ME302 – THEORY of MACHINES II SPRING 2020-2021

HOMEWORK #2
Prepared by: Halim Polat Mail: phalim@metu.edu.tr
Room: G-134 Due date: 22.04.2021 @23:59
Submit to: Odtuclass
You are expected to provide

 clear explanation of each step of your solution,

 units,
 well annotated, scaled plots (title, axis labels, grid, legend), not random hand sketches,
 source code attached to your solution if you use a software package in your calculations.

Your grades are subjected to these items as well as your calculations.

Problem 1)

Figure 1
|𝐴0 𝐴| = 𝑎1 = 20𝑚𝑚 |𝐴0 𝐵0 | = 𝑎0 = 140𝑚𝑚 |𝐴𝐺3 | = 𝑏1 = 80𝑚𝑚 |𝐺3 𝐶| = 𝑏2 = 20𝑚𝑚
𝑚2 = 2𝑘𝑔 𝑚3 = 1𝑘𝑔 𝑚4 = 1.2𝑘𝑔 𝑘 = 100𝑁/𝑚
𝐼2 = 4.23 ⋅ 10−3 𝑘𝑔 ⋅ 𝑚2 𝐼3 = 2.12 ⋅ 10−3 𝑘𝑔 ⋅ 𝑚2 𝐼4 = 5.07 ⋅ 10−3 𝑘𝑔 ⋅ 𝑚2
A hydraulic pump mechanism is modeled as shown in the Figure 2. Consider the motion of the
mechanism corresponding to full cycle rotation of the link 2 (0° ≤ 𝜃12 ≤ 360°). Spring is
unstretched when 𝑠34 is maximum. Mass centers of each link is also shown in the figure.
a) Perform velocity and acceleration analysis of the mechanism for input joint variable 𝜃12
and express velocities and accelerations of link 3 in terms of 𝜃12 .
 b) Derive the torque expression (T) which is required to rotate link 2 at a constant speed
of 𝝎𝟏𝟐 , by using virtual work method.
c) Plot the variation of the motor torque with respect to 𝜃12 for 𝜔12 = 10𝑟𝑝𝑚 𝑎𝑛𝑑
𝜔12 = 300𝑟𝑝𝑚.
d) Discuss results and comment on the plots.
Problem 2)

A mechanical system is shown below. Center of link 1 is connected to the ground with a spring
of stiffness 𝑘1 . Similarly, center of link 2 is connected to the ground with a spring of stiffness 𝑘2 .
Unstretched lengths of springs can be taken as 𝑙2 . Masses of the links are shown on the figure
near mass centers of each link. Mass moment of inertia of link 3 about its mass center is 𝐼𝐺 and
shown on the figure. Distance between points A and G is |𝐴𝐺| = 𝑙3 .
a) Write down accelerations and virtual displacements. Take 𝒔 and 𝜽 as generalized
coordinates.
b) Derive equation of motion of the system by using virtual work method. Do not
substitute lengthy expressions for accelerations in your equation of motion (i.e.
use 𝑎𝐺𝑥 , 𝑎𝐵𝑥 …)

Figure 2