ME301

MECHANISMS
Course-9

Dr. Abdurrahim DAL

 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Velocity Polygon
 Velocity equation

𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴
 Choose a scale, kv
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Velocity Polygon
 Velocity of link AB

𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴
𝑣𝐵/𝐴
𝑣𝐵/𝐴 = 𝝎𝑅𝐵𝐴 𝝎=
𝑅𝐵𝐴
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Velocity Polygon
 Velocity of point C
 Velocity Equation

𝑣𝐶 = 𝑣𝐴 + 𝑣𝐶/𝐴
𝑣𝐴 + 𝑣𝐶/𝐴 = 𝑣𝐵 + 𝑣𝐶/𝐵
𝑣𝐶 = 𝑣𝐵 + 𝑣𝐶/𝐵
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Velocity Polygon
 Velocity of point C
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method

 General rules of drawing a velocity polygon

 Define the types of motion in the mechanism

 Write all velocity equations
 Determine value of velocity scale, kv
 Choose a initial point, Ov
 Start to drawing with a known velocity of the
mechanism
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Example: For a slider-crank mechanism, find the angular velocity of the
link-AB and velocity of point B

𝑟𝑎𝑑
𝑂2 𝐴 = 30 𝑐𝑚, 𝐴𝐵 = 75 𝑐𝑚 𝑎𝑛𝑑 𝜃2 = 30°, 𝜔2 = 10 , cw
𝑠
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution: Slider-Crank mechanism

 Types of motion
 Link-2 : rotation motion about a fixed point
 Link 3 : general plane motion
 Link 4: translation motion
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution: Slider-Crank mechanism

 Velocity Equation

𝑣𝐴 = 𝜔𝐴𝑂2 𝑅𝐴𝑂2 = 𝜔2 𝑅𝐴𝑂2

𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴 𝑣𝐵 = 𝜔2 𝑅𝐴𝑂2 + 𝜔3 𝑅𝐴𝐵

 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution: Slider-Crank mechanism
 Velocity Equation

𝑣𝐴 = 𝜔𝐴𝑂2 𝑅𝐴𝑂2 = 𝜔2 𝑅𝐴𝑂2

𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴 𝑣𝐵 = 𝜔2 𝑅𝐴𝑂2 + 𝜔3 𝑅𝐴𝐵

𝑣𝐴 = 𝜔𝐴𝑂2 𝑅𝐴𝑂2 = 𝜔2 𝑅𝐴𝑂2 = 10 30 = 300 𝑐𝑚/𝑠

 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution: Slider-Crank mechanism
 Velocity Scale, kv

𝑣𝐴 = 𝜔𝐴𝑂2 𝑅𝐴𝑂2 = 𝜔2 𝑅𝐴𝑂2 = 10 30 = 300 𝑐𝑚/𝑠

1 𝑐𝑚
𝑘𝑣 =
10 𝑐𝑚/𝑠
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution: Slider-Crank mechanism
 Velocity Polygon 1 𝑐𝑚
𝑘𝑣 =
10 𝑐𝑚/𝑠
𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution: Slider-Crank mechanism
 Velocity Polygon

1 𝑐𝑚
𝑘𝑣 =
10 𝑐𝑚/𝑠

𝑣𝐵 = 20.52𝑥10 = 205.2 𝑐𝑚/𝑠

𝑣𝐵/𝐴 = 𝜔3 𝑅𝐵𝐴

𝑣𝐵/𝐴 26.56x10 rad

𝜔3 = = = 3.54 ccw
𝑅𝐵𝐴 75 s
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Example: For a four-bar mechanism, find the angular velocity of the
link-AB and angular velocity of link-BB0

𝑟𝑎𝑑
𝐴𝐴0 = 25 𝑐𝑚, 𝐴𝐵 = 70 𝑐𝑚, 𝐵𝐵0 = 50 𝑐𝑚, 𝐴0 𝐵0 = 75 𝑐𝑚, 𝑎𝑛𝑑 𝜃2 = 60°, 𝜔2 = 5 𝑐𝑐𝑤
𝑠
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution: Four-bar mechanism

 Types of motion
 Link-2 : rotation motion about a fixed point A0
 Link 3 : general plane motion
 Link 4: rotation motion about a fixed point B0
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution: Four-bar mechanism
 Velocity Equation

𝑣𝐴 = 𝜔𝐴𝐴0 𝑅𝐴𝐴0 = 𝜔2 𝑅𝐴𝐴0

𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴 𝑣𝐵 = 𝜔2 𝑅𝐴𝐴0 + 𝜔3 𝑅𝐴𝐵

𝑣𝐵 = 𝜔4 𝑅𝐵𝐵0
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution: Four-bar mechanism
 Velocity Equation

𝑣𝐴 = 𝜔𝐴𝐴0 𝑅𝐴𝐴0 = 𝜔2 𝑅𝐴𝐴0

𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴 𝑣𝐵 = 𝜔2 𝑅𝐴𝐴0 + 𝜔3 𝑅𝐴𝐵

𝑣𝐵 = 𝜔4 𝑅𝐵𝐵0

𝑣𝐴 = 𝜔𝐴𝐴0 𝑅𝐴𝐴0 = 𝜔2 𝑅𝐴𝐴0 = 5 25 = 125 𝑐𝑚/𝑠

𝑟𝑎𝑑
𝐴𝐴0 = 25 𝑐𝑚, 𝐴𝐵 = 70 𝑐𝑚, 𝐵𝐵0 = 50 𝑐𝑚, 𝐴0 𝐵0 = 75 𝑐𝑚, 𝑎𝑛𝑑 𝜃2 = 60°, 𝜔2 = 5 𝑐𝑐𝑤
𝑠
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution: Four-bar mechanism
 Velocity Scale, kv

𝑣𝐴 = 𝜔𝐴𝐴0 𝑅𝐴𝐴0 = 𝜔2 𝑅𝐴𝐴0 = 5 25 = 125 𝑐𝑚/𝑠

1 𝑐𝑚
𝑘𝑣 =
25 𝑐𝑚/𝑠
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution: Four-bar mechanism
 Velocity Polygon 1 𝑐𝑚
𝑘𝑣 =
10 𝑐𝑚/𝑠
𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution: Four-bar mechanism
 Velocity Polygon

1 𝑐𝑚
𝑘𝑣 = 𝑣𝐵 = 3.269𝑥25 = 81.725 𝑐𝑚/𝑠
25 𝑐𝑚/𝑠
𝑣𝐵 = 𝜔4 𝑅𝐵𝐵0

𝑣𝐵 81.715 𝑟𝑎𝑑
𝜔4 = = = 1.63 𝑐𝑐𝑤
𝑅𝐵𝐵0 50 𝑠

𝑣𝐵/𝐴 = 2.626x25 = 65.65 𝑐𝑚/𝑠

𝑣𝐵/𝐴 = 𝜔3 𝑅𝐵𝐴
𝑣𝐵/𝐴 2.626x25 rad
𝜔3 = = = 0.93 cw
𝑅𝐵𝐴 70 s
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Example: For mechanism shown in figure, perform a compleyely
velocity analysis

𝑟𝑎𝑑
𝐴𝐴0 = 60 𝑐𝑚, 𝐴𝐵0 = 68.74 𝑐𝑚, 𝐴0 𝐵0 = 75 𝑐𝑚, 𝑎𝑛𝑑 𝜃2 = 60°, 𝜔2 = 6 𝑐𝑐𝑤
𝑠
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution:

 Types of motion
 Link-2 : rotation motion about a fixed point A0
 Link 3 : general plane motion
 Link 4: rotation motion about a fixed point B0

 A2 &A3 permanently coincident points

 A2, A3 & A4 instantly coincident points
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution:
 Velocity Equation

𝑣𝐴 2 = 𝑣𝐴 3 = 𝜔𝐴𝐴0 𝑅𝐴𝐴0 = 𝜔2 𝑅𝐴𝐴0

𝑣𝐴4 = 𝑣𝐴3 + 𝑣𝐴4 /𝐴3

𝑣𝐴4 = 𝜔4 𝑅𝐵𝐵0
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution:
 Velocity Equation

𝑣𝐴 2 = 𝑣𝐴 3 = 𝜔𝐴𝐴0 𝑅𝐴𝐴0 = 𝜔2 𝑅𝐴𝐴0

𝑣𝐴4 = 𝑣𝐴3 + 𝑣𝐴4 /𝐴3

𝑣𝐴4 = 𝜔4 𝑅𝐵𝐵0

𝑣𝐴 2 = 𝑣𝐴 3 = 𝜔𝐴𝐴0 𝑅𝐴𝐴0 = 𝜔2 𝑅𝐴𝐴0

= 6 60 = 360 𝑐𝑚/𝑠

𝑟𝑎𝑑
𝐴𝐴0 = 60 𝑐𝑚, 𝐴𝐵0 = 68.74 𝑐𝑚, 𝐴0 𝐵0 = 75 𝑐𝑚, 𝑎𝑛𝑑 𝜃2 = 60°, 𝜔2 = 6 𝑐𝑐𝑤
𝑠
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution:
 Velocity Scale, kv

𝑣𝐴 2 = 𝑣𝐴 3 = 𝜔𝐴𝐴0 𝑅𝐴𝐴0 = 𝜔2 𝑅𝐴𝐴0

= 6 60 = 360 𝑐𝑚/𝑠

1 𝑐𝑚
𝑘𝑣 =
100 𝑐𝑚/𝑠
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution:
 Velocity Polygon 1 𝑐𝑚
𝑘𝑣 =
100 𝑐𝑚/𝑠
𝑣𝐴4 = 𝑣𝐴3 + 𝑣𝐴4 /𝐴3
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution:
 Velocity Polygon

1 𝑐𝑚
𝑘𝑣 = 𝑣𝐴4 /𝐴3 = 3.402x100 = 340.2 𝑐𝑚/𝑠
100 𝑐𝑚/𝑠
𝑣𝐴4 = 𝜔4 𝑅𝐵𝐵0

𝑣𝐴4 1.178x100 𝑟𝑎𝑑

𝜔4 = = = 1.713 𝑐𝑤
𝑅𝐴𝐵0 68.74 𝑠
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Example: For mechanism shown in figure, perform a compleyely
velocity analysis

𝐴𝐴0 = 30 𝑐𝑚, 𝐴𝐵 = 50 𝑐𝑚
𝐴𝐶 = 𝐵𝐶 = 30 𝑐𝑚
𝐵𝐵0 = 70 𝑐𝑚, 𝐴0 𝐵0 = 𝐶𝐷 = 80 𝑐𝑚,
𝐵0 𝑄 = 40 𝑐𝑚, 𝐻𝑄 = 80, 𝐶𝐷 = 35.97 𝑐𝑚
𝑟𝑎𝑑
𝑎𝑛𝑑 𝜃2 = 100°, 𝜔2 = 2 𝑐𝑐𝑤
𝑠
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution:

 Types of motion
 Link-2 => Rotation motion about a fixed
point A0
 Link-3 => General plane motion
 Link-4 => Rotation motion about a fixed
point B0
 Link-5 => General plane motion
 Link-6 => Translation motion
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution:
 Velocity Equation

𝑣𝐴 = 𝜔𝐴𝐴0 𝑅𝐴𝐴0 = 𝜔2 𝑅𝐴𝐴0

𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴 𝑣𝐵/𝐴 = 𝜔𝐵𝐴 𝑅𝐵𝐴 = 𝜔3 𝑅𝐴𝐵

𝑣𝐵 = 𝜔𝐵𝐵0 𝑅𝐵𝐵0 = 𝜔4 𝑅𝐵𝐵0

𝑣𝐶 = 𝑣𝐴 + 𝑣𝐶/𝐴 𝑣𝐶/𝐴 = 𝜔𝐶𝐴 𝑅𝐶𝐴 = 𝜔3 𝑅𝐶𝐴

𝑣𝐶 = 𝑣𝐵 + 𝑣𝐶/𝐵 𝑣𝐶/𝐵 = 𝜔𝐶𝐵 𝑅𝐶𝐵 = 𝜔3 𝑅𝐶𝐵

𝑣𝐷 = 𝑣𝐶 + 𝑣𝐷/𝐶 𝑣𝐷/𝐶 = 𝜔𝐷𝐶 𝑅𝐷𝐶 = 𝜔5 𝑅𝐷𝐶

 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution:
 Velocity Equation

𝑣𝐴 = 𝜔𝐴𝐴0 𝑅𝐴𝐴0 = 𝜔2 𝑅𝐴𝐴0

𝑣𝐴 = 𝜔𝐴𝐴0 𝑅𝐴𝐴0 = 𝜔2 𝑅𝐴𝐴0 = 2 30 = 60 𝑐𝑚/𝑠

𝐴𝐴0 = 30 𝑐𝑚, 𝐴𝐵 = 50 𝑐𝑚
𝐴𝐶 = 𝐵𝐶 = 30 𝑐𝑚
𝐵𝐵0 = 70 𝑐𝑚, 𝐴0 𝐵0 = 𝐶𝐷 = 80 𝑐𝑚,
𝐵0 𝑄 = 40 𝑐𝑚, 𝐻𝑄 = 80, 𝐶𝐷 = 35.97 𝑐𝑚
𝑟𝑎𝑑
𝑎𝑛𝑑 𝜃2 = 100°, 𝜔2 = 2 𝑐𝑐𝑤
𝑠
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution:
 Velocity Scale, kv

𝑣𝐴 = 𝜔𝐴𝐴0 𝑅𝐴𝐴0 = 𝜔2 𝑅𝐴𝐴0

= 2 30 = 60 𝑐𝑚/𝑠

1 𝑐𝑚
𝑘𝑣 =
10 𝑐𝑚/𝑠
𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴

𝑉𝐵 56.12x10 rad
𝑣𝐵 = 𝜔𝐵𝐵0 𝑅𝐵𝐵0 = 𝜔4 𝑅𝐵𝐵0 𝜔4 = = = 8.01
𝑅𝐵𝐵0 70 s

𝑣𝐵/𝐴 = 𝜔𝐵𝐴 𝑅𝐵𝐴 = 𝜔3 𝑅𝐴𝐵 𝑉𝐵/𝐴 27.97x10 rad

𝜔3 = = = 5.59
𝑅𝐵𝐴 50 s
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution: 1 𝑐𝑚
𝑘𝑣 =
 Velocity Scale, kv 10 𝑐𝑚/𝑠

𝑣𝐶 = 𝑣𝐴 + 𝑣𝐶/𝐴

𝑣𝐶 = 𝑣𝐵 + 𝑣𝐶/𝐵

𝑣𝐴 + 𝑣𝐶/𝐴 = 𝑣𝐵 + 𝑣𝐶/𝐵
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Mehmke Theorem

𝑉𝐵/𝐴 𝑉𝐶/𝐴 𝑉𝐶/𝐵

𝜔3 = = = 𝑇𝑟𝑖𝑎𝑛𝑔𝑙𝑒 𝑎𝑏𝑐 𝑖𝑠 𝑠𝑖𝑚𝑖𝑙𝑎𝑟 𝑡𝑜 (𝐴𝐵𝐶)
𝑅𝐵𝐴 𝑅𝐶𝐴 𝑅𝐶𝐵
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution: 1 𝑐𝑚
𝑘𝑣 =
 Velocity Scale, kv 10 𝑐𝑚/𝑠
𝑣𝐷 = 𝑣𝐶 + 𝑣𝐷/𝐶
𝑣𝐷 = 49.26x10 = 492.1 𝑐𝑚/𝑠

𝑣𝐷/𝐶 = 𝜔𝐷𝐶 𝑅𝐷𝐶 = 𝜔5 𝑅𝐷𝐶

𝑉𝐷/𝐶 18.27x10 rad
𝜔5 = = = 2.28
𝑅𝐷𝐶 80 s
 VELOCITY ANALYSIS
 Velocity Analysis with Graphical Method
 Solution:
 Velocity Polygon