INTRODUCTION

Newtons laws and axioms devised in 1600s. They cannot be proved arithmetically. No
experimental evidence up till now has been observed to violate them. These are three laws:

Newtons First Law: A body at rest tends to stay at rest, and a body in motion tends to stay
in uniform motion (direction & magnitude of the velocity not changing) unless a net non-zero
force act on it. Newtons first law is expressed as mathematically;

F = 0
M = 0
Velocities do not necessarily have to be zero. A vector constant means that both its magnitude
and direction are constant. If the direction of the velocity of translating body does not change
it moves on a straight line. If angular velocity is constant, whatever its magnitude, sense of
rotation i.e. clockwise or counterclockwise does not change.

Newtons Second Law: When a net, non-zero force acts on a body, the body accelerates in

proportion to and in direction of the acting force.

F a F = ma
v

M M = I
Where
m is an inertial (related with body on existence of) property of the moving body. It is
called mass and defined as the amount of matter in a body. Definition of the mass in
terms of dynamics is resistance of a body against translation
I is also inertial property of the moving body. It is called mass moment of inertia
and defined as the resistance of a body against rotation. It is function of a mass &
dimensions of the body and is a relative indication of the distance of the mass particles from
the axis of indication.

Newtons second law describes the motion of particles, but particles are hypothetical, nonrealistic. Realistic bodies have finite dimensions. Eulers law describes the motion of rigid
bodies of finite dimensions, which can both rotate and translate, these are more realistic.

Newtons Third Law: Every force has a reaction; equal in magnitude, collinear, and opposite
in direction to the original force.

In determination of the dynamic behavior of a body or system of bodies, we use NewtonEuler law. Mass and mass moment of inertia can be easily measured, yet in most cases they
are constant. There are two variables; force and acceleration. So, two types of problem can
come up:

i. Forward Dynamics Problem: Accelerations are given, forces are required. Solution is
simply multiplying mass with acceleration. This is solved with algebraic equation and
hence easy.
ii. Inverse Dynamics Problem: Forces are given, accelerations are asked. To find the
acceleration, we pre multiply both sides of the motion equation by the inverse of mass.
In a simple equation; inverse of mass is simply, the reciprocal of mass and calculation is
a simple division. However, in a multi degree of freedom system, we have on equation
for each freedom. So, we have a set of equations, mass expressions become a square
matrix. Then, to find the accelerations we have to find the inverse of it and pre-multiply
both sides of the equations with it. At the end of dynamic analysis, we get accelerations,
which are still not too much meaningful. We generally need velocities and positions.
Accelerations must be integrated twice to obtain positions. Integration is a difficult
operation, often impossible. So, we generally do numerical integration. Inverse
dynamics problem is difficult.

STATIC FORCE ANALYSIS

Subject matter of ME 302 is to apply Newtons laws to multi-body, multi degree of

freedom mechanical systems (mechanisms) to understand their mechanical behavior. We
start with the simple problem where the bodies accelerations are zero. In most machines,
accelerations are negligible small. Then all the forces and moments will add to zero. This

is the static condition. Every sub-component of a static system is also static. So, If a
mechanism is static, each of its links are also static. That means we can examine each link
by one and apply the law of statics to them. Big problem of the whole mechanism is now
broken into several simpler problems. Each body with all the acting forces is called a free
body. Pictorial representation of a free body is called the free body diagram.

Mechanisms are under the effect of two different forces:

i.

External forces are generated by effects external to the mechanism, like actuation

forces from a motor or actuator. Forces exerted by the mechanism on the external
machinery or material doing functional and useful task. Reactions of the external
forces are outside our system boundary.
ii.

Constraint forces constraint means limitation of freedom, in our case, limitation

of free motion. These forces are applied onto each link to prevent their free motion.
Free motion in plane is of three degrees. Translation in x and y directions and rotation
about z-axis. Constraint forces are applied through the joints and they act in proper
direction and at proper magnitude to limit the motion to the one expected from the
mechanism. Reactions of constraint forces are inside the system boundary.

C
4
F

B
2

T
A
1
T

3
B

FBx
FBx

FBy
FBy

B
2

Forces are vector and have magnitudes and directions.

z
y
F

Fz

v
v
v
v
F = Fx i + Fy j + Fz k

Fy
Fx
x
A force generates a moment (or torque) about a point which is not in its line of action
moment is the turning effect of a force.

Point of application
F

Moment direction can be

line of application
r
A

v
v v
M A = r xF

found by right hand rule. t is

perpendicular to the plane
v
v
formed by r and F .

JOINT TYPES AND CONSTRAINT FORCES

Constraint forces are exerted by the joints and depend on the shape and construction of the
joints. A joint cannot transfer force and motion in direction of its Degrees of Freedom. In this
sense, freedom is a free motion.

i.

Revolute joint:

It has one degree of freedom, which is in rotation

about z-axis. It cannot transfer force or torque or

angular motion about z-axis, but it transmits forces
and torques and related motions in all the other
remaining directions. These are;

Forces in x, y and z directions,

Torques about x and y-axis.

Fx

x
Mx

Fx

Fz

Fy
My

Fy
My

3
Mx
Fz
z

In case of two dimensions, a revolute joint transmits forces in x and y directions.

ii.

Prismatic joint:

It has one degree of freedom, which is a translation

along z axis. It cannot transmit a force in z axis, but

it can transmit forces in x and y directions and
moments x, y, and z axis.

Fx

x
3

Mx

Fx

Mz

Fy
My

Mx

Fy
My

Mz

In case of two dimensions, a prismatic joint in a planar mechanism can transmit a

force only in y direction, i.e., perpendicular to the sliding axis.

iii.

Cylindrical Joint:

It has two degree of freedom; a translation along and

rotation about the same axis, called the cylindrical axis.

So, no torque transmission about z-axis, no force
transmission along z-axis is possible. In all other
directions,

there

can

be

forces

and

transmitted, which are forces in x and y-axis and

moments about y and z-axis.

Fx

Fy
My

moments

x
Mx

Fx

This joint cannot be used in a planar mechanism.

Fy
My

3
Mx

iv.

Screw joint:

There are two apparent motions, which are translation

along and rotation about z-axis, are not independent

from each other. Therefore degree of freedom is only
one. This is a rotation about z-axis. It cannot take
moments about z-axis. It can transmits forces in x, y, z-

axis and moments about x and y-axis.

Fx
Fz
y

Mx
Fy

Fy
My

Mx
Fx
Fz

My

This joint is not used in planar mechanism.

v.

Planar pair:

It

has

three

degree

of

freedom,

translation along x and z directions and a

rotation about y-axis. There are no forces
and a torque transmission in these
directions. In all other directions there

can be force and moment transmitted,

which are force in y-axis and moments x
and z-axis.

x
x

Mx
Mx

2
Fx
y

Fx
Mz

Mz
y

My

My

This joint is not used in planar mechanisms.

Spherical joint:

vi.

It has three rotational degrees of freedom, so it cannot transmit any

moments. It can transmit forces in all directions.

x
Fx

Fx

Fy

3
Fz

Fy

Fz

METHOD OF SOLVING STATIC FORCE PROBLEMS

1) Separate the mechanism into its links, considering each a free body with all the acting
external and constraint forces on it.
2) Apply the rules of statics each free body which are

F = 0 and M = 0
Solution of vector equations can be by arithmetical and or graphical.

Graphical Approach: We draw straight lines to represent vectors which are in proper
directions and lengths proportional to the magnitudes of the vectors and in an articulated
manner as depicted in Figure. Vectors form a closed polygon called a vector loop

F1

F3

F2

F2

F1

F3

Arithmetical approach: The simplest arithmetical approach is to separate vector equation into
components.
2

F2
F1

F3
3

F1 cos 1 + F2 cos 2 + F3 cos 3 = 0

F1 sin 1 + F2 sin 2 + F3 sin 3 = 0

These two component equations are not no longer vector equations. They are scalar and can
be simultanously solved to find max two of the following; F1 , F2 , F3 , 1 , 2 , and 3 .

A similar analysis is requierd for the torques. Torques are calculated with respect to a certain
point. The selection of the reference point is immaterial. If the moments acting on an object
are in static equilibrium about a point, they are in static equilibrium about any other point
also.

Simple cases:
i. If there are only two forces acting on a body and no moments, it is called a two force
member. To satisfy sum of forces eqaual to zero, the two forces should be equal and
opposite.

F2

F2

F1

F = 0; F

F1

v
+ F 2= 0

v
v
F1 = F2

To satisfy sum of torque is equal to zero distance between the forces must be zero. This
means that the forces are collinear.

ii. Three member is a component on which only three forces acts and no moments. To
v
satisfy F = 0 , the vectors must form a closed polygon and coplanar. To satisfy
v
M = 0, the lines of application of all the three forces intersects at one single point.
This point is called the point of concurrency.

F3
F2
F1

F1
F2
F3

Example: An external force of 10 N is acting horizontally on the rocker link, 30 mm from

the point D. Find the amount of torque to be applied to the crank AB to keep the
mechanism in static equilibrium.

CC

33
aa33

BB

AA

44
10
10 NN

a1 = 80 mm
a2 = 30 mm
a3 = 70 mm
a4 = 50 mm

3030

22
6060

aa22

aa44

aa11

11

DD

Solution: First step is a position analysis to find the angles of the crank CD and the coupler
links. The simplest way is to draw the mechanism to scale and measure the required angles by
a protractor directly from the figure. Or we can take a purely arithmetical approach.

An implicit relation between the position variables and , Freudensteins equation can be
written in the form:

A tan 2 + B tan + C = 0
2
2

where

A = cos (1 K 2 ) + K 3 K1
B = 2 sin

C = cos (1 + K 2 ) + K 3 + K 1
K1 =

a1
a2

K2 =

a1
a4

K3 =

a12 + a 22 a32 + a 42
2a 2 a 4

Substituting the link lengths a1, a2, a3, a4 and angle into above equations:
K1 =

80
= 2.67
30

K2 =

80
= 1.60
50

K3 =

6400 + 900 4900 + 2500

= 1.66
2 * 30 * 50

A = cos 60(1 1.60) + 1.66 2.67 = 1.30

B = 2 sin 60 = 1.73
C = cos 60(1 + 1.60) + 1.66 + 2.67 = 3.02

1.30 * tan 2 1.73 * tan + 3.02 = 0
2
2

Solving this quadratic equation for yiels:

1 = 89.86 o and 2 = 133.52 o

These two angles refer to two different configurations of the four-bar mechanism as
depicted in figure 1.

C
a4

a3
B
a2
A

a1

1
D

1
2

Figure 1

Now, to find the angle :

X B = 30 * cos 60 = 15,00 mm
YB = 30 * sin 60 = 25,98 mm

X C = 80 + 50 * cos 89,86 = 80,75 mm

YC = 50 sin 89,86 = 49,90 mm

X C X B = 80,75 15,00 = 65,75 mm

YC X B = 49,90 25,98 = 23,92 mm

= tan 1

23,92
= 20,06 o
65,75

Solution of static force problems can be by arithmetical or graphical.

Arithmetical method:

a) Separate the mechanism into free bodies of links,

b) Put all the acting and interacting forces,
c) Then, apply the law of statics for each free body.

FCy
C

FCx

3
20,06

FBx

FCy

FBy

FCx

C
4
FBx

10 N
F By

B
T

89

2
6 0

FAx

,86

FDx
A
F Ay

D
FDy

Static equations for link 4;

F
F
M

= 0 ; FDx + FCx 10 = 0 FDx + FCx = 10

(1)

= 0 ; FDy + FCy = 0 FDy = FCy

(2)

= 0 ;10 * 30 * sin 89,86 FCx * 50 * sin 89,86 + FCy * 50 * cos 89,856 = 0

49 , 99 * F Cx 0 ,12 * F Cy = 299 ,99

Static equations for link 3;

F
F
M

= 0 ; FBx FCx = 0 FBx = FCx

= 0 ; FBy FCy = 0 FBy = FCy

B

= 0 ; FCx * 70 * sin 20,06 FCy * 70 * cos 20,06 = 0

24,01 * FCx 60,75 * FCy = 0

Static equations for link 2;

= 0 ; FAx FBx = 0 FAx = FBx

(3)

 F = 0; F F = 0 F = F
M = 0 ; F * 30 * cos 60,00 + F
y

Ay

By

Ay

By

By

Bx

* 30 * sin 60,00 = T

15,00 * FBy 25,98 * FBx = T

We have 9 equations to solve simultaneously; FAx, FAy, FBx, FBy, FCx, FCy, FDx, FDy, and T.
From equation 3 and 6 :
49,99 * FCx 0,12 * FCy = 299,99
+

(2,082) * ( 24,01 * FCx 60,75 * FCy = 0)

126,36 * FCy = 299,99

FCy =

299,99
= 2,37 N
126,36

then, using the equation 6 for FCx :

FCx =

143,98
= 5,99 N
24,01

From equations 2, 5, 8 :
FCy = FDy = FBy = FAy = 2,37 N
From equations 1, 4, 7 :
FBx = FCx = FAx = 10 FDx = 5,99 N
and using the last equation 9:
T = 15,00 * FBy 25,98 * FBx = 15,00 * 2,37 25,98 * 5,99 = 120,07 N .mm ANS.

Graphical method:
1. Draw the mechanism in scale,
2. Measure the unknown quantities directly from the scaled drawing,
3. Separate the mechanism into free bodies of links (scaled drawing),
4. State whether the link is two force - three force member and then put all the acting and
interacting forces,
5. Apply the law of statics for each free body.

Figure 1 is given in 1:1 scale. The unknown quantities and can be directly measured from
this figure by a protractor. They become:

89,5o and = 20 o
Link 2 has 2 forces & 1 torque.

Link 3 is a two force member, forces at the joints B & C are equal but opposite direction.
Link 4 is a three force member, three forces form a closed vector polygon and intersect at one
point.

F43

C
3
B

F 34

F23

4
10 N
F32

B
T12
d1
F12

F14

A
10 N
F14

F34

OF

F14 & F34 are measured directly from the scaled force polygon.
10 N stands for 50 mm
F14
F34

10 * 22.5
= 4.5 N
50
10 * 32.5
= 6.5 N
stands for 32.5 mm F34 =
50
stands for 22.5 mm F14 =

T12 = d1 * F32 = 19.5 * 6.5 = 126.75 N

Example: In the figure a Stephenson mechanism is shown with appropriate dimensions. A

CCW torque of 1 N-m is acting externally on crank FG. Calculate the torque required on
crank AB to keep the mechanism in static equilibrium.

E
90

C
3

6
1 N-m

2
60

1
AB = DG = 3 cm.
BH = HE = 2 cm.
BH E = 90 o

BC = CD = 4 cm.
FG = 5 cm

AD = EF = 7 cm.
DA B = 60 o

Solution:

Link 5 is two force member, forces at E and F are equal magnitude and opposite direction.
Link 6 is two force and one torque member.
Link 4 is two force member, forces at C and D are equal magnitude and opposite direction.
Link 3 is three force member. Line of application, direction and magnitude of the force at E is
known. Line of application of the force at C is also known. Intersecting these already known
two lines, concurrent point can be easily found. Line of application of force at B should pass
from B and this concurrency point. Directions and magnitudes of the force at B and force at C
can be found from the vector loop scaled graph.
Link 2 is the two force and one moment member.

FE

FE

FF

90

FA

1 N-m

C
2

d=11.5 mm

FD

FC

FB

T
FB FE

FB

FF

FC
O

D
FD

FF = FE
T
1
FF FG =
= 20 N and FF = FG
FG 0,05
FC = FD
From force polygon FC = 12,5 N and FB = 19 N
11,5
T = d * FB =
*19 = 0,2185 N .m CW ANS
1000

Example: Onto link 6 of the mechanism given, a 100 N vertical force acting. Calculate

the amount of the torque required on the crank AB to keep the mechanism in static
equilibrium, using the graphical approach.

100 N
6
2
A

AB = 2 cm.
BC = 3 cm.
AD = 6 cm.
DE = 5 cm.
AF = 8 cm
= 50 o

C
D

Solution:

Link 6 is three force member.

From the scaled vector polygon N and FE become:
N = 32 N
FE = 105 N

Link 5 is two force member, forces at E and D are equal magnitude and opposite direction.
FD = FE = 105 N

Link 4 is two force member.

Link 3 is three force member. Line of application, direction and magnitude of the force at D is
known. Line of application of the force at C is also known. Intersecting these already known
two lines, concurrent point can be easily found. Line of application of force at B should pass
from B and this concurrency point. Directions and magnitudes of the force at B and force at C
can be found from the vector loop scaled graph.

From force polygon FC = 105 N and FB = 142 N

Link 2 is the two force and one moment member.
T = d * FB =

16
*142 = 2,272 N .m CW
1000

FC

FB

2 B

100 N

FB

ANS

B
d=16 mm

FC

E
FE

FA

FD

FE=105 N

FE

E
FC=240 N

FE=105 N

FB=142 N

D
FD

N =32 N

100 N

Example: Onto point C of the Peucelliers inversor mechanism shown in the figure, a

force of 100 N is acting vertically downward. Calculate the amount of torque required on
link EF to keep the mechanism in static equilibrium.

100 N
7

C
6
3

D
4

AB = 10 cm.
AD = 10 cm.
AF = 4 cm.
FE = 4 cm.
EB = 4 cm
BC = 4 cm.
ED = 4 cm.
CD = 4 cm
= 50 o

A
1
Solution:

Link 3, 4, 5, 6, 7 and 8 are two force member.

Joint pin at B, E, D, and C are three force member.
Consider joint pin at C, which is good starting point for static force analysis.

FBC=35 N

100 N
FBC

C
FCD

From vector loop diagram FBC and

FCD become:
FBC = 35 N 186 o

100 N

FCD=109 N

FCD = 109 N 71,5o

Next, consider joint pin at D that is three force member.

FED =223
FCD =109 N
FED

FCD =109 N
FAD =287 N

FAD

From vector loop diagram FAD and FED become:

FAD = 287 N 26 o
FED = 223 N 186 o

Next, consider joint pin at B that is three force member.

FBC=35 N

B
FAB
FEB

From vector loop diagram FAB and FEB

become:

FAB=92 N
FEB =72 N
FBC=35 N

FAB = 92 N 231o
FEB = 72 N 71,5o

Now, draw the free body diagrams of the links.

FBC

FBC
C
FCD

FBE
B

FAB

C
8

6
5

D
E

FAD
FCD

FBE
FED

FED

4
FAB
FAD

FBE

FED

From the free body diagram of Link 2, torque T becomes:

T = d1 * FBE d 2 * FED =

d1

F FED
d2
FBE

ANS

13
40
* 66
* 206 = 7,382 N .m CCW
1000
1000

Example: An external torque of 100 N-m ia acting on the crank EF of the mechanism

shown in the figure in CCW direction. Calculate the magnitude and direction of the
external torque required on crank AB to keep the system in static equilibrium.

C
5
E
3

100 N.m

B
T
4
2

120

1
AD = CD = 7 cm.
AB = 3 cm.

BC = CE = 8 cm.
DF = 5 cm

EF = 6 cm.
=120 o

Solution:
Link 6 is two force and one torque member.
Link 5, 4, and 3 are two force member. Joint pin at C is three force member.

In this example we are beginning with link 5. Since link 5 is two force member, this requires
that F65 and FC5 have equal magnitudes and opposite directions. We can now select the link 6
from which the force analysis can be started. Then, the force of F56 can be calculated as:
v
T
100
F56 = =
= 1695 N 354 o
d 0.059
v
v
v
v
F65 = F56 = FC5 = F5C

Link 3 and 4 are two force member, so line of applications of forces acting on these links are
known. Then , we can analyze the joint pin at C that is three force member.

C
F3C

F5C

FC5

F4C

E F65

FC3
FC4

F56

F23

E
100 N-m

F32

T
2

F18

F14

A
F12

Link 3 and 4 are two force member, so line of applications of forces acting on these links are
known. Then , we can analyze the joint pin at C that is three force member.

F5C=1695 N

C
F3C

F5C
F4C

F4C=1100 N
F3C=1660 N

From the free body diagram of Link 2, torque T becomes:

v
30
T = d * F32 =
*1660 = 49,8 N .m CW
1000

ANS

From the vector loop unknown

forces become:
v
F3C = 1660 N 31,5 o
v
F4C = 1100 N 284 o

Example: Onto the slider at E of the mechanism shown in the figure, a force of 100 N is

applied. Calculate the amount of the torque required on AB link. Assume that mechanism is
on the horizontal plane and there is no friction between the mating surfaces. Freebody
diagram scale: 10 cm stands for 1 m.

100 N
FE
100 N
E

F E=42 N

FBE=109.4 N

F BE

FBE

C
5

B
B

F BE

F BE

d
2

A
T

D
T = d * FBE = 0.403 * 109.4 = 44.09 N .m CCW

Example: Find the magnitude and

direction of the moment must be

100 N

applied to link 2 to drive the linkage

against 100 N force at the mid point

of the link 3. And also determine the

forces acting on the bearings at A, B,

C and D. Use graphical approach.

AB=4 cm, DC=7 cm, AD=5cm, AB
// CD
Solution:Link 4 is two force member

4
T=?

Link 3 is three force member .

Freebody diagram of these links are

shown below.

D
1

FC
FC

100 N
E
FB

3
B

FB

Line of applications
int ersect at inf inity

T=?
D

2
A

FD

FA
From the freebody diagram of Link 3, since the forces intersects at :
FB = Fc = 100 / 2 = 50 N

and

FA = FD = FB = FC = 50 N

From the free body diagram of Link 2, torque T becomes:

v
T = d * FB = 0 * 50 = 0
ANS

Example: In the figure Roberts four-bar approximate straight line mechanism is shown in

scale. A 100 Nm CCW torque is applied onto CD crank. Complete the freebody diagram
showing all forces acting onto the links. Calculate the torque required on crank AB to keep
the mechanism at the given state. Use graphical method.
AB = BE = CE = DC = BC = 5 cm
AD = 10 cm

2
3

100 Nm
E

1
Link 3 is two force member

FB

C FC=FB

FC

FB=FA

2
d2
FA

d1

100 Nm

E
D FD =FC

From the freebody diagram 4th link;

100 = FC d 1 FC =

100
= 2314 .8 N
0 .0432

From the freebody diagram 2th link;

T = FB d 2 T = 2314 .8 * 0 .0432 = 100 Nm CW ANS.

Example: Find the magnitude

D(6cm, 3cm)

and direction of the moment

must be applied to link 2 to

drive the linkage against a 100

B
3

N force at the point E of the

link 4 as shown. Use graphical

60o

approach.

100 N
4

x
C

AB=DE=2.5 cm, DC=4 cm,

BC=5.7cm

Solution:

Link 4 is three force member,

Link 3 is two force member,

FD
FB

100 N

3
T
2
FA

FB

d=24.6 mm
o
60

FC
FC

A
FC=74.8 N
FD =154.8 N

T = d * FB =

100 N

24 .6
* 74 .8 = 1 .84 Nm CCW ANSWER
1000

Example: Find the magnitude and

direction of the moment must be

applied to link 2 to drive the linkage

100 N

against 100 N force at the mid point

of

the

link

3.

Use

graphical

approach.

AB=4 cm, DC=7 cm, AD=5cm, AB

// CD

T=?

2
Solution:

Link 4 is two force member

D
1

Link 3 is three force member .

Freebody diagram of these links are shown below.

FC
100 N

FC

E
3
FB
B

FB
4

T=? d
2
A

FA

D
FD

From the vector loop unknown forces become:

v
FB = 58 .4 N 153 o

FB =58,4 N

v
FC = 58 .4 N 90 o
From the free body diagram of Link 2, torque T becomes:
v
35 .5
T = d * FB =
* 58 .4 = 2 .073 N .m CCW
1000

100 N
FC=58,4 N

ANS

Example: Figure shows the six-bar linkage used to obtain a double beat-up on a loom. Onto
point H of the mechanism a horizontal force of 100 N is acting rightwards. Calculate the
external motor torque on crank AC to keep the mechanism in static equilibrium.
AB=3 cm, AC=2.5 cm, CD=4.5 cm BD=7 cm, FH=10 cm, DE=2 cm EF=6 cm, =30deg.

100 N
4
D

2
C
1

5
3

A
5 cm
6
5 cm

Link 6 is three force member

Link 5 is two force member
Link 4 is two force member
Link 3 is two force member
Joint at D is three force member.

FB

B
4
D

FDB =FB
100 N

FDE =FE D

5
E

FC

D
C

FE

FC

FDC =FC

FE

FA
F

100 N

FE

100 N
6

FF =65N
FE=138N

FF
F

From the force polygon of the 6th link, FE = 138 N

F DB=220N

FE=138N

FDC =85N
From joint D force polygon FDC = 85 N

d
A

FC

T
2
FA

T = d * FC =

14 .6
85 = 1 .24 Nm
1000

CCW

1- (30%) Find the magnitude and direction of the moment must be applied to link 2 to drive
the linkage against a 100 N force at the point D of the link 4 as shown. Use graphical
approach. Mechanism is given is scale.

C
3

4
100 N

D(6cm, 3cm)
B

120

Link 2 is two force + one torque

member.
Link 3 is two force member,
Link 4 is two force and one
torque member.

At point D there are two forces,

the resultant of these force (line
of application of this force should
be parallel to line of application
of FC force) can be found easly
by drawing scaled vector
polygon, as shown below . Then;

Fresul tan t = FC = FB = 116 N

2 = AB * FC = 0 .025 * 116 = 2 .9 Nm CW

C
3

ANSWER

FC

FC

100 N

D
FD

FC =FB

FC
B

100 N
y

2 A

120

FD

F resultant=116 N

1- (20%) Complete the freebody diagrams of the links given below. Find the magnitude and
direction of the moment must be applied to link 2 to drive the linkage against a 100 N force
at the point F of the link 4 as shown. Use graphical approach. Mechanism is given in scale.

C
FD
2
FA
A

D
FD
T

F
N

FF

F F=141.42 N
FF

4
100 N

100 N
N
T = AD * FD = 0 .035 * 142 .42 = 4 .95 Nm , CW