Theory of Machines

Velocity and Acceleration

diagram

EXAMPLE
In the toggle mechanism shown in Fig. below, the slider D is
constrained to
move on a 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.

OA = 180 mm

45o
AB = 360 mm

105
mm

CB = 240 mm
BD = 540 mm

O 90o

A
45o

ab
AB
N = 180
r.p.m
bdlink
link
BD

AO

= 180 = 18.85 rad/s

4
3.
m

AO

=
/s

od Slider
D
OA = 18.85
cb
od link CB
= 3.4
Horizontal
m/s
b=Intersect
ab
oa = 3.4 m/s
axis cb
D=Intersect
bd
with
d
oa link AO
VAO = VA =
0.18

oa

AO

O,C

A
45o

y measurement,
a
we find that velocity

b
oa

vBA = vector ab = 0.9

m/s
v = vector cb = 2.8

=
4
3.

BC

m
/s

m/s
vDB = vector bd = 2.4
m/s
vD = vector cd = 2.05

O,C

A
O

45o

C
a

B
D

aA

Velocity diagram

O,C

A
O
C
a

45o

y
90o

Velocity diagram

O,C

45o

O
C

aBC

aA

y
b

45o

O
C

aBC

aA

s
b
Acceleration diagram

A
45o

O
C

B
d aD

By measurement, we find that

tangential component of the
acceleration of D with respect to
B,

aBC

aA

s
b
Acceleration diagram

AbdulRahman Bahaddin
Shakir
Erbil Technical
Engineering College