Topic 2

Velocity Analysis:
Instantaneous Center Method

ME-314 Mechanics of Machines Slide 1

Objectives

After you have finished this lecture you will be able to:

1. Define instantaneous center, its types and its properties

2. Identify the locations of all instantaneous centers in a
mechanism
3. Solve for translational and angular velocities in a mechanism
using instantaneous center method

ME-314 Mechanics of Machines Slide 2

General Plane Motion

Line 𝐴𝐵 moves to 𝐴′ 𝐵′ through

a combination of translation
and rotation

ME-314 Mechanics of Machines Slide 3

Instantaneous Center of Rotation
INSTANTANEOUS CENTRE OF ROTATION
The combined motion of rotation and translation or arbitrary motion of
an object may be assumed to be a motion of pure rotation about some
centre IC, known as the instantaneous centre of rotation (also called
centro or virtual centre).

VELOCITY OF A POINT ON A LINK

Two important methods to determine the velocity of a point on a link
are,
 Instantaneous centre method
 Relative velocity method
ME-314 Mechanics of Machines Slide 4
Number of Instantaneous Centers
• The number of instantaneous centers in a constrained kinematic chain is equal to the
number of possible combinations of two links.
• Mathematically, number of instantaneous centers is, n = no. of links

𝑛 𝑛−1
𝑁=
2

ME-314 Mechanics of Machines Slide 5

Locations of Instantaneous Centers
• When the two links are connected by a pin joint (or pivot
joint), the instantaneous center lies on the center of the
pin

• When the two links have a pure rolling contact (i.e. link 2
rolls without slipping upon the fixed link 1 which may be
straight or curved), the instantaneous center lies on their
point of contact

ME-314 Mechanics of Machines Slide 6

Locations of Instantaneous Centers
• When the two links have a sliding contact, the instantaneous center lies on the
common normal at the point of contact. Consider the following three cases:

ME-314 Mechanics of Machines Slide 7

Types of Instantaneous Centers
• The instantaneous centers for a mechanism are of the following three types:
1. Fixed instantaneous centers
2. Permanent instantaneous centers
3. Neither fixed nor permanent instantaneous centers
• The first two types i.e. fixed and permanent instantaneous centers are together
known as primary instantaneous centers and the third type is known as secondary
instantaneous centers.
• For the four-bars mechanism shown:
o I14 and I12 are fixed ICs
o I34 and I23 are permanent ICs
o I13 and I24 are neither fixed nor
permanent ICs.

ME-314 Mechanics of Machines Slide 8

Properties of Instantaneous Centers
1. A rigid link rotates instantaneously relative to another link at the instantaneous
center for the configuration of the mechanism considered.

2. The two rigid links have no linear velocity relative to each other at the
instantaneous center. At this point (i.e. instantaneous center), the two rigid links
have the same linear velocity relative to the third rigid link.

ME-314 Mechanics of Machines Slide 9

Aronhold Kennedy Theorem
• The theorem states that,

If three bodies move relatively to each other, they have

three instantaneous centers that lie on a straight line

• We apply the theorem to find ICs that are neither fixed nor permanent.

ME-314 Mechanics of Machines Slide 10

Method of locating all ICs in a Mechanism
1. Calculate the total number of ICs in the mechanism using,

𝑛 𝑛−1
𝑁= =6
2

2. Make a list of all ICs in the mechanism.

3. Identify the fixed ICs and permanent ICs.

ME-314 Mechanics of Machines Slide 11

Method of locating all ICs in a Mechanism
4. Locate the remaining neither fixed nor permanent
instantaneous centers (or secondary centers) by
Kennedy’s theorem
5. Drawing a circle diagram as shown below can help.
a) The points on the circumference of the circle
represent the links in the mechanism.
b) The solid lines 12, 23, 34 and 14 are the ICs
already found.
c) The dashed lines 13 and 24 are ICs to be
determined.
d) Using the circle diagram, we identify that I13 is
found at the intersection of I14I34 and I12I23.
6. What about I24?

ME-314 Mechanics of Machines Slide 12

Example 6.2
• If the crank rotates clockwise with an angular velocity of 10 rad/s in the figure given
below, find: 1. Velocity of the slider A, and 2. Angular velocity of the connecting rod
AB.

Solution
• The number of ICs = 6

ME-314 Mechanics of Machines Slide 13

Example 6.2
• Since we are asked to calculate 𝑣𝐴 and 𝜔𝐴𝐵 , we do not need to determine the
locations of all ICs.
• The fixed and permanent ICs are I12, I23, I34 and I14.
• These are shown in the figure.
• To find 𝑣𝐴 and 𝜔𝐴𝐵 , we need I13. We don’t need to find I24.

I14=∞

𝑣𝐵
3
2
I23
𝜔𝑂𝐵 I
4 12

I34 1

ME-314 Mechanics of Machines Slide 14

Example 6.3
A mechanism, as shown in Figure, has the following dimensions: OA = 200 mm; AB = 1.5
m; CB = 600 mm; CD = 500 mm and BE = 400 mm. 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 links AB,
CB and CD.

Scale: 1m=8cm

ME-314 Mechanics of Machines Slide 15

Example 6.3
Solution Methodology
• Total number of links = 6. Total number of ICs = 15
• Not all ICs need to be determined to solve the problem
• The fixed and permanent ICs can be determined easily in the mechanism
I16
• Velocity 𝑣𝐴 can be determined using I12
• 𝑣𝐵 and 𝜔𝐴𝐵 can be found using I13
• 𝑣𝐶 and 𝜔𝐵𝐶 can be found using I14
• 𝑣𝐷 and 𝜔𝐶𝐷 can be found using I15 I45 5
I23 6
2 I14 I56
1
I12 3
4

Scale: 1m=8cm
I34
ME-314 Mechanics of Machines Slide 16
Example 6.3

ME-314 Mechanics of Machines Slide 17

Example # 6.3

I16
I13

Vc
I45 5
I23 6
2 I14 I56
VD
1
I12 VA 3
4
VB
Scale: 1m=8cm
I34

I15
Practice Problems
Q1. The Bar AB rotates 12 rad/s in the clockwise direction. Use
the instantaneous centers to determine the angular velocities
of bars CB and CD.
ME-314 Mechanics of Machines Slide 20
Example 6.1
• In a pin jointed four bar mechanism, as shown in Fig. 6.9, AB = 300 mm, BC = CD =
360 mm, and AD = 600 mm. The angle BAD = 60°. The crank AB rotates uniformly at
100 r.p.m. Locate all the instantaneous centers and find the angular velocity of the
link BC.
Solution
3
2𝜋𝑁
• 𝜔𝐴𝐵 = = 10.47 𝑟𝑎𝑑/𝑠
60 4
2
• Total number of ICs = 6
1
• The six ICs are listed in the table below

ME-314 Mechanics of Machines Slide 21

Example 6.1
• The fixed and permanent ICs are identified as I12, I23, I34 and I14.
• The remaining two ICs are found using Kennedy’s theorem and the circle diagram
below
• I13 is at the intersection of I14I34 and I12I23
I13
• I24 is at the intersection of I12I14 and I23I34
• How can we find the unknown lengths?
1. Trigonometry
2. Graphical I34
3 C
I23
B 4
2
I24
A D
I12 1 I14
ME-314 Mechanics of Machines Slide 22
Example 6.1
At point I , links 1 and 2 have same velocity.
• 𝑣𝐵 = 𝜔𝐴𝐵 𝐼12 𝐵 = 10.47 × 0.3 = 3.141 𝑚/𝑠 Since link121 is fixed I is fixed as well.
12
• 𝑣𝐵 = 𝜔𝐵𝐶 (𝐼13 𝐵) Absolute velocity
𝑣𝐵 3.141
• 𝜔𝐵𝐶 = = = 6.282 𝑟𝑎𝑑/𝑠
𝐼13 𝐵 0.5

I13

Same logic applies to I13.

0.5 m

I34
3 C
I23
B 4
2
I24
A D
I12 1 I14
ME-314 Mechanics of Machines Slide 23
Example 6.1

ME-314 Mechanics of Machines Slide 24

Practice Problems
Q2. Point C is moving to the right at 20 in/s. Calculate the velocity of
point ‘G’. Where ‘G’ is the center of gravity of link CB.
Practice Problems
Q3. The crank AB has a constant clockwise angular velocity of
2000 rpm. For the crank position indicated, determine (a) the
angular velocity of the connecting rod BD, and (b) the velocity of
the piston P.

Crank-slider mechanism
Practice Problems
Q4. In the position shown, crank AB has a constant angular
velocity w1 = 20 rad/s counterclockwise. Determine the angular
velocities of the connecting rod BD and crank DE.

Four-bar mechanism
Books References

• Khurmi and Gupta Chapter 6

ME-314 Mechanics of Machines Slide 28