Graphical Analysis

Position
Draw the mechanism to scale and measure all angles

Velocity
1) Instant Center Method

2) Velocity Polygon Method

Acceleration
Acceleration Polygon Method
 Instant Center Method
A graphical method to determine the angular velocity of any
desired link, given the input rotational velocity (magnitude and
direction).

The Instant Center is a point at which there is no relative

velocity between two links of a mechanism at that instant.

If the two links are connected by a pin joint, the joint is the instant
center of the two links.

Ao is the instant center of

links 1 (ground) and link 2.
For all positions of the link
2 the instant center (1,2)
remains at Ao
Instant Center Method – Kennedy’s Theorem
The theorem deals with the three instant centers of three links

Find instant
center (2,3)

The three instant centers of three links moving relative to each

other must lie on a straight line.
Instant Center Method – Kennedy’s Theorem

If the common instant center (2,3) lies between the other

two instant centers, (1,2) and (1,3), then ω3 rotates in the
opposite direction of ω2. Otherwise, ω3 rotates in the same
direction as ω2.
 Number of Instant Centers of a Mechanism

Number of combination of n distinct things taken r at a time is:

n!
M=
r ! (n - r)!

For a mechanism:
n = number of links
r = 2 (two links at a time)

n (n – 1)(n – 2)! n (n – 1)
Number of instant centers = =
2 ! (n - 2)! 2

4 (4 – 1)
Number of instant centers for a 4-bar mechanism = =6
2
 Instant Centers of a 4-Bar Mechanism
(1,3) has to
(1,3)
(1,3) has to lie on this line
lie on this line
B
3
A (3,4)
(2,3)
4

(2,4) (1,2) (1,4)

O2 O4
To locate IC (1,3):

Consider links 1,2,3: instant centers (1,2), (2,3), and (1,3) have to lie on
a straight line, connect O2 to A and extend.

Consider links 1,3,4: instant centers (1,4), (3,4), and (1,3) have to lie on
a straight line, connect O4 to B and extend.
The intersection of the two lines is instant center (1,3)
 Instant Centers of a 4-Bar Mechanism
(1,3)
P
ω3 (1,2) to (2,3) O2 A
= =
ω2 (1,3) to (2,3) AP B
3 (3,4)
A
ω3 and ω2 rotate in the opposite direction,
(2,3)
4
IC (2,3) lies between (1,3) and (1,2)
2
(2,4) (1,2) (1,4)

M
ω4 (1,2) to (2,4) O2 M O2 O4
= =
ω2 (1,4) to (2,4) O4 M

ω4 and ω2 rotate in the same direction,

IC (2,4) lies outside of (1,2) and (1,4)

 Instant Centers of a Crank-Slider Mechanism
(1,3)
ω3 (1,2) to (2,3)
Q
=
ω2 (1,3) to (2,3)

(1,2,3) (1,2), (1,3), (2,3) (2,4)

(1,3) N (1,4) at 
(1,4,3) (1,4), (1,3), (4,3) A

2 3
(2,3)
(1,2) B (3,4)
(1,2,4) (1,2), (1,4), (2,4)
(2,4) 4
(2,3,4) (2,3), (3,4), (2,4) O2
slider

ω3 O2 A ground
1 4
=
ω2 AQ

Radius of
curvature
(1,4)
 Example - Instant Center Method
Given ω2 determine ω6 6(6 – 1)
# of Instant Centers = = 15
D 2
(5,6)
(1,6) 6
1
O4 (1,5)
6 2
(2,6) 5

(2,3)
A (2,5) 3
(3,5)
2 (3,4) B
(1,2) 4 5 3
C
O2
ω6 (1,2) to (2,6) (1,4) at  4
=
ω2 (1,6) to (2,6) (1,3) (1,5) (2,5) (2,6)
(1,2,3) (1,2), (1,3), (2,3) (2,3,5) (2,3), (3,5), (2,5)
(1,3) (2,5)
(1,4,3) (1,4), (1,3), (4,3) (2,1,5) (2,1), (1,5), (2,5)
(1,3)
(1,3,5) (1,3), (1,5), (3,5)
(1,5) (6,1,2) (6,1), (1,2), (2,6)
(1,6,5) (1,6), (1,5), (6,5) (2,6)
(6,5,2) (6,5), (5,2), (2,6)
Instant Center method
Given ω2 determine ω6
D

(1,6) 6 (5,6)
O4 1

5 6 2

(2,3)
A (2,6) 3
(3,5) B
2 (3,4)
(1,2) (3,6) 4
C 3
5
O2

4
(1,4) at 

(1,3)