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Velocity in Mechanism

The document discusses various concepts related to relative velocity in mechanisms: 1) It explains how to determine the relative velocity of two points on a rigid link or moving in inclined directions using the parallelogram/triangle law of velocities. 2) It states that the relative velocity between two points on the same rigid link is always perpendicular to the line joining them. 3) It describes the relative velocity method for determining the absolute velocity of a point on a link given the absolute velocity of another point on the same link. 4) As an example, it applies the relative velocity method to calculate velocities in a slider crank mechanism. 5) It defines rubbing velocity at a pin joint as the

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jawadullah
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© © All Rights Reserved
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432 views

Velocity in Mechanism

The document discusses various concepts related to relative velocity in mechanisms: 1) It explains how to determine the relative velocity of two points on a rigid link or moving in inclined directions using the parallelogram/triangle law of velocities. 2) It states that the relative velocity between two points on the same rigid link is always perpendicular to the line joining them. 3) It describes the relative velocity method for determining the absolute velocity of a point on a link given the absolute velocity of another point on the same link. 4) As an example, it applies the relative velocity method to calculate velocities in a slider crank mechanism. 5) It defines rubbing velocity at a pin joint as the

Uploaded by

jawadullah
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Now consider the body B moving in an inclined direction as
shown in Fig. 7.2 (a). The relative velocity of A with respect to B
may be obtained by the law of parallelogram of velocities or
triangle law of velocities.
1. Take any fixed point o and draw vector oa to represent vA in
magnitude and direction to some suitable scale.
2. Similarly, draw vector ob to represent vB in magnitude and
direction to the same scale. Then vector ba represents the
relative velocity of A with respect to B as shown in Fig. 7.2 (b).
In the similar way as discussed above, the relative velocity of A
with respect to B,

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From above, we conclude that the relative velocity
of point A with respect to B (vAB) and the relative
velocity of point B with respect A (vBA) are equal in
magnitude but opposite in direction, i.e.

Note: It may be noted that to find vAB, start from


point b towards a and for vBA, start from point a
towards b.

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Motion of a Link
Consider two points A and B on a rigid link AB,
as shown in Fig. 7.3 (a).
Let one of the extremities B of the link move
relative to A, in a clockwise direction. Since the
distance from A to B remains the same,
therefore there can be no relative motion
between A and B, along the line A B. It is thus
obvious, that the relative motion of B with
respect to A must be perpendicular to A B.

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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 the configuration (or space) diagram.

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Motion of a Link
The relative velocity of B with respect to A (vBA) is
represented by the vector ab and is perpendicular
to the line A B as shown in Fig. 7.3 (b).

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Motion of a Link

Thus, we see from equation (iii), that the point c on the vector ab
divides it in the same ratio as C divides the link A B.
Note: The relative velocity of A with respect to B is represented by
ba, although A may be a fixed point. The motion between A and B is
only relative. Moreover, it is immaterial whether the link moves
about A in a clockwise direction or about B in a clockwise direction.
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Relative Velocity Method
The relative velocity method is based upon the
relative velocity of the various points of the link.
Consider two points A and B on a link as shown in
Fig. 7.4 (a). Let the absolute velocity of the
point A i.e. vA is known in magnitude and direction
and the absolute velocity of the point B i.e. vB is
known in direction only. Then the velocity of B may
be determined by drawing the velocity diagram
as shown in Fig. 7.4 (b). The velocity diagram is
drawn as follows :

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Relative Velocity Method

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Relative Velocity Method

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Relative Velocity Method

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Velocities in Slider Crank Mechanism

A slider crank mechanism is shown in Fig. 7.5 (a).


The slider A is attached to the connecting rod A B.
Let the radius of crank OB be r and let it rotates in a
clockwise direction, about the point O with uniform
angular velocity rad/s. 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 :

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Velocities in Slider Crank Mechanism

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Velocities in Slider Crank Mechanism

1. From any point o, draw vector ob parallel to the direction of


vB (or perpendicular to OB)
such that ob = vB = .r, to some suitable scale, as shown in
Fig. 7.5 (b).
2. Since A B is a rigid link, therefore the velocity of A relative
to B is perpendicular to A B.
Now draw vector ba perpendicular to A B to represent the
velocity of A with respect to B i.e. vAB.
3. From point o, draw vector oa parallel to the path of motion
of the slider A (which is along
AO only). The vectors ba and oa intersect at a. Now oa
represents the velocity of the slider A i.e. vA,
to the scale.

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Velocities in Slider Crank Mechanism

The angular velocity of the connecting rod A B


(AB) may be determined as follows:

The direction of vector ab (or ba) determines


the sense of AB which shows that it is
anticlockwise.

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Velocities in Slider Crank Mechanism

Note : The absolute velocity of any other point E


on the connecting rod AB may also be found out
by dividing vector ba such that be/ba = BE/BA .
This is done by drawing any line bA1 equal in
length of B A. Mark bE1 = BE. Join a A1. From E1
draw a line E1e parallel to a A 1. The vector oe
now represents the velocity of E and vector ae
represents the velocity of E with respect to A.

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Rubbing Velocity at a Pin Joint
The links in a mechanism are mostly connected
by means of pin joints. The rubbing velocity is
defined as the algebraic sum between the
angular velocities of the two links which are
connected by pin joints, multiplied by the radius
of the pin.
Consider two links OA and OB connected by a
pin joint at O as shown in Fig. 7.6.

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Rubbing Velocity at a Pin Joint
Let 1 = Angular velocity of the link OA or
the angular velocity of the point A
with respect to O.
2 = Angular velocity of the link OB or
the angular velocity of the point B
with respect to O, and
r = Radius of the pin.
According to the definition,
Rubbing velocity at the pin joint O
= (1 2) r, if the links move in the same direction
= (1 + 2) r, if the links move in the opposite direction
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Rubbing Velocity at a Pin Joint
Note : When the pin connects one sliding
member and the other turning member, the
angular velocity of the sliding member is zero.
In such cases,
Rubbing velocity at the pin joint = .r
= Angular velocity of the turning member
r = Radius of the pin.

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