CHAPTER 5

MECHANISM

5.0 Introduction to Mechanism

When any one link of a kinematics chain is fixed, it is called a mechanism. The
primary function of a mechanism is to transmit or to modify motion.
There are 2 types of mechanism i.e simple mechanism and compound
mechanism. If there are four links it is called simple mechanism. If more than four links
it is called compound links.

5.1

Inversion of Mechanism

When different position of link is fixed, we may obtain a set of different

arrangement of mechanism. This method of obtaining different mechanism is called
inversion of mechanism.

5.1.1 Four Bar Chain Mechanism

A four bar chain is shown in Figure 5.1. It consist of four links AB, BC, CD, DA.
From Grashofs Law for a four bar mechanism, the sum of the shortest and longest link
must not be greater than the sum of the remaining two links, if there is to be a continuous
relative motion between the two links.
From figure 5.1, link AB is called crank, link CD is the rocker or follower, link
BC is the connecting rod and link AD represents the frame of the machine.
B
C
A

Figure 5.1

Some of the inversions of a Four Bar Chain mechanism are;

Crank and follower mechanism - Oscillatory motion as in Figure 5.1

Pantograph Instrument used to reproduce same motion exactly in a reduced or

enlarged scale. Refer Figure 5.2. It is shown that AmD CmM ,

ADm mCM , mAD CMm . Thus whatever the configuration, AmM

will always be in a straight line.

m
A

Figure 5.2

5.1.2 Slider Crank Mechanism

2

(a) 1st inversion Slider Crank. Link 1

is kept fixed. As link 2 rotates, link 4

reciprocates as in Figure 5.3.

Figure 5.3
(b) 2nd inversion Oscillating cylinder.
When link 2 rotates as in Figure 5.4,
the piston reciprocates in the piston
cylinder. The cylinder reciprocates at
the hinge point C.
Figure 5.4
(c) 3rd inversion Crank and Slotted
Lever mechanism. In Figure 5.5,
when link 2 rotates, the slider O will
reciprocates. This action causes the
link 4 to rotate and moves the block
N linearly.

Figure 5.5
(d) 4th inversion Hand Pump. In
Figure 5.6, when link 4 is kept fixed,
link 2 and 3 can be rotated causing
link 3 to move up or down linearly.

Figure 5.6

5.1.3 Velocities in Mechanism Relative Velocity Diagram

Velocity of any point on a link with respect to another point on the same link is
always perpendicular to the link joining these points in the free body diagram. Consider
points A and B on a link as shown in Figure 5.3(a). Let the velocity of point A is V A is
known in magnitude and direction. The direction of velocity of point B is known that
is V B . The magnitude of velocity of point B can be found by drawing the velocity
diagram as in Figure 5.3(b).

Figure 5.7
Steps in drawing velocity diagram in Figure 5.7(b);
1. A convenient point O was selected as the starting point.
2. From O, line Oa was drawn parallel and equal to magnitude of V A to some suitable
scale.
3. From a, a line perpendicular to AB to represent velocity of B wrt A i.e V BA was
drawn.
4. From O, a line parallel to V B was drawn, meeting the line V BA at b.
5. Line Ob was measured to give the required velocity of point B to scale.
6. The velocity of point C on AB link was determined using ratio

ac AC

--- (1)
ab AB

7. Line Oc was joined. The vector Oc now will represent the velocity of point C wrt O
i.e VC .
Note: The velocity diagram must be drawn according to suitable scale.

5.2.1 Rubbing Velocity at a Pin Joint

If r is the radius of the pin at the joint as in
Figure 5.8, and 1 and 2 are the angular velocities
of the two links, then;
Linear rubbing velocity = 1 2 r .. (2)

at surface of pin
Figure 5.8
The angular velocities are added when links
rotate in opposite directions and subtracted when
rotating in the same direction.

Example 1
The crank and connecting rod of a theoretical steam engine are 0.5 m and 2.0 m long
respectively. The crank makes 180 rpm in the clockwise direction. When it has turned 45
from the inner dead centre position, determine;
(a) Velocity of pistons
(b) Angular velocity of the connecting rod
(c) Velocity of point E on the connecting rod 1.5 m from the gudgeon pin.
(d) Velocities of rubbing at the pins of the crankshaft, crank and cross-head, when the
diameter of their pins are 5 cm, 6 cm and 3 cm respectively.
Solution
1. Draw the free body diagram to some suitable scale as in Figure 5.9.

Figure 5.9

2. Given that speed N AO 180 rpm. Thus AO

2 180
18.85 rad/s.
60

3. The crank length AO = 0.5 m, let V AO be the linear velocity of A wrt O. Then;

V AO AO l AO 18.850.5 9.425 m/s.

4. Draw line Oa perpendicular to AO to scale to
represent V AO such that

V AO 9.425 = Vector Oa
5. From point a, draw vector ab perpendicular
to AB to represent velocity of B wrt A
i.e VBA .
6. From point O, draw vector Ob parallel to
BO to represent velocity of B wrt O, i.e

V BO . The vectors ab and Ob intersect at

b.

Figure

6.0

shows

the

constructed

velocity diagram.
Figure 6.0
By measurement;
(a) Piston velocity B = VB =vector ob=8.15 m/s
Velocity of B wrt A, V BA vector ab = 6.8 m/s
(b) Connecting rod length AB = 2m
Angular velocity of rod AB = BA
(c) From ratio of

VBA 6.8

3.4 rad/s
BA
2

AE ae

AB ab

Locate point e on the vector ab of velocity diagram

Thus ae

AE
ab 0.56.8 1.7 m/s
AB
2

The vector oe represents velocity of E wrt O. By measurement;

Velocity of point E, V E = vector oe = 8.5 m/s

(d) Velocity of rubbing at pin joints;

d 0 = crankshaft pin o diameter = 5 cm

d A = crank pin A diameter = 6 cm

d B = cross head pin B diameter = 3 cm
The velocity of rubbing at crank shaft pin o is

AO d 0 18.85 0.05 0.471 m/s

2
2
The velocity of rubbing at cross head pin B is

BA d B 3.4 0.06 0.102 m/s

2
2
The velocity of rubbing at crank pin A is

AO BA d A 2 18.85 3.40.03 2 0.3375 m/s

Example 2
ABCD is a Four Bar Chain with the link AD is fixed as in Figure 6.1. The length of the
links are AB = 6.25 cm, BC = 17.5 cm, CD = 11.25 cm, DA = 20 cm. The crank AB
makes 100 rpm in the clockwise direction. Find the following when the angle BAD is 60.
(a) The angular velocity of the links CD and BC
(b) Velocity of point E, 10 cm from C on the link BC.
(c) The velocity of point F, which is 10.5 cm from B and C and lying outside ABCD.

Figure 6.1

Solution
Given that AB = 6.25 cm, BC = 17.5 cm, CD = 11.25 cm, DA = 20 cm.

Thus, angular velocity of AB is AB

2N 2 100

10.47 rad/s
60
60

1. Draw the free body diagram as in Figure 6.2. Use scale of 1cm = 4 cm.

Figure 6.2

2. The linear velocity of B wrt A, is calculated

V BA BA AB 10.47 6.25 65 .45 cm/s

3. Draw velocity diagram by using scale: 1cm = 15 cm/s. From fixed point a, draw ab
perpendicular to AB to represent V BA .
4. From point b, draw bc perpendicular to BC.
5. From pointd, draw dc perpendicular to CD. These two lines will intersect at c.
Vector dc will represent linear velocity of C wrt D, VCD . The constructed velocity
diagram is shown in Figure 6.3.

Figure 6.3

6. By measurement, dc = 3 cm, thus

VCD 315 45 cm/s

7. From questions,
(a) Angular velocity of link CD and BC

CD

VCD
45

4 rad/s
CD 11.25

BC

V BC 2.5 15

2.142 rad/s.
BC
17.5

(b) Locate point e on bc using ratio;

CB cb
17.5 2.5

or
CE ce
10
ce

ce 1.428 cm
Now join ae. Now ae will represent velocity of point E on BC wrt AD

V E ae 3.66 cm (scaled down)

V E 3.66 15 54.9 cm/s
(c) Locate the point F on the free body diagram. Draw bf perpendicular to BF,
and cf perpendicular to CF to intersect atf. Then af is the velocity of F.

V F af 2.94 cm (scaled down)

V F 2.94 15 44.1 cm/s.

5.3

Acceleration Diagram for a Link

Consider two points A and B on a rigid link as in Figure 6.4. Let point B moves
wrt A with velocity rad/s and be the angular acceleration of link AB. For an
acceleration of a particle whose velocity changes with magnitudes and direction at any
instant has two components i.e;
(i)

Radial or centripetal components which is parallel to AB.

(ii)

Tangential component, which is perpendicular to AB.

r
BA

VBA
.BA

Radial component of acceleration of B wrt A,

Tangential component of acceleration of B wrt A,

t
f BA
.BA

BA

Figure 6.4

Example 1

The crank of a slider crank mechanism rotates clockwise at constant speed of 300 rpm.
The crank is 15 cm and the connecting rod is 60 cm long. Determine (a) linear velocity
and acceleration of the midpoint of the connecting rod, (b) angular velocity and angular
acceleration of the connecting rod at crank angle of 45 from inner dead centre position.

Solution
The free body diagram of the slider crank mechanism is as Figure 6.5

Figure 6.5
thus AO

Given speed N AO 300 rpm

2 300
31.415 m/s.
60

Linear velocity of A wrt O, V AO AO AO 31.4150.15 4.712 m/s

Draw the velocity diagram as follows;

1. Draw vector oa perpendicular to OA to represent
velocity of A wrt O such that V AO 4.712 m/s.
Draw by using appropriate scale.
2. From point a, draw vector ab perpendicular to AB
to represent velocity of B wrt A that is V BA .
3. From point o, draw ob parallel to the path motion
of B to represent velocity of B. The vector ab and
ob intersect at b. By measurement,

V BA =

Vector ab = 3.4 m/s. and V B =vector ob= 4 m/s.

4. Since C is the midpoint of AB, then, c is also the
midpoint of vector ab. Join oc. This will represent
velocity

of

C,

that

is VC .

By

measurement

VC 4.1 m/s. The velocity diagram is constructed as

Figure 5.19.

Figure 5.19

It can be deduced from the results, the radial component of acceleration of A wrt O, is
r
f AO
fA

V AO 2
OA

4.712 2
0.15

148 .02 m/s2.

The radial component of acceleration of B wrt A is,

r
f BA

V BA 2
BA

3.4 2
0.6

19 .27 m/s2

Draw the acceleration diagram as follows;

1. Draw oa parallel to AO to represent the radial component of acceleration of A wrt O
r
f A 148 .02 m/s2 according to suitable scale.
i.e f AO

2. The acceleration of B wrt A must have two components that is

r
t
(i) Radial component, f BA and (ii) tangential component, f BA . Both (i) and (ii)

components are mutually perpendicular.

r
3. Therefore from point a draw ax parallel to BA to represent f BA 19.27 m/s2.

4. From point x draw vector xb perpendicular to ax.

5. From o, draw vector ob parallel to the path of motion of B
to represent acceleration of B that is f B . The vectors xb and
ob intersect at b.
6. Since C is the midpoint of AB, thus c is also the midpoint
of ab. Join oc. The vector oc represents acceleration of
mid point of c of the connecting rod i.e

f C Vector oc = 117 m/s2

The constructed acceleration diagram is as shown in Figure 5.20;
Figure 5.20

VBA 3.4

5.67 rad/s
BA 0.6

Angular velocity of the connecting rod BA,

BA

Angular acceleration of the connecting rod BA,

t
f BA
103 m/s (by measurement)
t
f BA
103
BA

171.7 rad/s2
BA 0.6

PROBLEMS VELOCITY DIAGRAM

1. In a slider crank mechanism shown in Figure 5.9, the crank OA rotates clockwise
about O at 120 rpm. Find (i) The linear velocity of the slider B, (ii) the linear
velocity of point P located at distance of 8 cm on the connecting rod extended.
[Ans: 102 cm/s, 136 cm/s]

Figure 5.9

2. In Figure 5.10, the angular velocity of crank OA is 600 rpm. Determine the linear
velocity of the slider D and the angular velocity of the link BD, when the crank is
inclined at an angle of 75 to the vertical. The dimensions of the various links are :
OA = 28 mm, AB = 44 mm, BC = 49 mm, BD = 46 mm and the centre distance
between the centres of rotation O and C is 65 mm. Path of the travel of slider is 11
mm vertically below the fixed point C.
[Ans: 1.48 m/s, 34.8 rad/s]

Figure 5.10

3. In the mechanism shown in Figure 5.11, O and Q are fixed centres. The crank OC
revolves at uniform speed of 120 rpm. Draw the velocity diagram and find the
velocity of C in the given configuration.
[Ans: 62.8 cm/s]

Figure 5.11

4. The lengths of various links of a mechanism as shown in Figure 5.12 are: OA = 30

cm, AB = 100 cm, CD = 80 cm, and AC = CB. Determine for the given configuration
the velocity of the sliders B and D, if the crank OA rotates at 60 rpm in the clockwise
direction. Also find the angular velocity of the link CD.
[Ans: 1.7 m/s, 0.45 m/s, 2 rad/s]

Figure 5.12

PROBLEMS MECHANISM (ACCELERATION DIAGRAM)

1.

The dimensions and configuration of the four bar mechanism is as shown in

Figure 5.21 as follows P1 A 30 cm, P2 B 36 cm, AB 36 cm and P1 P2 60 cm. The

angle AP1 P2 60 . The crank P1 A has an angular velocity of 10 rad/s and an angular
acceleration of 30 rad/s2, both clockwise. Determine the angular velocities and angular
accelerations of P2 B and AB and the velocity and accelerations of the joint B.
[ 73.9 rad/s, 37.83 rad/s ]

Figure 5.21

2.

In the steam engine mechanism as shown in Figure 5.22, the crank AB rotates at

200 rpm. Find the velocities of C, D, E, F and P. Also, find the acceleration of the slider
at C. The dimensions of the various links are; AB = 12 cm, BC = 48 cm, CD = 18 cm, DE
= 36 cm, EF = 12 cm, and FP = 36 cm.

Figure 5.22

3. In the mechanism shown in Figure 5.23, O and Q are fixed centers. The crank OC
revolves at uniform speed of 120 rpm. Draw the velocity diagram and find the velocity of
C in the given configuration. Find the angular accelerations of links CP, PA and AQ.

Figure 5.23

4.

In the mechanism shown in Figure 5.24, the crank AB is 75 mm long and rotates

uniformly clockwise at 8 rad/s. Given that BD = DC = DE and BC = 300 mm. Draw the
velocity and acceleration diagrams. State the velocity and acceleration of the pistons at C
and E.
[Ans: v c 0.6 m/s, v e 0.187 m/s: f c 4.16 m/s2, f e 9.06 m/s2]

Figure 5.24