. gf will have the least absolute velocity.

 To mark the position of F on link

AB. Find BF by using the relation.

fb ab

BF AB
fb
BF  x AB =200mm
ab

Step – 5: To determine the angular velocity of connecting rod.

We know that Vab = ab x AB
Vab
 ab = = 6 rad/sec
AB

Step – 6: To determine velocity of rubbing of pins.

 Vpcrankshaft = ao x radius of crankshaft pin
= 8 x 0.08
= 0.64 m/s

 VPcrank pin = (ab + oa) rcrank pin= (6 +8)0.06 =0.84 m/sec

 VP cross head = ab x rcross head = 6 x 0.1 = 0.6 m/sec

15
 Problem 3: A quick return mechanism of crank and slotted lever type shaping
machine is shown in Fig. the dimensions of various links are as follows.

O1O2 = 800 mm, O1B = 300 mm, O2D = 1300 mm and DR = 400 mm

The crank O1B makes an angle of 45o with the vertical and relates at 40 rpm in
the CCW direction. Find:
i) Velocity of the Ram R, velocity of cutting tool, and
ii) Angular velocity of link O2D.

 Solution:
Step 1: Draw the configuration diagram.

R
R 200
Tool D
D
B on orank, O, B
B
C
O1 45o
C on O2D 2

O1

O2
O2

Step 2: Determine velocity of point B.

Vb = O1B x O1B
2NO1B  2 x 40  4.18 rad / sec
O1B =
60 60
Vb = 4.18 x 0.3 = 1.254 m/sec

16
Step 3: Draw velocity vector diagram.
Choose a suitable scale 1 cm = 0.3 m/sec

b
d

r O1O2

o Draw O1b r to link O1B equal to 1.254 m/s.

o From b draw a line along the line of O2B and from O1O2 draw a line r to

O2B. This intersects at c bc will measure velocity of sliding of slider and

O2C will measure the velocity of C on link O2C.

o Since point D is on the extension of link O2C measure O 2d such that

O d = O C O2D . O 2d will give velocity of point D.

2 2
O2C

o From d draw a line r to link DR and from O1O2. Draw a line along the

line of stroke of Ram R (horizontal), These two lines will intersect at point

r O2r will give the velocity of Ram R.

o To determine the angular velocity of link O2D determine Vd = O 2d .

We know that Vd = O2D x O2D.

 O2d
O2d  O D r/s
2
17
 Problem 4: A whitworth quick return mechanism shown in figure has the
following dimensions of the links.
The crank rotates at an angular velocity of 2.5 r/s at the moment when crank
makes an angle of 45o with vertical. Calculate
OP (crank) = 240 mm
a) the velocity of the Ram S
OA = 150 mm
b) the velocity of slider P on the slotted level
AR = 165 mm
c) the angular velocity of the link RS.
RS = 430 mm

 Solution:
Step 1: To draw configuration diagram to a suitable scale.

S A

O
P on slider Q on
45o
BA

Configuration Diagram

19
Step 2: To determine the absolute velocity of point P.
VP = OP x OP

Vao = 2 x 240 x 0.24  0.6 m / s

60

Step 3: Draw the velocity vector diagram by choosing a suitable scale.

0.6 m
q

S
O, a, g

r
Velocity vector diagram

o Draw op r link OP = 0.6 m.

o From O, a, g draw a line r to AP/AQ and from P draw a line along AP to

intersect previously draw, line at q. Pq = Velocity of sliding.

aq = Velocity of Q with respect to A.

Vqa = aq =

o Angular velocity of link RS = RS sr

 SR rad/sec
II Method
 Instantaneous Method
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 B
A
Vb
I P
q

Fig. 1

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.

VaP
A

B Vb
q
I

Fig. 2

In case of the r lines drawn from A and B meet outside the body P as shown in Fig 2.

Va
A
B Vb

I at 
Fig. 3
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.

32
 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n  1
2

 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= 2 = 6
2

I13

I34
3

I23

4
2

I24
I12 1 I14

Fixed instantaneous center I12, I14

Permanent instantaneous center I23, I34
Neither fixed nor permanent instantaneous center I 13, I24

 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.

33
Proof:

VA3 VA2
1 I12
I13

2
3
I23
A

Consider a three link mechanism with link 1 being fixed link 2 rotating about
I12 and link 3 rotating about I 13. Hence, I12 and I13 are the instantaneous centers for link
2 and link 3. Let us assume that instantaneous center of link 2 and 3 be at point A
i.e. I23. Point A is a coincident point on link 2 and link 3.

Considering A on link 2, velocity of A with respect to I 12 will be a vector VA2

r to link A I12. Similarly for point A on link 3, velocity of A with respect to I 13 will
be r to A I13. It is seen that velocity vector of V A2 and VA3 are in different directions
which is impossible. Hence, the instantaneous center of the two links cannot be at the
assumed position.

It can be seen that when I 23 lies on the line joining I 12 and I13 the VA2 and VA3 will
be same in magnitude and direction. Hence, for the three links to be in relative motion
all the three centers should lie in a same straight line. Hence, the proof.

Steps to locate instantaneous centers:

Step 1: Draw the configuration diagram.

Step 2: Identify the number of instantaneous centers by using the relation

n 1n .
N=
2

Step 3: Identify the instantaneous centers by circle diagram.

Step 4: Locate all the instantaneous centers by making use of Kennedy’s theorem.

To illustrate the procedure let us consider an example.

34
 A slider crank mechanism has lengths of crank and connecting rod equal to
200 mm and 200 mm respectively locate all the instantaneous centers of the
mechanism for the position of the crank when it has turned through 30o from IOC. Also
find velocity of slider and angular velocity of connecting rod if crank rotates at 40
rad/sec.
Step 1: Draw configuration diagram to a suitable scale.
Step 2: Determine the number of links in the mechanism and find number of
instantaneous centers.
n 1n
N= 2

n = 4 links N = 44  1 = 6
2

I13

I24
A
3
2
200 I23 800
B
I12 30o
4
O 11 I12

I14 to  I14 to 

Step 3: Identify instantaneous centers.

o Suit it is a 4-bar link the resulting figure will be a square.
1 I12 2
1234
I24
I12 I23I34
I41
I13 I24
I13
I23 OR I14

4 I34 3

o Locate fixed and permanent instantaneous centers. To locate neither fixed nor
permanent instantaneous centers use Kennedy’s three centers theorem.
35
Step 4: Velocity of different points.
Va = 2 AI12 = 40 x 0.2 = 8 m/s
also Va = 2 x A13
Va
 3 =
AI13
Vb = 3 x BI13 = Velocity of slider.

 Problem 2:
A four bar mechanisms has links AB = 300 mm, BC = CD = 360 mm and AD
o
= 600 mm. Angle | BAD  60 . Crank AB rotates in C direction at a speed of 100
rpm. Locate all the instantaneous centers and determine the angular velocity of link
BC.

 Solution:
Step 1: Draw the configuration diagram to a suitable scale.

Step 2: Find the number of Instantaneous centers

n 1n 44  1
N= 2 = =6
2

Step 3: Identify the IC’s by circular method or book keeping method.

1 I12 2
I12
1234

I12 I23I34
I14
I13
I13 I24

I23 OR I14

4 I34 3

Step 4: Locate all the visible IC’s and locate other IC’s by Kennedy’s theorem.
36
 I13

C
3
I34
B
I23
4
2

I24 I12 I14

D
A1
2 x 100
Vb = 2 x BI12 = x 0.3 m / sec
60
Also Vb = 3 x BI13
Vb
3 = rad / sec
BI13
 Acceleration Analysis
Rate of change of velocity is acceleration. A change in velocity requires any
one of the following conditions to be fulfilled:
o Change in magnitude only
o Change in direction only
o Change in both magnitude and direction

When the velocity of a particle changes in magnitude and direction it has two
component of acceleration.

1. Radial or centripetal acceleration

fc = 2r
Acceleration is parallel to the link and acting towards centre.

A Va

A’ Va’ cosδθ O1 f
t
r oa oa
δθ
δθ c
f oa

O Va’ sinδθ
Va’ f oa
a1

Va’ = (ω +  δ t) r
Velocity of A parallel to OA = 0
Velocity of A’ parallel to OA = Va’ sin δ θ
Therefore change in velocity = Va’ sin δ θ – 0
  t r sin 
Centripetal acceleration = fc =
t

as δt tends to Zero sin δ θ tends to δ θ

 
r  rt 
t

fc = ωr (dθ/ dt) =ω2r

But V = ωr or ω = V/r

Hence, fc =ω2r = V2/r

2. Tnagential Acceleration:
Va’ = (ω +  δ t) r
Velocity of A perpendicular to OA = Va
Velocity of A’ perpendicular to OA = Va’ cos δ θ
Therefore change in velocity = Va’ cos δ θ – Va
  t r cos  r
Tnagnetial acceleration = ft =
t

as δt tends to Zero cos δ θ tends to 1

46
 r  rt  r
 t

ft = r

Example:

fC ab= 2AB
Acts parallel to BA and acts from B to A.

frab

fab

ftab

ft = BA acts r to link.

fBA = fr BA + ft BA

 Problem 1: Four bar mechanism. For a 4-bar mechanism shown in figure draw
velocity and acceleration diagram.

All dimensions
are in mm C
66
B
50 56
 = 10.5 rad/sec

60o
A D
100

47
 Solution:
Step 1: Draw configuration diagram to a scale.

Step 2: Draw velocity vector diagram to a

scale.
Vb = 2 x AB
Vb = 10.5 x 0.05
Vb = 0.525 m/s
Vc
C

a 1d

Vbc
b

Step 3: Prepare a table as shown below:

Sl.
Link Magnitude Direction Sense
No.
1. AB fc = 2ABr Parallel to AB A
fc = (10.5)2/0.525
fc = 5.51 m/s2
2. BC fc = 2BCr Parallel to BC B
fc = 1.75
ft = r r to BC –
3. CD fc = 2CDr Parallel to DC D
fc = 2.75
ft = ? r to DC –

Step 4: Draw the acceleration diagram.

11el to CD a1d1

11el to CD

c1
 c1
 to BC fbc

b1
11el to BC b1 11el to AB

48
 o Choose a suitable scale to draw acceleration diagram.
o Mark the zero acceleration point a1d1.
o Link AB has only centripetal acceleration. Therefore, draw a line parallel to
AB and toward A from a1d1 equal to 5.51 m/s2 i.e. point b1.
o From b1 draw a vector parallel to BC points towards B equal to 1.75 m/s 2 (b11).
o From b11 draw a line r to BC. The magnitude is not known.
o From a1d1 draw a vector parallel to AD and pointing towards D equal to 2.72
m/s2 i.e. point c1.
o From c11 draw a line r to CD to intersect the line drawn r to BC at c1, d1c1
= fCD and b1c1 = fbc.

To determine angular acceleration.

t 1
f
bc 11
cb
BC =   34.09 rad / sec (CCW)
BC BC
t 1
cd
f 11
cc
CD =   79.11rad / sec(CCW)
CD CD

 Problem 2: For the configuration of slider crank mechanism shown in figure

below.
Calculate
i) Acceleration of slider B.
ii) Acceleration of point E.
iii) Angular acceleration of link AB.
If crank OA rotates at 20 rad/sec CCW.
 Solution:
E
450 All dimensions
A are mm

480 1600

B
60o

49
Step 1: Draw configuration diagram.

Step 2: Find velocity of A with respect to O.

Va = OA x OA
Va = 20 x 0.48
Va = 9.6 m/s

Step 4: Draw velocity vector diagram.

5.25

b
9.7 O 1g

Step 4:
Sl.
Link Magnitude Direction Sense
No.
c 2
1. OA f aO = OAr = 192 Parallel to OA O
c 2
2. AB f ab =  abr = 17.2 Parallel to AB A

f ab
t
– r to AB –
3. Slider B – Parallel to Slider –

Step 5: Draw the acceleration diagram choosing a suitable scale.

fb
fab o1g1
ftab

1
b 1
c 192
f ab
172

1
a

e1 ee1
50
 o Mark o1g1 (zero acceleration point)

o Draw = C acceleration of OA towards ‘O’.

o1g1
o From a1 draw a1b11 = 17.2 m/s2 towards ‘A’ from b11 draw a line r to AB.
o From o1g1 draw a line along the slider B to intersect previously drawn line at b 1,
a1b1  f ab

g b = fb = 72 m/s2.
11

o Extend a b = a e such that a1b1 A1R1

1 1 11  .
AB AE

o Join e1 to 1g1, g e1 1= fe = 236 m/s2.

t
f bb 167 2
o ab =  
11 ab = 104
rad/sec (CCW).
AB AB 1.6
Answers:
fb = 72 m/sec2
fe = 236 m/sec2
ab = 104 rad/sec2

 Problem 3: In a toggle mechanism shown in figure the crank OA rotates at 210

rpm CCW increasing at the rate of 60 rad/s2.
 Velocity of slider D and angular velocity of link BD.
 Acceleration of slider D and angular acceleration of link BD.

A
150
200
45o

400
B
300 500
D D

Q G

Step 1 Draw the configuration diagram to a scale.

51
Step 2 Find
Va = OA x OA
2 210
Va = x 0.2 = 4.4 m/s
60

Step 3: Draw the velocity vector diagram.

a b

d o1,q,g

Step 4:
Sl.
Link Magnitude m/s2 Direction Sense
No.
1. fc = 2r = 96.8 Parallel to OA O
aO
AO
f aO = r = 12
t
 to OA
r
–
2. f =  r = 5.93
c 2
Parallel to AB A
ab
AB
f ab= r =
t
r to AB –
3. f c
=  r = 38.3
2
Parallel to BQ Q
bq
BQ
f bq = r =
t
r to BQ –
c 2
4. BD f bd =  r = 20 r to BD B
5. ft = r = r to BD –
bd
Slider D
– Parallel to slider motion –

Step 5: Draw the acceleration diagram choosing a suitable scale.

o Mark zero acceleration point.

52
 fbd
fd
d1 O1q1g1

q11

fab

d11
b11
fcOA b1
a1 ftOA
a11

o Draw o1a11 = fcOA and a1 a 1= ftOA r to OA from

o o1a1 = fa
c
o From a1 draw a 1 b 1  f , from b1 draw a line r to AB.

o From o 1q 1g 1 draw o q11 = fc bq and from q1 1 draw a line a line r to BQ to

1
intersect the previously drawn line at b1

q1b1  f bq a1 b1 = fab
1
o From b draw a line parallel to BD = fc such that b d = fc .
1 bd 1 1 bd

o From d11 draw a line r to BD, from o1q1g1 draw a line along slider D to meet the
previously drawn line at .
o g d  f = 16.4 m/sec2.
1 1 d
o b d  f = 5.46 m/sec2.

f bd 5.46
o BD = rad / sec
2

BD  0.5
109.2

Answers:
Vd = 2.54 m/s
bd = 6.32 rad/s
Fd = 16.4 m/s2
bd = 109.2 rad/s2

53
 Coriolis Acceleration: It has been seen that the acceleration of a body may
have two components.
 Centripetal acceleration and
 Tangential acceleration.

However, in same cases there will be a third component called as corilis

acceleration to illustrate this let us take an example of crank and slotted lever
mechanisms.

P P1

2 B2
Q B1

B on link 3 d

3 A1

A on link 2
d 2

Assume link 2 having constant angular velocity 2, in its motions from OP to
OP1 in a small interval of time t. During this time slider 3 moves outwards from
position B to B2. Assume this motion also to have constant velocity V B/A. Consider the
motion of slider from B to B2 in 3 stages.
1. B to A1 due to rotation of link 2.
2. A1 to B1 due to outward velocity of slider VB/A.
3. B1 to B2 due to acceleration r to link 2 this component in the coriolis
component of acceleration.

We have Arc B1B2 = Arc QB2 – Arc QB1

= Arc QB2 – Arc AA1
 Arc B1B2 = OQ d - AO d
= A1B1 d
2
= VB/A 2dt

54
 The tangential component of velocity is r to the link and is given by Vt = r. In
this case  has been assumed constant and the slider is moving on the link with constant
velocity. Therefore, tangential velocity of any point B on the slider 3 will result in
uniform increase in tangential velocity. The equation V t = r remain same but r
increases uniformly i.e. there is a constant acceleration r to rod.

 Displacement B1B2 = ½ at2

= ½ f (dt)2
 ½ f (dt)2 = VB/A 2 dt2
cr
f B/A = 22 VB/A coriolis acceleration

The direction of coriolis component is the direction of relative velocity vector

for the two coincident points rotated at 90o in the direction of angular velocity of
rotation of the link.

Figure below shows the direction of coriolis acceleration in different situation.

fcr

2
2
2

fcr
(a) Rotation CW (b) Rotation CW
slider moving slider moving
up down

fcr

2 2

cr
f
(c) Rotation CCW (d) Rotation CCW
slider moving up slider moving
down
55
A quick return mechanism of crank and slotted lever type shaping
machine is shown in Fig. the dimensions of various links are as
follows.

O1O2 = 800 mm, O1B = 300 mm, O2D = 1300 mm and DR = 400 mm

The crank O1B makes an angle of 45o with the vertical and rotates at
40 rpm in the CCW direction. Find:
iii) Acceleration of the Ram R, velocity of cutting tool, and
iv) Angular Acceleration of link AD.

Solution:
Step 1: Draw the configuration diagram.

R
R 200
Tool D
D
B on orank, A B
B
C
O 45o
C on AD 2

A
A

Step 2: Determine velocity of point B.

56
 Vb = OB x OB

OB = 2N
O1B 2 x  4.18 rad / sec
60 
40
60

Vb = 4.18 x 0.3 = 1.254 m/sec

Step 3: Draw velocity vector diagram.

Choose a suitable scale 1 cm = 0.3 m/sec

b
d

r o.a

Step 4: prepare table showing the acceleration components

Sl.
Link Magnitude m/s2 Direction Sense
No.
fcob = 2r =5.24 Parallel to OB O
1. OB
–
fcac = 2r Parallel to AB A
2. AC
ftac = r r to AB –
fsbc =r Parallel to AB _
3. BC
fccbc = 2v = r to AC –
fcbd = 2r = 20
Parallel to DR D
4. DR ftbd = r
r to BD _

ftbd = r –
5. Slider R Parallel to slider motion
 57
fr
r1
o1a1
t
f dr

b ’’ fcob
fad
ftab
d1
b1’
fcdr
r 1’

fob

b1
fsab
cc
f bc

b1’’’

Acceleration of Ram = fr = o1 r

Angular Acceleration of link AD

 bd =
fbd
BD
 APPROXIMATE ANALYTICAL METHOD FOR VELOCITY
AND ACCELERATION OF THE PISTON
Consider the motion of a crank and connecting rod of a reciprocating steam engine as shown in Fig. 15.7. Let
OC be the crank and PC the connecting rod. Let the crank rotates with angular velocity of ω rad/s and the crank
turns through an angle θ from the inner dead centre (briefly written as I.D.C). Let x be the displacement of a
reciprocating body P from I.D.C. after time t seconds, during which the crank has turned through an angle θ .

Fig. 15.7. Motion of a crank and connecting rod of a reciprocating steam engine.
Let l = Length of connecting rod between the centres,
r = Radius of crank or crank pin circle,
φ = Inclination of connecting rod to the line of stroke PO, and
n = Ratio of length of connecting rod to the radius of crank = l/r

Velocity of the piston

Acceleration of the piston
Since the acceleration is the rate of change of velocity, therefore acceleration of the piston
P,