OA = 60 mm, NOA = 200 RPM clockwise, CD = 300 mm, DR = 400 mm, Angle BOC =

120°, OC = 160 mm, distance between horizontal line from R & point O = 120 mm. Find
out velocity & acceleration of ram R, acceleration of block A along slotted bar CD.
R D
P
r
Slider - B
O A on CD

Draw crank and slotted mechanism as per given configuration.

1
 R D
P
o,c
r
Slider - B
O A on CD

• Find ω = (2πN) / 60, substituting value of N=200 rpm, ω = 20.952 rad/s.

• Now velocity of slider b with respect to o,
Vbo = ω × OB = 20.952 × 0.06 = 1.257 m/s.
• Take two fixed reference points, o & c.
• Draw vector Vbo from o perpendicular to crank OB.

2
 R D
P
o,c
r
Slider - B
O A on CD

• Velocity of point A on CD w. r. t. slider B will be parallel to link CD.

• Hence from b draw a vector parallel to link CD. Value is unknown so draw
vector taking any arbitrary length.

3
 R D
P
o,c
r
Slider - B a
O A on CD

• Velocity of point A (on link CD) with respect to point C is perpendicular to

link CD.
• Hence from c draw a vector perpendicular to CD.
• Intersection of two vectors will give ‘point a’ in velocity diagram.

4
 R D
P
o,c
r
Slider - B a
O A on CD d

C
• Now, points C, A and D are on a single link.
• So in velocity diagram points c, a and d will be co-linear.
• To draw velocity of point d, extend the vector ca taking ratio ca/cd = CA/CD
• Take dimension from velocity diagram in case of small letters.
• Take dimension from mechanism in case of capital letters.
• Values of ca from velocity diagram & CA, CD from mechanism can be found.
• The value of cd for velocity diagram can be found.
• Draw vector as per the derived length.

5
 R D
P
o,c
r
Slider - B a
O A on CD d

• From d draw velocity of r with respect to point d (Vrd), perpendicular to RD.

6
 R D
P
o,c r
r
Slider - B a
O A on CD d

• Now, velocity of slider r with respect to fixed point o or c will be in horizontal

line. So, from o or c draw horizontal line.
• Intersection of two vectors will be point r.

7
 R D
P
o,c r
r
Slider - B a
O A on CD d

• Derive all components for acceleration analysis.

C
1 f cOB = Vob2 / OB = 1.2572 / 0.06 = 26.33 m/s Parallel to OB →O
2 f cAC = Vac2 / AC = 0.89342 / 0.19698 = 4.052 m/s Parallel to AC →C
3 f tAC = unknown ┴ to AC -
4 f cAB = unknown Parallel to AB -
5 f crAB = 2Vab ωCD = 2 x 0.8842 x 4.54 = 8.021 m/s ┴ to CD -
6 f cRD = Vrd2 / RD = 0.3592 / 0.4 = 0.322 m/s Parallel to DR →D
7 f tRD = unknown ┴ to DR -
8 f t R = unknown Parallel to Vro -

8
 R D o1 , c1
P
o,c r
r
Slider - B a
O A on CD d

b1
C
1 f cOB = Vob2 / OB = 1.2572 / 0.06 = 26.33 m/s Parallel to OB →O

• From acceleration table draw 1st acceleration vector.

• Centripetal acceleration of slider B with respect of O, will be parallel to OB &
it will be toward centre of rotation of link OB, i.e. O.
• So from O1 draw vector parallel to OB & head of vector towards O.
• Magnitude of vector will be same as the value which we have found.

9
 R D o1 , c1
P
o,c r
r
Slider - B a
O A on CD d oa

b1
C

22 f cAC = Vac2 / AC = 0.89342 / 0.19698 = 4.052 m/s Parallel to AC →C

• Now centripetal acceleration of A with respect to C, it will be parallel to AC

& towards the centre of rotation of link AC, i.e. towards C.
• So from C1 draw vector parallel to CD & magnitude of vector will be as per
the value derived.

10
 R D o1 , c1
P
o,c r
r
Slider - B a
O A on CD d oa

b1
C

3 f tAC = unknown ┴ to AC -

• Now tangential acceleration of A with respect to C, it will be perpendicular

to AC.
• So from Oa draw vector perpendicular to CD & magnitude of vector is
unknown.

11
 R D o1 , c1
P
o,c r
r
Slider - B a
O A on CD d oa

b1
C
ba

5 f crAB = 2Vab ωCD = 2 x 0.8842 x 4.54 = 8.021 m/s ┴ to CD -

• Here we are interested in finding out acceleration of slider B with respect to

C. It is addition of acceleration of B with respect to A & acceleration of A
with respect to C.
• Here coriolis component will come into picture.
• It can be found our by the method shown in red figure. Blue vector is coriolis
component of acceleration.
• Pick coriolis component & put its head at b1. 12
 R D o1 , c1
P
o,c r
r a1
Slider - B a
O A on CD d oa

b1
C
ba

4 f cAB = unknown Parallel to AB -

• From ba draw centripetal acceleration of B with respect to A.

• Draw a line parallel to CD from ba.
• Intersection of two vectors will be point a1.

13
 R D o1 , c1
P
o,c r
r d1 a1
Slider - B a
O A on CD d oa

b1
C
ba

• a1b1 = Total acceleration of B with respect to A.

• c1a1 = Total acceleration of A with respect to C.
• Now links C, A & D are co-linear.
• Hence in acceleration diagram these three points must be co-linear.
• So taking ratio, c1a1/c1d1 = CA / CD.
• Capital letter indicates measurements from mechanism drawn.
• Small letter indicates measurements from acceleration diagram. 14
R D o1 , c1
P
o,c r
r d1 a1
Slider - B a
O A on CD d oa

b1
C
ba

15
 d1 rd
R D o1 , c1
P
o,c r
r d1 rd a1
Slider - B a
O A on CD d oa

b1
C
ba

6 f cRD = Vrd2 / RD = 0.3592 / 0.4 = 0.322 m/s Parallel to DR →D

• Now draw centripetal component of point R with respect to D. It is parallel to

DR & it is towards centre of rotation of link DR, i.e. towards D.
• Do from rd draw a line parallel to DR.
• Magnitude is same as the derived one.

16
 R D o1 , c1
P
o,c r
r d1 rd a1
Slider - B a
O A on CD d oa

b1
C
ba

7 f tRD = unknown ┴ to DR -

• Now tangential acceleration of point R with respect to D.

• Value is unknown.
• So from rd draw a line perpendicular to DR.

17
 R D r1 o1 , c1
P
o,c r
r d1 rd a1
Slider - B a
O A on CD d oa

b1
C
ba

8 f t R = unknown Parallel to Vro -

• Now draw tangential acceleration of slider R.

• Value is unknown.
• From c1 draw a horizontal line.
• Intersection of two points will be point r1.

18
 R D r1 o1 , c1
P
o,c r
r d1 rd a1
Slider - B a
O A on CD d oa

b
Velocity b1 Acceleration
C Diagram
ba Diagram
Configuration Diagram

19
 AD = 650 mm, AB = 100 mm, BC = 800 mm, DC = 250 mm, BE=CE, EF = 400 mm,
FO = 240 mm, FS = 400 mm, Angle BAD = 135°. NAB = 300 RPM Clockwise. Find
acceleration of sliding of link EF in trunion.

F
400 S
P b
O
r
Q on EF

400
300

B E a, d, o
D
A

• Draw configuration diagram as per given dimensions.

• Speed of crank AB in rpm is given.
• So find out angular velocity of link AB, ω = (2πN) / 60.
• Now find velocity of B with respect to A, Vba = ω x AB.
• Now Vba is perpendicular to AB.
• So, from the fixed points a, d, o draw vector perpendicular to AB &
magnitude = Vba.
20
 F
S
P
O
r
Q on EF

C b

B E

D
A
a, d, o

• Now velocity of C with respect to B will be perpendicular to BC.

• So from B draw a line perpendicular to BC.

21
 F
S
P
O
r
Q on EF

C b

B E

D
A
a, d, o
c

• Now velocity of C with respect to D will be perpendicular to CD.

• So from d draw a line perpendicular to CD.
• Intersection of two velocity vector (1) velocity of C with respect to B & (2)
velocity if C with respect to D will be point c in velocity diagram.

22
 F
S
P
O
r
Q on EF

C b

B E e
D
A
a, d, o
c
• Now B, E & C are on single link. So in velocity diagram these three points
must be on one line.
• So take ratio, BE / BC = be / bc.
• BE & BC = dimensions from mechanism, which can be easily measured.
• bc = dimension from velocity diagram, which can be measured.
• So, the value of be can be found out.
• Based on derived value show point e on vector bc in velocity diagram.

23
 F
S
P
O
r
Q on EF

C b

B E e
D
A
a, d, o
c

• Now velocity of q with respect to E will be perpendicular to EQ.

• So from e draw vector perpendicular to EQ.

24
 F
S
P
O
r
Q on EF

C b
q
B E e
D
A
a, d, o
c

• Now velocity of Q with respect to O, is parallel to EQ.

• So from o draw a line parallel to EQ.
• Intersection of two vectors (1) velocity of Q with respect to E, (2) velocity of
Q with respect to O, will be point q in velocity diagram.

25
 F
S
P
O
r
Q on EF
f
C b
q
B E e
D
A
a, d, o
c
• Now, E, Q & F are on one link.
• So in velocity diagram they must be co-linear.
• So extend line eq & find out point f by ratio as follows:
• eq / ef = EQ / EF.
• EQ & EF can be found out by measurement from configuration diagram.
• eq can be measured from velocity diagram.
• Hence unknown ef can be found out & based on it vector eq can be extended.

26
 F
S
P
O
r
Q on EF
f
C b
q
B E e
D
A
a, d, o
c

• Now velocity of S with respect to F will be perpendicular to SF.

• So from f draw a line perpendicular to SF.

27
 F
S
P
O
r
Q on EF
f
C b
q
B E e
D
A s a, d, o
c

• Now velocity of S with respect to fixed point is parallel to velocity of S.

• So from fixed point draw line parallel to velocity of S.
• Intersection of two vectors (1) velocity of S with respect to F & (2) velocity of
S with respect to fixed point will give the point s in velocity diagram.

28
 F
S
P
O
r
Q on EF b
f q
C
e
B E
s Draw acceleration vector
D a, d, o
table as follows:
A
c
1 fcAB = Vab2 / AB = 3.142 / 0.1 = 98.6 m/s2 Parallel to AB →A
2 fcBC = Vbc2 / BC = 32 / 0.8 = 11.25 m/s2 Parallel to BC →B
3 ftBC = Unknown ┴ to BC
4 fcCD = Vcd2 / CD = 2.92 / 0.25 = 33.64 m/s2 Parallel to CD →D
5 ftCD = Unknown ┴ to CD
6 fcQE = Vqe2 / QE = 1.832 / 0.16 = 20.93 m/s2 Parallel to QE →E
7 ftQE = Unknown ┴ to QE
8 fcrQO = 2Vqo ωEF = 2 x 1.95 x 11.44 = 44.6 m/s2 ┴ to QE
9 fcQO = Unknown Parallel to QO
10 fcFS = Vfs2 / FS = 3.172 / 0.4 = 25.12 m/s2 Parallel to FS →F
11 ftFS = Unknown ┴ to FS
12 ftS = Unknown Parallel to VS

29
 F
S
P a1, d1, o1
O
r
Q on EF
f
C b
q
B E e
D
A s a, d, o
c b1
1 fcAB = Vab2 / AB = 3.142 / 0.1 = 98.6 m/s2 Parallel to AB → A

• Centripetal acceleration of B with respect to A, is parallel AB & towards

center of rotation of link AB, i.e. towards A.
• So from fixed points a1, d1, o1 draw vector parallel to AB.
• Magnitude of vector will be the value which we have derived as above.

30
 F
S
P a1, d1, o1
O
r
Q on EF
f
C b
q
B E e
D
A s a, d, o
c bc
b1
2 fcBC = Vbc2 / BC = 32 / 0.8 = 11.25 m/s2 Parallel to BC → B

• Now centripetal acceleration of C with respect to B, is parallel to BC &

towards direction of rotation of link BC, i.e. towards B.
• So from b1 draw vector parallel to BC.
• Magnitude of vector will be same as derived value from the table.

31
 F
S
P a1, d1, o1
O
r
Q on EF
f
C b
q
B E e
D
A s a, d, o
c bc
b1
3 ftBC = Unknown ┴ to BC

• Now tangential acceleration of C with respect to B, is perpendicular to BC.

• So, from bc draw a vector perpendicular to BC.
• Magnitude is unknown so draw line with arbitrary length.

32
 F
S
P a1, d1, o1
O
r
Q on EF
f
C b
q
dc
B E e
D
A s a, d, o
c bc
b1
4 fcCD = Vcd2 / CD = 2.92 / 0.25 = 33.64 m/s2 Parallel to CD → D

• Now centripetal acceleration of C with respect to D, is parallel to CD &

towards center of rotation of link CD, i.e. towards D.
• So from fixed point a1, d1, o1 draw vector in direction parallel to CD.
• The magnitude is same as the derived in above table.

33
 F
S
P a1, d1, o1
O
r
Q on EF
f
C b
q
dc
B E e c1
D
A s a, d, o
c bc
b1
5 ftCD = Unknown ┴ to CD

• Now tangential acceleration of C with respect to D, is perpendicular to CD.

• So from dc draw a vector perpendicular to CD.
• Intersection of two vectors (1) tangential acceleration of C with respect to B
(2) tangential acceleration of C with respect to D, will be point c1.

34
 F
S
P a1, d1, o1
O
r
Q on EF
f
C b
q
dc
B E e c1
D e1
A s a, d, o
c bc
b1

• Join c1a1 & c1b1.

• c1a1 = acceleration of C with respect to A.
• c1b1 = acceleration of C with respect to B.

35
 F
S
P a1, d1, o1
O
r
Q on EF
f
C b
q
dc
B E e c1
D e1
A s a, d, o
qe b
c c b1

6 fcQE = Vqe2 / QE = 1.832 / 0.16 = 20.93 m/s2 Parallel to QE →E

• Now centripetal acceleration of Q with respect to E, is parallel to QE &

towards center of rotation of link QE, i.e. towards e.
• So from e1 draw vector parallel to QE.
• Magnitude will be same as the derived value in above table.

36
 F
S
P a1, d1, o1
O
r
Q on EF
f
C b
q
dc
B E e c1
D e1
A s a, d, o
qe b
c c b1

7 ftQE = Unknown ┴ to QE
• Now tangential acceleration of Q with respect to E, will be perpendicular to
link QE.
• So from qe draw vector perpendicular to link QE.
• Magnitude is unknown. So draw a line with arbitrary length.

37
 F qo
S
P a1, d1, o1
O
r
Q on EF
f
C b
q
dc
B E e c1
D e1
A s a, d, o
qe b
c c b1
8 fcrQO = 2Vqo ωEF = 2 x 1.95 x 11.44 = 44.6 m/s2 ┴ to QE
• Now acceleration of Q with respect to O will be having two components. (1)
Coriolis component (2) centripetal acceleration of Q with respect to O.
• So find out Coriolis component value as per the above table.
• The direction can be found out as per the figure as shown with red lines.
• So from fixed points a1, d1, o1, draw vector same as we found in the red lines
figure & magnitude same as derived in above table.
38
 F qo
S
P a1, d1, o1
O
r
Q on EF q1
f
C b
q
dc
B E e c1
D e1
A s a, d, o
qe b
c c b1

9 fcQO = Unknown Parallel to QO

• Now centripetal acceleration of Q with respect to O will be parallel to EF.

• So from qo draw a line parallel to EF.
• Intersection of two vectors (1) tangential acceleration of Q with respect to E
& (2) centripetal acceleration of Q with respect to O will be point q1.

39
 F qo
S
P a1, d1, o1
O
r
Q on EF q1
f
C b
q
dc
B E e c1
D e1
A s a, d, o
qe b
Configuration Diagram Velocity c c b
1
Diagram Acceleration
Diagram

• Join vector q1e1 & q1o1.

• q1e1 = Acceleration of Q with respect to point E.
• q1o1 = Acceleration of Q with respect to tunion O.

40
F on CD
E on CD
nearer to A
D nearer to
A
slider B

Slider B
C
O

Oscillating Cylinder - CD Piston rod - AB

Draw the configuration diagram as per the dimensions given.

41
 F on CD
A D o
E on CD

Slider B
C a
O

• Now to start velocity diagram, start with angular speed of crank OA.
• From speed N, use equation, ω = 2πN / 60.
• Now velocity of point A with respect to O, will be perpendicular to OA.
• So fixing point o draw vector perpendicular to OA, in the direction of rotation of the
crank OA.
• The magnitude of vector Vao = ω x OA.

42
 F on CD
A D o
E on CD

Slider B
C a
O

• Now point F is the point nearer to A but on the oscillating cylinder CD.
• Observer standing at A will find that point F is sliding inside the oscillating cylinder.
• So velocity of point F with respect to point A will be parallel to AB (because F is
sliding inside oscillating cylinder).
• So from a draw a vector parallel to AB.
• The magnitude is unknown so draw a vector of arbitrary length.

43
 F on CD
A D o, c
E on CD

Slider B f
C a
O

• Now point F is on oscillating cylinder CD.

• So velocity of point F with respect to C will be perpendicular to CD.
• So from fixed point c draw a vector perpendicular to CD.
• Intersection of two vectors (1) velocity of F with respect to A & (2) velocity of F
with respect to C will give point F.

44
 F on CD
A D o, c
E on CD e
Slider B f
C a
O

• Now point E is on CD.

• So in velocity diagram these three points must be co linear.
• So taking ratio as follows find point e on vector ‘cf’ in velocity diagram.
• CE / CF = ce / cf.
• CE & CF can be measured from the mechanism drawn.
• cf can be measured from the velocity diagram.

45
 F on CD
A D o, c
E on CD e
Slider B f
C a
O

• Now velocity of point B on piston rod with respect to point E on cylinder CD is

parallel to AB. (Because point B is sliding inside the cylinder CD).
• So from e draw a vector parallel to AB.
• Magnitude is unknown, so take the length of vector arbitrary.

46
 F on CD
A D o, c
E on CD e b
Slider B f
C a
O

• Now velocity of point B with respect to A on piston rod AB, is perpendicular to AB.
• So from a draw a vector perpendicular to AB.
• Intersection of two vectors (1) velocity of B with respect to E & (2) velocity of B
with respect to A, will be point b.

47
 F on CD
A D o, c
E on CD e b Find out all the acceleration
Slider B f components as per the table.
C a
O

1 fcOA = Voa2 / OA = 1.572 / 0.05 = 49.3 m/s2 Parallel to OA →O

2 fcFC = Vfc2 / FC = 0.5142 / 0.22913 = 1.153 m/s2 Parallel to FC →C
3 ftFC = Unknown ┴ to FC
4 fcrAF = 2x VafxωCF = 2 x 1.48 x 2.24 = 33.64 m/s2 ┴ to CF
5 fcAF = Unknown Parallel to CF

48
 o1,c1

F on CD
A D o, c
E on CD e b
Slider B f
C a
O a1

1 fcOA = Voa2 / OA = 1.572 / 0.05 = 49.3 m/s2 Parallel to OA →O

• Centripetal acceleration of A with respect to O can be found as per step 1 as above.

• It is parallel to OA as well as towards center of rotation of link OA, i.e. towards O.
• So from fixed points o1 & c1 draw a line parallel to OA towards O.
• Length is decided from the magnitude of acceleration which we found in step-1.

49
 o1,c1
cf

F on CD
A D o, c
E on CD e b
Slider B f
C a
O a1

2 fcFC = Vfc2 / FC = 0.5142 / 0.22913 = 1.153 m/s2 Parallel to FC →C

• Centripetal acceleration of F with respect to C can be found as per step-2 as above.

• It is parallel to CF as well as towards center of rotation of link CF, i.e. towards C.
• So from fixed points o1 & c1 draw a line parallel to CF towards C.
• Length is decided from the magnitude of acceleration which we found in step-2.

50
 o1,c1
cf

F on CD
A D o, c
E on CD e b
Slider B f
C a
O a1

3 ftFC = Unknown ┴ to FC

• Tangential acceleration of F with respect to C will be perpendicular to CF.

• So from point cf draw a vector perpendicular to CF.
• Magnitude of acceleration is unknown so the vector will be of arbitrary length.

51
 o1,c1
cf

F on CD
A D o, c
E on CD e b
Slider B f
C a a1
O

af

f1
4 fcrAF = 2x VafxωCF = 2 x 1.48 x 2.24 = 33.64 m/s2 ┴ t CF -

• Now acceleration of A with respect to F will have two component (1) Coriolis
component & (2) Sliding component (Centripetal).
• Direction of Coriolis component can be found as per the red figure drawn.
• So pick head of Coriolis component vector & place at point a1.

52
 o1,c1
cf

F on CD
A D o, c
E on CD e b
Slider B f
C a
O a1

af

f1
5 fcAF = Unknown Parallel to CF

• Centripetal acceleration of A with respect to F or sliding acceleration of F with

respect to A will be parallel to CF.
• So from af draw a vector parallel to CF.
• Intersection of two vector (1) Sliding acceleration of F with respect to A (2)
Tangential acceleration of F with respect to C, will be point f1.

53
 o1,c1
cf

F on CD
A D o, c
E on CD e b
Slider B f
C a
O a1

af

f1

• o1f1 = Acceleration of F with respect to C.

• a1f1 = Acceleration of point A with respect to cylinder walls F.

54
 o1,c1
cf

F on CD
A D o, c
E on CD e b
Slider B f
C a
O a1

af

f1
• From velocity diagram, it can be found that vector ‘af’ & ‘be’ are equal in length.
• In other words, velocity of point F with respect to A & velocity of point B with
respect to E are same.
• Similarly acceleration of slider B with respect to cylinder wall i.e. point E will be
same as acceleration of A with respect to F, i.e. vector a1f1.
• This can be proved by considering acceleration of B with respect to E & acceleration
of B with respect to A. (Refer next 4 slides)

55
 o1,c1
cf

e1
F on CD
A D o, c
E on CD e b
Slider B f
C a
O a1

af

f1

• Point E is on link CF.

• So in acceleration diagram points c1, e1 & f1 must be co-linear. Point e1 on c1f1 can
be found by the ratio as follows:
• CE / CF = c1e1 / c1f1
• CE & CF can be measured from the mechanism drawn.
• c1f1 can be measured from acceleration diagram.

56
 o1,c1
cf

e1
F on CD
A D o, c be
E on CD e b
Slider B f
C a
O a1

af

f1
1 fcrBE = 2 x Vbe x ωCF = 2x1.48x 2.24 = 6.66 m/s2 Perpendicular to CF -

• Now acceleration of B with respect to E will have two component (1) Coriolis
component & (2) Sliding component (Centripetal).
• Direction of Coriolis component can be found as per the red figure drawn.
• So pick head of Coriolis component vector & place at point e1.

57
 o1,c1
cf

e1
F on CD
A D o, c be
E on CD e b
Slider B f
C a
O a1

af

f1

2 fsBE = Unknown Parallel to CF -

• Now sliding acceleration of point B with respect to E on CD will be parallel to CF.

• So from be draw a vector parallel to CF.
• Magnitude is unknown. So draw a vector of arbitrary length.

58
 o1,c1
cf

e1
F on CD
A D o, c be
E on CD e b
Slider B f ab
C a
O a1

af

f1
3 fcAB = Vab2 / AB = 0.33642 / 0.15 = 0.7544 m/s2 Parallel to AB →A

• Now centripetal acceleration of point B on piston rod AB with respect to A, will be

parallel to AB & towards center of rotation of link AB, i.e. towards A.
• So from a1 draw a vector parallel to AB towards A.
• Magnitude of acceleration can be found as per the calculation shown above.
• So fix length of vector taking value of above acceleration in to consideration.

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 o1,c1
cf

b1 e1
F on CD
A D o, c be
E on CD e b
Slider B f ab
C a
O a1

af

f1
4 ftAB = Unknown Perpendicular to AB -

• Now tangential acceleration of point B with respect to point A on piston rod AB will
be perpendicular to AB.
• So from ab draw a line perpendicular to AB.
• Intersection of two vectors (1) tangential acceleration of B with respect to A (2)
Sliding acceleration of B with respect to E, will be point b1.

60
 o1,c1
cf

b1 e1
F on CD
A D o, c be
E on CD e b
Slider B f ab
C a
O a1

af

f1
• From acceleration diagram, a1f1 & b1e1 , both vectors can be measured same.
• In other words,

Acceleration of A with Acceleration of slider B

respect to cylinder wall F
is equal to
= with respect to cylinder
wall F.

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