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Angular velocity: It is the rate of change of angular position of a body with respect
to time.
Velocity analysis involves the linear velocities of various points on different links of
a mechanism as well as the angular velocities of the links.
The velocity analysis is the prerequisite for acceleration analysis which further leads
to force analysis of various links of a mechanism.
1. Graphical Method
(a) Relative velocity method
(b) Instantaneous centre method
2. Analytical Method
Mechanism
Configuration diagram
Relative velocity of Two Bodies Moving in Straight Lines:
Consider two bodies A and B moving parallel lines in the same direction with absolute
velocities vA and vB. (vA > vB)
Relative velocity of point A with respect to B (vAB)and the relative velocity of point B with
respect to A are equal in magnitude but opposite in direction.
Motion of a link:
Rubbing velocity is defined as the algebric sum between the angular velocities of the two links
which are connected by pin joints, multiplied by the radius of the pin.
a,d c
b
vab AB
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°.
Given:
Link AD = 150 mm
Crank AB = 40mm
Speed NBA = 120 r.p.m
Link CD = 80 mm
Length of BC = Length of AD
Angle of ∟BAD = 600
To find:
Angular velocity of link CD
Solution:
Angular velocity ωBA = 2 π× 120/60 = 12.568 rad/s
Since the length of crank AB = 40 mm = 0.04 m. Therefore velocity of B with respect to A or
Velocity of B, (because A is a fixed point),
vBA = vB = ωBA × AB = 12.568 × 0.04 = 0.503 m/s
Configuration (or space) diagram:
C
150
B
Velocity diagram:
80 vCD
40 a,d c
600
vB vCB
A D
150
b
vector ab = vBA = vB = 0.503 m/s
By measurement,
vCD = vC = vector dc = 0.385 m/s
We know that CD = 80 mm = 0.08 m
∴ Angular velocity of link CD,
v 0.385
CD CD 4.8 rad/s (Clockwise about D)
CD 0.08
1. In a four bar chain ABCD, AD is fixed and is 120 mm long. The crank AB is
35mm long and rotates at 200 r.p.m. ACW, while the link CD = 80 mm oscillates
about D. BC and AD are of equal length. Find the angular velocity of link CD and
BC when angle BAD = 45°.
120
B
Velocity diagram:
80 vCD
35 a,d c
450
vB vCB
A D
120
b
2.In a mechanism shown in Figure the angular velocity of the crank OA is 15 rad/s and the
slider at E is constrained to move at 2.5 m/s. The motion of both the sliders is vertical and
the link BC is horizontal in the position shown. Determine the
(i) Rubbing velocity at B if the pin diameter is 15 mm
(ii) Velocity of slider D. (Nov/Dec 2013, R2004/2007)
Solution:
Configuration diagram:
Va = ωa OA = 15 × 0.2 = 3 m/s
400 200
B A C
200
300
260 300
D
H O E
G
200 170
Configuration diagram:
Velocity diagram:
vbd d
vdh
Va = ωa OA = 15 × 0.2 = 3 m/s
wkt a
CA ca
CB cb vca
o,g,h
CB cb
veg
CA ca c
CB
cb ca e
CA vce
(i) Angular velocity of link BD
= bd/BD = 2.95/0.26 = 11.3 rad/s (counter-clockwise)
2 200
OA 20.94 rad/s
60
vdb
a
Va = ωa OA = 20.94 × 0.03 = 6.28 m/s
By measuring from velocity polygon vcg
vc = og = 5.2 m/s; vca = ac = 5.7 m/s
v 5.7 b
ac ca ca 4.75 rad/s (clockwise )
AC 1.2
ac ca ba vca
wkt
vba ba BA
vba 4.75 0.6 2.85 m/s c
By measuring from the velocity polygon
v 5.17
bd db db 4.31 rad/s (clockwise )
v = od =1.55m/s
d BD 1.2
Crank-slotter mechanism:
P on slider Q G
on AR ω
ω1
A
3. Figure shows the link mechanism of a quick return mechanism of the slotted lever type,
the various dimensions of which are OA = 400 mm, OP =200 mm, AR = 700 mm, RS =
300mm. For the configuration shown determine the velocity of the cutting tool at S and the
angular velocity of the link RS. The crank OP rotates at 210 rpm
Given:
R
OA = 400 mm
OP =200 mm S
AR = 700 mm P on slider
RS = 300mm G
Q on AR 450 300mm
Nop =210 rpm ω
O
2 210 ω1
op 22 rad/s 400mm
60
vop = ωop × OP = 22 × 200 ×10-3
A
vop = 4.4 m/s
Crank-slotter mechanism:
P on slider Q G
on AR ω
p
450 O vqp r
ω1 vpo vsr
q
vqa
o,a,g
vsg s
A
2 210
OP 22 rad/s
60
v rs 1.4
rs 4.67 rad/s clockwise
RS 0.3
Acceleration:
The rate of change of velocity with respect to time is known as acceleration and acts in the
direction of the change in velocity. Thus, acceleration is a vector quantity.
.......
(a) Link.
Acceleration of a particle (whose velocity changes both in magnitude and direction) at any instant
have the following two components:
1.Centripetal or Radial component, 2.Tangential component
.......
Centripetal or radial component of the acceleration of B with respect to A,
v 2
vAB
a r
Length of link AB AB
2 2 BA
AB
BA AB
This radial component of acceleration acts perpendicular to the velocity vBA, In other words, it
acts parallel to the link AB.
Tangential component of acceleration acts parallel to the velocity vBA. In other words, it
acts perpendicular to the link AB
Given:
P1A = 300 mm = 0.3 m;
P2B = AB =360 mm = 0.36 m
P1P2=600 mm
0
└AP1P2 = 60
ωAP1 = 10 rad/s ;
αAP1 = 30 rad/s2;
Solution:
b
A
vB
vAB
p1p2
vA
600 a
P1 P2
600 mm
vAP1= 3 m/s
v P2B 2.2
By measurement ωP2B 6.1 rad/s (clockwise)
P2 B 0.36
vBP2 = vB= 2.2 m/s
v BA 2.05
vAB = 2.05 m/s ωBA 5.7 rad/s (Anticlockwise)
BA 0.36
Velocity diagram:
Configuration diagram:
B b
vB
vAB
A p1p2
vA
Acceleration diagram: a
600 p1’p2'
P1 P2
600 mm
a r
v
BP 2
2.2
13.44 m/s 2 a tAP1
BP 2
BP2 0.36 a tBA
a rBA a'
By measurement
aBP2 = aB = 29.6 m/s2
a tAB 13.6
AB 37.8 rad/s 2 (Anticlock wise)
AB 0.36
6. The crank of a slider crank mechanism rotates clockwise at a constant speed of 300rpm.
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.
Given:
Speed NBO = 300 r.p.m.
(or) ωBO = 2 π× 300/60 = 31.42 rad/s;
OB = 150 mm = 0.15 m;
BA = 600 mm = 0.6 m;
AD=300mm =0.3m
Solution:
Configuration (or) space diagram:
Configuration diagram:
Linear velocity of B with respect to O or velocity of B,
vBO = vB = ωOB × OB
= 31.42 × 0.15
= 4.713 m/s
b vad AD
vab AB
vB
d AD 0.3
vad vab 3.4 1.7m/s
AB 0.6
vD vAB
By measurement, vD = vector od = 4.1 m/s
o a
vA
Configuration diagram: Velocity diagram
b
vB
d
vD vAB
o a
vA
v 2BO 4.7132
a aB
r
BO 148.1 m/s 2
BO 0.15 Acceleration diagram:
aA a’
v 2
3. 4 2
o’
a rBA BA 19.3 m/s 2
BA 0.6
aO
a tAB
aB d’
b’ a rAB
6. For the configuration shown below, calculate .
(i) The acceleration of the slider at B (ii) The acceleration of point E
(iii) The angular acceleration of link AB. OA rotates at 20 rad/s counter-clockwise.
Velocity diagram:
Solution:
e
ωOA 20 rad/s
a
vOA ωOA OA 20 0.48 9.6m/s
vbe BE
vab AB
BE b o,g
vbe vab
AB
Configuration diagram: Velocity diagram:
e
b o,g
Acceleration diagram:
r
a OA aOA
oa 2
9.62
a r
ab
2
5.25 2
17.2 m/s 2
ab
AB 1.6 t
a ba
a rba a1
Coriolis Component of Acceleration:
Rotate the velocity (v) of the link by 900 in the direction of ω gives the
direction of coriolis component of acceleration.
acBB'
A mechanism of a crank and slotted lever quick return motion is shown in Figure. If the
crank rotates counter clockwise at 120 rpm. 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=200mm.
Given : G
NBA = 120 rpm ; D
AB = 150 mm = 0.15 m;
OC = 700 mm = 0.7 m; C
CD = 200 mm = 0.2 m;
B’ B 300mm
B on Slider B’ 450
on link OC
A
400mm
O
Configuration diagram:
2N AB 2π 120
ω AB 12.57 rad/s
G 60 60
D
vAB = ωAB×AB
b’
ωBB’=ωOB’=ωOC
400mm
ob'
ωBB' ωOB' 1.05 rad/s
c b OB'
Direction of Coriolis component.
voc OC
O r
aBB
vob' OB' '
G
D a r
VB'2 O 1.552
4.62 m/s 2
B'O
OB' 0.52
C a crBB' 2v 2vBB' BB' 2 3.07 1.05 6.45 m/s 2
B’ B 300mm
B on Slider B’ 450 2
VDC 0.452
on link OC a r
DC 1.01 m/s 2
A CD 0.2
o’a’g’ d’
400mm t
a CD
a rB'O
a B't O b'’ r
a CD
c‘
O
Velocity diagram: a rBB'
o 'c ' OC
d o,a,g ' ''
ob OB'
OC
b’ o'c' o'b''
OB' a CBB'
b’
c b