Instantaneous Centre of Velocity
(Kinematics of Machinery)
Vivek Kumar Mehta
April 9, 2025
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Outline
1 Introduction to Instantaneous Centre
2 Example: 4R Mechanism
3 Velocity Analysis 4R Mechanism
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Introduction to Instantaneous Centre
Instantaneous Centre of Velocity
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Introduction to Instantaneous Centre
Instantaneous Centre of Velocity
A B
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Introduction to Instantaneous Centre
Instantaneous Centre of Velocity
2
VA
A α B
β
VB
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Introduction to Instantaneous Centre
Instantaneous Centre of Velocity
2
VA
A α B
β
VB
?
ar
to
VB
I ?
a
r
to
V
A
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Introduction to Instantaneous Centre
Instantaneous Centre of Velocity
Under the rigid body assumption
VA cos α = VB cos β 1
Considering 4 ABI, and applying the
1
sine rule π
A β 2
B
2
VA π
α
A 2
α B I
β AI BI
sin( π2 β) = sin( π2 α)
VB or,
ar
to
VB
I
?
?
AI BI
a
=
r
cos β cos α 2
to
V
A
Combining 1 and 2 gives us
VA VB
AI = BI
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Introduction to Instantaneous Centre
Instantaneous Centre of Velocity
Let’s assume
VA VB
= =ω
AI BI
⇒ VA = ωAI
VB = ωBI
Is there a point on link (body) 2, which has zero velocity?
What will be the velocity of any other point of body 2?
Pure Rotation
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Introduction to Instantaneous Centre
Instantaneous Centre of Velocity
Let’s assume
VA VB
= =ω
AI BI
⇒ VA = ωAI
VB = ωBI
Is there a point on link (body) 2, which has zero velocity?
What will be the velocity of any other point of body 2?
Pure Rotation
vkmehta Instantaneous Centre April 9, 2025 8 / 21
Introduction to Instantaneous Centre
Instantaneous Centre of Velocity
Let’s assume
VA VB
= =ω
AI BI
⇒ VA = ωAI
VB = ωBI
Is there a point on link (body) 2, which has zero velocity?
What will be the velocity of any other point of body 2?
Pure Rotation
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Introduction to Instantaneous Centre
Instantaneous Centre of Velocity
VA VB
= =ω
AI BI
⇒ VA = ωAI
VB = ωBI
ω is the instantaneous angular velocity of the moving link.
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Introduction to Instantaneous Centre
Instantaneous Centre of Velocity
Is there a point on link (body) 2, which has zero velocity?
What will be the velocity of any other point of body 2?
2
VA
A α B
C β
ar
to
VB
I VB
?
?
a
r
to
V
A
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Introduction to Instantaneous Centre
Instantaneous Centre of Velocity
The point I has zero velocity at this instant. Hence, the name
Instantaneous Centre of rotation/velocity. Its instantaneous velocity
is zero.
Magnitude of VC = VC = ωCI, with direction perpendicular to line
CI. Similarly, the velocity of any point on the body 2 can be
determined.
1
2
VA
A α B
C β
VC
ar
to
VB
I VB
?
?
a
r
to
V
A
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Introduction to Instantaneous Centre
Instantaneous Centre of Velocity
The relative instantaneous centre between two bodies can be defined as
two coincident points belonging to these bodies, which have no relative
motion or same velocity.
In a mechanism, where several links are in motion with respect to one
another, we can define relative instantaneous centres between each pair
of links.
n(n−1)
Hence for a mechanism with n number of links, we can locate 2
relative instantaneous centres.
Absolute instantaneous centres : Between two such links in which one of
the link is fixed. Hence, the absolute instantaneous centre can be seen as
the relative instantaneous centre with respect to the fixed link.
The instantaneous velocity of a relative instantaneous centre is same for
both the links.
Obviously, the instantaneous velocity of an absolute instantaneous
centre is zero.
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Introduction to Instantaneous Centre
Locating Instantaneous Centres
How to locate instantaneous centres?
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Introduction to Instantaneous Centre
Locating Instantaneous Centres
If two links are connected using a hinge joint or revolute pair, the
location of hinge is the relative instantaneous centre between those two
links.
If the relative motion between the two links is pure sliding, the relative
instantaneous centre lies at infinity on a line perpendicular to the
direction of sliding.
For the case of rolling without slipping, the contact point is the relative
instantaneous centre.
If a link is sliding over a curved surface, the centre of curvature at any
instant is the relative instantaneous centre.
If the relative motion between two links is both rolling and sliding, the
relative instantaneous centre lies on the common normal to the surfaces
of these links passing through the contact point. Locating it exactly need
some more information.
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Introduction to Instantaneous Centre
Locating Instantaneous Centres: Aronhold-Kennedy
Theorem
Aronhold-Kennedy Theorem of Three Centres : If three bodies are in
relative motion with respect to one another, the three relative instantaneous
centres of velocity are collinear.
I23 ?
2
3
I12
I13
Fixed link 1
Instantaneous Centre can lie outside the physical boundary of the
bodies.
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Introduction to Instantaneous Centre
Locating Instantaneous Centres: Aronhold-Kennedy
Theorem
Aronhold-Kennedy Theorem of Three Centres : If three bodies are in
relative motion with respect to one another, the three relative instantaneous
centres of velocity are collinear.
I23 ?
2
3
I12
I13
Fixed link 1
Instantaneous Centre can lie outside the physical boundary of the
bodies.
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Example: 4R Mechanism
Example : 4R Mechanism
I34 or I43
B Instantaneous
I23 or I32 Centres
A
O2 O4 I14 or I41
I12 or I21
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Example: 4R Mechanism
Example : 4R Mechanism
I34 or I43
B Instantaneous
I23 or I32 Centres
A
I24 or I42 O2 O4 I14 or I41
I12 or I21
I13 or I31
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Example: 4R Mechanism
Locating Instantaneous Centres
Why to locate instantaneous centres?
To perform velocity analysis graphically.
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Example: 4R Mechanism
Locating Instantaneous Centres
Why to locate instantaneous centres?
To perform velocity analysis graphically.
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Velocity Analysis 4R Mechanism
Velocity Analysis 4R Mechanism using Instantaneous
Centres
VC Given θ̇2 , find θ̇3 , θ̇4 and ve-
C B locity of any point on any
VC I34 or I43 of the moving links at the
I23 or I32 given instant
A
→
− −−→ − −−→
VA = → −
ω 2 × O2 A = → ω 3 × I13 A
ω2 θ2
VA →
−
⇒ || V A || = θ̇2 O2 A = θ̇3 I13 A
Similarly,
I24 or I42 O2 O4 I14 or I41 →
− −−→ − −−→
VB = → −
ω 3 × I13 B = → ω 4 × O4 B
I12 or I21
→
−
⇒ || V B || = θ̇3 I13 A = θ̇4 O4 B
I13 or I31 Also,
→
− −−→
VC = →−ω 3 × I13 C
→
−
⇒ || V C || = θ̇3 I13 C
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Velocity Analysis 4R Mechanism
Thank You!
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Velocity Analysis 4R Mechanism
Pure Rotation
!
− −−!
VA = !
−
! × OA
!
− −−!
VB = !
−
! × OB A V B
B ! : Angular speed of the ro-
VA = !AO
90o ! tating body
VB = !BO
or,
VA O
VA VB
AO = BO =!
Return
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