Dr.

Venkatesh B K, School of ME, REVA University, Bangalore

KINEMATIC & DYNAMICS OF MACHINES (B20ER0403)

UNIT 1: INTRODUCTION, VELOCITY AND ACCELERATION OF MECHANISM

Course Content:
Introduction: Links-types, Kinematics pairs-classification, Kinematic Chain, Constrained
Motions-types, Degrees of freedom of planar mechanism, linkage mechanisms, inversions of
four bar chain, slider crank chain and double slider crank chain.

Velocity and Acceleration of Mechanism: Velocity of point in mechanism, Relative and

Instantaneous Velocities in four bar and slider crank mechanism, Instantaneous center
method, Types & location of instantaneous centers for different mechanisms, Kennedys
theorem. Introduction to Acceleration of a point on a link

1 Terminology and Definitions

1.1 Kinematic link or element
• It is a rigid body with two or more joints that are used to connect to other rigid
bodies such that relative motion between the two rigid bodies can occur.
• It must be a resistant body (A body is said to be a resistant body if it is capable of
transmitting the required forces with negligible deformation).
• Links can be classified into 3 types, namely i) Binary, ii) Ternary (3 joints), iii)
Quaternary (4 joints) shown in Fig.1.1
✓ A link which has two joints are called a binary link
✓ A link which has three joints are called a ternary link
✓ A link which has four joints are called quaternary link.

Fig 1.1 (a) Binary link, (b) Ternary link, and (c) Quaternary link

• Based on rigidity, links can be classified into 4 types, namely

➢ Rigid link is a link which does not undergo any deformation while transmitting
motion. Ex: Connecting rod, crank etc.
➢ Flexible link is a link in which partly deformed in a manner not to affect the
transmission of motion. Ex: Belts, ropes, springs, chains and wires are flexible
links and transmit tensile forces only.
➢ Fluid link is a link which is formed by having a fluid in a receptacle and the
motion is transmitted through the fluid by pressure or compression only. Ex:
hydraulic presses, jacks and brakes.
➢ Floating Link is a link which is not connected frame.

1.2 Kinematic pair

It is a connection between rigid bodies, which permits relative motion between them
is completely or successfully constrained motion (i.e. in a definite direction).
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

1.2.1 Types of Constrained Motions

Following are the three types of constrained motions:
1.2.1.1 Completely constrained motion:
• It is the motion between a kinematic pair is limited to a definite direction irrespective
of the direction of force applied.
• Examples, The motion of a square bar in a square hole, as shown in Fig. 1.2(a) & the
motion of a shaft with collars at each end in a circular hole, as shown in Fig. 1.2(b).

Fig 1.2 (a) square bar in a square hole, (b) shaft in circular hole

1.2.1.2 Incompletely constrained motion:

• It is the motion between a kinematic pair can take place in more than one direction.
• The change in the direction of impressed force may alter the direction of relative
motion between the pair.
• Example: A circular bar or shaft in a circular hole, as shown in Fig. 1.3(a), it may
either rotate or slide in a hole. These both motions have no relationship with the
other.

Fig 1.3 (a) Circular shaft in a circular hole, (b) shaft in foot step bearing

1.2.1.3 Successfully constrained motion or partially constrained motion

• When the motion between the elements, forming a pair, is such that the constrained
motion is not completed by itself, but by some other means, then the motion is said to
be successfully constrained motion.
• Consider a shaft in a foot-step bearing as shown in Fig. 1.3(b).
✓ The shaft may rotate in a bearing or it may move upwards. This is a case of
incompletely constrained motion.
✓ But if the load is placed on the shaft to prevent axial upward movement of
the shaft, then the motion of the pair is said to be successfully constrained
motion.

1.2.2 Types of Kinematic Pairs:

Kinematic pairs can be classified according to
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

1) Nature of contact.
2) Nature of mechanical constraint.
3) Nature of relative motion.
1.2.2.1 Kinematic pairs according to nature of contact:
a) Lower Pair:
• It is a pair of links have a surface or area contact between the links.
• The contact surfaces of the two links are similar as shown in Fig. 1.4 (a).
• Examples: Nut turning on a screw, shaft rotating in a bearing, sliding pairs, turning
pairs and screw pairs, universal joint, etc.
b) Higher Pair:
• It is a pair has a point or line contact between the links.
• The contact surfaces of the two links are dissimilar as shown in Fig. 1.4 (b).
• Examples: Wheel rolling on a surface, pair of friction discs, toothed gearing, belt and
rope drives, ball and roller bearings and cam and follower, etc.

1.2.2.2 Kinematic pairs according to nature of mechanical constraint:

a) Closed pair (Self closed pair):
• When the elements of a pair are held together mechanically, it is known as a closed
pair.
• The contact between the two can be broken only by the destruction of at least one of
the members.
• All the lower pairs and some of the higher pairs are closed pairs.
• Example: Enclosed cam and follower pair as shown in Fig. 1.4 (c)

b) Unclosed pair (Force closed pair):

• When two links of a pair are in contact either due to force of gravity or some spring
action, they constitute an unclosed pair.
• In this the links are not held together mechanically
• Example: Cam and spring loaded follower pair as shown in Fig. 1.4(d), as it is kept in
contact by the forces exerted by spring and gravity.

1.2.2.3 Kinematic pairs according to nature of relative motion:

a) Sliding pair (Prismatic pair):
• If two links have a sliding motion relative to each other, they form a sliding pair.
• A rectangular rod in a rectangular hole in a prism is an example of a sliding pair,
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

• Prismatic pair allows only a relative translation between elements 1 and 2, which can
be expressed by a single coordinate ‘s’ shown in Fig 1.5
• Examples: The piston and cylinder, cross-head and guides of a reciprocating steam
engine, ram and its guides in shaper, tail stock on the lathe bed etc.

b) Turning Pair (revolving pair):

• This pair has a turning or revolving motion relative to the other.
• It is seen that this pair allows only one relative rotation between elements 1 and 2,
which can be expressed by a single coordinate ‘ϴ’ shown in Fig 1.6
• Examples: the crankshaft in a journal bearing in an engine, lathe spindle supported in
head stock, cycle wheels turning over their axles etc.

c) Screw pair (Helical Pair):

• Screw pair allows rotation as well as translation but these two movements are related
to each other.
• It has one degree of freedom because the relative movement between 1 and 2 can be
expressed by a single coordinate ‘ϴ’ or ‘s’ shown in Fig. 1.7
• Examples: The lead screw of a lathe, and bolt with a nut, etc.

d) Cylindrical pair:
• This pair allows both rotation and translation parallel to the axis of rotation between
elements 1 and 2.
• These relative movements can be expressed by two independent coordinates ‘ϴ’ or ‘s’
because they are not related with each other shown in Fig 1.8
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

• Examples: A rolling wheel on a flat surface, ball ad roller bearings, etc.

e) Spherical pair:
• When one link in the form of a sphere turns inside a fixed link, it is a spherical pair.
• Any rotation of element 2 relative to 1 can be resolved in the three components.
Therefore, the complete description of motion requires three independent coordinates.
• Two of these coordinates ‘α’ and ‘β’ are required to specify the position of axis OA
and the third coordinate ‘ϴ’ describes the rotation about the axis of OA as shown in
Fig 1.9
• Examples: The ball and socket joint, attachment of a car mirror, etc.

1.3 Kinematic Chains

• When the kinematic pairs are coupled in such a way that the last link is joined to the
first link to transmit definite motion (i.e. completely or successfully constrained
motion), it is called a kinematic chain.
• A kinematic chain is an assembly of links in which the relative motions of the links is
possible and the motion of each relative to the others is definite direction as shown in
Fig 1.10.

1.4 Mechanism
• When one of the links of a kinematic chain is fixed, the chain is known as
mechanism.
• It is used for transmitting or transforming motion.
• Examples: Engine indicators, typewriter etc.
✓ Simple mechanism: A mechanism with four links
✓ Compound mechanism: A mechanism with more than four links

1.5 Machine
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

• When a mechanism is required to transmit motion and to do some particular type of

work is machine
• A system designed to transmit motion and energy.
✓ Simple machine: Screw pair, bicycle
✓ Compound machine: Lathe, grinding machine, milling machine, printing
machine.

List the difference between Mechanism and Machine

Sl Description Mechanism Machine
No
1 Definition It is obtained when one of the It is a device that transforms energy
link of kinematic chain is form to another to do useful work
fixed
2 Used for Transmitting or transforming Transmits both motion & energy
relative motion
3 Combination Rigid bodies, minimum 4 Two or more mechanisms arranged
of links
4 Examples Typewriters, clocks, watches, Steam engine, I C engine, lathe,
spring toys, engine indicators milling & drilling machines

List the difference between Machine and Structure

Sl Description Machine Structure or locked system
No
1 Definition It is a device that transforms It is obtained when one of the link
energy form to another to do of redundant chain is fixed.
useful work.
2 Used for Transmits both motion & energy Transmit only forces
3 Relative Exists between its member No relative motion exists between
motion its member
4 Examples Steam engine, I C engine, lathe, Railway Bridge, a roof truss,
milling & drilling machines machine frames

1.6 Degree of Freedom (DOF)

• The degree of freedom of a body is defined as the total minimum number of
independent coordinates required to specify the motion of body completely.

• For example, a cricket ball when it is in air, six independent coordinates are required
to define its motion. Three independent translational displacements coordinates along
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

the three axes (x, y, z) and three independent rotations coordinates about these axes
are required to describe its motion in space. Therefore, DOF = 6.
• Degrees of freedom = 6 – no. of restraints.
• The DOF of various joints found in planar mechanism are given table.

1.7 Mobility of mechanism

• The mechanism possesses number of degree of freedom is known as Mobility of
mechanism.
• To find the number of degrees of freedom for a plane mechanism we have an equation
known as Grubler’s mobility equation.
• Consider a plane mechanism with ‘n’ number of links connected by j number of
binary joints or lower pairs (i.e. single degree of freedom pairs) and h number of
higher pairs (i.e. two degree of freedom pairs), then the number of degrees of freedom
of a mechanism is given by
DOF = 3 (n – 1) – 2 j – h
Where, DOF = Mobility or number of degrees of freedom
n = Number of links including frame.
j = No. of binary joints or lower pairs (i.e. single degree of freedom pairs)
h = No. of higher pairs (i.e. two degree of freedom pairs)

If DOF=0, results in a statically determinate structure.

DOF < 0, results in a statically indeterminate structure.
DOF= -1, Superstructure
Application of Grubler’s mobility equation to Plane Mechanisms

n=3 n=4 n=3 n=4

j=3 j=4 j=2 j=3
h=0 h=0 h=1 h=1
DOF = 3(3-1)-2x3 DOF = 3(4-1)-2x4 DOF = 3(3-1)-2x2-1 DOF = 3(4-1)-2x3-1
DOF = 0 DOF = 1 DOF = 1 DOF = 2
No motion Translation motion Rolling motion Rolling & Sliding motion

1.8 Linkage
• It is obtained if one of the links of kinematic chain is fixed to the ground.
• A mechanism, which contains only lower pairs is called a linkage.
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

Grashoff’s Law
Statement: It states that for a four bar mechanism, “the sum of the lengths of the
longest and the shortest links should be less than or equal to the sum of the lengths of the
other links”. i.e., (L + S) ≤ (P + Q)

Where L, S are the lengths of the longest & shortest links respectively
P, Q are the lengths of other two links
There are 4 possible linkages:
➢ Crank-rocker (input rotates 360°),
➢ Rocker-crank-rocker (coupler rotates 360°),
➢ Rocker-crank (follower rotates 360°);
➢ Double crank (all links rotate 360°).
Non Grashoff 4 bar mechanism:
No link can rotate 360°; i.e., (L + S) > (P + Q)
Example: Triple rocker mechanism

1.9 Inversions of mechanism

• The method of obtaining different mechanism by fixing each link at a time in a
kinematic chain is known as inversion of mechanism.

Types of Kinematic Chain:

1) Four bar chain 2) Single slider chain 3) Double Slider chain

2 Inversions of mechanism
2.1 Inversions of four bar chain mechanism:
There are three inversions:
1) Beam Engine or Crank and lever mechanism.
2) Coupling rod of locomotive or double crank mechanism.
3) Watt’s straight line mechanism or double lever mechanism.
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

2.1.1 Beam Engine

• The mechanism of a beam engine which consists of four links as shown in Fig. 2.1
• When the crank AB rotates about fixed centre A, the lever oscillates about a fixed centre
D.

• The end E of the lever CDE is connected to a piston rod which reciprocates due to the
rotation of the crank.
• This is used to convert rotary motion to reciprocating motion and vice versa.

2.1.2 Coupling rod of locomotive

• The mechanism of a coupling rod of a locomotive which consists of four links is
shown in Fig. 2.2
• The links AD and BC (having equal length) act as cranks and are connected to the
respective wheels.
• The link CD acts as a coupling rod and the link AB is fixed in order to maintain a
constant centre to centre distance between them.
• This mechanism is meant for transmitting rotary motion from one wheel to the other
wheel.

2.1.3 Watt’s straight line mechanism

In this mechanism, consists of 4 links, fixed link at A, link
AB, link DE and link BCD as shown in Fig. 2.3.
The links AB & DE act as levers at the ends A & E of
these levers are fixed.
The AB & DE are parallel in the mean position of the
mechanism and coupling rod BD is perpendicular to the
levers AB & DE.
On any small displacement of the mechanism the tracing
point ‘C’ traces the shape of number ‘8’, a portion of
Fig 2.3 Watt’s St. Line mechanism which will be approximately straight.
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

Hence this is also an example for the approximate straight line mechanism.

Application: The displacement of the link BCD is directly proportional to the pressure of gas
or steam which acts on the indicator plunger.

2.2 Inversions of Single Slider Crank Chain

There are four inversions in a single slider chain mechanism.
1) Reciprocating engine mechanism (1st inversion)
2) Oscillating cylinder engine/ Crank and slotted lever mechanism (2nd inversion)
3) Whitworth quick return motion mechanism/ Rotary engine (3rd inversion)
4) Bull engine mechanism/ Hand Pump (4th inversion)

2.2.1 First inversion- Reciprocating engine mechanism

• The link 1 (i.e., the cylinder and the frame) is fixed as shown in Fig. 2.4.
• When the crank 2 rotates about O, the sliding piston 4 reciprocates in the link 1.
• This mechanism is used in steam engine, pumps, compressors, I.C. engines, etc.
• It is also used in reciprocating pumps as it converts rotatory motion into reciprocating
motion and vice-versa.

2.2.2 Second inversion of single slider chain mechanism

• This inversion is obtained by fixing link 3 (i.e. connecting rod).
• Applications of this inversion are oscillating cylinder engine and crank and slotted
lever quick return motion mechanism of a shaper machine.

2.2.2.1 Oscillating cylinder engine

• It is used to convert reciprocating motion into rotary motion.
• In this mechanism, the link 3 is fixed as shown in Fig. 2.5.
• When the crank (link 2) rotates, the piston attached to piston rod (link 1) reciprocates
and the cylinder (link 4) oscillates about a pin pivoted to the fixed link.

2.2.2.2 Crank and slotted lever mechanism:

Links -Link1-Slider, Link 2- Crank, Link 3-Connecting rod (fixed), Link4-Slotted Lever.
Pairs-
• Frame & Slotted lever – turning
• Frame & Crank – turning
• Crank & Slider – turning
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

• Slider & Slotted lever - Sliding

Construction & Working:
• In this mechanism, the link AC (i.e. link 3) is fixed as shown in Fig. 2.6.
• The driving crank CB revolves with uniform angular speed about the fixed centre C.
• A sliding block attached to the crank pin at B slides along the slotted bar AP and thus
causes AP to oscillate about the pivoted point A.
• A short link PR transmits the motion from AP to the ram which carries the tool and
reciprocates along the line of stroke R1R2. The line of stroke of the ram is
perpendicular to AC produced.
• The forward or cutting stroke occurs when the crank rotates from the position CB1 to
CB2 (or through an angle β) in the clockwise direction.
• The return stroke occurs when the crank rotates from the position CB2 to CB1 (or
through angle α) in the clockwise direction.

• The ratio between the time taken during the cutting and return strokes is given by

Application – The mechanism is used in shaping machine, slotting machines and in rotary
internal combustion engines.

2.2.3 Third inversion of single slider chain mechanism

• This inversion is obtained by fixing the crank (i.e. link 2)
• Applications of this inversion are Whitworth quick return motion mechanism and
Rotary engine.

2.2.3.1 Rotary engine mechanism or gnome engine

Links - 1.Crank (fixed), 2.Piston, 3.Connecting Rod, 4.Cylinder & Frame
Pairs-
• Crank & Connecting Rod – turning
• Connected Rod & Frame – turning
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

• Crank & Frame – turning

• Piston & cylinder – Sliding

Construction:
• This mechanism is an inversion of Single slider crank chain, obtained by fixing the
crank.
• In this mechanism, crank is fixed.
• It has three turning pairs & one Sliding pair.
• As shown in diagram it has 5 or 7 cylinders and connecting rods of all pistons are
connected to one point which is another end of crank.
Working:
• As pistons start reciprocating inside cylinders, whole frame starts rotating about fixed
point 'O' the crank remains at its place.
• The rotation of frame causes suction, compression, expansion & exhaust strokes in
different cylinders at same time.
Application –
It was used in airplane engines in past, now days it is not used.

2.2.3.2 Whitworth quick return motion mechanism

Links:
• Link 2-Link CD-fixed
• Link 3- Driving Crank CD
• Link 1-Slotted lever ADP
• Link 4-Slider, {Link PR is not part of basic mechanism}
Pairs:
• Crank CA and frame CD : Turning Pair
• Slotted lever ADP and frame CD : Turning Pair
• Crank CA and slider : Turning Pair
• Slider and Slotted lever ADP : Sliding pair
Construction:
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

• This mechanism is an inversion of single slider crank chain, obtained by fixing the
crank (link 2).
• It has three turning pairs and one sliding pair. It has driving crank (link3) CA turning
about point C. Other end of crank carries a slider, connected with turning pair. The
slide fits inside the slotted lever ADP.
• The slider is free to slide inside the slotted lever. The lever is pivoted at point P. The
lever rotates about the point D.
• End P of this lever is connected to the Ram of the shaper machine.

Working:
• When the driving crank CA moves from the position CA1 to CA2 through an angle ‘α’
in the clockwise direction, the tool moves from the left hand end of its stroke to the
right hand end through a distance 2 PD known as cutting stroke.
• Now, when the driving crank moves from the position CA2 to CA1 through an angle
‘β’ in the clockwise direction, the tool moves back from right hand end of its stroke to
the left hand end known as return stroke.
• Since the crank link CA rotates at uniform angular velocity, therefore time taken
during the cutting stroke (or forward stroke) is more than the time taken during the
return stroke.
• The ratio between the time taken during the cutting and return strokes is given by

Fig 2.8 Whitworth quick return motion mechanism

Application: This mechanism is mostly used in shaping machines, slotting machines.

2.2.4 Fourth inversion

• It is obtained by fixing the cylinder or link 4 (i.e. sliding pair)
• Link 3 can oscillate about the fixed pivot B on the link 4. This makes the end A of the
link 2 to oscillate about b and the end O to reciprocate along the axis of the fixed link
4.
• Application of this inversion is pendulum pump and hand pumps

2.2.4.1 Pendulum Pump (Bull engine mechanism)

Links – Crank, Cylinder, Piston & Piston Rod, Connecting Rod.
Pairs-
• Turning – Piston & Piston Rod & Connecting Rod
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

• Turning – Connected Rod & Crank

• Sliding – Piston - Piston Rod & Cylinder.
• Turning – Crank & Cylinder.

Pendulum Pump Hand Pump

Construction:
• This mechanism is an inversion of Single slider crank chain it is obtained by fixing
the slider of the basic chain. It has three turning pairs & one Sliding pair.
• As shown in figure the first link is piston and piston rod, second is connecting rod
which is extended beyond its connection to crank, the third link is crank and fourth
link is cylinder which is placed vertically and is fixed.
Working: When the upward motion is given to connecting rod, it causes downward motion
of piston & vice versa.
Application: The mechanism is used in duplex pump in boilers, and also in manual hand
pumps fitted on bore well.

2.2.4.2 Hand Pump

Link is made in the form of a cylinder and a plunger fixed to the link 1 reciprocates in it.

2.3 Inversions of Double Slider Chain

They are three important inversions, namely
❖ 1st inversion - Elliptical trammel.
❖ 2nd inversion - Scotch yoke mechanism.
❖ 3rd inversion - Oldham’s coupling.

2.3.1 Elliptical trammel.

• This is an instrument used for drawing ellipses.
• The slotted link (i.e. link 4) is fixed.
• The link 1 and link 3 are known as sliders and form sliding pairs with link 4.
• The link AB (link 2) is a bar (or connecting rod) which forms turning pair with links 1
and 3.
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

• When the links 1 and 3 slide along their respective grooves, any point on the link 2
such as P traces out an ellipse on the surface of link 4, as shown in Fig (a)

2.3.2 Second inversion of Double Slider Chain

If any of the slide-blocks of the first inversion is fixed, the second inversion of the
double slider crank chain is obtained.

Links: Link1-Frame (fixed), Link 2-Crank, Link 3-Slider, Link 4-Yoke

Pairs -
1. Frame & Crank – turning
2. Crank & Slider – turning
3. Yoke & Slider – Sliding
4. Frame & Yoke - Sliding
Construction: This mechanism is inversion of Single slider Crank Chain .It has two turning
pair & two Sliding pair. The crank is fitted to frame at point 'O' as shown in Figure 2.10 (a).A
slider is attack to other end of crank at point 'B'. The slider fits inside Yoke. A Yoke is free to
slide inside frame.
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

Working: As the crank starts rotating about point 'O' it causes the slider to slide inside Yoke.
As the crank changes it's position it pulls or pushes the Yoke. Thus Rotary motion of crank is
converted into Reciprocating motion of Yoke.

Fig 2.10 (a) Scotch yoke mechanism

Application:
• This mechanism is used to convert Rotary motion into reciprocating motion.
• This setup is most commonly used in control valve actuators in high-pressure oil and
gas pipelines.

2.3.3 Oldham’s coupling:

Links:
• Frame (fixed) : Link 2
• Shaft & Flange on left hand : Link 1
• Shaft & Flange on right hand : Link 4
• Intermediate piece : Link 3
Pairs:
• Frame & Shaft LH – turning pair
• Frame & Shaft RH – turning pair
• Flange LH & Intermediate piece – Sliding pair
• Flange RH & Intermediate piece - Sliding pair

Construction:
• This mechanism is inversion of Double slider Chain. It has two turning & two Sliding
pair.
• Two flanges with respective shafts are free to rotates with respect to frame both
flanges have rectangular slots.
• Intermediate piece has two rectangular projections on both sides, both projections are
perpendicular to each other, each projection fits inside the slot of flange.
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

Fig 2.10(b) Oldham’s coupling

Working: When one shaft is given rotary motion, it is transmitted to another shaft the
intermediate piece. The intermediate piece slides & adjusts itself, to keep both shafts running.
The centre of the intermediate piece traces the path of a circle with radius equal to offset
between shafts.
Maximum sliding velocity = (Angular velocity of shaft) x (distance between shafts)
2πN
= ω x d = ( 60 ) x d --- m/sec
Where N is the speed of driving shaft, rpm, d is the distance between two parallel shafts.
Application: This coupling is used to connect two shaft having some eccentricity (offset).
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

VELOCITY AND ACCELERATION ANALYSIS IN MECHANISMS

Methods for Determining the Velocity of a Point on a Link

Though there are many methods for determining the velocity of any point on a link in
a mechanism whose direction of motion (i.e. path) and velocity of some other point on the
same link is known in magnitude and direction, the following two methods are important
from the subject point of view.
1. Instantaneous centre method,
2. Relative velocity method.

Instantaneous centre method

❖ Instantaneous center is a point on a member which another member rotates around,
permanently or instantaneously.
❖ Instantaneous center is a point in common between two members where the velocities
are equal, both in direction and magnitude.

Number of Instantaneous Centres in a Mechanism

The number of instantaneous centres in a constrained kinematic chain is equal to the
number of possible combinations of two links. The number of pairs of links or the number of
instantaneous centres is the number of combinations of n links taken two at a time.
Mathematically, number of instantaneous centres, N= n (n-1)/2 -------------(1)
Where n is the number of links

Types of Instantaneous Centers

The instantaneous centers for a mechanism are of the following 3 types
1. Fixed instantaneous centers
2. Permanent instantaneous centers
3. Neither fixed nor permanent instantaneous centers
The first two types are together known as primary instantaneous centers and the third type
is known as secondary instantaneous centers(IC).
❖ The instantaneous centers I12 and I14 are called as
fixed ICs
❖ The instantaneous centers I23 and I34 are the
permanent ICs as they move when the mechanism
moves, but the joints are of the permanent nature.
❖ The instantaneous centers I13 and I24 are neither
fixed nor permanent ICs as vary with the
configuration of the mechanism.

Location of Instantaneous Centers

The following rules may be used in locating the instantaneous centres in a mechanism:
1. When the two links are connected by a pin joint, the instantaneous center lies on the
center of the pin as shown in Fig. (a).
2. When the two links have a pure rolling contact, the instantaneous point lies on their
point of contact as shown in Fig. (b).
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

3. When the two points have a sliding contact, the instantaneous center lies on the
common normal at the point of contact.
a. When the link 2 (slider) moves on fixed link 1 having straight surface as
shown in Fig. (c), the instantaneous centre lies at infinity and each point on the
slider have the same velocity.
b. When the link 2 (slider) moves on fixed link 1 having curved surface as shown
in Fig. (d), the instantaneous centre lies on the centre of curvature of the
curvilinear path in the configuration at that instant.
c. When the link 2 (slider) moves on fixed link 1 having constant radius of
curvature as shown in Fig. (e), the instantaneous centre lies at the centre of
curvature.

Kennedy’s Theorem
Statement: If three bodies move relatively to each other, they have three instantaneous
centres and lie on a straight line.
Consider three kinematic links A, B and C having relative
plane motion. The number of instantaneous centres is given by
N= n (n-1)/2 -------------(1), where n = Number of links = 3
N= 3(3-1)/2= 3
The two instantaneous centres at the pin joints of B with A, and C with
A (i.e. Iab and Iac) are the permanent instantaneous centres.
According to Aronhold Kennedy’s theorem, the third instantaneous
centre Ibc must lie on the line joining Iab and Iac.

In a pin jointed four bar mechanism, as shown in Figure,

length of link AB = 300 mm, link BC = CD = 360 mm, and
fixed link AD = 600 mm. The angle BAD = 60°. The crank AB
rotates uniformly at 100 rpm. Locate all the instantaneous
centres and find the angular velocity of the link BC.
Given : NAB = 100 r.p.m or ωAB = 2 π × 100/60 = 10.47 rad/s
The velocity of point B on link A B, vB = ωAB × A B = 10.47 × 0.3 =
3.141 m/s
Steps:
1. Since the mechanism consists of four links (i.e. n = 4 ), therefore number of
instantaneous centres, N= n (n-1)/2 = 4(4-1)/2= 6
2. For a four bar mechanism, mark all ICs using the book keeping method. The book
keeping table may be drawn.
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

3. Locate the fixed and permanent instantaneous centres by inspection. These centres are
I12,I23, I34 and I14 as shown in Fig. (a).
4. Locate the remaining neither fixed nor permanent instantaneous centres by Aronhold
Kennedy’s theorem. This is done by circle diagram as shown in Fig. (b). Mark four
points (equal to the number of links in a mechanism) 1, 2, 3, and 4 on the circle.
5. Join points 1 to 2, 2 to 3, 3 to 4 and 4 to 1 to indicate the instantaneous centres already
located i.e. I12, I23, I34 and I14.
6. Join 1 to 3 to form two triangles 1 2 3 and 3 4 1. The side 13, common to both
triangles, is responsible for completing the two triangles. Therefore the instantaneous
centre I13 lies on the intersection of the lines joining the points I12 I23 and I34 I14. Thus
centre I13 is located. Mark number 5 (because four instantaneous centres have already
been located) on the dotted line 1 3.
7. Now join 2 to 4 to complete two triangles 2 3 4 and 1 2 4. The side 2 4, common to
both triangles, is responsible for completing the two triangles. Therefore centre I24 lies
on the intersection of the lines joining the points I23 I34 and I12 I14. Thus centre I24 is
located. Mark number 6 on the dotted line 2 4.

Fig. (a) Fig. (b)

The velocity of point B on link BC, vB = ωBC x I13B
By measurement, I13B = 500 mm = 0.5 m
Angular velocity of the link BC, ωBC = vB /(I13 B)= 3.141/0.5 = 6.282 rad/sec

Locate all the instantaneous centres of the

slider crank mechanism as shown in Fig. The
lengths of crank OB and connecting rod AB are
100 mm and 400 mm respectively. If the crank
rotates clockwise with an angular velocity of 10
rad/s, find (i) Velocity of the slider A, and (ii)
Angular velocity of the connecting rod AB.
Given: ωOB = 10 rad/sec; OB = 100 mm = 0.1 m
The linear velocity of the crank OB, vOB = vB = ωOB × OB = 10 × 0.1 = 1 m/s
Steps:
1. Since the mechanism consists of four links (i.e. n = 4 ), therefore number of
instantaneous centres, N= n (n-1)/2 = 4(4-1)/2= 6
2. For a four bar mechanism, mark all ICs using the book keeping method. The book
keeping table may be drawn.
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

3. Locate the fixed and permanent instantaneous centres by inspection. These centres are
I12, I23, and I34 as shown in Fig. (a). Since the slider (link 4) moves on a straight
surface (link 1), therefore the instantaneous centre I14 will be at infinity
4. Locate the remaining neither fixed nor permanent instantaneous centres by Aronhold
Kennedy’s theorem. This is done by circle diagram as shown in Fig. (b). Mark four
points (equal to the number of links in a mechanism) 1, 2, 3, and 4 on the circle.
5. Join points 1 to 2, 2 to 3, 3 to 4 and 4 to 1 to indicate the instantaneous centres already
located i.e. I12, I23, I34 and I14.
6. Join 1 to 3 to form two triangles 1 2 3 and 3 4 1. The side 13, common to both
triangles, is responsible for completing the two triangles. Therefore the instantaneous
centre I13 lies on the intersection of the lines joining the points I12 I23 and I34 I14. Thus
centre I13 is located. Mark number 5 (because four instantaneous centres have already
been located) on the dotted line 1 3.
7. Now join 2 to 4 to complete two triangles 2 3 4 and 1 2 4. The side 2 4, common to
both triangles, is responsible for completing the two triangles. Therefore centre I24 lies
on the intersection of the lines joining the points I23 I34 and I12 I14. Thus centre I24 is
located. Mark number 6 on the dotted line 2 4.

Fig. (a) Fig. (b)

By measurement, I13A = 460 mm = 0.46 m; and
I13B = 560 mm = 0.56 m
(i) Velocity of the slider A (vA)
We know that, vA /I13 A= vB / I13B

vA = vB x (I13 A / I13B) = 1 x ( 0.46/0.56) = 0.82 m/sec.

(ii) Angular velocity of the connecting rod AB

We know that, vA /I13 A= vB / I13B = ωAB

ωAB = vB / I13B = 1 /0.56 = 1.78 rad/sec.

 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

Locate all the instantaneous centres for a four bar mechanism as shown in Fig.

In a four bar chain ABCD, AD is fixed and is 150 mm long. The crank AB is 40 mm
long and rotates at 120 r.p.m. clockwise, while the link CD = 80 mm oscillates about D.
BC and AD are of equal length. Find the angular velocity of link CD when angle BAD =
60°.
The velocity of B with respect to A or velocity of B, vBA = vB = ωBA x A B
= 12.568 x 0.04 = 0.503 m/sec

By measurement, vCD = vC = vector dc = 0.385 m/s

We know that CD = 80 mm = 0.08 m
∴ Angular velocity of link CD, ωCD = vCD/ CD = 0.385/0.08 = 4.8 rad/sec (clockwise about
D)

PQRS is a four bar chain with link PS fixed. The lengths of the links are PQ = 62.5 mm;
QR = 175 mm ; RS = 112.5 mm ; and PS = 200 mm. The crank PQ rotates at 10 rad/s
clockwise. Draw the velocity and acceleration diagram when angle QPS = 60° and Q
and R lie on the same side of PS. Find the angular velocity of links QR and RS.

Given : ωQP = 10 rad/s; PQ = 62.5 mm = 0.0625 m ; QR = 175 mm = 0.175 m ;

RS = 112.5 mm = 0.1125 m ; PS = 200 mm = 0.2 m
The velocity of Q with respect to P or velocity of Q,
vQP = vQ = ωQP × PQ = 10 × 0.0625 = 0.625 m/sec

vRQ = vector qr = 0.333 m/s, and vRS = vR = vector sr = 0.426 m/s

 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

The angular velocity of link QR, and link RS,

Questions
INTRODUCTION
1) Define the following terms with examples: i) Kinematic Link ii) Kinematic pair
iii) Kinematic chain iv) Mechanism v) Inversions vi) Degrees of freedom
vii) Machine
2) Differentiate between:
i) Kinematic chain and kinematic pair ii) Higher pair and lower pair
iii) Completely and incompletely constrained motion
iv) Closed and unclosed pairs v) Degree of freedom and mobility of mechanism
vi) Machine and Mechanism vii) Machine and structure
3) What do you mean by inversion? What is its importance?
4) Sketch and explain any two inversions of four bar chain.
5) Explain with a neat sketch, the single slider mechanism and its three inversions
6) Sketch and explain the inversions of double slider mechanism
7) Sketch and explain the working of an elliptical trammel. Prove that it traces an ellipse.
8) Determine the mobility of four bar linkage.
9) Sketch and explain the following i) Beam engine ii) Elliptical trammel
10) Explain with a neat sketch, crank and slotted lever quick return motion mechanism
11) Explain with a neat sketch, Whitworth quick return motion mechanism

Velocity and Acceleration of Mechanism

VELOCITY ANALYSIS BY INSTANTANEOUS CENTER METHOD:

1) State and prove the Aronhold Kennedy’s Theorem of three instantaneous centres.
2) Discuss the three types of instantaneous centres for a mechanism.
3) Write the relation between the number of instantaneous centres and the number of
links in a mechanism.
4) Explain with sketch the instantaneous center method for determination of velocities of
links and mechanisms.
5) In a pin jointed four bar mechanism, length of link AB=300 mm, link BC = CD =360
mm, and fixed link AD = 600 mm. The angle BAD = 60°. The crank AB rotates
uniformly at 100 rpm. Locate all the instantaneous centres and evaluate the angular
velocity of the link BC.
6) In a pin jointed four bar mechanism, length of driving link AB=150 mm, link BC =
CD =180 mm, and fixed link AD = 300 mm. The angle BAD = 60°. The crank AB
rotates uniformly at 100 rpm. Locate all the instantaneous centres and evaluate the
angular velocity of the link BC.
7) In a pin jointed four bar mechanism, length of driving link AB = 1.5m, link BC = 3m,
link CD = 2.5m and fixed link AD = 4m. The angle BAD = 60°. The crank AB rotates
uniformly at 25 rpm. Locate all the instantaneous centres and evaluate the angular
velocity of the link BC.
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

8) In a pin jointed four bar mechanism, length of link AB=300 mm, link BC = CD =360
mm, and fixed link AD = 600 mm. The angle BAD = 45°. The crank AB rotates
uniformly at 100 rpm. Locate all the instantaneous centres and evaluate the angular
velocity of the link BC.
9) In a slider crank chain mechanism, the length of crank OA is 240mm, and connecting
rod AB is 800mm long. Crank OA is turned 45° from inner dead centre. Locate all the
instantaneous centre. If the crank rotates at 10 rad/sec in clockwise direction.
Determine the velocity of slider B and Angular velocity of the connecting rod AB.
10) In a slider crank chain mechanism, the length of crank OA is 300mm, and connecting
rod AB is 1200mm long. Crank OA is turned 30° from inner dead centre. Locate all
the instantaneous centre. If the crank rotates at 15 rad/sec in clockwise direction.
Determine the velocity of slider B and Angular velocity of the connecting rod AB.
11) Locate all the instantaneous centres of the slider crank mechanism as shown in Figure.
The lengths of crank OB and connecting rod AB are 100 mm and 400 mm
respectively. If the crank rotates clockwise with an angular velocity of 10 rad/s, find
(i) Velocity of the slider A, and (ii) Angular velocity of the connecting rod AB.

VELOCITY ANALYSIS OF MECHANISMS (GRAPHICAL METHODS)

1) Define the following terms
(i) Absolute Velocity (ii) Relative Velocity (iii) Angular Velocity
(iv) Angular Acceleration
2) A four bar mechanism ABCD is pin jointed at ends and the link AD is fixed of length
180mm. The links AB, BC and CD are 90mm, 120mm and 120mm long respectively.
At a certain instant, the link AB makes an angle of 60° with the fixed link AD. If the
link AB rotates at uniform speed of 100rpm in clockwise direction. Determine
Angular velocities of link BC and CD by graphical method.
3) An IC engine mechanism has the crank AB of 0.5 m and connecting rod BC of 2m
length. The crank AB rotates uniformly at 600 rpm in clockwise direction. When the
crank has turned 45° from inner dead center position. Determine (i) velocity of the
slider (ii) angular velocity of the connecting rod.
4) In a four bar chain ABCD, the link AD is fixed and which is 150 mm long. The crank
AB is 40 mm long and rotates at 120 rpm in clockwise direction, while the link CD is
80 mm long oscillates about D. The links BC and AD are of equal length. Determine
the angular velocity of link CD when angle BAD is 60° using graphical method.
5) PQRS is a four bar chain with link PS fixed. The lengths of the links are PQ = 62.5
mm; QR = 175 mm; RS = 112.5 mm; and PS = 200 mm. The crank PQ rotates at 10
rad/sec clockwise. Draw the velocity and acceleration diagram when angle QPS = 60°
and Q and R lie on the same side of PS. Evaluate the angular velocity of links QR and
RS.
6) An IC engine mechanism has the crank AB of 0.5 m and connecting rod BC of 2m
length. The crank AB rotates uniformly at 600 rpm in clockwise direction. When the
 Dr. Venkatesh B K, School of ME, REVA University, Bangalore

crank has turned 45° from inner dead center position. Determine the angular
acceleration of the connecting rod.
7) The crank of a slider crank mechanism rotates clockwise at a constant speed of 300
rpm. The crank is 150 mm and the connecting rod is 600 mm long. Determine (i)
linear velocity and acceleration of the midpoint of the connecting rod, and (ii) angular
velocity and angular acceleration of the connecting rod, at a crank angle of 45° from
inner dead center position.