Kinematics of Machines (18ME44)

Module 4

Velocity and Acceleration Analysis of Mechanisms

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SYLLUBUS:

“Displacement, velocity and acceleration - analysis in simple mechanisms - Graphical Method velocity
and acceleration polygons - Kinematic analysis by Complex Algebra methods-Vector Approach, Computer
applications in the Kinematic analysis of simple mechanisms-Coincident points- Coriolis Acceleration”.

Content:

• Describe a mechanism.

• Define relative and absolute velocity.

• Define relative and absolute acceleration.

• Define radial and tangential velocity.

• Define radial and tangential acceleration.

• Describe a four bar chain.

• Solve the velocity and acceleration of points within a mechanism.

• Use mathematical and graphical methods.

• Construct velocity and acceleration diagrams.

• Define the Coriolis Acceleration.

• Solve problems involving sliding links.

It is assumed that the student is already familiar with the following concepts.
 Vector diagrams.

 Simple harmonic motion.

 Angular and linear motion.

 Inertia force.

 Appropriate level of mathematics.

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INTRODUCTION

A mechanism is used to produce mechanical transformations in a machine.

This transformation could be any of the following.

 It may convert one speed to another speed.

 It may convert one force to another force.
 It may convert one torque to another torque.
 It may convert force into torque.
 It may convert one angular motion to another angular motion.
 It may convert angular motion into linear motion.
 It may convert linear motion into angular motion.

A good example is a crank, connecting rod and piston mechanism.

Figure 1

 If the crank is turned, angular motion is converted into linear motion of the
piston and input torque is transformed into force on the piston.
 If the piston is forced to move, the linear motion is converted into rotary
motion and the force into torque. The piston is a sliding joint and this is
called PRISMATIC in some fields of engineering such as robotics.
 The pin joints allow rotation of one part relative to another. These are also
called REVOLUTE joints in other areas of engineering.

Consider the next mechanism used in shaping machines and also known as the
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Whitworth quick- return mechanism.

Figure 2
 The input is connected to a motor turning at constant speed. This makes the
rocking arm move back and forth and the head (that carries the cutting
tool) reciprocates back and forth.
 Depending on the lengths of the various parts, the motion of the head can
be made to move forwards at a fairly constant cutting speed but the return
stroke is quick.
 Note that the pin and slider must be able to slide in the slot or the
mechanism would jam. This causes problems in the solution because of the
sliding link and this is covered later under Coriolis acceleration.
 The main point is that the motion produced is anything but simple harmonic
motion and at any time the various parts of the mechanism have a
displacement, velocity and acceleration.
 The acceleration gives rise to inertia forces and this puts stress on the parts
in addition to the stress produced by the transmission of power.
 For example the acceleration of a piston in an internal combustion engine
can be enormous and the connecting rod is subjected to high stresses as a
result of the inertia as well as due to the power transmission.
 You will find in these studies that the various parts are referred to as links
and it can be shown that all mechanisms are made up of a series of four
links.
 The basic four bar link is shown below. When the input link rotates the
output link may for example swing back and forth. Note that the fourth link
is the frame of the machine and it is rigid and unable to move.

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 With experience you should be able to identify the four bar chains in a
mechanism. All the links shown are rigid links which means they may push
or pull. It is possible to have links made of chain or rope which can only
pull.

Figure 3
2. DISPLACEMENT, VELOCITY AND ACCELERATION

 All parts of a mechanism have displacement, velocity and acceleration. In

the tutorial on free vibration, a mechanism called the Scotch Yoke was
examined in order to explain sinusoidal or harmonic motion.
 The wheel turns at a constant speed and the yoke moves up and down.

3. It was shown that the displacement ‘x’, velocity ‘v’ and acceleration ‘a’ of
point p was given as follows. Angle 0 = mt
4. Displacement x = R sin (mt).
5. Velocity v = dx/dt = mR cos(mt)
6. Acceleration a = dv/dt =m2Rsin(mt)

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 The values can be calculated for any angle or moment of time. The
acceleration could then be used to calculate the inertia force needed to
accelerate and decelerate the link.
 Clearly it is the maximum values that are needed. Other mechanisms can
be analyzed mathematically in the same way but it is more difficult.
 The starting point is to derive the equation for displacement with respect to
angle or time and then differentiate twice to get the acceleration.
 Without the aid of a computer to do this, the mathematics is normally much
too difficult and a graphical method should be used as shown later.
7. VELOCITY DIAGRAMS
This section involves the construction of diagrams which needs to be done
accurately and to a suitable scale. Students should use a drawing board, ruler,
compass, protractor and triangles and possess the necessary drawing skills.
ABSOLUTE AND RELATIVE VELOCITY

An absolute velocity is the velocity of a point measured from a fixed point

(normally the ground or anything rigidly attached to the ground and not moving).
Relative velocity is the velocity of a point measured relative to another that may
itself be moving.
TANGENTIAL VELOCITY

Consider a link A B pinned at A and revolving about A at angular velocity m.

Point B moves in a circle relative to point A but its velocity is always tangential

and hence at 90o to the link. A convenient method of denoting this tangential
velocity is (vB)A meaning the velocity of B relative to A. This method is not
always suitable.

Figure 5

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 Consider a sliding link C that can slide on link AB. The direction can only
be radial relative to point A as shown.
 If the link AB rotates about A at the same time then link C will have radial
and tangential velocities.

Figure 6

 Note that both the tangential and radial velocities are denoted the same so the
tags radial and tangential are added.
 The sliding link has two relative velocities, the radial and the tangential. They are
normal to each other and the true velocity relative to A is the vector sum of both
added as shown.
 Note that lower case letters are used on the vector diagrams. The two vectors are
denoted by c1 and c2. The velocity of link C relative to point A is the vector a c2.

Figure 7

CRANK, CONNECTING ROD AND PISTON

Consider this mechanism again. Let’s freeze the motion (snap shot) at the

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position shown. The diagram is called a space diagram.

Figure 8

 Every point on every link has a velocity through space. First we label the
centre of rotation, often this is the letter O. Point A can only move in a
tangential direction so the velocity of A relative to O is also its absolute
velocity and the vector is normal to the crank and it is designated (v A)O.
(Note the rotation is anticlockwise).
 Now suppose that you are sat at point A and everything else moves
relative to you. Looking towards B, it would appear the B is rotating
relative to you (in reality it is you that is rotating) so it has a tangential
velocity denoted (VB) A.
 The direction is not always obvious except that it is normal to the
link.Consider the fixed link OC. Since both points are fixed there is no
velocity between them so (vC) O = 0.

 Next consider that you at point C looking at point B. Point B is a sliding

link and will move in a straight line in the direction fixed by the slider
guides and this is velocity (vB) C. It follows that the velocity of B seen
from O is the same as that seen from C so (vB) C = (vB) O.
 The absolute velocity of B is (vB) C = (vB) O and this must be the vector
sum of (VA) O and (vB) A and the three vectors must form a closed triangle
as shown. The velocity of the piston must be in the direction in which it
slides (conveniently horizontal here). This is a velocity diagram.

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 First calculate the tangential velocity (vA)O from v = m x radius = m x OA

 Draw the vector o - a in the correct direction (note lower case letters).

 We know that the velocity of B relative to A is to be added so the next vector

ab starts at point a. At point a draw a line in the direction normal to the
connecting rod but of unknown length.
 We know that the velocity of B relative and absolute to O is horizontal so the
vector ob must start at a. Draw a horizontal line (in this case) through o to
intersect with the other line. This is point b. The vectors ab and ob may be
measured or calculated. Usually it is the velocity of the slider that is required.
 In a design problem, this velocity would be evaluated for many different
positions of the crank shaft and the velocity of the piston determined for each
position.
 Remember that the slider direction is not always horizontal and the direction
of o - b must be the direction of sliding.
Worked Examples

 The mechanism shown has a crank 50 mm radius which rotates at 2000

rev/min. Determine the velocity of the piston for the position shown. Also
determine the angular velocity of link AB about A.

Figure 10

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SOLUTION

 Note the diagrams are not drawn to scale. The student should do this
using a suitable scale for example 1 cm = 1 m/s.
 This is important so that the direction at 90o to the link AB can be
transferred to the velocity diagram.
 Angular speed of the crank m = 2wN/60 = 2w x 2000/60 =
209.4 rad/s (vA)O = m x radius = 209.4 x 0.05 = 10.47
m/s.
First draw vector oa. (Diagram a)
 Next add a line in the direction ab (diagram b)
 Finally add the line in the direction of ob to find point b and measure ob
to get the velocity.

Figure 11a Figure 11b Figure 11c


 The velocity of B relative to O is 7 m/s.

 The tangential velocity of B relative to A is the vector ab and this gives 9.2
m/s.

 The angular velocity of B about A is found by dividing by the radius (length of

AB).
 m for AB is then 9.2/0.09 = 102.2 rad/s. (note this is relative to A and
not an absolute angular velocity)
BAR CHAIN

 The input link rotates at a constant angular velocity m1. The relative velocity of

each point relative to the other end of the link is shown.

 Each velocity vector is at right angles to the link. The output angular velocity is
m2 and this will not be constant. The points A and D are fixed so they will
appear as the same point on the velocity diagram.

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 The methodology is the same as before and best shown with another example.

Figure 12

WORKED EXAMPLE No. 2

Find the angular velocity of the output link when the input rotates at a constant
speed of 500 rev/min. The diagram is not to scale.

SOLUTION

First calculate m1.

m1 = 2w x 500/60 = 52.36 rad/s.
Next calculate the velocity of point B relative
to A. (VB)A = m1 x AB = 52.36 x 1 = 52.36
m/s.
Draw this as a vector to an appropriate scale.

Figure 14a

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Next draw the direction of velocity C relative to B at right angles to the link
BC passing through point b on the velocity diagram.

Figure 14 b Figure 14 c

 Next draw the direction of the velocity of C relative to D at right angles

to link DC passing through point a (which is the same as point d). Point c
is where the two lines intersect,
 Determine velocity cd by measurement or any other method. The velocity of
point C relative to D and is 43.5 m/s.
 Convert this into angular velocity by dividing the length of the link DC into it.
m2 = 43.5/0.7 = 62 rad/s.

4. ACCELERATION DIAGRAMS

 It is important to determine the acceleration of links because acceleration

produces inertia forces in the link which stress the component parts of the
mechanism.
 Accelerations may be relative or absolute in the same way as described for
velocity.
 We shall consider two forms of acceleration, tangential and radial.
Centripetal acceleration is an example of radial.

CENTRIPETAL ACCELERATION

A point rotating about a centre at radius R has a tangential velocity v and

angular velocity m and it is continually accelerating towards the centre even
though it never moves any closer. This is centripetal acceleration and it is
caused by the constant change in direction.
 It follows that the end of any rotating link will have a centripetal acceleration
towards the opposite end.
The relevant equations are: v = mR a = m2 R or a = v2/R.
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 The construction of the vector for radial acceleration causes confusion so

the rules must be strictly followed. Consider the link AB. The velocity of B
relative to A is tangential (vB)A.
 The centripetal acceleration of B relative to A is in a radial direction so a
suitable notation might be aR. It is calculated using aR = m x AB or
aR = v2/AB.

Note the direction is towards the centre of rotation but the vector starts at a and
ends at b1. It is very important to get this the right way round otherwise the complete
diagram will be wrong.

TANGENTIAL ACCELERATION

Tangential acceleration only occurs if the link has an angular acceleration a rad/s 2.
Consider a link AB with an angular acceleration about A.

 Point B will have both radial and tangential acceleration relative to point A.
The true acceleration of point B relative to A is the vector sum of them. This

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will require an extra point. We will use b1 and b on the vector diagram as
shown.
 Point B is accelerating around a circular path and its direction is tangential (at
right angles to the link). It is designated aT and calculated using aT = a x AB.
 The vector starts at b1 and ends at b. The choice of letters and notation are
arbitrary but must be logical to aid and relate to the construction of the diagram.

WORKED EXAMPLE No.3

A piston, connecting rod and crank mechanism is shown in the diagram. The
crank rotates at a constant velocity of 300 rad/s. Find the acceleration of the
piston and the angular acceleration of the link BC. The diagram is not drawn to

scale.

SOLUTION:

First calculate the tangential velocity of B relative

to A. (vB)A = m x radius = 300 x 0.05 = 15
m/s.
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Next draw the velocity diagram and determine the velocity of C relative to B.

Figure 19
From the velocity diagram (vC)B = 7.8 m/s

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 Next calculate all accelerations possible and construct the acceleration

diagram to find the acceleration of the piston.
 The tangential acceleration of B relative to A is zero in this case since the link
has no angular acceleration (a = 0).
 The centripetal acceleration of B relative to A

aR = m2x AB = 3002 x 0.05 = 4500 m/s2.

The tangential acceleration of C relative to B is unknown.
The centripetal acceleration of C to B

aR = v2/BC = 7.82 /0.17 = 357.9 m/s2.

The stage by stage construction of the acceleration diagram is as follows.

Figure 20a Figure 20b Figure 20c

 First draw the centripetal acceleration of link AB (Fig.a). There is no

tangential acceleration so designate it ab. Note the direction is the same as
the direction of the link towards the centre of rotation but is starts at a and
ends at b.
 Next add the centripetal acceleration of link BC (Figure b). Since there are
two accelerations for point C designate the point c1. Note the direction is
the same as the direction of the link towards the centre of rotation.
 Next add the tangential acceleration of point C relative to B (Figure c).
Designate it c1 c. Note the direction is at right angles to the previous vector
and the length is unknown. Call the line a c line.
 Next draw the acceleration of the piston (figure d) which is constrained
to be in the horizontal direction. This vector starts at a and must intersect
the c line. Designate this point c.

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Figure 20d

 The acceleration of the piston is vector ac so (aC) B = 1505 m/s2. The

tangential acceleration of C relative to B is c1 c = 4000 m/s2.
 At the position shown the connecting rod has an angular velocity and
acceleration about its end even though the crank moves at constant speed.
 The angular acceleration of BC is the tangential acceleration divided by the
length BC.
a(BC) = 4000 / 0.17 = 23529 rad/s2.
WORKED EXAMPLE No.4

The diagrams shows a “rocking lever” mechanism in which steady rotation of

the wheel produces an oscillating motion of the lever OA. Both the wheel and the
lever are mounted in fixed centers. The wheel rotates clockwise at a uniform
angular velocity (m) of 100 rad/s. For the configuration shown, determine the
following.

Figure 21
(i) The angular velocity of the link AB and the absolute velocity of point A.
(ii) The centrifugal accelerations of BC, AB and OA.
(iii) The magnitude and direction of the acceleration of

point A. The lengths of the links are as follows.

BC = 25 mm AB = 100 mm OA = 50 mm OC = 90 mm

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SOLUTION

The solution is best done graphically. First draw a line diagram of the mechanism
to scale. It should look like this.

Figure 22

Next calculate the velocity of point B relative to C and construct the velocity
diagram.

Figure 23
(vB)C = m x radius = 100 x 0.025 = 2.5
m/s Scale the following velocities from the diagram.

(vA)O = 1.85 m/s {answer (i)} (vA)B = 3.75 m/s

Angular velocity = tangential velocity/radius
For link AB, m = 3.75/0.1 = 37.5 rad/s. {answer (i)} Next calculate all the accelerations
possible.

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2 2
 Radial acceleration of BC = m x BC = 100 x 0.025 = 250 m/s .
2

2 2
 Radial acceleration of AB = v /AB = 3.75 /0.1 = 140.6 m/ s .
2

2 2
 Check same answer from m x AB = 37.5 x 0.1 = 140.6 m/ s .
2

2 2
 Radial Acceleration of OA is v /OA = 1.85 /0.05 = 68.45 m/

s2. Construction of the acceleration diagram gives the result shown.

Figure 24

The acceleration of point A is the vector o- a shown as a dotted line. Scaling this we get 560
2
m/s .

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