MECH 343 Theory of
Machines I
Time: _ _ W _ _17:45 - 20:15
Lecture 5
Contents of today's lecture
• Velocities by Relative Velocities
Velocities by Components
• Slider 3 is pinned to end of link 2 and
slides on link 4 as link 2 rotates. Knowing
VB2 on link 2, VD need to be found
• VB4 is the velocity of a point on link 4 and is the
component of VB2 which is ⊥ to O4B4
• With VB2 known, we can find magnitude of VB4, from
which magnitude of Vc can be found
• From Vc drawing ⊥ to CD gives V’C
and knowing V’C, V’D can be
ascertained as they are same in direction
and magnitude
• VD is parallel to sliding guide. So,
drawing a ⊥ to V’D from V’D will
provide the absolute velocity VD
Velocities by Components
• Link 2 is a cam on which link 3 a
follower moves as link 2 rotates.
13@
Knowing VB a point on cam, velocity of
link 3 need to be found
• Resolving VB along the direction of
follower as V’B this gives the velocity
of the follower.
• Since rectilinear motion, all points on
the follower have this velocity
• Resolving VB along the face of the 13@
12 23
follower as V”B this gives the sliding CN
velocity
• Can be done with IC velocities as well
if we know 2, calculate V23 and
direction will be ⊥ to 12-23
Velocities by Components
• A 4 bar link connected with link 5 to a slider 6. Knowing VB velocity of
slider VD needs to be found
• Resolving VB along the direction of link 3, BC we get V’B which is equal to
V’C(3) considering point c in link 3.
• Drawing a ⊥ to V’C(3) from V’C(3) and its intersection with the ⊥ drawn from
C to O4C, we get VC
• Resolving VC along the direction of link 5, CD we get V’C(5) considering
point c in link 5, which is equal to V’D.
• VD has to be parallel along the slider guide.
• Drawing a ⊥ to V’D from V’D will give velocity VD
• It is important in component methods that
• Absolute velocity is ⊥ to instant radius
• It is larger than its components
Linear Velocities by Relative Velocities
• VB Can be calculated knowing ω2
•
• Velocity of C can be computed using
• VC direction known moves horizontally and Link3 is rigid, so C has velocity
relative to B only ⊥ to BC (direction known)
• In the equation above there are 2 unknowns which are magnitude of VC
&VC/B, and We can solve this by vector equation
• Point O’2 is the pole (representing a point in the mechanism
having 0 velocity) and all velocities are laid off from it
• ‘ used along with letters on the velocity polygon. O2 as O’2
• Using scale VB is drawn from O’2 ⊥ to O2B • Intersection of O2C’and
B’C’will give VC , VC/B
• Add VC/B ⊥ to BC from B’ Length is not known
• From the scale, their
• Draw VC ║to slider motion giving O2C’. magnitudes can be found
Linear Velocities by Relative Velocities
B’
37.5in/s = 75mm
┴ to BC ┴ to O2B
VC/B = 26.5 in/s
VC = 32.5in/s
C’ + O’2 O’4
// to slider
Linear Velocities by Relative Velocities
• VB Can be calculated knowing ω2 from which VD needs to be found
• Relative velocity of D is
• 3 unknowns, so we need VC
• VC can be drawn like
previous method
• Relative velocity of D is
• Intersection of these
• 3 unknowns, so we need V C 2 lines will give D’
• But can equate the 2 to get • From the scale, their
magnitudes can be
found
• Draw line ⊥ to BD from B’
and line ⊥ to CD from C’
Linear Velocities by Relative Velocities
• Lines drawn from pole to points on the velocity
polygon represent absolute velocities of the
corresponding points on the mechanism
• A line joining any two points on the velocity
polygon represents the relative velocity of the
corresponding points on the mechanism.
• VC/B is the line from B’to C’shown velocity of C
relative to B
• Vector from C’toward D’represents velocity of D
relative to C and a vector from D’toward C’
represents velocity of C relative to D
• Since line B’C’ is ⊥ to BC; B’D’is ⊥ to BD: C’D’is ⊥ to CD, B’C’D’is
similar to BCD and called an image
• This Velocity image is useful because, if V of 2 points in a link is
known, constructing a similar triangle will give the V of a 3rd point
Angular Velocities by Relative Velocities
• ω of a rigid link is relative
velocity of 2 points in the
link/distance between them
• The distance is fixed in a rigid
link so the only velocity is ⊥ to
the line joining the points.
• The motion of one point relative
to the other is rotation
• B is moving downward wrt to C
and D and so is C moving
upward wrt D all CCW
• Moreover all straight lines in a
body (here link 3) have same ω
Angular Velocities by Relative Velocities
• ω2 = 5rad/s cw and VD, ω3 needs to be calculated
• We can find VB, knowing O2B.
• Velocity polygon can be drawn with VB
• Since 3 unknowns we need VC
• VC is absolute and must be from pole (O2) and ║ to
guide on which link 4 exists
• C’can be located by line from B’ ⊥ to BC and its
intersection with VC
• Now we can use knowing since VD/B
magnitude can be done using imaging.
Linear Velocities by Relative Velocities
Linear Velocities by Relative Velocities
Linear Velocities by Relative Velocities
Similarly for F
Linear Velocities by Relative Velocities
Linear Velocities by Relative Velocities
Linear Velocities by Relative Velocities
Linear Velocities by Relative Velocities
