Motion and Machinery: Displacement, Velocity and Acceleration, Linkage and Constraints

Motion and Machinery:
Displacement, Velocity and

Acceleration, Linkage and
Constraints
DE RAMOS
LO N G A S A
M AC AT U N G G A L
LINKAGE AND
CONSTRAINTS
What is
Linkage?
IT IS A SYSTEM OF LINKS
CONNECTED AT JOINTS WITH
ROTARY OF LINEAR BEARINGS.
Function of ❑To produce rotating, oscillating, or
reciprocating motion from the rotation of a
Linkage crank or vice versa.
Types of ❑ Bell Crank Linkage
❑ Crank and Slider Linkage
Linkages ❑ Parallel Motion Linkage

❑ Reverse Motion Linkage
Reverse
Motion
Linkage
❑ As the top rod moves to
the left, the bottom rod
moves to the right. The
bars move in opposite
direction. Another way of
describing it is the direction
of movement in one rod is
reversed in the other rod.
The fixed pivot is the center
of rotation.
Parallel
Motion
Linkage
❑ As the large rod at
the top of the diagram
moves to the left, the
two small rods at the
bottom moves to the
right. All the rods are
parallel to each other.
Crank and Slider Linkage
❑ The rods move towards and
backwards in slider. The fixed
pivot anchor the linkages to
one place.
Bell Crank
Linkage
❑ This linkage allows
horizontal movement to be
converted to vertical
movement. It also works
the opposite way round. A
practical example of this is
the brake mechanism on a
bicycle.
What is Kinematic Constraints?
❑ Are constraints between
rigid bodies that result in the
decrease of the degrees of
freedom of rigid body system.
Degrees of
Freedom
(DOF)
❑ The number of input
motions that must be
provided in order to provide
the desired output.
❑The number of
independent coordinates
required to define the
position and orientation of
an object.
Types of Constrained Motion
Completely Incompletely Partially (Successfully)

Constrained Motion Constrained Motion Constrained Motion
Completely
Constrained
Motion
❑ Relative motion between
the links of a kinematic pair
occurs in a definite
direction by itself,
irrespective of the external
forces applied.
Incompletely
Constrained
Motion
❑ RELATIVE MOTION
BETWEEN THE LINKS
DEPEND ON THE
DIRECTION OF
EXTERNAL FORCES
ACTING ON THEM.
Partially (Successfully)
Constrained Motion
❑ Relative motion between its links
occurs in a definite direction, not by
itself, but by some other means.
GRUEBLER’S EQUATION
IT WAS DEVELOPED TO ENABLE A DESIGNER TO QUICKLY ASCERTAIN THE MOBILITY OR
DEGREES OF FREEDOM IN A LINKAGE.
FORMULA:
WHERE:
• F = NUMBER OF DEGREES OF FREEDOM
• N = TOTAL NUMBER OF LINKS IN THE MECHANISM
• L = TOTAL NUMBER OF LOWER PAIRS (1 DOF SUCH AS PINS AND SLIDING JOINTS)
• H = TOTAL NUMBER OF HIGHER PAIRS (2 DOF SUCH AS CAM AND GEAR JOINTS)
APPLICATION
• A FOUR BAR
MECHANISM IS A
EXAMPLE OF A
CONSTRAIN LINKAGE
Displacement refers to the change in
position of an object.
A vector quantity which refers to "how

DISPLACEMENT far out of place an object is“.
Displacement ignores the path took, and

only considers the start and end points.
It is said to be 'path independent'.
DISTANCE VS. DISPLACEMENT
OFTEN CONFUSED WITH ONE ANOTHER, BUT ARE DISTINCT FROM THE OTHER
Distance refers to how much

ground an object has covered
Displacement refers to how far

out of place an object is.
In this type of analysis, it is assumed that the link lengths
are given.
GRAPHICAL
POSITION Main objective is to graphically construct the
mechanism for a given value of the input link.
ANALYSIS
Direct measurements are used to obtain unknown
values, such as length and angles. Result accuracy
will depend on the accuracy of the drawing.
PROBLEM
A FOUR-BAR HAS THE FOLLOWING
Construct the four-bar for a given value of 2, and then

determine the other two angles by direct measurement.
Both solutions are acceptable, only choose the appropriate one based on the application and
measure for the unknowns.
EXAMPLE
• VECTOR QUANTITIES ( BOTH MAGNITUDE AND DIRECTION )
• VELOCITY IS THE RATE OF CHANGE OF POSITION WITH
RESPECT TO TIME, WHEREAS ACCELERATION IS THE RATE OF
CHANGE OF VELOCITY.
• IF A FUNCTION GIVES THE POSITION OF SOMETHING AS A
FUNCTION OF TIME, THE FIRST DERIVATIVE GIVES ITS VELOCITY,
VELOCITY AND AND THE SECOND DERIVATIVE GIVES ITS ACCELERATION.
ACCELERATION
Important concepts in velocity analysis:
• The absolute velocity of any point on a mechanism is the velocity of that point with
reference to ground.
• Relative velocity describes how one point on a mechanism moves relative to another point
on the mechanism.
• The velocity of a point on a moving link relative to the pivot of the link is given by the
equation: V = ωr, where ω = angular velocity of the link and r = distance from pivot.
Acceleration components:
• Normal Acceleration: A = ω2 r ( Points toward the center of rotation )

• Tangential Acceleration: A = α r ( In a direction perpendicular to the link )
• Corioli’s Acceleration: A = 2 ω ( dr/dt) (In a direction perpendicular to the
link )
• Sliding Acceleration: A = d2r/dt2 ( In the direction of sliding )

Application
• Motion Capture Systems –

these are used to obtain 3D
human body kinematics
(position, velocity, and
acceleration).
• Force plate systems obtain
kinetic data, such as ground
reaction force and the joints’
moment and power.
Application
• Steam engines were the
backbone of the industrial
revolution. In this common
design high pressure steam is
pumped alternately into one side
of the piston, then the other
forcing it back and forth. The
reciprocating motion of the
piston is converted to useful
rotary motion using a crank. As
the large wheel (the fly wheel)
turns a small crank or cam is
used to move the small red
control valve back and forth
controlling where the steam
flows. In this animation the oval
crank has been made transparent
so that you can see how the
control valve crank is attached
Application
•Slider-crank mechanism:
Reciprocating Engine
• A reciprocating engine is
an engine that uses one
or more pistons in order
to convert pressure into
rotational motion. They
use the reciprocating (up-
and-down) motion of the
pistons to translate this
energy.
OIL PUMP
SAMPLE PROBLEM:
Shown at left is a slider crank mechanism. At the position shown, slider C moves upward with vC = 2 fps and
aC = 1 fps2. Determine the angular accelerations of links BC ( aBC ) and AB ( aAB ).
Figure 1: Figure 2:
Figure 2:
wAB cos30 - 2wBC·cos 45 = 0 (1)

wAB sin30 + 2wBC·sin 45 = 2 (2)
*Calculator
Step 1:Press MENU BUTTON then ALPHA + A
Step 2: Select 1:SIMULATION EQUATION, THEN PRESS 2.
( to get the 2 unknowns.)
Step 3: Input the Equation to get the final value
Figure 3:
aAB cos 30 - 2aBC·cos 45 = 0 – 1.61 cos 45 + 2.14 cos 60 (3)

aAB sin 30 + 2aBC·sin 45 = 1 – 1.61 sin 45 +2.14 sin 60 (4) aAB = 0.361 rad/sec2
*Calculator aBC = 1.34 rad/sec2
Step 1:Press MENU BUTTON then ALPHA + A
Step 2: Select 1:SIMULATION EQUATION, THEN PRESS 2.
( to get the 2 unknowns.)
Step 3: Input the Equation to get the final value
Plate Problem
Given Values of 𝜃2 : 30, 60, and 90. 𝐿2 = 15, 𝐿1 = 20 Plot the displacement
graph afterwards.

Motion and Machinery: Displacement, Velocity and Acceleration, Linkage and Constraints

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Motion and Machinery: Displacement, Velocity and Acceleration, Linkage and Constraints

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Motion and Machinery:

Displacement, Velocity and

❑ Crank and Slider Linkage

Linkages ❑ Parallel Motion Linkage

Completely Incompletely Partially (Successfully)

A vector quantity which refers to "how

Displacement ignores the path took, and

Distance refers to how much

Displacement refers to how far

A FOUR-BAR HAS THE FOLLOWING

Construct the four-bar for a given value of 2, and then

• Normal Acceleration: A = ω2 r ( Points toward the center of rotation )

• Sliding Acceleration: A = d2r/dt2 ( In the direction of sliding )

• Motion Capture Systems –

wAB cos30 - 2wBC·cos 45 = 0 (1)

aAB cos 30 - 2aBC·cos 45 = 0 – 1.61 cos 45 + 2.14 cos 60 (3)

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