5 Kinematics and Dynamics

of Slider Crank
5.1 Introduction
On this module, Matlab will be utilized as a tool to analyze the kinematics and dynamics of
slider crank mechanism. The aspects that will be evaluated are position, velocity, acceleration
and force. To make the evaluation easier, the following convention is taken:
A complex coordinate system would be applied. The horizontal axis is denoted by real
component while the vertical axis is denoted by imaginary component.
Positive sign of all angular position would be counter clock wise with positive real axis as
zero reference.
Let P(x,y) = (1,1) in the Cartesian coordinate, as it is shown on Figure 1. In the complex
coordinate, P will be denoted by a vector position = (1 + 1) mm where is a unit of
imaginary component. P might also be presented in the form of magnitude and phase, =


2 4 mm. Thus, the distance between P and the center of complex coordinate are 2 mm
and the phase angle generated from a line made of center of coordinate and P with respect to

the real axis is 4 counter clock wise.

Figure 1. Transformation form Cartesian coordinate system to complex coordinate system.

5.2 Evaluation of Angular Position

Position evaluation is aimed to understand the position of the main component of slider crank
as it is shown on Figure 2. On this mechanism, O is the center of rotation of the crack. A is

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the junction point between crank and the connecting rod, and B is the junction point between
connecting rod and piston.

Figure 2 Slider-crank Mechanism

To understand the analysis of slider-crank more in depth, execute the following command!

Angular Position Analysis

clear all;close all;clc

%% Angular position analysis
OA = 51; % Length of crank
AB = 155; % Length of connecting rod
Th_2d = input('Angular position of crank [degree] = ');
Th_2 = deg2rad(Th_2d); % Conversion from degree to radian
n = input('Rotational speed [RPM] = ');
w = n*2*pi/60; % Conversion from RPM to rad/sec
r_A = OA*exp(1i*Th_2); % Position a complex coordinate
p = imag(r_A); % Vertical position of point A
Th_BA= -asin(p/AB); % Angle BA
r_BA= AB*exp(1i*Th_BA); % Position B relative to A
r_B = r_A+r_BA; % Position B

Write down a line of Matlab command to calculate the distance between point A and point B.
The distance should be 155mm for any give phase angle of crack!
___________________________________________________________________________

5.3 Analysis of Velocity

Figure 3 shows the analysis of velocity for slider-crank mechanism. In this figure, the
. Meanwhile
magnitude and the direction of velocity at point A are known and denoted by

2
 . But, the direction
the velocity of point B relative to point A is unknown and denoted by
is always perpendicular to AB. As we know point B represents a piston movement,
of
therefore the direction of the movement is known but the magnitude is unkown. The velocity
. Then, you will make a program in MATLAB using the following
at point B is denoted as
and
equation to determine the unknown magnitude of ,

=
+
. (1)

Figure 3 Velocity Analysis

To make it easy, you can continue the Angular Position Analysis program by adding the
following command. This following command is used to evaluate the velocity analysis
based on equation (1).

Velocity Analysis

%% Velocity Analysis
Th_V_A= Th_2+pi/2; % Direction of A
V_A = w*OA*exp(1i*Th_V_A); % Velocity Vector of A
q = imag(V_A); % Normal Velocity of A
Th_V_BA = Th_BA-sign(q)*pi/2; % Direction of BA
V_BA_Y= -q; % Normal Velocity of BA
V_BA_X= V_BA_Y/tan(Th_V_BA); % Horizontal Velocity BA
V_BA= V_BA_X+1i*V_BA_Y; % Velocity BA
V_B = V_A+V_BA; % Velocity B
% Continue this program and find the angular velocity of BA.
After you have done this program, then continue with this following program to draw the
vector velocity polygon. Use the program to complete Column B on the worksheet!

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Draw The Polygon of Velocity

V = [0 V_A V_A+V_BA V_A+V_BA-V_B];

plot(real(V),imag(V),'-*','linewidth',2);
axis equal % The scale of real axis = The scale of imaginary axis
grid on

5.4 Analysis of Acceleration

Figure 4 shows the analysis of acceleration for slider-crank mechanism. As it is shown on the
graph, that for a given instantaneous time, the normal and tangential acceleration of Point A
as well as the normal acceleration of point A relative to point B are known. The normal
acceleration of point A is denoted by
. The magnitude of
is equal to 22 while
the direction will always parallel to OA. The tangential acceleration of point A is
. The
magnitude of
is equal to 2 and the direction is always perpendicular to OA. On
this analysis 2 and 2 are the velocity and acceleration of link 2 respectively. The normal
acceleration of Point B with respect to Point A, is denoted by

. The magnitude of

is
equal to 32 while the direction of it is parallel to BA. The velocity of link 3 is denoted
by 3 .

Figure 4 Acceleration Analysis

In the acceleration analysis, the unknown accelerations,

dan
, will be evaluated.

is the tangential acceleration of point B relative to A. Meanwhile

is the acceleration of
point B. To evaluation of unknown acceleration is based on the following equation.

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=
+
=
+

+

. (2)
Execute the following command to evaluate the acceleration discussed above.

Acceleration Analysis

%% Acceleration analysis
alpha2 = 10;
A_A_T = alpha2*OA*exp(1i*(Th_2+pi/2));% Tan. Acc of A
A_A_N = w*w*OA*exp(1i*(Th_2+pi)); % Normal Acc of A
A_A = A_A_T+A_A_N; % Acc of A
A_BA_N = w3*w3*AB*exp(1i*(Th_BA+pi)); % Normal Acc of BA
A_BA_im = -imag(A_A+A_BA_N); % Imag of A_BA_T
T_A_BA_T = Th_BA+sign(A_BA_im)*pi/2; % Angle of A_BA_T
A_BA_riil= A_BA_im/tan(T_A_BA_T); % Real of A_BA_T
A_BA_T = A_BA_riil+1i*A_BA_im; % Tan Acc of BA
A_B = A_A+A_BA_N+A_BA_T; % Acc of B

Make a syntax to draw the vector acceleration polygon then, use the program to complete
Column C on the worksheet!

5.5 Force Analysis

On this part, the force building the slider crank mechanism will be evaluated. To make it so,
the mass of each link as well as the length of each link should be known. Moreover, on this
analysis the mass of the link is assumed to be concentrated at the center of the link. As it is
shown on Figure 5, the cranks mass is about 0.8 kg and the concentrated at point P which is
located 35 mm from Point O. The mass of connecting rod is about 1,18 kg and concentrated
on point Q which is located 113 mm from point A. Meanwhile, the mass of piston is about
1,64 kg and concentrated at the end of connecting rod, point B. These mass will generate
inertial force due to the acceleration of presented on each link.

Figure 5 Concentrated mass and its location of slider-crank mechanism.

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It has to be noted, that force analysis can be done after the acceleration analysis is
accomplished. For the given geometry of link in Figure 5, evaluate the acceleration generated
on each link. After that, evaluate the acceleration of point P and Q.

Acceleration of point P and point Q

AP = 10; % Distance from A to P

A_P = OP/OA*A_A; % Acceleration of P
AQ = 113; % Location of point Q
A_QA = AQ/AB*A_BA; % Acceleration of Q relative to A
A_Q = A_A+A_QA; % Acceleration of Q

Afterwards, the inertial forces of them as well as the piston can be calculated.

=
, (3)

is the inertial forces, is the mass of accelerated link, and

where is the total
acceleration present on the link.. Based on Eq. (3) a simple program is built as follow.

Inertial forces

m2 = 0.80; % Mass of crank

m3 = 1.18; % Mass of connecting rod
m4 = 1.64; % Mass of piston
F2 = -m2*A_P; % Inertial force of crank
F3 = -m3*A_Q; % Inertial force of connecting rod
F4 = -m4*A_B; % Inertial force of piston
FT = F2+F3+F4; % Total inertial force

Those inertial force will generate a reaction force on the frame which is considered as link 1.
The resultant of these forces is called as shaking force. To calculate the shacking force is as
simple as follow.

SHAKING FORCE

FS = -FT; % Shaking force

% Selamat bekerja.
The above program will be helpful to fill column D on the worksheet. A function is required
to fill column D. The function should be made based on the kinematics and dynamics of the
slider crank mechanism discussed above. Study the following example to understand how to
make a function.
1. The following program is an example of how to work with function in Matlab
function [m,s] = stat(x)
n = length(x);

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 m = sum(x)/n;
s = sqrt(sum((x-m).^2/n));
end
Save the above program after stat.m. Test the function by execute the following
command.
values = [12.7, 45.4, 98.9, 26.6, 53.1];
[ave,stdev] = stat(values)

a. Copy the program from section 4.2 4.5 to single function m-file. The input of
function is the length of OA, length of OP, length of AB, length of AQ, angle 2 ,
angular speed of crank in RPM, mass of crack (1 ), mass of connecting rod (2 ) and
mass of piston (3 ). The output of function is vector position of , polygon of
velocity, polygon of acceleration and shaking force.

2. Employ the function you have made to fill the worksheet under the following instruction:
a. On Column B draw another polygon of velocity for a different dimension of slider
crank: OA = 70 mm and AB = 155 mm with the rotational speed of crack at about
1000 RPM. Draw the polygon of velocity for the given value of crank angle 2 .
b. On Column C, draw the polygon of acceleration for a different dimension of slider
crank: OA = 70 mm and AB = 155 mm with the rotational speed of crack at about
1000 RPM. Draw the polygon of velocity for the given value of crank angle 2 .
c. On Column D add an information about magnitude and direction of shaking force for
a slider crack which has dimension of OA = 70 mm, AB = 350 mm OP = 50 mm, AQ
= 113 mm, 2 = 1,00 kg, , 3 = 1,18 kg, 4 = 1,64 kg. The slider crack is operated
on 1000 RPM.

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Worksheet
Column A: Distance of

Column B: Polygon of velocity

Draw the polygon of velocity for the following crank angle: 00, 400, 800, 1500, 2100, 2300,
2800, and 3400.

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Column C: Polygon of Acceleration

Draw the polygon of acceleration for the following crank angle: 00, 400, 800, 1500, 2100,
2300, 2800, and 3400.

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Column D: Shaking force

Write down the magnitude and direction of shaking force for the following crank angle: 00,
400, 800, 1500, 2100, 2300, 2800, and 3400. Estimate the value of crank angle which will
give the maximum shaking force.

Do it well!

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