2 Velocity Acc Analytical

Velocity and Acceleration
Analysis of Mechanisms
Theory of Mechanics & Machines
Mechanics of Machines
Cleghorn
Copyright
2005 by Oxford University Press, Inc. 1
Relative position vector between

two moving points.
Unit relative transverse vector
Unit relative radial vector
rBA rBAirBA
Figure 2.1 Relative position vector between two moving points.
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Relative velocity components r r i

BA
BA rBA
between two points.
Relative velocity between A & B
But,
d
d
vBA rBA rBAirBA
dt
dt
d
rBAirBA rBA irBA
dt
d
irBA BAiBA BAiBA
dt
vBA rBAirBA rBABAiBA

Figure 2.2 Relative velocity components
between two points.
If distance between A & B is fixed, rBA 0
Then, vBA rBABAiBA
For two points separated by a fixed distance, the relative velocity will be in a direction
perpendicular to the line segment joining the points .
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Relative velocities between points on

mechanism links
Figure 2.3 Relative velocities between points on mechanism links: (a) mechanism, (b) link 2, (c) link 3.
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Points B & O2 are separated by a fixed distance,
vBO2 rBO2BO2 iBO2
Since O2 is fixed, the above relative

velocity is also absolute velocity.
vB rBO2BO2 iBO2
Points B & C are separated by a fixed distance,
vCB rCBCB iCB

The absolute velocity of point C may be
expressed as, vC vB vCB
vC rBO2BO2 iBO2 rCBCB iCB

As BCD is a single link, CB CD BD 3
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Slider on a straight slide

Points A & B2 are separated by a fixed distance,
vB2 A vB2 rB2 AB2 AiB2 A
Figure 2.4 Slider on a straight slide.
Points A & B3 are separated by a variable distance, the position vector

The relative velocity is, v
rB3 A rB2 A rB3 B 2
B3 A
vB2 A vB3 B2 or , vB3 vB2 vB3 B2
vB3 B2 rB3 B2 irB3 B2 rB3 B2B3 B2 iB3 B2

But, rB B 0
3 2
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irB3 B2 irB2 A
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Slider on a straight slide

vB3 B2 rB3 B2 irB3 B2 rB3 B2B3 B2 iB3 B2
irB3 B2 irB2 A
But, rB B 0
3 2
vB3 B2 rB3 B2 irB3 B2

vB3 vB2 vB3 B2
Figure 2.4 Slider on a straight slide.
v B3 rB2 AB2 AiB2 A rB3 B2 irB3 B2
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Relative acceleration between two points.

Recall that, differential of unit vector:
ir i
i ir
d
d
a BA vBA
rBAirBA rBABAiBA
dt
dt
rBAirBA rBAirBA
r i r i r i
BA BA BA
Figure 2.5 Relative acceleration components between two points.
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BA BA BA
BA BA BA
rBAirBA rBA ABiBA

rBABAiBA rBABAiBA rBABABAirBA
2
rBA rBABA
irBA rBABA 2rBA AB iBA
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Normal acceleration
Relative normal acceleration, illustrated
in Figure, is designated as,
N
2
a BA
rBABA
In general,
a N r 2 r 2
Figure 2.7 Circular motion.
where the negative sign indicates that normal acceleration is always

directed in the negative radial direction. The direction of normal
acceleration is independent of the direction of angular velocity.
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Sign Convention
Positive angular
displacements, angular
velocities, and angular
accelerations are typically
taken to be in the counter
clockwise direction.
d
Sli
-ve
d
Sli
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e
+v
e
+v
The positive value of the sliding

velocity corresponds to motion
in the positive radial direction
defined by the two points under
consideration.
er
-ve
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Coriolis acceleration
Corriolis acceleration occurs
when a slider block moves
along a slide, while at the same
time the slide has rotational
motion.
The direction of the Coriolis
acceleration is dependent
upon both the sign of the
sliding velocity and the sign
of the angular velocity.
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B er
d
Sli
d
Sli
Here, point A is on the slide,

and point B is on the slider.
Coriolis acceleration
Figure (b) shows the
combination of positive
sliding velocity and
positive
angular
(a)
(b)
velocity. The resultant
Coriolis acceleration is
then in the positive
transverse direction.
(c)
(d)
Shows the four possible
combinations of positive
and negative angular velocity and sliding velocity. The relative
Coriolis acceleration component has been drawn for each
combination. All Coriolis acceleration components have a
magnitude of,
a C 2r
BA AB
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Components of relative
acceleration expression
(a)
(b)
(c)
(d)
Sliding acceleration,
Normal acceleration,
Tangential acceleration,
Coriolis acceleration.
a BA a
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S
BA
N
BA
Figure 2.6 Components of relative acceleration expression: (a) sliding

component, (b) normal component, (c) tangential component, (d) Coriolis
component.
rBA
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T
BA
C
BA BA
Two points separated

By a fixed distance
rBA 0
a S rBA 0
C
a 2rBA AB 0
a i
2
aBA rBABA
irBA rBABA iBA
N
BA
a
rBA
BA iBA
It indicates that between two points

separated by a fixed distance there can
only be normal and tangential relative
accelerations.
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Relative accelerations between points

on mechanism links
Figure 2.10 Relative accelerations between points on mechanism links: (a) mechanism, (b) link 2, (c) link 3.
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Input Link
Since O2 is fixed, the relative acceleration
also represents the absolute acceleration,
2
i
aBO2 rBO2BO
i
BO2 BO2 BO2

2 rBO2
Furthermore, if link 2 of the mechanism is driven

BO2 0
at a constant rate, then, BO2 Constant
2
a BO2 rBO2BO
i
2 rBO2
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Couplar Link
Since points Band C are on the same link
3, they are separated by a fixed distance.
Therefore
2
aCB rCBCB
irCB rCBCB iCB
The absolute acceleration of point C may

be expressed as
aC a B aCB
r 2 i
BO2
BO2
rBO2
2
rCBCB
irCB rCBCB iCB
2 i
2 i r i
BO2 2 rBO2
CB 3 rCB
CB 3 CB
A moving link can have only one value of angular acceleration.

Thus, for link 3, CB CD BD 3
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Slider on a Straight Slide

When a slider moving along a straight slide,rB2 B3
rB3 B2B23 B2 aBN2 B3 0 rB3 B2B3 B2 aBT2 B3 0
aB3 B2 rB3B2 rB3B2B23B2 irB2 A
r i
a i
rB3B2B3B2 2rB3 B2B3B2 iB2 A

B3 B2
S
B3 B2
2
r
rB2 A
B3 B2 B3 B2 iB2 A
a
rB2 A
B3 B2 iB2 A
That is, for two points that momentarily coincide, it is possible to have
relative sliding acceleration and relative Coriolis acceleration
occurring between the two points.
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Slider on a curved slide

The slide has a radius of curvature,
angular velocity, 2
angular acceleration, 2
The velocity of the slider with respect to
the slide, vB3B2
Two components of acceleration

of point B2 (slide), relative to point
A on the slide.
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Slider on a curved slide
Components of acceleration of the

slider, represented by point B3,
relative to point B2 on the slide
a N 2
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vB3B2
vB3B2
Limit Position
Limit Position
Figure 2.12 Limit positions of a slider crank mechanism: (a) mechanism, (b) geometry of first limit position, (c) geometry of second limit position.
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Limit positions of a slider crank mechanism: (a) mechanism, (b) geometry of

first limit position, (c) geometry of second limit position.
Limit Position
Limit Position
The time ratio as the time for the

slider to move in one direction
between the limit positions, divided
by the time it takes to move in the
opposite direction between the same
limit positions. The time ratio is
dimensionless.
stroke s s1 s2
2 180 2 1
r1
r1
2 sin 1
r
r
r
2 3
3 2
1 sin 1
s2
r3 r2 2 r12
s1
r2 r3 2 r12 r3 r1 2 r12
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r2 r3 2 r12

Between the limit positions, The time taken for the slider to move
To the left
2
t1
2
2 2
2
t
2
TR 1
t 2 2 2
To the right t 2
The time ratio of the mechanism is

The average velocity of the slider,
To the left,
To the right, v
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4 , avg left
4 ,avg left
stroke s1 s2
2
t1
2
stroke
s1 s2
2 2
t 2
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Example : For the slider crank mechanism with dimensions and crank angular speed;
r1=2.0 cm, r2=3.5cm and r3=10cm ;the angular velocity, 20.00 rads-1 CCW. Determine
the average slider velocity to the left and right.
r1
2
1
1
0
r1
2
1
0
sin
sin
17
.
92
sin
1 sin
2
8.52
r r
10 3.5
3 2
3.5 10
r2 r3
1
2 180 2 1 180 17.92 8.52 189.40 3.31rad

0
stroke s s1 s2
4 , avg left
4 , avg left
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r2 r3 2 r12 r3 r1 2 r12
7.17cm
stroke s1 s2
17.17
43.35cms 1
2
3.31
t1
20
2
stroke
s1 s2
2 2
t1
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48.14cms 1
Limit positions of a four-bar mechanism: (a) mechanism, (b)geometry

of first limit position, (c) geometry of second limit position.
(b)
(c)
From triangle (b)
r42 r12 r2 r3 2r1 r2 r3 cos 1

2
r12 r2 r3 2 r42
1 cos
2
r
r
r
1
2
3
r2 r3 2 r12 r42 2r1r4 cos 1

r12 r2 r3 2 r42
1 cos
2
r
r
1
4
The amplitude of motion of the rocker may be expressed as, 4 1 2

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Limit positions of a four-bar mechanism: (a) mechanism, (b)geometry

of first limit position, (c) geometry of second limit position.
From triangle (c)
r42 r12 r3 r2 2r1 r3 r2 cos 2

2
(c)
r3 r2 2 r12 r42 2r1r4 cos 2
2
2
2
r
1
1
3
2
4
2 cos
2r1r4
2
2
r42
1
1
3
2
2 cos
2r1 r3 r2
The amplitude of motion of the rocker maybe expressed as, 4 1 2
To the left, 4, avg
CCW
4
2
2
To the right,
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4 , avg CW
4
2 2
Limit position of a quick-return mechanism.

It shows a quick-return mechanism in
one of its two limit positions. We will
assume that link 2 is driven at a
constant rate in the counterclockwise
direction. From Figure points O2, P2,
and O4 form a right triangle. Therefore
r2
r1
cos 1
Where,
r1 rO2O4
Figure 2.15 Limit position of a quick-return mechanism.

Copyright
2005 by Oxford University Press, Inc.
r2 rO2 P 2
Limit position of a quick-return mechanism.

Due to symmetry about the vertical axis ,the
rotation of link 2 required to move link 6 to
the right, from the second limit position to
the first, is 2.
The time required to execute this motion is,
r
2 cos 1 2
r1
2
t1
2
2
the time required to move link 6 to the left, from
the first limit position to the second, is
2 2 cos 1 r2
r1
2 2
t 2
2
2
The time ratio of the motions of link 6 to the
right and to the left is
t1
TR
t 2
Figure 2.15 Limit position of a quick-return mechanism.

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Transmission angle of a four-bar mechanism

The limits of link lengths are theoretical. However, additional considerations
must be given regarding the quality of the transmission of motion between the
links for any practical design. One common consideration is the transmission
angle of the mechanism.
The ideal value of
trans-mission angle is
90. In this instance, the
line of action of the
interactive
force
and
4 matches
between
links 3 the line of action of
motion of the kinematic pair between
the two links. This ideal value cannot
be maintained in a moving mechanism.
However, it is generally acceptable if
transmission angles fall within the
range, 45 < < 135
Minimum Transmission Angle at 2=00
Maximum Transmission Angle at 2=1800
Values outside this range result in inefficient transmission of motion.

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Transmission angle of a slider-crank mechanism
Minimum Transmission Angle at 2=900
Maximum Transmission Angle at 2=2700
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Effect of small Transmission angle

The figure shows the configuration of a
four-bar mechanism having a small
transmission angle, outside the acceptable
range.
Figure 2.18 Configuration of a four-bar mechanism with a small transmission angle.
Driving torque M12 is applied to link 2. As shown in Figure (b), the direction of
force transmitted from link 3 on link 4 results in a small torqueM 14 about point
O4 , but a high bearing force at the same point. For transmission angles close to
0 or 180, there is a tendency for a mechanism to bind.
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Effect of small Transmission angle

Applying the cosine law for the triangle
formed by points O2O4B,
2
2
2
rBO
r
1
2 2r1r2 cos 2
4
Using the cosine law again for the triangle

formed by points DO4B,
2
2
2
rBO
r
3
4 2r3 r4 cos
4
The transmission angle for a particular

angular displacement of link 2.
2
2
2
r
3
4
BO4
cos 1
2r3 r4
max
min
For a four-bar mechanism, extreme values

of the transmission angle occur when
2 00
and , 2 180 0
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Transmission angle of 4 bar mechanism

r1 8.0cm, r2 3.5cm, r3 10.0cm, r4 9.0cm
Determine angle as a function angular displacement of link2.
Figure 2.19 Transmission angle of a four-bar mechanism.
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Instantaneous center of velocity

Consider two links, designated as i and j and at least one is undergoing planar
motion. The instantaneous center of velocity, Pi,j, associated with these two links
has the following properties:
1. Two points, one on each of the two links, are
coincident for at least an instant in time.
2. Linear absolute velocities of the two points are
identical. That is, about an instantaneous center of
velocity, one link will at most have pure rotational
motion relative to the other.
Example of instantaneous center.
Consider two links , points A2 and A3 are on links 2 and 3, respectively. Both
are coincident with P2,3 . At the instant shown ,
v A2 v A3 vP2 ,3
Instantaneous centers of velocity will hereafter be referred to simply as

instantaneous centers. They may be used to complete velocity analyses of
planar mechanisms
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Instantaneous center of Rigid Bodies

If the velocities of two points on a moving rigid body is known, we can find
instantaneous center of the rigid body with respect to the base link.
P12
Having located instantaneous center P l,2 ;

we can consider at that instant all points on
link 2 are rotating about P1,2. Then, we have
v A rp12 A 2 vB rp12 B 2 Thus, if only vA and the line of action of vB
are known, then a scale drawing may be
rp A and rp B which in
used
to
provide
v
v
12
12
A
B
turn can be used to determine the

(2.8.3)
rp A rp B
magnitude of vB and 2 .
12
12
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Instantaneous center of Parallel Velocities

P12 @ infinity
P12
P12
When velocities of two points on a link are parallel, the

instantaneous center is found by applying Equation (2.8-3).
However, in this case, both velocities must be known.
If VA and VB are equal in magnitude and direction (then the link is
undergoing pure translation, and the instantaneous center is at an
infinite distance in a direction perpendicular to the motion. If V A
and VB are parallel and opposite in direction, then the instantaneous
center lies between A and B.
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Locations of Instantaneous Centers for

Various Types of Kinematic Pairs
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Locations of Instantaneous Centers for

Various Types of Kinematic Pairs
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Instantaneous center
The total number of instantaneous centers, P. in a
mechanism having n links is,
n n 1
The factor in Equation
p
(2.8-4) takes into account
2
the fact that instantaneous
centers Pi,j and Pj,i are the same. In the four-bar
mechanism, where, n =4, the number of instantaneous centers is 6.
The complete set of instantaneous centers is:
P1,2, P1,3, P1,4, P2,3, P2,4, and P3,4. Some of the
instantaneous centers are found by examining
the kinematic pairs and using Table2.1. These
are P1,2, P1,4, P2,3, and P3,4.
P12,P14,P24
2
3
P23,P34,P24
P12,P23,P13
The other instantaneous centers are P 1,3 and P2,4,and

can be found using KENNEDYs Theorem.
P14,P34,P13
Explanation of KENNEDYs Theorem.

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Instantaneous centers
P14@
infinity
n(n 1) 4(4 1)
Pi , j
6
2
2
infinity
P24
P13
P24
P34@
P23
P13
P12
P12
P23
P12,P13,P23
2
P14
3
P23,P34,P24
P12,P24,P14
P12,P14,P24
P13,P34,P43
P14,P34,P13
P12,P23,P13
P34
P23,P34,P24
This mechanism has four links and six instantaneous centers. The following instantaneous centers are
determined by examining the kinematic pairs: P1,2,P1,3, P2,4,P3.4. Then, by using an auxiliary polygon
(i.e., Kennedy's Theorem), we locate P1,3 and P2,4
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Pi , j
This mechanism has three links. Using

Equation (2.8-4), there are only three
instantaneous centers i.e. Pl,2 ,Pl,3 and P2,3 .
Instantaneous centers Pl,2 and Pl,3 coincide
with the turning pairs.
n(n 1) 3(3 1)
3
2
2
Based on Kennedy's Theorem, the third

instantaneous center, P2,3, lies on the same
straight line as P1,2 ,Pl,3.
In addition, from Table 2.1, this
instantaneous center lies on the common
normal at the point of contact between
links 2 and 3.
Thus, instantaneous center P2,3 is located as shown in Figure .
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Figure 2.29
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2 Velocity Acc Analytical

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2 Velocity Acc Analytical

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Velocity and Acceleration

2005 by Oxford University Press, Inc. 1

Relative position vector between

Figure 2.1 Relative position vector between two moving points.

2005 by Oxford University Press, Inc. 2

Relative velocity components r r i

vBA rBAirBA rBABAiBA

If distance between A & B is fixed, rBA 0

Then, vBA rBABAiBA

2005 by Oxford University Press, Inc. 3

Relative velocities between points on

2005 by Oxford University Press, Inc. 4

Points B & O2 are separated by a fixed distance,

vBO2 rBO2BO2 iBO2

Since O2 is fixed, the above relative

Points B & C are separated by a fixed distance,

vCB rCBCB iCB

vC rBO2BO2 iBO2 rCBCB iCB

2005 by Oxford University Press, Inc. 5

Slider on a straight slide

vB2 A vB2 rB2 AB2 AiB2 A

Figure 2.4 Slider on a straight slide.

Points A & B3 are separated by a variable distance, the position vector

rB3 A rB2 A rB3 B 2

vB2 A vB3 B2 or , vB3 vB2 vB3 B2

vB3 B2 rB3 B2 irB3 B2 rB3 B2B3 B2 iB3 B2

2005 by Oxford University Press, Inc. 6

Slider on a straight slide

vB3 B2 rB3 B2 irB3 B2

Figure 2.4 Slider on a straight slide.

v B3 rB2 AB2 AiB2 A rB3 B2 irB3 B2

2005 by Oxford University Press, Inc. 7

Relative acceleration between two points.

Figure 2.5 Relative acceleration components between two points.

rBAirBA rBA ABiBA

2005 by Oxford University Press, Inc. 8

where the negative sign indicates that normal acceleration is always

2005 by Oxford University Press, Inc. 9

The positive value of the sliding

2005 by Oxford University Press, Inc. 10

Here, point A is on the slide,

2005 by Oxford University Press, Inc. 11

2005 by Oxford University Press, Inc. 12

Figure 2.6 Components of relative acceleration expression: (a) sliding

2005 by Oxford University Press, Inc. 13

Two points separated

It indicates that between two points

2005 by Oxford University Press, Inc. 14

Relative accelerations between points

2005 by Oxford University Press, Inc. 15

BO2 BO2 BO2

Furthermore, if link 2 of the mechanism is driven

2005 by Oxford University Press, Inc. 16

The absolute acceleration of point C may

A moving link can have only one value of angular acceleration.

2005 by Oxford University Press, Inc. 17

Slider on a Straight Slide

rB3 B2B23 B2 aBN2 B3 0 rB3 B2B3 B2 aBT2 B3 0

aB3 B2 rB3B2 rB3B2B23B2 irB2 A

rB3B2B3B2 2rB3 B2B3B2 iB2 A

2005 by Oxford University Press, Inc. 18

Slider on a curved slide

Two components of acceleration

Slider on a curved slide