LECTURE SLIDES

• Chapter 5
Linkages with Rolling
and Sliding
Contacts, and
Joints on Moving
Sliders

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1
 Chapter 5 Contents
• 5.1 Introduction 267
• 5.2 Reference Frames 268
• 5.3 General Velocity and Acceleration Equations 270
• 5.3.1 Velocity Equations 270
• 5.3.2 Acceleration Equations 272
• 5.3.3 “Chain Rule for Positions, Velocities, and Accelerations 273
• 5.4 Special Cases for the Velocity and Acceleration Equations 275
• 5.4.1 Two Points Fixed in a Moving Body 275
• 5.4.2 Two Points Are Instantaneously Coincident 276
• 5.4.3 Two Are Instantaneously Coincident and In Rolling Contact 277
• 5.5 Linkages with Rotating Sliding Joints 278
• 5.6 Rolling Contact 284
• 5.6.1 Basic Kinematic Relationships for Rolling Contact 285
• 5.6.2 Modeling Rolling contact using a Virtual Linkage 292
• 5.7 Cam Contact 295
• 5.7.1 Direct Approach to the Analysis of Cam Contact 295
• 5.7.2 Analysis of Cam Contact Using Equivalent Linkages 299
• 5.8 General Coincident Points 304
• 5.8.1 Velocity Analyses Involving General Coincident Points 305
• 5.8.2 Acceleration Analyses Involving General Coincident Points 306
• 5.9 Solution by Geometric Constraint Programming 313

Kinematics, Design, and Dynamics of Machinery 2

 Introduction

• If linkages involve only revolute joints and sliders

moving on fixed slides, we can use the equations
developed in Chapter 4. In particular, we need to
consider directly only the frame coordinate system

• A large number of machines have moving sliders,

rolling joints, and cams. These must be handled
using multiple reference frames or coordinate
systems

Kinematics, Design, and Dynamics of Machinery 3

 Coordinate Systems
• Every link has its own coordinate system
• Could not machine the link otherwise
• Except for that on the frame, every other coordinate
system moves

Kinematics, Design, and Dynamics of Machinery 4

 Examples of Coordinate Systems
• Identify each link of linkage with a number
• To draw linkage we need to represent all points relative
to same coordinate system so that (x, y) mean the same
thing for every point
• Usually use ground system (1) for the reference system
• When we invert motion, we make one of the moving
coordinate systems the reference (recall double lever
problem)
• We will use link number as left handed superscript to
identify coordinate system if there is a possibility of
confusion (e.g. 3r)
• Generally the superscript is not used if the frame is the
reference system
• In any single position, the coordinate systems are
assumed to be momentarily parallel

Kinematics, Design, and Dynamics of Machinery 5

 Coordinate Systems
• Fixed system: 1
• Moving systems: 2, 3, 4
• Note that systems are momentarily parallel

Kinematics, Design, and Dynamics of Machinery 6

 Point Identification
• Identify locations by letters (A, B, C, …)
• All links are assumed to cover the entire plane
• At each location, there will be n coincident points
• Coincident points are ones that are on different links
but which have the same coordinates relative to the
fixed system.

Kinematics, Design, and Dynamics of Machinery 7

 More on Coincident Points
• Points are instantaneously coincident (have same
coordinates relative to same coordinate system) at time
1
• At time 2, the points will not be coincident
• Only fixed point is designated by “A”.
• Note we make the local coordinate systems parallel at
each time increment (need to rotate moving systems)

Kinematics, Design, and Dynamics of Machinery 8

 Vectors
• Relative – between two arbitrary points
• Absolute
• Position – one point is the coordinate system origin
• Velocity, acceleration – one point is fixed

Kinematics, Design, and Dynamics of Machinery 9

 Nomenclature Used
Position of A absolute. Both the link to which A
rA  belongs and the reference system in which r is defines
is obvious.

Acceleration of B relative to C or relative to a

aB / C  coordinate systems located at C. Both the link to
which B and C belong and the reference system in
which a is defined is obvious.

Velocity of B on link 3 relative to C on link 4. The

6
vB3 / C4  velocity is defined relative to a coordinate system
fixed to link 6, i.e., link 6 is where the observer is
standing.

Kinematics, Design, and Dynamics of Machinery 10

Position Vectors – One Coordinate System
• Assume we know all vectors relative to one coordinate
system (usually frame or system 1). This means that
position and all time derivatives can be defined easily
relative to only one coordinate system. (Almost never
the case in kinematics.)
• Do not need superscript if coordinate system is
obvious.
• Consider position vectors for arbitrary points.

Kinematics, Design, and Dynamics of Machinery 11

Position Vectors – One Coordinate System Cont’d

• Position equations:
rC4 / A1  rB3 / A1  rC4 / B3
rC4 / D1  rB3 / D1  rC4 / B3
rC4 / B3  rC4 / A1  rB3 / A1  rC4 / D1  rB3 / D1
• Note that A1 and D1 are totally arbitrary.

• Velocity expression
dr d
v   rx i  ry j  rz k 
dt dt
• Question: What changes with time?

Kinematics, Design, and Dynamics of Machinery 12

Velocity Vectors – One Coordinate System
• i, j, k do not change by definition of the reference system
• Only rx, ry, rz change with time
• Therefore,

dr d d d d
v  rx i  ry j  rz k   v x i  v y j  vz k  rx i  ry j  rz k
dt dt dt dt dt
 vx i  v y j  vz k

• And

vC4 / A1  vB3 / A1  vC4 / B3

vC4 / D1  vB3 / D1  vC4 / B3
vC4 / B3  vC4 / A1  vB3 / A1  vC4 / D1  vB3 / D1
• Note that the second point on the right hand side can be any point

Kinematics, Design, and Dynamics of Machinery 13

Velocity Vectors – One Coordinate System Cont’d

• Consider the case when two of the points are fixed to frame

vC4 / A1  vB1 / A1  vC4 / B1

• However, B1 and A1 are fixed

so they do not more relative to
each other. Therefore,

vC4 / A1  vB1 / A1  vC4 / B1  vC4 / B1  vC4

• Therefore, the absolute velocity is equal to the relative velocity

with respect to any point that is fixed.

Kinematics, Design, and Dynamics of Machinery 14

 Acceleration Vectors – One Coordinate System
• The situation with accelerations is identical to that of velocities. The resulting equations
are

aC4 / D1  aB3 / D1  aC4 / B3

aC4 / B3  aC4 / A1  aB3 / A1  aC4 / D1  aB3 / D1
aC4 / B3  aC4 / P  aB3 / P
aC4 / A1  aB1 / A1  aC4 / B1  aC4 / B1  aC4
aC4 / B3  aC4  aB3

• If you need the relative acceleration between two points,

subtract the absolute accelerations vectorially

Kinematics, Design, and Dynamics of Machinery 15

 Angular Velocities
• When multiple coordinate systems are involved, the coordinate axes of one system can rotate relative to the other.
• The angular velocity will be about an axis. The magnitude of the rotational velocity is the magnitude of the angular velocity vector. The direction of the rotation axis is the direction for the vector.
• The rotation vector can be resolved into three components.

2
ω4  x i   y j  z k

• The superscript gives the reference body; the subscript gives

the moving body

Kinematics, Design, and Dynamics of Machinery 16

 Angular Velocities Cont’d

2
ω4  x i   y j  z k

Kinematics, Design, and Dynamics of Machinery 17

 Two Coordinate Systems

• In kinematics, we will usually know some information relative to moving coordinate systems
• When multiple coordinate systems are involved, we will assume that the coordinate systems are all momentarily parallel. If necessary, do a
coordinate transformation to make this so.

• The relative angular velocities tells how the coordinate axes are rotating relative to
each other. For example, gives the angular velocity 2of link 3 relative to link 2.
3

Kinematics, Design, and Dynamics of Machinery 18

 Position Vectors – Two Coordinate Systems
• If all we care about is the position, the coordinate system does not matter as long as they all are parallel.
• But for the derivatives, the coordinate system matters.
• Assume that system 3 is rotating with an angular velocity
relative to link 1. Then

3
1

1
rC4 / B3  3rC4 / B3

Kinematics, Design, and Dynamics of Machinery 19

 Two Coordinate Systems - Velocities

1
rC4 / B3  3rC4 / B3
1
d1 1
d
rC4 / B3  3rC4 / B3
dt dt
1
d 3 1
d3 1
d3 1
d
1
vC4 / B3  rx i  ry j  rz k   v x i  v y j  vz k  rx
3 3 3 3 3
i  ry j  rz 3k
dt dt dt dt
 3vC4 / B3  1ω3  3rC4 / B3

Kinematics, Design, and Dynamics of Machinery 20

 Two Coordinate Systems – Any Vector
• Let s be any vector observed from system 3

• The first term is the derivative in its own coordinate system and the second term represents the contribution of the motion of the coordinate system to the derivative.

• See text book for proof.

• For us, “s” can be any vector such as position, velocity, acceleration, force, angular velocity, angular acceleration, etc.

1
d3 1
d 3
d
s   sx 3i  s y 3 j  sz 3k   3 s  1ω3  3 s
dt dt dt

Kinematics, Design, and Dynamics of Machinery 21

 Two Coordinate Systems – Accelerations
• Start with the position vector observed from system 3

• The equations are general for any points and for any coordinate systems

1
rC4 / B3  3rC4 / B3
1
d1 1
d
rC4 / B3  3rC4 / B3
dt dt
1
vC4 / B3  3vC4 / B3  1ω3  3rC4 / B3
1
d1 1
d 3 1
d3 1
d
vC4 / B3   vC4 / B3  ω3  rC4 / B3  
1 3
vC4 / B3   1ω3  3rC 4 / B3 
dt dt dt dt
1
d
 aC4 / B3  ω3  vC4 / B3  α3  rC4 / B3  ω3  3rC4 / B3
3 1 3 1 3 1
dt
 3aC4 / B3  1ω3  3vC4 / B3  1α3  3rC4 / B3  1ω3   3vC4 / B3  1ω3  3rC4 / B3
 3aC4 / B3  2 1ω3  3vC4 / B3  1α3  3rC4 / B3  1ω3   1ω3  3rC4 / B3 

Kinematics, Design, and Dynamics of Machinery 22

 Two Coordinate Systems – Summary
• Start with the position vector observed from system 3

• Note that if we know the time information, we can use the left hand side of the equations directly; however, this will not usually be the case.

1
rC4 / B3  3rC4 / B3
1
vC4 / B3  3vC4 / B3  1ω3  3rC4 / B3
1
aC4 / B3  3aC4 / B3  2 1ω3  3vC4 / B3  1α3  3rC4 / B3  1ω3   1ω3  3rC4 / B3 

Kinematics, Design, and Dynamics of Machinery 23

 Names for Acceleration Terms

aC4 / B3  3aC4 / B3  2 1ω3  3vC4 / B3  1α3  3rC4 / B3  1ω3   1ω3  3rC4 / B3 

1

3
aC4 / B3  Acceleration observed from moving coordinate system
2 1ω3  3vC4 / B3  Coriolis acceleration - Note that it can be computed
from velocity terms
1
α3  3rC4 / B3  Tangential acceleration - Always perpendicular to r
ω3   1ω3  3rC4 / B3   Normal or radial acceleration - Always opposite to r
1

Also can be computed from velocities and position

information

Kinematics, Design, and Dynamics of Machinery 24

 Reversing Directions

• From the diagram

aC2 / B4  aB4 / C2

Also,
vC2 / B4  vB4 / C2
rC2 / B4  rB4 / C2

Reversing a vector, changes its sign.

Kinematics, Design, and Dynamics of Machinery 25
 Chain Rule for Positions, Velocities, and
Accelerations
• Let A, B, C, D, E be any points defined relative to System 1
rE / A  rB / A  rC / B  rD / C  rE / D  rE / D  rD / C  rC / B  rB / A
vE / A  vE / D  vD / C  vC / B  vB / A
aE / A  aE / D  aD / C  aC / B  aB / A
• Note that if we treat the relative expressions as fractions, all of the
letters cancel except for the first and last.
• This “rule” lets us get the total position, velocity, or acceleration by
hopping from point to consecutive point.

Kinematics, Design, and Dynamics of Machinery 26

 Chain Rule for Relative Angular Velocities
• Let systems 1, 2, 3 be arbitrary links with coordinate systems that are moving relative to each other. Then

• and

• For links, the relative angular velocities are related by

ω3  1ω2  2ω3
1

2
ω3  1ω3  1ω2

Kinematics, Design, and Dynamics of Machinery 27

 Chain Rule for Relative Angular Accelerations
• For angular accelerations, simply differentiate the relative velocity expressions taking into account that 2
3 is defined in the moving system 2. Then

• For n links, the relative angular accelerations are related by

• Special case when angular velocities are parallel (all planar problems and some special spatial cases),
1
α3  1α2  2α3  1ω2  2ω3

Kinematics, Design, and Dynamics of Machinery 28

 Special Cases for Velocity and Acceleration
Equations
• It is rare that we will have to deal with the full expression for the accelerations. There will almost always be
something special about the points we will consider. The main special cases are:

• Two points fixed to the same rigid body

• Two points coincident
• Two coincident points in rolling contact

Kinematics, Design, and Dynamics of Machinery 29

 Two Points Fixed to Same Rigid Body

• Case covered in Chapter 3

• This is typically how the points appear:

1
rB4 / A4  4 rB4 / A4
1
vB4 / A4  4 vB4 / A4  1ω4  4 rB4 / A4  0  1ω4  4 rB4 / A4
aB4 / A4  4 aB4 / A4  21ω4  4 vB4 / A4  1α4  4 rB4 / A4  1ω4  1ω4  4 rB4 / A4 
1

 0  0  1α4  4 rB4 / A4  1ω4   1ω4  4 rB4 / A4 

 1α4  4 rB4 / A4  1ω4   1ω4  4 rB4 / A4 

Kinematics, Design, and Dynamics of Machinery 30

 Two Points on Same Rigid Link - Velocities

• The terms have special significance

•
1
v  1
ω 4 to therB
The velocity is alwaysBperpendicular
4 / A4
 4
4 / A4
position vector

Kinematics, Design, and Dynamics of Machinery 31

 Two Points Are Instantaneously Coincident

• It is common in kinematics for two points to be normally separate but to become

instantaneously coincident
• Let P and Q be two such points belonging to different moving bodies. For this
situation,

R
rQ / P  B rQ / P  0
R
vQ / P  B vQ / P  R ωB  B rQ / P  B vQ / P  0
R
aQ / P  B aQ / P  2 R ωB  B v Q / P  R α B  B rQ / P  RωB   RωB  BrQ / P 
 B aQ / P  2 R ωB  B vQ / P  0  0
 B aQ / P  2 R ωB  B vQ / P

Kinematics, Design, and Dynamics of Machinery 32

 Two Points Are Instantaneously Coincident -
Equations

• Position, velocity, and acceleration equations:

R
rQ  B rP
R
vQ  B v P  R v Q / P  B v P  B v Q / P
R
aQ  B a P  R aQ / P  B a P  B aQ / P  2 R ωB  B vQ / P

Kinematics, Design, and Dynamics of Machinery 33

 Two Coincident Points - Velocities

• The velocity between the two coincident points is independent of coordinate system
• The relative velocity is the velocity by which the points are separating

R
v Q / P  B v Q / P  x vQ / P

Kinematics, Design, and Dynamics of Machinery 34

 Two Coincident Points - Accelerations

• The relative acceleration consists of the acceleration observed from the

moving coordinate system (magnitude and direction) and the Coriolis
term.
• The Coriolis term can be easily computed from the velocity data.

R
aQ / P  B aQ / P  2 R ωB  B vQ / P

Kinematics, Design, and Dynamics of Machinery 35

 Two Coincident Points – Rolling Contact

• Let P and Q be two coincident points belonging to different moving bodies which are in rolling contact at the contact point.
• There is no relative velocity between points P and Q

• and

rQ/ P  BvQ/ P  0,

R vQ  RvP ,

R
aQ  RaP  BaQ / P

Kinematics, Design, and Dynamics of Machinery 36

 Rolling Contact – Acceleration

• Because the Coriolis term is zero, the relative acceleration between the two points is
independent of coordinate system
• Because there is no slipping (acceleration in the tangential direction), the relative
acceleration must be entirely in the direction normal to the surfaces at the contact point.

R aQ  RaP  BaQ / P

Kinematics, Design, and Dynamics of Machinery 37

 Rolling Contact – Acceleration Directions

• The relative acceleration in rolling contact is along the

common normal to the point of contact.

Kinematics, Design, and Dynamics of Machinery 38

 Linkages with Rotating Sliding Joints
• In this case, mechanisms have either:
• A slider that slides on a rotating line
• A pin-in-slot joint where the slot rotates
• Very common type of mechanism often characterized by links powered by hydraulic cylinders

Kinematics, Design, and Dynamics of Machinery 39

 Linkages with Rotating Sliding Joints Cont’d
• If P and Q are general coincident points, the velocity and acceleration equations without the R superscript are

• Because P and Q share the same coordinates in all reference systems, it is common to represent them with the same letter and a subscript
corresponding to the link. If B corresponds to link 5, and P and Q are attached to links 3 and 4, the expressions would be

vQ  B v P  B v Q / P
aQ  B a P  B aQ/ P  2ωB  B vQ / P

vP3  vP4  5vP3 / P4

aP3  aP4  5aP3 / P4  2ω5  5vP3 / P4
Kinematics, Design, and Dynamics of Machinery 40
 Linkages with Rotating Sliding Joints - Directions
v P3  v P4  5v P3 / P4
a P3  a P4  5aP3 / P4  2ω5  5vP3 / P4  aP4  5aP3 / P4  C aP3 / P4
• In planar motion, the Coriolis component is normal to

5
v P / P4
• The magnitude is given by

3
• For the direction, rotate 90° in the direction of

2 ω5 5v P3 / P4
5
v P3 / P4 ω5

Kinematics, Design, and Dynamics of Machinery 41

 Computing Angular Velocities for Mechanisms
• The angular velocity is related to the relative position and relative linear velocity between two points on the same rigid link.
• Therefore, if you need to compute the angular velocity, find the linear velocity and position vector.

• We will limit our considerations to planar problems done graphically. For this, we will have the position vectors and velocity vectors.

Kinematics, Design, and Dynamics of Machinery 42

 Computing Angular Velocities Cont’d

• Given r and , rotate r 90° in the direction of  to get the direction of v.

• Relate the magnitudes using

v = ω× r
vωr
v
ω
r

Kinematics, Design, and Dynamics of Machinery 43

 Computing Angular Accelerations

• The angular acceleration is related to the relative position

and relative tangential component of acceleration between
two points on the same rigid link.
• Therefore, if you need to compute the angular acceleration,
find the tangential component of acceleration and position
vector for two points on the same rigid link.

Kinematics, Design, and Dynamics of Machinery 44

 Computing Angular Accelerations Cont’d

• Given r, and a, you can find the tangential component of

acceleration as shown.
• Resolve the acceleration vector into two components, one
perpendicular to r and one parallel to it. The parallel
component will be opposite r.
• This only works for two points on the same rigid link.

Kinematics, Design, and Dynamics of Machinery 45

 Computing Angular Accelerations Cont’d

• Given r and , rotate r 90° in the direction of  to get the

direction of tangential component of acceleration.
• Relate the magnitudes using

at = α × r
at  α r
at
α
r

Kinematics, Design, and Dynamics of Machinery 46

 Computing Normal or Radial Components of
Acceleration
• For planar problems, we can compute the normal
component of acceleration in multiple ways if we have two
points on the same rigid link. The direction is always
opposite r so we need to concentrate on the magnitude
only.
• The relevant equations are:

vC4 / B4  1ω4  rC4 / B4  vC4 / B4  1ω4 rC4 / B4

aCn4 / B4  1ω4  (1ω4  rC4 / B4 )  1ω4  vC4 / B4

2
2 vC4 / B4
a n
C4 / B4  ω4 rC4 / B4  ω4 vC4 / B4
1 1

rC4 / B4
Kinematics, Design, and Dynamics of Machinery 47
Example 5.1 Problem Statement

Kinematics, Design, and Dynamics of Machinery 48

Example 5.1 Solution (1/11)

Kinematics, Design, and Dynamics of Machinery 49

Example 5.1 Solution (2/11)

Kinematics, Design, and Dynamics of Machinery 50

Example 5.1 Solution (3/11)

Kinematics, Design, and Dynamics of Machinery 51

Example 5.1 Solution (4/11)

Kinematics, Design, and Dynamics of Machinery 52

Example 5.1 Solution (5/11)

Kinematics, Design, and Dynamics of Machinery 53

Example 5.1 Solution (6/11)

Kinematics, Design, and Dynamics of Machinery 54

Example 5.1 Solution (7/11)

Kinematics, Design, and Dynamics of Machinery 55

Example 5.1 Solution (8/11)

Kinematics, Design, and Dynamics of Machinery 56

Example 5.1 Solution (9/11)

Kinematics, Design, and Dynamics of Machinery 57

Example 5.1 Solution (10/11)

Kinematics, Design, and Dynamics of Machinery 58

Example 5.1 Solution (11/11)

Kinematics, Design, and Dynamics of Machinery 59

 Rolling Contact

• Two bodies contact at one location

• There is no slipping at the contact location
• Examples:

Kinematics, Design, and Dynamics of Machinery 60

 Rolling Contact-Velocities (Review)

• The velocity between the two coincident points is zero

• This is what no slipping means.

1
v B4 / B2  2v B4 / B2  0  1v B4  1v B2

Kinematics, Design, and Dynamics of Machinery 61

 Rolling Contact - Accelerations (Review)

• Since the Coriolis term is zero, the relative acceleration between the
two points is independent of coordinate system
• Because there is no slipping (acceleration in the tangential direction),
the relative acceleration must be entirely in the direction normal to the
surfaces at the contact point.

a B4 / B2  2aB4 / B2  21ω2  2 v B4 / B2  2aB4 / B2  0  2 aB4 / B2

1

Kinematics, Design, and Dynamics of Machinery 62

 Rolling Contact – Acceleration Direction (Review)

• The relative acceleration in rolling contact is along the

common normal to the point of contact.

Kinematics, Design, and Dynamics of Machinery 63

 Velocity Conditions at Rolling Contact Joint

• Consider the coincident points at the contact location.

• There is no relative sliding at the contact location
• The velocity conditions are:

vB2  vB4
1
vB2 / B4  4vB2 / B4  4vB2  0
• Note that this is the same condition as at a
pin or revolute joint
• For velocities ONLY, we can treat a rolling
contact joint as a revolute joint
• Not true for accelerations

Kinematics, Design, and Dynamics of Machinery 64

 Acceleration Conditions at Rolling Contact Joint

• For accelerations, we need to notice the path that B4 traces

on link 2 for the acceleration of B4 relative to link 2.
• The path will form a cusp at the contact point (remember
what the paths of bicycle reflectors look like at night)
• The path approaches the
contact point and leave the
contact point tangent to the
normal line.
• The relative acceleration is
therefore in a direction
along the common normal
at the point of contact (we
saw this earlier)
Kinematics, Design, and Dynamics of Machinery 65
 Acceleration Equations at Rolling Contact Joint

aB4 / B2  2 aB4 / B2  21 2 2 vB4 / B2

1

 2 aB4 / B2  0  2aB4 / any point in link 2

 2 aB4

• The relative acceleration is

independent of coordinate system.
• The relative acceleration of B4
relative to B2 is the same as the
absolute acceleration of B4
observed from link 2.

Kinematics, Design, and Dynamics of Machinery 66

 Osculating Circles

• Before finding an expression for

the relative acceleration at the
location of contact, we need to
identify the osculating circles
• The osculating circle at a point,
shares 3 infinitely separated
points with the original surface.

• The center of the osculating circle is the center of curvature of the

surface at the tangent point.
• For position, velocity, and accelerations (only), we can replace the
curves with the osculating circles.
• Three points on each surface rolling together give two differential
time increments – enough for velocities and accelerations.

Kinematics, Design, and Dynamics of Machinery 67

 Approximating Osculating Circles

• To approximate the oscillating

circle and center of curvature,
locate two points on both sides of
the contact point.
• Find the center of the circle on
which the three points lie.
• The center is the approximate
location of the center of curvature.
• The resulting circle is the
osculating circle.

Kinematics, Design, and Dynamics of Machinery 68

 Representing Curves with Instantaneous Osculating
Circles
• Replace rolling curves with instantaneous osculating circles
• Pin a virtual bar between centers of curvature
• The surfaces can move
• Similar to a gear train
• The contact point B and the two centers of curvature will be collinear.
• The relative acceleration between the two points at the point of contact will be
along the common normal.
• We can find the resulting normal acceleration using the kinematic chain rule
for points.

Kinematics, Design, and Dynamics of Machinery 69

 Finding Relative Acceleration at Rolling Contact

• Write relative acceleration in terms of components along the

common normal and along the common tangent
aB 2 / B4  aBn 2 / B4  aBt 2 / B4
• The tangential component is zero so
aB 2 / B4  aBn 2 / B4
• Use the chain rule to compute the normal component
aB 2 / B4  aBn 2 / B4  aBn 2 /O2  a(nO 2 )x /(O4 )x  aOn 4 / B4
Kinematics, Design, and Dynamics of Machinery 70
 More on Finding Relative Acceleration

aB 2 / B4  aBn 2 / B4  aBn 2 /O2  a(nO 2 )x /(O4 )x  aOn 4 / B4

• Compute each term individually
vB 2 /O2 
2

aBn 2 /O 2  22 rB /O 2  2vB 2 /O 2  (from B towards O2 )

rB /O 2
vO 4 /B4 
2

aOn 4 / B 4  42 rO 4 / B  4vO 4 / B4  (from O4 towards B)

rO 4 / B

vO 2 /O4 
2

a(nO 2 )x /(O 4 )x  x2 (rO 2 /O 4 )  x vO 2 /O4  (from O2 towards O4 )

rO 2 /O 4

• Finally

vB 2 /O2  vO 2 /O 4  vO 4 /B 4 

2 2 2

aBn 2 /B4   
rB/O 2 rO 2 /O 4 rO 4 / B
( B to O2 ) (O2 to O4 ) (O4 to B)
Kinematics, Design, and Dynamics of Machinery 71
 Rolling on a Flat Surface

• If one of the rolling surfaces is flat, the radius of curvature

becomes infinite
• If link 2 is flat

vO / B 
2
4 4
an
B 2 / B4   4vO 4 / B4  42 (rO 4 / B ) (from O4 towards B)
rO 4 / B

Kinematics, Design, and Dynamics of Machinery 72

Example 5.2 Problem Statement

Kinematics, Design, and Dynamics of Machinery 73

Example 5.2 Solution (1/7)

Kinematics, Design, and Dynamics of Machinery 74

Example 5.2 Solution (2/7)

Kinematics, Design, and Dynamics of Machinery 75

Example 5.2 Solution (3/7)

Kinematics, Design, and Dynamics of Machinery 76

Example 5.2 Solution (4/7)

Kinematics, Design, and Dynamics of Machinery 77

Example 5.2 Solution (5/7)

Kinematics, Design, and Dynamics of Machinery 78

Example 5.2 Solution (6/7)

Kinematics, Design, and Dynamics of Machinery 79

Example 5.2 Solution (7/7)

Kinematics, Design, and Dynamics of Machinery 80

 Modeling Rolling Contact Using a Virtual Linkage

• Mechanisms with rolling (or cam) contact joints can be analyzed using a
virtual linkage
• The virtual link is a binary link pinned to the two radii of curvature for the two
contact surfaces
• Works directly if information at the rolling contact point is not of interest
• To compute properties at the point of contact, supplementary calculations are
required.

Kinematics, Design, and Dynamics of Machinery 81

Example 5.3 Problem Statement

Kinematics, Design, and Dynamics of Machinery 82

Example 5.3 Solution (1/4)

Kinematics, Design, and Dynamics of Machinery 83

Example 5.3 Solution (2/4)

Kinematics, Design, and Dynamics of Machinery 84

Example 5.3 Solution (3/4)

Kinematics, Design, and Dynamics of Machinery 85

Example 5.3 Solution (4/4)

Kinematics, Design, and Dynamics of Machinery 86

 Cam Contact

• Two bodies contact at one location

• There is slipping at the contact location
• Examples:

Kinematics, Design, and Dynamics of Machinery 87

 Cam Contact and Osculating Circles

• Once cam contact is recognized, the first step in the analysis is to replace the contacting
bodies by their osculating circles.
• The circles may change at each instant of time.
• The centers of curvature will be used in the acceleration analysis.
• In the following development, we will assume that the contacting surfaces are always
replaced by their osculating circles (good for position, velocity and acceleration)

Kinematics, Design, and Dynamics of Machinery 88

 Approaches to Cam Contact Analysis

• There are two general approaches to cam analysis

• Direct vector approach
• Equivalent linkages

• If we want information about the contact point, the direct

vector approach is often best.
• The equivalent linkage approach is the easiest if all we
want is the input-output relationships.

Kinematics, Design, and Dynamics of Machinery 89

 Direct Analysis for Cam Contact Analysis

• The key to the approach is computing the relative velocity and

acceleration at the contact point.
• Start with the relative velocity.
• Write the relative velocity in terms of
components in the normal and tangential
directions.

• The two bodies cannot penetrate each other

nor can they pull apart. Therefore, there can
be no motion in the normal direction and the
normal velocity component must be zero.

vB2 / B4  4vB2 / B4  4vB2  4vBn 2  4vBt 2

Kinematics, Design, and Dynamics of Machinery 90

 Cam Contact Analysis – Relative Velocity

vB2 / B4  4vB2 /B4  4vB2  4vBn 2  4vBt 2

v 0
4 n
B2

vB2 / B4  4vBt 2  4vBt 2 / B4  vBt 2 / B4

• We will always know the

direction of the relative
velocity at the contact
point

Kinematics, Design, and Dynamics of Machinery 91

 Cam Contact- Relative Accelerations
• Resolve the relative acceleration in the normal and tangential directions also

aB2 / B4  aBn 2 / B4  aBt 2 / B4

• By definition, we know the directions of the two
components.
• We cannot determine anything more about the tangential
component until we have finished the analysis.
• However, we can compute the normal component in the
same manner we did with rolling contact.
• First connect a virtual link between the two centers of
curvature.

Kinematics, Design, and Dynamics of Machinery 92

 Cam Contact- Relative Normal Accelerations
aB2 / B4  aBn 2 / B4  aBt 2 / B4

vB /O  vO /O   vO /B 

2 2 2
2 2 2 4 4 4
a n
B 2 / B4  
rB/O 2 rO 2 /O 4 rO 4 / B
( B to O2 ) (O2 to O4 ) (O4 to B)
• It is clear that we must compute the velocity of B4, B2, O2, and O4 in the
velocity analysis.
• However, if the velocity of these points are known, we can compute the
normal component of relative acceleration as a vector.
• If one of the surfaces is flat, the equation will have only one term as in the
case of the rolling contact analysis.

vO 4 /B4 
2

aBn 2 / B4  from O4 to B
rO 4 / B

Kinematics, Design, and Dynamics of Machinery 93

Example 5.4 Problem Statement

Kinematics, Design, and Dynamics of Machinery 94

Example 5.4 Solution (1/5)

Kinematics, Design, and Dynamics of Machinery 95

Example 5.4 Solution (2/5)

Kinematics, Design, and Dynamics of Machinery 96

Example 5.4 Solution (3/5)

Kinematics, Design, and Dynamics of Machinery 97

Example 5.4 Solution (4/5)

Kinematics, Design, and Dynamics of Machinery 98

Example 5.4 Solution (5/5)

Kinematics, Design, and Dynamics of Machinery 99

Analysis of Cam Contact Using Equivalent Linkages

• Given the basic linkage, determine the centers of curvature of the two
contacting bodies corresponding to the contact point.
• Replace the cam linkage with the equivalent linkage containing only
pin and sliding joints
• If one of the contacting members is flat, the corresponding center of
curvature is at ∞ causing an infinitely long link. Use a slider.
• Analyze the linkage the same as you would if no cam were involved.
• If information at the contact point is of interest, compute the
kinematic information for each coincident point separately and read
the relative information directly from the velocity and acceleration
diagrams.

Kinematics, Design, and Dynamics of Machinery 100

 Location of Virtual Link

• For simple cam mechanisms, the equivalent linkage will often be a

four-link mechanism

Kinematics, Design, and Dynamics of Machinery 101

 Examples of Equivalent Linkages

• No flat surfaces:

Kinematics, Design, and Dynamics of Machinery 102

 Examples of Equivalent Linkages Cont’d

• Flat surface at C
• The slider can slide on any line that is parallel to the cam face and fixed to
link 3

Kinematics, Design, and Dynamics of Machinery 103

 Examples of Equivalent Linkages Cont’d

• Curved surface at C and link 3 is a slider with respect to the ground

• The location of the slider is arbitrary as long as it moves in the direction of the straight line at the cam face

Kinematics, Design, and Dynamics of Machinery 104

 Examples of Equivalent Linkages Cont’d

• Flat surface at C and link 3 is a slider with respect to the ground

• The location of each slider is arbitrary as long as it moves in the
direction of the straight line at the cam face

Kinematics, Design, and Dynamics of Machinery 105

Example 5.5 Problem Statement

Kinematics, Design, and Dynamics of Machinery 106

Example 5.5 Solution (1/4)

Kinematics, Design, and Dynamics of Machinery 107

Example 5.5 Solution (2/4)

Kinematics, Design, and Dynamics of Machinery 108

Example 5.5 Solution (3/4)

Kinematics, Design, and Dynamics of Machinery 109

Example 5.5 Solution (4/4)

Kinematics, Design, and Dynamics of Machinery 110

Example 5.6 Problem Statement

Kinematics, Design, and Dynamics of Machinery 111

Example 5.6 Solution

Kinematics, Design, and Dynamics of Machinery 112

 General Coincident Points

• Examples are pin-in-slot mechanisms

• Slot can be straight or curved
• Special case of coincident points problem
• Each coincident point will trace a path on the other body as the
mechanism moves

Kinematics, Design, and Dynamics of Machinery 113

 General Coincident Points-Relative Velocities

• Relative velocity at the coincident points

vP3 / P7  7vP3 / P7  vP7 / P3   3vP7 /P3

Kinematics, Design, and Dynamics of Machinery 114

 General Coincident Points-Relative Paths
• To solve for velocities and accelerations, we must be able to recognize the path that one
coincident point traces on the other moving body

Kinematics, Design, and Dynamics of Machinery 115

 Relative Paths
• If one relative path is obvious but not the other, rewrite the equations using

• or

vP7 / P3   7vP3 / P7

vP3 / P7   3vP7 / P3

Kinematics, Design, and Dynamics of Machinery 116

 Velocity Analyses Involving General Coincident
Points
•
•
For velocity analyses we need the direction of either or
Replace the path that can be recognized by the osculating circle at P v
and the recognized path of motion of one7of the points
P3 / P7
3 vP7 / P3
• The relative velocity between P3 and P7 is

• By virtue of the virtual revolute joints at P and O

vP3 / P7  7vP3 / P7  7vP3 / Px  7vPx /Ox  7vOx /O7  7vO 7 / P7

vP3 / P7  7vP3 / P7  7vPx /Ox

Kinematics, Design, and Dynamics of Machinery 117

 Velocity Analyses Involving General Coincident
Points Cont’s
vP3 / P7  7vP3 / P7  7vPx /Ox
• Because two points on the same rigid link x are involved,

• and

vP3 / P7  7vP3 / P7  7vPx /Ox  7ωx  rP /O

vP3 / P7
7
ωx 
rP /O

Kinematics, Design, and Dynamics of Machinery 118

 Acceleration Analyses

• Assume that path and center of curvature of path is known

• Because of coincident points, =0 and

• Coriolis term is a function of velocities and can be computed after velocity analysis is completed

aP3 / P7  7aP3 / P7  2ω7  7vP3 / P7  ω7  (ω7  rP3 / P7 )  α7  rP3 / P7

rP3 / P7
aP3 / P7  7aP3/ P7  2ω7  7vP3/ P7

Kinematics, Design, and Dynamics of Machinery 119

 Acceleration Analyses Cont’d

aP3 / P7  7aP3 / P7  2ω7  7vP3/ P7

• Need to compute first term in expression. Write term as

• Write acceleration in terms of points associated with virtual link

• This expression reduces to

7
aP3 / P7  7aP3 /any point in system 7  7aP3

7 aP3  7aP3 / P7  7aP3 / Px  7aPx /Ox  7aOx /O7  7aO 7 /P7

7
aP3  7aP3 / P7  7aPx /Ox  7aPr x /Ox  7aPt x /Ox

Kinematics, Design, and Dynamics of Machinery 120

 Acceleration Analyses Cont’d

7 aP3  7aP3 / P7  7aPx /Ox  7aPr x /Ox  7aPt x /Ox

• We know the direction of the tangential term (tangent to path)
• The radial term is given by

• The final expression for the relative acceleration is

2 2
7 vPx /Ox vP3 / P7
7 r a
Px /Ox  a7 r
P3 / P7  ωx  vP /O 
7 7  (from P to O)
rP /O rP /O

aP3 / P7  7aPn3 / P7  7aPt 3 / P7  2ω7  7vP3 / P7

Kinematics, Design, and Dynamics of Machinery 121

Example 5.7 Problem Statement

Kinematics, Design, and Dynamics of Machinery 122

Example 5.7 Solution (1/8)

Kinematics, Design, and Dynamics of Machinery 123

Example 5.7 Solution (2/8)

Kinematics, Design, and Dynamics of Machinery 124

Example 5.7 Solution (3/8)

Kinematics, Design, and Dynamics of Machinery 125

Example 5.7 Solution (4/8)

Kinematics, Design, and Dynamics of Machinery 126

Example 5.7 Solution (5/8)

Kinematics, Design, and Dynamics of Machinery 127

Example 5.7 Solution (6/8)

Kinematics, Design, and Dynamics of Machinery 128

Example 5.7 Solution (7/8)

Kinematics, Design, and Dynamics of Machinery 129

Example 5.7 Solution (8/8)

Kinematics, Design, and Dynamics of Machinery 130

 Solution by Geometric Constraint Programming

• Any problem that can be solved by traditional means can be solved by GCP

• If accelerations are of interest, it is usually better to analyze each position separately and
to perform nonlinear calculations external to program

• A GCP program can be written for velocities if

• The joint profiles can be drawn
• The input velocity magnitude must be constant with time (no acceleration)
• The magnitude of the linear input velocity is constant with position( xr is constant)

• Scaling in velocity polygons is not important until specific values are of interest for the
point velocities.

• The accuracy of GCP results will be as high as those from a digital computer.

Kinematics, Design, and Dynamics of Machinery 131

Example 5.8 Problem Statement

Kinematics, Design, and Dynamics of Machinery 132

Example 5.8 Solution (1/9)

Kinematics, Design, and Dynamics of Machinery 133

Example 5.8 Solution (2/9)

Kinematics, Design, and Dynamics of Machinery 134

Example 5.8 Solution (3/9)

Kinematics, Design, and Dynamics of Machinery 135

Example 5.8 Solution (4/9)

Kinematics, Design, and Dynamics of Machinery 136

Example 5.8 Solution (5/9)

Kinematics, Design, and Dynamics of Machinery 137

Example 5.8 Solution (6/9)

Kinematics, Design, and Dynamics of Machinery 138

Example 5.8 Solution (7/9)

Kinematics, Design, and Dynamics of Machinery 139

Example 5.8 Solution (8/9)

Kinematics, Design, and Dynamics of Machinery 140

Example 5.8 Solution (9/9)

Kinematics, Design, and Dynamics of Machinery 141