KINEMATICS OF MACHINERY

UNIT – II

KINEMATIC ANALYSIS OF MECHANISMS

INTRODUCTION:

The objective of kinematic analysis is to determine the kinematic quantities such as displacement,
velocity and acceleration in a mechanism.

Linear Displacement:

 It may be defined as the distance moved by a body with respect to a certain fixed point.
 The displacement may be along a straight or a curved path.
 The displacement of a body is a vector quantity, as it has both magnitude and direction.
 Linear displacement may, therefore, be represented graphically by a straight line.

Linear Velocity:

 It may be defined as the rate of change of linear displacement of a body with respect to the time.
 Since velocity is always expressed in a particular direction, therefore it is a vector quantity.
 Mathematically, linear velocity,

Linear Acceleration:

 It may be defined as the rate of change of linear velocity of a body with respect to the time.
 Itis also a vector quantity.
 Mathematically, linear acceleration,

 The linear acceleration may also be expressed as follows:

 The negative acceleration is also known as deceleration or retardation.

REPRESENTATION OF VECTOR QUANTITIES:

 The vector quantities are represented by vectors.

 A vector is a straight line of a certain length possessing a starting point and a terminal point at
which it carries an arrow head.
 This vector is cut offalong the vector quantity or drawn parallel to the line of action of the vector
quantity, so that thelength of the vector represents the magnitude to some scale.
 The arrow head of the vector representsthe direction of the vector quantity.
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ADDITION OF VECTORS:

 Consider two vector quantities P and Q, which are required to be added, as shown in Fig.

Fig.Addition of vectors

 Take a point A and draw a line AB parallel and equal in magnitude to the vector P.
 Through B, draw BC parallel and equal in magnitude to the vector Q. Join AC, which will give the
required sumof the two vectors P and Q, as shown in Fig.

SUBTRACTION OF VECTOR QUANTITIES:

 Consider two vector quantities P and Q whose difference is required to be found out as shown in
Fig.

Fig.Subtraction of vectors

 Take a point A and draw a line AB parallel and equal in magnitude to the vector P.
 Through B, draw BC parallel and equal in magnitude to the vector Q, but in opposite direction.
 Join AC, which gives the required difference of the vectors P and Q, as shown in Fig.

TYPES OF MOTIONS:

Plane Motion:

When the motion of a body is confined to only oneplane, the motion is said to be plane motion.
The plane motionmay be either rectilinear or curvilinear.

Rectilinear Motion:

It is the simplest type of motion and is along a straightline path. Such a motion is also known as
translatory motion.
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Curve linear Motion:

It is the motion along a curved path. Such a motion,when confined to one plane, is called plane
curvilinearmotion.

RELATION BETWEEN LINEAR MOTION AND ANGULAR MOTION:

Following are the relations between the linear motion and the angular motion

VELOCITY IN MECHANISMS BY RELATIVE METHOD:

Relative Velocity of Two BodiesMoving in Straight Lines:

 Here we shall discuss the application of vectors forthe relative velocity of two bodies moving
along parallel linesand inclined lines, as shown in Fig. respectively.

Fig.Relative velocity of two bodies moving along parallel lines.

 Consider two bodies A and B moving along parallellines in the same direction with absolute
velocities VA and VB such that VA>VB , as shown in Fig. (a)
 The relativevelocity of A with respect to B,

 From Fig. (b), the relative velocity of A with respect to B (i.e. V AB) may be written in the vector
form as follows :
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 Similarly, the relative velocity of B with respect to A,

Relative Velocity of Two Bodies Moving in Inclined Lines:

 Now consider the body B moving in an inclined direction as shown in Fig. (a).

Fig.Relative velocity of two bodies moving along inclined lines.

 The relative velocity of A with respect to B may be obtained by the law of parallelogram of
velocities or triangle law of velocities.
 Take any fixed point o and draw vector oa to represent V A in magnitude and direction to some
suitable scale.
 Similarly, draw vector ob to represent VB in magnitude and direction to the same scale.
 Then vector ba represents the relative velocity of A with respect to B as shown in Fig. (b).
 In the similar way as discussed above, the relative velocity of A with respect to B,

 Similarly, the relative velocity of B with respect to A,

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MOTION OF A LINK:

Fig. Motion of a Link.

 Consider two points A and B on a rigid link AB, as shown in Fig. (a).
 Let one of the extremities (B) of the link move relative to A, in a clockwise direction.
 Since the distance from A to B remains the same, therefore there can be no relative motion
between A and B, along the line AB.
 It is thus obvious, that the relative motion of B with respect to A must be perpendicular to AB.

Hence velocity of any point on a link with respect toanother point on the same link is always
perpendicular tothe line joining these points on the configuration (or space) diagram.

 The relative velocity of B with respect to A (i.e. V BA) is represented by the vector ab and is
perpendicular to the line AB as shown in Fig. (b).

Thus, we see from equation (iii), that the point c on the vector ab divides it in the same ratioas C divides
the link AB.
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VELOCITY OF A POINT ON A LINK BY RELATIVE VELOCITY METHOD:

 The relative velocity method is based upon the relative velocity of the various points of the link.
 Consider two points A and B on a link as shown in Fig. (a).
 Let the absolute velocity of the point A i.e. V A is known in magnitude and direction and the
absolute velocity of the point B i.e. VB is known in direction only.
 Then the velocity of B may be determined by drawing the velocity diagram as shown in Fig. (b).

The velocity diagram is drawn as follows:

1. Take some convenient point o, known as the pole.

2. Through o, draw oa parallel and equal to VA, to some suitable scale.
3. Through a, draw a line perpendicular to AB of Fig. 7.4 (a). This line will represent the
velocity of B with respect to A, i.e. VBA.
4. Through o, draw a line parallel to VB intersecting the line of VBA at b.
5. Measure ob, which gives the required velocity of point B ( VB), to the scale.

Notes :

1. The vector ab which represents the velocity of B with respect to A(V BA) is known as velocity of
image of the link AB.
2. The absolute velocity of any point C on AB may be determined by dividing vector ab at c in the
sameratio as C divides AB in Fig. (a).
3. In other words

4. Join oc. The vector oc represents the absolute velocity of point C (V C) and the vector ac represents
the velocity of C with respect to A i.e. VCA.
5. The absolute velocity of any other point D outside AB, as shown in Fig. (a), may also be obtained
by completing the velocity triangle abd and similar to triangle ABD, as shown in Fig (b).
6. 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.
7. Mathematically, angular velocity of the link AB,
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VELOCITIES IN SLIDER CRANK MECHANISM:

 Previously, we have discussed the relative velocity method for the velocity of any point on a link,
whose direction of motion and velocity of some other point on the same link is known.
 The same method may also be applied for the velocities in a slider crank mechanism.
 A slider crank mechanism is shown in Fig. (a).
 The slider A is attached to the connectingrod AB.
 Let the radius of crank OB be r and let it rotates in a clockwise direction, about the point Owith
uniform angular velocity ω rad/s.
 Therefore, the velocity of B i.e. VB is known in magnitude anddirection.
 The slider reciprocates along the line of stroke AO.

The velocity of the slider A (i.e. VA) may be determined by relative velocity method asdiscussed below:

1. From any point o, draw vector ob parallel to the direction of VB (or perpendicular to OB)such that
ob= VB = ω.r, to some suitable scale, as shown in Fig. (b).
2. Since AB is a rigid link, therefore the velocity of A relative to B is perpendicular to AB. Now
draw vector ba perpendicular to AB to represent the velocity of A with respect to B i.e. VAB.
3. From point o, draw vector oa parallel to the path of motion of the slider A (which is along AO
only). The vectors ba and oa intersect at a. Now oa represents the velocity of the slider A i.e. V A,
to the scale.
The angular velocity of the connecting rod AB (ωAB) may be determined as follows:

The direction of vector ab (or ba) determines the sense of ωAB which shows that it isanticlockwise.

Note:

The absolute velocity of any other point E on the connecting rod AB may also be found out by
dividing vector ba such that be/ba= BE/BA . This is done by drawing any line bA 1 equal in length of BA.
Mark bE1 =BE.Join a A1. From E1 draw a line E1e parallel to aA1. The vector oe now represents the
velocity of E and vector ae represents the velocity of E with respect to A.
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RUBBING VELOCITY AT A PIN JOINT:

The links in a mechanism are mostly connected by means of pin joints. The rubbing velocityis
defined asthe algebraic sum between the angular velocities of the two links which are connectedby
pin joints, multiplied by the radius of the pin.

Consider two links OA and OB connected by a pin joint at O as shown in Fig.

Fig.Links connected by pin joints.

Let ω1 = Angular velocity of the link OA orthe angular velocity of the point Awith respect to O.
ω2 = Angular velocity of the link OB orthe angular velocity of the point Bwith respect to O, and
r = Radius of the pin.

According to the definition,

Rubbing velocity at the pin joint O

= (ω1 – ω2) r, if the links move in the same direction

= (ω1 + ω2) r, if the links move in the opposite direction

PROBLEMS

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 AD are of
equal length. Find the angular velocity of link CD when angle BAD = 60°.

Solution:

Given: NBA = 120 r.p.m. or ωBA = 2 π × 120/60 = 12.568 rad/s

Since the length of crank AB = 40 mm = 0.04 m, therefore velocity of B with respect to A orvelocity of
B, (because A is a fixed point),
VBA= VB = ωBA× AB = 12.568 × 0.04 = 0.503 m/s
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First of all, draw the space diagram to some suitable scale, as shown in Fig. (a). Now thevelocity diagram,
as shown in Fig. (b), is drawn as discussed below:

 Since the link AD is fixed, therefore points a andd are taken as one point in the velocity diagram.
 Draw vector ab perpendicular to BA, to some suitable scale, to represent the velocity of B with
respect to A or simply velocity of B (i.e. VBA or VB) such that

Vector ab= VBA = VB = 0.503 m/s

 Now from point b, draw vector bc perpendicular to CB to represent the velocity of C with respect
to B (i.e. VCB) and from point d, draw vector dc perpendicular to CD to represent the velocity of C
with respect to D or simply velocity of C (i.e. VCD or VC).
 The vectors bc and dc intersects at c.

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 ofpiston,
2. angular velocity of connecting rod,
3. velocity of point E on the connecting rod 1.5 m from the gudgeon pin,
4. velocities of rubbing at the pins of the crank shaft, crank and crosshead whenthe diameters
of their pins are 50 mm, 60 mm and 30mm respectively,
5. Position and linear velocity of anypoint G on the connecting rod which has the leastvelocity
relative to crank shaft.

Solution:

Given: NBO = 180 r.p.m. or ωBO = 2 π × 180/60 = 18.852 rad/s VBO= VB = ωBO × OB = 18.852 × 0.5 =
9.426 m/s
1. Velocity of piston:

First of all draw the space diagram, to some suitable scale, as shown in Fig. (a). Now thevelocity
diagram, as shown in Fig. (b), is drawn as discussed below:

1. Draw vector ob perpendicular to BO, to some suitable scale, to represent the velocity of B with
respect to O or velocity of B such that

Vector ob= VBO = VB= 9.426 m/s

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2. From point b, draw vector bp perpendicular to BP to represent velocity of P with respect to B (i.e.
VPB) and from point o, draw vector op parallel to PO to represent velocity of P with respect to O
(i.e. VPO or simply VP). The vectors bp and op intersect at point p.

By measurement, we find that velocity of piston P,

VP = vector op = 8.15 m/s Ans.

2. Angular velocity of connecting rod:

From the velocity diagram, we find that the velocity of P with respect to B,

VPB = vector bp = 6.8 m/s

Since the length of connecting rod PB is 2 m, therefore angular velocity of the connecting rod,

3. Velocity of point E on the connecting rod:

The velocity of point E on the connecting rod 1.5 m from the gudgeon pin (i.e. PE = 1.5 m)is
determined by dividing the vector bp at e in the same ratio as E divides PB in Fig. (a). Join oe. The vector
oe represents the velocity of E.
Bymeasurement, we find that velocity of point E,

VE = vector oe = 8.5 m/s Ans.

4. Velocity of rubbing:

We know that diameter of crank-shaft pin at O,

do = 50 mm = 0.05 m
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5. Position and linear velocity of point G on the connecting rod which has the least velocityrelative
to crank-shaft:

The position of point G on the connecting rod which has the least velocity relative to crankshaftis
determined by drawing perpendicular from o to vector bp. Since the length of og will be the least,
therefore the point g represents the required position of G on the connecting rod.

By measurement, we find that

Vector bg= 5 m/s

The position of point G on the connecting rod is obtained as follows:

By measurement, we find that the linear velocity of point G,

VG = vector og = 8 m/s Ans.

ACCELERATION DIAGRAM FOR A LINK:

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 Consider two points A and B on a rigid link as shown in Fig. (a).

 Let the point B moves with respect to A, with an angular velocity of ω rad/s and let α rad/s 2 be the
angularacceleration of the link AB.
 We have already discussed that acceleration of a particle whose velocity changes both in
magnitude and direction at any instant has the following two components :
 The centripetal or radial component, which is perpendicular to the velocity of the particle at the
given instant.
 The tangential component, which is parallel to the velocity of the particle at the given instant.
 Thus for a link AB, the velocity of point B with respect to A (i.e. V BA) is perpendicular to the link
AB as shown in Fig. (a).
 Since the point B moves with respect to A with an angular velocity of ω rad/s, therefore
centripetal or radial component of the acceleration of B with respect to A,

 This radial component of acceleration acts perpendicular to the velocity V BA, In other words, it
acts parallel to the link AB.
 We know that tangential component of the acceleration of B with respect to A,

This tangential component of acceleration acts parallel to the velocity V BA. In other words,it
actsperpendicular to the link AB.

In order to draw the acceleration diagram for a link AB, as shown in Fig. (b), from anypoint b',
draw vector b'x parallel to BA to represent the radial component of acceleration of B withrespect to A
i.e. arBA and from point x draw vector xa' perpendicular to B A to represent the tangentialcomponent of
acceleration of B with respect to A i.e. a tBA .Join b' a'. The vector b' a' (known as acceleration image of
the link AB) represents the total acceleration of B with respect to A (i.e. a BA) and it is the vector sum of
radial component (arBA) and tangential component (atBA) of acceleration.

ACCELERATION IN THE SLIDER CRANK MECHANISM:

 A slider crank mechanism is shown in Fig. (a).

 Let the crank OB makes an angle θ with the inner dead centre (I.D.C) and rotates in a clockwise
direction about the fixed point O with uniform angular velocity ωBO rad/s.

∴ Velocity of B with respect to O or velocity of B (because O is a fixed point),

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 We know that centripetal or radial acceleration of B with respect to O or acceleration of

B(because O is a fixed point),

The acceleration diagram, as shown in Fig. (b), may now be drawn as discussed below:
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PROBLEMS

QUESTION: 1
The crank of a slider crank mechanism rotates clockwise at a constant speed of 300 r.p.m. The
crank is 150 mm and the connecting rod is 600 mm long. Determine:

1. linearvelocity and acceleration of the midpoint of the connecting rod, and

2. Angular velocity and angularacceleration of the connecting rod, at a crank angle of 45° from
inner dead centre position.

Solution:

Given: NBO = 300 r.p.m. or ωBO = 2 π × 300/60 = 31.42 rad/s; OB = 150 mm =0.15 m ; BA = 600 mm =
0.6 m
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QUESTION: 2

PQRS is a four bar chain with link PS fixed. The lengths of the links are PQ= 62.5 mm; QR = 175
mm; RS = 112.5 mm; and PS = 200 mm. The crank PQ rotates at 10 rad/sclockwise. Draw the
velocity and acceleration diagram when angle QPS = 60° and Q and R lie onthe same side of PS.
Find the angular velocity and angular acceleration of links QR and RS.

Solution:

Given:ωQP= 10 rad/s; PQ = 62.5 mm = 0.0625 m ; QR = 175 mm = 0.175 m ;RS = 112.5 mm = 0.1125

m ; PS = 200 mm = 0.2 m
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