9.1 INTRODUCTION {Ribs chapter, analyte] equations ae presented forse in completing ince analyses of| four-bar mechanisms and slider crank mechanisms. They aze based on he overning equa- In al of these analyses, we restrict ourselves to eases where the ottional speed of input link 2 is constant. We will prescribe é ‘onstant ony Therefore, we can set Sor @12) tints otherwise noted, we will ssume that motion of ll ioks of plana mechanisms take place in a single plane, 9.2 FORCE ANALYSIS OF A FOUR-BAR MECHANISM Gude the four-bar mechanism tlusraedin Figure 9.1). Locationsofthecenersor man STURAS 2.3 and with respect to awning pacar specified by distances Btn Teac 23-4). Fre body diagrams of individual inks are shown n igre © ete ‘The driving torque, M2, i one ofthe quantities that must be determined336 9. ANALYTICAL FORCE ANALYSIS AND BALANCING OF PLANAR MECHANISMS Figure 9.1 Dynamic anelysis of a four-bar mechanism. te akinetic analysis, we must determine accelerations of the ce iad implementing Equation ( Tocomy of the moving links. Referring to Figure 9.1() results for link 2 are = brcoxth + da) = ~bw? cost + dy)9.2 Force Analysis of a Four-Bar Mechanism 37 The results for link 3 are (ray)x = 72 608% + by cost ts + os) (6,)e = ~rvu? cas ~ bs costs + ds) +83 sin(® + &)] (roy = 8in B+ Bs Sins + 6) 029) (4.a3)y = ~ ra sin 8s ~ Bs [5 ints + dy) — 3 cos(0s + 45)] “The results for ik 4 are (ode = 71 be c0s(8 +) (ade = ~ba[; c0s(0s + da) + Be sin(Oy + 4) 023) Crog)y = ba sind + du) [8% sincas + 4.) — ba cos(@s + 44)] (aay ‘The governing equations of motion for link 2 are determined by considering the x and _y components of Equation (2.10-1), as well as Equation (2.10-6), Referring to Fig- ure 9.10), (Pade (Fiade = lac, de 24) (Faa)y — (Fialy = malag,)y 025) (Paar sin + (Fin)19 608 0 + My 026) Similar equations may be generated for links 3 and 4. The governing equations of ‘motion of all moving links may then be combined in matrix form and expressed as [Al(x) = (8) ern where 6248)