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Machines and Mechanisms: Applied
Kinematic Analysis, 4/e
Chapter 1
Chap 1 Introduction
Machines and Mechanisms: Applied Kinematic Analysis, 4/e 2012, 2005, 2002, 1999 Pearson Higher Education,
David Myszka Upper Saddle River, NJ 07458. All Rights Reserved.
2
1.1 INTRODUCTION
Determine appropriate movement

of the wipers
View range
Tandem or opposite
Wipe angle
Location of pivots
Timing of wipers
Wiping velocity
The force acting on the machine
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1.2 MACHINES AND MECHANISMS
Machine
Devices used to alter,
transmit, and direct forces
to accomplish a specific
objective
Mechanism
Mechanical portion of a
machine that has the
function of transferring
motion and forces from a
power source to an output
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1.3 KINEMATICS
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Dynamics
6
Kinematics
Kinematics
Deal with the way things move
Kinematic analysis
Determine
Position, displacement, rotation, speed, velocity, acceleration
Provide
Geometry dimensions of the mechanism
Operation range
Dynamic analysis
Power capacity, stability, member load
Planar mechanism motion in 2D space
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1.4 MECHANISM TERMINOLOGY
Mechanism
Synthesis is the process of developing mechanism to satisfy a set of performance requirements
for the machine.
Analysis ensures that the mechanism will exhibit motion to accomplish the requirements .
Linkage
Frame
Links rigid body
Joint
Primary joint (full joint)
Revolute joint (pin or hinge joint) pure
rotation
Sliding joint (piston or prism joint) linear
sliding
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Higher-order joint (half joint)
Allow rotation and sliding
Cam joint
Gear connection
Simple link
A rigid body contains only two joints
Crank
Rocker
Complex link
A rigid body contains more than two
joints
Rocker arm
Bellcrank
Point of interest
Actuator
A power source link
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1.5 Kinematic Diagram
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Kinematic Diagram
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12
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1.7 MOBILITY
1.7.1 Grueblers Equation
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Constrained mechanism
one degree of freedom
Locked mechanism
Zero or negative degrees of freedom
Unconstrained mechanism
More than one degree of freedom
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Actuators and Drivers
Electric motors (AC)
Electric motors (DC)
Engines
Servomotors
Air or hydraulic motors
Hydraulic or pneumatic cylinders
Screw actuators
Manual
1.7.2 Actuators and Drivers
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1.8 COMMONLY USED LINKS AND JOINTS
1.8.1 Eccentric Crank
1.8.2 Pin-in-a-Slot Joint
1.8.3 Screw Joint
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1.9 SPECLAL CASES OF THE MOBILITY EQUATION
1.9.1 Coincident Joints
1.9.2
One degree of freedom actually if pivoted links are the same size
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25
1.10 THE FOUR-BAR MECHANISM
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1.10.1 Degree-of-Freedom
s : short link
l : long link
p , q : intermediate link
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1.11 SLIDER-CRANK MECHANISM
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1.12 SPECIAL PURPOSE MECHANISMS
1.12.1 Straight-Line Mechanisms
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1.12.2 Parallelogram Mechanisms
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1.12.3 Quick-Return Mechanisms
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1.12.4 Scotch Yoke Mechanism
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Machines and Mechanisms: Applied Kinematic Analysis,
4/e
Chapter 4 Displacement Analysis
4.2 POSITION
4.2.1 Position of a Point
4.3 DISPLACEMENT
4.3.1 Linear Displacement
4.3.2 Angular Displacement
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4.4 DISPLACEMENT ANALYSIS
Locate the positions of all

links as driver link is
displaced
Configuration
Positions of all the links
One degree of freedom
Moving one link will
precisely position all
other links
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4.5 DISPLACEMENT:GRAPHICAL ANALYSIS
4.5.1 Displacement of a Single Driving Link
4.5.2 Displacement of the Remaining Slave Links
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4.5.2 Displacement of the Remaining Slave Links
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4.1 Vector Analysis of Displacement
Y Y1
r4
r2
r3 r3
r5
X1
r1
r4
X
(1) r 1 r 2 r 3 r 4 0
r1s1 r2 c 2 r3c3 5.3
r c r s r s 3.2 0
1 1 2 2 3 3
r1 3,1 30,r2 4.9,r3 3.3
2 equations for 2 unknows 2 ,3
(2) r 3 r 4 r 5 0
r3c3 r4 c 4 x1
r s r s 0
3 3 4 4 0.8
r1 10.1
2 equations for 2 unknows 4 and x1
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Y
r1
r2 r4 X
r3
r 1 r 2 r 3 r 4 0
1.6 3c 2 r3c3 2.3
1.5 3s r s 0 0
2 3 3
r3 (3.92 1.22 )1/2
solve for 2 and 3
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Analysis of Mechanism Position
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Y
r1
r2
X
r3
r 1 r 2 r 3 0
50c1 40c 2 d1
50 s 40s 0
1 2 0
1 240,solve for 2 and d1
whenrotate15,1 255
50c1 40c 2 d 2
50 s 40s 0
1 2 0
solve for 2 and d 2
d d1 d 2
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4.6.1 Closed-Form Position Analysis Equations for an In-Line
Slider-Crank
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4.6.2 Closed-Form Position Analysis Equations for an Offset
Slider-Crank
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Y
r2
r1 r3
X
r4
r 1 r 2 r 3 r 4 0
12c1 20c 2 15c3 25
12s 20s 15s 0 0
1 2 3
1 90,eqs.solve for 2 and 3
1 60,eqs.solve for 2 and 3
Calculate the difference of 2 inand
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Y
r1
r3
r2
r 1 r 2 r 3 0
0.5c1 1.75c 2 1
0.5s 1.75s y 0
1 2
for1 2 ,solve for1and ymax
for1 2 ,solve for1and ymin
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4.7 LIMITING POSITIONS:
54
Y
r1
X
r2
r 1 r 2 r 3 r 4 0
r4
r3 for1 2 ,solve for1and 3 )max
for1 2 ,solve for1and 3 )min
55
Y
r1
X
r4
r2
r3
r 1 r 2 r 3 r 4 0
for 2 3 ,solve for1 max and 2
for 2 3 ,solve for1 min
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4.9 TRANSMISSION ANGLE
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Y
r3 X
r1
r2
r 1 r 2 r 3 r 4 0
0.5c1 lc 2 2.0
0.5s ls 0 0
1 2
given1solve forland 2
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Y
r 1 r 2 r 3 0
r3 x
r2 r1 30,r2 70,r 3 0
X 30
r1
given1 solve for 2 and x
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Machines and Mechanisms: Applied Kinematic Analysis,
4/e
Chapter 6 Velocity Analysis
6.2 LINEAR AND ANGULAR VELOCITY
6.2.2 Linear Velocity of a General Point
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VA cos VB along ABlink
wAB VA sin /(link length)
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Y
X
r1
r2
r4
r3
r 1 r 2 r 3 r 4 0
2 r 2 3r 3 4 r 4 0
eqs forunknowns3 and 4
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6.6 GRAPHICAL VELOCITY ANALYSIS:RELATIVE VELOCITY METHOD
6.6.1 Points on Links Limited to Pure Rotation or Rectilinear Translation
6.6.2 General Points on a Floating Link
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Y
X
r4
r1
r3
r2
r 1 r 2 r 3 0
0
1r 1 2 r 2 0

5
eqs for1and 2
r r 1 r 4
r 1r 1 2 r 4
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Y
r1
r2
X
r3
r 1 r 2 r 3 0
solve forand
1r 1 2 r 2 r2 0
vc 2
1 5rad min,r 2
vs 2
eqs forunknowns2 and v
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Y
X
r1
r2
r3
r 1 r 2 r 3 0
1r 1 2 r 2 r2 0
0
r 2
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eqs forunknowns1and 2
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r2
r1
Y
r3
r 1 r 2 r 3 0
1
r2 6, 2 340 r 3
3
eqs forunknownsr1and 1
1r 1 2 r 2 r 2 0
8c 2
r 2
8s 2
eqs forunknowns1and 2
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6.9 ALGEBRAIC SOLUTIONS
6.9.1 Slider-Crank Mechanism
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6.9.2 Four-Bar Mechanism
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6.10 INSTANTANEOUS CENTER OF ROTATION
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6.11 LOCATING INSTANT CENTERS
6.11.1 Primary Centers
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6.12 GRAPHICAL VELOCITY ANALYSIS:
INSTANT CENTER METHOD
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Y
r1
r4 r2
r3
r 1 r 2 r 3 r 4 0
1r 1 2 r 2 3r 3 0
given3 solve for1and 2
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Y
r3
r2 r4
r1 r 1 r 2 r 3 r 4 0
X
r4 2 r 2 3r 3 4 r 4 0
2 60rpm.solve for3 and
r6 r5 r 4 r 5 r 6 0
0
4 r 4 5 r 5 0
v
eqs forunknowns5 and v
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Y
r2 r1
r3
X
r4
r 1 r 2 r 3 r 4 0
1r 1 2 r 2 3r 3 0
given 1 find 2 and 3
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Machines and Mechanisms: Applied Kinematic Analysis, 4/e
Chapter 7 Acceleration Analysis
7.2 LINEAR ACCELERATION
7.2.1 Linear Acceleration of Rectilinear Points
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Y
r1
r2
r4
r3
r 1 r 2 r 3 r 4 0
1r 1 2 r 2 3r 3 0
given 1 find 2 and 3
1 1r 1 2 2 2 r 2 3 3 3r 3 0
solve for2 and 3
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r5
rp
rp r 1 r 2 r 3 r 5 0
rp 1r 1 2 r 2 3 r 3 r 5
rp
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Y
r1 X
r2 r3
r 1 r 2 r 3 0
0
1r 1 2 r 2 0

v
solve for2 and v
0
1 1 1r 1 2 2 2 r 2 0
a
solve for2 and a
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7.8 ALGEBRAIC SOLUTIONS
7.8.1 Slider-Crank Mechanism
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7.8.2 Four-Bar Mechanism
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Y
r3
r2 X
r1
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7.10 ACCELERATION IMAGE ( Useless! )
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7.11 CORIOLIS ACCELERATION
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Y
r2 r3
r1
r 1 r 2 r 3 0
solve for1and 2
1r 1 r 2 2 r 2 0
vc
1 400,r 2 2 ,solve for2 and v
vs 2
ac
1 1r 1 2 2 2 r 2 2 0
as 2
solve for2 and a
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7.12 EQUIVALENT LINKAGES
89
Chapter 9 Cams
9.1 INTRODUCTION
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Plate cam
Cylindrical cam
Linear cam
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9.2 TYPES OF CAMS
Follower motion
93
Follower position
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9.3 TYPES OF FOLLOWERS
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9.11 THE 4-STATION GENEVA MECHANISM
Constant rotation producing index motion
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Chapter 13 STATIC FORCE ANALYSIS
13.3 MOMENTS AND TORQUES
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13.5 FREE-BODY DIAGRAMS
13.5.1 Drawing a Free-Body Diagram
13.5.2 Characterizing Contact Forces
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13.6 STATIC EQUILIBRIUM
100
13.7 ANALYSIS OF A TWO-FORCE MEMBER
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Chapter 14 DYNAMIC FORCE ANALYSIS
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Machines and Mechanisms: Applied

Kinematic Analysis, 4/e

Determine appropriate movement

1.8.2 Pin-in-a-Slot Joint

1.8.3 Screw Joint

4.3.2 Angular Displacement

Locate the positions of all

4.5.2 Displacement of the Remaining Slave Links

6.2.2 Linear Velocity of a General Point

6.6.2 General Points on a Floating Link

6.9.1 Slider-Crank Mechanism

7.8.1 Slider-Crank Mechanism

13.5.2 Characterizing Contact Forces

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