KINEMATIC ANALYSIS OF

2
UNIT - II
MECHANISMS
(ANALYTICAL METHODS)

Syllabus

Analytical methods for displacement, velocity and acceleration analysis of slider crank Mechanism.

Velocity and acceleration analysis of four bar and slider crank mechanisms using vector and complex
algebra methods. Computer-aided Kinematic Analysis of Mechanism like Slider crank and Four-Bar
mechanism, Analysis of Single and Double Hook’s joint.

TOPICS
2.1 Introduction ........................................................................................................................................................................................................................ 2-2

2.2 Linear and Angular Velocity ......................................................................................................................................................................................... 2-2

2.3 Linear and Angular Acceleration................................................................................................................................................................................ 2-2

2.4 Motion of a Particle Moving in a Circular Path..................................................................................................................................................... 2-3

2.5 Analytical Method ............................................................................................................................................................................................................. 2-4

2.6 Position Analysis of Links with Complex Algebra Method .......................................................................................................................... 2-15

2.7 Positions Analysis of Links With Vector Algebra Methods .......................................................................................................................... 2-22

2.8 Hooke’s Joint or Universal Coupling ...................................................................................................................................................................... 2-29

2.9 Computer-aided Kinematic Analysis of Mechanism like Slider crank and Four-Bar mechanism .............................................. 2-37
 Kinematics of Machinery (SPPU) 2-2 Kinematic Analysis of Mechanisms (Analytical Methods)

dS
2.1 Introduction  V = dt

where, S = Linear displacement of a body,

 Earlier unit we have defined a mechanism as a
kinematic chain with one link fixed. If one link of the t = time of displacement
mechanism is given a definite motion, the motion of The SI unit of linear velocity is mm/sec or m/sec.
other links is either completely or successfully Angular displacement
constrained. In other words, each link of the mechanism
is subjected to definite displacement, velocity and Definition : When body is displaced along a circular
acceleration at a particular instant. path then it is called an angular displacement.
 In this unit and next unit our aim is to determine the  Consider a link OA which rotate about centre ‘O’ inclined
velocity and acceleration of links in a mechanism. at angle  with X-axis as shown in Fig. 2.2.2. Let link OA
 Various methods are used to determine the velocity and move by angle d in time dt.
acceleration of links in mechanism are as follows:
1. Relative velocity and relative acceleration method.
2. Instantaneous centre method.
3. Klein’s construction.
4. Analytical method.
5. Complex algebra method.
6. Vector algebra method.
 Out of above six methods first three methods are called
as graphical methods and next three methods are
called an analytical solution.
Fig. 2.2.2 : Angular displacement of body
 In this unit we are going to learn about analytical
method to determine the velocity and acceleration of Angular Velocity
links in a mechanism.
Definition : The rate of change of angular
2.2 Linear and Angular Velocity displacement of body with respect to time is called as
angular velocity.
Linear displacement
It is denoted by ‘’.
Definition : When the body is displaced along a d
 = dt
straight path, then it is called a linear
displacement. where,  = angular displacement of a body,
t = time of displacement
The SI unit of angular velocity is rad/sec.

2.3 Linear and Angular

Acceleration

Fig. 2.2.1 : Linear displacement of body Linear Acceleration

Definition : Linear Acceleration is defined as the

 Consider Fig. 2.2.1, the body A is displaced linearly from
rate of change of linear velocity with respect to time. It
position 1 to position 2 through a distance ‘S’. The SI
is vector quantity.
unit of linear displacement is mm or m.
Linear Velocity  It should be noted that the direction of acceleration
vector need not be the same as that of velocity vector
Definition : The rate of change of linear displacement except when a particle is moving on a straight path.
of body with respect to time is called as linear  Further, the direction of acceleration vector may by
velocity. opposite to velocity vector even in case of motion on a
It is denoted by ‘V’. straight path if the particle is retarded (decelerated)
instead of being accelerated.
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-3 Kinematic Analysis of Mechanisms (Analytical Methods)

 Linear Acceleration is usually represented by letter ‘f’ or   

But, pa = oq cos dop
‘a’. Mathematically,

dV or, pa = (V + dV) cos d V …(ii)
Linear acceleration, f = dt
dS
But, velocity, V = dt

(Where, S is linear displacement)

d dS d2S
 f = dt ⎛ dt ⎞ = 2
⎝ ⎠ dt
dV dV dS dV
Also, f = dt = dS  dt = dS V

Angular Acceleration

Definition : Angular acceleration,  is defined as

the rate of change of angular velocity with respect to
time.
Mathematically,
d
Angular acceleration, = dt
Fig. 2.4.1 : Motion of a particle
d
But  = dt moving in a circular path

(where,  is angular displacement) But, cos d~

– 1 if d is small. Equation (ii) reduces to,
d d d2
 = dt ⎛ dt ⎞ = 2

⎝ ⎠ dt pa = dV …(iii)

 Angular displacement, velocity and acceleration are all  

Also, aq = oq sin d
vector quantity and these are represented according to  
right hand screw rule. aq = oq d (Since d is small)

2.4 Motion of a Particle Moving in a aq = (V + dV) d = V d + dV d

Circular Path aq ~
– V d (neglecting the products of

 Consider a link OP moving on a circular path about dV and d being small quantities) …(iv)
centre O in clockwise direction. It’s radius of rotation is dV
‘r’. Since, acceleration, f = , the components of
d
 Let the particle P move to point Q in time dt. Let its acceleration from Equations (iii) and (iv) can be determined
angular displacement be d while its tangential velocity as follows :
is changed from V to (V + dV) as shown in Fig. 2.4.1. t
2.4.1 Tangential Acceleration, f
 The velocity of particle is always in the direction
tangential to the circle in the direction of motion. Tangential Acceleration
  Definition : The component of acceleration in the
 Therefore, draw vector op and oq to represent the

 direction of initial velocity vector op i.e. velocity V or
velocity of points P and Q respectively. Then vector pq
in the direction perpendicular to link OP is called
will represent the change in velocity in time dt.
tangential acceleration.

 Vector pq can be resolved in two directions as follows : It is represented by f t. From Equation (iii), we have,
a) In the direction parallel to initial velocity vector V 
 t
pa dV
represented by vector pa . F = dt = dt
b) In the direction parallel to link OP represented by  Therefore tangential acceleration is the rate of change of

vector aq . velocity with respect to time t.
  
Therefore, vector pq = vector pa + vector aq …(i)
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-4 Kinematic Analysis of Mechanisms (Analytical Methods)
d d
Also, f t = dt (r) = r  dt

or, f t = r …(2.4.1)

c
2.4.2 Centripetal Acceleration, f
Centripetal Acceleration

Definition : The component of acceleration in the


direction of vector aq i.e. in the direction parallel to Fig. 2.5.1 : I.C. engine mechanism
link OP and its direction towards the centre of
rotation O is called centripetal acceleration. Let, r = length of crank ;

It is denoted by fc. Therefore, fc from Equation (iv) can l = length of connecting rod ;
be written as, l
n = obliquity ratio = r ;

c
aq V d  = angle turned by crank from I.D.C. in clockwise ;
f = dt = dt
 = angular velocity of crank ;
or, f c = V 
 = angle of inclination of connecting rod ;
Since, V = r xp = displacement of piston from I.D.C. to B.D.C.
V2 VP = velocity of piston ;
 fc = 2r = r …(2.4.2)
fP = acceleration of piston.
2.4.3 Total Acceleration, f
a) Displacement of piston
Total Acceleration
When crank moves from I.D.C. to O.D.C. through angle ‘’
Definition : The total acceleration, f is the vector from I.D.C., then displacement of piston is given by,
sum of ft and fc, xP = P1 P = OP1 OP = (l + r)  (r cos  + l cos )
Therefore, xP = l + r  r cos l cos 
t
f = f +f c
…(2.4.3) = r (1 cos ) + l (1  cos ) …(2.5.1)
from Fig. 2.5.1
2.5 Analytical Method
CN = r sin  = l sin 
r
University Questions sin = l sin 
Q. Derive formula for analytically calculating
sin  ⎡· · l⎤
instantaneous linear velocity of slider from a slider sin = n …⎣ · n = r ⎦ …(i)
crank mechanism.
SPPU -Dec. 13, May 17, May 18 , Dec. 19 We know that,
Q. Derive an equation for velocity of piston in an I.C. sin  + cos2 = 1
2

engine mechanism, when crank rotates with uniform cos  = 1  sin2

angular velocity using analytical method.
On substituting the value of sin  from Equation (i) we
SPPU -May 15
get,
 Analytical method is used for finding out velocity and sin2
 cos  = 1 …(ii)
acceleration of various parts of I.C. engines by using n2
approximate equations derive analytically. n2 sin2
cos  = n …(iii)
 Consider the I.C. engine mechanism in which ‘OC’ be the
On substituting the value of cos  in Equation (2.5.1),
crank and ‘CP’ is the connecting rod.
 Let the crank rotate with angular velocity of  rad/sec xP =
⎛
r (1  cos ) + l 1 
n2 sin2 ⎞
⎝ n ⎠
and the crank turn through an angle ‘’ from the I.D.C as
xP = r (1  cos ) + n r 1 
⎛ n2 sin2 ⎞ ··
shown in Fig. 2.5.1. ⎝ n ⎠ …[ · l = nr]
xP = r (1  cos ) + r (n  n2 sin2) …(2.5.2)

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-5 Kinematic Analysis of Mechanisms (Analytical Methods)
b) Velocity of piston d) Angular velocity of connecting rod
Since, velocity of piston is rate of change of sin 
We know that, sin  = n
displacement with respect to time t,
d (xP) d d differentiating above equation with respect to time t,
 VP = dt =  dt (xP) d d ⎛sin ⎞
d
We get, dt (sin ) = dt⎝ n ⎠
d d
=  (x ) …⎡···  = dt ⎤
d P ⎣ ⎦ d d d d ⎛sin ⎞
  dt  sin  = 
d d d dt ⎝ n ⎠
 VP = 
d [
r (1  cos ) + r (n  n2 sin2 ) ] d cos  d
d cos  dt = n . dt
 VP = r
d [
(1  cos ) + (n  n2 sin2 ) ] d
⎡ 1 ⎤
Put dt =  = angular velocity of crank
VP =   r ⎢ (0  ( sin ) + ( 0  ⎛ ⎞ ( 2 sin  cos ) ⎥
⎣ ⎝2 n  sin2 ⎠
2
⎦ d
and dt = pc = angular velocity of connecting rod.
⎡ sin 2 ⎤
 VP =   r ⎢ sin  + ⎥ cos 
⎣ 2 n2 sin2 ⎦ cos   pc = n 
Since, l > r n>1  cos 
pc =
Therefore n is large value as compared to sin , so
2 2 n cos 
neglecting sin2 we get, Put value of cos  from Equation (iii) in above equation
sin 2 cos  cos 
VP =   r ⎡sin  + 2n ⎤ …(2.5.3) pc = = …(2.5.6)
⎣ ⎦ n n2 sin2 n2 sin2
c) Acceleration of piston n

Since acceleration is rate of change of velocity with Since l > r n > 1

respect to time t, Therefore n is large value as compared to sin2, so
2

d d d d (VP) neglecting sin2 we get

fP = dt (VP) =  dt  (VP) =  
d d  cos 
pc = n …(2.5.7)
d⎡ sin 2
fP =   r ⎛sin  + 2n ⎞⎤
d⎣ ⎝ ⎠⎦ e) Angular acceleration of connecting rod
cos 2
= 2  r ⎛cos  + 2n  2⎞ Since angular acceleration is rate of change of angular
⎝ ⎠ velocity of connecting rod with respect to time t,
cos 2⎞
fP = 2  r ⎛cos  + …(2.5.4) d
⎝ n ⎠ Therefore,pc = dt (pc)
Note : If angular velocity of crank is not uniform i.e. d d d ⎛ cos ⎞ d
=  ( ) =
d
angular velocity of the crank is changing at the rate  = dt . d dt pc d ⎝ n ⎠ dt
d ⎛ cos ⎞ d
pc =  …⎡··· dt = ⎤
where,  is angular acceleration of the crank d ⎝ n ⎠ ⎣ ⎦
d sin 2 2 2
 fp =   ⎡  r ⎛sin  + 2n ⎞ ⎤ pc = n ( sin ) = n sin  …(2.5.8)
d⎣ ⎝ ⎠⎦
d⎡ ⎛ sin 2 Negative sign indicates that acceleration of connecting
= r  sin  + 2n ⎞ ⎤
d⎣ ⎝ ⎠⎦ rod is such that it tends to reduce the angle  or the
2 cos 2⎞ ⎛ sin 2⎞ d ⎤ direction of angular velocity of crank ‘’ and angular
 fp =   r ⎡  ⎛cos  + 2n ⎠ + ⎝sin  + 2n ⎠ d ⎦
⎣ ⎝ acceleration of connecting rod have same direction.
cos 2  sin 2
r⎡  ⎛cos  + n ⎞ + ⎛sin  + 2n ⎞ ⎤
Note : If angular velocity of crank is not uniform i.e.
 fp =
⎣ ⎝ ⎠ ⎝ ⎠⎦ d
angular velocity of the crank is changing at the rate  = dt .
⎡ d d dt 1⎤
… ⎢ ··· =  = ⎥ d ⎛ cos ⎞  d
⎣ d dt d ⎦
pc =  = (cos)
d⎝ n ⎠ n d
cos 2⎞ sin 2⎞
 fp = 2 r ⎛cos  + ⎛
n ⎠ + r ⎝sin  + 2 n ⎠  d
⎝ = n ⎡ ( sin ) + cos  ⎤
⎣ d ⎦
…(2.5.5)
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-6 Kinematic Analysis of Mechanisms (Analytical Methods)
  d ⎤
pc = n ⎡ sin  + cos ⎤ …⎡··· = =  697.89 rad/s2 …Ans.
⎣  ⎦ ⎣ d ⎦
Negative sign indicate that acceleration of connecting
2  rod is such that it tends to reduce the angle .
pc = n sin  + n cos  …(2.5.9)
Ex. 2.5.2 : In an I.C. engine mechanism, the stroke length is
Equations to be remember for solving the 200 mm and obliquity ratio is 4. The crank rotates at a
problems on analytical method uniform speed of 1500 r.p.m. in clockwise direction. When
for IC engine mechanism the piston has moved through 50 mm from bottom dead
centre, determine by analytical method :
r ⎛sin  +
sin 2⎞
(i) The velocity and acceleration of piston.
1. Velocity of piston is, Vp =
⎝ 2n ⎠
(ii) The angular velocity and angular acceleration of the
Acceleration of the piston is, fp =  r ⎛cos  +
2 cos 2⎞
2.
⎝ n ⎠ connecting rod. Indicate the directions.
cos  Soln. :
3. Angular velocity of connecting rod is,pc = n Given : Length of stroke, S=2r = 200 mm ;
4. Angular acceleration of the connecting rod is, 200

2 Radius of crank, r = 2 = 100 mm
pc =  n sin 
Obliquity ratio, n = l / r = 4 ;
5. Displacement of piston is,
2 2
xP= r (1 + n  cos  n  sin  ) Speed of crank, N = 1500 rpm

Ex. 2.5.1 : The stroke of a steam engine is 15 cm and the  = 157.08 rad/s.
connecting rod is 30 cm in length. Determine the velocity and Piston is moved through 50 mm in clockwise direction
acceleration of the piston when the crank has made from B.D.C.
45measured from i.d.c position and rotates at 600 r.p.m. xp = 0.05 m
Also determine the angular velocity and angular acceleration
of connecting rod. (SPPU - Dec. 12, 8 Marks Displacement of piston is, xP = r (1 + n  cos   n2 sin2 )

Soln. :  0.05 = 0.1 (1 + 4  cos   16  sin2 )

Given :Length of stroke, S = 2r = 15 cm  0.5 = 5  cos   16  sin2

15 (16  sin2) = (4.5 cos )2
 Radius of crank, r = 2 = 7.5 cm
16  sin2 = 20.25  9 cos  + cos2
Length of connecting rod, l= 30 cm 16  sin2 = 20.25  9 cos  + 1  sin2
Obliquity ratio , l / r = 30 / 7.5 = 4  9 cos  = 5.25
Speed of crank, N = 600 rpm cos  = 0.5833
2  N 2  600  = 54.31 from B.D.C. in clockwise
 = 60 = 60 = 20  rad/s
i.e.  = 180 + 54.31 = 234.31 from T.D.C.
Crank angle,  = 45 sin 2
Velocity of piston is, VP =  r ⎡sin  + 2n ⎤
Velocity of piston is,
sin 2
Vp = r ⎛sin  + 2n ⎞
⎣ ⎦
⎝ ⎠ sin 468.62⎤
VP = 157.08  0.1 ⎡sin 234.31 +
or, Vp = (20 ) 7.5 ⎛sin 45 +
sin 90⎞
= 392.12 cm/s ⎣ 24 ⎦
⎝ 24⎠
=  10.8988 m/s …Ans.
…Ans.
Piston is moving from B.D.C. to T.D.C.
Acceleration of the piston is,
cos 2⎤
cos 2 Acceleration of piston is, fP = 2 r ⎡cos  +
fp = 2r ⎛cos  + n ⎞ ⎣ n ⎦
⎝ ⎠ cos 468.62⎤
cos 90 fP = (157.08)2  0.1 ⎡cos 234.31 +
= (20  )  7.5 ⎛cos 45 + 4 ⎞
2 ⎣ 4 ⎦
⎝ ⎠
=  1636.44 m/s2 …Ans.
fp = 20936.6 cm/s2 = 209.366 m/s2 …Ans.
Piston is moving from B.D.C. to T.D.C.
cos  (20 ) cos 45
pc = n = 4 = 11.107 rad/s …Ans. Angular velocity of connecting rod is,
2 (20 )2  cos   cos 
pc =  n sin  =  pc = or
4  sin 45 n  sin  n
2 2

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-7 Kinematic Analysis of Mechanisms (Analytical Methods)
cos 234.32 Case II : When connecting rod is perpendicular to
pc = 157.08
16  sin2 234.31 crank is shown in Fig.P.2.5.3(b).
=  23.397 rad/s …Ans.
Negative sign indicate connecting rod moves opposite to
crank rotation direction.
Step 5 : Calculate angular acceleration of connecting
rod, pc
Angular acceleration of connecting rod is,
2  (157.08)2
pc =  n sin  = 4 sin 234.31 Fig. P.2.5.3(b)

= 5009.99 rad/s2 …Ans. l 1

tan = r = n = 4  = tan 4 = 75.96
Ex. 2.5.3 : In a slider crank mechanism, the stroke of the
Velocity of piston at =75.96
slider is 200 mm and the obliquity ratio is 4. The crank
sin 2
rotates uniformly at 360 r.p.m. clockwise. While the crank is VP =  r ⎡sin  + 2n ⎤
⎣ ⎦
approaching the inner dead centre position and the
sin (151.92)⎤
 VP = (37.69) 0.1 ⎡sin (75.96) +
connecting rod is perpendicular to the crank, find the velocity ⎣ 24 ⎦
and acceleration of the piston.
= 3.87 m/sec. …Ans.
Soln. :
Acceleration of piston at =75.96
Given : Length of stroke, S = 2r = 200 mm cos 2
fP = 2 r ⎡cos  + n ⎤
200 ⎣ ⎦
 Radius of crank, r = 2 = 100 mm
cos (152.92)⎤
= (37.69)2  0.1 ⎡cos (75.96) +
Obliquity ratio, n = 4 ⎣ 4 ⎦
fP = 3.13 m/sec2 …Ans.
Length of connecting rod, l = n  r = 4  100 = 400 mm
Ex. 2.5.4 : A reciprocating engine has a crank 60 mm long,
Speed of crank, N = 360 rpm
and the connecting rod is 240 mm long. It runs at 1200 r.p.m.
2  N 2  360
 = 60 = 60 = 37.69 rad/sec Find by analytical method :
(i) Maximum velocity of piston and the corresponding
Case I : When crank is approaching the I.D.C. i.e. crank angle.
 = 0 as shown in Fig. P.2.5.3(a).
(ii) Acceleration of piston when the crank is at 120 past
I.D.C. (SPPU - Dec. 13, 8 Marks)
Soln. : Given :
Radius of crank, r = 60 mm, ;
Length of connecting rod, l = 240 mm, ;
l 240
Obliquity ratio, n = r = 60 = 4;

Speed of crank, N = 1200 r.p.m.

and angular velocity of the crank,
Fig. P.2.5.3(a) 2  N 2  1200
 = 60 = 60 = 125.66 rad/sec
Velocity of piston at  = 0
sin 0 For piston velocity to be maximum the piston
VP =  r ⎡sin 0 + 2n ⎤ = 0 …Ans.
⎣ ⎦ acceleration shall be zero as per the condition for maxima-
Acceleration of piston fp at  = 0 minima.
cos ⎤ cos 0⎤ Thus, for Vmax :
fP = 2· r⎡cos  + 2 ⎡
n ⎦ =  r ⎣cos 0 + n ⎦
⎣ dVP
1 1 dt = fP = 0
fP =  2 r ⎡ 1 + n⎤ = (37.69)2 0.1 ⎡1 + 4⎤
⎣ ⎦ ⎣ ⎦ cos 2⎞
2 r ⎛cos  + n ⎠ = 0
= 177.56 m/sec 2
…Ans. ⎝

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-8 Kinematic Analysis of Mechanisms (Analytical Methods)

2 cos2 1 Speed of crank, N = 250 rpm

cos  + n = 0
2  N 2  250
 = 60 = 60 = 26.18 rad/sec
 2 cos2 + n cos   1 = 0
n Crank angle,  = 50 from I.D.C.
 cos2 + 2 cos   0.5 = 0
Velocity of piston is,
4
 cos2 + 2 cos   0.5 = 0 sin 2
VP = · r⎡sin  + 2n ⎤
⎣ ⎦
 cos2 + 2 cos   0.5 = 0 sin (100)⎤
 VP = 26.18  0.3 ⎡sin (50) +
The solution for the above quadratic equation is, ⎣ 25 ⎦
2 (2)2 4 (1) ( 0.5) = 6.79 m/sec …Ans.
cos  = 2 Acceleration of piston is,
2 6 cos 2⎤
= 0.2247 and  2.2247 fp = 2· r⎡cos  +
= 2 ⎣ n ⎦
cos (100)⎤
But cos  cannot be more than one. Hence the acceptable fp = (26.18)2 0.3 ⎡cos (50) +
⎣ 5 ⎦
solution is
= 125.03 m/sec2 …Ans.
cos  = 0.2247
Position of crank for zero acceleration of piston is
The corresponding crank positions are
1 (i.e. when fp = 0)
1 = cos 0.2247 and 2 = 360 1
cos 2⎤ cos 2
1 = 77.01 and 2 = 282.99 0 = 2 r ⎡cos  + n ⎦ = cos  + n
⎣
Twice in every rotation of the crank the piston will move (2 cos2 1)
with maximum velocity. The directions of these two cos  + 5 = 0
velocities will be opposite to each other. 5 cos  + (2 cos2 1)
 5 = 0
Thus,
⎛ sin 21⎞  5 cos  + 2 cos2  1 = 0
Vmax =  r sin 1+
⎝ 2n ⎠
 2 cos2  + 5 cos  1 = 0
sin (2  77.01)⎞
 Vmax = 125.66  60 ⎛sin 77.01 + The solution for the above quadratic equation is,
⎝ 24 ⎠
5 52 4 (2) ( 1)
= 7759.50 mm/s …Ans. cos  = =  2.686 and 0.1861
22
Acceleration of the piston at  =120
But cos  cannot be more than one. Hence the acceptable
cos 2
fp = 2 r ⎛cos  + n ⎞ solution is,
⎝ ⎠
cos (2  120)⎞ Cos  = 0.1861
fp = (125.66)2 60 ⎛cos 120 +
⎝ 4 ⎠ 1 = 79.27and 2 = 360  79.27 = 280.73 …Ans.
=  592141.34 mm/s 2
…Ans.  Twice in every rotation of the crank the acceleration
The negative sign indicates the direction of the piston is zero.
acceleration is towards I.D.C. Ex. 2.5.6 : The connecting rod of an horizontal engine is 400
Ex. 2.5.5 : The crank and connecting rod of steam engine mm long between the centres. The obliquity ratio is 4 and
are 0.3 m and 1.5 m in length. The crank rotates at 250 rpm crank rotates uniformly at 2000 rpm clockwise. When the
clockwise. Determine by analytical method the velocity and piston has travelled 50 mm form inner dead centre,
acceleration of the piston when the crank is 50 from I.D.C. determine using analytical method.
position. Also determine the position of crank for zero (i) Angular position of crank.
acceleration of the piston. (ii) Velocity and acceleration of piston.
(iii) Angular velocity of connecting rod.
Soln. : Given :
Soln. :Given : Length of connecting rod, l=400 mm = 0.4 m
Radius of crank, r = 0.3 m
Obliquity ratio, n = 4
Length of connecting rod, l = 1.5 m l 400
l 1.5  Radius of crank, r = n = 4 = 100 mm = 0.1 m
 Obliquity ratio, n = r = 0.3 = 5

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-9 Kinematic Analysis of Mechanisms (Analytical Methods)

Speed of crank, N = 2000 rpm Length of connecting rod, l = 150 m = 0.15 m

2  N 2  2000 l 0.15
 = 60 = = 209.43 rad/sec  Obliquity ratio, n = r = 0.03 = 5
60
Piston is moved through 50 mm from I.D.C. Speed of crank, N = 600 rpm
xP = 0.05 m 2  N 2  600
 = 60 = 60 = 62.83 rad/sec
Displacement of piston is,
xP = r (1 + n  cos   n2 sin2 ) For the maximum velocity of piston, the acceleration of
piston must be zero as per the condition for maxima-
 0.05 = 0.1 (1 + 4  cos   16  sin2 ) minima. Thus, for Vmax :
 0.5 = 5  cos   16  sin2 dVP
 (16  sin2) = (4.5 cos )2 dt = fp = 0
cos 2⎤
2r ⎡cos  +
 16  sin2 = 20.25  9 cos  + cos2 
⎣ n ⎦ = 0
= 20.25  9 cos  + 1  sin2
cos 2
 9 cos  = 5.25 cos + n = 0
cos  = 0.5833 2 cos2 1
cos  + n = 0
 = 54.31 from I.D.C in clockwise
Velocity of piston is, 2 cos2 1
cos  + 5 = 0
sin 2
VP =  r ⎡sin  + 2n ⎤ 5 cos  + 2 cos2  1 = 0
⎣ ⎦
sin (108.62)⎤  2 cos2 + 5 cos  1 = 0
 VP = 209.43  0.1 ⎡sin (54.31) +
⎣ 24 ⎦ The solution for the above quadratic equation is,
= 19.49 m/sec …Ans. 5 52 4 (2) ( 1)
cos  = =  2.68 and 0.1861
Positive sign indicates piston is moving from IDC or TDC 22
to BDC But cos  can not be more than one, Hence the
Acceleration of piston is, acceptable solution is,
cos 2 cos  = 0.1861  = 79.27 and 280.73
fp = 2 r ⎡cos  + n ⎤
⎣ ⎦ Twice in every rotation of the crank the piston will move
cos (108.62)⎤
 fp = (209.43)  0.1 ⎡cos (54.31) +
2 with maximum velocity (i.e. when  = 79.27 and  =
⎣ 4 ⎦ 280.73). The directions of these two velocities will be
= 2208.73 m/sec2 …Ans. opposite to each other.
sin 2
Vmax =  r ⎡sin  + 2n ⎤
Positive sign indicates piston is moving from TDC to
BDC ⎣ ⎦
sin (158.54)⎤
Angular velocity of connecting rod is,  Vmax = 62.63  0.03 ⎡sin (79.27) +
⎣ 25 ⎦
 cos   cos 
pc = or n = 1.9147 m/sec …Ans.
n  sin 
2 2

209.43 cos (54.31) Acceleration of piston at  = 0

pc = = 31.34 rad/sec…Ans.
cos ()
16  sin2 (54.31) fp = 2 r ⎡cos () + 5 ⎤
⎣ ⎦
Positive sign indicates that connecting rod moves in
cos (0)⎤
same direction as crank rotation i.e. clockwise direction. = 2 r ⎡cos (0) +
⎣ 5 ⎦
Ex. 2.5.7 : A slider crank mechanism with zero offset has the 1
fp = (62.83)2 0.03 ⎡1 + 5⎤
crank and connecting rod lengths equal to 30 mm and 150 ⎣ ⎦
mm respectively. The crank rotates at 600 rpm in clockwise
2
direction using analytical method, find = 142.1139 m/sec …Ans.
(i) The maximum velocity of slider and the corresponding Acceleration of piston at  = 180
cos ()
fp = 2 r ⎡cos () + 5 ⎤
crank position.
(ii) The acceleration of the slider in its extreme positions. ⎣ ⎦
cos (360)⎤
(SPPU - May 12, 8 Marks)
= 2 r ⎡cos (180) +
Soln. :Given :Radius of crank, r = 30 mm = 0.03 m ⎣ 5 ⎦

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-10 Kinematic Analysis of Mechanisms (Analytical Methods)
1
fp = (62.83)2 0.03 ⎡ 1 + 5⎤ =  94.74 m/sec2 = 608.2 mm/sec …Ans.
⎣ ⎦
Acceleration of the piston is,
…Ans.
cos 2
fp = 2· r⎡cos  + n ⎤
The negative sign indicates the directions the piston ⎣ ⎦
acceleration is towards I.D.C. cos 60⎤
= 102 400 ⎡cos 30 +
Ex. 2.5.8 : Crank radius and connecting rod length for an IC ⎣ 4 ⎦
engine mechanism are 10 cm and 40 cm respectively. The = 9910.25 mm/sec2 …Ans.
crank is rotating uniformly at 1050 rpm clockwise. Using Angular acceleration of the connecting rod is,
analytical method, find out the acceleration of piston as well 2 102
pc =  n sin  =  4 sin 30
as the angular acceleration of connecting rod when the crank
is at 20 past the bottom dead centre. =  12.5 rad/sec2 …Ans.
Soln. : Given :
Ex. 2.5.10 : An I.C. engine runs at 2000 rpm. The length of
Radius or crank, r = 10 mm the connecting rod is 270 mm and crank radius is 60 mm.
Length of connecting rod, l = 40 cm Determine at 30% of outstroke :
l 40 (i) Angular position of the crank
obliquity ratio, n = r = 10 = 4
(ii) Linear velocity of the piston
Speed of crank, N = 1050 r.p.m. (iii) Linear acceleration of the piston
2  N 2  1050
 = 60 = 60 = 109.95 rad/sec. (iv) Angular velocity of the connecting rod
(v) Angular acceleration of the connecting rod
Crank angle,  = 20 from B.D.C.
Soln. :
 = 180 + 20 = 200 from T. D. C.
Acceleration of piston is, Given: N = speed of crank = 2000 rpm
cos 2⎤ l = length of connecting rod = 270 mm
fp = 2 r ⎡cos  +
⎣ n ⎦ r = radius of crank = 60 mm
cos 2  200⎤
fp = 109.952 4 ⎡cos 200 + xP = displacement of piston at 30% out-stroke
⎣ 4 ⎦ 270
=  904.57 m/sec2. …Ans. n = l / r = 60 = 4.5

Acceleration of connecting rod is, 2N

 = 60 = 209.44 rad/s
2 sin 
pc = n xp = 0.3  stroke length
 109.952 sin 200 = 0.3  2 r
pc = 4 = 1033.67 rad/sec2 …Ans.
··· outstroke = in stroke = stroke length
Ex. 2.5.9 : In IC engine mechanism has crank 10 cm long = 0.3  2 60 = 36 mm
and connecting rod 40 cm long. The crank rotates clockwise
i) Angular position of the crank ()
at 10 rad/s and at a particular instant it is inclined to inner
 Displacement of piston from TDC is given by
dead centre position at 30. Using either Analytical method
xp = r (1 + n  cos   n2 sin2 )
or Klein’s construction method, determine :
(i) Velocity of piston 36 = 60 (1 + 4.5  cos   n2 sin2 )
(ii) Acceleration of piston 0.6 = 5.5  cos   (4.5)2 sin2
(iii) Angular acceleration of connecting rod (4.5)2 sin2 = 4.9  cos 
Soln. : Squaring both sides
Given: r = 10 mm, l = 40 cm, n= 4, = 10 rad/sec,  = 30 4.52 sin2 = (4.9 cos )2
Velocity piston is, 20.25  (1  cos2) = 4.92 2  4.9 cos  + cos2
sin 2
Vp = · r⎛sin  + 2n ⎞ 19.25 + cos2 = 24.01  2  4.9 cos  + cos2
⎝ ⎠
sin 60⎤ 9.8 cos  = 4.76
= 10  400 ⎡sin 30 +
⎣ 24⎦ cos  = 0.4857  = 60.94 …Ans.

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-11 Kinematic Analysis of Mechanisms (Analytical Methods)
ii) Linear velocity of piston Ex. 2.5.12 : In a slider crank mechanism, the crank is
sin 2 
Vp = r ⎛sin  + 2 n ⎞ 200 mm long and connecting rod 800 mm long. Find the
⎝ ⎠ velocity and acceleration of piston and angular velocity and
sin (2  60.94)⎤
= 60  209.44 ⎡sin 60.94 + angular acceleration of connecting rod, when the crank has
⎣ 2  4.5 ⎦
turned through 60 from inner dead centre. The angular
Vp = 12.17 m/sec …Ans. velocity of the crank is 20 rad/sec and is increasing at the
iii) Acceleration of piston 2
rate of 10 rad/sec . Use approximate Analytical method.
cos 2 ⎞
fp = r 2⎛cos  + Soln. : Crank length, r = 200 mm = 0.2 m
⎝ n ⎠
cos (2  60.94) ⎞ C.R. length, l = 800 mm = 0.8 m
= 60  (209.44)2⎛cos 60.94 +
⎝ 4.5 ⎠ l 0.8
Obliquity ratio, n=r = 0.2 = 4
= 969490.18 mm/s2 =969.49 m/s2 …Ans.
iv) Angular velocity of connecting rod (pc) Angular velocity of crank =  = 20 rad/sec

 cos  (209.44) cos 60.94  = 60 from inner dead centre.

pc = n = 4.5 Velocity of piston, Vp is,
sin 2
= 22.607 rad/s …Ans. Vp = r⎡sin  + 2n ⎤
v) Angular acceleration of connecting rod (pc)
⎣ ⎦
sin 2 (60)⎤
2 sin   (209.44)2 sin 60.49 = 20  0.2 ⎡sin 60 +
pc = = ⎣ 24 ⎦
n 4.5
= 3.897 m/s …Ans.
=  8520.667 rad/s2 …Ans.
Acceleration of piston fp is,
Ex. 2.5.11 : In an I.C. Engine Mechanism the peripheral cos 2
fp = 2 r⎡cos  + n ⎤
velocity of crank pin is constant at 150 cm/s. and it has ⎣ ⎦
2
instantaneous acceleration of 3750 cm/s . Using analytical
⎡ cos 120 ⎤
= 202 0.2 cos 60 +
method, find out acceleration of piston as well as angular ⎣ 4 ⎦
acceleration of connecting rod when the connecting rod is = 30 rad/sec2 …Ans.
normal to the crank and obliquity ratio is 5. Angular velocity of connecting rod is,
Soln. : Given : Peripheral velocity of crank  cos  20 cos 60
CR = n = 4
V = 150 cm/s V = r  = 150 cm/sec …(i)
2
f = r = 3750 cm/sec 2 CR = 2.5 rad/sec …Ans.
150  Angular acceleration of connecting rod is,
from Equation (i) r =
 – 2 sin  – 202 sin 60
CR = =
f = r 2 = 3750  4
150 2 CR = – 86.60 rad/sec2 …Ans.
 = 3750  = 25 rad/sec

Ex. 2.5.13 : In a slider crank mechanism, crank radius is 200
V = 150 = r  ; 150 = r  25 r = 6 mm and obliquity ratio is 4. When the crank and connecting
Obliquity ratio = 5 rod are mutually perpendicular to each other and :
1 1 (i) the crank rotates at a uniform angular speed of 240 rpm
  = tan (obliquity ratio)=tan (5)=78.69
in clockwise sense, find linear velocity and linear
Acceleration of piston is, acceleration of is ton and also angular velocity and
cos 2⎞
fp = 2 r ⎛cos  +
angular acceleration of connecting rod.
⎝ n ⎠ (ii) the crank rotates at an angular speed of 240 rpm in
(2  78.69)⎞
= (25)26 ⎛cos 78.69 + cos
clockwise sense and is decreasing at the rate of 15.5
⎝ 5 ⎠ rad/sec in every second, find linear acceleration of
= 43.13 cm/sec2 …Ans. piston and angular acceleration of connecting rod.
Use analytical method. SPPU- May 11, 8 Marks
Angular acceleration of connecting rod,
2 (25)2 Soln. :
pc = n sin  =  5 sin (78.69)
Given : S = 2r=200 mm
=  122.57 rad/sec 2
…Ans.

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-12 Kinematic Analysis of Mechanisms (Analytical Methods)
200 2 
r = 2 = 100 mm = 0.1 m pc = – n sin  + n cos 

n = 4 – (25.13)2 15.5
= 4 sin 75.96 + 4 cos 75.96
l = n  r = 4  100 = 400 mm = 0.4 m
2
pc = – 152.22 rad/sec ...Ans.
N = 240 rpm
2 240 Ex. 2.5.14 : In an IC engine mechanism, stroke is 120 mm
 = 60 = 25.13 rad/sec.
and connecting rod is 3 times the crank length. The crank
rotates at 1200 rpm in counter clockwise direction.
Determine :
(i) Velocity and acceleration of piston
(ii) Angular velocity and angular acceleration of the
connecting rod when the piston has moved one-fourth
of its stroke from inner dead centre.
Soln. :
Fig. P.2.5.13
Given :Length of stroke, S = 2r= 120 mm ;
From Fig. P.2.5.13, 120
 Radius of crank, r = 2 =60 mm = 0.06 m ;
l
tan = r = n = 4  = tan– 14 = 75.96
Obliquity ratio, n = l / r = 3 ;
Velocity of piston is,
Speed of crank, N = 1200 rpm ;
sin 2
vp =  r ⎡sin  + 2n ⎤  = 125.66 rad/s.
⎣ ⎦
sin 151.92 ⎤ Piston is moved through one-fourth of its stroke from
= 25.13  0.1 ⎡sin 75.96 +
⎣ 24 ⎦ I.D.C or T.D.C.
vp = 2.58 m/sec. ...Ans. 120
xp = 2 = 30 mm =0.03 m
Acceleration of piston is,
Displacement of piston is, xP= r (1 + n  cos   n2 sin2 )
cos 2
fp =  r ⎡cos  + n ⎤
2
⎣ ⎦  0.03 = 0.06 (1 + 3  cos   9 sin2 )
cos 151.92 ⎤  0.5 = 4  cos   9 sin2
= (25.13)2 0.1 ⎡cos 75.96 +
⎣ 4 ⎦ (9  sin2) = (3.5  cos )2
2
fp = 1.39 m/sec ...Ans.
9  sin2 = 12.25  7 cos  + cos2
Angular velocity of connecting rod is,
9  sin2 = 12.25  7cos  + 1  sin2
 · cos  25.13  cos 75.96
pc = n = 4  7 cos  = 4.25
pc = 1.52 rad/sec. ...Ans. cos  = 0.6071
Angular acceleration of the connecting rod is,  = 52.61 from B.D.C. in clockwise
2 (25.13)2 sin 75.96 i.e.  = 180 + 52.61 = 232.61 from T.D.C.
pc = – n sin  = 4 sin 2
Velocity of piston is, VP =  r ⎡sin  + 2n ⎤
pc = 153.16 ...Ans. ⎣ ⎦
sin 465.23⎤
Linear acceleration of piston (when  = 15.5 rad/sec2) VP = 125.66  0.06 ⎡sin 232.61 +
⎣ 2 3 ⎦
cos 2 sin 2
fp = 2 r ⎡cos  + n ⎤ + r ⎡sin  + 2n ⎤
⎣ ⎦ ⎣ ⎦ =  4.7779 m/s …Ans.
cos 151.92 ⎤
fp = (25.13)2  0.1 ⎡cos 75.96 + Piston is moving from B.D.C. to T.D.C.
⎣ 4 ⎦ cos 2⎤
Acceleration of piston is,fP = 2 r ⎡cos  +
+ 0.1  15.5 ⎡sin 75.96 + sin 151.92 ⎤ ⎣ n ⎦
⎣ 4 ⎦ cos 465.23⎤
fP = (125.66)2 0.06 ⎡cos 232.61 +
fp = 3.07 m/sec
2
...Ans. ⎣ 3 ⎦
Angular acceleration of connecting rod (when =  658.27 m/s2 …Ans.
 = 15.5 rad/sec2)
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-13 Kinematic Analysis of Mechanisms (Analytical Methods)

Piston is moving from B.D.C. to T.D.C. = – 3.377 m/sec, (away from crank end) …Ans.
Angular velocity of connecting rod is, ii) Acceleration of piston, fp
cos 2⎞
pc =
 cos   cos  fp = r2⎛cos  +
n  sin 
2 2
or n ⎝ n ⎠
cos (2  210)⎤
cos 232.61 = (90) (94.25)2 ⎡cos 210 +
pc = 125.66 =  26.37 rad/s…Ans. ⎣ 4.25 ⎦
9  sin2 232.61
= – 598310.25 mm/sec2
Negative sign indicate connecting rod moves opposite to
= – 598.3 m/sec2 (away from crank end)…Ans.
crank rotation direction.
iii) Angular velocity of connecting rod, r
Angular acceleration of connecting rod is,  cos  (94.25) cos (210)
2  (125.66)2 r = n = 4.25
pc =  n sin  = 3 sin 232.61
= 19.21 rad/sec, clockwise …Ans.
= 4181.94 rad/s2 …Ans. iv) Angular acceleration of connecting rod, r
Ex. 2.5.15 : In an IC engine mechanism, the stroke of the 2 sin  – (94.25)2 cos (210)
slider is 180 mm and the obliquity ratio is 4.25. The crank r = n = 4.25
rotates uniformly at 900 rpm clockwise. Find :
= 1045.1 rad/sec2, (Anticlockwise) …Ans.
(i) Velocity and acceleration of piston and
Ex. 2.5.16 : An IC engine runs at 1600 rpm, has length of
(ii) Angular velocity and angular acceleration of connecting
connecting rod 240 mm and obliquity ratio 4. Determine at
rod, when the crank is at 30 past the ODC.
40% of outstroke
SPPU - Dec. 11, 8 Marks
(i) Angular position of the crank
Soln. :
(ii) Linear velocity and acceleration of the piston
N = speed of crank = 900 rpm, clockwise (iii) Angular velocity and Angular acceleration of connecting
Now  = crank angle from T.D.C position = 180 + 30 rod SPPU - May 13, 6 Marks
 = 210 Soln. :
n = obliquity ratio = 4.25 Given : N = speed of crank = 1600 rpm
 = 30 past the O.D.C l = length of connecting rod = 240 mm
2N n = obliquity ratio = 4
 = angular speed of crank = 60
l 240
2  900  r = n = 4 = 60 mm
= 60 = 94.25 rad/sec, clockwise
xP = displacement of piston at 40% out-stroke
stroke 180
Radius of crank, r = = 2 = 90 mm 2N
2  = 60 = 167.55 rad/s
xp = 0.4  stroke length = 0.4  2  r
··· outstroke = in stroke = stroke length

= 0.4  2  60 = 48 mm
i) Angular position of the crank ()

 Displacement of piston from TDC is given by

xp = r (1 + n  cos   n2 sin2 )

48 = 60 (1 + 4  cos   n2 sin2 )

Fig. P. 2.5.15 0.8 = 5  cos   (4)2 sin2

i) Velocity of piston, Vp  (4)2 sin2 = 4.2  cos 

sin 2 Squaring both sides
Vp = r⎛sin  + 2n ⎞
⎝ ⎠
42  sin2 = (4.2  cos )2
sin (2  210)⎤
= (90) (94.25) ⎡sin 210 + 16  (1  cos2) = 4.22 2  4.2 cos  + cos2 
⎣ 2  4.25 ⎦
= – 3377.0 mm/sec 15 + cos2 = 17.64  2  4.2 cos  + cos2 
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-14 Kinematic Analysis of Mechanisms (Analytical Methods)

8.4 cos  = 2.64

cos  = 0.3142
 = 71.68 …Ans.
ii) Linear velocity of piston
sin 2 
Vp = r ⎛sin  + 2 n ⎞
⎝ ⎠
sin (2 71.68)⎤
Vp = 60  167.55⎡sin 71.68 +
Fig. P. 2.5.17
⎣ 2 4 ⎦
From Fig. P. 2.5.17,
= 10.29  103 mm/sec
l
tan  = r = n = 4  = tan– 14 = 75.96
Vp = 10.29 m/sec …Ans.
Velocity of piston is,
iii) Acceleration of piston
sin 2
cos 2 ⎞ Vp =  r ⎡sin  + 2n ⎤
fp = r 2⎛cos  + ⎣ ⎦
⎝ n ⎠
cos 151.92 ⎤
cos (2 71.68) ⎞ = 62.83  0.2 ⎡sin 75.96 +
= 60  (167.55) ⎛cos 71.68 +
2 ⎣ 4.5 ⎦
⎝ 4 ⎠
= 9.72 m/sec. ...Ans.
= 191.55  103 mm/s2 = 191.55 m/s2 …Ans. Acceleration of piston is,
iv) Angular velocity of connecting rod (pc) cos 2⎤
fp = 2 r ⎡cos  +
 cos  (167.55) cos 71.68
⎣ n ⎦
pc = = cos 151.92 ⎤
n 4 = (62.83)2 0.2 ⎡cos 75.96 +
⎣ 4.5 ⎦
= 13.16 rad/s …Ans. 2
= 24.09 m/sec ...Ans.
v) Angular acceleration of connecting rod (pc) Angular velocity of connecting rod is,
2 sin   (167.55)2 sin 71.68  · cos  62.83  cos 75.96
pc = = pc = n = 4.5
n 4
pc = 3.38 rad/sec. ...Ans.
=  6662.53 rad/s2 …Ans.
Ex. 2.5.18 : The crank of an engine is 180 mm long and
Ex. 2.5.17 : In an I.C. Engine mechanism, the stroke of
obliquity ratio is 4. Determine the velocity and acceleration of
piston is 400 mm and obliquity ratio is 4.5. The crank rotates
the piston, when the crank is tuned through 40 from I.D.C.
uniformly at 600 r.p.m. in clockwise direction. Find velocity
position for the following two cases :
and acceleration of piston when the crank is approaching
IDC and connecting rod is perpendicular to the crank. Also (i) The crank rotates at a uniform speed of 300 r.p.m.
find angular velocity of connecting rod. (ii) The crank rotates at a speed of 300 r.p.m. and is
SPPU - Dec. 13, 8 Marks increasing at the rate of 120 rad/s2.
SPPU - Dec. 14, May 15,11 Marks
Soln. :
Soln. :
Given : S = 2r = 400 mm Given : r = 180 mm = 0.18 m ; n = 4
400 l = n  r = 4  180 = 720 mm = 0.72 m
 r = 2 = 200 mm = 0.2 m
N = 300 rpm
n = 4.5 2 300
 = 60 = 31.41 rad/sec.  = 40
l = n  r = 4.5  200
Velocity of piston is,
= 900 mm = 0.9 m
sin 2
vp =  r ⎡sin  + 2n ⎤
N = 600 rpm ⎣ ⎦
2 600 sin 80 ⎤
 = 60 = 62.83 rad/sec. = 31.41  0.18 ⎡sin 40 +
⎣ 24 ⎦

= 4.33 m/sec. ...Ans.

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-15 Kinematic Analysis of Mechanisms (Analytical Methods)

Acceleration of piston is, where, i =  1 an imaginary number. We know that

cos 2⎤ from elementary trigonometry the Euler’s equations
fp = 2 r ⎡cos  + which is given by,
⎣ n ⎦

cos 80 ⎤ ei
= (31.41)2 0.18 ⎡cos 40 +
= cos  + i sin  …(i)
⎣ 4 ⎦
i i ( +  / 2)
ie = e …(ii)
2
= 143.74 m/sec ...Ans. 
using Equation (ii) it is possible to express vector R in
Angular velocity of connecting rod is, the form
 · cos  31.41  cos 40 
pc = n = 4 =6.01 rad/sec. ...Ans. R = R ei

…(2.6.1)
 The Equation (2.6.1) is called Complex polar form
Angular acceleration of the connecting rod is, 
where R is the magnitude of vector and ei is the unit
2 (31.41)2 sin 40 
pc = – n sin  = 4 =– 158.54 ...Ans. vector in the direction of vector R . On differentiating


Linear acceleration of piston (when  = 120 rad/sec2) this equation we get velocity of the vector R and its
cos 2 sin 2 second differentiation will represent the acceleration at
fp = 2 r ⎡cos  + n ⎤ + r ⎡sin  + 2n ⎤ that instant.
⎣ ⎦ ⎣ ⎦
cos 80 ⎤
fp = (31.41)2 0.018 ⎡cos 40 +
⎣ 4 ⎦
sin 80
+ 0.18  120 ⎡sin 40 + 4 ⎤
⎣ ⎦
2
fp = 162.94 m/sec ...Ans.

Angular acceleration of connecting rod (when  = 120

rad/sec2)
2  – (31.41)2 120
pc=– n sin  + n cos = 4 sin 40 + 4 cos 40
2
pc = – 135.55 rad/sec ...Ans.

2.6 Position Analysis of Links with

Complex Algebra Method

Fig. 2.6.1 : Planer vector

University Question
Q. Explain complex number method of acceleration 2.6.1 Velocity and Acceleration
analysis. (SPPU -May 13, Dec. 14, May 15) Analysis by Complex Algebra
 The complex algebra is analytical method used for Method
velocity and acceleration analysis of planer mechanism.  Consider a link OM of length R inclined at angle  with
It is also known as complex variable method. the X-axis which is rotating at angular velocity  rad/sec
 Complex numbers are not vectors, but they can be used in anticlockwise direction about point O.
to represent vectors in a plane. For its representation an
origin, real axis and imaginary axis is to be selected
along x axis and y axis as shown in Fig. 2.6.1.

 Consider a planer vector R as shown in Fig. 2.6.1 having
magnitude R and its direction  with respect to real axis.

 Vector R can be represented in polar form as,

R = R 
 It’s component along the real axis and imaginary axis
are R cos  (Rx) and R sin  (iRy) Fig. 2.6.2 Representation of link OM in polar form
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-16 Kinematic Analysis of Mechanisms (Analytical Methods)
 + )  +  / 2)
 The position vector of link OM is represented in polar  fMO = R 2 e i ( + R  ei ( …(2.6.4)
form of complex variable, shown in Fig. 2.6.2(b), is given c t
fMO = fMO + fMO
by

  The first term of Equation (2.6.4) represents the
M = R ei …(2.6.2)
magnitude of centripetal acceleration of link OM having
where, R = Magnitude of vector OM ;
magnitude R 2and direction of centripetal acceleration
i
e = Its direction with respective to its real axis.  + )
is at ei ( which is at 180 from position of link OM as
Differentiating Equation (2.6.2) with respect to time t, shown in Fig. 2.6.4.
we get velocity of link OM.
 The second term in Equation (2.6.4) represents the
d  d 
VMO = dt (M) = dt (R · ei ) magnitude of tangential acceleration of link OM having
d  magnitude R  and direction of tangential acceleration
= R dt (ei ) …(··· R is constant)  +  / 2)
at ei ( which is at 90 from the position of link OM
d d
= R ⎡ e · dt (i )⎤ = R ⎡ ei · i dt ⎤
i  as shown in Fig. 2.6.4.
 VMO
⎣ ⎦ ⎣ ⎦
d
… ⎡··· dt = ⎤

= R ·  (i ei )
⎣ ⎦

On substituting the value of ei from Equation (ii) we get,
 +  / 2)
VMO = R ·  [ei ( ] …(2.6.3)
The Equation (2.6.3) represents the velocity of link OM.
where, R ·  = is the magnitude of velocity of link OM
 + /2)
ei ( = is the direction of velocity of link OM
which is at 90 from the position of link
OM as shown in Fig. 2.6.3.

Fig. 2.6.4 : Velocity and acceleration of link

OM in polar form of complex variable
Fig. 2.6.3 : Velocity of link OM in polar form 2.6.2 Loop-Closure Equation
of complex variable
Definition : The sum of the relative position vectors
Further differentiating Equation (2.6.3) we get the for the links forming a closed loop in the given
acceleration of link OM, mechanism is always zero. This is called as loop
d d⎧   ⎫ closure equation.
fMO = dt (VMO) = dt ⎨ R ·  [ei ( + / 2)] ⎬
⎩ ⎭
d⎧   ⎫  The loop closure equation gives the relation between
= R dt ⎨ · [ei ( + / 2)] ⎬ the position vectors of different links in given
⎩ ⎭
⎧  +  / 2) d   d⎫ mechanism forming a closed loop. The joints of the links
 fMO = R ⎨· ei ( i dt + ei ( + / 2) dt ⎬ always remains at a fixed distance from one another.
⎩ ⎭
⎫ ⎛· · d Therefore even loop changes its position, the

⎧
fMO = R ⎨ 2 i ei (
 +  / 2)
+  ei (
 +  / 2)
⎞
dt = ⎠
⎬… ·
⎩ ⎭ ⎝ magnitudes of the relative position vectors do not
change with respect to time.
 fMO = R ⎡ 2 ei ( +  / 2 +  / 2) +  ei ( +  / 2) ⎤
⎣ ⎦  Some of the commonly used mechanisms are discussed
⎡ 2 ei ( + ) +  ei ( + / 2) ⎤
    below for application of loop closure equation.
= R ⎣ ⎦
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-17 Kinematic Analysis of Mechanisms (Analytical Methods)

A) Loop closure equation of four bar –  

Relative position of B w.r.t. A = AB = B  A
mechanism
–  
University Question Relative position of C w.r.t. B = BC = C  B
Q. Derive loop closure equation for four bar chain –  
Relative position of A w.r.t C = CA = A  C
mechanism. (SPPU - Dec. 13, Dec. 17)
Adding all equation (i) to (iii), we get
Fig. 2.6.5 shows four bar mechanism ABCD.
– – –      
Consider vector  OAB, we get AB + BC + CA = B  A + C  B + A  C
–   – – –
Relative position of B w.r.t. A = AB = B  A …(i)  AB + BC + CA = 0 …(2.6.6)
Similarly, consider vector  OBC, ODC and OAD we get, Equation (2.6.6) represents the loop closure equation
–   for slider crank mechanism.
Relative position of C w.r.t. B = BC = C  B …(ii)
C) Loop closure equation for offset slider
–  
Relative position of D w.r.t. C = CD = D  C …(iii) crank mechanism
–   Fig. 2.6.7 shows offset slider crank mechanism ABC.
Relative position of A w.r.t. D = DA = A  D …(iv)
Adding all the equation (i) to (iv) we get,
– – – –        
AB + BC + CD + DA = B  A + C  B + D  C + A  D
– – – –
AB + BC + CD + DA = 0 …(2.6.5)
Equation (2.6.5) represents the loop closure equation
for four bar mechanism.

Fig. 2.6.7 : Offset slider crank mechanism

–  
Relative position of B w.r.t. A = AB = B  A …(i)
–  
Relative position of C w.r.t. B = BC = C  B …(ii)
–  
Relative position of D w.r.t. C = CD = D  C …(iii)
Fig. 2.6.5 : Four bar mechanism –  
Relative position of A w.r.t D = DA = A  D …(iv)
B) Loop closure equation for slider crank
mechanism Adding all Equations (i) to (iv) we get
– – – –        
University Question AB + BC + CD + DA = B  A + C  B + D  C + A  D
Q. Write loop closure equation for slider crank – – – –
mechanism. (SPPU - Dec. 18)  AB + BC + CD + DA = 0 …(2.6.7)

Fig. 2.6.6 shows slider crank mechanism ABC. Equation (2.6.7) represents the loop closure equation
for offset slider crank mechanism.

D) Loop closure equation for crank and

slotted lever mechanism

Fig. 2.6.8 shows crank and slotted lever mechanism.

–  
Relative position of B w.r.t. A = AB = B  A …(i)
–  
Relative position of C w.r.t. B = BC = C  B …(ii)
–  
Fig. 2.6.6 : Slider crank mechanism Relative position of A w.r.t C = CA = A  C …(iii)

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-18 Kinematic Analysis of Mechanisms (Analytical Methods)
– – –
where, AB =R ei 1,  BC =l ei 2 and AC = x e0 = x
On substituting these values in Equation (i) we get,
 
x = R ei 1+ l e i 2

x = R (cos 1 + i sin 1) + l (cos 2 + i sin 2)

x = (R cos 1 + l cos 2) + i (R sin 1 + l sin 2) …(iii)
Equating real and imaginary parts of equation of
Equation (iii), we get
R sin 1 + l sin 2 = 0
90 sin 60 + 450 sin 2 = 0
sin 2 =  0.1732
Fig. 2.6.8 : Crank and slotted lever mechanism 2 =  9.97 or 2 = 350.02
Adding all Equations (i) to (iii), we get Now, differentiating Equation (ii) with respective to t,
– – –       we get velocity of piston
AB + BC + CA = B  A + C  B + A  C
dx d  
d1 
d2 
– – – VP = dt = dt (R e i 1+ l e i 2) = R i dt · e i 1+ l i dt e i 2
 AB + BC + CA = 0 …(2.6.8)
 
Equation (2.6.8) represents the loop closure equation  VP = R i 1 e i 1+ l i 2 e i 2

for slider crank mechanism.  VP = R i 1 [cos 1 + i sin 1] + l i 2 [cos 2 + i sin 2]
Ex. 2.6.1 : For an I.C. engine mechanism, the crank radius is  VP = R 1 [i cos 1 + i2 sin 1] + l2 [i cos 2 + i2 sin 2]
90 mm and connecting rod length is 450 mm. The crank is
 VP = R 1 [i cos 1 sin 1] + l2 [i cos 2 sin 2]
rotating in clockwise direction with angular velocity of 15
rad/sec. and the angular acceleration of 100 rad/sec2. Using …[··· i =  1]
complex number method, find the acceleration of the piston  VP = R 1 i cos 1 R 1 sin 1 + l2 i cos 2l2 sin 2
and angular acceleration of the connecting rod when the  VP =  (R 1 sin 1 + l2 sin 2) + i (R 1 cos 1
crank is at 60 from the inner dead centre.
+ l2 cos 2) …(v)
SPPU - May 19, 05 Marks
Soln. : Equating real and imaginary terms of Equation (v)
Given :
R 1 cos 1 + l2 cos 2 = 0
Radius of crank, R = 90 mm ;
Length of connecting rod, l = 450 mm; 90  15 cos 60 + 450 2 cos (350.02) = 0
Angular velocity of crank, 1 = 15 rad/sec ; 2 =  1.52 rad/sec (anti clockwise)
Angular acceleration of crank, 1 = 100 rad/sec2;
2 = 1.52 rad/sec (clockwise)
Angle of crank with AC, 1 = 60
Further differentiating Equation (iv) with respective to
t, we get
dVP d
i 1 i 2
fP = dt = dt (R i 1 e + l i 2 e )

⎡ 
d1 
d1⎤
 fP = Ri 1 ei 1i dt + ei 1 dt
⎣ ⎦
⎡ 
d2 
d1⎤
+ l i 2 ei 2i dt + ei 2 dt
⎣ ⎦
Fig. P. 2.6.1
 fP = Ri [1 ei 1 i 1 + ei 11] + l i [2 ei 2i 2 + ei 22]
   

For the loop ABC, the loop closure equation in the

complex number form is given by,  fP = [ R  e + R ie
2
1
i
1
i
11
] + [l e + l ie  ]
2
2
i
2
i
2 2

– – –
AB + BC  AC = 0 ( R  e + l  i 1
) + i (R  e + l  e )
2 2  i 1 i 2
 fP = 1 2
ei 2
1 2
– – –
 AC = AB + BC …(i)
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-19 Kinematic Analysis of Mechanisms (Analytical Methods)

2 2
 fP =  R 1 [cos 1 + i sin 2] + l2 [cos 2 + i sin 2] + i R 1 [cos 1 + i sin 1] + i l2 [cos 2 + i sin 2]

2 2 2 2
 fP =  R 1 cos 1 Ri 1 sin 1 + l2 cos 2 + l i 2 sin 2 + i R 1 cos 1 R 1 sin 1 + l i 2 cos 2l2 sin 2

 fP = ⎛  R 2 cos 1 + l2 cos 2 R 1 sin 1l2 sin 2 ⎞⎠ + i ⎛⎝  R 1 sin 1 + l2 sin 2 + R 1 cos 1 + l2 cos 2 ⎞⎠ …(vi)
2 2
⎝ 1 2

Equating real and imaginary parts of Equation (vi), we get

2 2
 R 1 sin 1 + l2 sin 2 + R 1 cos 1 + l2 cos 2 = 0

 90 (15)2 sin 60 + 450 ( 1.52)2 sin (350.02) + 90 (100) cos 60+ 450 2 cos (350.02) = 0

2 = 29.82 rad/sec2clockwise …Ans.

The angular acceleration of connecting rod is 29.82 rad/sec2, clockwise

Now, acceleration of piston fp,

2 2
fp =  R 1 cos 1 + l2 cos 2  R 1 sin 1  l2 sin 2 = 0

 fp =  90 (15)2 cos (60) + 450 ( 1.52)2 cos (350.02)  90 (100) sin (60) 450 (29.82) sin (350.02)

 fp = – 14566.77 mm/sec. …Ans.

Please download e-book for detail Solution for Ex. 2.6.2 to 2.6.4

Ex. 2.6.2 : In I.C. engine mechanism, the crank radius is 100 mm and the length of connecting rod is 400 mm. The crank is
2
rotating anti-clockwise direction at angular velocity of 10 rad/sec and the angular acceleration of 115 rad/sec . Find the
acceleration of the piston and the angular acceleration of the connecting rod when the crank makes 45 with inner dead
centre.
Ex. 2.6.3 : The offset slider crank mechanism is shown in Fig. P. 2.6.3. The crank OA is rotating uniformly at 15 rad/sec
counter clockwise. The length of crank, OA = 20 mm and connecting rod, AB = 90 mm. State the loop closure equation for the
mechanism using complex numbers. Hence, using chase solution, find for the given configuration velocity of the piston and
angular velocity of AB.

Fig. P.2.6.3

Ex. 2.6.4 : The crank of a reciprocating engine is 100 mm long and it rotates at an uniform speed of 20 rad/sec counter
clockwise. The connecting rod length is 400 mm. Determine :
(i) velocity and acceleration of piston
(ii) angular velocity and angular acceleration of connecting rod by using Complex Algebra method when the crank
makes normal to the line of stroke SPPU - May 13, 12 Marks

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-20 Kinematic Analysis of Mechanisms (Analytical Methods)

Ex. 2.6.5 : The four-bar mechanism ABCD is shown in the following Fig. P. 2.6.5 which is driven by link 2 at 2 = 45 rad/s,
counter clockwise. Find the angular velocities of links 3 and 4 by using complex number method.
AB = 100 mm, CD = 300 mm, AD = 250 mm SPPU - Dec. 11, May 12, Dec. 12, 10 Marks.

Fig. P. 2.6.5

Soln. :

Fig. P.2.6.5(a)
Given :
r1 = AD = 250 mm, r2 = AB = 100 mm,
r4 = CD = 300 mm. 2 = 2 = 45 rad/s, counter clockwise,
1 = 180, 2 = 120, 4 = 270.
Find 3 and 4
Now, for the loop ABCD, the loop closure equation in the complex form is
   
R1 + R2 + R3 + R4 = 0
   
Where,R1 = r1 ei 1 , R2 = r2 ei 2
   
R3 = r3 ei 3, R4 = r4 ei 4
   
r1 ei 1 + r2 ei 2 + r3 ei 3 + r4 ei 4 = 0 …(i)
Expanding Equation (i), we get,
r1 [cos 1 + i sin 1] + r2 [cos 2 + i sin 2] + r3 [cos 3 + i sin 3] + r4 [cos 4 + i sin 4] = 0

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-21 Kinematic Analysis of Mechanisms (Analytical Methods)
i.e. (r1 cos 1 + r2 cos 2 + r3 cos 3) + i (r1 sin 1 + r2 sin 2 + r3 sin 3) + r4 cos 4 + i r4 sin 4 = 0 …(ii)
Equating real and imaginary parts of Equation (ii), we get
r1 cos 1 + r2 cos 2 + r3 cos 3 + r4 cos 4 = 0
i.e. (250) cos (180) + (100) cos (120) + r3 cos 3 + (300) cos (270) = 0
i.e. ( 250) + ( 50) + r3 cos 3 = 0
r3 cos 3 = 300 …(iii)
and r1 sin 1 + r2 sin 2 + r3 sin 3 + r4 sin 4 = 0
i.e. (250) sin (180) + (100) sin (120) + r3 sin 3 + (300) sin (270) = 0
i.e. 0 + 86.6 + r3 sin 3  300 = 0
i.e. 0 + 86.6 + r3 sin 3  300 = 0
r3 sin 3 = 213.4 …(iv)
213.4
r3 = …(v)
sin 3
Substituting Equation (v) in Equation (iii), we get,
213.4
cos 3 = 300
sin 3
213.4 sin 3
 300 =
cos 3
 0.713 = tan 3
3 = 35.430
Substituting value of 3 in Equation (v), we get,
213.4
r3 = = 368.12 mm
sin (35.43)
Next, differentiating Equation (i) with respect to t, we get
d i1 i2 i3 i4
dt (r1 e + r2 e + r3 e + r4 e ) = 0
i i i3 i4
i.e. r1 i 1 e 1 + r2 i 2 e 2 + r3 i 3 e + r4 i 4 e = 0
r1 i 1 [cos 1 + i sin 1] + r2 i 2 [cos 2 + i sin 2] + r3 i 3 [cos 3 + i sin 3] + r4 i 4 [cos 4 + i sin 4] = 0
i r11 cos 1 r11 sin 1 + i r22 cos 2 r22 sin 2 + i r33 cos 3 r33 sin 3 + i r44 cos 4 r44 sin 4 = 0
i (r11 cos 1 + r22 cos 2 + r33 cos 3 + r44 cos 4)  (r11 sin 1 + r22 sin 2 + r33 sin 3 + r44 sin 4) = 0 …(vi)
Equating real parts of Equation (vi), we get
r11 sin 1 + r22 sin 2 + r33 sin 3  r44 sin 4 = 0
r11 sin 1 + r22 sin 2 + r33 sin 3 + r44 sin 4 = 0
Now, since link (1) is fixed link. 1= 1 = 0 and 2 = 45 rad/s.
 (0) + (100) (45) sin 120 + (489.34) 3 sin (307.81) + 300 4 sin 270 = 0
i.e. 3897.114 386.6 3  300 4 = 0
 386.6 3 + 300 4 = 3897.114 …(vii)
and equating imaginary parts of Equation (vi) we get,
r11 cos 1 + r22 cos 2 + r33 cos 3 + r44 cos 4 = 0
r11 cos 1 + r22 cos 2 + r33 cos 3 + r44 cos 4 = 0
(0) + (100) (45) cos 120 + (489.34) 3 cos (307.81) + 300 4 cos 270 = 0
i.e.  2250 + 299.99 3 = 0
2250
i.e. 3 = 299.99 = 7.5 rad/sec, anticlockwise …Ans.

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-22 Kinematic Analysis of Mechanisms (Analytical Methods)

Substituting the value of 3 in Equation (vii), we get Case (A) : When magnitude and direction of same
386.6 (7.5) + 300 4 = 3897.114 ^
vector is unknown i.e. C and C
4 = 3.325 rad/sec Consider the vector equation or loop closure equation as
i.e. 4 = 3.325 rad/sec, anticlockwise.   
C = A + B. …(i)
…Ans.   
C· C = A· A+B· B
2.7 Positions Analysis of Links With
? ? = + 
Vector Algebra Methods 
The magnitude and direction of C are not known and
 The vector algebra method is also analytical method  
used for velocity and acceleration analysis of planer magnitude of A and B are known. The known vectors
 
mechanism. A to B can be written in rectangular co-ordinate form
 In this method the vectors are used to represent the as,
positions of various links and a displacement equation is   
obtained by considering the closed loop formed by the A = Ax· i + Ay· j …(ii)
vectors representing the links.   
and B = Bx· i + By· j …(iii)
2.7.1 Chace Solution where, Ax, Ay, Bx and By are the projections (magnitudes)
Consider a vector triangle shown in Fig. 2.7.1. Let A, B    
of vectors A and B on X and Y axis respectively and i , j
   are unit vectors in x and y directions respectively.
and C are angles of vectors A , B and C measured in
clockwise direction from real axis. From vector algebra it is known that projection of any
The vector equation for above triangle can be reduced to vector along the given direction is given by the scalar
   product of the vector and the unit vector along the
the form C = A + B . directions of projection. Thus
This equation can be solved where there are only two    
unknowns. Depending on the forms of two unknowns, Ax = A · i , Bx = B · i
Milton A. Chace in his Ph.D thesis (1964), has classified the    
Ay = A · j , By = B· j
problems into four distinct cases which are as follows :
Substituting above projections, Ax, Ay, Bx and By
Equations (ii) and (iii), we get
      
A = (A· i) i + (A· j) j …(iv)
      
and B = (B· i) i + (B· j) j …(v)
Therefore Equation (i) can be written as
           
C = [( A i ) i + ( A · j ) j + ( B · i ) i + ( B · j ) j ]
        
 C = [( A i ) + ( B · i )] i + [( A j ) + ( B · j ) ] j
  
or C = Cx i + Cy j
   
Fig. 2.7.1 : Vector triangle for vectors A , B and C where the magnitudes of C is
2 2
Case (A) : When magnitude and direction of same vector C = C x + Cy …(2.7.1)
 
is unknown i.e. C and C. and direction of C is
Case (B) : When magnitude of two different vectors is
^  Cy
unknown i.e. A and B. C = tan 1 C …(2.7.2)
x
Case (C) : When magnitude of one vector and direction Case (B) : When magnitude of two different vectors is

of another vector is unknown i.e. A and B. unknown i.e. A and B
Case (D) : When directions of two vectors are unknown Consider vector equation or loop closure equation as
^ ^
i.e. A and B.
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-23 Kinematic Analysis of Mechanisms (Analytical Methods)
   
C = A + B …(i) In this case magnitude of the vector A and direction of
^ ^ ^  
CC = A A +B·B vector B are unknown we know that vector A can be
 = ?  +  ^ 
eliminated from equation (i) by taking dot product (A· k) on
  both sides of Equation (i),
In this case magnitudes vector A and B are unknown.
 ^ ^  ^ ^
^ ^ ^    C · (A· k) = B · (A· k)
Let us consider C, A and B are the unit vectors of C , A
  ^ ^ ^ ^ ^
and B respectively. or C · (A· k) = B · B· (A· k) …(ii)
As we know that scalar product of two vectors ^ ^ 
Consider  is angle between B and (A· k). As we know
perpendicular to each other is zero. Hence to find the
magnitude of an vector, we have to eliminate other that scalar product of two vectors is the product of
vector by taking dot product of every vector with a new magnitudes of two vectors multiplied by cosine angle
vector.
between them. Therefore Equation (ii) can be written as,
To find the magnitude of A, we can eliminate the vector
 ^ ^
 C · (A· k) = B · cos
B by taking dot product of every term of the equation
^ ^  ^ 
with (B· k ) C · (A · k)
cos  = B …(iii)
 ^ ^  ^ ^  ^ ^
C · ( B· k ) = A · (B· k ) + B · (B· k ) …(ii)
  then, sin  =  1  cos2
^
Since (B· k ) is a vector perpendicular to B the product
 ^ ^ ⎛C ·
^ ⎞
(A · k)
2

B (B· k) = 0, therefore above Equation (ii) can be  sin  =  1⎜ ⎟

⎝ B ⎠
reduced,
1  ^  2
 ^ ^  ^ ^  sin  = B B2 [ C (A · k)] …(iv)
C · (B· k ) = A · (B· k ) …(iii)
^ ^ ^ ^ ^ ^
 C C· (B· k ) = A A· (B· k) ^ 
Since, vector (A· k) are perpendicular to each other,
 ^
or magnitude vector A is, therefore we can write unit vector B as,
^ ^ ^ ^ ^  
C C · (B· k) B = (A· k) cos  + k sin  …(v)
A = ^ ^ ^ …(2.7.3)
A · ( B · k) On substituting value cos  and sin  from Equation (iii)
 and (iv) in Equation (v), we get
Similarly by adopting dot product for vector k we can
get the magnitude of B as, ^
  ^   ^ ^ 2
^ (A · k) · C (A · k) B2 [ C · (A · k)]
^ ^ ^
C C · (A· k) B = B  B …(2.7.5)
B = ^ ^ ^ …(2.7.4)
B · (A· k) ^ ^ ^  ^ ^  ^ ^ 2
 B B = (A· k) · C (A· k)  B2 [ C · (A · k)]
Case (C): When magnitude of one vector and direction
^  ^ ^  ^ ^  ^ ^ 2
of another vector is unknown i.e. A and B or B = (A· k) · C (A· k)  B2 [ C · (A · k)] …(vi)
Consider vector equation or loop closure equation 
To get the magnitude of vector A , substitute the value of
   
C = A + B vector B from equation (vi) in Equation (i) we will get the
^ ^ ^ 
CC = AABB …(i)
magnitudes of the vector A .
 = ? +  ?
Case (D) : When directions of two vectors are
^ ^
unknown i.e. A and B
Consider vector equation or loop closure equation
  
C = A + B …(i)
^ ^ ^
CC = AA+BB
 =  ? +  ?

Fig. 2.7.2
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-24 Kinematic Analysis of Mechanisms (Analytical Methods)
  d  d ^ dR^ d ^
In this case directions of vector A and B are unknown . dt ( R ) = dt (R · R )= dt R + R dt (R)

Draw vector C along the direction as shown in d  ·^ 
dt ( R ) = RR+R · R …(ii)
Fig. 2.7.3. Draw circles, with radius of magnitude of vector
  ^
But, R is constant length and is usually rotates with one
A and vector B . The intersection point of these two circles
where x and y are the x co-ordinate and y co-ordinate of the links, therefore can be written as,
respectively.
^ ^
Let the reference rectangular co-ordinate system with = R =  (R. k)
^  ^ Therefore, equation (ii) can be written as,
co-ordinate direction as (C· k and C).
d  ·^ ^
or dt ( R ) = RR + R  (R· k) …(iii)
·^
In above equation RR is velocity vector along the
^ ^
direction of R and the second part R  (R. k ) is velocity
^
vector along direction of perpendicular to R. Again
differentiating of equation (ii) w.r.t. ‘t’, will give the

acceleration of vector R .
Therefore by differentiating the loop closure equation
for a given mechanism we can find out the velocity and
Fig. 2.7.3 acceleration of various links. Such method of known as
The equation of circle having radius A is, vector algebra method.

x2 + y2 = A2 …(ii) Ex. 2.7.1 : In slider crank chain mechanism, the crank radius

The equation of circle having radius B is, is 60 mm and the connecting rod length of 250 mm rotates at
100 rpm in anti-clockwise direction and has angular
x2 + (C  y)2 = B2 …(iii) 2
acceleration of 80 rad/sec . Write the loop closure equation
or x + C  2 Cy + y
2 2 2
= B 2
and find the velocity and acceleration of the piston by chace
or A2 + C2 2Cy = B2 …[··· x2 + y2 = A2] solution, when crank angle of 50 from I.D.C.
A2 + C2 B2 Soln. :
 y = 2C …(iv)
Length of crank, R2 = 60 mm
On substituting value of y in Equation (ii), we get
Length of connecting rod, R3 = 250 mm
A2 + C2 B2 ⎞2
x =  A2 ⎛ …(v) Crank angle, 2 = 50
⎝ 2C ⎠
2  100
By using value of x and y we get the direction of vector Angular velocity of crank, 2 = 60
 
A and vector B as = 10.47 rad/sec
 ^  ^
A = x (C· k)  y C Angular acceleration of crank, 2 = 80 rad/sec2;
 ^  ^  = 4 = 
and B =  x (C· k) + (C  y) C
2.7.2 Velocity and Acceleration
Analysis by Vector Algebra
Method

Consider any vector R rotating with  as angular
velocity
 
R = R·R …(i) Fig. P. 2.7.1
Differentiating above Equation with respect to ‘t’ we get The loop-closure equation can be written as,
   
velocity of vector R R1 = R2 + R3 …(i)…Ans.

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-25 Kinematic Analysis of Mechanisms (Analytical Methods)
 · ^ ^  ^ 
where, R1 = R11 = R1 0 ,  R1R1 = R22 (R2· k ) + R33 (R3· k) ...(iii)
 · ^   
R2 = R22 = 60  50  R1R1 = 60  10.47 [(cos 50) i + sin (50) j )] k

  
R3 = R33 = 250 3 + 250 3 [(cos (349.40) i + sin (349.40) j ] k
From Equation (i) can be written as, · ^    
R1R1 = [403.79 ( i  k ) + 481.22 ( j · k )]
R1 = 60  50 + 250 3 …(ii)
   
To eliminate unknown magnitude R1, take a dot product + 3 [245.733 ( i · k )  45.98 ( j · k)]
of every term of Equation (ii), · ^   
R1R1 = 403.79 ( j ) + 481.22 ( i ) + 3 (245.733) ( j )
^    ^ 
(R1 0) · (R1· k) =(60  50) · R1· k) + (250 3) (R1· k) 
 45.98 ( i )
^    
Since product R1 0 (R1 k ) = 0, · ^
R1R1 = 403.79 j  481.22 j + 3 (245.733 j + 45.98 i )
therefore above equation becomes, ·   
or R1 i = ( 481.22 + 45.98 3) i + (403.79 + 245.733 3) j
^  ^ 
0 = (60  50) · (R1· k ) + (250 3) (R1· k )
Comparing both sides of above equation we can write
 
 0 = (60  50) ( j ) + (250 3) ( j ) ·
R1 = ( 481.22 + 45.98 3) …(iv)
^    
…[ ··· R1· k = i  k = ( j )] and 0 = (403.79 + 245.733 3),
 0 = (60  50) · (1  270) + (250 3) · (1  270)  403.79
3 = 245.733

…[··· ( j ) = (1  270)]
1 =  1.64 rad/sec anticlockwise …Ans.
 0 = (60) (1) cos (270 50) + (250) (1) cos (3 270)
 The angular velocity of connecting rod is – 1.64 rad/sec
 0 = (60) cos (220) + 250 cos (3 270) in clockwise direction.
 250 cos (3 270) =  45.96 On substituting value of 3 in Equation (iv) we get,
45.96 ·
cos (3 270) = 250 = 0.1838 R1 = [ 481.22 + 45.98 ( 1.64)] =  556.73 mm/sec
·
3 270 = 79.40 = 270 + 29.40 = 349.40 R1 = 556.73 mm/sec towards crank …Ans.
On substituting value of 3 in Equation (ii), we get The velocity of piston is 556.73 mm/sec towards crank
R1 0 = 60  50 + 250  349.40 end
 
 R1 0 = 60 [cos (50) i + sin (50) j ] Now differentiating both sides of velocity Equation (iii)
  we get acceleration equation as,
+ 250 [cos (349.40) i + sin (349.40) j ]
d · ^ d ^  ^
   
 R1 0 = 38.56 i + 45.96 j + 245.73 j  45.95 j dt ( R1R1 ) = dt [R22 (R2 k ) + R33 (R3 k )]
  ·· ^ · ^· ^  2 ^
 R1 i = 284.29 i  R1R1 + R1 R 1 = R22 (R2 k)  R22 (R2)
^ 2 ^
+ R33 (R3 k )  R33 (R3)
Comparing both sides of above equation we can write, ^ ^
Since, R1 is not a rotating section therefore R1 = 0, the
R1 = 284.29
above equation becomes
Now differentiating Equation (i) w.r.t. time, we get
·· ^  2 ^ ^ 2 ^
velocity equation as, R1R1 = R22 (R2 k )  R2 2 (R2) + R33 (R3 k )  R33 (R3)
· ^ ^  · ^ ^  · ^ ^  ·· ^   
R1R1 + R11 (R1· k )= R2R2 + R22 (R2· k ) + R3R3· R33 (R3· k)  R1R1 = 60  180 [(cos 50) i + sin (50) j ] k 60 (10.47)2
   
Since, 1 = 0, because R1 is not a rotating vector and [cos (50) i + sin (50) j ] + 250 3 [cos (349.40) i
   
R2 = R3 = 0, because magnitude of R2 and R3 is constant. + sin (50) j ] k  250 ( 1.64)2 [cos (349.40) i
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-26 Kinematic Analysis of Mechanisms (Analytical Methods)

+ sin (349.40) j ] The loop closure equation for above four bar mechanism
·· ^     is,
R1R1 = 3085( i · k) + 3677.01( j k)  4227.77( i )
   
    R1 = R2 + R3 + R4 …(i)
 5038.46 ( i ) + 245.73 3 ( i· k)  45.98 3 ( j k)

  where, R1 = R11 = 200  0,
 660.93 ( i ) + 123.69 ( i )
    
·· ^ R2 = R22 = 40  80
R1R1 = 3085 ( j )  3677.01 ( i )  4227.77 i  5038.46 j

    R3 = R33 = 100 3,
+ 245.73 3 ( j) + 45.98 3 ( i )  660.93 ( i ) + 123.69 ( j )

··   R4 = R44 = 150 4
or R1 i = ( 3677.01  4227.77 + 45.98 3 660.93) ( i )
 from Equation (i) we can write,
+ 3085  5038.46 + 245.73 3 + 123.69) j    
·· ^   R1R2 = R3 + R4
R1 i = ( 8565.71 + 45.98 3) i +(– 1829.77  245.73 3) j      
 200 [cos (0) i + sin (0) j ]  40 [cos (80) i  sin (80) j ] = R3 + R4
Comparing both sides of above equation, we can write
   
··  200 i  6.945 i  39.292 j = R3 + R4
R1 =  8565.71  45.98 3 …(v)
   
and 0 = – 1829.77 + 245.73 3 193.055 i  39.392 j = R3 + R4
1829.77  
3 = 245.73 = 7.45 rad/sec2 anticlockwise 193.0552 + ( 39.392)2 = R3 + R4
 
…Ans. 197.033 = R3 + R4

The angular acceleration of connecting rod is 7.45 and = tan

1 ⎡ 39.392⎤ =  11.53
⎣ 193.055 ⎦
2
rad/sec in anticlockwise.
 = 348.47
On substituting value of 3 in Equation (v) we get
 
·· R3 + R4 = 197.033  348.47
R1= 8565.71 + 45.98 (7.45)=8223.15 mm/sec2
·· for  ABD we can write loop closure equation,
 R1=8223.15 mm/sec2 towards crank end …Ans.
  
R3 + R4 = R …(ii)
Ex. 2.7.2 : In a crank and rocker type four bar mechanism,
^
the distance between two pivots is 200 mm. The radius of 197.033  348.47 = R R
crank is 40 mm and that of rocker is 150 mm. The length of ^
 1  348.47 = R
counter link is 100 mm and the crank is rotating with 15  ^ ^
r.p.m. Find the angular velocity of the rocker when crank is at  cos (348.47) i + sin (348.47) i = R
80 from the lines through pivots. Use method of chace  ^ ^
 0.979 i  0.199 j = R
solution.
Let the reference rectangular co-ordinate system with
Soln. :
^  ^
co-ordinate direction as (R· k) and R as shown in
Fig. P.2.7.2(a).

From Fig. P. 2.7.2(b) we can write,

2
x2 + y2 = R3 …(iii)
2
and x2 + (R  y)2 = R4 …(iv)

Fig. P. 2.7.2(a)

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-27 Kinematic Analysis of Mechanisms (Analytical Methods)

…[··· R1 is fixed non rotating vector]

^ ^ ^
0 = R22 (R2 k ) + R33 (R3 k ) + R44 (R4 k )
^ 
Let R22 (R2 k ) = A
^ 
^ 
R33 (R3 k ) = B and R44 (R4 k )= C

Hence we get
  
A + B + C = 0
^ ^ ^
Fig. P. 2.7.2(b) AA+BB+CC = 0

+ ?+ ? = 0
from Equations (iii) and (iv) we get,
2 2 2
 
R + R3  R4 (197.033)2 + (100)2 1502 In this case magnitude of vector B and vector C are not
y= = = 66.796 mm ^
2R 2  197.033 known. Hence multiplying above equation by (B k ) we get,
On substituting value of y in Equation (ii), we get,  ^ 
^ 
A (B k ) + C (B· k ) = 0
x =  74.419 ^  ^  
^

R22 (R2 k) · ( R3 · k) k
 A (B k)
Also from Fig. P. 2.7.2(b), we can write  C = = 
 ^ ^ ^  ^  
^  ^ C (B k) (R4 k) (R3 k) k
R3 = x (R· k)  y R
    
  40  15 (0.979 i  0.199 j ) ×(0.979 i + 0.199 j ) k
=  74.419 [(0.979 i 0.199 j ] C = 
       
+ 66.796 [0.979 i 0.199 j ] (0.63 i  0.766 j ) k ×(0.979 i + 0.199 j ) k
      
R3 =  (72.856 i 14.809 j )+(65.393 i 13.292 j ) (600  11.49) · (0.199 i  0.979 j )
C = 
        
R3 = 138.249 i + 28.101 j or 7.463 i + 7.517 j (0.766 i + 0.633 j ) · (0.199 i  0.979 j )

    (600  11.49) (1  78.51)

C =
using, R3 = 138.249 i + 28.101 j (1  39.07) (1  78.51)
  600  1 cos (78.51  11.49)
or R3 = 141  11.49 =
1  1 cos (78.51  39.07)
^    234.25
and R3 = cos (11.49) i + sin (11.49) j C = 0.722 =  303.43
  
and R3 = 0.979 i + 0.199 j But C = R44  303.43 = 150 4
from Equation (ii) we can write, 4 =  2.032 rad/sec anticlockwise
  
R4 = R R3 or 4 = 2.032 rad/sec clockwise …Ans.
    The angular velocity of rocker is 2.032 rad/sec
= (193.055 i  39.39 j )  (138.24 i + 28.101 j )
  clockwise.
= 54.806 i  67.493 j
Ex. 2.7.3 : In an IC engine mechanism, crank radius is 50

or R4 = 86.943  50.92 = 86.943  309.08 mm and connecting rod length is 200 mm. The crank is
^   rotating at 100 rad/s clockwise. At a particular instant the
and R = 0.63 i  0.77 j
crank is at 40 from TDC position. For this position of the
Now, differentiating Equation (i) w.r.t. time, mechanism, find out the velocity of piston using,
d  d    (a) Analytical method.
dt ( R ) = dt (R2 + R3 + R4 ) (b) Velocity polygon method.
d ^ ^ ^ (c) Complex algebra method.
0 = dt (R2 R2 + R3R3 + R4R4)
(d) Loop closure equation and vector algebra method.

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-28 Kinematic Analysis of Mechanisms (Analytical Methods)

Soln. : d) Vector algebra method

a) Analytical method  50 sin 40
 sin 3 = 200 3 =  9.24 or 350.760

Crank radius, r = R2 =50 mm 
 R1 = R1 0 = 50  40 + 200 3
Length of connecting rods, l = R3 = 200 mm   
Angular velocity of crank, 2= 100 rad/sec ; R2 = R22 = 50  40=50 [cos 40 i + sin 40 j ]
 
Crank angle, 2 = 0 from TDC = 50 [0.766 i + 0.642 j ]
sin 2   
Velocity of piston is, Vp =  r ⎡sin  + 2n ⎤ R2 = 38.3 i + 32.13 j
⎣ ⎦
sin 80⎤ 
Vp = 100  50 ⎡sin 40 + R3 = R33=200  350.76
⎣ 24 ⎦
l 200 ^ ^
…⎡··· n = r = 50 = 4⎤ = 200 [cos (350.76) i + sin (350.76) j ]
⎣ ⎦ ^ ^
Vp = 3829 mm/sec. …Ans. = 200 [0.987 i  0.160 j ]
     
b) Velocity polygon method R3 = 197.4 i  32.11 j  R 1 = R 2 + R 3
from velocity diagram, ^ ^ ^ ^ ^
R1 i = [38.3 i + 32.13 j ] + (197.4 i  32.11 j ]
–
Vp = op = 3800 mm/sec. …Ans. ^
= (38.3 + 197.4) i
^ ^ 
 R1 i = 235.7 i R1=235.7R1=235.7  0
 
using dot product of R1 k

d
dt =
( 383 j  321.5 i ) +  ( 19.74 j + 3.22 i ) = R j
3 1


3 =19.4 R1 = Vp = 3839.7 mm/sec …Ans.

Please download e-book for detail

Fig. P. 2.7.3(a)
Solution for Ex. 2.7.4
c) Complex algebra method
     Ex. 2.7.4 : In an internal combustion engine, the crank radius
R1 = R2 + R3 ; x = r ei 2 + lei 3
is 100 mm and the connecting rod length 500 mm. The crank
 50 sin 40
sin3 = 200 3 =  9.24 or 350.760 rotates at 191 rpm in anti-clockwise direction and has an
2
 r 2 cos 2 angular acceleration of 125 rad/sec . Use vector algebra
dx
V = dt 3 = =  19.40 method and write the loop closure equation and find
l cos 3
acceleration of the piston for a crank angle of 50 from the
Vp =  r 2 sin 2l3 sin 3
inner dead centre.
Vp =  50 100 sin 40200 (19.40) sin (350.760)
2.8 Hooke’s Joint or Universal
Vp = 3837 mm/sec.
Coupling
University Question
Q. State the applications of Hooke’s joint.
SPPU -May 11

 A Hooke’s joint, commonly known as Universal

coupling, is used to connect two non-parallel and
intersecting shafts. It is also used for transmission of
Fig. P. 2.7.3(b) motion and power four shafts with angular
misalignment where flexible coupling does not serve the
purpose.
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-29 Kinematic Analysis of Mechanisms (Analytical Methods)
Applications of Hooke’s joint Fork AB of the driving shaft is in the horizontal plane
1. A common application of this joint is for transmission of and the fork CD of the driven shaft is in vertical plane.
power from engine gear box to the rear axle. The engine
shaft rotates at a uniform speed (1)whereas the driven
shaft rotates at varying angular speeds (2)
continuously.
2. This joint is also used for transmission of power to
different spindles in a multiple drilling machine, knee
joint in a milling machine, in rolling mills etc.
A single Hooke’s joint is shown in Fig. 2.8.1. It consists of
two U-shaped forks each connected to driving and
driven shafts. The four ends of the two forks are
connected by a centre piece called ‘cross’, the arms of
which rests in the bearings provided at the fork ends.

Fig. 2.8.1 : Hooke’s joint or Universal coupling

Fig. 2.8.3

 Consider that the driving shaft, hence, its fork AB rotates

through an angle  in a circle as represented by A1 B1 in
front view. Whereas, the fork CD will also move through
an angle  of the same size however, the projection of
CD in the plane of paper will have the trace of an ellipse
since it is not in the same plane as AB.
 Therefore, CD takes the position C1 D1 at an angle  on
the ellipse. In order to find its true angle turned, project
C1 to top view which cuts the horizontal axis at E and the
Fig. 2.8.2 : Actual Hooke’s joint or Universal coupling CD at F1. Rotate OF1 to OF on horizontal axis. Project F in
 
 The centre piece may have the shape of sphere, cross or the front view which cuts the circle at C1. Join OC1. Then

square. The arms of the cross are perpendicular to each COC1 represents the true angle turned by fork CD
other. which is marked as .
 One of the disadvantage of single Hooke’s joint is that  Therefore, when the driving shaft turns an angle , the
the driven shaft has the variable speed, therefore, at driven shaft turns through an angle . Value of angle 
high speeds it may cause vibrations. This problem is may be greater or less than angle  or it may be equal to
overcome by using the double Hooke’s joint which shall  at a particular position.
be discussed subsequently. 
Consider triangles OC1E and OC1F, where,
 Fig. 2.8.2 shows Actual Hooke’s joint or Universal

coupling.  OC1E =  and OC1 F = 

2.8.1 Single Hooke’s Joint Analysis OE OF

 tan  = EC and tan  =  …(i)
1 FC1
 Consider two shafts inclined at angle  as shown in

Fig. 2.8.3. These are connected by a joint having two tan  OF / FC1
forks AB and CD as shown in their top and front views. Therefore, = OE / EC
tan  1

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-30 Kinematic Analysis of Mechanisms (Analytical Methods)

But FC1 = EC1 2.8.2 Maximum and Minimum Speeds
tan 
of the Driven Shaft
OF OF1
 = OE = OE …(ii)
tan  For a given angle  between the driving and driven
From OF1E,
shaft, the velocity ratio from Equation (2.8.4) is given as,
OE
cos = OF 1· cos 
1 2 = …(2.8.5)
1  cos2· sin2
On substituting this value in Equation (ii), we get,
tan  1 a) 2 will be maximum when denominator is minimum in
= …(iii)
tan  cos  Equation (2.8.3) or cos2 is maximum for a given angle 
or tan  = cos · tan  …(2.8.1) i.e., when
d
Let, 1 = Angular speed of driving shaft = dt cos = 1 i.e., = 0, , 2 , …..
d 1 cos  1cos 
2 = Angular speed of driven shaft = dt  (2)max = =
1  sin2 cos2
On differentiating Equation (2.8.1) on both sides with 1
respect to time ‘t’, we get, or (2)max = …(2.8.6)
cos 
d d
sec2· dt = cos · sec2· dt b) 2 will be minimum when denominator is maximum in
Equation (2.8.3) or cos2 is minimum for a given angle 
or 1 sec2 = cos · sec2· 2
 3
2 i.e., when cos  = 0. i.e., = 2, 2 , …..
sec2
or = …(iv)
1 cos · sec2 1 cos 
 (2)min =
Also we know that, sec2 = 1 + tan2 10
tan2 or (2)min = 1· cos  …(2.8.7)
 sec2 = 1 + [Using Equation (iii)]
cos2
2.8.3 For Equal Speeds of Driving and
sin2 1 cos2· cos2 + sin2
or sec2 = 1 +  2 = Driven Shafts
cos  cos 
2
cos2· cos2
2
cos2 (1  sin2) + sin2 = 1, therefore, from Equation (2.8.2) we have
= 1
cos2· cos2
 cos2· sin2 + cos2 + sin2 1  cos2· sin2 = cos 
sec2 =
cos2 · cos2 1  cos 
or cos2 =
1  cos2· sin2 sin2
= …(v)
cos2· cos2 1  cos 
cos2 =
On substituting the value of sec  from Equation (v) in
2 1  cos2
Equation (iv) we get, 1  cos 
=
2 sec2 (1  cos ) (1 + cos )
= 1
1 1  cos2· sin2⎤
cos  ⎡ or cos2 =
1 + cos 
…(2.8.8)
⎣ cos2· cos2 ⎦
1
⎡ 12 ⎤ or cos  =  …(2.8.9)
2 ⎣cos ⎦ 1 + cos 
or =
1 ⎡1  cos
2
· sin ⎤
2
Also from Equation (2.8.9), we have,
⎣ cos 2
· cos2 ⎦ 1
1  sin2 =
2 cos  1 + cos 
or = …(2.8.2)
1 1  cos2· sin2 1 cos 
or sin2 = 1  =
1· cos  1 + cos  1 + cos 
or 2 = …(2.8.3) On dividing this equation by Equation (2.8.8), we get
1  cos2· sin2
N1 cos  tan2 = cos 
or N2 = …(2.8.4)
1  cos2· sin2 or tan  =  cos  …(2.8.10)
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-31 Kinematic Analysis of Mechanisms (Analytical Methods)

There are two values each of  corresponding to positive or q = 1 tan sin  …(2.8.11)

and negative sign respectively. Hence, there are four values  Since  is small angle, therefore substituting cos  = 1
of  at which 2 = 1. and sin  =  in Equation (i) we get,
q = 1 2 …(2.8.12)
2.8.4 Polar Diagram
 Therefore, maximum fluctuation of the speed of the
University Question
driven shaft is approximately varies as the square of the
Q. Draw neat and properly labelled Polar diagram for
angle between the two shafts.
Single Hooke’s joint. (SPPU - May 14)
2.8.6 Angular Acceleration of Driven
Definition : The diagram showing the variation of Shaft
speed of driven shaft 2 with respect to driven shaft 1cos 
(1) is called polar diagram as shown in Fig. 2.8.4. 2 = …From Equation (2.8.3)
1  cos2· sin2
 During one rotation of driving shaft, (2)max occurs at
Since, angular acceleration of driven shaft, say 1 is,
points 1 and 3. At  = 0 and 180 (2)min occurs at
d2 d2 d d2
points 2 and 4 at  = 90 and 270. (1 = 2) occurs at 2 = dt =  = · 1
d dt d
points 5, 6, 7 and 8. 1cos 
d⎛ ⎞
i.e., 2 = 1 ·
d⎝1  cos2· sin2⎠
 sin2· 2 cos · sin ⎤
2 = 1 · cos ⎡
2
or
⎣ (1  cos2· sin2)2 ⎦
2
1 cos · sin2· sin 2
or 2 = …(2.8.13)
(1  cos2· sin2)2
Condition for maximum acceleration :
d2
Condition for maximum acceleration is = 0. The
d
approximate result obtained is, 2 is maximum when,
2 sin2
cos 2 ~
– …(2.8.14)
2  sin2

2.8.7 Double Hooke’s Joint Analysis

 From Equation (2.8.2), it is clear that the velocity of
Fig. 2.8.4 : Polar diagram driven shaft is not uniform although the driving shaft
2.8.5 Maximum Fluctuation of Speed rotates at uniform velocity.
of Driven Shaft  In section 2.8.5, the variation in speed has been depicted
 Maximum fluctuation of speed of driven shaft is on polar diagram.
difference between maximum and minimum speed of  In order to obtain the uniform velocity ratio, a double
driven shaft, mathematically it is given by, Hooke’s joint has to be used as shown in Fig. 2.8.5(a).
q = (2)max (2)min  This joint gives uniform velocity ratio under following
1 conditions :
or q =  1 cos 
cos 
a) Axis of driving and driven shaft are in the same
…[from Equations (2.8.6) and(2.8.7)] plane.
1 1  cos2⎞
q = 1 ⎛  cos ⎞ = 1 ⎛ b) The intermediate shaft makes equal angles both with
⎝cos  ⎠ ⎝ cos  ⎠
sin2⎞ input and output shafts.
q = 1 ⎛ …(i)
⎝cos ⎠

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-32 Kinematic Analysis of Mechanisms (Analytical Methods)

2.8.8 Comparison of Single Hook’s

Joint with Double Hook’s Joint
University Question
Q. Compare single Hook’s joint with double Hook’s joint.
SPPU - May 16

Sr. Single Hook’s Joint Double Hook’s Joint

No.
1. In single Hook’s joint In double Hook’s joint
the speed of driven shaft the speed of driven
is not uniform. shaft is uniform.
2. Therefore velocity ratio Therefore velocity ratio
obtained in single obtained in double
hook’s joint is not hook’s joint is uniform.
uniform.
3. At high speeds single There is no vibration at
hooks joint is cause high speed in case of
vibrations. double hook’s joint.
4. There is no Intermediate shaft is
Fig. 2.8.5 : Double Hooke’s joint intermediate shaft used in between driving
between driving and and driven shaft.
Let : ,  and  be the angles turned by the driving driven shaft.
intermediate and driven shafts respectively. On applying Ex. 2.8.1 : Two shafts, the axes of which intersect are
Equation (2.8.1), we get, coupled by a Hooke’s joint. The driving shaft rotates
For shaft A and C, tan  = tan cos  …(i) uniformly and the total variation in speed of the driven shaft
is not to exceed 8 % of mean speed. What is the greatest
For shaft B, and C, tan  = tan cos  …(ii)
possible inclination of centre lines of the shafts ?
 From Equations (i) and (ii), we see that  = . It implies
Soln. : Let 1 be the speed of driving shaft.
that A = B, i.e., the driving and driven shafts rotate at
We know that, fluctuation of speed is,
the same angular speed, therefore, their velocity ratio is
1
unity. q = – cos 
cos  1
Fig. 2.8.6 shows actual double Hooke’s joint or Universal
But, q = Variation in speed
coupling.
= 8 % of mean speed = 0.08 1
1
 0.08 1 = 1 cos 
cos 
1  cos2
or 0.08 =
cos 

or cos2 + 0.08 cos   1 = 0

 0.08  (0.08)2 4 (1) ( 1)
or cos  =
21
 0.08  2.0016
= 2
Fig. 2.8.6: Actual double Hooke’s
joint or Universal coupling = 0.9608 or  1.0408 (impracticable value)

 = 16.096 …Ans.

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-33 Kinematic Analysis of Mechanisms (Analytical Methods)

Ex. 2.8.2 : Two shafts are connected by a Hook’s joint. The 2 sin2 20
cos 2 = = 0.1242
driving shaft rotates uniformly at 500 rpm. If the total 2  sin2 20
permissible variation of speed of the driven shaft not to 2 = 82.86 or  = 41.43
exceed 6% of the mean speed, find the greatest possible
Maximum angular acceleration of driven shaft,
angle between the center line of shafts. Also determine
2
maximum and minimum speed of the driven shaft. 1 cos  sin2 sin 2 
(2)max =
SPPU - Dec. 18, 6 Marks (1  cos2· sin2)2
Soln. : …From Equation (2.8.13)
Given : N1 = 500 rpm, q = 6 % 1 = 0.06 1 2  N1 2  1000
Let, 1 be the speed of driving shaft where, 1 = 60 = 60 = 104.72 rad/s
we know that, fluctuation of speed is,  (104.72)2 cos 20 sin2 20 sin (2  41.43)
d (2)max=
1 (1  cos2 41.43  sin2 20)2
q = – 1 cos 
cos  (2)max =  1370.4 rad/s2 …Ans.
But variation of speed, q = 6% of mean speed = 0.06 ,
Ex. 2.8.4 : Two shafts are coupled together by a Hooke’s
1
` 0.06 1 = 1⎡ ⎤
⎣  – cos ⎦
cos joint, the driving shaft rotating uniformly at 600 rpm. Find the
greatest permissible angle between the shafts if the
1 – cos2
 0.06 = maximum speed of the follower shaft is 630 rpm. Prove your
cos 
reasoning. What is then the minimum speed of this shaft ?
cos2 + 0.06 cos  – 1 = 0
State the conditions under which two shafts connected
0.06 ± (0.06)2 – 4(1) (–1)
 cos  = – 2(1)
together by a double Hooke’s joint shall have the same
angular velocities.
– 0.06 ± 2
= 2 Soln. : Given : Driving shaft speed, N1 =600 rpm,
= 0.97 or –1.03 (Impracticable value) Maximum speed of driven shaft, (N2)max=630 rpm
 cos  = 0.97 N1 cos 
or  = 14.06 ... Ans. From Equation (2.8.3), N2 =
1  cos2 sin2
Now, minimum speed of driven shaft is, For N2 to be maximum, for a given angle , denominator
(N2) = N1 cos  = 500  cos 14.06 (1  cos2 sin2) should be minimum i.e., cos2 should be
= 499.92 rpm ... Ans. maximum, in other words, N2 is maximum when cos  = 1,
Maximum speed of driven shaft is, therefore, at  = 0, , …
N1 500 N1 cos 
(N2)max = = = 515.44 rpm ... Ans. It implies, (N2)max =
cos  cos 14.06 1  1  sin2
Ex. 2.8.3 : A universal joint is used to connect two shafts N1 cos  N1
= =
which are inclined at 20 and the speed of the driving shaft is cos 
2
cos 
1000 rpm. Find the extreme angular velocity of the driven 600
or 630 = or cos =0.9524
shaft and its maximum acceleration. cos 
(SPPU - Dec. 14, 6 Marks, May 17, 5 Marks)
or  = 17.75 …Ans.
Soln. : Given : Shaft angle,  = 20 ;
For the conditions under which two shafts connected by
Speed of driving shaft, N1 = 1000 rpm. a double Hooke’s joint to have same angular speed, please
Let, N2 be the speed of driven shaft, refer section 2.8.7.
N1 1000
(N2)max = = = 1064.17 rpm. …Ans. Ex. 2.8.5 : A double Hooke’s joint is used to connect two
cos  cos 20
shafts in the same plane and the intermediate shaft is
(N2)min = N1 cos  = 1000 cos 20 inclined at an angle of 20 to both the shafts. If driving shaft
= 939.69 rpm. …Ans. rotates of 250 rpm, find the maximum and minimum speed of
Condition for maximum angular acceleration is given as, intermediate and driven shafts.
2 sin2 Soln. Given : Shaft angle,=20
cos 2 = …From Equation (2.8.14)
2  sin2
Speed of driving shaft, N1 = 250 rpm,

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-34 Kinematic Analysis of Mechanisms (Analytical Methods)

Let,  Acceleration torque,

maximum speed of intermediate shaft, (N2)max 
T2 = I22 = 1.23  ( 78.31) =  96.32 Nm
minimum speed of intermediate shaft, (N2)min
maximum speed of driven shaft, (N3)max Total torque on driven shaft is,

minimum speed of driven shaft, (N3)min T2 = T + T2 = 200  96.32 = 103.68 Nm
Maximum speed of intermediate shaft is, Angular speed of driven shaft,
N1 250 1 cos 
(N2)max = = = 266.05 rpm …Ans. 25.13 cos 20
cos  cos 20 2 = =
1  cos2 sin2 1  cos2 45· sin2 20
Minimum speed of intermediate shaft is,
= 25.08 rad/s
(N2)min = N1cos  = 250 cos 20 = 244.92 rpm …Ans.
Let T1 be the required torque on driving shaft, then,
Maximum speed of driven shaft is,
(N2)max 266.05 T1 · 1 = T2 · 2 T1 25.13 = 103.68  25.08
(N3)max = = = 283.13 rpm …Ans.
cos  cos 20 or, T1 = 103.48 Nm …Ans.
Minimum speed of driven shaft is,
Fluctuation of speed is,
(N3)min = (N2)min· cos 
N1
 (N3)min = 244.92 cos 20 = 230.15 rpm …Ans. (N2)max (N1)min = 24 rpm,   N1 cos  = 24
cos 
Ex. 2.8.6 : The driving shaft of a Hooke’s joint runs at a 240
uniform speed of 240 r.p.m. and the angle  between the  240 cos  = 30, 240  240 cos2 = 24 cos 
cos 
shafts is 20. The driven shaft with attached masses has a
mass of 55 kg at a radius gyration of 150 mm. or 240 cos2 + 24 cos  240 = 0
(i) If a steady torque of 200 N-m resists rotation of the or cos2 + 0.1 cos  1 = 0
driven shaft find the torque required at the driving shaft,
 0.1  (0.1)2 4 ( 1) (1)
when  = 45.  cos  =
21
(ii) At what value of ‘’ will the total fluctuation of speed of
 0.1  2.00
the driven shaft be limited to 24 r.p.m.? = 2 = 0.95
(SPPU - Dec. 14, 6 Marks, May 17, 5 Marks)
or  = 18.19 …Ans.
Soln. :
Given :Speed of driving shaft, N1 = 240 rpm. Please download e-book for detail
2  240
1 = = 25.13 rad/s Solution for Ex. 2.8.7
60
Shaft angle,  = 20 Ex. 2.8.7 : The driving shaft of a Hooke’s joint runs at a
Mass of attached weight on driven shaft, uniform speed of 260 rpm and angle  between the shafts is
20. The driven shaft has a attached mass of weight 55 kg at
m2 = 55 kg,
a radius of gyration of 20 cm.Find :
Radius of gyration, k2 = 150 mm
(i) If a steady torque of 25 kg-m resists rotation of the
Moment of inertia of weight attached on driven shaft driven shaft, find the torque required at the driving shaft

2
I2 = m2k2 = 55  (0.15)2 = 1.23 kg m2 when  = 45.
(ii) At what value of  will be total fluctuation of speed of
Steady torque, T = 200 Nm the driven shaft be limited to 30 rpm.
Angle turned,  = 45
Ex. 2.8.8 : A universal coupling is used to connect two shafts
Maximum angular acceleration of driven shaft is, whose axes intersect at 160. The driving shaft rotates
2
1 cos · sin  sin 2 
2
uniformly at 300 r.p.m. The driven shaft operates against a
(2) = steady torque of 200 N-m and carries a rotor whose mass is
(1  cos2· sin2)2
22 kg and a radius of gyration of 150 mm. What is the
 (25.13)2 cos 20 sin2 20 sin (2  45)
= maximum value of the torque which must be exerted by the
[1  cos2 (45)  sin2 20]2
driving shaft ?
=  78.31 rad/s2 SPPU - May 12, Dec. 12, 12 Marks

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-35 Kinematic Analysis of Mechanisms (Analytical Methods)

Soln. : maximum torque which must be exerted by the driving shaft

Shaft angle,  = 180  160 = 20 if it rotates uniformly at 240 rpm.

Speed of driving shaft, N1 = 300 r.p.m Ex. 2.8.10 : The driving shaft rotates at a speed of 240 rpm
Angular speed of driving shaft, and connects the driven shaft by a Hooke’s joint inclined at
2  N1 2  300 an angle of 30. The driven shaft carries a steady load of 8
1 = 60 = 60 = 31.41 rad/sec kW. It also carries a flywheel of radius of gyration of 0.2 m.
Find the mass of the flywheel if the input torque is not to
Steady torque, T2 = 200 Nm
exceed 200 Nm at an angle of rotation of 45 of driving shaft.
Mass of rotor, m2 = 22 kg,
Radius of gyration, k2 = 150 cm = 0.15 m Ex. 2.8.11 : A Hooke’s joint is used to connect two shafts
inclined at an angle of 25. Find the maximum and minimum
 Moment of inertia of rotor,
velocity of driven shaft and the angles at which the driven
2
I2 = m2k2 = 22  (0.15)2 = 0.495 kg  m2 shaft will have the same speed as that of the driving shaft
Condition for maximum acceleration of driven shaft is, which rotates at 240 rpm.
2 sin2 2 sin2 20 Soln. :Given : Shaft angle,  = 25,
cos 2 = = = 0.1242
2  sin  2  sin2 20
2
Speed of driving shaft, N1 = 240 rpm
 2 = 82.86,  = 41.43 Maximum speed of driven shaft is,
Maximum angular acceleration of driven shaft at this N1 240
(N2)max = = = 264.81 rpm …Ans.
angle will be, cos  cos 25
2
1 cos · sin2· sin 2  Minimum speed of driven shaft is,
(2)max = (N2)min = N1· cos  = 240 cos 25
(1  cos2sin2)2
 (31.41)2 cos 20 sin2 20 sin (2  41.43)  (N2)min = 217.51 rpm …Ans.
 (2)max =
(1  cos2 41.43 sin2 20)2 For equal speed of driving and driven shafts,
=  123.28 rad/sec 2 tan  =  cos  =  cos 25 =  0.952
Accelerating torque,  = 43.59, 316.4, 136.49, 223.59 …Ans.

T2 = I2· (2)max = 0.495  ( 123.28) =  61.02 N · m Ex. 2.8.12 : Angle between two shafts connected by a
 Total torque on the driven shaft Hook’s joint is 25. If the driving shaft is rotating at 1000 rpm.
 find out :
T = T2 + T2 = 200  61.02 = 138.97 N · m
(i) Minimum speed of driven shaft in r.p.m.
Angular speed of driven shaft, (ii) Maximum speed of driven shaft in r.p.m.
1 cos  31.41 cos 20 (iii) The driving shaft rotation angles at which driven and
2 = = driving shaft speeds are same.
1  cos  sin 
2 2
1  cos2 41.43 sin2 20
Also draw schematic Polar Diagram for the above Hook’s
= 31.59 rad/sec
joint indicating all important values.
Let T1 be the torque required on driving shaft. Then, SPPU - Dec. 12, 6 Marks
Input power = Output power Soln. :
T1· 1 = T2  2 , Given : Shaft angle,  = 25 ;
138.97  31.59
T1 = Speed of driving shaft, N1 = 1000 rpm
31.41
Maximum speed of driven shaft is,
= 139.78 N · m …Ans.
N1 1000
(N2)max = = =1103.37 rpm.
Please download e-book for detail cos  cos 25

Solution for Ex. 2.8.9 and Ex. 2.8.10 Minimum speed of driven shaft is,
(N2)min = N1 cos  = 1000  cos25 =906.30 rpm.
Ex. 2.8.9 : A Hooke’s joint is used to connect two shafts For equal speed of driving and driven shafts,
whose axes intersect at 160. The driven shaft operates tan  =  cos  =  cos 25 =  0.952
against a steady torque of 300 Nm and carries a rotor whose
  = 43.59, 316.4, 136.49, 223.59
mass is 16 kg and radius of gyration of 20 cm. Determine the
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-36 Kinematic Analysis of Mechanisms (Analytical Methods)

The polar diagram with all values indicated as shown in ii) , for the retardation of driven shaft is maximum
Fig. P.2.8.12. when
2 sin2 2 sin2
cos 2 = = = 0.0693
2  sin  2  sin2 15
2

2 = 86.0257
 = 1= 43.01 …Ans.

Also, cos 2 = cos (2)

2 = 360 86.022 = 136.99

1 = 2= 136.99 …Ans.

iii) Polar diagram
Fig. P. 2.8.12 : Polar diagram

Ex. 2.8.13 : Two shafts, angle between whose axes is 15

are connected by a Hooke’s joint. Find the angle turned
through by the driving shaft rotates when :
(i) The velocity ratio is maximum, minimum and unity.
(ii) The retardation of driven shaft is maximum.
(iii) Draw the polar diagram representing angular velocities
of driving and driven shaft indicating the various angular
positions calculated above. SPPU - Dec. 15, 6 Marks
Soln. :
Given :  = 15
Fig. P. 2.8.13
i) The velocity ratio for single Hooke’s joint is given
Velocity ratio is maximum at points A and G.
by,
Velocity ratio is minimum at points D and I.
2 cos 
= Velocity ratio is unity at point C, E, H and J.
1 1  cos2 sin2
Retardation is maximum at point B and F.
Velocity ratio is maximum, when cos  =  1 i.e. when
 = 0, 180 …Ans.
Please download e-book for detail
Solution for Ex. 2.8.14 to Ex. 2.8.24
Velocity ratio is minimum, when cos  = 0 i.e. when
 = 90, 270 …Ans. Ex. 2.8.14 : Two non-parallel intersecting shafts are
Velocity ratio is unity, when  is given by, connected by a Hooke’s joint. Driving shaft rotates uniformly.

tan = cos  If total variation in the speed of driven shaft should be within

= cos 15 = 0.9828 15% of the mean speed, what is the maximum possible
inclination between the axes of the two shafts ? If actual
=0.9828
angle between the two shafts is 12, what will be the
Hence, tan  = tan (–) = tan (+)
observed percentage speed fluctuation ?
= tan (2) = 0.9828
Ex. 2.8.15 : The driving shaft of a single Hooke's joint
Let, 1 = tan  = 0.9828=44.5 rotates at 800 RPM. The angle between driving and driven

2 = 180 44.5 = 135.5 shafts is 15. Find the highest and lowest magnitude if driven
shaft speed in RPM.
3 = 180 + 44.5 = 224.5
What are the shaft rotation angles starting from standard
4 = 360 44.5= 315.5 …Ans. initial position, for which the velocity ratio is one ?
Also draw the schematic polar diagram of this Hooke's joint,
indicating all the important values. SPPU - Dec. 13, 4 Marks
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-37 Kinematic Analysis of Mechanisms (Analytical Methods)

Ex. 2.8.16 : The driving shaft of a single Hooke’s joint rotates Ex. 2.8.24 : Two shafts, angle between whose axes is
at 1000 r.p.m. The angle between driving and driven shafts is 20are connected by Hook’s joint. Find the angle turned
20. Find the maximum and minimum speed of driven shaft through by the driving shaft rotates when :
in r.p.m. What are the shaft rotation angles starting from (i) The velocity ratio is maximum, minimum and unity
standard initial position, for which the velocity ratio is one ? (ii) The retardation of driven shaft is maximum
Also draw the schematic polar diagram of this Hooke’s joint, (iii) Draw the polar diagram representing angular velocities
indicating all the important values. of driving and driven shaft indicating the various
angular positions. SPPU - May 13, 10 Marks
Ex. 2.8.17 : Draw a polar velocity diagram of Hooke’s Joint
and marks all silent features of the diagram for the driving 2.9 Computer-aided Kinematic
shaft speed of 400 rpm having shaft angle of 18. What is the
Analysis of Mechanism like
average speed of driven shaft ?
Slider crank and Four-Bar
Ex. 2.8.18 : The two shafts of a Hooke’s coupling have their mechanism
axes inclined at 20. The shaft A revolves at a uniform speed
of 100 rpm. The shaft B carries a flywheel of mass 30 kg. If  We have discussed in earlier sections, the analytical
the radius of gyration of flywheel is 100 mm, find the method to determining velocity and acceleration of the
maximum torque in shaft ‘B’. links in a mechanism.
Ex. 2.8.19 : Two horizontal shafts are connected by a  The analytical method is simple for determining velocity
Hooke’s joint. The angle between the shafts is 160. The and acceleration of the links in a mechanism for a single
driving shaft rotates uniformly at 150 rpm. The driven shaft position of mechanism.
with attached masses has a mass of 50 kg at a radius of  However, to determine the velocity and acceleration of
gyration of 100 mm. the links in a mechanism for different positions of a
(i) If a driven shaft is subjected to a constant resisting mechanism we required to solve the velocity and
torque of 100 N-m, find the torque required at the acceleration equations for each position of the
driving shaft, when  = 30 mechanism which is very time consuming.
(ii) At what value of inclination angle will the total  Therefore, to overcome this the application of computer
fluctuation of speed of the driven shaft be limited to in analysis of mechanism is very much helpful.
25 rpm ? SPPU - May 11, 8 Marks  The analytical expressions in terms of general
parameters of a mechanism are derived and calculations
Ex. 2.8.20 : Two shafts are connected by a universal joint. are made with the help of computer program. This
The driving shaft rotates at a speed of 1200 rpm. Determine method is called as computer-aided analysis of
the greatest permissible angle between the shaft axes so mechanism.
that the total fluctuation of speed does not exceed 100 rpm.
Also calculate the maximum and minimum speed of shaft. 2.9.1 Computer-aided Kinematic
SPPU - Dec. 11, 8 Marks Analysis of Slider crank
Ex. 2.8.21 : Two shafts P and Q are connected by Hookes
mechanism to determine
coupling and have their included at 15. If the shaft P rotates velocity and acceleration
at a uniform speed of 1200 rpm, find the maximum A slider crank mechanism is shown in Fig. 2.9.1(a). Let
acceleration of shaft Q and the angular positions of the shaft the and connecting rod BC has length l and crank AB has
P at these instants. SPPU - Dec. 17, 5 Marks radius r which rotates with uniform angular velocity 1
Ex. 2.8.22 : A single hook’s joint is to connect two shaft. The rad/sec and makes an angle  with X-axis and slider
driving shaft operates at a uniform speed of 1500 rpm. Find recprocates along X axis with eccentricity e as shown in
the greatest permissible angle between the shafts so that Fig. 2.9.1(a).
fluctuation of shaft may not exceed 200 rpm. Also find
maximum and minimum speed of output shaft.
SPPU - May 19, 5 Marks

Ex. 2.8.23 : Two inclined shafts are connected by means of

a universal joint. The speed of the driving shaft is 1000 r.p.m.
If the total fluctuation of speed of the driven shaft is not to
exceed 12.5% of this, what is the maximum possible
inclination between the two shafts? Also find the angles of
shaft rotation at which the driving and driven shaft are same?
SPPU - Dec. 19, 5 Marks

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-38 Kinematic Analysis of Mechanisms (Analytical Methods)

from Equation (vi) we get displacement of piston if the

values r, l, e and  are known. The angle  is given by,
r sin  – e
sin (– ) = l
e – r sin 
 sin  = l
e – r sin  ⎤
 = sin– 1 ⎡ ...(2.9.2)
⎣ l ⎦
Velocity analysis :
d
Let, Angular velocity of crank is, 1 = dt
d
Fig. 2.9.1 : Slider crank mechanism Angular velocity of connecting rod, 2 = dt
Displacement analysis : dx
Linear velocity of the slider, Vs = dt
For equilibrium of the mechanism, the sum of
components along X- axis and along Y-axis must be equal to Differentiating Equation (i) w.r.t. time,
zero.
d dx d
l  (– sin )  dt = dt – r  sin  dt
Taking the sum of the components along X-axis,

r cos  + l cos (– ) – x = 0  r sin 1 – l sin 2 – Vs = 0 ...(vi)

l cos (– ) = x – r cos  ...(i) Multiplying above equation by cos , we get

Squaring both sides, r sin  cos 1 – l sin  cos 2 – Vscos  = 0 ...(vii)

l2cos2 = x2 + r2 cos2 – 2 x r cos  ...(ii) Differentiating Equation (iii) w.r.t. time,

Taking the sum of components along Y-axis, d d

l cos  dt = – r cos  dt
l sin (– ) + e – r sin  = 0
 r cos 1 + l cos 2 = 0
l sin  = e – r sin  ...(iii) – r cos 1
2 = ...(2.9.3)
Squaring both sides, l cos 

l2 sin2 = e2 + r2 sin  – 2 e r sin  ...(iv) Multiplying above equation by sin , we get

Adding Equations (ii) and (iv), r cos  sin 1 + l cos  sin 2 = 0 ...(viii)

l2 (cos2 + sin2) = x2 + e2 + r2 (cos2 + sin2) Adding Equation (vii) and (viii),

– 2 x r cos  – 2 e a sin  r 1 (sin  cos  – cos  sin ) – Vs cos  = 0
l2 = x2 + e2 + r2 – 2 x r cos  – 2 e r sin   r 1 sin ( – ) = Vs cos 
orx2 + (– 2 r cos ) x + r2 – l2 + e2 – 2 e r sin  = 0 r 1 sin ( – )
 Vs = ...(2.9.4)
or x2 + k1 x + k2 = 0 ...(v) cos 

where, k1 = – 2r cos  Acceleration analysis :

k2 = r2 – l2 + e2 – 2 e r sin  Let,
d 1
The Equation (v) is a quadratic equation for which the Angular acceleration of the crank, 1 = dt
solution is, d 2
Angular acceleration of the connecting rod, 2 = dt
– k1 k21 – 4k2
x = ...(2.9.1) d2 x
2 Linear acceleration of the slider, fs =
dt2

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-39 Kinematic Analysis of Mechanisms (Analytical Methods)

Differentiating Equation (vi) w.r.t. time,

d d 1 d d  2 d2 x
– r ⎡r 1 cos  dt + sin  dt ⎤ – l ⎡2 cos  dt + sin  dt ⎤ – dt = 0
⎣ ⎦ ⎣ ⎦
– r [1 sin  + 21 cos ] – l [2 sin  + 22 cos ] – fs = 0
Multiplying above Equation by cos , we get
– r [1 sin  cos  + 21 cos  cos ] – l [2 sin  cos  + 22 cos2] – fs cos  = 0 ...(ix)

Differentiating Equation (viii) w.r.t. time,

d d 1 d 2
r ⎡1 sin  dt + cos  dt ⎤ – l ⎡2 – sin  dt + cos  dt ⎤ = 0
d
⎣ ⎦ ⎣ ⎦
r [1 cos  – 21 sin ] + l [2 cos  – 22 sin ] = 0

r ( 1 cos  – 21 sin  ) – l22 sin 

2 = ...(2.9.5)
l cos 
Multiplying above equation by sin , we get
r [1 cos  sin  – 12 sin  sin ] + l [2 cos  sin  – 22 sin2] = 0 ...(x)

Adding Equation (ix) and (x), we get

r [1 (sin  cos  – cos  sin ) – 2
1 (cos  cos  + sin  sin )]
– l22 (cos2 + sin ) – fs cos  = 0
 r 1 sin ( – ) – r 21 cos ( – ) – l22 – fs cos  = 0
r 1 sin ( – ) – r 21 cos ( – ) – l22
 fs = ...(2.9.6)
cos 

Program 1 : ‘Python’ Program for slider crank mechanism to determine velocity and acceleration

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-40 Kinematic Analysis of Mechanisms (Analytical Methods)
Input :
Enter value of radiusm of crank, r : 150
Enter value of length of connecting rod, l : 700
Enter value of eccentricity, e : 50
Enter value of angular velocity of crank, omega1 : 25
Enter value of angular acceleration of crank, alpha1 : 15
Enter value of initial crank angle, theatai : 0
Enter value of final crank angle, theataf : 360
Enter value of interval of crank angle, i : 30
Output :

theta phi omega2 vs alpha2 fs

0.00 4.10 – 5.37 0.27 1.16 – 113.83
30.00 – 2.05 – 4.64 – 1.99 – 63.45 – 95.81
60.00 – 6.55 – 2.70 – 3.46 – 114.30 – 44.75
90.00 – 8.21 – 0.00 – 3.75 – 135.32 11.28
120.00 – 6.55 2.70 – 3.03 – 117.53 49.26
150.00 – 2.05 4.64 – 1.76 – 69.02 66.71
180.00 4.10 5.37 – 0.27 – 5.29 73.34
210.00 10.29 4.72 1.29 61.19 74.65
240.00 14.89 2.77 2.75 116.31 64.55
270.00 16.60 0.00 3.75 139.75 30.20
300.00 14.89 – 2.77 3.75 119.64 – 28.60
330.00 10.29 – 4.72 2.46 66.85 – 87.02
360.00 4.10 – 5.37 0.27 1.16 – 113.83
Program 2 : ‘C’ Program for slider crank mechanism to determine velocity and acceleration

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-41 Kinematic Analysis of Mechanisms (Analytical Methods)

Input :
Enter value of radiusm of crank, r : 150
Enter value of length of connecting rod, l : 700
Enter value of eccentricity, e : 50
Enter value of angular velocity of crank, omega1 : 25
Enter value of angular acceleration of crank, alpha1 : 15
Enter value of initial crank angle, theatai : 0
Enter value of final crank angle, theataf : 360
Enter value of interval of crank angle, i : 30
Output :

theta phi omega2 vs alpha2 fs

0.00 4.10 – 5.37 0.27 1.16 – 113.83
30.00 – 2.05 – 4.64 – 1.99 – 63.45 – 95.81
60.00 – 6.55 – 2.70 – 3.46 – 114.30 – 44.75
90.00 – 8.21 – 0.00 – 3.75 – 135.32 11.28
120.00 – 6.55 2.70 – 3.03 – 117.53 49.26
150.00 – 2.05 4.64 – 1.76 – 69.02 66.71
180.00 4.10 5.37 – 0.27 – 5.29 73.34
210.00 10.29 4.72 1.29 61.19 74.65
240.00 14.89 2.77 2.75 116.31 64.55
270.00 16.60 0.00 3.75 139.75 30.20
300.00 14.89 – 2.77 3.75 119.64 – 28.60
330.00 10.29 – 4.72 2.46 66.85 – 87.02
360.00 4.10 – 5.37 0.27 1.16 – 113.83

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-42 Kinematic Analysis of Mechanisms (Analytical Methods)

2.9.2 Computer-aided Kinematic Analysis of Four Bar Mechanism to Determine

Velocity and Acceleration
Consider a four bar chain mechanism ABCD having length a, b, c and d. The link AD is fixed and the link AB, BC and DC
make angles ,  and  respectively along the link AD or the x-axis as shown in Fig 2.9.2

Fig .2.9.2 Four bar Chain mechanism

AB = a, BC = b, CD = c and DA = d. The like AD is fixed and lies along X-axis. Let the link AB, BC and DC make angles , 
and  respectively along the X-axis or link AD.
For equilibrium of the mechanism, the sum of the component along X-axis must be equal to zero. First of all, taking the
sum of the component along X-axis as shown in Fig. 2.9.2, we have
a cos  + b cos  – c cos  – d = 0 ...(i)
b cos  = c cos  + d – a cos 
Squaring both sides b2 cos2 = (c cos  + d – a cos )2
b2 cos2 = c2 cos2 + d2 + a2 cos2 + 2cd cos  – 2ad cos  – 2ac cos  cos  ...(ii)
Not taking the sum of the component along Y-axis, we have
a sin  + b sin  – c sin  = 0 ...(iii)
b sin  = c sin  – a sin 
Squaring both sides b2 sin2=(c sin  – a sin )2= c2 sin2 + a2 sin2 – 2ac sin  sin  ...(iv)
Adding equation (ii) and (iv)

b2cos2 + b2sin2 = c2 (cos2 + sin2) + d2 + 2cd cos  + a2 (cos2 + sin2) – 2ac (cos  cos  + sin  sin ) – 2ad cos 

or b2 = c2 + d2 + 2cd cos  + a2 – 2ac (cos  cos  + sin  sin ) – 2ad cos 

2ac (cos  cos  + sin  sin ) = a2 – b2 + c2 + d2 + 2cd cos  – 2ad cos 
1 d d
cos  cos  + sin  sin  = 2ac (a2 – b2 + c2 + d2) + a cos  – c cos  ...(v)

d
Let a = k1,
d (a2 – b2 + c2 + d2)
c = k2 and 2ac = k3

Equation (v) may be written as :

cos  cos  + sin  sin  = k1 cos  – k2 cos  + k3 ...(vi(a))

cos ( – ) = k1 cos  – k2 cos  + k3 ...(vi(b))

Since it is very difficult to determine the value of  for the given valve of  from equation (vi(a)) and (vi(b)), therefore, it
is necessary to simplify this equation.
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-43 Kinematic Analysis of Mechanisms (Analytical Methods)

From trigonometrically rations, we know that

2 tan (/2) 1 – tan2 (/2)
sin  = 2 and cos  =
1 + tan (/2) 1 + tan2(/2)
Substituting the values of sin  and cos  in equation (vi(a))
2 1 – tan2 (/2)⎤
⎡1 – tan 2 (/2)⎤ cos  + ⎡ 2 tan (/2) ⎤ = k1 ⎡
⎣ 1 + tan (/2) ⎦ ⎣1 + tan2(/2)⎦ sin  ⎣ 1 + tan2(/2) ⎦ – k2cos  + k3
cos  [1 – tan2 (/2)] + sin  [2 tan (/2)] = k1 [1 – tan2 (/2)] – k2 cos  [1 + tan2 (/2)] + k3 [1 + tan2 (/2)]
cos  [1 – tan2 (/2)] + 2sin  tan (/2) = k1 – k1 tan2 (/2) – k2 cos + k2 cos  tan2 (/2) + k3 + k3tan2 (/2)
Rearranging this equation
cos  [1 – tan2 (/2)] + k1 tan2 (/2) – k2 cos  tan2 (/2) – k3 tan2 (/2) + 2 sin  tan (/2) =– cos  + k1 – k2 cos  + k3

cos  – cos  tan2 (/2) + k1 tan2 (/2) – k2 cos  tan2 (/2) – k3tan2 (/2) + 2 sin  tan (/2) = – cos  + k1 – k2 cos  + k3
tan2 (/2) [– cos  + k1 – k2 cos  – k3] + 2 sin  tan (/2) + 2 cos  + k1 – k2 cos  + k3= 0

– [(1 + k2) cos  + k3 – k1] tan2 (/2) + (2 sin ) tan (/2) + [k1 + k3 – (2 + k2) cos ] ...(vii)

or
A tan2 (/2) + B tan (/2) + C = 0
Where A =
⎛ – [(1 + k2) cos  + k3 – k1] ⎞
B = ⎜ (2 sin ) ⎟ …(viii)
⎝[k1 + k3 – (2 + k2)] cos  ⎠
C =
The equation (vii) is quadratic equation, its two notes are (/2)
(B2 – 4AC)
tan (/2) = – B  2A

 = 2 tan– 1 – B 
⎛ (B2 – 4AC)⎞
...(ix)
⎝ 2A ⎠
From equation (ix) we can find the position of output link CD (that is angle ). If the length of the links (a, b, c and d) and
the position of the input link AB (that is angle ) are known.
If the relation between the position of input link AB (that is angle ) and the position of coupler link BC (that is angle )
is required, then angle  from equations (i) and (iii) should be determined.
Then equation (i) may be written as :
c cos  = a cos  + b cos  – d ...(x)
Squaring both sides
c2 cos2 = a2 cos2 + b2 cos2 + d2 + 2ab cos  cos  – 2ad cos  – 2bd cos  ...(xi)
Also, sin  = a sin  + b sin  ...(xii)
Squaring both sides
c2 sin2 = a2 sin2 + b2 sin2 + 2 ab sin  sin  ...(xiii)
Adding equations (xi) and (xiii)
c2 (cos2 + sin2) = a2 (cos2 + sin2) + b2 (cos2 + sin2) + 2ab (cos  cos  + sin  sin ) + d2 – 2ad cos  – 2db cos 
or
2ab (cos  cos  + sin  sin ) = c2 – a2 – b2 – d2 + 2ad cos  + 2bd cos 
c2 – a2 – b2 – d2 d d
cos  cos  + sin  sin  = 2ab + b cos  + a cos  ...(xiv)

Let (d/a) = k1, (d/b) = k4 and (c2 – a2 – b2 – d2) = k5

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-44 Kinematic Analysis of Mechanisms (Analytical Methods)

Equation (xiv) may be written as :

cos  cos  + sin  sin  = k1 cos  + k4 cos  + k5 ...(xv)
From trigonometric ratio
2 tan (/2)
sin  =
1 + tan2 (/2)
1 – tan2 (/2)
cos  =
1 + tan2 (/2)
Substituting these value of sin  and cos  in equation (xv)
1 – tan2 (/2)⎞ 2 tan (/2) ⎞ 1 – tan2 (/2)⎞
cos  ⎛ + sin  ⎛ = k1 ⎛
⎝1 + tan (/2)⎠
2 ⎝1 + tan (/2)⎠
2 ⎝1 + tan2 (/2)⎠ + k4 cos  + k5 ...(xvi)

Opening the bracket,

cos  [1 – tan2 (/2)] + 2 sin  tan (/2) = k1 [1 – tan2 (/2)] + k4 cos  [1 + tan2 (/2)] + k5 [1 + tan2 (/2)]
cos  – cos  tan2 (/2) + 2 sin  tan (/2) = k1– k1 tan2 (/2) + k4 cos  tan2 (/2) + k5 + k5tan2 (/2)
– cos  tan2 (/2) + k1 tan2 (/2) – k4 cos  tan2 (/2) – k5 tan2 (/2) + 2 sin  tan (/2) – k1 – k4 cos  – k5 + cos  = 0
– tan2 (/2) [(k4 + 1) cos  + k5 – k1] + 2 sin  tan (/2) – [(k4 – 1) cos  – k5 + k1] = 0

or [(k4 + 1) cos  + k5 – k1] tan2 (/2) + (– 2 sin ) tan2 (/2) + [(k4 – 1) cos  – k5 + k1] = 0 ...(xvii)

or

D tan2 (/2) + E tan (/2) + F = 0

D = (k4 + 1) cos  + k5 – k1

E = – 2 sin 
A = (k4 – 1) cos  – k5 + k1 ...(xviii)

Equation (xviii) is a quadratic equation in tan (/2)

(E2 – 4DF)
Its two roofs are tan (/2) = –E  2D

⎛
 = 2 tan– 1– –E 
(E2 – 4DF) ⎞
⎝ 2D ⎠
From equation (xix), we can find the position of coupler link BC (i.e angle )
Analyzing the mechanism to get the velocity,
d
Let 1 = a = Angular velocity of the link AB = dt

d
2 = b = Angular velocity of the link BC = dt

d
3 = c = Angular velocity of the link CD = dt

Differentiating equation (i) and other equations with respect to time, it can be shown that
– a1 sin  – b2 sin  + c3 sin  = 0 ...(xx)
– aa sin ( – )
c = ...(xxi)
c sin ( – )
– aa sin ( – )
b = ...(xxii)
b sin ( –)
From equation (xxi) and (xxii), we can find 3 and 2, if a, b, c, , ,  and w1 are known

In analyzing the mechanism to get the acceleration,

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-45 Kinematic Analysis of Mechanisms (Analytical Methods)
da
Let 1 = a = Angular acceleration of the link AB = dt

db
2 = b = Angular acceleration of the link BC = dt

dc
3 = c = Angular acceleration of the link CD = dt

Differentiating equation (xxi) and other equations with respect to time

da db dc
– a ⎛a cos  dt + sin  dt ⎞ – b ⎛b cos  dt + sin  dt ⎞ + c ⎛c cos  dt + sin  dt ⎞ = 0
d d d
⎝ ⎠ ⎝ ⎠ ⎝ ⎠
or
2 2 2
– aa cos  – aa sin a – bb cos  – bbsin  + c c cos  + cc sin  = 0 ...(xxiii)
2
2 2 c c (cos  cos  – cos  sin ) + cc (sin  cos  – sin  sin )
b = aa cos ( – ) – aa sin ( – ) + bb cos ( + ) –
b sin ( – )
...(xxiv)
2
2 2 c c (cos  cos  – cos  sin )
c = + aa cos ( – ) + aa sin ( – ) + bb – ...(xxv)
c (sin  cos  – sin  sin )
Program 3 : ‘C’ Program for four bar mechanism to determine velocity and acceleration

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-46 Kinematic Analysis of Mechanisms (Analytical Methods)

Input :
a: 20
b :66
c : 56
d :80
vela :10.5
acca : 0
theta :0
limit:40
Output :
theta Vela acca phi beta velc velb Accc Accb
00 10.5 0.00 -110.74 -52.51 -3.50 -3.50 -37.58 18.56
00 10.5 0.00 110.74 52.51 -3.50 -3.50 37.58 -18.56
40 10.5 0.00 -126.30 -61.47 -4.06 -0.83 15.50 50.99

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-47 Kinematic Analysis of Mechanisms (Analytical Methods)

40 10.5 0.00 103.821 38.99 0.07 -3.15 56.46 20.96

80 10.5 0.00 -139.02 -58.74 -2.51 2.03 26.17 31.04
80 10.5 0.00 110.16 29.87 2.92 -1.62 27.30 22.42
120 10.5 0.00 -145.28 -48.22 -0.77 3.26 26.64 4.54
120 10.5 0.00 123.49 26.44 3.77 -0.20 -0.66 21.44
160 10.5 0.00 -144.69 -36.44 1.12 2.75 29.94 -16.40
160 10.5 0.00 136.77 28.52 2.96 1.32 -22.41 23.99
200 10.5 0.00 -136.77 -28.52 2.96 1.32 22.41 -23.99
200 10.5 0.00 144.69 36.44 1.12 2.75 -29.94 16.40
240 10.5 0.00 -123.49 -26.44 3.77 -0.20 0.66 -21.44
240 10.5 0.00 145.28 48.22 -0.77 3.20 -26.64 -4.54
280 10.5 0.00 -110.16 -29.87 2.92 -1.62 -27.30 22.42
280 10.5 0.00 139.02 58.74 -2.51 2.03 -26.17 -31.04
320 10.5 0.00 -103.82 -38.99 0.07 -3.15 -56.46 -20.96
320 10.5 0.00 126.30 61.47 -4.06 -0.83 -15.50 -50.99

2.9.3 Computer-aided Kinematic Squaring and adding Equation (iii) and (iv)
Analysis of four bar chain l23 cos2 + l32sin2 = [l1 + l4 cos – l2cos ]2 + [l4sin  – l2sin ]2
mechanism using
Freudenstein’s Equation l23 [cos2 + sin2] = [l12 + l42 cos22 + l22cos22 2 l1l4 cos 
– 2 l1l2 cos  – 2 l2l4 cos cos]
 Consider a four bar chain mechanism ABCD having
+ [l42sin2 +l22 sin 2 – 2 l2l4 sin sin]
length l1, l2, l3 and l4. The link AD is fixed and the links
AB, BC and DC make angles ,  and  respectively along l23 [cos2 + sin2] = l12 + l42(cos 2 + sin2) + (cos 2 + sin2)
the link AD or the x-axis as shown in Fig. 2.9.3.
+ 2 l1l4 cos  – 2 l1l2 cos 
– 2 l2l4 (cos  cos + sin sin)
l23 = l21 + l42 + l22 +2 l1l4 cos  – 2 l1l2
– cos  – 2 l2l4 (  – )
Dividing by 2 l2l4 on both sides and rearranging
l21 + l22 – l23 + l24 l1 l1
2 l2l4 + l cos  – l cos  = cos (  – )
2 4

...(v)
The above equation may be written as,
K1 cos  – K2 cos  + K3 = cos (  – ) ...(2.9.7)

Fig. 2.9.3 : Four bar mechanism l1

where, K1 = l ...(2.9.8)
2
 Considering the links as vectors and writing the vector
l1
displacement relationships along x-axis and y-axis. K2 = l ...(2.9.9)
4
Along x-axis,
l2cos  + l3 cos  – l4 cos  – l1 = 0 ...(i) l12 + l22 – l23 + l24
K3 = 2 l2l4 ...(2.9.10)
Along y-axis,
l2sin  + l3sin  – l4sin  = 0 ...(ii) The Equation (2.9.7) is known as Freudenstein’s
Rewriting Equation (i) and (ii) equation.
l3 cos  = l1 + l4sin  – l2sin  ...(iii)
l3sin  = l4sin  – l2sin  ...(iv)
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-48 Kinematic Analysis of Mechanisms (Analytical Methods)

 Consider three position of four bar chain mechanism as  k1 (x1 – x3) – k2 (y2 – y3) = (a2 – a3) ...(v)
shown in Fig. 2.9.4. Let 1, 2 and 3 be the angle of input
Let, b1 = (x2 – x3)
link and 1, 2 and 3 be the corresponding angle of
b2 = (y2 – y3)
output link. It is required to determine the dimensions
l1, l2, l3 and l4 of the four bar mechanism b3 = (a2 – a3)
 The Equation (v) may be written as,
k1 b1 – k2 b2 = b3
k1 b1 – b3
 k2 = b2 ...(vi)

On substituting value of k3 from Equation (iv) in

Equation (i) we can write,
k1 x1 – k2 y1 + a3 – k1 x3 + k2 y3 = a1
 k1 x1 – k1 x3 – k2 y1 + k2 y3 = (a1 – a3)
 k1 (x1 – x3) – k2 (y1 – y3) = (a1 – a3) ...(vii)
Let, c1 = (x1 – x3)
Fig. 2.9.4 : Three position of four bar chain
c2 = (y1 – y3)
 For the three different position of the four bar chain
c3 = (a1 – a3)
mechanism the Equation (2.9.7) may be written as,
 The Equation (vii) may be written as,
K1 cos 1 – K2 cos 1 + K3 = cos ( 1 – 1) ...(2.9.11)
k1 c1 – k2 c2 = c3 ...(viii)
K1 cos 2 – K2 cos 2 + K3 = cos ( 2 – 2) ...(2.9.12)
On substituting value of k2 from Equation (vi) in
K1 cos 3 – K2 cos 3 + K3 = cos ( 3 – 3) ...(2.9.13)
Equation (viii) we can write,
From above equations the values of K1, K2 and K3 are
obtained and hence the length of links can be determined k1 c1 –
⎛k1 b1 – b3⎞ c = c ...(ix)
⎝ b2 ⎠ 2 3
from Equations (2.9.11), (2.9.12) and (2.9.13).
c2
When the three precision points i.e. ( 1, 1) ( 2, 2) and Let, d1 = b
2
( 3, 3) are known, then the value of k1, k2 and k3 are
obtained and from which we can obtained the length of  The Equation (ix) may be written as,
links. k1 c1 – (k1 b1 – b3) d1 = c3
Let,  k1 c1 – k1 b1 d1 – b3 d1 = c3
x1 = cos 1, y1 = cos 1  k1 (c1 – b1 d1) – b3 d1 = c3 ...(x)
x2 = cos 2, y2 = cos 2
Let, d2 = c1 – b1 d1
x3 = cos 3, y3 = cos 3
d3 = b3 d1
and a1 = cos ( 1 – 1)
The Equation (x) may be written as,
a2 = cos ( 2 – 2)
k1 d2 + d3 = c3
a3 = cos ( 3 – 3)
c3 – d3
The Equation (2.9.11 to 2.9.13) may be written as,  k1 = d ...(xi)
2
k1 x1 – k2 y1 + k3 = a1 ...(i) On substituting value of k1 in Equation (vi) we get value
k1 x2 – k2 y2 + k3 = a2 ...(ii) of k2,
k1 x3 – k2 y3 + k3 = a3 ...(iii) ⎛c3 – d3⎞ b – b
The Equation (iii) may be written as,
⎝ d2 ⎠ 1 3
 k2 = b2 ...(xii)
k3 = a3 – k1 x3 + k2 y3 ...(iv)
On substituting value of k1 and k2 in Equation (iv) we get
on substituting this value of k3 in Equation (ii) we can write, value of k3,
k1 x2 – k2 y2 + a3 – k1 x3 + k2 y3 = a2 ⎡⎛c3 – d3⎞ b – b ⎤
⎢ 3⎥
c – d ⎞ x + ⎢ ⎝ d2 ⎠
1
 k1 x2 – k1 x3 – k2 y2 + k2 y3 = (a2 – a3)  k3 = a3 –
⎛ 3 3
⎥ y3 ...(xiii)
⎝ d2 ⎠ 3 ⎣ b2 ⎦
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-49 Kinematic Analysis of Mechanisms (Analytical Methods)

Program 4 : ‘Python’ Program for Kinematic Analysis of Program 5 : ‘C’ Program for Kinematic Analysis of four
four bar chain mechanism using bar chain mechanism using Freudenstein’s
Freudenstein’s equation equation

Input :

Enter value of theta1 : 36

Enter value of theta2 : 75
Enter value of theta3 : 114
Enter value of phi1 : 94
Enter value of phi2 : 128
Enter value of phi3 : 172

Output :

Value of k1 : 0.420938 Input :

Value of k2 : 0.555949 Enter value of theta1 : 36

Enter value of theta2 : 75
Value of k3 : 0.15
Enter value of theta3 : 114
Enter value of phi1 : 94
Enter value of phi2 : 128
Enter value of phi3 : 172
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-50 Kinematic Analysis of Mechanisms (Analytical Methods)
Output : Minimum speed of driven shaft, (N2)min = N1cos  , rpm
Value of k1 : 0.420938 Condition for maximum angular acceleration is given as,
Value of k2 : 0.555949 2 sin2
cos 2 =
2  sin2
Value of k3 : 0.15 Maximum angular acceleration of driven shaft,
2
2.9.4 Computer-aided Kinematic 1 cos  sin2 sin 2 
Analysis of Hooke’s joint (2)max = , rad/s2
(1  cos2· sin2)2
Mechanism using Analytical 2  N1
Method: where, 1 = 60 rad/s

a) If Shaft angle  and Speed of driving shaft N1 is input For equal speed of driving and driven shafts, tan  =
 cos  , from this equation we get four angles at which
parameters then, for Kinematic Analysis of Hooke’s joint the driving and driven shaft speed are same i.e. 1 , 2 =
following equations are used, 1801 , 3 = 180+ 1and 4 = 180+ 2
N1
Maximum speed of driven shaft (N2)max = , rpm
cos 

Program 6 : ‘Python’ Program for Kinematic Analysis of Hooke’s joint Mechanism

Input :
Enter the value of alpha 20
Enter the value of N1 1000
Output :
N2max = 1064.195312 rpm
N2min = 939.677124 rpm
theta = 41.425110 degree
alpha2max = -1371.121826 rad/s2
theta1 = 44.103207 degree
theta2 = 135.896790 degree
(Copyright Reg. No. L-98408/2021)
 Kinematics of Machinery (SPPU) 2-51 Kinematic Analysis of Mechanisms (Analytical Methods)

theta3 = 224.103210 degree

theta4 = 315.896790 degree
Program 7 : ‘C’ Program for Kinematic Analysis of Hooke’s joint Mechanism

Input :
Enter the value of alpha 20 Exercise
Enter the value of N1 1000 Q. 1 In slider crank mechanism the length of stroke is
Output : 30 cm and length of connecting rod is 60 cm. When
N2max = 1064.195312 rpm piston has travelled 80 mm from I.D.C. find
analytically.
N2min = 939.677124 rpm
(i) The angular position of the crank.
theta = 41.425110 degree
(ii) Velocity and acceleration of the piston.
alpha2max = -1371.121826 rad/s2
(iii) Angular velocity of the connecting rod when
theta1 = 44.103207 degree
engine speed is 240 rpm clockwise.
theta2 = 135.896790 degree
[Ans. : = 56.40, VP = 3.50 m/sec,
theta3 = 224.103210 degree 2 2
fp = 43.30 rad/sec , pc = 3.56 rad/sec ]
theta4 = 315.896790 degree
Q. 2 In I.C. engine mechanism the crank having 300 mm
long rotates with 180 rpm. The length of connecting

(Copyright Reg. No. L-98408/2021)

 Kinematics of Machinery (SPPU) 2-52 Kinematic Analysis of Mechanisms (Analytical Methods)

rod is 1500 mm. Determine the velocity and where, 1, 2 are angular speeds of shaft 1 and 2.
acceleration of the piston when the crank is at 40  = Angle of deviation of the drive;
rpm I.D.C. Also determine the position of crank for 1 = Angle of rotation of shaft 1.
zero acceleration of the piston.
2 Q. 8 In a certain case, angle of deviation being 20.
[Ans. : VP = 4.30 m/sec, fp = 8.40 m/sec
When the masses are set in motion and allowed to
 = 79.30 from I.D.C.] rotate freely without friction, find the fluctuation of
Q. 3 The slider crank mechanism having stroke length is speed of shaft  2 as a percentage of its mean
160 mm and obliquity ratio is 5. The crank is rotates speed when the shaft  1 rotates uniformly.
with anticlockwise direction with an angular velocity [Ans. : 12.45 %]
of 150 rad/sec. and angular retardation of 100 Q. 9 Driving shaft of a Hooke’s joint rotates at a uniform
2
rad/sec . Find acceleration of a slider when the speed of 300 rpm. If the maximum variation in
crank is at 35 from I.D.C. using complex algebra speed of the driven shaft is limited to  5 % of the
2
method. [Ans. : fp =  1350.10 m/sec ] mean speed, find the permissible inclination
Q. 4 A universal joint is used to connect two shafts which between the shafts. [Ans. : 17.96]
are inclined at 18. The speed of the driving shaft is Q. 10 Two shafts are connected by Hooke’s joint. If driving
600 rpm. Find the extreme angular velocity of the shaft rotates uniformly at 1400 rpm, determine the
driven shaft and its maximum acceleration. maximum permissible angle between the shafts so
[Ans. : (2)max = 66.065 rad/s, that total fluctuation of speed doesn’t exceed 150
2
(2)mm = 59.757 rad/s, (2)max =  376.5 rad/s ] rpm. [Ans. : 18.57]

Q. 5 The driving shaft of a Hooke’s joint has a uniform Q. 11 Two shafts are connected by a Hooke’s joint and
angular speed of 280 rpm. Determine the maximum the driving shaft rotates at 800 rpm. Find the
permissible angle between the axes of the shafts to permissible angle between the shafts if the total
permit a maximum variation in speed of the driven fluctuation of speed is not to exceed 150 rpm.
shaft by 8 % of the mean speed. Hence, find the maximum and minimum speeds of
[Ans. : = 16.096] the driven shaft.
[Ans. : = 16.4; 1876.4 rpm; 1726.7 rpm]
Q. 6 Two shafts are coupled together by a Hooke’s joint.
The driving shaft rotating uniformly at 500 rpm. Find Q. 12 The angle between the two shafts connected by
the greatest permissible angle between the shafts if Hookes joint is 20. The driven shaft has a mass of
the maximum speed of the follower shaft is 600 110 kg at a radius of gyration of 0.15 m. If a steady
rpm. Prove your reasoning. What is then the torque of 1000 Nm resists the rotation of driven
minimum speed of this shaft ? shaft, find the torque required at the driving shaft at
an angle of  = 45. At what angle ‘’, the total
State the conditions under which two shafts
fluctuation of speed is limited to 48 rpm. Assume,
connected together by a double Hooke’s joint shall
speed of rotation of driving shaft as 480 rpm.
have the same angular velocities.
[Ans. : 238.8 Nm;  = 18.2]
[Ans. :  = 33.56; (N2)min = 416.67 rpm]
Q. 13 The driving shaft of a double Hooke’s joint rotates at
Q. 7 For two shafts connected by a Hooke’s joint, show a speed of 800 rpm. The angle between the driving
that : shaft and intermediate shaft and that also between
2 cos  the intermediate shaft and driven shaft are 16. Find
(a) = 2 2 and
1 1  cos · sin  the maximum and minimum speeds of the driven
2 2 shaft. [Ans. : 865.78 rpm; 739.22 rpm]
d 2 1 cos · sin · sin 2 1
(b) dt = 2 2
2
(1  sin · cos 1)



(Copyright Reg. No. L-98408/2021)