Problem 2.1: Solutions To Chapter 2 Exercise Problems

Solutions to Chapter 2 Exercise Problems Problem 2.
1 In the mechanism shown below, link 2 is rotating CCW at the rate of 2 rad/s (constant). In the position shown, link 2 is horizontal and link 4 is vertical. Write the appropriate vector equations, solve them using vector polygons, and a) Determine vC4, 3, and 4. b) Determine aC4, 3, and 4. Link lengths: AB = 75 mm, CD = 100 mm 2 A 2 B 4 D 250 mm 3 C
50 mm
Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2 v B2 = v A2 + v B2 / A2 - 48 -
v A2 = 0 Therefore, vC3 + v B3 /C3 = v A2 + v B2 / A2 Now, (1)
2 = 2 rad / s CCW
v B2 / A2 = 2 rB/ A ( to rB/ A ) = (2 rad / s)(75 mm) =150 mm / s vC3 / B3 = 3 rC / B ( to rC / B ) vC4 / D4 = 4 rC / D ( to rC / D ) Solve Eq. (1) graphically with a velocity polygon. From the polygon, vC3 / B3 = 156 mm / s vC4 / D4 = vC4 = 43 mm / s Now,
3 =
vC3 / B3 156 = = .86 rad / s rC / B 182
From the directions given in the position and velocity polygons
3 = .86 rad / s CW
Also,
4 =
vC4 / D4 43 = = .43 rad / s rC / D 100
4 = .43 rad / s CW
Acceleration Analysis: aB3 = aB2 = aB2 / A2 aC3 = aC4 = aC4 / D4 = aB3 + aC3 / B3
t t t r r r a C4 / D4 + aC4 / D4 = aB2 / A2 + aB2 / A2 + aC3 / B3 + aC3 / B3
(2)
Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 2 2 75 = 300 mm / s2 B B
- 49 -
in the direction of - rB2 / A2

t aB2 / A2 = 0 since link 2 rotates at a constant speed ( 2 = 0 ) r r a C3 / B3 = 3 ( 3 rC / B ) a C3 / B3 = 3 2 rC / B = .862 182 =134.6 mm / s2
in the direction of - rC / B
t t aC3 / B3 = 3 rC / B aC3 / B3 = 3 rC / B ( to rC / B ) r r a C4 / D4 = 4 ( 4 rC / D ) a C4 / D4 = 4 2 rC / D = .432 100 = 18.5 mm / s 2
in the direction of - rC / D
t t aC4 / D4 = 4 rC / D aC4 / D4 = 4 rC / D ( to rC / D )
Solve Eq. (2) graphically with an acceleration polygon. From the acceleration polygon,
t aC3 / B3 = 19.22 mm / s 2 t aC4 / D4 = 434.70 mm / s 2
Then,
t aC3 / B3 67, 600 = = 27, 900 rad / s2 3 = 2.42 rC / B t aC4 / D4 434.70 = = 4.347 rad / s2 100 rC / D
4 =
To determine the direction of 3, determine the direction that rC / B must be rotated to be parallel to t aC3 / B3 . This direction is clearly counter-clockwise. To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to t aC4 / D4 . This direction is clearly counter-clockwise. From the acceleration polygon, aC4 = 435 mm / s 2
- 50 -
Problem 2.2 In the mechanism shown below, link 2 is rotating CCW at the rate of 500 rad/s (constant). In the position shown, link 2 is vertical. Write the appropriate vector equations, solve them using vector polygons, and a) Determine vC4, 3, and 4. b) Determine aC4, 3, and 4. Link lengths: AB = 1.2 in, BC = 2.42 in, CD = 2 in
Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2 v B2 = v A2 + v B2 / A2 v A2 = 0 Therefore, - 51 -
vC3 + v B3 /C3 = v A2 + v B2 / A2 Now,
(1)
2 = 500 rad / s CCW

v B2 / A2 = 2 rB/ A ( to rB/ A ) = (500 rad / s)(1.2 in) = 600 in / s vC3 / B3 = 3 rC / B ( to rC / B ) vC4 / D4 = 4 rC / D ( to rC / D ) Solve Eq. (1) graphically with a velocity polygon. From the polygon, vC3 / B3 = 523.5 in / s vC4 / D4 = vC4 = 858in / s Now,
3 =
vC3 / B3 523.5 = = 216.3 rad / s 2.42 rC / B
3 = 216.3 rad / s CCW

Also,
4 =
vC4 / D4 858 = = 429 rad / s 2 rC / D
4 = 429 rad / s CCW

(2)
Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 500 2 1.2 = 300000 in / s 2 B B in the direction of - rB2 / A2

t aB2 / A2 = 0 since link 2 rotates at a constant speed ( 2 = 0 )
- 52 -
r r a C3 / B3 = 3 ( 3 rC / B ) a C3 / B3 = 3 2 rC / B = 216.32 2.42 = 113, 000 in / s2
t t aC3 / B3 = 3 rC / B aC3 / B3 = 3 rC / B ( to rC / B ) r r a C4 / D4 = 4 ( 4 rC / D ) a C4 / D4 = 4 2 rC / D = 4292 2 = 368, 000 in / s 2
t aC3 / B3 = 67561in / s 2 t aC4 / D4 = 151437 in / s 2
Then,
t aC3 / B3 67561 = = 27, 900 rad / s2 3 = 2.42 rC / B t aC4 / D4 151437 = = 75, 700 rad / s2 4 = 2 rC / D
To determine the direction of 3, determine the direction that rC / B must be rotated to be parallel to t aC3 / B3 . This direction is clearly clockwise. To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to t aC4 / D4 . This direction is clearly clockwise. From the acceleration polygon, aC4 = 398, 000 in / s 2
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Problem 2.3 In the mechanism shown below, link 2 is rotating CW at the rate of 10 rad/s (constant). In the position shown, link 4 is vertical. Write the appropriate vector equations, solve them using vector polygons, and a) Determine vC4, 3, and 4. b) Determine aC4, 3, and 4. Link lengths: AB = 100 mm, BC = 260 mm, CD = 180 mm C 3 B 2 2 A 250 mm D 4
Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2 v B2 = v A2 + v B2 / A2 v A2 = 0 Therefore, vC3 + v B3 /C3 = v A2 + v B2 / A2 - 54 (1)
Now,
2 =10 rad / s CW
v B2 / A2 = 2 rB/ A ( to rB/ A ) = (10 rad / s)(100 mm) =1000 mm / s vC3 / B3 = 3 rC / B ( to rC / B ) vC4 / D4 = 4 rC / D ( to rC / D ) Solve Eq. (1) graphically with a velocity polygon. From the polygon, vC3 / B3 = 31.3 mm / s vC4 / D4 = vC4 = 990 mm / s Now,
3 =
vC3 / B3 31.3 = = .12 rad / s 260 rC / B
3 =.12 rad / s CCW

Also,
4 =
vC4 / D4 990 = = 5.5 rad / s 180 rC / D
4 =5.5 rad / s CW
(2)
Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 10 2 100 =10, 000 mm / s 2 B B in the direction of - rB2 / A2

t aB2 / A2 = 0 since link 2 rotates at a constant speed ( 2 = 0 ) r r a C3 / B3 = 3 ( 3 rC / B ) a C3 / B3 = 3 2 rC / B = .12 2 260 = 3.744 mm / s2
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t t aC3 / B3 = 3 rC / B aC3 / B3 = 3 rC / B ( to rC / B ) r r a C4 / D4 = 4 ( 4 rC / D ) a C4 / D4 = 4 2 rC / D = 5.52 180 = 5, 445 mm / s 2
t aC3 / B3 = 4784 mm / s 2 t aC4 / D4 = 1778 mm / s 2
Then,
3 = 4 =
t aC3 / B3 4785 = = 18.4 rad / s2 260 rC / B t aC4 / D4 1778 = = 9.88 rad / s2 180 rC / D
To determine the direction of 3, determine the direction that rC / B must be rotated to be parallel to t aC3 / B3 . This direction is clearly counter-clockwise. To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to t aC4 / D4 . This direction is clearly counter-clockwise. From the acceleration polygon, aC4 = 5, 700 mm / s 2
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Problem 2.4 In the mechanism shown below, link 2 is rotating CW at the rate of 4 rad/s (constant). In the position shown, is 53. Write the appropriate vector equations, solve them using vector polygons, and a) Determine vC4, 3, and 4. b) Determine aC4, 3, and 4. Link lengths: AB = 100 mm, BC = 160 mm, CD = 200 mm
A 2
2 C
B 160 mm 220 mm D
- 57 -
Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2 v B2 = v A2 + v B2 / A2 v A2 = 0 Therefore, vC3 + v B3 /C3 = v A2 + v B2 / A2 Now, (1)
2 = 4 rad / s CW
v B2 / A2 = 2 rB/ A ( to rB/ A ) = (4 rad / s)(100 mm) = 400 mm / s vC3 / B3 = 3 rC / B ( to rC / B ) vC4 / D4 = 4 rC / D ( to rC / D ) Solve Eq. (1) graphically with a velocity polygon. From the polygon, vC3 / B3 = 500 mm / s vC4 / D4 = vC4 = 300 mm / s Now,
3 =
vC3 / B3 500 = = 3.125 rad / s rC / B 160
3 = 3.125 rad / s CCW

Also,
4 =
vC4 / D4 300 = = 1.5 rad / s 200 rC / D
4 =1.5 rad / s CCW

Acceleration Analysis: aB3 = aB2 = aB2 / A2 aC3 = aC4 = aC4 / D4 = aB3 + aC3 / B3 - 58 -
(2)
Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 4 2 100 =1600 mm / s 2 B B in the direction of - rB2 / A2

t aB2 / A2 = 0 since link 2 rotates at a constant speed ( 2 = 0 ) r r a C3 / B3 = 3 ( 3 rC / B ) a C3 / B3 = 3 2 rC / B = 3.1252 160 = 1560 mm / s2
t t aC3 / B3 = 3 rC / B aC3 / B3 = 3 rC / B ( to rC / B ) r r a C4 / D4 = 4 ( 4 rC / D ) a C4 / D4 = 4 2 rC / D = 1.52 200 = 450 mm / s 2
t aC3 / B3 = 618.5 mm / s 2 t aC4 / D4 = 3, 220 mm / s 2
Then,
3 = 4 =
t aC3 / B3 618.5 = = 3.87 rad / s2 160 rC / B t aC4 / D4 3220 = = 16.1rad / s2 200 rC / D
To determine the direction of 3, determine the direction that rC / B must be rotated to be parallel to t aC3 / B3 . This direction is clearly counter-clockwise. To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to t aC4 / D4 . This direction is clearly counter-clockwise. From the acceleration polygon, aC4 = 3250 mm / s 2
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Problem 2.5 In the mechanism shown below, link 2 is rotating CCW at the rate of 4 rad/s (constant). In the position shown, link 2 is horizontal. Write the appropriate vector equations, solve them using vector polygons, and a) Determine vC4, 3, and 4. b) Determine aC4, 3, and 4. Link lengths: AB = 1.25 in, BC = 2.5 in, CD = 2.5 in D 1.0 in A 4 0.75 in 2 B 2
3 C
Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2
- 60 -
v B2 = v A2 + v B2 / A2 v A2 = 0 Therefore, vC3 + v B3 /C3 = v A2 + v B2 / A2 Now, (1)
2 = 4 rad / s CCW
v B2 / A2 = 2 rB/ A ( to rB/ A ) = (4 rad / s)(1.25in) = 5in / s vC3 / B3 = 3 rC / B ( to rC / B ) vC4 / D4 = 4 rC / D ( to rC / D ) Solve Eq. (1) graphically with a velocity polygon. From the polygon, vC3 / B3 = 6.25in / s vC4 / D4 = vC4 = 3.75in / s Now,
3 =
vC3 / B3 6.25 = = 2.5 rad / s 2.5 rC / B
3 = 2.5 rad / s CCW

Also,
4 =
vC4 / D4 3.75 = =1.5 rad / s 2.5 rC / D
4 =1.5 rad / s CW
(2)
Now,
- 61 -
a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 4 2 1.25 = 20 in / s 2 B B in the direction of - rB2 / A2

t aB2 / A2 = 0 since link 2 rotates at a constant speed ( 2 = 0 ) r r a C3 / B3 = 3 ( 3 rC / B ) a C3 / B3 = 3 2 rC / B = 2.52 2.5 = 15.6 in / s2
t t aC3 / B3 = 3 rC / B aC3 / B3 = 3 rC / B ( to rC / B ) r r a C4 / D4 = 4 ( 4 rC / D ) a C4 / D4 = 4 2 rC / D = 1.52 2.5 = 5.6 in / s 2
t aC3 / B3 = 4.69 in / s 2 t aC4 / D4 = 4.69 in / s 2
Then,
3 =
t aC3 / B3 4.69 = = 1.87 rad / s2 2.5 rC / B t aC4 / D4 4.69 = = 1.87 rad / s2 2.5 rC / D
4 =
To determine the direction of 3, determine the direction that rC / B must be rotated to be parallel to t aC3 / B3 . This direction is clearly counter-clockwise. To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to t aC4 / D4 . This direction is clearly clockwise. From the acceleration polygon, aC4 = 7.32 in / s 2
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Problem 2.6 In the mechanism shown below, link 2 is rotating CW at the rate of 100 rad/s (constant). In the position shown, link 2 is horizontal. Write the appropriate vector equations, solve them using vector polygons, and a) Determine vC4 and 3 b) Determine aC4 and 3 Link lengths: AB = 60 mm, BC = 200 mm A 2 120 mm C 4 3 B 2
Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2 v B2 = v A2 + v B2 / A2 v A2 = 0 Therefore, vC3 + v B3 /C3 = v A2 + v B2 / A2 - 63 (1)
Now,
2 =100 rad / s CW
v B2 / A2 = 2 rB/ A ( to rB/ A ) = (100 rad / s)(60 mm) = 6000 mm / s vC3 / B3 = 3 rC / B ( to rC / B ) vC4 / D4 parallel to the ground. Solve Eq. (1) graphically with a velocity polygon. From the polygon, vC3 / B3 = 7, 500 mm / s vC4 / D4 = vC4 = 4500 mm / s Now,
3 =
vC3 / B3 7500 = = 37.5 rad / s 200 rC / B
3 =.12 rad / s CW
(2)
Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 100 2 60 = 600, 000 mm / s 2 B B in the direction of - rB2 / A2

t aB2 / A2 = 0 since link 2 rotates at a constant speed ( 2 = 0 ) r r a C3 / B3 = 3 ( 3 rC / B ) a C3 / B3 = 3 2 rC / B = 37.52 200 = 281, 000 mm / s2
t t aC3 / B3 = 3 rC / B aC3 / B3 = 3 rC / B ( to rC / B )
a C4 / D4 = a C4 parallel to ground Solve Eq. (2) graphically with an acceleration polygon. From the acceleration polygon, - 64 -
t aC3 / B3 = 211, 000 mm / s 2
a C4 / D4 = a C4 = 248, 000 mm / s 2 Then,
3 =
t aC3 / B3 211, 000 = = 1060 rad / s2 200 rC / B
To determine the direction of 3, determine the direction that rC / B must be rotated to be parallel to t aC3 / B3 . This direction is clearly counter-clockwise. From the acceleration polygon, aC4 = 248, 000 mm / s 2
Problem 2.7 In the mechanism shown below, link 4 is moving to the left at the rate of 4 ft/s (constant). Write the appropriate vector equations, solve them using vector polygons, and a) Determine 3 and 4. b) Determine 3 and 4. Link lengths: AB = 10 ft, BC = 20 ft. B 3 2 120 A
8.5 ft vC 4
C 4
- 65 -
Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2 v B2 = v A2 + v B2 / A2 v A2 = 0 Therefore, vC3 + v B3 /C3 = v A2 + v B2 / A2 Now, vC4 = 4 ft / s parallel to the ground v B3 /C3 = 3 rB/C ( to rB/C ) v B2 / A2 = 2 rB/ A ( to rB/ A ) Solve Eq. (1) graphically with a velocity polygon. From the polygon, v B3 /C3 = 2.3 ft / s v B2 / A2 = 2.3 ft / s or (1)
3 =
v B3 /C3 2.3 = = .115 rad / s 20 rB/C
- 66 -
3 =.115 rad / s CW
Also,
2 =
v B2 / A2 2.3 = = .23 rad / s 10 rB/ A
2 =.23 rad / s CCW 4 = 0 rad / s since it does not rotate

Acceleration Analysis: aC3 = aC4 = aC4 / D4 = aB3 + aC3 / B3
(2)
Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = .232 10 = .529 ft / s 2 B B in the direction of - rB2 / A2

t t aB2 / A2 = 2 rB/ A aB2 / A2 = 2 rB/ A ( to rB/ A ) r r a C3 / B3 = 3 ( 3 rC / B ) a C3 / B3 = 3 2 rC / B = .1152 20 = .264 ft / s2
a C4 / D4 = 0 link 4 is moving at a constant velocity Solve Eq. (2) graphically with an acceleration polygon. From the acceleration polygon,
t aC3 / B3 = 0.045 ft / s 2
a tB2 / A2 = 0.017 ft / s 2 Then,

t aC3 / B3 0.45 = = .023 rad / s2 3 = 20 rC / B t aB2 / A2 0.017 = = .0017 rad / s2 2 = 10 rB/ A
- 67 -
To determine the direction of 3, determine the direction that rC / B must be rotated to be parallel to t aC3 / B3 . This direction is clearly clockwise. To determine the direction of 2, determine the direction that rB/ A must be rotated to be parallel to t aB2 / A2 . This direction is clearly counter-clockwise.
Problem 2.8 In the mechanism shown below, link 4 is moving to the right at the rate of 20 in/s (constant). Write the appropriate vector equations, solve them using vector polygons, and a) Determine 3 and 4. b) Determine 3 and 4. Link lengths: AB = 5 in, BC = 5 in.
A 2 7 in C 4 3 vC 4 45 B
- 68 -
Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2 v B2 = v A2 + v B2 / A2 v A2 = 0 Therefore, vC3 + v B3 /C3 = v A2 + v B2 / A2 Now, vC4 = 20 in / s parallel to the ground v B3 /C3 = 3 rB/C ( to rB/C ) v B2 / A2 = 2 rB/ A ( to rB/ A ) Solve Eq. (1) graphically with a velocity polygon. From the polygon, v B3 /C3 = 14.1in / s v B2 / A2 = 14.1in / s or (1)
3 =
v B3 /C3 14.1 = = 2.82 rad / s 5 rB/C
3 = 2.82 rad / s CCW

Also,
2 =
v B2 / A2 14.1 = = 2.82 rad / s 5 rB/ A
2 = 2.82 rad / s CCW 4 = 0 rad / s since it doesnt rotate

Acceleration Analysis: aB3 = aB2 = aB2 / A2 aC3 = aC4 = aC4 / D4 = aB3 + aC3 / B3 - 69 -
(2)
Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 2.82 2 5 = 39.8in / s 2 B B in the direction of - rB2 / A2

t t aB2 / A2 = 2 rB/ A aB2 / A2 = 2 rB/ A ( to rB/ A ) r r a C3 / B3 = 3 ( 3 rC / B ) a C3 / B3 = 3 2 rC / B = 2.82 2 5 = 39.8 in / s2
t aC3 / B3 = 38.8 in / s 2
a tB2 / A2 = 38.8 in / s 2 Then,
3 =
t aC3 / B3 38.8 = = 7.76 rad / s2 5 rC / B t aB2 / A2 38.8 = = 7.76 rad / s2 5 rB/ A
2 =
4 = 0 (link 4 isnot rotating)

To determine the direction of 3, determine the direction that rC / B must be rotated to be parallel to t aC3 / B3 . This direction is clearly counter-clockwise. To determine the direction of 2 , determine the direction that rB/ A must be rotated to be parallel to t aB2 / A2 . This direction is clearly clockwise.
- 70 -
Problem 2.9 In the mechanism shown below, link 4 is moving to the left at the rate of 0.6 ft/s (constant). Write the appropriate vector equations, solve them using vector polygons, and determine the velocity and acceleration of point A3. Link lengths: AB = 5 in, BC = 5 in. A
3 B 135 2
vC 4
Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2 v B3 = v A3 + v B3 / A3 Therefore, vC3 + v B3 /C3 = v A3 + v B3 / A3 - 71 (1)
Now, vC4 = .6 ft / s parallel to the ground v B3 /C3 = 3 rB/C ( to rB/C ) v B3 / A3 = 3 rB/ A ( to rB/ A ) Solve Eq. (1) graphically with a velocity polygon. From the polygon, v B3 /C3 = .85 ft / s or
3 =
v B3 /C3 = .85 = 2.04 rad / s (5 /12) rB/C
3 = 2.04 rad / s CW
Now, v B3 / A3 = 3 rB/ A ( to rB/ A ) = (2.04)(5 /12) = .85 ft / s Using velocity image, v A3 =1.34 ft / s Acceleration Analysis: aC4 = aC3 = 0 aB3 = aB2 = aB3 /C3 = a r B3 /C3 + a t B3 /C3 Now, a r 3 /C3 = 3 ( 3 rB/C ) a r 3 /C3 = 3 2 rB/C = 2.04 2 (5 /12) = 1.73 ft / s 2 B B in the direction of - rB3 /C3
t t aB3 /C3 = 3 rB/C aB3 /C3 = 3 rB/C ( to rB/C )
(2)
t aB3 /C3 = 1.73 ft / s 2
Then,
- 72 -
3 =
t aB3 /C3 = 1.73 = 4.15 rad / s2 (5 /12) rB/C
To determine the direction of 3, determine the direction that rB/C must be rotated to be parallel to t aB3 /C3 . This direction is clearly clockwise. Using acceleration image, a A3 = 4.93 ft / s 2
Problem 2.10 In the mechanism shown below, link 4 moves to the right with a constant velocity of 75 ft/s. Write the appropriate vector equations, solve them using vector polygons, and a) Determine vB2, vG3, 2, and 3. b) Determine aB2, aG3, 2, and 3. Link lengths: AB = 4.8 in , BC = 16.0 in , BG = 6.0 in B G 2 A 42 3 C 4
Position Analysis: Draw the linkage to scale.
- 73 -
B G 2 42 A ov a 1, a 2 25 ft/sec c 3, c4 3 AB = 4.8" BC = 16.0" BG = 6.0" AC = 19.33" C
Velocity Polygon g3
b2, b3
Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2
- 74 -
v B2 = v A2 + v B2 / A2 v A2 = 0 Therefore, vC3 + v B3 /C3 = v A2 + v B2 / A2 Now, vC3 = 75 ft / s in the direction of rC / A v B3 /C3 = 3 rB/C ( to rB/C ) v B2 / A2 = 2 rB/ A ( to rB/ A ) Solve Eq. (1) graphically with a velocity polygon. From the polygon, v B3 /C3 = 69.4 ft / s or (1)
3 =
v B3 /C3 = 69.4 = 52 rad / s rB/C 16(1 /12)
3 = 52 rad / s CCW
Also,
2 =
v B2 / A2 = 91.5 = 228 rad / s 4.8(1 /12) rB/ A
2 = 228 rad / s CW
To compute the velocity of G3, vG3 = v B3 + vG3 / B3 = v B3 + 3 rG3 / B3 Using the values computed previously
3 rG3 / B3 = 52(6.0) = 312 in / s

and from the directions given in the velocity and position diagrams
3 rG3 / B3 = 312 in / s rG3 / B3

Now draw vG3 on the velocity diagram vG3 = 79.0 ft / s in the direction shown. - 75 -
(2)
Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 2282 (4.8 /12) = 20, 900 ft / s 2 B B in the direction of - rB2 / A2
t t aB2 / A2 = 2 rB/ A aB2 / A2 = 2 rB/ A ( to rB/ A ) r r a C3 / B3 = 3 ( 3 rC / B ) a C3 / B3 = 3 2 rC / B = 52 2 (16 /12) = 3605 ft / s2
t aC3 / B3 = 28, 700 ft / s 2
a tB2 / A2 = 20, 000 ft / s 2 Then,
3 =
t aC3 / B3 28, 700 = = 21, 500 rad / s2 (16 /12) rC / B t aB2 / A2 = 20, 000 = 50, 000 rad / s2 (4.8 /12) rB/ A
2 =
To determine the direction of 3 , determine the direction that rC / B must be rotated to be parallel to t aC3 / B3 . This direction is clearly clockwise. To determine the direction of 2 , determine the direction that rB/ A must be rotated to be parallel to t aB2 /C2 . This direction is clearly counter-clockwise. From the acceleration polygon, aB2 = 28, 900 ft / s 2
- 76 -
To compute the acceleration of G3, use acceleration image. From the acceleration polygon, aG3 = 18, 000 ft / s 2
Problem 2.11 For the four-bar linkage, assume that 2 = 50 rad/s CW and 2 = 1600 rad/s2 CW. Write the appropriate vector equations, solve them using vector polygons, and a) Determine vB2, vC3, vE3, 3, and 4. b) Determine aB2, aC3, aE3,3, and 4. E 3 C B 2 120 A Position Analysis Draw the linkage to scale. Start by locating the relative positions of A and D. Next locate B and then C. Then locate E. Velocity Analysis: v B3 = v B2 = v B2 / A2 vC3 = vC4 = vC4 / D4 = v B3 + vC3 / B3 Now, v B2 / A2 = 2 rB/ A v B/ A = 2 rB/ A = 50 1.75 = 87.5 in / s ( to rB/ A ) vC4 / D4 = 4 rC / D vC4 / D4 = 4 rC / D ( to rC / D ) vC3 / B3 = 3 rC / B vC3 / B3 = 3 rC / B ( to rC / B ) (1) AB = 1.75" AD = 3.55" CD = 2.75" BC = 5.15" BE = 2.5" EC = 4.0"
- 77 -
B Velocity Scale 50 in/s b3 e3 o' d'4 o c3 A
3 4
r aC 3 / B3 r aC
4 /D 4
r aB 2 / A2
atC
3 / B3
b'3 e'3
t aB 2 / A 2
at /D C4 4 Acceleration Scale 2000 in/s 2 Solve Eq. (1) graphically with a velocity polygon and locate the velocity of point E3 by image. From the polygon, vC3 / B3 = 65.2 in / s vC4 / D4 = 92.6 in / s and vE3 = 107.8 in / s in the direction shown. Now c' 3
3 =
vC3 / B3 65.2 = = 12.7 rad / s 5.15 rC / B - 78 -
and
4 =
vC4 / D4 92.6 = = 33.7 rad / s 2.75 rC / D
To determine the direction of 3 , determine the direction that rC / B must be rotated to be parallel to vC3 / B3 . This direction is clearly clockwise. To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to vC4 / D4 . This direction is clearly clockwise. Acceleration Analysis: aB3 = aB2 = aB2 / A2 aC3 = aC4 = aC4 / D4 = aB3 + aC3 / B3
(2)
Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 50 2 1.75 = 4375 in / s2 B B in the direction of - rB2 / A2

t t aB2 / A2 = 2 rB/ A aB2 / A2 = 2 rB/ A = 1600 1.75 = 2800 in / s2 ( to rB/ A ) r r a C3 / B3 = 3 ( 3 rC / B ) a C3 / B3 = 3 2 rC / B = 12.72 5.15 = 830.6 in / s2
t t aC3 / B3 = 3 rC / B aC3 / B3 = 3 rC / B ( to rC / B ) r r a C4 / D4 = 4 ( 4 rC / D ) a C4 / D4 = 4 2 rC / D = 33.72 2.75 = 3123 in / sec 2
Solve Eq. (2) graphically with an acceleration polygon and determine the acceleration of point E3 by image. From the acceleration polygon,
t aC3 / B3 = 1563 in / s2 t aC4 / D4 = 4881 in / s2
Then,
- 79 -
3 = 4 =
t aC3 / B3 1563 = = 303 rad / s2 5.15 rC / B t aC4 / D4 4881 = = 1775 rad / s2 2.75 rC / D
To determine the direction of 3 , determine the direction that rC / B must be rotated to be parallel to t aC3 / B3 . This direction is clearly clockwise. To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to t aC4 / D4 . This direction is clearly clockwise. Also aE3 = 5958 in / s2
Problem 2.12 Resolve Problem 2.11 if 2 = 50 rad/s CCW and 2 = 0 . Position Analysis Draw the linkage to scale. Start by locating the relative positions of A and D. Next locate B and then C. Then locate E. Velocity Analysis: The velocity analysis is similar to that in Problem 2.18. v B3 = v B2 = v B2 / A2 vC3 = vC4 = vC4 / D4 = v B3 + vC3 / B3 Now, v B2 / A2 = 2 rB/ A v B/ A = 2 rB/ A = 50 1.75 = 87.5 in / s ( to rB/ A ) vC4 / D4 = 4 rC / D vC4 / D4 = 4 rC / D ( to rC / D ) vC3 / B3 = 3 rC / B vC3 / B3 = 3 rC / B ( to rC / B ) Solve Eq. (1) graphically with a velocity polygon and locate the velocity of point E3 by image. From the polygon, vC4 / D4 = 103.1 in / s and vE3 = 116 in / s - 80 (1)
in the direction shown. Now
3 =
and
vC3 / B3 88.8 = = 17.2 rad / s 5.15 rC / B
4 =
vC4 / D4 103.1 = = 37.5 rad / s 2.75 rC / D
To determine the direction of 3 , determine the direction that rC / B must be rotated to be parallel to vC3 / B3 . This direction is clearly counterclockwise. To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to vC4 / D4 . This direction is clearly counterclockwise.
- 81 -
E C
3 4
Velocity Scale 50 in/s c3 A
o' d'4 o g3 b3
r aB 2/ A 2
b'3
r aC 3 / B3
Acceleration Scale 1000 in/s 2

r aC 4 / D 4 t aC
3 / B3
e'3
at C
4 /D 4
c' 3
- 82 -
(2)
Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 50 2 1.75 = 4375 in / s2 B B in the direction of - rB2 / A2

t t aB2 / A2 = 2 rB/ A aB2 / A2 = 2 rB/ A = 0 1.75 = 0 r r a C3 / B3 = 3 ( 3 rC / B ) a C3 / B3 = 3 2 rC / B = 17.24 2 5.15 = 1530 in / s2
t t aC3 / B3 = 3 rC / B aC3 / B3 = 3 rC / B ( to rC / B ) r r a C4 / D4 = 4 ( 4 rC / D ) a C4 / D4 = 4 2 rC / D = 37.492 2.75 = 3865 in / s2
Solve Eq. (2) graphically with an acceleration polygon and determine the acceleration of point E3 by image. From the acceleration polygon,
t aC3 / B3 = 2751 in / s2 t aC4 / D4 = 1405 in / s2
Then,
3 =
t aC3 / B3 2751 = = 534 rad / s 2 5.15 rC / B at 4 = C4 / D4 = 1405 = 511 rad / s2 2.75 rC / D
To determine the direction of 3 , determine the direction that rC / B must be rotated to be parallel to t aC3 / B3 . This direction is clearly clockwise. To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to t aC4 / D4 . This direction is clearly clockwise. - 83 -
Also aE3 = 2784 in / s2
Problem 2.13 In the mechanism shown below, link 2 is rotating CW at the rate of 180 rad/s. Write the appropriate vector equations, solve them using vector polygons, and a) Determine vB2, vC3, vE3, 3, and 4. b) Determine aB2, aC3, aE3, 3, and 4. Link lengths: AB = 4.6 in, BC = 12.0 in, AD = 15.2 in, CD = 9.2 in, EB = 8.0 in, CE = 5.48 in. C Y
3 4 E 2 D A 120 X B
Position Analysis: Draw the linkage to scale. Velocity Analysis: v B2 = v B2 / A2 = 2 rB2 / A2 v B2 = 2 rB2 / A2 = 180(4.6) = 828 in / s v B3 = v B2 vC3 = v B3 + vC3 / B3 vC3 = vC4 = vD4 + vC4 / D4 and vD4 = 0
- 84 -
C AD = 15.2" DC = 9.2" BC = 12.0" AB = 4.6" EC = 5.48" EB = 8.0"
3 4 E B
2 D A b 2, b 3
120
Velocity Polygon 400 in/sec ov a1 , a2 c 3, c 4 e3
Therefore, vC4 / D4 = v B3 + vC3 / B3 Now, v B3 = 828 ft / s ( to rB/ A) vC3 / B3 = 3 rC / B ( to rC / B ) vC4 / D4 = 4 rC / D ( to rC / D ) Solve Eq. (1) graphically with a velocity polygon. The velocity directions can be gotten directly from the polygon. The magnitudes are given by: vC3 / B3 = 583 in / s 3 = vC3 / B3 583 = = 48.6 rad / s 12 rC / B (1)
3 = 48.6 rad / s CCW

Also,
- 85 -
vC4 / D4 = 475 rad / s 4 =
vC4 / D4 475 = = 51.6 rad / s 9.2 rC / D
4 = 51.6 rad / s CW
To compute the velocity of E3, vE3 = v B3 + vE3 / B3 = vC3 + vE3 /C3 Because two points in the same link are involved in the relative velocity terms vE3 / B3 = 3 rE / B ( to rE / B ) and vE3 /C3 = 3 rE /C ( to rE /C ) Equation (2) can now be solved to give vE3 = 695 in / s Acceleration Analysis: aB3 = aB2 = aB2 / A2 aC3 = aC4 = aC4 / D4 = aB3 + aC3 / B3
(1)
(2)
Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 180 2 4.6 = 149, 000 in / s2 B B in the direction of - rB2 / A2
t t aB2 / A2 = 2 rB/ A aB2 / A2 = 2 rB/ A = 0 4.6 = 0 r r a C3 / B3 = 3 ( 3 rC / B ) a C3 / B3 = 3 2 rC / B = 48.992 12 = 28,800 in / s2
t t aC3 / B3 = 3 rC / B aC3 / B3 = 3 rC / B ( to rC / B ) r r a C4 / D4 = 4 ( 4 rC / D ) a C4 / D4 = 4 2 rC / D = 50.4 2 9.2 = 23,370 in / s2
- 86 -
Solve Eq. (2) graphically with an acceleration polygon and determine the acceleration of point E3 by image.
From the acceleration polygon,

t aC3 / B3 = 96,880 in / s2 t aC4 / D4 = 9785 in / s2
Then,
3 = 4 =
t aC3 / B3 96876 = = 8073 rad / s 2 12 rC / B t aC4 / D4 9785.5 = = 1063.6 rad / s2 9.2 rC / D
To determine the direction of 3 , determine the direction that rC / B must be rotated to be parallel to t aC3 / B3 . This direction is clearly clockwise.
- 87 -
To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to t aC4 / D4 . This direction is clearly clockwise. Also aE3 = 123, 700 in / s2 and aC3 = 149, 780 in / s2
Problem 2.14 The accelerations of points A and B in the coupler below are as given. Determine the acceleration of the center of mass G and the angular acceleration of the body. Draw the vector representing aG from G.
B - 63 G
aA = 7000 in/s 2 a B = 7000 in/s 2

AG = 1.5" BG = 1.5" AB = 2.8"
aA 50 22 A Acceleration Analysis: Draw the accelerations of points A and B on an acceleration polygon. Then locate the accleration of point G by image.
t For the angular acceleration of the body, resolve the acceleration aB/ A in terms of components along and perpendicular to rB/ A . The tangential component is perpendicular to rB/ A . t t aB/ A = rB/ A aB/ A = rB/ A
aB
and at = r B/ A = 3141 = 1122 rad / s2 2.8 B/ A
- 88 -
a'
G aG o'
A g' Acceleration Scale 2000 in/s 2
at A B/ b' To determine the direction of , determine the direction that rB/ A must be rotated to be parallel to t aB/ A . This direction is clearly clockwise. Also aG = 6980 in / s2 in the direction shown.
- 89 -
Problem 2.15 Crank 2 of the push-link mechanism shown in the figure is driven at a constant angular velocity 2 = 60 rad/s (CW). Find the velocity and acceleration of point F and the angular velocity and acceleration of links 3 and 4. C Y AB = 15 cm BC = 29.5 cm CD = 30.1 cm AD = 7.5 cm BE = 14.75 cm EF = 7.5 cm
3 E F
A 30 2 B Position Analysis:
Draw the linkage to scale. First located the pivots A and D. Next locate B, then C, then E, then F. Velocity Analysis: vA2 = vB3 = vB2 / A2 = 2rB2 / A2 vC3 = vB3 + vC3 / B3 vC3 = vC4 = vC4 / D4 = 4rC / D Now, vB3 = 9 m / s (^ to rB / A) vB2 = 2 rB2 / A2 = 60 (0.15) = 9 m / s (1)
vC3 / B3 = 3rC / B (^ to rC / B) vC4 = 4rC / D (^ to rC / D) Solve Eq. (1) graphically with a velocity polygon. The velocity directions can be gotten directly from the polygon. The magnitudes are given by: vC3 / B3 = 12.82 m / s 3 = Using velocity image, vF3 = 4.94 m / s - 90 vC3 / B3 12.82 = = 43.45 rad / s rC / B 0.295
in the direction shown.
C 5 cm 3 E Acceleration Polygon 100 m/s 2 a r 2 /A2 B f '3

r aC 3 /B 3
4 F A D
b'2 , b'3 B 30
Velocity Polygon 2 m/s b2 , b3 c 3 , c4
o'
ar 4 /D4 C c' 3 , c'4 atC3 /B3

t aC4 /D 4
a2 o
3 = 43.45 rad / s CW
Also, vC4 / D4 = 11.39 m / s
4 =
vC4 / D4 11.39 = = 37.84 rad / s rC / D 0.301
4 = 37.84 rad / s CW
Acceleration Analysis: aB2 = aB3 = ar B2 / A2 = 2 ( 2rB / A)
- 91 -
aC3 = aC4 = aC4 / D4 = aB3 + aC3 / B3 atC4 / D4 + arC4 / D4 = ar B2 / A2 + at B2 / A2 + arC3 / B3 + atC3 / B3 Now, arC4 / D4 = 4 2 rC / D = 37.842 0.301 = 430.99 m / s2 in the direction opposite to rC/ D ) arC3 / B3 = 3 2 rC / B = 43.452 0.295 = 556.93 m / s2 in the direction opposite to rC/ B ) ar B2 / A2 = 2 2 rB / A = 602 0.15 = 540 m / s2 in the direction opposite to rB/ A ) atC3 / B3 = 3rC / B 3 = atC4 / D4 = 4rC / D 4 = atC3 / B3 (^ to rC / B) rC / B atC4 / D4 (^ to rC / D) rC / D (2)
Solve Eq. (2) graphically with an acceleration polygon. The acceleration directions can be gotten directly from the polygon. The magnitudes are given by:
3 =
Also,
atC3 / B3 142.79 = = 484 rad / s2 CW 0.295 rC / B
4 =
atC4 / D4 41.01 = = 136 rad / s2 CCW 0.301 rC / D
Using acceleration polygon, aF3 = 256 m / s2 in the direction shown. Problem 2.16 For the straight-line mechanism shown in the figure, 2 = 20 rad/s (CW) and 2 = 140 rad/s2 (CW). Determine the velocity and acceleration of point B and the angular acceleration of link 3. B DA = 2.0" AC = 2.0" AB = 2.0" 2 15
o
3 C 4
- 92 -
Velocity Analysis: vA2 = vA2 / D2 = vA3 = 2rA2 / D2 vC3 = vC4 = v A3 + vC3 / A3 Now, v A3 = 2 rA2 / D2 = 20 2 = 40 in / s ( to rA2 / D2 ) vC3 in horizontal direction vC3 / A3 = 3 rC3 / A3 vC3 / A3 = 3 rC3 / A3 ( to rC3 / A3 ) Solve Eq. (1) graphically with a velocity polygon. From the polygon, v B3 = 77.3 in / s Also, vC3 / A3 = 40 in / s or (1)
3 =
Also,
vC3 / A3 40 = = 20 rad / s CCW 2 rC3 / A3
vC3 = 20.7 in / s Acceleration Analysis: aC3 = aC4 = a A3 + aC3 / A3

t r r aC3 = a A2 / D2 + a t 2 / D2 + aC3 / A3 + aC3 / A3 A
(2)
Now, aC3 in horizontal direction a r 2 / D2 = 2 ( 2 rA2 / D2 ) a r 2 / D2 = 2 2 rA/ D = 20 2 2 = 800 in / s2 A A in the direction opposite to rA/ D a t 2 / D2 = 2 rA2 / D2 a t 2 / D2 = 2 rA/ D = 140 2 = 280 in / s2 ( to rA/ D ) A A
r r a C3 / A3 = 3 ( 3 rC3 / A3 ) a C3 / A3 = 3 2 rC3 / A3 = 20 2 2 = 800 in / s2
in the direction opposite to rC3 / A3
- 93 -
t t aC3 / A3 = 3 rC3 / A3 aC3 / A3 = 3 rC3 / A3 ( to rC3 / A3 )
Solve Eq. (2) graphically with a acceleration polygon. From the polygon, aB3 = 955 in / s2 aC3 / A3 = 280 in / s2 Also,
3 =
t aC3 / A3 280 = = 140 rad / s2 CCW 2 rC3 / A3
3 C 4
v C3
c3 , c 4
Acceleration Polygon 400 in/s 2 c' 3

t a C3 / A 3
v A3
vC 3 / A 3
o' a C3 a A2 / D 2 a A2/D 2 a C 3 / A3
r t r
v B3
a2 , a3 ' ' a2 , a3
a B3
v B3 / A3 Velocity Polygon 20 in/s b3 ' b3
- 94 -
Problem 2.17 For the data given in the figure below, find the velocity and acceleration of points B and C. Assume vA = 20 ft/s, aA = 400 ft/s2, 2 = 24 rad/s (CW), and 2 = 160 rad/s2 (CCW).
C vA 90 A 15 o aA Position Analysis Draw the link to scale 2
AB = 4.05" AC = 2.5" BC = 2.0"
B 2
Velocity Polygon 5 ft/sec Acceleration Polygon o' 80 ft/sec 2 b'2 a tB2 /A 2 a'2
r a B2 /A 2
a2
c2
b2
c' 2
o Velocity Analysis: v B2 = v A2 + v B2 / A2 Now, - 95 (1)
v A2 = 20 ft / sec in the positive vertical direction v B2 / A2 = 2 rB/ A v B2 / A2 = 2 rB/ A = 24 4.05 = 97.2in / sec v B2 / A2 = 8.1 ft / sec( to rB/ A ) in the positive vertical direction Solve Eq. (1) graphically with a velocity polygon. From the polygon, v B2 = 11.9 ft / sec Also, from the velocity polygon, vC2 = 15.55 ft / sec in the direction shown Acceleration Analysis:
t r aB2 = a A2 + aB2 / A2 = a A2 + aB2 / A2 + aB2 / A2
(2)
Now, a A2 = 400 ft / sec 2 in the given direction

t aB2 / A2 = 2 rB/ A = 160 4.05 = 648 in / sec 2 = 54 ft / sec 2 r aB2 / A2 = 2 2 rB/ A = 24 2 4.05 = 2332 in / sec 2 = 194 ft / sec 2
Solve Eq. (2) graphically with an acceleration polygon. From the polygon, aB2 = 198.64 ft / sec 2 in the direction shown. Determine the acceleration of point C by image. From the acceleration image, aC2 = 289.4 ft / sec 2 in the direction shown.
- 96 -
Problem 2.18 In the mechanism shown below, link 2 is turning CCW at the rate of 10 rad/s (constant). Draw the velocity and acceleration polygons for the mechanism, and determine aG3 and 4. C 3 G 4 B 2 A 90 2 , 2 D AB = 1.0" BC = 2.0" BG = 1.0" CD = 3.0" AD = 3.0"
Position Analysis Draw the linkage to scale. Start by locating the relative positions of A and D. Next locate B and then C. Then locate G.
Velocity Analysis: v B3 = v B2 = v B2 / A2 vC3 = vC4 = vC4 / D4 = v B3 + vC3 / B3 Now, v B2 / A2 = 2 rB/ A v B/ A = 2 rB/ A = 10 2 = 20 in / s ( to rB/ A ) vC4 / D4 = 4 rC / D vC4 / D4 = 4 rC / D ( to rC / D ) vC3 / B3 = 3 rC / B vC3 / B3 = 3 rC / B ( to rC / B ) - 97 (1)
Solve Eq. (1) graphically with a velocity polygon.
From the polygon, vC3 / B3 = 14.4 in / s vC4 / D4 = 13.7 in / s in the direction shown. Now
3 =
and
vC3 / B3 11.4 = = 5.7 rad / s 2 rC / B
4 =
vC4 / D4 13.7 = = 4.57 rad / s 3 rC / D
To determine the direction of 3 , determine the direction that rC / B must be rotated to be parallel to vC3 / B3 . This direction is clearly clockwise. To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to vC4 / D4 . This direction is clearly counterclockwise. The velocity of point G3 vG3 = v B3 + vG3 / B3 = 3 rG/ B = 3 rG/ B = 5.7 1 = 5.7 in / s Acceleration Analysis: aB3 = aB2 = aB2 / A2 aC3 = aC4 = aC4 / D4 = aB3 + aC3 / B3
(2)
Now, - 98 -
a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 10 2 1 = 100 in / s2 B B in the direction of - rB2 / A2

t t aB2 / A2 = 2 rB/ A aB2 / A2 = 2 rB/ A = 0 r r a C3 / B3 = 3 ( 3 rC / B ) a C3 / B3 = 3 2 rC / B = 5.72 2 = 64.98 in / s2
t t aC3 / B3 = 3 rC / B aC3 / B3 = 3 rC / B ( to rC / B ) r r a C4 / D4 = 4 ( 4 rC / D ) a C4 / D4 = 4 2 rC / D = 4.572 3 = 62.66 in / sec 2
Solve Eq. (2) graphically for the accelerations.
- 99 -

t aC3 / B3 = 38 in / s2 t aC4 / D4 = 128 in / s2
Then,
3 = 4 =
t aC3 / B3 38 = = 19 rad / s2 2 rC / B t aC4 / D4 128 = = 42.67 rad / s2 3 rC / D
To determine the direction of 3 , determine the direction that rC / B must be rotated to be parallel to t aC3 / B3 . This direction is clearly counterclockwise. To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to t aC4 / D4 . This direction is clearly clockwise. Determine the acceleration of point G3
t r aG3 = aB3 + aG3 / B3 = aB2 + a G3 / B3 + aG3 / B3 t t aG3 / B3 = 3 rG/ B aG3 / B3 = 3 rG/ B = 19 1 = 19 in / sec 2 r r a G3 / B3 = 3 ( 3 rG/ B ) a G3 / B3 = 3 2 rG/ B = 5.72 1 = 32.49 in / sec 2
From the acceleration polygon, aG3 = 116 in / s2
Problem 2.19 If 2 = 100 rad/s CCW (constant) find the velocity and acceleration of point E. A 2 2 B 3 C 70 E 4 AB = 1.0" BC = 1.75" CD = 2.0" DE = 0.8" AD = 3.0" D
- 100 -
Position Analysis Draw the linkage to scale. Start by locating the relative positions of A and D. Next locate B and then C. Then locate E.
Velocity Analysis: v B3 = v B2 = v B2 / A2 vC3 = vC4 = vC4 / D4 = v B3 + vC3 / B3 Now, v B2 / A2 = 2 rB/ A v B/ A = 2 rB/ A = 100 1 = 100 in / s ( to rB/ A ) vC4 / D4 = 4 rC / D vC4 / D4 = 4 rC / D ( to rC / D ) vC3 / B3 = 3 rC / B vC3 / B3 = 3 rC / B ( to rC / B ) Solve Eq. (1) graphically with a velocity polygon. (1)
From the polygon, vC3 / B3 = 77.5 in / s vC4 / D4 = 71 in / s in the direction shown. - 101 -
Now
3 =
and
vC3 / B3 77.5 = = 44.29 rad / s rC / B 1.75
4 =
vC4 / D4 71 = = 35.5 rad / s 2 rC / D
To determine the direction of 3 , determine the direction that rC / B must be rotated to be parallel to vC3 / B3 . This direction is clearly clockwise. To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to vC4 / D4 . This direction is clearly counterclockwise. The velocity of point E3 vE4 = vD4 + vE4 / D4 = 4 rD/ E = 4 rD/ E = 35.5 0.8 = 28.4 in / s Acceleration Analysis: aB3 = aB2 = aB2 / A2 aC3 = aC4 = aC4 / D4 = aB3 + aC3 / B3
(2)
Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 100 2 1 = 10, 000 in / s2 B B in the direction of - rB2 / A2

t t aB2 / A2 = 2 rB/ A aB2 / A2 = 2 rB/ A = 0 r r a C3 / B3 = 3 ( 3 rC / B ) a C3 / B3 = 3 2 rC / B = 44.292 1.75 = 3432.8 in / s2
t t aC3 / B3 = 3 rC / B aC3 / B3 = 3 rC / B ( to rC / B ) r r a C4 / D4 = 4 ( 4 rC / D ) a C4 / D4 = 4 2 rC / D = 35.52 2 = 2520.5 in / sec 2
Solve Eq. (2) graphically with acceleration. - 102 -

t aC3 / B3 = 3500 in / s2 t aC4 / D4 = 10, 900 in / s2
Then,
3 = 4 =
t aC3 / B3 3500 = = 2000 rad / s2 1.75 rC / B t aC4 / D4 10, 900 = = 5450 rad / s2 2 rC / D
To determine the direction of 3 , determine the direction that rC / B must be rotated to be parallel to t aC3 / B3 . This direction is clearly counterclockwise. To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to t aC4 / D4 . This direction is clearly clockwise. Determine the acceleration of point E4
t aE4 = aD4 + aE4 / D4 = a r 4 / D4 + aE4 / D4 E
- 103 -
t t aE4 / D4 = 4 rE / D aE4 / D4 = 4 rE / D = 5450 0.8 = 4360 in / sec 2
a r 4 / D4 = 4 ( 4 rE / D ) a r 4 / D4 = 4 2 rE / D = 35.52 0.8 = 1008.2 in / sec 2 E E From the acceleration polygon, aE4 = 4600 in / s2
Problem 2.20 Draw the velocity polygon to determine the velocity of link 6. Points A, C, and E have the same vertical coordinate. 2
1 2 =
rad 6 s 3
AB = 1.80" BC = 1.95" CD = 0.75" DE = 2.10" 4 E C 5 D 6
50
Velocity Analysis: v B3 = v B2 = v B2 / A2 vC4 = vC3 = v B3 + vC3 / B3 v D5 = vD3 vE5 = vE6 = vD5 + vE5 / D5 Now, v B2 / A2 = 2 rB2 / A2 v B2 / A2 = 2 rB2 / A2 = 6 1.8 = 10.8 in / s ( to rB2 / A2 ) vC3 is in the vertical direction. Then, vC3 / B3 = 3 rC3 / B3 vC3 / B3 = 3 rC3 / B3 ( to rC3 / B3 ) Solve Eq. (1) graphically with a velocity polygon. From the polygon, using velocity image, vD3 = 18.7 in / s (2) (1)
- 104 -
B 2
3 A C E 4 D e5 o 5 6
b3
Velocity Polygon c3 d3 Now, vE5 in horizontal direction vE5 / D5 = 5 rE / D vE5 / D5 = 5 rE / D ( to rE / D ) Solve Eq. (2) graphically with a velocity polygon. From the polygon, using velocity image, vE5 = vE6 = 8.0 in / s d5 10 in/sec
- 105 -

Problem 2.1: Solutions To Chapter 2 Exercise Problems

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Problem 2.1: Solutions To Chapter 2 Exercise Problems

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Solutions to Chapter 2 Exercise Problems Problem 2.

Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2 v B2 = v A2 + v B2 / A2 - 48 -

v A2 = 0 Therefore, vC3 + v B3 /C3 = v A2 + v B2 / A2 Now, (1)

vC3 / B3 156 = = .86 rad / s rC / B 182

From the directions given in the position and velocity polygons

vC4 / D4 43 = = .43 rad / s rC / D 100

From the directions given in the position and velocity polygons

Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 2 2 75 = 300 mm / s2 B B

in the direction of - rB2 / A2

Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2 v B2 = v A2 + v B2 / A2 v A2 = 0 Therefore, - 51 -

vC3 + v B3 /C3 = v A2 + v B2 / A2 Now,

2 = 500 rad / s CCW

vC3 / B3 523.5 = = 216.3 rad / s 2.42 rC / B

From the directions given in the position and velocity polygons

3 = 216.3 rad / s CCW

vC4 / D4 858 = = 429 rad / s 2 rC / D

From the directions given in the position and velocity polygons

4 = 429 rad / s CCW

Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 500 2 1.2 = 300000 in / s 2 B B in the direction of - rB2 / A2

r r a C3 / B3 = 3 ( 3 rC / B ) a C3 / B3 = 3 2 rC / B = 216.32 2.42 = 113, 000 in / s2

Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2 v B2 = v A2 + v B2 / A2 v A2 = 0 Therefore, vC3 + v B3 /C3 = v A2 + v B2 / A2 - 54 (1)

vC3 / B3 31.3 = = .12 rad / s 260 rC / B

From the directions given in the position and velocity polygons

3 =.12 rad / s CCW

vC4 / D4 990 = = 5.5 rad / s 180 rC / D

From the directions given in the position and velocity polygons

Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 10 2 100 =10, 000 mm / s 2 B B in the direction of - rB2 / A2

Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2 v B2 = v A2 + v B2 / A2 v A2 = 0 Therefore, vC3 + v B3 /C3 = v A2 + v B2 / A2 Now, (1)

vC3 / B3 500 = = 3.125 rad / s rC / B 160

From the directions given in the position and velocity polygons

3 = 3.125 rad / s CCW

vC4 / D4 300 = = 1.5 rad / s 200 rC / D

From the directions given in the position and velocity polygons

4 =1.5 rad / s CCW

t t t r r r a C4 / D4 + aC4 / D4 = aB2 / A2 + aB2 / A2 + aC3 / B3 + aC3 / B3

Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 4 2 100 =1600 mm / s 2 B B in the direction of - rB2 / A2

t aC3 / B3 618.5 = = 3.87 rad / s2 160 rC / B t aC4 / D4 3220 = = 16.1rad / s2 200 rC / D

Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2

v B2 = v A2 + v B2 / A2 v A2 = 0 Therefore, vC3 + v B3 /C3 = v A2 + v B2 / A2 Now, (1)

vC3 / B3 6.25 = = 2.5 rad / s 2.5 rC / B

From the directions given in the position and velocity polygons

3 = 2.5 rad / s CCW

vC4 / D4 3.75 = =1.5 rad / s 2.5 rC / D

From the directions given in the position and velocity polygons

a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 4 2 1.25 = 20 in / s 2 B B in the direction of - rB2 / A2

Velocity Analysis: v B3 = vC3 + v B3 /C3 v B3 = v B2 v B2 = v A2 + v B2 / A2 v A2 = 0 Therefore, vC3 + v B3 /C3 = v A2 + v B2 / A2 - 63 (1)

vC3 / B3 7500 = = 37.5 rad / s 200 rC / B

From the directions given in the position and velocity polygons

Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = 100 2 60 = 600, 000 mm / s 2 B B in the direction of - rB2 / A2

t aC3 / B3 = 211, 000 mm / s 2

a C4 / D4 = a C4 = 248, 000 mm / s 2 Then,

t aC3 / B3 211, 000 = = 1060 rad / s2 200 rC / B

v B3 /C3 2.3 = = .115 rad / s 20 rB/C

From the directions given in the position and velocity polygons

v B2 / A2 2.3 = = .23 rad / s 10 rB/ A

From the directions given in the position and velocity polygons

2 =.23 rad / s CCW 4 = 0 rad / s since it does not rotate

Now, a r 2 / A2 = 2 ( 2 rB/ A ) a r 2 / A2 = 2 2 rB/ A = .232 10 = .529 ft / s 2 B B in the direction of - rB2 / A2

a tB2 / A2 = 0.017 ft / s 2 Then,