Chapter DYNAMIC FORCE ANALYSIS TOPIC/PROBLEM MATRIX SECT TOPIC PROBLEMS 11.4 Force Analysis of A Fourbar Instantaneous 11-8, 11-9, 11-10, 11-11, 11-12, 11-20 Continuous 11-13, 11-15, 11-21 11.5 Force Analysis of A Stider-Crank 11-16,11-17,11-18 11.7 Linkages With More Than Four Bars 11-1, 11-2 11.8 Shaking Forces and Torques 11-3, 11-5 11.10 Force Analysis by Energy Methods 11-4, 11-6, 11-22, 11-23, 11-24 11.11 Flywheels 11-7, 11-19 11.12. Linkage Force Transmission Index 11-14DESIGN OF MACHINERY SOLUTION MANUAL 11-2-1 AS PROBLEM 11-2 ‘Statement: Draw free body diagrams of the links in the sixbar linkage shown in Figure 4-12 and write the dynamic equations to solve forall forces plus the driving torque. Assemble the symbolic ‘equations in matrix form for solution. Solution: No solution is provided to this algebraic exercise.DESIGN OF MACHINERY SOLUTION MANUAL 11-32-1 BS PROBLEM 11-38 Statement: ‘Solution: Table PI 1-1 shows kinematic and geometric data for several stider-crank linkages of the type and orientation shown in Figure P11-1. The point locations are defined as described inthe text. For row a inthe table, solve for forces and torques atthe positon shown. Also, compute the shaking force and the shaking torque. Consider the coefficient of friction jx between slider and ground to be zero. blob := Dbf-sec™-in”* Link lengths: Link2(02104) a= 4.00 Link 3 (Ato) Offset 0.00-in Friction: Crank angle and motion: @:= 45.deg 2 := 10-rad-see 166.40-deg Coupler point: ——-Rp3 = 0.0-in—_Sppp:= 0.0-deg Mass: 1m) := 0.002-blob m3 = 0.020-blob m4 = 0.060-blo6 Moment ofinertia: _1g7:= 0.10-Blobsin™ Ig3:= 0.20-blob-in? ‘Mass center: 00-in 82 := O-deg ReG3 = 5.00-in 83 := O-deg Force and torque: Fp3i= O-lbf —Sp3i= O-deg T3 i= 2048f-in ‘Accelerations: ag2 = 203.96-in-see"? 0 4¢7 = 213.69-deg =? agg i= 371.08-in-sec 0463 = 200.84-deg ag4'= 357.17-in sec 0464 := 180.0-deg See Figure PII-1, Table PII-1, and Mathcad file P1103a. 1. Calculate the x and y components of the position vectors. Riax= Regrcos(02 + 186-deg) Rye = -1Al4in Rizy = Recr-sifon + 180-deg) Ryzy = -1Al4in Rize = Rea2e0s(02) Rian = 1Al4in Razy = ReG2sid02) Ray = 1Al4in R3x = RCG3:c05(83) Rp3x = 4,860 in Roay == ReGasin(83) Roy = 1.176 in Raax = (b ~ RcG3)-cos(03 + 180-deg) Raa = 6.804 in Raay = (b - RoG3)-sin{3 + 180-deg) Ra3y = 1.646 in Rp3x i= Rp3-cos(83 + 180-deg + dep3) Rp3q = 0.000 in Rp3y := Rp3-sinB3 + 180-deg + dps) Rpay = 0.000inDESIGN OF MACHINERY SOLUTION MANUAL 11-32-2 2. Calculate the x and y components of the acceleration of the CGs of all moving links in the global coordinate system (GCS). aG2x:= aG2-608( 0462) aG2x = ~169.708 in-sec™? "2 aG2y = aG7'sinl 04G2) Gay = -113.136 in-sec 2 aG3x'= ag3-c0s( 8463) ac.ax = -346.803 in-sec 13s 0403) 63) = 132.018 nsec"? Gy: 2 aG4s = aG4-c0s( 84G4) aG¢x = 357.170 nsec 3. Calculate the x and y components ofthe external force a! Pon link 3 in the CGS. Foxcos 3) Frese = 0000 Fx F pay = Fexsirh SFP3) Fp3y = 0.000 lof 4, Substitute these given and calculated values into the matrix equation 11.10g, modified for this problem. Note that Mathcad requires that all elements in a matrix have the same dimension. Thus, the matrix and array in quation 11 10g will be made dimensionless andthe dimension wil be put back nae solving 1 0 10 0 o 1 0 4 0 R, Ride ~R3: R3z cRry Rix ~Ruy Bx 5g gy in ie o 0 + 6 1 0 00 0 0 0 4 0 0 Rasy Rose Rasy Rese ° wy —Raie Ray Rete 5 g Dn 0 0 0 0 -1 o no 0 0 0 41 10 -1 meagre lof -1 myagiy lof <1 Igrazlof in (ms-ag3x ~ Fp3e)ltf”' (m3-ag3y — Friy)-10f (1G3-43~ Rp3x- Fray + Reay-Fpax ~ T3)-lbf -1 meages Of °DESIGN OF MACHINERY Fax Fizx Fa3x Fay: qT Fig = -28.716f Fn, = 2A lof Fae = 2Albf Flay = 8.7416 T12 = 99.6 1bf-in SOLUTION MANUAL 11-32-3 Fiay:= Rylbf — Fizy = S8TIbf Fray = Rylif — Fazy = -6.10/bf Faay:= Rglbf — Faay = 8.74 16f 5. Calculate the shaking force and shaking torque using equations 11.15. Fai Fix -5-Fiay Fy Fai + Fat Magnitude: Fy:= [Fe Angle: Ty=-T 28.106 + 2.867} lbp Fry = 28.848 16f 6f5 = $.7083 deg Ty = -99.616f:inDESIGN OF MACHINERY SOLUTION MANUAL 11-42-1 AS PROBLEM 11-48 ‘Statement: Units: Solution: ‘Tables P11-1 and P| 1-2 show kinematic and geometric data for several slider-crank linkages of the type and orientation shown in Figure PII-1, The point locations are defined as described inthe text. For row a in the table, solve forthe input torque on link 2 using the method of virtual work at the position shown. Consider the coefficient of friction between slider and ground to be zero. blob = Ibf-see™-in” | Link lengths: Link2(0;t04) a 4.00-in Link 3 (A t0.B) 2.00-in offset = 0.00.n Friction: Crank angle and motion: 07 := 45-deg 05 := 166.40-deg Coupler point: Rp3:= 00in gpg 0.0-deg Mass: ‘m= 0.002-blob m3 = 0.020-blob mg := 0.060-blob Moment of inertia: Ig2 = 0.10-blob-in® 1g3= 0.20-blob-in® Masscenter: Reg? :=2.00-in 5p: O-deg ——-ReGRI= 5.0m By = Ordeg Fp3:= Olof 5pp37= O-deg Ty:= 20:16f:in Accelerations: cay := 20-rad-see™> —agi= 203.96-in-sec™ > 84c,2:= 213.69-deg ag3 := 371.08: nsec’ 4G3 = 200.84-deg agai= 387.17-insec"? —O4g4= 180.0-deg Velocities: vG27= 20.0-in-sec™ | OyG2%= 135.0-deg = v6: 3524insee | — 8yG37= 152.09-deg yogi 35.\dinsec” | @ygy:= 180.0-deg yp3=3524insec' — Byp3:= 152.04-deg ‘See Figure P11-1, Table P11-1, Table P11-2, and Mathcad file P1103. 1. Calculate the x and y components of the velocity vectors. -1 ¥G2x = vG2-¢0s( 8VG2) vG2x = -14.142 nsec” .go'sin yG2) vG2y = 14.142 insec™* YG2y 1 vaax:= ¥G3-208( 8vc3) vG3x = ~31.141 insee” veay = ve3-sin OVG3) Gay = 16.495 in-sec iG4-c0s( BvG4) ¥G4e = ~35.140 insec™ | YG vpae:= vp3-cos( 6173) vpae = 31127 nsec”!DESIGN OF MACHINERY SOLUTION MANUAL 11-42-2 3s 6173) vpay = 16522imsec"! vP3y 2. Calculate the x and y components of the acceleration of the CGs of all moving links in the global coordinate system (GCS). G24 = aG2-¢05 44G2) aG2x = -169.105 in-sec > agzy3= aG2'sin( 8462) aGay = -113.136 in-sec™? aGix == aG3-005( 8463) ax = ~346.803 in-sec™? gay = ag3-sin 043) agay = ~132.015 in-sec”* aG4x = aG4-005( 8464) aG4x = -357.170 nsec” > 3. Calculate the x and y components of the external force at P in the CGS. Fix = Fp3-cos( 5¢P3) Fpix = 0.00016f Fray = Fpxsird Spa) Fray = 0.0001bf 4, Substitute these given and calculated values into equation 11.16c and solve for the input torque. 1 1 fmo(agarrare + aczy%an) + ms(easevosr + a63y%0H) ©2| smelacaevan) + (Iorax02+ losa303) +4Frscpse + Foay-vpiy) ~ Tra q T12 = 99.687 lbf-inDESIGN OF MACHINERY SOLUTION MANUAL 11-5a-1 AS PROBLEM 11-50 ‘Statement: Table P11-3 shows kinematic and geometric data for several pin-jointed fourbar linkages of the type and orientation shown in Figure P11-2. All have 8; = 0. The point locations are defined as ‘described inthe text. For row a inthe table, solve for forces and torques at the position shown. ‘Also, compute the shaking force and the shaking torque. Work in any units system you prefer. Units: blob = Ibf-sec™ in Given: Link lengths: Link2(O210A) a= 4.00-in——Link3 (410) = 12.00-in Link4(Bt004) c= 8.00in —Link3 (01004) d= 15.00.in 0erad-sec™ | Crank angle and motion: @2:= 45.deg 2 Other link angles: 03 := 24.97-deg 3 := ~5.62-rad-sec” '@q:= 99.30-deg w4:= 3.56-rad-sec™ Coupler point: Rp3:= 0.0-in Spp3:= 0.0-deg Rpqi= 80-in Spry = 0.0-deg 0.002-blob ——mz1=0.020-blob mg = 0.100-biob Ig2'= 00-blob-in? Iga= 0.50-blob:in™ Mass center: ReG2'=2.00-in 82:= O-deg 00-in 83 := O-deg ReG4i=4.00-in 84:= 30.deg Force and torque: Fps:=Olbf — Sep3:= O-deg —Fpy = 40lbf Sippy = -30edeg Ty = 1S lbf-in Ty = 25lbf-in ‘Accelerations: — cp2=20-rad-sec”> —ag7:= 801.00-insec™? gp i= 222.14-deg 53 := 75.29-rad-sec”? ag3:= 1691.49-insee > 04G3:= 208.24-deg 244.43-rad-seo”? agg i= 979.02-in-see™> — O4g4 a4 ‘Solution: ‘See Figure P11-2, Table P11-3 and Mathcad file P1105a. 1. Calculate the x and y components ofthe position vectors. Ri2e'= ReG2-eos(02 + 82 + 180-deg) Riay = RcGr-sin 8 + 52 + 180-deg) Riz= |(ReGrsin82))" + (a RcG2-cos(82))” R32 = 2.000in atan{a ~ RcG2-cos(82), RcG2si52)) 32 = 0.000 deg R3x-cas(82- 632) Rarx Razy = 14l4in Als inDESIGN OF MACHINERY Rae = Rco3<0s(03 + 63 + 180-des) SOLUTION MANUAL 11-52-2 Roe = 4.533 in Roay:= RcGasin(O3 + 83 + 180-deg) Rojy = -2.11 in Ras {(Roasssi3))’ + (b~ Regs-cos(B3))” ys = 7.000in 43 = atan(b ~ RcG3-cos(63), ReGs-sin(S3)) 843 = 0.000 deg Raax = R43-c0s(83 ~ 843) Rex = 6.346 in Ryay = Rg3-sinlB3 ~ 843) R4zy = 2.955 in Riag = ReGacos(0g + 54+ 180-deg) Rise =2834in Risy = ReGHsi Og + 84 + 180-deg) Ri fy = -3.095 in Rae= {(Rccesinl'a)) + (c Reaecas(Ss))” a4 = 49STin B34: atandle~ ReG4-c0s(84), Rocy-sin(S4)) 834 = 23.794deg Raax = Rig-cos(84 ~ 834) Rae = 1.241 in Rigy = RagsinfB4 ~ 834) Rasy = 4.799 in Rp3x i= Rp3-cos(03 + Sxpa) Rpay := Rp3-sinf03 + Sep3) pacos(O4 + Sepa) Rpssinh4 + SRP) Rots Rey Rp3x = 0.000 in Rp3y = 0.000 in 293 in Rpts 7.895 in 2. Calculate the x and y components ofthe acceleration of the CGs of all moving links in the global coordinate system (GCS), G25: Gy aG3x Gay aGax:= aG4-cos( 4464) aGay= aGesirl 8464) F pax = Fp3cos( SrP3) F psy = Fessie Spp3) Fax = Fos-cos(SiP4) Feay = Fpssin Sepa) ag2x = 593.948 in-seo™® agay = ~5374217 nsec? agax = “1.490 x 10 insee™? ‘agi3y = -800.355 in-sec aciyx = ~T24.459 isec™ 0G 4y = ~658.513 nsec? Calculate the x and y components ofthe extemal force on links 3 and 4 in the CGS. Fay = 0.000 67 Fay = 0.00067 Fpgy = 34.641 lof Fpgy = -20.000 bfDESIGN OF MACHINERY SOLUTION MANUAL 11-5a-3 4. Substitute these given and calculated values into the matrix equation 11.9, modified for additional terms. Note that Mathcad requires tha al elements in a matrix have the same dimension. Thus, the matrix and array in ‘equation 1 1.10g will be made dimensionless and the dimensions will be put back in after solving it 1 0 1 0 ° o 1 0 4 ° HRiay Rize Roy Ra2e 2 = = o 0 0 oO 1 o 4 0 4 0 ° 0 0 ° o 00 R -Rasy Raa ° 23 tay Ras oo ° -1 myagrx lof -1 mpag2ylbf -1 in Ierox lof (ma-acax ~ Fras):6f~' (rsacry~Fry)ts~! Reo le (las-a3 ~ Reae Fay + Rpay-Fp3x — 73) tof (maces Fras) of” | (meacay~ Fray)-tof' 1 (te404- Rese Fray + ReayFpax ~ Ta) lof in Fizg= Rylof Fax = -124016f Rylbf Fay = 62.3 1bf Fax: Rylbf Fa = 122.81bF Rylof Fay = 61.2169 Fac: Relbf — F4ax = 93.0 16f Fay = Rolf F4ay = 45.210F Frag Rylbf Frag =-14.101bf Fiay= Rylif Fray = -0.676ibf Tip Rylbfiin 712 1T6ALBf:in 5. Calculate the shaking force and shaking torque using equations 11.15. Paa= Fax -5-Fiay Fau= Flax +i-FiayDESIGN OF MACHINERY SOLUTION MANUAL 11-524 109.868 + 61.581) bf Fyi= Fai + Far Magnitude: Fy 125.949 lof Angle: OF = 29.271 deg Ty = 176.4 lbf-inDESIGN OF MACHINERY SOLUTION MANUAL 11-62-1 AS PROBLEM 11-62 ‘Statement: Tables P11-3 and PI 1-4 show kinematic and geometric data for several pin-ointed fourbar linkages of the type and orientation shown in Figure P11-2. All have 0; = 0. The point locations are defined as described in the text. For row arin the table, sive for input torque on link 2, sing the method of virtual work, at the position shown. Work in any units system you prefer. blob := Ibf-sec”-in' Link lengths: Link 2 (0, to) Link3 (A t0B) b= 12,00.in Link 4 (6 0.04) Link3 (01004) d:= 15.00in Link angles: 021 4S-deg 04:= 99.30.deg Coupler point: Rp3:= 0.0.in Rpg = 8.0:in Mass: 1mp:=0.002-blob m3: 0.020-blo6 my = 0.100-blob Moment of inertia: ¢2 = 0.10-Blob-in™ IG4:= 0.50-blob- in? Masscenter: —RCG)=2.00n 6y:=O-deg ——RCGI= 5A0n y= Odeg RCG4:=4.00-in Bg = 30deg Force and rque: Fp3:= Olbf rpg: O-deg — Fg:= 40lbf Sepa Tym “15.89: in Ty = 25:Bf:in Acoelerations: c= 20.rad-sec™? —agg= 801.00insec™? 4g: 222.14-deg 43 = 75.29-rad-sec™? aG3:= 1691.49-insec™® 04G3:= 208.24-deg ag: 244.43-rad-see? agg = 979.02-insec”? — O4g47= 222.27 deg Velocities: oerad-see”' —vgp:= 40.0-insee' —ygaz= 135.0-deg $.62-rad-see"' 54.44.imsec™! 03 6yG3"= 145.19-deg S6-rad-sec™ | 14.23-insee"' ——yg4s= 219.30-deg 80.00-insec' —@yp3:= 135.00-deg ypgr=2845-insec”' — Bypy= 189.30-deg Solution: See Figure P11-2, Table P11-3, Table P11-4, and Mathcad file P1106a. 1. Calculate the x and y components ofthe velocity vectors 1e2-c0s( 802) 1e2-sir 8y¢2) vq2x = -28.284 nsec | G2" Gay = 28.284 in-sec’DESIGN OF MACHINERY va3x'= v63+eos{8¥G3) vGayi= vG3-sin OvG3) vo4n'= vo4-20s{ 8YG4) vG 49 Versio ByG4) pax != vp3-cos( Byp3) vpay = vp3'sin( Oyp3) pa = ve-cos(OvP4) vpey = vpesih ves) SOLUTION MANUAL 11-622 vgax = ~44.698 in-sec™ | vgj3y = 31.077 insec vous = 11.012 insec™ | Guy = -9.013 nsec”! vpax = ~$6.569 nsec” | wpay = 56.569 nsec! vp tx = -28.076 insec” vp4y = 4.598 nsec” 2. Calculate the x and y components of the acceleration of the CGs of all moving links in the global coordinate system (GCS), 9G2x ra2-c0s( #4¢2) aG2y:= ag2-sin 0462) ag3x:= aG3-c0s( 0463) aGay'= aG3'8i4 9463) aGax = aG4-c0s{ 0464) aGty = agesirl B4G4) Fpax >= Fp3-c0s(SeP3) Fay = Fp3-sin(5¢P3) Fey G24 = -$93.948 in-sec™ a 2y = ~$37.427 nsec” aGax = 1.490 x 10° nsec? aG3y = -800.355 imsec? G4 = ~724.459 insec? acy = 658.513 see? Calculate the x and y components of the external force on links 3 and 4 in the CGS. Fp3x = 0.000 16 F p3y = 0.0005f F pax = 34.641 lof F pty = -20.000 lof T12= —[m2(aG2xvG2x-+ aG2y-¥G2y) + mz(acaeVG3 + 4G3y-¥G3y) oz + me(acarvG4n + aG4y%G4) + (Io202-02 + 1e3-03-03 + Ioea4m4) + (Feaxvpax + Fray-vp3y) ~ (Frsevpas + Fray Pty) +-Ty03-Trog T12 = 166.3 1bf:inDESIGN OF MACHINERY SOLUTION MANUAL 11-7a-1 AS PROBLEM 11-78 Statement: Forrow a in Table P1-3, input the associated disk file o program FOURBAR, calculate the linkage parameters for crank angles from zero to 360 deg by 5 deg increments, and design a steel disk flywheel to smooth the input torque using a coefficient of fluctuation of 0.05. Minimize the flywheel weight. blob == Ibf-sec™ in Link lengths: Link 2.(03 0.4) Link3 (408) b= 12.00.in Link 4 (B 10 04) Link 3 (0; 1004) ds= 15.00-in Crank angle and motion: Q:= 45-deg 2 = 20-rad-sec' Other link angles: 03 := 24.97-deg 3 = -$.62-rad-see™'04:= 99.30-deg_ wq=3.S6-rad-sec™ Coupler point: Rp3:= 0.0-in Snp3:= 00-deg Rocker point: Rp4:= 80-in Sars: O0-deg Mass: mz:=0.002-blob ——-m3= 0.020-Blob mg = 0.100-blob Moment of inertia: [¢2:=0.10-blob-in? —1g3:= 0.20-blob-in? ——_Iggs= 0.50-blob-in? Masscenter: —-RG2'=2.00-in 8p := O-deg ——-RCGR=5.00-in 83 = Ordeg RoG4 = 4.00-in 84 := 30-deg Foree and torque: Fpz:= O-lbf — Spp3i=O-deg Fey: Alf Spqi= -30-deg Ty = AS.lbf-in Tys= 2Slbf-in ‘Accelerations: ap := 20-rad:sec™> agp i= 801.00-insec™” —847:= 222.14-deg 13 = 75.29-rad-sec™? agg = 1691.49:in-sec™* 04G3 = 208.24-deg 244.43-rad-see" ? agg 4, 979.02-insee? —4gy1= 222.27 deg Coefficient of fluctuation: 0.05 Desired average speed: avg = 02 Solution: See Figure P11-2, Table P11-3 and Mathcad file P1107. 1. Enter the above data into program FOURBAR and determine the energy change from minimum to maximum speed. The input torque vs crank angle graph is shown on the next page. The linkage balance screen is shown Just below the input torque graph. A table of torque pulse areas is shown on the balancing screen. Use the ddata from it and equation 11.22 to determine the required system mass moment of inertia. E E:= 402.9-lbf-in Is Js = 20.1 blob-in 2 boag ‘The moment of inertia ofthe input crank and the motor armature can be subtracted from this value to obtain the required flywheel moment. There are an infinity of possible size/shape solutions for this problem.DESIGN OF MACHINERY SOLUTION MANUAL 11-72-2 ‘& FOURBAR for Windows by RL SS Bolance Mass and Rus for Link 2) Areas of Cork Torque — Padus od Pulses m Order overt cycle [ae in Energy Unit of Ibn: Redint MA Pret [UOT urs Cider NeaArea Pos Aveo Balance Mass and Rus for Link & 431.9 4991 “40234055 a ees EarwEs 2 Cr a ee Fee Confer of Futuaion —)DESIGN OF MACHINERY SOLUTION MANUAL 11-8-1 AS PROBLEM 11-8 ‘Statement: Figure P11-3 shows a fourbar linkage and its dimensions. The steel crank and rocker have uniform ‘ross sections I in wide by 0.5 in thick. The aluminum coupler is 0.75 in thick. In the instantaneous position shown, the crank Oz has = 40 rad/sec and c.=-20 rad/sec?. There is a horizontal force at P of F = 50 Ib. Find all pin forces and the torque needed to drive the crank at this instant, Units: blob = tof-see™in~' Given: Link lengths: Link 2 (O2 to A) Link 3 (A to B) b= 4.40-in Link 4 (B to O4) Link 1 (02004) d= 9.50-in Coupler point 83:5 S6-deg Fix S0lbf — Ty:= O-lbf-in a2 := -20-rad-see™* 2: S0-deg — 2 := 40-rad-sec 12:=0.50:in—13:= 0.75:in y= 1.00-in tg = 0.50-in 3 aluminum yq= O.1-lbfsin > Material specific weight! steel yg:= O.3-Ibf:in™ Solution: See Figure P11-3 and Mathcad file P1108. |. Use program FOURBAR to determine the position, velocity, and acceleration of links 3 and 4, 03 := 10.105-deg 03 = -41.552rad-seo" | 3 == -335.762-rad-sec™ 2 04:= 113.008-deg 04: 26.320-rad-sec™' ag = 2963.667-rad-sec™ 2. Determine the distance to the CG in the LRCS on each of the three moving links. Links? and 4: Req =05-a Reg? =2500n — Regy:= 052 ReGy = 2.500in ,os{53) +B Link 3: Roxy _ eecees) ReGae = 3.126in -sin3 Rey» eee) Reaay =2459in Reo3 =| Rea3e" + Roe. Rea = ‘Atan angle with respect tothe local x’ axis of atan2( RoGax' RCG3y’) 833 = 38.199deg 977 in 833 3. Determine the mass and moment of inertia of each link, % 1 Ya % mys wetra" m3 = 2b: Rpg sin3)-15= mgs wotyeo™ z 3 Roasibs) 49-9 e mz = 1.943 x 10° blob m3 = 3.153 x 10° blob mg = 1.943 « 10° blobDESIGN OF MACHINERY SOLUTION MANUAL 11-8-2 Joa 72. (mp +) 169 4209 x 107? bob. in? ta 2 [7+ (Rowsi83))"] 13 = 0.039 lob-in? toa= wi +2) Toa = 4.209 x 107} blob-in? 4. Setup an LNCS xy coordinate system at the CG of each link, and draw all applicable vectors acting on the system as shown in Figure 11-3. Draw a free-body diagram of each moving link as shown in Figure 11-3. Pp 4 y /}\ Sema, /}\ PAP ee, Fasy (c) FBD of Link 3 (@) FBD of Link 4 5. Calculate the x and y components of the position vectors. Ry2x:= ReG2-c0s(82 + 180-deg) Rjze = -1.607 in Rigy = RoGr-sin{8 + 180-deg) Rigy = -1.915 in R32x:= Reg7-cos(02) R32¢ = 1.607 in Raay = ReG2sin(82) Ryzy = 91S in Roig = RCG3-C0s(833 + 03 + 180-deg) Ro3¢ = 2.646 inDESIGN OF MACHINERY SOLUTION MANUAL 11.8.3, Roay - Regssink B35 + 03 + 180-deg) Rosy =-2970in Ra3x = b-cos(83) ~ Rog3-cos(83 + 833) R4ax = 1.686 in Raay = -(RcG3-sih03 + 533) - b-sin(03)) Ragy = -2.198 in Rage = ReGarcos(4) Rigg = -097Tin Ray = Recesin4) Raty = 2301in Rise = RCG4c0s(84 + 180-deg) Riz = 0.977 in Rigy = ReGssin(04 + 180-deg) Rigy = 2301 in Rpa'cos(83 + 83) ~ | Rrax{ Rpx = 0.959in Rey: Bpasid 3 + 83) - |Ro3y] Ry = 5.A6Tin Res 6. Calculate the x and y components of the acceleration of the CGs of all moving links in the global coordinate system (GCS). aga = Reor-a(-sil@2) +j-cox(03)) ~ a-a2”(c0s(02) + -sif02)) agax:= Re(ag2) ag2x = -5.104 x ws in agay'= Im(aga) czy = 6.160% 107 aq = ear (-sif02) + j-cos(02)) ~ 202 -(cos(02) + j-sn(92)) acasa = Roasa3-(-sinfs + 833) + j-cos(03 + 833)) + -Rega-03? (cox{03 + 833) + sins + 833)) 3 in a4 + 8CG3A ag3x = Re(ag3) agar = 8.636 x 10° see a¢3y= Im(nca) agay= 1221 108 ag = Rogy a (-si04) + j-c09(04)) - 4'-(cos(04) +/-si04)) agaxi= Relaga) Gq = -5.466 x ws sec >in aGay = Indaga) Gy = -6.084 x 10° 7. Calculate the x and y components of the external force at ? in the CGS. Fpgis-F Fpy:= O-l6fDESIGN OF MACHINERY SOLUTION MANUAL 11-8-4 8. Substinute these given and calculated values into the matrix equation 11.9. Note that Mathcad requires that all elements in a matrix have the same dimension. ‘Thus, the matrix and array in equation 11.9 will be made «dimensionless and the dimensions will be put back in after solving it. Roay ~Roix ~Resy Raax o 0 Se a o 0 0 + 0 1 0 0 0 0 0 1 0 1 0 Ray Ruse -Risy Rods oo og RE Rie Ray Rade ar a a -1 moagaelbf mz-agzy lof * Iozazltg in! (m3-acax~ Fps)-tof | (msacay- Fy of (to203~ ReeFry + Reyes) lof ‘in! myacselof' “1 meacaylbf 1 (love rtp a Fax Fine = 37. 0bf Fry Fray = 424 lof Finns Rylof — F3_=2721bf Fay F3zy = S44 16f Faas Rylbf — Fyzy = 50.016f Fey F gay = 92.9 16f Fide Rylbf Figg = 393 16f Fray = Rylbf 104.7 of T12= Relbfvin T= 27916f-inDESIGN OF MACHINERY SOLUTION MANUAL 11-9-1 BS PROBLEM 11.9 Statement: Figure P11-4a shows a fourbar linkage and its dimensions in meters. The steel crank and rocker have uniform cross sections 50 mm wide by 25 mm thick. The aluminum coupler is 25 mm thick. In the instantaneous position shown, the crank Q2A has w = 10 rad/sec and c= 5 rad/sec?, There is a vertical force at P of F = 100 N. Find all pin forces and the torque needed to drive the crank at this instant. Link lengths: Link2(0;104) a= 1.00-m —Link3(40B) i= Link 4 (B10 04) 233m Link 1(0,100) Couper point: Rpg 306m = 83: —3deg Fie Crank angle and motion: @3:= 60-deg 2 := 10-rad-sec™ ! Link cross-section dims: wo 50mm — (i= 25.mm —t3:= 25mm —wg2= S0omm Material specific weight: steel y= 0.3-16f:in° aluminum Solution: See Figure P1)-4a and Mathcad file P1109. 1. Use program FOURBAR to determine the position, velocity, and acceleration of links 3 and 4. 03 := 44.732-deg -3.669-rad-sec' 13 = 55.752-rad-sec™ 04:5 96.322-deg = 1.442-rad-see! a4: 67.103-rad-see™ 2. Determine the distance to the CG in the LRCS on each of the three moving links. Links2and4: Rega: 05-e Reg? = 050m — ReGe= 05 ReGy = 1.165m Rpere0o(53) + Link3 Rease Fosse) Reciy’ = 1.561 m Rpasin(S3) 3 :=y ReGax" + Reay’ ReG3 = 1.647 m Atan angle with respect tothe local x’ axis of atan2(ReG3x',RCG3y') 833 = -18.600 deg 533 > 3. Determine the mass and moment of inertia of each link. 1 m weet m3 | Rposid i) 07 wetve m= 10.380kg m3 = 112.332 Ag. mg = 24.185 kgDESIGN OF MACHINERY SOLUTION MANUAL 11-9-2 1q2 = 0.867 kgm? 2 Ig3 = 125.951 kgm Ig4= 10.947 kgm? 4. Set up an LNCS xy coordinate system at the CG of each link, and draw all applicable vectors acting on the system as shown in Figure 11-3. Draw a free-body diagram of each moving link as shown in Figure 11-3. IR, Recs * | R | O, a (a) The complete linkage with GCS F faa (©) FBD of Link 3 5, Calculate the x and y components ofthe post Riay = RcGz-cos(0 + 180-deg) vectors. Riay = RcGo-sidO2 + 180.des) ¢G2-c0s(02) ReGr'sin(82) 2cG3-cos(533 + 83 + 180-deg) Rar Ray Raax RF iy 4 Mee, (@) FBD of Link 4 Ry2x = -0.250m Ry2y = 0.433 R32x = 0.250m R32y = 0.433 m Ro3e = 1479DESIGN OF MACHINERY SOLUTION MANUAL 11-93 Roay := RcG3sin533 + 83 + 180-deg) Ro3y = 0.725 m Razx = b-cos(03) - ReG-cos(03 + 833) Raae = -0.015m Rgay = (Reo3-sin(03 + 833) ~ b-sin(@3)) ——_Rysy = 0.724m Ra4x = ReG4-cos(84) Rage = -0.128m Rasy == Rege-sin(@4) Rity = L1S8m Rras = Rocycos(4 + 180-deg) Rigg = 0.128m Riay = Regystl@4 + 180-deg) Rigy = -LAS8m Rpg= Ryacos(3 + 83) ~ |Ro3x| Rp = 1.494m Rpy= Rparsif83 + 83) ~ | R23y| Rpy= 9.865 x 104m 6. Calculate the x and y components of the acceleration of the CGs of all moving links in the global coordinate system (GCS), ign = RoG2-a(-si(02) + j-c0s(02)) ~ 2-02 (cas(02) + j-sif62)) aca Flees) one -S2168- = aG2y:= In{aga) say 953832, w= a.az(-sin{@2) + j-c0s(82)) ~ a-02"-(cos(82) + j-si(02)) Acasa = Roos cs -sin(@s + 833) +i-cas(03 + 633) +-Rcg3-03°-(cos(03 + 833) + i-sid03 + 833)) m ngs 4A+ acca aGae'= Relags) ec = 14678, ag3y:= Im(ags) aG3y = a11429 a= Reet) + jeo{0))~ 0404) )#00)) aGi= Relaca) ste = 77166 In(aca) ag4y = “13.424 see 7. Calculate the x and y components of the external force at P in the CGS. Fpx=0-N Fey: -FDESIGN OF MACHINERY SOLUTION MANUAL 11-9-4 Substitute these given and calculated values into the matrix equation 11.9. Note that Mathcad requires that all elements in a matrix have the same dimension. Thus, the matrix and array in equation 11.9 will be made dimensionless and the dimensions willbe put back in after solving it 1 0 t 0 0 0 0 0 o o 1 0 1 6 0 60 0 0 PRizy Rix “Ry Bx 9 ggg o 0 +4 0 1 0 0 0 0 o 0 0 + 0 4 0 0 og Ry nha Rey Re 5 yg o o 0 + 0 1 0 o o o 0 09 a 0 10 ooo RY 23H Ry Rit ™ mmm myagzeN| mragayN"| Igzayn ‘me! (msac3e~ Fry-N' (rac3y~ Fs) Rac he (1o343~ ReeFry + Rey Fps)-N | meageeN” mg agayN (re a Fin RN Fine = 13859 Fray Ry =12294 Figg = 13018 Fizy= 11408 Fac 136N Fasy= 1024 Fige= 11 Figy = 9899. T)2= SS87N-mDESIGN OF MACHINERY SOLUTION MANUAL 11-10-1 AS PROBLEM 11-10 Statement: Figure P11-4b shows a fourbar linkage and its dimensions in meters. The steel crank and rocker ‘have uniform cross sections 50 mm wide by 25 mm thick. The aluminum coupler is 25 mm thick. In the instantaneous position shown, the crank O24 has @ = 15 radisee and a= 10 rad/sec?. There is horizontal force at P of F=200 N. Find all pin forces and the torque needed to drive the crank at this instant. Link lengths: Link2(0;104) a= 072m ——_Link3 (4 toB) Link 4 (B 10 04) 0.85.m Link 1 (0210.04) Coupler point: Roa = 0.97-m 33 := S4-deg Crank angle and motion: @:= 30deg = IS-rad-see™' erp s= -10-rad-sec > Link cross-section dims: 0mm wp := S0-mm — 19:= 25-mm 13: 2S.mm_—— wy Material specific weight: steel g:= 0.3:Jbf:in* aluminum. Solution: See Figure P11-4b and Mathcad file P1110. 1, Use program FOURBAR to determine the position, velocity, and acceleration of links 3 and 4, =16412-rad-sec™ ! 03 := 23.290-deg ©. 84 := 132.283-deg = 1,570-rad-sec ' 2. Determine the distance to the CG in the LRCS on each of the three moving links. Links 2 and 4: Reg? :=05-a Reg?=0.360m — Recs Sec ReG4 = 0425m Link 3: ReGix' = 0417 m ReGiy’ = 0262m ReG3 = 0492m ‘At an angle with respect to the local x’ axis of 33 = atan2{ Rco3x'. RG3y’) 833 = 32.117 deg 3. Determine the mass and moment of inertia ofeach ink. % 1 dpa m3 g bose) 22 mp = 7474kg m3 = 18.463 hg mg = 8823 AgDESIGN OF MACHINERY m2 sean (2 2) tos 2 [0+ (Roosidss)) SOLUTION MANUAL 11-10-2 Iq2 = 0.324kg-m? 2 Ig3 = 3.318kg-m! Igg = 0533 kgm? 4, Setup an LNCS xy coordinate system at the CG of each link, and draw all applicable vectors acting on the system as shown in Figure 11-3. Draw a free-body diagram of each moving link as shown in Figure 11-3. 4m se4 Fw Be (@) FBD of Link 4 ‘5. Calculate the x and y components ofthe position vectors. RcGz-cos(82 + 180-deg) :cor-eos(02) tcaz-sin(82) ican cas(633 +03 + 180 Solution: See Figure PL1-Sa and Mathcad file P1111. 1. Use program FOURBAR to determine the position, velocity, and acceleration of links 3 and 63 = 20261-deg 03 -6830-rad-see"! «13 = 106282-rad- sec"? 64 = 107.906-deg 04:= 12.023-rad-see™' ag i= 49.372-rad-sec* 2. Determine the distance to the CG in the LRCS on each of the three moving links. Links 2 and 4: Reg? = 05-4 Rcg?=0393m Regs Sc ReG4=047Sm Link 3: ReG3 = 05-Rpg RG = 0.54Sm 3. Determine the mass and moment of inertia of each link. ts n a mae wptpa my = Wty Ryo mg = metgert & fons g my = 848g m3 = N314kg mq = 9.861 kg mo > 2 toa 2? +) 1g2= 0420k¢ ms (29? 2 tos 72(n + tye) Iga = 123k ms (2 MCW +2) 164 = 0748 kg nt 4, Set up an LNCS ay coordinate system at the CG of each link, and draw all applicable vectors acting on the system as shown in Figure 11-3. Draw a free-body diagram of each moving link as shown in Figure 11-3.DESIGN OF MACHINERY s. Caleutate the x and y components ofthe positon vectors. Rix Rizy Ra2x Rizy Ro3x Rosy Rass Ray Rae Ry (©) FBD of Link 3 == RcG2-cos(02 + (80-deg) = Regpsin a + 180.deg) .= RcG2-eos(82) = Recr'si(02) = RcG3-cos(83 + 180-deg) = Regs'sin(O3 + 180-deg) == (Regs ~ 5)-cos(83 + 180-deg) = (Reas 8) sis + 180-deg) = Roga-cos(84) = Regasi(O4) SOLUTION MANUAL 11-11-2 (d) FBD of Link 4 Ry2x = 0.041 m Ry2y = -0.390m R325 = 0.041 m R32y = 0390 Ro3p= 0511 m Rasy = 0.189 m Ryjy = 0.17Tm Ragy = 0.065 m R34x = -0.146m Ry4y = 0452DESIGN OF MACHINERY SOLUTION MANUAL 11-11-3 Riae = ReGecos(84 + 180-deg) Rid = 0.146 Ry4y = Rece-sin(O4 + 180-deg) Rity = -0.452m px:= (Rpa ~ ReG3)-cos(83) Rpg= 051m Rpy = (Rpa ~ Rec3)-sird83) Rey = 0.189 6. Calculate the x and y components of the acceleration of the CGs of all moving links in the global coordinate system (GCS). aga = ReGrar(-sin(2) + j-cos(@2)) - a-02° (cos(62) + j-sin(@2)) aG2e'= Re(ng2) G25 = 22.366 2 sec’ cay: Im(nca) cays 178247 aq := a.ay(-si02) + j-cos(02)) ~ a-o2”-(cos(82) + j-sin(02)) AcG3A = RcG3-a3(-sin(03) + j-cos(03)) .. +-RcG3-03"(cos{03) + j-sin3)) agax = -17.640 2 see’ agzy = -129.301 ReGaas(-sin04) + j-cos(04)) ~ e-04"-(cos(04) + -sin(04)) 164 ace Re(aga) agen = 19906 ecty'= Inlaca) acey= “137888 vee 11 Caleulat the x andy component ofthe external force at? in the CGS. Fog ON Foye 8. Substitute these given and calculated values into the matrix equation 11.9. Note that Mathcad requires that all ‘elements in a matrix have the same dimension. Thus, the matrix and array in equation 11.9 will be made dimensionless and the dimensions will be put back in after solving it.DESIGN OF MACHINERY SOLUTION MANUAL 11-11-4 1 0 8 o 0 0 o 1 0 1 Riry Rix ~Razy Ra: tay Rix ~Rety Rie 0 60 o1 nm mm o 0 +7 0 1 ar) ° o ° o | Ig7a2N (msagax- Frxyn”| 1 (moacay- Fo} (les03 ~ Ree Fpy+ Rey Fp) meaceen | meaceyN | (icros-74).n7' Figg RyN Fiag= 231 Fy =-2231N F2y = 413. F zy = 803 Fay RyN Fag =214N Fg3y = 160 Faq = 410 Fig =-1519N Tip = 372N-mDESIGN OF MACHINERY SOLUTION MANUAL 11-12-1 AS PROBLEM 11-12 Statement: Figure PL1-Sb shows a fourbar linkage and its dimensions in meters. ‘The steel crank, coupler, and rocker have uniform cross sections of 50 mo diameter. In the instantaneous position shown, the ‘rank Oxd has @ = -10 radisee and a= 10 rad/sec®. There is a horizontal force at P of F= 300 N. Find all pin forces andthe torque needed to drive the crank at ths instant. Link lengths: ‘Link 2 (02 t0 4) Link 3 (4t0B) b= 1.85-m Link 4 (B 1004) Link 1021004) d:=2.22-m Coupler point: = O-deg Fi 300N — Ty:= 0-Nom 1 -2 Crank angle and motion: 97 = -36-deg @2:=-10-rad-sec™' aap: 10-rad-see" Link cross-section dims: iin = 50mm Material specific weight: yy z= O.3lbf-in > Solution: See Figure P11-Sb and Mathcad file P1112. 1. Use program FOURBAR to determine the position, velocity, and acceleration of links 3 and 4. 03 = 46.028-der 4 := 106.189-deg 2. Determine the distance to the CG in the LRCS on each of te three moving links. Links? and 4: Rcg7i=05-a RoG2=0430m — Reece See ReGs=0.430m Link 3: Regs = 05-b ReG3 = 0.925 m 3. Determine the mass and moment of inertia of each link. 2 rdink” te dink 2 4 g 4 mp = 14022kg m3 = 30.164kg my = 4 0224g > 12 = 0.866 hem > 1¢3 = 8608 kgm ma (35 2.2 2 Iga m2 -diink +?) IG 4 = 0.866 kg-m 4, Setup an LNCS xy coordinate system at the CG of each link, and draw all applicable vectors acting on the system as shown in Figure 11-3. Draw a free-body diagram of each moving link as shown in Figure 11-3,DESIGN OF MACHINERY SOLUTION MANUAL 11-12-2 2 Vs (@FBD of Link 4 ees yo Fey (a) The complete linkage with GCS to, y ~* , po Re F Fry oy 7 ' Re LF - x “ po ox 2 Bea 4 x Ra fe Re ee Fa= tf (b) FBD of Link 2 ‘ee (©) FBD of Link 3 5. Calculate the x and y components of the position vectors. Ri2~:= Rcg2-cos(02 + 180-deg) Ry2_ = -0.348m Rray= Rega-sid0n + 180-deg) Riz = 0253m Ryze Regr-cos(02) Rize = 0348 Ray: Reardon) yyy = -0253m Roag 2= RCG3-c0s(83 + 180-deg) 23x = 0.642 m Rosy == RoGa'sinl 03 + 180-deg) Ro3y = -0.666m Rese = (Rec ~ 8):cos(03 + 180-deg) Reae = 0.642m Raay = (RcG3 ~ 5)-sin(63 + 180-deg) Ray = 0.666 mDESIGN OF MACHINERY SOLUTION MANUAL 11-12-3, Rasx i= RcGecos(84) Rage = 0.120 say = Recesi4) Riwy = 0413 Rit i= ReGs-cos(84 + 180-cg) Ry4g = 0.120m Ri ay = ReGesinhOg + 180-deg) Rygy = -OA13m Rpx'= (pa ~ Rco3}<0s(03) p= 0.281m Rpy:= (Roa ~ RG3)-sin(@3) Rpy=0.291m 6. Calculate the x and y components of the acceleration of the CGs of all moving links in the global coordinate system (GCS). G2 = RcG2-a2(-sin(22) + j-cos(02)) - a-0"(cos(02) + j-sin(02)) acon: Re(aca) ocx = 67088 agay'= Im(aca) ecay= 54008 aq i= @.a7(-sinf2) + j-c0s(82)) ~ a-02 (cos(82) + j-sin(@2)) acG3A = RcG3-03(-sird03) + j-cos(0s)) +-RcG303"(cos(03) + j-si93)) G3 = 8A + 8CG3A aG3x lacs) agse= 1302 cay: Im(aca) agiy = 19.864 aga = RoGy-as (sin) + j:c09(04)) ~ os {005(04) +/-sif04)) G42 Re(aca) ages = 49.187 acy Imaca) ayy = -102aas 7. Calculate the x and y components of the external force at P in the CGS. Fpyi= F Fry= ON 8. Substitute these given and calculated values into the matrix equation 11.9. Note that Mathcad requires that all elements in a matrix have the same dimension. Thus, the matrix and array in equation 11.9 will be made dimensionless and the dimensions will be put back in after solving it.DESIGN OF MACHINERY SOLUTION MANUAL 11-12-4 1 0 1 0 ° o 1 0 4 ° R a en ee ™ o 1 0 ° 41 0 1 ° iy Rate Ray Rese o 0 = = 0 0 0 0 0 0 0 + 0 1 0 0 o o 0 0 +7 0 10 Rasy Rats Ray Rite o 0 0 90 Se a ° "om mm mzagaeN -1 myagayN 1 Iran (msacax— Fry" 1 (m3-aGay — Fpy)-N- (13043 ~ Roe Fy + RpyFpsNO om 1 meagaeN 1 meagayN (tora) Fiz RyN Faq = ~1246N Fiay= Ry Fizy= 940N 306 Fa Fag = 45.1 Fag = BSN T)2 = 7.14N-mDESIGN OF MACHINERY SOLUTION MANUAL 11-131 BS PROBLEM 11-13 Statement: Figure P11-6 shows a water jet loom laybar drive mechanism driven by a pair of Grashof crank rocker fourbar linkages. The crank rotates at 500 rpm. The laybar is carried between the coupler-rocker joints ofthe two linkages at their respective instant centers /,«. The combined ‘weight ofthe reed and laybar is 29 Ib. A 540-lb beat-up force from the cloth is applied tothe reed as shown. The steel links have @2 x 1 in uniform cross-section. Find the forces on the pins for one revolution ofthe erank. Find the torque-time function required to drive the system. Units: blob = tef-sec?.in' —rpm:= 2-mrad-min” | Given: Link lengths: Link 2 (Ato B) Link 3 (B10 C) Link 4 (C oD) Link 1 (4 to Dy Coupler point: 33 Oodeg Crank angle and motion: 2 := 500-rpm Link cross-section dims: w:= 2.00-in Material specific weight: steel y= 0.3-1bf:in-? Solution: See Figure P11-6 and Mathcad file P1113. 1, Determine the distance to the CG in the LRCS on each of the three moving links. All three are located on the x’ axis in the LRCS and their angle is zero deg. ReGg2=05-a REG? = 1.000in Reg3i= 05:6 RcG3 = 4.188in ReG4= 05-0 Rec =3.594in 2. Determine the mass and moment of inertia of each link. m= weal mim wtb mgawred g g g mz = 3.108 x 10° * blob m3 = 0.013 blob mg = 0.011 blob Ig2 ‘Ig2 = 0.00207 blob- i Ig3 = 0.01920 biob:in™ es Include one half of the mass ofthe laybar asa lumped mass atthe end of fink 4 m 14 los a (42) + rege ELL Jog = 0.53677 blob in® 8 3. Define any extemal forces, their locations and directions. Beatup force «FF = S90dbf acting onlink 4 at sistance R= 6 + 3.7S:in R= 10937 in “The angle inthe CGS is 180 deg. 4. Enter the above data into program FOURBAR and solve for the pin forces and driving torque. The dynamic input screen is shown below followed by a plot of dynamic pin forces...DESIGN OF MACHINERY SOLUTION MANUAL 11-13-2 ‘8 FOURDAR for Windows by RL. Norton -C (ens Popetben 5 ees | Moss Monertt late ou c& COT Force Magritude Ange of Frce in GCS Extesnel erce Localione Distance o Force Port rom CS ‘Angle to Force Pointin LACS" Cee eer) ——— Use rane || a aroun T2000 usa censes T3375 urna rainy 7 Dist tromi2.at0 | ‘cour T0000 | ade amt | "Becta | EE 0SOLUTION MANUAL 11-13-3 DESIGN OF MACHINERY 5. ‘The input torque is plotted below.DESIGN OF MACHINERY SOLUTION MANUAL 11-14-1 AS PROBLEM 11-14 Statement: Figure P11-7 shows a crimping tool. Find the force Fiang needed to generate a 2000 Ib Ferinp: Find the pin forces. What isthe linkage's joint force transmission index (JFI) in this position? Given: Link lengths: Link 2 (4 to B) Link2(CtoD) ¢ Link 3 (B to.) 123in Link2(4 10D) d:=2.40-in Link 2 angle: 62: Distance to crimp force from pivot D: Rpy:= 1.00-in 4 = O-deg. Crimp force: Fpq:= 2000-l6f (perpendicular to link 4) Distance to hand force from pivot A: Rpp:= 4.26-in B= O-deg. Solution: See Figure P11-7 and Mathcad file P1114. 1. Enter the above data into program FOURBAR to determine link 3 and 4 angles and calculate the angle thatthe crimping force makes with respect to the fourbar coordinate frame.. 3 := 34.039-deg 04:= 123.518-deg Opp4= 84+ 90-deg Orp4 = 213.518deg 2, Determine the distance to the CG in the LRCS on each ofthe three moving links. Links 2 and 4: Reg: Link 3: Rcos = 05-6 Reg3 = 0615 in 3. Calculate the x and y components ofthe position vectors. 05-4 ReG2=0400in —Rege=05-¢ RCG4= 0.775 in yz = ReGpcos(02 + 180-deg) Riz = -0262in Ray = Recesi02 + 180-deg) Rizy = -0302in R32x:= RcG2-cos(02) R3pq = 0.262in Razy = Regzsin(82) R3zy = 0.302in Ro3x:= RcG3-c05(03 + 180-deg) Ro3x = -0.510in Roay == Regasin(0s + 180-deg) Roy = -0344in Riax = (b - RcG3)-c0s(83) Rau = 0.510in Raay:= (b - Regs)-sin(83) Raay = 0.344in Rade = ReGeeos(84) Ragu = -O.428in Rasy = Rece-si4) Ry4y = 0646in Ri ae '= ReG4cos(04 + 180-deg) Rigg = 0428 in Rity = ReGesi{4 + 180-deg) Rigy = 0.646 in ‘Rp2 + RcG2)-si0 + 180-deg) Rpzy = -3.517in Repay»DESIGN OF MACHINERY SOLUTION MANUAL 11-14-2 Rp2x i= (Rp2 + RcG2)-cos(02 + 180-deg) Rpzy = -3.057in Rpax= (Ros ~ RoGs)-cos(04) pag = -0.124in Reay := (Reg ~ Re@s)-sin(04) Rpyy = 0.188in 4. Calculate the x and y components of the external crimp force at P on link 4 in the CGS. Fp4x = Fps-cos( OFP4) F pay = ~1667.4 lof F pay = Fpe siod Ops) Fy = 1104.4 lof ‘5. Substitute these given and calculated values into the matrix equation 11.9 modified to omit all mass and inertia terms. Note that Mathcad requires that all elements in a matrix have the same dimension. Thus, the matrix and array in equation 11.9 will be made dimensionless and the dimensions will be put back in after solving it. 1 0 1 0 0 60 6 0 1 ° o 1 0 4 0 0 6 0 ° -Rizy Rize ~Rizy R Rex Ry ay Rix “Roy Rix 9 5 gg 2 Pay nin in in in o o + 0 1 0 ° o 0 0 + 0 4 ° Rosy -Roie Ras Ce ee ae * o 0 0 0 in in in ° ° nr) ° ° ° ° oot ° Ruy Rite ~Risy Rise o 0 0 9 =e » ° in inti 0 0 0 0 0 0 00 tafag2) 1 ° ° ° ° 0 Ps 0 Fea lof Fray lo” | (-Reax-Fegy + Resy-F pax) lof ° Frag Rylif— Fize = 102918f Fray Rylif Fray = 757lbf Fze2= Rylbf Fae = -106910F Fay := Rylbof — Fagy =-T2216fDESIGN OF MACHINERY Faac= Rylif — Faax = ~1069 bf Frag: Rylbf Figg = S98l6f Fhands'= Rylof— Fhande = 40.\16f 6. Calculate the pin forces. Pinata: Fp Frac? + Fay? Imo®arad IF 32x" + Faay . re Pin at C Fas= Fax + Faxy Pin at D: Fig {Frac + Fray? PinatB: 32 7. Calculate the hand force. Fhand *= | Fhandx + Fhandy Use equation 11.23 to calculate the join force index. JFI = 0.645 SOLUTION MANUAL 11-14.3 Fay: Relbf — Fasy = —2221bf Fiay= Rylbf — Figy = 382/6f Fhandy = Ryyl8f Fhandy = ~34.916f Fy2= 1278 16f F 32 = 129016f F 43 = 129010f Fiq= TOlbf Fhand = 53.1 16fDESIGN OF MACHINERY SOLUTION MANUAL 11-15-1 BS PROBLEM 11-45 ‘Statement: Figure PL1-8 shows a walking beam conveyor mechanism that operates a slow speed (25 rpm). The boxes being pushed each weigh 50 Ib. Determine the pin forces inthe linkage and the torque to drive the mechanism through one revolution. Neglect the masses of the link. Solution: —_ No solution is given for this problem, which is suited to solution using the Working Model Program.DESIGN OF MACHINERY ‘SOLUTION MANUAL 11-16-1 &S PROBLEM 11-18, ‘Statement: Figure PL1-9 shows a surface grinder table drive that operates at 120 rpm. The crank radius is 22 mm, the coupler is 157 mm, and its offset is 40 mm. The mass of the table and workpiece combined {50 kg, Find the pin forces, slider side loads, and driving torque over one revolution Solution: No solution is given for this problem, which is suited to solution using the Working Model program.DESIGN OF MACHINERY SOLUTION MANUAL 11-17-1 BS pRoBLem 11.17 ‘Statement: Figure P11-10 shows power hacksaw that operates at 50 rpm. The crank is 75 mm, the coupler is 170 mm, and its offset is 45 mm. Find the pin forces, slider side loads, and driving torque over one revolution fora cutting force of 250 Nin the forward direction and SO N during the retum stroke. Solution: No solution is given for this problem, which is suited to solution using the Working Model Program.DESIGN OF MACHINERY SOLUTION MANUAL 11-18-1 AS PROBLEM 11-18 Statement: Figure P11-11 shows a paper roll off-loading station. ‘The paper rolls have a 0.9-m OD, 0.22-m ID, are 3,23 m long, and have a density of 984 kg/m?. ‘The forks that support the roll are 1.2 m long. ‘The motion is slow so inertial loading can be neglected. Find the force required of the air cylinder to rotate the roll through 90 deg. Solution: No solution is given for this problem, which i suited to solution using the Working Model program.DESIGN OF MACHINERY SOLUTION MANUAL 11-19-1 AS PROBLEM 11-19 ‘Statement: Derive an expression forthe relationship between flywhee! mass and the dimensionless parameter radius/thickness (for a solid disk flywheel of moment of inertia J. Plot this function for an arbitrary value of /and determine the optimum r/t ratio to minimize flywheel weight for that J No solution is provided to this algebraic exercise.DESIGN OF MACHINERY SOLUTION MANUAL 11-20-1 4S PROBLEM 11-20 ‘Statement: Figure Pti-Sa shows an oil field pump mechanism. The head of the rocker arm is shaped such that the lower end ofa flexible cable attached to it wll always be directly over the well head regardless of the position ofthe rocker arm 4. The pump rod, which connects to the pump in the well casing, is connected tothe lower end ofthe cable, ‘The force in the pump rod on the upstroke is 2970 lb and the force on the down stroke is 2300 lb. Link 2 weighs 598.3 Ib and has a moment of inertia of 18 blob-in?; both including the counterweight. Its CG is on the link cenerline, 13.2 in fom O>. Link 3 108 Ib and its CG is on the link centerline, 40 in from 4. Ithas a mass moment of include the counterweight. Its CG is on the link centerfine where shown. The crank turns at a constant speed of 4 rpm CCW. At the instant shown in the figure the crank angle is at 4S deg with respect tothe global coordinate system. Find all pin forces and the torque needed to drive the crank for he positon shown. Include gravity forces. Units: blob := tbf-sec™-in* rpm: 2-erad-min” Given: Link lengths: Link2(Ozt 4): a= 14.0-in——Link3(410B): b= 80.04 Link4(Bt009: = 513m 1(01 09): & Link 1 offsets: dy:=-A7Sin dy = 64in External load dats: F':= 2300-0bf Ty = Oclbfin Crank angle and motion: yxy = -81.582-deg 0 = Link CG positions: Link weights: W2 13.2-in Rog3 i= 40.0-in Regs 98.3 bf W32= 10Blbf Wy N.8-blob-in? —1g3 = 180-blobin® 1G ‘Angle between O4B and CGB: ce := 143.11 -deg ‘Angle between OB and CGjO,: B= -14.03-deg ‘Angle between OqBand CGP: B= 156.62-deg Solution: See Figure P11-12 and Mathcad fle P1120. 1. Use Problems 6.84c and 7.70b with «» = 4 rpm to determine the position, velocity, and acceleration of links 3 and 4. The angles are calculated in the xy Coordinate system and then rotated into the XY coordinate system after calculating accelerations Coordinate rotation angle: atana(dydr) = 1265582 deg Ory i= 332475-deg ws 43 = -0.0250-rad-sec™ > Opry *= 262.482-deg 0.0986-rad-see™' 14 := -0.0272-rad-sec 2. Calculate the x and y components of the acceleration of the CGs ofall moving links in the global coordinate system (GCS). aGi RcG2-42(-sin 62-9) + j-c0s( 6259)) ~ ReG2-02-(cos(2~) + J-sin{23y)) aG2'= are(aG2) + 8aG2 = 225.000 deg ag2'= |aG2|_4G2= ag2¢= aG2¢05( 8aG2) aG2y:= aGp'siel 8qc2) =1.638 nsec? (4G;95 = -1.638 in-sec™ acyDESIGN OF MACHINERY SOLUTION MANUAL 11-20-2 ag = @.02(-sif O2—) + j-c0s(A2q)) ~ a-02°(cos(B2xy) + j-sih B25}) cosa = RCG343(-sif Bay) + j-c05{B3xy)) ~ Reo3-03"(c0s{ Bary) + 5-sir O35) 1A + ACG3A ag3:= |ags]_ aG3=1.763insec? —0G3:= arg(ags) + aca = 244.955 deg ag3-si 9463) 598 nsec? aG3e%= aG3:¢05{Gac3) 26: Gx = 0.747 in-sec* Gay = ReGs-a4(-sinl B4ry + B) + j-cos( Osry + B)) + RG 404" (cos txy + B) +1 5 Ohey + B)) ai 288imse? Baga = ardaga) +1 Aad = 265.366 deg aca= |aga| ace= aG4n'= aG4-005{ 8acs) aG4y'= acesinf Bac4) -2 281 in-see Gtx = 0.185 nsec? Gy = Transform the link angles to the global XY system: @2 Ory +7 03 := Oany + y~ 360-deg 04» ay + y~ 360-deg 62 = 45.000deg 03 = 99.057 deg 04 = 29.064 deg 3. Set up an LNCS xy coordinate system at the CG of each link, and draw all applicable vectors acting on the system as shown in Figure 11-3. Draw a free-body diagram of each moving link as shown in Figure 11-3. 4. Calculate the x and y components of the position vectors. Rize:= Req2cos(02 + 180.deg) Rize = -9334in Riay == RcG2-sin Oz + 180-deg) Ri2y = -9.334in Ri2x:= (a ~ RcG2)-cos(82) 32x = 0.566 in F \ Ry A ° i 2 ogg x (b) FBD of Link 2 y (@) The complete linkage with GCSDESIGN OF MACHINERY SOLUTION MANUAL 11-20-3 (@FBD of Link 4 (©) FBD of Link 3 Razy = (a ~ Rco2) snl 2) Razy = 0.566 in Roax = Reg3cos(93 + 180-deg) Roje = 6297 in Rosy = Reossod 3 + 180-des) 3p = 39.501 in Raae = (Regs 8)<0s(03 + 180.deg) Rasy = 62971 Raay == (RcG3 ~ 6)-sin{3 + 180-deg) Razy = 39.501 in R34 = R3ycos(04 + a) 34x = -31.702 in Rigy 2= RaqsiOg + 0) Ragy = 4.357 in Rise Riscos(04 + B + 180-deg) Rig = -16.508 in Ridy > Risin Og + B + 180-deg) Ridy = 20.550 in (F)-cos(04 + 8) 123.828 in Rpy = (Rp)-sif 0 + 8) Rpy= -12.326in 7. Calculate the x and y components of the external force at P and the weight forces atthe CGs. in the CGS. Fg: O-lbf Foy: -F Fozy:=-W2 Foay:= -W3 Fosy=-Ws 8. Substinte these given and calculated values into the matrix equation 11.9. Note that Mathcad requires that all elements in a matrix have the same dimension. Thus, the matrix and array in equation 11.9 will be made dimensionless and the dimensions willbe put back in after solving it 3 m2 =1.SSblob——m3:=— g )28 blob m2 mg = 7.01 blobDESIGN OF MACHINERY 1 0 1 oO 0 o 1 0 Bry Biax ~Riy Rae rr aie eo oo 41 8 a oo 8 4 8 ce ° Razy 23x -Raay ° 8 4 ° 0 0 0 0 0 Biuy -1 mrag2x lof (moacay - Fo2y) lef Igz-ay- lop in myacaclof' (ms-ag3y ~ Foxy)0f Igzay-lof in! (meacex- Festi" (meacey ~ Fry Foss) tof! gaa (RreFry~ Roy Fes) }tOF Flay Rylbf Fag =-3271bf Faog= Rylbf Fag, = 324(bf Fea Rylof Fax = 324ibf Fraqi= Rylof Figg = 323/6f Tia= Reylbf-in Tz = 29442 16f-in SOLUTION MANUAL 11-20-4 oo ° 0 0 0 Rear 0 oo o 1 0 0 1 0 10 Rote -Riy Ri 4 7m Fay = 2682 167 F yay = 3012 16DESIGN OF MACHINERY SOLUTION MANUAL 11-21-1 AS PROBLEM 11-24 ‘Statement: Figure P11-Sa shows an oil field pump mechanism. The head of the rocker arm is shaped such that the lower end of flexible cable attached to it will always be directly over the well head regardless of the position ofthe rocker arm 4, The pump rod, which connects to the pump in the well casing, és connected tothe lower end ofthe cable. The force inthe pump rod on the upstroke is 2970 Tb and the force on the down stroke is 2300 Ib. Link 2 weighs 598.3 Ib and has a moment of inertia of 11.8 blob-in?; both including the counterweight. Its CG is on the link cenerline, 13.2 in from O Link 3 weighs 108 Ib and its CG is on the link centerline, 40 in from A. It has amass moment of inertia of 150 blob-in?. Link 4 weighs 2706 Ib and has a moment of inertia of 16700 blob-in?: both include the counterweight. Its CG is on the link centerline where shown. The crank tums at a constant speed of 4 rpm CCW. Find and pio all pin forces and the torque needed to drive the crank for one revolution ofthe crank. Include gravity forces. Units: blob = Ibf-sec”-in' —rpmi= 2e-rad-min-' “Link lengths: Link2(0;104): a= 14.0-in Link 3(4008): b= 80.0n Link 4(BtoO): ce: S1.3:in d= 79.70 Link 1 offsets: dy:= -ATS.in External load data: F = 2300-16f Crank angle and motion: 02 = 41pm Link CG positions: Regs = 40.0-in Link weights: W3:= LO8-16f ‘Moments of inertia: Ig4= 10700-blob in ‘Angle between OyB and CG,B: 32.00.in Angle between O4B and CG0¢: 9.22:in Angle between O4B and CGP: 8:= 156.62-deg. Rp:= 124Ad.in Solution: See Figure P11-12 and Mathcad file P1121. 1. No solution is given for this problem, which is suited to solution using the Working Model program.DESIGN OF MACHINERY SOLUTION MANUAL 11-22-1 BS PROBLEM 11-22 ‘Statement: Figure P11-Sa shows an oil field pump mechanism. The head ofthe cocker arm is shaped such that the lower end ofa flexible cable attached to it wit! always be directly over the well head regardless of the position ofthe rocker arm 4. The pump rod, which connects to the pump in the wel casing, ‘is connected to the lower end of the cable. The force in the pump rod on the up stroke is 2970 lb . 598.3 Ib and has a moment of inertia of § ‘both including the counterweight. Its CG is onthe link cenerline, 13.2 in from O. Link 3 weighs 108 Ib and its CG is on the link centerline, 40 in from 4. Ithas a mass moment of inertia of 150 blob-in2. Link 4 weighs 2706 Ib and has & moment of inertia of 10700 blob-in?: both include the counterweight. Its CG is on the link centerline where shown. The crank turns at a constant speed of 4 rpm CCW. At the instant shown in the figure the crank angle is at 45 deg with respect to the global coortnate system. Find the torque needed to drive the crank forthe position shown using the method of virtual work. Include gravity forces. Units: blob := Ibf-sec™-in* — rpm:=2-n-rad-min” | Link lengths: Link2(Oz104):; a= 14.0-d@ Link 3 (A to BY: Link 4 (B t0 04): Link 1 (03 t0. 03): d := 79.7-in Link 1 offsets: External load data: Crank angle and motion: @7:=45-deg @2:= 4-rpm Link CG positions: 3.2m ReG3 = 40.0-in Link weights: Wo = S983 lof W3:= 1OBlbf Moments of inertia: M18-blob.in? ——1g3:= 150-Blobsin® —_Igg:= 10700-blob-in? ‘Angle between OB and CGB: a= 143.1 1-deg Rg s= 32.00-in ‘Angle between OgBand CGiOx: B= -14.03-deg Ry 4 = 79.22-in Angle between O4B and CGyP: B= 156.62-deg Rp = 124.44 Solution: See Figure P11-12 and Mathcad file P1122. 1. Use Problems 6,84¢ and 7.70b with «0» = 4 rpm to determine the position, velocity, and acceleration of links 3 and 4. The angles are calculated in the xy coordinate system and then rotated into the XY coordinate system, which is used in the remainder of the problem. Coordinate rotation angle: y= aana{dy, dy) 26.582 deg 03 = 99.057-deg 3 = -0.0214-rad sec’ (3 := -0.0250-rad-see 0.0986-rad-sec™' ~0.0272-rad-sec 04 G2 = 2.316:in-sec™ * G3 = 1.764-in-sec* G4 := 2.288-in-sec~* O4G4:= 265.366-deg apg: 1391-insec™? O4p4 = 60.394-deg 1 Velocities: G2 = $.529-inseo™ OyG2'= 135.0-degDESIGN OF MACHINERY SOLUTION MANUAL 11-22-2 $.406-insec™! Oe va3 := 127.628-deg G4 = 7.809-insec™* 0yG4 = 105.034-deg py: 4.753-insec™ 2. Calculate the x and y components of the velocity vectors. vG2x'= VG2-C0s( ByG2) G2) vq2'sin| 6:2) yGae'= va3:¢0s( 8vG3) vGay = vG3'sin @vG3) vote'= vaee0s{ 6vG4) 026 nsec"! 1 vowy= varsih vcs) VG ty = 7.542 sec -1 vpuc = vP0cos{yp4) pes = -1:960 see -1 vpay = veesin( Opi) vpty = 4330 nse 3. Calculate the x and y components of the acceleration of the CGs of all moving links in the global coordinate system (GCS). 9G 2x acz-eos( 04¢2) aG2y = aG2-sin 8462) agay aGie'= 403:¢05{ 0403) 4. ‘my (agaevG2e-+ aG2y-vG2) + m3(aGie¥G3x + aG3y%G39) ~ +me(acexVGrx + IG4yVG4y) + (1G2'0202 + Ig3-a3-03 + IGra4-04) .. + (Wrvary + WavGay + WevG3y) ~ (Fearveay) T)2 = 10219 Lbf-inDESIGN OF MACHINERY SOLUTION MANUAL 11-23-1 AS PROBLEM 11.23 Statement: Use the information in problem 11-20 to find and plot the torque needed to drive the erank for one revolution of the crank using the method of virtual work. Solution: See Figure PI 1-12 and Mathcad file P1123. 'No solution for this problem is provided. This problem is more suitable for longer-term project than fora short-term homework problem.DESIGN OF MACHINERY BS PROBLEM 11-24 ‘Statement: SOLUTION MANUAL 11-24-1 {In Figure P11-13, links 2 and 4 each weigh 2 Ib and there are 2 of each (another set behind). Their CGs are at their midpoints. Link 3 weighs 10 Ib. The moments of inertis of links 2, 3, and 4 are 0.071, 0. ), and 0.077 blob-in?, respective blob := tbf-sec™-in-* Link lengths: Link2(O2t04) a= 9.174in Link 4(B 100.) ¢:= 9.573-in Link angles (LCS): @:= -26.0-deg Weight: Mass: mz = 0.010 blob Moment of inertia: 1g2 := 0.071-blob-in™ ‘Mass center: ReG2 = 4.587-in 8) 2 ly. Find the torque aeeded to begin a slow CCW rotation 2 from the position shown using the method of virtual work. Include gravity forces. Link 3 (4 to B) Link 3 (0, to 04) 12.971-in 84:= 60.491 -deg Wy = WOlbf Ws m3 — g m3=0.026blob mg = 0.010 blob ).430-blo6- in? 0.077-blob- in da3 Toa G-deg ——- ReG3 = 7.086-in 83 == ~23.758-deg Reg4 =4.186.in 84 := Oodeg Force and torque: Of -lbfin Fp3* OFP3 B ‘Accelerations: a2 := Ovrad:-see™* Fa deg % Ong Opps := O-deg bf-in 0.0-im-sec G2 84G2 = 85.879-deg 0174 in sec”? 43 := 0.00206-rad-see” “ag33 14 := 0.0025-rad-see” > agg := 0.0159-in-sec™ > Velocities: 02 := 0.010-rad-sec”! 03 := 0.0347-rad-sec™' 04 := 0.0466-rad-see™' Solution: _See Figure P11-13 and Mathcad file P1124. 1. Calculate the x and y components of the velocity vectors (global coordinate system). vG2x'= vG2-¢05( v2) ¥G2y'= vo2-sin( vG2) vasa 613) vaay:= vos-sin( OvG3) G38" G2 » 284-insec”' vG3 vG4 = 6.0223-insec™ | G2" = 0.035 in-sec” | YG2y voax= 0.174 nsec” | G3) = 0.225 nsec”! 0459-imsec™! 0.030 nsec”! O4G3 4G4 ve2: ave3 OyG4'= 82.367-degDESIGN OF MACHINERY SOLUTION MANUAL 11-24-2 ee ve4e:= ves-e0s( 8yG4) VG Ax = 2.962 x 10”? in-sec” “1 ve4y = veesin OvG4) YG4y = 0.022 in sec’ 2. Calculate the x and y components of the acceleration of the CGs of all moving links in the global coordinate system (GCS). 2x ag7-cos(04G2) G21 = 0.000 in sec” ? agzy = agz-sie 8462) Gy = 0.000 in-sec™ * aG3x'= ag3-c0s( 8463) 4G 3x = -3.069 x 10” imsec™? agiy = agx-sid O4G3) agay = 0.017 nsec? aGéx'= ag4cos(4G4) Gen = -8.731 x 10 Pimsee™? cay = age-sin 046) acay = 0.013 i-sec™* 3. Substitute these given and calculated values into equation 1. 16c and solve forthe input torque. Tra Ly mp(agzera2x + acxyvan) + mp(aGsevG% + ac3yG3)« 02 | smelactercer + ageyrGw) + (lor 0re2 + Igra0) + Ievt4-e4) 4+-Tyos~ Teog + (WovG2 + WerGay + WerGu) Ty2 = 221.3216f:inDESIGN OF MACHINERY 1t-At PROBLEMS PROBLEMS 14-3 AND 11-4 44-5 AND 11-6 Row 1, Row, a 9969 217637 b 56.39 b 12660 © 8401 © 12482 133.69 @ 266.02 ¢ 13.13 . 58.56 f 26127 £2037 s $7490 8 34.23