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Chosen problems and their final solutions of Chap.

2 (Waldron)- Par 1
1. In the mechanism shown below, link 2 is rotating CCW at the rate of 2 rad/s (constant).
In the position shown, link 2 is horizontal and link 4 is vertical. Write the
appropriate vector equations, solve them using vector polygons, and
a) determine vC4, ω3, and ω4,
b) determine aC4, α3, and α4.
Link lengths: AB = 75 mm, CD = 100 mm.
Sol: (a) vC4 = 43 mm/ s
ω3 = 0.86 rad / s CW,
ω4 = 0.43 rad / s CW.
(b) aC4 = 435 mm/ s2, α3 = 27900 rad/s2 CCW, α4 = 4.347 rad/s2 CCW.
2. In the mechanism shown below, link 2 is rotating CCW at the rate of 500 rad/s
(constant). In the position shown, link 2 is vertical. Write the appropriate vector
equations, solve them using vector polygons, and
a) determine vC4, ω3, and ω4,
b) determine aC4, α3, and α4.
Link lengths: AB = 1.2 in, BC = 2.42 in, CD = 2 in
Sol: (a) vC4 = 858 in/ s
ω3 = 216.3 rad / s CCW,
ω4 = 429 rad / s CCW.
(b) aC4 = 398000 in/ s2, α3 = 27900 rad/s2 CW,
α4 = 75700 rad/s2 CW.
3. In the mechanism shown below, link 2 is rotating CW at the rate of 10 rad/s (constant).
In the position shown, link 4 is vertical. Write the appropriate vector equations,
solve them using vector polygons, and
a) determine vC4, ω3, and ω4,
b) determine aC4, α3, and 4.
Link lengths: AB = 100 mm, BC = 260 mm, CD = 180 mm
Sol: (a) vC4 = 990 mm/ s
ω3 = 0.12 rad / s CCW,
ω4 = 5.5 rad / s CW.
(b) aC4 = 5700 mm/ s2, α3 = 18.4 rad/s2 CCW,
α4 = 9.88 rad/s2 CW.

5 in. solve them using vector polygons. ω4 = 1.87 rad/s2 CCW. α4 = 1. (b) aC4 = 7. solve them using vector polygons. solve them using vector polygons.87 rad/s2 CCW. In the mechanism shown below. and α4. α3 = 1.4. a) Determine vC4.5 rad / s CW. (b) aC4 = 3250 mm/ s2.12 rad / s CW. θ is 53°.1 rad/s2 CW. 6. a) determine vC4. In the mechanism shown below. and link lengths: AB = 100 mm. α4 = 16.5 rad / s CCW. b) Determine aC4.87 rad/s2 CW. ω3. α3 = 3. (b) aC4 = 248000 mm/ s2. and α4. link 2 is rotating CW at the rate of 100 rad/s (constant). α3. 5. and ω4. ω3.32 in/ s2. In the position shown.125 rad / s CCW. Write the appropriate vector equations.5 in. BC = 200 mm. link 2 is rotating CW at the rate of 4 rad/s (constant). . and link lengths: AB = 1.5 rad / s CW. link 2 is horizontal. Write the appropriate vector equations. b) determine aC4. Write the appropriate vector equations. CD = 2. Sol: (a) vC4 = 300 mm/ s ω3 = 3.25 in. In the position shown.75 in/ s ω3 = 2. In the position shown. Sol: (a) vC4 = 3. b) Determine aC4 and α3. link 2 is horizontal. and ω4. BC = 2. ω4 = 1. and link lengths: AB = 60 mm. link 2 is rotating CCW at the rate of 4 rad/s (constant). In the mechanism shown below. Sol: (a) vC4 = 4500 mm/ s ω3 = 0. α3. CD = 200 mm. a) Determine vC4 and ω3. BC = 160 mm. α3 = 1060 rad/s2 CCW.

76 rad/s2 CCW. b) Determine α3 and α4. solve them using vector polygons.= 0 rad/s2 . ω4 = 0 rad / s. Write the appropriate vector equations.115 rad / s CW. Write the appropriate vector equations. .= 0 rad/s2 . link 4 is moving to the left at the rate of 4 ft/s (constant). α3 = 7. b) Determine α3 and α4. solve them using vector polygons. and a) Determine ω3 and ω4. link 4 is moving to the right at the rate of 20 in/s (constant). Link lengths: AB = 10 ft. In the mechanism shown below. Link lengths: AB = 5 in. Link lengths: AB = 5 in.7. α4.6 ft/s (constant).023 rad/s2 CW. In the mechanism shown below. and a) Determine ω3 and ω4. ω4 =0 rad / s. 8. α4. link 4 is moving to the left at the rate of 0.93 ft/s2. In the mechanism shown below. Sol: ω3 =. solve them using vector polygons. Sol: vA3 = 1. aA3 = 4.82 rad / s CW. 9. Write the appropriate vector equations. BC = 5 in. Sol: ω3 = 2. and determine the velocity and acceleration of point A3. BC = 5 in.34 ft/s. BC = 20 ft. α3 = 0.

EB = 8. α2 = 50000 rad/s2 CW 11.48 in .2 in. aE3. ω3. solve them using vector polygons. . and α4. 12. Link lengths: AB = 4. and a) Determine vB2. and ω3. and α3. b) Determine aB2. For the four-bar linkage. α3. α3 = 21500 rad/s2 CW.0 in . and a) Determine vB2. ω4 = 51. BG = 6.8 in/s. solve them using vector polygons. and ω4. ω3 = 12.0 in.6 rad/s2 CW.10. α3 = 303 rad/s2 CW.7 rad / s CW. Write the appropriate vector equations. Sol: (a) vB2 = 91. BC =16. Write the appropriate vector equations. α4 = 17750 rad/s2 CW. b) Determine aC3. aG3. and ω4. In the mechanism shown below.0 in.0 in. Sol: (a) vE3 = 695 in/s. ω3 = 52 rad / s CCW. ω2. link 4 moves to the right with a constant velocity of 75 ft/s. α3 = 8073 rad/s2 CW. b) Determine aE3.8 in . (b) aB2 = 28900 ft/ s2. CD = 9.7 rad / s CW. (b) aC3 = 149780 in/ s2. aG3 = 18000 ft/ s2.2 ft/s. assume that ω2 = 50 rad/s CW and α2 = 1600 rad/s2 CW. Link lengths: AB = 4. link 2 is rotating CW at the rate of 180 rad/s. vG3. α3. In the mechanism shown below. ω3 = 48. BC = 12. ω4 = 33. aE3 = 123700 in/ s2. AD = 15.2 in. CE = 5.6 rad / s CW. and α4. vE3 = 107. solve them using vector polygons. vE3. ω2 = 228 rad / s CW. α2.5 in/s. Sol: (a) vB2 = 87. Write the appropriate vector equations. and a) Determine vE3. α4 = 1063. vG3 = 79 ft/s.6 rad / s CCW. ω3.6 in. (b) aE3 = 5958 in/ s2.

Crank 2 of the push-link mechanism shown in the figure is driven at a constant angular velocity ω2 = 60 rad/s (CW). Sol: vF3 = 4.45 rad/s CW.3 in/s.94 m/s. The accelerations of points A and B in the coupler below are as given. aB3 = 955 in/s2. 15. 14.13. Sol: α = 1122 rad/s2 CW. Sol: vB3 = 77. Find the velocity and acceleration of point F and the angular velocity and acceleration of links 3 and 4. ω4 = 37. α4 = 136 rad/s2 CCW. For the straight-line mechanism shown in the figure.84 rad/s CW. Determine the velocity and acceleration of point B and the angular acceleration of link 3. ω2 = 20 rad/s (CW) and α2 = 140 rad/s2 (CW). ω3 = 43. α3 = 484 rad/s2 CW. α3 = 140 rad/s2 CCW. aF3 = 256 m/s2. . aG = 6980 in/s2. ω3 = 20 rad/s CCW. Draw the vector representing aG from G. Determine the acceleration of the center of mass G and the angular acceleration of the body.

. find the velocity and acceleration of points B and C. ω2 = 24 rad/s (CW). In the mechanism shown below. 17. aA = 400 ft/s2. 18. For the data given in the figure below. and α2 = 160 rad/s2 (CCW).9 ft/s. Sol: vB = 11.67 rad/s2 CW.55 ft/s.16. link 2 is turning CCW at the rate of 10 rad/s (constant). Sol: vE =28. vC = 15. aC = 289. aE = 4600 in/s2. Assume vA = 20 ft/s. aG3 = 116 in/s2. aB = 198. Sol: α4 = 42. If ω2 = 100 rad/s CCW (constant) find the velocity and acceleration of point E.64 ft/s2.4 in/s. and determine aG3 and α4.4 ft/s2. Draw the velocity and acceleration polygons for the mechanism.