Mechanics of

Machines
mdb3043

Lecture 09:
Velocity Analysis
 Copyright © Azman Zainuddin 2004,2006

Outline of Lecture 09
Velocity Analysis
 Review of Techniques in Mechanism Analysis
 Velocity Analysis: Why & What
 Linear & Angular Velocity Components
 Relative Velocity
 Example 1: Slider-Crank Linkage
 Example 2: 4-bar Linkage
 Example 3: Sewing Machine Linkage
 Example 4: Shear Cutter Linkage
 Techniques in Mechanism Analysis

Position Graphical

Analysis Analytical

Graphical
Relative Velocity
Analytical
Velocity
Analysis Instant Centre
Graphical

Analytical

Acceleration Graphical

Analysis Analytical
 Techniques in Mechanism Analysis

Position Graphical

Analysis Analytical

Graphical
Relative Velocity
Velocity Analytical

Analysis Instant Centre

Graphical

Analytical

Acceleration Graphical

Analysis Analytical
 Graphical vs Analytical
Graphical Analytical
Kinematic diagram Draw to scale Sketch
Calculations Short. Long. Tedious.
However, can make
use of computer.
Visualization Descriptive. Aid Not easily grasped
insight of motion from math.
Accuracy Inaccurate unless Accurate, but error
CAD is used. Possible not easily detected.
error in scaling,
measurement.
 Velocity Analysis: WHY?
In a mechanism,
 To function properly, certain parts of the mechanism
must move at a specified speed.
 In order to analyze the force and acceleration of links,
the velocity need to be determined.
 Velocity Analysis
 Velocity analysis is the determination of the
velocity of a point on a link of a mechanism.
 The velocity of the actuator of a mechanism is
generally known (motor speed, hydraulic piston
speed).
 Common methods:
 Relative Velocity &
 Instantaneous Centre,
 For each method, the analysis might be
graphical or analytical.
 Velocity of a Rotating Link
Points A , B and C are on the same link. The link rotates
about Point A at angular velocity ω

Point A is stationary. Points B and C have

B identical angular velocity ω
C The points have different linear
velocities
• different magnitude
ω • different direction
A
 Relationship between
Linear & Angular Velocities
Velocity of point A, vA
vA= 0
Velocity of point B, vB
B vB= ω r1
C direction: perpendicular to AB to the
top-right
r1 r2 Velocity of point C, vC
ω
vC= ω r2
A direction: perpendicular to AC to the right
 Relative Velocity: Vector

vB vB
vB/A
vA/B
vA vA
vA + vB/A = vB vB + vA/B = vA
Notes:
1.The notation for vA/B : Velocity of point A relative to point B.

2. Absolute velocities always starts from a particular

reference point in the diagram i.e. point zero.
Velocity Analysis Example

Slider-Crank Linkage
 Slider-Crank Example
If Link 1 is rotating
clockwise at 15 rpm … at the shown position of the
…… crank, what are the:

B - velocities of joints B and C ?

1 - angular velocity of link BC?

40O
A C
 Velocity Analysis by Graphical
Method
ω =15 rpm = 15 x 2π / 60 = 1.57 rad/s
vB= 1.57 rad/s x 30 mm = 47 mm/s vB is always
B
50O perpendicular to the
30 mm 55 mm line AB
ω vC is always parallel to
the sliding axis and
A 40O C starts from the same
point as vB
vC vC/B is always perpendicular to
the line BC and starts from
50O
arrow tip of vB

vB vC/B
ωCB =vC/B/ LCB
vB + vC/B = vC =vC/B/55
 Reviewing the Steps in Velocity Analysis by Graphical Method
Draw a line representing vB (known magnitude
vC & direction) at the angle representing the
50O direction. The length should represent the
magnitude. An arrow tip should be drawn at the
vB end of this line.
vC/B If vB is drawn 94 mm long to represent 47 mm/s,
the scale should be stated as 2 mm : 1 mm/s.
Draw a line representing the (known)
velocity direction of vC . The length is
Scale 2 mm:1 mm/s
unknown at this moment.
For vC/B , draw a line from the arrow tip of vB along the (known)
direction of vC/B . The intersection of this line with the line representing
vC is the end points for the velocity vectors of vC and vC/B.
Measure the lengths and angles of vC and vC/B and convert the units by
the scale to get their magnitudes and directions.
Velocity Analysis Example

4-Bar Linkage
 Velocity Analysis of a 4-bar Linkage
If Link 1 is rotating clockwise at a
velocity of 25 rad/s ….
200 mm
B C … what are the
velocities of
2 • point B, vB?
1 • point C, vC ?
ω • C relative to B, vA/B ?
3
• Link 2 (angular) ?
40˚
A D • Link 3 (angular) ?
0

298 mm

Copyright © Azman Zainuddin 2004,2006

 Velocity Analysis : 4-bar Linkage
ω1 = 25 rad/s vB = ω1rBA = 25 x 0.25 = 6.25 m/s 50O
rBA = 0.25 m vC/B
B 2 C
40O 50O vC 30O vC = vB + vC/B
vB
1 3
vC
40O
A D vB
vC/B
By measurements,
v = 4.7 m/s 30o
C

vC/B = 2.4 m/s 90o

ω3= vC / rCD = 4.7/ 0.185 = 25.4 rad/s CW

ω2= vC/B / rCB = 2.4/ 0.2 = 12 rad/s CCW

Copyright © Azman Zainuddin 2004,2006
 Tutorial Week 6

5-15: Slider Design

5-22: Rocker Design
5-40: 2-point Linkage Synthesis. Pivoted links are 16 mm long
6-20: Compressor Linkage