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Mechanism And Robot Kinematics

Assignment- 5
TYPE OF QUESTION: MCQ
Number of questions: 10 Total mark: 10 X 1 = 10
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QUESTION 1:
In the configuration of the mechanism shown inthe figure, points C, A and D are collinear. If
CA=2 cm, CD=4 cm and ω2 = 4 rad/s CCW, then find ω4 in rad/s.

a. 6.0 CCW
b. 2.0 CW
c. 1.0 CW
d. 4.0 CW

Correct Answer: d

Detailed Solution:

For the given mechanism, the points C, A and D are collinear.

CA=2 cm, CD=4 cm, and ω2 = 4 rad/s CCW.
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The positions of relative instantaneous centres are as follows:

I12 is at Point C,I14 is at Point D,I23 is at Point A, and I34 is at Point B.
Using Aronhold Kennedy theorem, I24 is located at point A coincident with I23 (I12, I14, I24 are
collinear; and I23, I34, I24 are also collinear).
2
Therefore, the velocity of I24 (point A) = 𝜔4 × 𝐴𝐷 = 𝜔2 × 𝐶𝐴 ∴ 𝜔4 = 4 × = 4 rad/s
4−2
(CW).
ANS: (d)
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QUESTION 2:
In the figure below, l1 = 5 cm, l2 = 2 cm, DAC=90o, and ACB=175o. At the instant shown,
ADE=90o. The y-coordinate of the instantaneous centre of rotation I31 in the coordinate system
shown is yc = ___ cm.

a. -57.15
b. -42.67
c. -81.24
d. -64.93

Correct Answer: a

Detailed Solution:
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For the given Mechanism, the position of relative instantaneous centre I13 is at Point P (using
Aronhold Kennedy theorem).

From geometry, 𝐷𝑃 = 𝐷𝐸 tan 850 = 5 tan 850 = 57.15 cm. ∴ 𝑦𝑐 = −57.15 cm.
ANS: (a)
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QUESTION 3:
For the instant represented, when crank OA passes the horizontal position, the velocity of the
center G of link AB is _________ m/s.
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a. 0.18
b. 0.46
c. 0.28
d. 0.31

Correct Answer: c

Detailed Solution:

From the above figure,

IG2 = AG2 + AI2 − 2 ∗ AG ∗ AI ∗ Cos(30)

Substituting, AG= 90 mm & AI= 180*Cos(30) in the above equation, yields IG=90 mm.

Since vA = 8 *60 mm/s = 480 mm/s, therefore, angular velocity of link AB:
vA
𝜔𝐴𝐵 = = 3.0792 rad/s.
AI

Therefore, vG = 𝜔𝐴𝐵 IG = 0.277 m/s.

ANS: (c)
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QUESTION 4:
A device which tests the resistance to wear of two material A and B is shown. If the link EO has
a velocity of 4 ft/s to the right when θ = 450 , the rubbing velocity at A ( in ft/s) assuming B to be
fixed.
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a. 10.24
b. 9.19
c. 7.82
d. 8.41

Correct Answer: b

Detailed Solution:

In the above figure, applying sine rule in ΔODC,

we get DCO = sin-1( (5/12) sin(450) ) = 17.135220.

Therefore, in ΔDIO, using OD=5 in, IOD=450 and ODI=62.135220, applying sine rule
again we get, d=4.62558 in.
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𝑣𝐸𝑂
The angular velocity of link OD is given as, 𝜔 = . Given, 𝑣𝐸𝑂 = 4 ft/s,
𝑑
4∗12
𝜔 = 4.62558 = 10.37706 rad/s.
𝑑+6
 𝑣𝐴 = 𝜔 ( 12 ) = 9.1885 ft/s.

Ans:(b)
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QUESTION 5:
In the design of this mechanism, upward motion of plunger G controls the motion of a control
rod attached at A. Point B of link AH is confined to move with the sliding collar on the fixed
vertical shaft ED. If G has a velocity 𝑣𝐺 = 2 m/s for a short interval, the angular velocity of link
HBA for the position 𝜃 = 450 is ___________________ rad/s.

a. 10.24
b. 20.31
c. 12.18
d. 14.17

Correct Answer: d
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Detailed Solution:

From the above figure, the vertical component of velocity 𝒗𝑭 = 𝒗𝑮 = 2 m/s and 𝒗𝑭 = 𝒗𝑮 𝐜𝐬𝐜 𝜽

 𝒗𝑭 = 𝟐 𝒗𝑮 = 𝟐 𝟐 m/s.

Also ΔDFM  ΔDHN,  𝒗𝑯 = 𝟏. 𝟓 𝟐 m/s.

Using cosine rule in ΔDHB, we get

ℎ2 − 240 2 h + 17600=0

h = 63.8 mm or 275.5356 mm.

For the current configuration, h = 275.5356 mm.

 𝑰𝑯 = 𝒉 𝐜𝐬𝐜 𝛉 −𝑯𝑫 = ℎ 2 − 0.24 = 0.14966 m.

𝒗𝑯
𝝎𝑯𝑩𝑨 = = 14.17366 rad/s.
𝑰𝑯

ANS: d
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QUESTION 6:
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The slender bar moving in general plane motion is shown in the figure below, with indicated
linear and angular velocities. Locate the instantaneous centre of rotation (in m), based on the
coordinated system shown.

x
a. (0,0.5) m
b. (0, 0.075) m
c. (0, -0.5) m
d. (0.5, 0.5) m

Correct Answer: a

Detailed Solution:

4×0.3
From the figure, 𝜃 = tan−1 = 30.960 . Also, the lines L1 and L2 are perpendicular to the
2
resultant velocity vectors.

So, slope of the line L1 is tan 900 + 𝜃 = −1.67 and the line passes through B (0.3, 0). So,
equation of the line L1 is 𝑦 = −1.67𝑥 + 0.5

Similarly, slope of the line L2 is tan 900 − 𝜃 = 1.67 and the line passes throughA (−0.3, 0).
So, equation of the line L2 is 𝑦 = 1.67𝑥 + 0.5
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The point of intersection of these two lines is the instantaneous centre. Therefore, the coordinate
of the instantaneous centre is 0, 0.5

ANS: a

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QUESTION 7:
𝑠
For the mechanism shown below, given l2=5 cm, l1=3 cm, e=2 cm, and ϴ2=90o, the ratio is
𝜃2
________(cm/rad). The indicated motion directions are to be taken as positive.

a. 3.55
b. 2.34
c. 2.74
d. 4.56

Correct Answer: c

Detailed Solution: Refer to lecture number 23.

For the above mechanism, 𝑠 = ± 𝑙12 + 𝑙22 − 2𝑙1 𝑙2 cos 𝜃2 − 𝑒 2

Therefore, for l2=5 cm, l1=3 cm, e=2 cm and 𝛳2 = 900 ,𝑠 = 9 + 25 − 0 − 4 = 5.48 cm.
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If 𝛳2 = 900 then ∆𝐷𝑃𝑄 is a right angled triangle with ∠𝐷𝑃𝑄 = 900 . Assume, ∠𝑃𝐷𝑄 = 𝛼

𝑙1 𝑄𝐷 𝑃𝐷
= =
sin 𝛼 sin 900 sin 900 − 𝛼

Also, from ∆𝐷𝐴𝐵

𝑠
sin 𝛼 =
𝑙2 + 𝑃𝐷
𝑙1 𝑃𝐷
Therefore, substituting = cos in above, we get,
sin 𝛼 𝛼

𝑙1 (𝑙2 + 𝑃𝐷) 𝑃𝐷
=
𝑠 cos 𝛼
2
𝑙1 (𝑙2 + 𝑃𝐷) 𝑃𝐷2
⟹ = 2
𝑠 𝑠
1− 𝑙 2 +𝑃𝐷

⟹ 𝑃𝐷 = 3.697 cm
𝑠
⟹ 𝛼 = sin−1 = 39.050
𝑙2 + 𝑃𝐷

⟹ 𝐷𝐵 = 𝑠 cot 𝛼 = 6.755 cm

Hence,

𝑠 𝐷𝐵 − 𝑒 6.755 − 2
= 𝑙2 = × 5 = 2.738
𝜃2 𝐷𝐴 3.697 + 5
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Correct Answer: c

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QUESTION 8:
The angular speed of link OB for the mechanism shown below is ____________rad/s.

a. 5.153
b. 8.589
c. 7.754
d. 9.201

Correct Answer: b

Detailed Solution:

The position of relative instantaneous centre I13 is at Point P (using Aronhold Kennedy theorem).

From the figure, AB=180 mm, AP=160 mm, and the distance between I13 and I23 is
1802 − 1602 = 82.46 mm.

Therefore,
𝑉𝐴 𝑉𝐵
= 82.46 ⟹ 𝑉𝐵 = 1.03075m/s
160
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1.03075
Hence, 𝜔𝑂𝐵 = = 8.589 rad/s.
0.12

ANS: b

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QUESTION 9:
The location of the relative instantaneous centre of the slender bar based on the coordinate
system shown is :

a. (0.456 m, 0.365 m)
b. (0.456 m, 0.327 m)
c. (0.125 m, 0.292 m)
d. (0.292 m, 0.292 m)

Correct Answer: d

Detailed Solution:
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Y
P
75o

45o

O X

𝐴𝐵 𝑂𝐴
In ΔAOB, sin 105 0 = sin 45 0 ∴ 𝑂𝐴 = 0.2928

𝐴𝐵 𝐴𝑃
In ΔABP, sin 75 0 = sin 45 0 ∴ 𝐴𝑃 = 0.2928 m.

Therefore, coordinates of the relative IC of the rod is (0.2928, 0.2928) m.

ANS: d

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QUESTION 10:
The angular speed of the slender bar is ___________ rad/s.

X
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a. 1.24
b. 2.06
c. 1.41
d. 1.39

Correct Answer: d

Detailed Solution:

Y
o P
75

o
45

O X

Initial steps same as that shown for solution of Q9.

𝐴𝐵 𝐵𝑃
In ΔABP, sin 75 0 = sin 60 0 ∴ 𝐵𝑃 = 0.3586 m.

𝑉
Therefore, 𝜔 = 𝐵𝑃𝐵 = 1.39 rad/s.

ANS:d

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