MENG 372

Chapter 6
Velocity Analysis

All figures taken from Design of Machinery, 3rd ed. Robert Norton
2003
1

Velocity Analysis
Definitions

dR
R
Linear Velocity V
dt
d
Angular Velocity

dt

Velocity of a point

Link in pure rotation

i
Multiplying by i rotates the vector
RPA pe
by 90

VPA VP RPA
Velocity is perpendicular to
i
i

pe i pe i radius of rotation & tangent

to path of motion

Velocity Analysis
Vector r can be written as:
rei r cos i sin

Imaginary

r cos

Multiplying by i gives:
irei r sin i cos

Multiplying by i rotates a vector 90

r sin

r cos

r sin

Real

Velocity Analysis
If point A is moving

VP VA VPA

i
VA pe i
Graphical solution:

Graphical Velocity Analysis (3 & 4)

Given linkage configuration & 2. Find 3 and 4
We know VA and direction of VB and VBA
(perpendicular to AB)
Draw vector triangle. V=r.
VBA
VB

VBA Direction
VBA

VA
VB

VB Direction

VBA 3 AB
5

VB 4 O4 B

Graphical Velocity Analysis (VC)

After finding 3 and 4, find VC
VC=VA+VCA
Recall that 3 was in the opposite direction as 2
VC

Double Scale
VCA

VA
VCA
VC

Instant Center
A point common to two bodies in plane motion, which
has the same instantaneous velocity in each body.
In ENGR 214 we found the instant center between
links 1 and 3 (point on link 3 with no velocity)
Now we also have an instant center between links 2
and 4

Instant Centers

Kennedys rule: any three

links will have three instant
centers and they will lie on a
straight line
The pins are instant centers
I13 is from links 1,2,3 and
1,3,4
I24 is from links 1,2,4
ICsand
2,3,4

I13

I24

Instant Centers
I13 has zero velocity since link
1 is ground
3 is the same all over link 3
Velocity relative to ground=r,
perpendicular to r
VA2=a2=VA3=p3
From this, 3 must be in the
p
opposite direction as 2, and
smaller in magnitude since
VA2
p>a
A

I13

VA3
9

Instant Centers
I24 has the same velocity on
link 2 and link 4
VI2=l22=VI4=l44
From this, 4 is in the same
direction as 2 and smaller in
magnitude since l4>l2
l4

I24
VI4 V
I2
10

l2
10

Instant Centers Practice Problems

A
B

O2

O4

Power=Tinin=Toutout
A
O4
O2

11

11

Velocity Analysis of a 4-Bar Linkage

Given 2. Find 3 and 4

12

12

Velocity Analysis of a 4-Bar Linkage

Write the vector loop equation
ae

i 2

be

i 3

ce

i 4

de

i1

After solving the position

analysis, take the derivative

aei 2 i2 bei 3 i3 cei 4 i4 0

i 2 aei 2 i 3bei 3 i 4cei 4 0

or

V A i 2 aei 2
V A V BA V B 0

VBA i 3bei 3

where
VB i 4cei 4
13

13

Velocity Analysis of a 4-Bar Linkage

i 2 aei 2 i 3bei 3 i 4cei 4 0

Take knowns to one side:

3bei 3 4cei 4 2 aei 2

Take conjugate to get 2nd

equation:
3be

i 3

4ce i 4 2 ae i 2

Put in matrix
Invert matrix:
14

bei 3
form:
i 3
be

3 2 aei 2

i 2

4 2 ae
1
i 4
2 aei 2
ce

i 2
i 4
ce
2 ae

cei 4
i 4
ce

3 bei 3
i 3
4 be

14

Inverted Crank Slider

Link 3 is a slider link: its effective length, b, changes

Given 2. Find 3 and b&

15

15

Inverted Crank Slider

Given 2. Find 3 and b&
Write the vector loop equation:
aei 2 bei 3 cei 4 dei1 0

After solving the position

analysis, take the derivative:
i 2 aei 2 b ei 3 i 3bei 3 i 4cei 4 0

To get another equation:

3 4 or 3 4
ei 3 i bei 3 cei 4 i aei 2
b
so
3
2

16

16

Inverted Crank Slider

bei 3 i bei 3 cei 4 i aei 2

3
2

Take conjugate to get second

equation:

b e i 3 i 3 be i 3 ce i 4 i 2 ae i 2

Put in matrix form:

e i 3

i 3
e

Invert:
17

i be

i bei 3 cei 4
i 3

ce i 4

b i 2 aei 2


i 2
3 i 2 ae

i 3

i 3

i be

i be

i 3

ce

i 3

i 4

ce

i 4

i 2 aei 2

i 2
i 2 ae

17

Velocity of any Point on a Linkage

Write the vector for RP
R p aei 2 pei 3 3

Take the derivative

V p i 2 aei 2 i 3 pei 3 3

Similarly
RS sei 2 2
VS i 2 sei 2 2

RP

RU uei 4 4
VU i 4uei 4 4
18

18

Offset Crank Slider

Given 2. Find 3 and d&

19

19