DYNAMIC FORCE ANALYSIS

If the acceleration of moving links in a mechanism are running with considerable amount of
linear and/or angular accelerations, inertia forces are generated and these inertia forces also
must be overcome by the driving motor as an addition to the forces exerted by the external
load or work the mechanism does. So, 0 =

F
v
and 0 =

v
are no longer applicable.
Governing rules will be:

a F
v
v
m =

v v
I =

I and m are inertial (bodily) properties. At this stage we need to know the description of the
inertial properties.

Centroid and Mass Centre

Centroid is the point where the resultant of distributed force system is assumed to act and
generate the same dynamic results.

Centroid
Resultant Force


If the distributed force is gravity force acting on each particle of mass, then concentrated force
itself is called the weight and the centroid is called the center of gravity or mass center.
Mass times distance, mr, is called as the first mass moment. This concept of first mass
moment is normally used in deriving the center of mass of a system of particles or a rigid
body. In figure a series of masses are located on a line. The center of mass or centroid is
located at
3 2 1
3 3 2 2 1 1
1
1
m m m
m x m x m x
m
m x
x
n
i
i
n
i
i i
+ +
+ +
= =

=
=

x3
x1
x2
x
-
m1 m2 m3
G
m1
m2
m3
x
-
y
-
G


The coordinates of the masses located on a plane can be obtained as:
3 2 1
3 3 2 2 1 1
1
1
m m m
m x m x m x
m
m x
x
n
i
i
n
i
i i
+ +
+ +
= =

=
=
and
3 2 1
3 3 2 2 1 1
1
1
m m m
m y m y m y
m
m y
y
n
i
i
n
i
i i
+ +
+ +
= =

=
=

This procedure can be extended to masses concentrated in a volume by simply writing an
equation above for the z axis. A more general form of mass center location for three
dimensional body can be obtained by using integration instead of summation. The relations
then become

m
xdm
x

= ,
m
ydm
y

= and
m
zdm
z

=

Mass Moment of Inertia

Mass moment of inertia is the name given to rotational inertia, the rotational analog of mass
for linear motion. It appears in the relationships for the dynamics of rotational motion. The
Mass Moment of Inertia of a solid measures the solid's ability to resist changes in rotational
speed about a specific axis. The moment of inertia for a point mass is just the mass times the
square of perpendicular distance to the rotation axis. The mass moment of inertia for a single
particle is given as:

m r I
2
00
=
where m = the mass of the particle, and r = the shortest distance from the axis of rotation to
the particle
r
o
o
m


When calculating the mass moment of inertia for a rigid body, one thinks of the body as a sum
of particles, each having a mass of dm. Integration is used to sum the moment of inertia of
each dm to get the mass moment of inertia of body. The equation for the mass moment of
inertia of the rigid body is

r
o
o
dm

I r dm r dm
m
= =

2 2

The integration over mass can be replaced by integration over volume, area, or length. For a
fully three dimensional body using the density

one can relate the element of mass to the

element of volume. Following are the mathematical equations to calculate the Mass Moment
of Inertia:
x
y
dm
z
rz
ry
rx

( )dm z y dm r I
x xx

+ = =
2 2 2

( )dm z x dm r I
y yy

+ = =
2 2 2

( )dm y x dm r I
z zz

+ = =
2 2 2

These three integrals are called the principle mass moment of inertia of the body. Another
three similar integrals are

= = xydm I I
yx xy

= = yzdm I I
zy yz

= = xzdm I I
zx xz

and these three integrals are called the mass products of inertia of the body.


Radius of gyration: Sometime in place of the mass moment of inertia the radius of gyration k
is provided. The mass moment of inertia can be calculated from k using the relation

2
mk I =

where m is the total mass of the body. One can interpret the radius of gyration as the distance
from the axis that one could put a single particle of mass m equal to the mass of the rigid body
and have this particle have the same mass moment of inertia as the original body.

G
ICG, m
k
ICG, m
k
Original Body Model Model

Parallel-axis theorem: The moment of inertia around any axis can be calculated from the
moment of inertia around parallel axis which passes through the center of mass. The equation
to calculate this is called the parallel axis theorem and is given as

2
md I I
CG
+ =

G
d
ICG, m
o o


Example 1 a) What are the mass moments of inertial of a point mass about an axis passing
through itself and about an axis r distance away from it ?


Mass moments of inertial of a point mass about an axis passing through itself

= = = 0 0
2
dm dm r I
oo
. ANS.





Mass moments of inertial of a point mass about an axis r distance away from it.
Using parallel axis theorem
m r m r m r I I
xx oo
2 2 2
0 = + = + = ANS.
o
o
m
o
o
r
m
x
x
b) Find the mass moment of inertia of a slender rod of
length L (slender rod means that it has a length, and
the remaining dimensions are negligible small) about
an axis perpendicular to the rod and passing through
its mass center.

=
2 /
0
2
* 2
L
oo
dm x I


Let density of the material is in kg/m. Then, infinitesimal mass dx dm = . Substituting
this into above equation,

12 2 3
2 |
3
2 * 2
2
3
2 /
2 /
0
3
2
mL L x
dx x I
L
o
L
oo
=

= = =

ANS

Example 2 An uniform steel bar shown in the figure is used as an oscillating cam follower.
Drive the equation of mass moment of inertia of the follower about an axis through O. Use
the density of steel
3
/ 7800 m kg = . Hint: ( )dm y x I

+ =
2 2

k=2kN/m
2 cm
25 cm 50 cm 25 cm
5 cm
y
x
O

L
L/2
o
o
L
L/2
o
o
dx
x
From symmetry

x
y
z
x
y
r
dx
dz dy
t
w
l

= dm r I
zz
2

where


dxdydz dm =
Subsituting these into eq. 1

+ = dxdydz y x I
zz
) (
2 2



+ = dxdydz y dxdydz x I
zz

2 2



+ = + =
2 /
0
2
2 /
0
2 2 2
* * * * 2 * * * * 2 * * * * * * * *
w l
zz zz
dy y l t dx x w t I dy l t y dx w t x I

=
3
2
* * * * 2
3
2
* * * * 2
3 3
w
l t
l
w t I
zz

12
* * * *
12
* * * *
2 2
w
w l t
l
l w t I
zz
+ =
since * * * t w l m = then
12 12
*
12
*
2 2 2 2
w l
m
w
m
l
m I
zz
+
= + =

mass moment of inertia about O can be found by parallel axis theorem,

2 2 2
y x r + =
48
4 7
4 12
*
2 2
2
2 2 2
2
0
w l
m
l
m
w l
m d m I I
zz
+
= +
+
= + = , kg m 8 . 7 02 . 0 * 05 . 0 * 1 * 7800 = = and


m kg I . 139 . 1
48
05 . 0 * 4 1 * 7
8 . 7
2 2
0
=
+
=


DAlemberts Principle:

DAlemberts principle permits the reduction of a problem in dynamics to one in statics. This
is accomplished by introducing a fictitious force equal in magnitude to the product of the
mass of the body and its acceleration, and directed opposite to the acceleration. The result is a
condition of kinetic equilibrium. If we subtract a vector of magnitude a
v
m from both sides of
the Newtons second law. The meaning of the equation; i.e. indication of a dynamic case still
holds true, but equation, having zero on right hand side becomes very easy to solve, like that
in a static force analysis problem.

0 = =

a a a F
v v v
v
m m m and similarly for moment
0 = =

v v v v
m m m

Solution of a dynamic problem using DAlemberts principle
i) Do an acceleration analysis and calculate the linear acceleration of the mass
centers of each moving link. Also calculate the angular acceleration of each
moving link.
ii) Masses and centroidal inertias of each moving link must be known beforehand.
iii) Add one fictitious force on each moving body equal to the mass of that body times
the acceleration of its mass center, direction opposite to its acceleration, applied
directly onto the center of gravity, apart from the already existing real forces.
iv) Add fictitious torque on each moving body equal to the centroidal inertia of that
body times its angular acceleration, direction or sense opposite to that of
acceleration apart from the already existing real torques.
v) Solve statically.
Example In the figure, a double- slider mechanism working in horizontal plane is shown.
The slider at B is moving rightward with a constant velocity of 1 m/sec. Calculate the
amount of force on the slider B in the given kinematic state. AB=10 cm, AG
3
=BG
3
=5 cm,
=60
o
m
3
=m
3
=0.5 kg, m
3
=0.8 kg, I
3
=0.01 kg.m
2
.

B
A B A
V V V
v v
+ =
s m V
B
A
/ 1547 . 1 =
b ? =
A
V
AB to V
B
A
= ?

= s m V
B
/ 1
= s m V
A
/ 5774 . 0


B
A B A
a a a
v v v
+ =
B
A A
a a
v v
=
t
B
A
n
B
A A
a a a
v v v
+ =
b ? =
A
a
B to A from s m
AB
V
a
B
A
n
B
A
2
2
2
/ 33 . 13
1 . 0
1547 . 1
= = =
AB to a
t
B
A
= ?
2
/ 396 . 15 s m a
A
=
2
/ 698 , 7 s m a
t
B
A
=
4
B
2
A
3
G
3
x
VB
VA/B
VA
Scale: 4 cm. stands for 1 m/sec
VB
VA/B
VA
Scale: 4 cm. stands for 1 m/sec
n
B
A
a
t
B
A
a
A
a
3
G
a
3
G
2
/ 698 . 7 2 /
3
s m a a
A G
= =
3
AB a
t
B
A
=
CCW s rad
AB
a
t
B
A
2
3
/ 98 . 78
1 . 0
698 . 7
= = =

DAlembert forces and moments
0
90 698 . 7 396 . 15 * 5 . 0 = = N ma
A

0
90 1584 . 6 698 . 7 * 8 . 0
3
= = N ma
G

CW Nm I 7689 . 0 98 . 76 * 01 . 0
3
= =

4
B
2
A
3
G3
x

N ma
G
1584 . 6
3
=
N ma
A
698 . 7 =
Nm I 7689 . 0
3
=
B
F






4
B
2
A
3
G3
x

N 1584 . 6
N 698 . 7
Nm 7689 . 0
B
F
y
+
14
F
12
F

= = =
12 12
0 ; 0 F F F F F
B B x

N F
F F
y
86 . 13
0 1584 . 6 698 . 7 ; 0
14
14
=
= + + =

N F
F
M
B
11 . 15
0867 . 0
3087 . 1
0 60 sin * 1 . 0 * 60 cos * 05 . 0 * 1584 . 6
60 cos * 1 . 0 * 698 . 7 7698 . 0
; 0
12
12
= =
= +

=

= N F
B
11 . 15



Example 3 A robot manipulator
working in the vertical plane is
shown in figure. The payload at
point A is to have a velocity of 2
m/sec with
o
120 and an
acceleration of 5 m/sec
2
with
o
120 . Mass of the payload is 10
kg. Find the forces that the
actuators exert.
m
3
= 30 kg, m
2
= 30 kg.
AB = 1m, BC = 1m, AG
3
= 0.5m. BG
2
= 0.5m


B G A
B G A
a a a
V V V
v v v
v v v
= =
= =
3
3

Link 3 is translating, so any point on this link has the same velocity and acceleration

C
B C B
V V V
v v v
+ =
C
B C B
a a a
v v v
+ =














2
3
G3
G2
A
B
C
VB=VA
VC=1 m/s
V
B
/
C
=
1
.
7
3

m
/
s
A,B
OV
60
o
aB=aA
aC=2.5 m/s
a
B
/
C
=
4
.3
3

m
/
s
A,B,G3
Oa
60
o
C,G2
2
2
g
=
9
.
8
1

m
/
s
2
a
G
3
=
a
A
=
1
4
.
1
4

m
/
s 2
10.03
o


Acceleration of A and G
3
including the effect of gravity becomes:
2
3
/ 14 . 14 s m a a
A G
= =

DAlembert forces
o
o
o
0 . 0 75 5 . 2 * 30
03 . 10 2 . 424 14 . 14 * 30
03 . 10 4 . 141 14 . 14 * 10
2 2
3 3
= =
= =
= =
N a m
N a m
N a m
G
G
A P

3
G3
A
B
FBx
FBy
424.2 N
141.4 N
B
Vertical actuator
carries this force

N Cos F
By
96 . 556 03 . 10 ) 2 . 424 4 . 141 ( = + = ANS

N Sin F
Bx
51 . 98 03 . 10 ) 2 . 424 4 . 141 ( = + =











N F F
Bx Cx
51 . 173 51 . 98 75 75 = + = + = ANS

2
G2
B
C
75 N
m2g
Fcx
Fcy
c
B
FBx
FBy
Horizontal actuator
carries this force
Example Simple spring mass system is shown in the figure, which
has mass of 2 kg, and spring stiffness is 500 N/m. a) Write the
kinetic energy of this system b) Write the potential energy of this
system c) Drive the equation of motion of this system by using
Lagrange equation. d) Give a solution to the equation of motion. d)
If the system is initially displaced by 0.1m and released from rest, calculate the amplitude of
the resulting vibration.

a) Kinetic energy,
2
2
1
x m K & =
b) Potential energy,
2
2
1
kx V =
c)
2 2
2
1
2
1
kx x m V K L = = &
0 =

x
L
x
L
dt
d

&

x m
x
L
&
&
=

, x m
x
L
dt
d
& &
&
=

, kx
x
L
=

Substituting into above eqn

0 0 = + = kx x m ) kx ( x m & & & &
d) Soln, t sin B t cos A x
n n
+ =
e) For
o
x x and t = = 0
A x sin B cos A x
o n n o
= + = 0 0

For 0 0 = = x and t &
0
0 0 0
=
+ = + =
B
cos B sin A t cos B t sin A x
n n n n n n n n
&

m . . B A Amplitude 1 0 0 1 0
2 2 2
= + = + =


m
k = 500N/m
x
Example Crank AB of the mechanism shown is balanced such that the mass center is at A.
Mass center of the link CD is at its mid point. At the given instant, link 4 is translating
rightward with constant velocity of 5 m/sec. Calculate the amount of motor torque required
on crank AB to keep at the given kinematics state.

1
4
2
3
A
C
B
D
=45
F

AC=10 cm, CB=BD=4 cm, AF=2 cm CG
3
=5 cm, m
2
=m
3
=m
4
=5 kg, I
2
=I
3
=I
4
=0.05 kg-m
2



C
B C B
V V V
v v v
+ =
BC to ? V
sec / m V
AB to ? V
C
B
C
B
=
=
=
5
VC
VB=3.85 m/sec
VB/C=5.05 m/sec


C
B C B
a a a
v v v
+ =
0 =
C
a
n
C
B
n
C
B
t
B
n
B
a a a a + = +
v v

BC to ? a
C to B from sec / m .
.
.
BC
V
a
AB to ? a
A to B from sec / m .
.
.
AB
V
a
t
C
B
C
B
n
C
B
t
B
B n
B
=
= = =
=
= = =
2
2
2
2
2 2
6 637
04 0
05 5
5 192
077 0
85 3

aB=776 m/sec
aB/C=483 m/sec
t 2
2 t
aB
n
aB/C
n
aB

o
262 800
2
= sec / m a
B

CW sec / rad
.
* BC a
t
C
B
2
3 3
20000
04 0
800
= = =
CCW sec / rad
.
* AB a
t
B
2
2 2
10078
077 0
776
= = =
DAlembert forces and moments
o
82 4000 800 5
3
= = N * a m
B

CCW Nm * . I 1000 20000 05 0
3 3
= =
CW Nm * . I 504 10078 05 0
2 2
= =
1
4
2
3
A
C
B
D
=45
F
504 Nm
1000Nm
T
4000N


4
2
3
A
C
B
D
=45
F
T
FAy
FBy
C
B
A
FCx
FCy
TA4
504 Nm
1000Nm
4000N
FCx
FCy
FBx
FBy
FBx
FAx
FAy4
2
2

From FBD of the link 2

= = =
Bx Ax Bx Ax x
F F F F ; F 0 0 (1)

= = + =
By Ay By Ay y
F F F F ; F 0 0 (2)
0 0714 0 02828 0 504
0 22 22 504 0
= +
= + + =

By Bx
By Bx A
F * . F * .
cos * AB * F sin * AB F T ; M
(3)
From FBD of the link 3
0 69 556
0 82 4000 0
= + +
= + + =

. F F
cos * F F ; F
Bx Cx
Bx Cx x
(4)
0 07 3961
0 82 4000 0
= +
= + =

By Cy
By Cy y
F . F
F sin * F ; F
(5)
0 02828 0 02828 0 1000
0 45 45 1000 0
= +
= + =

Cy Cx
Cy Cx B
F * . F * .
cos * BC * F sin * BC F ; M
(6)
From FBD of the link 4

= = 0 0
Cx x
F ; F (7)

= = 0 0
4 Ay Cy y
F F ; F (8)

= + = 0 0
4
CA * F T ; M
Cy A A
(9)
From eq.4
N . F
Bx
69 556 =
From eq.6
N .
.
F
Cy
34 35355
02828 0
1000
= =
From eq.5
N . . . F
By
41 39316 07 3961 34 35355 = + =
From eq.3
CCW Nm . T
. * . ) . ( * .
93 3326
0 41 39316 0714 0 69 556 02828 0 504
=
= +













Example In the figure a motor geared to a
shaft on which a flywheel is mounted is
shown. The moments of inertia of the
parts are as follows: flywheel, I
f
=3 kg.m
2
;
flywheel shaft, I
fs
=0.02 kg.m
2
; gear, I
g
=
0.2 kg.m
2
; pinion, I
p
= 0.005 kg.m
2
; motor,
I
m
= 0.05 kg.m
2
. If the motor has starting
torque of 75 N.m, what is the angular
acceleration o the flywheel shaft at the
instant the motor switch is turned on?
Tangential accelerations of the gears at the
contact point are equal to each other. Tangential
acceleration of the gear and flywheel assembly is
g g
t
g
r a = and tangential acceleration of the
motor and pinion assembly is
p p
t
g
r a = . Then,
p p g g
r r = (1)

From the freebody diagram of the motor and
pinion assembly;

p p G m
I r F T
2
= (2)

From the freebody diagram of the gear and flywheel assembly;
g g G
I r F
3
= (3)
Solving these three equations for
g
;

2
2 3
17 73
025 0
1 0 055 0
1 0
025 0 22 3
75
sec / rad .
.
. * .
.
. * .
r
r I
r
r I
T
p
g
g
p
m
g
=

+
=

+
=

Tm
FG
FG
I2=Ip+Im
I3=Ifs+If +Ig
p
g
Example Simple pendulum is shown in the figure, which has mass of 2 kg, and length of
0.5m. a) Write the kinetic energy of this system b) Write the potential energy of this system
c) Drive the equation of motion of this system by using Lagrange equation. d) Give a
solution to the equation of motion. d) If the system is initially displaced by 0.1 rad and
released from rest, calculate the amplitude of the resulting vibration.


a) Kinetic energy,
2 2
2
1
ml I where , I K = =
&

b) Potential energy, ) cos l l ( mg V =
c) ) cos ( mgl ml V K L = = 1
2
1
2 2
&

0 =

L L
dt
d
&

&
&
2
ml
L
=

& &
&
2
ml
L
dt
d
=

sin mgl
x
L
=

Substituting into above eqn

0
0 0
2 2
= +
= + =


sin
l
g
sin mgl ml ) sin mgl ( ml
& &
& & & &

For small angles
sin
l
g
where
n n
= = + 0
2
& &

d) Soln, t sin B t cos A
n n
+ =
e) For
o
and t = = 0
A sin B cos A
o n n o
= + = 0 0
For 0 0 = =
&
and t
0
0 0 0
=
+ = + =
B
cos B sin A t cos B t sin A
n n n n n n n n

&

rad . . B A Amplitude 1 0 0 1 0
2 2 2
= + = + =
Example A double slider mechanism working in horizontal plane is shown in figure. The
slider at A is moving upward with a constant velocity of 4 m/sec. Calculate the amount of
forces required on link 2 in the given kinematic state.
AB=7 cm, AG
3
=3 cm, m
2
=m
4
=0,m
4
=10 kg, I
3
=0.05 kg-m
2

6
0

2
0

B
A
1
2
3
4
G
3
VA

A
B A B
V V V
v v v
+ =
AB to ? V
sec / m V
or ? V
A
B
A
B
=
=
=
4
200 20
o o

VA=4m/sec
VB=3.12m/sec
VB/A=5.85m/sec

A
B A B
a a a
v v v
+ =
0 =
A
a
t
A
B
n
A
B B
a a a + =
v

AB to ? a
A to B from sec / m .
.
.
BC
V
a
or ? a
t
A
B
A
B
n
A
B
B
=
= = =
=
2
2
2
9 488
07 0
85 5
200 20
o o


aB/A
aB/A=582m/s
aB=758 m/s
n
t
G3
2
2


o
v
200 85 324
2
3
= s / m . a
G

CW s / rad .
. AB
a
B 2
3
57 10828
07 0
758
= = =
DAlembert forces and moments
o
20 5 3248 85 324 10
3 3
= = N . . * a m
G

CCW Nm . . * . I 43 541 57 10828 05 0
3 3
= =

6
0

2
0

B
A
1
2
3
4
G3
7580 N
541.43 Nm
FA


6
0

2
0

B
A
2
3
4
G3
3248.5 N
541.43 Nm
FA
NA
NB
x
y
+
d2
d1


From the FBD;

= + = 0 70 20 5 3248 0 cos * N cos * . N ; F

B A x
(1)

= + + = 0 70 20 5 3248 0 sin * N sin * . F ; F

B A y
(2)
N .
.
. * . .
N
. * d N * d . ; M
B
B A
15 616
045 0
5 3248 023 0 43 541
0 5 3248 43 541 0
2 1
=
+
=
= + =

(3)
from eq2
N . sin * . sin * . F
A
04 1690 70 15 616 20 5 3248 = + = upward











Example Each of the two drum and connected hubs of 10cm radius has a mass moment of
inertia of 1 kg-m2. Calculate the angular acceleration of each drum.

r=10 cm
40 N
r=10 cm
40/9.81 kg
Case A
Case B



I =
r * T =
* I r * T =
* * 1
100
10
40 =
CW sec / rad
2
4 =

I =

r * T =

* I r * T = (1)
ma F =

mg T F + =

ma mg T = + (2)
* r a = (3)
Subsituting eq 3 into 1 and solving for T
mg mr T + =
Subsituting T into eq1 and solving for
I mgr r mr = + CW sec / rad .
.
.
. *
mr I
mgr
2
2
2
843 3
1 0
81 9
40
1
1 0 40
=
+
=
+
=
r=10 cm
40 N
Case A
r=10 cm
40/9.81 kg
Case B
a
T
mg
T
2- (35%) In the figure a slider-
crank mechanism is shown with
the appropriate dimensions.
Crank AB of the
mechanism shown is
balanced such that the
mass center is at A. Mass
center of the link 4 is at C.
At the given instant, link 4
is translating rightward
with constant velocity of 5
m/sec. Calculate the
amount of motor torque
required on crank AB to
keep at the given
kinematic state.
Mechanism is working on horizontal plane. Assume no friction between the link 1 and 4.
Mechanism is given is scale.
2
3
2
2 4 3 2
03 . 0 , 01 . 0 , 4 , 6 , 2 kgm I kgm I kg m kg m kg m = = = = =

C
B C B
V V V
v v v
+ =
BC to ? V
sec / m V
AB to ? V
C
B
C
B
=
=
=
5
C
B C B
a a a
v v v
+ =
0 =
C
a
n
C
B
n
C
B
t
B
n
B
a a a a + = +
v v

BC to a
C to B from m
BC
V
a
AB to a
A to B from m
AB
V
a
t
C
B
C
B
n
C
B
t
B
B n
B
=
= = =
=
= = =
?
sec / 2 . 135
05 . 0
6 . 2
?
sec / 4 . 774
025 . 0
4 . 4
2
2
2
2
2 2










o
262 sec / 2 . 1572
2
= m a
B

A
D(6cm, 3cm)
B
C
1
2
3
4
100 N
120
o
x
y
CG3
CW rad BC a
t
C
B
2
3 3
sec / 15488
05 . 0
4 . 774
* = = =
CW rad AB a
t
B
2
2 2
sec / 5408
025 . 0
2 . 135
* = = =
DAlembert forces and moments
o
135 4000 055 . 393 * 6
3 3
= = N a m
G

CCW Nm I 64 . 464 15488 * 03 . 0
3 3
= =
CCW Nm I 08 . 54 5408 * 01 . 0
2 2
= =

A
at
b/c
B
C
2
3
4
100 N
120
o
x
y
B
C
Vc
Vb
Vc/b
m3*a3
I3*g3


From FBD of the link 2

= = =
Bx Ax Bx Ax x
F F F F ; F 0 0

= = + =
By Ay By Ay y
F F F F ; F 0 0
) ( . 32 , 20
36 , 12498 * 012 . 0 182 , 3435 * 022 . 0 08 , 54
012 , 0 * 022 , 0 * 08 , 54 ; 0
CW m N T
T
T F F M
By Bx A
=
= +
= + + =

From FBD of the link 3
m
2
*a
2
C
Y
C
Y
B
Y
C
X
B
X
B
X
C
X
I
2
*
2
N

N F
F F
F F F
Bx
Bx Cx
Bx Cx x
182 , 3435
0 18 , 3335
0 45 cos * 66 , 4716 ; 0
=
= +
= =

N F
F
F F F
By
By
By Cy y
36 , 12498
0 18 , 3335 18 , 9163
0 45 cos * 66 , 4716 ; 0
=
= + +
= + + =

N F
a m I F F M
Cy
g Cx Cy B
18 , 9163
0 025 , 0 * * * 025 , 0 * 044 , 0 * ; 0
3 3 3 3
=
= + + =

From FBD of the link 4
N F F
Cx x
= = 100 ; 0
N F
N F F
Cy
Cy y
=
= =

0 ; 0

= + + = 0 017 , 0 * 03 , 0 * ; 0
4 Cx Cy A A
F F T M


































3- (30%) Convert coupler
link of the slider crank
mechanism given in question
2 into a form where only two
point masses at B and C
exist, satisfying the criteria
of equivalency of masses
and location of mass centers.
Then, using your two mass
model, calculate the amount
of motor torque required on
crank AB to keep at the
given kinematic state as in
question 2. Compare your
result with the result of
question 2. Mechanism is
given is scale.


A
D
B
C
2
3
4
100 N
120
o
x
y
B
C


B C
m m m + = 3 m
C
=m
B
=3 kg
B B C C
m l m l = m
C
=3+4=7kg
l
C
= l
B
=0,025m
Link 3 is two force member so F
C
=F
B
=115,47
F
C
=100/cos(30)
For link 2
m
B
*a
B
*0,005+F
B
*0,025+I
2
*
2
=T T=
A
D(6cm, 3cm)
B
C
1
2
3
4
100 N
120
o
x
y
CG3
m
B
*a
B
F
B
F
B
F
C
F
C
Q-3 (20%) Crank BC of the mechanism shown is balanced such that the mass center is at B.
Mass center of the link AP is at P. Mass of the link 3 is negligible small. At the given instant;
link BC is rotating CCW direction with a constant velocity of 5 rad/sec, link AP is rotating
CCW direction with zero angular velocity and angular acceleration of 25 rad/sec
2
. Calculate
the amount of motor torque required on crank AP to keep at the given kinematics state.
Mechanism is working on horizontal plane given in scale. m
2
= m
4
=5 kg, I
2
= I
4
=0.05 kg-m
2


2
2 2
25 0 sec / rad , = =
sec / rad 5
4
=
= = =
2
2
75 1 25 07 0 sec / m . * . * AP a
P

DAlembert forces and torques become;
= = N . . * a m
P
75 8 75 1 5
2

CW Nm . * ) . * . ( I 863 1 25 07 0 5 05 0
2
2 2
= + =


Link 4 and 2 is two force member,









A
B
C
2
3
4
P
C
C
T
1.863 Nm
8.75 Nm
F32 F23
F43
F34 F14
F12

From freebody diagram of the link 2;
0 75 8 0
12 32
= + = F F . ; F
x
(1)
0 863 1 07 0 75 8 0
32
= + + = T F . . * . ; M
A
(2)
0 04 0 863 1 03 0 75 8 0
12
= + + = T . * F . . * . ; M
C
(3)
Solving these three equation for CCW Nm . T 933 35 =
A
B
C
1
2
3
x
y
4
P