INTRODUCTION

VELOCITY
ANALYSIS
VELOCITY ANALYSIS VELOCITY ANALYSIS

Is used to determine the velocities of different

points on links of a mechanism for a given
input motion. Determination of the motion
characteristics of links in a mechanism is
required for the force analysis.
VELOCITY ANALYSIS VELOCITY ANALYSIS

Velocities of links and of points of mechanism

can be determined by different methods.
 Relative velocity method or velocity
polygon method
 Instantaneous center method.
 INTRODUCTION

RELATIVE
VELOCITY
METHOD
 RELATIVE VELOCITY METHOD
VELOCITY OF A LINK

Velocity of B wrt to A (

Configuration Velocity
Diagram Diagram
 RELATIVE VELOCITY METHOD
VELOCITY OF A LINK

Velocity of B wrt to A (
Velocity of C wrt to A (

𝑉 𝐶 𝐴 𝜔 × 𝐴𝐶 𝑎𝑐
= =
𝑉 𝐵 𝐴 𝜔 × 𝐴𝐵 𝑎𝑏

𝑨 𝑪 𝒂𝒄
=
𝑨 𝑩 𝒂𝒃

Configuration Velocity
Diagram Diagram
 RELATIVE VELOCITY METHOD
VELOCITY DIAGRAM FOR A FOUR BAR LINKAGE
(i) Draw a vector ab
perpendicular to the link AB
of length AB x ω (to a suitable
scale).
(ii)Draw a vector line through b
in direction perpendicular to
the link ABC.
(iii)Draw a vector through d in a
direction perpendicular to
the link CD. This will intersect
the vector through in c.
(iv)The vector bc represents
velocity of point C w.r.t point
B.

Configuration Velocity
Diagram Diagram
 RELATIVE VELOCITY METHOD

Configuration
Velocity
Diagram
Diagram
 RELATIVE VELOCITY METHOD
In a four-bar chain ABCD, AD is fixed and is 150mm long. The crank AB is 40mm long and rotates at
120 rpm clockwise. While the link CD = 80mm oscillates about D. BC and AD are of equal length. Find
the angular velocity of link CD when angle BAD = 60.

SOLUTION:AB = 40mm, CD=80mm, AD=BC=150mm,

𝑟𝑎𝑑 𝑟𝑒𝑣
2 𝜋 × 120
2 𝜋 𝑁 𝑟𝑒𝑣 𝑚𝑖𝑛 𝑟𝑎
𝜔 𝐵𝐴 = = = 12.56
60 𝑠𝑒𝑐 𝑠𝑒
60
𝑚𝑖𝑛
RELATIVE VELOCITY METHOD
Configuration
Diagram

Velocity
Diagram
 RELATIVE VELOCITY METHOD

SOLUTION:AB = 40mm, CD=80mm, AD=BC=150mm,

SCALE: SCALE:

C
1 50 𝑚𝑚
B

40𝑚𝑚 80𝑚𝑚
60°
A D

Configuration Velocity
Diagram Diagram
 RELATIVE VELOCITY METHOD

SOLUTION:AB = 40mm, CD=80mm, AD=BC=150mm,

SCALE: SCALE:

𝑉 𝐶𝐷
𝜔 𝐶𝐷 =
𝐶𝐷

𝑉 𝐶𝐷 0.375 𝑚 / 𝑠
𝜔 𝐶𝐷 = =
𝐶𝐷 0.080 𝑚

Velocity
Diagram
𝝎 𝑪𝑫 =𝒓𝒂𝒅 / 𝒔𝒆𝒄
 VELOCITY DIAGRAM FOR A SLIDER CRANK CHAIN

(i) Draw a vector oa of length

OA X ω (taking a suitable
scale) in a direction
perpendicular to OA.
(ii) Draw a vector line through a in
a direction perpendicular to the
link AB. (draw some length on
either side of a.)

(iii) Draw the vector ob parallel to

OB to intersect the vector ab at b.

Velocity
Configuration Diagram
Diagram
 RELATIVE VELOCITY METHOD

Divide the ab vector such that ac:ab = AC:AB

Configuration
Velocity
Diagram
Diagram
 RELATIVE VELOCITY METHOD
The crank and connecting rod of steam engine are 0.5m and 2m long respectively. The crank makes
180 rpm in the clockwise direction. When it has turned 45 from the inner dear center position,
determine the velocity of the piston.

SOLUTION
:

Configuration
Diagram
 RELATIVE VELOCITY METHOD
The crank and connecting rod of steam engine are 0.5m and 2m long respectively. The crank makes
180 rpm in the clockwise direction. When it has turned 45 from the inner dear center position,
determine the velocity of the piston.

SOLUTION:AB = 0.5m, BC=2m,

𝑟𝑎𝑑 𝑟𝑒𝑣
2 𝜋 × 180
2 𝜋 𝑁 𝑟𝑒𝑣 𝑚𝑖𝑛 𝑟𝑎
𝜔 𝐵𝐴 = = = 18.85
60 𝑠𝑒𝑐 𝑠𝑒
60
𝑚𝑖𝑛
 RELATIVE VELOCITY METHOD

SOLUTION: SCALE:

SCALE:
𝑎𝑏= 4.7 𝑐𝑚

Configuration Velocity
Diagram Diagram
 RELATIVE VELOCITY METHOD

SCALE:
From the velocity diagram,

Velocity
Diagram
 RELATIVE VELOCITY METHOD
Figures shows a mechanism in which OA = 300mm, AB = 600mm, AC = BD = 1200mm. OD is
horizontal for the given configuration. If OA rotates 200 rpm in the clockwise direction, find:
1. The linear velocities of C and D,
2. The angular velocities of links AC and BD.
SOLUTION
:
 RELATIVE VELOCITY METHOD
SOLUTION:
SCALE:

Configuration
Diagram
 RELATIVE VELOCITY METHOD
SOLUTION:
SCALE:

Velocity
Diagram
 RELATIVE VELOCITY METHOD
SOLUTION:

𝑟𝑎𝑑 𝑟𝑒𝑣
2 𝜋 × 200
2 𝜋 𝑁 𝑟𝑒𝑣 𝑚𝑖𝑛 𝑟𝑎𝑑
𝜔 𝐴𝑂 = = = 20.94
60 𝑠𝑒𝑐 𝑠𝑒
60
𝑚𝑖𝑛

For velocity diagram,

SCALE:

SCALE:
 RELATIVE VELOCITY METHOD
SOLUTION:
SCALE:

From the velocity diagram,

 RELATIVE VELOCITY METHOD
SOLUTION:
SCALE:

From the velocity diagram,

 RELATIVE VELOCITY METHOD
SOLUTION:
SCALE:
𝑉 𝐷𝐵
𝑉 𝐴𝐶 𝜔 𝐷𝐵 =
𝜔 𝐴𝐶 = 𝐵𝐷
𝐴𝐶

From the velocity diagram, From the velocity diagram,

𝐚𝐜=𝟓 .𝟖 𝒄𝒎 𝒃𝒅 =𝟓 𝒄𝒎

𝑚
𝑚 5
5.8 𝑠 𝒓𝒂𝒅
𝑠 𝒓𝒂𝒅 𝜔 𝐷𝐵 = =𝟒 . 𝟏𝟕
𝜔 𝐴𝐶 = =𝟒 . 𝟖𝟑 1.2 𝑚 𝒔𝒆𝒄
1.2 𝑚 𝒔𝒆𝒄
 INTRODUCTION

INSTANTANEOUS
CENTER
METHOD
REVIEW ON MECHANISM SLIDER CRANK MECHANISM
REVIEW ON MECHANISM SLIDER CRANK MECHANISM

CRANK (ROTATION) SLIDER

(TRANSLATION)
REVIEW ON MACHINE RECIPROCATING ENGINE

FUEL TANK
B

C A Inlet Valve

TT
Outlet Valve
D

Spark Plug

ABC - Suction I - Suction

II - Compression
CDA - Compression
III - Combustion
IV - Exhaustion
REVIEW ON MOTION TYPES OF MOTION

Translation
′ ′
𝑨𝑨𝟏=𝟏 𝟏 − 𝟐 𝟐 − 𝑩𝑩′

All particles travel equal distances

REVIEW ON MOTION TYPES OF MOTION

Rotation
′ ′
𝑪𝒊𝒓𝒄𝒖𝒍𝒂𝒓 𝑨𝒓𝒄𝒔=𝟏𝟏 −𝟐𝟐 −𝑩𝑩′
∆𝜽
𝒇𝒐𝒓 𝒂𝒍𝒍 𝒑𝒂𝒓𝒕𝒊𝒄𝒍𝒆𝒔 𝒂𝒓𝒆 𝒆𝒒𝒖𝒂𝒍
∆𝒕
REVIEW ON MOTION TYPES OF MOTION

Combination 𝒕𝒓𝒂𝒏𝒔𝒍𝒂𝒕𝒊𝒐𝒏+𝒓𝒐𝒕𝒂𝒕𝒊𝒐𝒏
REVIEW ON MOTION TYPES OF MOTION

Combination 𝒓𝒐𝒕𝒂𝒕𝒊𝒐𝒏+𝒕𝒓𝒂𝒏𝒔𝒍𝒂𝒕𝒊𝒐𝒏
REVIEW ON MOTION TYPES OF MOTION

𝒓𝒐𝒕𝒂𝒕𝒊𝒐𝒏+𝒕𝒓𝒂𝒏𝒔𝒍𝒂𝒕𝒊𝒐𝒏

𝒊𝒏𝒔𝒕𝒂𝒏𝒕𝒂𝒏𝒆𝒐𝒖𝒔 𝒄𝒆𝒏𝒕𝒆𝒓
REVIEW ON MOTION TYPES OF MOTION

𝒓𝒐𝒕𝒂𝒕𝒊𝒐𝒏+𝒕𝒓𝒂𝒏𝒔𝒍𝒂𝒕𝒊𝒐𝒏

𝒊𝒏𝒔𝒕𝒂𝒏𝒕𝒂𝒏𝒆𝒐𝒖𝒔 𝒄𝒆𝒏𝒕𝒆𝒓 2
 INSTANTANEOUS CENTER METHOD
A link AB is moving in a vertical plane. At a certain instant when the link is inclined at 30 degrees
with the horizontal, the point A is moving horizontally at 4m/s, while B is moving vertically
upwards. Find velocity at B.
SOLUTION 𝑉 =𝜔 𝑟 𝑉 𝐴 𝑉 𝐴
𝑉 𝐵= =
: 𝑉 𝑂 𝐴 tan 30 °
𝜔=
𝐼 𝑐𝑒𝑛𝑡𝑒𝑟 𝑟 𝑂𝐵

𝑉𝐴 𝑉𝐵 𝑉 𝐴 4𝑚/𝑠
= 𝑉 𝐵= =
𝑂𝐴 𝑂𝐵 𝑂 𝐴 tan 30 °
𝑂𝐵 𝑂𝐵
𝑉 𝐵 =𝑉 𝐴 ∙
𝑂𝐴
𝑉 𝐵 =¿
𝑂𝐴
tan 30 ° =
𝑂𝐵
VELOCITY ANALYSIS INSTANTANEOUS CENTER METHOD

Instantaneous center

– an imaginary instantaneous point about when a link is

assumed to rotate.

- Center of rotation
VELOCITY ANALYSIS INSTANTANEOUS CENTER METHOD

Types of I-centers

 Fixed - remain in same plane for all configurations.

 Permanent – moves when the mechanism moves.

 Neither fixed nor permanent – vary with the

configuration of the mechanism.
VELOCITY ANALYSIS INSTANTANEOUS CENTER METHOD

Number of I-centers
- number of possible combination of 2-links.

𝒏 (𝒏 − 𝟏)
𝑵 =𝒏 𝑪 𝟐 =
𝟐
VELOCITY ANALYSIS INSTANTANEOUS CENTER METHOD

4
2

𝒏 (𝒏 − 𝟏)
𝑵 =𝒏 𝑪 𝟐 =
𝟐
4 ( 4 − 1)
𝑁 =4 𝐶 2=
2

𝑵 =𝟔
VELOCITY ANALYSIS INSTANTANEOUS CENTER METHOD

 Turning Pair
 Rolling Pair
 Sliding Pair
VELOCITY ANALYSIS INSTANTANEOUS CENTER METHOD

 Turning Pair

k2
Lin
𝐼 12
Link 1
VELOCITY ANALYSIS INSTANTANEOUS CENTER METHOD

 Rolling Pair
Link 2

B
A

Link 1
𝐼 12
VELOCITY ANALYSIS INSTANTANEOUS CENTER METHOD

 Sliding Pair
𝐼 12

B
A
Link 1
VELOCITY ANALYSIS INSTANTANEOUS CENTER METHOD
General Procedures in Locating I-centers
1. Find N.
3
𝑛(𝑛 − 1 )
𝑁 =𝑛 𝐶 2=
2
4
2
4 ( 4 − 1)
𝑁 =4 𝐶 2=
2
1
𝑁 =6
VELOCITY ANALYSIS INSTANTANEOUS CENTER METHOD
General Procedures in Locating I-centers
2. Make a list of all I-centers.
3
1 2 3 4
4
2

1
VELOCITY ANALYSIS INSTANTANEOUS CENTER METHOD
General Procedures in Locating I-centers
3. Locate the fixed and permanent I-centers by inspection.

4
2

1
VELOCITY ANALYSIS INSTANTANEOUS CENTER METHOD
General Procedures in Locating I-centers
4. Locate the I-centers which are neither permanent nor fixed, by
using the circle diagram.

3
1 2
4
2

4 3 1
VELOCITY ANALYSIS Example:
Figure shows a pin-jointed four bar linkage having the following dimensions: Fixed link
AD=4m, driving link AB=1.5m, driven link CD=2.5m, connecting link BC=3m, and
angle BAD=60. Link AB rotates at 25rpm. Find a) angular velocity of link CD, and b)
angular velocity of link BC.
Scale: 0.5m=1cm
C

A D
VELOCITY ANALYSISExample:

A
B
C