GRAPHICAL ANALYSIS

The figure shown above is a linear representation of the mechanism whose

velocity analysis and acceleration analysis are done below.
GRAPHICAL VELOCITY ANALYSIS

 In the above graphical velocity analysis, point O is the fixed link.

 As the slider moves in horizontal direction within the guides, the velocity V A is horizontal.
 Based on the velocity of VA the dimension of the line can be set to get the point A.
 The point B traces a vertical path, hence the velocity V B is vertical.
 Based on the velocity of VB the dimension of the line can be set to get the point B.
 The crank OC is inclined at an angle θ with the horizontal, hence the velocity VC is inclined at an
angle θ with the vertical, from geometry, in the graphical velocity analysis as shown.
 Hence, we get the velocity of the point C based on the length of the line where it intersects the
line AB.
 As the point C can lie anywhere on link AB, in the graphical velocity analysis also the point C lies
on the corresponding point on the line joining AB.
GRAPHICAL ACCELERATION ANALYSIS

 In the above graphical acceleration analysis, point O is the fixed link.

 As the slider moves in horizontal direction within the guides, the acceleration A A is horizontal.
 Based on the acceleration of AA the dimension of the line can be set to get the point A.
 The point B traces a vertical horizontal path, hence the acceleration A B is vertical.
 Based on the acceleration of AB the dimension of the line can be set to get the point B.
 The crank OC is inclined at an angle θ with the horizontal, hence the normal component of
acceleration AC(n) of point C will be towards the fixed link O.
 The tangential component of acceleration A C(t) will be perpendicular to the normal component.
 Hence, we get the resultant acceleration A c. So, the acceleration of the point C will be based on
the length of the line AC where it intersects the line AB.
 As the point C can lie anywhere on link AB, in the graphical acceleration analysis also the point C
lies on the corresponding point on the line joining AB.
DISPLACEMENT ANALYSIS
The origin of coordinate is located at point O and x-axes and y-axes are along OA and OB. The distance
from point A to point O is xAO and the initial position of point B is (0.y BO). Assume that the linkages
AC=BC=OC=L, the angles between the links AC and AO is θ. Based on geometry,

y= (2 L)2 −x AO2 .
√
When the point A moves along x-direction with displacement of x A, the point B will generate a linear
motion yB along the y axis. Hence,

XAO2 + yBO2 = (xAO2 + xA2) + (yBO2 + yB2)

To obtain the displacement of point B,

YB2 + 2yBOyB + 2xAOxA + xA2 = 0

Considering the above as a quadratic equation in y B and getting the roots of the equation,
2
YB = -yBO + √y BO −2 x AO x A −x A2

For small displacements of points A and B,

y B dy BO −x AO −x AO
= = = =−cot θ
x A dx AO √( 2 L )2−x 2 y BO
AO

Hence, for small displacements of xA along x-axis, the point B will move along y-axis by a displacement
yB=-xAcot θ. The negative sign indicates that as xA decreases along x-axis, yB will increase along y-axis.

ANALYTICAL VELOCITY ANALYSIS

To calculate the instantaneous angular velocity of link AB, the instantaneous center of velocity O’ of the
link should be determined. The instantaneous center of link AB is located at the intersection of the
perpendicular lines of the velocity directions of points A and B as shown. Thus instantaneous angular
velocity of link AB is given as

vA vA vA
ω AB= = =
O' A y B 2 Lsinθ
Thus linear velocity at point C is obtained as:
vC =ω AB O ' C
For the length of link OC equal to that of O’C, instantaneous angular velocity of link OC is given as:

vA
ω OC =−¿ ω AB = -
2 Lsinθ