Mechanics of Machines

MDB3043

LECTURE 10
 Copyright © Azman Zainuddin 2004,2006

Outline of Lecture 10

Velocity Analysis Examples

 Sewing Machine Linkage
 Shear Cutter (Point of Interest)
 Point on a Floating Link
 Hinged-mounted Cylinder Linkage
Velocity Analysis Example

SEWING MACHINE
LINKAGE
 8 mm
Sewing Machine 15
Linkage mm
drive wheel = 200 rpm
ccw
A
15 mm
1
30o
B 30 mm
8 mm

2
30 mm

C
Find vC needle
Sewing Machine Linkage: Velocity Analysis
1= 200 rpm ccw vB = ω1rBA = 20.9 x 15 = 314 mm/s 30O
= 20.9 rad/s ccw A
vC = vB + vC/B
15 mm
1
vB
30o
B vB vC
8 mm
vC/B
2
30 mm
Measuring
vC = 335 mm/s 90o
vC/B C vC/B = 330m m/s 33o

vC ω2 =vC/B / rCB = 330 x 30 = 11.0 rad/s cw

Velocity Analysis Example

SHEAR CUTTER
(VELOCITY OF A POINT OF INTEREST)
 Shear Cutter 1

Copyright © 2004, 2006 by Azman Zainuddin

 Shear Cutter 2

Copyright © 2004, 2006 by Azman Zainuddin

 Shear Cutter 3 (Prob. 6.31)

If the cutter moves at 3 mm/s, determine the angular

velocity of the handle and the velocity of the handle extreme
edge.

Copyright © 2004, 2006 by Azman Zainuddin

point of
interest
Shear Cutter

175 mm
 Velocity Analysis of a Shear Cutter
(Prob 6.31)
If vC = 3 mm/s, determine ω2 and vX
X
Draw vC = 3.0 mm/s ω2= vB / rBA
vB = 3.24/60 = 0.054 rad/s CCW

2
vC B Measure rXA
from kinematic
diagram
vC/B A … 251 mm
3
vC = vB + vC/B
4 1
vB = 3.24 mm/s (measured) C
vX = ω2 x rXA
D = 0.054 x 251 = 13.6 mm/s

Copyright © Azman Zainuddin 2004,2006

Velocity Analysis Example

VELOCITY OF POINTS ON A
FLOATING LINK
 Velocity Analysis (Graphical)
of a Point on a Floating Link – Case 1

If Link AB is rotating … what is the velocity of point D ?

clockwise at 15 rpm …… Motion at B is pure rotation
Motion at C is pure translation
Motion at D is a combination of
rotation and translation
B 55 mm
30 mm Link BC is a floating link
30 mm (no fixed joints on the link)

D
40O
A
C
 Velocity Analysis (Graphical)
of a Point on a Floating Link – Case 1

Measured from the previous example

vB= 47 mm/s 50O
O
v = 43.8 mm/s 0
C

B vC/B = 43.7 mm/s 69.5O

30 mm Angular velocity of Link BC
ωC/B= vC/B / rCB
ωB/A = 43.7/55 = 0.79 rad/s ccw
A 40O D C
vD/B = ωC/B x rDB
vC
= 0.79 x 30 = 23.7 mm/s
vD vC/B 69.5O
vB vD = vB + vD/B
vD/B
Measure from the velocity diagram
vD = 40 mm/s 21O
 Velocity Analysis (Graphical)
of a Point on a Floating Link – Case 2
If Link AB is … what is the velocity of point E?
rotating clockwise Point E is on the link BC but not on the
at 15 rpm …… line connecting B and C
40 mm
ωC/B= 0.79 rad/s

B
55 mm vE = vB + vE/B

30 mm vC
E vE vC/B
A
40O
vB vE/B
C

vE/B = ωC/B x rEB

= 0.79 x 40 = 31.6 76O vE = 38 mm/s 8O
mm/s
Velocity Analysis Example

VELOCITY OF POINTS ON A
FLOATING LINK OF A 4-BAR
LINKAGE (PROB 7-50)
Velocity Analysis: Point on a Floating Link

Floating Link
(Stamp)

The stamp stamps on

the ink pad and then
stamps on the box
repetitively as the
crank rotates.
Kinematic Diagram

X C
 Velocity Analysis (1)

Link 1 is rotating B
1 vB
clockwise at 20
rpm. What is the
velocity at point X?
A

2
3 D

vC = vB + vC/B vX/C C
vX/B
vX = vB + vX/B X
vX = vC + vX/C
C rotates about D. The velocity direction is known.
X rotates and translates at the same time thus the
velocity direction is unknown. Must first determine vC
before can determine vX
 Velocity Analysis (2)

1 B vC = vB + vC/B vX
vB
ω1= 20 rpm cw = 2.09 rad/s cw
A vB = ω1rBA = 6.79 in/s 30O
Measuring vC vX/C v
B
vC = 3.85 in/s 72o
2 vC/B = 4.75 in/s 1o vC/B
Draw a line from the end of the vector vB .
D The line is perpendicular to BX.

Draw another line from the end of vector vC.

X C 3 This line is drawn perpendicular to CX.

The intersection is the endpoint of vector vX

which starts at the same point as vB and vC.
vX = vB + vX/B
vX = vC + vX/C Measure the length and the angle vector vX
vX = 1.1 in/s 8o
 Velocity Analysis (3)

1 B vC = vB + vC/B
vB
ω1= 20 rpm cw = 2.09 rad/s cw
A vB = ω1rBA = 6.79 in/s 30O vX
Measuring
vC = 3.85 in/s 72o
2 vC vX/C v
B
vC/B = 4.75 in/s 1o
D vC/B

C 3
X
ω3 = vC/ rCD = 3.85 / 6.75 = 0.57 rad/s ccw
ω2 = vC/B / rCB = 4.75 / 9.38 = 0.51 rad/s cw
vX = vB + vX/B vX/B = ω2 x rBX = 0.51 x 11.25 = 5.6 in/s 33o
vX = vC + vX/C vX/C = ω2 x rCX = 0.51 x 6.0 = 3.1 in/s 89o
Velocity Analysis Example

VELOCITY ANALYSIS OF A
H I N G E D – M OU NT ED C Y L I N D E R
LINKAGE
 Velocity Analysis of Hinged Cylinder Linkage

Copyright © Azman Zainuddin 2004,2006

 Velocity Analysis of Hinged Cylinder Linkage

Copyright © Azman Zainuddin 2004,2006

 Velocity Analysis of Hinged Cylinder Linkage

Copyright © Azman Zainuddin 2004,2006

 Velocity Analysis of a Hinged Cylinder Linkage

Copyright © Azman Zainuddin 2004,2006

 Velocity Analysis of a Hinged Cylinder Linkage

3
B

4
2

C
A
1

Copyright © Azman Zainuddin 2004,2006

 Coincident Points on Different Links
Joint B represents the identical locations of two points on two
different links, identified as B2 and B4. The points are coincident at a
particular instant of time only as the linkage moves.
Point B2 is on Link 2 ; rotating about A, moves perpendicular to Link 2.
Point B4 is on Link 4 ; rotating about C, moves perpendicular to Link 4.
Point B2 is sliding relative to Point B4 along Link 4. vB2 = vB4 + vB2/B4
3 perpendicular to 4
B
vB4
vB2/B4
2 4 parallel
vB2 to 4
C perpendicular
A to 2
1
Copyright © Azman Zainuddin 2004,2006
Velocity Analysis Example

HYDRAULIC-DRIVEN PLATFORM
Velocity Analysis of a Platform
 Velocity Analysis of a Platform

The hydraulic cylinder extends at a speed of 16 ft/min. Determine

the velocity of the platform at this configuration.
platform
 Velocity Analysis of a Platform
vB4 = vB2 + vB4/B2
Always take the velocity of the
E platform 5 piston relative to the cylinder.
C

2 D

6
B 4
3
ω4= vB4 / rB4
= 18.8/3.5 = 5.37 rad/min ccw
F A
vC = ω4 x rAC
1 = 5.37 x 5.3 = 28.5 ft/min
20O