SOLUTIONS

1) If link 2 is turning CW at the rate of 36 rad/s, determine the linear velocity of point B4 by use of instant
centers. Determine the angular velocity of link 4 in rad/s and indicate the direction. Points B* and C have
the same vertical coordinate, and points A* and B* have the same horizontal coordinate. The dimensions
are in centimeters.

Solution: The following drawing shows only the instant centers required to find vB 4 and 14 . For these,
we need I12 , I14 and I 24 . The angular velocity 14 id given by,

14 I14 I 24  12 I12 I 24

Therefore,

I12 I 24 1.26
14  12  36   21.0 rad/s
I14 I 24  0.90  1.26 
From the drawing the direction for 14 is CW. Then,

vB 4  14 B4 I14  211.5  31.5 cm/s

The direction of vB 4 is perpendicular to B4 I14 in the direction shown.

2) Using the instant-center method, find angular velocity of link 6 if link 2 is rotating at 50 rpm CCW.
The dimensions are in centimeters.

Solution: The angular velocity of link in radian/s is

2  50
12   5.24 rad/s
60
Using the instant centers I12 , I16 and I 26 , we can write the relationship between 12 and 16 as

12 I12 I 26  16 I16 I 26

Solve the above equation for 16

I12 I 26 1.51
16  12  5.24   3.31 rad/s
I16 I 26 2.39

So 16  3.31 rad/s CW.