Appendix A

Position Kinematic Analysis.

Trigonometric Method

Chapter 3 shows the kinematic analysis of several mechanisms by using Raven’s

method. Writing the equations that solve the problem when using this method is
easy. However, finding the solution to such equations can be a complicated task.
For that reason, we introduce the trigonometric method in this appendix, which is
much simpler to write and solve.

A.1 Position Analysis of a Four-Bar Mechanism

Consider the mechanism shown in Fig. A.1 in which O2 O4 , O2 A, AB and O4 A are

the lengths of links 1, 2, 3 and 4 respectively. On the other hand, angles h2 , h3 and
h4 define the angular position of links 2, 3 and 4 considering the counterclockwise
rotations positive.
In order to determine angles h3 and h4 , we need to find the value of distance O4 A
(Eq. A.1) as well as angles b (Eq. A.3), d (Eq. A.7) and / (Eq. A.5). The value of
distance O4 A can be determined in triangle DO2 AO4 :
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2 2
O4 A ¼ O2 O4 þ O2 A  2O2 O4 O2 A cos h2 ðA:1Þ

The same triangle verifies (Eq. A.2):

O4 A sin b ¼ O2 A sin h2 ðA:2Þ

where:
 
O2 A
b ¼ arcsin sin h2 ðA:3Þ
O4 A

Angles / and d between bars 3 and 4 and diagonal O4 A respectively, can be

worked out from triangle DABO4 . It verifies (Eq. A.4)

© Springer International Publishing Switzerland 2016 367

A. Simón Mata et al., Fundamentals of Machine Theory and Mechanisms,
Mechanisms and Machine Science 40, DOI 10.1007/978-3-319-31970-4
368 Appendix A: Position Kinematic Analysis. Trigonometric Method

Fig. A.1 Parameters B θ4

involved in the calculation of
the link positions in a four-bar
mechanism by means of the A θ3
φ
trigonometric method
δ

θ2 β
O2 O4

2 2 2
O4 B ¼ AB þ O4 A  2ABO4 A cos / ðA:4Þ

We can clear / from Eq. (A.4):

2 2 2
AB þ O4 A  O4 B
/ ¼ arccos ðA:5Þ
2ABO4 A

In the same triangle its verified (Eq. A.6):

O4 B sin d ¼ AB sin / ðA:6Þ

Thus:
 
AB
d ¼ arcsin sin / ðA:7Þ
O4 B

Once the values of b, d and / have been determined, we can obtain h3 (Eq. A.8)
and h4 (Eq. A.9) in the mechanism (Fig. A.1):

h3 ¼ /  b ðA:8Þ

h4 ¼ ðb þ dÞ ðA:9Þ

When angle h2 takes values between 180° and 360°, angle b has a negative value
and Eqs. (A.8) and (A.9) are also applicable (Fig. A.2).

Fig. A.2 Open four-bar B θ4

mechanism with link 2 in a
position between 180° and
360° θ2
O2 O4
δ
β
φ

θ3
A
Appendix A: Position Kinematic Analysis. Trigonometric Method 369

Fig. A.3 Calculation of the

position of links 3 and 4 in a
A θ3
crossed four-bar mechanism
by means of the trigonometric
method φ

θ2 β
O2 δ O4
B θ4

Fig. A.4 Crossed four-bar θ2

mechanism with link 2 in a O2 O4
position between 180° and β
360° δ

θ3 φ
A
B θ4

For a crossed four-bar mechanism (Fig. A.3) we will use Eqs. (A.10) and (A.11):

h3 ¼ ð/ þ bÞ ðA:10Þ

h4 ¼ d  b ðA:11Þ

Again, when angle h2 takes values between 180° and 360°, angle b has a
negative value and Eqs. (A.10) and (A.11) are also applicable (Fig. A.4).

A.2 Position Analysis of a Crank-Shaft Mechanism

Figure A.5 shows a crank-shaft mechanism. xB and yB are the Cartesian coordinates
of point B with respect a system centered on point O2 with its X-axis parallel to the
piston trajectory. xB is positive while yB is negative.

Fig. A.5 Crank-shaft mecha- A θ3

nism and the parameters
involved in the position anal-
ysis with the trigonometric 2
method θ2 3
O2

yB μ B
4
xB
370 Appendix A: Position Kinematic Analysis. Trigonometric Method

Position of links 3 and 4 can be worked out using Eqs. (A.12)–(A.15):

AB sin l ¼ O2 A sin h2  yB ðA:12Þ

O2 A sin h2  yB
l ¼ arcsin ðA:13Þ
AB
h3 ¼ l ðA:14Þ

The x position of point B will be given by Eq. (A.15):

xB ¼ O2 A cos h2 þ AB cos h3 ðA:15Þ

It can easily be verified that Eq. (A.15) works for any position of input link 2.
When the trajectory of point B is above O2 , the sign of yB is positive and these
equations are also applicable.

A.3 Position Analysis of a Slider Mechanism

Consider the slider mechanism in Fig. A.6, where link 3 describes a straight tra-
jectory along link 4 that rotates about O4 with offset O4 B.
Similarly as in previous problems, O2 O4 and O2 A are the lengths of links 1 and 2
respectively while angles h2 and h4 define the angular position of links 2 and 4.
Assuming that we know O2 O4 , O2 A and h2 , we can obtain unknown values AB
(Eq. A.17) and h4 (Eq. A.20). To do so, we start by obtaining the value of O4 A
(Eq. A.16):
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2 2
O4 A ¼ O2 O4 þ O2 A  2O2 O4 O2 A cos h2 ðA:16Þ

We can calculate AB as:

qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2 2
AB ¼ O4 B  O4 A ðA:17Þ

Fig. A.6 Position analysis of B

a slider-mechanism by means
of the trigonometric method θ2 4
β O4
O2
δ
2
A θ4
3
Appendix A: Position Kinematic Analysis. Trigonometric Method 371

The value of angle d (Eq. A.18) is:

O2 A sin h2
d ¼ arctan ðA:18Þ
O2 O4 þ O2 A cos h2

Finally, h4 can be determined after first computing the value of b (Eq. A.19):

AB
b ¼ arctan ðA:19Þ
O4 B

h4 ¼ d þ ð90  bÞ ðA:20Þ

If the offset is opposite, point B is below the X-axis and Eq. (A.20) changes to
Eq. (A.21):

h4 ¼ d  ð90  bÞ ðA:21Þ

A.4 Two Generic Bars of a Mechanism

Let us consider that we have carried out the kinematic analysis of links 2, 3 and 4 of
the mechanism shown in Fig. A.7. We will continue the position analysis of links 5
and 6 considering that the position of point C of link 3 is known.
To find the position of links 5 and 6 we have to define triangle DCDO6 first
(Fig. A.8).
The length of side O6 C (Eq. A.22) can be calculated by means of the x and
y coordinates of points C and O6 :
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
O6 C ¼ ðxC  xO6 Þ2 þ ðyC  yO6 Þ2 ðA:22Þ

Fig. A.7 Six-bar mechanism D

5
C
6

3 B
O6
A
4
2

O2 O4
372 Appendix A: Position Kinematic Analysis. Trigonometric Method

Fig. A.8 Position analysis of D θ6

bars 5 and 6 by means of the
trigonometric method
C φ θ5
δ
γ
O6

And its angle c (Eq. A.23) is:

yC  yO6
c ¼ arctan ðA:23Þ
xC  xO6

Angle / (Eq. A.25) can be computed by using the law of cosines (Eq. A.24):
2 2 2
DO6 ¼ CD þ O6 D  2CDO6 D cos / ðA:24Þ
2 2
CD þ O6 D  DO6
/ ¼ arccos ðA:25Þ
2CDO6 D

Finally, angle d (Eq. A.26) is determined by using the law of sines:

 
CD
d ¼ arcsin sin / ðA:26Þ
O6 D

Therefore, angles h5 and h6 are (Eqs. A.27 and A.28):

h5 ¼ /  ð180  cÞ ðA:27Þ

h6 ¼ 180 þ c  d ðA:28Þ
Appendix B
Freudenstein’s Method to Solve
the Position Equations in a Four-Bar
Mechanism

In Chap. 3 we developed the position analysis of a four-bar mechanism by means of

Raven’s method. In this appendix we explain Freudenstein’s method to solve the
obtained equations and calculate the value of angles h3 and h4 .

B.1 Position Analysis of a Four-Bar Mechanism by Using

Raven’s Method

We will apply Raven’s method to the four-bar mechanism shown in Fig. B.1.
The vector loop equation (Eq. B.1) for the position analysis of the mechanism is:

r1 eih1 ¼ r2 eih2 þ r3 eih3 þ r4 eih4 ðB:1Þ

By converting this equation into its trigonometric form (Eq. B.2):

r1 ðcos h1 þ i sin h1 Þ ¼ r2 ðcos h2 þ i sin h2 Þ þ r3 ðcos h3 þ i sin h3 Þ

ðB:2Þ
þ r4 ðcos h4 þ i sin h4 Þ

And by separating its real and imaginary parts, we obtain the system (Eq. B.3)
with two unknowns (h3 and h4 ):
)
r1 cos h1 ¼ r2 cos h2 þ r3 cos h3 þ r4 cos h4
ðB:3Þ
r1 sin h1 ¼ r2 sin h2 þ r3 sin h3 þ r4 sin h4

B.2 Freudenstein’s Method

We substitute h1 ¼ 0 in Eq. (B.3) and isolate h3 (Eq. B.4):

© Springer International Publishing Switzerland 2016 373

A. Simón Mata et al., Fundamentals of Machine Theory and Mechanisms,
Mechanisms and Machine Science 40, DOI 10.1007/978-3-319-31970-4
374 Appendix B: Freudenstein’s Method to Solve …

Fig. B.1 Position analysis of B θ4

a four-bar mechanism by r3
means of Raven’s method
A θ3
r4
r2

θ2 r1
O2 O4

)
r1  r2 cos h2  r4 cos h4 ¼ r3 cos h3
ðB:4Þ
r2 sin h2  r4 sin h4 ¼ r3 sin h3

We raise each equation to the second power and add them term by term
(Eq. B.5):

r12 þ r22 þ r42  2r1 r2 cos h2  2r1 r4 cos h4 þ 2r2 r4 ðcos h2 cos h4 þ sin h2 sin h4 Þ ¼ r23
ðB:5Þ

By dividing all terms by the coefficient of term cos h2 cos h4 þ sin h2 sin h4 ,
2r2 r4 , it yields Eq. (B.6):

r12 þ r22  r32 þ r42 r1 r1

 cos h2  cos h4 þ ðcos h2 cos h4 þ sin h2 sin h4 Þ ¼ 0 ðB:6Þ
2r2 r4 r4 r2

In order to simplify Eq. (B.6), we use the following coefficients (Eq. B.7):
r1 9
k1 ¼ >
>
r2 >
>
>
>
r1 =
k2 ¼ ðB:7Þ
r4 >
>
>
r12 þ r22  r32 þ r42 >
>
>
k3 ¼ ;
2r2 r4

Thus, Eq. (B.6) remains Eq. (B.8):

k3  k2 cos h2  k1 cos h4 þ ðcos h2 cos h4 þ sin h2 sin h4 Þ ¼ 0 ðB:8Þ

We substitute cos h4 and sin h4 for their expressions in terms of the half angle
tangent (Eq. B.9):
Appendix B: Freudenstein’s Method to Solve … 375

!
1  tan2 h24 1  tan2 h24 2 tan h24
k3  k2 cos h2  k1 þ cos h2 þ sin h2 ¼0
1 þ tan2 h24 1 þ tan2 h24 1 þ tan2 h24
ðB:9Þ

Next, we remove the denominators and group the terms for tan, tan2 and the
independent term (Eq. B.10), all in the same member.
h4 h4
ðk3  k2 cos h2  k1  cos h2 Þ tan2 þ 2 sin h2 tan
2 2 ðB:10Þ
þ ðk3  k2 cos h2  k1 þ cos h2 Þ ¼ 0

Again, we rename the different coefficients (Eq. B.11) of the second degree
equation:
9
A ¼ k3  k2 cos h2  k1  cos h2 =
B ¼ 2 sin h2 ðB:11Þ
;
C ¼ k3  k2 cos h2  k1 þ cos h2

Thus, Eq. (B.10) can be written as Eq. (B.12):

h4 h4
A tan2 þ B tan þ C ¼ 0 ðB:12Þ
2 2

Hence, h4 , which is the unknown that defines the angular position of link 4, is
(Eq. B.13):
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
B  B2  4AC
h4 ¼ 2 arctan ðB:13Þ
2A

where the + and − signs indicate two possible solutions for the open and crossed
configurations of the four-bar mechanism respectively.
Similarly, but in this case isolating h4 in one of the members, we reach
(Eq. B.14) for h3 , which defines the angular position of link 3. Again, there are two
possible solutions depending on the configuration of the four-bar mechanism:
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
E  E 2  4DF
h3 ¼ 2 arctan ðB:14Þ
2D

where the different coefficients (Eq. B.15) of the second degree equation (Eq. B.14)
are:
376 Appendix B: Freudenstein’s Method to Solve …

9
D ¼ k1  k4 cos h2 þ k5  cos h2 =
E ¼ 2 sin h2 ðB:15Þ
;
F ¼ k1  k4 cos h2 þ k5 þ cos h2

And k4 and k5 (Eq. B.16) are:

r1 9
k1 ¼ >
>
r2 >
>
>
>
r1 =
k4 ¼ ðB:16Þ
r3 >
>
>
r12 þ r22 þ r32  r42 >
>
>
k5 ¼ ;
2r2 r3
Appendix C
Kinematic and Dynamic Analysis
of a Mechanism

The conveyor transfer mechanism shown in Fig. C.1 pushes boxes with a mass of
8 kg from one conveyor belt to another. The motor link turns at a constant speed of
40 rpm in counter clockwise direction.
In order to make a complete kinematic and dynamic analysis of the mechanism,
we will use all the analysis methods described in this book. We will carry out the
analysis at a given position. In general, the most interesting one for dynamic
analysis is the position at which the acceleration of the piston is maximum. This
way we can determine the forces that act on the links in extreme conditions. The
position chosen for this study is h2 ¼ 350 .
This analysis includes the following sections:
• Kinematic chain. Study and identification of the kinematic pairs. Number of
D.O.F of the mechanism. Kinematic inversion that results from fixing link 4.
• Kinematic graph of slider displacement versus crank rotation.
• Velocity analysis by means of the relative velocity method.
• Velocity analysis by means of the method of Instantaneous Centers of Rotation.
• Acceleration analysis by means of the relative acceleration method.
• Velocity and acceleration analysis by means of Raven’s method.
• Calculation of the inertial force and inertial torque of each of the links in the
mechanism.
• Dynamic analysis by means of the graphical method.
• Dynamic analysis by means of the matrix method.

C.1 Kinematic Chain

We begin the study of the mechanism by drawing its kinematic diagram as shown
in Fig. C.2. This figure also shows the nomenclature that will be used along this
study.
Table C.1 shows the different types of kinematic pairs in the mechanism and the
degrees of freedom of each pair.

© Springer International Publishing Switzerland 2016 377

A. Simón Mata et al., Fundamentals of Machine Theory and Mechanisms,
Mechanisms and Machine Science 40, DOI 10.1007/978-3-319-31970-4
378 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

6.5m

1m 3.2m
6m
1m 4m
2m

2m 3m

3.7m

Fig. C.1 Conveyor transfer mechanism

Y C
5
6
D θ5
xDO2 X

4
B
3
O2 2 θ3 ϕ4
A
θ2

θ4
O4

Fig. C.2 Kinematic diagram of the mechanism

Table C.1 Type of kinematic pairs in the mechanism

PAIR Type Number of D.O.F.
1–2 Rotation 1
2–3 Rotation 1
3–4 Rotation 1
1–4 Rotation 1
4–5 Rotation 1
5–6 Rotation 1
1–6 Prismatic 1
Appendix C: Kinematic and Dynamic Analysis of a Mechanism 379

Fig. C.3 Kinematic inver-

sion of the mechanism when 5
link 4 is fixed
6
1

3
2

We use Kutzbach’s equation to calculate the number of degrees of freedom of

the mechanism (Eq. C.1):
• Number of links: N = 6
• Kinematic pairs with 1 DOF: J1 ¼ 7
• Kinematic pairs with 2 DOF: J2 ¼ 0

DOF ¼ 3ðN  1Þ  2J1  J2 ¼ 3ð6  1Þ  2  7  0 ¼ 1 ðC:1Þ

To better understand the mechanism, we will draw the kinematic diagram of one
of its inversions. In this case we will consider link 4 as the frame. This is shown in
Fig. C.3.

C.2 Slider Displacement Versus Crank Rotation

We will draw the kinematic graph of point D displacement versus crank rotation by
means of the graphical method. To do so, we divide the whole turn of the crank in
12 positions starting from position 0 . This way, we find the 12 positions of point A
which correspond to 12 angular positions of the crank in steps of 30°. Knowing the
length of the links, we can find the equivalent 12 positions for points B, C and D
(Fig. C.4).
We can graph the position of point D versus the crank position. This is shown in
Fig. C.5. We can see that the stroke end positions of the piston are close to posi-
tions h2 ¼ 10 and h2 ¼ 195 . In these positions, the velocity of the piston has to be
null. As the velocity is the first time-derivative of displacement, this can be verified
by tracing a line tangent to the curve at the end-of-stroke position. If the line is
horizontal, the velocity is null.
380 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

C
5
6 D

3 B
O2 2
A

O4

Fig. C.4 Kinematic diagram of the mechanism in a complete turn of the crank in steps of 30°

0
90° 180 ° 270° 360° θ2

−1

−2

−3

−4

−5

xDO2

Fig. C.5 Kinematic graph of the slider displacement versus the crank rotation

C.3 Velocity Analysis by Relative Velocity Method

Before starting the velocity analysis, the positions of the links have to be deter-
mined. To do so, we will use the trigonometric method explained in Appendix A.
Figure C.6 shows the angles and distances used to solve the position problem.
We start with the four-bar mechanism formed by links 1, 2, 3 and 4. Distance
O2 O4 (Eq. C.2) and angles h1 (Eq. C.3) and c (Eq. C.4) can be calculated as:
Appendix C: Kinematic and Dynamic Analysis of a Mechanism 381

Fig. C.6 Calculation of the C

position of links 3, 4, 5 an 6 5
by means of the trigonometric D
method 6
xDO4

y DO4
4
B
3
O2 2 A
ϕ4
β φ
θ1 δ

xDO2 xO2O4 γ
O4

qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
O2 O4 ¼ ðxO4  xO2 Þ2 þ ðyO4  yO2 Þ2 ¼ 4:206 m ðC:2Þ

3:7
h1 ¼ 270 þ arctan ¼ 331:6 ðC:3Þ
2
3:7
c ¼ 180  90  arctan ¼ 28:4 ðC:4Þ
2

The application of the cosine rule to triangle DO2 AO4 yields (Eq. C.5):
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2 2
O4 A ¼ O2 O4 þ O2 A  2O2 O4 O2 A cosðh2  h1 Þ
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi ðC:5Þ
¼ 4:2062 þ 12  2  4:206 cos 18:4 ¼ 3:272 m

And the sine rule on the same triangle yields (Eqs. C.6–B.7):

O4 A sinðb  cÞ ¼ O2 A sinðh2  h1 Þ ðC:6Þ

O2 A sinðh2  h1 Þ sin 18:4

b ¼ c þ arcsin ¼ 28:4 þ arcsin ¼ 33:9 ðC:7Þ
O4 A 3:272

The application of the cosine rule to triangle DABO4 yields (Eqs. C.8 and C.9):
2 2 2
O4 B ¼ AB þ O4 A  2ABO4 A cos / ðC:8Þ
382 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

2 2 2
AB þ O4 A  O4 B
/ ¼ arccos
2ABO4 A ðC:9Þ
4 þ 3:2722  32
2
¼ arccos ¼ 47:4
2  4  3:272

Thus, the positions of the link 3 (Eq. C.10) is:

h3 ¼ /  b ¼ 47:4  33:9 ¼ 13:5 ðC:10Þ

The application of the sine rule to triangle DABO4 yields (Eqs. C.11 and C.12):

O4 B sin d ¼ AB sin / ðC:11Þ

 
AB
d ¼ arcsin sin /
O B
 4  ðC:12Þ
4 sin 47:4
¼ arcsin ¼ 79:12
3

Therefore, the position of link 4 (Eq. C.13) is:

h4 ¼ 180  b  d ¼ 180  33:9  79:12 ¼ 67 ðC:13Þ

We continue with the position analysis of the crank-shaft mechanism formed by

links 4, 5 and 6 in Fig. C.6.
Although angle u4 formed by O4 B and O4 C has a fixed value and it could be
part of the data of the mechanism, in this case we have the length of the sides of
triangle DO4 BC instead of angle u4 itself. We can easily obtain its value (Eq. C.15)
by means of the rule of cosines (Eq. C.14):
qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
2 2
BC ¼ O4 B þ O4 C  2O4 BO4 C cos u4 ðC:14Þ

2 2 2
!
O4 B þ O4 C  BC
u4 ¼ arccos
2O4 BO4 C
 2  ðC:15Þ
3 þ 62  3:22
¼ arccos ¼ 15:1
236

The projection of triangle DO4 CD over a direction perpendicular to the trajectory

of the piston yields the trigonometric equation (Eq. C.16):

yDO4 þ CD sin h5 ¼ O4 C sinðh4 þ u4 Þ ðC:16Þ

Appendix C: Kinematic and Dynamic Analysis of a Mechanism 383

And clearing h5 (Eq. C.17), we obtain its value:

O4 C sinðh4 þ u4 Þ  yDO4
h5 ¼ arcsin
CD ðC:17Þ
6 sinð67 þ 15:1 Þ  5
¼ arcsin ¼ 8:34
6:5

The projection of the sides of triangle DO4 CD over de piston trajectory yields
(Eq. C.18):

xDO4 ¼ O4 C cosðh4 þ u4 Þ  CD cos h5

ðC:18Þ
¼ 6 cosð67 þ 15:1 Þ  6:5 cos 8:34 ¼ 5:607 m

Hence, the horizontal component of the distance between D and O2 (Eq. C.19)
is:

xDO2 ¼ xDO4  xO2 O4 ¼ 5:607 m  ð3:7 mÞ ¼ 1:907 m ðC:19Þ

Therefore, the positions of the links (Eq. C.20) corresponding to crank position
h2 ¼ 350 are:
9
h3 ¼ 13:5 >
>
>
h4 ¼ 67 =
ðC:20Þ
h5 ¼ 8:34 >
>
>
;
xDO2 ¼ 1:907 m

The following step is to find the velocity of the links when link 2 rotates at an
angular speed of 40 rpm counterclockwise. We have to use the velocity of link 2 in
radians per second: 4.19 rad/s.
The velocity of point A (Eq. C.21) can be calculated as:
 
 ^i ^j ^ 
 k
 
vA ¼ x2 ^ rAO2 ¼ 0 0 4:19  ¼ 0:73^i þ 4:13^j
  ðC:21Þ
 1 cos 350 1 sin 350 0 
¼ 4:19 cm=s\80

To calculate the angular velocity of links 3 and 4 we have to use the relative
velocity vector equation: vB ¼ vA þ vBA .
Vectors vB and vBA can be obtained the following way (Eqs. C.22 and C.23):
384 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

 
 ^i ^j ^ 
 k
vBA ¼ x3 ^ rBA ¼  0 0 x3 
 4 cos 13:5
4 sin 13:5 0 
¼ 4x3 ðsin 13:5 i  cos 13:5^jÞ
^
ðC:22Þ
 
 ^i ^j ^ 
 k
vB ¼ x4 ^ rBO4 ¼  0 0 x4  ¼ 3x4 ðsin 67 ^i  cos 67 ^jÞ
 
 3 cos 67 3 sin 67 0 
ðC:23Þ

By introducing the three velocity vectors, vA , vB and vBA , in the relative velocity
equation and projecting them on the X and Y Cartesian axles, we reach the system of
equations (Eq. C.24):
)
0:73  4x3 sin 13:5 ¼ 3x4 sin 67
ðC:24Þ
4:13 þ 4x3 cos 13:5 ¼ 3x4 cos 67

The solution to the system of equations (Eq. C.24) yields the velocities of links 3
and 4 (Eq. C.25):

x3 ¼ 1:27 rad=s
ðC:25Þ
x4 ¼ 0:69 rad=s

Using these values, we can calculate velocities vB (Eq. C.26) and vBA
(Eq. C.27):

vB ¼ 1:91^i  0:81^j ¼ 2:08 m=s\336:96 13:5 ðC:26Þ

vBA ¼ 1:185^i  4:939^j ðC:27Þ

The velocity of point C (Eq. C.28) can be determined by using the value of x4 :
 
 ^i ^j ^ 
 k
 
vC ¼ x4 ^ rCO4 ¼  0 0 x4 
  ðC:28Þ
 6 cosð67 þ 15:1 Þ 6 sinð67 þ 15:1 Þ 0 
¼ 4:12^i  0:58^j ¼ 4:16 m=s\352:1

We use vector equation (C.29) to calculate the angular velocity of link 5 and the
linear velocity of link 6.
Appendix C: Kinematic and Dynamic Analysis of a Mechanism 385

vD ¼ vC þ vDC ðC:29Þ

Since points C and D are two points of the same link, their relative velocity is
given by Eq. (C.30):
 
 ^i ^j ^ 
 k
 
vDC ¼ x5 ^ rDC ¼  0 0 x5 
  ðC:30Þ
 6:5 cosðh þ 180 Þ 6:5 sinðh þ 180 Þ 0 
5 5

¼ 6:5x5 ðsinðh5 þ 180 Þ^i  cosðh5 þ 180 Þ^jÞ

The velocity of point D (Eq. C.31) has the same direction as the trajectory.
Therefore, its vertical component is null:

vD ¼ vD^i ðC:31Þ

By substituting the three velocity vectors, vC , vD and vDC , in Eq. (C.29) we

obtain the system of equations (Eq. C.32):
)
4:12  6:5x5 sin 188:3 ¼ vD
ðC:32Þ
0:58 þ 6:5x5 cos 188:3 ¼ 0

Hence, the values of the velocities of links 5 and 6 (Eq. C.33) are:
)
x5 ¼ 0:09 rad=s
ðC:33Þ
v6 ¼ vD ¼ 4:04 m=s

And the vector velocity of point D (Eq. C.34) is:

vD ¼ 4:04^i ¼ 4:04 m=s\0 ðC:34Þ

Figure C.7 shows the velocity polygon of the mechanism. We can see how
absolute velocities start at velocity pole O and relative velocities connect the end
points of the absolute velocity vectors. It can also be seen that triangle Dobc in the
polygon is similar to DO4 BC in the mechanism since their sides are perpendicular.

C.4 Instantaneous Center Method for Velocities

To calculate the ICRs in the mechanism, we start by identifying the ICRs which
correspond to real joints. In this case, the known ICRs are: I12 , I23 , I34 , I14 , I45 , I16 ,
and I56 (Fig. C.8).
386 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

⊥ AB ⊥ O2 A
a

vA
v BA
⊥ DC

vD d
o
vC v DC ⊥ BC
vB v CB c
b ⊥ O4 C
⊥ O4 B

Fig. C.7 Velocity polygon

I 46 C = I 45 vC
5 C′
D = I 56 v C′
6
vD
I16 (∞)
4
v A = v I23
v A′ A′ I 34 vB
3 B
O2 = I12 2 A
1 2 I 24 I 23 I13
I 26 B′
6 3 v D = v I26
v B′
5 4 O4 = I14

Fig. C.8 Velocity calculation by means of the ICR method

Then we draw a polygon with as many vertexes as links in the mechanism. Each
of the sides or diagonals of the polygon represents one ICR. A solid line is used to
draw those ICRs that are already known while those which are unknown are drawn
as dotted lines.
In this case, to calculate the velocity of points B, C and D (Eqs. C.35–C.39), we
have to obtain ICRs I16 , I24 and I46 by using Kennedy’s theorem.
Appendix C: Kinematic and Dynamic Analysis of a Mechanism 387

  
I16 I12 I23 I34 I45 I56
I26 I24 I46
I24 I46 I14 I12 I14 I16

Figure C.8 shows the graphical development of the method and the vector
obtained for each velocity.

v23 ¼ vA
! x3 ¼ 1:26 rad=s ðC:35Þ
v23 ¼ I13 I23 x3 ¼ 3:33 m  x3

vB ¼ BI13 x3 ¼ 2:08 m=s ðC:36Þ


v24 ¼ I12 I24 x2 ¼ 0:58 m  x2
! x4 ¼ 0:69 rad=s ðC:37Þ
v24 ¼ I14 I24 x4 ¼ 3:52 m  x4

vC ¼ I14 Cx4 ¼ 4:14 m=s ðC:38Þ


v26 ¼ I12 I26 x2 ¼ 0:96 m  x2
! vD ¼ 4:04 m=s ðC:39Þ
v26 ¼ vD

C.5 Acceleration Analysis with the Relative Acceleration

Method

We know that the motor link turns at a constant rate of 40 rpm. Therefore, its
angular acceleration is null (a2 ¼ 0). In order to calculate the acceleration of the
links, we start with the acceleration of point A (Eq. C.40). The tangential compo-
nent will be zero as it depends on the angular acceleration value. Therefore, it will
have only one normal component:
 
 ^i ^j ^ 
 k
 
aA ¼ anAO2 ¼ x 2 ^ vA ¼  0 0 4:19 
  ðC:40Þ
 0:73 4:13 0 
¼ 17:3^i þ 3:06^j ¼ 17:55 m=s2 \170

To calculate the angular acceleration of links 3 and 4, we use the vectors

(Eqs. C.41 and C.42):

aB ¼ aA þ aBA ðC:41Þ

anB þ atB ¼ anA þ atA þ anBA þ atBA ðC:42Þ

388 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

 
 ^i ^j ^ 
 k
anB ¼ x4 ^ vB ¼  0 0 0:69  ¼ 0:559^i  1:318^j ðC:43Þ
 1:91 0:81 0 
 
 ^i ^j ^ 
 k
atB ¼ a4 ^ rBO4 ¼  0 0 a4  ¼ 3a4 sin 67 ^i þ 3a4 cos 67 ^j
 
 3 cos 67 3 sin 67 0 
ðC:44Þ
 
 ^i ^j ^ 
 k
anBA ¼ x3 ^ vBA ¼  0 0 1:27  ¼ 6:272^i  1:506^j ðC:45Þ
 1:185 4:939 0 
 
 ^i ^j ^ 
 k
atBA ¼ a3 ^ rBA ¼  0 0 a3 
 4 cos 13:5 4 sin 13:5 0 

¼ 4a4 sin 13:5^i þ 4a3 cos 13:5^j ðC:46Þ

Substituting these vectors (Eqs. C.43–C.46) in Eq. (C.42) and projecting them
on the Cartesian axles, we reach the system of equations (Eq. C.47):
)
0:559  3a4 sin 67 ¼ 17:3  6:272  4a3 sin 13:5
ðC:47Þ
1:311 þ 3a4 cos 67 ¼ þ 3:06  1:506 þ 4a3 cos 13:5

The solution yields the angular speed of links 3 and 4 (Eq. C.48).

a3 ¼ 1:98 rad=s2
ðC:48Þ
a4 ¼ 9 rad=s2

Once a4 is known, we can calculate the acceleration of point B (Eq. C.49):

aB ¼ 25:4^i þ 9:24^j ¼ 27:03 m=s\160 ðC:49Þ

The acceleration of point C can be calculated by means of (Eq. C.50):

aC ¼ aB þ aCB ðC:50Þ

As points B and C belong to the same link, the components of the relative
acceleration (Eq. C.51) are:

anCB ¼ x4 ^ vCB
ðC:51Þ
atCB ¼ a4 ^ rCB
Appendix C: Kinematic and Dynamic Analysis of a Mechanism 389

Substituting the values previously obtained in Eq. (C.51), we calculate the

acceleration vector of point C (Eq. C.52):

aC ¼ 53:89^i þ 4:59^j ¼ 54:06 m=s\175 ðC:52Þ

To determine the angular acceleration of link 5 and the linear acceleration of link
6, we use the vector equation (C.53):

anD þ atD ¼ anC þ atC þ anDC þ atDC ðC:53Þ

where:

anD ¼ 0
ðC:54Þ
atD ¼ aD^i

anDC ¼ x5 ^ vDC
ðC:55Þ
atDC ¼ a5 ^ rDC

Substituting vectors aC (Eq. C.52), aD (Eq. C.54) and aDC (Eq. C.55) in
Eq. (C.53) and projecting them onto the Cartesian axles, we reach to the system of
equations (Eq. C.56):
)
aD ¼ 53:89 þ 0:052  6:5a5 sin 188:3
ðC:56Þ
0 ¼ 4:59 þ 0:0076 þ 6:5a5 cos 188:3

The solution of the system yields the accelerations of links 5 and 6 (Eq. C.57):
)
a5 ¼ 0:72 rad=s2
ðC:57Þ
aD ¼ 53:14 m=s2

Thus, the vector acceleration of point D (Eq. C.58) is:

aD ¼ 53:14^i ¼ 53:14 m=s2 \180 ðC:58Þ

Figure C.9 shows the acceleration polygon of the mechanism. It can be noticed
that triangle Dobc of the acceleration polygon is similar to triangle DO4 BC of the
mechanism. In the acceleration polygon, the sides of triangle Dobc are not per-
pendicular to the sides of triangle DO4 BC like in the velocity polygon. Angle /4
(Eq. C.59) between the sides of both triangles can be calculated as:

atC atB atCB a4

/4 ¼ arctan ¼ arctan ¼ arctan ¼ arctan 2 ðC:59Þ
anC anB anCB x4
390 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

b
aCB
φ4
c a BA aB
aC a aA
a DC
o
d aD φ4
φ4

Fig. C.9 Acceleration polygon

Therefore, triangle Dobc in the polygon is similar to triangle DO4 BC in the

mechanism and rotated angle /4 .

C.6 Raven’s Method

The number of needed vector loop equations depends on the number of unknowns.
In this case, the position unknowns are h3 , h4 , h5 and r6 . As each vector equation
allows solving two unknowns and we have four, we will need 2 vector equations
(Eq. C.60) (Fig. C.10).
)
r1 þ r4 ¼ r2 þ r3
ðC:60Þ
r1 0 þ r5 þ r6 ¼ r4 0

Using the complex exponential form for the vectors, vector equation (Eq. C.60)
can be written as (Eq. C.61):

Fig. C.10 Kinematic dia- C

gram of the mechanism with 5
the two vector loop equations D r5
6 θ5
used to solve the problem

r4′
4
B
r1′ 3
r2 r3
O2 θ3 ϕ4 r
θ2 A 4
θ1
r1
θ6
θ1′ r6 θ4
O4
Appendix C: Kinematic and Dynamic Analysis of a Mechanism 391

)
r1 eih1 þ r4 eih4 ¼ r2 eih2 þ r3 eih3
ðC:61Þ
r10 eih10 þ r5 eih5 þ r6 eih6 ¼ r40 eiðh4 þ u4 Þ

By separating the real and imaginary parts we obtain a system (Eq. C.62) with
four equations and four unknowns: h3 , h4 , h5 and r6 :
9
r1 cos h1 þ r4 cos h4 ¼ r2 cos h2 þ r3 cos h3 >
>
>
r sin h þ r sin h ¼ r sin h þ r sin h =
1 1 4 4 2 2 3 3
ðC:62Þ
r10 cos h10 þ r5 cos h5 þ r6 cos h6 ¼ r40 cosðh4 þ u4 Þ >
>
>
;
r10 sin h10 þ r5 sin h5 þ r6 sin h6 ¼ r40 sinðh4 þ u4 Þ

Using Freudenstein’s equation, explained in Appendix B of this book, the first

two equations of the system yields (Eqs. C.63 and C.64):
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
B 
B2  4AC
h3 ¼ 2 arctan ðC:63Þ
2A
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
E  E 2  4DF
h4 ¼ 2 arctan ðC:64Þ
2D

where A, B, C, D, E and F coefficients (Eq. C.65) are:

9
A ¼ k3 cos h1  k2 cosðh2  h1 Þ þ k1  cos h2 >
=
B ¼ 2ðsin h2  k3 sin h1 Þ
>
;
C ¼ k3 cos h1  k2 cosðh2  h1 Þ þ k1 þ cos h2
9 ðC:65Þ
D ¼ k3 cos h1  k5 cosðh2  h1 Þ þ k4 þ cos h2 >
=
E ¼ 2ð sin h2 þ k3 sin h1 Þ
>
;
F ¼ k3 cos h1  k5 cosðh2  h1 Þ þ k4  cos h2

And where k1 , k2 , k3 , k4 and k5 geometrical data (Eq. C.66) are:

r12 þ r22 þ r32 r42

9
k1 ¼ >
>
2r2 r3 >
>
>
>
k2 ¼ r1 >
>
r3 >
=
k3 ¼ r1
ðC:66Þ
r2
>
>
>
>
k4 ¼
r12 þ r22 þ r42 r32 >
>
2r2 r4 >
>
>
;
k5 ¼ rr14
392 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

Using Freudenstein’s equation, explained in Appendix B of this book, the last

two equations of the system (Eq. C.62) yields (Eqs. C.67 and C.68):

r40 sinðh4 þ u4 Þ  r10

h5 ¼ arcsin ðC:67Þ
r5

r6 ¼ r5 cos h5  r40 cosðh4 þ u4 Þ ðC:68Þ

Using Eqs. (C.63), (C.64)–(C.67), (C.68), we can plot the position of the links
relative to the positions of link 2 along one full turn. Figure C.11a shows angles h3 ,
h4 and h5 and Fig. C.11b shows distance r6 .
These figures illustrate the benefits of mathematical methods over graphical
ones. The latter would only yield the solution to one of the points in such curves
and the problem has to be solved again when there are any changes in the geometric
parameters of the mechanism. Conversely, the expressions in Raven’s method yield
a solution for all the points in the curve and they do not need to be modified
whenever geometrical data are modified.
The solution of the obtained equations for h2 ¼ 350 yield (Eq. C.69) the fol-
lowing values for the position unknowns:

Fig. C.11 a Angular position (a) θ i

of links 3, 4 and 5 in terms of 100°
h2 , b Plot of the linear posi- θ4
tion of link 6 versus h2
75°

50°

θ3
25°
θ5
0°
90° 180° 270° 360° θ2

(b) r6
10

5
0° 90° 180° 270° 360° θ2
Appendix C: Kinematic and Dynamic Analysis of a Mechanism 393

9
h3 ¼ 13:5 > >
=
h4 ¼ 67:03
 ðC:69Þ
h5 ¼ 8:3 >
>
;
r6 ¼ 5:607 m

The position along the horizontal path of link 6 with respect to the coordinate
system origin (Eq. C.71) will be given by the position of point D (Eq. C.70):

r6 ¼ xDO4 ¼ xDO2  xO2 O4 ¼ xDO2  ð3:7 mÞ ¼ 5:607 m ðC:70Þ

So for h2 ¼ 350 the X coordinate of link 6 is:

xDO2 ¼ 1:907 m ðC:71Þ

By differentiating with respect to time (Eq. C.61), we obtain (Eq. C.72):

)
ir2 x2 eih2 þ ir3 x3 eih3 ¼ ir4 x4 eih4
ðC:72Þ
v6 eip þ ir5 x5 eih5 ¼ ir40 x4 eiðh4 þ u4 Þ

We separate the real and imaginary parts in Eq. (C.72), which yields the equation
system (Eq. C.73) with four unknowns: x3 , x4 , x5 and v6 :
9
r2 x2 sin h2 r3 x3 sin h3 ¼ r4 x4 sin h4 >
>
>
r2 x2 cos h2 þ r3 x3 cos h3 ¼ r4 x4 cos h4 =
ðC:73Þ
v6  r5 x5 sin h5 ¼ r40 x4 sinðh4 þ u4 Þ >
>
>
;
r5 x5 cos h5 ¼ r4 x4 cosðh4 þ u4 Þ
0

From the first two algebraic equations in Eq. (C.73) we can obtain the expres-
sions for x3 (Eq. C.74) and x4 (Eq. C.75):

r2 sinðh4  h2 Þ
x3 ¼ x2 ðC:74Þ
r3 sinðh3  h4 Þ

r2 sinðh3  h2 Þ
x4 ¼ x2 ðC:75Þ
r4 sinðh3  h4 Þ

Finally, from the third and fourth algebraic equation we reach expressions for x5
(Eq. C.76) and v6 (Eq. C.77):

r40 cosðh4 þ u4 Þ
x5 ¼ x4 ðC:76Þ
r5 cos h5

v6 ¼ r5 x5 sin h5 þ r40 x4 sinðh4 þ u4 Þ ðC:77Þ

394 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

Fig. C.12 a Angular veloci- (a) ω i

ties of links 3, 4 and 5 in 1.5 ω4
terms of h2 , b Plot of the ω3
linear velocity of link 6 1
versus h2
0.5

0
90° 180° 270° 360° θ2
−0.5 ω5

−1

−1.5

(b) v6
10

0
90° 180° 270° 360° θ2

−5

−10

Using Eqs. (C.74) and (C.75), we can plot the kinematic curve of the link
velocity versus the position of link 2. These curves are shown in Fig. C.12a, b.
Again, equations (Eqs. C.74–C.77) can be particularized for h2 ¼ 350 yielding
the values for the velocity unknowns (Eq. C.78):
9
x3 ¼ 1:27 rad=s >
>
>
x ¼ 0:69 rad=s =
4
ðC:78Þ
x5 ¼ 0:09 rad=s >
>
>
;
v6 ¼ 4:04 m=s

Once more, Eq. (C.72) can be time-differentiated again in order to find accel-
erations (Eq. C.79):
)
ðr2 x22 þ ir2 a2 Þeih2 þ ðr3 x23 þ ir3 a3 Þeih3 ¼ ðr4 x24 þ ir4 a4 Þeih4
ðC:79Þ
ðr5 x25 þ ir5 a5 Þeih5 þ a6 eih6 ¼ ðr40 x24 þ ir40 a4 Þeiðh4 þ u4 Þ

By separating real and imaginary parts we reach, once more, a system (Eq. C.80)
with four equations and four unknowns: a3 , a4 , a5 and a6 .
Appendix C: Kinematic and Dynamic Analysis of a Mechanism 395

9
r2 x22 cos h2  r2 a2 sin h2  r3 x23 cos h3  r3 a3 sin h3 ¼ r4 x24 cos h4  r4 a4 sin h4 >
>
>
>
r2 x22 sin h2 þ r2 a2 cos h2  r3 x23 sin h3 þ r3 a3 cos h3 ¼ r4 x24 sin h4 þ r4 a4 cos h4 =
r5 x25 cos h5  r5 a5 sin h5 þ a6 cos h6 ¼ r40 x24 cos h40  r40 a4 sinðh4 þ u4 Þ >
>
>
>
;
r5 x25 sin h5 þ r5 a5 cos h5 þ a6 sin h6 ¼ r40 x24 sin h40 þ r40 a4 cosðh4 þ u4 Þ
ðC:80Þ

Again, we start by considering the first two algebraic equations in the system
(Eq. C.80), which yield the angular accelerations of links 3 and 4 (Eq. C.81).
9
r2 a2 sin h2 þ r4 a4 sin h4  r2 x22 cos h2  r3 x23 cos h3 þ r4 x24 cos h4 >
>
a3 ¼ =
r3 sin h3
r2 a2 sinðh3  h2 Þ þ r2 x2 cosðh3  h2 Þ þ r3 x3  r4 x4 sinðh4  h3 Þ >
2 2 2
>
a4 ¼ ;
r4 sinðh4  h3 Þ
ðC:81Þ

Finally, a6 and a5 (Eq. C.82) are obtained from the last two algebraic equations
in the system (Eq. C.80):
9
r40 a4 cosðh4 þ u4 Þ  r40 x24 sinðh4 þ u4 Þ þ r5 x25 sin h5 =
a5 ¼
r5 cos h5 ;
a6 ¼ r40 a4 sinðh4 þ u4 Þ þ r40 x24 cosðh4 þ u4 Þ  r5 a5 sin h5  r5 x25 cos h5
ðC:82Þ

These expressions (Eqs. C.81 and C.82) can be particularized for h2 ¼ 350
yielding the values for the unknowns (Eq. C.83):
9
a3 ¼ 1:98 rad=s2 >
>
=
a4 ¼ 9 rad=s2
ðC:83Þ
a5 ¼ 0:72 rad=s >
2
>
2;
a6 ¼ 53:14 m=s

C.7 Mass, Inertia Moments, Inertia Forces and Inertia Pairs

We assume that we know the value of the mass and the moment of inertia of the
links. Their values are included in Table C.2.
Figure C.13 shows the center of mass of each link. Their position (Eq. C.84) is
given by the following distances:
396 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

Table C.2 Mass and moment of inertia of the links

Link 2 3 4 5 6
Mk (kg) 15.31 61.26 154.75 99.54 85
Ik (kg m2) 1.278 81.68 495.76 358.479 –

Fig. C.13 Position of the C

centers of mass of the links 5
D = G6 G5
6

G4
G3 B
3
O2 2 ∠O4 BG4
G2 A

O4

9
O2 G2 ¼ 0:5 m >>
>
>
AG3 ¼ 2 m > >
>
=
BG4 ¼ 0:52 m ðC:84Þ
>
>
\O4 BG4 ¼ 75:4 >>
>
>
>
DG ¼ 3:25 m ;
5

The acceleration of the center of mass of each link (Eq. C.85) has been deter-
mined by Raven’s Method yielding the following results:
9
aG2 ¼ 8:64^i þ 1:52^j ¼ 8:78 m=s2 \170 >
>
>
aG3 ¼ 21:35^i þ 6:15^j ¼ 22:22 m=s2 \163:94 >
=
aG4 ¼ 25:84^i þ 4:57^j ¼ 26:24 m=s2 \170 ðC:85Þ
>
aG5 ¼ 53:55^i þ 2:16^j ¼ 53:59 m=s2 \177:69 >
>
>
;
aG6 ¼ 53:14^i ¼ 53:14 m=s2 \180

Once the masses, moments of inertia and accelerations of each center of mass
have been determined, we can calculate the forces (Eq. C.86) and moments
(Eq. C.87) due to inertia:
Appendix C: Kinematic and Dynamic Analysis of a Mechanism 397

α5
aG5 5 C
aG6 D = G6 G5 F5In
6 F6In M 5In
4

α4
α3 aG4 G4 B
aG3 G F4In
3
aG2 F In
O2 2 3 F3In M 4In
G2 A M 3In

O4

Fig. C.14 Forces and moments due to inertia in the mechanism

9
F2In ¼ 15:31  8:78 ¼ 134:42 N >
>
>
>
F3In ¼ 61:26  22:22 ¼ 1361:2 N >
>
=
F4In ¼ 154:75  26:24 ¼ 4060:64 N ðC:86Þ
>
>
F5In ¼ 99:54  53:59 ¼ 5334:35 N >
>
>
>
;
F6In ¼ 85  53:14 ¼ 4516:9 N
9
M2In ¼ 1;278  0 ¼ 0 >
>
>
>
M3In ¼ 81:68  1:98 ¼ 161:73 Nm >
>
=
M4In ¼ 495:76  9 ¼ 4461:84 Nm ðC:87Þ
>
>
M5In ¼ 358:48  0:72 ¼ 258:1 Nm >
>
>
>
;
M6In ¼0

Figure C.14 shows the force and moment that acts on each link due to inertia.
We can see that the force is opposite to the linear acceleration of the center of mass
and the moment is opposite to the angular acceleration of the link.

C.8 Force Analysis. Graphical Method

In order to calculate the torque that is acting on link 2 to equilibrate the mechanism, we
will consider the inertia of the links as well as the force needed to move the 80 kg box.
We will consider a friction coefficient of 0.4 and will neglect the inertia force of the
box. Obviously, in a real problem the inertia of the box would have to be considered.
398 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

So, in this example the force that has to be exerted by link 6 to move the box
(Eq. C.88) is:

FR ¼ lN ¼ 0:4ð80 kg  9:81 m=s2 Þ ¼ 314:2 N ðC:88Þ

We study the forces on the mechanism starting with link 6 (Eq. C.89).

F56 þ F16 þ FR ¼ 0 ðC:89Þ

In order to simplify the problem, we will consider that force FR acts on point D.
This will affect the position of reaction force F16 but as force FR is quite small
compared to Fi6 and the distance from point D to the base of the piston is also small
compared to the mechanism dimensions, the error is very small.
Since the direction of force F56 is unknown, it will be broken into a vertical and
horizontal component, FV56 and FH 56 . We know that the direction of force F16 is
perpendicular to the slider trajectory. So, this force will be equilibrated by FV56 . The
value of FH
56 (Eq. C.91) can be calculated by means of the force equilibrium of the
horizontal components of the forces acting on the link (Eq. C.90) as shown in
Fig. C.15b.

0 ¼ RFx ¼ FR þ F6In þ F56
H
ðC:90Þ
0 ¼ RFy ¼ F16 þ F56
V


56 ¼ 4831:14 N\180
FH ðC:91Þ

Figure C.16 shows the free body diagram of link 5. As we already know, force
FH H
56 is equal to force F65 but with opposite direction.

Fig. C.15 a Free body dia-

(a) (b)
gram of link 6, b horizontal
components acting on link 6 F16
FR F6In
FR D = G6
6 F6In F56H

F56

Fig. C.16 Free body dia- V

gram of link 5 V
h65
F65 C
H
G5 h5In
h65 5 F45
F5In
H
D F65 M In
5
Appendix C: Kinematic and Dynamic Analysis of a Mechanism 399

Next, we analyze the moment equilibrium at point C (Eqs. C.92–C.94) assuming

the direction of FV65 to be upwards:
X
MjCz ¼ 0 ! hIn
5 F5  h65 F65 þ h65 F65  M5 ¼ 0
In V V H H In
ðC:92Þ
j

0:6 m  5334:35 N  6:43 m  F65

V
þ 0:94 m  4831:14 N  258:1 Nm ¼ 0 ðC:93Þ

FV56 ¼ 1163:88 N\90 ðC:94Þ

Then, F65 will be (Eq. C.95):

qffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
 H 2 9
F65 ¼ V 2
þ F65 >
>
F65 >
>
pffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi >
>
>
¼ 4831:14 þ 1163:88 ¼ 4969:32 N >
2 2 >
=
V
F65 ðC:95Þ
hF65 ¼ arctan >
>
H
F65 >
>
>
>
>
>
1163:88 >
;
¼ arctan ¼ 13:5
4831:14

where distances hIn V H

5 , h65 and h65 (Eq. C.96) are:

 
9
5 ¼ G5 C sinð360  hF5In þ h5 Þ ¼ 3:25 sin 10:65 >
hIn >
=
 ðC:96Þ
h65 ¼ DC cos h5 ¼ 6:5 cos 8:34
V
>
>

;
h65 ¼ DC sin h5 ¼ 6:5 sin 8:34
H

Back to link 6, we know the vertical forces acting on it, as FV65 ¼ FV56 ¼ F16 .
The equilibrium of forces acting on link 5 (Eq. C.97) yields the value of force
F45 (Eq. C.98) as shown in Fig. C.17.

56 þ F56 þ F5 þ F45 ¼ 0
FH ðC:97Þ
V In

F45 ¼ 10;207:9 N\185:36 ðC:98Þ

Similarly, the equilibrium equations of links 3 and 4 yield the value of the forces
transmitted by the links.

Fig. C.17 Polygon of forces F65

F45
acting on link 5 V
o F65
In
F5 FH
65
400 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

Fig. C.18 Free body dia-

gram of link 3 F43N 4

G3 F43N 3
In
B
F23 h
3
3 F3In
A M 3In
h43N 4

In link 3, we break force F43 into components FN3 N4

43 and F43 (Eq. C.101), with
directions AB and O4 B respectively (Fig. C.18). We consider the equilibrium of
moments about point A (Eqs. C.99 and C.100) assuming that FN4
43 (Eq. C.101) goes
upwards.
X
MjAz ¼ 0 ! hIn
3 F3 þ h43 F43  M3 ¼ 0
In N4 N4 In
ðC:99Þ
j

0:986 m  1361:2 N þ 3:215  F43

N4
 161:73 Nm ¼ 0 ðC:100Þ
N4
F43 ¼ 467:77 N ðC:101Þ

Where distances hIn N4

3 and h43 can be measured on the drawing of the mechanism
or be determined as (Eq. C.102):
 
)
3 ¼ G3 A cosð90 þ hF3In  h3 Þ ¼ 2 cos 60:44
hIn

ðC:102Þ
43 ¼ BA sinðh4  h3 Þ ¼ 4 sin 53:5
hN4

Fig. C.19 Free body C

diagram of link 4
F54

M 4In
F34N 4
h54 G4
F34N 3 F4In
B

h34N 3 h4In

O4 F14
Appendix C: Kinematic and Dynamic Analysis of a Mechanism 401

Figure C.19 shows the free body diagram of link 4. We can calculate FN3 43
(Eq. C.105) by means of the equilibrium equation of moments with respect to point
N3
O4 (Eqs. C.103 and C.104). We assume the direction of F34 to be oriented to the
left.
X
MjOz 4 ¼ 0 ! hIn
4 F4 þ h34 F34  h54 F54  M4 ¼ 0
In N3 N3 In
ðC:103Þ
j

0 ¼ 2:923 m  4060:64 N þ 2:412 m  F34

N3
ðC:104Þ
 5:84 m  10;207:9 N  4461:84 Nm

N3
F34 ¼ 31;486 N ðC:105Þ

where distances hIn N3

4 , h34 and h54 (Eq. C.106) can be determined as:

  9
4 ¼ O4 B cosð90 þ hF4In  h4 Þ ¼ 3 cos 13
hIn >
=
h54 ¼ O4 C cosð90 þ hF54  h40 Þ ¼ 6 cos 13:26 ðC:106Þ
>
;
hN3
34 ¼ O4 B sinðh4  h3 Þ

The force equilibrium analysis of the forces acting on link 4 (Eq. C.107) yields
F14 (Eq. C.108). Figure C.20 shows the force polygon.

F54 þ FIn
4 þ F34 þ F34 þ F14 ¼ 0
N4 N3
ðC:107Þ

F14 ¼ 18;454 N\24 ðC:108Þ

Also, the analysis of the force equilibrium of link 3 (Eq. C.109) yields force F23
(Eq. C.110). The force polygon of forces acting on link 3 is shown in Fig. C.21.

3 þ F43 þ F23 ¼ 0
FIn ðC:109Þ

F23 ¼ 31;520 N\193:5 ðC:110Þ

F54 F4In
o

F34N 4
F14
F34N 3

Fig. C.20 Polygon of forces acting on link 4

402 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

In
o F3

F43

F23

Fig. C.21 Polygon of forces acting on link 3

Fig. C.22 Free body dia- M0

gram of link 2
G2 F In
O2 2

h32 A
F32

Finally, Fig. C.22 shows the equilibrium analysis of link 2, from which we find
the value of the equilibrating torque (Eq. C.114) as well as force F12 (Eq. C.112).
Since the value of FIn 2 is very small compared to F32 , we will neglect it in
Eq. (C.111). Therefore:

F32 þ F12 ¼ 0 ðC:111Þ

F12 ¼ F32 ¼ F23 ðC:112Þ

Figure C.22 shows the free body diagram of link 2.

Torque M0 , which acts on link 2 to equilibrate the mechanism, can be obtained
with (Eq. C.113):
X
MjOz 2 ¼ 0 ! h32 F32 þ M0 ¼ 0 ðC:113Þ
j

M0 ¼ 0:398 m  31;520 N ¼ 12;568:6 Nm ðC:114Þ

where distance h32 (Eq. C.115) can be calculated as follows:

h32 ¼ O2 A sinð360  hF32  h2 Þ ¼ 1  sin 23:5 ðC:115Þ

Appendix C: Kinematic and Dynamic Analysis of a Mechanism 403

C.9 Dynamic Analysis. Matrix Method

We start the dynamic analysis of the mechanism by writing the equations of the
force and moment equilibrium of each link (Eqs. C.116–C.20). Figure C.23 shows
radius vectors pi , qi and ri used in the moment equations:
• Link 2:
)
F32  F21 ¼ m2 aG2
ðC:116Þ
p2 ^ F32  q2 ^ F21 þ M0 ¼ IG2 a2

• Link 3:
)
F43  F32 ¼ m3 aG3
ðC:117Þ
p3 ^ F43  q3 ^ F32 ¼ IG3 a3

• Link 4:
)
F54  F43 þ F14 ¼ m4 aG4
ðC:118Þ
p4 ^ F54  q4 ^ F43 þ r4 ^ F14 ¼ IG4 a4

Fig. C.23 Radius vectors C

5
used in the moment equilib- q5
rium equations D = G6 G5
p5 p4
6

G4 q 4 B
G3 p3
q2 p q3
O2 2
3
G2 A φ4
r4

O4
404 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

• Link 5:
)
F65  F54 ¼ m5 aG5
ðC:119Þ
p5 ^ F65  q5 ^ F54 ¼ IG5 a5

• Link 6:

F16  F65 þ FR ¼ m6 aG6 ðC:120Þ

The moment equilibrium equation of link 6 is not necessary as we suppose the

forces are concurrent at point D and a6 ¼ 0.
Equations C.116–C.20 yield a system of 14 algebraic equations (Eq. C.121) and
14 unknowns where F16x ¼ 0 as the direction of force F16 has to be perpendicular to
the sliding trajectory. So, in this example it will only have a vertical component.
Projecting each force equation on the X and Y axles and finding the vector
products in the torque equations, we reach the following system of equations:
9
F32x  F21x ¼ m2 aG2x >
>
>
>
F32y  F21y ¼ m2 aG2y >
>
>
>
>
>
ðp2x F32y  p2y F32x Þ  ðq2x F21y  q2y F21x Þ þ M0 ¼ IG2 a2 >
>
>
>
>
>
F43x  F32x ¼ m3 aG3x >
>
>
>
F43y  F32y ¼ m3 aG3y >
>
>
>
>
>
ðp3x F43y  p3y F43x Þ  ðq3x F32y  q3y F32x Þ ¼ IG3 a3 >
>
>
>
>
=
F54x  F43x þ F14x ¼ m4 aG4x
F54y  F43y þ F14y ¼ m4 aG4y >
>
>
>
>
>
ðp4x F54y  p4y F54x Þ  ðq4x F43y  q4y F43x Þ þ ðr4x F14y  r4y F14x Þ ¼IG4 a4 >
>
>
>
F65x  F54x ¼ m5 aG5x >
>
>
>
>
>
F65y  F54y ¼ m5 aG5y >
>
>
>
>
>
ðp5x F65y  p5y F65x Þ  ðq5x F54y  q5y F54x Þ ¼ IG5 a5 >
>
>
>
F16x  F65x ¼ m6 aG6x  FR >
>
>
>
>
;
F16y  F65y ¼ m6 aG6y
ðC:121Þ

The system (Eq. C.121) can be written in matrix form (Eq. C.122):

½Lq ¼ F ðC:122Þ
Appendix C: Kinematic and Dynamic Analysis of a Mechanism 405

where:
0 1
1 0 1 0 0 0 0 0 0 0 0 0 0 0
B 0 1 0 1 0 0 0 0 0 0 0 0 0 0C
B C
B q2y q2x p2y p2 x 0 0 0 0 0 0 0 0 0 1C
B C
B 0 0 1 0 1 0 0 0 0 0 0 0 0 0C
B C
B 0 0 0 1 0 1 0 0 0 0 0 0 0 0C
B C
B 0 0 q3y q3x p3y p3x 0 0 0 0 0 0 0 0C
B C
B 0 0 0 0 1 0 1 0 1 0 0 0 0 0C
½L ¼ B
B 0
C
B 0 0 0 0 1 0 1 0 1 0 0 0 0CC
B 0 0 0 0 q4y q4x p4y p4 x r4y r4x 0 0 0 0C
B C
B 0 0 0 0 0 0 1 0 0 0 1 0 0 0C
B C
B 0 0 0 0 0 0 0 1 0 0 0 1 0 0C
B C
B 0 0 0 0 0 0 q5y q5x 0 0 p5y p5x 0 0C
B C
@ 0 0 0 0 0 0 0 0 0 0 1 0 0 0A
0 0 0 0 0 0 0 0 0 0 0 1 1 0
ðC:123Þ
01
F21x
B F21y C
B C
B F32x C
B C
B F32y C
B C
B F43x C
B C
B F43y C
B C
B F54x C
q¼B C
B F54y C ðC:124Þ
B C
B F14 C
B xC
B F14 C
B yC
B F65 C
B xC
B F65 C
B yC
@ F16 A
y
M0
0 1
m2 aG2x
B m2 aG2y C
B C
B I G 2 a2 C
B C
B m3 aG3x C
B C
B m3 aG3y C
B C
B I G 3 a3 C
B C
B m4 aG4x C
B
F¼B C ðC:125Þ
C
B m4 aG4y C
B I a C
B G 4 4 C
B m5 aG5x C
B C
B m5 aG5y C
B C
B I G 5 a5 C
B C
@ m6 aG  FR A
6x
m6 aG6y
406 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

The analytical expressions of the radius vectors in matrix ½L are defined in Eqs.
(C.126)–(C.129). Angles h2 , h3 , h4 , u4 and h5 are the ones defined in Sect. 3.6 for
the analysis with Raven’s Method. Angle /4 is defined in Fig. C.23.
• Link 2:

p2 ¼ AG2 ðcos h2^i þ sin h2^jÞ
ðC:126Þ
q2 ¼ O2 G2 ðcos h2^i þ sin h2^jÞ

• Link 3:

p3 ¼ BG3 ðcos h3^i þ sin h3^jÞ
ðC:127Þ
q3 ¼ AG3 ðcos h3^i þ sin h3^jÞ

• Link 4:
9
p4 ¼ CO4 ðcosðh4 þ u4 Þ^i þ sinðh4 þ u4 Þ^jÞ  O4 G4 ðcosðh4 þ /4 Þ^i þ sinðh4 þ /4 Þ^jÞ =
q4 ¼ BO4 ðcos h4^i þ sin h4^jÞ  O4 G4 ðcosðh4 þ /4 Þ^i þ sinðh4 þ /4 Þ^jÞ
;
r4 ¼ O4 G4 ðcosðh4 þ /4 Þ^i þ sinðh4 þ /4 Þ^jÞ
ðC:128Þ

• Link 5:

p5 ¼ DG5 ðcos h5^i þ sin h5^jÞ
ðC:129Þ
q5 ¼ CG5 ðcos h5^i þ sin h5^jÞ

If we find the values of these vectors (Eqs. C.126–C.129) for h2 ¼ 350 we

obtain (Eq. C.130):
9
p2 ¼ 0:4924^i  0:0868^j m >
>
>
>
q2 ¼ p2 >
>
>
>
>
>
p3 ¼ 1:9447^i þ 0:4672^j m >
>
>
>
>
q3 ¼ p3 >
>
>
=
p4 ¼ 0:1692^i þ 3:1052^j m ðC:130Þ
>
>
q4 ¼ 0:5144^i  0:0766^j m >
>
>
>
>
>
r4 ¼ 0:6598i  2:8373j m >
^ ^ >
>
>
>
>
p5 ¼ 3:2157i  0:4712j m >
^ ^ >
>
>
;
q5 ¼ p5
Appendix C: Kinematic and Dynamic Analysis of a Mechanism 407

The analytical expressions of the acceleration vector of the center of mass of

each link (Eqs. C.131–C.34) are:

aG2 ¼ O2 G2 a2 ð sin h2^i þ cos h2^jÞ  O2 G2 x22 ðcos h2^i þ sin h2^jÞ ðC:131Þ

aG3 ¼ O2 Aa2 ð sin h2^i þ cos h2^jÞ  O2 Ax22 ðcos h2^i þ sin h2^jÞ
ðC:132Þ
þ G3 Aa3 ð sin h3^i þ cos h3^jÞ  G3 Ax2 ðcos h3^i þ sin h3^jÞ
3

aG4 ¼ O4 G4 a4 ð sinðh4 þ /4 Þ^i þ cosðh4 þ /4 Þ^jÞ

ðC:133Þ
 O4 G4 x2 ðcosðh4 þ /4 Þ^i þ sinðh4 þ /4 Þ^jÞ
4

aG5 ¼ CO4 a4 ð sinðh4 þ u4 Þ^i þ cosðh4 þ u4 Þ^jÞ

 CO4 x2 ðcosðh4 þ u4 Þ^i þ sinðh4 þ u4 Þ^jÞ
4
ðC:134Þ
þ G5 Ca5 ð sinðh5 þ 180 Þ^i þ cosðh5 þ 180 Þ^jÞ
 G5 Cx2 ðcosðh5 þ 180 Þ^i þ sinðh5 þ 180 Þ^jÞ
5

aG6 ¼ CO4 a4 ð sinðh4 þ u4 Þ^i þ cosðh4 þ u4 Þ^jÞ

 CO4 x2 ðcosðh4 þ u4 Þ^i þ sinðh4 þ u4 Þ^jÞ
4
ðC:135Þ
þ DCa5 ð sinðh5 þ 180 Þ^i þ cosðh5 þ 180 Þ^jÞ
 DCx2 ðcosðh5 þ 180 Þ^i þ sinðh5 þ 180 Þ^jÞ
5

If we find the values of all the elements in the vector F for h2 ¼ 350 and solve
the system (Eq. C.122), we obtain the values (Eq. C.136) for the unknowns
(Eq. C.124):
9
F21 ¼ 32;239^i þ 7386^j N >
>
>
>
>
F32 ¼ 32;106^i þ 7409^j N >
>
>
>
>
F14 ¼ 16;636^i þ 7550^j N >
>
>
=
^ ^
F54 ¼ 10;161i þ 944j N ðC:136Þ
>
>
>
F65 ¼ 4833^i þ 1173^j N > >
>
>
>
^ >
>
F16 ¼ 1173j N >
>
>
;
M0 ¼ 12;872 Nm
408 Appendix C: Kinematic and Dynamic Analysis of a Mechanism

Fig. C.24 Instantaneous M0

motor torque M0 versus crank
10,000
angle h2
5,000

0
90° 180° 270° 360° θ2
−5,000

−10,000

−15,000

−20,000

Fig. C.25 Shaking force FS

curve versus crank angle h2
15,000

12,500

10, 000

7,500

5,000

2,500

0
90° 180° 270° 360° θ2

One of the main advantages of the Matrix Method for the dynamic analysis when
compared to the graphical method is the ability to calculate the value of the
unknowns along a complete cycle.
With the latter we can only find one solution for one position of the crank in the
curve and the expressions cannot be used again if there are any changes in the
geometrical data of the mechanism.
Figure C.24 shows a curve with the value of the instantaneous motor torque for
the different positions of the crank, h2 . The value of the motor torque is given by M0
and it is the torque that is necessary to apply to motor link 2 in order to obtain the
desired speed and acceleration. In this case, x2 ¼ 4:19 rad=s and a2 ¼ 0.
Appendix C: Kinematic and Dynamic Analysis of a Mechanism 409

Moreover, we can obtain the curve of the magnitude of the shaking force versus
the positions of the crank (Fig. C.25). The shaking force is given by Eq. (C.137):

FS ¼ F21 þ F41 þ F61 ðC:137Þ

In Fig. C.25 we can see that the maximum value for the shaking force is at a
position close to h2 ¼ 350 . In this case, this position coincides with the maximum
acceleration of link 6.