Velocity Analysis

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 Up on completion of this chapter, the student
will be able to
 Determine velocities of links and points on the fourbar
mechanism by using graphical and analytical approaches.

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 Velocity of point P

Multiplying by J rotates the vector by 90°

Velocity is perpendicular to radius of rotation & tangent to path of
motion

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 Velocity Difference / Relative Velocity

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Analytical Approach

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2

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 Write the vector loop equation
R2 + R3 − R4 − R1 = 0
ae j 2 + be j 3 − ce j 4 − de j1 = 0
 Position analysis, where: θ1=0o
aCos 2 + jaSin 2 +
bCos 3 + jbSin 3 −
cCos 4 − jcSin 4 − dCos1 − jdSin1 = 0
aCos 2 + jaSin 2 +
Cos0 o = 1 bCos 3 + jbSin 3 −
with
Sin 0 o = 0 cCos 4 − jcSin 4 − d = 0
Position Equation
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 After solving the position analysis, take the
derivative to get the velocity equation
d 2 d 2 d 3
− aSin  2 + jaCos 2 − bSin  3 +
dt dt dt
d 3 d 4 d 4
jbCos 3 + cSin  4 − jcCos 4 =0
dt dt dt
− a2 Sin 2 + ja2Cos 2 − b3 Sin 3 +
jb3Cos 3 + c4 Sin 4 − jc4Cos 4 = 0
Velocity Equation

VA = −a2 Sin  2 + ja2Cos 2 = j2 ae j 2
    j 3
V A + V BA − V B = 0 BA
V = − b  Sin  + jb Cos = j  be
 3 3 3 3 3
j 4
Where V B = − c 4 Sin  4 + jc 4 Cos 4 = j  4 ce
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 Separate Velocity Equation into Real and
Imaginary Parts

− a2 Sin 2 − b3 Sin3 + c4 Sin 4 = 0 Real Part

a2Cos 2 + b3Cos3 − c4Cos 4 = 0 Imaginary Part

 Eliminate ω4 and Solve the equations for ω3

− b3 Sin3 + c4 Sin 4 = a2 Sin 2 * Cos 4
b3Cos3 − c4Cos 4 = −a2Cos 2 * Sin4
− b3 Sin3Cos 4 + c4 Sin 4Cos 4 = a2 Sin 2Cos 4
b3Cos3 Sin 4 − c4Cos 4 Sin 4 = −a2Cos 2 Sin 4
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 sin(A-B)=sin A cos B - cos A sin B
 Summation of two last equations:
− b3 Sin 3Cos 4 + b3Cos 3 Sin 4 =
a2 Sin 2Cos 4 − a2Cos 2 Sin 4

b3 (Sin 3Cos 4 − Sin 4Cos 3 ) =

Factorize
a2 (Sin 4Cos 2 − Sin 2Cos 4 )

 Using Trigonometric Identity:

b3 Sin (3 −  4 ) = a2 Sin ( 4 −  2 )

a2 Sin ( 4 −  2 )
3 =
b Sin ( 3 −  4 )
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 Eliminate ω3 and Solve the equations for ω4
− b3 Sin3 + c4 Sin 4 = a2 Sin 2 * Cos 3

b3Cos3 − c4Cos 4 = −a2Cos 2 * Sin 3

− b3 Sin3Cos3 + c4 Sin 4Cos3 = a2 Sin 2Cos3

b3Cos3 Sin3 − c4Cos 4 Sin3 = −a2Cos 2 Sin3

 Summation of two last equations:

c4 Sin 4Cos 3 − c4Cos 4 Sin 3 =

a2 Sin 2Cos 3 − a2Cos 2 Sin 3

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 sin(A-B)=sin A cos B - cos A sin B

c4 (Sin 4Cos 3 − Cos 4 Sin 3 ) =

Factorize
a2 (Sin 2Cos 3 − Cos 2 Sin 3 )

 Using Trigonometric Identity:

c4 Sin ( 4 − 3 ) = a2 Sin ( 2 − 3 )

a2 Sin ( 2 −  3 )
4 =
c Sin ( 4 −  3 )

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 Calculate the angular velocity of link 3 and link
4, (ω3 & ω4) when θ2=57.3o =1rad and the input
angular velocity, ω2=-1 rad/s
ω3

 We have all the requirements except θ3 and θ4

 How can we obtain θ3 and θ4?

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 Using Position Analysis (Chapter 2)

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 Using Velocity Analysis

a2 Sin ( 4 −  2 ) a2 Sin ( 2 −  3 )

3 = 4 =
b Sin ( 3 −  4 ) c Sin ( 4 −  3 )

Rad/s Rad/s

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 Link 2 (the crank) is the input and link 4 is
the output. Given r1, θ1=0o, r2, θ2, r4, θ4, ω2.
Find r4 and ω4. Remember r4 is a variable so
r4≠ 0 in general.

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 Write the vector loop equation
R2 − R4 − R1 = 0
r 2 e j 2 − r4 e j 4 − r1e j1 = 0
 Position analysis, where: θ1=0o

r2Cos 2 + jr2 Sin 2 − r4Cos 4 − jr4 Sin 4

− r1Cos1 − jr1Sin1 = 0

Cos0 o = 1 r2Cos 2 + jr2 Sin  2

with Sin 0 o = 0 − r4Cos 4 − jr4 Sin  4 − r1 = 0
Position Equation

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 After solving the position analysis, take the
derivative to get the velocity equation
d 2 d 2 d 4
− r2 Sin  2 + jr2Cos 2 + r4 Sin  4
dt dt dt
d 4
− r4Cos 4 − jr4Cos 4 − jr4 Sin  4 = 0
dt
− r22 Sin 2 + jr22Cos 2 + r44 Sin 4
− r4Cos 4 − jr44Cos 4 − jr4 Sin 4 = 0
Velocity Equation
R 4 = −r4Cos 4 + jr4 Sin 4 = jr4 e j 4
  
V4 = r44 Sin 4 − jr44Cos 4 = j4 r4e j 4
R 4 + V4 − V2 = 0
 j 2
V
Where 2 = r 
2 2 Sin  2 − jr 
2 2 Cos 2 = j  r
2 2 e
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 Separate Velocity Equation into Real and
Imaginary Parts

− r22 Sin2 + r44 Sin4 − r4Cos4 = 0 Real Part

r22Cos2 − r44Cos4 − r4 Sin4 = 0 Imaginary Part

 Eliminate ω4 and Solve the equations for r4

− r22 Sin2 + r44 Sin4 − r4Cos4 = 0 * Cos 4

r22Cos2 − r44Cos4 − r4 Sin4 = 0 * Sin4

− r22 Sin 2Cos 4 + r44 Sin 4Cos 4 − r4Cos 2 4 = 0

r22Cos 2 Sin 4 − r44 Sin 4Cos 4 − r4 Sin 2 4 = 0
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 sin(A-B)=sin A cos B - cos A sin B
 Summation of two last equations:
− r22 Sin 2Cos 4 + r22Cos 2 Sin 4
− r4Cos 2 4 − r4 Sin 2 4 = 0
r22 (Sin 4Cos 2 − Cos 4 Sin 2 )
( )
− r4 Cos  4 + Sin  4 = 0
2 2 Factorize

 Using Trigonometric Identity:

r22 Sin(4 − 2 ) − r4 = 0

r4 = r22 Sin(4 − 2 )

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 Eliminate r4 and Solve the equations for ω4

− r22 Sin2 + r44 Sin4 − r4Cos4 = 0 * Sin4

r22Cos2 − r44Cos4 − r4 Sin4 = 0 * −Cos4

− r22 Sin 2 Sin 4 + r44 Sin 2 4 − r4Cos 4 Sin 4 = 0

− r22Cos 2Cos 4 + r44Cos 2 4 + r4Cos 4 Sin 4 = 0

 Summation of two last equations:

− r22 Sin 2 Sin 4 − r22Cos 2Cos 4

+ r44 Sin 2 4 + r44Cos 2 4 = 0

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 cos(A-B)=sin A sin B + cos A cos B

( )
r44 Sin 2 4 + Cos 2 4 =
Factorize
r22 (Sin 4 Sin 2 + Cos 4Cos 2 )

 Using Trigonometric Identity:

r44 = r22Cos(4 − 2 )

r22
4 = Cos( 4 −  2 )
r4

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 Calculate the angular velocity and linear velocity
of link 4, (ω4 & r4) when r1=0.2m, θ1=0o, r2=0.1m,
θ2=70o, and the input angular velocity,
ω2=25rad/s

 We have all the requirements except r4 and θ4

 How can we obtain r4 and θ4?

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 Using Position Analysis (Chapter 4) - Mathcad

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 Using Velocity Analysis (Chapter 5) - Mathcad
r22
r4 = r22 Sin(4 − 2 ) 4 = Cos( 4 −  2 )
r4

m/s Rad/s

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 2

Remember d is a variable so d≠ 0 in general.

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 Write the vector loop equation
R2 − R3 − R4 − R1 = 0
ae j 2 − be j 3 − ce j 4 − de j1 = 0
 Position analysis, where: θ1=0o,
and θ4=90o
aCos 2 + jaSin 2 − bCos 3 − jbSin 3 −
cCos 4 − jcSin 4 − dCos1 − jdSin1 = 0

Cos0o = 1, Sin 0o = 0 aCos 2 + jaSin 2 − bCos 3 −

with Cos90o = 0, Sin90o = 1 jbSin 3 − jc − d = 0
Position Equation

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 After solving the position analysis, take the
derivative to get the velocity equation
d 2 d 2 d 3
− aSin 2 + jaCos 2 − bSin 3 +
dt dt dt
d 3 d (d )
jbCos 3 − =0
dt dt
− a2 Sin 2 + ja2Cos 2 + b3 Sin 3 −
jb3Cos 3 − d = 0
Velocity Equation

VA = −a2 Sin 2 + ja2Cos 2 = j2 ae j 2
    j 3
V A + V BA − V B = 0 V = b Sin  − jb  Cos  = j  be
BA 3 3
 3 3 3

V = 
d
Where B
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 Separate Velocity Equation into Real and
Imaginary Parts

− a2 Sin 2 + b3 Sin 3 − d = 0 Real Part

a2Cos 2 − b3Cos 3 = 0 Imaginary Part

 From imaginary part:

b3Cos3 = a2Cos 2

aCos 2
3 = 2
bCos 3

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 From real part:

− a2 Sin 2 + b3 Sin3 = d

d = −a2 Sin 2 + b3 Sin3

d dot is horizontal speed of slider relative to ground

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