Mechanics of Machines
(UME308)
Dr. Pankaj Kumar, TIET Patiala
Acknowledgement: Dr. Gagandeep
Bhardwaj, TIET Patiala 1
Session-I on Velocity Analysis of Mechanism
using Relative Velocity Method
2
Relative Velocity of Two Bodies
vA = Absolute velocities for A vA
A
vB = Absolute velocities for B
vAB = Relative velocity of A w.r.t. B
vBA= Relative velocity of B w.r.t A B vB
vA
vB
a
O b vAB
vBA
3
Relative Velocity of Two Bodies (Inclined)
A vA
B vAB vBA
vB
4
Motion of a Link
Velocity of any point on a link with respect to
another point on the same link is always
perpendicular to the line joining these points on
B
the configuration (or space) diagram.
= Angular velocity of the link AB about A. vBA
vBA ab . AB
C vCA
vCA ac . AC
A
vCA ac . AC AC
vBA ab . AB AB
a c
b
5
Velocity of a point on a link
Consider two points A and B on a rigid link AB, as shown in Figure.
VA - Absolute velocity of the point A;
VB - Absolute velocity of point B is known in direction only.
VBA VB
b β
B
c
o α
a A
VA
6
Velocity of a point on a Link
• The absolute velocity of any point C on link
AB can be computed by dividing vector ab at c
in the same proportion as C divides AB.
b
ac AC
ab AB
c
• The angular velocity of the link AB may be
found by dividing the relative velocity of B
with respect to A (i.e. vBA) to the length of the
link AB. a
o
ab vBA
BA
AB AB
7
Velocity of slider crank mechanism
We have to calculate the velocity of slider:
r – Radius of crank; ω – angular velocity with which crank rotates in clockwise
direction; vB – Velocity of B is known in magnitude and direction.
Therefore, the velocity of B i.e. vB is known in magnitude and direction. The slider
reciprocates along the line of stroke AO.
The velocity of the slider A (i.e. vA) may be determined by relative velocity method
as discussed below:
VB = r.
B
E
A
Ɵ O
VA I.D.C. O.D.C.
8
Velocity of slider crank mechanism
VB = r.
B
E
A
Ɵ O
VA I.D.C. O.D.C.
ab vBA
BA b
AB AB e
o
a
9
Numerical problem
Problem 1: 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 CD are of equal length. Find the angular velocity of link
CD when angle BAD = 60°.
NBA = 120 r.p.m.
BA = 2 × 120/60 = 12.568 rad/s
C
vB
A D
Velocity of B w.r.t. A or velocity of B, (because A is a fixed point),
vBA = vB = ωBA × AB = 12.568 ×0.04 = 0.503 m/sec
10
Numerical Problem
B
a,d vCD
vB c
A D
vB vCB
By measurement, we find that b
vCD vC dc 0.385 m / sec
CD 80 mm 0.08 m
vCD 0.385
CD 4.8 rad / sec (Clockwise about D )
CD 0.08
11
Numerical Problem
Problem 2: The crank and connecting rod of a theoretical steam engine are 0.5 m and 2
m long respectively. The crank makes 180 r.p.m. in the clockwise direction. When it has
turned 45° from the inner dead centre position, determine: 1. velocity of piston,
2. angular velocity of connecting rod,
3. velocity of point E on the connecting rod 1.5 m from the gudgeon pin,
b
o
p VB = r.
NBO = 180 r.p.m. B
BO = 2 × 180/60 = 18.852 rad/s E
P
Ɵ O
VP I.D.C. O.D.C.
12
vBO = vB = ωBO × 0B = 18.852 ×0.5 = 9.426 m/sec
Numerical Problem
Linear velocity of B w.r.t. O or velocity of B (because O is a fixed point),
vBO = vB = ωBO × 0B = 18.852 ×0.5 = 9.426 m/sec
vBO
e
vBP
o p
vP
13
Numerical Problem
1. Velocity of piston
b
vBO ob vB 9.426 m / sec
vP = vector op = 8.15 m/s vBO vPB
vPB
2. Angular velocity of connecting rod o
vP p
vPB bp 6.8 m / sec
vPB 6.8
PB 3.4 rad / s ( Anticlockwise)
PB 2
3. Velocity of point E on the connecting rod b
vE = vector oe = 8.5 m/s e
vBO vPB
vPB
BE be BE vE
be bp o
BP bp BP vP p
14
Numerical Problem
Problem 3: The angular velocity of the crank OA is 600 r.p.m. Determine the linear
velocity of the slider D and the angular velocity of the link BD, when the crank is
inclined at an angle of 75° to the vertical. The dimensions of various links are: OA =
28 mm; AB = 44 mm; BC = 49 mm; and BD = 46 mm. The centre distance between
the centres of rotation O and C is 65 mm. The path of travel of the slider is 11 mm
below the fixed point C. The slider moves along a horizontal path and OC is vertical.
d o,c
15
THANKS
16