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Problem 3.1
In the figure below, points A and C have the same horizontal coordinate, and 3 = 30 rad/s.
Draw and dimension the velocity polygon. Identify the sliding velocity between the block and
the slide, and find the angular velocity of link 2.
4
3
B3 , B4
3
A
45
AC = 1 in
BC = 3 in
r = 2.8 in
2
C
2 in
B
Ov
45.0
Velocity Polygon
30 in/sec
2
C
b 2 , b4
b3
Velocity Analysis:
v B4 =1 v B2 = 1v B3 + 1vB4 / B3
(1)
- 33 -
v B2 = 1v B2 / C2 = 1 2 rB2 / C2
Now,
1
v B2 = 1 2 rB / C ( to rB / C )
v B4 / B3 is on the line of AB
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1
v B4 / B3 = 15.63in / sec
Also,
1
2 =
1v
B2 / C 2
rB / C
68.829
= 22.943 rad / sec
3
- 34 -
Problem 3.2
If 2 = 10 rad/s CCW, find the velocity of point B3.
110
E
CA = 1.5"
DE = 2.5"
CD = 4.0"
AB = 1.6"
18
1
2
2
45
Position Analysis
Draw the linkage to scale.
- 35 -
Velocity Analysis
v A2 = 1 v C2 + 1 v A2 / C2 = 0 + 12 rA / C 1 v A2 = 12 rA / C = 10(1.5) = 15 in/s
v E3 = 1 v A3 + 1 v E3 / A3 = 1 v A2 + 1 v E3 / A3
v E3 = 1 v E4 + 1 v E3 / E4
v E4 = 1 v D4 + 1 v E4 / D4 = 0 + 14 rE / D
v A2 = 15 in/s ( to rA / C )
v E3 / A3 = 13 rE / A ( to rE / A )
v E4 / D4 = 14 rE / D ( to rE / D )
Now,
and
1
3 = 4 , need to get 3 to find v B .
3
v F3 = 1 v A3 + 1 v F3 / A3
v F3 = 1 v F4 + 1 v F3 / F4
v F4 = 1 v F3 + 1 v F4 / F3
v F4 = 1 v F4 / D4
- 36 -
(1)
After finding point f3, construct the velocity image to find the point b3
v B3 = 9.4 in/s
- 37 -
Problem 3.3
If 2 = 100 rad/s CCW, find vB4.
AD = 1.8"
CD = 0.75"
AE = 0.7"
CF = 0.45"
FG = 1.75"
CB = 1.0"
DB = 1.65"
G
125
B4
3
C
4
D
Position Analysis
- 38 -
95
Velocity Analysis
v G2 = 1 v A2 + 1 v G2 / A2 = 0 + 12 rG / A
v G3 = 1 v C3 + 1 v G3 / C3 = 1 v C4 + 13 rG / C
v G3 = 1 v G2 + 1 v G3 / G2
v C4 = 1 v C3 = 1 v D4 + 1 v C4 / D4 = 0 + 14 rC / D
(1)
Now,
1
3 = 12
1
v C4 / D4 = 14 rC / D ( to rC / D )
- 39 -
v C4 / D4 = 612.14 in / s
- 40 -
Problem 3.4
If 2 = 50 rad/s CCW, find vD4.
B
BC = CD
BD = 3.06"
3
150
C
50
D
4
Position Analysis
- 41 -
Velocity Analysis
v B2 = 1 v A2 + 1 v B2 / A2 = 0 + 12 rB / A
(1)
v B3 = 1 v D3 + 1 v B3 / D3 = 1 v D4 + 13 rB / D
v B3 = 1 v B2 + 1 v B3 / B2
v D4 = 1 v D3
Now,
3 = 12
v B3 / B2 is on the line of AB
v D4 = 1 v D3
(// to rD / A )
- 42 -
v D4 = 164.34 in / s
- 43 -
Problem 3.5
Determine the velocity and acceleration of point B on link 2.
3 in
2
4 = 1 rad/s
4 = 0
30
Position Analysis
Draw the mechanism to scale.
Velocity Analysis
rB /A = 3/ cos30= 3.4641
(1)
and
1 4 rB/ A
The direction for the velocity 1vB2 /A1 must be vertical. Equation (1) can be solved for the
unknowns. From the polygon,
1vB /A
2 1
= 4.0278 in / sec
4 vB / A
2 1
= 2.0148 in / sec
Acceleration Analysis
The acceleration of B2 is given by
- 44 -
1aB /A
2 1
(2)
2
B
3
4
b'2
b'2
Velocity Scale
2 in/sec
Acceleration Scale
2 in/sec 2
Ov
o'
1 4 rB/ A =
0 rB/ A = 0
(vector to rB/ A )
Equation (2) has only two unknowns and can be solved. From the polygon, the acceleration of
B2 is 4.666 in/sec2 upward
- 45 -
Problem 3.6
If 12 = 100 rad/s CCW, find 16.
E (2.0", 6.0")
AB = 1.2"
BC = 6.0"
CD = 3.0"
AD = 4.0"
BF = 3.0"
Y
3
2
5
A
Position Analysis
- 46 -
Velocity Analysis
v C3 = 1 v B3 + 1 v C3 / B3 = 1 v B2 + 13 rC / B
v C4 = 1 v D4 + 1 v C4 / D4 = 0 + 14 rC / D
v F6 = 1 v F5 + 1 v F6 / F5
v F6 = 1 v E6 + 1 v F6 / E6 = 0 + 16 rF / E
- 47 -
(1)
Now,
v B2 = 120 in/s ( to rB / A )
v C3 / B3 = 13 rC / B ( to rC / B )
v C4 / D4 = 14 rC / D ( to rC / D )
v F6 / F5 ( // to rE / F )
v F6 / E6 = 16 rF / E
( to rF / E )
- 48 -
BC : BF = bc : bf
and
v F3 = 1 v F5
v F6 / E6 = 25.2 in / sec
and
1
1
6 =
v F6 / E6
rF / E
25.2
= 5.54 rad / sec CW
4.549
- 49 -
Problem 3.7
If 2 = 50 rad/s CCW, find the velocity of point G5.
32
2
A
2
AB = 1.16"
BC = 0.70"
CD = 1.45"
DE = 1.16"
AD = 1.30"
DF = 1.30
EG = 2.20"
75
D
F
G
Position Analysis
- 50 -
Velocity Analysis
v B2 = 1 v B2 / A2 = 12 rB / A 1 v B2 = 12 rB / A = 50(1.16) = 58 in/s
1
v C3 = 1 v B3 + 1 v C3 / B3 = 1 v B2 + 13 rC / B
v C4 = 1 v C3 = 1 v D4 + 1 v C4 / D4 = 0 + 14 rC / D
v E4 = 1 v D4 + 1 v E4 / D4 = 0 + 14 rE / D
v G5 = 1 v E5 + 1 v G5 / E5 = 1 v E4 + 15 rG / E
v F5 = 1 v F6 + 1 v F5 / F6 = 0 + 1 v F5 / F6
v B2 = 58 in/s ( to rB / A )
v C3 / B3 = 13 rC / B ( to rC / B )
Now,
- 51 -
(1)
v C4 / D4 = 14 rC / D ( to rC / D )
v G5 / E5 = 15 rG / E
v F5 / F6 ( // to rG / E )
( to rG / E )
- 52 -
v C4 / D4 = 46 in / sec
v C4 / D4
and
4 =
rC / D
46
= 31.72 rad / sec CCW
1.45
EF : EG = ef 5 : eg
v G5 = 32.5 in / sec
- 53 -
Problem 3.8
If 2 = 5 rad/s CCW, find 6.
E
5
F
AC = 1.0"
AB = 2.0"
BD = 4.0"
DE = 1.5"
EF = 1.5"
AF = 4.1"
50
2
3
B
Position Analysis
Draw the linkage to scale.
- 54 -
Velocity Analysis
1
v B2 = 1 v B2 / A2 = 12 rB / A 1 v B2 = 12 rB / A = 5(1) = 5 in/s
v B4 = 1 v B3 + 1 v B4 / B3
v B4 = 1 v C4 + 1 v B4 / C4
v B2 = 5 in/s ( to rB / A )
v B4 / C4 = 14 rB / C
Now,
( to rB / C )
v B4 / C4 = 4.5 in / sec
and
1
1
4 =
v B4 / C4
rB / C
4.5
= 3.38 rad / sec CW
1.33
v D5 = 1 v D4
v D5 = 1 v E5 + 1 v D5 / E5
v E6 = 1 v E5
v E6 = 1 v F6 + 1 v E6 / F6 = 0 + 1 v E6 / F6
- 55 -
(1)
v D5 / E5 ( to rD / E )
v E6 / F6 ( to rE / F )
v E6 / F6 = 15.4 in / sec
and
1
1
6 =
v E6 / F6
rE / F
15.4
= 10.267 rad / sec CW
1.5
- 56 -
Problem 3.9
In the mechanism below, 2 = 10 rad/s.
following: vD4, 4, vF6, 6.
Y
4
G (-5.6, 2.65)
D
C
3
75
6
AB = 1.0 in
BD = 4.3 in
AE = 3.0 in
DE = 4.0 in
GF = 3.35 in
BC = 3.4 in
B
2
100
Position Analysis
Draw the linkage to scale. First locate the pivots A, E, and G. Next draw link 2 and locate B.
Then locate point D and point C. Draw the line CF as shown, and finally locate point F.
Velocity Analysis:
1vB
1vD
1vF
= 1vB2 = 1v B2 /A 2
(1)
(2)
Now,
1vD /E
4 4
1vB /A
2
2
1vD / B
3 3
- 57 -
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
4
3
6
B
2
f3
d3
f4
4
3
Velocity Scale
b3
10 in/sec
f5
1vD
= 17.034 in / sec
14
or
1vD4 /E 4
rD4 /E 4
- 58 -
= 20.994 in / sec
1vF
Now,
3
1vF / G
6 6
1vF / G
6 6
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
1vF / G
6 6
= 26.171in / sec
or
16
1 vF6 /G 6
rF6 /G 6
Problem 3.10
If the velocity of point A on link 2 is 10 in/s as shown, find the velocity of point C on link 5.
F (3.15", 1.9")
B
0.25"
vA
DE = 2.5"
AD = 0.75"
AB = 1.75"
BE = 1.5"
GF = 1.5"
3
0.45"
2
D
5
G
C5
5
4
75
Position Analysis
- 59 -
Velocity Analysis
v B3 = 1 v A3 + 1 v B3 / A3 = 1 v A2 + 13 rB / A (1)
v B4 = 1 v B3 = 1 v B4 / E4 = 14 rB / E
v G5 = 1 v G4 + 5 v G5 / G4
v G6 = 1 v G5 = 1 v G6 / F6 = 16 rG / F
v C5 = 1 v G5 + 1 v C5 / G5 = 1 v G6 + 15 rC / G
- 60 -
Now,
v A2 = 10 in/s ( to rA / D )
v B3 / A3 = 13 rB / A ( to rB / A )
v B4 / E4 = 14 rB / E
( to rB / E )
v G5 / F6 = 16 rG / F
( to rG / F )
v G5 / G4 ( // to rB / E )
- 61 -
v B4 / E4 = 8.1 in / sec
and
1
1
4 =
v B4 / E4
rB / E
8.1
= 5.4 rad / sec CCW
1.5
1
1
With 5 = 4
- 62 -
BE : EG = be : eg 4
v C5 = 10.75 in / sec
Problem 3.11
In the clamping device shown, links 3 and 4 are an air cylinder. If the opening rate of the air
cylinder is 5 cm/s and the opening acceleration of the cylinder is 2 cm/s2, find the angular
velocity and acceleration of link 2, and the linear velocity and acceleration of point D on Link 2.
D
B
3
s
s = 35 cm
AB = 17 cm
AC = 30 cm
BD = 10 cm
A B
B
D
Position Analysis
Draw the linkage to scale. Start by locating the pivots A and C. Then locate point B
Velocity Analysis
Consider the points at location B.
- 63 -
= 1vB3 = 1vB2 / A2
1vB
= 1v B4 + 1vB3 / B4
1vB
(1)
Where
= 12 rB/ A ( to rB/ A)
1vB2 / A2
1vB
1v B /B
3 4
Solve Eq. (1) using a velocity polygon, and determine the velocity of D2 by image.
1vD
= 5.79 cm / s
12
14
and
1vB2 / A2
1vB /C
4 4
rB/A
rB/C
Acceleration Analysis
Again, consider the points at location B.
1 B
1B
Where
1r
B2 /A2
1t
B2 /A2
= 12 rB/A ( to rB/A)
- 64 -
(2)
A
b4
acB3 /B4
r
1 a B /C
4 4
a2 o'
4 at
B3/B4
a2 c4
o
b2 b3
1 at
B4 /C 4
t
1 aB
2 /A2
r
1 aB
2 /A2
b2
d2
Velocity Scale
2 cm/s
Acceleration Scale
1 cm/s 2
d2
1 r
B4 /C4
1t
B4 /A4
= 14 rB/C ( to rB/C )
4 t
B3 / B4
= 10 cm / s2 (along rB/ C )
4 n
B3 /B4
1c
B3 / B4
1vB /B
3 4
=0
- 65 -
The direction for 1cB3 / B4 is perpendicular to BC and in the direction defined by rotating 4v B3 /B4
90 in the direction of 14 . This direction is generally down and to the left.
Solve Eq. (2) using an acceleration polygon, and determine the acceleration of D2 by image.
1aD
1 2
= 4.39 cm / s2
1 t
B2 /A2
rB/A
Problem 3.12
In the mechanism shown, link 4 moves to the left with a velocity of 8 in/s and the acceleration is
80 in/s2 to the left. Draw the velocity and acceleration polygons and solve for the angular
velocity and acceleration of link 2.
4.0"
2
4
120
50
A
Position Analysis
Draw link 2 at 45 to the horizontal lineand 4" long. Construct link 2 at an angle of 120 to the
horizontal and through point B.
Velocity Analysis:
1vB
1vB
(1)
Now,
1vB
- 66 -
4 vB / B
2 4
1vB
= 12 rB/ A ( to rB/ A)
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vB /B
2 3
b2
b3
Velocity Polygon
8 in/sec
B
AB = 4"
Ov
b4
2
4
Oa
b4
a2
120.0
50.0
A
Acceleration Polygon
50 in/sec 2
1 at
B2 A2
b2
Also,
12
1 vB2 /A 2
rB /A
Acceleration Analysis:
- 67 -
1aB2
But, 1 4 = 0 . Therefore,
1aB2
1aB2
Also,
Therefore,
+ 1arB2 /A2 = 1a B4 + 4aB2 /B4
1a t
B2 /A2
Now,
1aB4
4 aB2 /B4
1ar
B2 /A 2
1a t
B2 /A2
= 89 in / sec 2
Therefore,
12
1at
B2 /A2
rB/A
- 68 -
(2)
Problem 3.13
In the mechanism below, the angular velocity of Link 2 is 2 rad/s CCW and the angular
acceleration is 5 rad/s2 CW. Determine the following: v B4 , v D 4 , 4 , aB4 , a D4 , 4 , .
AC = 5.2 in
AB = 6.0 in
CD = 10.0 in
2
4
2
2
75
Position Analysis
Draw the mechanism to scale. Locate the pivots A and C. Draw link 2 and locate point B. Then
draw line CBD.
Velocity Analysis:
1vB
1vB
(1)
= 1vB4 /C4
Now,
1vB /A
2 2
1vB /C
4 4
1vB /B
2 4
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
- 69 -
d4
b4
Oa
1 at
B4 /C4
1 ar
B4 /C4
4 a B /B
2 4
1a r
B2 /A2
Acceleration Scale
10 in/sec 2
5.44 in
E
1a
1ac
B2 /B4
t
B2 /A2
4
b2
Velocity Scale
10 in/sec
b2
o
d4
1vB
= 8.156 in / sec
or
14
1vB4 /C4
rB /C
Also,
1vB /B
2 4
= 8.802 in / sec
Also,
- 70 -
b4
1vD
= 11.91 in / sec
Acceleration Analysis:
1aB
1aB
= 1aB4 /C4
a rB2 /A 2 + 1a tB2 / A2 = 1a rB4 /C4 + 1a tB4 /C4 + 4 aB2 /B4 + 214 4vB4 / C4
Now,
1a r
1
1
1 r
B2 / A2 = 2 ( 2 rB/ A ) a B2 /A 2
= 1 2 rB/ A = 22 6 = 24 in / sec2
r
in the direction opposite to B 2 / A 2
1at
B2 /A 2
1a r
1
1
1 r
B4 / C4= 4 ( 4 rB/C ) a B4 /C4
r
in the direction opposite to B 3 / C3
1at
B4 /C4
4 aB / B
2 4
r
in the direction of B4 / C4
or
1at
B4 / C4
1 4
1aB
= 25.66 in / sec2
rB4 /C 4
Also,
4
Also,
1a D
4=
37.47 in / sec2
- 71 -
(2)
To find the center of the curvature of the path that B4 traces on link 2, we must find an
expression which involves that the radius of curvature of the path. This term is 2 an B4 / B2 and it
can be evaluated from the following:
1a B / B = 1a B /B
2 4
4 2
therefore,
1a t
1 t
B2 / B4 = a B4 /B2
and
1a n
1 n
B2 / B4 = a B4 /B2
Also,
3 an
B2 /B4
(3)
3 an
B2 /B4
Now,
3 vn
B2 /B4
=0
2 1 4 1vB2 / B4 = 2 1.191 8.802 = 20.97 in / sec2 ( to DC) down and to the left.
Let E be the location of the center of curvature of B4 on link 2. If we choose up and to the right
as the positive direction,
2 an B / B
4 2
1vB4 / B2 2
rB/ E
Because 2 an B4 / B2 is negative, 2 an B4 / B2 points down and to the left which is the direction of E.
The magnitude of the distance is given by
rB/ E =
1vB4 /B2 2
14.24
= 8.802 = 5.44 in
14.24
2
- 72 -
Problem 3.14
Resolve Problem 3.13 if 2 = 2 rad/sec (constant)
Position Analysis
Draw the mechanism to scale. Locate the pivots A and C. Draw link 2 and locate point B. Then
draw line CBD.
Velocity Analysis:
1vB
1vB
(1)
= 1vB4 /C4
Now,
1vB /A
2 2
1vB /C
4 4
1vB /B
2 4
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vB
= 8.156 in / sec
or
14
1vB4 /C4
rB /C
Also,
1vB /B
2 4
= 8.802 in / sec
Also,
1vD
= 11.91 in / sec
Acceleration Analysis:
1aB
1aB
a rB2 /A 2 + 1a tB2 / A2 = 1a rB4 /C4 + 1a tB4 /C4 + 4 aB2 /B4 + 214 4vB4 / C4
- 73 -
(2)
Oa
r
1 a B /C
4 4
Acceleration Scale
b4
10 in/sec 2
4a
d4B2 /B4
1a r
B2 /A2
1 at
B4 /C4
5.44 in
1ac
B2 /B4
2
b2
Velocity Scale
10 in/sec
b2
o
d4
b4
Now,
1a r
1
1
1 r
B2 / A2 = 2 ( 2 rB/ A ) a B2 /A 2
= 1 2 2 rB/ A = 22 6 = 24 in / sec2
r
in the direction opposite to B2 / A 2
1at
B2 /A 2
= 12 rB/ A 1atB2 / A2 = 12 rB /A = 0 6 = 0
1a r
1
1
1 r
B4 / C4= 4 ( 4 rB/C ) a B4 /C4
r
in the direction opposite to B3 / C3
1at
B4 /C4
4 aB / B
2 4
- 74 -
Solve Eq. (2) graphically with an acceleration polygon. From the polygon,
1a t
2
B4 / C4= 3.515 in / sec
or
1at
B4 / C4
1 4
1aB
= 10.29 in / sec2
rB4 /C 4
Also,
4
Also,
1a D
4= 15.06
in / sec2
To find the center of the curvature of the path that B4 traces on link 2, we must find an
expression which involves that the radius of curvature of the path. This term is 2 an B4 / B2 and it
can be evaluated from the following:
1a B / B = 1a B /B
2 4
4 2
therefore,
1a t
1 t
B2 / B4 = a B4 /B2
and
1a n
1 n
B2 / B4 = a B4 /B2
Also,
3 an
B2 /B4
3 an
B2 /B4
Now,
3 vn
B2 /B4
=0
- 75 -
(3)
Let E be the location of the center of curvature of B4 on link 2. If we choose up and to the right
as the positive direction,
=
2 an B / B
4 2
1vB4 / B2 2
rB/ E
Because 2 an B4 / B2 is negative, 2 an B4 / B2 points down and to the left which is the direction of E.
The magnitude of the distance is given by
rB/ E =
1vB4 /B2 2
= 8.802 = 5.44 in
14.24
14.24
2
The direction of E is shown on the drawing. Note that the location of E does not depend on the
acceleration of link 2.
Problem 3.15
In the mechanism below, the velocity and acceleration of Point B are given. Determine the
angular velocity and acceleration of Links 3 and 4. On the velocity and acceleration diagrams,
locate the velocity and acceleration of Point E on Link 3.
Y
35
D
4
2
3
AB = 3.8"
AC = 5.2"
BD = 12.0"
DE = 3.4"
vB = 23 -55 in/s
aB = 150 50 in/s 2
E
Position Analysis
Draw the linkage to scale. Locate both pivots and start with link 2. Locate point B and draw
line BC. Then locate point D. Construct point E on a line perpendicular to the line BD.
Velocity Analysis:
1vB
= 1vB2
1vC
= 1vC4 + 1vC3 / C4
1vC
= 1vB3 + 1vC3 / B3
(1)
Now,
- 76 -
1vC
1vC / B
3 3
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vC / B
3 3
or
13
= 21.6 in / s
1vC / B
3 3
rC3 / B3
Also,
D
A
C
4
3
2
e 3'
e3
d3'
d3
c3
1a t
C 3 /B3
4 aC /C
3 4
c3
b
3
r
1 aC
3 /B3
o
1 aB
3
1 a cC /C
3 4
Velocity Scale
Acceleration Scale
10 in/s
50 in/s 2
o'
13
= 14
b3
= 18.6 in / s
- 77 -
Acceleration Analysis:
1aB
= 1aB3
1aC
1aC
1aC
= 1aB3 + 1aC3 / B3
4 aC / C
3 4
4 aC / C
3 4
Now,
1a rC / B = 13 13
3 3
t
1aC
3 / B3
Solve Eq. (2) graphically with an acceleration polygon. From the polygon,
1at
C3 / B3
= 43.2 in / s2
or
Also,
t
1aC
3 / B3
1 3
13
= 14
rC3 / B3
= 149 in / s2
- 78 -
(2)
Problem 3.16
In the figure below, 2 = 500 rad/s CCW (constant). Find 4, 24, 3, 65, 35, vD, 4 24, 3,
6 , and a .
5
D
C
D
45
2
3
AE = 6 cm
AB = 3 cm
CE = 8 cm
CD = 3.2 cm
Position Analysis
Locate the relative position of points A and E and the line of motion of point D. Next locate
point B. Draw the line EB and locate point C. Then locate point D by drawing an arc centered
at C and with a radius of 3.2.
Velocity Analysis:
1vB
1vB4
= 1vB4 /E4
1vD
1vC
= 1vC4 = 1vC4 / E4
Now,
(1)
(2)
1vB / A
2 2
1vB4 /E4
1vB2 /B4
- 79 -
c5
b4
d5
4
Velocity Polygon
2.5 m/s
E
b2
r
1a D
5/ C5
Acceleration Polygon
2000 m/s
c
1 a B /B
2 4
b
2
o'
c
4
1 a tD /C
5 5
b'
b4
1arB /A
2 2
1 a rB / E
4
4
4aB / B
2 4
t
1 aB /E
4 4
1a
D5
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vB / B
2 4
= 14.4 m / s
1vB4 /E4
= 4.22 m / sec
Also,
or
1 4
1v B /E
4 4
rB4 /E4
Also,
13
= 14
Now,
1vC4 /E4
= 1 4 rC4 /E4 1vC4 /E4 = 1 4 rC4 /E4 = 95.80.08 = 7.66 m / s ( to rC4 /E4 )
- 80 -
d5'
1vD
in horizontal direction
1vD /C
5 5
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
1vD /C
5 5
or
And,
= 3.88 m / s
1vD /C
5 5
15
1vD
= 1vD6 = 3.18 m / s
rD5 /C5
65
35
Acceleration Analysis:
1aB
1aB
1a r
1 t
B2 /A2 + aB2 /A2
1aD
1aC
1aD
(4)
Now,
1a rB /A = 12
2 2
1a rB /E = 1 4 1 4 rB4 /E4
4 4
(3)
- 81 -
4 aB2 /B4
1ac
B2 /B4
Solve Eq. (3) graphically with an acceleration polygon. From the polygon,
1at
B4 /E4
or
Also,
And,
= 9960 m / s2
1at
B4 / E4
1 4
2 4
14
= 13
rB4 / E4
= 18,100 m / s2
1aD
in horizontal direction
Now,
5
1a rD / C = 15
5 5
Solve Eq. (4) graphically with an acceleration polygon. From the polygon,
1at
D5 / C5
= 8640 m / s2
or
Also,
And,
1atD / C
5 5
1 5
65
35
rD5 /C5
Also,
1aD
= 19,400 m / s2
Problem 3.17
In the mechanism below, the angular velocity of Link 2 is 60 rpm CCW (constant). Determine
the acceleration of Point C6 and the angular velocity of Link 6.
- 82 -
B
AB = 3.6 ft
BD = 9.3 ft
AC = 6 ft
5
2
6
3
45
A
D
4
Position Analysis
First locate pivot A and the line of action (through A) of the slider. Next draw link 2 and locate
point B. Then locate point D and finally locate point C.
Velocity Analysis:
= 1vB2 / A2 =1v B3 = 12 rB/ A
1vB
1vD
(1)
12
1v B3
(2)
Now,
1vD
in horizontal direction
1vD / B
3 3
1vC6 /A6
1vC / C
6 3
along BD
Solve Eqs. (1) and (2) graphically with a velocity polygon. From the polygon,
1vC
= 5.85 ft / s
1vD / B
3 3
=16.5 ft / s
1vC / C
6 3
=16.7 ft / s
- 83 -
and
1
3
1vD / B
3 3
rD/ B
Acceleration Analysis:
1aB
1aD
(3)
or
1ar
C6 / A6
Now,
1aD
in horizontal direction
- 84 -
(4)
B
C
3
2
6
D
A
r
1 aC
6 /A6
d3'
c3
o'
b3
c6
1 aB
3
c3
1 aC
6
d3
o
Velocity Scale
10 ft/s
t
1 aC
6 /A6
1 a cC /C
6 3
b
3
3 aC /C
6 3
Acceleration Scale
50 ft/s 2
1a rB / A = 12
2 2
1atD / B
3 3
1arD / B
3 3
= 12 ( 12 rD/ B) 1arD3 / B3 =
1vD / B
3 3
rD/ B
= 16.46 = 29.1 ft / s2
9.3
= 16 rC / A 1atC6 / A6 = 16 rC/ A ( to rC / A)
- 85 -
c6
1vC / A
6 6
= 16 ( 16 rC/ A) 1aCr 6 / A6 =
r
1aC
6 / A6
rC/ A
= 5.85 = 5.70 ft / s2
6
2
c
1aC
5 /C3
in the direction perpendicular to BD and in the direction obtained by rotating 3vC5 /C3 90 in the
direction of 13 . The direction is shown on the acceleration polygon.
3at
C5 /C3
3 an
C5 /C3
1vC /C
5 3
=0
Solve Eqs. (3) and (4) graphically with an acceleration polygon. From the polygon,
1aC
= 172 ft / s2
1 6
Also,
1atC /A
6 6
rC/A
Problem 3.18
In the position shown AB is horizontal. Draw the velocity diagram to determine the sliding
velocity of link 6. Determine a new position for point C (between B and D) so that the velocity
of link 6 would be equal and opposite to the one calculated for the original position of point C.
3.85"
2 = 5 rad/s
2
2.3"
1.1"
C
4
AB = 2.9"
BD = 3.1"
- 86 -
2 in
b 2 , b3
A
Velocity Polygon
5 in/s
c3
6
C
3
d6
d3 , d5
Velocity Analysis:
The equations needed for the analysis are:
1vB
1vB
= 1vB2
1vC
=1 v B3 + 1vC3 /B3
1vC
1vC4
=0
1vC
1vD
1vD
1vB2
= 14.5 in / s ( to rB/A)
(1)
(2)
Now,
1vC /B
3 3
1vC
= 13 rC/B ( to rC/B)
is on line of rC/B
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
- 87 -
1vC /B
3 3
= 6.90 in / s
or
13
1vC /B
3 3
rC/B
= 5.04rad / s CCW
1vC
Also,
3
= 1vD5 = 15.25 in / s
1vD
Now,
6
1vD /D
5 6
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
1vD
also,
= 6.85 in / s
1vD /D
5 6
= 13.62 in / s
To find the new location of point C which will make the velocity of link 6 change signs, plot a
new velocity polygon with the velocity of d6 in the direction indicated.
b 2, b3
c3
Ov
d3 , d5
d6
- 88 -
B
3
C'
C
4
Problem 3.19
A
2
CA = 2.0"
AB = 1.7"
45
105
B
- 89 -
1 in
Velocity Polygon
50 in/s
CA = 2.0"
AB = 1.7"
2
45.0
C
a2, a3
105.0
B
a4
Ov
Velocity Analysis:
1vA
1vA
1vA
= 1vA2
(1)
Now,
1vA2
= 72 in / s ( to rA/C )
1vA / A
3 4
1vA4
= 1vB4
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vA
= 1vB4 = 37.5 in / s
- 90 -
Problem 3.20
The circular cam shown is driven at an angular velocity 2 = 15 rad/s (CW) and 2 = 100 rad/s2
(CW). There is rolling contact between the cam and the roller, link 3. Find the angular velocity
and angular acceleration of the oscillating follower, link 4.
3
4
E (3.0", 3.0")
C
AB = 1.22"
DE = 3.50"
BC = 2.00"
CD = 0.50"
Y
2
135
X
Position Analysis:
Draw the linkage to scale. Note that because of rolling contact and because we are to find the
velocity and acceleration of link 4 only, we can model the system as a four-bar linkage. If we
were asked for the kinematic properties of link 3, we would have to model the system using
rolling contact directly.
Velocity Analysis:
1v
B2
1v
B5
= 1vB2
1v
D5
1v
D5
(1)
Now,
1v
D5 /B5
1v
D5
= 15 rD/B ( to rD/ B)
Solve Eq. (1) graphically with a velocity polygon. The velocity directions can be gotten directly
from the polygon. The magnitudes are given by:
- 91 -
3 D
Velocity Polygon
E
d5 , d4 , d3
8 in/s
b2
5
B
135
2
A
o'
Acceleration Polygon
100 in/s 2
d'4
1v
D5 /B5
= 11.4 in / s 1 5 =
1v
D5 /B5
rD/ B
b'2
Also,
1v D4 /E4
= 14.6 in / s 1 4 =
1vD /E
4 4
rD/E
= 4.17 rad / s CW
Acceleration Analysis:
For the acceleration analysis, use the same points in the same order as was done in the velocity
analysis.
- 92 -
1a
B2
1a
B5
= 1aB2
1a
D5
1a
D5
Therefore,
1ar
D4 /E4
+ 1atD4 /E4 = 1arB2 /A2 + 1atB2 /A2 + 1arD5 /B5 +1atD5 /B5
1ar
B2 / A2
(2)
Now,
r
1aD
4 /E4
1ar
D5 /B5
1at
B2 / A2
1at
D4 /E4
1at
D5 /B5
Solve Eq. (2) graphically with an acceleration polygon. The acceleration directions can be
gotten directly from the polygon. The magnitudes are given by:
1a t
D4 / E4
= 120.6 in / s2
1 4
1a t
D4 / E4
rD / E
2
= 120.6
3.5 =34.5 rad / s
- 93 -
Problem 3.21
For the mechanism shown, assume that link 2 rolls on the frame (link 1) and link 4 rolls on Link
3. Assume that link 2 is rotating CW with a constant angular velocity of 100 rad/s. Determine
the angular acceleration of link 3 and link 4.
Y
4.0"
0.3"
BC = 1.0"
122
3
C
1.0"
A
X
4
2
0.5"
Position Analysis
Draw the linkage to scale. Start with link 2 and locate point A. Locate point C and draw link 4.
Then draw a line corresponding to the path of point C. Then locate point C and draw a circle
1.3" in radius. Draw a line from point A tangent to the circle centered at C. Then locate point B
on the radial line from the tangent point to C.
Velocity Analysis:
Find angular velocity of link 2,
1vA
1vB
(1)
Now,
1v A
1vB / A
3 3
1vB4 /C4
- 94 -
D
Velocity Scale
20 in/sec
Acceleration Scale
100 in/sec 2
b3
b4
1a r
B3 /A3
o'
1a t
B4 / C 4
o
c4
a3
1a t
B3 / A3
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vB / A
3 3
= 27.5 in / s
1vB /C
4 4
= 44.6 in / s
Then
13
14
1vB / A
3 3
1vB /C
4 4
rB/A
rB/C
To determine the direction of 13 , determine the direction that rB/ A must be rotated to be
parallel to 1vB3 / A3 . This direction is clearly counterclockwise.
- 95 -
To determine the direction of 14 , determine the direction that rB/ C must be rotated to be
parallel to 1vB4 /C4 . This direction is clearly clockwise.
Acceleration Analysis:
1aA
1aA /D
2 2
Also,
Going to point B,
1aB
1aB
also,
Then,
1aB /C
4 4
Expanding 1a nB3 /B4 recognizing that there is rolling contact between a circle and flat surface, and
that 1aA 3 = 0,
1a r
1 t
1 n
1 r
1 t
B4 /C4 + a B4 /C4 + a C4 / B4= a B3 /A 3+ a B3 / A 3
which simplifies to
1a t
1 r
1 t
B4 / C4= a B3 / A3+ a B3 /A 3
Now,
1a rB / A = 13 13 rB/A
3 3
(3)
to rB /A)
( to rB/C )
- 96 -
Solve Eq. (3) graphically with an acceleration polygon. From the polygon,
1at
B3 /A3
= 17.2 in / s2
1at
B4 /C4
= 194 in / s2
Then
13
1 4
and
1at
B3 / A3
1at
B4 / C4
rB/ A
rB /C
To determine the direction of 13 , determine the direction that rB/A must be rotated to be parallel
to 1atB3 / A3 . This direction is clearly counterclockwise.
To determine the direction of 14 , determine the direction that rB/C must be rotated to be parallel
to 1atB4 / C4 . This direction is clearly counterclockwise.
Problem 3.22
For the mechanism shown, assume that link 4 rolls on the frame (link 1). If link 2 is rotating CW
with a constant angular velocity of 10 rad/s, determine the angular accelerations of links 3 and 4
and the acceleration of point E on link 3.
300
AB = 0.95"
BC = 3.25"
CD = 1.2"
BE = 1.2"
EC = 3.75"
A
2
B
4
C
2.45"
3
D
Position Analysis
Draw the linkage to scale. Start with link 2 and locate point B. Then draw a line corresponding
to the path of point C. Then locate point C and draw link 4. Then locate point E.
Velocity Analysis:
Find angular velocity of link 2,
1vB
1vC
= 1vB3 + 1vC3 / B3
1vC
= 1vC4
(1)
B
C
E
D
c3
o
1a r
C3 / B3
e'3
b'3
Acceleration Scale
50 in/s 2
b2
Velocity Scale
5 in/s
1a t
C3 / B3
c'3
c'4
1aC3
Now,
1v B
1vC
1vC / B
3 3
= 13 rC / B 1vC3 / B3 = 1 3 rC/ B ( to rC / B)
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vC
= 1vC4 = 7.53 in / s
Also,
1vC / B
3 3
= 4.81in / s
- 98 -
o'
d'1
or
13
1vC / B
3 3
rC / B
To determine the direction of 13 , determine the direction that rB/A must be rotated to be parallel
to 1vB3 / A3 . This direction is clearly counterclockwise.
For link 4,
1vC
14
or
1vC / D
4 4
rC/ D
1aC
1aC
1aD
1an
D4 / D1
(3)
Where F is the center of curvature of the line. Consequently, F is at infinity and both 1aCn4 / F1 and
1an
1 n
1 r
F1 / D1 are zero. Also, aD4 /C4 and a D4 /C4 cancel. Therefore, the acceleration equation reduces
to
1aC
or
+ 1a tD4 / C4 = 0
1a t
D4 /C4 =
1aC4
Now,
1aC
1a rB /A = 12 12 rB/ A
2 2
- 99 -
1atB / A
2 2
1a rC / B = 13 13
3 3
= 13 rC / B 1aCt 3 / B3 = 13 rC / B ( to rC / B)
Solve Eq. (3) graphically with an acceleration polygon. From the polygon,
1aC
= 65.8 in / s2
and by image,
1aE
= 122 in / s2
= 84.2 in / s2
or
13
1atC / B
3 3
rC / B
To determine the direction of 13 , determine the direction that rC / B must be rotated to be parallel
to 1aCt 3 / B3 . This direction is clearly clockwise.
Also,
1atD /C
4 4
or
1 4
1at
D4 / C4
rD/ C
To determine the direction of 14 , determine the direction that rD/C must be rotated to be parallel
to 1atD4 / C4 . This direction is clearly counterclockwise.
- 100 -
Problem 3.23
1"
Cam Contact
2
Rolling Contact
B
FC = 1.0"
FE = 2.2"
FD = 0.75"
DE = 2.4"
C
3
D
45
63
F
1.7"
Velocity Analysis
1v
B2
1v
B3
Therefore,
1v
B3 /F3
(1)
=0
Also,
1v
B3 / F3
1v
B2 / A2
= 1 2 rB/ A ( to rB/ A )
Therefore, we can solve Eq. (1) using the velocity polygon. Using the velocity polygon,
- 101 -
A
2
B
C
D
F
Acceleration Scale
100 in/s 2
o f3
b2 , b 3
Velocity Scale
10 in/s
c'3
o'
a2 , f 3
c3
n
1a B3 / F 3
a2
b'3
1
1v
B2 / A2
t
1a B / F
3
3
rB/ A
To determine the direction of 1 2 , determine the direction that we must rotate rB/ A 90 to get the
direction of 1vB2 / A2 . This is CCW. Also,
1
3
1v
B3 / F3
rB/ F
To determine the direction of 13 , determine the direction that we must rotate rB/ F 90 to get the
direction of 1vB3 / F3 . This is CW.
The velocity of point C3 is found by image. The magnitude is
1v
C3
= 10 in / s
- 102 -
Acceleration Analysis
1a
B2
=1 aA2 +1aB2 / A2 =1 aA2 +1atB2 / A2 +1arB2 / A2 = 1aA2 +12 rB/ A+ 12 (12 rB/ A)
1a =1a
B3
B2
+ 1anB3 / B2
and
1a
B3
1an
B3 / B2
=0
1at
B2 / A2
1ar
B3 / O3
= 1 2 rB/A ( to rB/A)
=
1v
B3 /O3
rB/ O3
1v
O3 / A2
1v
O3 / A2
=0
1ar
O3 / A2
1at
B3 / F3
1 ar
B3 /F3
rO3 / A2
1v
B3 /F3
rB/F
1v
B3 / O3
=0
Note that 1aAr 2 /B2 and 1aBr2 /A2 are in opposite directions and cancel each other. Therefore, the
acceleration equations can be combined into the following simple equation
1at
B3 /F3
(2)
and solved for the unknown magnitudes of 1atB3 /F3 and 1atB2 /A2 .
acceleration polygon,
1
3
1at
B3 /F3
rB/F
To determine the direction of 13 , determine the direction that we must rotate rB/F 90 to get the
direction of 1atB3 /F3 . This is CCW. The acceleration of point C3 is found by image. The
magnitude is
1
aC 3 = 148 in / s2
In the figure shown below, points A, B, and C are collinear. If vA2 = 10 in/s (constant)
downward, find vC3, and aC3.
Cam Contact
45
1"
Rolling Contact
B
C
3
0.35"
0.45"
- 104 -
Cam Contact
A
2
Rolling Contact
B
o
b2 , c 2
Velocity Scale
10 in/sec
a2
Velocity Analysis
1vC
(1)
This can be solved using velocity polygons as shown since we know the directions of 1vA2 and
1v . Therefore, 1v = 10 in/sec.
B2
C2
Acceleration Analysis
Differentiate Eq. (1) to solve for 1aC2.
3
=1 aB3
1aC
and
1aB
=0
1ar
B2 /A 2
1 vB2 /A 2 2
rB/ A
opposite to rB/ A
- 105 -
(2)
1at
B2 / A 2
= 1 2 rB /A (to rB/ A)
1a r
B3 /O 3
1a r
O 3 /A 2
1ar
A2 /B2
1vB3 /O3 2
rB /O 3
1 vO 3 /A 2 2
rO3 / A2
=
=
1 vB3 /O 3 2
=0
1 vO 3 /A 2 2
=0
1 vA2 /B2 2
rA/ B
Note that 1arA2 /B2 and 1arB2 /A 2 are in opposite directions and cancel each other. Therefore, all of
the terms on the right hand side of Eq. (2) are either zero or cancel each other except for
1at
B2 / A 2 . Therefore,
1aB
= 1atB2 /A 2
However, 1aB3 must be horizontal and 1atB2 / A 2 is perpendicular to rB/ A which is not horizontal.
Because the directions are different, the magnitudes must be zero. Therefore, 1aB3 must be zero.
Problem 3.25
Part of an eight-link mechanism is shown in the figure. There is rolling contact at location B and
the velocity and acceleration of points A6 and C5 are as shown. Find 8 and 7 for the position
given. Also find the velocity of E7 by image.
E
D
vC5 = 10 0 in/s
7
AD = 2.25"
DB = 1.0"
AC = 2.85"
vA6 = 10 60 in/s
2
a C5 = 20 270 in/s
72
A
6
C
5
- 106 -
2
aA6 = 20 180 in/s
Position Analysis
Draw the mechanism to scale. Vectors are:
rB/ C = 2 in
rB/ A = 2 in
rD/ B = 1in
Velocity Analysis
E
D
7
8
B
A
5
a6
a7
d7
a6
1 r
aB 7 / A 7
b7 , b8
Ov
Oa
1 r
aB8 / C 8
c5
c5
VE 7
e7
Velocity Scale
5 in/sec
1 r
aD7 / B7
1 t
aB7 / A 7
- 107 -
1 t
a B8 / C8
Acceleration Scale
20 in/sec 2
Velocity analysis:
The basic equations are:
1vB7 =1vB /A +1vA 7
7 7
1vB =1 vB / C +1vC
8
8=
1vB
7+
1 vB
1vB /B
8 7
where
1vB / C
8 8
= 18 rB /C ( to BC)
1vB /A
7 7
= 1 7 rB/ A ( to BA)
1vB / B
8 7
= 0 (rolling contact)
= 1vC5 = 100
1vC
= 1vA6 = 1060
1vA
The solution is given on the polygon. The velocity of E7 is found by image. Then,
1vE
= 18.89 in / sec
1vB / C
8 8
= 2.687 in / sec
1vB /A
7
7
= 9.428 in / sec
Therefore,
18
1vB8 /C8
rB /C
To determine the direction of 1 8 , determine the direction that we must rotate rB/ C 90 to get the
direction of 1vB8 / C8 . This is CW.
Acceleration Analysis
= 1aB7 / A7 + 1aA 7
1
1
8 = aB8 /C8 + aC8
1aB = 1aB + 1aB / B
8
7
8 7
1aB7
1aB
- 108 -
In component form:
1ar
1 t
1
B8 / C8+ a B8 / C8 + aC8
1aA
= 1aC5 = 20270
= 1aA 6 = 20180
1ar
B8 / C8
1ar
B7 /A 7
1ar
B8 / C8
1ar
C8 /D 7
1vB8 /C8 2
rB /C
1v
2
B7 / A7
1r
B7 / A7
1vB8 /C8 2
1vC8 /D 7 2
1v
2
= (2.687) = 3.610 in 2 B to C
2
sec
2
= (9.428) = 44.444 in 2 B to A
2
sec
=0
=0
2
D 7 /B7
1at
B8 / C8
= 18 rB/C ( to BC)
1at
B7 /A 7
rD/B
(4.544)2
= 20.653 in 2 D to B
1
sec
1ar
D7 / B7
= 1 7 rB /A ( to BA)
= 1 7 rB /A = 7.81 in / sec2
Then,
1 7
1at
B7 /A 7
rB /A
To determine the direction of 1 7 , determine the direction that we must rotate rB/ A 90 to get the
direction of 1atB7 /A 7 . This is CW.
- 109 -
Problem 3.26
In the mechanism shown below, link 2 is turning CW at the rate of 20 rad/s, and link 3 rolls on
link 2. Draw the velocity and acceleration polygons for the mechanism, and determine aC3 and
3.
D
C
3
AB = 4.0"
BE = 2.8"
EC = 4.0"
CD = 10"
E
B
6.4"
10.0"
2
A
30
Position Analysis
Draw the linkage by scale. Locate the relative positions of A and D. Locate point B and then
draw the circle arc centered at B. Locate point C by finding the intersection of a circle arc of 10
inches centered at D and a second circle of 6.8 inches centered at B. Finally draw the circle
centered at C and of radius 4.0 inches.
Velocity Analysis:
The equations required for the velocity analysis are:
1vE
= 1vE2 / A2
1vE
= 1vE2 + 1vE3 / E2
1vE
1vC
= 1vC4 =1vC4 / D4
(1)
- 110 -
1vE / C =1 3 rE / C
3 3
3 3
1vC / D
4 4
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
4 in
3
D
4
Acceleration Polygon
E
2000 in/s 2
2
1a r C
E 3/ 3
t
1a C
4 / D4
1 a tE / C
3 3
A
Velocity Polygon
100 in/s
b2
c3
r
1 a C /D
4 4
e3
1 a nE 3 / E 2
o'
c3
1a r / A
E2 2
e '2
o
1vE /C
3 3
or
1 3
Also,
1vC / D
4 4
= 104 in / s
1vE / C
3 3
rE3 / C3
= 69.33 in / s
or
1 4
1vC / D
4 4
rC4 / D4
- 111 -
Acceleration Analysis:
The equations required for the acceleration analysis are:
1aE
= 1aE2 / A2
1aE
= 1aE2 + 1aE3 / E2
1aE
= 1aC3 + 1aE3 / C3
1aC
= 1aC4 = 1aC4 / D4
1a r
1 n
E2 / A2 + aE3 / E2
Now,
1a rE / A = 12
2 2
(2)
1an
E3 / E2
1an
E3 / E2
1vE /C
3 3
rE3 / C3
1vC / B
3 2
rC3 / B2
1v B / E
2 2
rB2 / E2
2
2
2
= 104 48.3 + 56 = 3500 in / s2
4
6.8 2.8
1a rE /C = 1 3 13 rE3 / C3
3 3
Solve Eq. (2) graphically with an acceleration polygon. From the polygon,
1at
E3 /C3
= 770 in / s2
or
1 3
1aEt /C
3 3
rE3 / C3
To find the direction, determine the direction that rE 3 /C3 must be rotated 90 to get the direction
of 1atE3 / C3 . The direction is clearly CCW.
- 112 -
= 1290 in / s2
Problem 3.27
In the mechanism shown below, Link 2 is turning CW at the rate of 200 rpm. Draw the velocity
polygon for the mechanism, and determine vC3 and 3.
D
C
3
AB = 1.0"
BE = 0.7"
EC = 1.0"
CD = 2.5"
1.6"
2 B
2.5"
30
4
C
AB=1.0"
BE=0.7"
EC=1.0"
CD=2.5"
10 in/sec
e2 e3
c3
E
2
B
Velocity Polygon
30.0
A
Ov
Velocity Analysis:
12
1vB
- 113 -
1vE
= 1vE2
1vC
= 1vE3 + 1vC3 / E3
1vE
= 30.57 in / s ( to rE/ A)
1vC
= 1vC4 = 14 rC / D ( to rC / D)
1vE
(1)
Now,
3
1vE /C
3 3
Solve Eq. (1) graphically with a velocity polygon. The velocity directions can be gotten directly
from the polygon. The magnitudes are given by:
1vE3 / C3
= 27 in / s 1 3 =
1v E / C
3 3
rE /C
= 27 = 27 rad / s
1
= 27rad / s CCW
= 18.29 in / s
- 114 -
Problem 3.28
Assume that link 7 rolls on link 3 without slipping and find 7.
AB = 1.8"
BG = 0.85"
GF = 1.7"
BD = 3.9"
DE = 3.25"
AE = 2.0"
0.75"
1.0"
G
C
B
F (-2.0", 0.95")
90
2 = 2 rad/s
Problem 3.29
In the two degree-of-freedom mechanism shown, 2 is given as 10 rad/s CCW. What should the
linear velocity of link 6 be so that 4 = 5 rad/s CCW?
Y
AB = 0.5"
CB = 1.0"
CD = 0.8"
DE = 1.65"
Rolling
Only
210
C
D
2
A
1.75"
2 = 10 rad/s
4
E
5
1.25"
2"
- 115 -
Position Analysis:
Draw the linkage to scale. Locate A and C first. Then draw the two circles and locate point D.
Draw the horizontal line on which E is located and locate E 1.65" from D.
Velocity Analysis:
Compute the velocity of points B3 and D3.
1vB
1vB
= 1vB2 = 1 3 rB3 / C3 1 3 =
1vD
1vB
rB3 / C3
= 5 = 5 rad / s
1
= 1v E5 = 1vD4 + 1vE4 / D4
1vE
= 1v E6 + 1vE4 / E6
1vE
(1)
d3, d4
Velocity Polygon
2 in/s
o'
3
C
D
e6
B
A
6
E
2
Position Polygon
1 in
- 116 -
e4
Now,
1vD
= 4 in / s ( to rD3 /C3 )
1vE / D
4 4
1vE
1vE / E is
4 6
Solve Eq. (1) graphically with a velocity polygon. From the polygon
1vE
Problem 3.30
In the mechanism shown, 2 = 10 rad/s. Determine vC3/C2 and vC3 using two approaches: 1)
Equivalent linkages and 2) Coincident points at C
2
225
3
2
B
A
C
AB = 0.5"
AC = 1.0"
= 1v A2 / B2 = 1 2 rA/ B
1vA
= 1v A3 + 1vA2 / A3
and
2
(1)
- 117 -
Here we have written the velocity equation in terms of the velocity of B2 relative to B3 rather
than vice versa because we can easily identify the direction of the velocity of B2 relative to B3.
We also know the direction for the velocity (and acceleration) of B3.
1vA
= 10(0.5) = 5 in / s ( to AB)
1vA
1v A / A
2 3
2
A 4
3
C
a 2 ,a 4
a 3 ,c 3
Velocity Scale
5 in/s
c2
To analyze the problem, we can determine the velocity and acceleration of any point on link 3
because all points on link 3 have the same velocity and the same acceleration. The point to
choose is the contact point C3. To solve for the velocity and acceleration of C3, first find the
velocity of point C2. Then write the relative velocity expression between points C2 and C3 and
solve for the velocity of C3.
Velocity Analysis
The relevant equations are:
1vC
= 1vC2 / B2 = 12 rC/ B
and
- 118 -
1vC
1vC / B
2 2
1vC
1vC / C
3 2
2
A
3
C
c3
Velocity Scale
5 in/s
c2
- 119 -
Problem 3.31
In the mechanism shown, 2 = 20 rad/s CCW. At the instant shown, point D, the center of
curvature of link 3, lies directly above point E, and point B lies directly above point A.
Determine v C3 / C2 and 3 using: 1) equivalent linkages and 2) Coincident points at C.
D
AB = 0.75"
BC = 1.5"
3
3.5"
C
E
B
A
1.2"
2
X
3.0"
Position Analysis
Draw the linkage to scale. First locate pivots A and E. Then locate point B and draw link 2.
Next locate point D and draw link 3.
Solution (Equivalent Linkage)
The equivalent linkage is a fourbar linkage involving points A, B, D, and E. For the equivalent
linkage, we need only find the velocity of point B2.
The velocity equations which must be solved are:
1vB
1vD
= 1vB2 / A2 = 1 2 rB/ A
Where x is the imaginary link between points B and D. Simplifying and combining terms
1vD / E
3 3
= 1vB2 + 1vDx / Bx
(1)
- 120 -
E
B
c2
Velocity Scale
20 in/s
b2
o
e3
d3
c3
Now
1v B
1vD / E
3 3
1vD / B
x x
13 rD/ E
is perpendicular to DE
is perpendicular to BD
= 1vB2 = 15 in / s ( to AB)
Therefore,
13
1vD3 /E3
rD/E
= 15 = 4.28 rad / s
3.5
To determine the direction of 13 , determine the direction that we must rotate rD/ E 90 to get the
direction of 1vD3 / E3 . This is counterclockwise
To find 1vC3 /C2 , compute 1vC2 and 1vC3 and use
- 121 -
1vC /C
3 2
= 1vC3 1vC2
Both 1vC2 and 1vC3 may be determined by velocity image (or computed directly). From the
polygon,
1vC /C
3 2
= 44.8 in / s
= 1vC2 / A2 = 12 rC / A
1vC
and
Where
1vC2 /A2
1vC / E
3 3
is perpendicular to CE
1vC / C
3 2
and
1vC / E
3 3
= 44.8 in / s
= 9.84 in / s
Therefore,
13
1vC3 /E3
rC/E
To determine the direction of 13 , determine the direction that we must rotate rC / E 90 to get the
direction of 1vC3 / E3 . This is counterclockwise
- 122 -
Problem 3.32
In the position shown, find the velocity and acceleration of link 3 using: 1) equivalent linkages
and 2) Coincident points at C
C
2
3
B
2 A
AB = 0.5"
BC = 1.1"
45
2 = 100 rad/ s CCW
2 = 20,000 rad /s 2 CCW
1v B
= 1 v B2 / A 2 = 1 2 rB / A
1v B
= 1 v B3 + 1v B2 / B3
(1)
Here we have written the velocity equation in terms of the velocity of B2 relative to B3 rather
than vice versa because we can easily identify the direction of the velocity of B2 relative to B3.
We also know the direction for the velocity (and acceleration) of B3.
1vB
= 100(0.5) = 50 in / s ( to AB)
1vB
1v B /B
2 3
C
3
B
4
2
Acceleration Scale
5,000
in/sec
aB 3
aBr 2 /A2
Velocity Scale
50
in/sec
b'2
b2
o'
3a
B2 /B3
b'3
b3
1a B
and
a cB2 / B3 = 2 13
3 vB / B
2 3
=0
The Coriolis term is a function of velocities only and can be computed; however, Links 3 and 4
simply translate making 13 = 0. Therefore, the acceleration expression becomes
1a B
3+
1 aB
3 aB / B
2 3
Therefore, the equation has only two unknowns (once 1aB2 is computed), and the equation can be
solved for 1aB3 and 3aB2/B3.
1ar
B2 / A2
1at
B2 / A2
- 124 -
1 aB
3 aB /B
2 3
Therefore, the equation has only two unknowns (once 1aB2 is computed), and the equation can be
solved for 1aB3 and 3aB2/B3.
The result is shown in the acceleration polygon. From the polygon,
a B3 = 10,200 in/sec2 in the direction shown.
1v C
= 1 v C2 / A2 = 1 2 rC / A
1v C
= 1 v C2 + 1 v C3 / C2
1vC
1vC
1vC / C
3 2
Solve the velocity equation and then solve for the velocity of B2 by image. This will be needed
for the acceleration analysis.
vC3 = 35 in/s in the direction shown.
Acceleration Analysis
The acceleration equations which must be solved are:
1a C
= 1a C2 / A2 = 1 anC2 / A 2 + 1 atC2 / A 2 ,
1a C
- 125 -
C
1 inch
3
2
1
2
c2
Velocity Scale
50 in/sec
n
a C3 /C 2
atC3 /C2
c2
o'
a C3
c3
Acceleration Scale
10,000 in/sec 2
c3
a Cr 2 /A2
a Ct 2 /A2
and
1a n
C3 / C2
b2
1 vC / D 2
3 3
1v D / B 2
3 2
1v B / C 2
2 2
rB /C
1 vB / C 2
2
2
rB / C
Where D3 is the center of curvature of the cam follower surface and is located at infinity. The
final equation which must be solved is
1aC
where
1an
C2 / A 2
1at
C2 / A 2
1aC
1vB2 /C2 2
1an
B2 / C2
1at
C3 /C2
rB/C
Therefore, the equation has only two unknowns (once 1aC2 is computed), and the equation can be
solved for 1aC3 and 1atC3 /C2 .
The result is shown in the acceleration polygon. From the polygon,
a C3 = 10,200 in/sec2 in the direction shown.
Problem 3.33
Locate all of the instant centers in the mechanism shown below. If the cam (link 2) is turning
CW at the rate of 900 rpm, determine the linear velocity of the follower.
3
103
R
AB = 1.5"
R = 0.75"
B
2
70
A
Position
- 127 -
2 = 900 rpm =
900(2 )
= 94.25 rad / s CW
60sec
and
v P2 = v A2 + v P2 / A2
v P3 = v P2 + v P3 / P2
- 128 -
Now,
- 129 -
v P3 = 81.17 in / s
- 130 -
Problem 3.34
In the mechanism shown, vA2 = 20 in/s. Find 5 and 34. Indicate on link 4 the point which has
zero velocity. In the drawing, H and G are the centers of curvature of links 4 and 5, respectively,
corresponding to location D. F is the center of curvature of link 3 corresponding to C. Also,
point G lies exactly above point E.
H
vA2
2
5
G
Rolling
E
20
2.0"
F
1.25"
3
C
Rolling and
Sliding
CF = 0.7"
BF = 0.84"
AF = 1.85"
BH = 1.88"
DH =
1.14"
DG = 1"
EG = 0.6"
4.2"
Position Analysis
Locate point points A and E. Draw a line 1.3 inches below A and locate point F at a distance of
1.85" from A. Next locate C by drawing a circle arc about F. Then locate B at an angle of 20
from the line AF. Locate center G and then locate center H. Draw the two circle arcs to locate
D.
Velocity Analysis:
1vA
= 1vA2
1vF
= 1vA3 + 1vF3 / A3
1vF
in horizontal direction
(1)
Now,
3
1vF /A
3 3
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vF / A
3 3
= 28.11in / s
- 131 -
O4
H
4
A
E
b3
3
F
a3
Velocity Polygon
b3
10 in/sec
b4
f3
o
o
e5 4
d4 d 5
= 1vD 5
1vD
1vD
= 1vE 5 + 1vD5 / E 5
4
4
and
1vD / E = 1vB
5 5
4
+ 1vD4 /B4
(2)
Now,
1vD /B
4 4
- 132 -
1vD / E
5 5
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
1v D4 /B4
= 10.30 in / s
1v D / E5
5
= 6.91 in / s
14
15
1vF / A
3 3
rF / A
1vD / B
4 4
1vD / E
5 5
rD/ B
rD/ E
To determine the direction for 13 , determine the direction that rF / A must be rotated to be in the
direction of 1vF3 / A3 . From the polygon, this direction is CW.
To determine the direction for 14 , determine the direction that rD/ B must be rotated to be in the
direction of 1vD4 / B4 . From the polygon, this direction is CW.
To determine the direction for 15 , determine the direction that rD/ E must be rotated to be in the
direction of 1vD5 / E5 . From the polygon, this direction is CCW.
To find 34 use the chain rule for angular velocities. Then,
34
34
or
To find the point on link 4 which has zero velocity, use the velocity image. The resulting
location is shown in the figure.
- 133 -
Problem 3.35
On the mechanism shown, link 4 slides on link 1, and link 3 slides on link 4 around the circle
arc. Link 2 is pinned to links 1 and 3 as shown. Determine the location of the center of
curvature of the path that point P4 traces on link 2.
P
3
r = 1.0"
AP = 0.75"
AC = 0.4"
2
A
C
r
2, 2
2 = 10 rad/s CW
2 = 100 rad/s 2 CW
Velocity Analysis:
The center of curvature of the path involves only velocity and position information. Therefore,
we need perform only a velocity analysis.
1vP
(1)
Now,
1vP2 /A2
1vP
1vP / P
2 4
( to rP/ C)
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vP2 /P4
Also,
1vP
= 4.675 in / s
= 3.536 in / s
To find the center of the curvature of the path that P4 traces on link 2, we must find an
expression which involves that the radius of curvature of the path. This term is 1a nP4 / P2 and it can
be evaluated from the following:
- 134 -
P
3
A
4
C
r
Velocity Polygon
5 in/s
o
1a P4 /P2 =
P2
P4
1a P2 /P4
therefore,
and
Also,
1a t
P4 / P2 =
1a tP2 / P4
1a n
P4 / P2 =
1a nP2 / P4
2an
P4 / P2
Now,
4an
P2 / P4
1v P / P
2
rP/ C
(
)2
= 4.675 = 21.86 in / s2 (from P to C)
1
1vP4 / P2
rB/ E
So,
- 135 -
(3)
rB/ E =
1vP / P
4 2
= ( 4.675) = 0.327 in
66.9
66.9
Therefore, the center of the curvature of the path that B3 traces on link 2 is in same direction of
rC/P as shown in the drawing.
Problem 3.36
For the mechanism shown, find 2, 2, vB2, aB2, vD3, aD3, and the location of the center of
curvature of the path that point B3 traces on link 2.
AB = AC = 10 cm
3 = 1rad/ s CCW
CD = 14 cm
3 = 1 rad/ s2 CW
D
B
3
60
Position Analysis
Locate points A and C. Construct link 2 at an angle of 60 from the line AC. Draw the line CD
from C and through B.
- 136 -
Velocity Polygon
10 cm/s
Acceleration Polygon
10 cm/s 2
b2
B
d3
1a r
B3 /C 3
o
o'
b3
1a r
B2 /A 2
3a
1a t
B2 /A 2
Velocity Analysis:
1vB
= 1vB3 + 1vB2 / B3
1vB
= 12 rB/ A ( to rB/ A)
1vB
(1)
Now,
2
1vB / B
2 3
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vB2
= 0.200 m / s
1 2
or
1vB
rB/ A
Also,
1vB / B
2 3
= 0.173 m / s
- 137 -
d
3
1a t
B3 /C 3
a B2 /B3
b
3
B2 /B 3
b2
The velocity of D3 can be computed directly because it is located on the driver link.
1vD
Acceleration Analysis:
1aB
= 1aB3 + 1aB2 / B3
1a r
1 t
B2 / A2 + aB2 / A2
(2)
Now,
1a rB /A = 12
2 2
1a rB / C = 13
3 3
1ac
B2 / B3
3aB / B
2 3
Solve Eq. (2) graphically with a acceleration polygon. From the polygon,
1at
B2 / A2
= 0.201m / s2
and
1 2
1at
B2 / A2
rB/ A
= 2.01 rad / s2 CW
The acceleration of D3 can be computed by image or directly since it is on the driver link. The
magnitude of the acceleration is
1aD
= 0.200 m / s 2
- 138 -
Problem 3.37
If 2 = 10 rad/s (constant), find vB2, vB3, aB3, and aC4.
2"
D
BC = 2.0"
AD = 2.84"
C
4
3
Y
0.92"
1.7"
2 , 2
A
Position Analysis
Draw the mechanism to scale. Start by drawing points A and C. Then locate point B. Locate
point D to be 2.84 inches above A and 2 inches from B.
Velocity Analysis:
1vB2
1vB
= 1vB4 = 1vB2 + 1v B3 / B2
1vB
= 20.133 in / s ( to rB/ A)
1vB
Now,
1vB / B
3 2
(1)
( to rB/D)
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vB
= 23.9 in / s
- 139 -
D
BC = 2.0"
AD = 2.84"
Acceleration Polygon
100 in/s 2
C
4
b'3
o'
1a B
3
2
1 a rB A
2/ 2
2 a rB B
3/ 2
2 a tB B
3/ 2
b'2
b2
Velocity Polygon
10 in/s
c
1a B
3 / B2
b3
Also,
1vB / B
3 2
= 12.8 in / s
Acceleration Analysis:
1aB
= 1aB4
1aB
= 1aB2 + 1aB3 / B2
1a B
1aB
(2)
Now,
rB/A
1a rB / A = 12
2 2
1atB / A
2 2
- 140 -
2arB / B
3 2
2 at
B3 / B2
1ac
B3 / B2
vB3 / B2
2
= 12.8 = 81.9 in / s 2 in the direction of - rB/ D
rB/ D
2
Solve Eq. (2) graphically with a acceleration polygon. From the polygon,
1aB
Problem 3.38
In the mechanism shown, 2 = 10 rad/s CW (constant). Determine the angular acceleration of
link 3.
D
4
30
AC = 4 in
AB = 2 in
h = 4 in
Position Analysis
Draw the linkage to scale. Locate the pivots A and C and the line of motion of point D. Next
draw link 2 and locate B. Then draw link 3 and locate point D.
Velocity Analysis:
1vB
= 1vB3 + 1vB2 / B3
(1)
Now,
- 141 -
1vB
1vB
= 1 3 rB/ C ( to rB/C )
1vB / B
2 3
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
= 15.1 in / s
1vB
Velocity Polygon
10 in/s
4
o
b3
30 2
Acceleration Polygon
100 in/s 2
o'
r
1a B
3 /C 3
r
1 a B /A
2 2
a'2
C
c
1 a B /B
2 3
b2
t
1a B
3 /C 3
3 a B /B
2 3
or
13
1vB
rB/ C
Also,
1vB / B
2 3
= 13.1 in / s
Acceleration Analysis:
1aB
= 1aB3 + 1aB2 / B3
1a r
1 t
B2 / A2 + aB2 / A2
where
1a rB / A = 12
2 2
- 142 -
(2)
1a rB / C = 13
3 3
3aB / B
2 3
1ac
B2 / B3
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
1 3
1aBt / C
3 3
rB/C
therefore,
13
Problem 3.39
In the mechanism shown, slotted links 2 and 3 are independently driven at angular velocities of
30 and 20 rad/s CW and have angular accelerations of 900 and 400 rad/s2 CW, respectively.
Determine the acceleration of point B, the center of the pin carried at the intersection of the two
slots.
B
Y
3
60
X
130
C (4", -1")
- 143 -
Position Analysis
Locate the pivots A and C. Then draw links 2 and 3 in the orientations shown.
rB/ A = 2.58 in
rB/C = 4.23 in
Velocity Analysis
Consider the points at location B.
1vB
1vB
= 1vB3 + 1v B4 / B3 = 1vB2 + 1v B4 / B2
(1)
Where,
1vB / B
4 2
is along rB/ A
1vB / B
4 3
is along rB/C
in/s
1vB / B =113
4 3
in/s
Acceleration Analysis
Consider the points at location B.
1aB
1aB
or
1ar
B3 / C3
Where,
- 144 -
(2)
1arB /C
3 3
2
= 1 3 rB/C = 202(4.23) = 1690 in / s2 (opposite rB/ C)
1at
B3 /C3
3at
B4 / B3
along rB/C
o
B
b2
Velocity Scale
b3
50 in/sec
2
3
A
b4
2 at
B4 /B 2
b'4
a'2
t
3 a B /B
4 3
o'
r
1 a B /A
2 2
c
1 a B /B
4 2
b'3
r
1a B
3 /C 3
1a t
B3 /C 3
Acceleration Scale
1a t
B2 /A 2
2000 in/s 2
1a c
B 4 /B 3
3ar
B4 / B3
3vB / B
4 3
b'2
=0
1at
B2 / A2
Sol
1at
B2 / A2
along rB/A
2ar
B4 / B2
2v B / B
4 2
=0
Problem 3.40
For the mechanism shown, find 3, 3, aB3, and the location of the center of curvature of the
path that point B3 traces on link 2.
2
A
117
2, 2
12"
AC = 9 in
AB = 2 in
2 = 50 rad/s
2 = 0
Velocity Analysis:
1vB
1vB
= 1vB3 / C3
Now,
1vB /A
2
2
(1)
- 146 -
= 13 rB /C ( to rB /C )
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vB
= 60.78 in / sec
13
or
1vB3 /C3
rB3 /C3
Also,
1vB /B
2 3
= 103.12 in / sec
Acceleration Analysis:
1aB
= 1aB2 / A 2 = 1a B3 + 1aB2 / B3
1aB
= 1aB3 / C3
a rB2 /A 2 +1 a tB2 / A2 = 1a rB3 / C3 + 1a tB3 /C3 + 3a nB2 / B3+ 3a tB2 / B3+ 213 3vB2 / B3
(2)
Now,
1a r
1
1
1 r
B2 / A2 = 2 ( 2 rB2 /A 2 ) a B2 /A 2
r
in the direction opposite to B 2 / A 2
1at
1
1 t
1
2
B2 /A 2 = 2 rB2 / A2 aB2 /A 2 = 2 rB2 / A2 = 02 = 0 in / sec ( to rB2 / A 2)
1a r
1
1
1 r
1 2
2
2
B3 /C3= 3 ( 3 rB3 /C3) a B3 /C3 = 3 rB /C = 7.335 8.286 = 445.805 in / sec
1v B2 /B3 2
rB/ D
( to rB/ D)
- 147 -
G
B
3
2
A
E
t
1 a B /C
3 3
c
1 a B /B
2 3
o'
1a r
B3 / C3
a B 2 /A 2
Acceleration Polygon
1000 in/sec
1 at
B3 /C 3
1a
Velocity Polygon
B3
100 in/sec
b3
n
3 aB
2 / B3
b2
b2
o
3 at
B2 / B3
b3
Solve Eq. (2) graphically with an acceleration polygon. From the polygon,
1at
B3 / C3
= 4880 in / sec2
or
13
1a t
B3 / C3
rB /C
Also, to find the 1aB3 , add 1atB3 / C3 in the acceleration polygon to 1arB3 / C3 ,
1aB
= 4900 in / sec2
- 148 -
To find the center of the curvature of the path that B3 traces on link 2, we must find an
expression which involves that the radius of curvature of the path. This term is 2 an B3 /B2 and it
can be evaluated from the following:
1a B / B =
2 3
1a B3 /B2
therefore,
1a t
B2 / B3=
1a tB3 /B2
and
a nB2 /B3= 1a nB3 / B2
Also,
3 an
B2 /B3
(3)
3 an
B2 /B3
Now,
Let E be the location of the center of curvature of B3 on link 2. If we choose rD/B as the positive
direction,
2 an B /B
3 2
1vB3 /B2 2
rB /E
Because 2 an B3 /B2 points from B toward E, point E must lie on the same side of B as D does.
The magnitude of the distance is given by
rB/ E =
1vB3 / B2 2
= 103.12 = 0.972 in
10,937
10,937
2
- 149 -
Problem 3.41
For the mechanism shown, points C, B and D are collinear. Point B2 moves in a curved slot on
link 3. For the position given, find 3, 3, vB3,aB3, vD3,aD3, and the location of the center of
curvature of the path that point B3 traces on Link 2.
AB= AC =5m
2 = 2 rad/ s CCW
CD =7m
CE = 5.7m
2 = 3 rad/ s2 CCW
B
3m
E
2
3
60
A
Position Analysis:
Draw the linkage to scale. Start by locating the pivots A and C. Next draw link 2 and locate
point B. Next find point E and draw the arc at B. Also locate point D.
Velocity Analysis:
1vB
1vB
(1)
1vB
(2)
1vB
2
2
or
3
3
1vD
= 1vD3 / C3 = 13 rD3 / C3
- 150 -
Now, to find 1vB3 , we can use either equ.1 or equ.2. However, to see 1vB3 /B2 , it is better to
begin with Eq..(1).
F
D
Velocity Scale
5 m/sec
b2
o
E
2
3
d3
b3
C
n
a B2 /B3
o'
1a r
B3 /C 3
1a r
B2 /A 2
b
3
c
a B2 /B3
1a t
B3 /C 3
d'3
Acceleration Polygon
10 m/sec2
3a
B2 /B 3
1a t
B2 /A 2
b2
1a t
B3 /C 3
= 13 rB/ C ( to rB/ C)
1vB
1vB
1vB /B
2 3
Solve Eq. (1) graphically with a velocity polygon. The velocity directions can be gotten directly
from the polygon. The magnitudes are given by:
1vB / B
2 3
= 8.66m / sec.
Also,
1vB
= 5 m / sec 1 3 =
1vB3
rB/C
= 5 = 1rad / sec
5
Acceleration Analysis:
1 B
1 B
= 1B3 + 1B2 / B3
also
1 B / A
2 2
Or
1a r
1 t
B2 / A2 + aB2 /A 2
Now,
1a r
1
1
1 r
B2 / A2 = 2 ( 2 rB/ A ) a B2 /A 2
1a r
1
1
1 r
B3 /C3= 3 ( 3 rB /C) a B3 /C3
= 13 2 rB/ C = 12 5 = 5 m / sec2
- 152 -
(2)
1at
B3 / C3
1ac
B2 /B3
1an
B2 /B3
3 aB /B
2 3
3vB2 / B3 2
rB/ E
Solve Eq. (2) graphically with a acceleration polygon. From the polygon,
13
1a t
B3 /C3
rB /C
The accelerations of D3 and B3 can be computed by image. The direction of the accelerations
are given in the polygon and the magnitudes of the accelerations are
1aD
= 8.00 m / sec2
1aB
= 5.71m / sec2
To find the center of the curvature of the path that B3 traces on link 2, we must find an
expression which involves that the radius of curvature of the path. This term is 2 an B3 /B2 and it
can be evaluated from the following:
1a B / B =
2 3
1a B3 /B2
therefore,
1a t
B2 / B3=
1a tB3 /B2
and
a nB2 /B3= 1a nB3 / B2
Also,
3 an
B2 /B3
Now,
- 153 -
(3)
3 an
B2 /B3
= 25 m / sec2 (from B to E)
Let F be the location of the center of curvature of B3 on link 2. If we choose rD/B as the positive
direction,
2 an B /B
3 2
1vB3 /B2 2
rB /F
Because 2 an B3 /B2 points from F toward B, point E must lie on the opposite same side of B than
F. The magnitude of the distance is given by
rB/ F =
1vB3 /B2 2
7.68
= 8.66 = 9.765m
7.68
2
Problem 3.42
If the mechanism shown is drawn full scale, find 3, 3, and the location of the center of
curvature of the path that point B3 traces on Link 2. Assume that Link 2 is driven at constant
velocity.
B
2
1.25"
AB = 1"
AC = 4.3"
60
Velocity Analysis:
1vB
1vB
= 1vB3 / C3
2
3
(1)
Now,
1vB /A
2
2
- 154 -
1vB / C =1 3 rB / C 1v B /C
3 3
3 3
3 3
1vB /B
2 3
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vB
= 123.66 in / sec
13
or
1vB3 /C3
rB3 /C3
Also,
1vB /B
2 3
= 201.77 in / sec
Acceleration Analysis:
1aB
= 1aB2 / A 2 = 1a B3 + 1aB2 / B3
1aB
= 1aB3 / C3
(2)
Now,
1a r
1
1
1 r
B2 / A2 = 2 ( 2 rB/ A ) a B2 /A 2
1a r
1
1
1 r
B3 /C3= 3 ( 3 rB3 /C3) a B3 /C3
r
in the direction opposite to B 3 / C3
1at
B3 / C3
3 aB /B
2 3
- 155 -
A
1a r
B3 / C3
Velocity Polygon
o'
100 in/sec
Acceleration Polygon
10000 in/sec 2
b3
b2
1 ar
B2 /A 2
o
t
1a B
3 /C3
b
2
c
1a B
2 /B3
b
3
3a
B2 / B3
Solve Eq. (2) graphically with an acceleration polygon. From the polygon,
1at
B3 / C3
= 45706 in / sec2
or
13
1a t
B3 /C3
rB3 /C3
- 156 -
To find the center of the curvature of the path that B3 traces on link 2, we must find an
expression which involves that the radius of curvature of the path. This term is 2 an B3 /B2 and it
can be evaluated from the following:
1a B / B =
2 3
1a B3 /B2
therefore,
1a t
B2 / B3=
1a tB3 /B2
and
a nB2 /B3= 1a nB3 / B2
Also,
3 an
B2 /B3
(3)
3 an
B2 /B3
Now,
1vB2 / B3 2
= 0 m / sec2
Let E be the location of the center of curvature of B3 on link 2. If we choose "gnerally upward"
as the positive direction,
2 an B /B
3 2
1vB3 /B2 2
rB /E
Because 2 an B3 /B2 points from B toward E, point E must lie in the "generally downward"
(opposite "generally upward") direction from B in a direction perpendicular to the slot. The
magnitude of the distance is given by
rB/ E =
1vB3 / B2 2
1016
= 201.77 = 0.435 in
93511
2
- 157 -
Problem 3.43
If 2 = 20 rad/s (constant), find 3, 3, and the center of curvature of the path that C3 traces on
Link 2.
CD = 0.6"
AD = 4.0"
R = 1.35"
AB = 3.22"
Center of Curvature
of Slot
B
Y
Pin in Slot
R
C
102
X
2
Position Analysis
Locate the pivots A and D. Then draw link 2 and locate C. Next locate B and draw the circle
arc through C.
Velocity Analysis:
1vC
1vC
(1)
= 1vC3 /A 3
Now,
1vC / D
2 2
1vC /A
3 3
1vC /C along
2 3
the slot
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vC
= 9.37 in / sec
or
13
1vC3 / A3
rC3 /A 3
Also,
- 158 -
1vC /C
2 3
= 15.66 in / sec
Acceleration Analysis:
1aC
1aC
= 1aC3 /A 3
1a r
1 t
C2 / D2 + aC2 / D2
Now,
1a r
1
1
C2 / D2 = 2 ( 2
(2)
1a r
1
1
1 r
C3 /A 3= 3 ( 3 rC3 / A3) a C3 / A3
1vC2 / C3 2
rC3 /B3
- 159 -
B
R
C
3
2
D
A
r
1 a C /A
3 3
o'
c
1 a C /C
2 3
Velocity Scale
10 in/sec
c3
1 ar
C 2 /D 2
c2
c2
Acceleration Scale
100 in/sec 2
r
3 aC
2 /C 3
t
1 a C /A
3 3
t
3 aC
2 /C 3
3 at
C2 /C3
( to rC3 /B3)
Solve Eq. (2) graphically with an acceleration velocity polygon. From the polygon,
1at
C3 /A 3
= 380.49 in / sec 2
or
13
1a t
C3 / A3
rC3 / A3
- 160 -
To find the center of the curvature of the path that C3 traces on link 2, we must find an
2 n
a
expression which involves that the radius of curvature of the path. This term is C3 / C2 and it
can be evaluated from the following:
1aC /C
3 2
=1aC2 /C3
therefore,
1at
C3 /C2
=1atC2 /C3
1an
C3 /C2
=1 anC2 /C3
2 an
C3 /C2
and
Also,
(3)
3 an
C2 /C3
Now,
1 vC2 /C3 2
rC3 / B3
1vC3 /C2 2
rC3 /E 3
So,
rC3 /E 3 =
1vC3 /C2 2
733.17
2
= 15.66 = 0.334 in
733.17
Therefore, the center of the curvature of the path that B3 traces on link 2 is in opposite direction
of BC as shown in the sketch.
- 161 -
Problem 3.44
If 2 = 10 rad/s (constant), find 3.
B
AC = 10.5 cm
BC = 13.0 cm
3
2
105
A
1 2
Position Analysis
Locate points A and C. Then draw the line AB. Next locate point B at a distance of 13 cm from
point C.
Velocity Analysis:
1vB
=1 vB2 +1 vB3 / B2
1vB
1vB
Now,
2
3
1vB / B
3 2
(1)
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vB
= 86.581 cm / sec
13
or
1vB3
rB/ C
- 162 -
1 3 = 6.66
rad / sec CW
Also,
1vB / B
3 2
= 67.532 cm / sec
Acceleration Analysis:
1aB
1a r
1 t
1 r
B3 /C3+ a B3 / C3= aB2 /A 2
Now,
1a r
1
1
1 r
B3 /C3= 3 ( 3 rB /C) a B3 /C3
1a r
1
1
1 r
B2 / A2 = 2 ( 2 rB/ A ) a B2 /A 2
=1 2 rB /A 1a tB2 /A 2 = 1 2 rB/ A = 0
1ac
B3 / B2
- 163 -
B
3
b
3
b3
Velocity Polygon
10 cm/sec
Acceleration Polygon
1 at
B 3 /C 3
200 cm/sec 2
o'
b2
1ar
B3 / C 3
1ar
B2 / A 2
acB3 / B 2
b2
o
2a
B3 /B2
Solve Eq. (2) graphically with a acceleration polygon. From the polygon,
13
1a t
B3 / C3
rB /C
rad / sec2 CW
- 164 -
2 aB / B
3 2
Problem 3.45
For the linkage shown, 2 = 10 rad/s CCW and 2 = 100 rad/s2 CCW. Determine 3, and 3.
2 , 2
210
B
A
2
C
3
AB = 1.8"
AC = 1.0"
BD = DC = 2.0"
Position Analysis
Draw the mechanism to scale. First locate the relative position of points A and B. Next locate
point C. Locate point D at the intersection of two circle arcs: one centered at C and with a 2"
radius, the other centered at point B with a 2" radius. Next draw a circle arc through C and
centered at D and of radius 2"
Velocity Analysis:
1vC
1vC
= 1vC3 / B3
(1)
Now,
1vC /A
2 2
1vC / B
3 3
1vC / C
2 3
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
Also,
1vC / C
2 3
= 8.817 in / s
1vC / B
3 3
= 2.917 in / s
or
1 3
1vC / B
3 3
rC3 / B3
- 165 -
Velocity Polygon
10 in/s
o
C
c3
3
3 a tC / C
2 3
c2
D
t
1aC /B
3 3
r
1a C
2/ A2
o
a Cc 2/ C 3
t
1a C
2/ A2
r
1a C
3/ B 3
r
3a C
2/ C 3
Acceleration Polygon
50 in/s 2
c'2
Accelration Analysis:
1aC
1aC
= 1aC3 / B3
1a r
1 t
C2 / A2 + aC2 / A2
Now,
1a rC /A = 12
2 2
1a rC / B = 13 13
3 3
- 166 -
(2)
1vC /C
2 3
3ar
C2 / C3
3at
C2 / C3
( to rC3 / D3 )
rC3 / D3
= 164 in / s2
or
1 3
t
1aC
3 / B3
rC3 / B3
Problem 3.46
If 2 = 10 rad/s CW (constant), find
a) 3
b) The center of curvature of the path that B2 traces on link 3 (show on drawing).
c) The center of curvature of the path that B3 traces on link 2 (show on drawing).
AB = 2"
AC = 4"
B
40
Position Analysis
Draw the linkage to scale. Start by locating points B and C relative to A. The line BC gives the
direction of travel of B relative to link 3.
- 167 -
G
o
B
AB = 2"
AC = 4"
Velocity Polygon
10 in/sec
b3
2
E
40
b2
3
Velocity Analysis:
1vB
= 1vB3 + 1vB2 / B3
1vB
1vB
= 13 rB/ C ( to rB/ C)
(1)
Now,
2
3
1vB /B
2 3
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vB
= 7.647 in / sec
13
or
1vB3
rB/ C
Also,
1vB /B
2 3
= 18.48 in / sec
Also, the center of curvature (Point G) of the path that B2 traces on link 3 is at infinity and is
perpendicular to rB/ C .
- 168 -
To find the center of the curvature (Point E) of the path that B3 traces on link 2, we must find an
expression which involves that the radius of curvature of the path. This term is an B3 /B2 and it
can be evaluated from the following:
1aB /B
2 3
=1aB3 / B2
therefore,
1at B /B
2 3
=1at B3 / B2
1an B /B
2 3
=1 an B3 / B2
and
Also,
3 an B /B + 2 13 1vB / B
2 3
2 3
= 2 an B3 / B2 2 12 1vB3 / B2
(2)
Because the center of the curvature of the path that B2 traces on link 3 is at infinity, the first term
of the left hand side of Eq (2) is 0. Therefore,
2 an B /B
3 2
= 2 1 3 1 vB2 / B3 21 2 1 vB3 / B2
(3)
1vB3 /B2 2
rB /E
So,
rB/ E =
1v B3 / B2 2
2
= 18.48 = 0.724 in
471.166 471.166
Therefore, the center of the curvature of the path that B3 traces on link 2 is in the opposite
direction of BG as shown in the sketch.
- 169 -