4.2 CALCULATION TECHNIQUES

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À  p

We can expand the tools for analysis of position to find velocities.

The most important factor to remember is that velocity is the first derivative of position.

4.2.1 Complex Algebra

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Recall the position vector in complex polar notation. And, after finding the first derivative we get the simple form,

Consider the crank-slider mechanism below,

Next, consider a four bar linkage, in the double rocker configuration,

4.2.2 Analytic Methods

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Basically use techniques to develop equations for position, and then differentiate

Consider the mechanism pictured below,