ME-313

Mechanics of Machines
Lecture 7
velocity Analysis – Part a
By Adnan Munir
 Contents
1

Graphical Velocity Analysis

Instant Centers of Velocity

Velocity Analysis using Vector Loop Method

Velocity Analysis of Four-Bar Pin-Joined Mechanism using Vector Loop Method

Graphical Velocity Analysis
Graphical Velocity Analysis
 Instant Center of Velocity
••  
Definition - Point common to two bodies in plane motion which
has same instantaneous velocity in each body
• Also known centros or poles
• Two bodies or links create instant center (IC)
• Prediction of quantity of instant centers in any kinematic chain is
possible
• Combination formula for n things taken r at one time is:
C = - 6.8a
 Instant Center of Velocity
••  r = 2

C = - 6.8b
• Four-bar mechanism - 6 instant centers
• Six-bar mechanism – 15 instant centers
• Eight-bar mechanism – 28 instant centers
• Figure 6-5 shows four-bar mechanism in arbitrary position
• Linear graph useful for keeping track of known ICs also shown
Instant Center of Velocity
 Instant Center of Velocity
• Kennedy’s Rule
• Any three bodies in the plane will have exactly three instant centers, and they
will lie on the same straight line
Instant Center of Velocity
Instant Center of Velocity
Instant Center of Velocity
Instant Center of Velocity
Instant Center of Velocity
Instant Center of Velocity
 Velocity Analysis using Vector Loop Method
• Representation
  of position vector RPA as complex number in polar form
RPA = p ejθ - 6.2
where p is scalar length of the vector

• Differentiate with respect to time

VPA = = p j ejθ = p j ejθ - 6.3

• Compare right side of 6.3 to right side of 6.2 - velocity expression

multiplied by complex operator j as result of differentiation

• Velocity vector at 90 degrees with respect to original position vector

 Velocity Analysis using Vector Loop Method
• Velocity expression is also multiplied by ω (either positive or
negative)

• Velocity vector will be rotated 90 degrees from angle θ of

position vector in direction dictated by sign of ω

• Velocity
• Always perpendicular to radius of rotation
• Tangent to path of motion
 Velocity Analysis using Vector Loop Method
•  Substituting Euler identity into 6.3
VPA = p j (cosθ + j sinθ) = p (- sinθ + j cosθ) - (6.4)

• Sine and cosine terms swapped positions between real and

imaginary terms due to multiplying by j

• Evidence of 90-degree rotation of velocity vector versus position

vector

• Former x component become y component and former y

component become minus x component
Velocity Analysis of Four-Bar Pin-Joined Mechanism
using Vector Loop Method