Chapter (3): Velocity Analysis of Mechanisms

ME306 - Fall 2013

Chapter (3)
Velocities Analysis of Mechanisms
(Relative Velocity Method)

Chapter (3): Velocity Analysis of Mechanisms

ME306 - Fall 2013

Chapter (3)
Velocities Analysis of Mechanisms ()
(Relative Velocity Method)
3.1 Introduction
The study of motion of various parts of the mechanisms and machines is important for
determining their positions, velocities and accelerations at different moments. In this
chapter, the velocity analysis for the mechanisms can be carried out by graphical method
(Velocity polygon) based on the relative velocity method.
3.2 Velocity Analysis
Velocity is the rate of change of displacement. Velocity can be linear velocity or angular
velocity.
Linear velocity v

dx
d
, and angular velocity
.
dt
dt

The relation between the linear velocity and angular velocity can be obtained as:

x r leading to v

dx
d
r
r
dt
dt

(where

d
).
dt

In the kinematic analysis of mechanisms and machines, the velocities of different links or
parts can be obtained by using one the following methods:
(i)

Relative velocity method or velocity polygon method

(ii)

Instantaneous centre method

(iii) Analytical method

In this course, the velocity polygon method is discussed and used for determining the
velocities and accelerations of various mechanisms.
3.3 Relative Velocity Method
Consider a rigid link OA of length rOA (or OA) rotates about a fixed point O with a uniform
angular velocity OA (rad/sec) in clockwise direction as illustrated in Figure (1). For a small
rotation through an angle d in a time dt , the point A will move along the arc AA as shown.

Chapter (3): Velocity Analysis of Mechanisms

ME306 - Fall 2013

OA d

va

A'
B
d

rOA
OA
O

(a)

(c)
(b)

The velocity of point A relative to the fixed point O can be expressed as:

v ao

r d
OA rOA
dt

(Absolute velocity)

Absolute Velocity is defined as the velocity of a point with respect to a fixed point.
The velocity of A is OA rOA and is perpendicular to OA. This is can be represented by a vector
oa as shown in Figure (1c).
Consider a point B located on the link OA. The velocity of point B is v b OA rOB
perpendicular to OB and is represented by a vector ob. From the Figure (1):

ob OA OB OB

oa OA OA OA

v bo v b OB

v ao v a OA

It is noted from the diagram that, the point b divided the vector oa in the same ratio the
point B divides the link OA. Then, the proportionality law is very useful in the drawing of the
velocity and acceleration polygons in order to find the relative velocities and accelerations of
the points on the links or parts.
Note that: Usually small letters (oa, ob,) are used to represent the vectors in velocity polygon
while the capital letters (OA, OB,.) are used to represent the length of the links in space
diagrams.
The application of the relative velocity method is illustrated through the following examples.

Chapter (3): Velocity Analysis of Mechanisms

ME306 - Fall 2013

3.3.1 Example 1- Slider-crank Mechanism

Consider a slider-crank mechanism used in the reciprocating engine in which the crankshaft
OA rotates with uniform angular velocity (rad/sec) in clockwise direction as illustrated in
Figure (2). The slider P moves on a fixed guide G. The crank OA and slider P are joined by a
connecting rod AP. The velocities of these links of the mechanism can be obtained by
drawing the velocity polygon.

OA
O

B
P

b
G

a
(b) Velocity polygon

(a) Slider-crank mechanism

Figure (2): Velocity analysis of slider-crank mechanism

(1) Drawing the given mechanism by using a suitable scale.

(2) For a given angular velocity (rad/sec), determine the velocity of point A relative to
the fixed point O, i.e., v a v o v ao v ao (v o 0 is the velocity of the fixed point O).
(3) To start drawing the velocity polygon, choose a point o and draw the vector oa
perpendicular to the link OA to some suitable scale as illustrated in Figure (2b).
(4) The velocity of the slider P relative to the point A (v pa ) is perpendicular to the link
AP. Then from point a (velocity polygon), draw a vector ap of unknown magnitude
but in the perpendicular direction to the link AP.
(5) The velocity of the slider P relative to guide G ( v pg ) is along the line of the cylinder.
Since there is no relative motion between G and O, the point g on the velocity polygon
can be assumed to be at the point o (Fig. 2b). Then from point g, draw a line parallel
to the cylinder (or OG) to intersect vector ap at the point p. Therefore, the vector gp
represents the velocity of the slider P.
(6) The velocity of point B located on the connecting rod AP can be obtained by using the
following relation:
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Chapter (3): Velocity Analysis of Mechanisms

ab AB

ap AP

ab ap

ME306 - Fall 2013

AB
AP

The point b on the velocity vector ap can be located as shown in the velocity polygon (Fig.
2b). The vector ob is then represented the absolute velocity of point B.
3.3.2 Rubbing Velocity at a Pin Joint
The links or parts in the mechanisms are usually connected together by a pin joints as shown
in Figure (3).
Lin
k

k
Lin

Lin
k

pin

(a) Links move in opposite

direction

k
Lin

2
pin

(b) Links move in the same

direction

Figure (3): Pin joint of two links

Let 1 is the angular velocity of link 1 (rad/sec).

2 is the angular velocity of link 2 (rad/sec).

r is the radius of the pin at the joint.
The rubbing velocity at the pin is defined as the algebraic difference between the angular
velocities of the two links that connected at the pin joint. The rubbing velocity v rub at the pin
joint can be obtained as:
(a) v rub 1 2 rpin when the two links are moved in the same direction.
(b) v rub 1 2 rpin when the two links are moved in the opposite direction.

Example (1): The crank of a slider-crank mechanism is rotating at 300rpm in the clockwise
direction. The length of the crank is 150mm and connecting rod is 600mm long. When the
crank has turned through an angle of 45o with the horizontal as shown in Figure (4), find:
(1) The velocity of the slider p,
(2) The angular velocity of the connecting rod AP,
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Chapter (3): Velocity Analysis of Mechanisms

ME306 - Fall 2013

(3) The velocity of the mid-point C of the connecting rod AP, and
(4) The rubbing velocity at pin joints O and A if the radius of the pin joint is 15mm.
A

OA

45o

Space diagram

Figure (4): Slider-crank mechanism

Solution:
Given: OA = 150mm, AP= 600mm, and AC=CP = 300mm.
Crank speed N=300rpm OA

2
300 31.42 rad / sec
60

(clockwise)

(1) The velocity of point A with respect to fixed point O is:

v A OA OA 31.42 0.15 4.713 m / sec

(2) Scale to draw the velocity polygon: 1 m/sec= 1 cm.
(3) The relative velocity of point P with respect to A is drawn to AP.
(4) The velocity of slider P with respect to O is drawn to OP. Vectors ap and op intersect at
point p.
Table: Velocity analysis for different links
Velocity

Magnitude
(m/sec)

Direction

Vector

Scaled length
(cm)

vc

4.713

to OC

oc

4.713

vpc

unknown

to PC

cp

unknown

vp

unknown

along PO

op

unknown

Scale for velocity polygon: 1m/sec=1cm

Chapter (3): Velocity Analysis of Mechanisms

ME306 - Fall 2013

a
vA=vAO
OA

vA=vAO

vP

vP
PO

vPA
AP
p

(b) Velocity polygon

vPA
P

vC

45o

(a) Space diagram

Figure (5): Velocity polygon

(5) The absolute velocity of point C on the connecting rod is obtained by the relation:

ac AC

ap AP

ac ap

AC
AP

From the velocity polygon:

(i) The velocity of P with respect to A is obtained from the polygon as:
vPA = vector ap = 3.40 cm = 3.40 cm1.0 (scale) = 3.40 m/sec.
(ii) The velocity of P vpo= vp = vector op = 4.00cm = 4.00cm1.0 (scale) = 4.00 m/sec.
(iii) The angular velocity of the connecting rod AP is obtained by:

AP

v AP 3.40

5.670 rad / sec

AP 0.60

(iv) The velocity of point c is represented by the vector oc, i.e.,

vc = oc = 4.100 cm = 4.100cm 1.0 (scale)= 4.10 m/sec.
(v) The rubbing velocity at point A (same directions) is determined as:
v rub OA AP rpin 31.42 5.670 0.015 0.3863 m / sec .

Example (2): In a four-bar mechanism AABCD, AD is fixed link and is 15.0cm long. The crank
AB is 4.0cm long and rotates at 120rpm clockwise, while the link CD=8.0cm oscillates about

Chapter (3): Velocity Analysis of Mechanisms

ME306 - Fall 2013

D. BC and AD are of equal lengths. Find the angular velocity of the link CD when the angle
BAD is 60o.

C
B

AB
60o

Figure (6): Four-bar Mechanism

Given: AD=15.0cm , AB= 4.0cm, CD=8.0cm, BC=AD=15.0cm
Speed of the crank NAB=120rpm (clockwise)
Solution:
(1) Draw the space diagram to a suitable scale (10 mm=1 cm).
(2) Calculate the given velocity:

v B v BA AB AB
120 4 50.24 cm / sec
60

(3) Scale to draw the velocity polygon: 10 cm/sec=1cm

vB

50.24
= 5.024cm v B AB
10
Table: Velocity analysis for different links

Velocity

Magnitude
(cm/sec)

Direction

Vector

Scaled length*
(cm)

VB

50.24

to AB

ab

5.024

VBC

unknown

to BC

bc

unknown

VC

unknown

CD

cd

unknown

*Scale for velocity diagram: 10cm/sec = 1 cm

From the velocity diagram:
The velocity of point C : v C cd 3.80 cm

Chapter (3): Velocity Analysis of Mechanisms

ME306 - Fall 2013

v C v CD 3.80 cm / sec 10 38.0 cm / sec ,

v D v CD v CD

Then the angular velocity of the link CD is obtained as:

v CD CD CD

CD

v CD cd
38.0

4.75 rad / sec (clockwise) .

CD CD
8.0
C

vC AB
B

vB AB

AB
A

vCB BC

60o

(a) Space mechanism

a,d

vCD=vC
AB

c
vCB BC

vBA=vB=5.024cm
AB

(b) Velocity diagram

Example (3): In the mechanism shown in Figure (6), the crank OA rotates at 20rpm
anticlockwise and gives motion to the sliders B and D. The dimensions of the links are given
as: OA=300mm, AB=1200mm, BC= 450mm and CD=450mm. For the given configuration,
find: (a) velocity of the sliders at B and D, and (b) the angular velocity of CD.
A

OA

30o

1050mm
Figure (6)

Chapter (3): Velocity Analysis of Mechanisms

ME306 - Fall 2013

Solution:
Given: OA

2
20 2.10 rad / sec .
60

(1) Scale to draw the space diagram for the mechanism: 100mm=1cm.
(2) The velocity of the crank OA: v A v AO OA OA 2.10

300
0.630 m / sec .
1000

(3) Scale for velocity diagram: 0.1 m/sec=1cm.

v A 6.30 cm OA
Table: Velocity analysis for different links
Velocity

Magnitude
(m/sec)

Direction

Vector

Scaled length*
(cm)

VA

0.630

to OA

oa

6.30

VBA

unknown

to AB

ab

unknown

VB

unknown

OB

ob

unknown

VD

unknown

the path of
the slider D

od

unknown

VDC

unknown

to CD

cd

unknown

*Scale for velocity diagram: 0.1m/sec = 1 cm

(4) From the fixed point o, we draw a vector oa perpendicular to the crank OA (i.e.,
oa=vc=6.30cm).
(5) From point a, we draw a vector ab AB (i.e., ab=vBA), and from point o, we draw a
vector ob OB (i.e., ob=vBO). The point b is the intersection of the vectors ab and ob.
(6) We locate the point c on the link AB by using the following ratio relation:

ab AB

bc BC

bc ab

BC
450
(5.60)
2.10 cm
AB
1200

(7) From point c, we draw a vector cd to the link CD, from point o, we draw a vector od
to the path of the slider D. The point d is the intersection of the two vectors cd and
od.

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Chapter (3): Velocity Analysis of Mechanisms

ME306 - Fall 2013

OA

vA

vB

30o

vBA

vDC

(a) Space mechanism

D
vD

vB OB

b
vC

vD path of the
slider D
vDC DCd

c
vBA BA
a

(b) Velocity diagram

vA=6.30cm
AB

Figure (7): Space mechanism and velocity diagram

From the velocity diagram:

The velocity of the slider B: v B ob 3.90 cm

v B 3.90 cm 0.1 0.390 m / sec

The velocity of the slider D: v D od 2.45 cm

v D 2.45 cm 0.1 0.245 m / sec

The angular velocity of the link CD: CD

v CD cd 3.60 0.1

0.80 rad / sec .

CD CD
0.45

Example (4): In the mechanism shown in Figure (8), the crank AB rotates about fixed point
A at a uniform speed of 120 rev/min (clockwise direction). The link DC oscillates about a
fixed point D, which is connected to AB by the coupler BC. The slider P moves in the
horizontal guides being driven by the link EP.
For the given configuration, Find:
(1) Velocity of the sliding block P,
(2) Angular velocity of the link DC,
(3) Rubbing velocity of the pin joint C which is 50mm in diameter.
Given: AB=150mm, BC=CD=450mm, DE=150mm, EP=375mm.
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Chapter (3): Velocity Analysis of Mechanisms

ME306 - Fall 2013

375mm
D
100mm

P
E

375mm

AB

45o

Figure (8)
Solution:
Given: AB

2
120 12.57 rad / sec
60

(1) Space mechanism: 50mm=1cm

AB=3.0 cm, BC=CD=9.0cm, DE=3.0cm and EP=7.5cm.
(2) Velocity v B v A v BA AB AB 12.57 m / sec .
(3) Scale for Velocity diagram: 0.4m/sec=1cm

vB

m / sec
cm link AB.
0.4

From the velocity diagram:

(i) Velocity of the sliding block P:

v B ab 1.85 cm = 1.85 0.4 0.74 m / sec

(ii) Angular velocity of link DC:

DC

v DC
dc
5.6 0.4

4.98 rad / sec (Anticlock wise)

DC DC
0.45

(iii) Rubbing velocity of the pin joint C:

BC

v BC
bc 5.5 0.4

4.89 rad / sec (Anticlock wise)

BC BC
0.45

v rub BC DC rpin 4.98 4.89 0.025 0.225 103 m / sec .

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Chapter (3): Velocity Analysis of Mechanisms

ME306 - Fall 2013

P
E
VPE PE

AB
45o

VCB BC

vP path of the
slider P

VDC CD

VB AB

BC

A
(a) Space mechanism
(scale 50mm=1cm)

PE

CD

C
VDC

e
a,d

vP

vPE
p
VCB

VB=4.72cm
AB
(b) Velocity diagram
(scale 0.4m/sec=1cm)

Example (5):

13

vP path of the
slider P