Mechanics of

Machines
Dr. Mohammad Kilani
Class 4
Velocity Analysis

DERIVATIVE OF A ROTATING
VECTOR

Derivative of a Rotating Unit

Vector

A unit vector in the direction, u , is a vector of unity

magnitude and an angle with the x- axis. It is

written as:

u cos i sin j

If u

rotates, it angle changes with time, the time

derivative of u is found by applying the standard

differentiation rules on the expression of u above

du
d
d

sin i
cos j
dt
dt
dt
du d
sin i cos j

dt
dt

u
sin j

cos i

Derivative of a Rotating Unit

Vector

Noting that

sin 2 cos
cos 2 sin

u cos i sin j

the time derivative of the vector u is

du d
sin i cos j

dt
dt
du d
cos 2 i sin 2 j

dt
dt
du d

u 2
dt
dt

du d
sin i cosj

dt
dt

u
sin j

cos i

Derivative of a Rotating Unit

Vector

The derivative of a unit vector whose angle

with the x-axis is , ( changes in time), is a
vector whose angle with the x-axis is +/2
and whose magnitude is d/dt.

u cos i sin j
du d

u
dt
dt

If we define a vector as a vector in the k

direction of magnitude = d/dt, then
du /dt

+ /2

k
dt
du d

u
dt
dt

Derivative of a Rotating Vector

A vector r = r u , is a general vector of magnitude r pointing in the

direction. The time derivative of r is found by applying the normal

differentiation rules on the expression for r

r ru
dr
dt
dr
dt
dr
dt
dr
dt

dr
u
dt
dr
u
dt
dr
u
dt
dr
u
dt

du
r
dt
d
r
u
dt
r u
r

du /dt

+ /2

Derivative of a Rotating Vector

Given a vector r = ru which rotates relative to

the reference coordinates, the time derivative of

r has two components; a component in the

direction of u and a component normal to u in

the direction of u
+/2

The magnitude of the component of dr /dt in the

direction of u is equal to dr/dt; that is the time

derivative of the length of r .

The magnitude of the component of dr /dt in the

direction of direction of u
is equal to r
+/2

xr

(dr/dt) u

+ /2

VELOCITY ANALYSIS
OF FOUR BAR
MECHANISMS

Derivative of the Loop Closure

Equation for a Four Bar Kinematic
Chain

The loop closure equation of a 4-bar kinematic chain is written

as

r2 r3 r1 r4

r2 r3 r1 r4 0
d
r2 r3 r1 r4 0
dt

r2u2 r3u3 r1u1 r4u4 0

dt

r22u 2 2 r2u2 r33u 3 2 r3u3 r11u 1

r1u1 r44u 4

When all the links in the chain are of constant lengths, the
equation above reduces to

r2 2u 2

r3 3u 3

r11u 1

r4 4u 4

2 r2 3 r3 1 r1 4 r4 0

r4u4 0

Derivative of the Loop Closure

Equation for a Four Bar
Mechanism

For a four bar mechanism with link 1 fixed we have

d /dt = = 0.
1
1

r22u 2

r33u 3

r44u 4

The vector equation above contains two scalar

equations and can be solved for two unknowns.
Knowledge of d /dt allows the calculation of d /dt
2
3
and d /dt .
4

r22 sin 2 r33 sin 3 r44 sin 4

r22 cos 2 r33 cos 3 r44 cos 4

Derivative of the Loop Closure

Equation for a Four Bar
Mechanism

r2 2u 2

r33u 3

r4 4u 4

Eliminate d /dt by carrying out a dot product with u on both sides

3
3
of the equation

r22 cos 2 2 3 r44 cos 4 2 3

r sin r sin
2 2

4 4

r sin 2 3 r2 sin 2 3
4 4 2
2
2
r4 sin 4 3
r4 sin 4 3

Alternatively, eliminate d /dt by carrying out a dot product with u

4
4
on both sides of the equation

r22 cos 2 2 4 r33 cos 3 2 4 0

r sin r sin
2 2

3 3

r sin 2 4
r sin 2 4
r sin 2 4
3 3 2
2 2
2 2
2
r3 sin 3 4
r3 sin 3 4
r3 sin 4 3

Angular Velocity Ratio and

Mechanical Advantage

The angular velocity ratio m

is defined as the output angular velocity divided by the input angular velocity.
V
For a four bar mechanism with link 2 as the input and link 4 as the output this is expressed as

out 4
mV

ofina four barlinkage

The efficiency
is defined as the output power over the input power,
2

out efficiency,
out out
Assuming 100%
which is normally approached by four bar mechanisms, we have

P
T

Pin
Tinin

Tout
in
1

mT
Tin in out
mV

Angular Velocity Ratio and

Mechanical Advantage

The mechanical advantage is defined as

the ratio between the output force to the
input force

mA

Fout Tout rout

r

mT in
Fin
Tin rin
rout

VELOCITY ANALYSIS
OF SLIDER-CRANK
MECHANISMS

Velocity Analysis of a Slider-Crank

Mechanism

Design parameters: r , r , r , .
2 3 4 1

r
3

Position analysis parameters:

r
4

r , ,
1 2 3
r
2

Velocity analysis parameter.

Find dr /dt, d /dt , d /dt
1
2
3

r2 r3 r1 r4

r22u 2 2 r33u 3

r22 cos 2 2 3 r1 cos 1 3

r22 sin 2 3 r1 cos 1 3
r2 sin 3 2
2
cos 3 1

r
1

r1u1

To eliminate dot product both sides by u

3
3

r1

r
p

To eliminate dr /dt dot product both sides

1
by u(
)
1+/2

r22 cos 2 1 r33 cos 3 1

r2 cos 2 1
2
r3 cos 3 1

Velocity Analysis of an Inverted

Slider-Crank Mechanism

Given r , r , , ,
1 2 1 2
2
Position analysis: Find r ,
3 3
Velocity analysis: Find dr /dt, d /dt
3
3

r2 r1 r3

r2u2 r1u1 r3u3

r22u 2 2 r3u3 r33u 3

To eliminate and find dr /dt dot product both sides by u

3
1
3

To eliminate dr

r22 cos 2 2 3 r3

r22find
sin 3dot
product
2 r3both sides by u(
/dt and

3+/2

r
2

r22 cos 2 3 r33

r2 cos 3 2
2
r3

r
1

Velocity Analysis of an Inverted

Slider-Crank Mechanism

Given r , r , r , , ,
1 2 4
1 2
2
Position analysis: Find r , ,
3 3
4
Velocity analysis: Find dr /dt, d /dt , d /dt
3
3
4

r2 r3 r1 r4

r2u2 r3u 3 r1u1 r4u4

r22u 2 2 r3u 3 r33u 3

with 4 3 2

r22u 2 2 r3u 3 r33u 3

r44u 4

r44u 3

r
3

r
2

r
1

r
4

Velocity Analysis of an Inverted

Slider-Crank Mechanism

r22u 2

r
u

u
2
3 3
3 3 3

Dotbothsidesbyu 3 2

r44u 3

r22 cos 2 3 r33 0

r2 cos 2 3
2
r3

Dotbothsidesbyu 3

r22 cos 2 2 3 r3 r44

r22 sin 2 3 r3 r44

But4 3

r2 cos 2 3
2
r3

r22 sin 2 3 r3 r4

r2 cos 2 3
2
r3

r cos 2 3

r3 r4 2
r2 sin 2 3 2
r3

r
3

r
2

r
1

r
4

Example
r
5
s
b

LoopI

r2u2 a b u3 r1u1 r4u4

r
2

LoopII

r2u2 au3 r5u5 r1u1 su6

r
4
r
1

LoopClosure
Equation
(1)

a b u3 r1u1 r4u4 r2u2

Dotbothsidesof theequation
byitself

a b 2 r12 r22 r42 2r1r4 cos4 1 2r1r4 cos 2 1 2r2 r4 cos 2 4

a b 2 r12 r22 r42 2r1r4 cos 4 2r1r4 cos 2 2r2r4 cos 2 cos 4 sin 2 sin 4
A cos 4 B sin 4 C 0

C A t

2 Bt C A 0 t1, 2

B B 2 C 2 A2

, 4 1, 2 2 tan 1 t1, 2
AC

Alsofromloopclosure
rquation
(2)
a b cos 3 r1 cos 1 r4 cos 4 r2 cos 2

a b sin 3 r1 sin 1 r4 cos 4 r2 cos 2

3 1,2

r sin 1 r4 cos 4 r2 cos 2

tan 1
r1 cos 1 r4 cos 4 r2 cos 2
1

r
5

A 2r1r4 2r2 r4 cos 2

r
2

B 2r2 r4 sin 1
C r r r 2 r1r2 cos 2 a b
2
1

2
2

t tan 4 2

2
4

s
r
4

r
1

Example
r
5
s

LoopClosure
Equation
(2)

r5u5 r1u1 su6 r2u2 au3

Dotbothsidesof theequation
byitself

r
2

r5 r12 s 2 r22 a 2 2 r1s cos 6 1 2 r1r2 cos 2 1 2 r1a cos 3 1

2

2 r2 s cos 6 2 2as cos 3 1 2 r2 s cos 6 2 2 r2 a cos 2 3

r
4
r
1

Let1 0, 6 2
r5 r12 s 2 r22 a 2 2 r1r2 cos 2 2 r1a cos 3
2

2 r2 s cos 6 2 2as cos 3 1 2 r2 s cos 6 2 2 r2 a cos 2 3

a b 2 r12 r22 r42 2r1r4 cos 4 2r1r4 cos 2

C A t

2 Bt C A 0 t1, 2

B B 2 C 2 A2

, 4 1, 2 2 tan 1 t1, 2
AC

r
5

Alsofromloopclosure
rquation
(2)
a b cos3 r1 cos 1 r4 cos 4 r2 cos 2

a b sin 3 r1 sin 1 r4 cos 4 r2 cos 2

r1 sin 1 r4 cos 4 r2 cos 2

r
cos

r
cos

r
cos

1
4
4
2
2
1

3 1,2 tan 1

A 2r1r4 2r2 r4 cos 2

r
2

B 2r2 r4 sin 1
C r r r 2 r1r2 cos 2 a b
2
1

2
2

t tan 4 2

2
4

s
r
4

r
1

HW#3
6-17, 6-18 (b+c), 6-21
(b), 6-44.

METHOD OF INSTANT CENTERS

Relative Velocities Between Two

Points on a Rigid Body

Given any two points A and B that

lie on a rigid body, let the line AB

be a line passing through A and B,

then the components of the

velocity of A and the velocity of B
on the line AB must be equal.

The velocity of point B relative to

v A vB vB A

A must be normal to the line AB

Instant Center Relative to the

Ground

If line AA is drawn normal to the direction of v , then the

A
velocity of any point on the rigid body that falls on line AC

must be perpendicular to the line AA

In a similar manner, if line BB is drawn perpendicular to

the direction of v , then the velocity of any point on the

B
rigid body that falls on this line must be perpendicular to

If point I is the intersection of lines AA and BB, then the

velocity of point I must be perpendicular to both AA and
BB. This can only happen when the velocity of point I is
zero.

the line BB

v A v I k rA I

v A k rA I
v A rA I v A rA I
vB rB I

Instant Center Relative to the

Ground

Point I determined as before is called the instant

center of zero velocity of the rigid body with
respect to the ground. The direction of the
velocity of point A is normal to the line IA. The

direction of the velocity of line B is normal to the

line IB.

The direction of the velocity of any other point C

on the same body must be normal to the line IC.

The magnitude of the velocity of any point on

the link is proportional to its distance from the

point I.

v A vB v A

IA IB IC

Velocity of a Point on a Link by

Instant Center Method

Consider two points A and B on a rigid link. Let v

and v be
A
B
the velocities of points A and B at a given instant. If v is
A
known in magnitude and direction and v in direction only,
B
then the magnitude of v may be determined by the
B
instantaneous centre method.

Draw AI and BI perpendiculars to the directions v

and v
A
B
respectively. Let these lines intersect at I, which is known as
instantaneous centre or virtual centre of the link. The
complete rigid link rotates about the centre I at the given
instant. The relations shown may be used to determine the
magnitude of the velocity of point B.

v A v I k rA I

v A k rA I
v A rA I v A rA I
vB rB I

Instant Center Between Two Rigid

Bodies

In the foregoing discussion, the velocities of

points A and B were assumed to be reference to
a coordinate system attached to the ground.
The resulting center is called an instant center

relative to the ground.

The velocities of points A and B could as well be

taken relative to coordinate system attached to

another body. The resulting point in this case

will have a zero velocity with respect to that
body. In other words, point I will have the same
velocity for both bodies.

Instant Center Between Two Rigid

Bodies

A instant center between two bodies is a:

A point on both bodies

A point at which the two bodies have

no relative velocity.

A point about which one body may

be considered to rotate around the

other body at a given instant.

Instant Center Between Two Rigid

Bodies
A

When two links are connected to

one another by a revolute joint, the
center of the connecting joint is an
instant center for the two links.

When two links are not connected,

an instant center between the two
links will also exist and can be
determined if the velocities of both
links is known.

Instant Center Between Two Rigid

Bodies

The number of instant centers in a constrained kinematic chain is

equal to the number of possible combinations of two links.

The number of pairs of links or the number of instantaneous

centers is the number of combinations of L links taken two at a
time. Mathematically, number of instant centers is,

L L 1
2

Types of Instantaneous Centers

The instant centers for a mechanism are of the

following three types :

1.

Primary (Permanent) instant centers. They

can be fixed or moving

2.

Secondary Instant centers (Not permanent)

n n 1
2

Instant Centers of a Four Bar

Mechanism

Consider a four bar mechanism ABCD as shown. The number of

instant centers (N) in a four bar mechanism is given by

3
2

4 4 1 12
N

6
The instant centers2I12 and I142are fixed instant centers as they
remain in the same place for all configurations of the
mechanism. The instant centers I

and I

are permanent

A
4
1(Ground)

23
34
instant centers as they move when the mechanism moves, but
the joints are of permanent nature. The instantaneous centres
I

and I
are neither fixed nor permanent as they vary with
13
24
the configuration of the mechanism.

n n 1
C
2

Location of Instant Centers

When the two links are connected by a pin joint (or pivot
joint), the instant center lies on the center of the pin as.
Such an instant center is of permanent nature. If one of the
links is fixed, the instant center will be of fixed type.

When the two links have a pure rolling contact (without

slipping), the instantaneous centre lies on their point of
contact, as this point will have the same velocity on both
links.

When the two links have a sliding contact, the instant center
lies at the center of curvature of the path of contact. This
points lies at the common normal at the point of contact.

Kennedy (or Three Centers in

Line) Theorem

Kennedys theorem states that any three bodies

in plane motion will have exactly three instant
centers, and the three centers will lie on the
same straight line.

Note that this rule does not require that the

three bodies be connected in any way. We can
use this rule, in conjunction with the linear
graph, to find the remaining lCs which are not
obvious from inspection.

Example: Instant Centers of a Four

Bar Mechanism

Draw a circle with all links numbered around the circumference

Locate as many ICs as possible by inspection. All pin joints will

be permanent ICs . Connect the links numbered on the circle
to create a linear graph and record those found.

Identify a link combination for which the IC has not been found,
and draw a dotted line connecting those two link numbers.
Identify two triangles on the graph which each contains the
dotted line and whose two other sides are solid lines
representing the ICs the already found. Use Kennedys
theorem to locate the needed IC.

Example: Instant Centers of a Four

Bar Mechanism

Example: Instant Centers of a

Slider-Crank Mechanism

Example: Instant Centers of a

Slider-Crank Mechanism

Example: Instant Centers of a Cam

and Follower: Common Normal
Method

Example: Instant Centers of a Cam

and Follower: Effective Link
Method

Velocity Analysis with Instant

Centers

Once the instant centers (ICs) of a linkage

with respect to the ground link have been
found, they can be used for a very rapid
graphic analysis for that link.

Note that some of the ICs may be very far

removed from the links. For example, if
links 2 and 4 are nearly parallel, their
extended lines will intersect at a point far
away and not be practically available for
velocity analysis.

Velocity Analysis with Instant

Centers

From the definition of the instant center, both links sharing the
instant center will have identical velocity at that point.

Instant center I

involves the coupler (link 3) which is in general

13
plane motion, and the ground link which is stationary. All points on
the ground link have zero velocity in the global coordinate
system, which is embedded in link 1. Therefore, I

must have
13
zero velocity at this instant, and it can be considered to be an
instantaneous "fixed pivot" about which link 3 is in pure rotation
with respect to link 1.

A moment later, I

will move to a new location and link 3 will be

13
"pivoting" about a new instant center.

Velocity Analysis with Instant

Centers

If is known for the mechanism shown, the magnitude of

2
the velocity of point A can be computed as v = O A Its
A
2 2
direction and sense can be determined by inspection.

Note that point A is also instant center and it has the same
velocity as part of link 2 and as part of link 3. Since link 3 is
effectively pivoting about I

at this instant, the angular

13
velocity can be found by = v /AI
. Once is
3
3
A
13
3
known, the magnitude of v can also be found from v =
B
B
3
AI
13

Once v is known, can also be found from = v /BO

B
4
4
B
4
= v /BO . Finally, v (or the velocity of any other point on
B
4
C
the coupler) can be found from v = CI
C
3 13

vA
AI13
vB 3 BI13