Numerical Velocity Analysis Page 1 of 2 Dr.

Keith Hekman

The vector loop equation for a fourbar linkage is

ae j 2 + be j 3 ce j 4 de 1 = 0 (1)
Assuming the initial vector loop equation has been solved using methods from chapter 4, we
can take the derivative with respect to time to get
( ) ( ) ( )
ae j 2 j&2 + be j 3 j&3 ce j 4 j&4 = 0 (2)
The d term disappears since & = 0 . Setting = & we have
1

j 2 ae j 2 + j 3 be j 3 j 4 ce j 4 = 0 (3)
This can be written as
r r r
V A + V BA V B = 0 (4)
where
r
V A = j 2 ae j 2
r
V BA = j 3 be j 3 (6)
r j 4
V B = j 4 ce
which is the same equation we had graphically. Our goal is to find the unknown velocities
based on the known parameters, i.e. to find
3 = f (a, b, c, d , 2 , 3 , 4 , 2 )
(7)
4 = g (a, b, c, d , 2 , 3 , 4 , 2 )
where the angular velocity of the input link is given.
Arranging (3) so that the known values are on one side, and the unknowns are on the
other and dividing by j, we have
3 be j 3 4 ce j 4 = 2 ae j 2 . (8)
Taking the conjugate to get the second equation leads to
3be j 3 4 ce j 4 = 2 ae j 2 . (9)
These two equations can be written in matrix form of

[A] 3 = [B] (10)
4
where
be j 3 ce j 4 2 ae j 2
A = j and B = j 2
. (11)
be
3
ce j 4 2 ae
Thus
3
= [ A] [B ]
1

4
This is simpler than the position analysis, as taking the conjugate directly gives the second
linear equation.

The vector loop equation for a fourbar slider-crank linkage is

ae j 2 be j 3 ce j 4 de 1 = 0 (12)
Taking the derivative with respect to time, we have
ae j 2 ( j 2 ) be j 3 ( j 3 ) d& = 0 (13)
This also can be written as
r r r
V A V AB VB = 0 (14)
where
Numerical Velocity Analysis Page 2 of 2 Dr. Keith Hekman

r
V A = j 2 ae j 2
r
V AB = j 3be j 3 (15)
r
VB = d &
The unknown variables in this equation are 3 and d& . Gathering the known values all on one
side, we have
be j 3 ( j 3 ) + d& = ae j 2 ( j 2 ) (16)
Taking the conjugate to get the second equation leads to
be j3 ( j 3 ) + d& = ae j 2 ( j 2 ) (17)
These two equations can be written in matrix form of

[A] &3 = [B] (18)
d
where
jbe j 3 1 j 2 ae j 2
A= j 3 and B = j 2
. (19)
jbe 1 j 2 ae
Thus
3
d& = [ A] [B ] .
1
(20)

The vector loop equation for a fourbar inverted slider-crank linkage is

ae j 2 be j 3 ce j 4 de 1 = 0 (21)
The derivative with respect to time in this case is a little more confusing in that in the be j3
term, both b and 3 change so you have to differentiate by parts. Thus the derivative is
j 2 ae j 2 b&e j 3 j 3be j 3 j 4 ce j 4 = 0 . (22)
Recall that the relationship between 3 and 4 remains fixed at
3 =4 + (23)
Taking the derivative of this, we have
3 = 4 (24)
&
Thus our unknown variables are 3=4 and b , so we need to group our equation accordingly.
This leads to
( )
b&e j 3 + j 3 be j 3 + ce j 4 = j 2 ae j 2 . (25)
Taking the conjugate to get the second equation gives
( )
b&e j 3 j 3 be j 3 + ce j 4 = j 2 ae j 2 . (26)
These two equations can be written in matrix form of
&
[A] b = [B] (27)
3
where
e j 3
A = j
( )
j be j 3 + ce j 4
=
j 2 ae j 2
( ) j 2
and B . (28)
e
3
j be j 3 + ce j 4 j 2 ae
Thus
b&
= [ A] [B ] .
1
(29)
3