Sub: KOM QueStiOn banK SOlutiOn unit-02

1. Explain instantaneous centre of rotation and Define the following:

i) Centrode ii) Instantaneous axis. iii) Axode.

ANS: Instantaneous centre of rotation

Sometimes, a body bas simultaneously a motion of rotation as well as translation, such as
wheel of a car, a sphere rolling (but not slipping) on the ground. Such a motion will have the
combined effect of rotation and translation.

Consider a rigid link AB, which moves from its initial position AB to A1B1 as shown in Fig.
(a). A little consideration will show that the link neither has wholly a motion of translation
nor wholly rotational, but a combination of the two motions. In Fig. (a), the link has first the
motion of translation from AB to A1B’ and then the motion of rotation about A1 till it
occupies the final position A1B1. In Fig. (b), the link AB bas first the motion of rotation from
AB to AB’ about A and then motion of translation from AB’ to A1 B1. Such a motion of link
AB to A1 B1 is an example of combined motion of rotation and translation, it being
immaterial whether the motion of rotation takes first, or the motion of translation. In actual
practice, the motion of link AB is so gradual that it is difficult to see the two separate
motions. But we see the two separate motions, though the point B moves faster than the point
A. Thus, this
combined motion of rotation and translation of the link AB may be assumed to be a motion of
pure rotation about some centre I, known as the instantaneous centre of rotation (also called
centro or virtual centre).
Since the points A and B of the link has moved to A1 and B1 respectively under the motion of
rotation (as assumed above), therefore the position of the centre of rotation must lie on the
intersection of the right bisectors of chords A A1 and B B1. Let these bisectors intersect at I as
shown in Fig., which is the instantaneous centre of rotation or virtual centre of the link AB.
From above, we see that the position of the link AB goes on changing, therefore the centre
about which the motion is assumed to
take place (i.e. the instantaneous centre of rotation) also goes on changing. Thus the
instantaneous centre of a moving body may be defined as that centre which goes on
changing from one instant to another. The locus of all such instantaneous centres is known
as centrode. A line drawn through an instantaneous centre and perpendicular to the plane of
motion is called instantaneous axis. The locus of this axis is known as axode.

Qu.2 a) State the Properties of the Instantaneous Centre.

ANS:
1. A rigid link rotates instantaneously relative to another link at the instantaneous centre for
the configuration of the mechanism considered.
2. The two rigid links have no linear velocity relative to each other at the instantaneous
centre. At this point (i.e. instantaneous centre), the two rigid links have the same linear
velocity relative to the third rigid link. In other words, the velocity of the instantaneous centre
relative to any third rigid link will be same whether the instantaneous centre is regarded as a
point on the first rigid link or on the second rigid link.

b) Explain in brief different types of instantaneous centre.

ANS: The instantaneous centres for a mechanism are of the following three types :
1. Fixed instantaneous centres,
2. Permanent instantaneous centres, and
3. Neither fixed nor permanent instantaneous centres.

The first two types i.e. fixed and permanent instantaneous centres are together known as
primary instantaneous centres and the third type is known as secondary instantaneous
centres. Consider a four bar mechanism ABCD as shown in Fig. The number of
instantaneous centres (N) in a four bar mechanism is given by

The instantaneous centres I12 and I14 are called the fixed instantaneous centres as they
remain in the same place for all configurations of the mechanism. The instantaneous
centres I23 and I34 are the permanent instantaneous centres as they move when the
mechanism moves, but the joints are of permanent nature. The instantaneous centres I13
and I24 are neither fixed nor permanent instantaneous centres as they vary with the
configuration of the mechanism. Note: The instantaneous centre of two links such as link 1
and link 2 is usually denoted by I12 and so on. It is read as I one two and not I twelve.

Qu. 3 State and explain Aronhold Kennedy (or Three Centres in Line) Theorem
Ans: The Aronhold Kennedy’s theorem states that if three bodies move relatively to each
other, they have three instantaneous centres and lie on a straight line.
Consider three kinematic links A, B and C having relative plane motion. The number of
instantaneous centres (N) is given by

where n = Number of links = 3

The two instantaneous centres at the pin joints of B with A, and C with A (i.e. Iab and Iac )
are the permanent instantaneous centres.
According to Aronhold Kennedy’s theorem, the third instantaneous centre Ibc must lie on
the line joining Iab and Iac .
In order to prove this, Let us consider that the instantaneous centre Ibc lies outside the line
joining Iab and Iac as shown in Fig. The point Ibc belongs to both the links B and C.
Let us consider the point Ibc on the link B. Its velocity VBC must be perpendicular to the
line joining Iab and Ibc. Now consider the point Ibc on the link C. Its velocity VBC must be
perpendicular to the line joining Iac and Ibc. We have already discussed, that the velocity of
the instantaneous centre is same whether it is regarded as a point on the first link or as a
point on the second link. Therefore, the velocity of the point Ibc cannot be perpendicular to
 both lines Iab Ibc and Iac Ibc unless the point Ibc lies on the line joining the points Iab and Iac .
Thus the three instantaneous centres (Iab, Iac and Ibc) must lie on the same straight line. The
exact location of Ibc on line Iab I ac depends upon the directions and magnitudes of the
angular velocities of B and C relative to A.

Qu. 4 State the rules may be used in locating the instantaneous centres in a
mechanism with neat sketch.

ANS: The following rules may be used in locating the instantaneous centres in a mechanism
:
1. When the two links are connected by a pin joint (or pivot joint), the instantaneous
centre lies on the centre of the pin as shown in Fig. (a). Such a instantaneous centre is
of permanent nature, but if one of the links is fixed, the instantaneous centre will be of
fixed type.

2. When the two links have a pure rolling contact (i.e. link 2 rolls without slipping upon
the fixed link 1 which may be straight or curved), the instantaneous centre lies on
their point of contact, as shown in Fig. (b). The velocity of any point A on the link 2
relative to fixed link 1 will be perpendicular to I 12 A and is proportional to I12 A . In
other words
3. When the two links have a sliding contact, the instantaneous centre lies on the
common normal at the point of contact. We shall consider the following three cases :

(a) When the link 2 (slider) moves on fixed link 1 having straight surface as shown in
Fig. (c), the instantaneous centre lies at infinity and each point on the slider have the
same velocity.

(b) When the link 2 (slider) moves on fixed link 1 having curved surface as shown in
Fig. (d) ,the instantaneous centre lies on the centre of curvature of the curvilinear path
in the configuration at that instant.

(c) When the link 2 (slider) moves on fixed link 1 having constant radius of curvature
as shown in Fig. (e), the instantaneous centre lies at the centre of curvature i.e. the
centre of the circle, for all configuration of the links.
 Qu. 5 Explain the Method of Locating Instantaneous Centres in a Mechanism
Ans:

Consider a pin jointed four bar mechanism as shown in Fig. (a). The following
procedure is adopted for locating instantaneous centres.
1. First of all, determine the number of instantaneous centres (N) by using the
relation

2. Make a list of all the instantaneous centres in a mechanism. Since for a four bar
mechanism, there are six instantaneous centres, therefore these centres are listed as
shown in the following table (known as book-keeping table).

3. Locate the fixed and permanent instantaneous centres by inspection. In Fig. (a), I12
and I14 are fixed instantaneous centres and I23 and I34 are permanent instantaneous
centres. Note. The four bar mechanism has four turning pairs, therefore there are four
primary (i.e. fixed and permanent) instantaneous centres and are located at the centres
of the pin joints.
4. Locate the remaining neither fixed nor permanent instantaneous centres (or
secondary centres) by Kennedy’s theorem. This is done by circle diagram as shown in
Fig. 6.8 (b). Mark points on a circle equal to the number of links in a mechanism. In the
present case, mark 1, 2, 3, and 4 on the circle.
5. Join the points by solid lines to show that these centres are already found. In the
circle diagram [Fig. (b)] these lines are 12, 23, 34 and 14 to indicate the centres I12, I23,
I34 and I14.
6. In order to find the other two instantaneous centres, join two such points that the line
joining them forms two adjacent triangles in the circle diagram. The line which is
responsible for completing two triangles, should be a common side to the two triangles.
In Fig. (b), join 1 and 3 to form the triangles 123 and 341 and the instantaneous centre*
I13 will lie on the intersection of I12 I23 and I14 I34, produced if necessary, on the
mechanism. Thus the instantaneous centre I13 is located. Join 1 and 3 by a dotted line
on the circle diagram and mark number 5 on it. Similarly, the instantaneous centre I24
will lie on the intersection of I12 I14 and I23 I34, produced if necessary, on the
mechanism. Thus I24 is located. Join 2 and 4 by a dotted line on the circle diagram and
mark 6 on it. Hence all the six instantaneous centres are located.