RIGID BODY KINEMATICS

Instantaneous Center of
Zero Velocity (IC)

(Ani Dnme Merkezi)
In relative velocity analysis, we determined
the velocity of a point on a rigid body in plane
motion by adding the relative velocity due to
rotation about a convenient reference point to
the velocity of the reference point.

We are now going to solve the problem by
choosing a unique reference point which
momentarily has zero velocity.
Lets assume that the body in the figure is in plane motion. As far as
velocities are concerned, the body may be considered to be in pure
rotation about an axis, normal to the plane of motion, passing
through this point. This axis is called the instantaneous axis of zero
velocity and the intersection of this axis with the plane of motion is
known as the instantaneous center of zero velocity (point C). For
this certain instant, the velocity of point C is zero.
Locating the Instantaneous Center

For the body in the figure, lets assume that the directions of
the absolute velocities of any two points A and B on the body
are known and are not parallel. If there is a point about which A
has absolute circular motion at the instant considered, this
point must lie on the normal to through A.
A
v

Similar reasoning applies to B, and the intersection of the two

perpendiculars will give point C, the instantaneous center of zero
velocity. Point C may lie on or off the body. If it lies off the body, it
may be visualized as lying on an imaginary extension of the body. The
instantaneous center need not be a fixed point in the body or a fixed
point in the plane.
If we know the magnitude of the velocity of one of the points, say v
A
,
we may easily obtain the angular velocity of the body and the linear
velocity of every point in the body.
BC
V
AC
V
B A

Motion of the Instantaneous Center

As the body changes its position, the instantaneous
center C also changes its position in space and on the
body.

Although the velocity of the instantaneous center is
zero, its acceleration may not be equal to zero. Thus,
this point may not be used as an instantaneous center of
zero acceleration.
If two or more bodies are connected by pins, the instantaneous
center (IC) will be determined separately for each body.

In a rotating disk the IC will be the point of contact of the
disk with the surface.
IC
IC for AB
IC for BC

BC

AB
v
B
Absolute IC
If the instantaneous center of velocity is fixed for a
certain motion of the body, it can be named as absolute
IC.
Point O absolute IC Point O absolute IC
Points O
1
and O
2
absolute IC
Point C relative IC
If the instantaneous center of velocity changes position
for a certain motion of the body, it can be named as
relative IC.
Relative IC
Point P relative IC
Relative IC in infinity

For the position shown, rod AB
translates,
AB
=0
PROBLEMS
1. Determine the angular velocity of link OB if the piston has a
velocity of 2 m/s to the right at the instant shown.
PROBLEMS
2. Vertical oscillation of the spring loaded
plunger F is controlled by a periodic
change in pressure in the vertical
hydraulic cylinder E. For the position q =
60, determine the angular velocity of AD
and the velocity of the roller A in its
horizontal guide if the plunger F has a
downward velocity of 2 m/s.
PROBLEMS
3. The mechanism in the figure is used for riveting. If the velocity of
the piston A is v
A
= 20 m/s for the instant, determine the velocity of D,
which moves in the vertical slot.
PROBLEMS
4. The oil pumping unit consists of a walking beam AB, connecting rod
BC, and crank CD. If the crank rotates at a constant rate of 6 rad/s
(counterclockwise), determine the speed of the rod hanger H at the
instant shown. Also find the angular velocities of members BC and AB.
PROBLEMS
5. In relation to the elongation of the hydraulic piston AC, the velocity
of point A on the slider is v = 1.25 m/s for the instant when q=tan
-1
(3/4).
At this moment BD is horizontal and DE is vertical. Determine the
angular velocities of arms BD and DE and the hydraulic piston AC for
this instant.
200 mm