Syllabus

UNIT 3: Velocity and Acceleration Analysis of Mechanisms

(Graphical Methods)
• Velocity and acceleration analysis of Four Bar mechanism, slider
crank mechanism and Simple Mechanisms by vector polygons:
• Relative velocity and acceleration of particles in a common link
• Relative velocity and accelerations of coincident Particles on
separate links.
• Coriolis component of acceleration
• Angular velocity and angular acceleration of links, velocity of
rubbing.
Relative Velocity of Two Bodies Moving in Straight Lines
• Here we shall discuss the application of vectors for the relative velocity of two
bodies moving along parallel lines and inclined lines, as shown in Fig.
• Consider two bodies A and B moving along parallel lines in the same direction with
absolute velocities vA and vB such that vA > vB , as shown in Fig. (a). The relative
velocity of A with respect to B is …….
• Now consider the body B moving in an inclined direction as shown in Fig. 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.
• Take any fixed point o and draw vector oa to represent vA in magnitude and
direction to some suitable scale.
• 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. 2 (b). In the similar way as discussed above, the relative velocity of A
with respect to B,
• Consider two points A and B on a rigid link
AB as shown in Fig.
• 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 AB.
• It is thus obvious, that the relative motion of B with respect to A
must be perpendicular to AB.
• Hence 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.
• 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. 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. 4
(b). The velocity diagram is drawn as follows :

VBA
VB

o a
VA
b
c

VBA
VB

o a
VA
Rubbing Velocity at pin joint
Acceleration Diagram for a Link
• Consider two points A and B on a rigid link as shown in Fig.(a).
• Let the point B moves with respect to A, with an angular velocity of ω rad/s and let
α rad/s2 be the angular acceleration of the link AB.
• Acceleration of a particle whose velocity changes both in magnitude and direction
at any instant has the following two components :
1. The centripetal or radial component, which is perpendicular to the velocity of the
particle at the given instant.
2. The tangential component, which is parallel to the velocity of the particle at the
given instant.
• Thus for a link AB, the velocity of point B with respect to A (i.e. vBA) is perpendicular
to the link AB as shown in Fig. 8.1 (a). Since the point B moves with respect to A
with an angular velocity of ω rad/s, therefore centripetal or radial component of
the acceleration of B with respect to A,

This radial component of acceleration acts

perpendicular to the velocity vBA, In other
words, it acts parallel to the link AB.
Acceleration of a Point on a Link
• Consider two points A and B on the rigid link, as shown in Fig. (a). Let the
acceleration of the point A i.e. aA is known in magnitude and direction and the
direction of path of B is given.
• The acceleration of the point B is determined in magnitude and direction by
drawing the acceleration diagram as discussed below.
1. From any point o', draw vector o'a' parallel to the direction of absolute
acceleration at point A i.e. aA , to some suitable scale, as shown in Fig.(b).

o' a'
2. We know that the acceleration of B with respect to A i.e. aBA has the following two
components:
(i) Radial component of the acceleration of B with respect to A i.e. arBA, and
(ii) Tangential component of the acceleration B with respect to A i.e. atBA
These two components are mutually perpendicular.
3. Draw vector a'x parallel to the link AB (because radial component of the
acceleration of B with respect to A will pass through AB), such that

o' a'

x
5. By joining the points a' and b' we may determine the total acceleration of B with
respect to A i.e. aBA. The vector a' b' is known as acceleration image of the link AB.
6. The angular acceleration of the link AB
is obtained by dividing the tangential b'
components of the acceleration of B aBA
with respect to A (atBA ) to the length aB
of the link.
Mathematically, angular acceleration of the o' a'
link AB, atBA
arBA

x
 Relative velocity and acceleration of particles in a
common link

1. First of all draw the space diagram, to some suitable scale; as shown
in Fig. (a).
To Draw Velocity Vector polygon
1. Draw vector ob perpendicular to BO, to some suitable scale, to represent the
velocity of B with respect to O or simply velocity of B i.e. vBO or vB, such that vector
ob = vBO = vB = 4.713 m/s
2. From point b, draw vector ba perpendicular to BA to represent the velocity of A
with respect to B i.e. vAB , and from point o draw vector oa parallel to the motion
of A (which is along AO) to represent the velocity of A i.e. vA. The vectors ba and
oa intersect at a.
3. By measurement, we find that velocity of A with respect to B,

vB
vAB

o a
vA
4. In order to find the velocity of the midpoint D of the connecting rod AB, divide the
vector ba at d in the same ratio as D divides AB, in the space diagram.
In other words, bd / ba = BD/BA
Note: Since D is the midpoint of AB, therefore d is also midpoint of vector ba.
5. Join od. Now the vector od represents the velocity of the midpoint D of the
connecting rod i.e. vD.
By measurement, we find that vD = vector od = 4.1 m/s

vB
d
vD vAB

o a
vA
Acceleration of the midpoint of the connecting rod
• We know that the radial component of the acceleration of B with respect to O or
the acceleration of B,

and the radial component of the acceleration of A with respect to B,

NOTE:1) A point at the end of a link which moves with constant

angular velocity has no tangential component of acceleration.
2) When a point moves along a straight line, it has no
centripetal or radial component of the acceleration.
Acceleration of the midpoint of the connecting rod
In the mechanism, as shown in Fig., the crank OA rotates at 20 r.p.m. anticlockwise and
gives motion to the sliding blocks B and D. The dimensions of the various links are OA =
300 mm; AB = 1200 mm; BC = 450 mm and CD = 450 mm. For the given configuration,
determine : 1. velocities of sliding at B and D, 2. angular velocity of CD, 3. linear
acceleration of D and 4. angular acceleration of CD.
In the toggle mechanism shown in Fig., the slider D is constrained to move on a
horizontal path. The crank OA is rotating in the counter-clockwise direction at a
Speed of 180 r.p.m. increasing at the rate of 50 rad/s2 . The dimensions of the various
links are as follows: OA = 180 mm ; CB = 240 mm ; AB = 360 mm ; and BD = 540 mm.
For the given configuration, find 1. Velocity of slider D and angular velocity of BD,
and 2. Acceleration of slider D and angular acceleration of BD.
1. Velocity of slider D and angular velocity of BD
First of all, draw the space diagram to some suitable scale, as shown in Fig. (a).

Now the velocity diagram, as shown in Fig.(b), is drawn as discussed below:

3.1 . Figure shows the configuration diagram of a four-link mechanism along
With the lengths of the links in mm. The link AB has an instantaneous angular velicity
of 10.5 rad/s and a redardation of 26rad/s𝟐 in the counter-clockwise direction. Find
(i) The angular acceleration of the link BC AND CD.
(ii) The linear acceleration of the points E,F and G.

Acceleration diagram

Velocity diagram
3.5. In the mechanism shown in fig.,the crank OA rotates at 60rpm .
Detrmine the (i) Linear acceration of the slider at B.
(II) Angular acceration of the link AC ,CQD and BD.

Acceleration diagram
velocity diagram
• Find out the acceleration of the slider D and the angular acceleration of link CD
for the engine mechanism shown in Fig. The crank OA rotates uniformly at 180
r.p.m. in clockwise direction. The various lengths are: OA = 150 mm ; AB = 450
mm;PB = 240 mm ; BC = 210 mm ; CD = 660 mm.
• The mechanism of a warping machine, as shown in Fig. 8.18, has the
dimensions as follows: O1A = 100 mm; AC = 700 mm ; BC = 200 mm ; BD = 150
mm ; O2D = 200 mm ; O2E = 400 mm ; O3C = 200 mm. The crank O1A rotates at
a uniform speed of 100 rad/s. For the given configuration,determine: 1. linear
velocity of the point E on the bell crank lever, 2. acceleration of the points E
and B, and 3. angular acceleration of the bell crank lever.
• In the mechanism shown in Fig. the slider C is moving to the right with a
velocity of 1 m/s and an acceleration of 2.5 m/s2. The dimensions of various
links are AB = 3 m inclined at 45° with the vertical and BC = 1.5 m inclined at 45°
with the horizontal. Determine: 1. the magnitude of vertical and horizontal
component of the acceleration of the point B, and 2. the angular acceleration of
the links AB and BC.
• 3.4.In the mechanism shown in fig.,the crank OA rotates at 210rpm clockwise. For the
given configuration,determine the acceration of the
Slider D and angular acceration of the link CD

3.6

3.7
 Relative velocity and accelerations of coincident
particles on separate links
• Coriolis Component of Acceleration
• Let a link AR rotate about a fixed point A on it. P is a point on a slider on the link. At ant
instant, angular velocity of the link(w), angular acceration, v, f, r. In a short interrval of
time dt, let delta theta be the angular displacement of the link and dr, the radial
displacement of the slider in the outward direction.