Position, Velocity

and Acceleration
Analysis
Complex Algebra Method
Dr. A-Alabduljabbar
3-4-2006
1
Introduction
Displacement: rp' P'
Consider the displacement of a point from
position P (represented by rp) to P' r
y
(represented by rp'), in the x-y coordinate p
P
system. The change in the position of the x
rp
point, r, is found by: O
r = rp- rp (1)
Equation (1) is a vector equation which can
be resolved into the two coordinates, and
solved for the unknown displacement
(magnitude and direction) provided that
both magnitudes and directions of rp and rp'
are defined.

2
Velocity
Consider the motion of a point from
position P to P' during a time period of t rp' P'
as shown in the figure. The change is
position is give by r. r
The velocity is defined as the change in y
p
position with respect to time, and we can x
P
rp
define the average velocity O
r
v ave
t
When the time change becomes very
small, the limit is taken to get the real
(instant) velocity:
r dr
v lim
t 0 t dt
3
Acceleration

Similarly, the acceleration is

defined as the change in
velocity with respect to time, vp' P'
vp
and we can define the average y

acceleration x
vp P
v O
a ave
t
When the time period becomes
very small, the limit is taken to
get the instant acceleration :
v dv
a lim
t 0 t dt
4
Methods for Solution
Solution for the unknown quantities in a certain mechanism can be
obtained by different methods:
Analytical Methods:
Trigonometry Analysis
Considering the geometry: magnitudes and Angles of each vector
Vector Algebra
Standard vector analysis: addition and subtraction of vectors
Complex Algebra
Representation of vectors as complex numbers consisting of
magnitudes and angles.
Graphical methods: Using graphical tools.

5
Complex Algebra Method
The vector is represented as a
complex number which includes the
magnitude and direction of the vector.

r = r e j jr sin r
= r cos +j r sin

Where r: magnitude of r;
: Direction of r (from +ve x-axis);
j: (-1)1/2; r cos
and e: Base of the natural logarithm.
To get velocity, differentiate the position
vector.
To get acceleration, differentiate the
velocity vector.

6
 Velocity
dr d
v (re ) r e j r e j
j

dt dt
Where: d d
r (r ); ( )
dt dt
: is the angular velocity

Acceleration dv d j
a (r e jr e j )
dt dt

a r e j 2 r e j r 2 e j jr e j
j

Where: d d 2r d 2
r (r ) 2 ; 2
dt dt dt
: is the angular
acceleration
7
An off-set crank slider mechanism
2
3

Find the displacement of the slider (link 4) in

terms of the dimensions of the other links and
their positions.

8
Solution using Complex Algebra
Method
Algebraic methods have similar procedure for solution, as follows:

Procedure for Solution:

1. Form one closed vector loop for the mechanism.
2. Write vector equation representing the loop: Loop-Closure
Equation.
3. Represent each vector with corresponding magnitudes and
angles on the graph.
4. Determine known and unknown quantities, and also constant and
variable quantities.
5. Solve the equation.
6. For velocity, differentiate the LCE once
7. For acceleration, differentiate the LCE twice

9
An off-set crank slider mechanism
Given links 2 and 3 dimensions, the input 2
angle , angular speed , and
acceleration ; determine the slider 3
position, velocity and acceleration. e
4
Solution

Draw the vector closure loop

Write the LCE
Represent each vector r2
Determine known and unknown variables
Solve LCE for displacement of slider r3
r1
For velocity and acceleration, differentiate
LCE as needed.
r4

10