Displacement, Velocity and Acceleration Analysis of Plane Mechanisms

8/31/2016
Displacement,VelocityandAccelerationAnalysisofPlaneMechanisms
Displacement, Velocity
and Acceleration Analysis
of Plane Mechanisms
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Velocity Analysis in Mechanism
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Let a rigid link OA, of length r rotate about a xed point O with
a uniform angular velocity rad/s in a counter-clockwise
direction OA turns through a small angle in a small interval
Displacement, Velocity and
of time t. Then, A will travel along the arc AA as shown in
Acceleration Analysis of
gure.
Plane
Mechanisms
Dynamic Analysis of
Linkages
Velocity of A relative to O
Cams
Gears and Gear Trains
In the limits, when
Flywheels and Governors
Balancing of Reciprocating
and Rotating Masses
Thus, velocity of A is r and is perpendicular to OA.
Velocity of Intermediate Point
If represent the velocity of B with respect to O, then
Gyroscope
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i.e., b divides the velocity vector in the same ratio as B divides

the link. The magnitude of the linear velocity of a point on the
rotating body at a particular instant is proportional to its
distance fromt the axis of rotation.
Velocity Images of Four Link Mechanism
Figure shows a four link mechanism (quadric cycle
mechanism) ABCD in which AD is xed link andBC is the
coupler. AB is the driver rotating at an angular speed of
rad/s in the clockwise direction if it is a crank or moving at
angular velocity at this instant if it is rocker.
Velocity Images of Slider-Crank Mechanism

Consider a slider-crank mechanism in which OA is the crank
moving with uniform angular velocity rad/s in the clockwise
direction. At point B, a slider moves on the xed guide G.
From the given conguration, the coupler AB has angular
velocity in the counter-clockwise direction. The magnitude
being
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Velocity of Rubbing
Let us take two links of a turning pair, a pin is xed to one of
the links whereas a hole is provided in the other to t the pin.
When joined the surface of the hole of one link will rub on the
surface of pin of the other link. The velocity of rubbing of the
two surfaces will depend upon the angular velocity of a link
relative to the other.
Pin at A
The pin at A joins links AD and AB. AD being xed, the velocity
of rubbing will depend upon the angular velocity of AB only.
Velocity of rubbing = ra
where, ra = radius of pin at A
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Pin at B
ba = ab = (clockwise)
(counter-clockwise)
rb = Radius of pin at B
Velocity of rubbing = rb(ab+bc)
Pin at C
bc = cb (counter-clockwise)
dc = cd (clockwise)
rc = Radius of pin at C
Velocity of rubbing = rc(bc+dc)
Pin at D
where, rd = radius of pin at D
Velocity of rubbing = rdcd
Instantaneous Centre of Velocity (I-centre)
The instantaneous centre of velocity can be dened as a point
which has no velocity with respect to the xed link.
Suppose there are two link 1 and link 2

Link 1 may not be xed. Rigid body 2 is shown to be in plane
motion with respect to the link 1.
In case of xed link, (link 2) velocity of the point A and B are
proportional to PA and PB respectively. So, instantaneously,
the rigid body can be thought of as being momentarily in pure
rotation about the point P. The velocity of any point C on the
body at this instant is given by
in a direction
perpendicular to PC. This point P is called the instantaneously

centre of velocity and its instantaneously velocity is zero.
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If both links 1 and 2 are in motion, we can dene a relative

instantaneous centre P12 to be a point on 2 having zero
relative velocity with respect to a coincident point on 1.
Consequently, the relative motion of 2 with respect to 1 be
appears to be pure rotation about P12. So P21 and P12 are
identical.
Centro
Instantaneous centre is also called centro. So, two coincident
points belonging to two bodies having relative motion with the
properties.
They have the same velocities.
They form a point in one of the rigid bodies about which the
other rotates and viceversa. Which is perhaps true for only an
instant.
Primary Centro One which can be easily located by a mere
observation of the mechanism.
Secondary Centro Centros that cannot be easily located.
Instantaneous Centre of Acceleration

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It is dened as a point on a link having zero relative

acceleration with respect to a coincident point on the other
link and is dierent from the instantaneous centre of velocity.
Aronhold-Kennedy Theorem of Three Centre
It state that if three bodies are in relative motion with respect
to one another, the three relative instantaneous centers of
velocity ar collinear.
P12 Instantaneous centre of xed ground 1 and body 2.

P13 Instantaneous centre of xed ground 1 and body 3.
P23 Instantaneous centre of body 2 and body 3.
Number of Centros in a Mechanism
For a mechanism of n links, the number of centros
(Instantaneous centre) N is
Number of Lines of Centros

The number of lines of centros L for a mechanism with n links
is
Acceleration Analysis in Mechanism

The rate of change of velocity with respect to time is known as
acceleration and acts in the direction of the change in velocity.
Velocity can changed by only changing its magnitude or its
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direction. Let a link OA, of length r, rotate in a circular path in

the clockwise direction as shown in gure. It has an
instantaneously angular velocity and an angular
acceleration in the same direction i.e., the angular velocity
increases in the clockwise direction.
Tangential acceleration of A relative O is dened as
Centripetal or radial acceleration of A relative to O is dened

as
Total acceleration (net acceleration)
There are three cases occurred in the net acceleration as given

below
Case I When = 0 = constant
So, net acceleration
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Case II When =0 A has linear motion as
Net acceleration
Case III: When is negative or the link OA decelerates,
tangential acceleration will be negative or its direction will be
as shown in gure.
Corials Acceleration Component
Consider a link AR rotates about a xed point A on it. P is a
point on a slider on the link.
Here, = Angular velocity of the link
= Angular acceleration of the link
v = Linear velocity of the slider on the link

f =Linear acceleration of the slider on the link
r = Radial distance of point P on the slider.
Key Points
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Key Points
Direction of coriols acceleration component (2.v)is

perpendiculartoARCoriolscomponentispositiveif
The link AR rotate clockwise and the slider moves radially
outward.
The link rotate counter clockwise and the slider moves
radially inwards. Acceleration of slider (f) is positive if
Slider has a deceleration while moving in the inward
direction.
Slider has acceleration while moving in the outward
direction.
Acceleration of P | | to AR
= acceleration of slider centripetal acceleration

Acceleration of P to AR.
= Coriols acceleration + tangential acceleration

Let Q be a point on the link AR immediately beneath the
point P at the instant, then
Acceleration of P = acceleration of P | | to AR +
acceleration of P to AR
= acceleration of P relative to Q + Acceleration of Q relative to

A + Coriols acceleration component
Next Chapter: Displacement, Velocity and Acceleration Analysis

of Plane Mechanisms
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of Plane Mechanisms
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Previous: Dynamic Analysis of Linkages
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8/31/2016

Velocity Analysis in Mechanism

Displacement, Velocity and

of time t. Then, A will travel along the arc AA as shown in

Gears and Gear Trains

In the limits, when

Flywheels and Governors

i.e., b divides the velocity vector in the same ratio as B divides

Velocity Images of Slider-Crank Mechanism

Suppose there are two link 1 and link 2

perpendicular to PC. This point P is called the instantaneously

If both links 1 and 2 are in motion, we can dene a relative

Instantaneous Centre of Acceleration

It is dened as a point on a link having zero relative

P12 Instantaneous centre of xed ground 1 and body 2.

Number of Lines of Centros

Acceleration Analysis in Mechanism

direction. Let a link OA, of length r, rotate in a circular path in

Tangential acceleration of A relative O is dened as

Centripetal or radial acceleration of A relative to O is dened

Total acceleration (net acceleration)

There are three cases occurred in the net acceleration as given

So, net acceleration

Case II When =0 A has linear motion as

v = Linear velocity of the slider on the link

Direction of coriols acceleration component (2.v)is

= acceleration of slider centripetal acceleration

= Coriols acceleration + tangential acceleration

= acceleration of P relative to Q + Acceleration of Q relative to

Next Chapter: Displacement, Velocity and Acceleration Analysis

Previous: Dynamic Analysis of Linkages

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