Mechanism- Relative Velocity Method

1. Example 7.1

Steps
To solve for the angular velocity of link CD, the linear velocity of point C, which resides on the
link CD must be determined.
Because link AB is fixed to the frame at A, point B is limited to rotation about A. Therefore the
velocity of point B must be perpendicular to line AB.
From the data available in the question, the velocity at point B, i.e. Vb is determined.
Vb   ba  AB
 120 
Vb   2    0.04  0.503ms
1

 60 

Since the link AD is fixed, a and d are taken as one point in the velocity polygon.
A suitable scale is selected and a vector ab perpendicular to AB is drawn to represent the velocity
of B with respect to A.
Mechanism- Relative Velocity Method

From point b, a vector bc is drawn perpendicular to BC to represent the velocity of C with respect
to B, i.e. Vcb
From point d, a vector dc perpendicular to DC is drawn to represent the velocity of C with respect
to D, i.e. Vcd
The intersection of Vcb and Vcd intersect at c, same as link BC and DC intersect at C.
By measurement, the length of cd is measured and using the scale, the velocity of the link dc is
determined.
Vcd = vector cd =0.383 ms-1

Thus the angular Velocity of link CD is given by:

Vcd   cd  CD
Vcd 0.383
 cd    4.78rads 1
CD 0.08
Note: Since the direction of the velocity is to the right, cd is clockwise about D.
Mechanism- Relative Velocity Method

2. Example 7.2

Steps
To solve for the angular velocity of link PB, the linear velocity of point B, which resides on the
link PB must be determined.
Because link BO is fixed to the frame at O, point B is limited to rotation about O. Therefore the
velocity of point B must be perpendicular to line OB.
From the data available in the question, the velocity at point B, i.e. Vbo is determined.
Vbo   bo  OB
 180 
Vbo   2    0.5  9.42ms
1

 60 

Since O is fixed, o is taken as one point in the velocity polygon.

A suitable scale is selected a vector bo perpendicular to BO is drawn to represent the velocity of
B with respect to O.
Mechanism- Relative Velocity Method

From point b, a vector bp is drawn perpendicular to BP to represent the velocity of B with respect
to P, i.e. Vbp
Since P moves on a horizontal direction, a horizontal line op is drawn from point o to represent
the linear velocity of P.
The intersection the velocity Vp and Vbp intersect at point p.
By measurement, the velocity
Vp=7.862 ms-1 which is the velocity of piston P
To determine the angular velocity of the link PB, the velocity Vbp is determined from the velocity
diagram.
Therefore,
Vpb   pb  PB
Vpb 6.772
 pb    3.386rads 1
PB 2
The velocity of point E on the link PB is 1.5 m from point P, therefore the point e is determined
by applying the same ratio on the vector pb.
Hence the velocity of point E with respect to O is given by Ve = 8.575 ms-1
The position of G on the link PB which has the least velocity with respect to O is determined by
drawing a perpendicular from o to vector bp.
By measurement, the velocity of Vg is determine, and the ratio of the length is used to position the
point G on the link PB.
Mechanism- Relative Velocity Method

3. Example 7.11

From the data available in the question, the velocity at point A with respect to O is determined.
Voa   oa  OA
2 N
Voa   0.175  0.0183N
60
Since O is fixed, o is taken as one point in the velocity polygon.
A suitable scale is selected and a vector oa perpendicular to OA is drawn to represent the velocity
of A with respect to O.
Mechanism- Relative Velocity Method

The vector oa is given by 0.183 N m/s.

Since the speed is not given, the distance oa is represented by 183 cm.
From point a, a vector ab is drawn to represent the velocity of B with respect to A.
The same procedure is used to for vector ad, where the velocity of D with respect to A is found.
As the slider, C moves in the horizontal direction, a horizontal line is drawn from o intersecting
the vector ab at point c.
As the slider, D moves in the Vertical direction, a vertical line is drawn from o intersecting the
vector ad at point d.
From the velocity diagram, we can conclude that the velocity of b with respect to c is 0 m/s.
By measurement, from the velocity diagram, the vector oc, i.e. the velocity of C is measured.
The same procedure is adopted for the velocity of D
Vector oc= 0.0266
Vector od = 0.0162
Therefore the velocity ratio between c and d is
0.0266
  1.642
0.0162
Efficiency of the machine:
The power of the piston c and ram d is given by:
Pc=Wc ×Vc =2500Vc
Pd= Wd ×Vd=4000Vd
The efficiency of the system is therefore given as
output 4000Vd 4000 1
     97%
input 2500Vc 2500 1.642
Mechanism- Relative Velocity Method

4. Example 8.1

The acceleration of link A is strictly translational motion and is identical to the motion of point A.
The acceleration of point A, which also resides on link AB can be determined from knowing the
acceleration of point B. Point B is positioned on both links AB and AO. Therefore, the acceleration
of point B can be determined from knowing the motion on the link OB.
Determine the velocity of point A and B
Calculating the magnitude of the velocity at point B is as follows:
Vb  ob  OB
Vb  31.42  0.15  4.713
The direction of Vb is perpendicular to the link OB and consistent with the direction of ωob.
Using a suitable scale, a vector is been drawn from the velocity diagram origin to represent this
velocity.
Since O is fixed, it is taken as one point in the velocity polygon
At the origin O of the velocity diagram, a line is be drawn to represent the vector Va. This is
parallel to the sliding surface because link A is constrained to horizontal sliding motion. At the
end of the vector b, a line is drawn to represent the direction of Vab. As with all relative velocity
vectors between two points in the same line, the direction is perpendicular to the line that connects
points A and B. The intersection of Va and Vab direction lines determines the magnitudes of both
vectors. The completed velocity diagram is shown below.
Point D is located on the midpoint on link AB, therefore we position point d on vector ab with the
same length ratio as in the link.
Mechanism- Relative Velocity Method

From the diagram we found Vab=3.4 m/s ,Voa=3.9 m/s,Vd=4.0 m/s

Calculate the acceleration components
The next step is to construct an acceleration diagram that includes points A and B. Calculating the
magnitude of the known accelerations is accomplished by the equations:
2
(Vb) 4.7132
Ab ( Radial )    148ms 2
OB 0.150

2
(Vab) 3.42
Aab ( radial )    19.3ms 2
AB 0.6

Aob (tan gential )   ob 2  rob

Aob (tan gential )  31.422  0.15  148.1ms 2
Mechanism- Relative Velocity Method

Construct an acceleration diagram

Using vector methods, the acceleration diagram will be constructed.
The relative acceleration equation for points A and B can be written as:
(AA)t +(AA)n =(AB)t +(AB)n +(AA/B)t +(AA/B) n
In forming an acceleration diagram, vector placement arbitrarily starts on the right side of the
equation.
At the origin of the acceleration diagram, vector (AB) n, which is completely known, is placed.
Because no tangential component of the acceleration of point B exist (AB) t is ignored.
At the end of the line another line is drawn to represent (AA/B) n which is also known. At the end
of vector (AA/B)n the vector (AA/B)t is placed. However, only the direction of this vector is known.
It is directed perpendicular to the component (AA/B)n.
Focusing on the left side of the equation, a new series of vectors will begin from the origin of the
acceleration diagram.
The vector (AA)n has zero magnitude and is neglected. Hence since the motion is linear, the
acceleration vector (AA)t will be along A.
A horizontal line is drawn from the origin till it intersect the vector (AA/B)t
The acceleration are therefore found by measurements.
Mechanism- Relative Velocity Method