VELOCITY ANALYSIS OF

MECHANISMS
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VB3=VB2+VB3/2
Cramer’s Rule
 Vc

VC=VA+VC/A
 Mehmke Theorem (Velocity Image)

• Triangle (abc) is similar to triangle (ABC). Because,

• baBA, caCA, cbCB

• Therefore triangle (abc) is called velocity image of the link (ABC).

• Velocity image of any link is a similarly shaped figure oriented

by 90 degrees in the direction of the angular velocity of that
link.