This document provides instruction on determining velocities and angular velocities in mechanisms using the relative velocity method. It contains 5 problems: 1) Finding the angular velocity of a link in a 4-bar chain mechanism. 2) Determining velocities in a steam engine mechanism including the piston, connecting rod, and points on the connecting rod. 3) Finding the linear velocity of a slider and angular velocity of a link in a mechanism when the crank is at a specified angle. 4) Drawing a velocity diagram for an engine mechanism and determining the slider and link accelerations. 5) Determining velocities and angular velocities, and then accelerations, in a toggle mechanism where the crank speed is increasing.

1. MET 305 MECHANICS OF MACHINES TUTORIAL. 2
Student Name & No._________________________ Date: ____________________
Section: ________________________________ Score: ____________________
MECHANISMS - II
Velocity in mechanisms- Relative velocity method (velocity diagrams)
Objective
a) To determine the velocity of a point on any link of a mechanism by the relative
velocity method
b) To determine the angular velocity of any link of a mechanism by the relative velocity
Problems
1. In a four bar chain ABCD, AD is fixed and is 150 mm long. The crank AB is 40 mm long and rotates at
120 r.p.m. clockwise, while the link CD = 80 mm oscillates about D. BC and AD are of equal length. Find
the angular velocity of link CD when angle BAD = 60°.
Answer :-Angular velocity of link CD = 4.8 rad/s
2. The crank and connecting rod of a theoretical steam engine are 0.5 m and 2 m long respectively.
The crank makes 180 r.p.m. in the clockwise direction. When it has turned 45° from the inner dead
centre position, determine: I. velocity of piston, 2. angular velocity of connecting rod, 3. velocity of
point E on the connecting rod 1.5 m from the gudgeon pin, 4. position and linear velocity of any
point G on the connecting rod which has the least velocity relative to crank shaft.
Answers: -
Velocity of the piston = 8.15 m/s
Angular velocity of the connecting rod AB = 3.4 rad/s
VE = 8.5 m/s
Crank pin = db/2 x (angular velocity of BO + angular velocity of PB) = 0.6675 m/s
Pin cross head = dc/2 x angular velocity of PB = 0.051 m/s
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2. MET 305 MECHANICS OF MACHINES TUTORIAL. 2
3. In the given mechanism, the angular velocity of the crank OA is 600 r.p.m. 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 various links are: OA = 28 mm; AB = 44 mm; BC 49 mm; and BD
= 46 mm. The centre distance between the centers of rotation O and C is 65 mm. The path of travel of
the slider is 11 mm below the fixed point C. The slider moves along a horizontal path and OC is
vertical.
Answers:-
1. linear velocity of the slider D = 1.6 m/s
2. Angular velocity of link BD = 36.96rad/s
4. Draw the velocity diagram of the engine mechanism shown below. Find out the
acceleration of the slider D and the angular acceleration of link CD.
The crank OA rotates uniformly at 180 r.p.m. in clockwise direction. The various
lengths are: OA = 150 mm; AB = 450 mm; PB = 240 mm ; EC = 70 mm ; CD = 660 mm.
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3. MET 305 MECHANICS OF MACHINES TUTORIAL. 2
Solution
Given: NAO = 180 r.p.m., or wao = 2 pi x 180/60 = 18.85 rad/s ; OA = 150 mm = 0.15
m; AB = 450 mm = 0.45 m ; PB = 240 mm = 0.24 m ; CD = 660 mm = 0.66 m
We know that velocity of A with respect to O or velocity of A, = wAO xOA =18.85 x
0.15 = 2.83 m/s (Perpendicular to OA)
First of all draw the space diagram, to some suitable scale, as shown in Fig.(a). Now
the velocity diagram, as shown in Fig.(b), is drawn as discussed below:
(a) Space diagram (b) Velocity diagram
1. Since O and P are fixed points, therefore these points lie at one place in the velocity
diagram. Draw vector oa perpendicular to OA, to some suitable scale, to represent the velocity
of A with respect to O or velocity of A (i.e. vao or va), such that
vector oa = vao = va = 2.83 m/s
2. Since the point B moves with respect to A and also with respect to P, therefore draw vector
ab perpendicular to AB to represent the velocity of B with respect to A i.e. vBA and from point
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4. MET 305 MECHANICS OF MACHINES TUTORIAL. 2
p draw vector pb perpendicular to PB to represent the velocity of B with respect to P or
velocity of B (i.e. vbp or vb). The vectors ab and pb intersect at b.
3. Since the point C lies on PB produced, therefore divide vector pb at c in the same ratio as C
divides PB in the space diagram. In other words, pb/pc = PB/PC.
4. From point c, draw vector cd perpendicular to CD to represent the velocity of D with respect
to C and from point o draw vector od parallel to the path of motion of the slider D (which is
vertical), to represent the velocity of D, i.e. vd.
By measurement, we find that velocity of the slider D,vd = vector od = 2.36 m/s
Velocity of D with respect to C, vdc = vector cd=l.2 m/s
Velocity of B with respect to A, vba = vector ab = 1.8 m/s and
Velocity of B with respect to P, vbp = vector pb = 1.5 m/s
5. In a toggle mechanism shown below, the slider D is constrained to move on aa horizontal
path. The crank OA is rotating in the counter-clockwise direction at a speed
of 180 r.p.m. increasing at the rate of 50 rad/s2. The dimensions of the various links are as
follows: OA = 180 mm ; CB = 240 mm ; AB = 360 mm ; and BD = 540 mm.
For the given configuration, find 1. Velocity of slider D and angular velocity of BD, and 2.
Acceleration of slider D and angular acceleration of BD.
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5. MET 305 MECHANICS OF MACHINES TUTORIAL .2
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1/5/2013