Slide 7 Instantaneous Centers of Zero Velocity

Note: This is a simplified introduction to instantaneous center of zero velocity using hand calculation. A more detail discussion about this method, Kenneys theorem of instantaneous centers and the corresponding graphical approach will be covered during the next one or two lectures based on Sections 2.8, 2.9, and 3.3 of the textbook

Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

Locating an instant center of zero velocity from two know velocities

To explain instantaneous centre let us consider a body having a general plane motion and consider two points C and A on this body having velocities as VC and VA respectively in the direction shown.

C VC

A VA

Slide 1

Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

Locating an instant center of zero velocity from two know velocities

If a line is drawn perpendicular to VC at C, the body can be imagined to rotate instantaneously about some point on this line.

C VC

A VA

Slide 2

Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

Locating an instant center of zero velocity from two know velocities

Centre of rotation of the body also lies on a line perpendicular to the direction of VA at A. If the intersection of the two lines is at I, the body will be rotating about I at that instant.

I C VC

VC ( IC ) VA ( IA)
A VA

Slide 3

Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

Locating an instant center of zero velocity from two know velocities

This figure illustrates how to locate the instant center I when points A, C, and I happen to fall on the same straight line

VC ( IC ) VA ( IA)
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Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

Example 1
Determine the angular velocity of the rod and the velocity of points B and C at the instant shown.

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Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

Solution using instant center

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Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

Solution using instant center Continued

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Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

Solution using instant center Continued

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Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

Example 2
Determine the angular velocity of the link BC and the velocity of the piston C at the instant shown

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Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

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Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

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Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

Example 3

Find the velocity of point C of the linkage illustrated in the figure below assuming that link 2 has an angular velocity of 60 rad/s ccw. Also find the angular velocities of links 3 and 4.

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Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

By performing position analysis, the angular orientation of the linkages has be obtained

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Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

Slide 14

Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

Instant Center for Link 3

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Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

Slide 16

Kinematics and Dynamics ENGG*2340

Instructor: Fantahun M. Defersha

Velocity of Point C

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