Unit 2 – Static and Dynamic Force Analysis of Planar Mechanisms

Introduction :
In all types of machinery  forces are transmitted from one
component to another  such as from a belt to a pulley, from a gear to a
shaft, etc., Forces in mechanisms arise from various sources, e.g., forces of
gravity, forces from applied loads, inertia forces, frictional forces, spring
forces, etc., Therefore, in the design of machine members  it is necessary
to know the magnitudes and directions of these forces to which they are
subjected. Such forces may be divided into two groups  The static forces
resulting from the service loads and weights of the component parts -- and
-- the dynamic forces due to the inertia of the accelerated members. The
final design of a machine element must take into account the combined
effect of both the groups.
Static Force Analysis
In the analysis of static forces  the inertia forces are not taken into
account. Further, the gravity forces also -- being very small -- are neglected.
Static Equilibrium :
A body is said to be in static equilibrium  if it remains in its state of
rest (or) state of motion.
The conditions to be satisfied for static equilibrium are :
1. The vector sum of all the forces acting on the body is equal to zero.
2. The vector sum of all the moments about any arbitrary point is zero.
Mathematically  the above conditions may be stated as :
Ʃ F = 0 ------------------------------------------------------------------------ (1)
Ʃ M = 0 ----------------------------------------------------------------------- (2)
In planar mechanisms  forces can be described by two – dimensional
vectors.
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Thus  Ʃ Fx = 0 ------------------------------------------------------------------------- (3)
Ʃ Fy = 0 ------------------------------------------------------------------------- (4)
Ʃ Mx = 0 ------------------------------------------------------------------------ (5)
Equilibrium of Members :
(a) Two – force Members : (Refer Fig.1)
A member under the action of two forces  as shown in Fig.1  shall
be in equilibrium, if :

1. The forces are of the same magnitude.

2. The forces are collinear  i.e., act along the same line, and
3. The forces act in opposite directions.
(a) Three – force Members : (Refer Fig.2)
A member under the action of three forces  as shown in Fig.2(a) 
shall be in equilibrium, if :

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 1. The resultant of the forces is equal to zero.
2. The forcers are concurrent  i.e., the lines of action of all the forces
intersect at the same point.
The Fig.2 shows a body acted upon by three forces F 1, F2, and F3 such
that the lines of action of all the forces intersect at the same point ‘O’ --
and -- their resultant is zero  because the force polygon shown in Fig.2(b)
is a closed one.
(c) Two – forces and Torque : (Refer Fig.3)

A member under the action of two forces and an applied torque  as shown
in Fig.3  shall be in equilibrium, if :
1. The forces are equal in magnitude, parallel and opposite in direction ;
2. The forces form a couple which is equal and opposite to the applied
torque.
Thus  For equilibrium of the member shown in Fig.3 
T = F1  h = F2  h ------------------------------------------------- (6)
(a) Four – force Members : (Refer Fig.4)
A four – force member  as shown in Fig.4(a)  is completely solvable
 if one force is known completely in magnitude and direction -- along

with the lines of action of the other three forces.

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Thus  consider a system of four non – parallel forces  as shown in
Fig.4(a). Let O1 be the point of intersection of the lines of action of the
forces F1 and F2 -- and -- similarly, let O2 be the point of intersection of
the lines of action of the forces F 3 and F4. Join O1 and O2. Now, if we
draw the force polygon  as shown in Fig.4(b)  if the polygon is a
closed one  it indicates that the system is in static equilibrium. Then  ob
in the force polygon becomes the resultant of the forces F 1 and F2 -- and
-- similarly, bo becomes the resultant of the forces F 3 and F4 -- and -- ob
shall be parallel to O1 O2. Therefore  if, e.g., F1 is known in magnitude
and direction  the force polygon can be drawn -- and -- thereby, all the
three unknown forces can be determined.
Force Convention :
1. The force exerted by a member i on a member j is represented by Fij,
and the force exerted by a member j on a member i is represented by
Fji, such that Fij = – Fji  i.e., the magnitude of both the forces is same,
but their directions are opposite to each other.
Now  consider two links 1 and 2 of a mechanism  as shown in Fig.5(a).
The link 1 rotates with clockwise about a point A. At the point B  let F12
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be the force exerted by the link 1 on link 2. Then the force by the link 2
on link 1 will be F21.
Now  for equilibrium of the point B  F12 = – F21  as shown in Fig.5(b).
In general  Fij = – Fji .
2. A force -- unknown in magnitude, but known in direction -- is represented
by a solid straight line -- without arrowhead  e.g., ________________.
3. A force -- unknown in magnitude and direction -- is represented by a wavy
line  e.g., .
Free Body Diagrams :
A free body diagram is the diagram of a link isolated from a
mechanism showing all the active and reactive forces acting on the link 
in order to determine the nature of forces acting on the link.
Principle of Superposition :
This principle states that  if a number of forces act on a system 
the net effect is equal to the sum of the individual effects of the forces --
taken one at a time . And, in a linear system  the output force is directly
proportional to the input force.
Static Force Analysis of Four – Bar Mechanism :
(a) One Known Force : (Refer Fig.6)

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Consider a four – bar mechanism subjected to a force F applied to the link
4  as shown in Fig.6(a). The free – body diagrams of the forces acting on
the various members are shown in Fig.6(b) to Fig.6(d).
1. The link 2 is subjected to two forces F 12 and F32, and a torque T2 
as shown in Fig.6(b).

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 2. The link 3 is subjected to two forces F23 and F43  as shown in
Fig.6(c).
3. The link 3 is subjected to three forces F, F 34 and F14  as shown in
Fig.6(d).
 Now  we observe that the member (link) 3 is a two force member.
Therefore, for its equilibrium  F23 and F43 must act along BC. Their
magnitudes are not known at this stage.
 For the member 4  draw the force polygon, as shown in Fig.6(e) 
How?  At the point C, draw a line parallel to BC  to represent F34
 to intersect the line of action of F at G. Then the line of action

of F14 also shall pass through G. Now, draw the triangle of forces 
as shown in Fig.6( f )  to know the forces F 34 and F14 completely in
magnitude and direction.
 Now  from the triangle of forces drawn above  we have :
F34 = – F43 = F23 = – F32.
 The member 2 shall be in equilibrium  as shown in Fig.6(g)  if
F12 is equal, parallel, and opposite to F 32 -- and -- T = – F32  h. The
input torque T2 = – T.
(b) Two Known Forces : (Refer Fig.7)

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 Consider a four – bar mechanism  as shown in Fig.7(a)  subjected to
two forces P and Q. A moment T 2 must be applied to the link 2 to

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maintain equilibrium. The free body diagrams of the links of the mechanism
are shown in Fig.7(b). The unknowns for the various links are :
1. Five for the link 2 – magnitudes and directions F 12 and F32 and
magnitude of T2 ;
2. Four for the link 3 – magnitudes and directions F23 and F43 ;
3. Four for the link 4 – magnitudes and directions F34 and F14.
Therefore  these unknowns cannot be solved by the equilibrium
equations. But, if we consider the links 3 and 4 together  then, there are
six unknowns  i.e., the magnitudes and directions F12, F32, F43, F14, and the
magnitude of T2  because Fij = – Fji. Since there are six equations of
equilibrium (three for each link)  we can obtain a solution.
The forces on the links 3 and 4 are shown in Fig.7(c). Here, the force F 34
is resolved into two components  F''34 and Ft34  which are parallel and
perpendicular to CO4 respectively.
 Now  the magnitude of F t34 is found -- by taking moments about O 4
-- as :
Pa
Ft34  O4C = P  a -- or -- Ft34 = O 4 C ---------------------------------- (i)
 Next  the reactions at C on the link 3 are equal and opposite to
those at C on the link 4. And the magnitude of Ft43 = – Ft34.
 Thus  on the link 3, there are three unknowns  magnitude and
direction of F23 and the magnitude of F''34.
 The magnitude of F''43 can be found  by taking moments about the

(Ft 43d - Q×b)

point B  as : F''43  e + Q  b = Ft43  d  F''43 = e ------ (ii)

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  Now  we draw the force polygon for the link 3  as shown
Fig.7(d)  to get the magnitude of F23
--------------------------------------------- (iii)
 Since F32 = – F23  we can draw the free body diagram of the link 2
 as shown in Fig.7(e). Again, since the reactions at O 2 on the link

2 are equal and opposite to those at B on the same link  F12 = F32
(iv)
 Now  taking moments about O2  we get : T2 = F32  h  where T2
is the torque exerted on the link 2 ---------------------------------------- (v)
 Now  draw the force polygon for the links 2, 3, and 4 -- taken as
a whole system -- as shown in Fig.7( f )  from which we obtain F 14
in magnitude and direction ------------------------------------------------------
(vi)
Static Force Analysis of Slider – Crank Mechanism :
(a) One Known Force : (Refer Fig.8)

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 Consider a slider – crank mechanism with only one known force P
(due to the gas force on the piston)  as shown in Fig.8(a). The system is
kept in equilibrium by a couple T 2 to the crank (link 2) through the shaft
at O2.It is required to find the forces on all the links and the couple
applied to the link 2.
The forces acting on the various links  as shown in Fig.8(b) are :
1. The link 2 is subjected to two forces F 12, F32, and a torque T 2. Thus,
the link 2 has 3 unknowns  (a) The force F32 known in direction
only ; (b) The force F12 unknown in magnitude and direction ; and (c)
the unknown moment exerted on link 2 by the crankshaft.
A wavy line placed at O2 indicates that the magnitude or direction of
the force F12 which acts through that point.
2. The link 3 is subjected to two forces F23 and F43.
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 3. The link 4 is subjected to 3 forces P, F34, and F14. The force P is
known in magnitude and direction, and the two forces F 34 and F14 are
not known in magnitude.
 The link 4  which has only two unknowns  is analyzed first.
These two unknown magnitudes can be found by drawing a force
polygon  as shown in Fig.8(c).
 From Fig.8(d)  we note that F12 must be equal and opposite to F32
to balance the forces on the link 2. However, the two equal,
opposite, and parallel forces produce a couple  which can be
balanced by another couple only. This balancing couple T 2 is equal
to (F32  h)  where h is the perpendicular distance between the
forces F32 and F12. It is clockwise -- and -- it is the torque exerted
by the crankshaft on the link 2.
 From the triangle of forces [Fig.8(c)]  we have :
F34 = – F43 = F23 = – F32 = cb -- and -- F14 = bo.
The member (link) 2 shall be in equilibrium  as shown in Fig.8(e)
 if F12 is equal, parallel, and opposite to F23 -- and -- T = – F32  h.

 The input torque = T2 = – T .

(b) Two Known Forces : (Refer Fig.9)

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A slider – crank mechanism with two known forces P and Q  is shown in
Fig.9(a). The force P is applied to the piston due to gas pressure -- and --
the force Q is applied to the link 3. It is required to determine the forces
in the links, and the torque T 2. The free body diagrams of the links are
shown in Fig.9(b).
 Link 3 : This is a three – force member  the forces being F23, F43,
and Q. Let F43 be resolved into tangential and parallel components

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 Ft43 and F''43 respectively  as shown in Fig.9(c). Now, consider the
equilibrium of link 3 by taking moments about the point B  as :
DB
F 43  CB = Q sin α  DB  F
t t
43 = Q sin α . CB .
And, then  Ft43 = – Ft34.
 Link 4 : The forces acting on the link 4 are shown in Fig.9(d).
Here Ft43 and P are known in magnitude and direction. Therefore 
their resultant is found  as shown in Fig.9(e). First, draw Ft43 and
P -- then -- draw F''34 ⊥r to Ft34 from b. Now, F14 is ⊥r to the
path of the slider (link 4) and passing through C. So, draw from o
a vertical line to intersect the previous line of F'' 34 at c. Thus, the
resultant force F34 is obtained from this force polygon. Therefore, F 43
= – F34 is also known now.
Again, consider the equilibrium of the link 3. There are three
forces F43, Q, and F23 -- out of which -- F 43 and Q are known
completely as shown in Fig.9( f ). Therefore, from the force polygon
shown in Fig.9(g)  F23 can be determined in magnitude and
direction.
 Link 2 : Here  F23 = – F32 = F21 = – F12. Therefore  from Fig.9(h),
the couple T2 can be determined as : T2 = F32  h (cw).

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