QN

Derive appropriate equation for the portion, velocity and acceleration of the block in terms of the
given parameters and the crank angle. Using a computer package/program of your choice use the
numberical values in question to plot position and velocity of the block against crank angle.

For the first

Xxxxxxxx

Vector loop equation

𝑅1 + 𝑅2 − 𝑅3 = 0

𝑎𝑒 𝑗𝜃1 + 𝑏𝑒 𝑗𝜃2 − 𝑐𝑒 𝑗𝜃3 = 0

𝑎 (𝑐𝑜𝑠𝜗1 + 𝑗𝑠𝑖𝑛𝜃1 + 𝑏 ( 𝑐𝑜𝑠𝜃2 + 𝑗𝑠𝑖𝑛𝜃2 ) − 𝑐(𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑖𝑛𝜃3 ) = 0

Real part

𝑎 𝑐𝑜𝑠𝜃1 + 𝑏 𝑐𝑜𝑠𝜃2 − 𝑐 𝑐𝑜𝑠𝜃3 = 0

Imaginary part

𝑎 𝑠𝑖𝑛𝜃1 + 𝑏 𝑠𝑖𝑛𝜃2 − 𝑠𝑖𝑛𝜃3 = 0

But 𝜃1 = 90

𝑏 𝑐𝑜𝑠𝜃2 = 𝑐 𝑐𝑜𝑠𝜃3 _____________________________(𝑖)

𝑎 + 𝑏𝑠𝑖𝑛𝜃2 = 𝑐 𝑠𝑖𝑛𝜃3 _____________________________(𝑖𝑖)

Equation (𝑖)2 + (𝑖𝑖)2

𝑐 2 𝑐𝑜𝑠 2 𝜃3 + 𝑐 2 𝑐𝑠𝑖𝑛2 𝜃3 = 𝑏 2 𝑐𝑜𝑠 2 𝜃2 + 𝑎2 + 2𝑎𝑏𝑠𝑖𝑛𝜃2 + 𝑏 2 𝑠𝑖𝑛2 𝜃2

𝑐 2 (𝑐𝑜𝑠 2 𝜃3 + 𝑠𝑖𝑛2 𝜃3 ) = 𝑎2 + 2𝑎𝑏𝑠𝑖𝑛𝜃2 + 𝑏 2 (𝑐𝑜𝑠 2 𝜃2 + 𝑠𝑖𝑛2 𝜃2

𝑐 2 = 𝑎2 + 2𝑎𝑏𝑠𝑖𝑛𝜃2 + 𝑏 2
𝐶 = √𝑎2 + 𝑏 2 + 2𝑎𝑏𝑠𝑖𝑛𝜃2

𝑆𝑢𝑏 𝑐 𝑖𝑛 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑖

𝑐 𝑐𝑜𝑠𝜃3 = 𝑏𝑐𝑜𝑠𝜃2

𝑏 𝑐𝑜𝑠𝜃2
𝑐𝑜𝑠𝜃3 = √𝑎2 + 𝑏 2 + 2𝑎𝑏𝑠𝑖𝑛𝜃2

𝑏 𝑐𝑜𝑠𝜃2
−1
𝜃3 = 𝑐𝑜𝑠 [√𝑎2 + 𝑏 2 + 2𝑎𝑏𝑠𝑖𝑛𝜃2 ]

Velocity equation

𝑅1 + 𝑅2 − 𝑅3 = 0

𝑎𝑒 𝑗𝜃1 + 𝑏𝑒 𝑗𝜃2 − 𝑐𝑒 𝑗𝜃3 = 0

𝑗𝑎𝑤1 𝑒 𝑗𝜃1 + 𝑗𝑏𝑤2 𝑒 𝑗𝜃2 − 𝑗𝑐𝑤3 𝑒 𝑗𝜃3 − 𝑐𝑒 𝑗𝜃3 = 0

But 𝜃1 = 90

𝑤1 = 0

𝑗𝑏𝑤2 𝑒 𝑗𝜃2 − 𝑗𝑐𝑤3 𝑒 𝑗𝜃3 − 𝑒 𝑗𝜃3 – 𝑐 𝑒 𝑗𝜃3 = 0

𝑗𝑏𝑤2 (𝑐𝑜𝑠𝜃2 + 𝑗𝑠𝑖𝑛𝜃2 ) − 𝑗𝑐𝑤3 (𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑖𝑛𝜃3 ) − 𝑐 (𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑖𝑛𝜃3 ) = 0

Real part

−𝑏𝑤2 𝑠𝑖𝑛𝜃2 + 𝑐𝑤3 𝑠𝑖𝑛𝜃3 − 𝑐 𝑐𝑜𝑠𝜃3 = 0 ________________________(𝑖𝑖𝑖)

Immaginary part

𝑏𝑤2 𝑐𝑜𝑠𝜃2 − 𝑐𝑤3 𝑐𝑜𝑠𝜃3 − 𝑐 𝑠𝑖𝑛𝜃3 = 0 ________________________(𝑖𝑣)

From equation (i)

 𝑐𝑤3 𝑠𝑖𝑛𝜃3 − 𝑏𝑤2 𝑠𝑖𝑛𝜃2
𝐶= ___________________________________(𝑣)
𝑐𝑜𝑠𝜃3

𝑐𝑤3 𝑠𝑖𝑛𝜃3 −𝑏𝑤2 𝑠𝑖𝑛𝜃2

𝑏𝑤2 𝑐𝑜𝑠𝜃2 − 𝑐𝑤3 𝑐𝑜𝑠𝜃3 − ( ) 𝑠𝑖𝑛𝜃3 = 0
𝑐𝑜𝑠𝜃3

𝑏𝑤2 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃3 − 𝑐𝑤3 𝑐𝑜𝑠 2 𝜃3 − 𝑐𝑤3 𝑠𝑖𝑛2 𝜃3 + 𝑏𝑤2 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃3 = 0

𝑏𝑤2 (𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃3 + 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃3 ) − 𝑐𝑤3 (𝑐𝑜𝑠 2 𝜃3 + 𝑠𝑖𝑛2 𝜃3 )

𝑏𝑤2 (𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃3 + 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃3 ) − 𝑐𝑤3 (𝑐𝑜𝑠 2 𝜃3 + 𝑠𝑖𝑛2 𝜃3 )

𝑏𝑤2 ( 𝑐𝑜𝑠𝜃2 − 𝜃3 )
𝑊3 =
𝑐3

(a)

Sub 𝑤3 into equation

𝑏𝑤2 (cos(𝜃2 − 𝜃3 )
𝐶 ( )
𝐶
𝐶=
𝑐𝑜𝑠𝜃3

𝑏𝑤2 𝑠𝑖𝑛𝜃3 (cos ( 𝜃2 − 𝜃3 )) − 𝑏𝑤2 𝑠𝑖𝑛𝜃2

𝐶=
𝑐𝑜𝑠𝜃3

𝑏𝑤2 [cos ( 𝜃2 − 𝜃3 )𝑠𝑖𝑛𝜃3 − 𝑠𝑖𝑛2 ]

𝐶=
𝑐𝑜𝑠𝜃3
Acceleration equation

From

𝑅1 + 𝑅2 − 𝑅3 = 0

𝑎𝑒 𝑗𝜃1 + 𝑏𝑒 𝑗𝜃2 − 𝑐𝑒 𝑗𝜃3 = 0

𝑗𝑎𝑤1 𝑒 𝑗𝜃1 + 𝑗𝑏𝑤2 𝑒 𝑗𝜃2 − 𝑗𝑐𝑤3 𝑒 𝑗𝜃3 − 𝑐𝑒 𝑗𝜃3 = 0

But 𝜃1 = 90 and 𝑤1 = 0

𝑗𝑏𝑤2 𝑒 𝑗𝜃2 − 𝑗𝑐𝑤3 𝑒 𝑗𝜃3 − 𝑐𝑒 𝑗𝜃3 = 0

−𝑏𝑤22 𝑒 𝑗𝜃2 + 𝑗𝑏 ∝2 𝑒 𝑗𝜃2 + 𝑐𝑤 23 𝑒 𝑗𝜃3 − 𝑗𝑐 ∝3 𝑒 𝑗𝜃3 − 𝐶 𝑒 𝑗𝜃3 − 𝑗𝑐𝑤3 𝑒 𝑗𝜃3 = 0

−𝑏𝑤22 ( 𝑐𝑜𝑠𝜃2 + 𝑗𝑠𝑖𝑛𝜃2 ) + 𝑗𝑏 ∝2 (𝑐𝑜𝑠𝜃2 + 𝑗𝑠𝑖𝑛𝜃2 ) + 𝑐𝑤32 (𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑖𝑛𝜃3 )

−𝑗𝑐 ∝3 (𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑖𝑛𝜃3 ) − 𝐶 (𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑖𝑛𝜃3 ) − 𝑗 𝑐𝑤3 ( 𝑐𝑜𝑠𝜃3 + 𝑗𝑠𝑖𝑛𝜃3 ) = 0

−𝑏𝑤22 𝑐𝑜𝑠𝜃2 − 𝑏𝑗𝑤22 𝑠𝑖𝑛𝜃2 + 𝑗𝑏 ∝2 𝑐𝑜𝑠𝜃2 − 𝑏 ∝2 𝑐𝑜𝑠𝜃2 − 𝑏 ∝2 𝑠𝑖𝑛𝜃2 + 𝑐𝑤32 𝑐𝑜𝑠𝜃3 +

𝑗 𝑐𝑤32 𝑠𝑖𝑛𝜃3 − 𝑗𝑐 ∝3 𝜃3 + 𝑐 ∝3 𝑠𝑖𝑛𝜃3

− 𝐶 𝑐𝑜𝑠𝜃3 − 𝑗 𝑐 𝑠𝑖𝑛𝜃3 – 𝑗 𝑐 𝑤3 𝑐𝑜𝑠𝜃3 + 𝑐 𝑤3 𝑠𝑖𝑛𝜃3

− 𝐶 𝑗 𝑤3 𝑒 𝑗𝜃3 = 0

−𝐶 𝑗𝑤3 𝑐𝑜𝑠𝜃3 + 𝑐 𝑤3 𝑠𝑖𝑛𝜃3

Real part

−𝑏𝑤22 𝑐𝑜𝑠𝜃2 – 𝑏 ∝2 𝑠𝑖𝑛𝜃2 + 𝑐 𝑤 23 𝑐𝑜𝑠𝜃3 − 𝑐 ∝3 𝑠𝑖𝑛𝜃3 − 𝑐 𝑐𝑜𝑠𝜃3 + 𝑐 𝑤3 𝑠𝑖𝑛𝜃3 = 0

Imaginary part

−𝑏𝑤22 𝑠𝑖𝑛𝜃2 + 𝑏 ∝2 𝑐𝑜𝑠 𝜃2 + 𝑐 𝑤 23 𝑠𝑖𝑛 𝜃3 − 𝑐 ∝3 𝑐𝑜𝑠𝜃3 − 𝑐 𝑠𝑖𝑛𝜃3 − 𝑐𝑤3 𝑐𝑜𝑠𝜃3 = 0

−𝑏𝑤 22 𝑐𝑜𝑠𝜃2 − 𝑏 ∝2 𝑠𝑖𝑛 𝜃2 + 𝑐𝑤32 𝑐𝑜𝑠𝜃3 + 𝑐 ∝3 𝑠𝑖𝑛𝜃3 + 𝑐𝑤3 𝑠𝑖𝑛𝜃3 + 𝑐 𝑤3 𝑠𝑖𝑛𝜃3

𝐶=
𝑐𝑜𝑠𝜃3

−𝑏𝑤 22 𝑐𝑜𝑠𝜃2 − 𝑏 ∝2 𝑠𝑖𝑛 𝜃2 + 𝑐𝑤32 𝑐𝑜𝑠𝜃3 + 𝑐 ∝3 𝑠𝑖𝑛𝜃3 + 2𝑐 𝑤3 𝑠𝑖𝑛𝜃3

𝐶=
𝑐𝑜𝑠𝜃3

Sub C in imaginary

−𝑏 𝑤22 𝑠𝑖𝑛𝜃2 𝑐𝑜𝑠𝜃3 + 𝑏 ∝ 2 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃3 + 𝑐𝑤32 𝑠𝑖𝑛𝜃3 𝑐𝑜𝑠𝜃3

−𝑤3 𝐶 𝑐𝑜𝑠 𝜃3 𝑐𝑜𝑠𝜃3 − [𝐶 ∝3 𝑠𝑖𝑛2 𝜃3 + 2 𝑐 𝑤3 𝑠𝑖𝑛2 𝜃3 + 𝑐𝑤 23 𝑐𝑜𝑠𝜃3 𝑠𝑖𝑛𝜃3 − 𝑏 ∝ 2 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃3

−𝑏𝑤 22 𝑐𝑜𝑠𝜃2 𝑠𝑖𝑛𝜃3 ]

− 𝑏𝑤 22 𝑠𝑖𝑛𝜃2 𝑐𝑜𝑠𝜃3 + 𝑏𝑤 22 𝑐𝑜𝑠𝜃2 𝑠𝑖𝑛𝜃3 + 𝑏 ∝2 𝑐𝑜𝑠𝜃2 𝑐𝑜𝑠𝜃3 + 𝑏 ∝2 𝑠𝑖𝑛𝜃2 𝑠𝑖𝑛𝜃3 + 𝑐𝑤32

𝑠𝑖𝑛𝜃3 𝑐𝑜𝑠𝜃3 − 𝑐𝑤32 𝑐𝑜𝑠𝑡𝜃3 𝑠𝑖𝑛𝜃3 − 𝑐 ∝3 𝑐𝑜𝑠 2 𝜃3 − 𝑐 ∝3 𝑠𝑖𝑛2 𝜃3 − 𝑐 𝑤3 𝑐𝑜𝑠 2 𝜃3 –

2 𝑐𝑤3 𝑠𝑖𝑛2 𝜃3 − 𝑐𝑤3 𝑐𝑜𝑠 2 𝜃3

Xxxxxxxxxxxxx

𝑅1 − 𝑅2 − 𝑅3 = 0

𝑔𝑒 𝑗𝜃4 − 𝑑𝑒 𝑗𝜃5 − 𝑓𝑒 𝑗𝜃6 = 0

𝑔𝑒 𝑗𝜃4 − 𝑑 (𝑐𝑜𝑠𝜃5 + 𝑖 𝑠𝑖𝑛𝜃5 ) − 𝑓 ( 𝑐𝑜𝑠𝜃6 + 𝑗 𝑠𝑖𝑛𝜃6 ) = 0

𝑔𝑒 𝑗𝜃4 − 𝑑 (cos 90 + 𝑗𝑠𝑖𝑛 90) − 𝑓 (cos 0 + 𝑖 sin 0) = 0

𝑔𝑒 𝑗𝑜4 − 𝑖𝑑 − 𝑓 = 0

𝑔 (𝑐𝑜𝑠𝜃4 + 𝑗 𝑠𝑖𝑛𝜃4 ) − 𝑖 𝑑 − 𝑓 = 0

Real part

𝑔 𝑐𝑜𝑠𝜃4 − 𝑓 = 0

𝑓 = 𝑔 𝑐𝑜𝑠𝜃4

Imaginary part

𝑔 𝑐𝑜𝑠𝜃4 − 𝑓 = 0

𝑔 = 𝑑⁄𝑠𝑖𝑛𝜃
4

But since 𝜃3 = 𝜃4

𝑔 = 𝑑⁄𝑠𝑖𝑛𝜃
3

And 𝑓 = 𝑔 𝑐𝑜𝑠𝜃3

Velocity

𝑔𝑗𝑤4 𝑒 𝑗𝜃4 − 𝑓 = 0

𝑔𝑗𝑤4 ( 𝑐𝑜𝑠𝜃4 = 𝑗 𝑠𝑖𝑛𝜃4 ) – f = 0

Real part

𝑔𝑤4 𝑠𝑖𝑛𝜃4 – 𝑓 = 0

𝑓 = −𝑔𝑤4 𝑠𝑖𝑛𝜃4 but also 𝑤3 = 𝑤4

𝑓 = −𝑔𝑤3 𝑠𝑖𝑛𝜃3

𝑓 = −𝑔𝑤3 𝑠𝑖𝑛𝜃3

𝑔𝑖𝑤4 [ 𝑗𝑤4 𝑒 𝑗𝜃4 ] + 𝑔𝑖𝑒 𝑗𝜃4 − ∝4 − 𝑓 = 0

−𝑔𝑤42 𝑒 𝑗𝜃4 + 𝑖 𝑔𝑒 𝑗𝜃4 − 𝑓 = 0

− 𝑔𝑤42 ( 𝑐𝑜𝑠𝜃4 + 𝑠𝑖𝑛𝜃4 ) + 𝑖𝑔 ∝4 𝑒 𝑗𝜃4 − 𝑓 = 0

Real part

− 𝑔𝑤42 𝑐𝑜𝑠𝜃4 − 𝑔 ∝4 𝑠𝑖𝑛𝜃4 − 𝑓 = 0

Imaginary part

− 𝑔𝑤42 𝑠𝑖𝑛𝜃4 + 𝑔 ∝4 𝑐𝑜𝑠𝜃4 = 0

From imaginary

𝑔𝑤42 𝑠𝑖𝑛𝜃4
∝4 =
𝑔𝑐𝑜𝑠𝜃4

∝4 = 𝑤42 𝑡𝑎𝑛𝜃4

From real;

− 𝑔𝑤42 𝑐𝑜𝑠𝜃4 − 𝑔 [𝑤42 𝑡𝑎𝑛𝜃4 ]𝑠𝑖𝑛𝜃4 − 𝑓 = 0

𝑓 = − 𝑔𝑤42 𝑐𝑜𝑠𝜃4 − 𝑔𝑤42 𝑠𝑖𝑛𝜃4 𝑡𝑎𝑛𝜃4

But 𝜃4 = 𝜃3

And 𝑤4 = 𝑤3

f = 𝑔𝑤42 (𝑐𝑜𝑠𝜃4 + 𝑠𝑖𝑛𝜃4 𝑡𝑎𝑛𝜃4 )

𝜃2 𝜃3 c(m) g(m) f(m) Vf(m/s) 𝑤3 𝑟𝑎𝑑𝑠/𝑠

30 67.6 0.5679 0.3297 -1.672 -1.672 2.09
90 90 0.65 0 -1.8464 -1.8464 2.308
210 128.2 0.35 1.018 -0.6295 -0.4890 0.6113
330 51.8 0.35 1.018 0.6295 -0.4890 0.6113