MACHINE ELEMENTS

Laboratory Requirement
• Folder
( Prepare minimum of 12 pieces)

• Tech’l pencil • T-square

• Adjustable Compass • Protractor

2 Chapter1- Part1
 • Only Technical Pen Allowed:
any pen’s point per set

• Set 1(light) : 0.1, 0.2, 0.3

• Set 2 (medium): 0.4, 0.5, 0.6
• Set 3 (heavy): 0.7, 0.8, 0.9, 1.0

• Sweeping
Brush

• Triangles

3 Chapter1- Part1
Discussion Proper: Basic Concepts
• MACHINE ELEMENTS

is a combination of
is a component or composition
interrelated parts
of different parts that makes
having the definite
the given machine work.
motion and capable of
performing useful
work.

SCIENCE OF MECHANISM: deals with the laws governing motion of

parts of a machine and the forces transmitted by these part.

4 Chapter1- Part1
DIVISION OF SCIENCE OF MECHANISM
• PURE OF MECHANISM
• (Kinematics of Machine)
CONSTRUCTIVE MECHANISM
(Machine Design)

which treats of the motion & forms

of the parts of the machine, & the
manner of supporting & guiding
them, independent of their
strength.
which involves the calculation of
forces acting on different parts of
the machine; the selection of
materials on the basis of
strength, durability,& other
physical properties in order to
withstand these forces.

5 Chapter1- Part1
Technical Definitions
• Synthesis – the process of contriving a scheme or a method of
accomplishing a given purpose. It is a procedure by w/c a product is
develop to satisfy a set of performance requirement.
• Design – is the process of prescribing the sizes, shapes, mat’l compositions,
and arrangements of parts so that the resulting machine will perform the
prescribed task.
• Analysis –the technique that allows the designer to critically examine an
already existing or proposed design in order to judge its suitability for the
task.

6 Chapter1- Part1
 • Kinematics - is the study of motion in mechanism without reference to
the forces that act on the system; or it is the study of motion, quite apart
from the forces w/c produce that motion.
• Dynamics – is the study of the motion of individual bodies and
mechanism under the influence of forces and torque.
• Static – is the study of forces and torques in a stationary system.
• Mechanism – is an assemblage of resistant bodies, connected by movable
joints, to form a closed kinematic chain with one link fixed and having the
purpose of transforming motion.

7 Chapter1- Part1
 Machine – is a combination of interrelated parts having definite motion and
capable of performing useful work.
Examples of Machine Parts
• Cranks, levers, bearings, shafts, crossheads, cams, piston, gears,
screws, ropes, chains, belt, pulleys, wheels, keys, collar,
cylinders, piston, connecting rods ,etc.

8 Chapter1- Part1
 • Engine – is a machine that involves conversion of energy to produce
mechanical power.
• Bearing – applied, in general in, to the surfaces of contact between two
pieces that have relative motion, one of which supports or partially
supports the other.
• Crank – is an arm rotating or oscillating about an axis.
• Link – is a rigid or a non-elastic substance that serves to transmit force
from one piece to another, or to cause or control motion.
• Frame – is the fixed or stationary link in a mechanism. When there is no
link actually fixed, consider one link as being fixed and determined the
motion of the other links relative to it.
• Joint or Kinematic Pair – is a connection between links that permits
constrained relative motion.

9 Chapter1- Part1
 Division of Kinematic Pairs
• 1. LOWER PAIR: is a connection or pair in
which two elements have theoretical
surface contact with one another.

2. HIGHER PAIR: is a connection or pair in which two elements have

theoretical point or line contact with one another. (if deflection
is disregarded).

10 Chapter1- Part1
 TYPES OF JOINTS OR KINEMATIC PAIRS

1. TURNING PAIR, REVOLUTE, OR PIN JOINT, “R” – is a joint that permits

only relative rotation and has one degree of freedom. This pair is often
referred to as a pin joint and a lower pair joint.

R
R
R

11 Chapter1- Part1
 2. PRISMATIC PAIR, OR PRISM, “P” – is a joint that permits only one
relative sliding motion and therefore is often called sliding joint. It is
also has a single degree of freedom and a lower pair joint.

12 Chapter1- Part1
 3. SCREW PAIR, HELICAL PAIR, OR HELIX, “H” – is a joint that has only one
degree of freedom because the sliding and rotational motions are
related by helix angle of the thread. It is a lower pair.

13 Chapter1- Part1
 4. CYLINDRIC PAIR OR CYLINDER, “C” – is a joint that permits both angular
rotation and an independent sliding motion. It has two degree of
freedom and a lower pair joint.

14 Chapter1- Part1
 5. GLOBULAR, SPHERICAL PAIR, OR SPHERE, “S” –is a ball-and-socket joint.
It is a lower pair joint and has three degrees of freedom, a rotation
about each of the coordinates axes. It is a lower pair joint.

15 Chapter1- Part1
 6. FLAT PAIR, PLANAR PAIR, OR PLANE, “PL”- it is a joint that is seldom, if
ever, found in mechanisms in its undisguised form. It has three
degrees freedom and a lower pair joint.

PL

16 Chapter1- Part1
 7. UNIVERSAL JOINT, “U”- a combination of two revolute joints, it permits
two rational motions. It has two degrees of freedom and considered
as a lower pair joint.

17 Chapter1- Part1
 8. SPUR GEAR, “G” (ROLLING AND SLIDING) – a higher pair joint with two
degrees of freedom.

18 Chapter1- Part1
 9. CAM PAIR, - a higher pair joint with two degrees of freedom. Cam pairs
appear in so many configurations that is not practical to assign a
standard symbol pr schematic representation.

19 Chapter1- Part1
 10. WRAPPING PAIR – is a higher pair joint with two degrees of freedom .It
is a constraint that comprises belts, chains, and such other devices. A
belt-driven pulley is an example of this pair.

20 Chapter1- Part1
 KINEMATIC CHAIN – is an
assemblage of links and joints,
interconnected in a way to provide a
controlled output motion in
response to a supply input motion.
LINKAGE– is any assemblage of rigid bodies
connected by kinematic joints. Mechanisms
and machine may be considered linkage.

21 Chapter1- Part1
Kinematic Symbols Notations for Linkage
point on a body

pair joining two links moving relative to each other

fixed axis
pin joint on a rigid link joining
the end of another link

bent rocker turning on a movable axis

bent rocker or two cranks
turning together on a fixed axis

sliding pair sliding folder with fixed guide

22 Chapter1- Part1
 Examples of Linkage
• a.) Three-bar linkage
• b.) Four –bar linkage
Connecting rod or Coupler
• c.) Six-bar linkage
Crank (driven)
L2
Crank (driver)
L3
L1 Lo

Frame or fixed link

Q2
Q1

Four-bar linkage

23 Chapter1- Part1
 Examples of Linkage

Floating Link or
floating coupler
L2
L3

L1 L4

Lo Lo’

Q2
Q1

Six-bar linkage

24 Chapter1- Part1
 ▪ PLANAR MOTION – is a motion of points in a
system that moves in parallel planes.
▪ PLANAR MECHANISM – is one in which all
particles describe plane curves in space and all
these curves lie in parallel planes.
▪ PLANAR LINKAGE – is a linkage in w/c all links have
parallel motion; linkage that has planar motion,
it utilizes lower pairs only.
▪ CYCLE– represents the complete sequence of
position.

25 Chapter1- Part1
 ▪ PERIOD – is the time required to complete a
cycle of motion.
▪ MANIPULATORS – are machines or linkages that
designed to simulate human arm and hand
motion which are also an example of open
kinematic chain.
▪ ROBOTS – are programmable manipulators that can
follow the steps directed by a computer
program.
▪ STRUCTURE – is a combination or resistant or rigid
bodies connected by joints, but its purpose is
not to do work or to transform motion.

26 Chapter1- Part1
DEGREE OF FREEDOM
• or MOBILITY is the number of inputs that need to be provided in order to
create a predictable output.
• is the number of independent parameters required to specify the position
of every link relative to the frame or fixed link.

CONSTRAINTS DUE TO JOINTS

• Each joint reduces mobility of a system
• In general: each one DOF joints reduces system mobility by providing five
constraints; each two DOF provides four constraints; each three DOF
provides three constraints; and so on…

27 Chapter1- Part1
CONSTRAINTS DUE TO JOINTS
NUMBER OF DOF NUMBER OF CONSTRAINTS

1 5

2 4

3 3

4 2

5 1

28 Chapter1- Part1
DOF & the Constraints
Types of Joints Number of DOF Number of Constraints

Turning Pair Revolute, R 1 5

Prismatic Pair, P
Helical Pair, H
Cylinder, C
Globular, sphere ,S
Flat Pair, Plane, PL
Universal Joint, U
Spur Gear Pair, G
Cam Pair
Wrapping Pair
1 5
1 5
2 4
3 3
3 3
2 4
2 4
2 4
2 4

29 Chapter1- Part1
KUTZBACH CRITERION for the Mobility of
Planar Mechanism
1. If the mobility m>0, the mechanism has m degrees of freedom
2. If the mobility m=1, the mechanism can be driven by a single input
motion.
3. If the mobility m =2, two separate input motions are necessary to
produce constrained motion for the mechanism.
4. If the mobility m=0, motion is impossible and the mechanism forms a
structure.
5. If the mobility m =-1 or less, there are redundant constraints in the
chain and it forms a stationary indeterminate structure.

30 Chapter1- Part1
DOF or MOBILITY of SPATIAL Linkage
• For General spatial Linkage:
•
• DFs = 6( nL -1) –nc
• DFs – Degree of Freedom for spatial linkage

• nL – number of
links(including fixed link)
• nc – total number of constraints

31 Chapter1- Part1
 Examples:
• 1.0 Determine the DOF of a closed-loop R1S1S2R2
kinematic chain shown.

S2
S1 L2 L3

L1

L0
R1

32 Chapter1- Part1
 Examples:
• 2.0 Determine the DOF of a closed-loop R1SUR2
mechanism below:

U
L3
S
L2
L1

R1

33 Chapter1- Part1
 Examples:
• 3.0 Determine the DOF of a closed-loop R1R2R3R4
mechanism below:
R3
R2
L3

L2
L1

R1

34 Chapter1- Part1
 Examples:
• 4.0 Consider the R1R2R3C closed loop linkage below
det. DOF:

R2
L3

L2
L1

R3
R1

35 Chapter1- Part1
DETERMINATION OF DOF FOR A PLANAR
LINKAGE
• Each constrained link has three DOF in plane motion.
• A fixed link has zero DOF.
• A pin joint connecting two links produce two constraints
since the motion of both links must be equal at the joint
(in two coordinate directions)
• Equation of DOF for Planar linkage

• DFp = 3 (nL -1) -2n’j

• nL- number of links
• n’j – number of ONE DEGREE OF FREEDOM joints or
pairs. n’j = (3nL-4)/2**** {Grubler Criterion}

36 Chapter1- Part1
 Examples:
• 5.0 determine the number of DOF of planar linkage
shown below:

L2
L3

L1

Lo
Q2
Q1

37 Chapter1- Part1
 Examples:
• 6.0 determine the number of DOF of planar linkage
shown below:
L3
L2

L4
L1

Lo
Q2
Q1

38 Chapter1- Part1
 Examples:
• 7.0 determine the number of DOF of planar linkage
shown below:

39 Chapter1- Part1
 Examples:
• 8.0 determine the number of DOF of planar linkage
shown below:
A 3 B

5
1 2 4

6 7
C
Q1
Q2

40 Chapter1- Part1
Configuration of planar linkage with DOF=1
• a.) WATT LINKAGE - is a planar linkage
with configuration of nL =6, n’j =7 and
DOF=1
c d

3 4 5

g e
b

2 6
1

a f

41 Chapter1- Part1
Configuration of planar linkage with DOF=1
• b.) Stephenson linkage- is a planar
linkage with configuration of nL =6, n’j
=7 and DOF=1
c
d
4
3
f
b 6
5
g
2
1
e
a

42 Chapter1- Part1
GRASHOF’S LAW
” for a planar four-bar linkage, the sum of the
shortest and longest link lengths cannot be greater
than the sum of the remaining two link lengths if
there is to be continuous relative rotation between
two members.”
Let: GRASHOF’S CRITERION
Lmin – the shortest link Lmin + Lmax La≤+ Lb
Lmax – the longest link
La – remaining link
Lb – another remaining link

43 Chapter1- Part1
KINDS OF GRASHOF FOUR-BAR MECHANISM
1. Crank Rocker mechanism - is a Grashof mechanism in which the shortest link is
the driver crank that rotates continuously causing the driven crank(rocker) to
oscillate through a limited range

Driver Crank
L2 rocker

L3

L1

Lo

Q2
Q1

44 Chapter1- Part1
 2. Drag link mechanism - is a Grashof mechanism in
which the shortest link is the frame or fixed link,
and the other two cranks completely rotate with
their axes.

L3

L1 L2

L0

L0 is the frame
and the shortest link

45 Chapter1- Part1
 3. Double rocker mechanism- is a Grashof mechanism
in which the coupler ,the link opposite the fixed
link is the shortest. No crank rotates 360°.

L2

L1 L3

L0

Q2
Q1

46 Chapter1- Part1
 4. Crossover-position or change-point mechanism - is
a Grashof mechanism in which Lmax +Lmin = La+Lb .

L2
L3
L1
L0

47 Chapter1- Part1
 5. Triple rocker mechanism(non-grashof) – is a double
rocker of the second kind, linkage that does not
satisfy Grashof Criterion. No link rotate through
360°.

Lmax + Lmin > La+Lb .

48 Chapter1- Part1
Summary of four bar mechanism
Types of mechanism Shortest link Relationship between link
lengths
Grashof any Lmax + Lmin ≤ La + Lb

crank rocker Driver crank Lmax + Lmin < La + Lb

drag link Fixed link Lmax + Lmin < La + Lb

double rocker Coupler Lmax + Lmin < La + Lb

Crossover-position any Lmax + Lmin = La + Lb

Non-grashof/ triple rocker any Lmax + Lmin > La + Lb

49 Chapter1- Part1
Sample exercise:
1. Consider a four bar linkage with the
following links: L0 = 210mm, L1 = 50mm,
L2 =200 mm. Using Grashof criterion,
determine the ranges of values for L3, if
the linkage is:
a) crank –rocker mechanism,
b) drag link mechanism,
c) double-rocker;

50 Chapter1- Part1
 a.
L2
L3

L1

Lo

Q2
Q1

51 Chapter1- Part1
 b.

L3

L1 L2

L0

52 Chapter1- Part1
 c.
L2

L1 L3

L0

Q1 Q2

53 Chapter1- Part1
Tracing the Path of Motion
• 1. Axes Q2 and Q4 are fixed. Q2A =1 ½ in., AB =3 in., Q4B =2in., and
Q2Q4 =3in., Crank 2 is the driver turning counter clockwise. The
proportions are such that, while 2 makes a complete revolution, 4
oscillates through a certain angle. Find the two extreme positions of
the center line Q4B of crank 4.

A 3
4

2
1
Q2 3in Q4

54 Chapter1- Part1
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56 Chapter1- Part1
Transmission Angle
• is the angle between coupler centerline and the driven crank centerline. The
optimum transmission angle for a planar linkage is 90°. A transmission angle no less
than 40 or 45° and no greater than 135 or 140° is usually satisfactory. Depending on
the type of bearing and lubrication, values outside this range may result in binding
of the linkage.

coupler ANGULAR TRANSMISSION

driven crank
Φ
L2
L3
L1

L0

57 Chapter1- Part1
Determination of Transmission Angle

L2 ∅
L3
𝑳𝒅 𝟐 = 𝑳𝟐 𝟐 + 𝑳𝟑 𝟐 − 𝟐𝑳𝟐 𝑳𝟑 𝐜𝐨𝐬 ∅
β
Ld 𝟐 𝟐 𝟐
L1 𝑳
−𝟏 𝟐 +𝑳𝟑 −𝑳𝒅
£ ∅= cos
𝟐𝑳𝟐 𝑳𝟑
L0

58 Chapter1- Part1
MAXIMUM TRANSMISSION ANGLE
L2 “Maximum Transmission
Φmax angle occurs, when the driver
L3 crank and the fixed link are
collinear. “

L1 L0

Ld

If the transmission angle, Φmax ,

Ld = L1 + L0

59 Chapter1- Part1
MINIMUM TRANSMISSION ANGLE
“Minimum Transmission angle occurs, when the
driver crank and the fixed link are collinear. “

L2 Φmin
L3

L1 Ld

L0

If the transmission angle, Φmin,

Ld = L0 - L1
60 Chapter1- Part1
Look the difference: can you tell?

L2
L3 L2
Φmax Φmin
L3
L1
L1 L0 Ld

Ld L0

61 Chapter1- Part1
Example:
• Consider a crank rocker mechanism with L1 =
100mm, L2 = 200mm, and L3 = 300mm. The design
transmission angle of the mechanism is
45≤Φ≤135°. Determine the range of values of L0
Given:
L1 = 100mm Φ= 45≤Φ≤135°
L2 = 200mm
L3 = 300mm
Required: Range Values of L0

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65 Chapter1- Part1
SLIDER -CRANK MECHANISM
• It is a mechanism commonly used in
reciprocating machines. The mechanism is
composed of crank, connecting rod, slider,
and the frame.
• Slider –crank mechanism is the most
common of all mechanisms because of its
simplicity and versatility.
• Example of Reciprocating Machines:
compressors and pumps.

66 Chapter1- Part1
Slider Crank Mechanism

Connecting Rod

R L
Driver Crank

Slider/piston

67 Chapter1- Part1
Limiting Positions
• Limiting positions of slider-crank mechanism,
define the stroke of the piston or slider.
• Limiting positions are the extreme positions
of the driven crank or slider for one
complete rotation of the driver crank.
• CRANK-DEAD-CENTER(CDC)- is the position
with piston nearest the crank shaft.
• HEAD-DEAD-CENTER(HDC) – is the position
with piston farthest from the crankshaft.

68 Chapter1- Part1
 Configuration of Slider-Crank
Mechanism

1. In-line Slider Crank Mechanism

It is a mechanism in w/c the line of action of the slider is passing through the
axis of rotation of the crank.

R L HDC

CDC
STROKE,
“S”

Line of action

69 Chapter1- Part1
Notations:
• Length of stroke, “S” = 2R ;
• S-length of stroke, R-radius of the crank
• Forward time to return time
rt = tf /ratio:
tr =1 ; tf = tr

rt - time ratio
tf - time for the forward stroke of the slider
tr - time for the return stroke of the slider

70 Chapter1- Part1
 2. Off-set Slider Crank Mechanism
It is a mechanism in w/c the line of slider is not passing through the axis of
rotation of the crank.
R L

HDC

E (offset distance)
Φ
CDC
STROKE,
“S”

71 Chapter1- Part1
 Limiting position of Offset Slider
α = 180°+(Φ1 - Φ2) =ωtf
β
β = 180°- (Φ1 - Φ2) =ωtr
R
R

α
L
E L
HDC

R
Φ1 Φ2
R
L CDC
E STROKE, L
E
Φ1 “S” Φ2

72 Chapter1- Part1
 Values of Φ1 and Φ2
Sin Φ1 = E Φ1 = sin 1 E
( L-R ) ( L-R )

Sin Φ2 = E Φ2 = sin 1 E
( L+R ) ( L+R )

For Angular Velocity, ω

𝟐𝝅𝑵
𝝎= 𝟔𝟎
→ rad/s

73 Chapter1- Part1
Values of time during the forward and return
strokes
tf = α/ ω tr= β/ ω
Time ratio: rt = tf / tr = (α/ω) / (β/ ω)
r =α/ β
t

Length of Stroke, “S”

S = (L+R)² - E² (L- R)² - E²

74 Chapter1- Part1
Example #1:
• Find the average piston velocity in each
direction between limiting positions for
slider-crank driver linkage with 150mm crank
length, 350mm connecting rod, and 100mm
off-set. The crank rotates 240rpm counter
clockwise.
GIVEN:
REQUIRED:
R = 150 mm
L = 350mm The piston average velocity in each
E = 100mm direction
N = 240rpm

75 Chapter1- Part1
 Schematic
β

E =100mm

Φ1 Φ2

76 Chapter1- Part1
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78 Chapter1- Part1
79 Chapter1- Part1
Example #2:

• An offset slider crank mechanism has a crank

length of 500mm and an offset of 150 mm.
Determine the length of the connecting rod if
the allowable angle between the connecting rod
and the slider path is 42°.

80 Chapter1- Part1
81 Chapter1- Part1
Example #3:
The velocity of the inline slider mechanism is
2,500mm per second. Given the time forward
of 0.2sec, determine the length of the
crankshaft.

82 Chapter1- Part1
83 Chapter1- Part1
Example #4:
• An offset slider crank mechanism has a crank length of 312mm and an
offset of 56 mm. The angle between the connecting rod and the slider
path is 42° when the slider is at the CDC. Determine;
• a.) the length of the connecting rod
• b.) the angle between the connecting rod and the slider path when the
slider is at the HDC
• C.) the distance between the extreme positions of the slider.

GIVEN:
REQUIRED:
R = 312 mm a.) L
E = 56 mm b.) Φ2
Φ1 = 42° c.) S
84 Chapter1- Part1
 Schematic

E =50mm

CDC HDC
Φ1= 40° Φ2 =?
S

85 Chapter1- Part1
QUICK RETURN MECHANISM
• These are mechanism that includes an
oscillating link or reciprocating slider that
moves forward slowly and return quickly
(with constant speed input).

• Offset slider-crank mechanism, combined

drag link and slider-crank mechanism are the
examples of quick return mechanism.

86 Chapter1- Part1
 COMBINE DRAG LINK and SLIDER-
CRANK MECHANISM
• This mechanism is a combination of drag link mechanism and in-line slider crank
mechanism as shown below:

L3
L4
L1 L2
CDC HDC

L0

• The time for the slider to travel between limiting positions is proportional to the
angle between corresponding positions of the driving crank as long as the
driving crank angular velocity is constant.

87 Chapter1- Part1
 Example:
Design a quick return mechanism with 180 mm stroke, the time
during the working stroke is 0.6 second and the time during
the return stroke is 0.2 second. The length of other links are
as follows: L0 = 50mm; L1 = 65mm

Given:
𝑡𝑓 = 0.6 𝑠𝑒𝑐
𝑡𝑟 = 0.2 𝑠𝑒𝑐
𝐿0 = 50 𝑚𝑚
𝐿1 = 65 𝑚𝑚
𝑆 = 180 𝑚𝑚

Required:
Length of 𝐿2

88 Chapter1- Part1
Considering the Limiting Position
a.

b. c.

89 Chapter1- Part1
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Part1 Chapter1- Part1
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95 Chapter1- Part1
VARIABLE-STROKE QUICK RETURN MECHANISM

It is a mechanism with variable stroke due to

varying length of the driving crank. A typical application
of this linkage is the mechanism used in a shaper
machine.

96 Chapter1- Part1
 Example 1: Design a mechanism with a stroke that may be varied from 76 mm to 203 mm, having a forward
stroke to return stroke ratio of 2 is to 1 at maximum stroke length. Consider the mechanism below with 𝐿0
of 102 mm.

Given: Required:
𝐿1 and 𝐿2

𝑆𝑚𝑖𝑛 = 76 mm
𝑆𝑚𝑎𝑥 = 203 mm

97 Chapter1- Part1
98 Chapter1- Part1
 MOTION
• Change of position either relative or it may
be absolute, provided that same point is
assumed is fixed.
Path -a line created by a point moving in space.
• Rectilinear- straight line
• Curvilinear- curved line

Reciprocating Motion – when a point traverses the same path and

reverses its motion at the end of such path..

Oscillation –is a term applied to reciprocating circular motion, as that of

the pendulum

99 Chapter1- Part1
 • Intermittent Motion – when the motion of a point along is
interrupted by periods of rests.
• Linear Speed – it is a time rate of the motion of a point
along its path.
• Angular Speed – is the time rate of turning body about an
axis.
• Linear Velocity – the rate of change of linear displacement
with respect to time and showing direction.
• Linear Acceleration – is the rate of change of linear speed
or linear velocity with respect to time.
• Angular Acceleration – is the rate of change of angular
speed or angular velocity with respect to time.

100 Chapter1- Part1

 VECTOR
• It is a quantity that describes magnitude,
direction and sense.
• This is used to represent motion or force
graphically and analytically.
• It is represented by a line with an arrow.

SCALAR
• It is a quantity that describes magnitude, only.

101 Chapter1- Part1

 Resultant Vector R
R = iRx + jRy + kRz Rz
P(x,y,z)
R
Rx Ry
Magnitude or
Absolute Value of Vector P with coordinates (x,y,z)
Resultant, “R”
• R= Rx² + Ry² +Rz²

102 Chapter1- Part1

VECTOR EQUATION
• If two vectors are equal, then each component of the first is equal to
the corresponding component of the second.
• Let, A=iAx +jAy +kAz
• B = iBx + jAy + kAz
• Then, A = B
• Ax = Bx ; Ay = By ; Az =Bz

103 Chapter1- Part1

RULES FOR VECTOR ADDITION AND
MULTIPLICATION BY A SCALAR
• Let A, B, and C as vectors; and m as scalar quantity
1. COMMULATIVE LAW FOR ADDITION
• A + B = B+A
2. ASSOCIATIVE LAW FOR ADDITION
• A +( B+C) = (A+B) +C
3. COMMUTATIVE LAW FOR MULTIPLICATION BY A
SCALAR
• mA = Am
4. DISTRIBUTIVE LAW FOR MULTIPLICATION BY A
SCALAR
• m(A+B) =mA+mB

104 Chapter1- Part1

ADDITION OF VECTORS
• Addition of vectors simply involves adding
the x, y, and z direction components
individually.
• Let, C = A + B
• Then, C =i (Ax+Bx) +j(Ay+By) + k(Az+Bz)
SUBTRACTION OF VECTORS
• Subtraction of vectors simply involves the difference of x, y, and z
direction components individually.
• Let, D = A - B
• Then, D =i (Ax-Bx) +j(Ay-By) + k(Az-Bz)

105 Chapter1- Part1

 GRAPHICAL ADDITION AND
SUBTRACTION OF PLANAR VECTORS
Vectors may be added graphically by joining them head to tail
1. Determine the resultant vectors: A+B+C+D =E

A B D
C

C
B
D
E A

106 Chapter1- Part1

Graphical Additoon and Subtraction of Planar
Vector
Vectors may be added graphically by joining them head to tail
2. Determine the vector difference: G = A-B = A+(-B)

A
B
(-B)
Sol’n:

A (-B)

G
107 Chapter1- Part1
 3. Determine the vector sum. C = A+B

A
B
Sol’n:

A B
C = A+B
C = B+A

B A
4. Determine the vector difference. A = C-B

C A
B B
C
108 Chapter1- Part1
Multiplication of Vector
1. VECTOR CROSS PROD
or simply cross product, of two vectors is a vector
perpendicular to the plane of the said vectors. The two
vectors should be separated by an angle, say θ.

C=AxB A
θ B

C=AxB
Magnitude of C = Absinθ or /C/ = /A//B/sinθ

109 Chapter1- Part1

• The cross product of the same vector is ZERO.
• C = A x A =0
• /C/ =/A//A/sinθ = 0
• Where: θ=0°
• Cross product does not follow the commutative law.
C = AXB
• B x A = -A x B θ

-A B

110 Chapter1- Part1

 • Cross Product of Unit Vector
• i x j = k : j x i = -k
• j xk = i ; k x j = -i
• k x i = j ; i x j = -j
• I x i = j x j =k x k =0
• Cross product of spatial vectors A and B
• AxB= i j - k
• Ax Ay Az
+
• Bx By Bz

111 Chapter1- Part1

• 2. DOT or SCALAR PRODUCT
• Dot product of two vectors is the product of the absolute
value of the two vectors times the cosine of the angle separate the
two vectors.
A
θ
B

Projection of “A”
A.B =/A//B/Cosθ = (lenght of A) x (B.component in A direction)

112 Chapter1- Part1

 • Consider vectors A and B

B
θ C = B-A
A
C = B-A
Let,
A= iAx + jAy + kAz
B = iBx + jBy + kBz

Equation 1
C = B-A = i( Bx-Ax) + j(By-Ay) + k (Bz-Az)

Equation 2

113 Chapter1- Part1

 • Applying Cosine Law to the triangle presented:

• /C/² =/A/² + /B/² - 2/A//B/Cosθ

• /A/ /B/cosθ = {/A/² + /B/² - /C/² } / 2
Equation 3

• THEN, A.B =/A//B/cosθ ={ /A/²+/B/²-/C/²} / 2

Substituting Eqn. 1 and Eqn. 2 to Eqn.3

Therefore:
A.B. = /A//B/cosθ = AxBx +AyBy + AzBz

114 Chapter1- Part1

 • DOT PRODUCT UNIT VECTOR:
• i . i = j.j = k.k =1 and i.j =j.k=k.i =0
• Dot Product of the same Vector
• A . A =/A//A/cosθ =/A/² =(Ax)² +(Ay)² +(Az)²
• where θ = 0°, cos 0° =1, B =A
• Orthogonal Vectors
• Orthogonal vectors are perpendicular
vectors. B
• A. B =/A//B/cosθ =0 θ =90°
• Where θ =90°, cos 90° = 0
A
115 Chapter1- Part1
COMPLEX ALGEBRA
1. POLAR NOTATION
• Polar notation of vector R to specify its magnitude and
direction: R = R<θ
• Consider the two dimensional vector : R =iRx +jRy
• two magnitudes: Rx = Rcosθ ; Ry = Rsinθ
• magnitude of Resultant: R = (Rx)² + (Ry)²
• value of Angle,θ,
• θ = arctan ( Ry/Rx)
• Example:
• Express the vector A =10<30° and B =8<-15° in
rectangular notation and find their sum; also express it
on polar form.

116 Chapter1- Part1

Sol’n.
• GIVEN:

• A = 10<30° B= 8<-15°

• REQUIRED:
• The Rectangular notation and the vector
sum of the two vectors.
• SOL’N. 30°

-15°

117 Chapter1- Part1

 • Considering the vectors; for Rectangular form:
• R =iRx +jRy
• R =i(Rcosθ) + j(Rsinθ)
• A = i(10cos30°) + j(10sin30°)
• A = 8.66i +5j

• B = [8cos(-15°)]i + [8sin(-15°)]
• B= 7.73i -2.07j

• For the resultant vector C,

• C = A+B = (8.66+7.73)i + (5-2.07)j = 16.39i +2.93j
118 Chapter1- Part1
 • Solving for the magnityude of the vector C,
• C = (Rx)² (Ry)² = 16.65 units

• Solving for the angle or direction of the resultant C,

• Θ =arctan (Ry/Rx) = 10.14°

• For the Polar Notation of the resultant vector C: (

R=R<θ)
• C = 16.65<10.14°

119 Chapter1- Part1

2. Complex Number
R R = Rx +jRy
Where: j =an imaginary number = √-1
jRy
θ

Rx
For the Complex Rectangular Notation of Resultant, R
R = R<θ =Rcosθ + iRsinθ

For the EULER Equation Notation of Resultant, R

R = R(cosθ +jsinθ) = Re
jθ
Where ; e = cosθ +sinθ
jθ
Complex Polar Form of the Resultant vector, R
R = Re
jθ

120 Chapter1- Part1

 Example:
1. Given a planar vectors A, B, C, and D
• A = 1.0”<30° , B =2”<60°, C =1.5”<180° D =3”<225°
• Determine
• The vector sum A+B+C+D using:
• Trigonometric function
• Complex Algebra
• Euler Equation

2. Given a planar vectors A (1, -2, -2) and B (6,3,2)

Determine

The angle vector AB ; θAB

• Cross product
• Dot product

121 Chapter1- Part1

 1. TRIGONOMETRIC FUNCTION:

R = √(ΣRx)² + (ΣRy)²
ΣRx= A cosθA + BcosθB+ CcosθC +D cosθD
ΣRy= A sinθA + BsinθB+ CsinθC +DsinθD

Solving for the angle and direction of resultant vector R,

θR = arctan( ΣRy/ ΣRx)

2. COMPLEX ALGEBRA

R = RcosθR + jRsinθR
=A(cosθA +jsinθA ) + B(cosθB +jsinθB )+ C(cosθc +jsinθc ) +D(cosθD
+jsinθD )

122 Chapter1- Part1

 3. EULER EQUATION

R = Re^ jθR = Ae ^ jθA + Be ^ jθB + Ce ^ jθC + De ^ jθD +

Ae ^ jθA = A (cosθR + jsinθR)
Be ^ jθB = B (cosθR + jsinθR)
Ce ^ jθc = C (cosθR + jsinθR)
De ^ jθD = D (cosθR + jsinθR)

SOLVING FOR VECTOR PRODUCT A x B

FOR VECTOR A: (i +j+k) FOR VECTOR B: (i+j+k)

A =(cosθA)i +(sinθA)j B=Bix +Byj +Bzk

123 Chapter1- Part1

 2. Given:
A (1, -2,-2); B (6,3,2)
A =iAx +jAy +kAz i j k
B = iBx +jBy +kBz
C=AxB Ax Ay Az
SOLUTION: CROSS PRODUCT Bx By Bz

C = /A//B/sinθAB ; θAB = arcsin /C/ / /A//B/

C = i {AyxBz) –(By)(Az)} +j{AxBz) –(Bx)(Az)} k {AxBy) –(Bx)(Ay)}

Where: C = √i²+j²+k² , A = √i²+j²+k² B = √i²+j²+k²

124 Chapter1- Part1

 SOLUTION: DOT PRODUCT

A.B =/A//B/cosθ =AxBx +AyBy +AzBz

θAB = arc cos{AxBx +AyBy+AzBz} / /A//B/

125 Chapter1- Part1

 Angular Speed or Velocity of a Rotating Body

• Considering a point on the surface disc of a rotating disc

A VA

Angular Velocity: ω
ω = 2ΠN/ 60 ; ω – angular speed or angular velocity, rad/s
N - rpm

Linear Velocity or Speed of point A on the surface of a rotating disc

VA = 2ΠRN/ 60 or = ΠDN /60

126 Chapter1- Part1

CLASSIFICATION OF MOTION
1. UNIFORM MOTION- a motion in which the
speed or velocity of the body is constant, and
the acceleration is zero.
2. UNIFORM ACCELERATED MOTION
3. VARIABLE MOTION

127 Chapter1- Part1

UNIFORM MOTION
• Linear Velocity or Speed
• s =Vt
• s –linear distance, m, ft
• V – linear speed or velocity
• t – time in seconds, s

• Angular Velocity or Speed

• Φ =ωt
• Φ – angular displacement in rads
• ω-angular speed or velocity in, rad/s
• t – time, seconds

128 Chapter1- Part1

UNIFORM ACCELERATED MOTION
• When the rate of change of speed or velocity of the body
with respect to time is constant.
• Motion in the straight path in which the direction is always
the same and the speed changes at constant rate.

• A.) Linear Motion ; s = Vot +1/2 at²

• 2as = Vf²-Vo²
• at = Vf –Vo
• B.) Angular Motion ; θ = ωot + ½ £t²
• 2£θ =ωf² -ωo²
• £t =ωf-ωo

129 Chapter1- Part1

• Where:
• θ angular displacement , rad
• £ - angular acceleration , rad/s
• ωo-initial angular speed or velocity , rad/s
• ωf – final angular speed or velocity, rad/s
• T-time in seconds

130 Chapter1- Part1

VARIABLE MOTION
• a type of motion in which the speed and
acceleration are variable. A typical example
of this motion is a harmonic motion in which
the variation of velocity is in sinusoidal form.
• - the common application of harmonic
motion is found on reciprocating machine;
the motion of the piston , for example in a
reciprocating compressor is a simple
harmonic motion.

131 Chapter1- Part1

Application of Harmonic Motion in a Slider
Crank Mechanism:
A
ω
L
R

Where:
S- displacement of P at any time, t,, cm , in
R –radius of the generating circle, cm ,in
E D – diameter orf the generatimg circle, cm,in
D=L –stroke of the slider in one revolution of R
A P Φ C s =AP = AC-PC Φ-angular displacement of the crank at any time ,t
B
AC = R Ω –a ngular speed of the crank, which is considred
s t –time , sec
PC = RcosΦ

s =R-RcosΦ
=R (1-cosΦ)
=D/2 (1-cosΦ)

Also, Φ=ωt
S = D/2 ( 1-cosωt)

132 Chapter1- Part1

Velocity of Point P at any Time ,t
• V = ωRsinωt = (D/2 )ωsinωt

Acceleration of Point P at any Time ,t

A = (D/2 )ω²cosωt

133 Chapter1- Part1

Example:
• A particle is moving in a straight line. The
acceleration, a =18.3m/min², is constant.
When passing another fixed particle B, it has a
velocity of 12.2 m/min. What will it be its
velocity when it has moved 610m from B,
express it in m/s?

Given: A moving body

Vf
Vo =12.2m/mina =18.3m/min²

B C
610m

134 Chapter1- Part1

Example:
• A block is to start from rest and slides along
a rectilinear path 30.48cm long in 8seconds .
It is accelerate uniformly over half of its path
during the first 4seconds and retard at the
same rate during the 4 seconds, det. The
acceleration in cm/s², and the speed at the
end of the fourth second.

VA = 0 VB VC
+a =C -a =C
A B C
S =15.24 cm

135 S =30.48 cm
Chapter1- Part1
 • 2. The flywheel of a steam engine is 3m in
diameter and rotates at 112rpm. Find a.) the
angular speed, in rad/s; b.)the linear speed,
in m/s, of a point on the rim; and c.) the
linear speed in m/s, at a point located on the
spoke midway between the center and the
rim of the wheel.
Given: Steam Engine Flywheel
A N = 112rpm
flywheel
B D =3m
Side view of flywheel
Steam Engine

Required:
a.)angular speed of the flywheel, rad/s
b.)the linear speed of a point on the rim of the flywheel, m/s
c.) the linear speed of a point on the spoke midway the center and the rim of the flywheel, m/s

136 Chapter1- Part1

 3. A 0.75m diameter flywheel of a gas engine has a pulley
25.4cm in diameter bolted to it(both turning together). The
flywheel turns at a speed of 150rpm. Find
• a.)the angular speed of the pulley, in rpm and rad/s;
• b.) the angular speed of the flywheel, in rad/s; c)the
linear speed, the pulley.
• Assume no slippage between the belt and pulley surface.

137 Chapter1- Part1

 pulley
belt

Steam Engine

flywheel
Given: Required:
Df = 0.75m
a.) angular speed of the pulley in rpm, rps
Dp= 25.4cm
N =150rpm
b.) angular speed of the flywheel, in rad/s
c.) the linear speed on the surface of the rim of the flywheel, m/s
d.) the linear speed of the belt on the pulley, m/s

138 Chapter1- Part1

 • 4. A 16cm x 20cm gas engine has a normal speed of 450rpm.
Determine
• a.) the speed in rev/s and rad/s;
• b)the linear velocity of the crank pin, in cm/s and m/s.

• If the engine is allowed to stop at uniform rate in 3 minutes and 20

seconds,
• Determine:
• c.) the deceleration of the crank, in rad/s²;
• d.) the distance in cm, travelled by the crankpin in coming to rest.

A
L
ω
R
Q2

139 Chapter1- Part1

VELOCITY ANALYSIS

• If a body has any coplanar motion than

translation, it is necessary to have enough
data to determine the velocity of two particles
in order to determine the velocity of any part
of the body.

140 Chapter1- Part1

Cases to be considered in Analyzing the
Velocity • Two or more points on the same body.
• Points on two or more bodies connected by pin
joints
• Points on bodies in rolling contact.
• Points on bodies in sliding contact.
Approaches in the Determination of Machine
Velocities
• Analytical Method – quite complicated and, in some cases impossible.
• Graphical Method – more direct, less complicated, and usually
sufficient accurate.

141 Chapter1- Part1

METHODS IN OBTAINING VELOCITIES
• The following graphical methods are used in the analysis of velocities
of a moving machine elements.
• Resolution and Composition Method ( RCM)
• Instantaneous Axis of Velocity Method (IAVM)
• Centro Method
• Relative Velocity or Velocity Polygon Method (RV or VPM)

142 Chapter1- Part1

Scale used in Graphical Method
• For the purpose of discussion the following scales are
used:
• Space Scale , ks
• a.) Proportionate size; ¼ scale; twice the size(double
scale)
• b.) The number of inches on the drawing equal to 1 ft on
the machine (for English unit), or the number cm or mm
equal to 1 m on the machine( Metric Units)
• Example: 24 inches = 1 ft; 10cm= 1m
• c.) One inch on the drawing equals so many feet on the
machine or 1mm equals so many meters on the machine.

143 Chapter1- Part1

 • Velocity scale, kv – is defined as the linear velocity in
distance unit per unit time represented by 1 inch
(or number of cm or mm) on the drawing
• ex. Kv = 5fps (1” = 5fps) ‘; 1cm = 12 m/s
• Acceleration scale ; ka – is define as the linear
acceleration in distance unit per unit time
represented by 1 inch ( or number of cm or mm) on
the drawing.
• ex. Ka = 100fps² ( 1” =100fps²) ; 1cm = 12m/s²

144 Chapter1- Part1

RESOLUTION AND COMPOSITION METHOD
• If the velocity of one point and the direction
of the velocity of any other on the body are known, the
velocity of any other point on that body may be
obtained by resolving the known velocity vector into
components along and perpendicular to the line
joining these points and making one of the
components of the velocity of the other point equal to
the component along the line. The other component of
this velocity will be perpendicular to the line.

145 Chapter1- Part1

RCM figure of presentation
The along component, Aa1, of velocity vector VA is
equal to the along component velocity vector, Bb1 of velocity vector VB

b1
B
a2
VB b2

VA
a1

A The component referred to as the component along the line

and the component perpendicular to the line
or simply along and perpendicular component

146 Chapter1- Part1

RCM
• In the link shown below, the angular velocity of the crank is
100rpm counter clockwise. AB =25in, 60° with respect to the
horizontal axis. BC=40in, CD=20in, CE is 70° with respect to
the horizontal. Calculate the velocity B,C,D and L if L is mid of
CE.
D
C

B L
40°
100rpm

60° 70°

A E

147 Chapter1- Part1

 STEPS:
1. ) Solve the linear velocity of point B.
VB = rωA
VB = (25in)(100rev/min)(2Π/1 rev.)(1ft/12in)(1min/60s)=21.82ft/s
=22ft/s
2.) Use space scale and use velocity scale:
Ks = 5inches = 10mm ; kv = 1 ft/s = 2mm
Therefor, VB =22 ft/s = 44mm.
3. ) Lay off VB perpendicular to B.
4.) Resolve VG into components along and perpendicular to BCD. BF is the
Component along BCD and FG is the component perpendicular to BCD.
5.) Lay off CH and DI equal to BF.
6.Draw HJ perpendicular to CH. Then CJ is the velocity representing VC, w/c is
also perpendicular to with link EC.
7.)Draw the proportional link GJK. From I draw the component of VD.
8.) Lay off line JME and lay off LM perpendicular to link EC, w/c represent VL
9.) Measure each, the linear velocities made, and use the kv to determine the velocities.

148 Chapter1- Part1

 D
I
perpendicular
C K
J
H perpendicular
G
perpendicular
L
M Vc =25mm
F B Vc = 25mm x (1ft/s)/2mm
Vc = 12.5 ft/s

100rpm
A E

149 Chapter1- Part1

Example# 2
• In the figure below, the angular velocity of the
crank is: Ks = 1” =4mm
Kv = 20mm/s = 1mm

G
E
F
B

VE
H M
A C
50° J 30° N
VC
100rpm
I

K 40”
150 L
Chapter1- Part1
Assignment (RCM)
• Q2BCQ4EFPS is a compound linkage. Q2 and Q4 are
fixed centers on a horizontal line with Q4 7.5” to the right of Q2.
• Q2B, 3.5” long, oscillates above Q2. CQ4 is a crank
2” long that rotates about Q4. BC is a connecting rod 7” long. P is an
oscillating bearing block that is pivoted at a fixed point 4.5” above Q4.
• EF, 8.5” long, w/c is pinned to the mid point of the
connecting rod BC at E, extends through the oscillating block at P. F is
connected to a slide P by a link FS, 6.5” long.
• The slide S moves in a vertical guide whose center
line is 1.5” to the right of Q4. Q4C rotates uniformly ccw at 30rpm and
has turned through an angle of 150° from right horizontal position,
causing S to below Q2.
• Determine the following velocities at points:
• C, E, B, F and S.

151 Chapter1- Part1

Assignment (RCM)
F
P
B
E
C

Dimensions: 30rpm
Q2Q4 = 7.5”
Q2 Required: Q4
Q2B= 3.5”
Q4C = 2” Velocities of:
a.) C S
BC = 7”
PQ4= 4.5” b.) B
EF = 8.5” c.) E
FS=6.5” d.) F
Kv = 15ft/min =1” e.) S

152 Chapter1- Part1

Instantaneous Axis of Velocity Method
• Each member of a machine is either rotating about an axis .
Instantaneously this moving axis may be thought of as a
stationary axis with properties similar to a fixed axis.
• The crank of a machine rotate or oscillate about their
respective fixed axes and the floating link(say, connecting rod)
rotates with an absolute angular velocity about an
instantaneous axis of velocity. The absolute instantaneous
linear velocities of points on the link are proportional to the
distance of the points from the instantaneous axis and are
perpendicular to the lines joining with the instantaneous axis.

153 Chapter1- Part1

 • A floating link is simply a link that does not limited to pure
rotation or pure translation.
• The instantaneous axis of velocity, Q, may be found by locating
the intersection of the lines perpendicular to the point- interest in
the floating link.
• Instantaneous velocity is a measure of an object's velocity at any
instant in time. For instance, a rocket's instantaneous velocity
exactly one second after its engines ignite is much lower than its
instantaneous velocity thirty seconds into its flight, when it's had
time to speed up.
• In analytical method of determining the instantaneous velocity of
a moving body in a straight path it is expressed as:

154 Chapter1- Part1

 • Find the Instantaneous Velocity of a moving
body in a straight line with a function of x =
5t²+2t+3 at time equals to 3 seconds?
Differentiate the given function ,x = 5t²+2t+3
Vinst =dx/dt
= 10t +2 ;
= 10(3) + 2
= 32 m/s
The motion of the car is given by the function x = 4t2 + 10t + 6. Calculate
its Instantaneous Velocity at time t = 5s.

Differentiate the given function ,x = 4t²+10t+6 at t=5s

Vinst =dx/dt
= 8t +10 ;
= 8(5) + 10
155 = 50 m/s Chapter1- Part1
 What about Instantaneous Velocity of a moving body in an angular form

Q In the figure, the instantaneous linear velocity

10° of crank is 15ft/s. AB =15 in, BC = 55in, CD=50in.
Calculate angular velocity of floating link BC.
10°

V = ωR
F VB = ωBCBQ
C
15ft/s = ωBC (82in X 1ft/12in)
E 2.196 rad/s x 1rev/2Π rad x60sec/1min =ωBC
B
ωBC
21rpm = ωBC
70° 70°
A D

156 Chapter1- Part1

IAVM Q

23° Determine the angular

D

50in
velocities of the following:
a.) ω2 = VB/ QB

92in
C 3 b.) ω3 = VC/QC
c.) ω4 = VL /QL’

2 4
L
B

A E

157 Chapter1- Part1

IAVM
Q1

23°
23°
G Q2
E
B

H
A C
50° 30° N
100rpm
I

158 Chapter1- Part1

 CENTROS METHOD or INSTANT CENTER
VELOCITY METHOD
• A point of a rigid body whose velocity is zero at a
given instant is called Instantaneous Center(IC)
• It is possible that each link of a mechanism can
have relative motion(instant center) with respect
to every other link, each mechanism has a several
IC’s.
• The total number of instant centers P on n links in
the plane is : p = n(n-1)/ 2

159 Chapter1- Part1

Locating Instant Centers
• In Typical analysis, not every instant center is used. But every center
could conceivably be employed. Therefore it is important to
understand the process of locating each center.
• Some Ics can be located by simply inspecting the kinematic pairs of a
mechanism. These centers are called PRIMARY CENTERS.
• When locating primary Ics for various types of kinematic pairs, make
use of following explanations.

160 Chapter1- Part1

Kennedy’s Theorem
• Instant Centers that cannot be found by simple
inspection of the kinematic pairs in a mechanism ,
can be determine using Kennedy’s Theorem.
• “ any three bodies having plane motion relative to
each other have only three centros which lie along
the same straight line. In other words, the three
centros that are akin to each
Pjk
other lie along the
same straight line.
Pik
3
2 4

Pij
1 1

161 Chapter1- Part1

The Primary and Secondary IC’s IC13

Primary IC’s : by Inspections

IC= n(n-1)/2
IC= 4(4-1)/2 =6
IC34

IC23
Secondary IC’s : by KT
3 Dual diagram
1
4
2
IC24 IC12 4 2

IC14
1 1
3

162 Chapter1- Part1

 IC13

IC34
3
IC23

4
2
IC24
IC12 IC14

1 1

163 Chapter1- Part1

 IC’s of a Slider Crank
IC13
The IC of a slider joint is at infinity along the line
perpendicular to the direction of sliding.
4
IC23
IC24 3 IC34
2

IC12
1
IC14 @ infinity
IC14 @ infinity

164 Chapter1- Part1

Instant Centers of Cam and Follower

165 Chapter1- Part1

Velocity
Given: 
analysis using
2 =11rad/s
Centros Method IC13

Required: VB,ω3,ω4 & Vel. ratio

IC34
B
3
A 3
4
IC23
A’
2 4
2
IC14
IC24

Q2 1 IC12
1 Q4

output velocity 4 Q4 B
velocity ratio = = =
input velo city 2 Q2 A

166 Chapter1- Part1

 • Procedure Analysis

1. Find VA, normal to Q2A, magnitude= 2(Q2A)

2. Find 3=length of VA/ (IC13A)
3. Find VB, normal to Q4B, magnitude=
3(IC13B)
4. Find 4=length of VB/ (Q4B)

167 Chapter1- Part1

Velocity Ratio of ICs
output velocity 4 O2 A
velocity ratio = = =
input velo city 2 O4 B

168 Chapter1- Part1

 • Relative Velocity is basically defined as the velocity of
one point or body with respect to another point or body,
w/c is also moving.
• It may be stated that the velocity of one point relative to
a second point is equal to the absolute velocity of the
first point minus the absolute velocity of the second
point.
• It is also stated that the velocity of one point on a body,
relative to another point on the body, is the difference
between their absolute velocities and is equal to the
absolute angular velocity of the body multiplied by the
linear distance between the two points.

169
Relative Velocity or Polygon Method
Chapter1- Part1
 • 1. Select a point in a RAO2= 5”
convenient position B
RBA N =120rpm
as the reference for A Kv = 10inch/s=1.0inch.
zero velocities.
Name this point Ov RAO2 RBO4
(origin of velocities).
O2 O4
A
2. Compute the Va
magnitude of Va VBA
as RAO2ω2 Ov
VB
3. From A draw a line 4. From Ov draw a line
perpendicular to RBA. VBA perpendicular to RBO4. VB
must reside on this line must reside on this line.

170
Polygon Method
Chapter1- Part1
 A RBA =6”
Va
RBO4=7”
VBA
Ov
VB
5. Determine the magnitude
of VBA from the polygon.
VBA = 5” x Kv
6. Compute ω3 = VBA/RBA

7. Determine the magnitude

of VB from the polygon.
VB = 3.5” x Kv

8. Compute ω4 = VB/RBO4

171 Chapter1- Part1

 ACCELERATION ANALYSIS
• Acceleration is the change of velocity or
speed with respect to time; it is the first
derivative of speed or velocity with respect
to time.
• a = dV/ dt
• a- acceleration, m/s², fps², ips²
• V – velocity or speed. m/s, fps,ips
• t – time, second

172 Chapter1- Part1

 COMPONENTS OF LINEAR
ACCELERATION
• 1. NORMA ACCELERATION/RADIAL ACCELERATION,
a^n – is the rate change in the velocity in direction
sense.

• the vector representing the normal

acceleration of a point is parallel to the line
connecting the point and the point of rotation, and
the direction is toward the point of rotation.

173 Chapter1- Part1

 2.TANGENTIAL ACCELERATION, a^t – is the rate
change in the velocity in magnitude.

the vector representing the tangential acceleration

of a point is perpendicular to the line connecting
the point and the point of rotation, and the
direction is consistent with the direction of the
angular acceleration.

174 Chapter1- Part1

 𝑨

𝑎𝑡 𝐴 ω- angular velocity, rad/s

𝑎𝑛 𝐴 α -angular acceleration
𝝷

𝑎𝐴
𝝎

175 Components of Linear Acceleration

Chapter1- Part1
Acceleration Equation
• a^n A = ω²R = VA ² / R Where:
ω=angular velocity in rad/s
α=angular acceleration in rad/s²

• a^t A = Rα

• Resultant Acceleration, RaA

(a^nA)² + (a^tA)²
• RaA =

• 𝝷 = arctan ( a^ tA /a^nA) =arctan αR/ω²R

• = arctan (α / ω²)

176 Chapter1- Part1

Sample Exercises
• 1. Q2Q4ABC is a compound linkage, Q2A is a connecting rod
measures 5” rotates at 120rpm along Q2. If Q2A develops an
angular acceleration of 320 rad/s². Determine the a.) normal
acceleration, b.) tangential acceleration c.) the Resultant
Acceleration; d.) the subtended angle in radians.

Answer: a.) 790inch/s²; b.)1600 inch/s²; c.)1,784inch/s²: d.) 1.1 radians

2. What is the angular acceleration(α) of a moving link if the

subtended angle is 60º and an angular velocity of 11rad/s.
Answer: 210rad/s²

177 Chapter1- Part1

 • It is a method of acceleration analysis based
on relative motion. It has two approaches,
namely: the fully graphical and the semi-
graphical method.
• SEMI-GRAPHICAL METHOD – when the
normal accelerations are obtained through
calculation
• FULLY GRAPHICAL METHOD – when the
normal accelerations are obtained
graphically.

178
RELATIVE ACCELERATION METHOD
Chapter1- Part1
 Principles of Relative Acceleration
1. When a point is moving about another
point, the first point has a normal
acceleration about the second point,
regardless of whether the line joining the
two point has an angular acceleration.

2. The magnitude of this normal acceleration

is the product of the square of the angular
velocity of the line joining the two points
and the distance between the points.
179 Chapter1- Part1
 •3. The direction-sense of the normal
acceleration is parallel to the line joining the
two points and is directed toward the point
about which rotation considered to occur.

•4. Whenever a point is moving about

another point, the first point has a tangential
acceleration about the second point, provided
that the line joining the two points has an
angular acceleration.

180 Chapter1- Part1

 • 5. The magnitude of the tangential acceleration is the
product of the angular acceleration of the line joining
the two points and the distance between them.
• 6. The direction of the tangential acceleration is
perpendicular to the line joining the two points. The
sense is such as to be consistent with the angular
acceleration.
• 7. The resultant linear acceleration of the first point
about the second point is the vector sum of the normal
and tangential accelerations.
• 8. This resultant acceleration makes an angle𝝷 w/ the line
joining the two points at any instant.

181 Chapter1- Part1

 NORMAL ACCELERATION
GRAPHICALLY
• Space Scale, Ks
• Velocity Scale, Vs
• Acceleration Scale, Ka
• example: 1inch =600fps², Ka =600fps²
•NOTE: to obtain the normal acceleration
graphically, the following relation of scale
must always be satisfied:
182
• Ka = Kv²/ Ks
Chapter1- Part1
 A^t BA
B
A^n BA
A^t BC C A^n CB
Ac A

A Ac C At (total acceleration)
A^t BA = VB²/ RBA A^t BC
A^n BA
A^t BC = VC²/ RCA
B A^n CB

183 Acceleration Diagram

Chapter1- Part1
 • STEPS: B
1. Select a point in a convenient position as the VA A
reference for zero acceleration. Name this point ω3
as Oa (origin of accelerations) ω4
ω2
2. Compute the magnitude of A^nA as
Q2Aω2. From Oa construct AnA in the opposite Q2 Q4
direction of Q2A. ( ω=12rad/s, Q2A=4.5”)
Oa
3. Compute the magnitude of A^tA as
Q2Aα2. From Oa construct AnA in the opposite A^nA
direction of Q2A. (α=312rad/s²). The direction is
determined by rotating the direction of ω2.
4. Compute the magnitude of A^nAB as A^nAB

ABω3². Add this vector in the opposite direction of

AB to the other two vectors.(AB = 5.0”; ω3 = VA / AB. )

184 ACCELERATION Diagram Chapter1- Part1

 5. Compute the magnitude of A^nB as ABω4². Oa
Note that A^nB is in the opposite direction of Q4B.( VB=
ω3 x IC13B; ω4 = VB /Q4B, note: Instant Center 13B
in able to get VB ) A^nB
6. Draw a perpendicular line from the tip of A^tAB
A^nAB
A^nB in anticipation of adding A^tAB. ( A^tAB = AB x
α)
7. Since A^tB must be perpendicular to Q4B
draw a line connecting the tail of A^tAB to Oa. ( to
close the polygon)

185 Chapter1- Part1

KLEIN’S CONSTRUCTION FOR SCM

• SCM is a mechanism used for reciprocating

machines, and is used in more machines
than any other mechanism. For this reason
special method is used in obtaining the
velocities and accelerations of this
mechanism. The method is known as Klein’s
construction Method.

186 Chapter1- Part1

Conditions to satisfied Klein’s Construction
• The mechanism must be a SCM with guides
stationary.
• The crank must rotate at a uniform velocity
• The scale relationship Ka= (Kv)² / Ks must
satisfied.
• The length of the crank QA on the drawing
must equal, to the Kv, the linear velocity of
the crankpin A.
• The length of the crank QA on the drawing
must equal, to the scale Ka scale, the normal
acceleration of the crankpin A.

187 Chapter1- Part1

188 KLEIN’S CONSTRUCTION FOR SCM
Chapter1- Part1
 Linear Velocities:
QA = Va QW =Vb
AW =Vba
The true direction-sense of the
velocities is obtained by turning the
lines 90º in a CCW direction.

•Linear Accelerations
•HQ =ab AQ =a^na =aa
•HP =a^tba PA = a^nba
•HA =aba Qm =am

189 Chapter1- Part1

 Assignment
Design exactly the SCM
using the KLEIN’s
CONSTRUCTION METHOD,
given the equality principles
of Linear Velocities and
Linear Accelerations
presented on the previous
slide.

Notes: other dimensions

needed will be base on the
analysis of the designer.
Specified all the dimensions
needed.

190 Chapter1- Part1

********** SEMESTER’s END
************

191 Chapter1- Part1

Laboratory Requirement
• Folder
( Prepare minimum of 12 pieces)

• Tech’l pencil • T-square

• Adjustable Compass • Protractor

192 Chapter1- Part1