KOM

Unit II: Kinematics of Linkage Mechanisms

Unit II Kinematics of Linkage Mechanisms
Displacement, velocity and acceleration analysis of simple mechanisms - Graphical
method velocity and acceleration polygons - velocity analysis using instantaneous
centres - kinematic analysis of simple mechanisms - Coincident points - Coriolis
component of acceleration - Introduction to linkage synthesis problem.
Introduction:
Displacement: The displacement of a body is its change of position with reference
to a certain fixed point.

Configuration diagram (or) Space diagram:

A machine or a mechanism is represented by a skeleton or a line diagram,
commonly known as a configuration diagram
Mechanism

Configuration diagram

Velocity: It is the rate of change of displacement of a body with respect to time. It is

vector quantity.
Linear velocity: It is the rate of change of displacement of a body along a straight
line with respect to time. Its units are m/s
Angular velocity: It is the rate of change of angular position of a body with respect
to time. Its units are rad/s
Acceleration: It is the rate of change of velocity of a body with respect to time. It is
vector quantity.

Relative velocity of Two Bodies Moving in Straight Lines:

Consider two bodies A and B moving parallel lines in the same direction with
absolute velocities vA and vB. (vA > vB)

Angular Acceleration: It is the rate of change of angular velocity of a body with

respect to time.
Velocity Analysis:

Velocity analysis involves the linear velocities of various points on

different links of a mechanism as well as the angular velocities of the links.

The velocity analysis is the prerequisite for acceleration analysis which

further leads to force analysis of various links of a mechanism.

Methods of Velocity Analysis:

1. Graphical Method
(a) Relative velocity method
(b) Instantaneous centre method
2. Analytical Method

Relative velocity of A with respect to B vAB = Vector difference of vA and vB

_

v AB v A vB
Relative velocity of B with respect to A vBA = Vector difference of vB and vA
_

vBA v B v A
_
_

v BA v A v B v AB

Relative velocity of point A with respect to B (v AB) and the relative velocity of
point B with respect to A are equal in magnitude but opposite in direction.

Note: Graphical methods given accurate solution. Analytical methods given

approximate solution.

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Unit II: Kinematics of Linkage Mechanisms

Motion of a link:

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

1- Angular velocity of the link OA or Angular velocity of the point A with
respect to O.
2- Angular velocity of the link OB or Angular velocity of the point B with
respect to O.
r Radius of the pin
According to the direction
Rubbing velocity in the pin joint O
= (1 - 2).r, if the links move in the same direction
= (1 + 2).r , if the links move in the opposite direction.
Velocity of any point on a link with respect to another point on the same link is
always perpendicular to the line joining these points on the configuration or space
diagram.

Note: When the pin connects one sliding member and the other turning member, the
angular velocity of the sliding member is zero. In such cases,
Rubbing velocity at the pin joint = r

Angular velocity of the link AB

Velocity of B with respect to A vBA ,
___

vBA ab AB ---------------- (i)

Velocity of (any point) C with respect to A vCA,

1. In a four bar chain ABCD, AD is fixed and is 150 mm long. The crank AB is
40mm 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.

vCA ac . AC AC
___

vBA ab
. AB AB

Solution:
Speed NBA = 120 r.p.m.
Angular velocity BA = 2 120/60 = 12.568 rad/s
Since the length of crank AB = 40 mm = 0.04 m.
Therefore velocity of B with respect to A or
Velocity of B, (because A is a fixed point),
vBA = vB = BA AB = 12.568 0.04 = 0.503 m/s

Rubbing velocity at a pin joint:

Configuration (or space) diagram:

___

vCA oc AC ------------- (ii)

From equation (i) and (ii)
___

Rubbing velocity is defined as the algebric sum between the angular velocities of
the two links which are connected by pin joints, multiplied by the radius of the pin.

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Unit II: Kinematics of Linkage Mechanisms

Velocity diagram:
Configuration diagram:

Velocity diagram:

vector ab = vBA = vB = 0.503 m/s

By measurement,
vCD = vC = vector dc = 0.385 m/s
We know that CD = 80 mm = 0.08 m
Angular velocity of link CD,

CD

vCD 0.385

4.8 rad/s (Clockwise about D)

CD
0.08

2. In a mechanism shown in Figure the angular velocity of the crank OA is 15

rad/s and the slider at E is constrained to move at 2.5 m/s. The motion of both
the sliders is vertical and the link BC is horizontal in the position shown.
Determine the
(i)
Rubbing velocity at B if the pin diameter is 15 mm
(ii)
Velocity of slider D.
( Nov/Dec 2013,
R2004/2007)

Va = a OA = 15 0.2 = 3 rn/s
(i) Angular velocity of link BD
= bd/BD = 2.95/0.26 = 11.3 rad/s (counter-clockwise)
Angular velocity of link BC = bc/BC = 8.4/0.6 =14 rad/s (clockwise)
Thus velocity of rubbing at B = (bd + be) rb
= (l1.3 + 14) 0.015
= 0.38 rn/s
(ii) The velocity of slider D = hd = 8.3 m/s

Solution:
Configuration diagram:

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Unit II: Kinematics of Linkage Mechanisms

3. Figure shows the link mechanism of a quick return mechanism of the slotted
lever type, the various dimensions of which are OA = 400 mm, OP =200 mm, AR
= 700 mm, RS = 300mm. For the configuration shown determine the velocity of
the cutting tool at S and the angular velocity of the link RS. The crank OP
rotates at 210 rpm

Angular velocity of link RS,

rs

v rs 1.4

4.67 rad/s clockwise

RS 0.3

Acceleration:
The rate of change of velocity with respect to time is known as acceleration and acts
in the direction of the change in velocity. Thus, acceleration is a vector quantity.
Acceleration Diagram for a Link
Consider two points A and B on a rigid link as shown in Figure, Let the point B
moves with respect to A, with an angular velocity of rad/s and let rad/s2 be the
angular acceleration of the link AB.

Solution:
Velocity diagram:

(a) Link.

OP

2 210
22 rad/s
60

Acceleration of a particle (whose velocity changes both in magnitude and direction)

at any instant have the following two components:
1. Centripetal or Radial component,
2. Tangential component
Centripetal or radial component of the acceleration of B with respect to A,
2

r
a BA
2 Length of link AB 2 AB v BA

vop = OP =22 0.2 = 4.4 rn/s.

The velocity of the ram S = os (or gs) = 4.5 m/s.
It is towards right for the given position of the crank.

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(b) Acceleration diagram.

v AB

AB

.......

AB
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Unit II: Kinematics of Linkage Mechanisms

This radial component of acceleration acts perpendicular to the velocity vBA,
In other words, it acts parallel to the link AB.
Tangential component of the acceleration of B with respect to A,
t
a BA
Length of link AB AB

Tangential component of acceleration acts parallel to the velocity vBA. In other

words, it acts perpendicular to the link AB.
FOUR-LINK MECHANISM
Configuration diagram:

Velocity diagram:

S.
No
1

Vector

Magnitude

ab

r
ba (

or )a1ba

Direction

Sense

AB

AB
2

t
ba

(or) ba b1

AB

r
cb

(or) b1cb

bc

t
cb

r
acb
(or) d1cd

t
acb
(or) cd c1

AB or a1ba or ab
BC

A
b
B

BC
(or) cbc1

__

dc

BC or b1cb
DC

__
D

DC
Acceleration diagram:

___

DC or d1cd

__

SLIDER-CRANK MECHANISM

Velocity diagram:

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Acceleration diagram:

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Unit II: Kinematics of Linkage Mechanisms

AP1 = 10 rad/s ;
AP1 = 30 rad/s2;
P1A = 300 mm = 0.3 m;
P2B = AB =360 mm = 0.36 m

S.
No
1
2
3
4

Vector

Magnitude

aao (or )o1a1

oa

r
ba

(or) a1ba

t
ba

(or) ba b1

_
_

Sense

OA

AB

AB

Solution:
Velocity diagram:

Acceleration diagram

OA
ab 2
OA

abg (or) g1b1

Direction

to line of motion of B

4. The dimensions and configuration of the four bar mechanism, shown in

Figure, are as follows: P 1A = 300 mm; P2B = 360 mm; AB = 360 mm, and P1P2 =
600mm. The angle AP1P2 = 60. The crank P1A has an angular velocity of 10
rad/s and an angular acceleration of 30 rad/s 2, both clockwise. Determine the
angular velocities and angular accelerations of P2B, and AB and the velocity
and acceleration of the joint B.

Velocity of A with respect to P1 or velocity of A,

vAP1 = vA = AP1 P1A = 10 0.3 = 3 m/s
Velocity of B and angular velocities of P2B and AB
p1a = vAP1 = vA = 3 m/s
By measurement, we find that
vBP2 = vB = vector p2b = 2.2 m/s
vBA = vector ab = 2.05 m/s
Angular velocity of P2B,

P2B

v BP 2
2.2

6.1 rad/s (Clockwise)

P2 B 0.36

Angular velocity of AB,

Given:

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AB

v BA 2.05

5.7rad/s (Clockwise)
AB 0.36
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Unit II: Kinematics of Linkage Mechanisms

Angular
Acceleration of B and angular acceleration of P2B and AB
Tangential component of the acceleration of A with respect to P1,

a tAP1 AP1 P1 A 30 0.3 9 m/s 2

Radial component of the acceleration of A with respect to P1,

r
AP1

2
v AP
2
2
2
1

AP
! P1 A 10 0.3 30 m/s
P1 A

Radial component of the acceleration of B with respect to A.

r
a BA

2
v BA
2.05 2

11.67m/s 2
AB
0.36

Radial component of the acceleration of B with respect to P2,

r
BP 2

v2
2.2 2
BP 2
13.44m/s 2
P2 B 0.36

Radial component of the acceleration of A with respect to P1 ,

r
2
a AP
1 p ' x 30 m/s

acceleration

P2B

P2B

a
26.6

73.8 rad/s 2 (Anticlockwise)

P2 B 0.36

Angular

AB

of

t
BP2

acceleration

of

AB,

t
BA

a
13.6

37.8rad/s 2 (Anticlockwise)
AB 0.36

5. The crank of a slider crank mechanism rotates clockwise at a constant speed

of 300rpm. The crank is 150 mm and the connecting rod is 600 mm long.
Determine: 1. Linear velocity and acceleration of the midpoint of the connecting
rod, and 2. Angular velocity and angular acceleration of the connecting rod, at a
crank angle of 45 from inner dead centre position.
Given:
Speed NBO = 300 r.p.m. or BO = 2 300/60 = 31.42 rad/s;
OB = 150 mm = 0.15 m;
BA = 600 mm = 0.6 m
Solution:
Configuration (or) space diagram:

Tangential component of the acceleration of A with respect to P1,

r
2
a AP
1 xa ' 9 m/s

By measurement,
aA = aAP1 = 31.6 m/s2
Radial component of the acceleration of B with respect to A,

a ' y a rBA 11.67m/s 2

Radial component of the acceleration B with respect to P2,

p '2 z a rBP2 13.44m/s 2

a BP2 a B p 2 ' b' 29.6 m/s 2
t
yb' a BA
a B 13.6 m/s 2

Velocity diagram:

Acceleration diagram:

t
2
zb' a BP
2 26.6 m/s

Department of Mechanical, AAMEC

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Unit II: Kinematics of Linkage Mechanisms

6. For the configuration shown below, calculate .

(i) The acceleration of the slider at B
(ii) The acceleration of point E
(iii) The angular acceleration of link AB.
OA rotates at 20 rad/s counter-clockwise.
Linear velocity of B with respect to O or velocity of B,
vBO = vB = OB OB = 31.42 0.15 = 4.713 m/s
By measurement from velocity diagram,
Velocity of A with respect to B, vAB = vector ba = 3.4 m/ s and
Velocity of A, vA= vector oa = 4 m/ s
vD = vector od = 4.1 m/s

Acceleration of the midpoint of the connecting rod

Radial component of the acceleration of B with respect to O or the acceleration of B,

r
BO

v2
4.713 2
a B BO
148.1 m/s 2
OB
0.15

Velocity diagram:

Acceleration diagram:

Radial component of the acceleration of A with respect to B,

r
AB

2
v AB
3.4 2

19.3 m/s 2
BA
0 .6

By measurement from the acceleration diagram

aD = vector o' d' = 117 m/s2
Angular velocity of the connecting rod

AB

v AB 3.4

5.67 rad/s 2 (Anticlockwise about B )

BA 0.6

Angular acceleration of the connecting rod

From the acceleration diagram, a tAB 103 m/s 2
(By measurement)
We know that angular acceleration of the connecting rod AB,

AB

at
103
AB
171.67 rad/s 2 (Clockwise about B)
BA 0.6

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S.
No

Vector

Magnitude(m/s2)

Direction

Sense

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Unit II: Kinematics of Linkage Mechanisms

1
2
3
4

r
ao (

r
ba

(or) a1ba

t
ba

(or) ba b1

or )o1a1

oa

9 .6 2
192 OA
OA
0.48
ab 2 5.25 2 17.2
AB
AB
1.6

abg (or) g1b1

(i)

O
A

_
AB
_

to line of motion
of B

_
_

f b g1b1 72 m/s 2
As the direction of acceleration fb is the same as of vb, this means the
slider is accelerating at the instant.

(ii)

Locate point e1 on b1a1 produced such that

b1 e1
BE

b1 a1
BA

f e o1 e1 236 m/s 2
(iii)

ab

ft
b b 167
ba a 1
104 rad/s 2 counter clockwise
AB AB 1.6

Analysis of slider-crank mechanism by analytical method:

After rotation of crank by angle

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l - Length of connecting rod between the centers,

r - Radius of crank or crank pin circle,
- Inclination of connecting rod to the line of stroke
n - l/r -Ratio of length of connecting rod to the radius of crank
Velocity of the piston
From the geometry
x = PP = OP OP = (PC + CO) (PQ + QO)
(PQ =l cos ; QO= r cos )
x = (l + r) (l cos + r cos )

r (1 cos ) l (1 - cos )

r (1 cos ) (1 - cos )
r

r (1 cos ) n(1 - cos )

From triangles CPQ
sin = CQ / PC
CQ = PC sin
CQ = l sin
From triangles CQO
sin = CQ / OC
CQ = OC sin
CQ = r sin
From equ (2) and (3)
CQ = l sin = r sin
l/r =sin / sin
Where n = l/r
n = sin /sin

(1)

(2)

(3)

(4)
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Unit II: Kinematics of Linkage Mechanisms

sin = sin /n
We know that

Substituting the value of dx/d from equation (6), we have

2

cos 1 sin

sin 2

v PO v p r sin

2n

1
2

sin 2
cos 1
n 2

1
2

Acceleration of the piston:

Expanding the above expression by binomial theorem, we get

1 sin 2

.......
2
n2
... (Neglecting higher terms)
sin 2
1 cos
2n 2

cos 1

sin
r 1 cos

2n

dv p
dt

dv p
d

d dv p

dt
d

(8)

Differentiating equation (7) with respect to ,

dv p

cos 2 2

r cos

2n

cos 2

r cos

d
n

d
dv p

Substitute dvp/d value in equation (8) we have

(5)

Differentiating equation (5) with respect to

dx
2 sin cos

r sin

d
2n

dx
2 sin cos

r sin

d
2n

sin 2

r sin
2n

Since the acceleration is the rate of change of velocity, therefore acceleration of the
piston P,

ap

Substituting the value of (1 cos ) in equation (1)

sin 2
x r 1 cos n

2n 2

cos 2

a p r cos

cos 2

a p 2 r cos
n

(9)

Angular Velocity and Angular Acceleration of the Connecting Rod

Angular Velocity:

(6)

2 sin cos

sin 2

Velocity of P with respect to O (or) velocity of the piston P

v PO v p

(7)

dx dx d
dx

dt d dt
d

(Ratio of change of angular velocity = =d / dt)

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From the geometry of the figure,

CQ = l sin = r sin
n = sin /sin
sin
sin
n
Differentiating both sides with respect to time t,
d
cos d
cos

dt
n
dt
d
d
cos

cos

dt
dt
n

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Unit II: Kinematics of Linkage Mechanisms

d
cos

dt
n
cos
Angular velocity of connecting rod
cos

PC
n
cos
dt
We know that

cos 1 sin

d ( PC ) d

dt
d

PC

cos

sin 2

1
2

cos

n 1 2
n sin 2
n

1
2

d ( PC )
dt

cos

sin

sin cos 1 2 n 2

sin 2

sin 2

1
1
2

( 2 sin cos )

n
n

sin
2

sin
sin

sin

PC

(Dividing and multiplying by (n2-sin2) 1/2)

sin 2 cos 2

dt

We know that

PC

We know that

n 2 sin 2 2 sin n 2 sin 2 2 sin cos 2

n 2 sin 2

1
1
2

n sin 2 2 n 2 sin 2 2 cos 2

sin

n 2 sin 2

sin

1
2

d ( PC ) d ( PC ) d

dt
d
dt
d ( PC ) d ( PC )

dt
d
d ( PC )
PC

Angular acceleration of the connecting rod PC:

PC = Angular acceleration of P with respect to C

PC

sin
sin

n 2 sin 2

1
2

sin 2

cos 1
n 2

cos
PC
n
2

1 sin

n2

n sin

1
2

cos

sin 2

cos 2

n sin

n 1
2

(sin2+cos2=1)

d PC
2 sin n 2 1

3
d
n 2 sin 2 2

The negative sign shows that the sense of the acceleration of the connecting rod is
such that it tends to reduce the angle
Notes:

Differentiate above equation w.r.t

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Unit II: Kinematics of Linkage Mechanisms

cos

PC

n sin
Angular Acceleration of connecting
d
sin n 1


d
n sin
Angular velocity of connecting rod

PC

PC

Since sin2 is small as compared to n2, therefore it may be neglected in angular

velocity equation and angular acceleration equations of the connecting rod

cos
Therefore, Angular velocity PC
n
2
sin n 2 1
Angular Acceleration pc
n3

Also in above equation unity is small as compared to n2; hence the term unity
may be neglected
Angular Acceleration pc

2 sin
n

Tangential component of acceleration of the slider B with respect to the coincident

point C on the link is known as Coriolis component of acceleration and is always
perpendicular to the link.
Coriolis component of the acceleration of B with respect of C,
c
t
a BC
a BC
2v

Where = Angular velocity of the link OA, and

v = Velocity of slider B with respect to coincident point C.
7. A mechanism of a crank and slotted lever quick return motion is shown in
Figure. If the crank rotates counter clockwise at 120 r.p.m., determine for the
configuration shown, the velocity and acceleration of the ram D. Also determine
the angular acceleration of the slotted lever. Crank, AB = 150 mm ; Slotted arm,
OC = 700 mm and link CD = 200 mm.
Solution:
NBA = 120 r.p.m
BA = 2 120/60= 12.57 rad/s ;
AB = 150 mm = 0.15 m; OC = 700 mm = 0.7 m;
CD = 200 mm = 0.2 m
Velocity of B with respect to A, vBA = BA AB
= 12.57 0.15 =1.9 m/s

Coriolis Component of Acceleration

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Configuration diagram:

Velocity diagram:

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Unit II: Kinematics of Linkage Mechanisms

By measurement, vector ob' = 1.55 m/s

vac
AC

vab ' AB '

AC
AC
v ac v ab'
2.15 m/s v ab'
2.15 m/s
'
AB
AB '

wkt,

By measurement from velocity polygon

vD = vector od = 2.15 m/s
vBB' = vector b'b = 1.05 m/s
vDC = vector cd = 0.45 m/s
vCO = vector oc = 2.15 m/s
Angular velocity of the link OC or OB',

Acceleration of the ram D

INSTANTANEOUS CENTRE METHOD

A link as a whole may be considered to be rotating about an imaginary centre
or a given centre at a given instant. Such a centre has zero velocity or the link is at
rest at this point. This is known as the instantaneous centre or centre of rotation. This
centre varies from instant to instant for different positions of the link. The locus of
these centres is termed the centrode.
Velocity of a Point on a Link
Consider two points A and B on a rigid link, having velocities va and vb
respectively, as shown in Fig(a). From A and B draw lines perpendicular to the
directions of motion and let them meet at I. Then I is the instantaneous centre of
rotation of the link AB for its given position.
If is the instantaneous angular velocity of the link AB, then
va = . IA and vb= lB. Thus

IB
.va
IA

vb

____________ (i)

The velocity diagram for the link AB has been drawn in Fig. (b). Triangles IAB and
oab are similar. Hence

oa ob ab

IA IB AB

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Unit II: Kinematics of Linkage Mechanisms

v a v b v ab
v

c ____________ (ii)
IA IB AB IC

KOM
Consider a four-bar mechanism shown in Fig (c). For this mechanism, n = 4.
Hence N = 4 (4 - 1)/2 = 6. The instantaneous centres are:
12, 13, 14, 23, 24, 34

Where C is any point on the link AB.

(a) Instantaneous centre

(b) Velocity diagram
Properties of Instantaneous Centre
The properties of instantaneous centre are:
1. At the instantaneous centre of rotation, one rigid link rotates instantaneously
relative to another for the configuration of the mechanism considered. .
2. The two rigid links have no linear velocities relative to each other at the
instantaneous centre.
3. The two rigid links have the same linear velocity relative to the third rigid link, or
any other link.
Number of Instantaneous Centres
The number of instantaneous centres in a mechanism is equal to the number of
possible combinations of two links. The number of instantaneous centres is:

N
where n = number of links.

n n 1
2

Types of Instantaneous Centres

The instantaneous centres for a mechanism are of the following types:
1. Fixed instantaneous centres
2. Permanent instantaneous centres
3. Neither fixed nor permanent instantaneous centres.

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Fig. (c) Instantaneous centres in a four-bar mechanism

The instantaneous centres 12 and 14 remain at the same place for the
configuration of the mechanism, and are, therefore, called fixed instantaneous
centres.
The instantaneous centres 23 and 34 move when the mechanism moves, but the
joints are of permanent. Therefore, they are called permanent instantaneous centres.
The instantaneous centres 13 and 24 vary with the configuration of the mechanism
and are neither fixed nor permanent instantaneous centres.
Location of Instantaneous Centres:
The following observations are quite helpful in locating the instantaneous centres:
1. For a pivoted or pin joint, the instantaneous centre for the two links lies on the
centre of the pin (Fig. d).
2. In a pure rolling contact of the two links, the instantaneous centre lies at their point
of contact (Fig. e). This is because the relative velocity between the two links at the
point of contact is zero.
3. In a sliding motion, the instantaneous centre lies at infinity in a direction
perpendicular to the path of motion of the slider. This is because the sliding motion is
equivalent to a rotary motion of the links with radius of curvature equal to infinity
(Fig. f). If the slider (link 2) moves on a curved surface (link 1), then the
instantaneous centre lies at the centre of curvature of the curved surface (Fig. g & h).

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Unit II: Kinematics of Linkage Mechanisms

2. Make a list of all the instantaneous centres by writing the link numbers in the first
row and instantaneous centres in ascending order in columns. For example, for a
four-bar chain shown below:

Fig. (d)

Fig. (f)

Fig. (e)

Fig. (f)

Fig. (g)
Location of instantaneous centre

Arnold-Kennedy's Theorem

3. Locate the fixed and permanent instantaneous centres by inspection. Tick mark
these instantaneous centres.
4. Locate the remaining neither fixed nor permanent instantaneous centres (circled)
by using Arnold-Kennedy's theorem. This is done by a circle diagram, as shown in
Fig(i).
Mark points on a circle equal to the number of links in the mechanism. Join the
points by solid lines for which instantaneous centres are known by inspection. Now
join the points forming the other instantaneous centres by dotted lines. The
instantaneous centre shall lie at the intersection of the lines joining the instantaneous
centres of the two adjacent triangles of the dotted line.

This theorem states that if three plane bodies have relative motion among
themselves, their three instantaneous centres must lie on a straight line.

Fig.(h) Arnold-Kennedy theorem

Fig.(i)
Method of Locating Instantaneous Centres:
The following procedure may be adopted to locate the instantaneous centres:
1. Determine the number of instantaneous centres from, N = n (n 1)/2.

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Determination of Angular Velocity of a Link

The angular velocities of two links vary inversely as the distances from their
common instantaneous centre to their respective centres of rotation relative to the
frame.

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Unit II: Kinematics of Linkage Mechanisms

8. In a pin jointed four bar mechanism, as shown in Figure, AB = 300 mm,
BC=CD=360 mm, and AD = 600 mm. The angle BAD = 60. The crank AB
rotates uniformly at 100 rpm in clockwise. Locate all the instantaneous centres
and find the angular velocity of the link BC.

Angular velocity of the link BC

Solution:
NAB =100 r.p.m or
AB = 2 100/60 = 10.47 rad/s
Since the length of crank AB = 300 mm = 0.3 m,
Therefore velocity of point B on link AB, vB = AB AB = 10.47 0.3 = 3.141 m/s

n n 1 4 4 1

6
2
2

Instantaneous centres:
12, 13, 14
23, 24
34

Let BC = Angular velocity of the link BC.

Since B is also a point on link BC, therefore velocity of point B on link BC,
vB =BC I13B
By measurement, I13 B = 500 mm = 0.5 m

BC

vB
3.141

6.282 rad/s
I 13 B
0.5

9. Locate all the instantaneous centres of the slider crank mechanism as shown
in Figure. The lengths of crank OB and connecting rod AB are 100 mm and 400
mm respectively. If the crank rotates clockwise with an angular velocity of 10
rad/s, find: (i) Velocity of the slider A, and (ii) Angular velocity of the connecting
rod AB.

Solution:
OB = 10 rad/ s; OB = 100 mm = 0.1 m
Linear velocity of the crank OB,
vOB = vB = OB OB = 10 0.1 = 1 m/s

Department of Mechanical, AAMEC

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KOM

Unit II: Kinematics of Linkage Mechanisms

Number of instantaneous centre

n n 1 4 4 1
N

6
2
2

Instantaneous centres:
12, 13, 14, 23, 24, 34

vA
v
B AB
I 13 A I 13 B
AB

vB
1

1.78 rad/s
I 13 B 0.56

By measurement, we find that

I13 A = 460 mm = 0.46 m; and
I13 B = 560 mm = 0.56 m
1. Velocity of the slider A
vA = Velocity of the slider A.

vA
v
B
I 13 A I 13 B
I A
0.46
v A v B 13 1
0.82 m/s
I 13 B
0.56
2. Angular velocity of the connecting rod AB
AB = Angular velocity of the connecting rod AB.

Department of Mechanical, AAMEC

Part-A
1. What is configuration diagram? What is its use? (May/June 2012, R2008,
Nov/Dec 2012, R2008)
2. Write about rubbing velocity. (May/June 2013, R2008/2010)

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Unit II: Kinematics of Linkage Mechanisms

3. Define rubbing velocity. What will be the expression for rubbing velocity at a pin
joint when two links are rotating in opposite direction? (Nov/Dec 2012, R2008)
[Define rubbing velocity in a pin joint and write the equation for the same
(May/June 2012, R2008)]
4. Define instantaneous centre (May/June 2014, R2008/2010)
[Define instantaneous centre of rotation. (May/June 2013, R2004/2007)]
5. Define number of instantaneous centre. (Nov/Dec 2013, R2008/2010)]
[Write down the expression for finding the number of instantaneous centres in a
mechanism. (May/June 2013, R2008/2010)]
6.'State the' direction of movement of slider and link for Coriolis component to be
positive. (Nov/Dec 2014, R2004/2007
7. Identify the direction of Coriolis component for the given link (velocity vector
qVp) that rotates at an angular velocity () (Fig.(a) and Fig.(b) (Nov/Dec 2013,
R2004/2007)

Fig.(a)

Fig.(b)

KOM
2. For the mechanism shown in Figure, determine the velocities of points C and A
and angular velocities of links 3 and 4. The link 2 rotates at 150 rpm. O 2A= 380 mm,
O4B= 250 mm, AC = 250 mm, BC = 400 mm and O2O4 = 750 mm. (Nov/Dec 2014,
R2004/2007)

3. The following data refer to the dimensions of the links of a four-bar mechanism:
AB = 50 mm; BC = 66 mm; CD = 56 mm and AD (fixed link) =100 mm. At the
instant when LDAB = 600, the link AB has an angular velocity of 10.5 rad/s in the
counter clockwise direction. Determine the velocity of point C, velocity of point E on
the link BC while BE = 40 mm and the angular velocities of the links BC and CD.
Also sketch the mechanism and indicate the data. (May/June 2013, R2008/2010)

8. What is the expression for Coriolis component of acceleration? (May/June 2014,

R2008/2010)
9. How will you determine the magnitude and the direction of Coriolis Acceleration?
(May/June 2013, R2004/2007)
10. What is low degree of complexity? (Nov/Dec 2013, R2008/2010)
11. What is 'motion generation with regard to synthesis of mechanisms? (Nov/Dec
2014, R2004/2007)
12. State the significance of computer aided analysis of mechanisms. (Nov/Dec
2013, R2004/2007)

4. The crank AB of four bar mechanism shown in figure rotates at 60 rpm clockwise.
Determine the relative angular velocities of the coupler to the crank and the lever to
the coupler. Find also the rubbing velocities al the surface of pins 25 mm radius and
the joints, B and C. (8) (Nov/Dec 2013, R2008/2010)

Part-B
1.Derive the expression for the relationship between the angular velocities of links in
terms of known link lengths, angular positions of links and angular velocity of the
input link, for a four bar linkage.(8) (May/June 2014, R2008/2010)

5. In a mechanism shown in Figure the angular velocity of the crank OA is

15 rad/s and the slider at E is constrained to move at 2.5 m/s. The motion of both the
sliders is vertical and the link BC is horizontal in the position shown. Determine the
(iii)
rubbing velocity at B if the pin diameter is 15 mm (8)

Department of Mechanical, AAMEC

Page 18

Unit II: Kinematics of Linkage Mechanisms

(iv)

velocity of slider D. (8)

KOM

(Nov/Dec 2013, R2004/2007)

9. The Crank of a slider crank mechanisms rotates clockwise at a Constant speed of

600 rpm. The crank is 125mm and connecting rod is 500 mm long. Determine
(i) Linear velocity and acceleration of the mid Point of the connecting rod
(ii) Angular velocity and angular acceleration of the connecting rod, at a crank angle
of 450 from inner dead centre position. (16) (May/June 2013, R2004/2007)

6. In a slider crank mechanism, the length of crank OB and connecting rod AB are
125mm and 500mm respectively. The centre of gravity G of the connecting rod is
275mm from the slider A. The crank speed is 600 rpm clockwise. When the crank
has turned 450 from the inner dead centre position, determine velocity of the slider A,
Velocity of the point G and Angular velocity of the connecting rod AB. (May/June
2014, R2008/2010)
7. For the slider-crank mechanism shown in Figure, determine
(i) The acceleration of slider B and
. (ii) Acceleration of point C. The crank OA rotates at 180 rpm. Constant OA =
500mm, AB = 1500 mm and AC = 250 mm. (Nov/Dec 2014, R2004/2007)

8. A single slider-crank mechanism is shown in Figure. Determine the acceleration at

B & E and the angular acceleration of the link AB. The crank rotates at 20 rad/s
counter-clockwise. (May/June 2013, R2008/2010)

Department of Mechanical, AAMEC

10. In a four bar chain ABCD, AD is fixed and is 120mm long. The crank AB is
30mm long and rotates at 100 rpm clockwise while the link CD=60mm oscillates
about D; BC=120mm. Using graphical method. Find the angular velocity and
angular acceleration of link BC when angle BAD=60 0 (Nov/Dec 2012, R2008)
11. PQRS is a four bar chain with link PS fixed (figure). The length 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/s clockwise. Draw the velocity and acceleration diagram when angle
QPS=60 and Q and R lie on the same side of PS. Find the angular velocity and
angular acceleration of the links QR and RS. (16) (May/June 2013, R2004/2007)

12. A four bar chain is represented by a quadrilateral ABCD in which AD is fixed

and is 0.6 m long. The crank AB= 0.3m long rotates in a clockwise direction at
10rad/s and with an angular acceleration of 30 rad/s2, both clockwise.

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Unit II: Kinematics of Linkage Mechanisms

The crank drives the link CD (=0.36 m) by means of the connecting link BC
(=0.36m). The angle BAD = 600, Using graphical method, determine the angular
velocities and angular acceleration of CD and BC (May/June 2012, R2008)

KOM
instantaneous centre method when the crank makes a angle of 120with the fixed
link and rotates at 10 rad/s. (10)
(Nov/Dec 2013, R2008/2010)

13. In the mechanism shown in Figure (below) the slider is moving to the right with
a velocity of 1 m/s and an acceleration of 2.5 m/s2. The dimensions of various links
are AB = 3m inclined at 45 with the vertical and BC= 1.5 m inclined at 45 with the
horizontal. Determine
(i) Acceleration of point B and its magnitude of horizontal and vertical component(8)
(ii) The angular acceleration of the links AB and BC(8)(Nov/Dec 2013, R2004/2007)

16. By analytical method, Derive the velocity and acceleration for the reciprocating
steam engine mechanism (May/June 2014, R2008/2010)
17(i) Derive the expressions for the velocity and acceleration of the piston of a
reciprocating engine mechanism.
14. Locate the instantaneous centres of the slider crank mechanism shown in figure.
Find the velocity of the slider. (8) (Nov/Dec 2013, R2008/2010)

15. Figure shows the configuration of a whit worth quick return mechanism. The
lengths of the fixed link OA and the crank OP are 200 mm and 300mm respectively.
Other lengths are AR=200 mm and RS=400 mm. Find the velocity of the ram using

Department of Mechanical, AAMEC

(ii) In a reciprocating engine mechanism, the lengths of the crank and connecting rod
are 150mm and 600mm respectively. The crank position is 60 0 from inner dead
centre. The crank shaft speed is 450 rpm (clockwise).Using analytical method,
determine:
(a) velocity of the piston
(b) Acceleration of the piston
(c) Crank angle for maximum velocity of the piston and the corresponding
velocity
(Nov/Dec 2012, R2008)
18. A four-bar mechanism, with O2A as the input link, is shown in figure.
(i) Using analytical method, derive the equations for the angular velocity of the
output link and of the connecting link AB.
(ii)If the coordinates of the pin joints are O 2(0,0), A(-15,26), B(75,70) and O4(50,0)
and the input link rotates at 2 rad/s counter clockwise, find the angular velocities of
AB and of O4B (May/June 2012,R2008)

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Unit II: Kinematics of Linkage Mechanisms

KOM

19. Differentiate low degree and high degree of complexity with suitable sketch. (6)
(Nov/Dec 2013, R2008/2010)

Department of Mechanical, AAMEC

Page 21