1/31/2025

Quick – return mechanisms

BITS Pilani
Pilani Campus

1. Extreme positions of cutting tool

2. Cutting stroke length
(P, Q)
ω2 3. Time of cutting stroke/ return stroke time

Kinematics analysis
Lecture – 8 23 Jan, 2025
Dr J S Rathore BITS Pilani, Pilani Campus

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Quick – return mechanisms Quick – return mechanisms

R1 1. Extreme positions of cutting tool

R2
2. Cutting stroke length
(P, Q) (P, Q)
ω2 3. Time of cutting stroke/ return stroke time P on slider ω2
Q on AR

P1

P3
β
P’

OP AR P1 α P2
Vs P4
R’
Q’

O’, A’, G’ S’
BITS Pilani, Pilani Campus BITS Pilani, Pilani Campus

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Velocity analysis Instant center of velocity

Techniques of velocity analysis Instant center of velocity (Instant center of rotation)

1. Vector polygon method  is a point, about which a body rotates at any given instant
2. Instantaneous center method
 is a point, common to two bodies in a plane motion, where the velocity of
 Planar motion of a rigid body at any given instant can be considered as
two bodies is the same
pure rotation

 The concept of an instant center of velocity (Instant center of rotation) for two
bodies with planar motion was first developed by Johann Bernoulli in 1742
 Concept was later extended by Chasles in 1830 to include general 3D motion
1. Primary I-centers
2. Total number of I-centers in a planar mechanism and how to locate them? Or (21)
3. Kennedy-Aronholdt Theorem

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Instant center of velocity Instant center of velocity

Some instant centers can be located by simply inspecting a mechanism. These 2. If one link is rolling over the other, the point of contact is the relative
centers are termed as primary centers. instantaneous center.
1. If two links have a hinged joint, the location of the hinge is the relative
instantaneous center. (one link is in pure rotation with respect to the other
about that hinge)
3
(23)
2

1
Or (21)

BITS Pilani, Pilani Campus BITS Pilani, Pilani Campus

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Instant center of velocity Instant center of velocity

3. If the relative motion between the Revolute pair 3

Pure rolling 2 (23)
two links is pure sliding the relative
instantaneous center lies at infinity on a line perpendicular
to the direction of sliding.

Straight motion can be thought of Or (21) 1

(13) at ∞ rotation about a point at a great
distance.
Pure sliding
(13) at ∞

BITS Pilani, Pilani Campus BITS Pilani, Pilani Campus

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Instant center of velocity

BITS Pilani
Pilani Campus

(23)

Kinematics analysis
Lecture – 9 24 Jan, 2025
BITS Pilani, Pilani Campus

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Kennedy-Aronholdt Theorem Kennedy-Aronholdt Theorem

 Instant center of velocity: is a point, common to two bodies in plane
Kennedy-Aronholdt theorem (Kennedy’s rule):
motion, which has the same instantaneous velocity in each body.
 Total number of instant centers associated with n bodies is given by the
If three bodies are in relative planar motion with
combination formula for n things taken r at a time is:
respect to one another, the three relative instant
centers of velocity are collinear.
n!
n
Cr 
(n  r )!r!
 r = 2 since it takes two bodies or links to create an I center.
n(n  1)
N
2

I12, I13 and I23 are collinear Kennedy (1886)-Aronholdt (1872) theorem (Kennedy’s rule):

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Locating I-centers Angular velocity of link 4 ?

Step 1: Draw the position diagram assuming suitable scale

n(n  1) 12 13 14 Imagine link 2 is containing point 24 and revolving

N 23 24 about 12 or A
2
34 (34)
1 V24  ω 2 (24  12)

Now, Imagine link 4 containing point 24 and revolving

(23) about 14
4 2
ω2 V24  ω 4 (24  14)
(24) (12) (14) ω2
3

ω 2  Given
24
ω4  ?
BITS Pilani, Pilani Campus BITS Pilani, Pilani Campus

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Angular velocity of link 4 ?

V24  ω 2 (24  12)  ω 4 (24  14)

VB  VC ω3
V24  24  12 
ω4   ω2  
(24  14)  24  14 

ω 24  12
 4
ω2 24  14 ω4
ω2

ω4
ω2

BITS Pilani, Pilani Campus BITS Pilani, Pilani Campus

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Ex 1 Find the velocity of the slider if the crank rotates at 40 rad/s CW.

In a slider crank mechanism, the length of the crank and the connecting rod are 1
200 mm and 800 mm, respectively.
1. Locate all the instantaneous centers of the mechanism for the position of
4 2 (13)
the crank when it has turned 30° from the inner dead centre.
2. Also, find the velocity of the slider if the crank rotates at 40 rad/s CCW.

3
ω 2  Given Step 1: Draw the position diagram assuming suitable scale
24
V4  ? (24)

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Ex 2
BITS Pilani
Pilani Campus

The crank OP rotates at 10 rpm. Figure shows

the quick return mechanism. Locate all the
instant centers and determine
1. the velocity of the cutting tool at S
2. the angular velocity of the links AR and RS.

Acceleration Analysis
Lecture – 10 28 Jan, 25
BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956

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Fig shows a mechanism along with the dimensions of the links in mm. The crank OA rotates
Velocity Analysis
at 50 rpm in the clockwise direction. Using Instant-center method, Find:
1. The velocity of slider C. Graphical method (4 bar mechanism)
1. Four bar mechanism
2. The angular velocity of the link BC. 2. Slider-crank mechanism 1. Vector polygon method
3. Shaper (Quick-return) mechanism 2. Instantaneous center method
+ Virtual work principle
1 2  Steering system
 Suspension
6 3 ω 24  12
 4
4
ω2 24  14
5

crank OA is link (2)

 Stability of a vehicle
 Roll center
 Vehicle cornering capacity
https://en.wikipedia.org/wiki/Roll_center 24
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Outline
BITS Pilani
Pilani Campus

 Instantaneous center method

 Tutorial on 29th Jan is practice session
 First evaluative tutorial on 5th Feb on drawing sheet
 4th Feb class will be on AUTOCAD
 Acceleration analysis

Acceleration Analysis
Lecture – 11 30 Jan, 25
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BITS Pilani, Pilani Campus

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12, 13, 14, 15, 16

Acceleration analysis

B ω(t)

r
A (r = cons, θ varying)
θ

Acceleration
 Critical kinematic property
 Important part of mechanism design (strength of links and joints)
 Normal or radial acceleration ( a r ) : due to change in velocity direction
 Tangential acceleration ( a t ): due to change in magnitude of velocity 28
BITS Pilani, Pilani Campus BITS Pilani, Pilani Campus

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Acceleration analysis Graphical analysis of a 4-bar mechanism

Acceleration of a point B wrt A  aCA  aBA  aCB  aCD

r t r t r t
 aBA  a BA  aCB  aCB  aCD  aCD
B ω(t)
A” 1 2 3 4 5 6
α α
r
A aBA  ω  ( ω  rAB ) θ2 Vector Magnitude Direction Sense
1 B” r
ab t
aBA  α  (rAB ) CD 1 aBA
t
C’ 2 aBA
2 BC 3
E’
a B  a A  ω  ( ω  rAB )  α  rAB A’, D’ 4
F’ 5
1 2
B’ 6
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BITS Pilani, Pilani Campus
AB 30
BITS Pilani, Pilani Campus

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Slider-crank mechanism
Given : All link lengths and angle θ1. Determine the acceleration of slider B. BITS Pilani
Pilani Campus

O’, G’ B’

OA rotates at uniform angular velocity and slider moves along x-axis. A’

B” O”, G”
 aBO  a AO  aBA  aBG
Acceleration Analysis
r t
 a AO  a BA  a BA  aBG
ab A”
1 2 3 4 Lecture – 12 31 Jan, 25
31
BITS Pilani, Pilani Campus

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C’
r t r t r t
 aBA  a BA  aCB  aCB  aCD  aCD A’, D’
E’
CD F’
C’
B’
A’, D’
E’ BC A”, D”
α F’
A”, D”
α Acceleration of any offset point F
θ2 B’
(1) AB θ2
Vector Mag Dire Sense
(5) Acceleration of any
1 r
aBA  - II AB A intermediate point E  a FA  a FD
t C”
2 aBA  -  AB  B
3 aCr B II BC B
 aBA  aFB  aCD  aFC
 - C” (6)
cd BE BE  B”
4 t
aCB  BC ab (2)    AB  a FB
r t
 aFB  C D  aFC
r t
 aFC
F”
r BC BC 
5 aCD  - II CD  D (4) B”
t bc(3) 1 2 3 4
6 aCD  CD 33
BITS Pilani, Pilani Campus BITS Pilani, Pilani Campus

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Ex 1 Ex 2
OA rotates at 60 rpm counter-clockwise.
1. Draw position, velocity and acceleration diagram. In the mechanism shown in Fig, the crank OA drives the sliders B and D in straight paths
2. Determine the linear accln of slider B and angular accln of link BD. through the connecting links ACB and CD.
The lengths of the links are OA = 150 mm, AB = 300 mm, AC = 100 mm, CD = 450 mm.
The crank OA is rotating at 60 rpm clockwise and at the instant has an angular retardation of
8 rad/s2.

1. Draw position diagram at suitable scale,

mention scale for position diagram.
2. Determine the velocity of sliders B and D,
mention scale for velocity diagram.
3. Determine the acceleration of sliders B and
D, mention scale for acceleration diagram.
4. Determine angular velocity and angular
acceleration of link CD.
ω
α2

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