Instantaneous

Centre Method
of Velocity

Introduction:
Sometimes, a body has simultaneously a motion of
rotation as well as translation.
Example, Mechanism on a steam automobile engine
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The motion of link is so gradual that it is difficult to see
the two separate motion.
This combined motion of rotation and translation of link
may be a motion of pure rotation about some centre I,
known as the instantaneous centre of rotation or centro or
virtual centre .
The instantaneous centre of a moving body may be
defined as that centre which goes on changing from one
instant to another.
The locus of all such instantaneous centre is known as
centrode.
A line draw through an instantaneous centre and
perpendicular to the plane of motion is called
instantaneous axis.
The locus of this axis is known as axode.

Velocity of a point on a link:
Consider two points A and B
V
a
and V
b
be the velocities of
point A and B.
Directions are given by angle
and .
Draw AI and BI perpendicular
to the direction of V
a
and V
b
.
These lines intersect at I ,
known as instantaneous centre
of the link.
The complete rigid link is to
rotates or turn about the centre
I .
If V
a
is known in magnitude & direction and V
b

in magnitude only, then velocity of point B or
any other point C lying on the same link, may
be determined in magnitude and direction.

The magnitude of velocities of the point on a
rigid link is inversely proportional to the
distance from the point to the instantaneous
centre and is perpendicular to the line joining
the point to the instantaneous centre.
Number of Instantaneous Centres:
Number of Instance Centres

N =
(1)
2

= number of links
Types of Instantaneous centres:
1. Fixed Instantaneous centre
(I
14
and I
12)
2. Permanent Instantaneous
centre (I
34
and I
23)
3. Neither fixed nor permanent
Instantaneous centre(I
13
and
I
24)
1 and 2 types are known as
primary instantaneous centre
3
rd
type is known as secondary
instantaneous centre.
Location of Instantaneous Centre:
1. When two links are
connected by a pin joint , the
instantaneous centre lies on
the centre of pin.


2. When the two links have
pure rolling contact, the
instantaneous centre lies on
their point of contact
3. When two links have a sliding contact, the instantaneous centre lies
on the common normal at the point of contact
When the link 2 moves on fixed
link 1 having straight surface, the
instantaneous centre lies at
infinity and each point on the
slider have the same velocity.
When the link 2 moves on fixed
link 1having curved surface, the
instantaneous centre lies on the
centre of curvature of the
curvilinear path in the
configuration at that instant.
When the link 2 moves on fixed
link 1 having constant radius of
curvature, as the instantaneous
centre lies at centre of curvature.
11

Kennedys rule: any three links will
have three instant centers and
they will lie on a straight line
The pins are instant centers
I
13
is from links 1,2,3 and 1,3,4
I
24
is from links 1,2,4 and 2,3,4
I
13

I
24

1 2 3
I
12
I
23
I
13
1 3 4
I
13
I
34
I
14
1 2 4
I
12
I
24
I
14
2 3 4
I
23
I
34
I
24
Links
ICs
Method of Locating the instantaneous
centre:
First of all, determine the number of
instantaneous centre (N) by using
the relation
N =
(1)
2

= number of links
Make a list of all the instantaneous
centres in a mechanism.
Locate the fixed and permanent
instantaneous centre s by
inspection.
Locate the remaining neither fixed
nor permanent instantaneous centres
(or secondary centre) by Kennedys
theorem. This is done by circle
diagram. Mark points on a circle
equal to the number of links in a
mechanism.


Join the points by solid lines to
show that these centres are
already found. In circle
diagram these lines are 12, 23,
34 and 14 to indicate the centre
I
12,
I
23,
I
34,
and I
14.
In order to find the other two
instantaneous centres, join two
such points that the line
joining them forms two
adjacent triangles in circle
diagram. The line which is
responsible for completing two
triangles, should be a common
side to the two triangle.
Example 1: In a pin joints four bar mechanism as
shown in fig., AB = 300 mm, BC = CD = 360 mm and
AD = 600 mm. The angle BAD = 60o. The crank AB
rotates uniformly at 100 r.p.m. Locate all the
instantaneous centres and find angular velocity of the
link BC.


No of Instantaneous Centres:
N =
(1)
2
=
4(41)
2
= 6
Solution:


I
13

I
24

I
23
I
34

I
14
I
12

1
2
3
4
2
1
1
2
3
4
5 6
4
3
I
13

I
24

I
23
I
34

I
14
I
12

1
2
3
4
Example 2: Locate all the instantaneous centres of the
slider crank mechanism in fig. The length of crank OB
and connecting rod AB are 100 mm and 400 mm
respectively. If the crank rotates clockwise direction
with an angular velocity of 10 rad/s. Find (1) Velocity of
the slider A, (2) Angular Velocity of the connecting rod
AB.

No of Instantaneous Centres:
Links 1 2 3 4
Instantaneous
Centres
12 23 34
13 24
14
N =
(1)
2
=
4(41)
2
= 6
I
13

I
24

I
34

1
2
3
4
4
3
2
1
1
2
3
4
5 6
I
12

I
14
at infinity
I
14
at infinity
I
23

Example 2: The mechanism of a wrapping machine, as shown in
Fig. has the following dimension:
O
1
A = 100 mm; AC = 700 mm; BC = 200 mm; O
3
C = 200mm;
O
2
E = 400 mm; O
2
D = 200 mm; BD = 150 mm.

The crank O
1
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.

I
12

I
23

I
16

I
15

I
35

I
34

I
14

I
13

1
2
3
4
5
6

Example 2: A mechanism, as shown in Fig., has the
following dimensions:
OA = 200 mm; AB = 600 mm; CD = 500 mm;
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 link AB, BC and CD.
No of Instantaneous Centres:
Links 1 2 3 4 5 6
Instantaneous
Centres
12 23 34 45 56
13 24 35 46
14 25 36
15 26
16
N =
(1)
2
=
6(61)
2
= 15
1
I
13

2
3 4
5
6