Velocities in 2D link Mechanisms

(I) Method of instantaneous centres of rotation

Example - 1
The slider-crank mechanism shown in figure 1 has a crank
radius OA of 50mm and a connecting rod AB 200mm long.
The crank rotates at a steady speed of 500rev/min
anticlockwise. Find the velocity of the piston B and the
angular velocity of the connecting rod for the configuration
shown. (i.e. when the crank has turned through an angle of
300 measured from the position where the piston is
furthest from the crank axis, ODC position.) Also, find the
velocity of the centre of mass G of the connecting rod
(AG=70mm) at the instant.
Example - 1

OA=50mm
AB=200mm
OA = 500rev/min
OA A
G
2
3 4
300
B
O 1
1
Figure 1
 OA=50mm
AB=200mm
OA = 500rev/min

VA= (OA) OA =
0.05*(2/60)*(500)rad/s
=2.618m/s
I41
Measured values:
AI = 229.13mm AB
BI = 139.57mm
GI = 178.45mm
I13 I
AB = VA/ AI
VA VG
= 11.423 rad/s
OA A
(clockwise)
I12 2 G
I34 4
300 I23 3
O 1 VB B
1
AB = VA/ AI

= 11.423 rad/s
(clockwise)

VG
A AB
G

46.280
VB = (BI) AB = 1.594m/s B

VG = (GI) AB
= 0.17845x11.423 m/s
= 2.04 m/s
(II) Method of velocity & acceleration diagrams

Velocity Diagrams
The use of velocity diagrams is generally simpler; the technique
uses the concept of relative velocities, working progressively
through the mechanism from a link whose velocity is initially
known.

Notation (for velocity vectors)

oa the velocity of A relative to O

(the order of the letters gives the sense, rather than using
an arrowhead)
Similarly,
ab the velocity of B relative to A
, vB/A = ab
B
B B
a

C
A A b
A Configuration
diagram Velocity
diagram
ab ( AB ) l
 B

, a
B
ab ( AB )
A

C ac ( AC )
b
A c
bc ( BC )
ab bc ac

AB BC AC

Velocity Diagram
Acceleration Diagrams

o1 a1 the acceleration of A relative to O

Similarly,
a1 b1 the acceleration of B relative to A

a1b1 = a 1x 1 + x1b1

(AB)2AB (AB)AB
Where,
a1x1 = the radial component
x1b1 = the transverse component
of the relative acceleration between A and B.
 a1 B

(AB)2AB

a1b1 ( AB ) 2 4

x1

(AB)AB

1
tan 2
b1
A

Acceleration Diagram
 a1

B
,
B

A A

a 1 b1 b1 c1 a 1 c1
c1
2 4
AB BC AC b1

Acceleration Diagram
Ex:

Work Example-1 using the method of velocity

diagram.
Sketch the acceleration diagram for the given
configuration of the mechanism.
Find the accelerations of the piston, the centre
of mass G, the angular acceleration of the
connecting rod for the instant shown.
Example - 1

OA=50mm
AB=200mm
OA = 500rev/min
OA A
G
2
3 4
300
B
O 1
1
Figure 1
Slider-Crank Mechanism (used in an IC engine)

Crank pin
Crank arm
Connecting rod
Cylinder x

Gudgeon pin Piston

Crankshaft
 a A

ab
AB
AB
2.285
O g rad / s
2.618m/s 0. 2
(OA)OA 11.425rad / s
2.285m/s
(AB)AB Clockwise
2.039m/s
Velocity of piston
ob = 1.595m/s
46.270
b o
b Velocity of G
ag AG 70
b og = 2.039m/s
ab AB 200 1.595m/s VG
46.270
Velocity Diagram
 a A

O g
2.618m/s
(AB)AB
2.285m/s (OA)OA

(AB)AB ab
2.039m/s AB
AB
2.285
46.270 rad / s
0 .2
b o
1.595m/s

Velocity Diagram
 b1 136.41m/s2
19.630 o1
65.8m/s2 132.6m/s2
(AB)AB A
g1 (OA)2OA = 137.1m/s2
x1
(AB)2AB O
a1
26.11m/s2
A

B
x1b1
AB AB
AB
a1 g1 g b a b 65.8
1 1 1 1 rad / s 2
AG GB AB 0.2
329 rad / s 2
Acceleration Diagram
 b1 136.41m/s2
19.630
o1

132.6m/s2
65.8m/s2

A
137.1m/s2
g1
x1
26.11m/s2 a1 O AB AB
x1b1

AB
65.8
rad / s 2
0.2
a1 g1 g b a b 329 rad / s 2
1 1 1 1
AG GB AB

Acceleration Diagram
Problems
1.
Figure Q1 shows the schematic arrangement of a tilting door,
which is operated by running the wheels at A and B along
the horizontal and vertical tracks respectively. If, for the
position shown, the uniform velocity of wheel B is 1.0 m/s
upwards,

determine

(i) the angular velocity of the door,

(ii) the linear velocity of end C of the door, and

(iii) the linear acceleration of end C of the door.

 A

300
vB= 1.0m/s (uniform)

Figure Q1
Velocity diagram
vA = oa = 0.5774 m/s
c
ab = bc = 1.1547 m/s
ab AB
1
bc BC ab
ABC 1.1547 rad / s
AB
Counterclockwise
b
1 m/s

300 oc = 2.082 m/s = vc

73.90
a 73.90
o

o fixed guides
Acceleration diagram

c1 o1 , b1 o1a1 = 1.5392 m/s2

300 600 a1

x1
o1 fixed guides

b1a1 = b1x1 + x1a1

a1b1 AB
1
b1c1 BC x 1 a1 0.7696 m / s 2
x1a1 = (AB) AB AB
AB
clockwise
Acceleration of end C
o1c1 = 1.5392 m/s2
2
In the link mechanism shown in Figure Q2, the
crank OA of length 100mm rotates about the fixed
pivot O. The piston B is restricted to slide in
vertical guides along direction YY as shown. The
connecting rod AB has a length of 200mm. For the
configuration shown, the crank has an angular
velocity , of 10rad/s and an angular acceleration
, of 20 rad/s2, both in the clockwise direction.
Sketch the vector diagrams for velocity and
acceleration and determine;
(i) the velocity of piston B,
(ii) the angular velocity of connecting rod AB,
(iii) the acceleration of piston B, and
(iv) the angular acceleration of connecting rod AB.
(Answer: 1.414m/s ; 5rad/s ; -4.243m/s2 ; -65rad/s2 )
 A
Y

900 450

O
B

Figure Q2 Y
 o A

450

O
450
1.414 m/s
450 a
VB = ob = 1.414 m/s

ab
AB
b AB
1
rad / s 5 rad / s
0.2
Velocity Diagram
 b1
Acceleration Diagram
4.243m/s2

450
o1

y1 900 aB = - 4.243m/s2

450
x1 y1b1

AB
AB
a1 13
rad / s 2
0.2
65 rad / s 2
4.
A slotted lever OA is pivoted at O and is
connected by pin Q to slider B which slides along
the fixed vertical rod CD as shown in Figure Q4.
Find the velocity and acceleration of the slider B if
the bar OA rotates at a constant angular velocity
of 10 rad/s in anticlockwise direction.
 C

A
B
OA = 10rad/s
Pin Q

O 450
D
500 mm

Figure Q4
 Ql

Q on the slider
Ql on the rod OA
QQl = r 0
r , r 0
Velocity Diagram

velocity of the slider B

VB = oq = 10 m/s
450
q/

velocity of sliding
450 Vs = q /q = 7.0711 m/s

o
Acceleration Diagram
q1
q1 /q1 = q1/x1 (trans) + x1q1 (radial)
as
2*OA x vs
=2*OA x q/q
= 141.422m/s2

Acceleration of the slider B

450 aB = o1q1 = +200 m/s2

x1

450
acceleration of sliding
o1
as = x1 q1 = 212.13m/s2

q1 /
5.
An aircraft A, is flying in a vertical plane
containing two tracking stations, P and Q, Figure
Q5, which are 15 km apart. At a certain instant,

= 600 , and

= -0.025 rad/s

= 1500 and

= -0.02 rad/s.

Determine the magnitude and direction

of the velocity of the aircraft.
 A

15 km
P Q

Figure Q5
6.
For the Scotch yoke mechanism shown in
Figure Q6, find the velocity and acceleration
of point A for a configuration of = 450. Crank
OP rotates at a constant speed of 5 rad/s
counter-clockwise. The crank radius,
OP = 100 mm
OP P

O A

The Scotch Yoke Mechanism

Figure Q6
Note:
The Scotch Yoke mechanism gives simple harmonic
motion as the output motion for element A. Its early
application was on steam pumps, but it is now used as a
mechanism on testing machines to produce harmonic
excitations or vibrations. It is also used as a sine-cosine
generator for computing elements.