Theory of Machines
UMT308
Module-2B
2526ODDSEM Presented By:
Course Instructors : HLB & PNK
Dr. Hiralal Bhowmick
8/20/2025
Associate Professor, MED TIET, Patiala 1
Email:
[email protected] Velocity Analysis of Mechanism using
Relative Velocity Method
2
Relative Velocity of Two Bodies
vA = Absolute velocities for A
A vA
vB = Absolute velocities for B
vAB = Relative velocity of A w.r.t. B
vBA= Relative velocity of B w.r.t A B vB
vA
vB
a
O b vAB
vBA
3
Relative Velocity of Two Bodies (Inclined)
A vA
B vAB vBA
vB
4
Motion of a Link & Relative velocity at a point
Velocity of any point on a link with respect to
another point on the same link is always
perpendicular to the line joining these points on
B
the configuration (or space) diagram.
vBA
= Angular velocity of the link AB about A.
C vCA
A
𝑣𝐵𝐴 = 𝑎𝑏 = 𝜔. 𝐴𝐵
𝑣𝐶𝐴 = 𝑎𝑐 = 𝜔. 𝐴𝐶
𝑣𝐶𝐴 𝑎𝑐 𝜔. 𝐴𝐶 𝐴𝐶
= = =
𝑣𝐵𝐴 𝑎𝑏 𝜔. 𝐴𝐵 𝐴𝐵
a c
b
5
Velocity of a point on a link & Velocity Diagram
Consider two points A and B on a rigid link AB, as shown in Figure.
VA - Absolute velocity of the point A;
VB - Absolute velocity of point B is known in direction only.
VBA VB
b
β
B c
α o a
A
VA
• The absolute velocity of any point C on link AB can be computed by dividing
vector ab at c in the same proportion as C divides AB. 𝑎𝑐 𝐴𝐶
=
𝑎𝑏 𝐴𝐵
• The angular velocity of the link AB may be found by dividing the relative velocity
of B with respect to A (i.e. vBA) to the length of the link AB. 𝜔 = 𝑎𝑏 = 𝑣𝐵𝐴
𝐵𝐴
𝐴𝐵 𝐴𝐵
6
Velocity of 4 bar mechanism
Problem 1: In a four bar chain ABCD, AD is fixed and is 150 mm long. The crank
AB is 40 mm long and rotates at 120 r.p.m. clockwise, while the link CD = 80 mm
oscillates about D. BC and CD are of equal length. Find the angular velocity of link
CD when angle BAD = 60°.
NBA = 120 r.p.m.
BA = 2 × 120/60 = 12.568 rad/s
C
B
Velocity of B w.r.t. A or velocity of B, vB
(because A is a fixed point), A D
vBA = vB = ωBA × AB = 12.568 ×0.04 = 0.503 m/sec
8
Numerical Problem
B c
vB a,d
A D
vB vCB
By measurement, we find that b
𝑣𝐶𝐷 = 𝑣𝐶 = 𝑑𝑐 = 0.385𝑚/sec
𝐶𝐷 = 80𝑚𝑚 = 0.08𝑚
𝑣𝐶𝐷 0.385
𝜔𝐶𝐷 = = = 4.8𝑟𝑎𝑑/ sec( 𝐶𝑙𝑜𝑐𝑘𝑤𝑖𝑠𝑒𝑎𝑏𝑜𝑢𝑡𝐷)
𝐶𝐷 0.08
9
Velocity of slider crank mechanism
Calculate the velocity of slider:
Given:
• r – Radius of crank;
• ω – angular velocity with which crank rotates in clockwise direction;
• vB – Velocity of B is known in magnitude and direction.
• The slider reciprocates along the line of stroke AO.
VB = r.
B
E
A
Ɵ O
VA I.D.C. O.D.C.
The velocity of the slider A (i.e. vA) may be determined by relative velocity method as
discussed in the next slide:
10
Numerical Problem: Slider-Crank Mechanism
Problem 2: The crank and connecting rod of a theoretical steam engine are 0.5 m and 2
m long respectively. The crank makes 180 r.p.m. in the clockwise direction. When it has
turned 45° from the inner dead centre position, determine: 1. velocity of piston (vA),
2. angular velocity of connecting rod (BA ),
3. velocity of point E on the connecting rod 1.5 m from the gudgeon pin (VE)
VB = r.
Given: OB=0.5 m, AB= 2m, =450, AE=1.5 m
B
NBO = 180 r.p.m.
BO = 2 × 180/60 = 18.852 rad/s E
A
Ɵ O
VA I.D.C. O.D.C.
Linear velocity of B w.r.t. O or velocity of B
(because O is a fixed point), b
vBO = vB = ωBO × 0B
= 18.852 ×0.5 = 9.426 m/sec=vector ob e
vBO
Velocity of Slider, vA = vector oa vBA
Velocity of B wrt A, vBA = vector ab
𝑎𝑒 𝐴𝐸 o
Velocity of E = vA
11
a
𝑎𝑏 𝐴𝐵
Numerical Problem
From Velocity Triangle:
𝑣𝐵𝑂 = 𝑜𝑏 = 𝑣𝐵 = 9.426𝑚/sec
𝑣𝐴𝐵 = 𝑏𝑎 = 6.8𝑚/sec vA = vector oa = 8.15 m/s
1. Velocity of piston
vA = vector oa = 8.15 m/s
2. Angular velocity of connecting rod
𝑣𝑃𝐵 6.8
𝜔𝐴𝐵 = = = 3.4𝑟𝑎𝑑/𝑠(𝐴𝑛𝑡𝑖𝑐𝑙𝑜𝑐𝑘𝑤𝑖𝑠𝑒)
𝐴𝐵 2
3. Velocity of point E on the connecting rod (VE) b
𝐵𝐸 𝑏𝑒 𝐵𝐸 e
= ⇒ 𝑏𝑒 = × 𝑏𝑎 vBO vAB
𝐵𝐴 𝑏𝑎 𝐵𝐴 vBA
vE
o
vA a
vE = vector oe = 8.5 m/s
12
THANKS
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