Module 2:

Velocity Analysis

Dr. Kaushik Kumar

Associate Professor, Department of Mechanical Engg.
Birla Institute of Technology, Mesra, Ranchi
Email: kkumar@bitmesra.ac.in, kaushik.bit@gmail.com,
kaushik_bit_poly@rediffmail.com

All figures taken from Design of Machinery, 3rd ed. Robert

Norton 2003
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 Velocity Analysis
Definitions
dR
Linear Velocity V R
dt
dq
Angular Velocity w q
dt
Velocity of a point Link in pure rotation

RPA peiq Multiplying by i rotates the vector
by 90
VPA VP RPA Velocity is perpendicular to

peiq iq peiq iw radius of rotation & tangent to
path of motion
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 Velocity Analysis
Vector r can be written as: Imaginary
reiq r cos q i sin q

Multiplying by i gives: r cos q

ireiq r sin q i cos q

Multiplying by i rotates a vector 90 r

q
r sin q
r cos q Real
r sin q

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 Velocity Analysis
If point A is moving

VP VA VPA

V A pe iw
iq

Graphical solution:

4
 Graphical Velocity Analysis (w3 & w4)
Given linkage configuration & w2. Find w3 and w4
We know VA and direction of VB and VBA
(perpendicular to AB)
Draw vector triangle. V=wr.

VBA VBA Direction

VA
VB VBA

VB VB Direction

VBA w3 AB
VB w4 O4 B
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 Graphical Velocity Analysis (VC)
After finding w3 and w4, find VC
VC=VA+VCA
Recall that w3 was in the opposite direction as w2
Double Scale
VC
VCA VA

VCA

VC

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 Instant Center
A point common to two bodies in plane motion, which
has the same instantaneous velocity in each body.
we found the instant center between links 1 and 3
(point on link 3 with no velocity)
Now we also have an instant center between links 2
and 4

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 Instant Centers
Kennedys rule: any three links
will have three instant centers and
they will lie on a straight line
I13
The pins are instant centers
I13 is from links 1,2,3 and 1,3,4
I24 is from links 1,2,4 and 2,3,4
123 134 124 234 Links
I12 I13 I12 I23 ICs
I23 I34 I24 I34
I24
I13 I14 I14 I24
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 Instant Centers
I13 has zero velocity since link 1
is ground
w3 is the same all over link 3
Velocity relative to ground=rw, I13
perpendicular to r w3

VA2=aw2=VA3=pw3
From this, w3 must be in the p
opposite direction as w2, and
smaller in magnitude since p>a VA2 w3

A VA3
a
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 Instant Centers
I24 has the same velocity on link 2
and link 4
VI2=l2w2=VI4=l4w4
From this, w4 is in the same
direction as w2 and smaller in
magnitude since l4>l2

w4
I24 l4

VI4 V l2
I2

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 Instant Centers Practice Problems
A

O2 O4
Power=Tinwin=Toutwout

O4

O2

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B
 Velocity Analysis of a 4-Bar Linkage
Given w2. Find w3 and w4

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 Velocity Analysis of a 4-Bar Linkage
Write the vector loop equation
ae iq 2 beiq 3 ceiq 4 deiq1 0
After solving the position
analysis, take the derivative

ae iq 2 iq2 be iq 3 iq3 ceiq 4 iq4 0
iw 2 aeiq 2 iw 3beiq 3 iw 4 ceiq 4 0
or
V A iw 2 aeiq 2
V A V BA V B 0
VBA iw 3beiq 3
where
VB iw 4ceiq 4
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 Velocity Analysis of a 4-Bar Linkage
iw 2 ae iq 2 iw 3be iq 3 iw 4 ce iq 4 0
Take knowns to one side:
w 3beiq 3 w 4 ceiq 4 w 2 ae iq 2
Take conjugate to get 2nd
equation:
iq 3 iq 4 iq 2
w 3be w 4ce w 2 ae
iq 3 iq 4 w iq 2
Put in matrix form: be ce 3 w 2 ae
iq 3
iq 4 w
iq 2
be ce 4 w 2 ae
q 1
Invert matrix: w 3 be 3i
ce 4 w 2 aeiq 2
i q
w iq 3 iq 4 iq 2
4 be ce w 2 ae
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 Offset Crank Slider
Given w2. Find w3 and d

b c
a

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