UNIT – II

KINEMATIC ANALYSIS

1. How will you determine the direction of Coriolis component of acceleration?

The direction of the Coriolis component of acceleration can be determined by

rotating the velocity of a sliding vector Vs through 90˚ in the direction of rotation of
angular velocity ω.

2. How will you determine the magnitude of Coriolis component of

acceleration?

The magnitude of Coriolis component of acceleration can be determined by

F = 2 Vs ω

ω =Angular velocity

Vs =Linear velocity

3. Define Corioli's component of acceleration.

The corioli’s component of acceleration has two components of acceleration i.e.

the vector sum of tangential acceleration and centripetal acceleration.

4. Define Instantaneous center of rotaion

Instantaneous center of rotation (Kinematics), in a plane or in a plane figure

which has motions both of translation and of rotation in the plane, is the point which
for the instant is at rest.

5. Illustrate the space centrode and body centrode

The trace of the locus of the center of rotation on the body is the body centrode
and in space is the centrode.

6. State the properties of instantaneous centre method.

 An Instantaneous centre of rotation is a point common to two links having

relative motion.

 IC is a point about which one body can be assumed to rotate with respect
to the other.

 It is an imaginary point at which the two bodies have same absolute velocity,
It follows that the two bodies have zero relative velocity at the coincident
points I.
  IC is in general not a stationary point, because the mechanism moves from
one position to another, the velocities of points like A and B keep on
changing.

7. Name the various components of acceleration

Radial component of acceleration ,Tangential component of acceleration

8. State and explain the kennedy’s theorem

It states that if three bodies are in relative motion with respect to one another,
the three relative instantaneous centres of velocity are collinear.

9. List the various types of instantaneous centres. What is the

formulation to calculate the no of instantaneous centres are in a mechanism

The various types of instantaneous centres are

1. Fixed

2. Permanent

3. Neither fixed or permanent

Formula to calculate the no of instantaneous centre is n (n-1) / 2

11. Define space centrode.

The locus of the instantaneous centre in space during a definite motion of the
body is called the space centrode.

12. Define body centrode.

The locus of the instantaneous centre relative to the body itself is called the body
centrode.

13. Write the methods for Determining the Velocity of a Point on a Link.

1. Instantaneous centre method, and 2. Relative velocity method.

14. Write the rules of the Instantaneous Centre.

1 .A rigid link rotates instantaneously relative to another link at the instantaneous

centre for the configuration of the mechanism considered.

2. The two rigid links have no linear velocity relative to each other at the
instantaneous centre.

15. Write the types of Instantaneous Centres.

1. Fixed instantaneous centres, 2. Permanent instantaneous centres, and 3.

Neither fixed nor per- manent instantaneous centres.
16. List the primary instantaneous centres.

1. Fixed instantaneous centres, 2. Permanent instantaneous centres.

17. List the secondary instantaneous centres.

Fixed nor per- manent instantaneous centres.

18. Write Aronhold Kennedy (or Three Centres in Line) Theorem.

The Aronhold Kennedy’s theorem states that if three bodies move relatively to
each other, they have three instantaneous centres and lie on a straight line.

19. What are the two components of acceleration?

1. Radial components of acceleration.

2. Tangential components of acceleration.

20. Radial components of acceleration is ____________________to the

velocity of the component and tangential component is perpendicular
to_______________.

ANS: perpendicular; radial component to the link.

21. The total number of instantaneous centres for a mechanism consisting of n

links are ____________________.

ANS: n(n-1)/2

22. According to Aronhold Kennedy’s theorem, if three bodies move relatively

to each other, their instantaneous centres will lie on a_______________.

ANS: straight line.

23. In a mechanism, the fixed instantaneous centres are those centres

which_______________.

ANS: remain in the same place for all configurations of the mechanism.

24. The instantaneous centres which vary with the configuration of the
mechanism, are called_______________.

ANS: neither fixed nor permanent instantaneous centres.

5. When a slider moves on a fixed link having curved surface, their

instantaneous centre lies__________________.

ANS: at the centre of curvature.

26. 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.
27. Define rubbing velocity.

The algebraic sum between the angular velocities of the two links which are
connected by pin joints, multiplied by the radius of the pin.

28. The direction of linear velocity of any point on a link with respect to
another point on the same link is________________.

ANS: perpendicular to the link joining the points.

30. State the applications of Geneva wheel indexing mechanism?

Geneva mechanism is used in rotary tables and indexing turrets in machine tools
and in automatic machines.

31. Distingulish normal component of acceleration and tangential component

of acceleration?

-Normal (or radial) component is perpendicular to the velocity of the particle at

the given instant. In other words, the normal component acts parallel to the link.

- Tangential component is parallel to the velocity of the particle at the given

instant. In other words, It acts perpendicular to the link.

32. Define instantaneous centre of rotation and cordite the equation to

determine the number of instantaneous centers of a mechanism?

Instantaneous centre of moving body is defined as that center which goes on changing
form one instant to another.

Number of instantaneous centers

N=n(n-1)/2

Where,

N=number of links

33. In a revolving stage with a speed of 3 rpm a person is walking with a speed
of 0.5m/s along a radial path determine the magnitude of the coriolis
component of acceleration in this motion.

Given data:

N=3 rpm

ω=2πN/60

=0.314 rad/sec

V=0.5 m/s
Coriolis acceleration,

a0=2*V*ω

=2*0.5*0.314=0.314m/s2

34. Briefly explain the types of instantaneous centre.?

1. Fixed instantaneous centers.

2. Permanent instantaneous centers.

3. Neither fixed not permanent centers.

35. What type of link will have only centripetal component of acceleration and
what types of link will have only linear acceleration?

The link which rotates at a constant velocity will have only centripetal i.e., radial
component of acceleration.

The link which moves in linear direction will have only linear ie tangential
component of acceleration.

36. Coriolis acceleration occurs when a point on one link is sliding along
another rotating link, such as in quick return mechanism.

The link which rotates at a constant velocity will have only centripetal i.e., radial
component of acceleration.

The link which moves in linear direction will have only linear ie tangential
component of acceleration.

37. A four bar mechanism has coupler pin centers at A and B and fixed point
centers at A0 B0 write the tow vector equations involving the output velocity
vector of B?

VBA=ωBA . BA

VBBO=ωBBO . BB0

VBBO=VA+VBA

38. How will you determine the total acceleration of appoint on a link when the
normal component of acceleration and the tangential component of
acceleration are known?

The total acceleration of appoint on a link is the vector sum of their components
of the radial acceleration and tangential acceleration.
39. Explain normal component of acceleration?

Normal or radial component of acceleration is perpendicular to the velocity of the

particle at the given instant. The magnitude is given by

arBA=ω2.AB=V2BA/AB

40. state corioli`s law?

Whenever appoint on one link is sliding along another rotating link, then the total
acceleration will have one additional acceleration component known as coriolis
component.

41. Define instantaneous centre of velocity?

Instantaneous centre of a moving body is defined as the centre which goes on

changing from one instant to another.

42. State the freuclenstein`s equation for a four bar mechanism?

The freudenstiein equation that gives that length ratios (design parameter) of a
four bar mechanism is as below:

K1=l1/l2; K2=l1/l2; k3=l11+l22-l33+l4/2 l2 l4

When l1,l2,l3,l4 represent the length of the four links of four bar mechanism
respectively k1,k2,k3 are the three length ratio

43. What are mechanical advantages?

The mechanical advantage is defined as the ratio of output torque to the input
torque. It is also defined as the ratio of the load to the effort.

44. How the direction of coriolis component of acceleration is determined?

The direction of coriolis component is the direction of relative velocity vector for
the two coincident points rotated at 90 0 in the direction of angular velocity of rotation of
link.

45. Explain the coriolis component of acceleration?

CBC = 2vω
a

Where,

w=angular velocity of OA

v= linear velocity of B
46. What is higher pair?

If a pair in motion has a line or point contact between the two elements it is
called a higher pair.

47. What is configuration diagram? What is its use?

A machine or a mechanism is represented by a skeleton or a line diagram,

commonly known as a configuration diagram. It is used to draw the velocity and
accelerations diagram.

48. Define Transmission angle of the four bar mechanism.

The angle µ between the output link and the coupler is known ad transmission
angle.

49. Write the List of kinematic quantities.

Displacement, velocity and acceleration.

50.Write the methods of determining the velocity of a body.

1. Relative velocity method.

2. Instantaneous centre method.

3. Analytical method.

51. Define space diagram.

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 space diagram.

52. Write another name of radial component of acceleration?

Centripetal component is the another name of radial component.

53. What is mean by radial component of acceleration?

Radial component is the perpendicular to the velocity of the particle at the given
instant.

54. What is mean by tangential component?

Tangential component is the parallel to the velocity of the particle at the given
instant.

55. What is mean by total acceleration?

The vector summation of radial and tangential accelerations.

56. A point at the end of a linh which moves with constant velocity has
______________component of acceleration.

ANS: no tangential.

57. Define coincident point.

When a point on one link is sliding along another link, then the point is known as
coincident point.

58. Write the relation of coriolis component of acceleration.

coriolis component of acceleration= ac=2vω.

59. Define instantaneous centre.

The combined motion of rotation and translation of the link may be assumed to
be a motion of pure motion about some centre, known as instantaneous centre.

60. Write the formula for finding number of instantaneous centre in a

mechanism.

Number of instantaneous centre in a mechanism(N) is given by, n(n-1)/2.

61. Define angular velocity ratio theorem.

The angular velocity ratio theorem state that the angular velocity ratio of any two
bodies in planer motion relative to the third body is inversely proportional to the
segments into which the common instantaneous centre cuts the line of centre.

62. Write the mathematically relation for angular velocity ratio.

(ω4/ω2)=(RI24I12/RI24I14).

63. Write the relation for velocity of piston.

Vp= rω(sinθ+sin2θ/2n)

64. Write the relation for acceleration of piston.

Ap =2ω(cosθ+cos2θ/2n).

65. Define instantaneous axis.

Instantaneous axis is a line drawn through an instantaneous and perpendicular to

the plane motion.

66. What is mean by the efficiency of a mechanism?

Efficiency of a mechanism is defined as the ratio of product of force and velocity

in driven link to the product of force and velocity in driving link.
67. How to represent the direction of linear velocity of any point on a link with
respect to another point on the same link?

The direction of linear velocity of any point on a link with respect to another point
on the same link is perpendicular to the line joining the points.

68. What is the magnitude of linear velocity of a point B on a link AB relative

to A?

The magnitude of linear velocity of a poine B on a link AB, which rotates with ‘’
angular velocity with respect to A is:

vAB = ωBA X AB

69. What is the expression for Coriolis component of acceleration?

aCBA = 2vω

70. How many instantaneous centres are possible in a four bar chain
mechanism?

Four bar mechanism having 4 links.

Therefore, instantaneous centres=n(n-1)/2.

=4(4-1)/2

= 6 centers are possible.

71. Define resultant force.

Number of forces acting simultaneously on a particle, then a single force, which

will produce the same effects as that of all the given forces, is known as a resultant
force.

72. Define composition of forces.

The process of finding out the resultant force of the given component forces, is
known as composition of forces.

73. Write the methods of finding resultant force.

1. Parallelogram law of forces.

2. Triangle law of forces.

3. Polygon law of forces.

74. Define Parallelogram law of forces.

 If two forces acting simultaneously on a particle be represented in magnitude and
direction by the two adjacent sides of a parallelogram taken in order, their resultant
may be represented in magnitude and direction by the diagonal of the parallelogram
passing through the point.

75. Define Triangle law of forces.

If two forces acting simultaneously on a particle be represented in magnitude and

direction by the two sides of a triangle taken in order, their resultant may be
represented in magnitude and direction by the third side of the triangle taken in
opposite order.

76. Define Polygon law of forces.

If a number of forces acting simultaneously on a particle be represented in

magnitude and direction by the sides of a polygon taken in order, their resultant may be
represented in magnitude and direction by the closing side of the polygon taken in
opposite order.

77. Define scalars.

Scalar quantities are those quantities, which have magnitude only, e.g. mass,
time, volume, density etc.

78. Define vectors.

Vector quantities are those quantities which have magnitude as well as direction
e.g. velocity, acceleration, force etc.

79. Define plane motion.

When the motion of a body is confined to only one plane, the motion is said to be
plane motion.

80. An apparatus for applying mechanical power, consisting of a number of

interrelated parts, each having a definite function called _______________.

ANS: Machine.

81. The two rigid links have no linear velocities relative to each other at the
_________________. (ANS: instantaneous centre.)

82 Two links L1 and L2 have angular velocities ω1 (clockwise) and ω2

(anticlockwise). The angular velocity of L1 relative to L2
is_____________________.( ANS: (ω1+ω2).)
83. Define Klein’s construction.

Simple graphical construction for determining the acceleration polygon called

Klein’s construction.

84. Klein’s construction is mainly used to determine the _______________of

piston.

ANS: linear acceleration.

85. Coriolis component acceleration acts in a direction_______________to

sliding surfaces.

ANS: perpendicular.

86. Coriolis component acceleration exists whenever a point moves along a

path that has____________________ motion.

ANS: rotational.

87. Define configuration diagram.

A machine or a mechanism is represented by a skeleton or a line diagram,

commonly known as a configuration diagram.

88. What is the use of velocity image?

If any offset point on a link in the configuration diagram can be easily be located
in the velocity diagram by drawing the velocity image.

89. The velocity of rubbing of the two surfaces will depend upon
the_____________ of a link relative to the other.

ANS: Angular velocity.

90. Define Rubbing Velocity.

The algebraic sum between the angular velocities of the two links which are
connected by pin joints, multiplied by the radius of the pin.

91. 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 AD are of equal length. Draw the velocity diagram,
when angle BAD = 60°.
Space diagram (All dimensions in mm). Velocity diagram.

92. Draw the velocity diagram for given slider crank mechanism as given
in figure.

Velocity diagram.

93. Define coincident point.

When a point on one link is sliding along the another link, then the point is
known as coincident point.

94. What is the condition for coincident point.

The position of coincident point varies as the slider moves in between its
extreme positions.

95. How to find out the total acceleration at a coincident point.

The total acceleration at a coincident point about another point in a line is

the vector sum of their radial acceleration, tangential acceleration and the coriol
acceleration.
96. Write the list of various mechanisms are operated by Coriolis
component of acceleration.

Quick return mechanism.

97. What are the different names are used for instantaneous centre.

The other names in use for instantaneous centre are virtual centre, centre
and rotopole.

98. Define Axode.

The locus of instantaneous axis is known as axode.

99. Write the properties of instantaneous centre.

1. The instantaneous centre of a body which has only translator motion lies at
infinity.
2. A center changes its position with the alteration of the configuration of the
mechanism.
3. The two rigid links have no linear velocity to each other at the
instantaneous centre.

100. Define law of three centre theorem.

It states that if three bodies move relatively to each other, they have
instantaneous centres and lies on a straight line.

101. Draw the acceleration diagram for given slider crank mechanism as
shown in figure below.

ANS: acceleration diagram.

102. The crank of a slider crank mechanism rotates clockwise at a
constant speed of 300 rpm. The crank is 150 mm and the connecting rod
is 600 mm long. Draw the acceleration diagram, at a crank angle of 45°
from inner dead centre position.

Acceleration diagram.

103. Explain how the direction of Coriolis acceleration is obtained.

The direction of coriolis component is the direction of relative velocity

vector for the two coincident points rotated at 90º in the direction of angular
velocity of rotation of link.

104. Define “actual mechanical advantage”.

The actual mechanical advantage is defined as the ratio of output torque to

the input torqe.

105. How will you determine the total acceleration of a point on a link,
when the normal component of acceleratoion and the tangential
component of acceleration are known?

The total acceleration of a point on a link is the vector sum of their

components of the radial acceleration and tangential acceleration.

106. State the condition for a link to experience coriolis acceleration.

Coriolis acceleration occurs when a point on a link is sliding along another

rotating link, such as in quick return mechanism.

107. What type of link will have only centripetal component of acceleration?

The link which rotates at a constant velocity will have only centripetal that is
radial component of acceleration.

108. What type of link will have only linear acceleration?

The link which in a linear direction will have only linear that is tangential
component of acceleration.
109. What will be the rubbing velocity at pin joint when the two links move in
the opposite direction?

Rubbing velocity =(ω1+ω2)R

ω1 and ω2 = angular velocity of two links.

R =radius of pin.

110. Define transmission angle of a four bar mechanism.

The angle between the coupler and the follower in a four mechanism is called the
transmission system.

111. What are the worst values of transmission angle in four bar mechanism.

Worst value of transmission angle is less than 45º.

112. State the ARONHOLD-KENNEDY theorem involving instantaneous centres.

A theorem state that if the three bodies move relatively each other, they have
instantaneous centres and lies on a straight line.

113. State the reasons for velocity analysis.

For a proper study of motions of the different parts of machine, we need to know
their velocity at different moments.

In order to design a machine and component, the velocity analysis is inevitable.

114. State the reasons for acceleration analysis.

For a proper study of motions of the different parts of machine, we need to know
their acceleration at different moments. In order to design a machine and component,
the acceleration analysis is inevitable.

115. Distinguish normal component of acceleration and tangential component of acceleration.

S.NO NORMAL COMPONENT TANGENTIAL COMPONENT

1 It is perpendicular to the velocity of It is parallel to the velocity of the

the particle at the given instant. particle at the given instant.

2 It is parallel to the link. It is perpendicular to the link.

116. How many instantaneous centres are in single slider crank mechanism?

In a single crank mechanism, there are four links. Therefore number of instantaneous
centre is 6.

117. Write the equations for uniform acceleration.

1. v=u+at

2. v2=u2+2as

3. s=ut+(at2)/2.

118. When a body falls freely from a height h, then its velocity v, with which it
will hit the ground is given by_____________.

ANS: v= (2gh) 1/2

119. Write the condition for representation of angular displacement.

1. Direction of the axis of rotation.

2. Magnitude of angular displacement.
3. Sense of the angular displacement.

120. Define Instantaneous axis of rotaion

Instantaneous axis of rotation (Kinematics), in a body which has motions both

of translation and rotation, is a line, which is supposed to be rigidly united with the
body, and which for the instant is at rest. The motion of the body is for the instant
simply that of rotation about the instantaneous axis.