M A C H I N E
E L E M E N T S
ENGR. SHIELA MARIE A. BERING
VELOCITY ANALYSIS
TOPIC NO. 5
INTENDED LEARNING OUTCOMES
At the end of the lesson, the student should be able to:
a) Differentiate the four methods of velocity analysis.
b) Determine velocity of a point in a linkage using
analytical method and/or graphical method.
c) Use the combination of velocity analysis method to
solve linear and angular velocities.
Methods for Velocity Analysis
1. Resolution and composition method
2. Instantaneous axis of velocity method.
3. Centro
4. Relative velocity or Velocity polygon
Vectors
The process of obtaining the resultant of any number of
vectors is called vector composition and the reversed process
of breaking up a vector into components is called vector
resolution.
Scales
Scales
Scales
Rotating and Oscillating Cranks
The magnitude of the instantaneous linear velocity of a point on a revolving body, rotating
crank or oscillating crank is proportional to the distance of that point from the axis of rotation
of the body or crank.
ω
Rotating and Oscillating Cranks
Method 1: Resolution and Composition Method
If the velocity of one point and the direction of the velocity
of any other point on a body are known, the velocity of any
other point on that body may be obtained by resolving the
known velocity vector into components along and
perpendicular to the line joining these points and making
one of the components of the velocity of the other point
equal to the component along the line.
Method 1: Resolution and Composition Method
Method 1: Resolution and Composition Method
Example (Resolution and Composition)
The linear velocity of A is represented by the line Aa. Find the linear velocity of D.
Method 2: Instantaneous Axis of Velocity
a. There is one instantaneous axis for each floating link in a
machine.
b. There is not one common instantaneous axis of velocity
for all links in a machine.
c. The instantaneous axis of velocity changes position as the
links moves.
Method 2: Instantaneous Axis of Velocity
The angular velocity of a floating link:
Example 2 (Instantaneous Axis)
The linear velocity of A is represented by the line Aa. Find the linear velocity of D and the angular velocity of link 4.
Method 3: Centros
The instantaneous angular velocities of two links are
inversely as the distances from their common centro to the
centers about which they are turning or tending to turn.
Method 3: Centros
Example 3: Centro Method
In a pin jointed four bar mechanism as shown, AB = 300 mm, BC = CD = 360 mm, and AD = 600 mm.
The angle BAD = 60°. The crank AB rotates uniformly at 100 rpm clockwise. Locate all the
instantaneous centers and find the angular velocity of the link BC.
494.4 mm
360 mm
Example 4: Centro Method
A slider crank mechanism has a crank OB and connecting rod AB of length 100 mm and 400 mm
respectively. If the crank rotates clockwise with an angular velocity of 10 rad/s, find: 1. Velocity of
the slider A, and 2. Angular velocity of the connecting rod AB.
556.8 mm
464.4 mm
Example 5: Centro Method
VC
VB
VB
Example 6: Centro Method
VB
VA
VB
Method 4: Relative Velocity Method
This is done by constructing velocity polygon with absolute
velocities that originate at the pole (q). All lines in the
velocity polygon are perpendicular to the corresponding
lettered links.
Example 7: Relative Velocity Method
A non-parallel equal crank mechanism is drawn to an original scale of 1 ½ in. = 1 ft. The crank Q2A is 9 in.
long and is rotating with a uniform angular velocity of 60 rpm counterclockwise. The connecting rod AB is 3
ft 4 in. long. Determine the absolute instantaneous linear velocities of the slide D and the point P, located 1
ft from A on AB, and the absolute instantaneous angular velocity of AB.
Given:
Q2A = 9’’
AB = 40’’
N = 60 rpm
Example 7: Relative Velocity Method
Example 7: Relative Velocity Method
6. From a, draw a line perpendicular to AB
representing the direction Vba.
7. Locate b at the intersection. Thus, Vb = qb and
Vba = ab.
8. From q, draw a line perpendicular to Q4C
representing the direction Vc.
9. From b, draw a line perpendicular BC
representing Vcb.
10. Locate c at the intersection. Thus Vc = qc and
Vcb = bc.
Example 7: Relative Velocity Method
Example 7: Relative Velocity Method
Example 7: Relative Velocity Method
Optional: Watch this video (ctrl + click the link):
1. Resolution and composition method
2. Instantaneous axis of velocity method.
3. Centro
4. Relative velocity or Velocity polygon
MACHINE ELEMENTS
