MAE 364

Kinematics and
Dynamics of Machines
Dr. Jagadeep Thota

Chapter 9:
Kinematics Using Complex
Numbers

Unit Vector
In statics and dynamics unit vectors in the axes
direction are commonly used to define point
positions.

is a unit vector in the x-direction.

is a unit vector in the y-direction.
y

x
MAE 364: Complex Numbers

JT

Vector Components
If the vector has a magnitude of , and is oriented at an
angle with respect to the x-axis, then
The horizontal component of this vector is,

The vertical component is,

Then the vector can be written as,

Where,

MAE 364: Complex Numbers

JT

Complex Number Approach: Vector

A vector can be plotted in Cartesian coordinates using the
complex number approach.
In the complex number approach, the vertical axis
represents the imaginary component and the horizontal axis
represents the real component of the vector.
Imaginary ()

is the unit vector in the x-direction.

is a unit vector in the y-direction = .

Real ()
Lot easier to solve using a computer program (Mathcad)
than by hand.
MAE 364: Complex Numbers

JT

Complex Numbers: Vector Components

If the vector has a magnitude of , and is oriented at an
angle with respect to the real-axis, then
The horizontal component of this vector is,

Imaginary ()

The vertical component is,

Then the vector can be written as,

Real ()

Where,

;
MAE 364: Complex Numbers

JT

Mathematical
Analysis of
Mechanisms:
Using Complex Numbers Approach

Procedure
1. Define Vectors
Must be a vector polygon
Vectors must be related to link movement
Vector directions must be carefully defined

2. Construct vector equation

Be careful with signs

3. Write the complex number equation

Define vector angles carefully

MAE 364: Complex Numbers

JT

Four Bar Mechanism: Vector Diagram

All the links need to be defined as vectors.
Vector directions must be carefully defined.
The vector polygon (diagram) obtained needs to be closed.
A

3
B

4
2

2
O4

O4

O2

Changes direction
Fixed
MAE 364: Complex Numbers

JT

O2

Procedure
1. Define Vectors
Must be a vector polygon
Vectors must be related to link movement
Vector directions must be carefully defined

2. Construct vector equation

Be careful with signs

3. Write the complex number equation

Define vector angles carefully

MAE 364: Complex Numbers

JT

Vector Equation Methods

One

of the below two methods may be used:

Method one:
The vectors forming CW direction is Path 1, and the
vectors forming CCW direction is Path 2.
Then, Path 1 = Path 2

Method two:
Start at any point and travel around the polygon
Vectors in direction of travel are +, opposite to
direction are
(the starting point and ending point are the same)
MAE 364: Complex Numbers

JT

Four Bar Mechanism: Vector Equations

A

Method 1:
3

Start at O4 and end at B

AO4 BA O2O4 BO2

4
2
O4

O2

Method 2:
Start at O4 and go clockwise

AO4 BA O2O4 BO2 0

or
Changes direction
Fixed

1
MAE
1 364: Complex Numbers

AO4 BA O2O4 BO 2

JT

Procedure
1. Define Vectors
Must be a vector polygon
Vectors must be related to link movement
Vector directions must be carefully defined

2. Construct vector equation

Be careful with signs

3. Write the complex number equation

Define vector angles carefully

MAE 364: Complex Numbers

JT

Complex Numbers: Vector Components

If the vector has a magnitude of , and is oriented at an
angle with respect to the real-axis, then
The horizontal component of this vector is,

Imaginary ()

The vertical component is,

Then the vector can be written as,

Real ()

Angle is always
Where,

measured CCW from

the +ve real axis

MAE 364: Complex Numbers

JT

Four Bar Mechanism: Complex Numbers Equation

Imaginary

()

4
2

O4

Real ()

Changes direction
Fixed

O2 2

AO4 BA O2O4 BO 2

AO4 e
MAE 364: Complex Numbers

i 4

i 3

BA e O2O4 1BO2 e
JT

i 2

Example 1: Four Bar Mechanism Analysis

Do a mathematical analysis of the given kinematic linkage
by using the complex number approach?
A
3
B

4
2
O4

MAE 364: Complex Numbers

O2

JT

Parameter

Value

Fixed link (O2O4)

3.50 in

Link 2 (BO2)

1.25 in

Link 3 (BA)

5.25 in

Link 4 (AO4)

3.50 in

Link 2 orientation
()

75

Example 1: Four Bar Mechanism Analysis

Changes direction
Fixed

Solution:
A

3
B

2
O4

O4

O2

Vector
Diagram

Vector
Equation
Complex Number
Equation
MAE 364: Complex Numbers

JT

O2 2

Example 1: Position Equation

Solution:
The complex number equation obtained describes the Position (or
displacement) of the links.
Solve this Position Equation, using Mathcad software, to determine the
unknown parameters ( and ).
In-class demonstration shown by the Instructor.

In order to get the velocity parameters, the Position Equation is to be

differentiated with respect to time once.
Since velocity is defined as the change in displacement per unit time.
Position
Equation

Velocity
Equation

MAE 364: Complex Numbers

JT

Example 1: Velocity Equation

Solution: Differentiate each vector individually,

MAE 364: Complex Numbers

JT

Example 1: Velocity Equation

Solution:
Velocity
Equation
Velocity
Equation:

Solve the above Velocity Equation using Mathcad.

Since link 2 is the input crank; assume link 2 is rotating at some constant
speed
angular velocity of link 2 (BO2) = 120 rpm

Find out the unknown velocity parameters:

angular velocity of link 3 (BA)
angular velocity of link 4 (AO4)
MAE 364: Complex Numbers

JT

Example 1: Acceleration Equation

Solution:
Differentiate the Velocity Equation with respect to time to get the
Acceleration Equation,
Since, acceleration is defined as the change in velocity per unit time.
Velocity
Equation

Acceleration
Equation

Differentiate the velocity terms of each link (or vector) separately.

MAE 364: Complex Numbers

JT

Example 1: Acceleration Equation

Solution:

Since all the moving links comprise of the same type of vector (i.e., only
the vector direction is a function of time),

Acceleration
Equation

Acceleration
Equation:

MAE 364: Complex Numbers

JT

Example 1: Acceleration Equation

Solution:
Solve the below shown Acceleration Equation using Mathcad.

Earlier in the problem link 2 (input crank) was assumed to be rotating at

a constant speed ().
Hence, angular acceleration of link 2 (BO2) = 0 rad/s2 (since a link rotating with
constant velocity will have no acceleration).

Find out the unknown acceleration parameters:

angular acceleration of link 3 (BA)
angular acceleration of link 4 (AO4)

MAE 364: Complex Numbers

JT

Mechanisms
With lower pair joints (revolute &
prismatic)

Drawing Vectors
1. Links with two revolute joints
Use a vector pointing from one joint to the other

2. Prismatic joints on ground

Use a vector pointing from a fixed point towards

the sliding link (along the path)

3. Prismatic joints on a moving link (Straight path)

Use a vector pointing from a fixed point on the

link with the path to the prismatic joint (along the

path)

4. Prismatic joints on a moving link (Curved path)

Use a vector pointing from the center of curvature

(on the link with the path) to the prismatic joint

MAE 364: Complex Numbers

JT

Slider Crank: Vector Diagram

1. Links with two revolute joints
Use a vector pointing from one joint to the other

2. Prismatic joints on ground

Use a vector pointing from a fixed point towards

the sliding link (along the path)

Changes direction
Changes magnitude

O2

MAE 364: Complex Numbers

B4

JT

Slider Crank: Vector Equation

Method 1:

Method 2:

Start at O2 and end at B

Start at O2 and go clockwise

AO2 BA BO2 0

AO2 BA BO2

or

AO2 BA BO2

Changes direction
Changes magnitude

O2

MAE 364: Complex Numbers

B4

JT

Slider Crank: Complex Number Equation

Imaginary (i)

AO2 BA BO2

AO2 e
A

O2

BA e

BO2

Changes direction
Changes magnitude

B4

MAE 364: Complex Numbers

i 3

Real
(1)

i 2

JT

Offset Slider Crank: Vector Diagram

1. Links with two revolute joints
Use a vector pointing from one joint to the other

2. Prismatic joints on ground

Use a vector pointing from a fixed point towards

the sliding link (along the path)

Changes direction
Changes magnitude
Fixed

3
2
B
O2

Want the vectors on link 1 to be perpendicular

MAE 364: Complex Numbers

JT

Offset Slider Crank: Vector Equation

Method 1:

Method 2:

Start at O2 and end at B

Start at O2 and go clockwise

AO2 BA CO2 BC 0

AO2 BA CO2 BC

or

AO2 BA CO2 BC

Changes direction
Changes magnitude
Fixed

3
2
C
O2

Want the vectors on link 1 to be perpendicular

MAE 364: Complex Numbers

JT

Offset Slider Crank: Complex # Equation

AO2 BA CO2 BC

AO2 e
A

2
C
O2

i 2

BA e

i 3

i CO2 BC

Changes direction
Changes magnitude
Fixed

4
Imaginary (i)

+
Want the vectors on link 1 to be perpendicular
MAE 364: Complex Numbers

JT

Real
(1)

Slider Crank Inversion: Vector Diagram

1. Links with two revolute joints
Use a vector pointing from one joint to the other

3. Prismatic joints on a moving link (Straight path)

Use a vector pointing from a fixed point on the link

with the path to the prismatic joint (along the path)

Changes
direction
Fixed
Changes
direction &
magnitude

3 A
3

MAE 364: Complex Numbers

JT

Slider Crank Inversion: Vector Equation

Method 1:

Method 2:

Start at O2 and end at A

Start at O2 and go clockwise

AO2 O4O2 AO4 0

AO2 O4O2 AO4

or

AO2 O4O2 AO4

3 A

Changes
direction
Fixed
Changes
direction &
magnitude

MAE 364: Complex Numbers

JT

Slider Crank Inversion: Complex # Equ

Imaginary (i)

AO2 O4O2 AO4

AO2 e

i 2

O4O2 1 AO4 e

3 A

O
2

4O

MAE 364: Complex Numbers

JT

i 4

Changes
direction
Fixed
Changes

direction &
magnitude

Real
(1)

Slider Crank Inversion: Vector Diagram

1. Links with two revolute joints
Use a vector pointing from one joint to the other

3. Prismatic joints on a moving link (Straight path)

Use a vector pointing from a fixed point on the link

with the path to the prismatic joint (along the path)

A
2

O
2

O
4

Want the vectors on link 4 to be perpendicular

MAE 364: Complex Numbers

JT

Changes
direction
Changes
magnitude
Changes
Fixed
direction
&
magnitude

Slider Crank Inversion: Vector Equation

Method 1:

Method 2:

Start at O2 and end at A

BO 2 BA O4O2 AO4

Start at O2 and go clockwise

BO 2 BA O4O2 AO4 0
or

BO 2 BA O4O2 AO4
B

A
4

O
2

O
(3 Revolute, 1 Prismatic)

Want the vectors on link 4 to be perpendicular

MAE 364: Complex Numbers

JT

Changes
direction
Changes
magnitude
Changes
Fixed
direction
&
magnitude

Slider Crank Inversion: Complex # Equ

Imaginary (i)

BO2 BA O4O2 AO4

Real
(1)

BO2 e

i 2

BA e

i 2 90

O4O2 1AO4 e

i 4

O4O2 1AO4 e

i 4

e i 2 90 e i 2 e i 90 e i 2 cos( 90) i sin( 90) i e i 2

BO2 e
B

i 2

i BA e
3

Want Numbers
the vectors
MAE 364: Complex

i 2

O4
4

on link 4 to be
perpendicular
JT

Changes
direction
Changes
magnitude
Changes
Fixed
direction
&
magnitude

Slider Crank Inversion: Vector Diagram

1. Links with two revolute joints
Use a vector pointing from one joint to the other

4. Prismatic joints on a moving link (Curved path)

Use a vector pointing from the center of curvature

(on the link with the path) to the prismatic joint

Changes
direction
Changes
magnitude
Changes
Fixed
direction
&
magnitude

4
2
O

O
4

This vector diagram is very similar to the four bar linkage

MAE 364: Complex Numbers

JT

Slider Crank Inversion: Vector Equation

Method 1:

Method 2:

Start at O2 and end at A

Start at O2 and go clockwise

AO2 O4O2 CO4 AC 0

AO2 O4O2 CO4 AC

or

AO2 O4O2 CO4 AC

3

A
4

2
O

MAE 364: Complex Numbers

O
4

JT

Changes
direction
Changes
magnitude
Changes
Fixed
direction
&
magnitude

Slider Crank Inversion: Complex # Equ

Imaginary (i)

AO2 O4O2 CO4 AC

AO2 e
3

O4O2 1CO4 e

i 4

AC e

Real
(1)

i 3

2
O

i 2

MAE 364: Complex Numbers

Changes
direction
Changes
magnitude
Changes
Fixed
direction
&
magnitude

O4
4

JT

Scotch Yoke: Vector Diagram

1. Links with two revolute joints
Use a vector pointing from one joint to the

other

2. Prismatic joints on ground

Use a vector pointing from a fixed point

towards the sliding link (along the path)

2
O

A
3

Changes
direction
Changes
magnitude
Changes
Fixed
direction
&
magnitude

4
MAE 364: Complex Numbers

JT

Scotch Yoke: Vector Equation

Method 1:

Method 2:

Start at O2 and end at A

AO2 BO 2 AB

Start at O2 and go clockwise

AO2 BO 2 AB 0
or

AO2 BO2 AB
2
O

A
3

Changes
direction
Changes
magnitude
Changes
Fixed
direction
&
magnitude

4
MAE 364: Complex Numbers

JT

Scotch Yoke: Complex Number Equation

Imaginary (i)

AO2 BO2 AB

i 2

AO2 e BO2 1i AB

2
O
2

A
3

Changes
direction
Changes
magnitude
Changes
Fixed
direction
&
magnitude

B2
4

MAE 364: Complex Numbers

JT

Real
(1)

Scotch Yoke Variation: Vector Diagram

1. Links with two revolute joints
Use a vector pointing from one joint to the

other

2. Prismatic joints on ground

Use a vector pointing from a fixed point

towards the sliding link (along the path)

2
O

A
3

Changes
direction
Changes
magnitude
Changes
Fixed
direction
&
magnitude

4
MAE 364: Complex Numbers

JT

Scotch Yoke Variation: Vector Equation

Method 1:

Method 2:

Start at O2 and end at A

AO2 BO 2 AB

Start at O2 and go clockwise

AO2 BO 2 AB 0
or

AO2 BO2 AB
2
O

A
3

Changes
direction
Changes
magnitude
Changes
Fixed
direction
&
magnitude

4
MAE 364: Complex Numbers

JT

Scotch Yoke Variation: Complex # Equ

AO2 BO2 AB

AO2 e

2
O
2

i 2

BO2 1 AB e

A
3

Changes
direction
Changes
magnitude
Changes
Fixed
direction
&
magnitude
Imaginary (i)

MAE 364: Complex Numbers

+
JT

Real
(1)

Mechanisms
With higher pair joints (direct
contact)