DJJ 40163:

MECHANICS OF
MACHINES

VELOCITY & ACCELERATION

CHAPTER 3
DIAGRAM
DJJ 40163 – MECHANICS OF MACHINES
VELOCITY & ACCELERATION DIAGRAM
 Velocity and acceleration of points in a mechanism can be
obtain from the diagram
VI
 The diagram can give the velocity and acceleration of any
point relative to any other point for one particular position of
the mechanism

DJJ 40163 – MECHANICS OF MACHINES

VELOCITY & ACCELERATION DIAGRAM
 A mechanism is used to produce mechanical transformation in a
machine such as to convert;


one speed → another speed
one force → another forceVI
 one torque → another torque
 force → torque
 one angular motion → another angular motion
 angular motion → linear motion
 linear motion → angular motion
DJJ 40163 – MECHANICS OF MACHINES
 VELOCITY & ACCELERATION DIAGRAM
 Example of mechanical transformation in a machine:
Crank  Piston

If the crank turned,

VI
Angular motion  Linear motion
If the piston is forced to
angular motion is move, linear motion is
converted into linear converted into rotary
motion of the piston motion and the force
and input torque is into torque
transformed into force
on the piston

DJJ 40163 – MECHANICS OF MACHINES

VELOCITY & ACCELERATION DIAGRAM
 Velocity and acceleration of the mechanism can be calculated by
graphical method or analytical method

VI
 To find velocity and acceleration of mechanism by graphical method :
 Sketch space diagram
 Sketch velocity diagram
 Sketch acceleration diagram
 All diagram must be drawn to scale
 Velocity and acceleration of mechanism is relative from two point and
represent by a vector diagram
DJJ 40163 – MECHANICS OF MACHINES
DIAGRAM SCALE
 Example of scaling the diagrams:
 Space diagram;
Actual length : 1500 mm
Scale : 1 cm : 50 mm
VI
To draw the length in space diagram (scale)
1 𝑐𝑚
1500 𝑚𝑚 × = 30 𝑐𝑚 *Draw 30 cm length in space diagram
50 𝑚𝑚
To find the length from space diagram to actual length
50 𝑚𝑚
30 𝑐𝑚 × = 1500 𝑚𝑚
1 𝑐𝑚

DJJ 40163 – MECHANICS OF MACHINES

DIAGRAM SCALE
 Example of scaling the diagrams:
 Velocity diagram;
Actual velocity : 15 m/s
Scale : 1 cm : 2 m/s
VI
To draw the length of velocity in velocity diagram (scale)
1 𝑐𝑚
15 𝑚/𝑠 × = 7.5 𝑐𝑚 *Draw 7.5 cm length for 15 m/s velocity
2 𝑚/𝑠
To find the velocity from velocity diagram
2 𝑚/𝑠
7.5 𝑐𝑚 × = 15 𝑚/𝑠
1 𝑐𝑚

DJJ 40163 – MECHANICS OF MACHINES

DIAGRAM SCALE
 Example of scaling the diagrams:
 Acceleration diagram;
Actual acceleration : 50 m/s2
Scale : 1 cm : 10 m/s2
VI
To draw the length of acceleration in acceleration diagram (scale)
1 𝑐𝑚
50 𝑚/𝑠 2 × 2
= 5 𝑐𝑚 *Draw 5 cm length in acceleration diagram
10 𝑚/𝑠
To find acceleration from acceleration diagram
10 𝑚/𝑠 2
5 𝑐𝑚 × = 50 𝑚/𝑠 2
1 𝑐𝑚

DJJ 40163 – MECHANICS OF MACHINES

VELOCITY DIAGRAM
 The construction of velocity diagrams needs to be done
accurately and to a suitable scale
VI
 There are two types of velocity :
 Absolute velocity – velocity of a point measured from a fixed
point (normally the ground or anything rigidly attached to the
ground and not moving)
 Relative velocity – velocity of a point measured relative to
another that may itself be moving
DJJ 40163 – MECHANICS OF MACHINES
VELOCITY DIAGRAM
 Due to movement of mechanism, the velocity need to
be draw is relative velocity (any point relative to any
point) VI
 Velocity can be measured – Tangential (for links),
Radial (for piston)

DJJ 40163 – MECHANICS OF MACHINES

VELOCITY DIAGRAM – TANGENTIAL VELOCITY
 Tangential velocity;

VI
 Tangential velocity is measured for the velocity that act at the rigid link
 Velocity of a rigid link is the velocity of one point on a link relative to another
and must be perpendicular (900) to the axis of the link
 Consider a link AB pinned at A and revolving about A at angular velocity (ω)

DJJ 40163 – MECHANICS OF MACHINES

VELOCITY DIAGRAM – TANGENTIAL VELOCITY
 Link AB pinned at A and revolving about A at angular velocity
(ω);

VI
 Point B moves relative to point A but its velocity always
tangential to the link.
 The denoting (VB)A is the velocity of B relative to A
 Vector ab will represent the velocity in the velocity diagram
DJJ 40163 – MECHANICS OF MACHINES
VELOCITY DIAGRAM – TANGENTIAL VELOCITY
 Figure below shows how the velocity of the link is
drawn; b

Vector ab VI Point b relative to point a

Tips :
point b relative to point a
a arrow draw from point a to point b

 To find the velocity of (VB)A ; 𝑣𝑏𝑎 = 𝜔(𝐴𝐵)

DJJ 40163 – MECHANICS OF MACHINES

TIPS:
Velocity diagrams are drawn perpendicular to the link but for
piston it will drawn based on direction of the piston ....whereas
acceleration diagrams are drawn by knowing the values 2
VI
components radial or centripetal component and tangential
component.......the radial component moves parallel to the link
and perpendicular to the velocity diagram.....but the tangential
component moves perpendicular to the link and parallel to the
velocity diagram.
(Hint : We can calculate acceleration either from space diagram or
velocity diagram)

DJJ 40163 – MECHANICS OF MACHINES

VELOCITY DIAGRAM – 4-BAR LINKS MECHANISM
 For several of link that connect to each other, we need to draw each
velocity for each link.

VI
 The velocity diagram must be drawn started at fixed point
 Figure below shows four-bar link mechanism and the angular velocity
C
of link AB is given: P

A D
DJJ 40163 – MECHANICS OF MACHINES
VELOCITY DIAGRAM – 4-BAR LINKS MECHANISM
 The velocity of D relative to A is zero since AD is fixed and hence A and D
are represented by a single point

VI
 The velocity of B relative to A is given by equation (ω.AB) and is
perpendicular to link AB
 The velocity of C relative to B is perpendicular to link BC and passes
through b
 The velocity of C relative to D is perpendicular to link CD and passes
through d
 Thus the intersection of last two vectors gives point C.

DJJ 40163 – MECHANICS OF MACHINES

VELOCITY DIAGRAM – 4-BAR LINKS MECHANISM
 For a point on the mechanism such as P, the corresponding point on
velocity diagram is obtain by proportion; 𝑏𝑝 = 𝐵𝑃

VI 𝑏𝑐 𝐵𝐶

 The velocity of P to the fixed points A and D is given by the vector ap

 The angular velocities of BC and CD are given by;
𝑣𝑏𝑐 𝑣𝑐𝑑
𝜔𝑏𝑐 = 𝑎𝑛𝑑 𝜔𝑐𝑑 =
𝐵𝐶 𝐶𝐷

DJJ 40163 – MECHANICS OF MACHINES

VELOCITY DIAGRAM – 4-BAR LINKS MECHANISM
 Draw the space diagram with appropriate scale and then determine
the velocity for each link. C

VI
(VC)D
P
Point C have 2 velocity
B that relative from point
b and d. So that point c
is the intersection for
𝜔 (VB)A (VC)B velocity of link bc and
cd
A D
 All of this velocity will be drawn in velocity diagram with appropriate
scale
DJJ 40163 – MECHANICS OF MACHINES
VELOCITY DIAGRAM – 4-BAR LINKS MECHANISM
 Velocity Diagram of the 4-bar links mechanism:

a,d
Vdc VI
c Tips:
a) Draw fixed point a and d
b) Draw Vab perpendicular to link AB
p c) Draw Vbc perpendicular to link BC
d) Draw Vdc perpendicular to link CD
Vbc e) Point c identify by intersection of
Vab line Vbc and line Vdc
f) Using equation to determine point p

b
DJJ 40163 – MECHANICS OF MACHINES
EXAMPLE 1:
Diagram below shows a 4 bar-chain mechanism with A and D are the fixed
points. The crank AB rotates at a constant speed of 480 rad/s in a clockwise
direction. For the diagram shown :VI
i. draw the space diagram (1 cm : 25 mm)
ii. draw the velocity diagram (1 cm : 5 m/s)
iii. find the velocity for link BC
iv. find the angular velocity for link CD

DJJ 40163 – MECHANICS OF MACHINES

EXAMPLE 1 SOLUTION: 𝑣𝑏𝑐
i) Space Diagram (1 cm : 25 mm);
𝑣𝑑𝑐
Space diagram scales;
1 𝑐𝑚
AB: 80 𝑚𝑚 × = 3.2 𝑐𝑚 200 550

VI
25 𝑚𝑚
1 𝑐𝑚 C
DC: 160 𝑚𝑚 × = 6.4 𝑐𝑚 5.4 cm
25 𝑚𝑚 𝑣𝑎𝑏
1 𝑐𝑚
AD: 200 𝑚𝑚 × = 8.0 𝑐𝑚
25 𝑚𝑚
6.4 cm 300
B
3.2 cm

700 600
D A
8.0 cm
DJJ 40163 – MECHANICS OF MACHINES
EXAMPLE 1 SOLUTION: b 550

𝑣𝑎𝑏
ii) Velocity Diagram (1 cm : 5 m/s);
𝑣𝑎𝑏 = 𝜔𝑎𝑏 × 𝐴𝐵 7.7 cm
𝑣𝑏𝑐
0
= 480 × 0.08 200 30
6.1 cm

VI
= 38.4𝑚/𝑠 d,a 3.4 cm
Velocity diagram scales; 𝑣𝑑𝑐
1 𝑐𝑚
𝑣𝑎𝑏 = 38.4 𝑚/𝑠 × c
5 𝑚/𝑠
𝑣𝑎𝑏 = 7.68𝑐𝑚 ≈ 7.7𝑐𝑚 iv) Angular velocity of link CD;
From velocity diagram;
iii) Velocity of link BC; 5 𝑚/𝑠
𝑣𝑑𝑐 = 3.4 𝑐𝑚 × = 17 𝑚/𝑠
From velocity diagram; 1 𝑐𝑚
5 𝑚/𝑠 𝑣𝑑𝑐 17
𝑣𝑏𝑐 = 6.1 𝑐𝑚 × = 30.5 𝑚/𝑠(𝐴𝑛𝑠) ∴ 𝜔𝑑𝑐 = = = 106.25𝑟𝑎𝑑/𝑠(𝐴𝑛𝑠)
1 𝑐𝑚 𝑂𝐶 0.16
DJJ 40163 – MECHANICS OF MACHINES
VELOCITY DIAGRAM – RADIAL VELOCITY
 Radial velocity;

VI
 Radial velocity is measured for the velocity that act at the piston
 Consider a piston C that can be move by the action of link AB as shown;

 If the link AB rotates about A at the same time then piston C will have radial
velocity, denoted as vc
DJJ 40163 – MECHANICS OF MACHINES
VELOCITY DIAGRAM – RADIAL VELOCITY
 Figure below shows how the velocity of piston is
drawn;
c
VIVc
a
Tips :
Velocity for piston always draw
/ measure from starting point
(fixed point)

 Radial velocity and tangential velocity are measured

for the velocity that act at the slider
DJJ 40163 – MECHANICS OF MACHINES
VELOCITY DIAGRAM – SLIDER CRANK MECHANISM
 Consider a slider C that can slide on link A;

B
VI Note :
Tangential and radial velocities are
denoted the same so that the tags
radial and tangential are added

 If link AB rotates about A at the same time then slider C will have
radial and tangential velocities
 The velocities of slider C are denoted as (Vc)A Tangential and (Vc)A
Radial
DJJ 40163 – MECHANICS OF MACHINES
VELOCITY DIAGRAM – SLIDER CRANK MECHANISM
 Figure below shows how the velocity of slider C is drawn;
c1 (radial velocity) c2 Note :

(tangential
VI This diagram shows the
velocity for slider C
only. The actual diagram
velocity) Velocity of slider C we must draw the
relative to A velocity of link AB and
a slider C
 Tangential velocity is represent by vector ac1 and radial velocity is
represent by vector c1c2
 The velocity of slider C relative to A is represent by vector ac2
DJJ 40163 – MECHANICS OF MACHINES
VELOCITY DIAGRAM – CRANK, CONNECTING
ROD & PISTON
 Consider diagram below that consists of crank, connecting
rod and piston;
VI
Tips :
A
Crank and connecting
rod is a link
𝜔

C Tips :
B Velocity of piston must relative
O
to point O (fixed point)

 Find velocity of crank OA, velocity of connecting rod AB

and velocity of piston C from the space diagram
DJJ 40163 – MECHANICS OF MACHINES
VELOCITY DIAGRAM – CRANK, CONNECTING
ROD & PISTON
 From space diagram we draw the related velocity (crank
OA, connecting rod AB and piston C);
Vab
VI A
𝜔
Tips :
Point B have 2 velocity.
So that point b can be
Voa find by intersection for
VC velocity of link AB and
C
B O velocity of piston C

 All of this velocities must be drawn in velocity diagram with

appropriate scale
DJJ 40163 – MECHANICS OF MACHINES
VELOCITY DIAGRAM – CRANK, CONNECTING
ROD & PISTON
 Now we can draw the velocity diagram;

b
VC
VI o
Tips :
Determine the piston’s
axis and then start
Vab
Voa drawing the diagram
from a fix point
a

DJJ 40163 – MECHANICS OF MACHINES

 VELOCITY DIAGRAM – CRANK, CONNECTING
ROD & PISTON
 Steps;
 First calculate the tangential velocity of VAO. Since ω is given, we can calculate the

VI
value of velocity (VA)O by using equation (ω.OA). Then convert the velocity to cm with
appropriate scale
 Determine and draw the piston’s axis and place the fix point (in this case, point O).
 Draw the tangential velocity for the crank which is (VA)O in the correct direction from
point O. The length should be in cm.
 At point A, draw the tangential vector (VB)A. in the correct direction crossing the piston
axis for which we have drawn in the second step. The crossing point should be mark as
(in this case) point B. Value of (VB)A can be determine by measuring point A to point B.
Value (VB)O which is the piston’s velocity is obtained by measuring point O to Point B.
 All value in cm must be converted back to m/s as the final value.
DJJ 40163 – MECHANICS OF MACHINES
EXAMPLE 2:
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
VI
determine the angular velocity of link AB about A.
Scale : Space diagram - 1 cm : 10 mm
Velocity diagram - 1 cm : 1 m/s

DJJ 40163 – MECHANICS OF MACHINES

 EXAMPLE 2 SOLUTION :
Space Diagram (1 cm : 10 mm); Velocity Diagram (1 cm : 1 m/s);
Space diagram scales; 2𝜋𝑁 2𝜋(2000)
𝜔𝑜𝑎 = =
1 𝑐𝑚 60 60 b 𝑣𝑏 o
OA: 50 𝑚𝑚 × = 5 𝑐𝑚 𝜔𝑜𝑎 = 209.44𝑟𝑎𝑑/𝑠

VI 600
10 𝑚𝑚 7.9 cm
1 𝑐𝑚
AB: 90 𝑚𝑚 × = 9 𝑐𝑚 𝑣𝑜𝑎 = 𝜔𝑜𝑎 × 𝑂𝐴
10 𝑚𝑚
= 209.44 × 0.05
= 10.472 𝑚/𝑠 𝑣𝑎𝑏 10.5 cm
𝑣𝑎𝑏 9.5 cm 𝑣𝑜𝑎
A Velocity diagram scales;
1 𝑐𝑚
60 0 𝑣𝑜𝑎 = 10.472 𝑚/𝑠 ×
𝜔 1 𝑚/𝑠 1060
𝑣𝑏 1060 𝑣𝑜𝑎 = 10.47 𝑐𝑚 ≈ 10.5 𝑐𝑚 a
0
30
𝑣𝑜𝑎 O
B
DJJ 40163 – MECHANICS OF MACHINES
EXAMPLE 2 SOLUTION :
Velocity of piston B; Velocity Diagram (1 cm : 1 m/s);
From velocity diagram;

VI
𝑣𝑏
1 𝑚/𝑠 b o
𝑣𝑏 = 7.9 𝑐𝑚 × = 7.9 𝑚/𝑠(𝐴𝑛𝑠) 600
1 𝑐𝑚 7.9 cm

Angular velocity of link AB;

𝑣𝑎𝑏 10.5 cm
From velocity diagram; 9.5 cm 𝑣𝑜𝑎
1 𝑚/𝑠
𝑣𝑎𝑏 = 9.5 𝑐𝑚 × = 9.5 𝑚/𝑠
1 𝑐𝑚
𝑣𝑎𝑏 9.5 1060
∴ 𝜔𝑎𝑏 = = = 105.56 𝑟𝑎𝑑/𝑠(𝐴𝑛𝑠)
𝐴𝐵 0.09 a

DJJ 40163 – MECHANICS OF MACHINES

EXAMPLE 3:
The crank OA revolves clockwise at 300 rev/min as shown in diagram below.
Find the velocity of piston B and angular velocity of link AB.
VI
(Ans: VpistonB = 1.11 m/s , ωBA = 5.55 rad/s)

Scale : Space diagram - 1 cm : 20 mm

Velocity diagram - 1 cm : 0.3 m/s
A 200 mm
B
50 mm

O 450

DJJ 40163 – MECHANICS OF MACHINES

EXAMPLE 4:
The crank OA rotates at 200 rev/min clockwise at as shown in
diagram below. Find the velocity of piston Band angular
velocity of link AB. (Ans = Vpiston B = 0.49 m/s , ωab = 6.93 rad/s)
VI
Scale : Space diagram - 1 cm : 20 mm
Velocity diagram - 1 cm : 0.1 m/s 140 mm
300
A

40 mm
O 450
B

450
DJJ 40163 – MECHANICS OF MACHINES
 EXAMPLE 5:
In the mechanism, as shown above, the crank OA rotates at 20 rpm anticlockwise and gives
motion to the sliding blocks B and D. The dimensions of the various links are OA = 300
mm; AB = 1200 mm; BC = 450 mm and CD = 450 mm. For the given configuration;
i)
ii)
iii)
Sketch Space diagram with scale of 1 cm : 100 mm.
VI
Sketch velocity diagram with scale of 1 cm : 0.1 m/s.
Find velocity of link AB. (Ans: VBA = 0.55 m/s)
iv) Find the velocity of piston D. (Ans: VpistonD = 0.26 m/s)
v) Find the angular velocity of link CD. (Ans: ωcd = 0.8 rad/s)

DJJ 40163 – MECHANICS OF MACHINES

EXAMPLE 6:
Figure below shows a link mechanism with crank OA
rotating clockwise at a constant speed of 500 rpm. Slider
B is connected to OA by link AB and it is sliding
reciprocally along horizontal OX. Angle BOA is 135°.
OA = 80 mm, AB = 210 mm, AC = 100 mm and OF = 40
mm. For this configuration,
VI
Piston D can only slide reciprocally along EF. Given that

i. Draw the space diagram using scale of 1 cm : 20 mm

ii. Draw the velocity diagram using scale of 1 cm : 0.5 m/s.
iii. Determine the sliding velocity of piston B along OX.
(Ans: vb = 2.05 ms/)
i. Determine the velocity of piston D. (Ans: vpistonD = 2.75 m/s)
ii. Find the angular velocity of CD. (Ans: ωcd = 24.31 rad/s)
iii. Determine the direction of rotation of CD and state the
reason.

DJJ 40163 – MECHANICS OF MACHINES

ACCELERATION DIAGRAM
 It is important to determine the acceleration of links
because acceleration produces inertia force in the link
VI
which stress the component parts of the mechanism.
 Accelerations may be relative or absolute (same way
as described for velocity)

DJJ 40163 – MECHANICS OF MACHINES

ACCELERATION DIAGRAM
 Acceleration of one point on a link relative to another
has two components :
VI
 Radial component due to the angular velocity of the link.
Centripetal acceleration is an example of radial
component
 Tangential component due to the angular acceleration of
the link
DJJ 40163 – MECHANICS OF MACHINES
ACCELERATION DIAGRAM
 Acceleration of one point on a link relative to another
has two components :
VI
 Radial component due to the angular velocity of the link.
Centripetal acceleration is an example of radial
component
 Tangential component due to the angular acceleration of
the link
DJJ 40163 – MECHANICS OF MACHINES
ACCELERATION OF LINKS – RADIAL ACCELERATION
 When a link rotate about a
centre at radius r, it has a
tangential velocity, v and
angular velocity, ω and it is
continually accelerating
VI
towards the centre of the link
(radial/centripetal
acceleration).
𝛼
 Diagram show a link that rotate
about point A
DJJ 40163 – MECHANICS OF MACHINES
ACCELERATION OF LINKS – RADIAL ACCELERATION
 The velocity of B relative to A is tangential (VB)A (rotate ccw)
 It shows that the direction of centripetal acceleration of link AB is towards
point A
VI
 So that the radial/centripetal acceleration is of link AB is B relative to A
 It is calculated using equation:
2
v ab
(aR ) ab = ωab ( AB)
2
or (aR ) ab =
AB
 Construction of vector for radial/centripetal acceleration is from a to b1
DJJ 40163 – MECHANICS OF MACHINES
ACCELERATION OF LINKS – TANGENTIAL
ACCELERATION
 Tangential acceleration only
occurs if the link has an

VI
angular acceleration, 𝛼 𝑟𝑎𝑑/𝑠
 Consider link AB with an
angular acceleration about A:

DJJ 40163 – MECHANICS OF MACHINES

ACCELERATION OF LINKS – TANGENTIAL
ACCELERATION
 It shows that tangential acceleration of link AB is perpendicular to the
link and act at point B

VI
 It is calculated using equation;
(𝑎 𝑇 )𝑎𝑏 = 𝛼𝑎𝑏 (𝐴𝐵)
 From previous diagram we can see that point B will have both
radial/centripetal acceleration and tangential acceleration relative to
point A
 The construction of vector for tangential acceleration is from b1 to b
 This will require an extra point. So that we will use b1 and b as
notation to construct the vector diagram
DJJ 40163 – MECHANICS OF MACHINES
ACCELERATION OF LINKS
 Diagram shows that point B
will have both centripetal
acceleration and tangential
acceleration: VI

DJJ 40163 – MECHANICS OF MACHINES

ACCELERATION OF LINKS
a
 Draw both acceleration from
point A (because B relative to
A)
 Firstly, draw the centripetal
acceleration and the
represented vector is ab1
VI aR

True Acceleration
 Then at point b1, draw the b1
tangential acceleration (aB)A
perpendicular to vector ab1
and the represented vector is
b1b aT
 The resultant acceleration of B
relative to A being given by b
vector ab
DJJ 40163 – MECHANICS OF MACHINES
ACCELERATION OF LINKS
 For several of link that C
connect to each other, we P

VI
need to draw each
acceleration for each link.
B
 The acceleration diagram
must be started at fix point
 Figure below shows four- 𝜔, 𝛼
bar mechanism and the
angular velocity and
angular acceleration of link A D
AB is given
DJJ 40163 – MECHANICS OF MACHINES
ACCELERATION OF LINKS
 Draw the diagram with appropriate scale and then determine the
acceleration for each link. (aT)dc
C

B
VI (aR)bc
P

(aR)dc
𝜔, 𝛼 (aT)ab (aT)bc
(aR)ab
A D

DJJ 40163 – MECHANICS OF MACHINES

ACCELERATION OF LINKS
 A and D are represented by a single point, since there is no
relative motion between them (same like in velocity diagram)
VI
 The centripetal and tangential acceleration of B relative to A
are given by vector ab1 and b1b respectively.
 The centripetal and tangential acceleration of C relative to B
are given by vector bc1 and c1c respectively
 The centripetal and tangential acceleration of C relative to
D are given by vector dc2 and c2c respectively
DJJ 40163 – MECHANICS OF MACHINES
ACCELERATION DIAGRAM OF LINKS
a,d
Tips :
Centripetal acceleration can
be obtain from velocity
diagram
VI c
c2

p
Use equation to find point p b1
that located on bc
b
c1

DJJ 40163 – MECHANICS OF MACHINES

ACCELERATION DIAGRAM OF LINKS
 Diagram start from fix point (in this case, a and d).
 Draw acceleration of link AB because ω and α had been given. Use the equation to find
the centripetal and tangential acceleration.

VI
 Draw the centripetal acceleration, ab1 and then draw the tangential acceleration, b1b
 Draw the acceleration of link BC. The centripetal acceleration, bc1 can be calculate by
equation:
𝑣𝑐𝑏 2 and is directed towards B. The value of vcb is obtained from the velocity
diagram. The tangential acceleration, c1c is unknown in magnitude but
𝐵𝐶 its direction is perpendicular to bc1
 Draw the acceleration of link CD. The centripetal acceleration, dc2 can be calculate by
equation:
𝑣𝑐𝑑 2 and is directed towards D. The value of vcd is obtained from the
velocity diagram. The tangential acceleration, c2c is unknown in
𝐶𝐷 magnitude but its direction is perpendicular to dc2.
 The intersection of the lines through c1 and c2 then give the point c
DJJ 40163 – MECHANICS OF MACHINES
EXAMPLE 7:
A piston, connecting rod and crank mechanism is shown in the diagram. The crank
rotates at a constant velocity of 300 rad/s. Calculate :
a) The acceleration of the piston
VI
b) The angular acceleration of link BC.

Use the following scale :

Space Diagram : 1 cm : 20 mm
Velocity Diagram : 1 cm : 2 m/s
Acceleration Diagram 1 cm : 500 m/s2
DJJ 40163 – MECHANICS OF MACHINES
EXAMPLE 7 SOLUTION:
Space Diagram (1 cm : 20 mm); Space diagram scales;
1 𝑐𝑚
𝑣𝑏𝑐 AB: 50 𝑚𝑚 × = 2.5 𝑐𝑚
20 𝑚𝑚
1 𝑐𝑚
BC: 170 𝑚𝑚 × = 8.5 𝑐𝑚

VI
20 𝑚𝑚

𝑣𝑐
75 0
A
C 150 600
𝜔 = 300 𝑟𝑎𝑑/𝑠
8.5 cm 2.5 cm

B 300

𝑣𝑎𝑏

DJJ 40163 – MECHANICS OF MACHINES

EXAMPLE 7 SOLUTION:
Velocity Diagram (1 cm : 2 m/s);
𝑣𝑎𝑏 = 𝜔𝑎𝑏 × 𝐴𝐵
= 300 × 0.05
= 15 𝑚/𝑠 𝑣𝑐

VI
a c
Velocity diagram scales; 300
1 𝑐𝑚 7.6 cm
𝑣𝑎𝑏 = 15 𝑚/𝑠 × 𝑣𝑏𝑐
2 𝑚/𝑠 3.9 cm
𝑣𝑎𝑏 7.5 cm
𝑣𝑎𝑏 = 7.5 𝑐𝑚
750
From velocity diagram;
2 𝑚/𝑠 b
𝑣𝑏𝑐 = 3.9 𝑐𝑚 × = 7.8 𝑚/𝑠
1 𝑐𝑚
2 𝑚/𝑠
𝑣𝑐 = 7.6 𝑐𝑚 × = 15.2 𝑚/𝑠
1 𝑐𝑚
DJJ 40163 – MECHANICS OF MACHINES
EXAMPLE 7 SOLUTION:
Space Diagram (1 cm : 20 mm); 𝑣𝑎𝑏 2 152
(𝑎𝑅 )𝑎𝑏 = = = 4500 𝑚/𝑠 2
𝐴𝐵 0.05
*Acceleration directions 𝑣𝑏𝑐 2 7. 82
(𝑎 𝑇 )𝑏𝑐 (𝑎𝑅 )𝑏𝑐 = = = 357.9 𝑚/𝑠 2
𝐵𝐶 0.17

VI (𝑎𝑅 )𝑎𝑏

𝑎𝑐 750
C 150 600 A
(𝑎𝑅 )𝑏𝑐

B 300

(aT)ab = 0
DJJ 40163 – MECHANICS OF MACHINES
EXAMPLE 7 SOLUTION:
Acceleration Diagram (1 cm : 500 m/s2);
b 0.7 cm
150
(𝑎𝑅 )𝑏𝑐 c’

VI
(𝑎𝑅 )𝑎𝑏 Acceleration diagram scales;
1 𝑐𝑚
9 cm (𝑎 𝑇 )𝑏𝑐 (𝑎𝑅 )𝑎𝑏 = 4500 𝑚/𝑠 2× = 9 𝑐𝑚
8 cm
500 𝑚/𝑠 2
2
1 𝑐𝑚
(𝑎𝑅 )𝑏𝑐 = 357.9 𝑚/𝑠 × = 0.7 𝑐𝑚
500 𝑚/𝑠 2

600 3.1 cm
a 𝑎𝑐 c DJJ 40163 – MECHANICS OF MACHINES
EXAMPLE 7 SOLUTION:
a) Acceleration of piston, ac;
From acceleration diagram;
500 𝑚/𝑠 2
𝑎𝑐 = 3.1 𝑐𝑚 ×
1 𝑐𝑚

b) Angular acceleration of link BC, αbc;

VI
= 1550 𝑚/𝑠 2 (𝐴𝑛𝑠)

From acceleration diagram;

500 𝑚/𝑠 2
(𝑎 𝑇 )𝑏𝑐 = 8 𝑐𝑚 × = 4000 𝑚/𝑠 2
1 𝑐𝑚

(𝑎 𝑇 )𝑏𝑐 4000
∴ 𝛼𝑏𝑐 = = = 23529.41𝑟𝑎𝑑/𝑠 2 (𝐴𝑛𝑠)
𝐵𝐶 0.17

DJJ 40163 – MECHANICS OF MACHINES

 EXAMPLE 8: Y

Figure below shows a link mechanism with crank AB rotating C

clockwise at a constant speed of 600 rpm. Piston C is connected to AB
VI
by link BC and it is sliding reciprocally along vertical AY. Angle BAC is
1550. Given that AB = 80 mm, BC = 210 mm. For this configuration,
a) Draw the space diagram using a scale 1 cm : 20 mm
b) Draw the velocity diagram using a scale of 1 cm : 0.5 m/s
c) Draw the acceleration diagram using a scale 1 cm : 50 m/s2 A
d) Determine the sliding acceleration of piston along AY (Ans: apistonC = 205 m/s2) 𝜔
e) Find the angular acceleration of BC (Ans: αbc = 5714.43 rad/s2)
f) Determine the direction of rotation for link BC B
DJJ 40163 – MECHANICS OF MACHINES
EXAMPLE 9:
A piston, connecting rod and crank mechanism is shown in Figure Q3 below. The
crank OB with a radius of 60 mm rotates clockwise at a constant velocity of 50
rad/s. B

P
VI200 mm 60 mm
300

i. Draw a space diagram with a scale of 1 cm : 20 mm

ii. Draw a velocity diagram with a scale of 1 cm : 0.5 m/s
iii. Draw an acceleration diagram with a scale of 1 cm : 15 m/s2
iv. Determine the velocity and the acceleration of the piston (Ans: vpiston = 1.95 m/s , apiston = 156 m/s2)
DJJ 40163 – MECHANICS OF MACHINES
 EXAMPLE 10:
The dimensions of the various links of a mechanism, as shown in figure below, are
as follows:
OA = 80 mm; AC = CB = CD = 120 mm. If the crank OA rotates with constant

link AB, find for the given configuration:

i. Draw the space diagram by scale of 1cm : 20mm
VI
speed at 150 rpm in the anti-clockwise direction and link CD perpendicular with

ii. Draw the velocity diagram by scale of 1cm : 0.2m/s

iii. Draw the accelerating diagram by scale of 1cm : 3m/s2
iv. Velocity and acceleration of piston B and piston D
(Ans: vpistonB = 1.02 m/s , apistonB = 1.95 m/s2 , vpistonD = 0.24 m/s , apistonD = 18 m/s2)
v. Angular acceleration of the links AB and CD.
(Ans: αab = 500 rad/s2 , αcd = 550 rad/s2)

DJJ 40163 – MECHANICS OF MACHINES

DJJ 40163:
MECHANICS OF
MACHINES

Q&A -END-

DJJ 40163 – MECHANICS OF MACHINES