MODULE 3

VELOCITY AND ACCELERATION ANALYSIS

OF MECHANISMS (ANALYTICAL METHOD)
LOOP CLOSURE EQUATION

The sum of the relative position vectors for the links forming a closed loop in the mechanism
taken in order is always zero.This is known as loop closure equation.

Loop closure equation for four bar mechanism.

Consider the Cartesian co-ordinate system as a reference system.

Absolute position vectors of points P, Q, R and S are given by,

̅̅̅̅ = 𝑃̅
Position vector of P=𝑂𝑃

̅̅̅̅ = 𝑄̅
Position vector of Q=𝑂𝑄

̅̅̅̅ = 𝑅̅
Position vector of R=𝑂𝑅

̅̅̅̅ = 𝑆̅
Position vector of S=𝑂𝑆

Figure 3.1
Relative position vectors of points P,Q,R and S are given by

̅̅̅̅ = 𝑄̅ − 𝑃̅
Relative position vector of Q with respect to P=𝑃𝑄

̅̅̅̅ = 𝑅̅ − 𝑄̅
Relative position vector of R with respect to Q=𝑄𝑅

̅̅̅̅ = 𝑆̅ − 𝑅̅
Relative position vector of S with respect to R=𝑅𝑆

̅̅̅̅ = 𝑆̅ − 𝑅̅
Relative position vector of P with respect to S=𝑆𝑃
 ̅̅̅̅ + 𝑄𝑅
∴ Sum of the relative position vectors=𝑃𝑄 ̅̅̅̅ + 𝑅𝑆
̅̅̅̅ + 𝑆𝑃
̅̅̅̅=𝑄̅ − 𝑃̅ + 𝑅̅ − 𝑄̅ + 𝑆̅ − 𝑅̅ +

𝑃̅ − 𝑆̅ = 0
i.e., ̅̅̅̅̅ ̅̅̅̅ + 𝑅𝑆
𝑃𝑄 + 𝑄𝑅 ̅̅̅̅ + 𝑆𝑃
̅̅̅̅ = 0 ........................ (i)

Equation (i) represents the loop closure equation for the closed loop of the given four bar
mechanism.

Case (i)

Relative position vectors of points P,Q,R and S are marked as shown in Figure , then sum of
the relative position vectors= ̅̅̅̅ ̅̅̅̅ + ̅̅̅̅
𝑃𝑄 + 𝑄𝑅 𝑅𝑆 − ̅̅̅̅
𝑃𝑆 = 𝑄̅ − 𝑃̅ + 𝑅̅ − 𝑄̅ + 𝑆̅ − 𝑅̅ −
(𝑆̅ − 𝑃̅) = 0

i.e., ̅̅̅̅̅ ̅̅̅̅ + 𝑅𝑆

𝑃𝑄 + 𝑄𝑅 ̅̅̅̅ − 𝑃𝑆
̅̅̅̅ = 0................... (ii)

Equation (ii) represents the loop closure equation for the closed loop of the given four bar
mechanism.

Case (ii)

If the relative position vectors of points P,Q R and S are marked as shown in figure , then
sum of the relative position vectors = ̅̅̅̅̅ ̅̅̅̅ + ̅̅̅̅
𝑃𝑄 + 𝑄𝑅 𝑅𝑆 − ̅̅̅̅
𝑃𝑆

= 𝑄̅ − 𝑃̅ + 𝑅̅ − 𝑄̅ − (𝑅̅ − 𝑆̅) − (𝑆̅ − 𝑃̅) = 0

i.e., ̅̅̅̅̅ ̅̅̅̅ − ̅̅̅̅

𝑃𝑄 + 𝑄𝑅 𝑆𝑅 − ̅̅̅̅
𝑃𝑆 = 0............................ (iii)
Equation (iii) represents the loop closure equation for the closed loop of the given four bar
mechanism.

Loop closure equation for slider crank mechanism.

A slider crank mechanism is shown in figure 3.2 .Consider Cartesian co-ordinate system as a
reference system.

Absolute position vectors of points A, B, and C are given by,

Figure 3.2

̅̅̅̅ = 𝐴̅
Position vector of A=𝑂𝐴

̅̅̅̅ = 𝐵̅
Position vector of B=𝑂𝐵
 ̅̅̅̅ = 𝐶̅
Position vector of C=𝑂𝐶

Relative position vectors of points A,B, and C are given by

̅̅̅̅ = 𝐵̅ − 𝐴̅
Relative position vectors of points B with respect to A =𝐴𝐵

̅̅̅̅ = 𝐶̅ − 𝐵̅
Relative position vectors of points C with respect to B =𝐵𝐶

̅̅̅̅ = 𝐴̅ − 𝐶̅
Relative position vectors of points A with respect to C =𝐶𝐴

∴ Sum of the relative position vectors for the links forming a closed loop in the mechanism

̅̅̅̅ + 𝐵𝐶
=𝐴𝐵 ̅̅̅̅ + ̅̅̅̅
𝐶𝐴

= 𝐵̅ − 𝐴̅ + 𝐶̅ − 𝐵̅ + 𝐴̅ − 𝐶̅ = 0 ...............................................(iv)

̅̅̅̅ + 𝐵𝐶
i.e.,𝐴𝐵 ̅̅̅̅ + ̅̅̅̅
𝐶𝐴 = 0

Equation (iv) represents the loop closure equation for the closed loop of the given slider
crank mechanism.

Case (i)

If the relative position vectors of points A, B and C are marked as shown in figure then sum
̅̅̅̅ + 𝐵𝐶
of the relative position vectors=𝐴𝐵 ̅̅̅̅ − ̅̅̅̅
𝐶𝐴

= 𝐵̅ − 𝐴̅ + 𝐶̅ − 𝐵̅ − (𝐶̅ − 𝐴̅) = 0

i.e., ̅̅̅̅ ̅̅̅̅ − ̅̅̅̅

𝐴𝐵 + 𝐵𝐶 𝐴𝐶 = 0
Equation (v) represents the loop closure equation for the closed loop of the given slider
crank mechanism.

Figure 3.3
VELOCITY AND ACCELERATION ANALYSIS USING COMPLEX ALGEBRA

The complex algebra approach to velocity and acceleration analysis leads to a set of linear
equations which can be solved easily. In Raven’s Method the links of mechanism are
replaced by vectors and the vectors equations are obtained by equating the resultant of the
vectors around every closed loop to zero.

RAVEN’S APPROACH FOR A FOUR BAR MECHANISM

Consider a four bar chain mechanism as shown in figure 3.4

Figure 3.4

Let a,b,c and d be the length of links 1, 2, 3, and 4 be the angular position of links 1, 2 ,
3 and 4 respectively. For counter clockwise measurement the angles are considered as
positive. Let 𝑎̅, 𝑏̅, 𝑐̅ and 𝑑̅ be the relative position vectors of the links.

∴ The loop closure equation is , ̅𝑏 +𝑐̅+𝑑̅ − 𝑎̅=0

i.e., 𝑎̅= ̅𝑏 +𝑐̅+𝑑̅ ...................(i)

where𝑎̅ has constant magnitude and direction. The vector ̅𝑏 has constant magnitude and
direction 2 varies, which is the input angle.
Vector 𝑐̅ and 𝑑̅ has unknown magnitude and direction. Expressing the vectors in exponential
form

𝑎̅ = 𝑎𝑒 𝑖𝜃1 = 𝑎[cos 𝜃1 + 𝑖 sin 𝜃1 ]

𝑏̅ = 𝑏𝑒 𝑖𝜃2 = 𝑏[cos 𝜃2 + 𝑖 sin 𝜃2 ]

𝑐̅ = 𝑐𝑒 𝑖𝜃3 = 𝑐[cos 𝜃3 + 𝑖 sin 𝜃3 ]

𝑑 = 𝑑𝑒 𝑖𝜃4 = 𝑑[cos 𝜃4 + 𝑖 sin 𝜃4 ]

∴ The equation (i) can be written as 𝑎 = 𝑏𝑒 𝑖𝜃2 + 𝑐𝑒 𝑖𝜃3 + 𝑑𝑒 𝑖𝜃4..............................(ii)

Differentiating equation (ii) with respect to time

𝑑𝜃2 𝑑𝜃3 𝑑𝜃4

𝑏. 𝑖. 𝑒 𝑖𝜃2 . + 𝑐. 𝑖. 𝑒 𝑖𝜃3 . + 𝑑. 𝑖. 𝑒 𝑖𝜃4 . = 0 ..................................(iii)
𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑑𝜃2 𝑑𝜃3 𝑑𝜃4

But = 𝜔2 ; = 𝜔3 ; = 𝜔4 ;
𝑑𝑡 𝑑𝑡 𝑑𝑡

∴ Equation (iii) becomes

𝑏. 𝑖. 𝑒 𝑖𝜃2 . 𝜔2 + 𝑐. 𝑖. 𝑒 𝑖𝜃3 . 𝜔3 + 𝑑. 𝑖. 𝑒 𝑖𝜃4 . 𝜔4 = 0....................................(iv)

𝑏. 𝑖. 𝜔2. [cos 𝜃2 + 𝑖 sin 𝜃2 ] + 𝑐. 𝑖. 𝜔3. [cos 𝜃3 + 𝑖 sin 𝜃3 ] + 𝑑. 𝑖. 𝜔3. [cos 𝜃3 𝑖 sin 𝜃3 ] = 0

...(v)

Real part of the equation (v) is

𝑅𝑣 = −𝑏. 𝜔2 sin 𝜃2 − 𝑐. 𝜔3 sin 𝜃3 − 𝑑. 𝜔4 sin 𝜃4 = 0....................(vi)

Imaginary part of the equation (v) is

𝐼𝑣 = 𝑏. 𝜔2 cos 𝜃2 + 𝑐. 𝜔3 cos 𝜃3 + 𝑑. 𝜔4 cos 𝜃4 = 0.....................(vii)

Multiply equation (vi) by cos 𝜃4 and equation (vii) by sin 𝜃4 and add

−𝑏. 𝜔2 sin 𝜃2 cos 𝜃4 − 𝑐. 𝜔3 sin 𝜃3 cos 𝜃4 − 𝑑. 𝜔4 sin 𝜃4 cos 𝜃4 + 𝑏. 𝜔2 cos 𝜃2 sin 𝜃4

+ 𝑐. 𝜔3 cos 𝜃3 sin 𝜃4 + 𝑑. 𝜔4 cos 𝜃4 sin 𝜃4 = 0

i.e., −𝑏. 𝜔2 sin 𝜃2 cos 𝜃4 + 𝑏. 𝜔2 cos 𝜃2 sin 𝜃4 − 𝑐. 𝜔3 sin 𝜃3 cos 𝜃4 + 𝑐. 𝜔3 cos 𝜃3 sin 𝜃4 = 0
i.e., −𝑏. 𝜔2 sin ( 𝜃2 − 𝜃4 ) − 𝑐. 𝜔3 sin(𝜃3 − 𝜃4 )

𝑏 sin ( 𝜃2 −𝜃4 )
Angular velocity of link 3 , 𝜔3 = − × 𝜔2 .......................................(viii)
𝑐.sin(𝜃3 −𝜃4 )

Multiply equation (vi) by cos 𝜃3 and equation (vii) by sin 𝜃3 and add

−𝑏. 𝜔2 sin 𝜃2 cos 𝜃3 − 𝑐. 𝜔3 sin 𝜃3 cos 𝜃3

− 𝑑. 𝜔4 sin 𝜃4 cos 𝜃3 + 𝑏. 𝜔2 cos 𝜃2 sin 𝜃3 + 𝑐. 𝜔3 cos 𝜃3 sin 𝜃3
+ 𝑑. 𝜔4 cos 𝜃4 sin 𝜃3 = 0

i.e.,

−𝑏. 𝜔2 sin 𝜃2 cos 𝜃3 + 𝑏. 𝜔2 cos 𝜃2 sin 𝜃3 − 𝑑. 𝜔4 . cos 𝜃3 𝑠𝑖𝑛𝜃4 + 𝑑. 𝜔4 cos 𝜃4 sin 𝜃3 = 0

i.e.,

−𝑏. 𝜔2 sin( 𝜃2 − 𝜃3 ) + 𝑑. 𝜔4 sin( 𝜃3 − 𝜃4 ) = 0

𝑏.sin( 𝜃2 −𝜃3 )
∴ Angular velocity of link4 , 𝜔4 = × 𝜔2 ..............................(ix)
𝑑.sin( 𝜃3 −𝜃4 )

Differentiating equation (iv) with respect to time,

𝑑𝜃2 𝑑𝜔2 𝑑𝜃3 𝑑𝜔3 𝑑𝜃4

𝑏. 𝑖. 𝑒 𝑖𝜃2 . 𝜔2 + 𝑏. 𝑖. 𝑒 𝑖𝜃2 + 𝑐. 𝑖. 𝑒 𝑖𝜃3 . 𝜔3 + 𝑐. 𝑖. 𝑒 𝑖𝜃3 + 𝑑. 𝑖. 𝑒 𝑖𝜃4 . 𝜔4
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝜔4
+ 𝑑. 𝑖. 𝑒 𝑖𝜃4 =0
𝑑𝑡

But
𝑑𝜔2 𝑑𝜔3 𝑑𝜔4
= 𝛼2 , = 𝛼3 , = 𝛼4
𝑑𝑡 𝑑𝑡 𝑑𝑡

∴ −𝑏. 𝑒 𝑖𝜃2 . 𝜔2 2 + 𝑏. 𝑖. 𝑒 𝑖𝜃2 𝛼2 − 𝑐. 𝑒 𝑖𝜃3 . 𝜔3 2 + 𝑐. 𝑖. 𝑒 𝑖𝜃3 𝛼3 − 𝑑. 𝑒 𝑖𝜃4 . 𝜔4 2 + 𝑑. 𝑖. 𝑒 𝑖𝜃4 𝛼4 = 0

i.e., 𝑏. 𝑒 𝑖𝜃2 (𝑖𝛼2 − 𝜔2 2 ) + 𝑐. 𝑒 𝑖𝜃2 (𝑖𝛼3 − 𝜔3 2 ) + 𝑑. 𝑒 𝑖𝜃2 (𝑖𝛼4 − 𝜔4 2 ) = 0........(xi)

𝑏[cos 𝜃2 + 𝑖 sin 𝜃2 ](𝑖𝛼2 − 𝜔2 2 ) + 𝑐[cos 𝜃3 + 𝑖 sin 𝜃3 ](𝑖𝛼3 − 𝜔3 2 ) + 𝑑[cos 𝜃4 +

𝑖 sin 𝜃4 ](𝑖𝛼4 − 𝜔4 2 ) = 0.................(xii)

The real part of the equation (xii) is

𝑅𝑎 = −𝑏[𝜔2 2 cos 𝜃2 + 𝛼2 sin 𝜃2 ] − 𝑐[𝜔3 2 cos 𝜃3 + 𝛼3 sin 𝜃3 ] − 𝑑[𝜔4 2 cos 𝜃4 +
𝛼4 sin 𝜃4 ] = 0.............................(xiii)

The imaginary part of the equation (xii) is

𝐼𝑎 = 𝑏[𝛼2 cos 𝜃2 − 𝜔2 2 sin 𝜃2 ] + 𝑐[𝛼3 cos 𝜃3 − 𝜔3 2 sin 𝜃3 ] + 𝑑[𝛼4 cos 𝜃4 − 𝜔4 2 sin 𝜃4 ] = 0

.....................(xiv)

Multiply equation (xiii) by cos 𝜃4 and equation (xiv) by sin 𝜃4 and add

−𝑏𝜔2 2 cos 𝜃2 cos 𝜃4 − 𝑏 𝛼2 sin 𝜃2 cos 𝜃4 − 𝑐 𝜔3 2 cos 𝜃3 cos 𝜃4

− 𝑐𝛼3 sin 𝜃3 cos 𝜃4 − 𝑑 𝜔4 2 𝑐𝑜𝑠 2 𝜃4
− 𝑑𝛼4 sin 𝜃4 cos 𝜃4 + 𝑏 𝛼2 cos 𝜃2 sin 𝜃4
− 𝑏𝜔2 2 sin 𝜃2 sin 𝜃4 + 𝑐𝛼3 cos 𝜃3 sin 𝜃4
− 𝑐𝜔3 2 sin 𝜃3 sin 𝜃4 + 𝑑 𝛼4 cos 𝜃4 sin 𝜃4 − 𝑑𝜔4 2 𝑠𝑖𝑛2 𝜃4 = 0

i.e.,

−𝑏𝜔2 2 (cos 𝜃2 cos 𝜃4 + sin 𝜃2 sin 𝜃4 ) − 𝑏𝛼2 (sin 𝜃2 cos 𝜃4 − cos 𝜃2 sin 𝜃4 ) −

𝑐𝜔3 2 (cos 𝜃3 cos 𝜃4 + sin 𝜃3 sin 𝜃4 ) − 𝑐𝛼3 ( sin 𝜃3 cos 𝜃4

− cos 𝜃3 sin 𝜃4 ) − 𝑑 𝜔4 2 (𝑐𝑜𝑠 2 𝜃4 + 𝑠𝑖𝑛2 𝜃4 ) = 0

i.e., −𝑏𝜔2 2 cos(𝜃2 − 𝜃4 ) − 𝑏𝛼2 sin(𝜃2 − 𝜃4 ) − 𝑐𝜔3 2 cos(𝜃3 − 𝜃4 ) − 𝑐𝛼3 𝑠𝑖𝑛(𝜃3 − 𝜃4 ) −

𝑑𝜔4 2 = 0

∴ Angular acceleration of link 3.

𝑏𝛼2 sin(𝜃2 − 𝜃4 ) + 𝑏𝜔2 2 cos(𝜃2 − 𝜃4 ) + 𝑐𝜔3 2 cos(𝜃3 − 𝜃4 ) + 𝑑𝜔4 2

𝛼3 = −
𝑐𝑠𝑖𝑛(𝜃3 − 𝜃4 )

𝑏 sin(𝜃2 − 𝜃4 ) 𝑏𝜔2 2 cos(𝜃2 − 𝜃4 ) + 𝑐𝜔3 2 cos(𝜃3 − 𝜃4 ) + 𝑑𝜔4 2

=− × 𝛼2 −
𝑐𝑠𝑖𝑛(𝜃3 − 𝜃4 ) 𝑐𝑠𝑖𝑛(𝜃3 − 𝜃4 )

𝜔3 𝑏𝜔2 2 cos(𝜃2 −𝜃4 )+𝑐𝜔3 2 cos(𝜃3 −𝜃4 )+𝑑𝜔4 2

∴ 𝛼3 = × 𝛼2 − ....................(xv)
𝜔2 𝑐𝑠𝑖𝑛(𝜃3 −𝜃4 )

Now multiply equation (xii) by cos 𝜃3 and equation (xiv) by sin 𝜃3 and add
 −𝑏𝜔2 2 cos𝜃2 𝑐𝑜𝑠𝜃3 − 𝑏𝛼2 sin𝜃2 𝑐𝑜𝑠𝜃3 − 𝑐𝜔3 2 𝑐𝑜𝑠 2 𝜃3 − 𝑐𝛼3 𝑠𝑖𝑛𝜃3 𝑐𝑜𝑠𝜃3
− 𝑑𝜔4 2 cos 𝜃4 cos 𝜃3 − 𝑑𝛼4 sin 𝜃4 cos 𝜃3 + 𝑏𝛼2 sin 𝜃3 cos 𝜃2
− 𝑏𝜔2 2 sin𝜃2 𝑠𝑖𝑛𝜃3 + 𝑐𝛼3 𝑐𝑜𝑠𝜃3 𝑠𝑖𝑛𝜃3 − 𝑐𝜔3 2 𝑠𝑖𝑛2 𝜃3
+ 𝑑𝛼4 cos 𝜃4 sin 𝜃3 − 𝑑 𝜔4 2 sin 𝜃4 sin 𝜃3 = 0

𝑖. 𝑒. , −𝑏𝜔2 2 (cos𝜃2 𝑐𝑜𝑠𝜃3 + sin𝜃2 𝑠𝑖𝑛𝜃3 ) − 𝑏𝛼2 (sin𝜃2 𝑐𝑜𝑠𝜃3 − cos𝜃2 𝑠𝑖𝑛𝜃3 )
− 𝑐𝜔3 2 (𝑐𝑜𝑠 2 𝜃3 + 𝑠𝑖𝑛2 𝜃3 ) − 𝑑𝜔4 2 (cos 𝜃4 𝑐𝑜𝑠𝜃3 + sin 𝜃4 sin 𝜃3 )
+ 𝑑𝛼4 (cos 𝜃4 sin 𝜃3 − sin 𝜃4 𝑐𝑜𝑠𝜃3 ) = 0

∴Angular acceleration of link4

𝑏𝛼2 sin(𝜃2 − 𝜃3 ) + 𝑏𝜔2 2 𝑐𝑜𝑠(𝜃2 − 𝜃3 ) + 𝑐𝜔3 2 + 𝑑𝜔4 2 cos(𝜃3 − 𝜃4 )

𝛼4 =
𝑑𝑠𝑖𝑛(𝜃3 − 𝜃4 )

𝑏 sin(𝜃2 − 𝜃3 ) 𝑏𝜔2 2 𝑐𝑜𝑠(𝜃2 − 𝜃3 ) + 𝑐𝜔3 2 + 𝑑𝜔4 2 cos(𝜃3 − 𝜃4 )

= × 𝛼2 +
𝑑𝑠𝑖𝑛(𝜃3 − 𝜃4 ) 𝑑𝑠𝑖𝑛(𝜃3 − 𝜃4 )

𝜔4 𝑏𝜔2 2 𝑐𝑜𝑠(𝜃2 −𝜃3 )+𝑐𝜔3 2 +𝑑𝜔4 2 cos(𝜃3 −𝜃4 )

= × 𝛼2 + .....................(xvi)
𝜔2 𝑑𝑠𝑖𝑛(𝜃3 −𝜃4 )

Note: To find the linear velocity of any point on the link join A to C and C to be a point
whose velocity is to be found Let AC=p

∴ Position vectors 𝑝̅ = 𝑏̅ + 𝑐̅ = 𝑏. 𝑒 𝑖𝜃2 + 𝑐. 𝑒 𝑖𝜃3 ..............................(xvii)

Differentiating equation (xvii) with respect to time

∴ Velocity 𝑉𝑐 = 𝑖. 𝜔2 . 𝑏. 𝑒 𝑖𝜃2 + 𝑖. 𝜔3 𝑐. 𝑒 𝑖𝜃3 ..........................................(xviii)

The real and imaginary components are

𝑅𝑣 = −𝑏𝜔2 sin𝜃2 − 𝑐𝜔2 sin𝜃3

𝐼𝑣 = 𝑏𝜔2 cos𝜃2 + 𝑐𝜔3 cos𝜃3

𝐼
∴ 𝑉𝑐 = √𝑅 2 𝑣 + 𝐼 2 𝑣 and its direction is 𝜃𝑐 = tan−1 𝑅𝑣
𝑣

The linear acceleration of the point C is obtained by differentiating equation (xviii) with
respect to time.

Acceleration 𝐴𝑐 = 𝑏. 𝑒 𝑖𝜃2 [𝑖𝛼2 − 𝜔2 2 ] + 𝑐. 𝑒 𝑖𝜃3 [𝑖𝛼3 − 𝜔3 2 ] ................................(xix)

The real and imaginary components are

𝑅𝑎 = −𝑏[𝜔2 2 . cos𝜃2 + 𝛼2 . sin𝜃2 ] − 𝑐[𝜔3 2 . 𝑐𝑜𝑠𝜃3 + 𝛼3 . sin𝜃3 ]

𝐼𝑎 = 𝑏[𝛼2 . cos𝜃2 − 𝜔2 2 . sin𝜃2 ] + 𝑐[𝛼3 . 𝑐𝑜𝑠𝜃3 − 𝜔3 2 . sin𝜃3 ]

𝐼
Acceleration 𝐴𝑐 = √𝑅 2 𝑎 + 𝐼 2 𝑎 and its direction is 𝜃𝑐 = tan−1 𝑅𝑎 ................................(xix)
𝑎

RAVEN’S APPROACH FOR THE SLIDER CRANK MECHANISM

Figure 3.5 shows a slider crank mechanism

Figure 3.5

Let b and c be the length of links AB and BC respectively and a be the displacement of
pistons 𝜃2 ,𝜃3 𝑎𝑛𝑑 𝜃4 be the angular positions of the links 2, 3 and 4 respectively . For
counter clockwise measurement, the angles are considered as positive. Let 𝑏̅𝑐̅ and 𝑎̅ be
the relative position vectors of the links. In a slider crank mechanism 𝜃4 = 270°: 𝑑 =∝∶
𝜔4 = 𝛼4 = 0

∴ The loop closure equation is 𝑏̅ + 𝑐̅ − 𝑎̅ = 0 i.e., 𝑎̅ = 𝑏̅ + 𝑐̅ .................(i)

i.e., 𝑎 = 𝑏𝑒 𝑖𝜃2 + 𝑐𝑒 𝑖𝜃3 ......................(ii)

Differentiating (ii) with respect to time

 𝑑𝜃2 𝑑𝜃3
𝑉𝑝 = 𝑏. 𝑖. 𝑒 𝑖𝜃2 . + 𝑐. 𝑖. 𝑒 𝑖𝜃3 . = 𝑏. 𝑖. 𝑒 𝑖𝜃2 . 𝜔2 + 𝑐. 𝑖. 𝑒 𝑖𝜃3 . 𝜔3 ..........................(iii)
𝑑𝑡 𝑑𝑡

=𝑏. 𝑖. 𝜔2. [cos 𝜃2 + 𝑖 sin 𝜃2 ] + 𝑐. 𝑖. 𝜔3. [cos 𝜃3 + 𝑖 sin 𝜃3 ]..........................(iv)

The real part of the equation (iv) is

𝑅𝑣 = −𝑏. 𝜔2. sin 𝜃2 − 𝑐 . 𝜔3. sin 𝜃3 = 𝑉𝑝 .......................(v)

The imaginary part of the equation (iv) is

𝐼𝑣 = 𝑏 . 𝜔2. cos 𝜃2 + 𝑐 . 𝜔3. cos 𝜃3 =0 ...........................(vi)

Squaring and adding the equation (v) and (vi)

Velocity of the piston or slider 𝑉𝑝 = √𝑅 2 𝑣 + 𝐼 2 𝑣 ...............................(vii)

From equation (vi)

𝑏𝑐𝑜𝑠𝜃2
Angular velocity of connecting rod 𝜔3 = − × 𝜔2 ...................(viii)
𝑐 𝑐𝑜𝑠𝜃3

Now differentiating the equation (iii) with respect to time

𝑑𝜔2 𝑑𝜃2 𝑑𝜔3 𝑑𝜃3

𝐴𝑝 = 𝑏. 𝑖. 𝑒 𝑖𝜃2 . + 𝑏. 𝜔2 . 𝑖. 𝑒 𝑖𝜃2 . + 𝑐. 𝑖. 𝑒 𝑖𝜃3 . + 𝑐. 𝜔3 . 𝑖. 𝑒 𝑖𝜃3 .
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

= 𝑏. 𝑒 𝑖𝜃2 (𝑖𝛼2 − 𝜔2 2 ) + 𝑐. 𝑒 𝑖𝜃3 (𝑖𝛼3 − 𝜔3 2 )

= 𝑏[𝑐𝑜𝑠𝜃2 + 𝑖𝑠𝑖𝑛𝜃2 ](𝑖𝛼2 − 𝜔2 2 ) + 𝑐[𝑐𝑜𝑠𝜃3 + 𝑖𝑠𝑖𝑛𝜃3 ] (𝑖𝛼3 − 𝜔3 2 ) ......................(ix)

The real part of the equation (ix) is

𝑅𝑎 = −𝑏(𝜔2 2 𝑐𝑜𝑠𝜃2 + 𝛼2 𝑠𝑖𝑛𝜃2 ) − 𝑐(𝜔3 2 𝑐𝑜𝑠𝜃3 + 𝛼3 𝑠𝑖𝑛𝜃3 ) = 𝐴𝑝 .............................(x)

The imaginary part of the equations (x) is

𝐼𝑎 = 𝑏𝛼2 𝑐𝑜𝑠𝜃2 − 𝑏𝜔2 2 𝑠𝑖𝑛𝜃2 + 𝑐𝛼3 𝑐𝑜𝑠𝜃3 − 𝑐𝜔3 2 𝑠𝑖𝑛𝜃3 = 0 ......................(xi)

Squaring and adding equations (x) and (xi)

Acceleration of piston or slider 𝐴𝑝 = √𝑅 2 𝑎 + 𝐼 2 𝑎 ...........................(xii)

From equation (xi)

 𝑏𝑐𝑜𝑠𝜃2 𝑏𝜔2 2 𝑠𝑖𝑛𝜃2 +𝑐𝜔3 2 𝑠𝑖𝑛𝜃3
Angular acceleration of connecting rod 𝛼3 = − × 𝛼2 +
𝑐𝑐𝑜𝑠𝜃3 𝑐𝑐𝑜𝑠𝜃3

𝜔3 𝑏𝜔2 2 𝑠𝑖𝑛𝜃2 + 𝑐𝜔3 2 𝑠𝑖𝑛𝜃3

∴ 𝛼3 = × 𝛼2 +
𝜔2 𝑐𝑐𝑜𝑠𝜃3

USING COMPLEX ALGEBRA DERIVE EXPRESSIONS FOR VELOCITY, ANGULAR VELOCITY,

ACCELERATION AND ANGULAR ACCELERATION OF THE COUPLER LINK AND OUTPUT LINK
OF A FOUR BAR MECHANISM

Consider a four bar mechanism as shown in figure 3.6

Figure 3.6

𝜔𝑎 = Angular velocity of link a

𝛼𝑎= Angular acceleration of link a

First replace each link of figure by vectors as shown in figure

Let a , b, c and d be the magnitudes of the links AB,BC,CD and DA and 𝛼, 𝜃, 𝛽 𝑎𝑛𝑑 ∅ be the
angular position of links DA, AB, BC and CD respectively. Angles being measured in the
counter clockwise direction.

Let 𝑎̅𝑏̅𝑐̅ 𝑎𝑛𝑑 𝑑̅ be the relative position vectors of the links.

∴ The loop closure equation is −𝑑̅ + 𝑎̅ + 𝑏̅ − 𝑐̅ =0

i.e., 𝑑̅ = 𝑎̅ + 𝑏̅ − 𝑐̅ ……………………………..(i)

Expressing the vectors in exponential or complex numbers in polar form

𝑑̅ = 𝑑 𝑒 𝑖𝛼 = 𝑑[ 𝑐𝑜𝑠𝛼 + 𝑖 𝑠𝑖𝑛𝛼]= d

𝑎̅ = 𝑎 𝑒 𝑖𝜃 = 𝑎[𝑐𝑜𝑠𝜃 + 𝑖𝑠𝑖𝑛𝜃]

𝑏̅ = 𝑏𝑒 𝑖𝛽 = 𝑏[𝑐𝑜𝑠𝛽 + 𝑖𝑠𝑖𝑛𝛽]

𝑐̅ = c𝑒 𝑖∅ = c[cos∅ + isin∅]

The equation (i) can be written as

𝑑 = 𝑎 𝑒 𝑖𝜃 + 𝑏𝑒 𝑖𝛽 − c𝑒 𝑖∅ …………………………………. (ii)

d = 𝑎(𝑐𝑜𝑠𝜃 + 𝑖𝑠𝑖𝑛𝜃)+ 𝑏(𝑐𝑜𝑠𝛽 + 𝑖𝑠𝑖𝑛𝛽) − 𝑐(cos∅ + isin∅) ……………………………. (iii)

(i). Angular velocity of output link

Differentiating equation (ii) with respect to time

𝑑𝜃 𝑑𝛽 𝑑∅
𝑎 𝑖 𝑒 𝑖𝜃 + 𝑏 𝑖𝑒 𝑖𝛽 − 𝑐. 𝑖. 𝑒 𝑖∅ = 0………………………………….(iv)
𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑑𝜃
But = 𝜔𝑎 = Angular velocity of input link
𝑑𝑡

𝑑𝛽
= 𝜔𝑏 =Angular velocity of coupler link
𝑑𝑡

𝑑∅
= 𝜔𝑐 =Angular velocity of output link.
𝑑𝑡

Therefore (iv) becomes

𝑎 𝑖 𝑒 𝑖𝜃 𝜔𝑎 + 𝑏 𝑖𝑒 𝑖𝛽 𝜔𝑏 − 𝑐. 𝑖. 𝑒 𝑖∅ 𝜔𝑐 = 0

i.e., 𝑎 𝑖 𝜔𝑎 (𝑐𝑜𝑠𝜃 + 𝑖𝑠𝑖𝑛𝜃)++ 𝑏 𝑖(𝑐𝑜𝑠𝛽 + 𝑖𝑠𝑖𝑛𝛽)𝜔𝑏 − 𝑐𝑖(cos∅ + isin∅)𝜔𝑐 = 0 ………..

(vi)

The real part of the equation (vi) is

−𝑎𝜔𝑎 𝑠𝑖𝑛𝜃 − 𝑏𝜔𝑏 𝑠𝑖𝑛𝛽 + 𝑐𝜔𝑐 sin∅ =0 ……………… (vii)

The imaginary part of the equation (vii) is

𝑎𝜔𝑎 𝑐𝑜𝑠𝜃 + 𝑏𝜔𝑏 𝑐𝑜𝑠𝛽 − 𝑐𝜔𝑐 cos∅ =0 …………………. (viii)

Multiply equation (vii) by 𝑐𝑜𝑠𝛽 and equation by 𝑠𝑖𝑛𝛽 and add

∴ −𝑎𝜔𝑎 𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝛽 − 𝑏𝜔𝑏 𝑠𝑖𝑛𝛽𝑐𝑜𝑠𝛽 + 𝑐𝜔𝑐 sin∅𝑐𝑜𝑠𝛽 + 𝑎𝜔𝑎 𝑐𝑜𝑠𝜃𝑠𝑖𝑛𝛽 + 𝑏𝜔𝑏 𝑐𝑜𝑠𝛽𝑠𝑖𝑛𝛽 −
𝑐𝜔𝑐 cos∅𝑠𝑖𝑛𝛽 =0

i.e., 𝑎𝜔𝑎 (𝑠𝑖𝑛𝛽𝑐𝑜𝑠𝜃 − 𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝛽) + 𝑐𝜔𝑐 (𝑠𝑖𝑛∅𝑐𝑜𝑠𝛽 − 𝑠𝑖𝑛𝛽𝑐𝑜𝑠∅)=0

i.e., 𝑎𝜔𝑎 sin(𝛽 − 𝜃) + 𝑐𝜔𝑐 sin(∅ − 𝛽)=0

𝑎𝜔𝑎 sin(𝛽−𝜃)
∴ Angular velocity of output link 𝜔𝑐 = − ……………………..(ix)
𝑐sin(∅−𝛽)

(ii) Angular velocity of coupler link 𝝎𝒃

Multiply equation (vii) by cos∅ and equation (viii) by sin∅ and add

∴ −𝑎𝜔𝑎 cos∅ 𝑠𝑖𝑛𝜃 − 𝑏𝜔𝑏 cos∅ 𝑠𝑖𝑛𝛽 + 𝑐𝜔𝑐 cos∅ sin∅ + 𝑎𝜔𝑎 𝑐𝑜𝑠𝜃sin∅ + 𝑏𝜔𝑏 𝑐𝑜𝑠𝛽sin∅ −
𝑐𝜔𝑐 cos∅sin∅ = 0

i.e., 𝑎𝜔𝑎 (𝑐𝑜𝑠𝜃sin∅ − cos∅ 𝑠𝑖𝑛𝜃) + 𝑏𝜔𝑏 (sin∅𝑐𝑜𝑠𝛽 − cos∅𝑠𝑖𝑛𝛽) = 0

i.e., 𝑎𝜔𝑎 sin(∅ − 𝜃) + 𝑏𝜔𝑏 sin(∅ − 𝛽) = 0

𝑎𝜔𝑎 sin(∅−𝜃)
∴Angular velocity of coupler link 𝜔𝑏 = − ………………….(x)
𝑏 sin(∅−𝛽)

(iii) Angular acceleration of output link 𝛼𝐶

Differentiating equation (v) with respect to time

𝑑𝜔𝑎 𝑑𝜔𝑏 𝑑𝜔𝑐

𝑎 𝑒 𝑖𝜃 [𝑖 − 𝜔𝑎 2 ] + 𝑏 𝑒 𝑖𝛽 [𝑖 − 𝜔𝑏 2 ] − 𝑐 𝑒 𝑖∅ [𝑖 − 𝜔𝑐 2 ] = 0 ………..(xi)
𝑑𝑡 𝑑𝑡 𝑑𝑡

𝑑𝜔𝑎
But = 𝛼𝑎 = 𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑖𝑛𝑝𝑢𝑡 𝑙𝑖𝑛𝑘
𝑑𝑡

𝑑𝜔𝑏
= 𝛼𝑏 = 𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑐𝑜𝑢𝑝𝑙𝑒𝑟 𝑙𝑖𝑛𝑘
𝑑𝑡
𝑑𝜔𝑐
= 𝛼𝑐 = 𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑜𝑢𝑡𝑝𝑢𝑡 𝑙𝑖𝑛𝑘
𝑑𝑡

Therefore equation (xi) becomes

𝑎 𝑒 𝑖𝜃 (𝑖𝛼𝑎 − 𝜔𝑎 2 ) + 𝑏 𝑒 𝑖𝛽 (𝑖𝛼𝑏 − 𝜔𝑏 2 ) − 𝑐𝑒 𝑖∅ (𝑖𝛼𝑐 − 𝜔𝑐 2 ) = 0 ……………………………(xii)

i.e.,

𝑎 (𝑐𝑜𝑠𝜃 + 𝑖𝑠𝑖𝑛𝜃) (𝑖𝛼𝑎 − 𝜔𝑎 2 ) + 𝑏 (𝑐𝑜𝑠𝛽 + 𝑖𝑠𝑖𝑛𝛽) (𝑖𝛼𝑏 − 𝜔𝑏 2 ) − 𝑐(𝑐𝑜𝑠∅ + 𝑖𝑠𝑖𝑛∅)(𝑖𝛼𝑐 −

𝜔𝑐 2 ) = 0 …………………(xiii)

The real part of equation (xiii) is

−𝜔𝑎 2 𝑎 𝑐𝑜𝑠𝜃 − 𝑎𝛼𝑎 𝑠𝑖𝑛𝜃 − 𝑏𝜔𝑏 2 𝑐𝑜𝑠𝛽 − 𝑏𝛼𝑏 𝑠𝑖𝑛𝛽 + 𝑐𝜔𝑐 2 𝑐𝑜𝑠∅ + 𝑐𝛼𝑐 𝑠𝑖𝑛∅ = 0
……..(xiv)

The imaginary part of the equation (xiii) is

𝑎𝛼𝑐 𝑐𝑜𝑠𝜃 − 𝑎𝜔𝑎 2 𝑠𝑖𝑛𝜃 + 𝑏𝛼𝑏 𝑐𝑜𝑠𝛽 − 𝑏𝜔𝑏 2 𝑠𝑖𝑛𝛽 − 𝑐𝛼𝑐 𝑐𝑜𝑠∅ + 𝑐 𝜔𝑐 2 𝑠𝑖𝑛∅ = 0 .. ……….
(xv)

Multiply equation (xiv) by 𝑐𝑜𝑠𝛽 and equation (xv) by 𝑠𝑖𝑛𝛽 and add

−𝜔𝑎 2 𝑎 𝑐𝑜𝑠𝜃𝑐𝑜𝑠𝛽 − 𝑎𝛼𝑎 𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝛽 − 𝑏𝜔𝑏 2 𝑐𝑜𝑠𝛽𝑐𝑜𝑠𝛽 − 𝑏𝛼𝑏 𝑠𝑖𝑛𝛽𝑐𝑜𝑠𝛽 +

𝑐 𝜔𝑐 2 𝑐𝑜𝑠∅𝑐𝑜𝑠𝛽 + 𝑐𝛼𝑐 𝑐𝑜𝑠𝛽𝑠𝑖𝑛∅ + 𝑎𝛼𝑐 𝑠𝑖𝑛𝛽𝑐𝑜𝑠𝜃 − 𝑎𝜔𝑎 2 𝑠𝑖𝑛𝜃𝑠𝑖𝑛𝛽 + 𝑏𝛼𝑏 𝑐𝑜𝑠𝛽𝑠𝑖𝑛𝛽 −
𝑏𝜔𝑏 2 𝑠𝑖𝑛𝛽𝑠𝑖𝑛𝛽 − 𝑐𝛼𝑐 𝑐𝑜𝑠∅𝑠𝑖𝑛𝛽 + 𝑐 𝜔𝑐 2 𝑠𝑖𝑛∅𝑠𝑖𝑛𝛽 = 0

i.e.,

−𝜔𝑎 2 𝑎(𝑠𝑖𝑛𝜃𝑠𝑖𝑛𝛽 + 𝑐𝑜𝑠𝜃𝑐𝑜𝑠𝛽) + 𝑎𝛼𝑎 (𝑠𝑖𝑛𝛽𝑐𝑜𝑠𝜃 − 𝑐𝑜𝑠𝛽𝑠𝑖𝑛𝜃) − 𝑏𝜔𝑏 2 (𝑐𝑜𝑠 2 𝛽 + 𝑠𝑖𝑛2 𝛽) −

𝑏𝛼𝑏 (𝑠𝑖𝑛𝛽𝑐𝑜𝑠𝛽 − 𝑐𝑜𝑠𝛽𝑠𝑖𝑛𝛽) + 𝑐 𝜔𝑐 2 (cos∅𝑐𝑜𝑠𝛽 + sin∅𝑠𝑖𝑛𝛽 )+ 𝑐𝛼𝑐 (sin∅ 𝑐𝑜𝑠𝛽 −
cos∅𝑠𝑖𝑛𝛽)=0

i.e.,

−𝜔𝑎 2 𝑎 cos(𝛽 − 𝜃) + 𝑎𝛼𝑎 sin(𝛽 − 𝜃) − 𝑏𝜔𝑏 2 − 0 + 𝑐 𝜔𝑐 2 cos(∅ − 𝛽) + 𝑐𝛼𝑐 sin(∅ − 𝛽)

=0
∴ Angular acceleration of output link

𝑎𝜔𝑎 2 cos(𝛽−𝜃)−𝑎𝛼𝑎 sin(𝛽−𝜃)+𝑏𝜔𝑏 2 −𝑐𝜔𝑐 2 cos(𝜃−𝛽)

𝛼𝑐 = …….. (xvi)
𝑐𝑠𝑖𝑛(∅−𝛽)

(iv) Angular acceleration of coupler link 𝛼𝑏

Multiply equation (xiv) by cos∅ and equation (xv) by sin∅ and add

−𝜔𝑎 2 𝑎 𝑐𝑜𝑠𝜃cos∅ − 𝑎𝛼𝑎 𝑠𝑖𝑛𝜃cos∅ − 𝑏𝜔𝑏 2 𝑐𝑜𝑠𝛽cos∅ − 𝑏𝛼𝑏 𝑠𝑖𝑛𝛽cos∅ + 𝑐 𝜔𝑐 2 𝑐𝑜𝑠∅cos∅

+ 𝑐𝛼𝑐 𝑠𝑖𝑛∅cos∅ + 𝑎𝛼𝑐 𝑐𝑜𝑠𝜃sin∅ − 𝑎𝜔𝑎 2 𝑠𝑖𝑛𝜃sin∅ + 𝑏𝛼𝑏 𝑐𝑜𝑠𝛽sin∅
− 𝑏𝜔𝑏 2 𝑠𝑖𝑛𝛽sin∅ − 𝑐𝛼𝑐 𝑐𝑜𝑠∅sin∅ + 𝑐 𝜔𝑐 2 𝑠𝑖𝑛∅sin∅

−𝜔𝑎 2 𝑎(𝑐𝑜𝑠𝜃cos∅ + 𝑠𝑖𝑛𝜃sin∅) + 𝑎𝛼𝑎 (𝑠𝑖𝑛∅𝑐𝑜𝑠𝜃 − 𝑐𝑜𝑠∅𝑠𝑖𝑛𝜃) − 𝑏𝜔𝑏 2 (cos 𝛽𝑐𝑜𝑠∅ +

𝑠𝑖𝑛𝛽sin∅) + 𝑏𝛼𝑏 (𝑠𝑖𝑛∅𝑐𝑜𝑠𝛽 − 𝑐𝑜𝑠∅𝑠𝑖𝑛𝛽) + 𝑐 𝜔𝑐 2 (𝑐𝑜𝑠 2 ∅ + 𝑠𝑖𝑛2 ∅) + 𝑐𝛼𝑐 (𝑠𝑖𝑛∅𝑐𝑜𝑠∅ −
𝑐𝑜𝑠∅𝑠𝑖𝑛∅) = 0

i.e.,

−𝜔𝑎 2 acos(∅ − 𝜃) + 𝑎𝛼𝑎 sin(∅ − 𝜃) − 𝑏𝜔𝑏 2 cos(∅ − 𝛽) + 𝑏𝛼𝑏 sin(∅ − 𝛽) + 𝑐𝜔𝑐 2 + 0

=0

i.e., Angular acceleration of coupler link

𝜔𝑎 2 acos(∅ − 𝜃) + 𝑎𝛼𝑎 sin(∅ − 𝜃) − 𝑏𝜔𝑏 2 cos(∅ − 𝛽)

𝛼𝑏 =
𝑏 sin(∅ − 𝛽)
USING COMPLEX ALGEBRA DERIVE EXPRESSIONS FOR VELOCITY, ANGULAR VELOCITY,
ACCELERATION AND ANGULAR ACCELERATION OF CONNECTING ROD OF A SLIDER CRANK
MECHANISM(RECIPROCATING ENGINE)

Consider a slider crank mechanism as shown in figure 3.7

Figure 3.7

Now replace each link of the given mechanism as shown in figure 3.7

Let a and b be the length of links AB and BC respectively and d be the displacement of
piston.

𝜃2, 𝜃3 , 𝑎𝑛𝑑 𝜃4, be the angular position of links 2,3 and 4 respectively. For counterclockwise
measurement the angles are considered as positive. Let 𝑎̅𝑏̅ 𝑎𝑛𝑑 𝑑̅ be the relative position
vectors of the links.

∴ The loop closure equation is −𝑑̅ + 𝑎̅ + 𝑏̅ = 0………….(i)

i.e., 𝑎̅ + 𝑏̅ = 𝑑̅ .

Expressing the vectors in exponential or complex number in polar form.

𝑑̅ = 𝑑𝑒 𝑖𝜃1 = 𝑑(𝑐𝑜𝑠𝜃1 + 𝑖𝑠𝑖𝑛𝜃1 ) = 𝑑

𝑎̅ = 𝑎𝑒 𝑖𝜃2 = 𝑎(𝑐𝑜𝑠𝜃2 + 𝑖𝑠𝑖𝑛𝜃2 )

𝑏̅ = 𝑏𝑒 𝑖𝜃3 = 𝑏(𝑐𝑜𝑠𝜃3 + 𝑖𝑠𝑖𝑛𝜃3 )

∴ The equation (i) can be written as 𝑑 = 𝑎𝑒 𝑖𝜃2 + 𝑏𝑒 𝑖𝜃3…………..(ii)

i.e., 𝑑 = 𝑎(𝑐𝑜𝑠𝜃2 + 𝑖𝑠𝑖𝑛𝜃2 ) + 𝑏(𝑐𝑜𝑠𝜃3 + 𝑖𝑠𝑖𝑛𝜃3 ) ………………………..(iii)

(i) Connecting rod angle 𝜃3

The real part of equation (iii) or displacement along x axis is

𝑑 = 𝑎 𝑐𝑜𝑠𝜃2 + 𝑏𝑐𝑜𝑠𝜃3 or 𝑏𝑐𝑜𝑠𝜃3 = 𝑑 − 𝑎 𝑐𝑜𝑠𝜃2 …………………(iv)

The imaginary part of equation (iii) or displacement along yaxis is

0 = 𝑎𝑠𝑖𝑛𝜃2 + 𝑏𝑠𝑖𝑛𝜃3 or 𝑏𝑠𝑖𝑛𝜃3 = −𝑎𝑠𝑖𝑛𝜃2 ……………………….(v)

−𝑎𝑠𝑖𝑛𝜃2
From equation (v)connecting rod angle 𝜃3 = sin−1 ( ) ………………(vi)
𝑏

(ii) Angular velocity of connecting rod and velocity of slider

Differentiating equation (iv) w.r.t (v) time

−𝑏𝜔3 𝑠𝑖𝑛𝜃3 = 𝑉𝑐 + 𝑎 𝑠𝑖𝑛𝜃2 . 𝜔2

−𝑎𝜔2 𝑠𝑖𝑛𝜃2 − 𝑏𝜔3 𝑠𝑖𝑛𝜃3 − 𝑉𝑐 = 0 ……………..(vii)

𝑏𝑐𝑜𝑠𝜃3 𝜔3 = − 𝑎 𝑐𝑜𝑠𝜃2 𝜔2

i.e., 𝑎 𝑐𝑜𝑠𝜃2 𝜔2 + 𝑏𝑐𝑜𝑠𝜃3 𝜔3 = 0 …………………(viii)

Multiply (vii) by 𝑐𝑜𝑠𝜃3 and equation (viii) by 𝑠𝑖𝑛𝜃3 and add

−𝑎𝜔2 𝑠𝑖𝑛𝜃2 𝑐𝑜𝑠𝜃3 − 𝑏𝜔3 𝑠𝑖𝑛𝜃3 𝑐𝑜𝑠𝜃3 − 𝑉𝑐 𝑐𝑜𝑠𝜃3 + 𝑎 𝑠𝑖𝑛𝜃3 𝑐𝑜𝑠𝜃2 𝜔2 + 𝑏𝑠𝑖𝑛𝜃3 𝑐𝑜𝑠𝜃3 𝜔3 = 0

i.e., −𝑎𝜔2 𝑠𝑖𝑛𝜃2 𝑐𝑜𝑠𝜃3 + 𝑎 𝑠𝑖𝑛𝜃3 𝑐𝑜𝑠𝜃2 𝜔2 − 𝑉𝑐 𝑐𝑜𝑠𝜃3 = 0

𝑎𝜔2 (𝑠𝑖𝑛𝜃3 𝑐𝑜𝑠𝜃2 − 𝑠𝑖𝑛𝜃2 𝑐𝑜𝑠𝜃3 ) − 𝑉𝑐 𝑐𝑜𝑠𝜃3 = 0

𝑎𝜔2 sin(𝜃3 − 𝜃2 ) − 𝑉𝑐 𝑐𝑜𝑠𝜃3 = 0

𝑎𝜔2 sin(𝜃3 −𝜃2 )

∴ Velocity of slider 𝑉𝑐 = ………………(ix)
𝑐𝑜𝑠𝜃3

From equation (viii) the angular velocity of connecting rod

−𝑎 𝑐𝑜𝑠𝜃2 𝜔2
𝜔3 = …………………(x)
𝑏𝑐𝑜𝑠𝜃3

(iii)Angular acceleration of connecting rod and acceleration of piston

Differentiatingequation (vii)& (viii) w.r.t time

−𝑎𝜔2 2 𝑐𝑜𝑠𝜃2 − 𝑎𝑠𝑖𝑛𝜃2 𝛼2 − 𝑏𝜔3 2 𝑐𝑜𝑠𝜃3 − 𝑏𝑠𝑖𝑛𝜃3 𝛼3 − 𝐴𝑐 =0 ………….(xi)

−𝑎𝜔2 2 𝑠𝑖𝑛𝜃2 + 𝑎𝑐𝑜𝑠𝜃2 𝛼2 − 𝑏𝜔3 2 𝑠𝑖𝑛𝜃3 + 𝑏𝑐𝑜𝑠𝜃3 𝛼3 =0 ………………. (xii)

Multiply equation (xi) by 𝑐𝑜𝑠𝜃3 and equation (xii) by 𝑠𝑖𝑛𝜃3 and add

−𝑎𝜔2 2 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃3 − 𝑎𝑠𝑖𝑛𝜃2 𝛼2 𝑐𝑜𝑠𝜃3 − 𝑏𝜔3 2 𝑐𝑜𝑠 2 𝜃3 − 𝑏𝑠𝑖𝑛𝜃3 𝛼3 𝑐𝑜𝑠𝜃3 − 𝐴𝑐 𝑐𝑜𝑠𝜃3
− 𝑎𝜔2 2 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃3 + 𝑎𝑐𝑜𝑠𝜃2 𝛼2 𝑠𝑖𝑛𝜃3 − 𝑏𝜔3 2 𝑠𝑖𝑛2 𝜃3 + 𝑏𝑐𝑜𝑠𝜃3 𝛼3 𝑠𝑖𝑛𝜃3 = 0

i.e., 𝑎𝜔2 2 ( 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃3 + 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃3 ) + 𝑎𝛼2 (𝑠𝑖𝑛𝜃3 𝑐𝑜𝑠𝜃2 − 𝑐𝑜𝑠𝜃3 𝑠𝑖𝑛𝜃2 ) −
𝑏𝜔3 2 (𝑠𝑖𝑛2 𝜃3 + 𝑐𝑜𝑠 2 𝜃3 ) − 𝐴𝑐 𝑐𝑜𝑠𝜃3 = 0

i.e., −𝑎𝜔2 2 cos(𝜃3 − 𝜃2 ) + 𝑎𝛼2 sin(𝜃3 − 𝜃2 ) − 𝑏𝜔3 2 − 𝐴𝑐 𝑐𝑜𝑠𝜃3 = 0

Acceleration of the piston

𝑎𝛼2 sin(𝜃3 −𝜃2 )−𝑎𝜔2 2 cos(𝜃3 −𝜃2 )−𝑏𝜔3 2

𝐴𝑐 = ……………….(xiii)
𝑐𝑜𝑠𝜃3

Angular acceleration of connecting rod

𝑎𝜔2 2 𝑠𝑖𝑛𝜃2 −𝑎𝑐𝑜𝑠𝜃2 𝛼2 +𝑏𝜔3 2 𝑠𝑖𝑛𝜃3

𝛼3 = ………………(xiv)
𝑏𝑐𝑜𝑠𝜃3
Problem no.1In a reciprocating engine length of crank is 250mm and length of connecting
rod is 1000mm. The crank rotates at a uniform speed of 300rpm cw.Crank is at 30 0 from
i.d.c. Determine

1. Velocity of piston and angular velocity of connecting rod.

2. Acceleration of piston and angular acceleration of connecting rod by complex
algebra method from first principle.

Solution
The given slider crank mechanism is as shown in figure below
a=250mm=0.25m
b=1000mm=1m
N2=-300rpm (clockwise rotation)
𝜃2 = 30°
2𝜋𝑁2 2𝜋(−300)
Angular velocity of the crank 𝜔2 = = = −31.416𝑟𝑎𝑑/𝑠𝑒𝑐
60 60

Angular acceleration of crank 𝛼2 = 0

(i) Velocity of piston and angular velocity of connecting rod

−0.25×𝑠𝑖𝑛30
Connecting rod angle 𝜃3 = sin−1 ( ) = 352.82°
1

Angular velocity of connecting rod

 −𝑎𝜔2 𝑐𝑜𝑠𝜃2 −0.25 × (−31.416)sin(352.82 − 30)
𝜔3 = =
𝑏𝑐𝑜𝑠𝜃3 𝑐𝑜𝑠352.82
= 6.856𝑟𝑎𝑑/𝑠𝑒𝑐
Velocity of piston
𝑎𝜔2 sin(𝜃3− 𝜃2) 0.25 × (−31.416)sin(352.82 − 30)
𝑉𝑐 = =
𝑐𝑜𝑠𝜃3 𝑐𝑜𝑠352.82
= 4.784𝑚/𝑠𝑒𝑐
(ii) Acceleration of piston and angular acceleration of connecting rod
Angular acceleration of connecting rod
𝑎𝜔2 2 𝑠𝑖𝑛𝜃2 − 𝑎𝑐𝑜𝑠𝜃2 𝛼2 + 𝑏𝜔3 2 𝑠𝑖𝑛𝜃3
𝛼3 =
𝑏𝑐𝑜𝑠𝜃3
0.25 × (−31.4162 ) × 𝑠𝑖𝑛30 − 0 + 1 × 𝑠𝑖𝑛352.82
=
1 × 𝑐𝑜𝑠352.82
= 118.428 𝑟𝑎𝑑/𝑠𝑒𝑐 2 (𝑐𝑐𝑤)
Acceleration of piston
𝑎𝛼2 sin(𝜃3 − 𝜃2 ) − 𝑎𝜔2 2 cos(𝜃3 − 𝜃2 ) − 𝑏𝜔3 2
𝐴𝑐 =
𝑐𝑜𝑠𝜃3
0 − 0.25 × (−31.416)2 × cos(352.82 − 30) − 1 × 6.8562
=
𝑐𝑜𝑠352.82
= −245.52𝑚/𝑠𝑒𝑐 2

In an internal combustion engine mechanism, the crank radius is 100mm and the length of
connecting rod is 450mm. The crank is rotating at 10rad/sec in anticlockwise direction.
Determine the magnitude and direction of (i) Velocity of piston and (ii) Angular velocity of
the connecting rod when the crank is 450 from the inner dead center by complex algebra
method.

Solution

The given arrangement is as shown in the figure

b=100mm c=450mm𝜔2 = 10𝑟𝑎𝑑/ sec(𝑐𝑐𝑤) 𝜃2 = 45°

From ∆𝑙𝑒 𝑂𝐴𝑃

𝑠𝑖𝑛∅ 𝑠𝑖𝑛𝜃2
=
𝑏 𝑐

𝑠𝑖𝑛∅ 𝑠𝑖𝑛45
=
100 450

∅ = 9.04°

∴ 𝜃3 = 360 − ∅ = 360 − 9.04 = 350.96°

By Raven’s approach

Angular velocity of the connecting rod

𝑏𝑐𝑜𝑠𝜃2 100𝑐𝑜𝑠45
𝜔3 = − × 𝜔2 = × 10 = −1.951𝑟𝑎𝑑/𝑠𝑒𝑐
𝑐𝑐𝑜𝑠𝜃3 450𝑐𝑜𝑠350.96

Real part of the velocity equation 𝑅𝑣 = −𝑏𝜔2 𝑠𝑖𝑛𝜃2 − 𝑐𝜔3 𝑠𝑖𝑛𝜃3

= −100 × 10 × 𝑠𝑖𝑛45 − 450 × (−1.591)(𝑠𝑖𝑛350.96) = −819.6

Imaginary part of the velocity equation

𝐼𝑣 = 𝑏𝜔2 𝑐𝑜𝑠𝜃2 + 𝑐𝜔3 𝑐𝑜𝑠𝜃3 = 100 × 10𝑐𝑜𝑠45 + 450 × (−1.541)(𝑐𝑜𝑠350.96) = 0

∴ 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑝𝑖𝑠𝑡𝑜𝑛 𝑉𝑝 = √𝑅𝑣 2 + 𝐼𝑣 2 = −819.6𝑚𝑚/𝑠𝑒𝑐 = −0.8196𝑚/𝑠𝑒𝑐

In a four bar mechanism ABCD link AB=300mm, BC=360mm, CD=360mm and the fixed link
AD=600mm. The angle BAD=600. The link AB has an angular velocity of 10rad/sec and an
angular acceleration of 30 rad/sec2 both clockwise Determine the angular velocity and
angular acceleration of link BC and CD by using Raven’s Approach

Solution AD=a=600mm AB=b=300mm BC=c=360mm CD=d=360mm 𝜃2 = 60°

𝜔2 = −10𝑟𝑎𝑑/ sec 𝑐𝑤 𝛼2 = −30𝑟𝑎𝑑/𝑠𝑒𝑐2 cw

Draw the given four bar mechanism ABCD as shown in figure. First find the angles θ3 and θ4

𝐵𝐷 = √𝐴𝐵 2 + 𝐴𝐷2 − 2𝐴𝐵. 𝐴𝐷 𝐶𝑂𝑆 𝐵𝐴̂𝐷

= √𝑎2 + 𝑏 2 − 2𝑏. 𝑎 𝐶𝑂𝑆60 = √3002 + 6002 − 2 × 300 × 600 × 𝐶𝑂𝑆60 = 519.615𝑚𝑚

Let BD=e

𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝛼
=
𝑒 𝑏

i.e.,
𝑠𝑖𝑛60 𝑠𝑖𝑛𝛼
=
519.615 300

∴ 𝛼 = 30°

From ∆𝑙𝑒 𝐵𝐶𝐷 𝑎𝑝𝑝𝑙𝑦𝑖𝑛𝑔 𝑐𝑜𝑠𝑖𝑛𝑒 𝑟𝑢𝑙𝑒

 𝐶𝐷 = 𝑑 = √𝐵𝐷2 + 𝐵𝐶 2 − 2𝐵𝐷. 𝐵𝐶 𝑐𝑜𝑠∅ = √𝑒 2 + 𝑐 2 − 2. 𝑒. 𝑐. 𝑐𝑜𝑠∅

360 = √519.6152 + 3602 − 2 × 519.615 × 360 × 𝑐𝑜𝑠∅

∅ = 43.806°

∴ 𝜃3 = ∅ − 𝛼 = 43.806 − 30 = 13.806°

𝑠𝑖𝑛𝛽 𝑠𝑖𝑛∅
=
𝑐 𝑑

𝑠𝑖𝑛𝛽 𝑠𝑖𝑛43.806
=
360 360

∴ 𝛽 = 43.806°

∴ 𝛼 + 𝛽 = 30 + 43.806 = 73.806°

Now 𝜃4 = 360 − (𝛼 + 𝛽) = 360 − 73.806 = 286.194°

Angular velocity of link AB, 𝜔2 = −10𝑟𝑎𝑑/ sec 𝑐𝑤

Angular velocity of link BC,

𝑏𝑠𝑖𝑛(𝜃2 − 𝜃4 ) 300 × sin(60 − 286.194)

𝜔3 = − × 𝜔2 = × (−10)
𝑐𝑠𝑖𝑛(𝜃3 − 𝜃4 ) 360 × sin(13.806 − 286.194)
= +6.02 𝑟𝑎𝑑/ sec 𝑐𝑐𝑤

Agular velocity of CD

𝑏𝑠𝑖𝑛(𝜃2 − 𝜃3 ) 300 × sin(60 − 13.806)

𝜔4 = − × 𝜔2 = × (−10)
𝑐𝑠𝑖𝑛(𝜃3 − 𝜃4 ) 360 × sin(13.806 − 286.194)
= −6.02 𝑟𝑎𝑑/ sec 𝑐𝑤

Angular acceleration of link BC,

𝜔3 𝑏𝜔2 2 cos(𝜃2 − 𝜃4 ) + 𝑐𝜔2 2 cos(𝜃3 − 𝜃4 ) + 𝑑𝜔4 2

𝛼3 = 𝛼 −
𝜔2 2 𝑐. sin(𝜃3 − 𝜃4 )
 6.02
= (−30)
(−10)
300 × (−10)2 cos(60 − 286.194) + 6.022 cos(13.806 − 286.194) + 360 × (−6.02)2
−
360 × sin(13.806 − 286.194)
= 38.01 𝑟𝑎𝑑/𝑠𝑒𝑐 2 𝑐𝑐𝑤

Angular acceleration of link CD,

𝜔4 𝑏𝜔2 2 cos(𝜃2 − 𝜃3 ) + 𝑐𝜔3 2 cos(𝜃3 − 𝜃4 )

𝛼4 = 𝛼2 +
𝜔2 𝑐. sin(𝜃3 − 𝜃4 )

6.02
= (−30)
(−10)
300 × (−10)2 cos(60 − 13.806) + 360 × 6.022 +360 × (−6.022 )cos(13.806 − 286.194)
+
360 × sin(13.806 − 286.194)

= 77.24 𝑟𝑎𝑑/𝑠𝑒𝑐 2 𝑐𝑤

FREUDENSTEIN’S EQUATION FOR FOUR BAR MECHANISM

A design problem where the link lengths of a four bar mechanism must be determined so
that the rotations of the two levers within the mechanism ∅ and Ψ are functionally related.

The desired relation is represented by f(∅, Ψ)=0. It is illustrated in figure 3.8

Figure 3.8
Figure3.8 shows the four bar mechanisms and the vector loop necessary for the mechanism
analysis. The vector loop equation is

𝑟̅2 + 𝑟̅3 − 𝑟̅4 − 𝑟̅1 = 0 .....................(i)

Considering the links to be vectors, displacement along the X-axis is,

𝑟2 𝑐𝑜𝑠𝜃2 + 𝑟3 𝑐𝑜𝑠𝜃3 − 𝑟4 𝑐𝑜𝑠𝜃4 − 𝑟1 = 0

∴ 𝑟3 𝑐𝑜𝑠𝜃3 = −𝑟2 𝑐𝑜𝑠𝜃2 + 𝑟4 𝑐𝑜𝑠𝜃4 + 𝑟1 ......................(ii)

Squaring equation (ii)

𝑟3 2 𝑐𝑜𝑠𝜃3 2 = 𝑟2 2 𝑐𝑜𝑠𝜃2 2 + 𝑟4 2 𝑐𝑜𝑠𝜃4 2 + 𝑟1 2 − 2𝑟2 𝑟4 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃4 − 2𝑟2 𝑟1 𝑐𝑜𝑠𝜃2 + 2𝑟4 𝑟1 𝑐𝑜𝑠𝜃4

.........................(iii)

Displacement along Y axis is,

𝑟2 𝑠𝑖𝑛𝜃2 + 𝑟3 𝑠𝑖𝑛𝜃3 − 𝑟4 𝑠𝑖𝑛𝜃4 = 0

∴ 𝑟3 𝑠𝑖𝑛𝜃3 = −𝑟2 𝑠𝑖𝑛𝜃2 + 𝑟4 𝑠𝑖𝑛𝜃4 ...........................(iv)

Squaring equation (iv)

𝑟3 2 𝑠𝑖𝑛𝜃3 2 = 𝑟2 2 𝑠𝑖𝑛𝜃2 2 + 𝑟4 2 𝑠𝑖𝑛𝜃4 2 + 𝑟1 2 − 2𝑟2 𝑟4 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃4 ................(v)

Equation (iii) and (v) can be reduced to a single equation relating 𝜃2 , 𝜃4 and the four link
lengths by eliminating 𝜃3 . To eliminate 𝜃3 add both sides of the equation (iii) and (v).

∴ 𝑟3 2 𝑐𝑜𝑠 2 𝜃3 + 𝑟3 2 𝑠𝑖𝑛2 𝜃3
= 𝑟2 2 𝑐𝑜𝑠 2 𝜃2 + 𝑟4 2 𝑐𝑜𝑠 2 𝜃4 + 𝑟1 2 − 2𝑟2 𝑟4 𝑐𝑜𝑠𝜃2 + 2𝑟4 𝑟1 𝑐𝑜𝑠𝜃4 + 𝑟2 2 𝑠𝑖𝑛𝜃2 2
+ 𝑟4 2 𝑠𝑖𝑛𝜃4 2 − 2𝑟2 𝑟4 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃4

i.e., 𝑟3 2 (𝑐𝑜𝑠 2 𝜃3 + 𝑠𝑖𝑛2 𝜃3 ) = 𝑟2 2 (𝑐𝑜𝑠 2 𝜃2 + 𝑠𝑖𝑛2 𝜃2 ) + 𝑟4 2 (𝑐𝑜𝑠 2 𝜃4 + 𝑠𝑖𝑛2 𝜃4 ) + 𝑟1 2 −

2𝑟2 𝑟4 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃4 − 2𝑟2 𝑟1 𝑐𝑜𝑠𝜃2 + 2𝑟4 𝑟1 𝑐𝑜𝑠𝜃4 − 2𝑟2 𝑟4 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃4

i.e., 𝑟3 2 = 𝑟2 2 + 𝑟4 2 + 𝑟1 2 − 2𝑟2 𝑟4 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃4 − 2𝑟2 𝑟1 𝑐𝑜𝑠𝜃2 + 2𝑟4 𝑟1 𝑐𝑜𝑠𝜃4 −

2𝑟2 𝑟4 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃4

i.e.,

𝑟2 2 − 𝑟3 2 + 𝑟4 2 + 𝑟1 2 + 2𝑟4 𝑟1 𝑐𝑜𝑠𝜃4 − 2𝑟2 𝑟1 𝑐𝑜𝑠𝜃2 = 2𝑟2 𝑟4 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃4 + 2𝑟2 𝑟4 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃4
Dividing both sides by 2𝑟2 𝑟4 we gt

𝑟2 2 − 𝑟3 2 + 𝑟4 2 + 𝑟1 2 𝑟1 𝑟1
+ 𝑐𝑜𝑠𝜃4 − 𝑐𝑜𝑠𝜃2 = 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃4 + 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃4
2𝑟2 𝑟4 𝑟2 𝑟4

.......................................(vi)

𝑟 𝑟1 𝑟2 2 −𝑟3 2 +𝑟4 2 +𝑟1 2

Let𝑟1 = 𝑅1 ; = 𝑅2 ; = 𝑅3
4 𝑟2 2𝑟2 𝑟4

Substituting these values in equation (vi) we get

𝑹𝟑 + 𝑹𝟐 𝒄𝒐𝒔𝜽𝟒 − 𝑹𝟏 𝒄𝒐𝒔𝜽𝟐 = 𝐜𝐨𝐬(𝜽𝟐 − 𝜽𝟒 ).................................(vii)

Equation (vii) is the Freudenstein’s equation for a four bar mechanism.

FREUDENSTEIN’S EQUATION FOR SLIDER CRANK MECHANISM

A design problem where the link lengths of a crank slider mechanism must be determined
so that the translation r and the rotation ∅ are functionally related.

The desired relation is represented by f (∅, 𝑟) =0 .It is illustrated in figure 3.9 shows a slider
crank mechanism and its vector loop.

Figure 3.9

The vector loop equation is

𝑟̅̅̅
2 +𝑟
̅̅̅
3 − 𝑟̅
4 −𝑟
̅̅̅
1 = 0 ……………………………. (i)

Considering the links to be vectors, displacement along the X-axis is,

𝑟2 𝑐𝑜𝑠𝜃2 + 𝑟3 𝑐𝑜𝑠𝜃3 − 𝑟4 = 0

∴ 𝑟3 𝑐𝑜𝑠𝜃3 = −𝑟2 𝑐𝑜𝑠𝜃2 + 𝑟4 ………………………………(ii)

Squaring equation (ii)

𝑟3 2 𝑐𝑜𝑠 2 𝜃3 = 𝑟2 2 𝑐𝑜𝑠 2 𝜃2 + 𝑟4 2 − 2𝑟2 𝑟4 𝑐𝑜𝑠𝜃2 ……………………….(iii)

Displacement along Y-axis is,

𝑟2 𝑠𝑖𝑛𝜃2 + 𝑟3 𝑠𝑖𝑛𝜃3 − 𝑟1 = 0

∴ 𝑟3 𝑠𝑖𝑛𝜃3 = −𝑟2 𝑠𝑖𝑛𝜃2 + 𝑟1 …………………………………(iv)

Squaring equation (iv)

𝑟3 2 𝑠𝑖𝑛2 𝜃3 = 𝑟2 2 𝑠𝑖𝑛2 𝜃2 + 𝑟1 2 − 2𝑟1 𝑟2 𝑠𝑖𝑛𝜃2 ……………………(v)

To eliminate 𝜃3 add both sides of equation (iii) and (v)

∴ 𝑟3 2 𝑐𝑜𝑠 2 𝜃3 + 𝑟3 2 𝑠𝑖𝑛2 𝜃3 = 𝑟2 2 𝑐𝑜𝑠 2 𝜃2 + 𝑟4 2 − 2𝑟2 𝑟4 𝑐𝑜𝑠𝜃2 +𝑟2 2 𝑠𝑖𝑛2 𝜃2 + 𝑟1 2 −

2𝑟1 𝑟2 𝑠𝑖𝑛𝜃2

i.e., 𝑟3 2 (𝑐𝑜𝑠 2 𝜃3 + 𝑠𝑖𝑛2 𝜃3 ) = 𝑟2 2 (𝑐𝑜𝑠 2 𝜃2 + 𝑠𝑖𝑛2 𝜃2 ) + 𝑟4 2 + 𝑟1 2 − 2𝑟2 𝑟4 𝑐𝑜𝑠𝜃2 −

2𝑟1 𝑟2 𝑠𝑖𝑛𝜃2

i.e., 𝑟3 2 = 𝑟2 2 + 𝑟4 2 + 𝑟1 2 − 2𝑟2 𝑟4 𝑐𝑜𝑠𝜃2 − 2𝑟1 𝑟2 𝑠𝑖𝑛𝜃2

i.e., 𝑟3 2 − 𝑟2 2 − 𝑟1 2 + 𝑟2 𝑟4 𝑐𝑜𝑠𝜃2 + 2𝑟1 𝑟2 𝑠𝑖𝑛𝜃2 = 𝑟4 2 ……………………(vi)

Let 𝑆1 = 2𝑟2 ; 𝑆2 = 2𝑟1 𝑟2 ; 𝑆3 = 𝑟3 2 − 𝑟2 2 − 𝑟1 2

Substituting these values in equation (vi)

𝑆1 𝑟4 𝑐𝑜𝑠𝜃2 + 𝑆2 𝑠𝑖𝑛𝜃2 + 𝑆3 = 𝑟4 2 …………………….(vii)

Equation (vii) is the Freudenstein’s Equation for a slider crank mechanism.

FUNCTION GENERATION

Function generation is similar to curve fitting. There are two basic methods:

i. Point matching method, matching a set of (2-4) pairs in the desired range of the
function.

ii. Derivative matching method, matching the function and its derivatives at one point in the
desired range of the function.
FUNCTION GENERATION FOR FOUR BAR MECHANISM

A Four bar mechanism shown in the figure 3.10 is in equilibrium.Let a, b,c and d is the
magnitude of the links AB,BC,CD and DA respectively., and  are the angles of AB,BC and
DC respectively with the x-axis.AD is the fixed link. AB and DC are the input and output links
respectively of the mechanism.

Figure 3.10 Four bar Mechanism

Considering the links to be vectors, displacement along the X-axis is,

𝑎𝑐𝑜𝑠𝜃 + 𝑏𝑐𝑜𝑠𝛽 − 𝑐𝑐𝑜𝑠∅ − 𝑑 = 0

∴ 𝑏𝑐𝑜𝑠𝛽 = −𝑎𝑐𝑜𝑠𝜃 + 𝑐𝑐𝑜𝑠∅ + 𝑑

𝑖. 𝑒. , (𝑏𝑐𝑜𝑠𝛽)2 = (−𝑎𝑐𝑜𝑠𝜃 + 𝑐𝑐𝑜𝑠∅ + 𝑑)2

𝑖. 𝑒. , 𝑏 2 𝑐𝑜𝑠 2 𝛽 = 𝑎2 𝑐𝑜𝑠 2 𝜃 + 𝑐 2 𝑐𝑜𝑠 2 ∅ + 𝑑 2 − 2𝑎𝑐𝑐𝑜𝑠𝜃𝑐𝑜𝑠∅ − 2𝑎𝑑𝑐𝑜𝑠𝜃 + 2𝑐𝑑𝑐𝑜𝑠∅. (𝑖)

Displacement along Y-axis

𝑎𝑠𝑖𝑛𝜃 + 𝑏𝑠𝑖𝑛𝛽 − 𝑐𝑠𝑖𝑛∅ = 0

∴ 𝑏𝑠𝑖𝑛𝛽 = −𝑎𝑠𝑖𝑛𝜃 + 𝑐𝑠𝑖𝑛∅

∴ 𝑏 2 𝑠𝑖𝑛2 𝛽 = −𝑎2 𝑠𝑖𝑛2 𝜃 + 𝑐 2 𝑠𝑖𝑛2 ∅ − 2𝑎𝑐𝑠𝑖𝑛𝜃𝑠𝑖𝑛∅ … … … . (𝑖𝑖)

Adding equation (i) and (ii)

𝑏 2 = 𝑐 2 + 𝑎2 + 𝑑2 − 2𝑎𝑐𝑐𝑜𝑠𝜃𝑐𝑜𝑠∅ − 2𝑎𝑑𝑐𝑜𝑠𝜃 + 2𝑐𝑑𝑐𝑜𝑠∅ − 2𝑎𝑐𝑠𝑖𝑛𝜃𝑠𝑖𝑛∅

𝑖. 𝑒. , 𝑎2 − 𝑏 2 + 𝑐 2 + 𝑑2 + 2 𝑐𝑑𝑐𝑜𝑠∅ − 2𝑎𝑑𝑐𝑜𝑠𝜃 = 2𝑎𝑐(𝑐𝑜𝑠𝜃𝑐𝑜𝑠∅ − 𝑠𝑖𝑛𝜃𝑠𝑖𝑛∅)

Dividing both sides by 2ac

𝑎2 − 𝑏 2 + 𝑐 2 + 𝑑 2 𝑑 𝑑
+ 𝑐𝑜𝑠∅ − 𝑐𝑜𝑠𝜃 = cos(𝜃 − ∅) … … … (𝑖𝑖𝑖)
2𝑎𝑐 𝑎 𝑐
This equation (iii) is known as Freudenstein’s equation.

It can be written as

𝑘3 + 𝑘1 𝑐𝑜𝑠∅ + 𝑘2 𝑐𝑜𝑠𝜃 = cos(𝜃 − ∅) … … … … … … (𝑖𝑣)

𝑎2 −𝑏2 +𝑐 2 +𝑑2 𝑑 𝑑
Where 𝑘3 = ; 𝑘1 = ; 𝑘2 = − 𝑐
2𝑎𝑐 𝑎

Let the input and output are related by some function such as y=f(x). For the given positions.

𝜃1 , 𝜃2 , 𝜃3 = 𝑇ℎ𝑟𝑒𝑒 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛𝑠 𝑜𝑓 𝑖𝑛𝑝𝑢𝑡 𝑙𝑖𝑛𝑘.

∅1 , ∅2 , ∅3 = 𝑇ℎ𝑟𝑒𝑒 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛𝑠 𝑜𝑓 𝑜𝑢𝑡𝑝𝑢𝑡 𝑙𝑖𝑛𝑘.

It is required to find the values of a, b c and d to form a four link mechanism giving the
prescribed motions of the input and the output links.

Equation (iv) can be written as,

𝑘1 𝑐𝑜𝑠∅1 + 𝑘2 𝑐𝑜𝑠𝜃1 + 𝑘3 = cos(𝜃1 − ∅1 )

𝑘1 𝑐𝑜𝑠∅2 + 𝑘2 𝑐𝑜𝑠𝜃2 + 𝑘3 = cos(𝜃2 − ∅2 )

𝑘1 𝑐𝑜𝑠∅3 + 𝑘2 𝑐𝑜𝑠𝜃3 + 𝑘3 = cos(𝜃3 − ∅3 )

𝑘1 , 𝑘2 𝑎𝑛𝑑 𝑘3 𝑐𝑎𝑛 𝑏𝑒 𝑒𝑣𝑎𝑙𝑢𝑎𝑡𝑒𝑑 𝑏𝑦 𝐺𝑎𝑢𝑠𝑠𝑖𝑎𝑛 𝑒𝑙𝑖𝑚𝑖𝑛𝑎𝑡𝑖𝑜𝑛 𝑚𝑒𝑡ℎ𝑜𝑑 𝑜𝑟 𝑏𝑦 𝑡ℎ𝑒 𝑐𝑟𝑎𝑚𝑒𝑟 ′ 𝑠𝑟𝑢𝑙𝑒.

𝑐𝑜𝑠∅1 𝑐𝑜𝑠𝜃1 1
∆= |𝑐𝑜𝑠∅2 𝑐𝑜𝑠𝜃2 1|
𝑐𝑜𝑠∅3 𝑐𝑜𝑠𝜃3 1

cos(𝜃1 − ∅1 ) 𝑐𝑜𝑠𝜃1 1
∆1 = |cos(𝜃2 − ∅3 ) 𝑐𝑜𝑠𝜃2 1|
cos(𝜃3 − ∅3 ) 𝑐𝑜𝑠𝜃3 1

𝑐𝑜𝑠∅1 cos(𝜃1 − ∅1 ) 1
∆2 = |𝑐𝑜𝑠∅2 cos(𝜃2 − ∅3 ) 1|
𝑐𝑜𝑠∅3 cos(𝜃3 − ∅3 ) 1
 𝑐𝑜𝑠∅1 𝑐𝑜𝑠𝜃1 cos(𝜃1 − ∅1 )
∆3 = |𝑐𝑜𝑠∅2 𝑐𝑜𝑠𝜃2 cos(𝜃2 − ∅3 )|
𝑐𝑜𝑠∅3 𝑐𝑜𝑠𝜃3 cos(𝜃3 − ∅3 )

𝑘1 , 𝑘2 𝑎𝑛𝑑 𝑘3 are given by,

∆1 ∆2 ∆3
𝑘1 = ; 𝑘2 = ; 𝑘3 =
∆ ∆ ∆

Knowing
𝑘1 , 𝑘2 𝑎𝑛𝑑 𝑘3 , 𝑡ℎ𝑒 𝑣𝑎𝑙𝑢𝑒𝑠 𝑜𝑓 𝑎, 𝑏 , 𝑐 𝑎𝑛𝑑 𝑑 𝑐𝑎𝑛 𝑏𝑒 𝑐𝑜𝑚𝑝𝑢𝑡𝑒𝑑 𝑓𝑟𝑜𝑚 𝑡ℎ𝑒 𝑟𝑒𝑙𝑎𝑡𝑖𝑜𝑛𝑠 .

𝑎2 − 𝑏 2 + 𝑐 2 + 𝑑 2 𝑑 𝑑
𝑘3 = ; 𝑘1 = ; 𝑘2 = −
2𝑎𝑐 𝑎 𝑐

Values of either a or d can be assumed to be unity to get the proportionate values of other
parameters.

Velocity and Acceleration of a Piston

In order to define the velocity and acceleration of a piston, consider the mechanism in
Figure 1, where the crank is driven with the uniform angular velocity .
Also, let be the crank radius, the rod length, the position of the piston pin from the
crank centre, the angle, and the angle (the crank angle).

Figure 1 From Figure 1 it can be seen that:

(1)

It can also be noted from Figure 1 that:

(2)

Squaring equation (2) gives:

which can also be written as:

This eventually leads to:

where .

By using this expression of in equation (1), we obtain:

which can also be written as:

and furthermore, as:

(3)

In order to calculate the piston velocity we differentiate (3) with respect to time, when
we get:

The piston acceleration can then be calculated by differentiating again with respect to
time, when we obtain:
Note that in these equations the positive direction of velocity and acceleration is away
from the crankshaft.

In normal situations and can be neglected in comparison with , and thus,

the above equations can be reduced to:
QUESTION BANK

1. Derive an expression for velocity and acceleration of the piston in a reciprocating

mechanism by using complex algebra method. Feb 2012
2. In a four bar mechanism ABCD link,AB=300mm, BC=360mm, CD=360mm and the
fixed link AD=600mm. The angle of link AB with fixed link AD is 600. The AB has an
angular velocity of 10rad/sec and angular acceleration of 30 rad/sec2 both clockwise.
Determine the angular velocity and angular acceleration of link BC and CD by Raven’s
approach. Jan2015
3. Explain the significance of loop closure equation an example. Jan 2017
4. Obtain loop closure equation for a four bar mechanism. July2016
5. Use kinematic analysis of the slider crank by complex numbers and derive the
expressions for velocity and acceleration of the slider and connecting rod.Jan 2018
6. Using complex algebra derive expressions for velocity and acceleration of the piston,
angular acceleration of connecting rod of a reciprocating engine mechanism. With
this expression determine the above quantities, if the crank length is 50mm,
connecting rod 200mm, crank speed is constant at 3000rpm and crank angle is 30 0.
Feb2016
7. The crank of an engine mechanism is 200mm long and the ratio of connecting rod
length to the crank radius is 4. Determine the acceleration of the piston when the
crank has turned through an angle of 450 from inner dead centre and rotating at a
speed of 240rpm counter clockwise direction by complex number approach.
Jan 2014
8. An internal combustion engine has a crank of 150mm length and a connecting rod of
600mm length. The crank rotates at a constant speed of 300rpm counter clockwise.
Determine the piston, velocity and acceleration of the slider when the crank angle is
450from inner dead centre position by complex algebra. July2016