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Velocity Analysis
Velocity Analysis

The study of velocity involves the linear velocities of various points on different links of a
mechanism as well as the angular velocities of the links.

Relative Velocity:

Velocity of point ‘A’ relative to point ‘B’ (Vab)

Absolute Velocity:
Velocity of point ‘A’ relative to fixed point ‘O’ (Vao)

Vel. of ‘A’ relative to ‘O’ (Vao) = Vel. of ‘A’ relative to ‘B’ (Vab)
+ Vel. of ‘B’ relative to ‘C’ (Vbc) + Vel. of ‘C’ relative to ‘O’ (Vco)
Fig.2.1
i.e., Vao = Vab + Vbc + Vco
Vectors
• Problems involving relative motions are conveniently solved by the use of vectors.
• A vector is a line which represents a vector quantity such as velocity, acceleration, force, etc.

Characteristics of a Vector
1. Length of the vector drawn to a convenient
scale, represents the magnitude of the quantity.
2. Direction of the line is parallel to the direction
in the quantity acts.
3. An arrowhead on the line indicates the
direction sense of the quantity which is always
from the tail to the head, i.e., a to b (Fig. (a)).
Motion of a Link

• Let a rigid link OA, of length r, rotate about a fixed point O with a uniform angular velocity 𝜔 rad/s in the

counter-clockwise direction (Fig. a).

• OA turns through a small angle 𝛿𝜃 in a small interval of time 𝛿t.

• Then A will travel along the arc AA’ as shown in Fig. b

Velocity of A relative to O ()
𝑳𝒆𝒏𝒈𝒉𝒕 𝒐𝒇 𝒂𝒓𝒄 𝑨𝑨′
¿
𝛿𝒕
or
𝒓 𝛿𝜃
𝛿𝒕 ¿𝒓 𝜔

𝒗 𝒂𝒐=¿Length of the link OA × angular velocity of link OA

• Also, as 𝛿t approaches zero (𝛿t → 0), AA’ will be perpendicular to OA.

• Thus, velocity of A is and is perpendicular to OA.

• This can be represented by a vector oa (Vao)(Fig. c)

Consider a point B on the link OA (Fig. a)

Velocity of B relative to O

= OB (and is perpendicular to OB)

If ob represents the velocity of B,

it can be observed that

Vao

i.e., b divides the velocity vector in the same ratio as B divides the link.
• Remember, the velocity vector (Fig. c) represents the velocity of A at a particular instant.

90°

• At other instants, when the link OA assumes another position, the velocity vectors will have their

directions changed accordingly.

Four-Link Mechanism

Fig. shows a four-link mechanism ABCD in which

AD is the fixed link

BC is the coupler

AB is the driver.

AB is rotating at an angular speed of 𝜔 rad/s in the clockwise direction.

It is required to find the absolute velocity of C (or velocity of C relative to A).

Writing the velocity vector equation,

• The velocity of any point relative to any other point on a fixed link is always zero.

• Thus, all the points on a fixed link are represented by one point in the velocity diagram.

• Therefore, the velocity of C relative to A is the same as velocity of C relative to D

Then the equation

may be written as
Example: In a four-link mechanism the dimensions of the links are as under:
AB = 50 mm, BC = 66 mm, CD = 56 mm, AD = 100 mm, FB = 45 mm, FC = 30 mm. At the instant when

DAB = 60°, the link AB has an angular velocity of 𝜔 = 10.5 rad/s in the counter-clockwise direction.
Determine the

1. Velocity of the point C

2. Velocity of the point E on the link BC when BE = 40 mm

3. Angular velocities of the links BC and CD

4. Velocity of an offset point F on the link BC

if FB = 45 mm, CF = 30 mm and BCF is read clockwise.

5. Velocity of an offset point G on the link CD

if CG = 24 mm, DG = 44 mm and DCG is read clockwise.

Solution:
First of all, we need to draw the configuration diagram as per the given details using a suitable scale.

AD = 100 mm,

DAB = 60°,

BC = 66 mm,

CD = 56 mm,
C
FB = 45 mm, CF = 30 mm and BCF is read clockwise E
B
G
BE = 40 mm,
F
Similarly G can be located.
60°
CG = 24 mm, DG = 44 mm and DCG is read clockwise
A D
Angular velocity of link AB, 𝜔 = 10.5 rad/s
Solution:

First of all we need to draw the configuration diagram as per given details using suitable scale.
C
AD = 100 mm, E
B
G
F
DAB = 60°,
60°
BC = 66 mm,
A D
CD = 56 mm,

FB = 45 mm,

FC = 30 mm,

BE = 40 mm,

Similarly G can be located.

Angular velocity of link AB, 𝜔 = 10.5 rad/s

1. Velocity of point C AB = 50 mm 𝜔 = 10.5 rad/s

Write the velocity vector equation,

Construct the velocity diagram as follows:

1. Take the first vector vba as it is completely known.

i.e., vba = Length of the link AB angular velocity of link AB

= 50 10.5 = 525 mm/s = 0.525 m/s

Take the suitable scale, say, 1 mm/s = 5 mm/s (i.e., 1:5). Then 105 mm/s → 525 mm/s
 b
First vector vba

Then the magnitude of the vector vba will be vba

equal to 105 mm/s and its direction is AB with
sense counter-clockwise.
vcb
Second vector vcb a, d

2. To add the second vector vcb , draw a line BC

through b, of any length. Since the direction-
sense of vcb is known, it can lie on either side of
b. a convenient length of the line can be taken
on both sides of b.
Third vector vcd b
Through d, draw a line DC to locate the vector
vcd . The intersection of this line with the line of vba
vector vcb Locates the point c. vcb

3. Mark arrowheads on the vectors vcb and vcd a, d

to give the proper sense. Then ‘dc’ is the

or v cd
magnitude and also represents the direction of v ca
c
the velocity of C relative to A (or D). It is also

the absolute velocity of the point C (A and D

being fixed points)
 b
The length of the vector vca is approximately

equal to 79 mm, then by converting back to vba

original scale the magnitude of the vector vca
vcb
will be equal to
a, d
vca = 79 5 = 395 mm/s = 0.395 m/s

v cd
v ca or
i.e., the absolute velocity of C c
vca = vcd = 0.395 m/s
2. Find the velocity of the point E on the link BD when BE = 40 mm:
Locate the point e on vcb such that
0.206 m/s

vcb = 0.34 m/s from the velocity diagram

vea or v
veb = 0.34 0.206 m/s
e ed

vea or ved = 0.415 m/s from the

velocity diagram
vca = vcd = 0.395 m/s

BC = 66 mm
3. Angular velocities of the links BC and CD: vca = vcd = 0.395 m/s
vcb = 0.34 m/s
v = 𝜔r vea or ved = 0.415 m/s
𝜔cb rad/s clockwise

𝜔cd rad/s
vea or v
counter-clockwise e ed
4. Velocity of an offset point F on the link BC
b
if FB = 45 mm, CF = 30 mm

and BCF is read clockwise:

vfb vba
As vfb is FB, draw a line FB through b. vcb
Similarly, vfc is FC, draw a line FC through c; vfa or vfd a, d
f
The intersection locates the point f. vfc v cd
v ca or
Then, the length of vfa or vfd gives the absolute
c
velocity of f.

i.e., vfa = 0.495 m/s

5. Velocity of an offset point G on the link CD if CG =

24 mm, DG = 44 mm, and DCG is read clockwise. b

As vgd is DG, draw a line DG through d;

vba
similarly, vgc is GC, draw a line GC through c;
vcb g
The intersection locates the point g.
vgd a, d
Then, the length of vga or vgd gives the absolute vgc
or v cd
velocity of g. v ca
c
i.e., vga = 0.305 m/s