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20. velocity analysis by relative velocity method.

In order to classify the motion of a body whether it is relative or absolute. There should be a foxed datum or
reference plane at which the motion maybe defined. The motion of a crank about a fixed axis in a machine will
have an absolute motion with perfect to the entire machine. While a floating link or a connecting rod in a
machine has a relative motion with respect to the crank but at the same time its motion relative to the earth
becomes absolute with the assumption that the earth is fixed.

Consider the case of a men walking inside a train going towards the direction sense of the train at the rate of 5
kph while the train is running at the rate of 85 kph. What is the absolute velocity of the man?
Let Vmt=5kph be the velocity of the man relative to the train,
Vt= ? be the absolute velocity of the man.
Vu= Vmt + Vt
Since the man end train have the same direction sense of motion, then
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Concsider crank 2 in fig. 3.17 is rotating about fixed axis C with an angular velocity, Find the linear velocities of
the three points A, B, and D by instantaneous axis method and check it by relative velocity method.
Solutiion:
Va=𝜔 𝑥 𝐶𝐴
Vb=𝜔 𝑥 𝐶B
Vd=𝜔 𝑥 𝐶𝐷
Check:
Refer to the velocity polygon in figure 3.18
Vb=Va  Vba Eq, 3.18
Where Vba Perpendicular to AB.
Vd=VaVda Eq, 3.19
Where Vda Perpendicular to AD
Refer both figure 3.17 and figure 3.18 and observe the following relation:

Fig 3.18 Fig 3.17

ca Parallel AC
cb Parallel BC
ba Parallel AB
cd Parallel DC
da Parallel AD
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In the rigid body k of fig 3.19, the velocity of point A is given and the direction of velocity of point b is aling line
L. Find the velocity of point B and the instantaneous angular velocity of the rigid body E.
Solution:
1. Locate the instantaneous axis of velocity by drawing lines perpendicular to V a and the lines L
respectively. The intersections of these two lines is point S, Which is the instantaneous axis of body R.
2.draw the velocity polygon cab buy using the procedure as follows:
A.) Draw ca parallel and equal to the magnitude of Va.
b.) From point e draw a line ab perpendicular to BC of fig. 5.19.
C.) Draw the line ba perpendicular to Ab of fig, 3.19.
D.) Measure ab and then Vb=cbxkv
3. Since ABC of fig 3.19 is similar to acb of fig 3.10, then

𝐶𝐴 𝑐𝑎
=
𝐴𝐵 𝑎𝑏
𝐶𝐴
𝑐𝑎 = 𝑎𝑏
𝐴𝐵
But Va=caxkV
Ca x Kv= 𝜔 𝑥 𝐶𝐴
𝐶𝐴
Hence ca x KV= ab x kv 𝐴𝐵
𝐶𝐴
𝜔𝑥 𝐶𝐴 = 𝑎𝑏 𝑥 𝑘𝑣
𝐴𝐵
𝑎𝑣𝑥𝑘𝑣 𝑉𝑎𝑏
𝜔= =
𝐴𝐵 𝐴𝐵
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Example: Resolution and composition
C2C4=7cm., C2A=3cm., C4B= 5cm., =5.5 cm. AE=2.5 cm. BE=3.5 cm. If crank 2 turns at 100 rad/ sec., determine
the velocities of points b and e.
Ks=Full-size
Kv=150 cm/sec

Va= x C2A
=(100)(3)
Va= 300 cm/sec

To fl VB:
1.) lay out Aa=Va at point A perpendicular to C2A.
2.) Resolve Va into components along and perpendicular to AB.
3.) Lay out Aa1=Bb1 and from point b1 draw a line perpendicular to AB.
4.) Draw a line from point B perpendicular to C4B (direction line of Vb) until it intersects the line just drawn at
point b.
5.) Measure Bb: Vb=BbxKv; Vb=1.2x150= 180 cm/sec.
To find VE:
1.) resove VA into components along and perpendicular to AE.
2.) Lay out Ee1=Aa2 and from point e1 draw a line perpendicular to AE.
3.) Resolve VB into components along and perpendicular to BE.
4.) Lay out Ee2=Bb2 and from e2 draw a line perpendicular to B#.
5.) Connect points E and e and measure the line.
6.) VE= Eex Kv; VE=1.35 x 150 = 202.5 cm/sec.
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Example: resolution and composition
C2C4=10cm., 82A=C cm., AE= 30 cm., C4D=cm.,
BD= 25 cm.,, AF=10 cm., BF=20cm., K=30 cm/sec.
Find the velocities of points E and F if crank 2 rotates uniformly at 10 rad/sec.

VA=(1)2x C2A
VA= (10) (6)
VA=60 cm/sec
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Example 2: Resolution and composition
To determine VE:
1. Lay out A=VA from point A perpendicular to C2A.
2. Draw a proportional line passing through a and C2 then got the intersections with the directions of lines of
the velocities of points D on 2 and E respectively. ( Points A, D and E are rotating at one axis of rotation,
therefore, their velocities are proportional to their distances from axis of rotation)
3. Measure Dd2: VD on 2 = Dl2 x kv: VD on 2= 3.6 x 30= 108 cm/sec
Measure Ee: VE= Eex Kv ; VE=6.8x30 = 204 cm/sec.
Find VF:
1. From d2 lay out a line parallel to link 2. This is the sliding component of the velocity of the block.
2. Mark the intersection of the sliding velocity with the direction line of the velocity of D on 4 (perpendicular
to C4D) as d4.
3. Measure Dd4: VD on 4=Dd4 x Kv=5.10 x 30-153 cm/sec.
4. Draw a proportional line passing through d4 and C4 then got the intersection with the direction line of the
velocity of B( perpendicular to C4B).
5. Measure Bb:VB x Kv = 5.20 x 30 = 156 cm/sec.
Resolve VA into components aling and perpendicular to AF.
Lay out Ff1= and from point f1 draw a line perpendicular to AF.
8. Resolve Vb into components aling and perpendicular to BF.
9.Lay out Ff2=Bb1 and from f2 draw a line perpendicular to BF.
10. Connect points F and the intersection of the two lines just drawn and measure. This is the absolute velocity
of point F. Vf=Ff x Kv
11. VF=6.30 x 30 = 189 cm/sec.