Mechanical Engineering Study Program

Faculty of Mechanical and Aerospace Engineering

Institut Teknologi Bandung
MS2111 Kinematics and Dynamics of Machinery
HW#2, due on 11 September 2019 (before class)

1. For a mechanism shown in Figure 1, it is known that the angular velocity of link 2, ω2, is 1 rad/s
CCW. By the help of circle diagram, find the location of all instant centers. Then, determine the
magnitude and direction of point B of link 6, vB6!
Note: draw the velocity vector vB6 in the mechanism figure.

Figure 1

2. If vA2 = 10 in/s as shown in Figure 2 as below, find the magnitude and direction of vC5 by instant
center method.

Figure 2

HW#2 – MS2111 Kinematics and Dynamics of Machinery 1

Semester I – 2019/2020
 3. A circle cam, as shown in Figure 3, is moved with angular velocity ω2 = 15 rad/s (CW). If the
contact between cam and roller (link 3) is pure rolling, find the angular velocity of link 4 by
instant center method.

Figure 3

4. In the mechanism presented in Figure 4, determine the location of all instant centers. If link 2 is
rotating with velocity ω2 = 10 rad/s (CW), find the velocity magnitude and direction of link 5.

Figure 4

HW#2 – MS2111 Kinematics and Dynamics of Machinery 2

Semester I – 2019/2020