Professional Documents
Culture Documents
ME 31 Kinematics Sample Problems Velocity Analysis PDF
ME 31 Kinematics Sample Problems Velocity Analysis PDF
21
Link 2 of the linkage shown in the figure has an angular velocity of 10 rad/s CCW. Find the
angular velocity of link 6 and the velocities of points B, C, and D.
AE = 0.7"
Y AB = 2.5"
D AC = 1.0"
5 BC = 2.0"
C EF = 2.0"
6 CD = 1.0"
A DF = 1.5"
3 2 = 135
2 2
2 F
E X
0.3"
4 B
Position Analysis
Locate points E and F and the slider line for B. Draw link 2 and locate A. Then locate B. Next
locate C and then D.
Velocity Analysis:
v A3 = v A2 = v A2 / E2
v B4 = v B3 = v A3 + v B3 / A3 (1)
vC5 = vC3
Now,
v B3 in horizontal direction
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
- 106 -
Velocity Polygon
D 2.5 in/s
C 4
3 o
6
A b3 f6
2
E F
B
Slider Line d5
c3
c5
a3
v B3 = 3.29 in / s
Now,
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
or
v D6 / F6 6.78
6 = = = 4.52 rad / s CCW
rD6 / F6 1.5
- 107 -
Problem 2.22
The linkage shown is used to raise the fabric roof on convertible automobiles. The dimensions at
given as shown. Link 2 is driven by a DC motor through a gear reduction. If the angular velocity,
2 = 2 rad/s, CCW, determine the linear velocity of point J, which is the point where the linkage
connects to the automobile near the windshield.
Detail of Link 3
H C D
J F 3 AB = 3.5"
L K AC = 15.37"
BD = 16"
CD = 3"
E CE = 3.62"
6 EG = 13.94"
G D GF = 3.62"
7 3
5 C HF = 3"
I 8 FC = 13.62"
F HI = 3.12"
H 4 GI = 3.62"
2 HL = 0.75"
KC = 0.19"
JH = 17"
1
2 110
A B
Position Analysis:
Draw linkage to scale. Start with link 2 and locate points C and E. Then locate point D. Then
locate points F and H. Next locate point G. Then locate point I and finally locate J.
Velocity Analysis:
vC3 = vC2
vF5 = vF3
vE6 = vE2
So,
- 108 -
vF5 + vG5 / F5 = vE6 + vG6 / E6 (2)
vH8 = vH3
So,
I 7 G 6
D
5 C
8 3
H F
2 4
B o
A
h3
f3
g6 c3
Velocity Polygon
i8 d3
10 in/s
e2
j8
- 109 -
Now,
vC3 = 30.74 in / s ( to rC / A )
Solve Eq. (1) graphically with a velocity polygon. The velocity directions can be gotten directly
from the polygon. The magnitudes are given by:
vD4 = 30.9 in / s
Using velocity image of link 3, find the velocity of points F and H and of link 2, find the velocity of
point E.
vF5 = 30.5 in / s
vH3 = 30.3 in / s
and
vE6 = 3.80 in / s
Now,
Solve Eq. (2) graphically with a velocity polygon. The velocity directions can be gotten directly
from the polygon. The magnitudes are given by:
vG6 = 37.8 in / s
Now,
vI7 /G7 = 7 rI /G ( to rI /G )
vI8 / H8 = 8 rI / H ( to rI / H )
Solve Eq. (3) graphically with a velocity polygon. Using velocity polygon of link 8
v J8 = 73.6 in / s
- 110 -
Problem 2.23
In the mechanism shown, determine the sliding velocity of link 6 and the angular velocities of links
3 and 5.
B 34
AB = 12.5" 2 = 3 rad
s 2
3
BC = 22.4"
DC = 27.9" 4
CE = 28.0"
DF = 21.5" A 50
10.4"
F D
5
E
2.0" 6
29.5"
Position Analysis
First locate Points A and E. Next draw link 2 and locate B. Then locate point C by drawing a circle
centered at B and 22.4 inches in radius, and finding the intersection with a circle centered at E and
of 28 inches in radius. Find D by drawing a line 27.9 inches long at an angle of 34 relative to line
BC. Locate the slider line 2 inches above point E. Draw a circle centered at D and 21.5 inches in
radius and find the intersections of the circle with the slider line. Choose the proper intersection
corresponding to the position in the sketch.
Velocity Analysis
Compute the velocity of the points in the same order that they were drawn. The equations for the
four bar linkage are:
v B2 = v B2 / A2 = 2 rB/ A
v B3 = v B2
vC3 = v B3 + vC3 / B3
- 111 -
C
D
F
E
c3
o f3
Velocity Polygon d3
10 in/sec
b3 Also,
where,
vC3 / B3 = 3 rC / B ( to CB)
vC4 / E4 = 4 rC / E ( to CE )
The velocity of C3 (and C4) can then be found using the velocity polygon. After the velocity of C3
is found, find the velocity of D3 by image. Then,
- 112 -
vD5 = vD3
and
vF5 = vF6
where
and vF6 is along the slide direction.. Then the velocity of F5 (and F6) can be found using the
velocity polygon. From the polygon,
vC3 / B3 26.6
3 = = = 1.187 rad / sec
rC / B 22.4
vF5 / D5 18.54
5 = = = 0.862 rad / sec
rF / D 21.5
To determine the direction for 3 , determine the direction that rC / B must be rotated to be in the
direction of vC3 / B3 . From the polygon, this direction is CCW.
To determine the direction for 5 , determine the direction that rF / D must be rotated to be in the
direction of vF5 / D5 . From the polygon, this direction is CW.
- 113 -
Problem 2.24
In the mechanism shown, vA2 = 15 m/s. Draw the velocity polygon, and determine the velocity of
point D on link 6 and the angular velocity of link 5.
2 AC = 2.4"
A BD = 3.7"
BC = 1.2" D 6
3
5
B
2.05"
1v = 15 m/s
A2
C 45
4 X
2.4"
Velocity Analysis:
v A3 = v A2
v B3 = v B5
Now,
Solve Eq. (1) graphically with a velocity polygon. From the polygon, using velocity image,
v B3 = v B5 = 14.44 m / sec
Now,
- 114 -
2
A
D 6
3 5
B
d5
C Velocity Polygon
4 10 m/sec
o c3
b3 b5
a3
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
Also,
or
v D5 / B5 16.605
5 = = = 4.488 rad / sec CCW
rD/ B 3.7
- 115 -
Problem 2.25
In the mechanism shown below, points E and B have the same vertical coordinate. Find the
velocities of points B, C, and D of the double-slider mechanism shown in the figure if Crank 2
rotates at 42 rad/s CCW.
D
6
0.75" EA = 0.55"
AB = 2.5"
AC = 1.0"
5 CB = 1.75"
CD = 2.05"
C 4
E
2 33 B
2
60
A
Position Analysis
Locate point E and draw the slider line for B. Also draw the slider line for D relative to E. Draw
link 2 and locate A. Then locate B. Next locate C and then D.
Velocity Analysis:
v A3 = v A2 = v A2 / E2
v B4 = v B3 = v A3 + v B3 / A3 (1)
vC5 = vC3
Now,
v B3 in horizontal direction
- 116 -
D
6
3
E C
B
2 4
3
Velocity Polygon
a3
10 in/sec
c3 d5
b3 o
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
v B4 = 17.76 in / sec
Now,
- 117 -
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
Problem 2.26
Y
4 D
A 2
3 157.5
0.5"
X
C E
5
DE = 1.9" 1.0"
CD = 1.45"
BC = 1.1" B
AD = 3.5" 6
AC = 2.3"
Position Analysis
Draw the linkage to scale. Start by locating the relative positions of A, B and E. Next locate C and
D.
Velocity Analysis:
v A4 = v A3
v D3 = vD2
- 118 -
v B5 = vC5 + v B5 /C5
Now,
vC3 / A3 = 3 rC / A vC3 / A3 = 3 rC / A ( to rC / A )
and,
vC3 / A3 1.28
3 = = = 0.56 rad / s
rC / A 2.3
To determine the direction of 3 , determine the direction that rC / A must be rotated to be parallel to
vC3 / A3 . This direction is clearly clockwise.
Now,
v B6 is horizontal direction
- 119 -
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
v B6 = 1.23 ft / sec
Problem 2.27
Position Analysis
Draw the linkage to scale. Start by locating the relative positions of D, F and G. Next locate A and
B. Then locate E and C.
Velocity Analysis:
v A3 = v A2
v B3 = v A3 + v B3 / A3 (1)
v B4 = v B3
v B4 = vF4 + v B4 / F4 = 0 + v B4 / F4 (2)
vE5 = vE4
- 120 -
vG6 = vG5
Now,
v B4 = 6.6 cm / sec
Now,
draw a line to rC / E at e
draw a line to rC / E at g
v B6 = 3.65 cm / sec
- 121 -
Problem 2.28
AB = 1.0" vA
2
AD = 2.0" E
AC = 0.95"
CE = 2.0" 5
EF = 1.25" 6
BF = 3.85" A
2 C
3 D
B 27 F
4
Position Analysis
Draw the linkage to scale. Start by locating the relative positions of B, D and F. Next locate A and
C. Then locate E.
Velocity Analysis:
v A3 = v A2
vD4 = vD3
vC5 = vC3
vE6 = vE5
Now,
v A2 =10 in / sec
- 122 -
vD3 / A3 = 3 rD/ A v D3 / A3 = 3 rD/ A ( to rD/ A )
rD/ A: rC / A = v D3 / A3 : vC3 / A3
Now,
and
vE6 / F6 2.75
6 = = = 1.375 rad / s
rE / F 2
To determine the direction of 6 , determine the direction that rE / F must be rotated to be parallel to
vE6 / F6 . This direction is clearly counterclockwise.
- 123 -
Problem 2.29
The angular velocity of link 2 of the mechanism shown is 20 rad/s, and the angular acceleration is
100 rad/s2 at the instant being considered. Determine the linear velocity and acceleration of point
F 6.
5 E
F
6 EF = 2.5"
CD = 0.95"
AB = 0.5"
3 BC = 2.0"
C CE = 2.4"
2" BE = 1.8"
B
4
0.1" 2 , 2 2 115
D
A
2.44"
Position Analysis
Draw the linkage to scale. Start by locating the relative positions of A and D. Next locate B and
then C. Then locate E and finally F.
Velocity Analysis:
v B3 = v B2 = v B2 / A2
vE5 = vE3
Now,
Solve Eq. (1) graphically with a velocity polygon. From the polygon and using velocity image,
- 124 -
vC3 / B3 = 6.59 in / s
or
vC3 / B3 6.59
3 = = = 3.29 rad / s CCW
rC3 / B3 2
Also,
vC4 / D4 = 8.19 in / s
or
vC4 / D4 8.19
4 = = = 8.62 rad / s CW
rC4 / D4 0.95
And,
vE5 = 5.09 in / s
Now,
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
vF5 / E5 = 3.97 in / s
or
vF5 / E5 3.97
5 = = = 1.59 rad/ s CCW
rF5 / E5 2.5
Also,
vF6 = 3.79 in / s
Acceleration Analysis:
- 125 -
5 E
F Velocity Polygon
5 in/sec
e5
3 b3
B
4 2 o f5
D A c3
1 aF
o' 5
f'5
Acceleration Polygon
1a r 50 in/s 2
C4 /D4
1a r
B2 /A2
1 at
1a E F5 /E 5
5
1 at
C4 /D 4
c'3
1a t
C3 /B3
1a r
F5 / E 5
b'3
1a t
e'5
B2 /A2 1a r
C3 /B3
aE5 = aE3
Now,
- 126 -
in the direction of - rB2 / A2
Solve Eq. (3) graphically with an acceleration polygon. From the polygon, using acceleration
image,
aE5 = 252.0 in / s2
Now,
Solve Eq. (4) graphically with an acceleration polygon. From the polygon,
aF6 = 152.7 in / s2
- 127 -
Problem 2.30
In the drag-link mechanism shown, link 2 is turning CW at the rate of 130 rpm. Construct the
velocity and acceleration polygons and compute the following: aE5, aF6, and the angular acceleration
of link 5.
AB = 1.8'
BC = 3.75'
E CD = 3.75'
AD = 4.5'
AE = 4.35'
5 DE = 6.0'
EF = 11.1'
4
D F
3 B A
6
2
60
C
Velocity Analysis:
vE5 = vE4
Now,
Solve Eq. (1) graphically with a velocity polygon. From the polygon, using velocity image,
or
- 128 -
E
5
4
D F
3 B A
6
2
c3
60
C
d3
Velocity Scale
20 ft/s
f5
o
Acceleration Scale
200 ft/s 2 c '3 e4
1 ar
C2 / B2
1 ar
D3 /C3
o' f5'
a'4 d3'
1 a rD /A
4 4 t
1 atF /E 1a D
3 /C 3
5 5
t
1 a D /A
4 4
1 arF /E e'4
5 5
- 129 -
vD3 /C3 41.3
3 = = = 11.0 rad / s CW
rD3 /C3 3.75
Also,
vD4 / A4 = 37.19 ft / s
or
vD4 / A4 37.19
4 = = = 8.264 rad / s CW
rD4 / A4 4.5
And,
vE5 = 35.95 ft / s
Now,
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
vF5 / E5 = 12.21 ft / s
or
vF5 / E5 12.21
5 = = = 1.1 rad / s CCW
rF5 / E5 11.1
Acceleration Analysis:
aE5 = aE4
Now,
in the direction of - rC / B
- 130 -
aCt 2 / B2 = 2 rC / B aCt 2 / B2 = 2 rC / B = 0 3.75 = 0 ft / s2
in the direction of - rD / C
t
aD t
= 3 rD/C aD = 3 rD/C ( to rD/C )
3 /C3 3 /C3
in the direction of - rD / A
t
aD t
= 4 rD4 / A4 aD = 4 rD/ A ( to rD/ A )
4 / A4 4 / A4
Solve Eq. (3) graphically with an acceleration polygon. From the polygon, using acceleration
image,
aE5 = 308.0 ft / s2
Now,
in the direction of - rF / E
Solve Eq. (4) graphically with an acceleration polygon. From the polygon,
aF6 = 83.4 ft / s2
Also,
aFt 5 / E5 = 325.2 ft / s2
or
aFt 5 / E5 325.2
5 = = = 29.3 rad / s2 CCW
rF5 / E5 11.1
- 131 -
Problem 2.31
The figure shows the mechanism used in two-cylinder 60-degree V-engine consisting, in part, of an
articulated connecting rod. Crank 2 rotates at 2000 rpm CW. Find the velocities and acceleration
of points B, C, and D and the angular acceleration of links 3 and 5.
Y D
o
30
EA = 1.0" E
AB = 3.0" X
BC = 3.0" C
90
AC = 1.0"
CD = 2.55" 2
3
o
3
30
A
B
Position Analysis
Draw the linkage to scale. First locate the two slider lines relative to point E. Then draw link 2 and
locate point A. Next locate points B and C. Next locate point D.
Velocity Analysis:
v B3 = v B4 = v A3 + v B3 / A3 (1)
vC3 = vC5
- 132 -
6
D
E
C
2
3
A
4
b3 , b4 Velocity Polygon
100 in/s 1a r
B3 /A3
a
2
r
1 aD
o 5 /C 5
c3 , c5 a2 , a3
c3
1a t b3 , b4
B3 /A3
d5 , d6
t
1 a D /C
5 5
1 aC
Acceleration Polygon 3
d5 , d6
1 aD
5
1 aB
3
o'
- 133 -
vD5 = vD6 = vC5 + vD5 /C5 (2)
Now,
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
v B3 = v B4 = 212.7 in / s
Also,
v B3 / A3 = 109.3 in / s
or
v B3 / A3 109.3
3 = = = 36.43 rad / s
rB/ A 3
To determine the direction of 3 , determine the direction that rB/ A must be rotated to be parallel to
v B3 / A3 . This direction is clearly clockwise.
Also,
Now,
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
Also,
or
- 134 -
To determine the direction of 5 , determine the direction that rD/ C must be rotated to be parallel to
v D5 /C5 . This direction is clearly clockwise.
Acceleration Analysis:
a A2 = a A3 = a rA2 / E2 + a tA2 / E2
aC3 = aC5
Now,
in the direction of - rA / E
in the direction of - rB / A
Solve Eq. (3) graphically with an acceleration polygon. From the polygon,
aB3 = 14710 in / s2
Also,
aBt 3 / A3 = 38460 in / s2
or
aBt 3 / A3 38460
3 = = = 12820 rad / s2
rB/ A 3
- 135 -
To determine the direction of 3 , determine the direction that rB/ A must be rotated to be parallel to
aBt 3 / A3 . This direction is clearly counterclockwise.
Also,
Now,
t
aD t
= 5 rD/C aD = 5 rD/C ( to rD/C )
5 /C5 5 /C5
Solve Eq. (4) graphically with an acceleration polygon. From the polygon,
Also,
t
aD = 26,300 in / s2
5 /C5
or
t
aD
5 = 5 /C5
= 26300 = 10,300 rad / s2
rD/C 2.55
To determine the direction of 5 , determine the direction that rD / C must be rotated to be parallel to
t
aD 5 /C5 . This direction is clearly clockwise.
Problem 2.32
In the mechanism shown, 2 = 4 rad/s CCW (constant). Write the appropriate vector equations,
solve them using vector polygons, and
Also find the point in link 3 that has zero acceleration for the position given.
- 136 -
Position Analysis
Locate pivots A and D. Draw link 2 and locate B. Then locate point C. Finally locate point E.
Velocity Analysis
v B2 = v B3 = v B2 / A2
Then,
vC4 / D4 = vC3 / B3 + v B2 / A2
vC3 / B3 = 3 rC / B ( to rC / B )
vC4 / D4 = 4 rC / D ( to rC / D )
The basic equation is used as a guide and the vectors are added accordingly. Each side of the
equation starts from the velocity pole. The directions are gotten from a scaled drawing of the
mechanism.
vC4 / D4 = 0.650 1 m / s
- 137 -
Now,
vC3 / B3 2.400
3 = = = 3.0 rad / s
rC / B 0.8
vC4 / D4 0.65
4 = = = 0.81 rad / s
rC / D 0.8
To determine the direction of 3 , determine the direction that rC / B must be rotated to be parallel to
vC3 / B3 . This direction is clearly clockwise.
To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to
vC4 / D4 . This direction is clearly clockwise.
Find the velocity of E3 and E4 by image. The directions are given on the polygon. The magnitudes
are given by,
vE3 = 2.522 m / s
vE4 = 0.797 m / s
Acceleration Analysis
The graphical acceleration analysis follows the same points as in the velocity analysis. Start at link
2.
or
- 138 -
e3 C
b3
E 3
4
e4 B
Velocity Scale 2
1 m/s A D
o c3 1aC
3 o' d'4
1a r
c'3 1 at C /D
C 4 /D 4 4 4
1 ar
B 2 / A2
b'3
1 r 1a
aC / B E3
3 3
1 t
aC / B
3 3
e'3 Acceleration
Scale
4 m/s 2
1a
E4
e'4
- 139 -
Now go to Point C and follow the same path as was used with velocities.
Also
Therefore,
and
aCt 4 / D4 = 4 rC / D = ? rC / D
aCt 3 / B3 = 3 rC / B = ? rC / B
These values permit us to solve for the unknown vectors. We can then find e by acceleration
image. From the acceleration polygon,
aCt 3 / B3 = 16.13 m / s2
Then,
aCt 3 / B3 16.13
3 = = = 20.16 rad / s2
rC / B 0.8
To determine the direction of 3 , determine the direction that rC / B must be rotated to be parallel to
aCt 3 / B3 . This direction is clearly counterclockwise.
and
aE3 = 15.84 m / s2
aE4 = 32.19 m / s2
- 140 -
Problem 2.33
In the mechanism shown, point A lies on the X axis. Draw the basic velocity and acceleration
polygons and use the image technique to determine the velocity and acceleration of point D4. Then
determine the velocity and acceleration images of link 4. Draw the images on the velocity and
acceleration polygons.
FE = 1.35"
ED = 1.5" 4
BD = CD = 1.0" Square
AB = 3.0" B D
vA2= 10 in/s 90
3
(constant)
A 84
2 C X
5
E
F (-1.0", -0.75") 6
Position Analysis:
Plot the linkage to scale. Start by drawing point D and the rest of link 4. Next draw link B and
finally draw link 3. Links 5 and 6 do not need to be drawn because they do not affect the
information that is requested.
Velocity Analysis:
v A3 = v A2
v B3 = v B4
v B3 = v A3 + v B3 / A3 = v B4 = v B4 /C4 (1)
Now,
- 141 -
B
D
A
C
b3
b4
Velocity Scale
5 in/s
c4
o a3 Acceleration Scale
d4 30 in/s 2
a'2
r a'3
1 a B /A
3 3 c'4
o'
r
1 a B /C
4 4
d4' 1a t
B 3 /A 3
t
1a B /C
4 4
b3' '
b4
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
v B3 / A3 = 6.64 in / s
or
- 142 -
v B3 / A3 6.64
3 = = = 2.21 rad / s
r B/ A 3
To determine the direction of 3 , determine the direction that rB/ A must be rotated to be parallel to
v B3 / A3 . This direction is clearly counterclockwise.
Also,
v B4 = 9.70 in / s
and
v B4 /C4 9.70
4 = = = 6.86 rad / s
rB/C 1.414
To determine the direction of 4 , determine the direction that rB/ C must be rotated to be parallel to
v B4 /C4 . This direction is clearly clockwise.
Also,
Draw the image of link 4 on the velocity polygon. The image is a square.
Acceleration Analysis:
a A2 = a A3
Now,
a A3 = 0
- 143 -
Solve Eq. (3) graphically with a acceleration polygon. From the polygon,
aD4 = 54.0 in / s2
Problem 2.34
In the mechanism shown below, the velocity of A2 is 10 in/s to the right and is constant. Draw the
velocity and acceleration polygons for the mechanism, and record values for angular velocity and
acceleration of link 6. Use the image technique to determine the velocity of points D3, and E3, and
locate the point in link 3 that has zero velocity.
CF = 1.95"
FE = 1.45"
ED = 1.5"
CD = 1.0"
BC = 1.45" E
BD = 1.05" B 5
AB = 3.0" D
6
vA2 = 10 in/s 3
(constant) 4
103
A C
2 F
Position Analysis:
Locate points C and F and the line of action of A. Draw link 6 and locate pont E. Then locate point
D. Next locate point B and finally locate point A.
Velocity Analysis:
v A3 = v A2
v B3 = v B4
v B3 = v A3 + v B3 / A3 (1)
v D5 = vD4
Now,
- 144 -
v B3 = v B4 = 4 rB/C v B4 = 4 rB/C ( to rB/C )
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
v B3 / A3 = 5.97 in / s
v B3 / A3 5.97
3 = = = 1.99 rad / s
rB/ A 3
Also,
v B4 = 9.42 in / s
or
v B4 /C4 9.42
4 = = = 6.50 rad / s CW
rB4 /C4 1.45
Now,
vE5 / D5 = 5 rE / D vE5 / D5 = 5 rE / D ( to rE / D )
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
vE6 = 5.76 in / s
or
vE6 / F6 5.76
6 = = = 3.97 rad / s
rE / F 1.45
Acceleration Analysis:
a A2 = a A3
aD5 = aD4
- 145 -
aEr 6 / F6 + aEt 6 / F6 = aD5 + a rE5 / D5 + a tE5 / D5 (4)
Now,
1 ar Acceleration Polygon
B3 /A 3 o' e3
25 in/s 2
1 at
B3 /A 3
1a r
E 6 /F6
1 at
E 6 /F6
r
1 a B /C
4 4 Velocity Polygon d3
e'5
1 at d4' 2.5 in/s
O E5 /D 5
r
1 aE b3 , b4
5/ D 5
t
1aB /C
4 4
b 3 , b4
3
e5
a2 ,
o a3
d4 , d5
E
B
D 5 6
3 D
4
A C F
2
or
- 146 -
a rB3 / A3 = 3 ( 3 rB/ A ) a rB3 / A3 = 3 2 rB/ A = 1.992 3 = 11.9 in / s2
in the direction of - rB / A
Solve Eq. (3) graphically with an acceleration polygon. From the polygon,
aBt 3 / A3 = 65.3 in / s2
or
aBt 3 / A3 65.3
3 = = = 21.8 rad / s 2 CW
rB/ A 3
And,
aD3 = 86.6 in / s2
Also,
in the direction of - rE / D
aEt 5 / D5 = 5 rE / D aEt 5 / D5 = 5 rE / D ( to rE / D )
in the direction of - rE / F
aEt 6 / F6 = 6 rE / F aEt 6 / F6 = 6 rE / F ( to rE / F )
aEt 6 / F6 = 38.2 in / s2
or
aEt 6 / F6 38.2
6 = = = 26.4 rad / s2 CCW
rE / F 1.45
vD3 = 10.2 in / s
- 147 -
vE3 = 12.7 in / s
The point in link 3 with zero velocity is shown on position diagram. The point is found by finding
the position image of oa3b3 .
Problem 2.35
The instant center of acceleration of a link can be defined as that point in the link that has zero
acceleration. If the accelerations of Points A and B are as given in the rigid body shown below, find
the Point C in that link at which the acceleration is zero.
AB = 3.75"
A aA = 1500 in/s 2
5
2
B a B = 1050 in/s
70
145
aB
aA
Acceleration Analysis:
Draw the accelerations of points A and B on an acceleration polygon. Then o' will correspond to
the instant center of acceleration. Find the image of o' on the position diagram, and that will be the
location of C
- 148 -
o' c'
b'
A
B
1 in
a'
Acceleration Scale
500 in/s 2
Problem 2.36
The following are given for the mechanism shown in the figure:
Draw the velocity polygon, and locate the velocity of Point E using the image technique.
D (2.2", 1.1")
Y E
B
2 4 AB = DE = 1.0 in
55 3 BC = 2.0 in
A X CD = 1.5 in
C
Position Analysis
Locate the two pivots A and D. Draw link 2 and locate pivot B. Then find point C and finally
locate E.
- 149 -
Velocity Analysis:
v B3 = v B2 = v B2 / A2
Now,
Solve Eq. (1) graphically with a velocity polygon. From the polygon, using velocity image,
b3
Velocity Polygon
2 in/sec
c3 o
E
D
C
e4
- 150 -
Problem 2.37
In the mechanism shown, find 6 and 3. Also, determine the acceleration of D3 by image.
Y
B
D CD = 1.0"
5 BD = 1.05"
vA2 = 10 in/s 3 BC = 1.45"
(constant) E 4 ED = 1.5"
81 FE = 1.4"
A AB = 3.0"
2 C
X
6
F (-1.0", -0.75")
Velocity Analysis:
v A3 = v A2
v B3 = v B4
v B3 = v A3 + v B3 / A3 (1)
v D5 = vD4
Now,
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
v B3 / A3 = 6.282 in / sec
or
v B3 / A3 6.282
3 = = = 2.094 rad / sec
rB3 / A3 3
- 151 -
B
3 D
5
E 4
A
C
2
6
F
Acceleration Polygon
r
1a B /A o' 25 in/sec 2
3 3
b 3 , b4 1a r
B4 /C 4
1 t
Velocity Polygon a B3 / A3
2.5 in/sec
e5 t
1 a B /C
4 4
b3 , b4
o
d4 , d5
a 2 ,a3
d3'
Also,
v B4 = 9.551 in / sec
or
v B4 /C4 9.551
4 = = = 6.587 rad / sec CW
rB4 /C4 1.45
Now,
- 152 -
vE5 / D5 = 5 rE5 / D5 vE5 / D5 = 5 rE5 / D5 ( to rE5 / D5 )
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
or
vE6 / F6 6.132
6 = = = 4.229 rad / sec CW
rE6 / F6 1.45
Acceleration Analysis:
a A2 = a A3
Now,
aBr 4 /C4 = 4 ( 4 rB4 /C4 ) a rB4 /C4 = 4 2 rB4 /C4 = 6.5872 1.45 = 62.913 in / sec 2
r
in the direction of B4 / C 4
aBt 4 /C4 = 4 rB4 /C4 aBt 4 /C4 = 4 rB4 /C4 ( to rB4 /C4 )
in the direction of rB / A
Solve Eq. (3) graphically with a acceleration polygon. From the polygon,
or
aBt 3 / A3 68.568
3 = = = 22.856 rad / sec 2 CW
rB3 / A3 3
Also,
- 153 -
Problem 2.38
In the mechanism shown, 2 = 1 rad/s (CCW) and 2 = 0 rad/s2. Find 5, 5, vE6, aE6 for the
position given. Also find the point in link 5 that has zero acceleration for the position given.
AD = 1 m C
AB = 0.5 m
BC = 0.8 m 3
CD = 0.8 m
BE = 0.67 m
6
E 5 4
0.52 m B
2
A 30 D
Velocity Analysis
v B2 = v B3 = v B5 = v B2 / A2
Now,
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
or
vE5 / B5 0.47313
5 = = = 0.706 rad / sec CCW
rE5 / B5 0.67
Also,
- 154 -
C
6 O'
E
5 4
2
A D
1 aE
o' 5
b5 e'5
r
1 a B /A
Velocity Polygon 2 2
0.1 m/sec 27.8
b'3 2.2 t
1 aE /B
5 5
1a r
E 5 /B5
Acceleration Polygon
o 0.1 m/sec2
e5
Acceleration Analysis:
Now,
- 155 -
aE5 in horizontal direction
aEt 5 / B5 = 5 rE / B aEt 5 / B5 = 5 rE / B ( to rE / B )
Solve Eq. (2) graphically with an acceleration polygon. From the polygon,
Also,
or
aEt 5 / B5 0.42
5 = = = 0.626 rad / sec 2 CW
rE5 / B5 0.67
Using acceleration image, point O' is in the location in which the acceleration of link five is zero.
- 156 -
Problem 2.39
Part of an eight-link mechanism is shown in the figure. Links 7 and 8 are drawn to scale, and the
velocity and acceleration of point D7 are given. Find 7 and 7 for the position given. Also find
the velocity of G7 by image.
Y
E
7
D X
6 8
1.6"
1.25"
G
DE = 1.5"
DG = 0.7"
GE = 1.65"
Velocity Analysis
vE7 = vE8
vE7 = vD7 + vE7 / D7
vE7 / D7 3.405
7 = = = 2.27 rad / sec
rE / D 1.50
- 157 -
E
7
D
G 8
e 7 , e8
o
1a t
E7 / D 7
Acceleration Scale
20 in/sec 2 d'7
g7
1a r
d7 E7 / D 7
The direction can be found by rotating rE / D 90 in the direction of 7 to get vE7 / D7 . From the
polygon, the direction must be counter clockwise. Therefore,
Acceleration Analysis
where
vE7 / D7 2 3.4052
aEr 7 / D7 = = = 7.729 in / sec 2
rE / D 1.50
- 158 -
in the direction opposite rE / D .
aEt 7 / D7 = 7 rE7 / D7 = 0
Therefore,
aEt 7 / D7 42.59
7 = = = 28.40 rad / sec 2
rE / D 1.50
The direction can be found by rotating rE / D 90 in the direction of 7 to get aEt 7 / D7 . From the
polygon, the direction must be counter clockwise. Therefore,
Problem 2.40
In the mechanism shown below, link 2 is rotating CW at the rate of 3 rad/s (constant). In the
position shown, link 2 is horizontal. Write the appropriate vector equations, solve them using vector
polygons, and
E
3
C
2 4
A B D
2
7"
Position Analysis
Draw the linkage to scale. Start by locating the relative positions of A and D. Next locate B and
then C. Then locate G.
- 159 -
Velocity Analysis:
v B3 = v B2 = v B2 / A2
Now,
vC4 / D4 = 4 rC / D vC4 / D4 = 4 rC / D ( to rC / D )
vC3 / B3 = 3 rC / B vC3 / B3 = 3 rC / B ( to rC / B )
vC3 / B3 = 11.16 in / s
vC4 / D4 = 6.57 in / s
- 160 -
Now
vC3 / B3 11.16
3 = = = 2.232 rad / s
rC / B 5
and
vC4 / D4 6.57
4 = = = 2.19 rad / s
rC / D 3
To determine the direction of 3 , determine the direction that rC / B must be rotated to be parallel to
vC3 / B3 . This direction is clearly clockwise.
To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to
vC4 / D4 . This direction is clearly counterclockwise.
vE3 = v B3 + vE3 / B3 = v B3 + 3 rE / B
vE3 = 13.5 in / s
vC4 = 6.57 in / s
Acceleration Analysis:
Now,
a Cr 3 / B3 = 3 ( 3 rC / B ) a Cr 3 / B3 = 3 2 rC / B = 2.232 2 5 = 24.9 in / s2
in the direction of - rC / B
aCt 3 / B3 = 3 rC / B aCt 3 / B3 = 3 rC / B ( to rC / B )
- 161 -
a Cr 4 / D4 = 4 ( 4 rC / D ) a Cr 4 / D4 = 4 2 rC / D = 2.192 3 = 14.39 in / sec 2
in the direction of - rC / D
aCt 4 / D4 = 4 rC / D aCt 4 / D4 = 4 rC / D ( to rC / D )
aCt 3 / B3 = 0 in / s2
aCt 4 / D4 = 46.71 in / s2
Then,
aCt 3 / B3 0
3 = = = 0 rad / s2
rC / B 2
aCt 4 / D4 46.71
4 = = = 15.57 rad / s2
rC / D 3
To determine the direction of 4 , determine the direction that rC / D must be rotated to be parallel to
aCt 4 / D4 . This direction is clearly counterclockwise.
- 162 -
aEt 3 / B3 = 3 rE / B aEt 3 / B3 = 3 rE / B = 0 1 = 0 in / sec 2
aE3 = 34.29 in / s2
aC4 = 48.87 in / s2
Problem 2.41
Part of a 10-link mechanism is shown in the figure. Links 7 and 8 are drawn to scale, and the
velocity and acceleration of points D7 and F8 are given. Find 8 and 7 for the position given.
Also find the velocity of G7 by image.
Y
E
DE = 1.5" 7
EF = 1.45"
DG = 0.7" D X
EG = 1.65" 8
6
G
F (1.8", -1.05")
9
Velocity Analysis
vE7 = vE8
vE7 = vD7 + vE7 / D7
vE8 = vF8 + vE8 / F8
Therefore,
- 163 -
vD7 + vE7 / D7 = vF8 + vE8 / F8 = vD7 + 7 rE7 / D7 = vF8 + 8 rE8 / F8
vE8 / F8 = 0
so
8 = 0
The velocity of G7 is found by image. The magnitude of the velocity is
vG7 = 9.1 in / s
E
7
D
6 8
G F
9
Velocity Polygon f 8 , e8 , e7
Velocity Polygon
5 in/s o'
20 in/s 2
g7
o
f'8
d7
d'7
e'8 , e'7
vG7 = 9.1 in / s
Acceleration Analysis
Use the same points as were used in the velocity analysis for the acceleration analysis.
- 164 -
vE7 / D7 2 6.92 2
aEr 7 / D7 = = = 32.0 in / s2
rE7 / D7 1.50
2
v 02
aEr 8 / F8 = E8 / F8 = = 0 in / s2
rE8 / F8 1.44
aEt 7 / D7 = 7 rE7 / D7 = 0
Therefore,
7 = 0
- 165 -