JIGJIGA UNIVERSITY

INSTITUTE OF TECHNOLOGY

SCHOOL OF MECHANICAL, ELECTRICAL AND COMPUTER ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

MECHANISM OF MACHINERY
ROLL NAME OF THE GROUP ID
NO. NO.
1 GEMECHU CHALA DUFERA R/3402/13

2 R//13

3 R//13

4 R//13

5 R//13

6 YONAS DUGASA KELBESA R/3342/12

7 R//13

8 R//13

9 IDIRIS WAYU ERESO R/1026/13

10 R//13

11 R//13

12 R//13
 Velocity in Mechanisms
Relative velocity of two bodies moving in straight line.

The relative velocity of A with respect to B:

The relative velocity of A with respect to B: vA > v B

𝑣 𝐴𝐵 =𝑉𝑒𝑐𝑡𝑜𝑟 𝑑𝑖𝑓𝑒𝑟𝑒𝑛𝑐𝑒 𝑜𝑓 𝑣 𝐴 𝑎𝑛𝑑 𝑣 𝐵 =𝑣 𝐴 − 𝑣 𝐵

the relative velocity of A with respect to B (i.e. vAB) may be written in the vector form as follows:

𝑏𝑎=𝑜𝑎 −𝑜𝑏 𝑣 𝐴𝐵 =− 𝑣 𝐵𝐴
Similarly, the relative velocity of B with respect to A,
𝑣 𝐵𝐴=𝑉𝑒𝑐𝑡𝑜𝑟 𝑑𝑖𝑓𝑒𝑟𝑒𝑛𝑐𝑒𝑜𝑓 𝑣 𝐵 𝑎𝑛𝑑 𝑣 𝐴=𝑣 𝐵 − 𝑣 𝐴 or 𝑎𝑏=𝑜𝑏− 𝑜𝑎
 Velocity in Mechanisms
Relative velocity of two bodies moving in straight line.

Now consider that the body B move in inclined direction as shown in fig a, its relative velocity can be shown in figure

𝑣 𝐴𝐵 =𝑉𝑒𝑐𝑡𝑜𝑟 𝑑𝑖𝑓𝑒𝑟𝑒𝑛𝑐𝑒 𝑜𝑓 𝑣 𝐴 𝑎𝑛𝑑 𝑣 𝐵 =𝑣 𝐴 − 𝑣 𝐵

𝑏𝑎=𝑜𝑎 −𝑜𝑏
Similarly, the relative velocity of B with respect to A,

𝑣 𝐵𝐴=𝑉𝑒𝑐𝑡𝑜𝑟 𝑑𝑖𝑓𝑒𝑟𝑒𝑛𝑐𝑒𝑜𝑓 𝑣 𝐵 𝑎𝑛𝑑 𝑣 𝐴=𝑣 𝐵 − 𝑣 𝐴

or
𝑎𝑏=𝑜𝑏− 𝑜𝑎
 Velocity in Mechanisms
Velocity of a Point on a Link by Relative Velocity Method

Consider two points A and B on a link as shown in Figure (a)

1- Let the absolute velocity of the point A i.e. vA is known in magnitude and
direction
2-The absolute velocity of the point B i.e. vB is known in direction only

3- Then the velocity of B may be determined by drawing the velocity diagram as shown in Figure (b)

The velocity diagram is drawn as

follows:
1. Take some convenient point o, known as the pole.

2. Through o, draw oa parallel and equal to vA, to some suitable scale.

3. Through a, draw a line perpendicular to AB as Figure (a). This line will represent the velocity of B with respect to A, i.e. vBA.

4. Through o, draw a line parallel to vB intersecting the line of vBA at b.

5. Measure ob, which gives the required velocity of point B ( vB), to the scale
The absolute velocity of any point C on AB may be determined by dividing vector ab at c in the same ratio as C divides AB in
Figure (a).In other words: 𝑎𝑐 𝐴𝐶
=
𝑎𝑏 𝐴𝐵
 Velocity in Mechanisms
Motion of a Link:

Consider two points A and B on a rigid link AB, as shown in Figure

one of the extremities (B) of the link move relative to A, in a clockwise direction.
Since the distance from A to B remains the same
It is thus obvious, that the relative motion of B with respect to A must be perpendicular to AB.
According to velocity method:
Velocity of any point on a rigid link with respect to another point on the same link is always perpendicular ( ⟘) to the
line joining these points on the configuration (or space diagram).

The relative velocity of B with respect to A (i.e. vBA) is represented by the vector ab and is perpendicular to the line AB as
shown in Figure (b).
In Fig. 3.1, a moving point is first observed at location change in P, defined by the absolute position
vector RP. After a small time increment change in t, its location is observed to have changed to P_,
defined by RP. Recall from Eq. that the displacement of the point during this time
increment is defined as
RP = R_P −RP.

The average velocity of the point during the time increment _ t is defined by the ratio
RP/change t. The instantaneous velocity (hereafter simply called velocity) is defined by the
limit of this ratio as the time increment goes to zero and is given by
The angular velocity of a rotating body is now defined as a vector quantity ω having a direction parallel to the
instantaneous axis of rotation. The magnitude of the angular velocity is defined as the time rate of change of the
angular orientation of any line in the body whose direction is normal to the axis of rotation. If we designate the angular
displacement of any of these lines as _change in θ and the time interval as change in t, then the magnitude
of the angular velocity vector is

shows another view of the same rigid-body displacement that was presented This is the view seen by an observer in
the absolute coordinate system looking directly along the axis of rotation of the moving body, from the tip of the
angular velocity vector. Therefore, the angular displacement θ is observed in true size, and the projections of all lines
in the body rotate through this same angle during the displacement. The displacement vectors and the position-
difference vectors, however, are not necessarily observed in true size; their projections may appear foreshortened
under this viewing angle. shows the same rigid-body displacement from the same viewing angle, but
this time from the point of view of the translating observer. Thus, this figure corresponds
to the base of the cone of We note that the two vectors labeled rPQ and rchange in PQ are
the foreshortened projections of RPQ and R PQ, and we observe that their magnitudes are
where φ is the constant angle from the angular velocity vector ω to the rotating
position-difference vector RPQ as it traverses the cone. Figure 3.5b, can also be interpreted
as a scale drawing corresponding to Eq. that is,

We can calculate the magnitude of the displacement-difference vector RPQ by drawing the perpendicular bisector of
this vector as shown in Fig From this construction
Graphatical velocity link of ABC
 We recall from that complex algebra provides an alternative algebraic formulation
for problems in two-dimensional kinematics. As we noted there, the complex-
algebraic formulation provides the advantage of increased accuracy over graphic
methods, and, once a program is written, it is amenable to solution by digital
computer at a large number of postures. On the other hand, the solution of the
loop-closure equation for the unknown position variables is a nonlinear problem
and can lead to tedious algebraic manipulations. Fortunately, the extension of the
complex-algebraic approach to velocity analysis leads to a set of linear equations,
and the solution is quite straightforward. Recalling the complex polar form of a
two-dimensional vector from that is,

we find the general form of its time derivative

 Velocity in Mechanisms
Motion of a Link:

Let ω = Angular velocity of the link AB about A.

velocity of the point B with respect to A:

(1)

Similarly, the velocity of any point C on AB with respect to A,

(2)

From equations (1) and (2),

(3)

Thus, we see from equation (3):

1- that the point C on the vector ab divides it in the same ratio as C divides the link AB

2-It is immaterial whether the link moves about A in a clockwise direction or about B in a clockwise direction.
 Velocity in Mechanisms

Four bar Mechanism:

1. Draw space diagram of mechanism with a suitable scale with higher case letter.
2. Taking a suitable scale to draw velocity diagram (with lower case letter) from

3.Take o1, o2 the origin which represent a fixed

point from its absolute velocities are drawn.
4.Draw the known absolute velocity v A ⟘ O1A from o1.

5. The direction of absolute velocity vB is

known and can be drawn through o 2 where
vB ⟘ O2B.

6. The relative velocity vAB is drawn

from (a) to be ⟘ to the link (AB) and
intersect with vB giving point (b). This
establish the magnitudes of vB, and vAB.
 Velocity in Mechanisms

Mechanism with plates

1-6 To draw the velocity diagram the

above steps from (1-6) will take place.

Space diagram

7- From point (a) draw line ⟘ AC

8- From point (b) draw line ⟘ BC the

intersect of these two lines gives point (c)
 Velocity in Mechanisms

In a four-bar chain ABCD, AD is fixed and is 150 mm long. The crank AB is 40 mm long
and rotate at 120 rpm (cw) while link CD is 80 mm oscillate about D. BC and AD are of
equal length. Find the angular velocity of link CD when angle BAD is 60o.
Solution:

Solution. Given: nBA = 120 r.p.m. or ωBA = 2 π × 120/60 = 12.568 rad/s

Since the length of crank AB = 40 mm = 0.04 m, therefore velocity of B with respect to A or velocity of B, (because A is a fixed point),

𝑣 𝐵𝐴=𝑣 𝐵 =𝜔 𝐵𝐴 × 𝐴𝐵=12. 568 × 0 .04 =0 . 503 𝑚/𝑠

1. Since the link AD is fixed, therefore points a, and
d are taken as one part in the velocity diagram. 2. Draw vector ab ⟘ AB (to some suitable scale
in this case) the scale is 1 m/sec= 100 mm, so to
represent vB=0.503 m/s the vector should be
(5.03 cm).
3. From point b draw bc ⟘ CB, to
represent the velocity of C with
respect to B (i.e. vCB) 5. By measuring dc is = 38.5 mm
So, vc=38.5/100=0.385 𝑚/𝑠
4. From point d draw dc ⟘ CD, represent the velocity of C with And 𝜔𝐶𝐷=𝑣𝑐/𝐶𝐷=0.385/0.08= 4.8 rad/s
respect to D or simply velocity of C (i.e. vCD or vC), so bc and
dc will intersect at point c.
 Velocity in Mechanisms

Velocity Polygon (diagram) for a Crank-Slider Mechanism

The velocity of the slider A (i.e. vA) may be determined by

relative velocity method as discussed below:

1- From any point o, draw vector ob parallel to the direction of vB (or

perpendicular to OB) such that ob = vB = ω.r, to some suitable scale, as
shown in below.

2- Draw vector // to piston A known direction.

3- Draw vector from b ⟘ AB (which known

direction only)
 Velocity in Mechanisms

Velocity Polygon (diagram) for a Crank-Slider Mechanism

4- The intersect of these two lines give point a.

5- Then vA can be measured

6-The angular velocity of the connecting rod AB (ωAB)

may be determined as follows:
 Velocity in Mechanisms

Rubbing Velocity at a pin Joints

The links in mechanism are mostly connected by means of pin joints
The rubbing velocity is defined as:
“The algebraic sum between the angular velocities of the two links which are connected by pin joint
multiplied by the radius of the pin”
As shown below link oA , and oB connected by a pin joint o .
ω1 = Angular velocity of the link OA or the angular velocity of the point
A with respect to O.
ω2 = Angular velocity of the link OB or the angular
velocity of the point B with respect to O, r = Radius of
the pin.
According to the definition, Rubbing velocity at the pin joint O
𝑣 𝑅𝑢𝑏=(𝜔1 − 𝜔2 )∙ 𝑟 , 𝑖𝑓 𝑡 ℎ𝑒𝑙𝑖𝑛𝑘𝑠𝑚𝑜𝑣𝑒𝑖𝑛𝑡 ℎ𝑒 𝑠𝑎𝑚𝑒 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛
𝑣 𝑅𝑢𝑏=(𝜔1 +𝜔 2 )∙𝑟 , 𝑖𝑓 𝑡 ℎ𝑒𝑙𝑖𝑛𝑘𝑠𝑚𝑜𝑣𝑒𝑖𝑛𝑡 ℎ𝑒 𝑜𝑝𝑝𝑜𝑠𝑖𝑡𝑒 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛
Note: When the pin connects one sliding member and the other turning member then the angular
velocity of the sliding member is Zero in such case v Rub= 𝜔𝑟.
 Velocity in Mechanisms

Rubbing Velocity at a pin Joints

For example find the rubbing velocities at the pins of the crank shaft, crank, and cross head when the pins
diameters are 50 mm, 60 mm, and 30 mm respectively.

Solution
We know that diameter of crank-shaft pin at O, d0 = 50 mm=0.05 m
Diameter of crank-pin at B. dB = 60 mm=0.06 m
and diameter of cross-head pin. dc = 30 mm=0.03 m
We know that velocity of rubbing at the pin of crank-shaft
𝑑° 0 . 05
∙ 𝜔 𝐵𝑂 = ∙18 . 85=0 . 47 𝑚/ 𝑠
2 2
Velocity of rubbing at the pin of crank

¿
 Velocity in Mechanisms

Rubbing Velocity at a pin Joints

¿
And velocity of rubbing at the pin of cross-head

𝑑𝑝 0 . 03
∙ 𝜔 𝑃𝐵 = ∙ 3 . 4 =0 . 051 𝑚/ 𝑠
2 2
 Velocity in Mechanisms

Example
In figure below, the angular velocity of the crank OA is 600 r p.m. Determine the linear velocity of the slider D and the angular velocity
of the link BD, when the crank is inclined at an angle of 75° to the vertical. The dimensions of various links are: OA = 28 mm; AB = 44
mm; BC 49 mm; and BD = 46 mm. The center distance between the centers of rotation O and C is 65 mm. The path of travel of the slider
is 11 mm below the fixed point C. The slider moves along a horizontal path and OC is vertical.
Solution.
Given: NAO = 600 r.p.m. or ωAO = 2 π × 600/60 = 62.84 rad/s, Since OA = 28 mm =
0.028 m, therefore velocity of A with respect to O or velocity of A (because O is a
fixed point),
𝑣 𝐴𝑂 =𝑣 𝐴 =𝜔 𝐴𝑂 ∙ 𝑂𝐴=62 . 84 ∙ 0 . 028=1 .76 𝑚 /𝑠 ,⊥ 𝑂𝐴(𝑃𝑒𝑟𝑝𝑒𝑛𝑑𝑖𝑐𝑢𝑙𝑎𝑟 𝑡𝑜 𝑂𝐴).

1- Draw vector oa = vAO = vA

= 1.76 m/s ┴ OA to some
suitable scale)

2- From point a, draw vector

perpendicular to AB to represent the
velocity of B with respect A (i.e. vBA)
 Velocity in Mechanisms
(Instantaneous Centre Method)

general the motion of a link is a mechanism which is neither pure translation nor pure rotation. It is a

combination of translation and rotation which we say link is in general motion. Any link at any instant

can be assumed to be in pure rotation with respect to the point in space known as “Instantaneous

Centre (IC) of rotation”. This centre is also known as the virtual centre. In your daily life, you

experience that a body has simultaneously a motion of rotation as well as translation. This combined

motion of a body may be assumed to be a motion of pure rotation about some centre known as

instantaneous centre of rotation. To determine the velocity of a point on a link, instantaneous centre
An instantaneous centre of rotation is defined as the point in a body undergoing planar
movement that has a zero velocity, and each and every point on a body rotates about that
point, at a given instant.
Consider the following member of a link:
 At a certain instant, point A moves with velocity VA and point B moves with velocity VB
Point I is such that, both the velocities are perpendicular to the line joining I and their
corresponding points.
 We know that, in case of a circular motion, velocities are tangential to the circle of
rotation and perpendicular to the radius.
 Similarly, in this case, both the points, A and B, appear to move about point I. Thus,
point I is the instantaneous centre of rotation.
 At the next instant, the I-centre for the member AB may change.
 The instantaneous centre method is convenient and easy to apply in simple
mechanisms,
When a mechanism executes plane motion, any link belonging to the planar mechanism
corresponds to one of the three following cases:
(a) Linear motion, as that of a piston in an internal combustion engine,
(b) Rotary motion, as that of a crank rotating about a fixed axis, and
(c) Plane motion, as that of connecting rod of an engine