ME 352 - Machine Design I Name of Student:____________________________

Summer Semester 2012 Lab Section Number:________________________

Homework No. 7 (30 points). Due at the beginning of lecture on Wednesday, J uly 11th.


Dynamic Force Analysis. Solve Problem 14.20 on page 679.

Solve this problem by the method of inspection; that is, solve one equation for one unknown
variable, or in the worst case scenario solve two equations for two unknown variables. Draw a complete
free body diagram for each moving link in the linkage. Write the three scalar equations for each free
body diagram and clearly identify the unknown variables.

Note the assumptions: (i) cranks 2 and 4 are balanced, that is, the centers of mass of links 2 and 4 are
coincident with the ground pivots
2
O and
4
O , respectively; (ii) the effects of friction in the mechanism
can be neglected; (iii) gravity is acting into the paper, that is, in the negative Z-direction; and (iv) the
only torque acting on the linkage is the driving (or input) torque on the input crank 2 at the crankshaft
bearing (or ground pivot)
2
. O

If you would like to check your answers for this homework assignment then you could write a
computer program in Matlab which will use matrix inversion to determine the unknown variables.



























2

Solution to Homework 7.
The free-body diagram of link 2 is shown in Figure 1.


Figure 1. The Free-Body Diagram of Link 2.

The sum of the external forces in the X-direction acting on link 2 can be written as

2 2 X G X
EXT
F m A =

(1a)

Since the center of mass of link 2 (that is,
2
G ) is coincident with the ground pivot
2
O then Equation
(1a) can be written as

12 32
0
X X
F F + = (1b)

The sum of the external forces in the Y-direction acting on link 2 can be written as

2 2 y G Y
EXT
F m A =

(2a)

which can be written as
12 32
0
Y Y
F F + = (2b)

The sum of the external moments acting on link 2 about the fixed pivot O
2
(which is also the center of
mass of link 2) can be written as

2 2
2 G G
EXT
M I =

(3a)
which can be written as
2
2 32 2 32 12 2
( )
X Y Y X G
R F R F T I + = (3b)
or as
2
2 2 32 2 2 32 12 2
cos sin
Y X G
R F R F T I + = (3c)

Therefore, there are three equations and five unknown variables for the free body diagram of link 2. The
unknown variables are the four internal reaction forces F
12X
, F
12Y
, F
32X
, F
32Y
and the crank torque
2 12
. = T T
3

The free-body diagram of link 3 is shown in Figure 2.


Figure 2. The Free-Body Diagram of Link 3.

The sum of the external forces in the X-direction acting on link 3 can be written as

3 3 X G X
EXT
F m A =

(4a)
which can be written as
23 43 3 3 X X G X
F F m A + = (4b)

The sum of the external forces in the Y-direction acting on link 3 can be written as

3 3 Y G Y
EXT
F m A =

(5a)
which can be written as
23 43 3 3 Y Y C G Y
F F F m A + = (5b)

The sum of the external moments acting about the center of mass of link 3 (that is, G
3
) can be written as

3 3
3
=
G G
EXT
M I (6a)

Taking moments acting about the center of mass G
3
, however, will couple the equations (preventing the
use of the Method of Inspection). Therefore, this solution will take the sum of the external moments
about point A on link 3. The Euler equation for the sum of the moments about point A can be written as

3 3 /
3
A A G A A
EXT
M I m R A = +

(6b)
or as
3 3
3 3 /
3
A G G A G
EXT
M I m R A = +

(6c)

4

Note that the vector
/
3 3
G A AG
R R = on the right hand side of Equation (6c) points from A towards the
mass center
3
. G The scalar form of Equation (6c) can be written as

3
3 43 3 43 3 3
3 3 3 3 3 3
( ) cos ( cos sin )
X Y Y X AC AC C G AG AG G Y AG AG G X
R F R F R F I m R A R A + = + (6d)

or as

3
3 3 43 3 3 43 3 3
3 3 3 3 3 3
( cos sin ) cos ( cos sin )
Y X AC AC C G AG AG G Y AG AG G X
R F R F R F I m R A R A + = + (6e)

Note that on the left hand side of this equation, the vector
3
R points from A to B and the vector
AC
R
points from A to C. Also note that the value of the external force at point C which is used in the left
hand side of this equation is 30
C
F lbs = causing a clockwise moment.
Equations (4b), (5b), and (6e) contain two new unknown variables; namely, F
43X
and F
43Y
.
Therefore, at this point there are a total of 6 equations and 7 unknown variables.
The free-body diagram of link 4 is shown in Figure 3.


Figure 3. The Free Body Diagram of Link 4.

The sum of the external forces in the X-direction acting on link 4 can be written as

4 4 X G X
EXT
F m A =

(7a)

Since
4
G is coincident with the ground pivot
4
O then Equation (7a) can be written as

34 14
0
X X
F F + = (7b)

The sum of the external forces in the Y-direction acting on link 4 can be written as

4 4 Y G Y
EXT
F m A =

(8a)
which can be written as
34 14
0
Y Y
F F + = (8b)




5

The sum of the external moments acting on link 4 about the fixed pivot O
4
(which is also the center
of mass of link 4) can be written as

4 4
4 G G
EXT
M I =

(9a)
which can be written as
4
4 34 4 34 4 X Y Y X G
R F R F I = (9b)
or as
4
4 4 34 4 4 34 4
cos sin
Y X G
R F R F I = (9c)

Equations (7b), (8b), and (9c) contain two new unknown variables; namely, F
14Y
and R
14X
. Therefore,
there are a total of nine equations; i.e., Equations (1b), (2b), (3c), (4b), (5b), (6d), (7b), (8b), and (9c),
and nine unknown variables; i.e.,
12 12 32 32 43 43 14 14 12
, , , , , , , and .
X Y X Y X Y X Y
F F F F F F F F T Note that the
nine unknown variables are eight internal reaction forces and the crank torque.
(iv) Solving the dynamic force problem by the method of inspection.
The data given in the problem statement is as follows:
3
3
12in, 18 in, 24 in,
AC AG
R R R = = =
4
6 in, R =
3
3
321.80 = = =
AG AC
, and
4
261.80 =
2 2
2 2 3 4
10rad/s, 0rad/s , 84.80rad/s , = + = = = +
2 2
G2 G2
A 0in/s , A 0in/s
X Y
= =
2 2
G3 G3
A 311.04in/s , A 294.96in/s ,
X Y
= + = +
2 2
G4 G4
A 0in/s , A 0in/s
X Y
= =
3
W =4lb,
2
2 4
I I 0.063in-lb-s ,
G G
= = and
2
3
I 0.497in-lb-s
G
=
Procedure: The solution begins by solving 2 equations in 2 unknown variables. Equations (6e) and (9c)
can be solved simultaneously for the X and Y-components of the internal reaction force between links 3
and 4 (that is, F
43X
and F
43Y
). The equations are repeated here for the convenience of the reader

3
3 3 43 3 3 43 3 3
3 3 3 3 3 3
( cos sin ) cos ( cos sin )
Y X AC AC C G AG AG G Y AG AG G X
R F R F R F I m R A R A + = + (6e)

and
4
4 4 34 4 4 34 4
cos sin
Y X G
R F R F I = (9c)

These two equations can be solved simultaneously or they can be written as a 2x2 matrix, that is

3
4
3 3
43 3 3 3 3
43 4 4 4 4
4
3 3 3 3 3 3
( cos sin ) cos
sin cos
sin cos
G AG AG G Y AG AG G X AC AC C
X
Y
G
I m R A R A R F
F R R
F R R
I




+
+
=

+




The determinant of the coefficient matrix can be written as

3 3 3 3
3 4 3 4
4 4 4 4
sin cos
sin( )
sin cos
R R
DET R R
R R



+
= =
+
(10a)

6

Note that the determinant is zero when links 3 and 4 are collinear (that is, when the two links are fully
extended or folded on top of each other). Therefore, the determinant is not zero in the given position.
Substituting the given data into Equation (10a), the determinant of the coefficient matrix is

0 0 2
18 x6 sin(321.80 261.80 ) 93.53 DET in in in = = (10b)

Alternative Procedure. Substituting the known numerical values into Equation (9c) gives

34 34
6cos261.80 6sin261.80 0.063( 84.80)
o o
Y X
F F in lbs = + (11a)
or
34 34
0.8558 5.9387 5.3424
Y X
in F in F in lbs + = + (11b)

Rearranging this equation, the X-component of the internal reaction force from link 3 acting on link 4
can be written in terms of the Y-component of the internal reaction force from link 3 acting on link 4 as

34 34
0.8996 0.1441
X Y
F F lb = + + (12a)
or as
34 43
0.8996 0.1441
X Y
F F lb = + (12b)

Similarly, the X-component of the internal reaction force from link 4 acting on link 3 can be written in
terms of the Y-component of the internal reaction force from link 4 acting on link 3 as

43 43
0.8996 0.1441
X Y
F F lb = + (12c)

Substituting Equation (12c) into Equation (6d), and rearranging, gives

3
3 3 43 3 3 43 3
cos sin ( 0.8996 0.1441 )
Y Y G
R F R F I + =

3
3 3 3 3 3 3
( cos sin ) cos
AG AG G Y AG AG G X AC AC C
m R A R A R F + (13a)

Then substituting the known data into this equation gives

43
[18cos321.80 18sin321.80 (0.1441)] 18sin321.80 ( 0.8996) (0.497)( 84.80)
Y
F = +

4
[12cos321.80 ( 294.96) 12sin321.80 ( 311.04)] 24cos321.80 ( 30)
386.4
+ + + (13b)

which can be written as

( )
43
4
15.749 10.014 42.146 2,781.556 2,308.197 565.817
386.4
Y
F in lbs in lbs + = + + + + + (13c)

or as
43
15.749 42.146 52.689 565.817 10.014
Y
F in lbs in lbs + = + + + + (13d)

or as
43
15.749 670.666
Y
F in lbs in lbs + = + (13e)



7

Therefore, the Y-component of the internal reaction force from link 4 acting on link 3 is

43
42.585
Y
F lb = + (14a)

Therefore, the Y-component of the internal reaction force from link 3 acting on link 4 is

34 43
42.585
Y Y
F F lb = = (14b)

Substituting Equation (14b) into Equation (12a), the X-component of the internal reaction force from
link 3 acting on link 4 is

34
0.8996 0.1441( 42.585) 5.237
X
F lb lb lb = + + = (15a)

Therefore, the X-component of the internal reaction force from link 4 acting on link 3 is

43 34
5.237
X X
F F lb = = + (15b)

Rearranging Equation (7b), the X-component of the internal reaction force from link 1 acting on link 4
can be written as
14 34 X X
F F = (16a)

Substituting Equation (15a) into Equation (16a), the X-component of the internal reaction force from
link 1 acting on link 4 is

14
5.237
X
F lb = + (16b)

Therefore, the X-component of the internal reaction force from link 4 acting on link 1 is

41 14
5.237
X X
F F lb = = (16c)

Rearranging Equation (8b), the Y-component of the internal reaction force from link 1 acting on link 4
can be written as

14 34 Y Y
F F = (17a)

Substituting Equation (14b) into Equation (17a), the Y-component of the internal reaction force from
link 1 acting on link 4 is

14
42.585
Y
F lb = + (17b)

Therefore, the Y-component of the internal reaction force from link 4 acting on link 1 is

41 14
42.585
Y Y
F F lb = = (17c)

Rearranging Equation (4b), the X-component of the internal reaction force from link 2 acting on link 3
can be written as
23 3 3 43 X G X X
F m A F = (18a)



Substituting the known data and Equation (15b) into Equation (18a), the X-component of the internal
reaction force from link 2 acting on link 3 is
8


23
4
( 311.04) 5.237 2.017
386.4
X
F lb

= + =


(18b)

Therefore, the X-component of the internal reaction force from link 3 acting on link 2 is

32 23
2.017
X X
F F lb = = + (18c)

Rearranging Equation (5b), the Y-component of the internal reaction force from link 2 on link 3 is

23 3 3 43 Y G Y C Y
F m A F F = + (19a)

Substituting the known data and Equation (14a) into Equation (19a), the Y-component of the internal
reaction force from link 2 acting on link 3 is

23
4
( 294.96) 30 ( 42.585) 9.532
386.4
Y
F lb

= + + + =


(19b)

Therefore, the Y-component of the internal reaction force from link 3 acting on link 2 is

32 23
9.532
Y Y
F F lb = = + (19c)

Rearranging Equation (1b), the X-component of the internal reaction force from link 1 acting on link 2
is

12 32 X X
F F = (20a)

Substituting Equation (18c) into Equation (20a), the X-component of the internal reaction force from
link 1 acting on link 2 is

12
2.017
X
F lb = (20b)

Therefore, the X-component of the internal reaction force from link 2 acting on link 1 is

21 12
2.017
X X
F F lb = = + (20c)

Rearranging Equation (2b), the Y-component of the internal reaction force from link 1 acting on link 2
can be written as

12 32 Y Y
F F = (21a)

Substituting Equation (18c) into Equation (20a), the Y-component of the internal reaction force from
link 1 acting on link 2 is

12
9.532
Y
F lb = (21b)

Therefore, the Y-component of the internal reaction force from link 2 acting on link 1 is

21 12
9.532
Y Y
F F lb = = + (21c)

9

Finally, rearranging Equation (3c), the driving torque (i.e., the torque from link 1 acting on link 2) can
be written as

2
12 2 2 2 32 2 2 32
cos sin = +
G Y X
T I R F R F (22a)

Substituting the known data and Equations (18c) and (19c) into Equation (22a), the driving torque is

12
0.063( 0) 6cos60 ( 9.532) 6sin60 ( 2.017)
o o
T lb in = + + + (22b)

which can be written as
12
28.596 10.481 T in lbs = + (22c)
or as
12
18.115 T in lbs = (22d)

The negative sign indicates that the driving torque (for the specified position of the input link) is in the
clockwise direction; i.e.,

12
18.115 (clockwise) T in lb = (23a)

Note that there is an equal and opposite reaction torque from link 2 acting on the ground link 1; i.e.,

21 12
18.115 (counterclockwise) T T in lb = = + (23b)