MECHANISMS

Velocity and Acceleration Analysis of

Mechanisms
 Types of Plane Motion:

1. Translation of a rigid body

2. Rotation about a fixed axis
3. General Plane Motion

2
3
 Translation

rA rB
a a
V A VB
=   o r   or
dt dt dt dt A B

B’
B rB

A’
A rA

The velocity and acceleration of every point on the rigid body will be equal at each
instant if the rigid body is in a translation.
 Rotation about a fixed axis

B
rA  rA rB  rB 
rB
rA  rB 
 rA  rB
A rA
t t t t


rA 
d d
rB
V A  rA VB  rB
dt dt
d
    Angular velocity
VA  xrA dt
 Rotation about a fixed axis
Position vector of point A


ie i rA  rAei Direction
 
VA drA 
i
 V A  irAe i d
e dt
e i
dt
A
rA

Magnitude

 Rotation about a fixed axis

Velocity of A
VA  irAei

dVA  d i
Tangential accelartion ie i a i rAe  irA (i )ei
dt dt
t
aA  irAei  rA 2 ei
e i

}
}
A
 e i
rA n
aA Normal acceleration
 t n

aA  aA  aA
• 1. Points move on concentric circular arcs.
(Center at O)
• 2. Velocity of a point is perpendicular to the
line joining that point with the center of
rotation with the center of rotation.
• 3. Velocity magnitude is proportional to the
distance from that point to the center of
rotation (times the angular velocity of the
rigid rigid body.
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• Tangential acceleration of every point is equal to the distance
from that point to the axis of rotation times the angular
acceleration of the rigid body The tangential acceleration
vector is perpendicular to rigid body. The tangential
acceleration vector is perpendicular to the line connecting
the point to the axis of rotation and in the sense of angular
acceleration.
• 4. The acceleration of a point on the rigid body is the vectorial
sum of the tangential and normal acceleration components.

9
 General Plane Motion

A
Position 1
Position 2
 General Plane Motion
B
B B
B
B

B
B A
A A
A
A

A
A
General Plane Motion

12
 General Plane Motion

rB / A
B


A
rB
rA rA
rB / A
rA
rB
 General Plane Motion
Relative Displacement of B with
B
rB / A respect to A


  
rA
A rB
rA
rB  rA  rB / A
rB / A Relative Velocity of B with respect to
A
rA
rB   
VB  VA  VB / A
Relative Acceleration of B with
respect to A

  
aB  a A  aB / A
 Relative Motion Between two Links

 i
rB  re
y
B3 
2
rB 2  i
B2
 VB 2  ire
3 dt

B
rB 3  i dr i
rB
 VB 3  ire  e
dt dt

i i
x ire  re
A

  
VB3  VB 2  VB3/ B 2
 Relative Motion Between two Links


rB 3  i dr i
y VB3/B2  VB 3  ire  e
dt dt
i i
x ire  re
VB2

B
  
rB VB3  VB 2  VB3/ B 4

A
 Relative Motion Between two Links

VB 3  i i i i i
 aB 3  ire  ire  iir e  re  ire
  
dt
y
 i 2 i i i
aB3  ire  r e  re  2ire

}
}

}
VB2
 t n t  cor
B aB3  aB 2  aB 2  aB3/ B 2  aB3/ B 2

}
rB Coriolis Acceleration

A x
 Relative Motion Between two Links

 i 2 i i i
aB3  ire  r e  re  2ire
y
acorB3/B2 atB3/B2

atB2

B
anB2
rB


A x
19
Relative Motion Between two Links

20
Velocity Analysis

21
22
Acceleration Analysis

23
Acceleration Analysis

24
Velocity and Acceleration Analysis of
Mechanisms II
 Velocity and Acceleration Analysis of Mechanisms II
Y
AB  a2 13
B 3 4
BC  a3 C
2
12 b1

A X
s12

AB  BC  AC rB  rC / B  rC

AB  a2 e i12
rB  a2 ei12

a2ei12  a3ei13  s1  ib1

 Velocity and Acceleration Analysis of
AB  a2
Y Mechanisms
 13
B 3 4
BC  a3 12 C
2
12
12 b1

A X
s12

a2ei12  a3ei13  s1  ib1

a2e i12  a3ei13  s1  ib1
The time derivative of these equations

i12 a2ei12  i13a3ei13  s1

 i12 a2e i12  i13a3e i13  s1
 Velocity and Acceleration Analysis of
AB  a2
Y Mechanisms
 13
B 3 4
BC  a3 12 C
2
12
12 b1

A X
s12

i12 a2e i12

 i13a3e i13
 s1
 i12 a2e i12  i13a3e i13  s1

VB  VC / B  VC 13 , s1
 Mekanizmalarda Hız ve İvme Analizi
i12 a2ei  i13a3ei  s1 13 , s1
12 13

 i12 a2e  i12

 i13a3e i13
 s1
By cramer’s rule
i12
i12 a2 e 1
i12 i12 i12
 i12 a2 e 1 ia212 (e  e )
13  i13
 i13 i13
 ia3e 1  ia3 (e e )
i13
ia3e 1
 a212 cos12
13 
a3 cos13
 Velocity and Acceleration Analysis of Mechanisms

i12 a2ei12  i13a3ei13  s1 13 , s1

 i12 a2e  i12
 i13a3e i13
 s1
By Cramer’s rule
i13 i12
 ia3e i12 a2 e
i13 i12 i (13 12 i (13 12 )
ia3e  i12 a2 e  a2 a312 (e e )
s1  i13
 i13 i13
 ia3e 1  ia3 (e e )
i13
ia3e 1
a212 sin(13  12 )
s1 
cos13
 Velocity and Acceleration Analysis of Mechanisms
Y
13
B 3 4
12 C
2
12
12 b1

A X
s12

s1  i12 a2e
 i12
 i13a3e i13

s1  i12 a2 (cos12  i sin 12 )  i13a3 (cos13  i sin 13 )

s1  12 a2 sin 12  13a3 sin 13 Real Part

0  12 a2 cos12  13a3 cos13 Imaginary Part

 Velocity and Acceleration Analysis of Mechanisms
Y
13
B 3 4
12 C
2
12
12 b1

A X
s12

1
12 a2 cos12
0  12 a2 cos12  13a3 cos13 13  
a3 cos13

s1  12 a2 sin 12  13a3 sin 13

 Velocity and Acceleration Analysis of Mechanisms II
Y
13
B 3 4
12 C
2
12
12 b1

A X
s12

12 a2 cos12
s1  12 a2 sin12  a3 sin13
a3 cos13
 12 a2 sin12 a3 cos13 12 a2 cos12 a3 sin13
s1  
a3 cos13 a3 cos13
12 a2 sin(13  13 )
s1 
cos13
Velocity and Acceleration Analysis of Mechanisms

Y
13
B 3 4
12 C
2
12
12 b1

A X
s12

i12 a2ei12  i13a3ei13  s1

VB  VC / B  VC
 Velocity and Acceleration Analysis of Mechanisms
Y
13 VC/B
VB
B 3 4
12 C
VC
2
12
12 b1

A X
s12

1
VB  VC / B  VC

VB  a212 VB
VC/B

VC / B  ? BC ' ye 
VC

VC  ?
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 Four Bar Mechanism
AD  a1 Y

AB  a2 C

BC  a3
B 13
DC  a4
14
12 X
A
D

AB  BC  AD  DC
AB  a2 e i12
i12 i13 i14
a2e  a3e  a1  a4e
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