GATI SHAKTI VISHWAVIDYALAYA

ग त शि त व व व यालय
School Of
Technology
Mechanical Engineering (4Th Semester)

Kinematics and Dynamics of Machines

(MEL210)

Kumar Sourabh
Assistant Professor, GSV
(Ph.D. - BARC, DDFS Fellow)

Module 1: Introduction to Mechanisms and Machines

Module – 2 Velocity and Acceleration Analysis

Rotation, Translation and general motion

Basics of I Centre of rotation and
Keneddies theorem in 4link mechanism
Angular velocity ration theorem in 4link mechanism
Accelerations in rotating link
Kleins construction :analytical approach
Coriolis acceleration
Kinematic analysis of single slider crank
Dynamic analysis of single slider crank
 Velocity and Acceleration Analysis

Velocity and acceleration of link of a mechanism at any instant

Velocity Analysis

I center Method Relative velocity

(I- instantaneous) method

This method becomes Graphical method to

complicated in mechanisms solve complex problem
with more than 4 link
 Pure Rotation Pure Translation General Motion

A
Rotation + Translation
C Vc
B
VAO= ω (AO) • Position and
V = ω (BO) orientation both
A BO
O change
B VB
To understand the general motion
you have to first understand the
concept of I centre
• No change in position Only
VA
orientation change A
• Relative velocity between
VA=VB=VC
the points of the link
• Position change No
change in orientation
• No relative motion
between the links
I-Centre Body is having general motion
(Rotation + Translation) this image of
a body is captured at particular
instant

VB

A VA
 I-Centre

VB

A VA
 I-Centre

VB

A VA
ω angular velocity of I centre

I-Centre
0
ω VA= ω (OA)
VA= ω (OB)

VB

A VA
 I-Centre

VB

A VA
 I-Centre

VB

Object 1 B

A VA

C
Ob
jec
t2
I-Centre
 I-Centre
O
ωi
C is a point on line AB

B
VB

ω
A
X
A B
VA
Locus of I centre is centrode
Locus of I centre axis of rotation : Axode

• BO, OC, AO measure from

the scale
 I-Centre
O
ωi
C is a point on line AB

B
VB
C
ω
A
X C
A B
VA
Locus of I centre is centrode
Locus of I centre axis of rotation : Axode

• BO, OC, AO measure from

the scale
 I-Centre
What is the velocity of point C on AB if the crank O
BX is rotating CW with angular acceleration ω ? ωi
VB=ω(BX) C is a point on line AB

B
VB
C
ω
A
O C
A B
Locus of I centre is centrode Vc ?
Locus of I centre axis of rotation : VA
Axode • find the value of VB=ω(BO)
• After that find ωi using VB=ωi (BO)
• BO, OC, AO measure from • Now using VC=ωi (CO), VC can be identified, similarly
the scale for VA
• (slider velocity)
• Direction will be perpendicular to OC
 I-Centre
O
ωi
VB=ω(BX) C is a point on line AB

B
VB
C
ω
A
X C
A B
Vc ?
VA
Locus of I centre is centrode
Locus of I centre axis of rotation : Axode

• BO, OC, AO measure from Similarly velocity of slider VA can also

the scale be determined
How to locate the I centre in different cases ??
How to locate the I centre in different cases ??

Turning Pair Rolling pair Sliding

 Sliding on fixed
Sliding on fixed curve surface
curve surface
 2

I12

Pure rolling on a circle

Basics of I Centre
No of I Centre:

3 I11 I12 I13 I14 I12 I13 I14

4 I23 I24
2
I21 I22 I23 I24 I34
1
I31 I32 I33 I34
 I12 I13 I14
I23 I24
I34

3 I34
I23
2 4

I12 I41
1
 For I24 : (I23 I34) and (I21 I14) I13
I12 I13 I14
For I13 : (I12 I23) and (I14 I43)
I23 I24
2 3
I34

3
I34
I23
4 2 4
1
I12 I41
1
I24
 I13 ω3

Find ω4 if ω2 is given ? • STEPS

• find the value of

C
VB=ω2(BA)= ω2(I23 I12)
B 3
I34 • After that find ω3 using
I23 VB= ω3(I23 I13)
2 4

ω2 ω4 • After that find VC using

I12 I41 • VC= ω3(I13 I34)
1
I24 A D • After that find ω4 using
• VC= ω4(I41 I34)

Point A or point I12 is

same thing
 ω3 I13 Direction of the angular
velocity of I centre??
Find ω4 if ω2 is given ? I1M IMN I1N
Opposite direction
C Means,
B 3 I1M is CW than I1N ACW
I34
I23 I1M is ACW than is I1N CW
2 4

ω2 ω4
I12 I41
I1M I1N IMN
1
I24 A D
Same direction
Means,
I1M is CW than I1N CW
Point A or point I12 is I1M is ACW than is I1N ACW
same thing
Kennedy’s theorem
If three plane bodies have relative motion among themselves
their I centre must lies on a straight line

Angular Velocity Theorem

If ω2 is given and you have to identify ω6 for a six link mechanism than
analytical approach becomes tedious.
It gives relation between ωm and ωn
m n
Kinematic Analysis of single slider crank

Velocity and acceleration

Piston: Linear Velocity and linear acceleration
 Kinematic Analysis of single
A
slider crank B
0
B L+R

L R
B
A
0
A
X
0
X=OX1 -OX

L A B
0
X X1 X X2
 X=OX1 -OX

n= L/R= obliquity ratio

B
L R

A
0

X
 B
L R

A
0

X
 Angular Velocity of Connecting Rod

B
L R

A
0

X
Graphical Method to analyse
velocity : 4 Bar chain
C
3
B
ω
32
2 4

ω2 ω4
D
1
A

velocity diagram
scale factor:
Suppose 50 m/sec velocity is a,d c
represented by 5cm on a velocity
diagram than scale factor is VBA
50/5=10 intersection of these two lines
b will give c point
Graphical Method to Velocity
Of Point
With
respect to
symbol Direction of velocity Magnitude of
Velocity
analyse velocity: 4 Bar Perpendicular to
C B A Vba Vba=ω2(BA)
chain 3
AB
B Vcb Perpendicular to Can be
ω C B
BC determined after
32 measuring lengths
2 4
Perpendicular to in velocity
C D Vcd diagram
ω2 ω4 CD
D
1
A

velocity diagram
scale factor:
Suppose 50 m/sec velocity is a,d c
represented by 5cm on a velocity
diagram than scale factor is VBA
50/5=10 intersection of these two lines
b will give c point
 Velocity With symbol Direction of velocity Magnitude of
Graphical Method to Of Point respect to Velocity

analyse velocity B A Vba

Perpendicular to
Vba=ω2(BA)
C AB
B
3 Vcb Perpendicular to Can be
C B
ω BC determined after
measuring lengths
32
2 4 Perpendicular to in velocity
C D Vcd diagram
CD
ω2 ω4
Vcb= length of bc in velocity diagram * scale factor
D
1
Vcb= ω32 *length of BC, from here ω32can be determined
A ω32 = ω3 - ω2 ,, from this ω3 can be determined
Vcd = length of ac in velocity diagram* scale factor
Vcd = ω4 *length of CD, from here ω4 can be determined
velocity diagram
scale factor:
Suppose 50 m/sec velocity is a,d c
represented by 5cm on a velocity
diagram than scale factor is VBA
50/5=10 intersection of these two lines
b will give c point
Graphical Method to analyse
velocity : single slider crank
chain
B
L R
P velocity diagram
A
0 b
D
p

o,d a
Graphical Method to analyse
velocity: Crank and Slotted
Lever Mechanism
R

Vpo
S

O OA = distance between fixed centre (c)

OP = Crank radius (r)
AR= Length of the slotted link
P on slider ω =Angular velocity of crank (l)
and Q on AR
(slotted bar)
A
 Velocity With symb Direction of velocity Magnitude of
Graphical Method to analyse Of Point respect to ol Velocity
Perpendicular to
velocity: Crank and Slotted P 0 Vpo AP
Vpo=ωcrank(Op)
Parallel to Can be
Lever Mechanism Q P Vqp AR passes through P determined after
measuring
Perpendicular to
R Q A Vqa AR
lengths in
velocity diagram
Perpendicular to
R A Vra AR and (ar/aq)=(AR/AQ)
parallel to V qa
Vpo Perpendicular to
S S R Vsr RS
-

Along the path of S

S G Vsg
Vqa (horizontal in this case)
G
Velocity diagram

O OA = distance between fixed centre (c) p

OP = Crank radius (r)
q r
AR= Length of the slotted link
P on slider ω =Angular velocity of crank (l)
o,a,q
and Q on AR s
(slotted bar)
A
Graphical Method to
analyse acceleration aT
A ar
a
ar aT
VAO= ω (AO)
ω
O α
Graphical Method to analyse accn Of
Point
With
respect
Symbol
(net
Magnitude of
Acceleration
Direction

Acceleration: 4 Bar chain to accelera

tion)
C
3
B B→A
ω B A aba
32
2 4 BA
ω2 ω4
α2 D acb C→B
C B
1
A
BC

C→D
aba b’ C D acd
d’, a’
CD
a cb
a cd • Radial acceleration of all links will be determined
from the velocity diagram
c’ acceleration diagram
• Tangential acceleration can be determined from
the length of the acceleration diagram
 Accn With Symbol Magnitude of Acceleration Direction
Graphical Method to analyse Of Point respect
to
(net
accelera
acceleration : single slider crank tion)

chain α2 =0 B O abo
B→O
BA

B acb A→ B
A B
L R BA
P ω Along
A D aslider
A line AO
O
D
aslider
d’, o’ a’

p'
abo

b’
acceleration diagram
 velocity diagram
Klein's Construction
• Only for single slider crank chain mechanism with b
no angular acceleration (ω=constant) Vbo Vba

X
B
o,d Vslider a
L
R ω
A O
D 90° anti clock wise rotate
 velocity diagram
Klein's Construction
• Only for single slider crank chain mechanism with b
no angular acceleration (ω=constant)
Vbo Vba
X
B
L Vslider
o,d a
R ω
A O
90° anti clock wise rotate
D

Triangle BXO and bao are

symmetrical
Klein's Construction
• Only for single slider crank chain mechanism with
no angular acceleration (ω=constant)
Step 1:extend BA line and a Vertical line from A, intersection point is X
Step 2: draw circles of BX radius and BA diameter
X Step 3 : join intersection points of the circle with a line
B Step 4 the line joining the intersection point of a circle intersects AO at N
M And AB at M
ω
A N O X
B
D M
ω
A N O
D
Klein's Construction d’,o’ aslider
a’
• Only for single slider crank chain mechanism with
no angular acceleration (ω=constant)

X
B b’
M
acceleration diagram
ω
A N O
D 180° anti clock wise rotate
Coriolis acceleration
Graphical Method to analyse
velocity: Crank and Slotted
Lever Mechanism
R

Vpo
S

O OA = distance between fixed centre (c)

OP = Crank radius (r)
AR= Length of the slotted link
P on slider ω =Angular velocity of crank (l)
and Q on AR
(slotted bar)
A