THEORY OF MACHINES (Relative velocity & acceleration)

CHAPTER 0ne
RELATIVE VELOCITY & ACCELERATION

1. VELOCITY AND ACCELERATION DIAGRAMS:

1.1 RELATIVE VELOCITY METHOD
When accelerations of mechanisms are studied, however, it is necessary to determine the
relative velocities between points on a link. For this reason, the relative velocity method of
obtaining velocities is the most useful method.
This section involves the construction of velocity diagrams, which needs to be done
accurately and to a suitable scale. Students should use a compass, protractor and triangles and
possess the necessary drawing skills.

To explain the method, considering the two moving points

A and B in Figure 1.1, the absolute velocity VB of point B is equal
to the vector sum of the absolute velocity VA of point A and the
velocity VB/A of B relative to A.
VB = VA ↦ VB/A Figure 1.1

Therefore, it is necessary to know both the velocity VA of A and the velocity VB/A of B
relative to A to find the velocity VB of B.

In Figure 1.2a, the velocity of A is known and the direction only of B is known.
Avelocity diagram is constructed as follows:
1. Arbitrarily locate the origin
o (lower-case letter), which
represents a fixed point. All
vectors originating at o
represent absolute velocities.
2. The known absolute velocity
VA is laid off from o.
3. The direction of the absolute Figure 1.2
velocity VB is drawn through o.
4. The direction of the relative velocity VB/A is known to be ⊥ to the line connecting A
and B, and it must connect the termini of the two absolute velocities VA and VB.
Therefore, a line is drawn through the known terminus of VA and in a direction ⊥ to
line AB.
5. This establishes the magnitudes of VB and VB/A.

Note that VB/A points toward VB. A vector of opposite sense would represent VA/B. Note
also that the absolute velocities emanate from the origin o and that terminus of each is
labeled with a lower-case letter corresponding to the point involved.
From the velocity diagram in Figure 1.2b it is evident that
VB = VA ↦ VB/A
VA = VB ↦ VA/B

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 THEORY OF MACHINES (Relative velocity & acceleration)
Example 1.1: In the mechanism shown in Figure 1.3, the velocity of A is known and it is
required to find the velocities of B, C, D, E, and F.

(a')
Figure 1.3

TO FIND VB:
1. The given velocity VA is laid off from origin, as shown in Figure 1.3a'.
2. The direction of VB (⊥ to link 4) is drawn to indefinite length through the origin.
3. The direction of VB/A (⊥ to line AB) is drawn through the terminus of VA.
4. The intersection of the VB and VB/A direction lines determines the magnitudes of both.

TO FIND VC (Figure 1.3b):

1. Draw a line through the terminus of VA in the direction of VC/A (⊥ to CA).
VC = VA ↦ VC/A
2. Draw a line through the terminus of VB in the direction of VC/B (⊥ to CB).
VC = VB ↦ VC/B
3. The terminus of VC is at the intersection of these two lines, as shown in Figure 1.3b.

TO FIND VD:
Since A, D, and B lie along a straight line on link 3, the relative velocities VD/A and VD/B cannot
be used together to get VD, because they are parallel (coincide) and will yield no intersection.
Therefore, VD/C must be used in combination with VD/A (or VD/B). This is done as follows:
1. Draw a line through the terminus of VC in the direction of VD/C (⊥ to DC).
VD = VC ↦ VD/C
2. Draw a line through the terminus of VA in the direction of VD/A (⊥ to DA). This coincides
with the VB/A line already drawn, since A, D, and B lie on a straight line.
VD = VA ↦ VD/A
3. The terminus of VD is established by the intersection of these
two lines, as shown in Figure 1.3c.

TO FIND VD BY PROPORTION:
An easier way to locate VD is to take the advantage of the fact that the
velocity diagram is an image of the actual mechanism, as shown in Fig1.4
Figure 1.4.
Distances along the images are proportional to corresponding distances along the links.
Therefore,
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 THEORY OF MACHINES (Relative velocity & acceleration)
(AD/AB) = (ad/ab)
Similarly, the velocities of points E on link 2 and F on link 4 can be determined:
(O2E/O2A) = (oe/oa) and (O4F/O4B) = (of/ob)

Example 1.2: In the mechanism shown in Figure 1.5 (Slider-crank mechanism), the velocity of
A is known, and it is required to find the velocities of B and C.

Figure 1.5

TO FIND VB (direction known):

1. Draw vector VA in velocity diagram.
2. Lay off direction of VB.
3. From terminus of VA, lay off direction of VB/A (⊥ to line BA).
4. The intersection of VB/A and VB lines determines the magnitudes of both (VB = VA ↦ VB/A).

TO FIND VC:
1. Draw a line through the terminus of VA in direction of VC/A (⊥ to line CA).
VC = VA ↦ VC/A
2. Draw a line through the terminus of VB in the direction of VC/B (⊥ to line CB).
VC = VB ↦ VC/B
3. The intersection of VC/A with VB/A determines VC.

In the above example, if it were required to find the velocity of a point such as D on link 3, it
would be simple to extend the image in the velocity diagram by proportion, (AB/AD) = (ab/ad),
as shown in the figure.

1.1.1 VELOCITIES OF POINTS ON A ROLLING BODY:

Let disk 2 in Figure 4.6 is rolling on body 1. Then body 2 is
rotating about point P in link1 at the instant. The center of the
disk will have a velocity VC = ω * R; where R is the radius and
ω is the angular velocity of the disk. Any other point on the
disk, such as Q will have a velocity relative to C which is VQ/C = Fig.4.6
CQ *ω. Vector VQ/C must be ⊥ to the radius of rotation CQ.
The absolute velocity of Q is then VQ = VC ↦ VQ/C.

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 THEORY OF MACHINES (Relative velocity & acceleration)
Example 1.3: In Figure 1.7, the velocity of A is known, and it is required to find the velocity of
C.
It is assumed that no slipping occurs, Therefore, VA = VB, and the mechanism could be
represented by the equivalent four-bar mechanism shown in dashed lines.

O4
1
4

O2
Figure 1.7
1

4.1.2 VELOCITIES OF SLIDING LINKS:

The solutions of sliding link problems are based on the fact that the only possible relative
velocity that can exist between two sliding surfaces is along their common tangent line. This
establishes the direction of relative motion, which provides sufficient information to complete
the velocity diagram. Figure 1.8 shows two sliding problems solved.

O3
O2

O2 O4

Figure 1.8

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 THEORY OF MACHINES (Relative velocity & acceleration)
VELOCITIES OF COMPLEX MECHANISM:
Example 1.4: In Figure 1.9a, the velocity of point A is given and the velocities of points B
and C are required.

O4 O6

Figure 1.9

Solution Ex 1.4:

1. Draw vector oa in the velocity diagram (Figure 1.9b).

2. Lay out the direction of ob (⊥ to link 6).
3. Through a, lay out the direction of ab (⊥ to link 3).
4. The intersection of the ob and ab direction lines locates b.
5. Lay out the direction of oc (⊥ to link 4).
6. Through b, lay out the direction of bc (⊥ to link 5).
7. The intersection of the oc and bc direction lines locates c.

Example 1.5: In Figure 4.10a, the velocity of point A is given and the velocities of points B, C,
and D are required.

Solution Ex 1.5:
In this example, neither the direction nor
the magnitude of VC is known, nor is the
magnitude of VC/A known. The trial-and- O4
error approach may be made to determine O6
the velocities of points on link 5will be
used here.
1. Draw oa in the velocity diagram
(Figure 1.10b).
2. Lay out the direction for ob and oc.
3. Choose a trial position for b
labeling it b*, i.e. any length ob* as
shown in Figure 1.10b can be
assumed for VB.
4. Then VD will be od* which is ⊥ to
link 4 and b*d* is ⊥ to BD.
5. Lay out c* in the same relative Figure 1.10
* *
position along b d that C has relative to B and D, that is,
(BC/BD) = (b*c*/b*d*)
6. Now a line may be drawn from o to c*, thereby establishing the direction of VC.
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 THEORY OF MACHINES (Relative velocity & acceleration)
7. Through a, draw the direction of line ac (⊥ to link 3).
). The intersection of this line and the
line drawn in step 6 locates c.
8. Through c, draw a line parallel to b*d*, which will locate the correct positions for b and d.

Note: An alternative approach to this problem would be to determine the dire

direction VC by locating centre 15.

Example 1.6: Figure 1.11,, shows a variable

stroke engine mechanism. The lengthsngths of the
cranks OA and QB are 90 mm and 45 mm
respectively. The diameters of wheels with
centers O and Q are 250 mm and 120 mm
respectively. Other lengths are shown in the
diagram in mm. There is a rolling
contact between the two wheels. If OA
rotates at 100 rpm, determine the
(i) Velocity of the slider D
(ii) Angular velocity of links BC and CD.

Figure 1.11
 THEORY OF MACHINES (Relative velocity & acceleration)

Example 1.7: In the mechanism shown below, the slider D is constrained to move on a
horizontal path. The crank OA is rotated in a ccw direction at a speed of 150 RPM. The
dimensions of the links are as follows: OA = 180 mm, CB = 240 mm, and BD = 540 mm. For
the given configuration find the velocity of slider D and the angular velocity of BD.
Solution Ex 1.7: ωOA = π*150/30 = 15.707 rad/s
VA = 15.707 * 180 = 2827.43 mm/s = 282.743 cm/s

360mm

105mm B
C

a b
From the velocity diagram the following velocities and angular
velocities can be determined:

VD=14.8924/0.2=74.46 cm/sec
VB/A= 147.932 cm/sec
ϖBA= 147.932/36.0= 4.109 rad/sec ccw
VD/B= 201.161 cm/sec
ϖDB= 201.161/54.0= 3.725 rad/sec cw
o,c
d VB= 206.5835 cm/sec
Velocity diagram ϖCB= 8.606 rad/sec ccw

Scale = 0.2mm/cm/sec

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 THEORY OF MACHINES (Relative velocity & acceleration)

Example 1.8: A cam with oscillating follower is shown below, where the angular velocity of
the cam is indicated. Find the angular velocity of link 4.

3
P2 ,P 4

4
Path P4 describes on link 2

2 =5 rad/s

O2 O4

2 = 2.5 rad/s2

3
Solution Ex 1.8: P2 ,P4
By equivalent linkage method:
Path P4 describes on link 2 4

VA = 5*68.2 = 341 mm/s

SV = 0.146627 mm/mm/s

From velocity diagram:

O2 O4

VP4 = 214.56 mm/s

ω4 = 214.56/191 = 1.123 rad/s cw

2

p4 a

VP4

Velocity diagram
o SV=0.146627 mm/mm/s

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 THEORY OF MACHINES (Relative velocity & acceleration)

Example 1.9: Figure 1.12 shows the mechanism of a molding press in which O2A= 80 mm, AB
= 320 mm, O4B = 120 mm, CD = 320 mm, BC = 80 mm. For the configuration shown,
construct the velocity diagram and determine VD/C, VC, and the angular velocity of link O2A.
Q2) Find the velocity ratio of the two co-axial shafts in the gear shown in Figure 2: when (a)
the wheel A1 is fixed and S1 is the driver, (b) the wheel S2 is fixed. The tooth numbers of the
gears are S1 = 40, A1 = 120, S2 = 30, A2 = 100.

Solution Ex 1.9:
VD = 0.2 m/s (given)

With SV = 100 mm /m/s the velocity diagram will be drawing as 240 mm

shown in the figure below.

From the velocity diagram:

VD = 0.2 m/s

VA = 20.0075/100 = 0.2 m/s

VD/C = 6.963/100 = 0.0693 m/s 160 mm

VC = 19.83/100 = 0.198 m/s Figure 1.12

ϖO2A = VA / O2A = 0.2/80 = 2.5 rad/s ccw
o O4

VD VA VC B
VB
a
d bc C

O2

D
a*
c*
b*
Velocity polygon
SV = 100mm/ m/s
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 THEORY OF MACHINES (Relative velocity & acceleration)

Example 1.10: The absolute velocity of J in

in the mechanism shown is 450 cm /sec
while the disk is slowing down with an
acceleration of 10 rad/sec2.
(a) Construct the velocity diagram and
determine ω3, VD, VB and VC.
(b) Determine the angular acceleration
of link 4.
Solution Ex 1.10:
VJ = 450 cm/s = 4.5 m/s ∴ω2 = VJ/OJ = 4.5/.45 = 10 rad/sec cw
∴ VB = ω2 * OB = 10 * 0.3 = 3 m/s
Now draw the velocity diagram with suitable scale. Let SV = 20 mm/m/s;
From the velocity diagram as shown below, the following can be obtained:
VD = 62.78 / 20 = 3.139 m/s
VC = 34.51 / 20 = 1.77255 m/s
VC/B = 58.23 / 20 = 2.9115 m/s
VD/B = 70.67 / 20 = 3.5335 m/s
VD/C = 28.27 / 20 = 1.4135 m/s
From the mechanism diagram, we can determine BC = 1.236 m.
The angular velocity of link 3 can be determined as follows:
ω3 = VC/B / BC = 2.9115 / 1.236 = 2.3556 rad/s ccw
Or ω3 = VD/B / DB = 3.5335 / 1.5 = 2.3557 rad/s ccw
Or ω3 = VD/C / DC = 1.4135 / 0.6 = 2.3558 rad/s ccw
After that all the normal component of acceleration will be calculated as follows:
V2 9
a Bn = B = = 30 m / s 2
OB 0.3
a tB = α * OB = 10 * 0.3 = 3 m / s 2
n 3.129 2
aD = = 16.422 m / s 2
0.6
a tD = known direction only
n 3.5335 2
aD /B = = 8.3237 m / s 2
1.5
a tD / B = known direction only
2.9115 2
aCn / B = = 6.858 m / s 2
1.236
t
aC / B = known direction only
1.4135 2
aCn / D = = 3.33 m / s 2
0.6
t
aC / D = known direction only
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 THEORY OF MACHINES (Relative velocity & acceleration)
Now draw the acceleration diagram with Sa = 3 mm/m/s2.
From the acceleration diagram, the angular acceleration of link 4 can be obtained:

65.39
a tD = = 21.7967 m / s 2
3
∴ α 4 = 21.7967 / 0.6 = 36.327 rad / s 2 cw
t 28.14
aC /D = = 9.38 m / s 2
3
9.38
∴α 3 = = 15.6333 rad / s 2 ccw
0 .6

A C

B 3

O
J 4
D
1
1
2

Mechanism diagram
Sm = 75 mm/m

atD VD/C d
anD c
VC
d
aC/D aD o
VC/B
c t o VD/B
a C/D

t aD/B VB
aD/B
t aC/B aB
aC/B anB b
Velocity diagram
n
a D/B Sv = 20 mm/m/s

anC/B b t
aB

Acceleration diagram
Sa = 3 mm/m/s 2

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 THEORY OF MACHINES (Relative velocity & acceleration)
Problems (Relative velocity):

Q1) (a) In Figure P1.1, link 4 rolls on link 1.

Construct the velocity polygon, ω2 =144 rad/s.
(b) Determine ω3, ω4 in radians per second.

Q2) (a) Construct the velocity polygon for Figure

P1.2. ω2 = 150 rad/s. Determine the velocity of
Figure P1.1

slider 6 in meters per second.

(b) Determine ω3, ω4 and ω5 in radians per second.
Figure P1.2
Q3) The velocity of point B of the linkage shown in
Figure P1.3 is 40 m/s. Find the velocity of point A and
the angular velocity of link 3.

AB=400 mm

Figure P1.3

Q4) Crank 2 of the mechanism shown in Figure P1.4 is driven at ω2

= 60 rad/s cw. Find the velocities of points B and C and the angular
velocity of link 3 and 4.
O2A=150mm, AB=300mm, O4O2=75mm, O4B=300mm, AD=150mm,
DC=100mm.

Q5) The inversion of the slider-crank mechanism shown in Figure

P1.5 is driven by link 2 at ω2 = 60 rad/s ccw. Find the velocity of Figure P1.4

point B and the angular velocities of links 3 and 4.

O2A=75mm, AB=400mm, O2O4=125mm.

Q6) Find the velocity of point C and the angular Figure P1.5

velocity of link 3 of the mechanism shown in Figure P1.6. Link 2 is

the driver and rotates at 8 rad/s ccw.
O2A=150mm, AB=O4B=250mm, O2O4=75mm, AC=300mm, CB=100mm.

Figure P1.6

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 THEORY OF MACHINES (Relative velocity & acceleration)
Q7) Find the velocities of points B, C, and D of double
slider mechanism shown in Figure P1.7 if the crank 2
rotates at 42 rad/s cw.
O2A=2in, AB=10in, AC=4in, BC=7in, CD=8in, (Take 1 in=
25.4mm).
Figure P1.7
Q8) A Scotch-yoke mechanism shown in Figure P1.8. It is
driven by crank 2 at ω2 = 36 rad/s ccw. Find the velocity of
the crosshead, link 4.
O2A=250mm.

Q9) In the steam engine mechanism as shown in Figure

P1.9, the crank AB rotates at 200 rpm in cw direction. Find
the velocity of C, D, E, F, and P. The dimensions of
the various links are AB = 12 cm, BC = 48 cm, CD =
18 cm, DE = 36 cm, EF = 12 cm and FP = 36 cm.

Q10) If V6 = 1.081 m/s down ward, Figure P1.2.

Construct the velocity diagram and determine the
velocity of point VC.

Q11) Two rolling wheels are connected by link 3 as Figure P1.8

shown in Figure P1.10. Wheel 2 rolls with uniform
angular velocity and M moves to the left by 6.25
m/sec.
(a) Construct the velocity diagram and find VR, VQ, and ω3. (b) Find aR, and α3.

5½ φ3
P
E
R
φ 2½
1 45
°
1 60 2 1
°
B

D
Figure P1.10: (All dimensions in meter)
A

C
Figure P1.9
Q12) For the position of the mechanism shown in Figure P1.11, find the velocity of the slider B
and the angular velocity of link AB if the velocity of the slider A is 3 m/s.

Figure P1.11

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 THEORY OF MACHINES (Relative velocity & acceleration)
RELATIVE ACCELERATION METHOD
The relative acceleration method of analyzing accelerations of parts in a mechanism is based on
the following principles:
1. That all motions are considered instantaneous
2. That the instantaneous motion of a point may considered pure rotation
3. That the acceleration of a point much more easily analyzed if it is resolved into two
rectangular components, one normal and one tangent to its path
4. That the relative velocities as well as the absolute velocities of the various points in the
mechanism are available.

ACCELERATION DIRECTIONS
The directions of accelerations of points moving with curvilinear
motion are not always known. It is necessary to regard
accelerations as made up of two rectangular components: the
normal component an and the tangential component at. As shown in
Figure 4.13, the normal component is directed toward the center of
rotation, and the tangential component is perpendicular to the
component, or tangent to the path of the point. It is evident that the
acceleration is vector sum of these two components: that is,
a = an ↦ at
Figure 4.13

Figure 4.14 shows a link with two points A and B, neither of which is fixed. If the link has
angular acceleration α, the normal and
tangential acceleration components for the
acceleration aB/A of a point B relative to A are
shown in Figure 4.14a. The normal component
anB/A points toward A, and the tangential
component atB/A is ⊥ to the line AB. In Figure
4.14b, the components for the acceleration of
point A relative to B are shown. The magnitudes
of these acceleration components may be Figure 4.14
expressed as follows:

(VB / A ) 2 (VA/ B ) 2
aBn / A = aAn / B =
AB AB

aBt / A = BA∗α atA/ B = AB∗α

Example 4.11: In Figure 4.15a, crank 2 is rotating ccw at 75 rpm and is slowing down at the
rate of 15 rad/s2. It is required to find the accelerations of point A and B and the angular
velocities and accelerations of links 3 and 4.
O2O4=370mm, O2A=365mm, AB=1067mm, O4B=762mm.

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 THEORY OF MACHINES (Relative velocity & acceleration)

Figure 4.15

Solution Ex.4.10:
1. Draw the velocity diagram as shown in Figure 4.15b.
2πN 6.28 * 75
ω2 = = = 7.85 rad / sec
60 60
V A = O2 A * ω 2 = 365 * 7.85 = 2865.25 mm / s
= 2.86525 m / s
a. Lay out VA from the original o (⊥ to link 2).
b. Lay out the direction of VB from the original o (⊥ to link 4).
c. Lay out the direction of VB/A from the terminus of VA (⊥ to link 3).
d. The intersection of the VB and VB/A direction lines determines the magnitudes of
both.
e. After that, all the linear and angular velocities can be determined.
VB = 46.9945/10= 4.69945 m/s ω4= 4.69945/0.762= 6.16 rad/sec ccw
VB/A= 45.3530/10= 4.53530 m/s ω3= 4.5353/1.0670= 4.25 rad/sec ccw
2. Write the acceleration equation for aB:
aB = a A a aB / A
aBn a aBt = a An a a tA a aBn / A a aBt / A

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 THEORY OF MACHINES (Relative velocity & acceleration)
3. Determine the magnitudes and directions of the various terms:
V B2
a Bn = = ω 42 * 0.762 = 6.16 2 * 0.762 = 28.9145 m / s 2 ( parallel to link 4)
O4 B
a Bt = α 4 * O 4 B direction known only ( ⊥ to link 4)
2
V
a An = A
= ω 32 * 0.365 = 22.4922 m / s 2 ( parallel to link 2)
O2 A
a tA = α 2 * O 2 A = 15 * 0.365 = 5.475 m / s 2 ( ⊥ to link 2)
a n
B/ A = ω * AB = 4.25 *1.067 = 19.27268 m / s
2
3
2 2
( parallel to link 3)
a t
B/ A = α 3 * AB direction known only ( ⊥ to link 3)

4. Draw the acceleration diagram to obtain aB (Figure 4.15c).

a. Lay out a Bn from the original o (║to link 4).
b. Through the terminus of a Bn draw a ⊥ line of indefinite length representing the
direction of a Bt , whose magnitude is unknown.
c. Again starting from the origin o, lay out a nA (║to link 2).
d. From the terminus of a nA and ⊥ to it, lay out atA . This establishes the acceleration aA
of A, which represents the known acceleration, aA= 23.148 m/sec2.
e. From the terminus of aA, lay out aBn / A (║to link 3).
f. Through the terminus of aBn / A and ⊥ to it, draw a line of indefinite length
representing the direction of aBt / A , whose magnitude is unknown.
g. The intersection of two indefinite-length lines draw in steps (b) and (f),
representing aBt and aBt / A , respectively, determines aB, which equals about 38.4 m/s2.

5. Compute the angular accelerations:

aBt / A 17.09245
α3 = = = 16.02 rad / s 2 cw
AB 1.067
t
a 25.5
α4 = B = = 33.46 rad / s 2 cw
O4 B 0.762

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 THEORY OF MACHINES (Relative velocity & acceleration)
Example 4.12: In Figure 4.16a, crank 2 rotates ccw with a uniform angular velocity of 30
rad/sec. It is required to find the linear accelerations of points A, B, C, and D and the angular
velocity and acceleration of link 3.
O2A=75 mm, AD=25 mm, AB= 229 mm, AC= 1/3 AB.

Figure 4.16

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 THEORY OF MACHINES (Relative velocity & acceleration)
Solution Ex.4.12:
1. Draw the velocity diagram as shown in Figure 4.16b.
V A = O 2 A * ω 2 = 75 * 30 = 2250 mm / s
= 2 . 25 m / s
VB = direction known only (D to path of link 4)
VB/A= direction known only (⊥ to AB)

2. Write the acceleration equation for aB:

aB = a A a aB / A
a B = a An a a tA a a Bn / A a aBt / A
3. Determine the magnitudes and directions of the various terms:
a B = direction known only ( Parallel to path of slider )
V A2 2.25 2
a An = = = 67.5 m / s 2 ( parallel to link 2)
O2 A 0.075
a tA = 0 (ω 2 is uniform, α 2 = 0 )
VB2/ A 1.63505 2
a Bn / A = = = 11.674 m / s 2 ( parallel to link 3)
AB 0.229
a Bt / A = α 3 * AB direction known only (⊥ to link 3)

4. Draw the acceleration diagram to obtain aB (Figure 4.16c).

a. Lay out the direction aB ( a B = a B ) through the original o (║to path of slider).
t

b. Again starting from the origin o, lay out a A ( a A = a An ) (║to link 2).
n
c. From the terminus of a A , lay out a B / A .
d. Through the terminus of a Bn / A and ⊥ to it, draw a line of indefinite length
representing the direction of a Bt / A , whose magnitude is unknown. The intersection
of this line with the aB direction line drawn in step a determine aB
5. Obtain aC and aD (Figure 4.16c). Points c and d in the acceleration diagram are located
by proportion.

6. Determine the angular velocity and acceleration of link 3:

VB / A 1.63505
ω3 = = = 7.14 rad / sec cw
AB 0.229
at 46.2023
α3 = B/ A = = 201.75 rad / s 2 ccw
AB 0.229

Example 4.13: In Figure 4.17a, crank 2 rotates ccw with a uniform angular velocity of 240
rpm. It is required to find the linear accelerations of points B, C, and D and the angular velocity
and acceleration of link 3 and link 5.
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 THEORY OF MACHINES (Relative velocity & acceleration)
Ab=100mm, BD=500mm, BC=400mm

Figure 4.17

Solution Ex.4.13:

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 THEORY OF MACHINES (Relative velocity & acceleration)
1. Draw the velocity diagram as shown in Figure 4.17b.
2π * 240
ω2 = = 25 . 1327 rad / sec
60
V B = AB * ω 2 = 100 * 25 . 132 = 2513 . 274 mm / s = 2 . 513 m / s
VC = direction known only (║to path of slider 4)
VC/B= direction known only (⊥ to CB)
VD = direction known only (║to path of slider 6)
VD/B= direction known only (⊥ to DB)

2. Write the acceleration equation for aC and aD:

aC = a B a aC / B
aC = a Bn a a Bt a aCn / B a aCt / B
aD = aB a aD / B
a D = a Bn a a Bt a a Dn / B a a Dt / B

3. Determine the magnitudes and directions of the various terms:

aC = direction known only ( Parallel to path of slider 4 )
2 2
V 2.513
a Bn = = B
= 63.15169 m / s 2 ( parallel to link 2 toward A)
BA 0.1
aB = 0
t
(ω 2 is uniform, α 2 = 0 )
2 2
V 1.8026
aCn / B = =
C/B
= 8.1234 m / s 2 ( parallel to link 3 toward B)
CB 0.4
aCt / B = α 3 * CB direction known only (⊥ to link 3)
a D = direction known only ( Parallel to path of slider 6 )
2 2
V 1.121875
a Dn / B = =
D/B
= 2.517 m / s 2 ( parallel to link 5 toward B)
DB 0.5
a Dt / B = α 5 * DB direction known only (⊥ to link 3)

4. Draw the acceleration diagram to obtain aC and aD (Figure 4.17c).

a. Lay out the direction aC ( aC = aCt ) through the original o (║to path of slider 4).
b. Again starting from the origin o, lay out a B ( a B = a Bn ) (║to link 2 toward A).
c. From the terminus of a B , lay out a Cn / B .

d. Through the terminus of a Cn / B and ⊥ to it, draw a line of indefinite length

representing the direction of a Ct / B , whose magnitude is unknown. The intersection
of this line with the aC direction line drawn in step a determine aC.
e. Lay out the direction aD through the original o (║to path of slider 6).
f. From the terminus of a B , lay out a Dn / B .
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 THEORY OF MACHINES (Relative velocity & acceleration)
g. Through the terminus of a n
D/B and ⊥ to it, draw a line of indefinite length
representing the direction of a Dt / B , whose magnitude is unknown. The intersection
of this line with the aD direction line drawn in step e determine aD.

5. Obtain aB, aC and aD (Figure 4.17c), which are 63.15 m/s2, 44.89 m/s2 and 8.53 m/s2
respectively.

6. Determine the angular velocity and acceleration of link 3 and link 5:

VC / B 1.8026
ω3 = = = 4.5065 rad / sec cw
CB 0. 4
aCt / B 43.91055
α3 = = = 109.776 rad / s 2 cw
CB 0.4
V 1.121875
ω5 = D / B = = 2.24375 rad / sec cw
DB 0. 5
a Dt / B 60.03125
α5 = = = 120.0625 rad / s 2 cw
DB 0.5

Example 4.14: In the link ABC in Figure 4.18a, AB = 600 mm, BC = 225 mm. A and B are
attached by pin joints to the sliding blocks. If, for the position where BD = 375 mm, A is
sliding towards D with a velocity of 6 m/s and a retardation of 150 m/s2, find the acceleration of
C and angular acceleration of the link.
Solution Ex 4.14:

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 THEORY OF MACHINES (Relative velocity & acceleration)

Answer Q2:

Mechanism diagram
SM=0.2 mm/mm

B
D

(a)

c
VC VC = 6.95518 m/s
VC/A = 8.035 m/s
d b VB/A =5.8438 m/s
VB VB =5.6739 m/s

n
VB/A aB/A
VA a
A

Velocity diagram
aBt /

SV=10 mm/m/s a
aA
(b)

d
b aB
aC = 129.7702/0.5
= 259.54 m/s 2
αAB = aB/A/AB
t

= 175.38/0.6 c aC
= 292.3 rad/s 2
Acceleration diagram
SA=0.5 mm/m/s2

Figure 4.18

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 THEORY OF MACHINES (Relative velocity & acceleration)
4.2.2 CORIOLIS ACCELERATION:
Whenever a point in one body moves along a path on a second body, and if the second body is
rotating, then the acceleration of the point in the first body relative to a coincident point in the
second body will have a Coriolis component.
In Figure 4.19 let P3 be a point on slider 3 which is moving along the path OF in body 2. Let P2
be a fixed point on the path and let P3 and P2 be coincident at the instant. The angular velocity
for body 2 is ω2 and hence also for the path. The path is again shown in Figure 4.19, where
V P3 / P2 is the velocity of P3 relative to P2. In a time interval dt, line OF will rotate through an

angle dθ to position OF'. During this time P2 moves to P2' and point P3 moves to P3' as shown
in Figure 4. 20.

Arc BP3' = ( P2' B ) dθ

But P2' B = VP3 / P 2 dt and dθ = ω 2 dt

Thus BP3' = VP3 / P2 ω2 (dt ) 2 (1)

For a displacement with constant acceleration

1
BP3' = A(dt ) 2 (2)
2
From Equations 1 and 2
1
V P3 / P2 ω 2 ( dt ) 2 = a ( dt ) 2
2

a c = 2V P3 / P2 ω 2
Or (3)
which is called the Coriolis component of acceleration for point P3.
The relationship between VP / P , ω2, and 2VP / P ω 2 for the case of Figure 4.19 is shown in Figure
3 2 3 2

4.19a. If VP / P is toward the center O, the relationship will be that of Figure 4.19b. The rule is
3 2

as follows: the Coriolis acceleration is the direction of VP3 / P2 , after the latter has been rotated
90° in the direction of the angular velocity of the path.
From Equation 3 we note that if either VP / P or ω2, or both, are zero, then there will no Coriolis
3 2

component of acceleration.
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 THEORY OF MACHINES (Relative velocity & acceleration)

Figure 4.19

Figure 4.20

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 THEORY OF MACHINES (Relative velocity & acceleration)
The general case of relative motion of two bodies in a plane is illustrated in Figure 4.21. The
absolute acceleration of point P3 is

a P3 = a P2 → a P3 / P2

Or a Pn3 a a Pt 3 = a Pn2 a a Pt 2 a a Pn3 / P2 a a Pt 3 / P2 a 2VP3 / P2 ω 2 (4)

Figure 4.21

where the Coriolis component 2VP3/P2ω2 is part of the acceleration of P3 relative to P2.

Example 4.15: A quick-return mechanism is shown in

Figure 4.22. Link 2 is the driver, and the angular
velocity and acceleration of link 4 are to be found.

Solution Ex 4.15:
Let P2 and P4 be fixed points on links 2 and 4 which are
coincident at the instant, then
ω2 = 2π*(9.5/60) = 0.995 rad/s Figure 4.22
VP2 = (O2 P2 )* ω 2 = 0.152 * 0.995 = 0.151 m / s

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 THEORY OF MACHINES (Relative velocity & acceleration)
Scaling values from the velocity polygon in Figure 4.23, we find V P = 0.0742 m / s and 4

V P4 / P2 = 0.131 m / s . Then

VP4 0.0742
ω4 = = = 0.144 rad / s ccw
O4 P4 0.514

Figure 4.23

Before we can find the angular acceleration of link 4, it is necessary to find the acceleration of
P4. Similar to Equation 4 we may write
a P4 = a Pn2 a a Pt 2 a a Pn4 / P2 a a Pt 4 / P2 a 2VP4 / P2 ω 2
In order to solve this equation it is necessary to know the radius of curvature of the path which
P4 describes on body 2. This path is not known. However, the path which P2 describes on 4 is
straight line along the link. We can use this path if we write the equation for AP . Then 2

×× 0 ×× −× 0 −× ××
n
a aa
P2
t
P2 =a aa aa
n
4
t
4
n
P2 / P4 aa t
P2 / P4 a 2VP2 / P4 ω 4 (5)

VP22 0.151
where a n
P2 = = = 0.15 m / s 2
O2 P2 0.152

a Pt 2 = 0 becauseα 2 = 0

V P24 0.0742
a n
P4 = = = 0.0107 m / s 2
O4 P4 0.514

a Pt 4 = (O4 P )4 α 4 but α 4 is unknown

a n
=
VP22 / P4
=
(0.131)
2
=0
∝
P2 / P4
R
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 THEORY OF MACHINES (Relative velocity & acceleration)
t
a P2 / P4 is unknown, and
2V P2 / P4 ω 4 = 2 * 0.131 * 0.144 = 0.0377 m / s 2

Figure 4.24

Thus the magnitudes of the tangential components are the only unknowns Equation 5. Their
values may be found by drawing the acceleration polygon which is shown in Figure 4.24 or
4.25. Then a tp = 0.0921m / s 2 , and
4

a tp4 0.0921
α4 = = = 0.179 rad / s 2
O4 P4 0.514

p4
atp
o 4
a p /p
anp a t
p /p
2 4

4
2 4

anp= a p
2 2

p2
2Vp /p ω4
2 4
Figure 4.25

Example 4.16: A cam with oscillating follower is shown in Figure 4.26, where the angular
velocity and acceleration of the cam are indicated. The angular acceleration of link 4 is wanted.
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 THEORY OF MACHINES (Relative velocity & acceleration)
The radius of curvature of the path is 138 mm and equals the radius of the cam outline plus the
roller radius.

Solution Ex 4.16:

V P2 = (O2 P2 ) * ω 2 = 0.0833 * 5 = 0.417 m / s

and the velocity polygon is shown in Figure 4.26. V P = 0.213 m / s and V P / P = 0.533 m / s . Then
4 4 2

VP4 0.213
ω4 = = = 1.12 rad / s cw
O4 P4 0.191

Next, in order to find the angular acceleration of link 4, we must find the acceleration of P 4.
Thus
×× 0 ×× −× 0 −× ××
a aa =a aa aa
n
P4
t
P4
n
2
t
2
n
P4 / P2 aa t
P4 / P2 a 2VP4 / P2 ω2 (6)

where

VP24 0.213
a = n
P4 = = 0.238 m / s 2
O4 P4 0.191

a Pn2 = (O2 P2 )ω 22 = 0.0833 * 52 = 2.08 m / s 2

a Pt 2 = (O2 P2 ) * α 2 = 0.0833 * 2.5 = 0.208 m / s 2

a n
=
VP24 / P2
=
(0.533)
2
= 2.06 m / s 2
P4 / P2
CP2 0.138

2VP4 / P2 ω 2 = 2 * 0.0.533 * 5 = 5.33 m / s 2

Thus the magnitudes of the tangential components are the only unknowns Equation 6.

Figure 4.28 shows the acceleration polygon. a tp = 1.97m / s 2 and then 4

a tp4 1.97
α4 = = = 10.31 rad / s 2 cw
O4 P4 0.191

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 THEORY OF MACHINES (Relative velocity & acceleration)

Figure 4.26:
4.2 Mechanism diagram

Figure 4.27:
4.2 Velocity diagram

Figure 4.28: Acceleration diagram

 THEORY OF MACHINES (Relative velocity & acceleration)
Problems (Relative acceleration):
Q132) For the data given in the Figure P4.12, Find the velocity and acceleration of points B and
C. AB=16 cm, AC=10 cm, BC=8 cm
Q14) For the straight-line mechanism shown in Figure P4.13, ω2=20 rad/sec cw and α2=140
rad/sec2. Determine the velocity and acceleration of point B and the angular acceleration of link
3. O2A=AC=AB=100mm
Q15) In the Figure P4.13, the slider 4 is moving to the left with a constant velocity of 20 m/s 2.
Find the velocity and acceleration of link 2.
Q16) Solve (Q3) for the acceleration of point A and angular acceleration of link 3.
Q17) In the mechanism shown in Figure P4.14 the crank BC, 100mm long, turns at 300 rpm
about center C offset 75mm from the horizontal line of stroke of A. The connecting rod
BA=300 mm. Find the velocity and acceleration of point A.

VA=1.6 m/s C
α2=160 rad/sec2
2 2

A B
15°
ω2=24 rad/sec Figure P4.13
Figure P4.12 aA= 4 m/s2

Figure P4.14

Q18) In the mechanism shown in Figure P4.15, the guide is part of the fixed link and its
centerline is a circular arc of radius R. Determine the magnitude of the angular velocity of the
slider when ω2= 1 rad/sec, also determine aB and α4.
Q19) In the mechanism shown in Figure P4.16, Determine the relative velocity and acceleration
of the two sliders when ω2 is uniform and equal to 32 rad/sec cw and θ = 50°.
Q20) (a) Construct the velocity diagram for the mechanism of Figure P4.17 and determine the
velocity of point D.
(b) Construct the acceleration diagram using a unit value of the angular velocity of the driving
link (α2= 0). Calculate the acceleration of point D.
Q21) Crank 2 in Figure P4.18 rotates ccw with an angular velocity of 3 rad/sec and speeding up
with an acceleration of 50 rad/sec2. (a) Find VA and VB. (b) Find ω3 and ω4. (c) Find aA and aB.
(d) Find α3 and α4.
Q22) Rework Example 4.7 when the crank OA is rotated in a ccw direction at a speed of 150
RPM and at an angular acceleration of 40 rad/s2 also in ccw direction. Find the acceleration of
slider D and the angular acceleration of BD.
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 THEORY OF MACHINES (Relative velocity & acceleration)

Figure P4.16

Figure P4.15

Figure P4.18

Figure P4.17

Q23) Crank 2 in Figure P4.19 rotates ccw with an angular velocity of 24 rad/sec and speeding
up with an acceleration of 300 rad/sec2. (a) Find the velocities of points A, B, C, and D. (b) Find
ω3 and ω4. (c) Find aA and aB, aC, and aD. (d) Find α3 and α4.

Q24) Crank 2 in Figure P4.20 rotates cw with an angular velocity of 6 rad/sec and speeding
down with an acceleration of 50 rad/sec2. (a) Find the velocities of points A, B, and C. (b) Find
ω3 and ω4. (c) Find aA and aB, and aC. (d) Find α3 and α4.

Q25) (a) Construct the velocity and acceleration polygons for the mechanism shown in Figure
P4.2, when ω2 = 150 rad/s and α2 = 300 rad/s2 cw.
(b) Determine the velocity and acceleration of slider 6.

Figure P4.20

Figure P4.19

- ٣١ -
 THEORY OF MACHINES (Relative velocity & acceleration)
Q26) (a) Construct the velocity and acceleration diagrams for Figure P
P4.21.
(b) Determine ω3, ω6, α3, and α6.

Figure P4.21

Q27) In Figure P4.22, disk 4 is driven by link 2 sliding in guides on 1 as shown. The drive is
through block 3, which is pivoted on 2 at point P3. The velocity of link 2 is constant. The
instantaneous velocity of slide of block 3 on link 4 is 38.1 m/s toward the center of 4.
(a) Construct the velocity and acceleration polygons for points O4, P3, and P4.
(b) Determine α4.

Figure P2.22

Q28)) In the mechanism shown in Figure P P2.23,, the crank AB drives the bent link CDE by
means of the sliding block at B. AB = 120 mm, CD = 90 mm, DE = 450 mm, EF = 450 mm.
When the crank is horizontal, as shown, and is rotating at 60 rpm anticlockwise, ffind (a) the
velocity of slider F, (b) the angular velocity of the link CDE, and (c) the acceleration of slider
F.
 THEORY OF MACHINES (Relative velocity & acceleration)

Figure P2.23

Q29) Crank 2 in Figure P2.24 rotates ccw at 11rpm. (a) Find the velocities of points A, B, and
C on link 4. (b) Find the velocity of link 4. (c) Find the acceleration of points A, B, and C on
link 4. (d) Find the angular acceleration of link 4.

Figure P2.24

Q30) The dimensions of the various links in the mechanism shown in

Figure P2.25, are as follows: OA = 175 mm; AB = 180 mm; AD = 500
mm; and BC = 325 mm. Find: (a) the velocity ratio between C and D
when OB is vertical and crank OA rotates at a uniform speed of 120
rpm, (b) acceleration of D and C.

Figure P2.25

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