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Department of Mechanical Engineering

II B. Tech II Semester
Kinematics of Machinery
Unit - III
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UNIT III
Velocity and acceleration – Motion of a link in machine – Determination of
Velocity and acceleration diagrams – Graphical method – Application of relative
velocity method four bar chain. Velocity and acceleration analysis of for a given
mechanism, Klein’s construction, Coriolis acceleration, determination of Coriolis
component of acceleration. Plane motion of body: Instantaneous center of
rotation, centrods and axodes – relative motion between two bodies – Three
centers in line theorem – Graphical determination of instantaneous centre,
diagrams for simple mechanisms and determination of angular velocity of points
and links.

Day 1

Q1. Explain motion of a link in Mechanism.

Consider two points A and Bon a rigid link
AB, as shown in Fig. 1 (a). 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. Fig-1. Motion of a Link
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.
The relative velocity of B with respect to A (i.e. VBA) is represented by the vector
ab and is perpendicular to the line AB as shown in Fig. 1.
Let ω = Angular velocity of the link AB about A.
We know that the velocity of the point B with respect to A,
VBA = ̅̅̅
𝑎𝑏= ω. AB...(i)
Similarly, the velocity of any point C on AB with respect to A,
VCA = 𝑎𝑐
̅̅̅ = ω. AC...(ii)
From equations (i) and (ii),

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𝑉𝐶𝐴 𝑎𝑐̅̅̅ 𝜔. 𝐴𝐶 𝐴𝐶
= = = … … … 𝑖𝑖𝑖
𝑉𝐵𝐴 ̅̅̅𝑎𝑏 𝜔. 𝐴𝐵 𝐴𝐵
Thus, we see from equation (iii), that the point c on the vector ab divides it in
the same ratio as C divides the link AB.
Note: The relative velocity of A with respect to B is represented by ba, although
A may be a fixed point. The motion between A and B is only relative. Moreover,
it is immaterial whether the link moves about A in a clockwise direction or about
B in a clockwise direction.
Q2. Explain Velocity of a Point on a Link by Relative Velocity Method.
Consider two points A and B on a link as shown in Fig. 2 (a). Let the absolute
velocity of the point A i.e. VA is known in magnitude and direction and the
absolute velocity of the point B i.e. VB is known in direction only. Then the
velocity of B may be determined by drawing the velocity diagram as shown in
Fig. 2 (b). The velocity diagram is drawn as follows:

Fig. 2
1) Take some convenient point o, known as the pole.
2) Through o, draw oa parallel and equal to VA, to some suitable scale.
3) Through a, draw a line perpendicular to AB of Fig. 2 (a). This line will
represent the velocity of B with respect to A, i.e. VBA.
4) Through o, draw a line parallel to VB intersecting the line of VBA at b.
5) Measure ob, which gives the required velocity of point B (VB), to the scale.
Notes:
1) The vector ab which represents the velocity of B with respect to A (V BA) is
known as velocity of image of the link AB.
2) The absolute velocity of any point C on AB may be determined by dividing
vector ab at c in the same ratio as C divides AB in Fig. 2 (a).In other words
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𝑎𝑐 𝐴𝐶
=
𝑎𝑏 𝐴𝐵
Join oc. The *vector oc represents the absolute velocity of point C (VC) and
the vector ac represents the velocity of C with respect to A i.e. VCA.
3) The absolute velocity of any other point D outside AB, as shown in Fig. 2 (a),
may also be obtained by completing the velocity triangle abd and similar to
triangle ABD, as shown in Fig. 2 (b).
4) The angular velocity of the link AB may be found by dividing the relative
velocity of B with respect to A (i.e. VBA) to the length of the link AB.
Mathematically, angular velocity of the link AB,
𝑣𝐵𝐴 𝑎𝑏
𝜔𝐴𝐵 = =
𝐴𝐵 𝐴𝐵

Class work: Explain Velocity of a Point on a Link by Relative Velocity Method.

Homework: Explain motion of a link in Mechanism
Important and Previous JNTUK Questions: What are the important concepts in
velocity analysis? [SET-3 April/May 2017] [4 Marks]

Day 2

Q1. Determine the Velocities in Slider Crank Mechanism by relative velocity

method.
A slider crank mechanism is shown in Fig. 3 (a). The slider A is attached to the
connecting rod AB. Let the radius of crank OB be r and let it rotates in a
clockwise direction, about the point O with uniform angular velocity ω rad/s.
Therefore, the velocity of B i.e. VB is known in magnitude and direction. The
slider reciprocates along the line of stroke AO.
The velocity of the slider A (i.e. VA) may be determined by relative velocity
method as discussed below:

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Fig. 3
1) From any point o, draw vector ob parallel to the direction of VB(or
perpendicular to OB)such that ob = VB = ω.r, to some suitable scale, as shown
in Fig. 3. (b).
2) 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.
3) 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. Now oa
represents the velocity of the slider A i.e. VA,to the scale.
The angular velocity of the connecting rod AB (ωAB) may be determined as
follows:
𝑣𝐵𝐴 𝑎𝑏
𝜔𝐴𝐵 = = (𝐴𝑛𝑡𝑖𝑐𝑜𝑙𝑜𝑐𝑘𝑤𝑖𝑠𝑒 𝑎𝑏𝑜𝑢𝑡 𝐴)
𝐴𝐵 𝐴𝐵
The direction of vector ab (or ba) determines the sense of ω AB which shows that
it is anticlockwise.
Note : The absolute velocity of any other point E on the connecting rod AB may
also be found out by dividing vector ba such that be/ba = BE/BA . This is done by
drawing any line bA1 equal in length of BA. Mark bE1 =BE. Join a A1. From E1 draw
a line E1e parallel to aA1. The vector oe now represents the velocity of E and
vector ae represents the velocity of E with respect to A.
Q2. What is Rubbing Velocity at a Pin Joint?
The links in a mechanism are mostly connected by means of pin joints. The
rubbing velocity is defined as the algebraic sum between the angular velocities
of the two links which are connected by pin joints, multiplied by the radius of the
pin.
Consider two links OA and OB connected by a pin joint at O as shown in Fig.4.

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Fig. 4
Let ω1 = Angular velocity of the link OA or the angular velocity of the
point A with respect to O.
ω2 = Angular velocity of the link OB or the angular velocity of the
point B with respect to O, and
r = Radius of the pin.
According to the definition,
Rubbing velocity at the pin joint O
= (ω1 – ω2) r, if the links move in the same direction
= (ω1 + ω2) r, if the links move in the opposite direction
Note: When the pin connects one sliding member and the other turning
member, the angular velocity of the sliding member is zero. In such cases,
Rubbing velocity at the pin joint = ω.r
where ω = Angular velocity of the turning member, and
r = Radius of the pin.

Class work:
1. In a four bar chain ABCD, AD is fixed and is 150 mm long. The crank AB is
40mm long and rotates at 120 r.p.m. clockwise, while the link CD = 80 mm
oscillates about D. BC and AD are of equal length. Find the angular velocity
of link CD when angle BAD = 60°.
2. The crank and connecting rod of a theoretical steam engine are 0.5 m and
2 m long respectively. The crank makes 180 r.p.m. in the clockwise
direction. When it has turned 45° from the inner dead centre position,
determine: 1. velocity of piston, 2. angular velocity of connecting rod, 3.
Velocity of point E on the connecting rod 1.5 m from the gudgeon pin, 4.
velocities of rubbing at the pins of the crank shaft, crank and crosshead
when the diameters of their pins are 50 mm, 60 mm and 30mm
respectively, 5. position and linear velocity of any point G on the
connecting rod which has the least velocity relative to crank shaft.
Homework:

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1. In Fig. 5, the angular velocity of the crank OA is 600 r.p.m. Determine the
linear velocity of the slider D and the angular velocity of the link BD, when
the crank is inclined at an angle of 75° to the vertical. The dimensions of
various links are: OA = 28 mm; AB = 44 mm; BC 49 mm; and BD = 46 mm.
The centre distance between the centres of rotation O and C is 65 mm. The
path of travel of the slider is 11 mm below the fixed point C. The slider
moves along a horizontal path and OC is vertical.

Fig: 5
2. The mechanism, as shown in Fig. 6, has the dimensions of various links as
follows:
AB = DE = 150 mm ; BC = CD = 450 mm ; EF = 375 mm.

Fig. 6
Important and Previous JNTUK Questions:
1. The crank and connecting rod of a theoretical steam engine are 0.5 m and
2 m long respectively. The crank makes 180 r.p.m. in the clockwise
direction. When it has turned 45° from the inner dead centre position,
determine :i) velocity of piston , ii) angular velocity of connecting rod ,iii)
velocity of point E on the connecting rod 1.5 m from the gudgeon pin ,
iv)velocities of rubbing at the pins of the crank shaft, crank and crosshead
when the diameters of their pins are 50 mm, 60 mm and 30 mm
respectively ,v) position and linear velocity of any point G on the
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connecting rod which has the least velocity relative to crank shaft. [16
Marks], JNTU/Nov-Dec/2016.
2. In a mechanism shown in Fig.1.1, the crank OA is 100 mm long and rotates
clockwise about O at 120 r.p.m. The connecting rod AB is 400 mm long.At a
point C on AB, 150 mm from A, the rod CE 350 mm long is attached. This
rod CE slides in a slot in a trunnion at D. The end E is connected by a link
EF, 300mm long to the horizontally moving slider. For the mechanism in
the position shown, find i) velocity of F, ii) velocity of sliding of CE in the
trunnion, and iii) angular velocity of CE.

Fig. 1.1
3. In a slider crank mechanism, the length of the crank and the connecting
rod are 100 mm and 400 mm respectively. The crank position is 45° from
IDC, the crank shaft speed is 600 r.p.m. clockwise. Using analytical method
Determine (i) Velocity and acceleration of the slider, and (ii) Angular
velocity and angular acceleration of the connecting rod. [SET-2 April/May
2017] [16 Marks],

Video links:
1. https://www.youtube.com/watch?v=SmIsw3IkIYQ
2. https://www.youtube.com/watch?v=jzNik6PEKG8

Day 3
Q1. Explain instantaneous centre method in velocity analysis of mechanism
with example.
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Let there be a plane body p having a non-linear relative motion to another plane
body q. At any instant, the linear velocities of two points A and B on the body p
are Va and Vb respectively in the direction as shown in figure 7.

Fig. 7
If a line is drawn perpendicular to the direction of Va at A, the body can be
imagined to rotate about some points on this line. Similarly, the centre of
rotation of the body also lies on a line perpendicular to the direction of Vb at B. if
the intersection of two points is at I, the body p will be rotating about I at the
instant. This p; point I is known as Instantaneous centre of velocity or more
commonly instantaneous centre of rotation for the body p. this property is true
only for an instant and a new point will become the instantaneous centre at the
next instant. In case the perpendicular to Va and Vb at A and B respectively meet
outside of the body p, the I-centre will lie outside the body p. If the direction of
Va and Vb are parallel and the perpendicular at A and B meet at infinity, the I-
centre of the body lies at infinity. This is the case when body has linear motion
only.
Q2. How to calculate number of instantaneous centre for any mechanism?
For two bodies having relative motion between them, there is an I-centre. Thus,
in a mechanism, the number of I-centers will be equal to possible pairs of bodies
or links.
Let, N= number of I-centers
n=number of bodies or links
𝑛(𝑛−1)
then, 𝑁 =
2
Q3. What is Kennedy’s theorem?
Consider three plane bodies p, q and r; r being a fixed body. P and q rotate
about centre pr and qr respectively relative to the body r. thus, pr is the I-centre
of bodies p and r whereas qr is the I-centre of bodies q and r. Assume the I-
centre of the bodies’ p and q at the point pq as shown in figure 8.

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Fig. 8
Now, p and q both are moving relative to third fixed body r. therefore, the
motion of their mutual I-Centre pq is to be the same whether this point is
considered in the body p or q. If the point pq is considered on the body p, its
velocity Vp is perpendicular to the line joining pq and pr. If the point pq is
considered on the body q, its velocity Vq is perpendicular to line joining pq and
qr.
It is found that the two velocities of the I-Centre pq are in different directions
which is impossible. Therefore, the I-centre of the bodies p and q cannot be at
the assumed position pq. The velocities Vp and Vq of the I-centre will same only
if this centre lies on the line joining pr and qr. In other words, if three plane
bodies have relative motion among themselves, their I-centre must lie on
straight line. This is known as Kennedy’s theorem.

Class work: What is Kennedy’s theorem?

Homework: What is three center in line theorem?
Important and Previous JNTUK Questions: State and Explain Kennedy’s theorem
as applicable to instantaneous center of rotation of three bodies.
[SET-4 April/May 2017] [4 Marks]

Day 4
Q1. What are space and body centrodes?
The locus of the instantaneous centre in space during a definite motion of the
body is called the space centrode and the locus of the instantaneous centre
relative to the body itself is called the body centrode.
Q2. What are the methods for determining the velocity of a point on a link?

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Though there are many methods for determining the velocity of any point on a
link in a mechanism whose direction of motion (i.e. path) and velocity of some
other point on the same link is known in magnitude and direction, yet the
following two methods are important from the subject point of view.
1. Instantaneous centre method, 2. Relative velocity method.
Q3. How to find the velocity of a point on link by Instantaneous Centre
Method?
Consider two points A and B on a rigid link. Let 𝑉𝐴 and 𝑉𝐵 be the velocities of
points A and B, whose directions are given by angles α and β as shown in Fig. 9.

Fig. 9
If 𝑉𝐴 is known inmagnitude and direction and 𝑉𝐵 in direction only, then the
magnitude of 𝑉𝐵 may be determined by the instantaneous centre method as
discussed below:
Draw AI and BI perpendiculars to the directions 𝑉𝐴 and 𝑉𝐵 respectively.
Let these lines intersect at I which is known as instantaneous centre or virtual
centre of the link. The complete rigid link is to rotate or turn about the centre.
Since A and B are the points on a rigid link, therefore there cannot be any
relative motion between them along the line AB.
Now resolving the velocities along AB,
𝑉𝐴 cos 𝛼 = 𝑉𝐵 cosβ
or
𝑉𝐴 cosβ 𝑆𝑖𝑛(90 − 𝛽)
= = ……1
𝑉𝐵 cosα 𝑆𝑖𝑛(90 − 𝛼)
Applying Lami’s theorem in triangle ABI,
𝐴𝐼 𝐵𝐼
=
sin(90 − 𝛽 ) sin(90 − 𝛼 )

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𝐴𝐼 sin(90 − 𝛽 )
= … . .2
𝐵𝐼 sin(90 − 𝛼 )
For equation 1 and 2,
𝑉𝐴 𝐴𝐼
=
𝑉𝐵 𝐵𝐼
Or
𝑉𝐴 𝑉𝐵
= =𝜔
𝐴𝐼 𝐵𝐼
𝜔 𝑖𝑠 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑙𝑓 𝑟𝑖𝑔𝑖𝑑 𝑙𝑖𝑛𝑘
If C is any other point on the link, then
𝑉𝐴 𝑉𝐵 𝑉𝐶
= =
𝐴𝐼 𝐵𝐼 𝐶𝐼
From the above equation, we see that
1. If vA is known in magnitude and direction and vB in direction only, then
velocity of point B or any other point C lying on the same link may be
determined in magnitude and direction.
2. The magnitude of velocities of the points on a rigid link is inversely
proportional to the distances from the points to the instantaneous centre
and is perpendicular to the line joining the point to the instantaneous
centre.
Q4. What are the different types of Instantaneous Centres?
The instantaneous centres for a mechanism are of the following three types:
1. Fixed instantaneous centres
2. Permanent instantaneous centres, and
3. Neither fixed nor permanent instantaneous centres.
Q5. What is the method to Locate Instantaneous Centres in a mechanism?
Consider a pin jointed four bar mechanism as shown in Fig. 10 (a). The following
procedure is adopted for locating instantaneous centres.

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Fig. 10
1. First of all, determine the number of instantaneous centres (N) by using
the relation
𝑛(𝑛 − 1)
𝑁=
2
In the present case,
4(4 − 1)
𝑁= =6
2
2. Make a list of all the instantaneous centres in a mechanism. Since for a
four bar mechanism, there are six instantaneous centres, therefore these
centres are listed as shown in the following table (known as book-keeping
table).
Links 1 2 3 4
Instantaneous 12 23 34 -
Centres 13 24
(6 in number) 14
3. Locate the fixed and permanent instantaneous centres by inspection. In
Fig. 10 (a), I12and I14 are fixed instantaneous centres and I23 and I34 are
permanent instantaneous centres.
4. Locate the remaining neither fixed nor permanent instantaneous centres
(or secondary centres) by Kennedy’s theorem. This is done by circle
diagram as shown in Fig. 10 (b). Mark points on a circle equal to the
number of links in a mechanism. In the present case, mark 1, 2, 3, and 4 on
the circle.
5. Join the points by solid lines to show that these centres are already found.
In the circle diagram [Fig. 10 (b)] these lines are 12, 23, 34 and 14 to
indicate the centres I12, I23, I34 and I14.
6. In order to find the other two instantaneous centres, join two such points
that the line joining them forms two adjacent triangles in the circle
diagram. The line which is responsible for completing two triangles should
be a common side to the two triangles. In Fig. 10 (b), join 1 and 3to form
the triangles 123 and 341 and the instantaneous centre* I 13 will lie on the
intersection of I12I23 and I14 I34, produced if necessary, on the mechanism.
Thus the instantaneous centre I13 is located. Join 1 and 3 by a dotted line
on the circle diagram and mark number 5 on it. Similarly the instantaneous
centre I24 will lie on the intersection of I12 I14 and I23 I34, produced if

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necessary, on the mechanism. Thus I24 is located. Join 2 and 4 by a dotted
line on the circle diagram and mark 6 on it. Hence all the six instantaneous
centres are located.
Class work:
1. In a pin jointed four bar mechanism, as shown in Fig. 11, AB = 300 mm, BC
= CD = 360mm, and AD = 600 mm. The angle BAD = 60°. The crank AB
rotates uniformly at 100 r.p.m. Locate all the instantaneous centres and
find the angular velocity of the link BC.

Fig. 11
2. Locate all the instantaneous centres of the slider crank mechanism as
shown in Fig. 12. The lengths of crank OB and connecting rod AB are 100
mm and 400 mm respectively. If the crank rotates clockwise with an
angular velocity of 10 rad/s, find: 1. Velocity of the slider A, and 2. Angular
velocity of the connecting rod AB.

Fig. 12
Homework:
1. A mechanism, as shown in Fig. 13, has the following dimensions: OA = 200
mm; AB = 1.5 m; BC = 600 mm; CD = 500 mm and BE = 400 mm. Locate all
the instantaneous centres. If crank OA rotates uniformly at 120 r.p.m.
clockwise, find 1. the velocity of B, C and D, and 2.the angular velocity of
the links AB, BC and CD.

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Fig. 13
2. Fig. 14 shows a Whitworth quick return motion mechanism. The various
dimensions in the mechanism are as follows: OQ = 100 mm; OA = 200 mm;
QC = 150 mm; and CD = 500 mm. The crank OA makes an angle of 60° with
the vertical and rotates at 120 r.p.m. in the clockwise direction. Locate all
the instantaneous centres and find the velocity of ram D.

Important and Previous JNTUK Questions:

1. The crank OA of a steam engine is 8 cm and the length of the connecting
rod AB is24 cm. The centre of gravity of the rod is at G, 8 cm from the
crank pin. The engine speed is 600 rad/min. For the position when the
crank makes 450 to the horizontal measured from the inner dead centre,
fine the velocity and acceleration of the piston. Also fine the acceleration
of the centre of gravity of the connecting rod. Use instantaneous centre
method. [16 Marks], JNTU/April-May/2016.
2. Define the terms centroid and axode. [4 Marks], JNTU/May/2015.
Vedio links:
1. https://www.youtube.com/watch?v=mKhYGt8J4BE&list=PLW4Rtyezg8ymo
qJS8LDKoFG3fVa_P83dK
2. https://www.youtube.com/watch?v=r1BblEOucxc

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Day 5
Q1. How to draw acceleration diagram for a rigid link?
Consider two points A and B on a rigid link as shown in Fig. 15 (a). Let the point B
moves with respect to A, with an angular velocity of ω rad/s and let α rad/s2 be
the angular acceleration of the link AB.

Fig. 15
We have already discussed that acceleration of a particle whose velocity
changes both in magnitude and direction at any instant has the following two
components:
1) The centripetal or radial component, which is perpendicular to the velocity
of the particle at the given instant.
2) The tangential component, which is parallel to the velocity of the particle
at the given instant.
Thus for a link AB, the velocity of point B with respect to A (i.e.𝑉𝐵𝐴 ) is
perpendicular to the link AB as shown in Fig. 15 (a). Since the point B moves with
respect to A with an angular velocity of ω rad/s, therefore centripetal or radial
component of the acceleration of B with respect to A,

This radial component of acceleration acts perpendicular to the velocity 𝑉𝐵𝐴 , In

other words, it acts parallel to the link AB.
We know that tangential component of the acceleration of B with respect to A,

This tangential component of acceleration acts parallel to the velocity 𝑉𝐵𝐴 . In

other words, it acts perpendicular to the link AB.
In order to draw the acceleration diagram for a link AB, as shown in Fig. 15 (b),
from any point b', draw vector b'x parallel to BA to represent the radial
𝑟
component of acceleration of B with respect to A i.e. 𝑎𝐵𝐴 and from point x draw
vector xa' perpendicular to B A to represent the tangential component of
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𝑡
acceleration of B with respect to A i.e. 𝑎𝐵𝐴 . Join b' a'. The vector b' a' (known as
acceleration image of the link AB) represents the total acceleration of B with
𝑟
respect to A (i.e.𝑎𝐵𝐴 ) and it is the vector sum of radial component (𝑎𝐵𝐴 ) and
𝑡
tangential component (𝑎𝐵𝐴 ) of acceleration.
Q2. How to draw acceleration of a point on a link?
Consider two points A and B on the rigid link, as shown in Fig. 16 (a). Let the
acceleration of the point A i.e. 𝑎𝐴 is known in magnitude and direction and the
direction of path of B is given. The acceleration of the point B is determined in
magnitude and direction by drawing the acceleration diagram as discussed
below.

Fig. 16
1) From any point o', draw vector o'a' parallel to the direction of absolute
acceleration at point A i.e. 𝑎𝐴 , to some suitable scale, as shown in Fig. 16
(b).
2) We know that the acceleration of B with respect to A i.e. 𝑎𝐵𝐴 has the
following two components:
𝑟
(i) Radial component of the acceleration of B with respect to A i.e. 𝑎𝐵𝐴 and
𝑡
(ii) Tangential component of the acceleration B with respect to A i.e. 𝑎𝐵𝐴 .
These two components are mutually perpendicular.
3) Draw vector a'x parallel to the link AB (because radial component of the
acceleration of B with respect to A will pass through AB), such that

where 𝑣𝐵𝐴 = Velocity of B with respect to A.

4) From point x, draw vector xb' perpendicular to AB or vector a'x (because
𝑡
tangential component of B with respect to A i.e. 𝑎𝐵𝐴 , is perpendicular to
𝑟
radial component 𝑎𝐵𝐴 ) and through o' draw a line parallel to the path of B
to represent the absolute acceleration of B i.e. 𝑎𝐵 . The vectors xb' and o' b'
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𝑡
intersect at b'. Now the values of 𝑎𝐵 and 𝑎𝐵𝐴 t may be measured, to the
scale.
5) By joining the points a' and b' we may determine the total acceleration of
B with respect to A i.e. 𝑎𝐵𝐴 . The vector a' b' is known as acceleration image
of the link AB.
6) For any other point C on the link, draw triangle a' b' c' similar to triangle
ABC. Now vector b' c' represents the acceleration of C with respect to B i.e.
𝑎𝐶𝐵 , and vector a' c' represents the acceleration of C with respect to A i.e.
𝑎𝐶𝐴 . As discussed above, 𝑎𝐶𝐵 and 𝑎𝐶𝐴 will each have two components as
follows:
𝑟 𝑡
(i) 𝑎𝐶𝐵 has two components; 𝑎𝐶𝐵 and 𝑎𝐶𝐵 as shown by triangle b' zc' in Fig.
16 (b), in which b' z is parallel to BC and zc' is perpendicular to b' z or BC.
𝑟 𝑡
(ii) 𝑎𝐶𝐴 has two components ; 𝑎𝐶𝐴 and 𝑎𝐶𝐴 as shown by triangle a' yc' in Fig.
16 (b), in which a' y is parallel to AC and yc' is perpendicular to a' y or AC.
7) The angular acceleration of the link AB is obtained by dividing the
𝑡
tangential components of the acceleration of B with respect to A (𝑎𝐵𝐴 ) to
the length of the link. Mathematically, angular acceleration of the link AB,

Class work: How to draw acceleration of a point on a link?

Homework: . How to draw acceleration diagram for a rigid link?
Important and Previous JNTUK Questions:
1. In a slider crank mechanism, the length of the crank and the connecting
rod are 100 mm and 400 mm respectively./ The crank [position is 45° from
IDC, the crank shaft speed is 600 r.p.m. clockwise. Using analytical method
Determine (i)Velocity and acceleration of the slider, and (ii) Angular
velocity and angular acceleration of the connecting rod. [16 Marks SET-2
April/May-2017]

Day 6
Q1. Draw the acceleration diagram for crank slider mechanism.
A slider crank mechanism is shown in Fig. 17 (a). Let the crank OB makes an
angle θ with the inner dead centre (I.D.C) and rotates in a clockwise direction
about the fixed point O with uniform angular velocity 𝜔𝐵𝑂 rad/s.

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Fig. 17
∴ Velocity of B with respect to O or velocity of B (because O is a fixed point),

We know that centripetal or radial acceleration of B with respect to O or

acceleration of B (because O is a fixed point),

The acceleration diagram, as shown in Fig. 17 (b), may now be drawn as

discussed below:
𝑟
1) Draw vector o' b' parallel to BO and set off equal in magnitude of 𝑎𝐵𝑂 = 𝑎𝐵 ,
to some suitable scale.
2) From point b', draw vector b'x parallel to BA. The vector b'x represents the
radial component of the acceleration of A with respect to B whose
magnitude is given by:

Since the point B moves with constant angular velocity, therefore there
will be no tangential component of the acceleration.
3) From point x, draw vector xa' perpendicular to b'x (or AB). The vector xa'
represents the tangential component of the acceleration of A with respect
𝑡
to B i.e. 𝑎𝐴𝐵 .
Note: When a point moves along a straight line, it has no centripetal or
radial component of the acceleration.
4) Since the point A reciprocates along AO, therefore the acceleration must
be parallel to velocity. Therefore from o', draw o' a' parallel to AO,
intersecting the vector xa' at a'. Now the acceleration of the piston or the
𝑡
slider A (𝑎𝐴 ) and 𝑎𝐴𝐵 may be measured to the scale.

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5) The vector b' a', which is the sum of the vectors b' x and x a', represents
the total acceleration of A with respect to B i.e. 𝑎𝐴𝐵 . The vector b' a'
represents the acceleration of the connecting rod AB.
6) The acceleration of any other point on AB such as E may be obtained by
dividing the vector b' a' at e' in the same ratio as E divides AB in Fig. 17 (a).
In other words a′ e′ /a′b′ = AE/AB
7) The angular acceleration of the connecting rod AB may be obtained by
dividing the tangential component of the acceleration of A with respect to
𝑡
B(𝑎𝐴𝐵 ) to the length of A B. In other words, angular acceleration of AB,

Class work:
1. The crank of a slider crank mechanism rotates clockwise at a constant
speed of 300 r.p.m. The crank is 150 mm and the connecting rod is 600
mm long. Determine: 1. linear velocity and acceleration of the midpoint of
the connecting rod, and 2. angular velocity and angular acceleration of the
connecting rod, at a crank angle of 45° from inner dead centre position.
2. In the mechanism shown in Fig. 18, the slider C is moving to the right with
a velocity of 1 m/s and an acceleration of 2.5 m/s2.The dimensions of
various links are AB = 3 m inclined at 45° with the vertical and BC = 1.5 m
inclined at 45° with the horizontal. Determine: 1. The magnitude of vertical
and horizontal component of the acceleration of the point B, and 2. the
angular acceleration of the links AB and BC.

Fig. 18
Homework:
1. An engine mechanism is shown in Fig. 19. The crank CB = 100 mm and the
connecting rod BA = 300 mm with centre of gravity G, 100 mm from B. In
the position shown, the crankshaft has a speed of 75 rad/s and an angular

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acceleration of 1200 rad/s2. Find: 1. velocity of G and angular velocity of
AB, and 2. acceleration of G and angular acceleration of AB.

Fig. 19
2. PQRS is a four bar chain with link PS fixed. The lengths of the links are PQ=
62.5 mm; QR = 175 mm; RS = 112.5 mm; and PS = 200 mm. The crank PQ
rotates at 10 rad/s clockwise. Draw the velocity and acceleration diagram
when angle QPS = 60° and Q and R lie on the same side of PS. Find the
angular velocity and angular acceleration of links QR and RS.
Important and Previous JNTUK Questions:
2. For the inverted slider-crank mechanism shown in Figure 1.2, find the
angular velocity and angular acceleration of the link BC and the sliding
velocity of the block on the link BC .The crank OA is 200 mm long and
rotates at 30 rad/s in the clockwise direction. OB is 600 mm and angle BOA
= 400. [16 Marks], JNTUK/April-May/2016

Figure 1.2
3. A shaper mechanism is shown in figure 1.3. The crank OA rotates at
uniform speed of 20 rpm clockwise. The guide block A slides along the
slotted lever AD that has its fulcrum at ‘C’. The connecting rod BD connects
the tool head B to AD. The tool head is constrained to move along BC
perpendicular to OC. Find the velocity and acceleration of ‘B’. OA= 200
mm; OC=400 mm; CD=200 mm; BD=500mm and angle AOC= 120o. [16
Marks], JNTUK/May/2015

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Fig. 1.3
4. In a Whitworth Quick return motion, a crank AB rotates about a fixed
center A. The end B operates a slider reciprocating in a slotted link,
rotating about a fixed center D, 40mm vertically above A. The crank AB
which is 90mm long rotates in a clockwise direction at a speed of 150rpm.
Find the angular acceleration of the slotted link for the configuration in
which AB has turned an angle of 45o past its lowest position. [16 Marks],
JNTUK/May/2015

Day 7
Q1. What is Coriolis component of acceleration?
When a point on one link is sliding along another rotating link, such as in quick
return motion mechanism, then the coriolis component of the acceleration must
be calculated.
Consider a link OA and a slider B as shown in Fig. 20 (a). The slider B moves along
the link OA. The point C is the coincident point on the link OA.
Let ω = Angular velocity of the link OA at time t seconds.
v = Velocity of the slider B along the link OA at time t seconds.
ω.r = Velocity of the slider B with respect to O (perpendicular to the
link OA)at time t seconds, and
(ω + δω), (v + δv) and (ω + δω) (r + δr)=Corresponding values at time (t + δt)
seconds.

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Fig. 20
Let us now find out the acceleration of the slider B with respect to O and with
respect to its coincident point C lying on the link OA.
Fig. 20 (b) shows the velocity diagram when their velocities v and (v + δv) are
considered. In this diagram, the vector bb1 represents the change in velocity in
time δt sec ; the vector bx represents the component of change of velocity bb1
along OA (i.e. along radial direction) and vector xb1 represents the component
of change of velocity bb1 in a direction perpendicular to OA (i.e. in tangential
direction). Therefore

Since δθ is very small, therefore substituting cosδθ = 1, we have

...(Acting radially outwards)

and,
Since δθ is very small, therefore substituting sin δθ =δθ, we have

Neglecting δv.δθ being very small, therefore

Fig. 20 (c) shows the velocity diagram when the velocities ω.r and (ω + δω) (r +
δr) are considered. In this diagram, vector bb1 represents the change in velocity;
vector yb1 represents the component of change of velocity bb1 along OA (i.e.
along radial direction) and vector by represents the component of change of

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velocity bb1 in a direction perpendicular to OA (i.e. in a tangential direction).
Therefore

Since δθ is very small, therefore substituting sin δθ =δθ in the above expression,
we have

Since δθ is small, therefore substituting cosδθ = 1, we have

...(Perpendicular to OA and towards left)

Therefore, total component of change of velocity along radial direction

, ...(Acting radially outwards from O to A)

∴ Radial component of the acceleration of the slider B with respect to O on the
link OA, acting radially outwards from O to A,

Also, the total component of change of velocity along tangential direction,

, ...(Perpendicular to OA and towards

left)
∴ Tangential component of acceleration of the slider B with respect to O on the
link OA, acting perpendicular to OA and towards left,

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Now radial component of acceleration of the coincident point C with respect to
O, acting in a direction from C to O,

and tangential component of acceleration of the coincident point C with respect

to O, acting in a direction perpendicular to CO and towards left,

Radial component of the slider B with respect to the coincident point C on the
link OA, acting radially outwards,

and tangential component of the slider B with respect to the coincident point C
on the link OA acting in a direction perpendicular to OA and towards left,

This tangential component of acceleration of the slider B with respect to the

coincident point C on the link is known as coriolis component of acceleration
and is always perpendicular to the link.
∴Coriolis component of the acceleration of B with respect of C,

where ω = Angular velocity of the link OA, and

v = Velocity of slider B with respect to coincident point C.
In the above discussion, the anticlockwise direction for ω and the radially
outward direction for v are taken as positive. It may be noted that the direction
of coriolis component of acceleration changes sign, if either ω or v is reversed in
direction. But the direction of coriolis component of acceleration will not be
changed in sign if both ω and v are reversed in direction. It is concluded that the
direction of coriolis component of acceleration is obtained by rotating v, at 90°,
about its origin in the same direction as that of ω.

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Fig. 21
The direction of coriolis component of acceleration (2 ω.v) for all four possible
cases, is Shown in Fig21. The directions of ω and v are given.
Class work: What is Coriolis component of acceleration?
Homework: Derive the expression for Coriolis component of acceleration with
neat sketch
Important and Previous JNTUK Questions:
1. Explain coriolis component of equation and determine its magnitude of
direction [SET-2 April-May-2017][4 marks].
2. Derive the expression for Coriolis component of acceleration with neat
sketch.[SET-3 April-May-2017][8 marks].
3. How do you determine the direction of coriolis component of
acceleration.[4 Marks], JNTU/May-June/2015.
4. a) What is coriolis component of acceleration? How is it determined? b)
Explain the procedure to determine the velocity and acceleration of a slider
crank mechanism by Klein’s construction. [JNTU/April-May/2016 ][16
marks].

Day 8
Q1. Explain Klein’s construction for slider-crank mechanism.
In Klein’s construction, the velocity and the acceleration diagrams are made on
the configuration diagram itself. The line that represents the crank in the

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configuration diagram also represents the velocity diagram and the acceleration
of its moving end in the velocity and the acceleration diagrams respectively.
In figure OAB represents the configuration of a slider-crank mechanism. Its
velocity and acceleration diagrams are already discussed previously. Let r be the
length of the crank OA.

Figure. 22
Velocity Diagram:
Let r represents 𝑣𝑎𝑜 to some scale. Then for the velocity diagram, lengths 𝑜𝑎 =
𝜔𝑟 = 𝑂𝐴.
Form this, the scale for velocity diagram is known. Produce BA and draw a line
perpendicular to OB through O. this intersection of two lines locates the point b.
the figure, oab is the velocity diagram. Rotated through 900 in the direction
opposite to that of the crank.
Acceleration diagram:
Let r represents 𝑓𝑎𝑜 ,
∴ 𝑜1 𝑎1 = 𝜔2 𝑟 = 𝑂𝐴
This provides the scale for acceleration diagram.
Make the following construction.
1. Draw a circle with ab as the radius and a is as the centre.
2. Draw another circle with AB as diameter.
3. Join the point of intersection C and D of the two circles. Let it meet OB at
𝑏1 and AB at E.
Then 𝑜1 𝑎1 𝑏𝑎 𝑏1 is the required acceleration diagram.
Proof: Join AC and BC.
AEC and ABC are two right angles triangles in which the angle CAB is common.
Therefore, the triangles are similar.

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𝐴𝐸 𝐴𝐶 (𝐴𝐶)2 (𝑎𝑏)2 𝑐
= 𝑜𝑟 𝐴𝐸 = 𝑜𝑟 𝑎1 𝑏𝑎 = = 𝑓𝑏𝑎
𝐴𝐶 𝐴𝐵 𝐴𝐵 𝐴𝐵
Thus, the sides 𝑜1 𝑎1 and 𝑎1 𝑏𝑎 represents the corresponding magnitude of the
acceleration.
Class work:
1. A mechanism of a crank and slotted lever quick return motion is shown in
Fig. 22. If the crank rotates counter clock wise at 120 r.p.m., determine for
the configuration shown, the velocity and acceleration of the ram D. Also
determine the angular acceleration of the slotted lever. Crank, AB = 150
mm ; Slotted arm, OC = 700 mm and link CD = 200 mm.

Fig. 22
Homework:
1. The driving crank AB of the quick-return mechanism, as shown in Fig.
23,revolves at a uniform
speed of 200 r.p.m. Find the
velocity and acceleration of
the tool-box R, in the position
shown, when the crank makes
an angle of 60° with the
vertical line of centers PA.
What is the acceleration of
sliding of the block at B along
the slotted lever PQ ?

Fig. 23

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Important and Previous JNTUK Questions:

1. In the mechanism shown in Figure 1.4. The crank OA rotates at 50 rpm and
the lengths of the links are OA= 125 mm,
AC= 600 mm, QC= 150 mm, QD= 15, mm,
CD= 130 mm, BD= 550 mm and OQ= 625
mm. When the angle AOQ= 45 degrees,
determine, (i) The linear acceleration of
the slider at B. (ii) The angular
acceleration of the links AC, CQD and BD.
[16 Marks] JNTU/April-May/2016
2. Explain Klein’s construction[SET-1 April-
May 2017][4 marks].
3. Explain the procedure to determine the velocity and acceleration of a
slider crank mechanism by Klein’s construction. [SET-1 April-May 2016][8
marks].

Figure 1.4

Video links: https://www.youtube.com/watch?v=7bpC2CZXyRI

Raghu Institute of Technology Dept. of MECH KOM Unit - 3