Chosen problems and their final solutions of Chap.

2 (Waldron)- Par 1

1. In the mechanism shown below, link 2 is rotating CCW at the rate of 2 rad/s (constant).
In the position shown, link 2 is horizontal and link 4 is vertical. Write the
appropriate vector equations, solve them using vector polygons, and
a) determine vC4, ω3, and ω4,
b) determine aC4, α3, and α4.
Link lengths: AB = 75 mm, CD = 100 mm.

Sol: (a) vC4 = 43 mm/ s

ω3 = 0.86 rad / s CW,
ω4 = 0.43 rad / s CW.
(b) aC4 = 435 mm/ s2, α3 = 27900 rad/s2 CCW, α4 = 4.347 rad/s2 CCW.

2. In the mechanism shown below, link 2 is rotating CCW at the rate of 500 rad/s
(constant). In the position shown, link 2 is vertical. Write the appropriate vector
equations, solve them using vector polygons, and
a) determine vC4, ω3, and ω4,
b) determine aC4, α3, and α4.
Link lengths: AB = 1.2 in, BC = 2.42 in, CD = 2 in

Sol: (a) vC4 = 858 in/ s

ω3 = 216.3 rad / s CCW,
ω4 = 429 rad / s CCW.
(b) aC4 = 398000 in/ s2, α3 = 27900 rad/s2 CW,
α4 = 75700 rad/s2 CW.

3. In the mechanism shown below, link 2 is rotating CW at the rate of 10 rad/s (constant).
In the position shown, link 4 is vertical. Write the appropriate vector equations,
solve them using vector polygons, and
a) determine vC4, ω3, and ω4,
b) determine aC4, α3, and 4.
Link lengths: AB = 100 mm, BC = 260 mm, CD = 180 mm

Sol: (a) vC4 = 990 mm/ s

ω3 = 0.12 rad / s CCW,
ω4 = 5.5 rad / s CW.
(b) aC4 = 5700 mm/ s2, α3 = 18.4 rad/s2 CCW,
α4 = 9.88 rad/s2 CW.
4. In the mechanism shown below, link 2 is rotating CW at the rate of 4 rad/s (constant).
In the position shown, θ is 53°. Write the appropriate vector equations, solve them
using vector polygons, and link lengths: AB = 100 mm, BC = 160 mm, CD = 200 mm,
a) determine vC4, ω3, and ω4,
b) determine aC4, α3, and α4.

Sol: (a) vC4 = 300 mm/ s

ω3 = 3.125 rad / s CCW,
ω4 = 1.5 rad / s CW.
(b) aC4 = 3250 mm/ s2, α3 = 3.87 rad/s2 CCW,
α4 = 16.1 rad/s2 CW.

5. In the mechanism shown below, link 2 is rotating CCW at the rate of 4 rad/s (constant).
In the position shown, link 2 is horizontal. Write the appropriate vector equations,
solve them using vector polygons, and link lengths: AB = 1.25 in, BC = 2.5 in, CD =
2.5 in,
a) Determine vC4, ω3, and ω4.
b) Determine aC4, α3, and α4.

Sol: (a) vC4 = 3.75 in/ s

ω3 = 2.5 rad / s CCW,
ω4 = 1.5 rad / s CW.
(b) aC4 = 7.32 in/ s2, α3 = 1.87 rad/s2 CCW,
α4 = 1.87 rad/s2 CW.

6. In the mechanism shown below, link 2 is rotating CW at the rate of 100 rad/s (constant).
In the position shown, link 2 is horizontal. Write the appropriate vector equations,
solve them using vector polygons, and link lengths: AB = 60 mm, BC = 200 mm.
a) Determine vC4 and ω3.
b) Determine aC4 and α3.

Sol: (a) vC4 = 4500 mm/ s

ω3 = 0.12 rad / s CW,
(b) aC4 = 248000 mm/ s2,
α3 = 1060 rad/s2 CCW,
7. In the mechanism shown below, link 4 is moving to the left at the rate of 4 ft/s
(constant). Link lengths: AB = 10 ft, BC = 20 ft. Write the appropriate vector
equations, solve them using vector polygons, and
a) Determine ω3 and ω4.
b) Determine α3 and α4.

Sol: ω3 =.115 rad / s CW, ω4 =0 rad / s;

α3 = 0.023 rad/s2 CW,
α4.= 0 rad/s2 .

8. In the mechanism shown below, link 4 is moving to the right at the rate of 20 in/s
(constant). Link lengths: AB = 5 in, BC = 5 in. Write the appropriate vector
equations, solve them using vector polygons, and
a) Determine ω3 and ω4.
b) Determine α3 and α4.

Sol: ω3 = 2.82 rad / s CW, ω4 = 0 rad / s;

α3 = 7.76 rad/s2 CCW,
α4.= 0 rad/s2 .

9. In the mechanism shown below, link 4 is moving to the left at the rate of 0.6 ft/s
(constant). Write the appropriate vector equations, solve them using vector polygons,
and determine the velocity and acceleration of point A3. Link lengths: AB = 5 in, BC
= 5 in.

Sol: vA3 = 1.34 ft/s, aA3 = 4.93 ft/s2.

10. In the mechanism shown below, link 4 moves to the right with a constant velocity of
75 ft/s. Link lengths: AB = 4.8 in , BC =16.0 in , BG = 6.0 in. Write the
appropriate vector equations, solve them using vector polygons, and
a) Determine vB2, vG3, ω2, and ω3.
b) Determine aB2, aG3, α2, and α3.

Sol: (a) vB2 = 91.2 ft/s,

vG3 = 79 ft/s,
ω3 = 52 rad / s CCW, ω2 = 228 rad / s CW.
(b) aB2 = 28900 ft/ s2, aG3 = 18000 ft/ s2,
α3 = 21500 rad/s2 CW, α2 = 50000 rad/s2 CW

11. For the four-bar linkage, assume that ω2 = 50 rad/s CW and α2 = 1600 rad/s2 CW.
Write the appropriate vector equations, solve them using vector polygons, and
a) Determine vB2, vE3, ω3, and ω4.
b) Determine aE3, α3, and α4.

Sol: (a) vB2 = 87.5 in/s,

vE3 = 107.8 in/s,
ω3 = 12.7 rad / s CW,
ω4 = 33.7 rad / s CW.
(b) aE3 = 5958 in/ s2,
α3 = 303 rad/s2 CW,
α4 = 17750 rad/s2 CW.

12. In the mechanism shown below, link 2 is rotating CW at the rate of 180 rad/s. Link
lengths: AB = 4.6 in, BC = 12.0 in, AD = 15.2 in, CD = 9.2 in, EB = 8.0 in, CE = 5.48 in .
Write the appropriate vector equations, solve them using vector polygons, and
a) Determine vE3, ω3, and ω4.
b) Determine aC3, aE3, α3, and α4.

Sol: (a) vE3 = 695 in/s,

ω3 = 48.6 rad / s CCW,
ω4 = 51.6 rad / s CW.
(b) aC3 = 149780 in/ s2,
aE3 = 123700 in/ s2,
α3 = 8073 rad/s2 CW,
α4 = 1063.6 rad/s2 CW.
13. The accelerations of points A and B in the coupler below are as given. Determine
the acceleration of the center of mass G and the angular acceleration of the body.
Draw the vector representing aG from G.

Sol: α = 1122 rad/s2 CW, aG = 6980 in/s2.

14. Crank 2 of the push-link mechanism shown in the figure is driven at a constant
angular velocity ω2 = 60 rad/s (CW). Find the velocity and acceleration of point F
and the angular velocity and acceleration of links 3 and 4.

Sol: vF3 = 4.94 m/s, ω3 = 43.45 rad/s CW,

ω4 = 37.84 rad/s CW,
α3 = 484 rad/s2 CW,
α4 = 136 rad/s2 CCW,
aF3 = 256 m/s2.

15. For the straight-line mechanism shown in the figure, ω2 = 20 rad/s (CW) and α2 = 140
rad/s2 (CW). Determine the velocity and acceleration of point B and the angular
acceleration of link 3.

Sol: vB3 = 77.3 in/s,

ω3 = 20 rad/s CCW,
α3 = 140 rad/s2 CCW,
aB3 = 955 in/s2.
16. For the data given in the figure below, find the velocity and acceleration of points B
and C. Assume vA = 20 ft/s, aA = 400 ft/s2, ω2 = 24 rad/s (CW), and α2 = 160 rad/s2
(CCW).
Sol: vB = 11.9 ft/s, vC = 15.55 ft/s,
aB = 198.64 ft/s2, aC = 289.4 ft/s2.

17. In the mechanism shown below, link 2 is turning CCW at the rate of 10 rad/s
(constant). Draw the velocity and acceleration polygons for the mechanism, and
determine aG3 and α4.

Sol: α4 = 42.67 rad/s2 CW, aG3 = 116 in/s2.

18. If ω2 = 100 rad/s CCW (constant) find the velocity and acceleration of point E.

Sol: vE =28.4 in/s, aE = 4600 in/s2.