Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M.

El-Souhily

CHAPTER II
VELOCITIES AND ACCELERATIONS
Introduction:
Velocity is important because:

1- It affects the time required to perform a given operation.

2- Power is the product of force and velocity.
3- Friction and wear on machine parts are also dependent on velocity.
4- Further, a determination of the velocities in a mechanism is required if an
acceleration analysis is to be made.

Acceleration is of interest because of its effect on inertia forces, which in

turn influence stresses in the parts of a machine, bearing loads, vibration, and noise

I- Velocities by instant Centers

a- Instantaneous center of a velocity:
When two links (bodies), either both moving or one moving and one fixed, the
instantaneous center is:

a- a point in both bodies,

b- a point at which the two bodies have no relative velocity (the point has the
same velocity in each body),
c- A point about which one body may be considered to rotate relative to the
other at a given instant.

Notes:

- When the two links are directly connected together, the center of the
connecting joint is an instantaneous center for the two links,
- If not directly connected, an instantaneous center exists for a given phase of
the linkage.

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

b- Instantaneous Center Notation:

The system of labeling instantaneous centers is shown:

- The instantaneous center for link (2) relative

to link (1) is labeled 21. Link(1) has the
same instantaneous center relative to
link(2), when link(2) is considered the fixed
link, link(1) appears to be rotating in the
opposite sense (ω12 = - ω21) relative to
link(2).
- Since points 21 and 12 are the same point,
either designation is acceptable, 12 is
preferred.
- Pin connection: each pin connection is an instant center
(12, 14 remain fixed, they are called fixed centers),
(23, 34 are called moving centers, they move relative to the frame)
- Two velocities of two points (for a body)
are known in direction: draw dotted
lines ┴ the velocities. Their point of
intersection locates instant center 12.

- A sliding body:
Circular path: 12 is its center,
Rectilinear path: 12 lies at infinity
either above or below the slider (//le
lines intersect at infinity).

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

- Rolling body: Link (2) rolls without slipping

on link (1); the point of contact 12 is the
instant center for links (1) and (2).

c- Kennedy's Theorem:
"For three independent bodies (links) in general plane motion, the three
instantaneous centers lie on a common straight line"

Suppose that P is the instant center 23

When considered P as a point in link (2), its velocity is VP2 ┴ 12-P

When considered P as a point in link (3), its velocity is VP3 ┴ 13-P

Since the instantaneous center is a common point to the two links and have the
same linear velocity, in both magnitude and direction in each, since VP2 ≠ VP3

∴ Point P cannot be instant center 23.

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

It becomes apparent that their directions can coincide only if 23 lies somewhere
along the line 12-13.

The exact location of 23 depends on the directions and magnitudes of the angular
velocities of links (2) and (3) relative to link (1).

- Instantaneous center for a direct contact mechanisms:

a- Sliding contact:

P2 and P4 are the coincident

points

. The component of the

velocities VP2 and VP4 along
the normal must be equal at
all times; otherwise, bodies
(2) and (4) would either
move out of contact or
deform one another.

. The tangential components

will not be equal (magnitude
and direction) if the point of
contact doesn't lie on the line of centers 14 – 12, and sliding exists (the two bodies
have relative motion along the tangent), and their center of relative motion 24 must
lie along the common normal ┴ relative velocity, by Kennedy's theorem, 24 must
lie along line 12 – 14.

∴ 24 lies at the point of intersection of the common normal and the line of centers
12 – 14.

b- Rolling contact:

Rolling contact exists only if there is no sliding, and hence the tangential
components of the velocities VP2 and VP4 must be equal in magnitude and
direction. For this to exist along with the normal components being equal requires
that VP2 and VP4 be equal in magnitude and direction and hence identical. The

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

velocities VP2 and VP4 can have the same direction only if the coincident points P2
and P4 (points of contact) lie on the line of centers. Since an instant center is a
point common to two bodies and has the same linear velocity in each, it follows
that the common instant center lies at their point of contact.

∴ 24 lies at their point of contact.

d- Number of instantaneous centers for a mechanisms:

Any two links in a mechanism have motion relative to one another and have a
common instantaneous center.

The number of instant centers is equal to all possible combinations of two from the
total numbers of links.

Let, n = number of links. Then the number of instant centers is:

𝑛(𝑛 − 1)
𝑁=
2!

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

e- Primary instantaneous centers:

All instant centers which can be found by inspection are called primary instant
centers, and then we can locate the remaining by applying Kennedy's theorem.

Primary instant centers can be summarized as:

1- Instant center for pin connecting links.

2- Instant center for a sliding body.
3- Instant center for a rolling body.
4- Direct contact mechanisms:
a- For sliding contact: intersection of the common normal and the line of
centers.
b- For rolling contact: at the point of contact.
f- Circle diagram method for locating instantaneous centers:
- All primary centers must be located first,
- Points are laid out along a circle, each point represent a link,
- All possible straight lines joining these points represent the instant centers,
- First, all centers which have located are drawn in as solid lines,
- The remaining are represented by dotted lines,
- In order to locate these centers, find any two triangles which a dotted line
completes, These two triangles represent two lines their intersection is the
required instantaneous center,
- After an instant center has been located, it is drawn in as a solid line on the
circle diagram.
(The two triangles must have a common side which is dotted).

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

Locating instantaneous centers in a four-bar mechanism

Locating instant centers in the slider-crank linkage

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

Locating instant centers in the cam-follower (direct contact) mechanism

g- Velocity analysis using instantaneous centers:

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

1- Linear velocities by instantaneous centers:

- The magnitude is equal to the product of the radius of rotation (distance
between the point and the instant center 1i).
- It must be ┴ the radius of rotation of the point.
VA = ω2 * (12-A) ┴ 12-A
VB = ω4 * (14-B) ┴ 14-B
VC = ω3 * (13-C) ┴ 13-C

2- Angular velocities by instantaneous centers:

VA = V23 = ω2 * (12-23) = ω3 * (13-23) ┴ 12-23
𝜔2 13 − 23
∴ =
𝜔3 12 − 23

Similarly
𝜔𝑖 1𝑗 − 𝑖𝑗
=
𝜔𝑗 1𝑖 − 𝑖𝑗

From the last equation we can conclude that the angular-velocity ratio for any two
links in a mechanism is inversely as the distances from the instant centers in the
frame about which the links are rotating to the instant center which is common to
the two links.

If the common instant center ij lies in-between 1i & 1j, then ωi and ωj are in
opposite direction, and if not, then ωi and ωj are in the same direction.

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

Example 1:
For the Whitworth mechanism shown, determine the absolute velocity VC of the
tool support, when the driving link OA rotates at a speed such that VA = 900 cm/s,
as shown, also find the angular velocities of links QB and BC.

OQ = 135, OA = 270, QB = 160, and BC = 550 mm.

Solution:
𝑉𝐴 900
𝜔2 = = = 33.33 𝑟𝑎𝑑⁄𝑠 𝑐. 𝑤.
𝑂𝐴 27.0
𝜔4 12 − 24 337.5
= =
𝜔2 14 − 24 472.5

𝜔4 = 23.81 𝑟𝑎𝑑⁄𝑠 𝑐. 𝑤.
𝜔5 12 − 25 107.9346
= =
𝜔2 15 − 25 774.0273

𝜔5 = 4.65 𝑟𝑎𝑑⁄𝑠 𝑐. 𝑐. 𝑤.

𝑉𝐶 = 𝜔5 (15 − 𝐶 ) = 3.44 𝑚⁄𝑠 →

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

Example 2:
In the toggle mechanism shown, the crank rotates with an angular velocity 31.4
rad/s c.c.w. Obtain the velocity of the ram F, The angular velocity of link EF.

OA = 100, AB = 320, QB = 120, QC = 140, CD = 400, SD = SE = 90, DE = 100,

and EF = 180 mm.

Solution:
𝜔7 12 − 27 123.7113
= =
𝜔2 17 − 27 309.021

𝜔7 = 12.57 𝑟𝑎𝑑⁄𝑠 𝑐. 𝑤.

𝑉𝐹 = 𝜔7 (17 − 𝐹 ) = 123.31 𝑐 𝑚⁄𝑠 ↑

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

II- Velocities in Mechanisms by

Method of Relative velocities
a- Absolute velocity: is the velocity of a body relative to some other body
which is at rest.

b- Relative velocity: A body has motion relative to another if there is a

difference in their absolute velocities. The velocity of a body A relative to
body P is the absolute velocity of A minus vectorially the absolute velocity
of P.

⃗ 𝐴𝑃 = 𝑉
𝑉 ⃗𝐴 − 𝑉
⃗𝑃

⃗𝐴 = 𝑉
𝑜𝑟 𝑉 ⃗𝑃 + 𝑉
⃗ 𝐴𝑃
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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

⃗𝑃 = 𝑉
𝑎𝑙𝑠𝑜 𝑉 ⃗𝐴 + 𝑉
⃗ 𝑃𝐴

⃗ 𝑃𝐴 = −𝑉
𝑉 ⃗ 𝐴𝑃

Three bodies A, B and C, the velocity of A relative to C is equal to the velocity of

A relative to B plus the velocity of B
relative to C.

⃗ 𝐴𝐶 = 𝑉
𝑉 ⃗𝐴 − 𝑉
⃗𝐶

⃗𝐴 = 𝑉
𝑉 ⃗𝐵 + 𝑉
⃗ 𝐴𝐵

⃗𝐶 = 𝑉
𝑉 ⃗𝐵 + 𝑉
⃗ 𝐶𝐵

⃗ 𝐴𝐶 = 𝑉
∴𝑉 ⃗ 𝐴𝐵 − 𝑉
⃗ 𝐶𝐵 = 𝑉
⃗ 𝐴𝐵 + 𝑉
⃗ 𝐵𝐶

For A link:

For two sliding links:

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

c- Velocity polygon ( Velocity diagram):

- Each link in a mechanism has an image in the velocity polygon.
- If the velocities for any two points on a link have been found, the velocity of
a third point on the link can be found by drawing the velocity image.
- The angular velocity of a rigid link is equal to the relative velocity of any
two points on the link divided by the distance between the points.

⃗ 𝐴𝐵
𝑉
𝜔=
𝐴𝐵

Example 3:
In the toggle mechanism shown in Example 2, obtain the velocity of the ram F,
The angular velocity of link EF.

Solution:
⃗ 𝐴 = {𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒
𝑉
𝜔2 . 𝑂𝐴
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 ⊥ 𝑂𝐴
⃗𝐵 = 𝑉
𝑉 ⃗𝐴 + 𝑉
⃗ 𝐵𝐴

⃗ 𝐵 = {𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒
𝑉
𝜔4 . 𝑄𝐵 ?
, ⃗ 𝐵𝐴 = {𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒
𝑉
𝜔3 . 𝐴𝐵 ?
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 ⊥ 𝑄𝐵 𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 ⊥ 𝐴𝐵
𝑄𝐶 𝑞𝑐
=
𝑄𝐵 𝑞𝑏

⃗𝐷 = 𝑉
𝑉 ⃗𝐶 + 𝑉
⃗ 𝐷𝐶

⃗ 𝐷 = {𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒
𝑉
𝜔6 . 𝑆𝐷 ?
, ⃗ 𝐷𝐶 = {𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒
𝑉
𝜔5 . 𝐶𝐷 ?
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 ⊥ 𝑆𝐷 𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 ⊥ 𝐶𝐷
𝑆𝐷 𝑆𝐸 𝐸𝐷
∆∆ 𝑆𝐷𝐸 𝑎𝑛𝑑 𝑠𝑑𝑒 𝑎𝑟𝑒 𝑠𝑖𝑚𝑖𝑙𝑎𝑟 ∴ = =
𝑠𝑑 𝑠𝑒 𝑒𝑑
⃗𝐹 = 𝑉
𝑉 ⃗𝐸 + 𝑉
⃗ 𝐹𝐸

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

⃗ 𝐹 = {𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒
𝑉
?
, ⃗ 𝐹𝐸 = {𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒
𝑉
𝜔7 . 𝐹𝐸 ?
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 ↕ 𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 ⊥ 𝐹𝐸

𝑒𝑓 ∗ 𝑣𝑒𝑙. 𝑠𝑐𝑎𝑙𝑒
𝜔7 = = 12.57 𝑟𝑎𝑑⁄𝑠 𝑐. 𝑤.,
𝐸𝐹
𝑉𝐹 = 𝑜𝑓 ∗ 𝑣𝑒𝑙. 𝑠𝑐𝑎𝑙𝑒 = 123.31 𝑐 𝑚⁄𝑠 ↑

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

Example 4:
For the Whitworth mechanism shown in Example 1, determine the absolute
velocity of the tool support C; also find the angular velocities of links QB and BC.

Solution: Consider point T on link 4 under point A which on the slider 3.

VA = 900 cm/s (┴ OA)

⃗𝑇 = 𝑉
𝑉 ⃗𝐴 + 𝑉
⃗ 𝑇𝐴

⃗ 𝑇 = {𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒
𝑉
𝜔4 . 𝑄𝑇 ?
, ⃗ 𝑇𝐴 = {𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒
𝑉
?
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 ⊥ 𝑄𝑇 𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 ∥ 𝑄𝑇(𝑙𝑖𝑛𝑘 4)
𝑄𝑇 𝑞𝑡
=
𝑄𝐵 𝑞𝑏

⃗𝐶 = 𝑉
𝑉 ⃗𝐵 + 𝑉
⃗ 𝐶𝐵

⃗ 𝐶 = {𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒
𝑉
?
, ⃗ 𝐶𝐵 = {𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒
𝑉
𝜔5 . 𝐵𝐶 ?
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 ↔ 𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 ⊥ 𝐵𝐶
From the velocity diagram:
𝑞𝑡 ∗ 𝑣𝑒𝑙. 𝑠𝑐𝑎𝑙𝑒
𝜔4 = = 23.81 𝑟𝑎𝑑⁄𝑠 𝑐. 𝑤.,
𝑄𝑇
𝑏𝑐 ∗ 𝑣𝑒𝑙. 𝑠𝑐𝑎𝑙𝑒
𝜔5 = = 4.65 𝑟𝑎𝑑⁄𝑠 𝑐. 𝑐. 𝑤.
𝐵𝐶
𝑉𝐶 = 𝑜𝑐 ∗ 𝑣𝑒𝑙. 𝑠𝑐𝑎𝑙𝑒 = 3.44 𝑚⁄𝑠 →

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

III- Accelerations in Mechanisms

a- Plane motion of a particle:
𝑖, 𝑗 unit vectors along x- and y-axis,

𝑢
⃗ 𝑟 unit vectors in the radial direction,

𝑢
⃗ 𝜃 unit vectors in the transverse
direction.

𝑢
⃗ 𝑟 = cos 𝜃 𝑖 + sin 𝜃 𝑗

𝑢
⃗ 𝜃 = − sin 𝜃 𝑖 + cos 𝜃 𝑗

𝑑𝑢
⃗𝑟
= − sin 𝜃 𝑖 + cos 𝜃 𝑗 = 𝑢
⃗𝜃
𝑑𝜃
𝑑𝑢 ⃗ 𝑟 𝑑𝑡
= .
𝑑𝑡 𝑑𝜃

⃗ ̇ 𝑟 = 𝜃̇. 𝑢
∴𝑢 ⃗𝜃

𝑑𝑢
⃗𝜃 𝑑𝑢⃗ 𝜃 𝑑𝑡
= − cos 𝜃 𝑖 − sin 𝜃 𝑗 = −𝑢
⃗𝑟 = .
𝑑𝜃 𝑑𝑡 𝑑𝜃

⃗ ̇ 𝜃 = − 𝜃̇. 𝑢
∴𝑢 ⃗𝑟

The position of a point P:

𝑅⃗𝑃𝑂 = 𝑟. 𝑢
⃗ 𝑟 = 𝑟. 𝑒 𝑖𝜃

The velocity:

𝑑𝑅⃗𝑃𝑂 𝑑𝑟
⃗ 𝑃𝑂 =
𝑉 = .𝑢 ⃗ ̇ 𝑟 = 𝑟̇ . 𝑢
⃗ + 𝑟. 𝑢 ⃗ 𝑟 + 𝑟. 𝜃̇. 𝑢
⃗𝜃
𝑑𝑡 𝑑𝑡 𝑟
or ⃗ 𝑃𝑂 = 𝑖. 𝑟. 𝜔. 𝑒 𝑖𝜃
𝑉

The velocity has two components, radial and transverse.

⃗ 𝑃𝑂 = 𝑟. 𝜃̇. 𝑢
𝑖𝑓 𝑟 𝑖𝑠 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 (𝑟̇ = 0) ∴ 𝑉 ⃗ 𝜃 = 𝑟. 𝜔. 𝑢
⃗𝜃
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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

The acceleration:

⃗ 𝑃𝑂
𝑑𝑉
𝐴𝑃𝑂 = ⃗ 𝑟 + 𝑟̇ . 𝜃̇. 𝑢
= 𝑟̈ . 𝑢 ⃗ 𝜃 + 𝑟̇ . 𝜃̇. 𝑢
⃗ 𝜃 + 𝑟. 𝜃̈ . 𝑢
⃗ 𝜃 − 𝑟. 𝜃̇ 2 . 𝑢
⃗𝑟
𝑑𝑡
= (𝑟̈ − 𝑟. 𝜃̇ 2 ) 𝑢 ⃗ 𝑟 + (2. 𝑟̇ . 𝜃̇ + 𝑟. 𝜃̈)𝑢 ⃗𝜃

𝑜𝑟 𝐴𝑃𝑂 = 𝑖. 𝑟(𝜔. 𝑖. 𝜔. 𝑒 𝑖𝜃 + 𝛼𝑒 𝑖𝜃 )

= [−𝜔2 + 𝑖. 𝛼]𝑟. 𝑒 𝑖𝜃

if r = constant (𝑟̇ = 𝑟̈ = 0)
𝑐 𝑡
𝐴𝑃𝑂 = 𝐴𝑃𝑂 + 𝐴𝑃𝑂
𝒄
⃗ 𝑷𝑶 ≡ 𝒄𝒆𝒏𝒕𝒓𝒊𝒑𝒆𝒕𝒂𝒍 𝒄𝒐𝒎𝒑𝒐𝒏𝒆𝒏𝒕 = −(𝒓. 𝜽̇𝟐 ) 𝒖
⃗𝑨 ⃗ 𝒓 = −𝒓. 𝝎𝟐 . 𝒖
⃗ 𝒓 = −𝒓. 𝝎𝟐 . 𝒆𝒊𝜽
𝒕
⃗ 𝑷𝑶 ≡ 𝒕𝒓𝒂𝒏𝒔𝒗𝒆𝒓𝒔𝒆 𝒄𝒐𝒎𝒑𝒐𝒏𝒆𝒏𝒕 = 𝒓. 𝜽̈. 𝒖
⃗𝑨 ⃗ 𝜽 = 𝒓. 𝜶. 𝒊. 𝒆𝒊𝜽
⃗ 𝜽 = 𝒓. 𝜶. 𝒖

𝛼 ≡ 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 = 𝜃̈ = 𝜔̇

b- Relative motion:

𝐴𝐵 = 𝐴𝐴 + 𝐴𝐵𝐴

𝐴𝐵𝐴 = −𝐴𝐴𝐵

∴ 𝐴𝐴𝐶 = 𝐴𝐴𝐵 − 𝐴𝐶𝐵 = 𝐴𝐴𝐵 + 𝐴𝐵𝐶

c- Relative acceleration of a particle and a coincident point in a

fixed plane:
P moves in a fixed plane on a specified curve as shown.

At a certain time P is in contact with point Q in the plane.

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

I is the center of curvature of the path.

The unit vectors 𝑢 ⃗ 𝑟 and 𝑢 ⃗ 𝜃 are

replaced by the unit vectors 𝑢 ⃗ 𝑛 and
𝑢
⃗ 𝑡 , normal and tangent to the path.

The position of point P is given by

𝑅⃗𝑃 = 𝜌. 𝑢
⃗𝑛

The velocity of point P relative to the

plane is given by
𝑑𝜌
⃗ 𝑃𝑄 =
𝑉 .𝑢 ⃗̇𝑛
⃗ + 𝜌. 𝑢
𝑑𝑡 𝑛
𝑖𝑡 𝑐𝑎𝑛 𝑏𝑒 𝑠ℎ𝑜𝑤𝑛 𝑡ℎ𝑎𝑡

⃗ ̇ 𝑛 = 𝜃̇. 𝑢
𝑢 ⃗𝑡

⃗ ̇ 𝑡 = − 𝜃̇. 𝑢
𝑎𝑛𝑑 𝑢 ⃗𝑛

∴𝑉 ⃗ 𝑛 + 𝜌. 𝜃̇ . 𝑢
⃗ 𝑃𝑄 = 𝜌̇ . 𝑢 ⃗𝑡

⃗ 𝑃𝑄 = 𝑉𝑃𝑄 𝑢
𝐵𝑢𝑡 𝑉 ⃗𝑡

𝑉𝑃𝑄
∴ 𝜌̇ = 0 𝑎𝑛𝑑 𝜃̇ =
𝜌

The acceleration of P relative to Q is given by

⃗ 𝑃𝑄
𝑑𝑉
𝐴𝑃𝑄 = = 𝑉̇𝑃𝑄 . 𝑢 ⃗ ̇ 𝑡 = 𝑉̇𝑃𝑄 . 𝑢
⃗ 𝑡 + 𝑉𝑃𝑄 . 𝑢 ⃗ 𝑡 − 𝑉𝑃𝑄 . 𝜃̇ . 𝑢
⃗𝑛
𝑑𝑡
𝑉𝑃𝑄 2
𝐴𝑃𝑄 = 𝑉̇𝑃𝑄 . 𝑢
⃗𝑡 − .𝑢
⃗𝑛
𝜌

⃗ 𝑃𝑄 and 𝐴𝑃𝑄
It is worth to notice that since point Q lies on a fixed plane, then 𝑉
represent the absolute velocity and acceleration of point P.

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

d- Relative acceleration of two coincident points on sliding links:

A and B are the two coincident points (A on link 3 and B on link 4).

C and F are the centers of curvature of links (3) and (4) at the point of contact.

ρA and ρB are the radii of curvature of the surfaces at the point of contact.

ωA , ωB , αA and αB are the angular velocities and the angular accelerations of

links (3) and (4).

⃗ 𝒏 and 𝒖
𝒖 ⃗ 𝒕 are the unit vectors along the common normal and the common tangent
to the surfaces, 𝒖⃗ 𝒕 is leading 𝒖
⃗ 𝒏 by 90° in the counterclockwise direction. 𝒖
⃗ 𝒏 is
directed from A to B.

⃗ 𝒕 , thus,
The velocity of B relative to A is assumed positive in the direction 𝒖

⃗ 𝐵𝐴 = 𝑉𝐵𝐴 𝑢
𝑉 ⃗𝑡 (a)

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

Using the relative motion law; then

⃗𝐴 = 𝑉
𝑉 ⃗𝐶 + 𝑉
⃗ 𝐴𝐶 = 𝑉
⃗ 𝐶 + 𝜔𝐴 . 𝜌𝐴 . 𝑢
⃗𝑡 (b)

⃗𝐵 = 𝑉
𝑉 ⃗𝐹 + 𝑉
⃗ 𝐵𝐹 = 𝑉
⃗ 𝐹 − 𝜔𝐵 . 𝜌𝐵 . 𝑢
⃗𝑡 (c)

⃗ 𝐵𝐴 = 𝑉
𝑉 ⃗𝐵 − 𝑉
⃗𝐴

⃗𝐹 − 𝑉
= 𝑉 ⃗ 𝐶 − ( 𝜔𝐴 . 𝜌𝐴 + 𝜔𝐵 . 𝜌𝐵 ). 𝑢
⃗𝑡 (d)

⃗𝐹 − 𝑉
𝑏𝑢𝑡 𝑉 ⃗𝐶 = 𝑉
⃗ 𝐹𝐶

then, from (a) and (d)

⃗ 𝐹𝐶 = (𝑉𝐵𝐴 + 𝜔𝐴 . 𝜌𝐴 + 𝜔𝐵 . 𝜌𝐵 ). 𝑢
𝑉 ⃗𝑡 (e)

The acceleration of point B relative to A

𝐴𝐴 = 𝐴𝐶 + 𝐴𝐴𝐶 = 𝐴𝐶 − 𝜌𝐴 . 𝜔𝐴2 . 𝑢
⃗ 𝑛 + 𝜌𝐴 . 𝛼𝐴 . 𝑢
⃗𝑡 (f)

𝐴𝐵 = 𝐴𝐹 + 𝐴𝐵𝐹 = 𝐴𝐹 + 𝜌𝐵 . 𝜔𝐵2 . 𝑢
⃗ 𝑛 − 𝜌𝐵 . 𝛼𝐵 . 𝑢
⃗𝑡 (g)

𝐴𝐵𝐴 = 𝐴𝐹𝐶 + (𝜌𝐴 . 𝜔𝐴2 + 𝜌𝐵 . 𝜔𝐵2 ). 𝑢

⃗ 𝑛 − (𝜌𝐴 . 𝛼𝐴 + 𝜌𝐵 . 𝛼𝐵 ). 𝑢
⃗𝑡 (h)

To obtain 𝐴𝐹𝐶 , consider the imaginary link CF,

2
𝐴𝐹𝐶 = −(𝜌𝐴 + 𝜌𝐵 ). 𝜔𝐹𝐶 ⃗ 𝑛 + 𝐴𝑡𝐹𝐶 . 𝑢
.𝑢 ⃗𝑡
2
𝑉𝐹𝐶
=− ⃗ + 𝐴𝑡𝐹𝐶 . 𝑢
.𝑢 ⃗𝑡
(𝜌𝐴 + 𝜌𝐵 ) 𝑛

Substituting into Eq. (h), hence

2
𝑉𝐹𝐶
𝐴𝐵𝐴 = (− ⃗ 𝑛 + (𝐴𝑡𝐹𝐶 − 𝜌𝐴 . 𝛼𝐴 − 𝜌𝐵 . 𝛼𝐵 ). 𝑢
+ 𝜌𝐴 . 𝜔𝐴2 + 𝜌𝐵 . 𝜔𝐵2 ) . 𝑢 ⃗𝑡
(𝜌𝐴 + 𝜌𝐵 )

= 𝐴𝐵𝐴 𝑛 . 𝑢
⃗ 𝑛 + 𝐴𝐵𝐴 𝑆𝐿 . 𝑢
⃗𝑡 (i)

Obtaining 𝐴𝐵𝐴 𝑆𝐿 is meaningless since it is usually determined from the analysis of

the system as a whole. Thus
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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

2
𝑛 𝑉𝐹𝐶
𝐴𝐵𝐴 =− + 𝜌𝐴 . 𝜔𝐴2 + 𝜌𝐵 . 𝜔𝐵2
(𝜌𝐴 + 𝜌𝐵 )

Using Eq. (e) and rearranging terms,

2
𝑛 𝑉𝐵𝐴 2𝑉𝐵𝐴 . (𝜔𝐴 . 𝜌𝐴 + 𝜔𝐵 . 𝜌𝐵 ) 𝜌𝐴 . 𝜌𝐵 . (𝜔𝐴 − 𝜔𝐵 )2
𝐴𝐵𝐴 =− − +
(𝜌𝐴 + 𝜌𝐵 ) (𝜌𝐴 + 𝜌𝐵 ) (𝜌𝐴 + 𝜌𝐵 )

𝐴𝐵𝐴 𝑛 = 𝐴𝐵𝐴 𝑅𝑇 + 𝐴𝐵𝐴 𝑀 + 𝐴𝐵𝐴 𝑅𝐿

2
𝑅𝑇 𝑉𝐵𝐴
𝐴𝐵𝐴 =− 𝑖𝑠 𝑡𝑒𝑟𝑚𝑒𝑑 𝑎𝑠 𝑡ℎ𝑒 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑐𝑜𝑚𝑝𝑜𝑛𝑒𝑛𝑡;
(𝜌𝐴 + 𝜌𝐵 )

𝑑𝑖𝑟𝑒𝑐𝑡𝑒𝑑 𝑓𝑟𝑜𝑚 𝑡ℎ𝑒 𝑐𝑒𝑛𝑡𝑒𝑟 𝑜𝑓 𝑐𝑢𝑟𝑣𝑎𝑡𝑢𝑟𝑒 𝑜𝑓 𝐵 𝑡𝑜 𝑡ℎ𝑒 𝑐𝑒𝑛𝑡𝑒𝑟 𝑜𝑓 𝑐𝑢𝑟𝑣𝑎𝑡𝑢𝑟𝑒 𝑜𝑓 𝐴

2𝑉𝐵𝐴 . (𝜔𝐴 . 𝜌𝐴 + 𝜔𝐵 . 𝜌𝐵 )
𝐴𝐵𝐴 𝑀 = − 𝑖𝑠 𝑡𝑒𝑟𝑚𝑒𝑑 𝑎𝑠 𝑡ℎ𝑒 𝑀𝑜𝑠𝑡𝑎𝑓𝑎 𝑐𝑜𝑚𝑝𝑜𝑛𝑒𝑛𝑡;
(𝜌𝐴 + 𝜌𝐵 )

𝑑𝑖𝑟𝑒𝑐𝑡𝑒𝑑 𝑓𝑟𝑜𝑚 𝑡ℎ𝑒 𝑐𝑒𝑛𝑡𝑒𝑟 𝑜𝑓 𝑐𝑢𝑟𝑣𝑎𝑡𝑢𝑟𝑒 𝑜𝑓 𝐵 𝑡𝑜 𝑡ℎ𝑒 𝑐𝑒𝑛𝑡𝑒𝑟 𝑜𝑓 𝑐𝑢𝑟𝑣𝑎𝑡𝑢𝑟𝑒 𝑜𝑓 𝐴

𝑅𝐿 𝜌𝐴 . 𝜌𝐵 . (𝜔𝐴 − 𝜔𝐵 )2
𝐴𝐵𝐴 = 𝑖𝑠 𝑡𝑒𝑟𝑚𝑒𝑑 𝑎𝑠 𝑡ℎ𝑒 𝑅𝑜𝑙𝑙𝑖𝑛𝑔 𝑐𝑜𝑚𝑝𝑜𝑛𝑒𝑛𝑡;
(𝜌𝐴 + 𝜌𝐵 )

𝑑𝑖𝑟𝑒𝑐𝑡𝑒𝑑 𝑓𝑟𝑜𝑚 𝑡ℎ𝑒 𝑐𝑒𝑛𝑡𝑒𝑟 𝑜𝑓 𝑐𝑢𝑟𝑣𝑎𝑡𝑢𝑟𝑒 𝑜𝑓 𝐴 𝑡𝑜 𝑡ℎ𝑒 𝑐𝑒𝑛𝑡𝑒𝑟 𝑜𝑓 𝑐𝑢𝑟𝑣𝑎𝑡𝑢𝑟𝑒 𝑜𝑓 𝐵

• When one of the two curves is a straight-line:

B is on a straight-line (ρB = ∞), then

𝐴𝐵𝐴 𝑅𝑇 = 0

𝐴𝐵𝐴 𝑀 = −2𝑉𝐵𝐴 . 𝜔𝐵

𝐴𝐵𝐴 𝑅𝐿 = 𝜌𝐴 . (𝜔𝐴 − 𝜔𝐵 )2

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

A is on a straight-line (ρA = ∞), then

𝐴𝐵𝐴 𝑅𝑇 = 0

𝐴𝐵𝐴 𝑀 = −2𝑉𝐵𝐴 . 𝜔𝐴

𝐴𝐵𝐴 𝑅𝐿 = 𝜌𝐵 . (𝜔𝐴 − 𝜔𝐵 )2

• When a block is sliding on a link, as shown, the two points coincide. In this case
𝑢
⃗ 𝑛 can be chosen in either directions. But once 𝑢 ⃗ 𝑛 is specified 𝑢⃗ 𝑡 is specified
accordingly. If point A is on the block, and point B is on the link, then

ρA = 0, and ρB = ∞

𝐴𝐵𝐴 𝑅𝑇 = 0

𝐴𝐵𝐴 𝑅𝐿 = 0

𝐴𝐵𝐴 𝑀 = −2𝑉𝐵𝐴 . 𝜔𝐵 it can called as Coriolis component;

to obtain its direction, rotate VBA 90° in the direction of ωB as shown.

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

• When a block is sliding on a curved link, as shown,

- If A is on the block, and point B is on the link, then

ρA = 0
2
𝑅𝑇 𝑉𝐵𝐴
𝐴𝐵𝐴 =−
𝜌𝐵

𝐴𝐵𝐴 𝑅𝐿 = 0

𝐴𝐵𝐴 𝑀 = −2𝑉𝐵𝐴 . 𝜔𝐵

- If B is on the block, and point A is on the link, then

ρB = 0
2
𝑅𝑇 𝑉𝐵𝐴
𝐴𝐵𝐴 =−
𝜌𝐴

𝐴𝐵𝐴 𝑅𝐿 = 0

𝐴𝐵𝐴 𝑀 = −2𝑉𝐵𝐴 . 𝜔𝐴

• When one of the two sliding links is concave;

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

Acceleration for a link:

Acceleration for two sliding links:

⃗𝑨𝑩𝑨 = 𝑨𝑩𝑨 𝒏 . 𝒖
⃗ 𝒏 + 𝑨𝑩𝑨 𝑺𝑳 . 𝒖
⃗𝒕

𝑨𝑩𝑨 𝒏 = 𝑨𝑩𝑨 𝑹𝑻 + 𝑨𝑩𝑨 𝑴 + 𝑨𝑩𝑨 𝑹𝑳

𝑹𝑻 𝑽𝟐𝑩𝑨
𝑨𝑩𝑨 =−
(𝝆𝑨 + 𝝆𝑩 )

𝑴 𝟐𝑽𝑩𝑨 . (𝝎𝑨 . 𝝆𝑨 + 𝝎𝑩 . 𝝆𝑩 )
𝑨𝑩𝑨 =−
(𝝆𝑨 + 𝝆𝑩 )

𝑹𝑳 𝝆𝑨 . 𝝆𝑩 . (𝝎𝑨 − 𝝎𝑩 )𝟐
𝑨𝑩𝑨 =
(𝝆𝑨 + 𝝆𝑩 )

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

e- Acceleration polygon (diagram):

For any mechanism there is an image in the acceleration polygon for each link.

If the acceleration for any two points on a link have been found, the acceleration of
a third point on the link can be found by drawing the acceleration image.

The angular acceleration is equal to the tangential acceleration of any point on the
link relative to any other point on the link divided by the distance between the
𝐴𝑡𝐶𝐵
points 𝛼 =
𝐶𝐵

Example 5:
In the toggle mechanism shown in Example 2, obtain the acceleration of the ram E,
The angular acceleration of link EF.

Solution:
From velocity analysis:

ω2 = 31.4 c.w, ω3 = 8.74 c.w, ω4 = 32 c.w,

ω5 = 9.5 c.w, ω6 = 25.58 c.c.w, ω7 = 12.16 c.w,

𝐴𝐴𝑐 𝐴𝐴𝑡
𝐴𝐴 = 𝐴𝐴𝑐 + 𝐴𝐴𝑡 → 𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒: 𝜔22 . 𝑂𝐴 𝛼2 . 𝑂𝐴 = 0
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛: ∥ 𝐴𝑂 ⊥ 𝑂𝐴

𝐴𝐵 = 𝐴𝐴 + 𝐴𝐵𝐴

𝐴𝑐𝐵𝐴 𝐴𝑡𝐵𝐴
𝐴𝐵𝐴 = 𝐴𝑐𝐵𝐴 + 𝐴𝑡𝐵𝐴 → 𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒: 𝜔32 . 𝐴𝐵 𝛼3 . 𝐴𝐵 =?
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛: ∥ 𝐵𝐴 ⊥ 𝐵𝐴
𝐴𝑐𝐵 𝐴𝑡𝐵
𝐴𝐵 = 𝐴𝑐𝐵 + 𝐴𝑡𝐵 → 𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒: 𝜔42 . 𝑄𝐵 𝛼4 . 𝑄𝐵 =?
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛: ∥ 𝐵𝑄 ⊥ 𝐵𝑄

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

𝑄𝐶 𝑞 ′ 𝑐 ′
=
𝑄𝐵 𝑞 ′ 𝑏 ′

𝐴𝐷 = 𝐴𝐶 + 𝐴𝐷𝐶

𝐴𝑐𝐷𝐶 𝐴𝑡𝐷𝐶
𝐴𝐷𝐶 = 𝐴𝑐𝐷𝐶 + 𝐴𝑡𝐷𝐶 → 𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒: 𝜔52 . 𝐶𝐷 𝛼5 . 𝐶𝐷 =?
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛: ∥ 𝐷𝐶 ⊥ 𝐷𝐶
𝐴𝑐𝐷 𝐴𝑡𝐷
𝐴𝐷 = 𝐴𝑐𝐷 + 𝐴𝑡𝐷 → 𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒: 𝜔62 . 𝑆𝐷 𝛼6 . 𝑆𝐷 =?
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛: ∥ 𝐷𝑆 ⊥ 𝐷𝑆
𝑆𝐷 𝑆𝐸 𝐸𝐷
∆∆ 𝑆𝐷𝐸 𝑎𝑛𝑑 𝑠 ′ 𝑑 ′ 𝑒 ′ 𝑎𝑟𝑒 𝑠𝑖𝑚𝑖𝑙𝑎𝑟 ∴ = =
𝑠 ′ 𝑑 ′ 𝑠 ′ 𝑒 ′ 𝑒 ′ 𝑑′

𝐴𝐹 = 𝐴𝐸 + 𝐴𝐹𝐸

𝐴𝑐𝐹𝐸 𝐴𝑡𝐹𝐸
𝐴𝐹𝐸 = 𝐴𝑐𝐹𝐸 + 𝐴𝑡𝐹𝐸 → 𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒: 𝜔72 . 𝐹𝐸 𝛼7 . 𝐹𝐸 =?
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛: ∥ 𝐹𝐸 ⊥ 𝐹𝐸
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒: ?
𝐴𝐹 = {
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛: ↕
From acceleration diagram:

AF = 133.94 m/s2
(ab − b′ ) ∗ acc. scale (qb − b′) ∗ scale
𝛼3 = = 686.07, 𝛼4 = = 365.17
AB QB
(cd − d′) ∗ scale (sd − d′) ∗ scale
𝛼5 = = 225.67, 𝛼6 = = 1186.41
CD SD
(ef − f ′ ) ∗ scale
𝛼7 = = 490.59 rad/s 2
EF

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

Example 6:
For the Whitworth mechanism shown in Example 1, determine the absolute
acceleration of the tool support C; also find the angular accelerations of links QB
and BC.

Solution:
From velocity analysis:

ω2 = 33.33 rad/s c.w, ω4 = 23.81 c.w, ω5 = 4.65 c.w,

𝐴𝐴𝑐 𝐴𝐴𝑡
𝐴𝐴 = 𝐴𝐴𝑐 + 𝐴𝐴𝑡 → 𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒: 𝜔22 . 𝑂𝐴 𝛼2 . 𝑂𝐴 = 0
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛: ∥ 𝐴𝑂 ⊥ 𝑂𝐴

𝐴 𝑇 = 𝐴𝐴 + 𝐴 𝑇𝐴

𝐴𝑛𝑇𝐴 = 𝐴𝑀 𝑐𝑟
𝑇𝐴 = 𝐴 𝑇𝐴
𝑆𝐿
𝐴𝐵𝐴
𝐴 𝑇𝐴 = 𝐴𝑛𝑇𝐴 + 𝐴𝑆𝐿
𝑇𝐴 → 𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒: −2𝑉𝑇𝐴 𝜔4 ?
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛: ⊥ 𝑙𝑖𝑛𝑘 4(𝑎𝑠 𝑠ℎ𝑜𝑤𝑛) ∥ 𝑙𝑖𝑛𝑘 4

𝐴𝑐𝑇 𝐴𝑡𝑇
𝐴 𝑇 = 𝐴𝑐𝑇 + 𝐴𝑡𝑇 → 𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒: 𝜔42 . 𝑄𝑇 𝛼4 . 𝑄𝑇 =?
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛: ∥ 𝑇𝑄 ⊥ 𝑇𝑄
𝑄𝑇 𝑞 ′ 𝑡 ′
=
𝑄𝐵 𝑞 ′ 𝑏 ′

𝐴𝐶 = 𝐴𝐵 + 𝐴𝐶𝐵

𝐴𝑐𝐶𝐵 𝐴𝑡𝐶𝐵
𝐴𝐶𝐵 = 𝐴𝑐𝐶𝐵 + 𝐴𝑡𝐶𝐵 → 𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒: 𝜔52 . 𝐶𝐵 𝛼5 . 𝐶𝐵 =?
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛: ∥ 𝐶𝐵 ⊥ 𝐶𝐵
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒: ?
𝐴𝐶 = {
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛: ↔
From acceleration diagram:
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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

AC = 39.1 m/s2
(qt − t ′ ) ∗ acc. scale (bc − c′) ∗ scale
𝛼4 = = 117.8, 𝛼5 = = 146 rad/s 2
QT BC

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

Sheet (2)

Velocity and Acceleration

(Graphical Method)

1- Fig. (2-1) shows a mechanism which has the following links dimensions:
AB=DE=150, BC=CD=450and EF=375 mm. The crank AB makes an angle
45º with the horizontal and rotates about A in the C.W. direction at uniform
speed of 120 rpm. The lever DC, which is connected to AB by the coupler
BC, oscillates about the fixed point D. the slider F moves in horizontal
guides, being driven by the link EF. Find the angular velocities and
accelerations of links BC and CD. Find also the velocity and acceleration of
the slider F.

2- Fig. (2-2) shows a slider 2 moves to the left at constant velocity of 1 cm/s.
find the angular velocities and accelerations of link 3 and 6. OC=300,
CB=730, QB=450, AB=230, QA=330, and AP=210 mm.

3- For the shown mechanism in fig.(2-3) point R is moving to the left with
uniform speed of 5 m/s. find the velocity and acceleration of point E. the
links dimensions are OD=100 and DE=80 mm.

4- In the tilting block mechanism shown in fig. (2-4), the crank OA rotates at
200 rpm in C.W. direction. Determine the velocity and acceleration of the
slider F. the links dimensions are OC=150, OA=25, AB=180, BC=50,
AD=DB, and DE=EF=100 mm.

5- The yoke mechanism shown in fig. (2-5) actuates the slider C. The crank
rotates C.C.W. at 500 rpm. Find the velocity and acceleration of C when the
crank makes an angle of 45º with the horizontal datum. The links
dimensions are OA=50, BC=100 mm.

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

FIG. (2-1)

FIG. (2-2)

FIG. (2-3)

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Mechanics of Machinery I VELOCITIES AND ACCELERATIONS Dr. B.M. El-Souhily

FIG. (2-4)

FIG. (2-5)

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