# SOLUTIONS MANUAL to accompany

THEORY OF MACHINES AND MECHANISMS
THIRD EDITION

John J. Vicker, Jr.
Professor of Mechanical Engineering University of Wisconsin-Madison
~.

Gordon R. Pennock
Associate Professor of Mechanical Engineering Purdue University

Joseph E., Shigley
Late Professor Emeritus of Mechanical Engineering The University of Michigan

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~.

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New York Oxford. OXFORD UNIVERSITY PRESS 2003

1

Chapter 1

The World of Mechanisms
1.1 Sketch at least six di fferent examples of the use of'a planar four-bar linkage in practice. They can be found in the workshop, in domestic appliances, on vehicles, on agricultural machines, and so on. Since the variety is unbounded no standard solutions are shown here. 1.2 The link lengths of a planar four-bar linkage are 1, 3, 5, and 5 in. Assemble the links in an possible combinations and sketch the four inversions of each. Do these linkages satisfy Grashof's law? Describe each inversion by name-for example, a crank-rocker mechanism or a drag-link mechanism.

s = 1, 1= 5, p = 3, q = 5; these linkages all satisfy Grashofs law since 1+ 5 <: 3 + 5.

Crank-rocker mechanism

Crank-rocker mechanism

Double-rocker mechanism.

Crank-rocker mechanism

~,

·.
1.3

2

A crank-rocker linkage has a lOO-mm frame, a 2S"mm crank, a 90-mm coupler, and a 7S-mm rocker. Draw the linkage and find the maximum and minimum values of the transmission angle. Locate both toggle positions and record the corresponding crank angles and transmission angles. -

Extremum transmissionMgles; , ....
Toggle positions: 1.4
Itt the figure.

==" = 53,.1°; r..... r~'" 98,10 =

'PI =40.1°;Y2 =59.1°; V'4 = 228.6°;Y4 =90.9°

point C is attached to the coupler; plot its complete path .

I I \

I ,
,

I

/

,,-

."...----

I

\

...

'-... ....... _,-.....---", ,/

./

/

i. The Grubler criterion then indicates that ten single-freedom joints are required for mobility of m=J. VDI-Berichle.j2 =0. 1.6 Use the mobility criterion to find a planar mechanism containing a moving quaternary link. According to H. m=3(6-1)-2(7)-I(O)=! m=3(7-1)-2(9)-1(0)=0 Ans. (a) n=6. vol. 1955.5 Find the mobility of each mechanism shown in the figure.i1 =0.j. =8. 5. m=3(8-1)-2(10)-I(O)=1 (c) n=7. Note that each coaxial set of sliding joints is counted as only a single prismatic pair.3 1.j!=2. The exception is due to a redundant constraint.i. (b) 11 =7. These seven are. Note that the Kutzbach criterion fails in Ihis case. How many distinct variations of this mechanism can you find? To have at least one quatenary link.=0. seven of which contain a quatenary link. the true mobility is m=I.i.. m=3(4-1)-2(3)-1(2)=1 Ails.=9. 81-93. The assumption that the rolling contact joint does not allow links 2 and 3 to separate duplicates the constraint . shown below: . Ails. "Die Analyse und Synthese der achtgleldrigen Gelenkgerriebe". pp. AI!. there are a total of sixteen distinct eight-link planar linkages having ten revolute Joints. Ans. a planar mechanism must have at least eight links.=3.of the fixed link length 0IOl' (d) n=4.i. = lO.

Q = a/ fJ = 1. P = 171. 1. From the values of 1J12 and IJI.8 Devise a practical working model ofthe drag-link mechanism. d!!. = CD -------- / .9 Plot the complete coupler curve ofthe Roberts' mechanism of Fig . \ .19b..5° and Then. ...7 Find the time ratio of the linkage ef Problem 1.t. we find a = 188. (1.. 1.5). Use AB = AD = 2..5°. \ . 1.5 in and BC = 1.099.3. \ . from Eq. I I / .4 1.25 in. I \ / I . \ .

555 56 in the right with respect to the screw. ~--. = R cosV': = Rsin(V'l + 90°).lOllS = 0. With the length and angle of crank 2 designated as Rand V'l. = 10/144 = 0. 44 in to the left. Carraige moves (10 rev)/(18 rev/in) = 0.625 1.10 If the crank of Fig. I.50 m. how far and in what direction will the carriage move? Screw and carriage move by (to rev)/{16 rev/in) Net motion of cam age '" 10/[6 . The rocker length is to be 0. 1.5 1.11 Show how the mechanism of Fig.12 Devise a crank-and-rocker linkage.soo---- . respectively.l2b can be used to generate a sine wave.0 00 in to the left.8 is turned 10 revolutions clockwise. 1. having a rocker angle of 60°. 10. the horizontal motion of link 4 is x. 1.Llc. as in Fig. 1.069 More in depth study of such devices is covered in Chap.

0al AltA RA (2.xl 13 .(.5ai ..11Y. RA(2.=-2. find its displacement from t '" 2 to t =2. R.5acos 5&i +2. R" =4i+4j RQ :=-3f-lOj = 15.652L243.5) = 2.0acos4n-i +2.0asin4&j == 2.4° Rol' = RQ . -28=-10. • .0) = 2.Rp (0) = 31-9] = 9.4 The pathof a moving point P is defined by the equation y = 60. " R: =2(4t ~ =2(-3t -28=4.R" = -7i -14} 2. What is the displacement of the point if its motion begins when Rj.ft.6° ~i 10' o s .5)-RA (2.. 13=51.5.5ai =RA2.0)=-4. 2.1.5asin5n-j. Find the position difference from point P to point Q if R~ = 4 and RQ = -3 .(3)=3i+5Ij (3).O)=60j R:(3)==60-(3} ARp = ft.487 L -71. = 0 and ends when R~ = 3? R:(O)=60-(O} 13=60..S Ifpoilit A moves on the locus ofProhtem 2.28..8 2..3 The path of a moving point is defined by the equation y:= 2x2 .

40) = 100ei'm = -80.10 to t = DAD.IO) '" -161._ R(20) = (201 +4)e-Jl~ = 404LO° Ans. R(O. AR =R(20)-R(O)=400LO" 2.902i + 58. when 1=20.926L61. then dBI dt is negative and therefore the position vector is rotating clockwise.40)R(O. . Jly.6 The position of a poinl is given by the equation R = lOOe}21t1.229i + 11.779] R(0.IO) = 1OOei°ozt = 80.7 The equation a =(/2 the position vector rotating? Where is the point located when t = 01 What is the next value t can have if the direction of the position vector is to be the same as it is when t = O? What is the displacement from the first position of the point to the second? Since the polar angle for the position vector is = -jrrt liD. • The point moves in a circle of radius 100 with its center at the origin.326] 4R = R(3).779j AR = R(0. Motion of the point is initiated when t = O.902i +S8. What is the path of the point? Determine the displacement of the point from I = 0. where I is time in seconds. that is.R(O) '" 6.2291 + 11. Ans.2° . In which direction is 2.8 The location of a point is defined by the equation R=(41 + 2)ejltl~ 130.803L180° + 4 )e-}lIt/IO defines the position ora point. What is the displacement during the first 3 s? Find the change in angular orientation of the position vector during the same time interval.9 2."" " R(O)= (0+ 2)ejO == UOa -= zl R (3) = (12 +2)ejlf9130 == l4L54° liB == 54°_0° = 54° ccw =8.803i = 161.326] = 12. e R(O)=(02+4)e-jO =4LO· The position vector will next have the same direction when 1fIIIO = 2Jr .

. dn..o...0.5° R.972i -RI'O) + 0.-0 RI'O • 1l9 .1l (I) . -1. = 3L30° = 2. "ARo+(RI'O' Allp =4.42ILI18.o. 4.10 2. Block 3 slides outward on link 2 according to the equation r = t2 + 2 .0981+1.667 rad = -9S.500j RQ.1211+3.' .5° = -5.0 = 270°-95.Ro I fil'O = 6LI74.o.' -R". 30° to RQ.. What is the absolute displaeemem ll. AROi =Ro.598j . RII (1) .. 31. -1.0. What is the displacement of point P on the periphery liUJingthis interval? 'Since the wheel rolls without slipping.. t I. 3L120o . =-4.J' = 2.- ARp.1211 +2. 3L4So = 2.574 j in . + Aft"".7iOL58.50 .10 . 6L90a 6j . (2)..902i + 1. -.11 = lOt -5.-o' -.500i + 2.I I \ \. 2? What is the apparent displacement . .0281 +6..so For ft. ° 2".l21j RPo(2) ./ AftQ"l ~ R.972i +o..-o' 0' =8+ . Find the absolute displacement of Q. 174.5741+6j x <..7° Ans. A .R...098j /..9 Link 2 in the figure rotates according to the equation e = Ttt /4. -10 in/6 in .Rp. = 1. R'I (2)-RII (I) =-2. A pOi. from t = 1 to t . .ll '" re j' = (1 + 2 ). 0i .So in 2.q ? ) liZ RII =re J8 "{II +2)e)l1H ..& 2. Alto...196L30° in " • . . ..Rp.8 along link 3 while link 2 rotates from 120a.12 = RI']/' A wheel with center at 0 rolls without slipping so that its center is displaced lOin to the right.574j = 7.879j Rlln RI\/2 RP. ARQ. 4R'I ..oooi ARa.0981.Ra . 6. 312 (2)= 6i..fit Q Moves from A to .598i + 1.Aft. dM. (I) .

Write the loop-closure 'equation.7-5---S-S-in-' Write a calculator program to the sum of any number of two-dimensional vectors ellpressed in milled rectangular or polar forms.stos8z +. +R B• + RCB Rc = R. +RAS' .-45° . Write the loop-closure equation. Rc ::: RSA cos 81+~~ and and. y Rc :::R.. Because the variety of makes and models of calculators is vast and no standards exist for programming them... - + RBA ~ Si. +JR.14 (-n" -:. solving simultaneously. we get ~in~So :: -RA8 si n ¢I sin¢! ..: sin 8: )tth -90 0 < 8. ...13 The offset stlder-crank mechanism is driven by rotating crank 2.sin-45° R =-R -=-200----=546 mm .2-S-C-O-S""'2 (}_"'-'z Ans.s -(R. The result should be obtainable in either form with the magnitude and angle of the polar form having only positive values. AB sin 15-0 sin 15° _- 2. no standar-d solution is shown here. Solve for the position of the slider 4 as a function of 82. 8~ :::s_!D -. we get . cosO.m inar:ylparts.. Rc = 2.I Taking the imaginary components of this. -lJ2-+--6-. R.#'/£'~ v. R.-.12 The linkage shown is driven by moving the sliding block 2.11 2.=a. Solve analytically for the position of sliding block 4.el•12 / + RSAeA + RCBels. R" JJ. Check the result graphically for the position where ~_:. < 9()O J J- .jr'4-1-. The loop-closure equation is #. / Taking real and i~. Roo. r£".e )2 = 2.

'THE"ORY OF MACHINES AND ME:CHAN'ISI'lS.Rl+R2+R4. PROGRAM CCURVE A FORTMN IV PROGRAM TO PLOT THE COUPLER CuRVE OF ANY CMNK-ROCKER dR DOlJBLE-CMNK FOUR-BAR LINKAGE.R4+R4+YS) CYCLE THRbUGH ONE CRANK TII:2=O.J. WIUTTEN FOR A DEC 11170 COMPll'l'ER SYSTEl'I.. & J. IF(IFO~.19 of the text.'-] • • . JR.R3.PENNOCK. EXAMPLE 2.R2. GIVEN ITS DIMESNIONS. READ(S.LE_O)THEN R5~SORl'rxs·xs+ys·yS) ALPHA=ATAN2(YS. . THIRD EDITION. 2003. Tektronix chosen as correspond variety of programming languages makes it difficult to provide a standard However..E.12 2.. Y. The . is supplied here as an There are no accepted standards for programming graphics.RS·sIN(ALPHA» C C C tALL INITIALIZE FOR PLO'l'TINGAT 120 CHARACTERS INITTr1200) PER SECOND. 01 JANUARY 1980 C C C C C C C C C C CON: c t c C READ IN THE DIMENSIONS OF THE LINKAGE.symbols in tlie program t6the notation shown in Figure 2.13 CT!l2=COS(TH2) 5'l'H2=sIN(TH2) RO'l'ATION IN FIVe DEGREE INCREl'lENTs.O DTH2=S. G. Therefore the PL()T-t() subroutine library. 95. RIR2 R3 R4 {X5. the required input data are: ~.-R4. The program should accept four link lengths and either rectangular or polar coordinates of the coupler point relative to the coupler. . is an older but somewhat recognized alternative.1S Write a computer program to plot the coupler curve of any crank-rocker or double-crank form of the four-bar linkage.XS. UICKER.SHIGLEY. Again the solutio . OXFORD IJ'NIVERSITY I1RES\$.5.UICKER. example. one version.USING SUBROUTINES FROM TEKTRONIX PLOT-IO FOR DISPLAY ON 4010 SERIES DISPLAYS.YS. REF:J. for display on Tektronix 401() series displays. A CALL OWlNOO(-R2. .IFORH 1000 FORMAT(6FIO.O/S7.12) FINn 115 AND ALPHA. 1 'The program can be verified using the data of Example 2.29578 IPEN=-1 00 :2 1-1. written in FORTRAN IV.JR..7 and checking the results against those of Table 2.' R5.O.6 WRITTeN BY: JOHN J..R4.R. c SET THE WINDOW FOR THE PLO'l'1'ING REA.O.29578 END IF c C YS~AMAX1(0.3..XS) ELSE R5~X5 ALPHA=YS/S7.1000)Rl. .

CTHll CALCULATE THE COUPLER TH6=THJ"ALPHA XP=R2'CTH2+RS'COSITH6l YP=R2·STH2+RS·SINITH6) POINT POSITION. CGAM= IR) oR) +R4 'R4-Rl'Rl-'R2'R2~2 .0l CALL MOVEA(XC.IOOJ CALL ANMODE \1IRITE: .O. ¥P) ELSE IPBN=-l CALL DRAWAIXP.(XP. YC) CA.99)THEN CALL MOVABSIIOO.O.O-CGAM·CGAM) GAM=ATAN2 ISGAM. YC=R3'SINITH31 CALL DRAWAIXC. C C C C c C C C PLOT THIS SEGMENT OF THE IFIIPEN.GT. YP) CALL DRAWA(R2.0 I I CALL FINITT(O.0. STH3=-R2'STH2+R4'SINIGAMl CTH)zR3+RI-R2'CTH2-R4'COSIGAMl TH3:2. l .13 C C CALCULATE THE TRANSMISSION ANGLE. 1001 J 17 IO'!n FORMAT [1/' ••• THS TRANSMISSION ANGLE IS TOd SMALL. .O)THEN IPEN=l CALL MOVEA.. CALL MOVEAIO.LL DRAWA(XP.O) CALL EXIT STOP END COUPLER CURVE.Ol CALL DRAWA(R2.LT.0. ' •• ') GO TO 1 END II' SGAM:SQRT(l.0·ATAN2(STH3. O' R3 *R4) IFIABS(CGAM) .YPJ END IF TH2=TH2+DTH2 2 CONTINUE DRAW THE LINKAGE. t:GAM) CALCULATE THETA 3.O'RI'R2 'CTfl2)112.O.0) XC=R2+R3'COSITH3.Yt:) CALL DRAWA I Rl • 0 .

l / '. ".. _ .Pat" ..... ! ISecOl"tdarw .. " \ I .... •....... ... .- ••.-i. (b) second inversion of the slider-cratikmechanism....... . ~P... (tf) drag-link mechanism...-~ I " .- { ! ! \ i . ..........14 2..._ _ (a) ...../ ---.. p.... (tf) . (b) .~ (c) . . . -. Pot:. .:~·· .. find the path of point P: (a) inverted slider-crank mechanism... - I \ .•.. (e) straight-line mechanism..16 For each linkage shown in the figure.•../ / _ . I ~.... \..

dy 8 'icOSl =-Ijsmy-. 2..17 USing the offset slider-crank mechanism of Fig. dOl we have sin02 = O. sin r Now.::. d02 = _ rz cos B. As shown. ±270°. y = 90° . from MBO.21)r.. or !!1::... this means that r reaches a maximum or minimum when crank 2 is coincident with the line O2°4' Show..OJ' Also from the figure e+ rl sinOl == rJ cosy. 2. r. . u: dBI Now. «o. .19. 2 r. we get cos8l:: O. Differentiating with respect to 81. Ijr. to obtain . find the crank angles correspongling to theextreme values of the transmission angle.10 it is pointed ouz that the transmission angle reaches an extreme value for the four-bar linkage when the crank lies on the line between the fixed pivots.18 .15 2./ + r]2 '2 2 - 2'i'i cosB!. ° 2:: 0. Therefore. setting dr/dBl = 0. 1'2 Sill B. Thus. cos y . 51l) ') . we conclude that 2. for .. I) sin r In Section 1. '" _Ijr.rz Sill 0. ± 180°. Also.15. analytically. : S2 :: + r} . Equating these we differentiate with respect to 8. !:II that this statement is true. dr Y dO. s' =. .!!L:: 0. Referring to Fig. ±360o. 82 = ±(2k + 1)11'/2 =±90°..

slider-crank mechanism that has an offset e and that is placed jn one By changing the ofTset e.. --L-I Il()"".. Such a linkage is then called a quick-return mechanism.17 2.21 The figure shows 3. the crank should rotate clockwise . = sin'" (_e_. The problem here is to develop a formula for the crank angle traversed during the forward stroke and also develop a similar formula for the angle traversed during the return stroke. rJ+rz )+1800-Sin-I (_!_) r}-rl Assuming driving is when sliding to the right. . Also determine whicj direction the crank should rotate. it is possible to cause the angle that of its limiting positions. =()l +360"-0. A' / <. The ratio of these two angles would then constitute an time ratio of the drive to return strokes. ~rank 2 makes in traversing between the two limiting positions to vary in such a manner that the driving or forward stroke of the slider takes place over a larger angle than the angle used for the return stroke. / / \.> .

.8° E milh . we have VB.. R(/)=(rl +4)e-JK.613L65.. = VB . find the partie le at .. ~ Naming B as car 3 and A as car 2.074L -72.40 s. R(r)= IOOe.2° ='82.IO R (21'1) = 40e.50 tfils R (20) 3.where R is in inches.8° E tni/h Tl'len V"'12 = V.2· =82..4.IIO J•• R(/)" 2/e..783+ j91. = V.613 N 24.. 82. what is the velocity difference between B and A? What is the apparent velocity of B to the driver of If? VA = 55L -90· = -55j mi/h VB= 40LJOo= 34. = V~.. 34.613L65.2 =-298.920 If automobile A is traveling south al S5 tnilh and automobile B north 60· east at 40 mi/h. I :5 V4I.'" R (I) = i trIODe.(J1I" /10)(202 + 4 )e-J820110 J == 40e-J1• - jJT40.19 Cbapter 3 Velocity 3.jI26.3 = 40.613 N 24.4e-n' = I 33.4 since 2 is translating..08D=31. r the J = 20 s.1 The position vector ora point is given by the equation Find the velocity of the point al t = 0.6411 + 20j milh VB.40Jt + j sin 0. .159LI62° inls The equation velocity 0 R = (12 + 4 )e:ilttlIO defines the path of a particle.64 Ii + 75j mi/h V SA .. j1l"100e i8040 = jltl ()O(cos O.·"llo_(j1l" II 0)( II + 4 }e." R(OAO).12 =82.VA . If R is in meters.401t) = -10011"sin 72° + jl (}()JT cos 72° R(OAO) 3. R = I DOe}'" .V.T:!OIIO .000 .

.~ .2(0.7 m) = 1....+V~ V. respectively...S Two points II and B. have speeds of SO and 140 m/s.o. l.. 200 = R~ O.. .4 til = l' 400 nI1l'I d.. = .= V. d!y. (a) What is the diameter of the wheel? (b) Find V148' VBA.. The distance between the points is R BA= 300 rrun .VB -VA = (-140j)-(-soj)=-6oj mlsAns.3OOm radls CW' d!J& R 80. =V . and the angular velocity of the wheel.e radius of a wheel (see figure).= 251 in/s tV V. =~ tV2 140 tills = 0. = 80n.!y.. Find the velocity difference between points Band A. ..700 m 200 radls Dia =2A.. 60 n'IIs ... = OJ2RAo. located along th... VM "...4 In the figure.. -.L I 1······ I 1 .. Q..V. tV2 = .. . wheel 2 rotates at 600 rev/min and drives wheel 3 without slipping.20 3.._ v.. = (-801)-( -140]) = 60] mls V.:M. _ (600 revii'niI'l}(211" fad/rev) z60 s/min = 2011"radls ow VAo._ . ·····f.·~ = 223L90° in/s 4!Y.

200 miles southeast (see figure).6 A plane leaves point B and nics east at 350 mi/h. = 390L45° mi/h = 2761 + 276J. (a) How close will the planes come to each other if they fly at the same altitude? (h) If they both leave at 6:00p.ot change. V.. (a) If A flies the same heading. \ Yl VB..4 does not change./dl = 2(-100+ 163120/-110376=0 \RBA t m in I h =41 minor rni 6:41p."/ . at point A.5L -165" 3. Find the velocity of point A and the angular velocity oflink 3. v.276/)( -276) = 0 1 =0. .60 0. =. Simultaneously..4j = 51.S The velocity or point 8 on the linkage shown in the figure is 40 m/s. a plane leaves and flies northeast at 390 milh. I I R8..6? With the added wind v" = 3061 + 276] = 412L42° mi/h Since the velocity is constant.7 To the data of Problem 3. radls ccw = 14.m.'l. V.1'1 . ---' dR:.m. 411s. VB" 350i rnie -loohI73] + 741)1+(173 VSA = VB .6 do Ails.. V 14.+Vd8 VA = 48..«I) To find Ihe minimum (0)+ VB} = (-100 -276/)1 of this: R~ = (-100+ 74tY +(173-276tY 741)(74) + 2(173 .400 . .677 \ \ . at what time will this occur? B~__""VB \ ReA (OJ \ ·N ":.64 . X At later time RJ!.99L -165° V'R ill.. Since the velocities of both planes change by the same amount. Ails. the velocity V 8. what is its new path? (h) What change does the wind make in the results of Problem 3.21 3.81 -13..64L RA• -120 rn/s . difference ~ n.. =-=36.l (0. mls 0 d&..VA = 741 -276j At initial time . Therefore the results of Problem 3..=V.t!!. add a wind of 30 milh from the west. R/!... the new path is a straight line at N 48" E.677) = -49.6.{ (0)=200LI20" = RSA !.

VID... .. V~Q...9 The mechanism shown in the figure is driven by link 2 at angular velocities ofUflks 3 and 4... 8 lV2 = 4S radls cew. =V. Find the '3 VAo.=~=lS.. '" (4S radls)( 4 in} = 180 inls V..8 =.o 184..0 rnIs = Yo.34 inls. lV) V =~ R'A R JC.. V. = lDlR. =: V. 11.... V. (60 rlld/s)(O.. 14. = VA + VItA-Yo.43 radls ecw " radlsccw £1)4 V.+VM VItA '"' 13.76 inls.020 tnts.. + VIIO.360L41 0 i'tJ/s " .4v 12 3. +VI1O..'" OJii~o. =184.!.o.22 3. 14.ls6 tn)=9. 1J and C and the atlgularvelocities of links 3 and 4 ..10 Crank 2 of'the push-link Mccnanism shownin the figure is driven at Find the velocities of points Q)2 = 60 rad/s e«.34 == - 10 = 1.

24

3.13

The figure illustrates the antiparaJlel Or crossed-bar linkage. If link 2 is driven at rad/s ecw, find the velocities of points C and D.
C

(i)2 ::

I

c

VAo, '"

(i)lR ..o,

m)= 0.300 rtlIs

VB ",VA + VIlA "Yo, + VstJ, Construct the velocity image of link 3. Ve = O.402LI51 ° mJs Vo .=O.29()L249° mls

3.J4

Find the velocity of point C of the linkage shown in the figure assuming that link 2 has an angular vclocHy of60 radls ccw. Also find the angular velocities of links 3 and 4.

B
- . Q.

c

C~ Ii .. . x

B

V"o, = (J)lR"o,
VB =VA

Vso, == 317.6 ittls

+ V&; =)10, +Vso•

VIlA == 169.4 inls;
(i)]

=.!:M.

R,~
VIO

6.!l

(i).

. Rlfb•

= --.L

::

__,_..,....=
10.0

317.6

Construct the velocity image Oflitlk 3; Vc = 507. tLt:56.9° itils

·'

25

3.15

The inversion of the slider-crank mechanism shown in the figure is driven by li~ 2 at ta == 60 radls ccw. Find the velocity of point B and the angular velocities of Jinks 3 and

4.
II

2

JIAO ..
J

(1) l'

R A 0J

= (60

m) = 4.500

mls

V~, == VA + V.,A =)1,., + VI'",
Q}

)

..

~

VII.

Re,,,

4.259 = -' _-_ = 22. 0 0.194

Construct the velocity image oflink 3; V. = 4.789L96Y mls 3. J 6 Find the velocity of the coupler point C and the angular velocities of links 3 and 4 of the mechanism shown if crank 2 has an angular velocity of30 radls cw.

c

c

_x

VAo,

==

Q}2

RAO, == (30 rad/s)(3.0 in) = 90.0 inls

VB == VA + Va.l .. Yo, + V BO, Construct the velocity image oflink3; Vc == 90:0LI26.9° inls
(j}J

V 90.0 =....I!!!..= -.. 18.00 rad/s ccw : R~A 5.0

IV,.

_ V.0, _ O.O' _ 0 •0'0' _-----..o... 0 Rao, 8.0

.'

~_. ',':'
3.17
it
:

26
',

')':'

"

Link 2 of the linkage shown itlthe figure has an angular velocity of 10 radls ccw, Find the angular velocity oflitJk 6 and the velocities of points B, C. and D,

, '.

I,:,

.:
,
;

' I ~

'~ J -: - i'i.:,,! .. ·:-',n":::

.)),

,_,-.\;:

t.t;'

~~'I',".J

~r _'4

: _'

,",

v.s;
YAo,

= OJzRAo,

in) = 25,0 inls

V. = 11.57 £180° iNs Construct velocity image of link 3, Vc '" V...+ Vc; = V.. + Vc• Vc = 24.22L207.6° Vo = v, + Vee = Yo. + Voo•
6

V. ",V...+ V...

iflls iNs

Vo = 24.1BL206.2·

OJ

YIX! 24.18 =..........!.. = ........... 4.03 radls ccw = Roo, 6.0

3.18

The angular velocity of litJ1c2 of the drag-link mechanism shown inthe figure is 16 radls it polar velocity diagram for the velocity of point B for all crank positions. Check the positions of maxit1'1utrl and miniMuM velocities by using f'reudetlstein's

cw, Plot

theorem.
!h.c graphical constrUction. is shown in the position where 01 = 135° where ,the result is V. = 5.76L -7 .2°th/s. increlYieflts Of mitlimum mls at
0

It

is

repeated

at

Alil

= 15° .

The t1'1:axitnutil and
=9. I 3L-146.6° at Within graphical

veloci.ties are Vs._

01 =150

and V.,,"," =4.59L63.7°m/s

O2 = 225 ,respectively.

accuracy these fwo positiOtts ap-pcoxitnatIy verify Freudertsteiil's Iheoretn, A numeric solution for the same probleM can be found from Sq. (3,22) using Sqs. (2.25) through The accuracy of the values reported above' have been verified

(2.33) for pos-ition values. this way .

..

C.400 MIs V" = V. V.86LlS4.028L137. B an angular velocity of 56 radls ccw. = 6S.23L90° iflls . + Vea Ve =9. Vc= VA +V C4 .+VJI1I• CODstl'llct velO'Cifyimage ofliftk3. +VM = Yo.. + VM CorlsttUet velocity itbage of link 3..16' A V~o. = {J)2R~o.double-slider mechanism shown in the figure if cratlk 2 rotates at 42 rlUlls cw. + Ve• Vc "" 67.io VD = Vc + VDc = 21. and D of the. = V.()() in)= 84. =(56 radls)(O.21 Link 2 of the mechanism shown in the figure has Findthe velocity of point C.ISO m) =8.OJ = (42 radls )(2.00 itJIs V. Y..1:2 Find the velocities of points B..' . Vc = VA + VCA = V. = ID1R.36L180· itlls iNs V..40. .3.8° rnls 3.

= 2000 rev/min(21!' 60 minis rad/rev) .29 The figure shows the m~hafiism used in a two-cylinder 60" y engine c~nsisting.12 = 24 radls velocity analysis of the linkage shown in the figure given that CWo What is the absolute velocity of point O? What is its apparent velocity to atl observer moving with link 4? Ii B . = (209.0 in)= 418. Ve == VA + VC. VA".9 inls Construct V~= VA.. + V~ = 42S.e a complete (1. Crank 2 rotates at 2000 rev/mill CWo Find.. connecting rod.23 of an articulated tV. ra s = 0)2 R Ao.the velscities of points B. _ 209 4 dI -.". Velocity image oflink 3.--.3" in/s Vo = Ve + VDC = 378.9L -120" in/s d!M.9L -93. C.('" Va + Va = 486. and D. . 3.. .... in ~~..4 radls )(2.24 Mak....7 L -60" inls 3.~ - p.

8L -39. '" 12.0 inls Using the path of PJ on link 4. {l. + VII" =Vp.30 VAG.Il VA 161. = d&..()Dints = V1\ + V""l = VA ..3L-12.. we write V.25 Find VB for the linkage shown in the figure if VA = 1 ills. V &j . we write Vii = V. . '" VA + Vp. '" IS7..16 !lilA 26. V. +V.A == )lp./..4° inls 3.'4 =103.23.8 =~=~=6. 411 and we find the d!Y. = al2R . or graphically.". since link 4 remains perpendicular to link 3.oo in) = 192.. + Vp. we eomplete the velocity image or link 3. 41. from which V. Next construct the velocity image of link 3 or V" V. VA =12 ints Using thepatb of PJ on link 4..S0L ..7° inls Then.27 radls cw From this.. we have velocity image of link 4.0j = {24 radls )(8.

250 m) =9. we write = V . (I) ~ J~6 rad/s ccw.o. + V". =(36 radls)(O. link 4. 3.31 The figure shows a.27 Make a complete velocity analysis of the linkage shown in the figure for ccw. (Note that the path is unknown for VA. it is in translation. variation of the Scotch-yoke mechanism.o. 12 !) V•• = 4. = VA. II is driven by crank 2 at z v:.0 mls 14 Using the path of Al on link 4. Find the velocity ·ofthe crosshead.658L180· m/s AU other points of link 4 have this same velocity.. (J)2 R.. lJ)2 = 72 rad/s .

3 Ve.Y.9° itlls V.cl' from which Vc.A := (30 radts) ( 0.18 + YD.!.. = 43.32L203.. from which VI! = 77. 3.. . Ve. Yr. = (l}f:= . of C) on link 6. ~ Rc. Find the absolute velocity orlbe center of the pin P4 carried in the two slots... ""Ve• + Ve. We can complete the velocity image of liilk 6. Since link 5 remains perpendicular to link 6..32 Construct velocity image of1iilk3.49L2iO.4" itIIs From this.052 tnls rhls Idetltityitlg the pin as separate body 4 and. we next write Vc.647 fi'l)= 2. = VII + V.16 and Vel. +VBQ.I" Slotted links 2 and 3 are driven independ. p.35SLIS. '" 64. = (ilZR. graphically. .e. e.2° dlY. 11 = VII + VIII) = 2.1 ()26 til) = 1. we write VI'. noticing the two paths it travels on bodies 2 and 3.67 tad/sew inIs Using the path.o. "Vc.07L241. 76.= VA + VeA = VB + Ves VB =VA +VM "'Yo.o.6° mls 4r1t.entlyatm1 '" 30 radta cw and 6)3 = 20 rad/s cw. '" 9. d. m.39L-98.. =Ye. respectively.054 c) VII = (iI)RII~ = (20 radls) (0. From these we can get VII.

29 The mechanism shown is driven such that Vc = .24 = _-_'_ = ~ = 4. == ~ = 1. Using the path ofCl on link 3. link 4.69 3. c. 4. ~~o.569 radls cw Rc.l) and Ve.30 The circular cam shown. Find the angular velocity of the oscillating follower.25 in}=18. Yo. links) and 2. Determine the ailgqlnr velocity of link 3. + Ve.226 == . Rolling contact is assumed between. Ve. 2.500 rad/s ccw VDE 15.. but slip is possible between links 2 and 3. we write V c.D. aJ.3. =(15 rad/s)(1.. + VD•/) and VD. =)le + VD•C RD. :0 = III ) V.o. link 3.=aJ2RAo. There is rolling contact between the cam and the roller. 3. + Ve.o. angular velocity of iV2 '" 15 rad/s ccw. is driven at an.355 .10 inls to the right.1 '" V0.75 inls VD.

. = VEo + VE. =:.000 {J)4.c '" 10.. . .333 rlldls ccw Rc. Construct velocity image of link 3. Vo = V 4 + V04 = VN + VOH = 11.n =!&!_= Re. = VC + Ve.lt Using tl'ie path of EJ on link 6._ ~ \. . Construct velocity image oflffik 6.31 The mechanism shown is driven by link 2 at 10 ra.000 = 3. \ ... 4.774 rad/s cw 4ru:.dfs cow..B VIM = {J)lR&j = (10 radls)(l.667 2.N 1.06L2'20. .1D in/sdz!. V 4.•. and 6. and Vs-.3.9 D inls dtg..00 in/s Vc =Va+VcB =YD+VCD 1-: 13. 5. (J).. 3..OOO in) =' 10. = JfH + Vt.288 41~8 . .1J!.= RCD 6..I.J:L = -= 3. There is rolling contact at poiilt F. V Eo = V" + V c.. -. ...93L -57. we write VE.•.333 raWs cow d&..33 ~ ==:.. " :~.....!. .. Oetemline the velocity of points E and G and the angular velocities of links 3..

links 6 and 7 . . .. . It is driven by a circular eccentric.".11 and VF..0 in):.--.-- _- .777LI80"in/s Ans.)ttl + VlJI.• r...: VF. \ . Find the velocities of the two pistons.32 The figure shows the schematic diagram for a two-piston pump. = Vc + VIC = 1. = VF.+ V6" >=5.35 3. Vc = Vf. . we write VF.p X V. and = (25 rad/s )(1. ". 25. + VF.-. B' 1·'£" D . link 2. :. .---- -------.302L180° inls VB =V. Construct velocity image oflink 3. AilS.'E Using the path of Fa on link 3. + V~l.. = Yc: + V. + Vw. .:' p.~: VF.00 in/s "" VF. at 412 = 25 rad/s ccw.E = 411R.~c . + Yo. Then V..

) is the 'instafit center.. attached to gear 3.•.. -t::::::::::=:::::::~~::::::: -~ . ... . the roll center is the I.. <. ..000 dm.. Determine the angular velocity of the output shaft... The I!5sulflptiOflis made that there is pivoting but no slip between (!'Ie tires and the road. link 2..3" The diagtidn shows a planar schematic approximation of an automotive front suspensiorl..33 the epicyclic gear train shown is driven by the arm. JIB = JlBA ..link 2. . (10 radls)(3.00 inls Using VD '" () construct the velocity image of link 4 from which Vc = 60LO° inls .. link I. at 12)2 =10 rad/scw..... use the concepts of instant centers to find a technique to locate the roll center. RCA llItR&4 .3. .. the "roll center" (of the vehicle bOdy .... By definition....3. After making a sketch.....en'ft used by the industry to describe the point about wlHch the auto body seems to rotate with respect to the ground......... P12.. 60. = . dI..000 in) ·000 ra dJ s cw =< 30.00 2. It cafi be found by the repeated applicaliOl'l of Kennedy's theoretYlas shown..J I . / . with respect 10 tlie road.. Jlr• =-=3.

.. must be infinitely rem ole because the relative motion between links 4 and 6 is translation. assuming by symmetry that P12 must lie on the centerline of the vehicle.. Instant centers rr~ P. the angle between links 4 and 6 remains constant. and P.37 In the automotive industry it has become common practice to lise only half of this construction. ~S> Ps. p. (at infinity) are found by inspection.. (in finite space).JS Locate all instant centers for the linkage ef'Problem 3. many in the industry are now confused about "the movement of the roll center along the centerline of the vehicle". It is not true once the vehicle begins to roll as in a tum H~ving lost sight of the relationship to instant centers and Kennedy's theorem.. (at infinity). and 1(. All others are found by repeated applications of Kennedy's theorem until Po s line can be found for however no second can be found since no can be drawn between p. One ~.. and remembering only the shortened graphical construction on one side of the vehicle. Notice that this is true only when the right and left suspension arms are symmetrically positioned.21) which are more horizontal than vertical! J..22. line line .J • ~)' ~. They should be thinking about the fixed and moving cenrrodes (Section 3. Now it must be seen that p.

(at infinity) are found by inspectioh. except It. however 4 no second line can no line can be be found since drawn (in .26. AU other!! are foutId by repeated applications of Kennedy's theorem.are found by inspection.). Pll• P14 (at infinity). 1 : 3. i i i : mechanism of Problem 3..3 remains constant.finlte space) between Po..37 Locate all instal'lt centers for the meohanism OCProblem 3. the angle between links 1 and.25. One tine (P.z Pp) can be found fOr p. .36 Locate all instant oentersforthc / / .38 3. I I Instant centers P'l' ~J' P14 (at infinity). Instant centers 1:2 (at infinity). : i~ /"( -1 . and p'. All Others' are found by repeated applications ofKe1'lnedy's theorem. and Po. aM P]<I' Now it Must be seen that 1:] must be infinitely remote because the relative motion between links I and 3 is translation.

27.. and P" are found by inspection... Instant centers ~l' PlJ. ~so Ps. (at infinity).40 Locate all instant centers for the mechanism of Problem 3. All others are found by repeated applications of Kennedy's theorem.. 3. Instant centers ~2 and P" are found by inspection. The other two are found by Kennedy's theorem . One line for Pn is found by Kennedy's theorem.. I' P.29. . Instant centers ~2' ~" 1.39 Locate all instant centers for the mechanism of Problem 3.30.. and ~4 are found by inspection. P. .J. y y s 3. The other is found by drawing perpendicular 10 the relative velocity of slipping at the point of contact between links 2 and 3.J8 Locate all instant centers for the mechanism of Problem 3.

Find the acceleration of the point at I'"' 2 s.1 4.u The position vector Chapter 4 ora point is defined by the equation it =(4/-/3 /3)i + IOj where k is in inches and (is in seconds. or a point which according to the equation The unitsare meters and seconds. is in millimeters and t is in seconds. /3) R(t) "'( 4 _. the normal and tangential cotfJponetlts of the point's absolute acceleration.. Ji(/)=(/2 R(/)= _.3/6)1 + (t3/3)3 (21 _/2/2 F +(21 + 2/j R(t) =(2 -/). we find that tt(26 5)= (202 +4) = 4()4it11t1 . find the unit tangent vector for the path.3 The path of apoint is described by ttle equation R={I~+4)e-jJttIIO'wl1e(e It.l)'e-jtrlflO 5 +4'Je-j1fIIlO Noticing.41 Acceleration . that e.jJrl/lO '" e.jm/IO 10 _iff!.jJt/llO .t: «(2 + 4)e ..3/6) i+ (/3/3)j.. R(/)= (12 +4)e-jJrJ/IO I R (I) = 2/e.. For t = 2() s.j2.2 = -2/1 Find the acceleration at .e-jJrlflO 5 _~(l2 100 := I I I • R (t)= (2- jft. 1._3 s R= (12 _. and the radius of curvature of the path. at 1 = 20 s..2)1 R (I) '" (41 _/3 i+ I oj R(2 s) = -2(2)i = -4i in/s2 MOves R(/) 4.0.

753l=l1l2.620i-19.953761 -O. Find the acceleration of the point at R(/)= [41 COU/']i +[( I' /6) sin 211'1]1 _12m! sin nt' sin ml - R(/)"'[ 4couI' it (/)= [ -48R't2 Ji +[(1' /2)sin 211'1 nl' /3 )C052trI]j +( 36}f1.A" Then.5° tnmIs (202 +4)=-37.5°".5 Link 2 in the figure has an angular velocity 'of ~ = 120 radls ecw and an angular acceleration of 4800 radls2 cow at the instant shown. R(20s)'" (111'20) 2--- j1l' (202 +4) = 40...3 and y = I ((3/6) sin 2m where x and y are in feet and t'" 1. -- . is in seconds. the radius of curvature is (133. • R"Oj = -(120j A" -7 200i + 2 400] mls = 7 589L161.40 s . (4.sooi +4 SOOk x 0. I LhO_.87J-j25. (4.j126..676 mmlsz = -405.25. Where the negative sign indicates that the point is in the negative center of curvature of the point's path.676 mrnIs2 0.95376])-( -37..07 43.4 The motion ofapoint p direction from the is described by the equations x '" 41 cos 11'.586 mmls2 Ans. 4. y.8731 .rl - 5 4J:y. from Eq.kx z.953761 -0.300581 ._ -c05-72. Determine the absoluteacceleration ofpointA.5oj +5in-72.it = (-0..1331 mmls2) = 12.2) or Bq.lJJ irunls2 100 From the direction of the velocity we find the unit tangent and unit normal vectors of = lL -72.5001 m .30(>S8j){ -37.300581~z P'" .5°J = -0..796L-1.25.42 R(20 s)~ 2(20). the components of the point's absolute acceleration are P = ixk '" sin-72.1' C0511'/ J]i+[I(I-2}fzl' /3 )sin 211'1+ 2m' cos 2m ftlsz ]j dlY.it '"(0.5°j = 0. +a.40 5)=1 U2.5oj A" = p. 008-72. .l33j mrnIs2) '" 43.0° 4.95376j 5 }1I'20 --._ Ans. 4M..8731 ..00. A'= i.30058} From these.07L -72. it(1.0.92 10 = I3J.6° mls 2 o..4 mm mrnIst .14).:< ~ __ ~2 2 A == -W2A"o.

2L24l1. A.=VA+V.. A~J = 170.ftlsl = 1.6 Ws2 frotn A d.0° ftls2 d!!& For tile data given in the figure.1.367LI2.2L44." =aR/M ={160radlsl){16/12 ft)=213. but here is found from the problem statement.: 12. s 2 cw a =~ .1LI65° ftls2 Ac = 210.0":::270° ftls Ans. B V. V."2 _I ra d/.3ft!s2 Construct the acceleration poly-gon.43 4. _ = 356. ac.6 Line 2 is rotating clockwise as shown in the figure..!:."-i. rad/s 01' R"" = (24 y (16/12 ft)= 768. v Ra. Find its angular velocity and AN = A" +A~J + A~ Construct the acceleration polygon. =A" +A.8 radls cw 20/12 ft Note the ambiguous sign of this square root.3c ft/s2 .0 ftls 2 A. 'the sense 0 f w cannot be determined the accelerations. Vc=8. fihd the velocity and acceleration of points B and C. =39S.!I.)\~A A~ = Ans. 20/12 ft Ac 4.IU VItA =WR~A =(24radls)(16/i2 ft)=32 ftls COtIstt'uct tlie velocity polygon. es w= 594.7 =' 309. .1°fttS A.celeration and the acceleration of its midpoint C.

100 m):::: 40.340L90° mlsl "l.JOO m):::: 14.000 mls2 Ac=AA+A~+A~ A.~ 0.9 In the figure.o.100 m mdIscw . Find the angular velocity and acceleration oflink 2.000 mlsY /(0.. = <»:R~o. 3) • A.l \ I.100 m 4.000 mls! A~a. + VAD. =3. .100 m)=40. == (20 Vc = V~ + V rad/s] (0. <»2"'::: RAo.' YA". 38 64 • 0. = (140 rad/sl)(O. the slider 4 is moving to the left with a constant velocity of 2. I B VA= Vc + VAC = Yo. + VAo. VAG. Determine the velocity and acceleration of point B and the angular acceleration oflink 3. B C A. +A~o. mls V.1 00 m) = 2..864L270o A~ =)(0.4.864 ro/s.000 mis' Construct the acceleration polygon of !ink.0 mls.""(2. A' 14 000 mlsz aJ=~= . :::: <»:RAa. V~ = Yo.8 For the straight-line mechanism shown in the figure. = 6.000 mls CI Construct the velocity polygon of link 3. iV2 = 20 radls cw and al = 140 radla2 cw. +A~a. Construct the velocity polygon oflitlk 3. = aZRAo.. A.A "" V~A/Rc.= (20 rad/sy (0. 3. =140radls1cw R.

. Therefore 0.9LI5° OJ -... ~<to. . R.. iI.3 . for the acceleration ofpoil'lt A and the angular acceleration of link 3. . 0. = V. OJ +A' -'0] +.. / constant Therefore A..400.9.o.. = ~ = 557. "'~_ RAa (14.. (0: RAo. nVs' QA -..45 AA ~ Xc + A.864 A. / A I I ..64 mlsY = 535.m A~ = 757. Assume V 6 ::: '""'-~ ..e angular accelerations of links 3 and 4...4 v mis' m -13397 - • ad/ 1 ra s cw 4. A !... A" =XR+A~B+A~8 A..28 mis' radls 1 A~o. (OJ '" constant.'c +A~c "" s. "..10 Solve Problem 3..8. ~d..~ ' .-.100 m)= 149... + A:" + A'.. = (45 tild/s) (4 in)= 8 106 in/s' .....100 m)== 149.. A A~o. = 0 ... J!.9 . 11 Assume A=X. a...9 iI'IIs' O...11 for Problem 3.:c '" V.' RAo.13 mis' = 5 571.1d _ 535..c I RAc= (3... tn/S) 1(0. A ~ q~ ......A~ 0. '"0 ..1 .864 mls Y 1(0. find tfl.lo.o...loom cw 4. .28 mis' = (3....

7 radlsl ccw a. Assume A A £VI =J<.0 mlsl +A:"_ +A:U =)(0. 46.". Ac = 209. 153.3OOm RIO.A O.0 in 12./~.0.0 in)= a..6LIO.300111)=565.57 inlsl (Ignore compared to other par'll. +A~ A. = +A~ + A'"" 20. inl~ 10.RAa..0 rad!s Z ccw R. V~I Ru'" (13.8in1s2 n.3OOm a.0 in)= inls t 1(12.1 mls2 A.. = via.60 mist A~A mlsz a) =-.5 . - 5633 ra dI sZ ccw . +A· "'" +)('.4SS .36 mist 1(0.8 = 5 632.: 1 484 . . 123.o. =_.02 mlsY 1(0. =(11. == -A~. LGA =0. find the acceleration of point C and the angular accelerations oflinks 3 and 4.ot "" £v.o. .12 For Problem 3.f .-= 136.04 mlsl 0. .10.300 m)= 430. Therefore al .7 ~. ~(184..1 mlsl Construct the acceleration polygon oflink 3.S rad/s2 cw .0 in Y I (I 0.' RIC. A. a. Alf =AA+A~ (60 radls y (0. .34 inls A.150 m)= 540. A~~ V~ I RIA = (14.. 0: = constant.) 2 844.._= A~o.As =:AA +A~ +A:U ~)(o. = ~~o. R'A RIO. I R.1 inl5~ 4.

.7 = vio..0. 21 ---. Ac = 37 2S4LI14. = (374. I +A· .S_5~7.A '8 Assume AA A~o.. '" constant.S rad/5z ccw Using the data of Problem 3.. = al.) iNs)' I (16..13. A IY 1 1-0.iiV. I A~~ =)(0.. c c .6 Construct the acceleration polygon oflinlc 4. ::: I 741 .. +.0 in) = 8 770. solve for the accelerations of points C and D and the angular acceleration of link 4.-s_z. 30..o.0 in)= 1. dI 32. = A~.X' -~nr in)::: 18 432.. + A'"" inls)' 1(32.".1'._ .4° iNs' . + A:.6 in/s' (Ignore compared to other parts. find the acceleration 'of point C and the angular accelerations of links 3 amt4. I R.rasccw 6 ..0 in ". '" . =){.11.-..0 ihls2 = (48 A. rad/s y (8..14 2 2 = 3 OSS.:.13 For Problem 3.o _ w: RAo. iC . Therefore az = 0 .000 As =AA +A~+ v.S illls' &Y. RSA ::: (10... ...0 in 48892 in/5 16...

I11.515 4L-119. +A·.2212 .R~o. = wilt"O.4 inlsY 1{6.~+A~ y (6." =V!IR.= {1.. 10. 4. RIO. = (60. 14950 in/s ..6 iills Ac = 31 2S0L .0.263 A:" +A:c.300 0. + r.737 4 radls2 cw III 2 0.68..0 radls (0.492 SL21.1 Rao. +A:c.0 783 mts2 in)= 10 090 inlsl Construet the acceleratiOn ]I<IlygOil ofliak 3. + A: .o.0 in):=4 A:O•.. = vio. .8D mls2 AD = 0.Assume A 1112 = constant..'o. fUidthe acceleration of poi tit C and the angularacceleration B of link 4.8° rnls2 a. +)(' "'" A:".o• = A.o.. 1RfK). 0:1 11.14. I RIA =0 (0.227 t 1(0._ =){. eoastaat Therefore a2 '" 0.0 in)= 21 600 inls2 =){o.. :. Ac =0. _ 0 .0 radls As =AA+A. 4 2 A =)( +A0. (0.. 0.4.171 8 mls2 Construct the acceleration polygon of liiik3. V. A. .A =(169...462 9 rnlsl m) = 0. :.1{'. 5 mls y 1(OJ 50m)= 0 tn/s y o.300 m):.15 mts = 0.q +.a i~= 2 I 49'5' dI 2 ra 5 ccw .300 IiVs As =AA+A~A+A~ A.. Therefore a2 =0. :.A = A: =){o.300 For Problem 3. a. = (317.9· iflls2 y 1(10. = A''0. = R. Assume 1V2 :.

IlO.0 in/s a. D t I (5.q :: "'OJ A. . find the acceteration of point B and the angular accelerations of links 3 and 6.0 radls A8 t (3. • . A6 =AA (10.o.0 in/s? .o. + A:'" y (2.0 inls Y I (5.0 in):= 0. == 4 320 iols1 . Therefore az "' 0 . j( . Construct the acceleration polygon of link 3.17 = A' R80.0 rad/s + A.. Therefore at= O. . Ac 5 940L216.50 in)= 250.. A./ = constant.0 in)= = AA +A~ A.010 For Problem 3. + A:" + A:'" I R~A == (90. = 720 radls" cew 6. + A· + )(' .49 4. = {iJi RAo."" V.16 Solve Problem 3. 4.17. IRIIO." = r: + A.16 for the acceleration of point C and the angular acceleration of link 4. == Vio.0 inls A~. = (30.. +A" +)(' . RAO.0 in)= I 620 iols2 == (0.I l/J1 0." 4. = {iJ.'" =)(0..9 in/52 =:. Assume A =::. c B A 4 -x \A/ 2 700 iols2 2 Assume A =J( A ()Jl '" constant.

0 in) = 97. position shown to make the angular acceleration of link 4 zero? Aw=J{o.18 in/s 1(6.9-8 radlsl eew 0.4.".9LO" in/sl A' 174. "" V~.!. -" -17. = .0. +..600 mist I(O.18. I !tAB .0 in Construct the acceleration polygon of link 3..350 m . = A~ Roo.66 mll/ al =. = (5. =(5.004 mlsY 1(0. A~ ::.475 in/s2 Y a..:.425 til): 58.( + A~ + A::_' = A" + A· + A' a a .18 For the data of Problem 3. what angular acceleration must be given to link 2 for the .) A:.49 rad/sl cew Ru 10. = (5. = (24. RAil..:M.400tn)=83.I Rso. + A:'" t I(0..K:"• ..V!: I Roc = (0.600 in/s Y 1(4.. = V.( =}\" +A~B +A~8 :J{o. or Ac ~=~+~+~=~+~+~ = A.0 in 4.As = 200.3S 1'1'1)= 89.090 inlsl (Ignore compared to other pam."" V.o.1!Ji. A~. I Roo.9 inl51 a3 =.0 in)= 0..056 mls! A!.. = V.o.878 in/s'· 2 = W..764 tttls A..-. =. 64. + A':".8t radls cw 6. A' 18 54ti'!1 2 " -' s = 52.93 mls! I RAo. + A:'.

0 in/s1 1(5..19.-=-....22. = 0 . Assume Il).> + J{' .f'o. =(180. what angular acceleration must be given 10 link 2 for the cw at the instant shown? A~ ~.{o.9° m1s~ .0.. +A~.) ~..59 rad/s ' cw .. A . 5.7 in/s' 2 in) = 800.783 9 fnls ".250 m)= 57.0.A = w: • RAG. +A' W. Therefore a. 5 140.. = v! 1 RBO BO.8 inls 2 BO.) =1'. = (3. 0 :.\8 o lar acceleration of link 4 to be 100 radii II' A " .270 mis' ~ +A' '1)1. +A"10.250 m)= 48. = (8. Ir ••._. - for the data of Problem 3.o =(100 radls )(8. :. = r: 1R = (25." A. I RAG.0 inls' 20903 inls2 = 4 1807 radJ's ccw ..0 in)= 83.0 in)=6 480.__' 15.0 radls t (0.0 . A3 =A~ +A." 'fr.. I ABO. Ac :.250 m . 19 . A.4837 a) = --. =a R. A" :he A' IH'.i =.87 AS inls t I (8. 63.600 mis' .. A. = 62."." A. + A:" +A~.544 mis' t 1(0.(0 +A" = ViA I RSA =(3. 4 t 1(8. Construct the acceleration polygon of link 3.41L .647 mis' .. (202.20 Solve Problem 3.20 fOTthe acceleration of point C and the angular acceleration of link 3.s A~o.0 in):.150 m)= 9.51 .. = via. j( 0.63 inls' (Ignorable compared to other parts. u.0 in ".0 in/5 AA = As +A~R +A~8 =. mist 1(0.o..i . + A'. = constant.

6° this! U1 - _~ - -. RI1A _ 18.. + A" + j(' -0.64 1(10.150 m)= +A:U =j(o.0 rad/s J (2. 3.c + Aix:Abc = V! I Rd(:'" (61.250 m) == 518.22 ." u1'" 0. = (56. 1':"1 R..2 in/s2 AI} = I 616L90oinlsl . Thereforec.'_ + A:U A.· . find the acceleration of point C and the angular acceleration'of llnj.6L255. in) == 3 528.8 .Jr - d. Assume OJ! == constant.21." A.52 ..250 t 2 UlWS _AI m)= 194. +A"+j(' ." == Vi"Il~.: 0 . = AA + A. 470. m."~"_~~~"C :~ c·· Assume "'2 == constant..0 inl51 itJ/si AA ==)(.. == tnlst 1(0.0 A8 ::AA +A~ = radlsy (0." .9 inls2 J& COlIstr\l. .0..4+ A~ + A~ = A.4m1s2 A~ ='x'o. '" (42.21 For Problem 3. + A~ + A~ AD == AI) + Ai:.tnls -74 A8 -.RAo. or Ac '" A.00 A.966 A~..o.0 in)= 475.. At = 450. Therefore .66 itJIay 1(8.0 in )-181." A~o.380 tnls 1(0.ct the acceleration polygon oflink 3.tlts:J _~~_. = OJ: R~o. .09 mls2 mls 2 V:o• 1RM)..V a. = (6. :: (42.12 Find the accelerations of points B andDofProblem 3. 2117 LO° inlsl A." 4. +A:'_ +A:"_' A.06 Construct the acceleration polygon oflink 3. .250m 2 CW 4.==(I 1.

=w:R.54 91.65749 3330.841 37 -1.704 18 41.5051 B•• deg w. (4.384 28 -94.26 45. B.w.8552 -0.31) and (4..000 0 -2..24 ---lif5.23028--0:008-09 3 196. w4. deg '4.32 4.30 The nomenclature for this group of problems is shown in the figure.2753 Ill' radls1 a•• rad/s2 0. 7593 9 62.7129 -1. radls w•• radls 47.0 in): Construct the acceleration polygon of link 3.51 70.23.. (2. For each problem.21 28.25) IhfOUgb (2.89098 7. '" v: 1 R'A in/s! 7 975.00 in)=81130 A.566 8 -4. Therefore aJ = 0 . and a negative sign is used to indicate the clockwise direction. or Ac = A.Q_ 73.w + A~.0000 -0.15 inlsY 1(6.1557 1. and odd-numbered problems are given in millimeters.17 4. =..24 to 4..4527 -4. The dimensions of even-numbered problems are given in inches.53 -. 4.82240 6. =(209..4 inls2 = (218.57 4.6326 -1.0 in): 14413 in/52 4. + A.25 171. Assume w2 = constant. Prob. The acceleration values were found from Eqs. 84• Wj.29 38.0 inls t 1(5. (3.5167 ·6.01 4. detcrrnineO:J..42 ~. The velocity values were found from Eqs.2-9 4. = A~ + A~4 + A~ A.88 63.22). .16 ~159:60-'O:809 3--------0:525-0--195.73 155. +A~ +A~A = A.41493 74.2345 7.4 radlsY(2.51421 -206 .23 Find the accelerations of points Band D of Problem 3. a3' and a4' The angular velocity tl'2 is constant for each problem.500 44 -96.28 24. I A.12201 .32). AD-=Ac+A~+A~ A~ = v~ I RD(. 'This group of problems was solved 011 a programmable calculator.J(o +A"·IDJ +)(' -'0.o. A.15 55. The position solution values were found from Eqs.12022 54. and the dimensions and data aI'C given in the accompanying table.60 138. '" (269.32).

7L187. 5..b... = Yo.0. - 5.o.. = (24. = ~ == ' ...=VA.··.. A~.R.. tV _ (60 1 tnin re. All = 2702.1Djn/s Since we kI'low the path of liz on link 4... = 6. + V. v". =J{o.o.S" inls2 4.o.e actuating rod..64 itlls) =323.= v. =w R . Find the velocity and acceleration of point B and the angular velocity and acceleration of link 4..572 radls cw V.('~o. ihid the angular acceleration·ofthe tiller. _ 36. (6.R. infs2 in/sY == 0 PA. tV.283 (7. =(6. 1A =(6. +V".': .283 radls V. = OJ. +A~o.572 radls)(24.". xVA. co Construct the acceleration pOlygon.0 in)= 276. +A~.1 0 A'~4 ~~~~: '(' ~ -=--D- c "0..I.0L-19.543 in tV. +A~. =AA.v )(28 )(J. .1'.. -184.. radls)(28. V10.o the lett.". +A~.o. and At is th.s a Marine steering gear called Rapsofl 's slide..32 'the mechatJistn shown in the figure i..98 inls COnstruct the velocity polygon.I... A' .0 in) ~ radJsy AA. I(the velocity of At is 10 ftltfiint.31 Crank 2 of the system shown in the figure has a speed of 60 rev/min ccw. =}(o.14 = 2(6...0..543 itI Construct tlie acceleratiOl'l image oninl<: 4. +.43 inls .283 radls)(7. A~o.572 V.54 " 4.~) 60 rad rev s = 6..o.35 inl52 t!!u... +A~A. ".64 A~= 2CiJ. + V.93LI9.0 in) =43. 02B is the tiller.. = Yo. 478. M _ R. +A.78 inls' a.. = 86. :..38 rad/s2 ccw RA... we write A."o.

VI (t.~~:2 co 2 Y =0 '" I in) Construct the acceleration polygon... = AA. '.+ . R".0. _ (10 ft/min)(12inlft) (60s/min) = 2. '" 290. == (6. RA. + A~•. and ~A. x V_.AI = 2m. == 0.14 00 a Construct the acceleration polygon..~. "VA.14m .55 " J.~ + V" 1:"'4 A. Assume VA.. ..5L!80.u. = constant. A.~ +A~. we write I in) A" . == = m.<~(. = O.o... < A..•0. - .0° mls! '.1 I_"': 4' = . +A~•.o..I' .041 67L30. '" (36.+A~.o. Since we know the path of A2 on link 4.588 inlsY _ P". = AA..vi V•. 83.D. ..14 in 4.'. we write A" '" Ao.. . Therefore Since we know the path of A4 on link 2. == . A ... AA.33 Determine the acceleration of link 4 of Problem 3.000 50 rad/s' cw R.732 in/s)! 83. .250 m)= 324.0 rad/s y (0. == 0.04167 itt/s 0..0° in/s2 V}"2 = (1.036 08 in/s2 = 2aJ.020 = 83 rad/s)(LOOO inls) = 0..26. .0 mls! A~.0 radls)(6.o.588 mls) == 0. a I = A~. + A~. Therefore 02 0 .000 infs P.'I = 2(0.: ~(~ +A~.11 = V~/.rJ.o." == 2(0./I +A~/l Co~Slruct the velocity polygon. Assume aJ1 == constant. A'.• .+A~.0 in/s . -/fOJ + V At0J= Vi.I' .+. + A~.

453 in t1l.0 radls A" =J(o +A" M'J +j(' . ltVe..5 in)= 1 =J(o.50 in)= 7 776 in/s y 1(10.. '" (72..'6 and Ac.34 For Problem 3.0 radls As =A" +A~+A:W y (1.16 inls2.o.27.o.'.IS in/s) ".R"o.2 inls 1 036..04.o4~o.S in/52 Construct the acceleration p61ygoil of link .0.o. + A:" +A~ A.6Ii11s 2 Construct polygon of link 6. = 7232.07in/sY '" • -. =2w.24.' R60..u VSI6 _ 00.9L252. t 1(5. Rt.. . 15 Assume IV2 . + A~. Therefore Ilt = 0 . 11' "'''(':1/6 _ - Pc.c.0 in)= 2 177. = aJ..o. Since we know tl'le path of C) on li1Ik 6. Therefore (12= 0. A£ 11" '" ~ V~"" (43.So inls1 3.3 inls2 "c. 4. R&j = (151.970. + A~. '" (24.1.C'. 16 + A~.Oj = w.t01: 1 t (S."'l .)." .5 ~nls _ t -u h - co ''C.o4. Ac. =416. +A' +J(' .. AA =J(". = V. we write = (72. constant. . RAo. find the acceleration of point q.1I =2(9.O in) = 4 608 in/s2 ..e acceleration .0 in/s = Via. "')(0. 4. 0 8 + E. + A~.673 radls)(SO." 4. + A~. '" At.35 Find the acceleration of point 1J and the angular acceleration ofHnk 4 of'Preblem AssuMe 0)2 = constant.

7° in/s2 Since Iifib 3 and 4 remain perpendicular. = .p.8 i.6 in/sz in/s2 A.4° =0 (103.78 radls1ccw In 4.. '.~ A~A. + A~p. + A~.27 in)= 996.I.I . we write All = A".25.. VI'. =~= V..'" V~A.I.7 in/s) = I 277....6L .. 2(6... =.oJ = A~". + A. Construct the acceleration polygon of link 3.n/s l R"". 0.~ + A~. = 2tl14" y 1(26.36 For Problem 3.27 45.:: 4 950.159 radls)(I03.f RII . = (161.J(p.. .SL-I02.::I 202.25. A8 .'.8 inls A~..A. 26.7 inlst C(l Pp.57 " R R Since we know the path of p) on link 4. find the acceleration of point Band the angular acceleration of link 3... + A.

. (2..410 tn)= mis' .28 are rotating at constant speed. _1L?2 inlsl -1247 ~-../11'. 2tV. fil'ld the acceleration of pOint P4' p" (.054 All = Xo. = 12S..31 in/s = 0 PI'. +A~".Ko. == V~A.14 == 2(0. Therefore A A == 0 . Since we know the paths of P4 on link 2 and on link 3. + A~ + X.. = 2(20.0 G6 radls)(l. R". :...' .8° inlsz A~A.i. = "". 'A~ = 20.735 X inlsY 1(9.1SS o· • • mls}= 46.1 ° inlsl Q. Ap. + A ~ A.o. .0 in)= VI'. we write AI\ =AA./2 = AJI. = W:R. .0 in raws AI2 ow 4...98L -30. 58 =1<" +A~" +A. . AI'..II :: 2tV)( V"/} .039 mis' mtsZ = AI\ + A~I\ + A.'" . = tOBSr-aftt.. we write A"..0 radls)(L683 mts) "" lOO. 9.. XV".I.37 Assuming that both links 2 and 3 of Problem 3... 2tV.• . Since we know the path of PJ on link 4.'.22L22S. A~o. == m: RIIOo == (30..! == 2(30.831 inlsl inls) = 7.'12 + A~..68~. I.0 + X. +A~'4 0.3039 radls)(12."" 9 tfl) == 49.6° tills' .'I) + A~I) =0 A~I\.~::~~~ . +A~A.'l _ (1...102 radls t (0.73L-66. co Construct the acceleration polygon of link 3. 6 41.0° m/sl •• _V l. =(20.I RIIA.0 radlst (0. Oz = ~ O.. Since 0)2 = constant and (lI.0° A~. - Y _ A~A.481L -102. 12 -.. A~" .tf1I~t_ - PI'.23L -1 02.!! Constt\Jcl the acceleration p(llygon...31 A. + A~I\ + A.'14 = J1~'4 = (12.' Assume VA" constant.'Q.

+ X~..... 1 800... 12. J<. we write All.40 Determine the angular accelerations of links 3 aDd 4 of Problem 3..!! .30...0 rlIdIs' ccw 4. + AC..0 in 6. .0 in)".... 60 } ·8 Ac.. + A~ .0 itlfsY 1(2.. . .: . ir i ! // ....0 in/s2 Draw the acceleration image of link 3....A = (60.:."IR(.. a 3 '" Re. 0 .... Therefore a2 . =Ac..0 inlsl 2. f" ! fi !i 1/ !! t AssuMe (!)l '" cbfistllt!t.H . . XA+A~ + A::" A.. 4 j1r~--~ __~E~' .. ----~.. -------------. ~! .. Since We kftow the path of 1>4 6ft link 2. V...

Jl = (49.89 in/s) .. +A..41 in/s) = I 482.u" = (41.n.....K~ 2 As ==)(A +A: A.-.3 I. + A~. + A~.3L80.I' = 2(3. +A~.. .39inls1 Draw the acceleration images of links 2 and 4..25o in}= 281...:l = V.-::. = 2(l}~)( Ve. Therefore a: = 0 .91 inJsY /(0..0 in) = 100.£. .A.41 2 in/s /(2.F. / Rc./\ = v.--------------. 82.E.(. = V0 /RtJE '. 3.66 in/sy 1(2. + A~...-. A~ E a '"-. +A~.ll/ PO.0 in) = 44 . . Re.." = wi RB.8° in/s2 A~.0 in)=22.33 inls Ac '" As + A~·s+ A~8 = J{D + A.'2 '" Ao. = A".23LI04.ll: = 2OJ2 x VD ' 2 r Jt:.j(E ' • • +A~£ +Ab£ I" tA A'f). .o..1007 ra dIs 1 ccw Ac.0 in/5 (13.50 in)=66.58 in/s2 y A'D.16+A~". constant. =J{H..<= ...5 D in/s2 . = (I 5.24 in/sf /(3. Since we know the path of E) on link 6. +. +A~... 0.50 in)<= 3 513.0 radls)(49.22 in/52 Construct the acceleration image 0 f link 3. A~.25 in/52.e.50 in =.50 in)= 976. --A ~ +A~o I 01- Z +A~'2+A~n.'" 352. '" Ac.-0 61 A•O..774 radls )(10.. ..4 in/5 • RD.44 in/s 2 A. _/ l ~'-..50 in 0.}. (15. 231.. .o...". = OJ: R"..H...I '" (10 radls y (1.0 rad/s 2 L t {l.0 in/s1 ~ a..H. J . 12 = 2(15. we write A£. Assume 012 ._.D = V..D I Reo =(6. A D. = _' l . determine the acceleration links 5 and 6. and A..'D + A~'D ~8 = Vls I Rue y 1(4..7 in/s 4634 ra dJ s 2 ccw of point G and the angular accelerations of 4.41 For Problem 3..

. / RE. 3S1..50 in)=326. 0. . AI'.4L -64.. I PE. = (12. 18. AE. (1.42 Find the inflection circle fOT motion of the coupler of the double-slider mechanism shown in the figure.50 in V. + A~E./6 .'..16 ./...: V..1. Select several points on the centrode Ilol'ttlal and fmd their conjugate points.e. 1.33 in/s2 Construct the acceleration image of link 6..29 in .£.H. o A~H. = V~H. .29 in =... + A~. . :::. AG . 4. A. ..E..78 in/5y /(0.. s1 Rt.89 inls t f <10 .86 inls) /1..7 inls' A~ (} in/s2 =~=----=() RF. 141. · 62 . Plot portions of the paths of these points to demonstrate for yourself that the conjugates are indeed the centers of curvature..: (10. L ...dR".II. 14.5° inls' A!.. + A.l.H.9 in/52 110 2 ra~dl~ cw a. (4.

I . A T N Since point C is on the inflection circle. and its point path is a straight line in the vicinity of the position shown. its center of curvature is at infinity.63 Find the inflection circle for motion of the coupler relative to the frame of the linkage shown in the figure. Find the center of curvature of the coupler curve of point C and generate a portion of the path of C to verify your findings.

"" . 4. ftnd the inflectio1'lcircle. .... C o ...13...-...r.44 For the motion of the coupler relative to the fraine. . .. the certtrode normal.. .--.--~-------T c .. ... • .. -.. 64 ". .. ......... and the centers of curvature of points C and D of the lifikage of Problem 3... . the centrode tangent.... Choose powts on the coupler coincident with the instant center and inflection pole and plot their paths..... .

(a) Find the inflection circle. (c) Choose a coupler point C coincident with the cubic and plot a portion of its coupler curve in the vicinity of the cubic. (e) Find Bali's point. the circle around center C' matches the coupler Curve near C within be Iter than visual comparison can detect for the ±30 of crank rotaliol'i shown.65 trOde f the ~nter 4. Draw a circle through C with center at C· and compare this circle with the actual path of C. Ball's point 0 follows an almost perfect straight line over the same range as shown. 15° as shown.45 On 18. (b) Draw the cubic of stationary curvature. Similarly. r o l3 ---T ----_ Drawn with a precise CAD system above. 0 5 • . Compare the result with a straight line. (d) Find the conjugate point C'. Locate a point D on the coupler at Ball's point and plot a portion of its path.placing A' at 6 in from the lower edge and 7 in from the right edge.by 24-in paper. Better utilization of tfle paper is obtained by tilting the frame through about. draw the linkage shown in the figure in full size.