VELOCITY-ANALYSIS Lecture

VELOCITY
ANALYSIS
To simplify our analysis, graphical method will be used
in determining the velocity of any point of interest in
the mechanism.
VELOCITY
 isdefined as the rate of change of
displacement of a body with respect to
time.
 In kinematics of machine elements, we

are more interested with instantaneous
velocity in understanding the behaviour
of a point at any instant or at any
location of its path.
 Twocommon analysis procedures are

examined: the relative velocity
method and the instantaneous
center method.
LESSON 5.1: LINEAR
VELOCITY
 Linear velocity, V, of a point is the linear displacement of that point
per unit time.
 By definition, a point can only have a linear displacement. When the
time elapsed during a displacement is considered, the velocity can
be determined.
 As with displacement, velocity is a vector.
 The magnitude of velocity is often referred to as “speed”
LINEAR VELOCITY OF
RECTILINEAR POINTS
 A point can move along either a straight or curved path.
 Many links are constrained to straight-line, or rectilinear,
motion
EXAMPLE PROBLEM 5.1

Crates on a conveyor shown in Figure 5.1
move toward the left at a constant rate. It takes
40 s to traverse the 25-ft conveyor. Determine
the linear velocity of a crate.
LINEAR VELOCITY OF A
GENERAL POINT
 For points on a link undergoing general motion, equations for Velocity are still
valid.
 The direction of the linear velocity of a point is the same as the direction of its occurring or done in
instantaneous motion. an instant or instantly.
The velocities of points A and B are denoted as

VA and VB, respectively. Note that although they
are on the same link, both these points can have
different linear velocities. Points that are farther
from the pivot travel faster.
The velocity of point A, VA, is directed along the

path that point A is moving at this instant––that
is, tangent to an arc centered at O, which is also
perpendicular to link OA. In casual terms, if point
A were to break away from link 2 at this instant,
point A would travel in the direction of its linear
VELOCITY PROFILE FOR
LINEAR MOTION
 Advances in technology have allowed
precise motion control for many
applications, such as automation, test, and
measurement equipment.
 These systems implement servo drives,
which are motors controlled by a
microprocessor.
 For optimal motion control, smooth high-

speed motion is desired, with a minimal
effort required from the motor. The
controller must direct the motor to change
velocity wisely to achieve maximum results.
For a linear servo system, the motion
characteristics of a translating machine
component are usually specified with a
shaped velocity profile.
VELOCITY PROFILE FOR
LINEAR MOTION
 EXAMPLE PROBLEM 5.2
Servo-driven actuators are programmed to move according to a specified velocity profile.

The linear actuator, shown in Figure 5.3a, is programmed to extend according to the
velocity profile shown in Figure 5.3b. Determine the total displacement during this
programmed move.
LESSON 5.2: VELOCITY
OF A LINK
 . In general, the motion of a link can be rather
complex as it moves (translates) and spins
(rotates). Any motion, however complex, can
be viewed as a combination of a straight-line
movement and a rotational movement.
 Although several points on a link can have

different linear velocities, being a rigid body,
the entire link has the same angular
velocity.
 Angular velocity, w, of a link is the angular

revolutions per minute (rpm)
displacement of that link per unit of time.
degrees per second (deg/s)
radians per second (rad/s or rps).
The gear shown in Figure 5.4 rotates counterclockwise at a constant rate. It

moves 300° in. 0.5 s. Determine the angular velocity of the gear.
LESSON 5.3:
RELATIONSHIP BETWEEN LINEAR
AND ANGULAR VELOCITIES
 For a link in pure rotation, the magnitude of the linear velocity of any point
attached to the link is related to the angular velocity of the link.
Where:
v = magnitude of the linear velocity
r = distance from the center of rotation to the point of consideration
ω= angular velocity of the rotating link that contains the point of consideration
 Point of
consideration
 Linear velocity is always
perpendicular to a line that
connects the center of the
link rotation to the point of
consideration.
 linear velocity of a point on
 center
a link in pure rotation is
often called the tangential
velocity.
Figure 5.5 illustrates a cam mechanism used to

drive the exhaust port of an internal combustion
engine. Point B is a point of interest on the rocker
plate. At this instant, the cam forces point B
upward at 30 mm/s. Determine the angular
velocity of the rocker plate and the velocity of
point C.
1. Draw a Kinematic Diagram
 The rocker plate is connected to the frame with a
pin joint at point A. The velocity of point B is a
vector directed upward with a magnitude of 30
mm/s.
20 °
2. Calculate the Angular Velocity of Link 2
 It should be apparent that as point B travels
upward, the rocker plate, link 2, is forced to rotate
clockwise. Therefore, as point B has upward linear
velocity, the rocker plate must have a clockwise
angular velocity.
3. Calculate the Linear Velocity of Point C

LESSON 5.4: RELATIVE
VELOCITY
 The difference between the motion of two points is termed
relative motion.
 Consider a situation where two cars travel on the

interstate highway. The car in the left lane travels at 65
miles per hour (mph), and the car in the right lane travels
at 55 mph.
 Although both are moving forward, it appears to the
people in the faster car that the other car is actually
moving backward.
 It appears to the people in the slower car that the faster
car is traveling at 10 mph. That is, the relative velocity of
the faster car to the slower car is 10 mph.
 The relative velocity of the faster car to the slower car is
10 mph.
Relative velocity is a term used when the velocity of one object is related to
that of another reference object, which can also be moving. The following
notation distinguishes between absolute and relative velocities:
VA = absolute velocity of point A
VB = absolute velocity of point B
V B/A = relative velocity of point B with respect to A
= velocity of point B “as observed” from point A
Figure 5.7 shows a cargo lift mechanism for a delivery truck. At this instant, point
A has a velocity of 12 in./s in the direction shown, and point B has a velocity of
10.4 in./s, also in the direction shown. Determine the angular velocity of the lower
link and the relative velocity of point B relative to point A.
1. Draw a Kinematic Diagram and Identify
Mobility
2. Calculate the Angular Velocity of Link 2
 3. Calculate the Linear Velocity of Point B Relative to Point A
LESSON 5.5: INSTANTANEOUS
VELOCITY USING PROPORTIONALITY
 Step 1:
 From the velocity polygon, copy
the magnitude and direction of
velocity Vc and sketch it in point C
of the mechanism.
 Step 2: And from c, draw
proportionality line to D. From E,
sketch a line parallel to velocity
Vc until it intersect the
proportionality line CD as shown
in Figure 5.11, this represents the
magnitude and direction of VE.
Using graphical method,
determine the instantaneous
velocity of C and E for the crank
and rocker mechanism shown in
Figure 5.5. Link AB rotates at
uniform angular speed of 1 rad/s
in counter clockwise direction.
Dimensions:
AB = 25 cm, BC = 60 cm, CD =
45 cm, AD = 50 cm, CE = ED 0
= 120°
Solution:
1. Solve for the linear velocity V B;
VB = R AB ω = (25 cm) (1rad/s)
VB = 25 cm/s
2. Velocity scale (Drawn in 8.5" x 11" Letter Sized Paper): 1 mm 1 cm/s.
Choose convenient location Q and sketch linear velocity V B with magnitude

Qb and direction perpendicular to link AB
3. The direction of VC/B is perpendicular to link BC and its

magnitude is determined by laying it out at the tip of V B.
4.From Q, sketch a line perpendicular to link CD until

intersect line BC. Qc is the magnitude and direction of
instantaneous velocity Vc. The velocity polygon is shown
in Figure 5.10.
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VELOCITY

 In kinematics of machine elements, we

 Twocommon analysis procedures are

EXAMPLE PROBLEM 5.1

The velocities of points A and B are denoted as

The velocity of point A, VA, is directed along the

 For optimal motion control, smooth high-

Servo-driven actuators are programmed to move according to a specified velocity profile.

 Although several points on a link can have

 Angular velocity, w, of a link is the angular

The gear shown in Figure 5.4 rotates counterclockwise at a constant rate. It

Figure 5.5 illustrates a cam mechanism used to

3. Calculate the Linear Velocity of Point C

 Consider a situation where two cars travel on the

2. Velocity scale (Drawn in 8.5" x 11" Letter Sized Paper): 1 mm 1 cm/s.

Choose convenient location Q and sketch linear velocity V B with magnitude

3. The direction of VC/B is perpendicular to link BC and its

4.From Q, sketch a line perpendicular to link CD until

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