Chapter 2: Kinematic Analysis Analytical Approach

2.1. Introduction
Kinematics is the study of motion without consideration of what causes the motion. In other words, the
input motion is assumed to be known and the objective is to find the transformation of this motion.
Kinematic analysis comprises the following steps, [1]:

Make a skeletal representation of the real mechanism.

Choose a coordinate system.
Identify all links by numbers.
Identify all angles characterizing link positions.
Write a loop-closure equation.
Identify input and output variables.
Solve the loop-closure equation.

What is a loop-closure equation?

After choosing the coordinate system, we construct a closed polygon of vectors representing active
lengths of all links comprising the mechanism. Let us demonstrate this trough an example of a four-bar
linkage as shown in Figure 1.

r3

r2

r4

r1

r1
Figure 1: The position vector polygon (closed loop)
According to the vectors directions, the loop-closure equation is given by

G G G G
r1 + r2 + r3 + r4 = 0

Yk

(1)

Chapter 2: Complex Number Approach

The loop-closure Equation (1); can be written in alternative forms according to the chosen
orientations of vectors in the loop; as shown in Figure 2.

r3

r4
a
r2

r1

r3
r4
b

r2
r1
Figure 2: Alternative loop-closure configurations

(a)

Khulief

(b)

G G G G
r1 = r2 + r3 + r4
G G G G
r2 + r3 = r1 + r4

(2)
(3)

Chapter 2: Complex Number Approach

2.2. Position Analysis
For position analysis, we need to solve the loop-closure equation; which is a vector equation. Vectors
can be represented in different algebraic notations; e.g. geometric, matrix, or complex number
notations. In this course, we will adopt the complex number representation of vectors. The following is
a reminder on the basic algebra of complex numbers:

Im

P
r

Re

Figure 3: Complex number notations

The position of point P is defined by the position vector rP , which can be written in complex number
notations as

G
rP = a + jb = r cos + j r sin = r e j

(a)

where a is the component along the real axis (Re), b is the component along the imaginary axis (Im),
and j = 1

Velocity of point P is given by

d rP d (r e j )
G
vP =
=
= r e j + jr e j
dt
dt

(b)

Khulief

where r e j is the translational velocity due to the rate of change of the length of r, and jr e j is the
rotational velocity due to the rate of change of orientation of the vector r.

Chapter 2: Complex Number Approach

General rule of differentiation of vectors: The derivative of a vector, in general, produces two
terms; one due to rate of change of its length and another due to rate of change of its orientation.
Acceleration of point P is given by

d vP d  j
G
aP =
r e + jr e j
=
dt
dt
j
 + jr e j + jr e j + jr e j r 2 e j
= re
r r 2 ) e j + j (r + 2r ) e j
= (

(c)

Now, let us go back to solving the loop-closure equation (e.g. Eq. 1) of the four-bar linkage, which can
be expressed in complex number notations as

G G G G
r1 + r2 + r3 + r4 = 0
r1e j1 + r2 e j2 + r3e j3 + r4 e j4 = 0
( r1 cos 1 + jr1 sin 1 ) + (r2 cos 2 + jr2 sin 2 )

(4)

+ ( r3 cos 3 + jr3 sin 3 ) + (r4 cos 4 + jr4 sin 4 ) = 0

Now, split real and imaginary terms to obtain two scalar equations as

Re:

r1 cos 1 + r2 cos 2 + r3 cos 3 + r4 cos 4 = 0

(5)

Im:

r1 sin 1 + r2 sin 2 + r3 sin 3 + r4 sin 4 = 0

(6)

Equations (5) and (6) can be solved for two unknowns depending on the data available for the problem
under consideration.

As another demonstration, consider the slider-crank mechanism. Referring to Figure 4, the loopclosure equation is given by
G G G
r1 + r2 + r3 = 0

(8)

Khulief

Observe how the angles are defined with respect to the positive x-axis and measured in
counterclockwise direction.

Chapter 2: Complex Number Approach

Figure 4: Slider-crank mechanism

EXAMPLE 2.1
Perform position analysis for the following four-bar linkage:

4
r3
r4

3
r2

Khulief

r1

Chapter 2: Complex Number Approach

The following data is given: r1 = 120mm , r 2 = 60mm , r 3 = 140mm and r 4 = 80mm , and the
angle between the crank (Link 2) and the fixed link is 2 = 115o . Determine the orientations of links
3 and 4.
SOLUTION

Constructing the loop-closure as shown in the figure; one can write the loop-closure equations as

G G G G
r1 + r2 + r3 + r4 = 0

(a)

This can be expanded as

r1e j 1 + r2e j 2 + r3e j 3 + r4e j 4 = 0

( r1 cos 1 + jr1 sin 1 ) + ( r2 cos 2 + jr2 sin 2 )
+ ( r3 cos 3 + jr3 sin 3 ) + ( r4 cos 4 + jr4 sin 4 ) = 0
Now, splitting into two scalar equations as

Re:

r1 cos180 + r2 cos115 + r3 cos 3 + r4 cos 4 = 0

(b)

Im:

r1 sin180 + r2 sin115 + r3 sin 3 + r4 sin 4 = 0

(c)

Now, solving Equations (b) and (c) in two unknowns to get

3 = 43o and 4 = 309.2o = 50.8o

Are these answers correct? (redo calculations)

Also, redo the same problem using the following two alternative loop-closure configurations. Observe
the definitions of angles in each case.

G G G G
r1 = r2 + r3 + r4
G G G G
(b) r2 + r3 = r1 + r4

Khulief

(a)

Chapter 2: Complex Number Approach

2.3. Velocity Analysis
Since loop-closure equation is basically a position equation; one can just carry out the differentiation
with respect to time to obtain the velocity equation; e.g. for a four-bar linkage

d G G G G
( r1 + r2 + r3 + r4 ) = 0
dt
d
r1e j1 + r2 e j2 ......... + r4 e j4 = 0
dt
r1e j1 + jr11e j1 + r2 e j 2 + jr22 e j2 ........... + r4 e j 4 + jr44 e j 4 = 0

Now, split the real and imaginary parts to get two scalar equations and solve.

EXAMPLE 2.2
Perform velocity analysis for the slider-crank mechanism shown in the figure, where r2 = 1cm ,
r3 = 4 cm , 2 = 60o and 2 = 10 rad / sec .

SOLUTION

Khulief

The loop-closure equation can be written for the loop shown in the second figure as
G G G
(a)
r1 + r2 + r3 = 0
First we need to do position analysis by solving Eq. (a), or we can just solve the triangle using sine
and cosine rules. Now, using cosine rule

r32 = r12 + r22 2r1 r2 cos 60o

Solve to get r1 = 4.405 cm

(4) 2 = r12 + 1 2r1 cos 60o

Chapter 2: Complex Number Approach

Also, using the cosine rule we get

r
r2
= 3 3 = 347.5o
sin(360 3 ) sin 60
Now, all dimensions are known, and we can start velocity analysis

d G G G
( r1 + r2 + r3 ) = 0
dt
d
r1e j1 + r2 e j2 + r3e j3 = 0
dt
r1e j1 + jr11e j1 + r2 e j 2 + jr22 e j 2 + r3e j3 + jr33e j3 = 0

Expand to get
r1 (cos 1 + j sin 1 ) + jr22 (cos 2 + j sin 2 ) + jr33 (cos 3 + j sin 3 ) = 0
Split into two scalar equations

Re:

r1 cos180 r22 sin 60 r33 sin 347.5o = 0

(b)

Im:

r1 sin180 + r22 cos 60 + r33 cos 347.5o = 0

(c)

where 2 = 2 = 10 rad / s . Solving equations (b) and (c) in the two unknowns r1 and 3 to get
r1 = 9.768 cm / sec

3 = 1.280 rad / sec 1.28 rad / s CW

EXAMPLE 2.3

Khulief

In the mechanism shown, s = 10 in / s and 

s = 0 in / s 2 for the position corresponding to = 60.
Find  for that position using the loop equation approach.
SOLUTION

Chapter 2: Complex Number Approach

Using the loop-closure equation corresponding to the figure as

G G G
r3 = r1 + r2

(a)

Differentiating Eq. (a) to get

G
d r3 d G G
= ( r1 + r2 )
dt
dt
d
d
r3e j3 =
r1e j1 + r2 e j2
dt
dt
r3e j3 + jr33e j3 = r1 e j1 + jr11e j1

r3 (cos 60 + j sin 60) + jr33 (cos 60 + j sin 60) = (10) (cos 0 + j sin 0)

Re:

0.5 r3 0.866 r3 3 = 10

(b)

Im:

0.866 r3 + 0.5 r3 3 = 0

(c)

Noting that r3 = 10 / sin 60 = 11.547 in

Solving equations (b) and (c) in the two unknowns r3 and 3 to get
r3 = 5 in / sec
Khulief

3 =  = 0.75 rad / sec 0.75 rad / s CCW

Chapter 2: Complex Number Approach

2.4. Acceleration Analysis
Carry out the differentiation of the velocity equation with respect to time to obtain the acceleration
equation; e.g. for a four-bar linkage

d2 G G G G
( r1 + r2 + r3 + r4 ) = 0
dt 2
d2
r1e j1 + r2 e j2 ......... + r4 e j 4 = 0
2
dt
d
r1e j1 + jr11e j1 + r2 e j 2 + jr22 e j2 ........... + r4 e j4 + jr44 e j4 = 0
dt

r1e j1 + 2 jr11 e j1 r112 e j1 + jr11 e j1 .......................... jr44 e j4 = 0

Now, split the real and imaginary parts to get two scalar equations and solve.

EXAMPLE 2.4
Find the angular acceleration  for the mechanism of problem 2.3.
SOLUTION

Differentiate the velocity equation as

d
r3e j3 + jr33e j3 = r1 e j1
dt


r3e j3 + 2 jr33 e j3 r332 e j3 + jr33 e j3 = 
r1 e j1

(a)

Expanding Eq. (a) into sine & cosine terms, split the real and imaginary parts to get two scalar
equations in two unknowns r3 and 3 to get

Khulief

3 =  = 0.65 rad / s 2 CCW

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Chapter 2: Complex Number Approach

EXAMPLE 2.5
The general action of a person who is doing pushups can be modeled as a four-bar linkage as shown
below. The floor is the base link, and link 4 is the back and legs. Link 2 is the forearm, and link 3 is
the upper arm. For the purposes of analysis, the motion that is controlled is the motion of link 3
relative to link 2 (elbow joint). Assume that 3 = 2 + 0.6 rad / s . Compute the angular velocity
and angular acceleration of link 4 if link 2 is oriented at 45 to the horizontal.

SOLUTION
a)

Position analysis
The loop closure equation may be
structured as shown in the figure.

G G G G
r1 + r4 = r2 + r3

Khulief

(a)
Expand Eq. (a) and split into real and
imaginary to get two scalar equations

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Chapter 2: Complex Number Approach

Now, the above equation can be simplified as

(b)
Solve Eq. (b) to get

b)

3 = 149.12

and 4 = 164.24

Velocity Analysis

Now, differentiate Eq. (a); expand and split Real & Imaginary to get:

(c)
Solve Eqs.(c) to get 2 = 1.55rad / s CW and

c)

4 = 1.2rad / s CCW

Acceleration Analysis

Similarly, differentiate the velocity equation, expand and split Real & Imaginary to get:

(d)

Khulief

Solve Eqs.(d) to get 4 = 3.29rad / s

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CCW

Chapter 2: Complex Number Approach

One final Remark:
How about complex mechanisms; i.e. multi-loop mechanisms?
Consider the following mechanism:
In this case, the mechanism can be represented
by two loop-closure equations as shown below.

r1

r5

r6

rCA
r2

r4
rBA

Now, the two loop-closure equations may be written as

G G
G
r2 + rBA = r4
G G
G G G
r2 + rCA + r5 = r6 + r1

Khulief

G
Note that AB = AC = 3 and r1 is constant at the value of 0.75, and therefore will vanish
upon differentiation.

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