Kinematic Analysis

Dr. Anil Kumar Gillawat

Adhoc Faculty (ME),
NIT Andhra Pradesh
Crank-rocker mechanism (4-bar
mechanism) (QR-mechanism)
Drag-link mechanism (4-bar
Mechanism) (QR-mechanism)
Concepts of position and
displacement
• Since motion can be thought of as a time series of displacements
between successive positions of a point or postures of a body, it is
important to understand exactly the meaning of the terms position and
posture.
• Position cannot be defined on a truly absolute basis. We must define the
position of a particle or point in terms of some agreed-upon frame of
reference (that is, some reference frame or reference coordinate system).
• For the coordinate system shown in the figure,
• Origin O is an agreed-upon location from which the location of P is
measured
• Coordinate axes provide agreed-upon directions along which the
measurements are to be made.
• Unit distance along any of the axes is the scale for quantifying
Right-handed 3-dimensional
distances
coordinate system illustrating
how point P is located
algebraically.
• Point P can be expressed using different coordinate systems:
• Cartesian coordinates (x, y, z)
• Cylindrical coordinates (r, θ, z)
• Spherical Coordinates (R, θ, φ), or
• any other coordinates of point P.
• The same properties are also required if point P is restricted to remain in a single plane and a
two-dimensional coordinate system is used.
• The concept of the position of a point cannot be realized without the definition of a reference
coordinate system.
• The direction cosines for locating point P are defined as

where α, β, and γ are the angles measured from the positive x-, y-, and z-coordinate axes,
respectively, to the directed line OP.
• Position of P (its components along the reference
axes) can also be expressed as functions of some
parameter.
• The motion of a particle P described by the time
equations, eg.
• x = x(t); y = y(t); z = z(t)
• General case for the motion of a particle.
• x = a cos 2πt ; y = a sin2πt ; z = bt
• Helical motion with radius, a around the z-
axis and with a lead of b.
• If b = 0, → z(t) = 0, the moving particle is
confined to the xy plane, and the motion is
a circle with its center at the origin.

Helical motion of a particle, P.

• The successive positions of a moving point define a line or curve. This curve has no thickness,
since the point has no dimensions.
• However, the curve does have length, since the point occupies different positions as time
changes.
• The curve representing the successive positions of a moving point in the reference
coordinate system is called its locus
• If three coordinates are necessary to describe the path of a moving point, the point is said to
have spatial motion
• If the path can be described by two coordinates, the motion is said to be planar
• If a single coordinate is sufficient to describe the motion, the point moves in a straight line
and the motion is rectilinear
• In all the above cases it has been assumed that the coordinate system is so chosen as to
obtain the least number of coordinates necessary to describe the motion of the point
Representation of the position of a
point
• The physical process involved in observing
the position of a point is shown in the figure.
• To the observer, P has a certain location
relative to O specified by,
1. Distance from O to P
2. Angular position of OP in the coordinate
system xyz
• Position of P can thus be defined as a vector
from the origin of a specified reference
coordinate system to the point (RPO).
• Observer should be stationary with respect
to the coordinate system
Position vector
• Position vector in terms of components along the
coordinate axes:

• Superscripts denote the direction of each component

• are used to designate unit vectors in the
directions of the x-axis, y-axis, and z-axis, respectively.
• Magnitude of the position vector is

• Unit vector in the direction of RPO is

Position difference between two
points
• Represents the position of P with respect
to the position of Q (reference xyz)
• Also, position of P is defined as if it were in
another coordinate system, x′y′z′ with
origin at Q and axes parallel to xyz
RPQ = RPO-RQO
• Second subscript is generally omitted if it
is the origin of the observer’s coordinate
system i.e. RP = RPO
Apparent position of a point
• It is desirable to make observations in a secondary coordinate
system (as seen by a second observer) and then to convert this
information into the basic coordinate system
• RPO1 : Position vector as seen by the observer at x 1y1z1
• RPO2 : Position vector as seen by the observer at x 2y2z2
• They are related by RPO1 = PO2O1 + PPO2
• RPO1/O1 = RPO1/1 = RP/1 = Position vector of P w.r.t. reference 1 (i.e.
x1y1z1)
• i.e., apparent position of point P to an observer in
coordinate system 1
• RPO2/O2 = RPO2/2 = RP/2 = Position vector of P w.r.t. reference 2 (i.e.
x2y2z2)
• The relationship then becomes
RP/1 = RO2/1 + RP/2
Absolute position of a point
• Absolute position of a point is defined as the apparent
position of the point as seen by an observer in the absolute
coordinate system
• Absolute coordinate system need not be truly stationary
• Eg: When analyzing the kinematics of an automobile
suspension, the frame of the car may be chosen as
“absolute” coordinate system
• The motion of the suspension can be studied relative to
this coordinate system.
• It is unimportant whether the car is moving or not.
• Motions of the suspension relative to the frame are then
defined as absolute. RP/1 = RO2/1 + RP/2
• 1 is considered as absolute coordinate system
Or RP = RO2 + RP/2
• The path of a moving point is defined by the equation y = 2x2 −28. Find the position difference
from point P to point Q on the path where .
Graphical Position Analysis
• The problem of position analysis is to determine the values of all position
variables (positions of all points and joints), given:
1. The dimensions of each link, and
2. The value(s) of independent variable(s) which are chosen to represent the
degree(s) of freedom of the mechanism

• For planar mechanisms, the solution is usually straightforward when approached

graphically
 Graphical Solutions
• A two-dimensional vector equation can be solved for two unknowns
• Take a vector equation, C = A + B
C A B
Magnitude Direction Magnitude Direction Magnitude Direction
X X √ √ √ √
√ √ X X √ √
√ √ X √ √ X
√ √ √ X X √
√ √ X √ X √
√ √ √ X √ X
Case 1
• Any two known vectors A and B can be added graphically as shown in Fig.
• After a scale is chosen, the vectors are drawn tip to tail in either order and their vector sum C is
identified: C = A + B = B + A.
• Note: the magnitudes and orientations of both vectors A and B are used in performing the
addition, and that both the magnitude and orientation of the sum C are found as a result.
Case 2
• The operation of graphic vector subtraction is shown in Fig. where the
vectors are drawn tip to tip in solving the equation A = C - B
Case 3 or Case 4:

• The two unknowns are a magnitude and a direction from

different vectors (say, A and θB).
• The solution, illustrated in Fig., is
obtained as follows:
1. Choose a convenient scale factor
and draw vector C.
2. Construct a line through the origin
of C parallel to
3. Adjust a compass to the scaled
magnitude B and construct a
circular arc with the center at the
terminus of C.
4. The two intersections of the line
and the arc define the two sets of
solutions A, and A’, .
Case 5:
• The two unknowns are two magnitudes (say, A and B). The vector
equation is
• The solution, illustrated in Fig., is obtained as follows:
1. Choose a convenient scale factor and draw vector C.
2. Construct a line through the origin of C parallel to .
3. Construct another line through the terminus of C parallel to .
4. The intersection of these two lines defines both magnitudes, A
and B, each of which may be either positive or negative.
• Case 3 has
• If the lines are collinear or parallel, solution is unique.
• If the lines are collinear, the magnitudes A and B are both
indeterminate.
• If the lines are parallel but distinct, magnitudes A and B are both
infinite.
Case 6:
• The two unknowns are the directions of two vectors and
.
• The solution, illustrated in Fig. 2.13, is obtained as
follows:
1. Choose a convenient scale factor and draw vector C.
2. Construct a circular arc of radius A centered at the
origin of C.
3. Construct a circular arc of radius B centered at the
terminus of C.
4. The two intersections of these arcs define the two
sets of solutions , and ,
• A real solution is possible only if A + B ≥ C
 Slider-Crank Linkage

(a) Slider-crank linkage;

(b) vectors replace the link centrelines;
(c) graphic posture analysis
• Position analysis of the slider-crank linkage using graphical method is shown in the figure
• Link 1 is the frame
• Link 2 is the crank, constrained to rotate about O
• Link 3 is the connecting rod
• Link 4 is the slider
• Replacing link centerlines with vectors RA for the crank, RB for the slider, and RBA for the connecting
rod.
• If the position of the slider 4 is given, the unknowns are the directions of RA and RBA, the loop-
closure equation for the linkage is
• where the “I” symbol, for the direction of vector RB, denotes that the location of the slider is the
given input. Or

• Two solutions are found from which the suitable one is chosen
Four-Bar Linkage

Vector diagrams illustrating the graphic solutions for

(a) open posture;
(b) Crossed posture.
• Dimensions of all the links are known; position of link-2 is given. Positions of all points and joints
are required.
• Replace the link centerlines with vectors RA for the crank, RBA for the connecting rod, RBC for the
output link, and RC for the frame, as shown in Fig.
• With a known posture of link 2, that is, the angle θ2, and the angles θ3 and θ4 unknown, the loop-
closure equation for the linkage is
Or

where the “I” symbol, for the direction of vector RA, denotes that the orientation of the crank is
the given input.
• Also, the position of coupler point P is given by the position-difference equation

• This equation contains three unknowns, but this can be reduced to two after closed loop Eq. is
solved by noting the constant angular relationship between and
• where the constant coupler angle α = ∠BAP. Therefore, Eq. reduces to

• where the “C” symbol, for the direction of RPA, denotes that this direction is known from the
constraint equation.
• graphic solution by combining the two unknown terms in Eq. (b), thus locating the positions of
points A and C as shown in Figs (a) and (b).

• The solution procedure (that is, two unknown orientations) is then used to locate point B.
• Note that two solutions are possible, which indicates that the four-bar linkage can be assembled
in two different postures.
• The two postures will be referred to here as (a) the open posture and (b) the crossed posture.
• To determine the position of coupler point P, first we obtain the two orientations of from Eq.
• Then we solve Eq. by the procedure for case 1.
• Two solutions are obtained for the position of point P, as shown in Figs. (a) and (b).
• Both are valid solutions, although, in this instance, the crossed posture shown could not be
reached from the open posture without first disassembling the linkage.
From the two examples presented here it is clear that
• graphic posture analysis usually requires precisely the same constructions that
would be chosen naturally in drafting scale drawings of a mechanism at the
posture under consideration.
• For this reason, the procedure may seem trivial and not truly worthy of the title
“analysis.” Yet this is highly misleading.
• As we shall see in later sections, the posture analysis of a mechanism is a
nonlinear algebraic problem when approached by analytic or numeric methods.
• It is, in fact, the most difficult problem in kinematic analysis, and this is one
primary reason why graphic solution techniques have retained their attraction.
Angular displacements cannot be added vectorially because the result
depends on the order in which they are added
• There are many different approaches to the posture analysis of mechanisms.
• Here, we identify the following five approaches:
a) Graphic approach.
b) Analytic approach.
c) Complex-algebraic approach.
d) Vector-algebraic approach.
e) Numeric approach.
Example
• Consider a sliding-block linkage in the posture
illustrated in Fig. Perform the posture analysis;
that is, find θ4 and distance RAO4
• Given: A sliding block linkage, RO2O4 = 230 mm,
RAO2 = 115 mm, θ2=135°
• A crank-rocker four-bar linkage with the
given input angle, is shown in both the open
and crossed postures in Fig. Perform a
posture analysis of the linkage; that is, find
θ3 and θ4 for both postures.
• Given: RAO2 = 200 mm∠30°, RBA = 350 mm,
RBO4 = 300 mm, RO4O2 = 400 mm∠15°.
A Plagiograph (copying) mechanism shown in figure, has 2-
DOF. In this mechanism, O2ABC is a parallelogram and
triangles ADM (Link 5) and CBE (Link 4) are similar. This
mechanism can be used to reproduce a figure, traced by the
point D, at E to a different scale )=L/l) at a different
orientation (=σ). Determine the values of this scale factor
and orientation σ.
Velocity Analysis
• Displacement of point P during time interval Δt is,
• Average velocity of P during Δt is,
• Instantaneous velocity is given by
• Velocity of a point is a vector quantity equal to the time rate of change
of its position
• Velocity is defined for a point
• Not for a line, volume etc.
• Velocity vector doesn’t depend upon the initial location of the
coordinate system.
• But, the velocity vector depends upon the motion of the observer or
the coordinate system
Rotation of a Rigid Body
• In rotation, a rigid body undergoes
angular displacement
• Finite rotation is not a vector quantity
• Commutative law of vector addition is not
satisfied
• Infinitesimally small angular
displacements are commutative
• Can be treated as vectors
• Angular velocity vector is given by,

• Direction of ω is along the instantaneous

axis of rotation of the rigid body
Velocity difference between points
of the same rigid body
• From concepts of vector mechanics applied to a rigid body, it is known
that the difference in velocity between two points of the same rigid
body which rotates with an angular velocity ω , is given by,

• From the above equation, the so called velocity difference equation is

obvious
Geometric Methods of Velocity
Analysis - Velocity Polygons
• Advantages
• A solution can be achieved quickly
• Better visualization of the problem by graphical approach
• For the link ABC in figure (a)
• Velocities of A and B are known
• Velocity of C and angular velocity, ω are sought
• Assume that figure (a) represents a scale diagram of the link for the given
instant

• Velocity difference equation relating A and B is given by,

• Velocity difference vector, VBA can be obtained as the graphical solution to
the above equation
• For better accuracy, the velocity polygon is generally drawn by thin lines as shown in figure (d)
• Labelling conventions give the proper directions
• The angular velocity ω can be found from the equation
• Since the link is in planar motion ω vector lies perpendicular to the plane of motion, i.e., to the
vectors, VBA and RBA.
• Direction of these vectors show that the vector ω is directed outward from the figure.
• With ω known, the absolute velocity of Point C can
be found using,

• Since A, B and C are on the same planar rigid link, ω

is the same for all the points and VCA is perpendicular
to RCA and VCB is perpendicular to RCB
• Vector diagrams representing the above equations is
shown in figure (e) and the corresponding velocity
polygon is shown in figure (g)
• The direction, magnitude and sense of the absolute
velocity of Point C is given by the line OVC
• Shape ABC in (g) is called velocity image of link ABC
Important properties of velocity
images
1. The velocity image of each link in the velocity polygon is a scale reproduction of the shape of the real link.
2. The velocity image of each link is rotated 90◦ from the real link in the direction of the angular velocity of
that link.
3. The letters identifying the vertices of each link in the velocity polygon are the same as, and progress
around the velocity image in the same order and in the same angular sense as, around the real link.
4. The ratio of the size of the velocity image of a link to the size of the link itself is equal to the magnitude of
the angular velocity of the link. In general, this is not the same for different links in a mechanism.
5. The velocities of all points on a translating link are equal, and the angular velocity of the link is zero.
Therefore, the velocity image of a link that is translating shrinks to a single point in the velocity polygon.
6. Point OV in the velocity polygon is the image of all points with zero absolute velocity; it is the velocity
image of the stationary link.
7. The absolute velocity of any point on any link is represented in the velocity polygon by the line from OV to
the image of the point. The velocity-difference vector between any two points, say P and Q, is
represented by the line to image point P from image point Q.
• This concept is extensively used for the kinematic analysis of mechanism
having ternary, quaternary and higher order link.
• If the velocities and accelerations of any two points on a link are known
with the help of images, the velocity and acceleration of any other point
on the link can be easily determined.
• Consider a quaternary rigid link as shown in figure.
• Let the other links be joined at different hinges B,C,D and E as shown in
figure.
• Let angular velocity and acceleration of this link be ω and α (CCW).
 • Assume any fixed or reference point O (velocity pole)
Velocity Image/diagram
• The velocity difference vectors are
eb=vBE, bc=vBC, ec=vEC, bd=vBD
• Magnitude of velocity difference is given by

• Velocity diagram bcde is a scaling diagram of the link BCDE and is called the
velocity image of the link BCDE.
• Velocity image of link is obtained by joining the tip of the absolute velocity vectors.
• The velocity image is rotated through 90° in the direction of velocity ω.
• The scale of the image is determined by ω → each link of a given mechanism will
have different scaling.
Acceleration image/diagram
• Where
= normal or radial or centripetal component due to angular velocity.
* It is acting along or parallel to BE and will be directed from E towards B.
= tangential component which is due to angular acceleration.
* It acts perpendicular to BE (or parallel to vBE) from E towards B.
• Acceleration diagram e’b’c’d’ is a scaling diagram of link EBCD and is called as
acceleration image.
• Acceleration image of link is obtained by joining the tip of the absolute acceleration
vectors.
• The orientation of the acceleration image from the link diagram is (180°-θ) in the
directions of α, where

• Once the absolute velocity and acceleration of any two points of a rigid link are
known, those of any other point on the link can be determined by the respective
images.
Kinematic Analysis
• Angular velocity (ω) and angular accelerations (α) are always
perpendicular to the plane of motion
• General motion consists of translation and rotation
• The difference between motion of two points on same rigid body is
due to it’s rotation only
Def.: Instantaneous Centre of
velocity
• The instantaneous center of velocity is defined as the instantaneous location
of a pair of coincident points of two different rigid bodies in planar motion
for which the absolute velocities of the two points are equal.
Or
• The instantaneous center of velocity may also be defined as the location of a
pair of coincident points of two different rigid bodies in planar motion for
which the apparent velocity of one of the points is zero, as seen by an
observer on the other body.
Or,
• It is defines as the imaginary centre (or a centre at a given instant) about
which a link as whole is considered to be rotating.
• At IC, velocity is zero→ link is at rest at this point.
• IC varies from instant to instant for different positions of links. The
locus of these centres is termed as centroid.
• At IC, one rigid link rotates instantaneously relative to another for the
configuration of the mechanism considered.
• At IC, The two rigid links have no linear velocities relative to each
other. i.e. these two rigid links have same linear velocity relative to
third rigid link (or any other link)
Instantaneous Centre (ICs) of
velocity
Pairs Position of IC
Revolute Centre of the revolute pair (pin)
Prismatic At infinity in the direction perpendicular to the axis of
prismatic pair
Rolling pair (Which is higher pair) Point of contact
Curved surface (inside or outside) Centre of curvature of surface
If one body simultaneously rolls and slides over the Common normal to the surfaces of these links passing
other through the point of contact
Aronhold-Kennedy Theorem of 3-ICs
4-bar mechanism
The Aronhold-Kennedy theorem states that the three instant centers I12, I13, and I23 must all lie on the
same straight line (the line connecting the two pins), commonly referred to as the line of centers.

∗ The Aronhold-Kennedy theorem is named after its two independent discoverers, S. H. Aronhold, 1872, and
A. B. W. Kennedy, 1886.
It is usually known as the Aronhold theorem in German-speaking countries, and is usually called Kennedy’s
theorem in English-speaking countries.
Examples for locating ICs
 Velocity & Acceleration
Analysis
(Graphical Method)

Dr. Anil Kumar Gillawat,

Ad-hoc Faculty
Mechanical Engineering,
NIT Andhra Pradesh
• Involves no/negligible computation.
• Carrried out graphically
• Efficiency of the method, for determining velocity of a particular link
in a mechanism, depends upon the choice of relative ICs to be used
Four bar mechanism
• Step 1: Determine all ICs
• Step 2: Velocity Analysis
Slider crank mechanism
• Determine all ICs
• Velocity Analysis
Whitworth Quick Return mechanism
• In the Whitworth quick-return
mechanism shown in figure, ω2 is
given. Determine the velocity of
the slider D. Given O2A = 8 cm,
O4C = 6 cm, O2O4= 4 cm, and CD =
20 cm.
• Determine all ICs
 Determining pairs of lines for
determining ICs
ICs Quadrilater Triangles Lines
al
I13 1-2-3-4 Δ123 and Δ134 I12I23 I34I14
I24 Δ234 and Δ124 I23I34 I12I14
I15 1-4-5-6 Δ145 and Δ156 I14I45 I56I16
I46 Δ456 and Δ146 I45I56 I14I16
I25 1-2-4-5 Δ245 and Δ125 I24I45 I12I15
I26 1-2-3-6 Δ236 and Δ126 I23I36 I12I16
1-2-5-6 Δ126 and Δ256 I12I16 I25I56
I35 3-4-5-6 Δ345 and Δ356 I34I45 I35I56
1-3-4-5 Δ345 and Δ135 I34I45 I13I15
I36 1-3-4-6 Δ346 and Δ136 I34I46 I13I16
2-3-5-6 Δ356 and Δ236 I35I56 I23I26
• Cutting Velocity
Note:
Angular velocity ratio of two links relative to a third link is inversely proportional to
the distances of their common IC from their respective centres of rotation.
Practice
 Problems:
Kinematic Analysis
(using velocity and
acceleration images )

Dr. Anil Kumar Gillawat,

Ad-hoc Faculty
Mechanical Engineering,
NIT Andhra Pradesh
Problem:1
• A 4-bar kinematic chain is represented by a quadrilateral ABCD in which AD is fixed and is 400 mm
long. The crank AB 75 mm long rotates in a clockwise direction at 120 rpm and drives the link CD
125 mm long by means of a connecting rod BC 350 mm long. Determine the angle through which
CD oscillates and find angular velocities of the links BC and CD in one of the positions when BC is
perpendicular to AB.
Understanding diagram for
angle of oscillation

• When the B pint on crank moves towards B’, C point is pushed to extreme
position C’ for lever (link4) such that AC’=AB’+B’C’.
• When point B approaches to B’’, point C on lever is dragged to point C3 and
dragged till point C’’’ such that B’’’AC’’’D become collinear.
• Beyond point B’’’, the crank pushes Point C through C2, C1 to C’’ at B’’ such
that AC’’=AB’’+B’’C’’.
• Therefore, maximum oscillation of lever (link4) is α=angle (C’DC’’).
• Points C’ and C’’ represented by the intersection point of circle by link4
=125R with centre D and circle with centre A and radius =AB+BC=425 mm.
• The angle α=186° Refer diagram
• Velocity analysis
Given: N= 120 rpm
→
Velocity of link 2= VAB=ω2xAB= 94.3 cm/sec
• Steps to draw Velocity diagram
1. Since, A and D aare fixed point, therefore points
a & d lie on same point in velocity diagram.
2. Draw velocity vectors VAB =94.3 cm/sec in
perpendicular direction to link AB
3. Draw velocity vectors bc perpendicular to link BC at point band
velocity vector cd perpendicular to link CD at point d both meeting
at point c.
4. Diagram abcd is required velocity diagram or image.
5. Measure bc=VBC=36.75 cm/sec & cd=VCD=100.8 cm/sec from
diagram.
6. Angular velocity
Problem:2
• A link AB of 4-bar linkage
ABCD revolves uniformly
at 120 rpm in a
clockwise direction. Find
the angular acceleration
of links BC and CD and
acceleration of point E
on link BC. Given AB=7.5
cm, BC = 17.7 cm, EC = 5
cm, DC =15 cm, DA =10
cm and Angle BAD =90°
• Velocity Analysis
• Given: N=120 rpm→ω2=12.57 rad/sec
• Follow same steps as in previous problem.
3. Measure bc=VBC=56 cm/sec & cd=VCD=124 cm/sec from diagram.
4. Angular velocity
• Acceleration diagram
• Given uniform velocity
→ω2=constant→α2=0
Two components of acceleration

Where
and acting along link towards centre, and
acting perpendicular to link (i.e. along velocity of link) in the speed
direction.
Since, α2=0 →, and

hence, = ab
= bc’’
• Draw vector ab perpendicular to link AB towards centre A.
• Draw vectors bc’’ at point b perpendicular to link BC acting
towards point joint B and vector c’ at point d perpendicular
to link CD acting towards point joint D.
• Draw perpendiculars at bc’’ and c’d at c’’ and c’ respectively
to meet at point c.
• Join bc and cd to get acceleration image/diagram as abcd.
• Using scale
bc= aBC= 307.6 cm/sec2, cd=aCD=104.1 cm/sec2,
c’’c = =250 cm/sec2, c’c = = 185 cm/sec2
• Angular acceleration of links BC and CD
=14.3 rad/sec2
=12.3 rad/sec2
Klein’s Construction
Practice
 Problems:
Kinematic Analysis
(Coriolis component)

Dr. Anil Kumar Gillawat,

Ad-hoc Faculty
Mechanical Engineering,
NIT Andhra Pradesh
Coriolis component
Definition: When a link slides along another link (which is rotating),
Coriolis component of acceleration comes into play.
The tangential component of acceleration of the slider (B) with respect
to the coincident point (C) on the rotating link is known as Coriolis
component of acceleration and is always perpendicular to the link
Direction of Coriolis component of acceleration and is obtained by
rotating V at 90°, about its origin, in the direction of ω.
Arc B1B2=
Applications:
1. Wind direction on earth
2. Person moving with velocity on a rotating platform.
3. Slotted Lever/Whitworth Quick return mechanism in shaper
machine
Problem 3:
• The driving crank AB of the
quick return mechanism shown
in figure revolves at a uniform
speed of 200 rpm. Find the
velocity and acceleration of the
ram (toolbox) R, in the position
shown when the crank makes
an angle of 60° with the vertical
line of centres PA. What is the
acceleration of sliding block at
AB along the slotted lever PQ.
Drawing velocity diagram
• NBA= 200 rpm→
→VBA=ωBAxBA=1570.796 mm/sec
=1.57 m/sec
1. Take fixed points a,p at any place.
2. Draw vector ab (VAB)perpendicular to Link AB in direction of ωBA
3. B lies on slider and B’ on link4 (PQ). Velocity of slider is along PQ. Therefore, draw bb’ parallel
to PQ in the direction of sliding.
4. Draw pb (VPB’) perpendicular to link PB’ intersecting bb’ at b’.
5. Q lies on extension of link PB’, therefore marks q on the line pb’ such that

6. From q, draw qr (VQR) perpendicular to link5 (QR) and ar (VR) parallel to sliding surface for R.
7. abb’qrp is required velocity diagram,.
• From measurement, Linear velocities
VR=ar=1.6 m/s, VBB’= bb’=1.06 m/s, VB’P=pb’=1.13 m/s
VQP= pq=1.7 m/s, VRQ=rq=0.4 m/s
• Angular velocities
ωPQ=ωPB’=4.53 rad/sec, ωRQ=0.8 rad/sec
Drawing acceleration diagram

= 32.865 m/sec2, since as αBA=0

= 0.32 m/sec2
= 5.15 m/sec2
1. Take fixed points a,p at any place.
2. Draw vector ab, in the direction of parallel to the link AB towards centre A.
3. Draw ab’’ () for normal component of acceleration aB’P parallel to link B’P towards point P.
4. Draw b’b’’ () perpendicular to ab’’. Note: point b’ is not known.
5. Point B’ and B lies on same (coincident) point. But, acceleration of slider B point has two components.
a) Coriolis component of acceleration of B with respect to B’ i.e. which is perpendicular to PB’ and is given by = 9.6
m/sec2 = bm
b) Sliding acceleration of B with respect to B’ i.e. which is the direction parallel to link PB’ intersecting b’b’’ at point
b’. Note: and are mutually perpendicular.
6. Point Q lies on extension of PB’, therefore, pb’ is extended to get the position of q such that
• Note: = 0.32 m/sec2 is very small, we neglect and draw =qr
perpendicular from point q on ar parallel to sliding surface, meeting
ar ar point r.
• abb’qrp is the required acceleration diagram.
• By measurement:
• ar= ar=22 m/sec2 acceleration of ram (toolbox)
• Acceleration of sliding block B along slotted lever (PQ) is
b’b = =18 m/sec2
Practice:
1. The dimensions of a four link mechanism are AB = 500 mm, BC = 660 mm and CD = 560
mm and AD = 1000 mm. The link AB has an angular velocity of 10.5 rad/sec
counterclockwise and an angular retardation of 26 rad/sec2 at the instant when it
makes an angle of 60° with AD the fixed link.
2. The crank of a reciprocating engine is rotating at 210 rpm. The length of the crank and
connecting rod are 20 cm and 100 cm respectively. Find the velocity of point A (velocity
of piston), when crank has turned through an angle of 45° with horizontal.
3. In a 4-bar mechanism ABCD, points A and C are fixed points 30 mm apart and AB, CD
are bars 60 cm and 70 cm long respectively, which are connected by a rod which are 50
cm long. If AB rotates with uniform speed of 60 rpm, determine
• Velocity of D when AB s perpendicular to AC and also when it makes 10° on either
side of the perpendicular, and
• The Instantaneous centre (IC) of the bar BD and its angular velocity in the three
positions.
• The four-bar linkage in the
posture shown is driven by
crank 2 at ω2 = 60 rad/s (cw).
Find the angular velocities of
links 3 and 4, and the velocity
of pin B and point C on link 3.
• The four-bar linkage in the posture
shown in Figure is driven by crank (link
2) at a constant angular velocity ω2 = 900
rev/min ccw. For this posture,
a) Determine the angular velocities of
coupler (link 3) and output link (link
4) and the velocities of point E in
link 3 and point F in link 4.
b) Determine the angular
accelerations of links 3 and 4, and
the accelerations of points E and F.
• For the mechanism in the posture shown, where θ2 = 150◦, RPA=RAO4 ,
and RPB = RBA, determine the first-order kinematic coefficients of links
3, 4, and 5. If the angular velocity of the input link 2 is ω2 = 5 rad/s cw,
determine: (a) the angular velocities of links 3 and 4, (b) the velocity
of link 5, and (c) the velocity of point P fixed in link 4.
• For the inverted slider-crank linkage in the
posture shown, crank 2 has a constant angular
velocity of 60 rev/min ccw. Find the velocity and
acceleration of point B, and the angular velocity
and acceleration of link 4.
• For the linkage in the posture shown,
the first- and second-order kinematic
coefficients are θ3 = −3.0 rad/rad, R4
= 86.6 mm/rad, θ3 =−13.856 rad/rad2,
and R4 = 150 mm/rad2 (where R4 is
the vector from ground pivot O2 to
pin B). Determine the radius of
curvature of the path of point C, and
the x and y coordinates of the center
of curvature of this path. If the input
angular velocity of link 2 is a constant
ω2 = 22 rad/s ccw, determine the
acceleration of point C.