Lesson 8

Velocity Analysis - Instantaneous

Centre Method

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ME 33 - Theory of Machines
 Velocity analysis (Instantaneous Centre …)
An Instantaneous (I-centre) is a
centre of rotation of a moving body
relative to another body.

I-centre can be ..

a point on a member which another

member rotates around, permanently
or instantaneously;

a point in common place between

two members

The velocities are equal (both in

direction and magnitude) at the I-
Centre

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ME 33 - Theory of Machines
 Velocity analysis (Instantaneous Centre …)
Number of instantaneous centres in a
mechanism …

The number of instantaneous centers (N)

in a kinematic chain is equal to the
number of possible combinations of two
links.
n(n − 1)
Mathematically, N=
2

Where n = number of links.

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ME 33 - Theory of Machines
 Velocity analysis (Instantaneous Centre …)
Properties of the instantaneous
centre …

A rigid link rotates instantaneously

relative to another link at the
instantaneous centre for the
configuration of the mechanism
considered.

The two rigid links have no linear

velocity relative to each other at
the instantaneous centre.

At this point the two rigid links

have the same linear velocity
relative to the third rigid link.

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ME 33 - Theory of Machines
 Velocity analysis (Instantaneous Centre …)
Rules to Locate Instantaneous Centres by Inspection…

In a pivoted joint, the centre of the pivot is the I-centre for the two
links of the pivot.

When VA is NOT parallel When VA is parallel to VB

to VB When VA IS parallel to VB and VA=VB

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ME 33 - Theory of Machines
 Velocity analysis (Instantaneous Centre …)
• Rules to Locate Instantaneous Centres by Inspection…

In a sliding motion, the I-centre lies at infinity in a direction

perpendicular to the path of motion of the slider.

This is because the sliding motion is equivalent to a rotary motion of

the links with the radius of curvature as infinity.

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ME 33 - Theory of Machines
 Velocity analysis (Instantaneous Centre …)
Rules to Locate Instantaneous Centres by Inspection…

In a pure rolling contact of the two links, the I-centre lies at the point
of contact at the given instant. It is because the two points of contact on the two
bodies have the same linear velocity and thus there is no relative motion of the two at the
point of contact which is the I-centre

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ME 33 - Theory of Machines
 Velocity analysis (Instantaneous Centre …)
Types of Instantaneous Centres …

The instantaneous centres for a mechanism are of the following types.

Fixed Instantaneous centres

Permanent Instantaneous centres.
Neither fixed nor permanent instantaneous centres

The first two types are together known as primary instantaneous

centres and third type is known as secondary instantaneous centres.

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ME 33 - Theory of Machines
 Velocity analysis (Instantaneous Centre …)
Example

Consider the 4-bar mechanism shown below. The I-centres 12, 14, 23
and 34 are permanent (i.e., are at the joints), and can be located by
inspection.

I-Centre for 3&4, Not

I-Centre for 2&3, Not Fixed/Location will
Fixed/Location will change, but the I-centre
change, but the I-centre will remain at the joint
will remain at the joint

I-Centre for 1&4,

I-Centre for 1&2, Fixed/Location will not
Fixed/Location will not change
change

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ME 33 - Theory of Machines
 Velocity analysis (Instantaneous Centre …)
Kennedy’s theorem

If three plane bodies have relative motion among themselves, their I-centre
must lie on a straight line.

The I-centres 13 and 24 are neither fixed nor permanent can be located by
applying Kennedy’s theorem

The intersection of the line The intersection of

joining 23 and 34 with the the line joining
line joining 12 and 14) 12 and 23 with the
locates the I-centre 24 line joining 14 and
34) locates the I-
centre 13.

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ME 33 - Theory of Machines
 Velocity analysis (Angular Velocity Ratio Theorem…)

Velocity of any point on a link with

respect to another point on the
same link is always perpendicular
to the line joining these points.

Let  = angular velocity of link AB about

A. Velocity of point B with respect to A,

VBA = . AB

Similarly the velocity of any point C

on AB with respect to A,

VCA = . AC

Thus, VCA . AC AC
= =
VBA . AB AB

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ME 33 - Theory of Machines
 Velocity analysis (Angular Velocity Ratio Theorem…)

When the angular

velocity of a link is
known and it is
required to find the
angular velocity of
another link:

a) locate common I-centre.

b) the velocity of this I-centre relative to a fixed third link is the same
if the I-centre is considered on the first or the second link.
c) first consider the I-centre to be on the first link and obtain the
velocity of the I-centre.
d) then, consider the I-centre to be on the second link and find its
angular velocity.

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ME 33 - Theory of Machines
 Velocity analysis (Angular Velocity Ratio Theorem…)

Example

If it is required to find the angular

velocity of the link 4 when the
angular velocity of the link 2 of a
four-link mechanism is known: E

➢ locate the I-centre 24 (Point E).

➢ Imagine link 2 to be in the form of a flat disc
containing point 24 and revolving about point A.
v24 = 2 .( AE)

➢ Now, imagine the link 4 to be large 2 .( AE) = 4 .( DE)

enough to contain point 24 and revolving ( AE)
4 = 2 .
about point D. ( DE)
v24 = 4 .( DE)

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ME 33 - Theory of Machines
 Velocity analysis (Angular Velocity Ratio Theorem…)

Recall
2 .( AE) = 4 .( DE)
( AE)
4 = 2 .
( DE)
E

The above equation is known as the angular-

velocity ratio theorem.

➢ In words, the angular velocity ratio of two

links relative to a third link is inversely
proportional to the distances of their
common I-centre from their respective
centre of rotation.

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ME 33 - Theory of Machines
 Velocity analysis (Rubbing Velocity …)

The velocity of rubbing of the two

surface will depend upon the angular
velocity of a link, relative to the other.

Consider two links of a mechanism,

where,
1 = Angular Velocity of link 1
2 = Angular Velocity of link 2
r = Radius of pin joint between 1 & 2

The rubbing velocity of joint between link 1 & 2 is

given by

vrb = r.(1  2 )
+ → If 1 & 2 rotates in anti clock wise direction
- → 1 & 2 rotates in clock wise direction

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ME 33 - Theory of Machines
 Velocity analysis (Rubbing Velocity …)

Consider a 4-link bar shown below. Rubbing velocity at all joint is given as :

At point A = ra . AB At point C = rc .(BC + DC )

ra = radius of the hole at joint A. rc= radius of the hole at joint C.

At point B = rb .( AB + BC ) At point D = rd .CD

rb = radius of the hole at joint B. rd = radius of the hole at joint D.

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ME 33 - Theory of Machines
 End…

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