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PROBLEM 11-3a

Statement:

Table P11-1 shows kinematic and geometric data for several slider-crank linkages of the type and

orientation shown in Figure P11-1. The point locations are defined as described in the text. For

row a in the table, solve for forces and torques at the position shown. Also, compute the shaking

force and the shaking torque. Consider the coefficient of friction between slider and ground to

be zero.

Units:

blob

lbf

sec

in

Given:

Link lengths:

Link 2 (O2 to A)

a

4.00

in

Link 3 (A to B)

Offset

c

0.00

in

Friction:

m2

0.002

blob

m3

0.020

blob

2

RCG2

2.00

in

Mass center:

20

rad

sec

FP3

0

deg

2

2.40

rad

sec

m4

0.060

blob

2

RCG3

5.00

in

aG2

203.96

in

sec

2

1.

aG3

371.08

in

sec

2

2

2

AG2

213.69

deg

AG3

200.84

deg

AG4

180.0

deg

R12x 1.414 in

R12y 1.414 in

R12x

RCG2

cos 180

deg

R12y

RCG2

sin 180

deg

R32x 1.414in

R32y 1.414in

R23x 4.860 in

R23y 1.176in

R32x

RCG2

cos

R32y

RCG2

sin

R23x

RCG3

cos

R23y

RCG3

sin

R43x 6.804in

R43y 1.646 in

RP3x 0.000 in

RP3y 0.000 in

R43x

b RCG3

cos 180

deg

R43y

b RCG3

sin 180

deg

RP3x

RP3

cos 180

deg RP3

RP3y

RP3

sin 180

deg RP3

2.

0

deg

T3

20

lbf

in

aG4

357.17

in

sec

Solution:

166.40

deg

IG3

0.20

blob

in

0

deg

FP3

0

lbf

Accelerations:

10

rad

sec

IG2

0.10

blob

in

Moment of inertia:

0

1

RP3

0.0

deg

RP3

0.0

in

Coupler point:

Mass:

45

deg

b

12.00

in

Calculate the x and y components of the acceleration of the CGs of all moving links in the global coordinate

system (GCS).

DESIGN OF MACHINERY

aG2x 169.705 in

sec

aG2y 113.136 in

sec

aG3x 346.803 in

sec

aG3y 132.015 in

sec

aG4x 357.170 in

sec

aG2x

a G2

cos AG2

aG2y

a G2

sin AG2

aG3x

a G3

cos AG3

aG3y

a G3

sin AG3

aG4x

a G4

cos AG4

3.

2

2

2

2

Calculate the x and y components of the external force at P on link 3 in the CGS.

FP3x

FP3

cos FP3

FP3y

FP3

sin FP3

4.

Substitute these given and calculated values into the matrix equation 11.10g, modified for this problem. Note

that Mathcad requires that all elements in a matrix have the same dimension. Thus, the matrix and array in

equation 11.10g will be made dimensionless and the dimensions will be put back in after solving it.

0

1

0

0

0

1

0

1

0

1

0

0

0

0

in

in

in

in

0

0

1

0

1

0

C

0

0

0

1

0

1

0

0

in

in

in

in

0

0

0

0

1

0

0

0

0

0

1

0

m2

aG2x

lbf

1

m2

aG2y

lbf

1 1

IG2

lbf

in

m3aG3x FP3xlbf 1

F

m3aG3y FP3ylbf 1

m4

aG4x

lbf

F12x

R

lbf

1

0 0

0 1

0 0

0 0

0 0

1 0

0 0

1 1

in

R

C

F12y

R

lbf

2

F12y 5.87lbf

DESIGN OF MACHINERY

F32x

R

lbf

F32x 28.4lbf

F32y

R

lbf

F43x

R

lbf

F43x 21.4lbf

F43y

R

lbf

F14y

R

lbf

T12

R

lbf

in

in

3

5

7

5.

4

6

Calculate the shaking force and shaking torque using equations 11.15.

F21

F12x j

F12y

F41

j

F14y

Fs

F21 F41

Magnitude:

Fs

Fs

Fs 28.848 lbf

Angle:

Fs

arg

Fs

Fs 5.703deg

Ts

T 12

T s 99.6 lbf

in

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