VELOCITY ANALYSIS

Sarfaraz
 VELOCITY ANALYSIS
• Velocity analysis involves determining “how
fast” certain points on the links of a
mechanism are traveling.

• Velocity is important because it associates the

movement of a point on a mechanism with
time. Often the timing in a machine is critical.

Sarfaraz
 Velocity
Velocity is...

a speed in a given direction or

rate of change of displacement.

direction
velocity a vector
quantity
magnitude
(speed)
Sarfaraz
 a Speed with direction

Train engineers use

speed only.
speed = 90 km/h

Pilots use velocity

(direction & speed).
speed = 300 km/h
direction = west
Sarfaraz
 RELATIONSHIP BETWEEN LINEAR AND
ANGULAR VELOCITIES
• For a link in pure rotation, the magnitude of the linear
velocity of any point attached to the link is related to the
angular velocity of the link. This relationship is expressed
as
v=ωr
– v = magnitude of the linear velocity of the point of
consideration
– r = distance from the center of rotation to the point of
consideration
– ω = angular velocity of the rotating link that contains the
point of consideration

Sarfaraz
Figure illustrates a cam mechanism used to drive the exhaust port of an internal
combustion engine. Point B is a point of interest on the rocker plate. At this instant,
the cam forces point B upward at 30 mm/s. Determine the angular velocity of the
rocker plate and the velocity of point C.

1. Draw a Kinematic Diagram and Calculate

Degrees of Freedom
2. Calculate the Angular Velocity of Link 2
3. Calculate the Linear Velocity of Point C

Sarfaraz
 Graphical Method
The following points are to be considered while solving problems by
this method.
1. Draw the Kinematic diagram with a suitable scale.
2. Locate all fixed point in a mechanism as a common point in velocity
diagram.
3. Choose a suitable scale for the vector diagram velocity.
4. The velocity vector of each rotating link is perpendicular to the
link.
5. Velocity of each link in mechanism has both magnitude and
direction. Start from a point whose magnitude and direction is
known.
6. The points of the velocity diagram are indicated by small letters.

Sarfaraz
 Four – Bar Mechanism : In a four bar chain ABCD link AD is
fixed and in 15 cm long. The crank AB is 4 cm long rotates
at 180 rpm (cw) while link CD rotates about D is 8 cm long
BC = AD and | BAD = 60o. Find angular velocity of link CD.

Sarfaraz
 Slider Crank Mechanism:
In a crank and slotted lover mechanism crank rotates of
300 rpm in a counter clockwise direction. Find
(i) Angular velocity of connecting rod and
(ii) Velocity of slider.

Sarfaraz
 In a slider crank mechanism the crank is 200 mm long and
rotates at 40 rad/sec in a CCW direction. The length of the
connecting rod is 800 mm. When the crank turns through
60o from Inner-dead centre.Determine,
i) The velocity of the slider
ii) Velocity of point E located at a distance of 200 mm
on the connecting rod extended.
iii) The position and velocity of point F on the
connecting rod having the least absolute velocity.
iv) The angular velocity of connecting rod.
v) The velocity of rubbing of pins of crank shaft, crank
and cross head having pins diameters 80,60 and 100
mm respectively.

Sarfaraz
Sarfaraz
 A quick return mechanism of crank and slotted lever type shaping
machine is shown in Fig. the dimensions of various links are as follows.
O1O2 = 800 mm, O1B = 300 mm, O2D = 1300 mm and DR = 400 mm
The crank O1B makes an angle of 45o with the vertical and relates at
40 rpm in the CCW direction. Find:
i) Velocity of the Ram R, velocity of cutting tool, and
ii) Angular velocity of link O2D.

Sarfaraz
Sarfaraz
 Figure below shows a toggle mechanisms in which the crank OA
rotates at 120 rpm. Find the velocity of the slider D.

Sarfaraz
 A toggle mechanism is shown in figure along with the diagrams of
the links in mm. find the velocities of the points B and C and the
angular velocities of links AB, BQ and BC. The crank rotates at 50 rpm
in the clockwise direction.

Sarfaraz
Sarfaraz
Figure illustrates a roofing material delivery truck conveyor. Heavy
roofing materials can be transported on the conveyor to the roof. The
conveyor is lifted into place by extending the hydraulic cylinder. At this
instant, the cylinder is extending at a rate of 8 fpm (ft/min). Determine
the rate that the conveyor is being lifted.

Sarfaraz
Sarfaraz
 Instantaneous Centers Method

Sarfaraz
 Instant centers of velocity
Instant center - point in the plane about which a link can
be thought to rotate relative to another link (this link can be
the ground)

There are three types of instantaneous centers namely fixed,

permanent and neither fixed nor permanent.

2
2 Instant
center, I12
Instant center: I12

Link 1 (ground) 1 (ground)

20
Sarfaraz
Sarfaraz
 For each pair of links we have an instant center. Number of
centers of rotation is the number of all possible combinations of
pairs of objects from a pool of n objects,

n ( n  1)
2

Sarfaraz
 Aronhold-Kennedy rule
Any three bodies have three instant centers that are colinear OR
If three bodies have motion relative to each other, their
instantaneous centers should lie in a straight line.

Sarfaraz
 Velocity analysis using instant centers
Problem: Know 2 , Find  3 and 4

I13

3 B
3
 
VA VB 4
A
2 4
2

I12 I14

1
24
Sarfaraz
 Velocity ratio
output velocity 4 O2 A
velocity ratio   
input velocity 2 O4 B

B
B

A 3 4
A
4
2

O2 O4

Sarfaraz
 A slider crank mechanism has lengths of crank and connecting rod
equal to 200 mm and 200 mm respectively locate all the
instantaneous centers of the mechanism for the position of the
crank when it has turned through 30o from IOC. Also find velocity of
slider and angular velocity of connecting rod if crank rotates at 40
rad/sec.

Sarfaraz
Sarfaraz
 A four bar mechanisms has links AB = 300 mm, BC = CD = 360 mm and
AD = 600 mm. Angle BAD = 60o . Crank AB rotates in CW direction at a
speed of 100 rpm. Locate all the instantaneous centers and determine
the angular velocity of link BC.

Sarfaraz
Sarfaraz
 Locate all the instantaneous centres of the slider crank mechanism as
shown in Figure. 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.

Sarfaraz
Sarfaraz
 A mechanism, as shown in Fig. 6.15, 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, 2. the angular velocity of the links
AB, BC and CD.

Sarfaraz
Sarfaraz
 VB =3.2m/s  AB  2.99 rad/s
Vc =1.6m/s  BC  8 rad/s
Vd =1.08m/s  CD  2.16 rad/s

Sarfaraz
 The mechanism of a wrapping machine, as shown in Figure, has the following
dimensions :
O1A = 100 mm; AC = 700 mm; BC = 200 mm; O3C = 200 mm; O2E = 400
mm;O2D = 200 mm and BD = 150 mm. The crank O1 A rotates at a uniform
speed of 100 rad/s. Find the velocity of the point E of the bell crank lever by
instantaneous centre method.

Sarfaraz
Sarfaraz
 Answers
vB = Velocity of point B, and , 9.01 m/s
vD = Velocity of point D 3.46 m/s
vE = Velocity of point E on the bell crank
lever, 6.92 m/s

Sarfaraz
 3 Acceleration

When an object
moves faster and
faster,

its speed is
increasing (velocity
changed).

Sarfaraz
 3 Acceleration

When an object
moves slower and
slower,

its speed is decreasing

(velocity changed).

Sarfaraz
 3 Acceleration

When an object
changes direction,
its velocity
changes too.

Sarfaraz
 3 Acceleration
Acceleration measures the change in velocity

direction speed

Acceleration = velocity
Acceleration = velocity per
per unit
unit time
time

overall change in velocity

=
total time taken

Unit: m/s/s = m/s2 vector quantity

Sarfaraz