AME 352 GRAPHICAL VELOCITY ANALYSIS

5. GRAPHICAL VELOCITY ANALYSIS

Velocity analysis forms the heart of kinematics and dynamics of mechanical systems.
Velocity analysis is usually performed following a position analysis; i.e., the position and
orientation of all the links in a mechanism are assumed known. In this course we concentrate on
one analytical and two graphical methods for planar mechanisms.
We start this chapter with some simple exercises to ensure that the fundamentals of velocity
analysis using vector algebra are well understood. You may want to review these fundamentals
in Chapter 2 of these notes.

Exercises

In these exercises take direct measurements from the figures for link lengths and the
magnitudes of the velocity vectors. If it is stated that the angular velocity is known, assume
ω = 1 rad/sec CCW unless it is stated otherwise. Write the position and velocity vector
equations. Construct the velocity equation graphically in order to find the unknown(s).
P.1 P.2
Known: VA and ω Determine: VB Known: VA and VB Determine: ω
A B A B
VB

V VA
A

P.3 P.4
Known: VA and VB Determine: ω Known: VA and ω are known.
What do you observe? Determine: VB , VC and VBC
A B B
VB
VA
VA

C A
P.5 P.6
Known: VA and VB Determine: VC Known: VA and ω
B Determine: VB , VC and VBC
VB

A B C
V
C A
A
VA

P.7 P.8
Known: VA and VB Known: VA and ω
Determine: VC Determine: VB and VC
A B C What do you observe? Explain!
VA B
A C
VA

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AME 352 GRAPHICAL VELOCITY ANALYSIS

P.9 P.10
Known: VA , ω and VBA
s
Known: VA , ω and VBA
s

s
Assume VBA = 1 unit/sec positive s
Assume VBA = 1 unit/sec negative
Determine: VB and VC Determine: VB and VC
V V
A A B A A B
C C

P.11 P.12
Known: VA and VB Known: VA , ω i and ω j
Determine: ω and VC Assume ω i = 1 rad/sec CCW and ω j = 1

A V
A B C
rad/sec CW.
Determine: VB and VC
V A B
B
(i)
(j) C
V
A

P.13 A B
Known: VA and VC (i)
Determine: VB (j) C

VA
VC

Polygon Method

Velocity polygon is a graphical pencil-and-paper approach for determining unknown

velocities of a single degree-of-freedom mechanism. The method requires constructing a velocity
loop equation (a polygon) graphically. A polygon may have three or more edges depending on
the number of velocity vectors in the equation. For a vector loop equation, the polygon method is
the graphical procedure of solving two algebraic equations in two unknowns. The velocity
polygon method is demonstrated for several commonly used mechanisms.

Four-bar
For a known four-bar mechanism, in a given
configuration and for a known angular velocity of the RBA B
crank, ω 2 , we want to determine ω 3 and ω 4 . In this
A
example we assume ω 2 is CCW. RBO 4
RAO 2
For the position vector loop equation
R AO2 +R BA − R BO4 − R O4O2 = 0 RO4 O2
O
2 4 O
the velocity equation is
VA +VBA − VB = 0 (a)
Since vectors R AO2 , R BA , and R BO2 have constant lengths, their corresponding velocity vectors

P.E. Nikravesh 5-2

AME 352 GRAPHICAL VELOCITY ANALYSIS

are tangential; i.e.,

VAt +VBA
t
− VBt = 0 (b)
or,




ω 2 R AO2 +ω 3R BA − ω 4 R BO2 = 0 (b)
The unknowns are ω 3 and ω 4 since all vector axes are known.
Velocity polygon
1. Next to the diagram of the four-bar, select a point in a A
convenient position as the reference for zero velocities.
Name this point OV (origin of velocities). RAO 2
O2
2. Compute the magnitude of VA as RAO2 ω 2 . From OV
A
construct vector VA perpendicular to R AO2 by rotating
VA
R AO2 90o in the direction of ω 2 .
OV

RBA B
A
3. From A draw a line perpendicular to R BA . VBA must
reside on this line.

A
VA

OV

B
4. From OV draw a line perpendicular to R BO4 . VB must
reside on this line. RBO 4

O4
A
VA

OV
5. Construct vectors VBA and VB .
6. Determine the magnitude of VBA from the polygon.
VA
Compute ω 3 = VBA / LBA . Determine the direction of ω 3 .
In this example it is CW since R BA must rotate 90o CW VBA OV
to line up with VBA . VB
7. Determine the magnitude of VB from the polygon. Compute ω 4 = VB / LBO4 . Determine the

P.E. Nikravesh 5-3

AME 352 GRAPHICAL VELOCITY ANALYSIS

direction of ω 4 . In this example it is CCW since R BO4 must rotate 90o CCW to line up with
VB .
Secondary equation(s) P
To determine the velocity of a secondary point, such
as a coupler point, we refer to the position expression and R PA
the corresponding velocity expression: y
R PO = R AO + R PA A



2 2

VP = VA + VPA = ω 2 R AO + ω 3R PA RAO 2
2
R PO2
Since the angular velocities are already known, VA and
O2 x
VPA are constructed. We add these two vectors VA
graphically to determine VP . VPA OV
VP

Example FB-VP-1
A four-bar mechanism has the following constant B
data: LAO = 1.0 , LBA = 4.0 , LBO = 3.0 , LO O = 3.0 , P
2 4 4 2

LPA = 1.8 , β3 = 75o . The crank angle is at θ 2 = 170o

with an angular velocity of ω 2 = 1.0 rad/sec CCW.
The velocity polygon is constructed and the A
following velocities are determined from the polygon: O2 O4
V 0.96
ω 3 = BA = = 0.24 rad/sec, CCW O O
LBA 4.0 VB

VB 0.84
ω4 = = = 0.28 rad/sec, CCW VP
VA
LBO 3.0 VA
4
VBA
A second polygon provides the velocity of point P
as VP = 1.3 in the direction shown. VPA

Slider-crank (inversion 1)
This slider-crank mechanism in the given configuration has a known angular velocity of the
crank, ω 2 . We want to determine ω 3 and the velocity of the slider block. In this example we
assume ω 2 is CCW.
The position vector loop equation is: A
R AO2 +R BA − R BO2 = 0 R
RAO 2 BA

The velocity (loop) equation is expressed as

VA +VBA − VB = 0
O2 B
We note that VA and VBA are tangential and VB is of
slip type (along the axis of R BO2 ). Therefore the
velocity equation can be expressed as



ω 2 R AO +ω 3R BA − VBs = 0
2

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AME 352 GRAPHICAL VELOCITY ANALYSIS

Velocity polygon A
1. Next to the diagram of the mechanism, select a point for
the origin of velocities. RAO 2
2. Compute the magnitude of VA as RAO2 ω 2 . From OV
O2
construct vector VA perpendicular to R AO2 by rotating
R AO2 90o in the direction of ω 2 . A
VA

OV
3. From A draw a line perpendicular to R BA . VBA must
A
reside on this line
4. From OV draw a line parallel to the axis of the slider; i.e., RBA
parallel to R BO2 . VB must reside on this line.
B

A
5. Construct vectors VBA and VB , considering their signs in
VA
the velocity equation.
6. Determine the magnitude of VBA from the polygon. OV
Compute ω 3 = VBA / RBA . Determine the direction of ω 3 ,
which is CW in this example. VBA VA
7. Determine the magnitude of VB from the polygon. The
VB OV
direction of this vector indicates that the slider block is
moving to the left.

Example SC-VP-1
For a slider-crank mechanism, the following lengths are A
given:
LAO = 1.5, L BA = 3.0
2
B
The crank angle is θ 2 = 120o , and ω 2 = 1 rad/sec CW. O2
The mechanism is drawn for θ 2 = 120o . For the given VA
angular velocity, the velocity polygon is constructed. The VBA
following velocities are determined from the polygon: O
VB
ω 3 = 0.28 rad/sec, CW; VB = 0.94 to the right.

Slider-crank (inversion 2)
For this slider-crank mechanism (inversion 2), in the given configuration and for a known
angular velocity of the crank, ω 2 , construct the velocity polygon. Then determine ω 4 and the
velocity of the slider block. Assume ω 2 is CW.
The position vector loop equation is R AO2 − R O4O2 − R AO4 = 0 . Since R AO2 is a rotating fixed-
length vector, VAO2 is tangential. However, R AO4 is a variable-length, variable-angle vector, and
therefore VAO4 contains both tangential and slip components.

P.E. Nikravesh 5-5

AME 352 GRAPHICAL VELOCITY ANALYSIS

Hence the velocity (loop) equation is written as

A
t
VAO 2
− VAO
s
4
− VAO
t
4
= ω 2 R AO2 − VAO
s
4
− ω 4 R AO4 = 0 (3)
(4)
Note: In this velocity equation we do not drop the index of R AO4
the non-moving points, O2 and O4 . Dropping them R AO2
may cause confusion. O2 O4
RO4 O2

Velocity polygon A
1. Select a point for the origin of velocities.
2. Construct vector VAO2 . R AO2

3. From the end of VAO2 draw a line parallel to R AO4 . O2

s
VAO4
should reside on this line VAO
OV 2

4. From OV draw a line perpendicular to the axis of the

t A
slider; i.e., perpendicular to R BO2 . VAO4
should
reside on this line. R AO4

s t
5. Construct vectors VAO4
and VAO4
, considering their O4
signs in the velocity equation. VAO
t
6. Determine the magnitude of VAO 4
. Compute OV 2

ω 4 = VAO
t
4
/ RAO4 . Determine the direction of ω 4 . In
s
VAO
this example ω 4 is CW. t
4

V AO4
s
7. Determine the magnitude of VAO from the polygon.
4
VAO
OV 2

Secondary equation(s)
Determine the velocity of a secondary point, such P P
on link 4, where L4 = RPO4 is a known constant. R PA A

There are two possible ways to determine VP : R PO2

(a) We can position P with respect to the ground point R AO2
O2 as R PO2 = R AO2 + R PA . The corresponding O2
velocity expression is VP = VA + VPA , where VPA (a)
contains both tangential and slip components.
Computing the tangential component requires the
magnitude of R PA , which must be determined based VP

on L4 − RAO4 . The slip component of VPA must be

based on the slip component of R AO4 . It should be P
obvious that we have made a simple problem
unnecessarily difficult! R PO4
R PO2
(b) We can position P with respect to the ground point
O2 as R PO2 = R O4O2 + R PO4 . The corresponding O4


velocity expression is VP = VPO t
4
= ω 4 R PO4 as shown O2 RO4 O2

on the figure based on a CW direction of ω 4 . (b)

P.E. Nikravesh 5-6

AME 352 GRAPHICAL VELOCITY ANALYSIS

Example SC-VP-2
Consider the following lengths for a slider-crank,
inversion 2: LAO = 1.0, LO O = 2.0, LPO = 4.0 . The crank P
A
2 4 2 4

angle is in θ 2 = 125 orientation. The angular velocity of the

o

crank is ω 2 = 1 rad/sec CW.

O2 O4
The mechanism is drawn for the given crank angle. The
velocity polygon is constructed and the following values are s
VAO4

obtained: ω 3 = ω 4 = 0.3 rad/sec CW; V AO

s
= 0.61 in the VP t
4
VAO4
direction shown. The velocity of point P is computed as
VP = (4.0)(0.3) = 0.12 , in the direction shown. O
VAO
2

Q: Is the slider moving away from O4 ?

Slider-crank (inversion 2 - offset)

For this offset slider-crank mechanism the position
vector equation is
R AO2 − R AB − R BO4 − R O4O2 = 0 B
The corresponding velocity equation is expressed as R AB RBO 4 θ4
t
VAO 2
− VAB
t
− VBOt
4
− VBOs
4
=0 RAO 2 A
Or, R AO4



O2 O4
ω 2 R AO2 − ω 4 R AB − ω 4 R BO4 − VBO
s
4
=0
Unlike the velocity equation for the four-bar or the t
standard slider-crank, this velocity equation contains four t VBO
VAO 4
V AO
4
VAO
2 2
vectors. Since three of the vectors contain the unknowns,
constructing this polygon may not appear easy. t
However, we can combine two of the vectors and reduce VAB
s
VBO4 V O s
VBO OV
the number of vectors in the polygon from four to three: 4






ω 2 R AO2 − ω 4 (R AB + R BO4 ) − VBO
s
4
= 0 ⇒ ω 2 R AO2 − ω 4 R AO4 − VBO
s
4
=0
For a known angular velocity ω 2 , we first construct VAO
t
2
. We add an axis perpendicular to
t s
R AO4 for VAO4
, and another axis parallel to R BO4 for VBO4
to complete the polygon. Then the
t t t
tangential velocity VAO4
can be decomposed into its components VAB and VBO4
.

Slider-crank (inversion 3)
For this slider-crank mechanism (inversion 3), in the given configuration and for a known
angular velocity of the crank, ω 2 , construct the velocity polygon. Then determine ω 4 and the
velocity of the slider block. Assume ω 2 is CW. A
The position vector loop equation is written as: (3)
RO A
R AO2 + R O4 A − R O4O2 = 0 4

R AO2
The corresponding velocity equation is (4)



t
VAO 2
+ VOs 4 A + VOt 4 A = ω 2 R AO2 + VOs 4 A + ω 3R O4 A = 0 O2
R O4O2
O4

Velocity polygon

P.E. Nikravesh 5-7

AME 352 GRAPHICAL VELOCITY ANALYSIS

1. Select a point for the origin of velocities. A

2. Construct vector VAO2 .
RAO2

O2
3. From the end of VAO2 draw a line parallel to R O4 A . VAO
2

s
V O4 A should reside on this line OV
4. From OV draw a line perpendicular to the axis of the A
slider; i.e., perpendicular to R O4 A . VOt 4 A must reside R O4 A
on this line.
O4

VAO
2

OV
s t
5. Construct vectors V AO4 and V AO4 , considering their
signs in the velocity equation. VAO
2

OV VOt 4A
s
V O4 A

6. Determine the magnitude of VOt 4 A . Compute ω 3 = ω 4 = VOt 4 A / RO4 A . Determine the direction of
ω 3 . In this example, it is CW.
7. Determine the magnitude of VOs 4 A . A
(3)
Secondary point R PA
Determine the velocity of point P on link 3, where R AO2
RPA = L3 is a known constant.
O2 O4
Point P can be positioned with respect to the ground P
R PO4
point O2 as R PO2 = R AO2 + R PA . The corresponding
velocity expression is VAO


2

VP = VA + VPA = ω 2 R AO + ω 3R PA OV
2 t
VPA
Since both angular velocities are known, VP can be VP
constructed graphically. P

Example SC-VP-3
The following lengths are provided for a slider-
crank (inversion 3) mechanism: P
A
LAO = 1.0, LO O = 1.5, LPA = 0.5 .
2 4 2

The crank angle in the shown configuration is

θ 2 = 30o . The angular velocity of the crank is ω 2 = 1 O2 O4
rad/sec CCW.
The velocity polygon is constructed and the
following velocities are determined from the polygon:

P.E. Nikravesh 5-8

AME 352 GRAPHICAL VELOCITY ANALYSIS

ω 3 = ω 4 = 0.46 rad/sec CW, VOs4 A = 0.9 in the t

VPA
direction shown. VOt 4A
A second polygon provides the velocity of P as VP
VOt 4A
VP = 1.1 in the direction shown.
VOt 4A
VOs 4A
O O

Exercises

In these exercises take direct measurements from the figures for link lengths and the
magnitudes of velocity vectors. Construct velocity polygons to determine the unknowns.
Exercises P.1 – P.4 are examples of four-bar mechanism. Assume known value and direction
for ω 2 . Determine ω 3 , ω 4 , and VP .
P.1 P.2
P
(2)
(3)
(4)
(3)
(4)
(2)
P
P.3 P.4
P
(2)

(3) (3)
(2) (4)
(4)
P

Exercises P.5 – P.8 are examples of slider-crank mechanism. Assume known value and
direction for ω 2 . For P.5 and P.6 determine ω 3 , ω 4 , and the velocity of the slider block. For
P.7 and P.8 determine ω 3 , ω 4 , and VP .
P.5 P.6
(3) (3)
(2)
(4) (2)
(4)

P.7 P

(3) (2)
(3)

(2)

(4)
(4)

P
P.8

P.E. Nikravesh 5-9

AME 352 GRAPHICAL VELOCITY ANALYSIS

P.9
For this six-bar mechanism ω 2 P
Q
is given. Determine ω 5 , velocity of
P, and the velocity of the slider (3)
block. (4) (5)
(6)
(2)

P.10
For this six-bar mechanism ω 2
(2)
is given. Determine ω 5 and the (3)
velocity of the slider block (6).

(6)
(4)

(5)

Instant Center Method

Instant center of velocities is a simple graphical method for performing velocity analysis on
mechanisms. The method provides visual understanding on how velocity vectors are related.

What is An Instant Center?

Instant center of velocities between two links is the location at which two coinciding points, one
on each link, have identical velocities.

The most obvious instant center of velocities, or simply the

(j) Pj
instant center (IC), between two links that are pinned to each other is Pi (i)
the point at the center of the pin joint. For example, the center of the I i, j
pin joint between links i and j can be viewed as two coinciding VPi = VPj
points, Pi on link i and Pj on link j, that have the same velocities.
The instant center between these two links is denoted as I i, j or I j,i . (k)
Pk I1, j
The instant center of velocities may not be located within the I k ,h (h)
physical boundaries of a link. As shown in the second figure, the IC Ph
between links k and h, I k,h , is located on imaginary extensions of
both links. VPk = VPh

Instant Center Between A Link and The Ground

Consider link i that is pinned to the ground at O. Point O is the VC
C
instant center between links i and the ground, and it is denoted I1,i or
I i,1 (the ground is always given the index 1). (i) B
RC,O
If the link has a non-zero angular velocity ω , every point on the
A RB,O
link has a non-zero velocity except for point O. The velocity of any VB


point on the link is determined as V = ω R , where R is the position VA RA,O O
vector of that point with respect to O. Note that all the velocity I1, i
vectors are tangent to circles with a common center at I1,i .

P.E. Nikravesh 5-10

AME 352 GRAPHICAL VELOCITY ANALYSIS

Now consider link j that is not connected to the ground directly.

If the link has a non-zero angular velocity, the velocity vectors of all VC C
the points on the link must be tangent to circles with a common B (j)
center. This common center is the instant center between link j and VB
the ground; i.e., this point has a zero velocity. This center acts as an RC ,I1, j
A
imaginary pin joint between the link and the ground. It should be R B,I1, j
VA
obvious that VA / RA,I1, j = VB / RB,I1, j = VC / RC,I1, j = ω . R A,I1, j
I1, j
Note: If we know the velocity (absolute) of a point on a link, the
instant center between that link and the ground must be located VA
on an axis perpendicular to the velocity vector passing through A
the point. (i)
I1, i

Two Links Connected by A Sliding Joint

The instant center between two links that Ii, j
are connected by a sliding joint is located in ∞
(i) B
infinity on any axis perpendicular to the sliding VB ∞ I
axis. The reason for this instant center being in A 1, i
(j) VA (i)
infinity will be discussed later.

Number of Instant Centers

In a mechanism with n links (count the ground as one of the links), the number of instant
centers is determined as:
n(n − 1)
C=
2
As an example, in a four-bar mechanism or a slider-crank, there are six IC’s ( n = 4 ). For any
six-bar mechanism, C = 15 .

Kennedy’s Rule
The three instant centers between three planar links must lie on a straight line.

This rule does not tell us where the line is or where the centers are on that line. However, the
rule can be used to find the instant centers when we consider a mechanism.
I k, i
(i) (i)
(k)
Ii, j
(j)
I 1, j Ii, j I 1, i
I j, k (j)

Instant Centers of A Four-bar

A four-bar mechanism has six instant centers
(3)
regardless of the dimensions or orientation of the 2
links. For bookkeeping purposes in locating the
IC’s, we draw a circle and place link indices on (4)
(2) 1 3
the circle in any desired order. This bookkeeping
procedure may not be necessary for a four-bar, but
becomes very useful when mechanisms with (1) 4

greater number of links are considered.

P.E. Nikravesh 5-11

AME 352 GRAPHICAL VELOCITY ANALYSIS

Since pin joints are instant centers, for a four- I3,4

bar with four pin joints, four IC’s are immediately I 2,3 (3)
identified. Each found IC is marked on the circle 2
as a line drawn between the two corresponding (4)
(2)
link indices. These four IC’s are actual (not
1 3
imaginary) pin joints. In order to find the other
IC’s, we apply Kennedy’s rule. I1,2 (1)
I
1,4 4
The IC’s between links 2, 3 and 4 must lie on a straight line. These are I 2,3 , I 3,4 , and I 2,4 .
Since we already have I 2,3 and I 3,4 , we draw a line through them; I 2,4 must also be on this line.
The IC’s between links 1, 2 and 4 must lie on a straight line. These are I1,2 , I1,4 , and I 2,4 . Since
we already have I1,2 and I1,4 , we draw a line through them; I 2,4 must also be on this line. The
intersection of these two lines is I 2,4 .
Note how the circle is used to decide which center to find next. The red line between links 2
and 4 indicates the center we are after. This line is shared between two triangles with known
IC’s. The triangles tell us to draw a line between I1,2 and I1,4 , then draw another line between
I 2,3 and I 3,4 . The intersection is I 2,4 .
I3,4
I 2,3 (3)

2
(4)
(2)
I2,4 1 3

(1)
I1,2 I1,4
4
According to the circle, the last center to find is between links 1 and 3. The two triangles that
share this new red line tell us to draw a line between I1,2 and I 2,3 , and a second line between I1,4
and I 3,4 . The intersection of these two lines is I1,3 .
I
1,3

I3,4

I 2,3 (3)

2
(4)
(2)
I 1 3
2,4
(1)
I1,2 I1,4
4
Now we have found all six centers.
Instant Centers of A Slider-crank
2
A slider-crank mechanism has six
instant centers regardless of which (3)
(2)
inversion it is. Again, for bookkeeping 1 3
(4)
purposes, we draw a circle with link
indices. (1) 4

P.E. Nikravesh 5-12

AME 352 GRAPHICAL VELOCITY ANALYSIS

Pin joints provide three of the I 2,3 2

instant centers, I1,2 , I 2,3 , and I 3,4 . The I
(3) 1,4
(2)
center between the slider block and the I3,4 1 3
ground, I1,4 , is in infinity on an axis (4)
I1,2 (1)
perpendicular to the sliding axis. 4
I 2,4 must lie on the axis of I 2,3 I
2,4
I 2,3 2
and I 3,4 , and on the axis of I1,2 and I1,4
(2) (3)
I1,4 . The intersection of these two axes
I3,4 1 3
is I 2,4 .
(1) (4)
I1,2
4
I1,3 must lie on the axis of I 2,3 and
I
1,3
I1,2 , and on the axis of I 3,4 and I1,4 .
Note that I1,4 is in infinity on an axis
I
perpendicular to the slider. The 2,4
I 2,3 2
intersection of these two axes is I1,3 .
(2) (3) I1,4
Now we have all six centers.
I3,4 1 3

(1) (4)
I1,2
4
Instant Centers of A Six-bar
In this example we consider a
six-bar mechanism containing a 2
four-bar and an inverted slider- (3) 1 3
crank that share one link and one (5)
pin joint. A circle is constructed (4) (6)
(2)
with link indices 1 – 6. 6 4
(1) 5

We first find the six IC’s that belong to the four-bar.

I1,3

I3,4
2
I 2,3 (3)
1 3
(5)
(4) (6)
(2)
I2,4 6 4

(1) 5
I1,2 I
1,4

Next we find the IC’s for the slider-crank. Note that I1,4 is shared between the two sub-
mechanisms.

P.E. Nikravesh 5-13

AME 352 GRAPHICAL VELOCITY ANALYSIS

I1,5

I1,3

I5,6
I3,4
2
I 2,3 (3) I4,5
1 3
(5)
(4) (6)
(2)
I2,4 I1,6 6 4
(1) I4,6
I1,2 I 5
1,4

Next, we use the circle to guide us in finding the next IC. I 2,6 must be on the intersection of
lines I 2,4 - I 4,6 and I1,2 - I1,6 (blue lines). I 3,5 is found at the intersection of lines I1,3 – I1,5 and
I 3,4 – I 4,5 (red lines).

I1,5

I3,6

I1,3

I3,5
I5,6
I3,4 2

I 2,3 (3)
I4,5 1 3
(5)
(4) (6)
(2)
I2,5 6
I2,4 I1,6 4

I (1) I4,6 5
I1,2 2,6 I1,4

The next IC to find is I 3,6 . This center is at the intersection of lines I 3,4 – I 4,6 and I1,3 – I1,6
(green lines). The last center, I 2,5 , is found at the intersection of I 2,4 – I 4,5 and I1,2 – I1,5 (purple
lines). Now we have all the centers.
I1,5

I1,3

I3,5
I
I3,4 5,6
2
I 2,3 (3)
I
4,5
1 3
(5)
(4) (6)
(2)
I I1,6
2,4 6 4
I2,6 (1) I4,6
I1,2 I 5
1,4

P.E. Nikravesh 5-14

AME 352 GRAPHICAL VELOCITY ANALYSIS

Strategy
The instant center method is a graphical process to perform velocity analysis. A graphical
process is a pencil-and-paper approach that requires locating points, drawing lines, finding
intersections, and finally taking direct length measurements from the drawing. All of these steps
have graphical and measurement errors. Therefore, the accuracy of the analysis depends on the
accuracy of our drawings and measurements.
For four-bars and slider-cranks, since four links are involved, there are only six centers to
locate. For mechanisms with more links that four, there are many more centers to find. Locating
some of the centers requires using some of the other centers that have already been found. The
following strategy can reduce the graphical error in locating some of the centers.
2
Let us use the previous six-bar mechanism as an example. The first
seven centers that we locate are at the center of the pin joints. Marking 1 3
these centers by hand on a diagram contain certain amount or error that
we call Order-1 level:
O − 1 : I1,2 , I 2,3 , I 3,4 , I1,4 , I 4,5 , I 5,6 , I1,6 6 4

Next we locate I1,3 , I 2,4 , I 4,6 and I1,5 using the first seven centers. 5
2
These centers add more errors on top of the errors from the original
1 3
seven. We consider these new centers to contain errors at Order-2 level:
O − 2 : I1,3 , I 2,4 , I 4,6 , I1,5
Next we locate I 2,6 and I 3,5 using centers with O-1 and O-2 level 6 4
errors. Therefore these two centers contain their own graphical error on 5
top of the errors from the other centers: 2
O − 3 : I 2,6 , I 3,5 1 3
Up to this point we did not have any other choices in how to locate the
centers, but for the remaining centers we may have more than one
choice. For example, to locate I 3,6 we can use the intersection between 6 4

any two of these four axes: I 3,4 - I 4,6 , I1,3 - I1,6 , I 2,3 - I 2,6 , and I 3,5 - I 5,6 . 5
2
Considering the error level in I 2,6 and I 3,5 , we should not use I 2,3 - I 2,6 ,
1 3
and I 3,5 - I 5,6 axes. Instead, we should use the intersection of I 3,4 - I 4,6
and I1,3 - I1,6 to locate I 3,6 :
6
O − 3 : I 3,6 4

5
Note: When locating a new center, use existing centers with the lowest
amount of error.

Determining Unknown Velocities

Instant centers are used to determine unknown velocities in a mechanism. Typically the process
requires finding the velocity of a point on one link, based on known velocity of a point on
another link. The process, in its most efficient form, requires using three instant centers—the
centers between the two links and the ground.

P.E. Nikravesh 5-15

AME 352 GRAPHICAL VELOCITY ANALYSIS

Assume that the location of the three instant centers B

A VA
between links i, j, and the ground (link 1), and the
velocity of point A on link i are given. The objective is (i) (j)
to determine the velocity of point B on link j.
To determine the velocity of B, we consider the Ii, j I1, j
following four steps:
I 1, i
1. We start with the link that has a known velocity.
Link i rotates about an imaginary pin joint at I1,i .
We construct vector R A,I1,i and determine its A VA

magnitude. We compute the angular velocity of link (i)

i as ω i = VA / RA,I1,i . The direction of this angular
RA, I 1, i ωi
velocity is CW.

I 1, i
2. The instant center I i, j is an imaginary point on link i,
and therefore we can determine its velocity. We
Ii, j
measure the length of vector R Ii , j ,I1,i and compute ωi

VIi , j = ω i RIi , j ,I1,i . The direction of VIi , j is established RI

i, j , I 1, i
VI i, j
based on the direction of ω i . I 1, i

3. The instant center I i, j is also an imaginary point on

Ii, j I1, j
link j, and we already know VIi , j . Link j rotates RI
i, j , I 1, j

about the imaginary pin joint to the ground at I1, j .

VI i, j ωj
We measure the length of vector R Ii , j ,I1, j , then
ω j = VIi , j / RIi , j ,I1, j is computed. The direction of ω j
is established to be CCW.
B
4. Point B is attached to link j that rotates about an ωj
RB, I
imaginary pin joint at I1, j . We construct vector 1, j
(j)
R B,I1, j and determine its magnitude. We then VB
I1, j
compute VB = ω j RB,I1, j . The direction of VB is
established based on the direction of the angular
velocity of link j.
These four steps, either as they are presented or with slight variations, can be applied to find
any unknown velocities in mechanisms. Here is another example of applying these four steps
when an instant center is in infinity.
Assume that the centers between two links connected by a sliding joint and the ground, and
the velocity of A on link i are given. The objective is to find the velocity of B on link j. Here are
the four steps, slightly revised:

P.E. Nikravesh 5-16

AME 352 GRAPHICAL VELOCITY ANALYSIS

1. Link i is pinned (imaginary) to the ground at I1,i . I

1, j
The angular velocity of link i is computed as
ω i = VA / RA,I1,i , CCW. R B, I
1, j

2-3. The two links are connected by a sliding joint, Ii, j VB

∞
therefore ω j = ω i . B
4. Link j rotates about I1, j . Velocity of B is computed
(i) A
as VB = ω j RB,I1, j . The direction is established based I
1, i
RA, I
(j) VA 1, i
on the direction of the angular velocity.
In a third example link i is connected to the ground by a sliding joint. The velocity of A on
link i is given and the objective is to find the velocity of B on link j.
1. Since link i slides relative to the ground, ω i = 0 . VI i, j Ii, j
2. I i, j is a point on link i, therefore VIi , j = VA .
3. Link j rotates with respect to the ground about I1, j . RI VB
i, j , I 1, j
B (j)
The angular velocity of link j is computed as
ω j = VIi , j / RIi , j ,I1, j , CCW.
R B, I
4. The velocity of B is computed as VB = ω j RB,I1, j in the
1, j
I1, j
direction shown. ∞ I
VA 1, i
A(i)

Angular Velocity Ratio

A formula, known as the angular velocity ratio, can be derived between the angular velocities
of any two links of a mechanism regardless of the type of joints used in that mechanism. This
formula, in general, can be established for links i and j. Between these two links and the ground
link 1, there are three instant centers I1,i , I i, j , and I1, j . The velocity of the common center I i, j
can be determined as VIi , j = RIi , j I1,i ω i = RIi , j I1, j ω j . Therefore, the angular velocity ratio between the
two moving links is expressed as
RIi , j I1,i ωj
=
RIi , j I1, j ωi
ωi I 1, i
R Ii , j I1, j
I 1, i
ωj ωj Ii, j
I 1, j R Ii , j I1,i I 1, j
Ii, j ωi
R Ii , j I1, j R Ii , j I1, j
(a) (b)
Note: If I i, j is between I1,i and I1, j , as in (a), ω i and ω j are in opposite directions ( R Ii , j I1,i and
R Ii , j I1, j are in opposite directions). But if I i, j is not located between I1,i and I1, j , as in (b),
ω i and ω j are in the same direction ( R Ii , j I1,i and R Ii , j I1, j are in the same direction).

In the following examples we use instant centers to perform velocity analysis for several
mechanisms. It is always assumed that either the angular velocity of one link or the linear
velocity of one point is given.

P.E. Nikravesh 5-17

AME 352 GRAPHICAL VELOCITY ANALYSIS

Four-bar Mechanism
For this four-bar I
mechanism, we have 1,3
already found the instant
centers. Assume the P I
angular velocity of link 2 3,4

is given, CCW. Find: I 2,3 (3)

(a) the velocity of point P
on link 3, and (4)
(b) the angular velocity of (2)
link 4. I2,4
(1)
I1,2 I1,4
(a) The angular velocity of link 2 is known, and we want to
find the velocity of point P on link 3. We need to pick a I1,3
third link, and that link is always the ground, link 1. So, R I 2,3I1, 3 R PI1, 3
we pick the three centers between these three links: I1,2 , ω3 P
I 2,3 , and I1,3 . (We can ignore the other centers and VP
VI 2,3 I 2,3 (3)
links at this point.) Link 2 rotates about I1,2 . The
magnitude of the velocity of I 2,3 is computed as
VI 2 ,3 = ω 2 RI 2 ,3I1,2 and its direction is shown. I 2,3 is also a (2)
ω2
R I 2,3I1, 2
point on link 3, and link 3 rotates about I1,3 . The
(1)
angular velocity of link 3 is computed as I1,2
ω 3 = VI 2 ,3 / RI 2 ,3I1,3 , CW. (We could have also used the
angular velocity ratio formula to find ω 3 .) Link 3 rotates about I1,3 , therefore velocity of P is
computed as VP = ω 3 RP,I1,3 . The direction is shown on the diagram.
b) In order to move from link 2 to link 4, we only need I1,2 , I 2,4 , and I1,4 . Link 2 rotates about
I1,2 . The magnitude of the velocity of I 2,4 is VI 2 ,4 = ω 2 RI 2 ,4 I1,2 and its direction is as shown.
I 2,4 is also a point on link 4, and link 4 rotates about I1,4 . The angular velocity of link 4 is
ω 4 = VI 2 ,4 / RI 2 ,4 I1,4 , CCW. ω2
I2,4 R I 2,4 I1, 2 ω4
(We could have also used the
angular velocity ratio R I 2,4 I1, 4 I1,2 I1,4
formula.) VI 2,4

Slider-crank (inversion 1)
The instant centers of this slider-crank
I1,3
have already been located. Assume the
angular velocity of link 2 is given, CW. The
objective is to find the velocity of link 4.
I2,4
Since we have the angular velocity of link I 2,3
2 and we are interested in the velocity of link
I1,4
4, we pick the instant centers I1,2 , I 2,4 , and (2) (3)
I3,4
I1,4 .
(1) (4)
The center I 2,4 is a point on link 2. The I1,2

magnitude of its velocity is computed as

P.E. Nikravesh 5-18

AME 352 GRAPHICAL VELOCITY ANALYSIS

VI 2 ,4 = ω 2 RI 2 ,4 I1,2 , and its direction is as shown. I VI 2,4

2,4 I1,4
I 2,4 is also a point on link 4. Since link 4
R I 2,4 I1, 2
does not rotate, all the points on this link have
ω2
the same velocity. Therefore, VB = VI 2 ,4 . (2) B VB
(1) (4)
I1,2

Slider-crank (inversion 3)
For the third inversion of the slider-crank I 2,3
mechanism, the angular velocity of link 2 is (3)
given, CCW. We are asked to find the I3,4
(2)
angular velocity of link 4.
(4)
The six instant centers are found as
shown. We can determine the angular I I1,2 I
2,4 1,4
velocity of link 4 two different sets of instant
centers.
I
(1) We use the instant centers I1,2 , I 2,4 , and 1,3

I1,4 . The angular velocity formula yields ω2

R I 2,4 I1, 2
ω 4 = ω 2 RI 2 ,4 I1,2 / RI 2 ,4 I1,4 , CCW.
I I1,2 R I 2,4 I1, 4 I1,4
2,4

I 2,3
(2) We use the instant centers I1,2 , I 2,3 , and
I1,3 . The angular velocity formula yields
R I 2,3I1, 2
ω 3 = ω 2 RI 2 ,3I1,2 / RI 2 ,3I1,3 , CCW. Since links
I1,2
3 and 4 form a sliding joint, they have the R I 2,3I1, 3
same angular velocities. Therefore,
ω 4 = ω 3 , CCW.
I1,3

Six-bar Mechanism
Assume that for this six-bar mechanism the angular velocity of link 6 is given in the CCW
direction. We are asked to find (a) the angular velocity of link 3 and (b) the velocity of point A.
We already know where the IC’s are from an earlier exercise.
I1,5

I3,6

I1,3

I3,5
I5,6
I3,4
I 2,3 (3)
I4,5
(5)
A (4) (6)
(2)
I2,5
I2,4 I1,6
I2,6 (1) I4,6
I1,2 I1,4

P.E. Nikravesh 5-19

AME 352 GRAPHICAL VELOCITY ANALYSIS

(a) The three IC’s between links 6, 3, I

3,6
and 1 are: I1,6 , I 3,6 , and I1,3 . The ω3
R I 3,6 I1, 3
angular velocity ratio formula yields I1,3
ω 3 = ω 6 RI 3,6 I1,6 / RI 3,6 I1,3 , CCW.
(b) We can determine the velocity of R AI1,3 R I 3,6 I1, 6
point A using two different ways: (3)
(1) Point A is a point on link 3
which rotates about I1,3 . The A
ω6
magnitude of the velocity of A is VA
VA = ω 3 RAI1,3 and its direction is I1,6

perpendicular to R AI1,3 as shown. A

(2) Since A is also a point on link 2, VA
(2) ω6
we can use I1,6 , I 2,6 , and I1,2 . R AI 1,2
We use the angular velocity ratio ω2 I1,6
R I 2,6I 1,6
formula to determine ω 2 , then I1,2 I2,6
we determine the velocity of A. R I 2,6I 1,2

Exercises

In these exercises take direct measurements from the figures for link lengths and the
magnitudes of velocity vectors. If it is stated that the angular velocity is known, assume ω = 1
rad/sec CCW, unless it is stated otherwise.
P.1 P.2
VA and ω are known. VA and VB are known.
Determine V . Determine ω .
B
A VB B
A B
VA VA

P.3 P.4
VA and VB are known. VA and ω are known.
Determine ω . What do you observe? Determine VB , VC and VBC .
B
A B
VB V
VA A

C A
P.5 P.6
VA and VB are known. VA and ω are known.
Determine VC . Determine VB , VC and VBC .

P.E. Nikravesh 5-20

AME 352 GRAPHICAL VELOCITY ANALYSIS

B A B C
VB

VA
V
C A
A
P.7
VA and VB are known. A V
A B C
Determine VC .
VB

The following exercises (P.8 – P.10) are not typical velocity analysis problems for using the
instant center method. They are provided to make you think, to apply the fundamentals of the IC
method back and forth, and to better understand the concept and the meaning of the instant
centers. The solution to some of the following four exercises can be tricky!
P.8 P.9
VA and VB are known. VA , ω i and ω j are known. Assume ω i = 1
Determine ω and VC . rad/sec CCW and ω j = 1 rad/sec CW.
Determine VB and VC .

V B A B
A A C (i)
(j) C
V
B
V
A

P.10 A B
VA and VC are known. (i)
Determine VB . (j)
C
V
A

VC

The following exercises are typical problems using the instant center method. Each exercise
is a complete mechanism.
Exercises P.11 – P.14 are examples of four-bar mechanism. In each problem, find the instant
centers. Assume ω 2 is given, then determine ω 3 , ω 4 , and VP .
P.11 P.12
P

(2)
(3)
(3)
(4) (4)

(2)

P.E. Nikravesh 5-21

AME 352 GRAPHICAL VELOCITY ANALYSIS

P.13 P.14
P
(2)

(3) (3)
(2) (4)
(4)
P

Exercises P.15 – P.18 are examples of slider-crank mechanism. In each problem, find the
instant centers. Assume ω 2 is given, then:
For P.15 and P.16 determine ω 3 , ω 4 , and the velocity of the slider block;
For P.17 and P.18 determine ω 3 , ω 4 , and VP .
P.15 P.16

(3) (3)
(2)
(4) (2)
(4)

P.17 P.18
P

(3) (2)
(3)

(2)
(4)

(4)
P

For these six-bar mechanisms ω 2 is given. Find the instant centers. Determine ω 5 , and the
velocity of the slider block 6. In P.19, also find the velocity of P.

P.19
P
P

(3)
(4) (5)
(6)
(2)

P.20

(2)
(3)

(6)
(4)

(5)

P.E. Nikravesh 5-22

AME 352 GRAPHICAL VELOCITY ANALYSIS

A Useful Observation
If we consider the absolute velocity of two points
on the same link, and project the velocity vectors on VB
the axis that connects the two points, we make the B
observation that the two projected velocity vectors are A
equal in magnitude and are in the same direction. Why VA′ VB′
are the two projected velocity components equal?
Because the link is non-deformable—the two points
cannot get closer to or move away from one another. VA
In other words, the two points must have identical
velocities along the axis that connects them.
This observation can be used to check whether the
answer to a computed velocity is incorrect or not. We VA B
can also use this observation to find unknown A
velocities in some problems. For example, in a four- VB RBO 4
bar mechanism, based on the known velocity of point
A, we can easily determine the velocity of point B.
O2 O4
This is performed by projecting VA on the axis
between A and B to find VA′ , setting VB′ = VA′ , and
then constructing VB on an axis perpendicular to
R BO4 .

P.E. Nikravesh 5-23