Theory of Machines
Sub Code : 21ME43 CIE Marks : 100
Hrs/week : 3 + 0 + 0 SEE Marks : 100
Credits :3 SEE Duration : 3 Hrs
Unit 2b
Velocity and Acceleration (Graphical Method)
>> Instantaneous Centre Method <<
Dept. Of Mechanical Engineering, RVCE, Bangalore
Syllabus 21ME43: Theory of Machines
Unit 2:
10Hrs
Velocity and Acceleration (Graphical Method):
• Relative Velocity Method: Velocity and acceleration of simple mechanisms, Coriolis
component of acceleration.
• Instantaneous centre Method: Centrodes – Kennedy’s theorem – linear and angular
velocity of simple mechanisms.
• Klein’s Construction Method - single slider crank mechanism.
Force Analysis:
• Static Force Analysis: Static equilibrium, equilibrium of two and three force members;
members with two forces and torque, free body diagram, static force analysis of four
bar mechanism and slider crank mechanism without friction. Simple numerical
problems. (No derivations).
• Dynamic Force Analysis - four bar mechanism and slider crank mechanism.
Dynamically equivalent system. (No numerical problems)
Velocity and Acceleration (Graphical Method)
>> Instantaneous Centre Method <<
General Plane Motion:
A Planar motion is one where the velocities of all points are in the same
constant plane, say XY, at all times and where points with, say, the same z
coordinate have the same velocity.
General plane motion is neither a translation nor a rotation.
General plane motion can be considered as the sum of a translation & rotation.
Displacement of particles A1 & B1 to A2 & B2 can be
divided into two parts:
Translation of A1 to A2 &
Rotation of B1’ to B2 about A2
Instantaneous Centres (Centros):
Whenever two bodies have plane relative motion, at a particular instant that
motion will be rotation about a center called instantaneous center or centro.
The position of instantaneous centre of a moving body goes on changing from
one instant to other.
Instantaneous centre is obtained by drawing
perpendicular to the direction of velocity at two
points on the body.
The point of intersection of the perpendicular
lines is the Centro.
The locus of I-centers drawn in space of a
moving body is known as Space centrode
The locus of I-centers of a moving body drawn
on the body itself is known as Body centrode
Instantaneous Centre Method for velocity:
To explain instantaneous centre, let us consider a plane body P having a non-
linear motion relative to another body q. Consider two points A and B on body
P having velocities as Va and Vb respectively in the direction shown.
Va Va Va
A B A P A
Vb B Vb
P B Vb
I
q q
I
I at
If the direction of Va and Vb
In this case of the linesr
are parallel to the r at A
drawn from A and B meet and B met at . This is the
outside the body P case when the body has
linear motion.
If a line is drawn r to Va, at A the body can be imagined to rotate about
some point on the line.
Centre of rotation of the body also lies on a line r to the direction of Vb at B.
If the intersection of the two lines is at I, the body P will be rotating about I at
that instant.
The point I is known as the instantaneous centre of rotation for the body P.
The position of instantaneous centre changes with the motion of the body.
Arnold Kennedy theorem of three centers:
Statement:
If three bodies have motion relative to each other, their instantaneous centers
should lie in a straight line.
Proof:
• Let A, B and C be any three bodies having
plane relative motion w.r.t one another.
• Let Iab, Ibc & Ica be the instantaneous centers
of rotation.
• Ibc is a point either on B or C.
• First, consider Ibc as a point on B.
• Then its velocity must be perpendicular to the line joining Iab & Ibc.
• Next , consider Ibc as a point on C.
• Then its velocity must be perpendicular to the line joining Ica & Ibc.
• But the point Ibc can not have two different directions for its velocity.
• It is possible only if the point Ibc lies on the line joining the points Iab & Ica.
• This implies that for the three links to be in relative motion all the three
centers should lie in a same straight line. Hence, prooved.
Locating centros (by Inspection): In a sliding block, (fig c) the centro lies
at infinity in a direction perpendicular to
the path of motion of the slider.
In fig (d) , the link is sliding over a
curved surface and hence the center of
If two links are connected by a pin curvature itself is the centro.
joint, the joint itself is the at
instantaneous centre of rotation.
• In fig (a) , neither of the two links
are fixed, & hence I12 is called the
Permanent I-center.
• In fig (b) the link 1 is fixed, & hence
I12 is called the Fixed I –center
If two links have rolling contact, as
in Fig (e), then the point of contact
will be the centro.
Number of Instantaneous centers:
The number of instantaneous centers in a mechanism depends upon
number of links.
If N is the number of instantaneous centers and n is the number of link ,
then n (n 1)
Types of Instantaneous Centers N
2
There are three types of instantaneous centers namely
Fixed, Permanent and Neither Fixed Nor Permanent
Example:
n (n 1) 4(4 1)
Four bar mechanism., n = 4, hence, N is given by N 6
2 2
Fixed,
Permanent
Neither Fixed
Nor Permanent
No. of I-centers Type. of I-centers
Instantaneous centers (Number & Locating): n (n 1) 4(4 1)
Fixed,N 6
Circle diagram: Permanent 2 2
A circle is drawn & is divided into as many equal parts marked
1,2,3 etc. as the number of links in the mechanism.
The fixed & permanent I centers are located by visual
inspection.
Neither Fixed
These points are joined by solid lines. Nor Permanent
The other lines representing I centers which are yet to be located are drawn
by dotted lines.
They may be located by using Kennedy's theorem.
The I -centers 12, 23, 34 & 14 are fixed by inspection as they are
located at the respective pin joints between the links.
By Kennedy's theorem, the centros 12, 14 & 24 must lie on the same
line.
Similarly, the centros 23, 34 & & 24must lie on the same line.
I24 is obtained by using 12, 14 and 23, 34.
Hence extend the link 1 & link 3 as shown to obtain I 24
By Kennedy's theorem, the centros 12, 23 & 13 must lie on the same
line .
Similarly, the centros 14, 34 & & 13must lie on the same line.
I13 is obtained by using 12, 23 and 14, 34.
Hence extend the link 2 & link 4 as shown to obtain I 13
Fixed instantaneous center
,Permanent
2 14
I instantaneous center I23, I34
Neither fixed nor permanent instantaneous center I 13, I24
Velocity by I-center method:
If the velocity of the point B, Vb is known, then the angular velocity
of link 3 will be: Vb
3
BI 13
Then the linear velocity of the point C, Vc will be:
V c 3 CI 13
Hence, angular velocity of link 4 will be:
Vc
4
CD
#1 A 4-bar mechanism has links AB=300 mm, BC=CD=360 mm,
Fixed link AD=600 mm, angle BAD=600. Crank AB rotates
clockwise at 100 rpm. Locate all the I-centers & determine the
angular velocity of link BC.
C AB 300mm
B BC 360mm
100 CD 360mm
rpm
AD 600mm
60°
D BAD 600
A
P R Venkatesh Mech Dept
RVCE Bangalore
Steps to locate I-Centres on the mechanism> Fixed &
Permanent I-Centers
Mechanism Circle
Triangular The I -centers 12, 23, 34 &
By Kennedy's theorem, Diagram Diagram
14 are fixed by inspection
the centros 12, 23 & 13 must lie on as they are located at the
the same line & the centros 14, 34 & respective pin joints
& 13must lie on the same line between the links.
Neither Fixed & Hence the link 2 & link
By Kennedy's theorem,
Nor Permanent 4 are extended as
I-Center shown to obtain I13 the centros 12, 14 & 24 must lie on
the same line & the centros 23, 34 &
& 24 must lie on the same line.
Hence the link 1 & link 3 are
extended as shown to obtain I24
Neither Fixed &
Nor Permanent
I-Center
Solution: AB 300mm
BC 360mm
CD 360mm
AD 600mm
BAD 600
n(n 1) 4(4 1)
The number of I centers N 6
2 2
1 2
Link Numbers
1 2 3 4
12 23 34
13 24
I- centers
14 4 3
CIRCLE DIAGRAM
Circle Diagram
Note:
Lengths
BI13 &CI13
are measured
from the diagram
2 100
The velocity of the point B, Vb is Vb AB AB 0.3 3.142m / sec
60
Vb 3.142
The angular velocity of link 3 is 3 63 rad / sec
BI13 0.04984
The linear velocity of the point C, Vc is Vc 3 CI13 63 0.36 22.68m / sec
Vc 22.68
The angular velocity of link 4 is 4 63rad / sec
CD 0.36
#2 In a slider crank mechanism shown in figure below, the crank
OA=300 mm & connecting rod AB=1200 mm. The crank OA is
turned 300 from inner dead center.
Locate all the instantaneous centers.
If the crank OA rotates at 15 rad/sec clockwise, find:
i) Velocity of slider B and ii) Angular velocity of connecting rod AB.
A
3
B 2
O
4
1 1
P R Venkatesh Mech Dept
RVCE Bangalore
Solution:
n(n 1) 4(4 1)
The number of I centers N 6
2 2
1 2 Link Numbers
1 2 3 4
12 23 34
13 24
I- centers
4 3 14
CIRCLE DIAGRAM
P R Venkatesh Mech Dept
RVCE Bangalore
I 14 @ infinity I 14 @ infinity
I13
Link Numbers
1 2 3 4
12 23 34
13 24
I- centers
14
AI I24
3 23
I 34 B 2 I 2
30°
12 1
O
4
1 1
4 3
CIRCLE DIAGRAM
By construction and measuring from the
diagram,
I13A=1375 mm
and I13B=837.4 mm
Velocity by I-center method:
The velocity of the point B, Va is
Va OA OA 15 0.3 4.5m / sec
then the angular velocity of link 3 will be;
Va 4.5
3 3.273rad / sec
AI13 1.375
Then the linear velocity of the slider B, Vb will be
Vb 3 BI13 3.273 0.8374 2.74m / sec
#3 Locate all the instantaneous centers of the slider crank
mechanism as shown in fig. The lengths of crank OB and
connecting rod AB are 100 mm and 400 mm respectively. If the
crank rotates clockwise with an angular velocity of 10 rad/sec,
determine:
(i) Velocity of slider A
(ii) Angular velocity of the connecting rod AB.
P R Venkatesh Mech Dept
RVCE Bangalore
Solution:
P R Venkatesh Mech Dept
RVCE Bangalore
P R Venkatesh Mech Dept
RVCE Bangalore
P R Venkatesh Mech Dept
RVCE Bangalore
#4 Locate all the centros for the configuration shown in figures 4a
and 4b below.
B
3
2
A
C
3 AD=65 mm
AB=60 mm 4
B 1
BC=55 mm
CD=80 mm
2 4
30°
A D
1 1 O
Figures 4a Figures 4b
P R Venkatesh Mech Dept
RVCE Bangalore
Solution:
n(n 1) 4(4 1)
The number of I centers N 6
2 2
1 2 Link Numbers
1 2 3 4
12 23 34
13 24
I- centers
4 3 14
CIRCLE DIAGRAM
P R Venkatesh Mech Dept
RVCE Bangalore
Case (i): for the mechanism shown in Figures 4a
1 2
4 3
CIRCLE DIAGRAM
P R Venkatesh Mech Dept
RVCE Bangalore
Case (ii): for the mechanism shown in Figures 4b
1 2
I 24 B
I 23 3
2
I 34 @ infinity
4 3 A
I 12
CIRCLE DIAGRAM
4
1
I13
I 14
O
P R Venkatesh Mech Dept
I 34 @ infinity
RVCE Bangalore
#5 Locate all the centros for the configuration shown in figures 5a
and 5b below.
4 4
1
3
3
2
2
1
1 5a
Figures Figures 5b
P R Venkatesh Mech Dept
RVCE Bangalore
Solution:
n(n 1) 4(4 1)
The number of I centers N 6
2 2
1 2 Link Numbers
1 2 3 4
12 23 34
13 24
I- centers
4 3 14
CIRCLE DIAGRAM
P R Venkatesh Mech Dept
RVCE Bangalore
Case (i): for the mechanism shown in Figures 5a
4
I13 I 34
I 14 @ infinity
1
3
I 23
2
1 2
1
I 24
@ infinity I 12 @ infinity 4 3
CIRCLE DIAGRAM
P R Venkatesh Mech Dept
RVCE Bangalore
Case (i): for the mechanism shown in Figures 5b
1 2
1
I13 I 34
I 14
4 3
CIRCLE DIAGRAM
I 23
I 24
I 12 @ infinity
@ infinity
P R Venkatesh Mech Dept
RVCE Bangalore
#6 Locate all the centros for the configuration shown in figure
below.
1
1
3
P R Venkatesh Mech Dept
RVCE Bangalore
Solution:
n(n 1) 4(4 1)
The number of I centers N 6
2 2
1 2 Link Numbers
1 2 3 4
12 23 34
13 24
I- centers
4 3 14
CIRCLE DIAGRAM
P R Venkatesh Mech Dept
RVCE Bangalore
1 2
2
I 24
I 12 4 3
I 23
CIRCLE DIAGRAM
I13 4 1
1
3 I 34
I 14@ infinity I 14 @ infinity
I 14@ infinity
P R Venkatesh Mech Dept
RVCE Bangalore
Unit II: Instantaneous Centers Method
Assignment
<<for Practice and Submission>>
1. Define the terms:
General Planar Motion
Instantaneous Centers (Centros)
Space centrode, Body Centrode
2. State and Prove Arnold Kennedy Theorem
3. A 4-bar mechanism has links AB=300 mm, BC=CD=360 mm,
Fixed link AD=600 mm, angle BAD=600. Crank AB rotates
clockwise at 100 rpm. Locate all the I-centers & determine the
angular velocity of link BC.
Continued…
Unit II: Instantaneous Centers Method
Assignment - 01 Contd..
<<for Practice and Submission>>
4. Locate all the instantaneous centers of the slider crank mechanism as
shown in fig. The lengths of crank OB and connecting rod AB are 100
mm and 400 mm respectively. If the crank rotates clockwise with an
angular velocity of 10 rad/sec, determine: i) Velocity of slider A, and
ii) Angular velocity of the connecting rod AB.
5. Locate the I-Centers for the following mechanisms.
(a) (b) (c) (d) (e)
