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MODULE - 01
VELOCITY AND ACCELARATION ANALYSIS

Department of
Mechanical

Athith D

SCALING

DEPARTMENT OF MECHANICAL ENGINEERING

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Velocity:
1. Linear Velocity (V) VCO
VBA
2. Angular Velocity (ω)
C
ω = 2πN / 60 rad/sec o
V = ω r m/sec r= Link Length

Acceleration: ATBA

1.Normal Acceleration: AN = V2 / r m/ sec2 VCO

= ω2 r C
(It will be ‘Zero’ when no change in Direction)
o
ANBA
2. Tangential Acceleration: AT = α r m/ sec2

(It will be ‘Zero’ when no change in Speed /

Rotating at constant speed)

α = Angular Acceleration

DEPARTMENT OF MECHANICAL ENGINEERING

DEPARTMENT OF MECHANICAL ENGINEERING

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Problem - 01

DEPARTMENT OF MECHANICAL ENGINEERING

SPACE DIAGRAM
Given Data:
SCALE : 20mm = 1cm AD=180mm
AB=90mm
BC=120mm
CD=120mm

AD rotates at 100 RPM (CW)

Need to Find:
ωBC , ωCD

αCD , αCB

NOTE: Scaled value used for Diagrams NOT for calculations

DEPARTMENT OF MECHANICAL ENGINEERING

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SPACE DIAGRAM
SCALE : 20mm = 1cm Using N given in data
N=100 rpm

ω = 2πN / 60
= 2π 100 / 60
= 10.472 rad/s

VBA = ω r m/sec
= 10.472* 90
= 942.5 mm/s
= 0.9425 m/s
We Need to Find:
--- ̸ ̸ ̸ --- ̸ ωBC = VBC / BC link Length
M D M D M D
ωCD = VCD / CD link Length
VCD/A = VBA + VCB
To find ωBC & ωCD we need
NOTE: Scaled value used for Diagrams NOT for calculations VBC & VCD

DEPARTMENT OF MECHANICAL ENGINEERING

SPACE DIAGRAM VELOCITY DIAGRAM

SCALE : 20mm = 1cm SCALE : 0.9425 m/S =
3cm

VBA

0.9425 m/S = 3cm ω CB = VCB / CB Length

? = 1.97 cm = 0.62 / 0.12 (120mm =
0.12m)

(0.9425*1.97) / 3 = 0.62 m/s = 5.16 rad/sec

VCB = VCD = 0.62 m/s ω CD = VCD / CD Length
= 0.62 / 0.12 (120mm =
0.12m)

DEPARTMENT OF MECHANICAL ENGINEERING = 5.16 rad/sec 8

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Acceleration Diagram:

VELOCITY ACCELARATION

SL NO LINK LENGTH

V (m/s) ω(rad/s) AN AT
01 AB 90mm 0.9425 10.472 9.87 , IIle to AB 0 (Constant Speed)

?, Perpendicular to
02 BC 120mm 0.62 5.16 3.203 , IIle to BC
BC

? , Perpendicular to
03 CD 120mm 0.62 5.16 3.203 ,IIle to CD
CD

04 DA 180mm ---- ---- ----- -------

ANBA = V2BA / BA Length ANCB = V2CB / CB ANCD = V2CD / CD Length

= (0.9425) 2 / 0.09 Length = (0.62) 2 / 0.12
= 9.87 m/s 2 = (0.62) 2 / 0.12 = 3.203 m/s 2
= 3.203 m/s 2

DEPARTMENT OF MECHANICAL ENGINEERING

Acceleration Diagram:
SCALE : 9.87 m/S 2 = 6cm

AN = A

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Acceleration Diagram:
SCALE : 9.87 m/S 2 = 6cm From Table , ANCB = 3.203 m/s 2

9.87 m/S 2 = 6cm

3.203 m/S 2 = ??? = 1.95 cm

AN = A

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Acceleration Diagram:
SCALE : 9.87 m/S 2 = 6cm

AN = A

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Acceleration Diagram:
SCALE : 9.87 m/S 2 = 6cm From Table , ANCD = 3.203 m/s 2

9.87 m/S 2 = 6cm

3.203 m/S 2 = ??? = 1.95 cm

y’

AN = A

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Acceleration Diagram:
SCALE : 9.87 m/S 2 = 6cm

= 1.95 cm

AN = A

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Acceleration Diagram:
SCALE : 9.87 m/S 2 = 6cm

AN = A

α CD = ATCD / Length of CD
= 10.33 / 0.12
= 86.08 rad / S 2
9.87 m/S 2 = 6cm
?? = 6.28 cm

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Acceleration Diagram:
SCALE : 9.87 m/S 2 = 6cm

AN = A

α CB = ATCB / Length of BC
= 4.85 / 0.12
= 40.43 rad / S 2
9.87 m/S 2 = 6cm
?? = 2.95 cm

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Acceleration Diagram:
SCALE : 9.87 m/S 2 = 6cm
9.87 m/S 2 = 6cm
?? = 3.54 cm

AN = A

ACB = 5.8233 m/S 2

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Acceleration Diagram:
SCALE : 9.87 m/S 2 = 6cm
9.87 m/S 2 = 6cm
?? = 6.58 cm

AN = A

ACD = 10.84 m/S 2

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Velocity:
1. Linear Velocity (V) VCO
VBA
2. Angular Velocity (ω)
C
ω = 2πN / 60 rad/sec o
V = ω r m/sec r= Link Length

Acceleration:

1.Normal Acceleration: AN = V2 / r m/ sec2 VCO ATBA

= ω2 r C
(It will be ‘Zero’ when no change in Direction)
o

2. Tangential Acceleration: AT = α r m/ sec2

ANBA
(It will be ‘Zero’ when no change in Speed /
Rotating at constant speed)

α = Angular Acceleration

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DEPARTMENT OF MECHANICAL ENGINEERING

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In a slider crank mechanism, the crank OB=30mm and Connecting rod BC=120mm. The
crank rotates at a uniform speed of 300rpm clockwise. For a crank position shown in
figure Find the (i) Velocity of Piston C and Angular Velocity of Connecting rod BC. (ii)
Acceleration of Piston C and angular acceleration of Connecting rod BC.

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SPACE DIAGRAM
SCALE : 10mm = 1cm

Given Data:
OB=30mm, BC = 120mm , Crank rotates @ 300 rpm Clock wise

Need to Find:
VCO , ωCB
ACO , αCB

NOTE: Scaled value used for Diagrams NOT for calculations

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SPACE DIAGRAM Using N given in data

SCALE : 20mm = 1cm N=300 rpm

ω = 2πN / 60
= 2π 300 / 60
= 31.416 rad/s

Slider VBA = ω r m/sec

= 31.416* 30
VCO
= 942.5 mm/s
= 0.9425 m/s
We Need to Find:
VCO
ωCB = VCB / CB link Length
--- ̸ ̸ ̸ --- ̸
M D M D M D

VCO = VBO + VCB

NOTE: Scaled value used for Diagrams NOT for calculations 22

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SPACE DIAGRAM
SCALE : 20mm = 1cm

VELOCITY DIAGRAM
SCALE : 0.9425 m/S = 3cm

First fix the point ‘o’ any where.

Draw a line of 3cm (from scale)

starting from “o” perpendicular
to Link ‘OB’. (Downward
because CW) It represent
Velocity of Crank VBO
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SPACE DIAGRAM
SCALE : 20mm = 1cm

VELOCITY DIAGRAM
SCALE : 0.9425 m/S = 3cm

Draw a line (Unknown

Magnitude) starting from “b”
(either side) perpendicular to
Link ‘BC’. It represent Velocity
of Connecting Rod VCB
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SPACE DIAGRAM
SCALE : 20mm = 1cm

VELOCITY DIAGRAM VCO

SCALE : 0.9425 m/S = 3cm

Draw a line (Unknown

Magnitude) starting from “o”
(either side) Parallel to slider
path, It represent Velocity of
Slider VCO
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SPACE DIAGRAM
SCALE : 20mm = 1cm

VELOCITY DIAGRAM VCO

SCALE : 0.9425 m/S = 3cm

Measure the velocities

VCO = ??
0.9425 m/S = 3cm
?????????? = 2.93

VCO = 0.92 m/s

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CONFIGURATION DIAGRAM
SCALE : 20mm = 1cm

VELOCITY DIAGRAM VCO

SCALE : 0.9425 m/S = 3cm

Measure the velocities

VCB = ??
0.9425 m/S = 3cm
?????????? = 1.54
ω CB = VCB / CB Length
= 0.48 / 0.12 (120mm = 0.12m)
VCB = 0.48 m/s = 4 rad/sec 27

DEPARTMENT OF MECHANICAL ENGINEERING

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Acceleration Diagram:

VELOCITY ACCELARATION

SL NO LINK LENGTH

V (m/s) ω(rad/s) AN AT
01 OB 30mm 0.9425 31.416 29.6 , IIle to OB 0 , CONSTANT SPEED

02 BC 120mm 0.48 4 1.92 , IIle to BC ?, Perpendicular to BC

0 ,NO CHANGE IN ? , PARALAL to SLIDER

03 SLIDER ------ 0.92 --------
DIRECTION PATH

ANOB = V2OB / OB Length ANCB = V2CB / CB

= (0.9425) 2 / 0.03 Length
= 29.6 m/s 2 = (0.48 ) 2 / 0.12
= 1.92 m/s 2
CRANK ROTATING AT UNIFORM SPEED, GIVEN IN
PROBLEM.
If there is slider its Normal acceleration will be ZERO. 28

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Acceleration Diagram: Normal Acceleration is equal to

Acceleration, because Tangential
SCALE : 29.6 m/S 2 = 15cm Acceleration is Zero.

ANBO

Acceleration of point ‘B’ with respect

to point ‘O’. Here fixed point / centre is ANBO = ABO
‘O’ hence direction towards ‘O’.
Normal Acceleration always towards the
center/Fixed point.

From Table SCALE : 29.6 m/S 2 = 15cm

AN = A Tangential Acceleration is ZERO

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Acceleration Diagram:
SCALE : 29.6 m/S 2 = 15cm

ANCB

Acceleration of point ‘C’ with respect ANBO = ABO

to point ‘B’. Here fixed point / centre is
‘B’ hence direction towards ‘B’.
Normal Acceleration always towards the
center/Fixed point.

x’

SCALE : 29.6 m/S 2 = 15cm

1.92 m/S 2 = ????

From Table ---- 0.97 cm ----

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Acceleration Diagram:
SCALE : 29.6 m/S 2 = 15cm

ANCB

Acceleration of point ‘C’ with respect ANBO = ABO

to point ‘B’. Here fixed point / centre is
‘B’ hence direction towards ‘B’.
Normal Acceleration always towards the
center/Fixed point.

Tangential Acceleration ATCB

of point ‘C’ with respect to point ‘B’.

Don’t know the magnitude but

Direction Perpendicular to link ‘BC’.

Draw the line (either side) starts from x’

x’ perpendicular to link BC,

SCALE : 29.6 m/S 2 = 15cm

1.92 m/S 2 = ????

From Table ---- 0.97 cm ----

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Acceleration Diagram:
SCALE : 29.6 m/S 2 = 15cm

ATCB

Tangential Acceleration is Parallel to ANBO = ABO

slider path

Normal Acceleration is zero, because no

change in Direction.

Normal Acceleration ANCO is zero

Don’t know the magnitude of ATCO but

Direction is Parallel to Slider path

Draw the line (either side) starts from

o’ parallel to slider path.

From Table
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Acceleration Diagram: 29.6 m/S 2 = 15 cm

SCALE : 29.6 m/S 2 = 15cm ?? = 5.28 cm ATCO =ACO
A CO = 10.42 m/S 2

ACB ANBO = ABO

Acceleration of Piston C = A C O = 10.42 m/S 2
ATCB

ANCB
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Acceleration Diagram: 29.6 m/S 2 = 15 cm

SCALE : 29.6 m/S 2 = 15cm ?? = 13.31 cm ATCO =ACO
AT CB = 26.26 m/S 2

ACB ANBO = ABO

Angular Acceleration of connecting rod BC
= α CB = ATCB / Length of CB ATCB
= 26.26 / 0.12
= 218.33 rad/S 2

ANCB

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Velocity:
1. Linear Velocity (V) VCO
VBA
2. Angular Velocity (ω)
C
ω = 2πN / 60 rad/sec o
V = ω r m/sec r= Link Length

Acceleration:

1.Normal Acceleration: AN = V2 / r m/ sec2 VCO ATBA

= ω2 r C
(It will be ‘Zero’ when no change in Direction)
o

2. Tangential Acceleration: AT = α r m/ sec2

ANBA
(It will be ‘Zero’ when no change in Speed /
Rotating at constant speed)

α = Angular Acceleration

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The Fig shows a four bar mechanism. Crank OA rotates at 200 rpm and an angular
acceleration of 150 rad/sec at the instant when the crank makes an angle of 45° to the
horizontal. Find the acceleration of points B And C and angular velocities and angular
acceleration of link 3 and 4

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SPACE DIAGRAM
Given Data:
SCALE : 20mm = 1cm O2 O4=120mm
O2 A=45mm
AB=90mm
O4B=60mm
AC= 40mm
α 2 = 150 rad/ sec2

O2 A rotates at 200 RPM

(CW)

Need to Find:
ωBA , ωBO4
AB0, Aco
αBA , αBO4

NOTE: Scaled value used for Diagrams NOT for calculations

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SPACE DIAGRAM Using N given in data

SCALE : 20mm = 1cm N=200 rpm

ω = 2πN / 60
= 2π 200 / 60
= 20.944 rad/s

VBA = ω r m/sec
= 20.944* 45
= 942.5 mm/s
= 0.9425 m/s
We Need to Find:
ωBA = VBA / AB link Length
ωBO4 = VBO4 / BO4 link Length
--- ̸ ̸ ̸ --- ̸
M D M D M D

VBO4 = VAO2 + VBA

NOTE: Scaled value used for Diagrams NOT for calculations 38

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SPACE DIAGRAM VELOCITY DIAGRAM

SCALE : 20mm = 1cm SCALE : 0.9425 m/S =
3cm

VCO

VAO2

Marking of point “c” on a link ‘ab’ in Velocity

Diagram by taking ratios.

AC / AB= ac / ab
40/ 90 = ac /2.23
ac = 0.99 cm
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VELOCITY DIAGRAM
SCALE : 0.9425 m/S =
3cm

VCO

VAO2

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SPACE DIAGRAM VELOCITY DIAGRAM

SCALE : 20mm = 1cm SCALE : 0.9425 m/S =
3cm

VCO

2.16cm VAO2

ω BA = VBA / AB Length
= 0.70 / 0.09 (90mm = 0.09m)
0.9425 m/S = 3cm = 7.77 rad/sec
* ? = 2.23 cm VBA = 0.70 m/s
ω BO4 = VBO4 / BO4
* ? = 1.42 cm VBO4 = 0.44 m/s Length
* ? =2.16cm VCO2 = 0.68 m/s
= 0.44 / 0.06 (60mm = 0.06m)
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DEPARTMENT OF MECHANICAL ENGINEERING = 7.33 rad/sec

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Acceleration Diagram:

VELOCITY ACCELARATION

SL NO LINK LENGTH

V (m/s) ω(rad/s) AN AT
6.75 , Perpendicular to
01 O2 A 45mm 0.9425 20.944 19.74 , IIle to O2A
O2A

02 AB 90mm 0.70 7.77 5.44 , IIle to AB ?, Perpendicular to AB

03 B O4 60mm 0.44 7.33 3.22 ,IIle to B O4 ? , Perpendicular to B O4

O2
04 120mm ---- ---- ----- -------
O4

ANO2A = V2O2A / O2A Length ANBA = V2BA / AB ANBO4 = V2BO4 / BO4Length

= (0.9425) 2 / 0.045 Length = (0.44) 2 / 0.06
= 19.74 m/s 2 = (0.70) 2 / 0.09 = 3.22 m/s 2
= 5.44 m/s 2
ATO2A = αO2A * O2A Length Earlier problem it was “zero” because crank rotating at
= 150 * 0.045 constant speed but here angular acceleration given in the
= 6.75 m/s 2 problem. 42

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Acceleration Diagram:
SCALE : 19.74 m/S 2 = 12cm

ANA O2

Acceleration of point ‘A’ with respect to

point ‘O2’. Here fixed point / centre is
‘O2’ hence direction towards ‘O2’.
ANA O2

Normal Acceleration always

towards the center/Fixed SCALE : 19.74 m/S 2 = 12cm
point. SCALE : 19.74 m/S 2 = 12cm
6.75 m/S 2 = ?????
From Table ------ 4.10cm ------
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Acceleration Diagram:
SCALE : 19.74 m/S 2 = 12cm

ANA O2

AA O2
Acceleration of
ANA O2 point ‘A’ with
respect to point
‘O2’.

ATA O2
a’
Downward because crank
rotating Clock wise
direction SCALE : 19.74 m/S 2 = 12cm
6.75 m/S 2 = ?????
SCALE : 19.74 m/S 2 = 12cm
From Table ------ 4.10cm ------
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Acceleration Diagram:
SCALE : 19.74 m/S 2 = 12cm
Acceleration of point ‘B’ with respect
to point ‘A’. Here fixed point / centre is
‘A’ hence direction towards ‘A’.

ANBA

Normal Acceleration always ATBA

towards the center/Fixed point.

y’

Don’t Know the magnitude,

but direction is
Perpendicular to link ‘AB’
SCALE : 19.74 m/S 2 = 12cm
5.44 m/S 2 = ?????
From Table ------ 3.30cm ------
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Acceleration Diagram: Don’t Know the magnitude, but

SCALE : 19.74 m/S 2 = 12cm direction is Perpendicular to link ‘B
O4’
Acceleration of point ‘B’ with respect
to point ‘O4’. Here fixed point / centre
is ‘O4’ hence direction towards ‘O4’.

ANB O4

Normal Acceleration always

towards the center/Fixed point. ATBA

a’

SCALE : 19.74 m/S 2 = 12cm

3.22 m/S 2 = ?????
From Table ------ 1.95cm ------
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Acceleration Diagram:
Acceleration of point ‘B’ with
SCALE : 19.74 m/S 2 = 12cm respect to point ‘O4’.

Acceleration of point ‘B’ with respect

to point ‘O4’. Here fixed point / centre
is ‘O4’ hence direction towards ‘O4’.

ANB O4

Acceleration of point ‘B’ with

Normal Acceleration always A respect to point ‘A’.
towards the center/Fixed point. AT BA
BA

a’
Don’t Know the magnitude,
but direction is
Perpendicular to link ‘AB’
SCALE : 19.74 m/S 2 = 12cm
3.22 m/S 2 = ?????
From Table ------ 1.95cm ------
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Acceleration Diagram:
SCALE : 19.74 m/S 2 = 12cm

11.42 cm

Marking of point “c” on a link a’b’ in

Acceleration Diagram by taking ratios.

AC / AB= a’c’ / a’b’ a’

40/ 90 = a’c’ /10.24
a'c’ = 4.55 cm

SCALE : 19.74 m/S 2 = 12cm Aco = 18.78 m/S

????? m/S 2 = 11.42 cm 2
------ 18.78 m/S 2 ----- 48

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Acceleration Diagram: 19.74 m/S 2 = 12 cm

SCALE : 19.74 m/S 2 = 12cm ?? = 12.23 cm
AB O4 = 20.11 m/S 2

a’

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Acceleration Diagram:
SCALE : 19.74 m/S 2 = 12cm

19.74 m/S 2 = 12 cm
?? = 12.07 cm
ATBO 4 = 19.85 m/S 2
a’
α B O4= AT BO 4 / Length of B O4
= 19.85 / 0.06
= 330 rad / S 2

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Acceleration Diagram:
SCALE : 19.74 m/S 2 = 12cm

19.74 m/S 2 = 12 cm
?? = 9.69 cm
ATBA = 15.94 m/S 2
a’
α B A = BA / Length of BA
AT
= 15.94 / 0.09
= 177 rad / S 2

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