1. Design a Whitworth quick-return mechanism to have a length of stroke of 12 in.

and a time ratio of 11/7. Use a scale of 3 in. = 12 in.

2. Calculate the length of the crank and of the connecting rod for an offset slider-crank
mechanism to satisfy the condition shown.

3. The mechanism shown is driven such that VC = 10 in/s to the right. Rolling
contact is assumed between links 1 and 2, but slip is possible between links 2 and 3.
Determine the angular velocity of link 3.

4. In the mechanism shown, gear 2 rotates about O2 with a constant angular velocity
ω 2 of 10 rad/s, and gear 3 rolls without slip on gear 2. Determine the acceleration

AP3 of point P3 on gear 3 and the velocity and acceleration images of gears 2 and 3.
5. In the mechanism shown, link 2 drives link 3 through a pin at point B. Link 2
rotates at a uniform angular velocity ω 2 of 50 rad/s, and the radius of curvature R of

the slot in link 3 is 305 mm. Determine the acceleration AB3 of point B3 on link 3

and the angular acceleration α 3 for the position shown.

6. Two meshing 20° spur gears have a diametral pitch of 5. The pinion has 35 teeth
and the center distance is 15 in.
(a) How many teeth does the driven gear have?
(b) To what value should the center distance be increased in order for the actual
pressure angle to become 24° ?
7. In the following figure, two base circles are shown. Gear 1 drives.
(a) Show the line of action.
(b) Label interference points I 1 and I 2 and pitch point P.
(c) Show the maximum permissible addendums on gears 1 and 2 without interference.
(d) Find the contact ratio with maximum addendums.

rb1 = 1.81 in, rb2 = 3.62 in, c = 6 in

8. Two 1.5-module spur gears of 32 and 64 teeth, respectively, are to be replaced by

helical gears. The center distance and velocity retio are to remain the same. If the
width of the gears cannot exceed 11.11 mm because of space limitations, determine
which of the following hobs should be used keeping the helix angle as small as
possible: hob A (1.5-module) or hob B (1.25-module). In addition, determine the
numbers of teeth, helix angle, face width, and outside diameters.

9. Two shafts crossed at right angles are connected by helical gears (gear 1 and 2) cut
with a 2-module, 20° hob. Both gears are right-hand and the angular–velocity ratio
is 15:1; D2 = 131.64 mm and ψ = 60° . A design modification requires a reduction
of the outside diameter (o.d.) of gear 1 by 6.35 mm to provide clearance for a new
component. Assuming that the same hob must be used for cutting any new gears,
show that the o.d. of gear 1 can be reduced without changing the velocity ratio, the
shaft angle, and the numbers of gear teeth N1 and N 2 . The o.d. of gear 2 and the
center distance may be altered if necessary. In the analysis, calculate and compare the
following data for both the original and new gears: C12 , D1 , D2 , N1 , N 2 , ψ 1 ,
ψ2.

10. A single-threaded worm has an axial pitch of 20 mm and a pitch diameter of 50

mm. The worm rotates at 500 rev/min and drives a gear having 40 teeth and a 25°
transverse pressure angle. The power transmitted id 0.5 kW. Determine
(a) the lead angle of the worm
(b) the center distance between worm and gear
(c) the tangential, radial, and thrust forces on the worm gear.

11. The mechanical advantage of the hoist shown is to be 24. Determine the number
of tooth on gears A and B.

12. Design the smallest possible four-gear planetary train with a fixed internal gear to
reduce an input of 265 rpm to 15 rpm. Indicate which shaft is chosen as the input.
Specifications required gear 2 to have 150 teeth. Available stock sizes are as follows:
even tooth numbers from 12 to 40, every four from 40 to 100, and every five from 100
to 150. Also determine if two planet gears are possible as shown.
13. Information pertaining to the two-speed transmission shown is given in the
following table. All gears are to be manufactured using a hob cutter having a 20°
pressure angle and 0.500-inch hob pitch. All gears are to have full-depth teeth, each
with more than 15 teeth and fewer than 45 teeth. Shafts A and B are collinear. The
desired speed ratios are +38/156 (synchronizer connects gear 6 to shaft B). Determine
(a) the base circle radius of gear 2
(b) the center-to-center distance, c, between gear 2 and 3
(c) the contact ratio between gears 2 and 3
(d) the number of teeth on gears 4, 5, 6, and 7 that will generate exactly the desired
speed ratios
(e) the circular pitch of gear 4
(f) the helix angle of gear 4
(g) the helix angle of gear 7
(h) the pitch circle diameter of gear 5
(i) the addendum circle diameter of gear 5
Gear No. No. of Teeth Type of Gear
2 20 Straight spur
3 40 -
4 - Helical spur
5 - -
6 - -
7 - -

14. For the planetary gear train shown, all gears have straight spur teeth, full depth,
20° pressure angle, and module of 3 mm. Determine
(a) the speed and direction of rotation of the output shaft
(b) the relative rotational speed of the planet carrier with respect to gear 7
(c) the maximum number of equally spaced planet gears 7 that may be employed
N 1 = 35; N 2 = 21; N 3 = 27; N 5 = 56; N 6 = 100; N 7 = 50; N 8 = 180; ω1
= 500 rpm CCW

15. The motion of the mechanism shown is to be generated by means of a disc cam,
rotating counterclockwise about point O6 . Starting from position A to position B
during 120° of cam rotation. Each number on the path of link 4 represents 30° of
cam rotation. After link 4 reach B, it is to remain stationary for 60° of cam rotation,
and then return as quickly as possible to position A, where it stays during the
remainder of the cycle.
(a) Construct the cam profile
(b) Determine the pressure angles of the cam follower corresponding to cam rotations
of 30° , 60° , and 90° .
16. For the mechanism shown, ω 2 = 10 rad/s CCW and α 2 = 30 rad/s2. Link 4 is a
slider. Link 3 moves in a circular guide on link 2. For the position show,

(a) find AB 、∠BAX and ∠DAB using trigonometric equations.

(b) define suitable vectors and give the vector loop equation; list the values of all
constants and variables in the equations.

(c) find v B2 and v B3 using a complex number approach.

17. For the mechanism and the vectors shown, r1 = 135.407 mm, r2 = 100 mm, r3
= 15 mm, r4 = 110 mm, and r5 = 85 mm, link 2 is the input link, ρ 6 = 80 mm,
ρ 3 = 20 mm, at the assembly position θ 2i = 60° , θ 6i = 80° , and θ 3i = 45° .
Please use Newton-Raphson’s method to determine θ 3 , θ 4 and θ 5 (whose initial
estimates are 45° , −10° , and 66.768° , respectively) when θ 2 = 62° . The
required tolerances are 0.5° .

18. For a disk cam with an oscillating roller-follower, the radius of the base circle is
50 mm, that of the roller is 20 mm, the distance between the centers of the cam shaft
and the follower fixed pivot is 150 mm, and the distance between the centers of the
fixed pivot and roller is 140 mm, the follower is to return 40° with a cycloidal
⎛θ 1 2πθ ⎞
motion (whose standard equation for rising is y = L⎜⎜ − sin ⎟ ) during 210°
⎝ β 2π β ⎟⎠
to 360° of clockwise cam rotation. When θ = 270° , please determine by
computing (1) the radius of curvature, (2) the x and y coordinates of the contact point
between the cam and the follower, (3) the pressure angle. Please use the interval of
3° for the calculations.

19. A disc cam with an oscillating flat-face follower is shown below. The follower
starts from a dwell for 0° to 60° of cam rotation and the cam rotates clockwise.

L⎛ πθ * ⎞
The follower rises clockwise with simple harmonic motion, φ * = ⎜⎜1 − cos ⎟,
2⎝ β ⎟⎠

during the cam rotation from 60° to 180° . The follower then dwells for 60° of
cam rotation, and the return occurs with cycloidal motion,

⎛ θ* 1 2πθ * ⎞
φ * = L⎜⎜1 − + sin ⎟ , for the cam rotation from 240° to 360° . The
⎝ β 2π β ⎟⎠

amplitude L of the follower oscillation is 20° , and the follower offset d is 1 cm. The
base circle radius rb is 2 cm, and the distance r1 between pivots is 6 cm.
(a) Construct the displacement diagram for the follower using 30° plotting intervals.
(b) Lay out the rise and dwell portion of the cam profile using 30° plotting intervals.
Meanwhile, describe each step you draw.

C
A
rb

r1 D

20. Derive the expressions for angles θ3 and θ 4 in terms of θ 2 .

21. Derive the expressions for angles θ3 and θ 4 in terms of θ 2 .

22. Design a slider-crank linkage to move the coupler containing line segment AB
through the three positions shown. You may use graphical or analytical methods.
Describe your procedures when using a graphical approach.

23.
(a) Derive Freudenstein’s equation:
K1 cos θ 4 − K 2 cos θ 2 + K 3 = cos(θ 2 − θ 4 )
d d a 2 − b2 + c2 + d 2
where K1 = , K 2 = , K 3 =
a c 2ac
(b) How do you use Freudenstein’s equation?
24.
(a) Describe the fundamental law of gearing.
(b) Explain how the fundamental law of gearing can be applied in finding the
instantaneous centers of the following cam-follower mechanism.

25.
(a) Write down what you know about coupler curves.
(b) For the four-bar linkage shown below, derive the parametric equation ( θ 2 , the
parameter) for the coupler curve traced out by point C, whose coordinates are (x,y) .
Namely, derive the expressions for x and y in terms of θ 2 .
26.
(a) Find all of the instant centers of velocity for the mechanism shown below.
(b) If the velocity of point E on link 5 is 2 in/sec (pointing to the right), what is the
velocity of point C on link 2?

27. In the mechanism shown, ω2 = 20 rad/sec , CCW. At the instant shown, point D,
the center of curvature of link 3, lies directly above point E, and point B lies directly
above point A.
(a) Determine the relative velocity between 2 and 3 at point C analytically.
(b) Determine the angular velocity of 3 analytically.
28. In the gear train shown, gears 2 and 4, 6 and 7, and 3 and 9 are fixed together. If
the angular velocity of the carrier is given, determine the angular velocity of gear 9.

29. In the figure given, axis y-y is fixed while axes x-x and z-z move with the arm.
Gear 7 is fixed to the carrier. Gears 3 and 4, 5 and 6, and 8 and 9 are fixed together,
respectively. Gears 3 and 4 move with planetary motion. If the tooth numbers are N2
= 16T, N3 = 20T, N4 = 22T, N5 = 14T, N6= 15T, N7 = 36T, N8 = 20T, N9 = 41T, and
N10 = 97T, determine the speed and direction of the output shaft.
30. In the manipulator shown, the joint axes at A and C are oriented along the z axis,
and the axis at b is oriented along the m axis. In the position to be analyzed, link 2 lies
in a plane parallel to the XY plane and points along a line parallel to the Y axis. Link 3
is perpendicular to link 2. Link 4 is perpendicular to link 3. For the position to be
analyzed, Link 3 is vertical (parallel to Z). The joints between link 2 and the frame at
A and between links 3 and 4 are revolute joints, and that at B is a cylindrical joint.
Determine the velocity and acceleration of point D.

θ = 60o , θ& = 1 rad/s, θ&& = 1 rad/s 2 ;

φ& = 5 rad/s, φ&& = 0 rad/s 2 ;
s& = 1 in/s, &&
s = 2 in/s 2 ;
β = 30o , β& = 1 rad/s, β&& = 2 rad/s 2 ;
AB = 2 in, BC = 3 in, CD = 2 in.
31. In the spatial manipulator, link 2, the unit vector l, and the unit vector m are all in
the XZ plane. Vector m is perpendicular to l, and the unit vector n is perpendicular to
m. Compute the velocity and acceleration of point C.
θ = 30o , θ& = 1 rad/s, θ&& = 0 rad/s 2 ;
φ = 120o , φ& = 2 rad/s, φ&& = 3 rad/s 2 ;
AB = 1 meter, BC = 1 meter.

32. For the mechanism and data given, determine the cam torque, T12 , and the
reaction forces at A and C. Assume that there is friction between the cam and follower
only.
T13 = 50 in-lb , W2 = 16.1 lb , W3 = 32.2 lb , μ = 0.13 (coefficient of friction).

33. If T12 is 1 in-lb, find the force P16 and the reaction force at E.
34. Determine the mobility of each mechanism. Show the equations used to determine
your answers.

35. Determine the mobility of each mechanism. Show the equations used to determine
your answers.
 Second Part

1. For the mechanism shown,

(a) Specify the number of links, the types of kinematic pairs, and the number of each type, and
calculate the mobility.
(b) Determine the positions of all instantaneous centers.

B2 on 2

2. If =5 rad/s CCW, find using instant centers.

3. For the mechanism shown, determine, for the position shown,

(a) The rotational velocity of link 3
(b) The Coriolis acceleration of point B3 with respect to point B4
Use a complex number approach. 3.0 ; 8.0 ; 135°; 30 rad/sec CW.

4. For the mechanism in the position shown in the following figure, draw the velocity polygons
(1cm=10cm/sec) and determine (using the inverse method)
 (a) the rotational speed of link 2.
(b) the linear speed of link 4.

Given rO2 A = 5.0cm ; rAC = 13.0cm ; rAB3 = 5.0cm ; rO6 B6 = 8.0cm ; θ 2 = 135o ; θ&6 = 2.1 rad/s ec CW

 
5. For the given position of the mechanism shown in the following figure, determine the magnitude and
sense of the torque required to be applied to crank O2 B by the base link, to overcome (a) the inertia of
link 4 (b) the inertia of link 5 (c) the inertia of links 4 and 5. Given rO2 B = 6.0cm ,
θ& = 12.0rad/sec CCW (constant) , m = 30gram ; I = 6.0 × 10−5 kg − m 2 ;
2 4 G4 m = 50gram ;5
−5
I G5 = 6.5 × 10 kg − m 2
(Scale: 1cm=0.1N, 1cm=50cm/sec, 1cm=200cm/sec ) 2

 
 
6. The slider crank mechanism shown is driven by link 2 with ω2 = constant = 60 rad/sec. It has the
following properties:
Link 1 Link 2 Link 3 Link 4
ri (cm) 0 2.50 10.0 -
bi (cm) - 1.25 6.67 -
m(gram) - 24.6 0 50
φi (degrees) - 0 0 0
It is known that ( F12 ) x = 3.9832N and ( F12 ) y = 0.2618N when θ 2 = 45o . Please answer the following
questions at θ 2 = 45o .
 (1) The acceleration of the center G2 in the x and y direction, i.e., find (a G2 ) x and (aG2 ) y .
(2) Based on the free body diagram, find the magnitude of shaking force, and shaking moment about
O2 (The ground link 1 is assumed frictionless).

 
7. Please derive the equations governing the modified parabolic motion of the roller, where the intervals
are equally-spaced ( β / 3 ). Derive both the lift and return motion.

8. Lay out the cam profile for the cam and its displacement diagram shown in the following figures. Use
30o intervals. Measure the maximum pressure angle and record its value. Note that you need to state
graphical procedures step by step.
9. Lay out thee cam profiile for the cam
c and its displacemeent diagram
m shown in the followiing figures. Use
30o intervalls. Note thatt you need to
t state grapphical proceedures step by step.

10. For the trannslating flatt-faced follower shownn below, th

he radial dissplacement of the follo
ower relativve to
the origin of
o the coorddinate systeem located at the centeer of the caam is given by , where
w
is thee function defining thhe follower displacement as a fuunction of tthe cam ro
otation anglle .
Please answwer the folloowing questtions.
(a) Derive expressionss for the cam
m coordinattes (x, y) in terms
t of , if the cam rotates clocckwise.
(b) If 1 for 0 , derive
d an expression
e for the raadius of cu urvature and
determiine whetherr cusps willl occur in this range,, given thee equation ffor radius of
o curvaturre as
follow.
⁄ ⁄
 
⁄ ⁄ ⁄ ⁄

11. A pair of standard, fulll-depth spuur gears hass been cut with
w a 20° hob. The ppinion has 27
2 teeth andd the
 gear 65 teetth. The diam
metral pitchh is 2. Find the
t velocity
y ratio, the pitch
p circle rradii, the ou
utside diameeters,
the center distance,
d andd the contacct ratio.

12. In the folloowing figuree, the shaft with the arrm is the ou
utput shaft. For one coounterclockw
wise turn off the
lower shaftft, which coontains gearrs A and H,H determin ne the numbber of turnss and the direction
d off the
rotation forr the output shaft.

Outpput

Inpuut

13. In the gear train showwn in the folllowing figuure, gear A is fixed, thhe arm is thhe driver, an
nd gear D iss the
driven memmber.
(a) Deetermine thee speed redduction for the gear trrain. If thee arm rotatees countercclockwise whenw
vieewed from the
t right endd, what is thhe direction
n of rotation of gear D?
(b) Sam me as (a) exxcept the nuumber of teeeth on gearss A and D arre interchannged.

14. The overdrrive mechannism of an automobile

a is illustrateed in the folllowing figuure. When the
t overdrivve is
“in”, the arrm receivess power from m the enginne and turn ns at enginee speed. Geear A is fixeed. The inteernal
gear C is directly
d connected to and
a turns wiith the driv ve shaft whiich connectts the transm mission andd the
differential. The rear axle
a ratio is 3.5, and thee outside diiameter of thhe tires is 00.7m. At a car
c speed off 100
km/hr, deteermine the speed of thhe engine (a) ( when th he overdrivve is not “iin” (direct-d
drive enginne to
differential)), and (b) when
w the oveerdrive is “iin”.
15. A slider crank mechanism shown below is to be used to generate (approximately) the function Y = X 5 / 2
over the range 1 ≤ X ≤ 4 . Exterior constants on the design require that r3 = 4.5 cm, (θ 2 ) s = 150o ,
∆θ 2 = −120o , ss = 2.0cm , ∆s = 5.0cm .
(a) Determine the number of precision points required to complete the design of the mechanism.

(b) Use Chebyshev spacing, and determine the values for the unknown design variables r1 and r2

which will allow the mechanism to approximate the function.

(c) Find the error when X = 2.6 .

(d) Now the parameter r3 is also unknown. Determine the number of precision points required to

complete the design. Use Chebyshev spacing to determine the values for all the unknown design

variables r1 , r2 , r3 . Find the error when X = 2.6 . Compared with the result in (c), which one has

smaller structural error?

16. Please analytically design a four-bar mechanism O2CDO4, with the given locations of the base pivots
O2 = (0,0) and O4 = (5,−1)cm , that will guide a rigid-body AB through the specified three positions
shown below (all unites are in cm). Note that position A1B1 is horizontal and position A2B2 is vertical.
Determine the link lengths of the four-bar mechanism. What type of four-bar mechanism is it
(crank-rocker or…)?
1. For the motion of body 2 relative to frame1, in the position shown,
(a) locate the velocity pole P12,
(b) plot a portion of the fixed and moving polodes using an equivalent four-link linkage, and
(c) find the inflection circle kw .

2. A small circle of diameter 30 mm rolls without slip on the outside of a large, fixed circle of diameter 60 mm. The small circle rotates at ω = 1 rad/s
clockwise.
(a) Find the instantaneous velocity of points A , C, and P on the small circle.
(b) Find the pole changing velocity, u.
(c) Use Hartmann construction to find the center of curvature A0 of the path of the point A on the small circle. Similarly find B0 . Construct a
four-bar linkage A0 ABB0 to approximate the two original wheels.
3. For the motion of the body 2 relative to frame 1, in the position shown, ω2 =1 rad/s CCW and α 2 = 1 rad/s2 CCW.
(a) By application of the Euler-Savary equation, determine the inflection circle kw; then check the result by using a graphical method.
(b) Determine the center of curvature of the path traced by the point C.
(c) Determine the center of curvature of the path traced by the point D.
(d) Determine the tangential circle kT .
(e) Determine the acceleration of the point C.

C D

4. For the motion of link 3 relative to link 1, determine and show the following items if θ 2 = 15° and ω2 = 1 rad/s CCW (constant):
(a) The velocity pole: P
(b) The pole tangent ant pole normal: PT & PN
A0 A = 1.25
(c) Inflection circle: kW
AB = 2.5
(d) The center of path curvature of the coupler point C: C o
A AC = 1
(e) Tangential circle: kT C
(f) Acceleration pole: G θ2
A0 B
(g) Pole changing velocity: u
(h) Acceleration of the velocity pole P: aP
5. A rigid body AB is guided through four positions shown.
(a) Locate all poles Pij and intersection points π ij .
(b) Select an opposite-pole quadrilateral and draw the center-point curve m1234.
(c) Similar to (b), draw the circle-point curve k1234.
(d) Locate the point D (in position 1) belonging to the moving plane and having its four positions ( D1 , D2 , D3 , D4 ) on a straight line.

6. For the four positions of a body, the disposition of the six poles are as follows: P12 = ( 0, −6 ) , P13 = ( 0, −2 ) , P14 = ( −2, 0 ) , P23 = ( 2, 0 ) ,
P24 = ( 0, 2 ) , P34 = ( 0, 6 ) .
(a) Find the center-point curve m1234 and label intersection points π ij on the curve.
(b) Find the circle-point curve k1234 and label P231 , P241 , P341 , and π ij1 on the curve.
(c) Find the point A1 that its four homologous points (e.g. A1 , A2 , A3 , A4 ) lying on a straight line lA.
(d) Find the line l1 that its four homologous lines (e.g. l1 , l2 , l3 , l4 ) passing through a fixed point S0.
7. A straight flat plate rolls without slip on the outside of a fixed cylinder with a radius of 50 mm.
(a) What is the path generated by a point A on the flat plate? y ?
(b) For the position shown, find the inflection circle kw of the plate.
(c) Find the circling-point curve ku of the plate.
(d) Find the centering-point curve ka of the plate.
(e) Find the Ball point U of the plate.
O 60o
(f) Find the point S0 (four infinitesimally separated homologous lines passing through a fixed point). x

8. For the position of a four-bar linkage shown, link a is located on the pole normal. The velocity pole P of the coupler c is located on link b
(a) Find the dimensions of the linkage and the polar coordinates of the four joints with respect to the pole tangent.
(b) Find the circling-point curve ku of the coupler. B0
Pole tangent
(c) Find the centering-point curve ka of the coupler.
(d) Find the Ball point U of the coupler. b
(e) Find the point S0 of the coupler (four infinitesimally separated homologous lines passing through a fixed point).
c
f
a

A0

Pole normal
9. We wish to synthesize the dyad B0 BA ( Z1 and Z 2 ) to guide a roller C attached to pin A in a slot defined by R j ( j = 1, 2, …, N) such that the
input angle ( φ j ) and positions R j are given.
(a) Write the dyad- or standard-form equations for this linkage in its first and jth positions.
(b) List the specified parameters and unknown parameters.
(c) Determine the maximum number of positions that this linkage can be synthesized for.

C
B0

B
10. The coordinates of the coupler point E and the corresponding crank angles are as follows:
E1 ( 29, 89 ) ,
E2 (17, 92 ) , φ12 = 20o CCW
E3 ( 6, 90 ) , φ13 = 40o CCW
E4 ( −4, 85 ) , φ14 = 60o CCW

(a) What is the number or solutions of synthesizing a four-bar linkage to generate a coupler curve passing through E1 , E2 , E3 , E4 and at the
same time to coordinate the three crank angles φ12 , φ13 , φ14 ? What are the choices? How can it be solved by a geometrical method?
(b) Synthesize the four-bar linkage A0 ABB0 using the point-position reduction method.
11. (a) Determine the transmission and deviation angles for the two mechanisms shown below, where the input is link 2.
(b) Determine the mechanical advantage for the two mechanisms.

(a) (b)

12. Design a slider-crank mechanism to meet the following requirements:

(a) φ12 = 40° CW, s12 = 20 mm ( ← ).
(b) φ13 = 70° CW, s13 = 40 mm ( ← ).
(c) the offset e = 10 mm.
Then, show the cognate of the synthesized slider-crank mechanism.
13. (a) Design a quick return crank-rocker mechanism with a time ratio of advance to return of 1.5 and the rocker oscillation angle of 80o .
(b) Determine the available range of φ0 .

14. Construct a four-bar function generator to coordinate the following angular displacements :
φ12 : ψ 12 = −30o : 15o , φ13 : ψ 13 = −60o : 30o , φ14 : ψ 14 = −90o : 60o .
15. Design a four-link crank-rocker to meet the following requirements.
(a) The coupler curve generated by a coupler point E is a symmetric curve.
(b) The coupler curve has two cusps: E1 ( −20 mm, 0 mm ) and E2 ( 20 mm, 0 mm ) .
The corresponding crank angle is 150o CW when the coupler point moves from E1 to E2.

16. As shown in Figure, β1 = 30o , β 2 = 40o , and a = 12 mm. Design a four-bar linkage to generate a symmetrical coupler curve as follows, i.e.,
determine the values of f, b, and β .
(a) The symmetrical coupler curve exhibits two cusps.
(b) The symmetrical coupler curve exhibits an 8 figure.
(c) The symmetrical coupler curve exhibits an internally touching node.
(d) The symmetrical coupler curve exhibits one cusp.
17. A wheel of radius r rolls without slip on a horizontal straight track.
(a) Find the inflection circle k w of the wheel.
r
(b) Find the circling-point curve ku of the wheel.
(c) Find the centering-point curve ka of the wheel.
(d) Find the Ball point U of the wheel.
(e) Find the point S0 (four infinitesimally separated homologous lines passing through a fixed point).

18. In the inner frame position of a four-bar linkage A0 ABB0 , if the length of the crank a is 20 mm, and AB = B0 B = A0 B0 = 44 mm,
(a) find the inflection circle k w of the coupler c with respect to frame f.
(b) find the circling-point curve ku of the coupler using a geometric method.
B
(c) find the circling-point curve ku of the coupler using an analytical method.
(d) find the Ball point U of the coupler using a geometric method.
(e) find the Ball point U of the coupler using an analytical method.

c b

A0 B0
a A

f
19. Motorcycles are often ridden on rough terrain, requiring good suspension systems. Several of the popular systems are shown in Figs.(a) through (c).
(a) What type of six-bar chain is represented by each design?
(b) Synthesize some new six-bar mechanisms having the same kinematic characteristics and constraints.

(a) (b) (c)

20. Given the coordinates of two points E, F in the three positions c1 , c2 , c3 of the body c :
E1 (2, 1.5) E2 (3, 1) E3 (3.6464, 1.8536)
F1 (3, 1) F2 (4, 0.5) F3 (4.7071, 2.2071)
Assume the coordinates of A0 are A0 (1, 0 ) , and those of B0 are B0 ( k , ∞ ) . Find A1 , B1 , and draw this slider-crank mechanism in the three
positions.
21. A given four-bar linkage A0 ABB0 is as shown in the figure. The polar coordinates of the four joints are: A0 ( 7,30o ) , A ( 3,30o ) , B ( 3.267, 60o ) ,
B0 ( 6, 60o ) .
(a) Find the circling-point curve ku of the coupler AB with respect to frame A0 B0 .
(b) Find the centering-point curve ka of the coupler AB .
(c) Find the Ball point U of the coupler AB .
(d) Find the point S0 (four infinitesimally separated homologous lines passing through a fixed point).

22. An end loader is to be designed for attachment onto crawler-type tractors. The linkage must have two degrees of freedom: one allowing the system
to lift the bucket and the other to allow the bucket to be tipped while the first is held fixed. Assume that all joints will be those allowing only one
relative degree of freedom.
(a) What is the minimum number of binary links that your design must contain?
(b) What is the minimum number of links that would produce a linkage with F=2? [Hint: Consider part (a).]
(c) Assuming that a linkage with the fewest number of links in part (b) will not work, what is the fewest number of links in next more complicated
linkage that will work? Synthesize all possible linkages with this number of links.
23. By application of the Euler-Savary equation, find the center of curvature of the path which A3 traces with respect to link 2.
3 ′′
O2O3 = 4′′ , O2C = , O2O3 parallel to TT.
4

24. The figure shows a construction method of finding the inflection circle of the coupler AB of four-bar linkage A0 ABB0 . Mark the letters at all
unlabelled points and explain the construction procedure.
25. The figure shows two bodies a, b in rolling and sliding contact, rotating about their respective fixed centers A0 , B0 . The bodies a , b are in
contact at a point E. Let this point on a , b be denoted respectively by Ea , Eb . The center of curvature of the contacting curve on a is A, and
that of the contacting curve on b is B. Find the center of curvature Ea 0 of the path of Ea relative to the body b.
1. For the static analysis with considering Coulomb friction at all joints of the
mechanism as shown in the figure below, OA = 6 in, OC = 12 in, θ2 = 30o, r3 = 15.875
in, θ3 = 70.894o, h3 = 0.2857, f3 = 3.9278 in, for each revolute joint the radius is 0.5 in,
for the slider, the width and the length of the slider are 3 and 6 in, respectively, the
load on link 4 is torque T4, please (a) complete the free-body sketches of all moving
links, with carefully defining all symbols used , (b) give all equivalent equations for
determining the components of the bearing forces and input torque Q acting on link 2,
(c) indicate all the unknown variables (to be solved) within the equivalent equations.

2. For the static analysis with considering Coulomb friction at all joints of the
mechanism as shown in the figure below, OA = 6 in, OC = 12 in, θ2 = 30o, r3 = 15.875
in, θ3 = 70.894o, and the 1st order kinematic coefficients are h3 = 0.2857, f3 = 3.9278
in, for revolute joint C the radius is 0.5 in and the frictional coefficient is 0.01, for the
slider, the width and the length of the slider are 3 and 6 in, respectively, and the
frictional coefficient is 0.1, the load on link 4 is torque T4, please (a) complete the
free-body sketches of all moving links, with carefully defining all symbols used , (b)
give the expressions for the evaluation of frictional force of the slider and frictional
torque at C, (c) give all equivalent equations for determining the components of the
bearing forces and input torque Q acting on link 2.
3. For the four-bar linkage as shown below (the dimensions are in meters), the steel
(whose density is 7800 Kg/m3) crank and rocker have uniform cross sections of 100
mm wide by 50 mm thick, and the aluminum (whose density is 2700 Kg/m3) coupler
is 50 mm thick. It is required that the mechanism need be full force balanced by
adding disk counterweights (with 50 mm thick) on the crank and rocker, and the
contours of the counterweights are required to be tangent to the centers of the fixed
pivots. Please determine (a) the mass and mass center location of each original
moving link, (b) the radii and phase angles of the two counterweights, (c) the masses
and mass center locations of the crank and rocker after full force balanced,.

4. A slider-crank linkage, used in a single-cylinder engine, has the following

properties: crank length: r = 3, conrod length l = 12, crank m2 = 0.045, rG2 = 0.5r,
conrod m3 = 0.12, rG3 = 0.4l, and piston m4 = 0.15. If the crank speed is 3000 rpm,
please (1) determine the 2 lumped masses mA & mB for statically equivalence, (2)
determine the x and y components of the accelerations of mA & mB, (3) determine the
shaking force, and the inertia torque for a crank position of 25o.

5. Calculate the shaking force and moment balance conditions though the second
harmonic for the inline 4-cylinder and 4-stroke cycle engine with a 0, 90, 270, 180o
crankshaft, if mB is 2 Kg, ω = 3600 rpm (constant), crank length r = 0.1 m, conrod
length l = 0.4m, and the inertia force generated by mA is balanced, additionally, z1 = 0,
z2 = 1, z3 = 2, and z4 = 3.

6. A mass-spring damper system as shown below, m = 30Kg, k = 200 N/m, c = 9

N×sec/m, please determine the undamped and damped natural frequencies and the
value of critical damping of the system.

7. The cam in the figure is a pure eccentric with a = 50 mm and turns at 300 rpm
(constant). The mass of the follower is 3 Kg. The spring has a rate of 30 N/m and
a preload of 0.5 N. Please give the formulation of the follower force (which is a
function of ωt), and then find the maximum and minimum follower forces.

8. For the slider-crank mechanism as shown in the figure, please (a) complete the
position, velocity and acceleration analysis of each moving link and mass center, also
determine the velocity of the acting point of FP3 (graphical methods are suggested), (b)
complete the free-body sketches and carefully define all symbols used; (c) determine
the driving torque by using the power equation. The dimensions of the mechanism
are as the followings: O2A = 40, AB= 120, c = 0, m2 = 0.2, m3 = 2, m4 = 6, I2 = 0.1, I3
= 0.2, Rg2 = 20, δ2 = 0o, Rg3 = 50, δ3 = 0o, FP3 = 100, δF , = 30o, RP3 = 5, δR = 90o,
P3 P3
the units for the lengths, masses, moments of inertia and force are mm, Kg, Kg*m2,
and N, respectively. The kinematic states of link 2 are θ2 = 45o, ω2 = 10 rad/sec, and
α2 = 20 rad/sec2, respectively.

9. For the slider-crank mechanism as shown in the figure, please (a) complete the
free-body sketches of three moving links and carefully define all symbols used; (b)
determine all the pin forces and driving torque needed at the instant, if the friction and
inertia forces are neglected (hint: you can solve them starting from those on the slider,
then link 3, finally the crank). The dimensions of the mechanism are as the
followings: O2A = 40, AB= 120, c = 0, m2 = 0.2, m3 = 2, m4 = 6, I2 = 0.1, I3 = 0.2, Rg2

= 20, δ2 = 0o, Rg3 = 50, δ3 = 0o, FP3 = 100, δF , = 30o, RP3 = 5, δR = 90o, the units for
P3 P3

the lengths, masses, moments of inertia and force are mm, Kg, Kg*m2, and N,
respectively.

10. For the static analysis with considering Coulomb friction at all joints of the
mechanism as shown below, please (a) complete the freebody sketches of all moving
links, with carefully defining all symbols used , (b) give the mathematic models for
the evaluation of all frictional forces and frictional torques, (c) give all equivalent
equations for determining the components of the bearing forces and input torque Q, (d)
indicate all the independent variables and dependent variables within the equations.

11. (a) Draw a crank phase diagram for a 180o opposed, four-cylinder engine with a 0o,
180o, 180o, 0o crankshaft; and (b) calculate its shaking force, torque, and moment
balance conditions though the second harmonic.

12. Derive expressions, in general terms, for the magnitude and angular location with
respect to the first crank throw, of the mass-radius products needed on the crankshaft
to balance the shaking moment in a 90o vee-four engine with a 0o, 180o crankshaft.

13. The four-bar linkage in the left figure has rectangular steel links of 20×10 mm
cross section similar to that shown in the right figure. Design the necessary balance
weights and other features necessary to complete eliminate the shaking force and
shaking moment. Steel density ρ = 7800 kg/m3, and the distance to the
force-balance mass from the pivot point on link 2 and 4 are 75 mm and 70.8 mm
respectively.

m[h 2 + (a + 2e) 2 ]
I CG =
12

14. A slider-crank linkage, used in a single cylinder engine, has the following

properties: crank length r = 2.6, conrod length l = 10.4, crank m2 = 0.06, crank rG2 =
0.38r, conrod m3 = 0.18, conrod rG3 = 0.4l, and piston m4 = 0.16. If the crank speed

is 100 rad/s and the crank position is 30o, please determine (a) the two-lumped masses
located at the crank-pin and wrist-pin, respectively; (b) the shaking force and inertia
torque; (c) the crank-pin force if the gas force is 500.

15. For the four-bar linkage as shown in the fugure, if the inertia and the gravity are
considered, (1) please give the free-body diagram of each moving link, (2) give the
scalar force and moment equilibrium equations of each moving link, (3) give all the
simultaneous equations in a matrix form. (M.O.I. should be set with respect to the
mass center, Fp 3 is the known external force, and T2 is the unknown input torque).

16. For the slider-crank mechanism shown in the figure (I is with respect to the mass
center), a force P = 17800 N acts to the left through joint C on link 4. The crank

rotates at a constant speed of 1800 rpm (ccw). At the instant, ω 3 = 25.8 rad/sec

α 3 = 8250 rad/sec (ccw) and the acceleration of link 4 is 1006 m/sec . If the
2 2
(cw),

gravity and the friction are neglected, please determine (1) the inertial force and
inertial torque of link 3, (2) forces F12 and F14. (Hint: Firstly, you can determine F14
with the moment equilibrium equation of the free-body including both links 3 and 4
with respect to point B.).
 17. In the epicyclic train shown below let the letters a, b, c, d stand for the tooth
numbers of the indicated gears. Determine the equivalent moment of inertia of the
train. Take the epicyclic arm, 2, to be the input element. ( Ii is the moment of
inertia of the link i, with respect to the mass center.).

18. For the slider (link 4) in the fixed straight slot (link 1) as shown in the figure, the
slider is moving to the right. Q = 150 N. The inertial force and inertial torque are
to be neglected, but the friction and gravity should be considered. Please (1) give
the free-body diagram of the slider and the model for the kinetostatic analysis of the
system; (2) give the equations for the kinetostatic analysis; (3) give the results after
the second iteration of solving the problem.( μ = 0.2 ).

19. For the punch press shown in Fig. 3, the data of input torque (N-m) vs position
(deg) of the crank are given in the following table. The moment of inertial with
respect to the crank shaft is 0.1 Kg*m2. Please determine the moment of inertial of
the flywheel such that the coefficient of fluctuation is 3%.

T12 0 -500 -1000 -2000 -500 500 2000 1000 500 5000 5000 -500 -1000 -2000 -500 500 2000 1000 500

θ 0 20 40 60 80 100 120 140 160 170 180 200 220 240 260 280 300 320 340
20. In the four-bar linkage as shown in Fig.1 (length:mm), the shaft at O2 exerts a
torque of 0.565 N*m (cw) on link 2. Also there is a 44.5 N force acting vertically
downward on link 3 midway between B and C. If the inertia, friction and gravity are
neglected. Please determine the resisting torque which the shaft at O4 exerts on link 4
and find the forces exert on frame at O2 and O4. The positions of the links can be
measured graphically.

21. Calculate the size and angular locations of the counterbalance mass-radius
products needed on links 2 and 4 of the 4-bar linkage as shown below for the
complete force balance by the method of Berkof and Lowen. The dimensions of the

links are m2 = 0.05 blob , m3 = 0.1 blob , m4 = 0.2 blob , L2 = 3 in , L3 = 10 in ,

L4 = 12 in , B2 = 2 in , B3 = 4 in , B4 = 6 in , and the phase angles of the mass

centers φ2 = 20° , φ3 = 0° , φ4 = 40° .

22. For the inverted slider-crank mechanism shown in the figure, OA = 60 mm, OC =
120 mm, OG2 = 30 mm, CG4 = 90 mm, m2 = 3 Kg, m3 = 2 Kg, m4 = 8 kg, I2 = 0.12
N*m2, I3 = 0.05 N*m2, I4 = 2 N*m2, input torque is Q and output torque on link 4 is L.
Please determine (1) the 1st and 2nd kinematic coefficients of each link and each mass
center; (2) the equation of motion.

23. As shown in the figure, an airplane engine drives a propeller through a planetary
speed reducer giving a speed reduction of 2 to 1. The propeller and engine crankshaft
masses are lumped as shown in the figure. Please find the natural torsional frequency
of the system in cycles per minute.
24. The steel shaft (density is 7830 Kg/m3) in the figure is 38 mm in diameter and is
simply supported in bearings as shown. Please (a) determine the critical speed in
rpm of the shaft along; (b) determine the critical speed in rpm for two disks along (the
mass of the shaft is neglected) (c) determine the critical speed in rpm for the shaft and
two disks, using Dunkley’s equation.

25. Assume P and Q (applied to crank 2) to be given. All geometric and physical
constants are known. The task is to analyze the dynamic characteristics of the
mechanism. Please (a) give the free-body diagram of each moving link and define
appropriate symbols, (b) give the power equation needed for the dynamic analysis, (c)
outline the computation procedure for the dynamic analysis.
1. Please describe the advantages and disadvantages of compliant mechanisms, when compared with
rigid-body mechanisms.

2. Consider the following Euler-Bernoulli-von Karman equations

′ ′
{EA ⎡⎣ Le′ + 1
2 ( y′)
2
} =0;
⎤
⎦ ( EIy′′ )
″
{
− y ′EA ⎡ Le′ +
⎣
1
2 ( y′)
2
} =0
⎤
⎦
with boundary conditions
e = 0 , w = 0 , w′ = 0 at x=0
( )
EA Le′ + 12 ( w′) 2 = L2 Fx , w′′ = 0 , EAw′( Le′ + 12 ( w′) 2 ) − EI ′w′′ − EIw′′′ = L3 Fy at x=L

Please recast the differential equations in a state-space form using the state variables as follows.
[ q1 q2 K q6 ] = [e w e′ w′ w′′ w′′′]  
To solve using shooting method, please identify unknown initial values and known terminal values.
Express them in terms of the state variables.

3. Consider a symmetric compliant mechanism (ℓ 3) whose left part is shown in the following figure.
List the boundary constraint equations and unknown variables (initial values and parameters) if it is to be
solved by the generalized shooting method.
∆x  
n2
L2, EI2, η2
L1, EI1, η1 Fin

y
L3, EI3, η3 n3
n1 x

4. Consider the following massless rod that has a mass m attached at its end. The rod has length L and its
axial displacement due to the end mass is denoted as y(x). The potential energy of the rod-mass system
and its geometric boundary condition are listed as follows. Please derive the governing equation and the
natural boundary condition using the principle of minimum potential energy.

x EA
0 0
g y(x)

5. What is the difference between a lump-compliance and distributed-compliance mechanism? Please be

specific.

6. The design of compliant mechanisms can be broadly categorized into three hierarchal levels. Please
describe these design levels in detail.
7. Metals and plastics are often used as the material for compliant mechanisms. Please compare the
advantages and downsides of these two materials.

8. Describe and compare two curve parameterization methods to design the shape of a compliant
mechanism.

9. Describe the small deflection assumption often made with the Euler-Bernoulli beam equation. You need
to provide a graphical explanation.

10. The pseudo-rigid-body model can be applied to analyze the deformation of compliant mechanisms.
Describe specifically how it works and what are its advantages and disadvantages.

11. Elliptical integrals can be applied to analyze the deformation of compliant mechanisms. Describe
specifically how it works and what are its advantages and disadvantages.

12. Shooting methods can be applied to analyze the deformation of compliant mechanisms. Describe
specifically how it works and what are its advantages and disadvantages.

13. Gauss quadrature formulae are very efficient algorithms to integrate equations that determine the
deflection of compliant mechanisms. Please derive the two-point Gauss quadrature formula that has the
following form.

I ≅ c0 f ( x0 ) + c1 f ( x1 )

14. Consider a flexible beam with a moment M0 applied at the free end. Show the following relationships.

δx sinψ 0 and δ y 1 − cosψ 0

=1− =  
L ψ0 L ψ0

M0
EI, L
x

δy
y δx
M0
ψ0
 
15. Please derive the governing equation along with its boundary conditions of a cantilever beam subject to
an external force F and moment M0 as shown in the following figure.
 x
s F
ψ
EI, L
y α
M0
ψ0
 
16. The topology synthesis of compliant mechanisms can be categorized by its two approaches, namely,
ground structure approach and continuum element approach. Please describe how these two approaches
work in detail and point out their major challenges.

17. The following figure shows a compliant four-bar mechanism. Link 1 has (pinned to ground) length L1
and link 2 (clamped to ground) has length L2. The rigid segment AB has length L. A horizontal force P is
applied on point A. The flexural rigidity for link 1 and 2 is denoted as EI. List the boundary constraint
equations and unknown variables (initial values and parameters) if it is to be solved by the generalized
shooting method.

δX
P 
A B

y Link 1
Link 2

x  
 

18. The following figure shows an initially curved compliant segment clamped at one end and subject to
load at the other end as indicated. The compliant segment is characterized by a non-dimensional arc
length 0 1 . The original and deflected angle of rotations of the segment are expressed as η and ,
respectively. Please derive the governing equations using the principle of minimal potential energy.

19. A compliant link can often be effectively modeled as bars interconnected by torsional springs. One such
example is shown in the following figure. The energy of the bar-spring system is zero when θ1 = θ2 = θ3
 = 0. Include the weighht of the barr and treat thhe torsionall spring as linear.
l Derivve the poten
ntial energyy and
kinetic enerrgy of the syystem.

20. The beam shown beloow is subjeccted to disttributed axial force f(xx) and distriibuted transsverse load q(x)
(measured per unit lenngth), horizontal point load P, traansverse poiint load F, and bending moment M at
x
x=L

The strainn energy U and

a potentiaal V of appliied forces are
a given as

L ⎡ ⎛ du ⎞ 2 ⎛ d 2 w0 ⎞
2
⎤
U= 1
∫
2 0
⎢ EA⎜ 0 ⎟ + EII ⎜⎜
⎢⎣ ⎝ dx ⎠ ⎝ dx
2
⎟
⎟
⎠
⎥ dx
⎥⎦

L dw0
V = ∫ ( fu 0 + qw0 )dx + Pu 0 ( L) + Fw
F 0 ( L) + M ( − )
0 dx x = L
Derive the governing equationss and naturral boundarry conditionns of the bbeam given
n the geom
metric
boundary conditions as follows
d
dw
u 0 (0) = 0 ; w0 (0) = 0 ; 0 = 0.
dx x =0

21. A compliannt link is suubjected to a distributted load q0 and verticaal spring att its end. Please
P derivve its
governing equations
e w the assuumption of small
with s deflecction. Negleect deformaation due to shear.

22. Figure (a) shows

s a fouur-bar comppliant mechaanism with input torquue Tin and ouutput torquee Tout indicaated.
Since comppliance is luumped at thhe flexural pivots, it can
c be modeeled as a riigid-body mechanism
m with
reaction torrques Ti (i=
=1,2,3,4) reppresenting resistance
r to
o deformatiion. A free--body-diagrram is showwn in
 Figure (b) with
w reactioon forces Rixi and Riy (i=
=1,2,3,4) allso indicated. Find an eexpression for Tout thatt has
the followinng form.
 

where ; ; ri is the leength of thee ith link;

  ; ; . 

(a) (b)

23. What is thee difference between stiiffness and flexibility? How do theese two affeect a compliant mechannism
respectivelyy?

24. Answer thee following questions:

(a) List twoo things thaat can make a compliannt member more
m flexiblle.
(b) For a coompliant segment withh rectangularr cross-secttion, what iss the most ccritical dimeension that
determiines the flexxibility of thhe compliannt segment?
(c) List twoo types of geometric
g noonlinearitiess.

25. List three tyypes of com

mpliant actuuators. Descrribe their working
w prinnciples and m
major applications. Whhat
are their lim
mitations resspectively?