Problem 8: Kinematic Analysis of a Spatial Linkage Mechanism


In the mechanism shown below, the angular velocity of the link 2 is 40 rad/s about the Z axis and is constant. Find the angular velocity of point B in the position shown.

Figure 1.

Entities Validated

  • Rigid body
  • Motion joint - rotational
  • Revolute joint
  • Ball joint

Type of Analysis

  • Kinematic


Theory of Machines and Mechanisms: SI Edition, Third Edition International version, by John J. Uicker, JR, Gordon R. Pennock and Joseph E. Shigley (2009): 365 (ISBN 13:978-0-19-806232-5)

Model Files

  • spatial_linkages_kinematics.mdl - MotionView Model
  • spatial_linkages_kinematics.xml - MotionSolve Deck

Graphical Results

Figure 2.

Result Comparison

Output Analytical MotionSolve % Error
X component of velocity of Point B, (mm/s) 0 0 0 %
Y component of velocity of Point B, (mm/s) 4990.53 4990.34 0.004 %
Z component of velocity of Point B, (mm/s) -3953.98 -3953.82 0.004 %


MotionSolve results compare well with analytical results.