Four Bar Mechanisms

All dynamics texts contain four bar mechanism and four bar slider problems, but few take time
to introduce the student to these fascinating and useful mechanisms, nor do they call these by
name. Four bar mechanisms and their variations (for example, a four bar slider) are found in
many different types of machines, and it is the opinion of this author that the student should learn
to recognize these and appreciate these. Mechanical engineering students study four bar (and
five bar, six bar, etc.) mechanisms in their dynamics of machinery classes.

Questions and Answers about Four Bar Mechanisms

1. Why is it called a “four bar mechanism” when I can see only three links moving? That’s
right, there are usually only three moving links; the fourth link is the “ground link” which
extends between the pins A and D. Position
vectors drawn along the lengths of the four
links form a vector loop whose sum is zero.
2. The three moving links each have a name:
Link AB is called the “input link” because we
are normally given its angular velocity and
acceleration. It undergoes fixed axis rotation
about the pin at A.
3. Link CD is called the “output link”; like
AB it undergoes fixed axis rotation, but its
motion is usually oscillatory because it is the
third link in the chain.
4. Link BC is called the “coupler link”
because it couples links AB and CD together.
Link BC undergoes general plane motion.
5. A four bar mechanism is a single degree of freedom device. This means that if we know the
angular velocity of just the input link, we can determine the angular velocities of the remaining
two links (if all of the geometry is known, i.e. lengths and angles of the links).
6. A “four bar slider” mechanism replaces either
link AB or CD with a slider. With respect to
velocities, the slider offers the same constraint as
does a link. For example, in the figure at left, the
slider constrains point C to move horizontally. At
the position shown, the imaginary link CD would
likewise constrain point C to move horizontally.
7. It is important to understand “constrained”
versus “unconstrained” motion: Unconstrained
motion occurs when a body moves freely in space,
without being constrained to follow a particular
path. Constrained motion, on the other hand, occurs when a body is forced to follow a particular
path. For a rigid body, usually one or two points on it are constrained. Virtually all motion that
we will study in this class is constrained motion. It is very important for a student of dynamics
to be able to visualize the constraints existing in a problem. The constraints give us velocity
directions. Since the relative velocity equation is a vector equation, knowing directions of
vectors is a valuable “piece” of information that helps lead us to a solution of a problem.
8. The accomplished dynamics
student should learn to look at a
four bar mechanism and visualize
the operative constraints. In the
figure at right, there are three links,
all with constraints. Link AB is
constrained to rotate about a fixed
pin at A. Link CD is constrained
to rotate about a fixed pin at D.
Because they are fixed, the
velocities of pins A and D are zero.
The velocity directions of points B
and C act perpendicular to links
AB and CD, respectively, tangent
to the circular paths traced by
points B and C. Points B and C on
link BC are therefore constrained to follow circular paths.

9. Though a four bar mechanism looks complicated, visualizing these constraints reduces it to a
simpler problem. We already worked a “generalized slider” in example problem ______. The
approach we used there is virtually the same as is used for the link BC in a four bar mechanism.
Given below is a comparison of a generalized slider with its “four bar” analog. Can you see that
the (velocity) constraints on AB are exactly the same in both problems?
In the generalized slider problem, vA is given as 3 m/s. In the four bar analog, v A usually is not
given. You would normally be given the length of AD
and its angular velocity AD. In this figure, the r ADAD
product must be 3 m/s. For example, if link AD is 1.5
m in length, then its  would be 1.5 rad/sec. The
rADAD product would thus give vA = 3 m/s in the
direction shown (perpendicular to AD).
In this example, use of the relative velocity equation
gives vB = 2.05 m/s at the angle shown. If link BC is 1
m in length, then the angular velocity of BC would be
BC = 2.05 rad/sec.
10. Many students ask to see real life examples of four bar mechanisms. The figures below
show a pair of locking jaw pliers and a “mechanism” formed by a door frame, the door itself, and
the closing mechanism. Other examples can be found in exercise equipment, in automobiles, on
the buckets of front end loaders, and in many other applications. Four bar sliders, especially the
slider-crank mechanism, are found, for example, in the piston and crank mechanisms in engines.

Below is shown a slider crank (a four bar slider in which the line of action of the slider pass
through the pin A of the “crank” AB).