4.

0 THEORY

Consider the mechanism freeze the motion (snap shot) at the position shown Figure 4.1. The diagram is
called space diagram

,
( )

( )

( )

Figure 4.1

Every point on every link has a velocity through space. First we label the centre of rotation, often this is
letter O. Point A can only move tangential direction so the velocity of A relative to O is also it absolute the
velocity and the vector is normal to the crank and it is designated ( ). (note the rotation is
anticlockwise)

Now suppose that you are sat at point A and everything else moves relative to you. Looking toward
b, it would appear the B is rotating relative to you (in reality it is you that is rotating) so it has tangential
velocity denoted ( ). The direction is not always obvious except that it is normal to the link. Consider
the fixed link OC. Since both points are fixed there is no velocity between them so ( ) = 0

Next consider that you at point C looking at point B. Point B is a sliding link and will move in a
straight line in the direction fixed by the slider guides and this is velocity ( ). It follows that the velocity
of B seen from O is the same as that seen from C so ( ) = ( ).

That absolute velocity of B is ( ) = ( ) and this must be the vector sum of ( ) and ( ) and
the three vectors must form a close triangle as shown. The velocity of the piston must be in the direction
in which it slides (horizontal). Figure 4.2 is velocity diagram.

( )

b o

( ) ( )

A
5.0 PROCEDURES

5.1 The mobility of the apparatus is calculated using the appropriate equation
5.2 The desired crank (E) is and connecting rod (F) is selected
5.3 The selected crank and connecting rod to the crank holder (D) and the slider holder (G) is placed.
The length of the crank and connecting rod is recorded in the table provided.
5.4 The crank and the connecting rod is connected together using the turning knob (D) as the joint
5.5 The crank is rotated to 0o by rotating the knob. The angle measurement is read directing from the
proctractor (C) provided.
5.6 Once the crank is set at 0o, the initial position of the connecting rod is recorded using the linear
scale provided (A).
5.7 The crank of the apparatus is slowly rotated. For every 15o increment, the displacement value for
the connecting rod is recorded. The reading is taken up to 360o.
5.8 The experiment is repeated using different values of rotation radius and connecting rod length.