Middle East Technical University

Department of Mechanical Engineering

ME-301 Theory of Machines
Homework 4

Prepared by
Saad Ahmed Khan
Section 3
Q1)
a) Disconnecting the joint at the end of link 4 and the joint at the
end of link 5

LCE 1: 𝑙𝑙2 𝑒𝑒 𝑖𝑖𝜃𝜃12 + 𝑙𝑙3 𝑒𝑒 𝑖𝑖𝜃𝜃13 = 𝑙𝑙1 𝑒𝑒 𝑖𝑖(0) + 𝑙𝑙4 𝑒𝑒 𝑖𝑖𝜃𝜃14 𝑒𝑒 𝑖𝑖(0) = 𝑒𝑒 0 = 1
𝑙𝑙2 𝑒𝑒 𝑖𝑖𝜃𝜃12 + 𝑙𝑙3 𝑒𝑒 𝑖𝑖𝜃𝜃13 = 𝑙𝑙1 + 𝑙𝑙4 𝑒𝑒 𝑖𝑖𝜃𝜃14
𝜋𝜋
𝑖𝑖𝜃𝜃14 𝑖𝑖𝜃𝜃15 𝑖𝑖(0) 𝑖𝑖( 2 )
LCE 2: 𝑙𝑙4 𝑒𝑒 + 𝑙𝑙5 𝑒𝑒 = 𝑎𝑎1 𝑒𝑒 + 𝑆𝑆15 𝑒𝑒
𝑙𝑙4 𝑒𝑒 𝑖𝑖𝜃𝜃14 + 𝑙𝑙5 𝑒𝑒 𝑖𝑖𝜃𝜃15 = 𝑎𝑎1 + 𝑆𝑆15 𝑖𝑖

b)
𝜋𝜋
̇ 𝑖𝑖 + 𝑙𝑙3 𝑒𝑒 𝑖𝑖𝜃𝜃13 𝜃𝜃13
VLE 1: 𝑙𝑙2 𝑒𝑒 𝑖𝑖𝜃𝜃12 𝜃𝜃12 ̇ 𝑖𝑖 = 0 + 𝑙𝑙4 𝑒𝑒 𝑖𝑖𝜃𝜃14 𝜃𝜃14
̇ 𝑖𝑖 𝑒𝑒 𝑖𝑖( 2 ) = 𝑖𝑖
̇ 𝑒𝑒 𝑖𝑖𝜃𝜃12 + 𝑙𝑙3 𝜃𝜃̇13 𝑒𝑒 𝑖𝑖𝜃𝜃13 = 𝑙𝑙4 𝜃𝜃14
𝑙𝑙2 𝜃𝜃12 ̇ 𝑒𝑒 𝑖𝑖𝜃𝜃14 (iotas cancel out)
𝜋𝜋 𝜋𝜋
𝑑𝑑 𝜋𝜋
VLE 2: 𝑙𝑙4 𝜃𝜃14 ̇ 𝑒𝑒 𝑖𝑖( 2 ) + 𝑆𝑆15 𝑒𝑒 𝑖𝑖� 2 �
̇ 𝑒𝑒 𝑖𝑖𝜃𝜃14 𝑖𝑖 + 𝑙𝑙5 𝜃𝜃̇15 𝑒𝑒 𝑖𝑖𝜃𝜃15 𝑖𝑖 = 0 + 𝑆𝑆15 ( )𝑖𝑖
𝑑𝑑𝑑𝑑 2

𝑙𝑙4 𝜃𝜃̇14 𝑒𝑒 𝑖𝑖𝜃𝜃14 𝑖𝑖 + 𝑙𝑙5 𝜃𝜃15

̇ 𝑒𝑒 𝑖𝑖𝜃𝜃15 𝑖𝑖 = 0 + 𝑆𝑆15
̇ 𝑖𝑖 + 0

𝑙𝑙4 𝜃𝜃̇14 𝑒𝑒 𝑖𝑖𝜃𝜃14 + 𝑙𝑙5 𝜃𝜃15

̇ 𝑒𝑒 𝑖𝑖𝜃𝜃15 = 𝑆𝑆15
̇ (iotas cancel out)

c)
𝑙𝑙2 cos (𝜃𝜃12 ) 𝑙𝑙3 cos (𝜃𝜃13 ) 𝜃𝜃̇12 ̇ cos (𝜃𝜃14 )
𝑙𝑙4 𝜃𝜃14
For VLE 1: � �� � = � �
̇
𝑙𝑙2 sin (𝜃𝜃12 ) 𝑙𝑙3 sin (𝜃𝜃13 ) 𝜃𝜃13 ̇ sin (𝜃𝜃14 )
𝑙𝑙4 𝜃𝜃14
��⃗ = 𝑏𝑏�⃗
𝐴𝐴⃗ ∙ Ω
𝑙𝑙 cos (𝜃𝜃12 ) 𝑙𝑙3 cos (𝜃𝜃13 ) ��⃗ 𝜃𝜃̇ 𝑙𝑙 𝜃𝜃̇ cos (𝜃𝜃14 )
𝐴𝐴⃗ = � 2 � Ω = � 12 � 𝑏𝑏�⃗ = � 4 14 �
𝑙𝑙2 sin (𝜃𝜃12 ) 𝑙𝑙3 sin (𝜃𝜃13 ) ̇
𝜃𝜃13 ̇
𝑙𝑙4 𝜃𝜃14 sin (𝜃𝜃14 )
For singular positions, the determinant of A must be equal to zero

𝐷𝐷𝐷𝐷𝐷𝐷�𝐴𝐴⃗� = 𝑙𝑙2 cos(𝜃𝜃12 ) 𝑙𝑙3 sin(𝜃𝜃13 ) − 𝑙𝑙3 cos(𝜃𝜃13 ) 𝑙𝑙2 sin(𝜃𝜃12 ) = 0

𝑙𝑙2 𝑙𝑙3 [sin(𝜃𝜃13 ) cos(𝜃𝜃12 ) − cos(𝜃𝜃13 ) sin(𝜃𝜃12 )] = 0
sin(𝜃𝜃13 − 𝜃𝜃12 ) = 0
𝜃𝜃13 − 𝜃𝜃12 = 0
sin(𝜃𝜃13 − 𝜃𝜃12 ) = 𝜋𝜋
𝜃𝜃13 − 𝜃𝜃12 = 𝜋𝜋 𝜃𝜃13 = 𝜃𝜃12 + 𝜋𝜋

̇ 𝑒𝑒 𝑖𝑖𝜃𝜃15 = 𝑙𝑙4 𝜃𝜃14

̇ − 𝑙𝑙5 𝜃𝜃15
For VLE 2: 𝑆𝑆15 ̇ 𝑒𝑒 𝑖𝑖𝜃𝜃14

1 −𝑙𝑙5 cos (𝜃𝜃15 ) 𝑆𝑆15̇ 𝑙𝑙 𝜃𝜃̇ cos (𝜃𝜃14 )

� �� � = � 4 14 �
0 ̇
−𝑙𝑙5 sin (𝜃𝜃15 ) 𝜃𝜃15 ̇ sin (𝜃𝜃14 )
𝑙𝑙4 𝜃𝜃14
��⃗ = 𝑏𝑏�⃗
𝐴𝐴⃗ ∙ Ω
1 −𝑙𝑙5 cos (𝜃𝜃15 ) ��⃗ 𝑆𝑆15̇ ̇ cos (𝜃𝜃14 )
𝑙𝑙4 𝜃𝜃14
𝐴𝐴⃗ = � �⃗
� Ω = � � 𝑏𝑏 = � �
0 −𝑙𝑙5 sin (𝜃𝜃15 ) ̇
𝜃𝜃15 ̇ sin (𝜃𝜃14 )
𝑙𝑙4 𝜃𝜃14
For singular positions, the determinant of A must be equal to zero
𝐷𝐷𝐷𝐷𝐷𝐷�𝐴𝐴⃗� = −𝑙𝑙5 sin(𝜃𝜃15 ) = 0
sin(𝜃𝜃15 ) = 0
𝜃𝜃15 = 0
d)

𝜃𝜃13 − 𝜃𝜃12 = 0

𝜃𝜃13 = 𝜃𝜃12 + 𝜋𝜋

𝜃𝜃15 = 0
e)
The physical existence of singular positions depends upon the
kinematic dimensions. Therefore, if the mechanism is properly analyzed
the appropriate lengths to be used can be found such that there exist no
singular positions.
In all of the examples give above in part d) the singular positions could
have been avoided by using links of appropriate lengths to avoid the
singular positions.
Therefore, the results in part d) are not applicable for every possible length
of beams/links.
Q2)
a) Disconnecting the joint at the end of link 4 and the joint at the
end of link 5

LCE 1: 𝑙𝑙2 𝑒𝑒 𝑖𝑖𝜃𝜃12 + 𝑙𝑙3 𝑒𝑒 𝑖𝑖𝜃𝜃13 = 𝑙𝑙1 𝑒𝑒 𝑖𝑖(0) + 𝑙𝑙4 𝑒𝑒 𝑖𝑖𝜃𝜃14 𝑒𝑒 𝑖𝑖(0) = 𝑒𝑒 0 = 1
𝑙𝑙2 𝑒𝑒 𝑖𝑖𝜃𝜃12 + 𝑙𝑙3 𝑒𝑒 𝑖𝑖𝜃𝜃13 = 𝑙𝑙1 + 𝑙𝑙4 𝑒𝑒 𝑖𝑖𝜃𝜃14
𝜋𝜋
𝑖𝑖𝜃𝜃14 𝑖𝑖𝜃𝜃15 𝑖𝑖(0) 𝑖𝑖( 2 )
LCE 2: 𝑙𝑙4 𝑒𝑒 + 𝑙𝑙5 𝑒𝑒 = 𝑎𝑎1 𝑒𝑒 + 𝑆𝑆15 𝑒𝑒
𝑙𝑙4 𝑒𝑒 𝑖𝑖𝜃𝜃14 + 𝑙𝑙5 𝑒𝑒 𝑖𝑖𝜃𝜃15 = 𝑎𝑎1 + 𝑆𝑆15 𝑖𝑖

b)
𝜋𝜋
̇ 𝑖𝑖 + 𝑙𝑙3 𝑒𝑒 𝑖𝑖𝜃𝜃13 𝜃𝜃13
VLE 1: 𝑙𝑙2 𝑒𝑒 𝑖𝑖𝜃𝜃12 𝜃𝜃12 ̇ 𝑖𝑖 = 0 + 𝑙𝑙4 𝑒𝑒 𝑖𝑖𝜃𝜃14 𝜃𝜃14
̇ 𝑖𝑖 𝑒𝑒 𝑖𝑖( 2 ) = 𝑖𝑖
̇ 𝑒𝑒 𝑖𝑖𝜃𝜃12 + 𝑙𝑙3 𝜃𝜃̇13 𝑒𝑒 𝑖𝑖𝜃𝜃13 = 𝑙𝑙4 𝜃𝜃14
𝑙𝑙2 𝜃𝜃12 ̇ 𝑒𝑒 𝑖𝑖𝜃𝜃14 (iotas cancel out)
From Q1 c)
𝑙𝑙2 cos (𝜃𝜃12 ) 𝑙𝑙3 cos (𝜃𝜃13 ) 𝜃𝜃̇12 ̇ cos (𝜃𝜃14 )
𝑙𝑙4 𝜃𝜃14
For VLE 1: � �� � = � �
̇
𝑙𝑙2 sin (𝜃𝜃12 ) 𝑙𝑙3 sin (𝜃𝜃13 ) 𝜃𝜃13 ̇ sin (𝜃𝜃14 )
𝑙𝑙4 𝜃𝜃14
𝐴𝐴1 �����⃗ = ����⃗
�����⃗ ∙ Ω1 𝑏𝑏1
𝑙𝑙2 cos (𝜃𝜃12 ) 𝑙𝑙3 cos (𝜃𝜃13 ) �����⃗ 𝜃𝜃̇12 ����⃗ ̇ cos (𝜃𝜃14 )
𝑙𝑙4 𝜃𝜃14
�����⃗
𝐴𝐴1 = � � Ω1 = � � 𝑏𝑏1 = � �
𝑙𝑙2 sin (𝜃𝜃12 ) 𝑙𝑙3 sin (𝜃𝜃13 ) ̇
𝜃𝜃13 ̇ sin (𝜃𝜃14 )
𝑙𝑙4 𝜃𝜃14
�����⃗� ≠ 0
𝐷𝐷𝐷𝐷𝐷𝐷�𝐴𝐴1
�����⃗� = 𝑙𝑙2 cos(𝜃𝜃12 ) 𝑙𝑙3 sin(𝜃𝜃13 ) − 𝑙𝑙3 cos(𝜃𝜃13 ) 𝑙𝑙2 sin(𝜃𝜃12 )
𝐷𝐷𝐷𝐷𝐷𝐷�𝐴𝐴1
Using Cramer’s Rule to find 𝜃𝜃̇12 and 𝜃𝜃̇13
𝑙𝑙4 𝜃𝜃̇14 cos (𝜃𝜃14 ) 𝑙𝑙3 cos (𝜃𝜃13 )
𝐷𝐷𝐷𝐷𝐷𝐷 � �
𝑙𝑙4 𝜃𝜃̇14 sin (𝜃𝜃14 ) 𝑙𝑙3 sin (𝜃𝜃13 )
𝜃𝜃̇12 =
�����⃗�
𝐷𝐷𝐷𝐷𝐷𝐷�𝐴𝐴1

𝑙𝑙2 cos (𝜃𝜃12 ) 𝑙𝑙4 𝜃𝜃̇14 cos (𝜃𝜃14 )

𝐷𝐷𝐷𝐷𝐷𝐷 � �
̇ = 𝑙𝑙2 sin (𝜃𝜃12 ) 𝑙𝑙4 𝜃𝜃̇14 sin (𝜃𝜃14 )
𝜃𝜃13
𝐷𝐷𝐷𝐷𝐷𝐷�𝐴𝐴⃗1�

𝜋𝜋 𝜋𝜋
𝑑𝑑 𝜋𝜋
VLE 2: 𝑙𝑙4 𝜃𝜃14 ̇ 𝑒𝑒 𝑖𝑖( 2 ) + 𝑆𝑆15 𝑒𝑒 𝑖𝑖� 2 �
̇ 𝑒𝑒 𝑖𝑖𝜃𝜃14 𝑖𝑖 + 𝑙𝑙5 𝜃𝜃̇15 𝑒𝑒 𝑖𝑖𝜃𝜃15 𝑖𝑖 = 0 + 𝑆𝑆15 ( )𝑖𝑖
𝑑𝑑𝑑𝑑 2

𝑙𝑙4 𝜃𝜃̇14 𝑒𝑒 𝑖𝑖𝜃𝜃14 𝑖𝑖 + 𝑙𝑙5 𝜃𝜃15

̇ 𝑒𝑒 𝑖𝑖𝜃𝜃15 𝑖𝑖 = 0 + 𝑆𝑆15
̇ 𝑖𝑖 + 0

𝑙𝑙4 𝜃𝜃̇14 𝑒𝑒 𝑖𝑖𝜃𝜃14 + 𝑙𝑙5 𝜃𝜃15

̇ 𝑒𝑒 𝑖𝑖𝜃𝜃15 = 𝑆𝑆15
̇ (iotas cancel out)
From Q1 c)
̇ − 𝑙𝑙5 𝜃𝜃̇15 𝑒𝑒 𝑖𝑖𝜃𝜃15 = 𝑙𝑙4 𝜃𝜃14
𝑆𝑆15 ̇ 𝑒𝑒 𝑖𝑖𝜃𝜃14

1 −𝑙𝑙5 cos (𝜃𝜃15 ) 𝑆𝑆15̇ 𝑙𝑙 𝜃𝜃̇ cos (𝜃𝜃14 )

� �� � = � 4 14 �
0 ̇
−𝑙𝑙5 sin (𝜃𝜃15 ) 𝜃𝜃15 𝑙𝑙4 𝜃𝜃̇14 sin (𝜃𝜃14 )
�����⃗ �����⃗ = ����⃗
𝐴𝐴2 ∙ Ω2 𝑏𝑏2
1 −𝑙𝑙5 cos (𝜃𝜃15 ) �����⃗ 𝑆𝑆̇ ̇
�����⃗
𝐴𝐴2 = � ����⃗ = �𝑙𝑙4 𝜃𝜃14 cos (𝜃𝜃14 )�
� Ω2 = � 15 � 𝑏𝑏2
0 −𝑙𝑙5 sin (𝜃𝜃15 ) ̇
𝜃𝜃15 𝑙𝑙4 𝜃𝜃̇14 sin (𝜃𝜃14 )
�����⃗� ≠ 0
𝐷𝐷𝐷𝐷𝐷𝐷�𝐴𝐴2
�����⃗� = −𝑙𝑙5 sin(𝜃𝜃15 )
𝐷𝐷𝐷𝐷𝐷𝐷�𝐴𝐴2
 ̇
̇ and 𝜃𝜃15
Using Cramer’s Rule to find 𝑆𝑆15

𝑙𝑙 𝜃𝜃̇ cos (𝜃𝜃14 ) −𝑙𝑙5 cos (𝜃𝜃15 )

𝐷𝐷𝐷𝐷𝐷𝐷 � 4 14 �
̇ 𝑙𝑙4 𝜃𝜃̇14 sin (𝜃𝜃14 ) −𝑙𝑙5 sin (𝜃𝜃15 )
𝑆𝑆15 =
𝐷𝐷𝐷𝐷𝐷𝐷�𝐴𝐴⃗2�

𝑙𝑙 𝜃𝜃̇ cos (𝜃𝜃14 ) −𝑙𝑙5 cos (𝜃𝜃15 )

𝐷𝐷𝐷𝐷𝐷𝐷 � 4 14 �
̇ 𝑙𝑙4 𝜃𝜃̇14 sin (𝜃𝜃14 ) −𝑙𝑙5 sin (𝜃𝜃15 )
𝑆𝑆15 =
𝐷𝐷𝐷𝐷𝐷𝐷�𝐴𝐴⃗2�

1 𝑙𝑙4 𝜃𝜃̇14 cos (𝜃𝜃14 )

𝐷𝐷𝐷𝐷𝐷𝐷 � �
0 𝑙𝑙4 𝜃𝜃̇14 sin (𝜃𝜃14 )
𝜃𝜃̇15 =
𝐷𝐷𝐷𝐷𝐷𝐷�𝐴𝐴⃗2�

𝑙𝑙4 𝜃𝜃̇14 sin (𝜃𝜃14 )

𝜃𝜃̇15 =
𝑙𝑙5 sin(𝜃𝜃15 )

c)

̇ 2 𝑒𝑒 𝑖𝑖𝜃𝜃12 𝑖𝑖� + 𝑙𝑙3 �𝜃𝜃̈13 𝑒𝑒 𝑖𝑖𝜃𝜃13 + 𝜃𝜃̇13 2 𝑒𝑒 𝑖𝑖𝜃𝜃13 𝑖𝑖� = 𝑙𝑙4 �𝜃𝜃̈14 𝑒𝑒 𝑖𝑖𝜃𝜃14 + 𝜃𝜃14
ALE 1: 𝑙𝑙2 �𝜃𝜃̈12 𝑒𝑒 𝑖𝑖𝜃𝜃12 + 𝜃𝜃12 ̇ 2 𝑒𝑒 𝑖𝑖𝜃𝜃14 𝑖𝑖�

𝑒𝑒 𝑖𝑖𝑖𝑖 = cos (𝜃𝜃) + 𝑠𝑠𝑠𝑠𝑠𝑠(𝜃𝜃)𝑖𝑖

𝑖𝑖𝑒𝑒 𝑖𝑖𝑖𝑖 = − sin(𝜃𝜃) + 𝑐𝑐𝑐𝑐𝑐𝑐(𝜃𝜃)𝑖𝑖
2
𝑙𝑙2 �𝜃𝜃̈12 (cos(𝜃𝜃12 ) + 𝑠𝑠𝑠𝑠𝑠𝑠(𝜃𝜃12 )𝑖𝑖) + 𝜃𝜃̇12 (− sin(𝜃𝜃12 ) + 𝑐𝑐𝑐𝑐𝑐𝑐(𝜃𝜃12 )𝑖𝑖)�
2
̈ (cos(𝜃𝜃13 ) + 𝑠𝑠𝑠𝑠𝑠𝑠(𝜃𝜃13 )𝑖𝑖) + 𝜃𝜃̇13 (− sin(𝜃𝜃13 ) + 𝑐𝑐𝑐𝑐𝑐𝑐(𝜃𝜃13 )𝑖𝑖)�
+ 𝑙𝑙3 �𝜃𝜃13
2
= 𝑙𝑙4 �𝜃𝜃̈14 (cos(𝜃𝜃14 ) + 𝑠𝑠𝑠𝑠𝑠𝑠(𝜃𝜃14 )𝑖𝑖) + 𝜃𝜃̇14 (− sin(𝜃𝜃14 ) + 𝑐𝑐𝑐𝑐𝑐𝑐(𝜃𝜃14 )𝑖𝑖)�
[RE] ALE 1:
2 2
𝑙𝑙2 𝜃𝜃̈12 cos(𝜃𝜃12 ) − 𝑙𝑙2 𝜃𝜃̇12 sin(𝜃𝜃12 ) +𝑙𝑙3 𝜃𝜃̈13 cos(𝜃𝜃13 ) − 𝑙𝑙3 𝜃𝜃̇13 sin(𝜃𝜃13 ) = 𝑙𝑙4 𝜃𝜃̈14 cos(𝜃𝜃14 )
2
− 𝑙𝑙4 𝜃𝜃̇14 sin(𝜃𝜃14 )

[IM] ALE 1:
2 2
𝑙𝑙2 𝜃𝜃̈12 sin(𝜃𝜃12 ) + 𝑙𝑙2 𝜃𝜃̇12 cos(𝜃𝜃12 ) + 𝑙𝑙3 𝜃𝜃̈13 sin(𝜃𝜃13 ) + 𝑙𝑙3 𝜃𝜃̇13 cos(𝜃𝜃13 ) = 𝑙𝑙4 𝜃𝜃̈14 sin(𝜃𝜃14 )
2
+ 𝑙𝑙4 𝜃𝜃̇14 cos(𝜃𝜃14 )

Therefore,
For ALE 1:
𝑙𝑙2 cos (𝜃𝜃12 ) 𝑙𝑙3 cos (𝜃𝜃13 ) 𝜃𝜃̈12
� �� �
𝑙𝑙2 sin (𝜃𝜃12 ) 𝑙𝑙3 sin (𝜃𝜃13 ) 𝜃𝜃̈13
2 2 2
𝑙𝑙4 𝜃𝜃̈14 cos(𝜃𝜃14 ) − 𝑙𝑙4 𝜃𝜃̇14 sin(𝜃𝜃14 ) + 𝑙𝑙2 𝜃𝜃̇12 sin(𝜃𝜃12 ) + 𝑙𝑙3 𝜃𝜃̇13 sin(𝜃𝜃13 )
=� 2 2 2 �
𝑙𝑙4 𝜃𝜃̈14 sin(𝜃𝜃14 ) + 𝑙𝑙4 𝜃𝜃̇14 cos(𝜃𝜃14 ) − 𝑙𝑙2 𝜃𝜃̇12 cos(𝜃𝜃12 ) − 𝑙𝑙3 𝜃𝜃̇13 cos(𝜃𝜃13 )

�����⃗ 𝛼𝛼1 = ����⃗

𝐴𝐴1 ∙ �����⃗ 𝑑𝑑1

�����⃗ = �𝜃𝜃̈ 12 � 𝑑𝑑1

𝑙𝑙 cos (𝜃𝜃 ) 𝑙𝑙3 cos (𝜃𝜃13 )
�����⃗ = � 2
𝐴𝐴1
12
� 𝛼𝛼1 ����⃗ �
𝑙𝑙4 𝜃𝜃̈ 14 cos(𝜃𝜃14 ) − 𝑙𝑙4 𝜃𝜃̇ 14 sin(𝜃𝜃14 ) + 𝑙𝑙2 𝜃𝜃̇ 12 sin(𝜃𝜃12 ) + 𝑙𝑙3 𝜃𝜃̇ 13 sin(𝜃𝜃13 )
2 2 2

�
𝜃𝜃̈ 13
=
𝑙𝑙 sin (𝜃𝜃 )
2 12 𝑙𝑙3 sin (𝜃𝜃13 ) 𝑙𝑙4 𝜃𝜃̈ 14 sin(𝜃𝜃14 ) + 𝑙𝑙4 𝜃𝜃̇ 14 cos(𝜃𝜃14 ) − 𝑙𝑙2 𝜃𝜃̇ 12 cos(𝜃𝜃12 ) − 𝑙𝑙3 𝜃𝜃̇ 13 cos(𝜃𝜃13 )
2 2 2

Using Cramer’s Rule to find 𝜃𝜃̈12 and 𝜃𝜃̈13

2 2 2
𝑙𝑙4 𝜃𝜃̈ 14 cos(𝜃𝜃14 ) − 𝑙𝑙4 𝜃𝜃̇ 14 sin(𝜃𝜃14 ) + 𝑙𝑙2 𝜃𝜃̇ 12 sin(𝜃𝜃12 ) + 𝑙𝑙3 𝜃𝜃̇ 13 sin(𝜃𝜃13 ) 𝑙𝑙3 cos (𝜃𝜃13 )
𝐷𝐷𝐷𝐷𝐷𝐷 � 2 2 2 �
𝑙𝑙4 𝜃𝜃̈ 14 sin(𝜃𝜃14 ) + 𝑙𝑙4 𝜃𝜃̇ 14 cos(𝜃𝜃14 ) − 𝑙𝑙2 𝜃𝜃̇ 12 cos(𝜃𝜃12 ) − 𝑙𝑙3 𝜃𝜃̇ 13 cos(𝜃𝜃13 ) 𝑙𝑙3 sin(𝜃𝜃13 )
𝜃𝜃̈12 =
�����⃗
𝐷𝐷𝐷𝐷𝐷𝐷𝐴𝐴1

2 2 2
𝑙𝑙2 cos (𝜃𝜃12 ) 𝑙𝑙4 𝜃𝜃̈ 14 cos(𝜃𝜃14 ) − 𝑙𝑙4 𝜃𝜃̇ 14 sin(𝜃𝜃14 ) + 𝑙𝑙2 𝜃𝜃̇ 12 sin(𝜃𝜃12 ) + 𝑙𝑙3 𝜃𝜃̇ 13 sin(𝜃𝜃13 )
𝐷𝐷𝐷𝐷𝐷𝐷 � 2 2 2 �
𝑙𝑙2 sin (𝜃𝜃12 ) 𝑙𝑙4 𝜃𝜃̈ 14 sin(𝜃𝜃14 ) + 𝑙𝑙4 𝜃𝜃̇ 14 cos(𝜃𝜃14 ) − 𝑙𝑙2 𝜃𝜃̇ 12 cos(𝜃𝜃12 ) − 𝑙𝑙3 𝜃𝜃̇ 13 cos(𝜃𝜃13 )
𝜃𝜃̈13 =
�����⃗
𝐷𝐷𝐷𝐷𝐷𝐷𝐴𝐴1
 2
ALE 2: ̈ 𝑒𝑒 𝑖𝑖𝜃𝜃15 + 𝜃𝜃̇15 2 𝑒𝑒 𝑖𝑖𝜃𝜃15 𝑖𝑖� = 𝑆𝑆15
𝑙𝑙4 �𝜃𝜃̈14 𝑒𝑒 𝑖𝑖𝜃𝜃14 + 𝜃𝜃̇14 𝑒𝑒 𝑖𝑖𝜃𝜃14 𝑖𝑖� + 𝑙𝑙5 �𝜃𝜃15 ̈

𝑒𝑒 𝑖𝑖𝑖𝑖 = cos (𝜃𝜃) + 𝑠𝑠𝑠𝑠𝑠𝑠(𝜃𝜃)𝑖𝑖

𝑖𝑖𝑒𝑒 𝑖𝑖𝑖𝑖 = − sin(𝜃𝜃) + 𝑐𝑐𝑐𝑐𝑐𝑐(𝜃𝜃)𝑖𝑖

2
𝑙𝑙4 �𝜃𝜃̈14 (cos(𝜃𝜃14 ) + 𝑠𝑠𝑠𝑠𝑠𝑠(𝜃𝜃14 )𝑖𝑖) + 𝜃𝜃̇14 (− sin(𝜃𝜃14 ) + 𝑐𝑐𝑐𝑐𝑐𝑐(𝜃𝜃14 )𝑖𝑖)�
̈ (cos(𝜃𝜃15 ) + 𝑠𝑠𝑠𝑠𝑠𝑠(𝜃𝜃15 )𝑖𝑖) + 𝜃𝜃̇15 2 (− sin(𝜃𝜃15 ) + 𝑐𝑐𝑐𝑐𝑐𝑐(𝜃𝜃15 )𝑖𝑖)� = 𝑆𝑆15
+ 𝑙𝑙5 �𝜃𝜃15 ̈

[RE] ALE 2:
2 2
𝑙𝑙4 𝜃𝜃̈14 cos(𝜃𝜃14 ) − 𝑙𝑙4 𝜃𝜃̇14 sin(𝜃𝜃14 ) +𝑙𝑙5 𝜃𝜃̈15 cos(𝜃𝜃15 ) − 𝑙𝑙5 𝜃𝜃̇15 sin(𝜃𝜃15 ) = 𝑆𝑆15
̈

̇ 2 sin(𝜃𝜃15 ) = 𝑙𝑙4 𝜃𝜃̈14 cos(𝜃𝜃14 ) − 𝑙𝑙4 𝜃𝜃̇14 2 sin(𝜃𝜃14 )

̈ − 𝑙𝑙5 𝜃𝜃̈15 cos(𝜃𝜃15 ) + 𝑙𝑙5 𝜃𝜃15
𝑆𝑆15

[IM] ALE 2:
2 2
𝑙𝑙4 𝜃𝜃̈14 sin(𝜃𝜃14 ) + 𝑙𝑙4 𝜃𝜃̇14 cos(𝜃𝜃14 ) + 𝑙𝑙5 𝜃𝜃̈15 sin(𝜃𝜃15 ) + 𝑙𝑙5 𝜃𝜃̇15 cos(𝜃𝜃15 ) = 0
2 2
−𝑙𝑙5 𝜃𝜃̈15 sin(𝜃𝜃15 ) − 𝑙𝑙5 𝜃𝜃̇15 cos(𝜃𝜃15 ) = 𝑙𝑙4 𝜃𝜃̈14 sin(𝜃𝜃14 ) + 𝑙𝑙4 𝜃𝜃̇14 cos(𝜃𝜃14 )

Therefore,
For ALE 2:
2 2
̈
1 −𝑙𝑙5 cos (𝜃𝜃15 ) 𝑆𝑆15 𝑙𝑙4 𝜃𝜃̈14 cos(𝜃𝜃14 ) − 𝑙𝑙4 𝜃𝜃̇14 sin(𝜃𝜃14 ) − 𝑙𝑙5 𝜃𝜃̇15 sin(𝜃𝜃15 )
� �� �=� �
0 −𝑙𝑙5 sin (𝜃𝜃15 ) 𝜃𝜃̈15 2
𝑙𝑙 𝜃𝜃̈ sin(𝜃𝜃 ) + 𝑙𝑙 𝜃𝜃̇ cos(𝜃𝜃 ) + 𝑙𝑙 𝜃𝜃̇ cos(𝜃𝜃 )
2
4 14 14 4 14 14 5 15 15

�����⃗ 𝛼𝛼2 = ����⃗

𝐴𝐴2 ∙ �����⃗ 𝑑𝑑2
𝑆𝑆̈ 15
2 2
1 −𝑙𝑙5 cos (𝜃𝜃15 ) 𝑙𝑙4 𝜃𝜃̈ 14 cos(𝜃𝜃14 ) − 𝑙𝑙4 𝜃𝜃̇ 14 sin(𝜃𝜃14 ) − 𝑙𝑙5 𝜃𝜃̇ 15 sin(𝜃𝜃15 )
�����⃗
𝐴𝐴2 = � 0 � �����⃗ ����⃗
𝛼𝛼2 = � � 𝑑𝑑2 = � �
−𝑙𝑙5 sin (𝜃𝜃15 ) 𝜃𝜃̈ 15 2 2
𝑙𝑙4 𝜃𝜃̈ 14 sin(𝜃𝜃14 ) + 𝑙𝑙4 𝜃𝜃̇ 14 cos(𝜃𝜃14 ) + 𝑙𝑙5 𝜃𝜃̇ 15 cos(𝜃𝜃15 )
Using Cramer’s Rule to find 𝑆𝑆̈ 15 and 𝜃𝜃̈15
2 2
𝑙𝑙4 𝜃𝜃̈ 14 cos(𝜃𝜃14 ) − 𝑙𝑙4 𝜃𝜃̇ 14 sin(𝜃𝜃14 ) − 𝑙𝑙5 𝜃𝜃̇ 15 sin(𝜃𝜃15 ) −𝑙𝑙5 cos (𝜃𝜃15 )
𝐷𝐷𝐷𝐷𝐷𝐷 � 2 2 �
𝑙𝑙4 𝜃𝜃̈ 14 sin(𝜃𝜃14 ) + 𝑙𝑙4 𝜃𝜃̇ 14 cos(𝜃𝜃14 ) + 𝑙𝑙5 𝜃𝜃̇ 15 cos(𝜃𝜃15 ) −𝑙𝑙5 sin (𝜃𝜃15 )
̈
𝑆𝑆15 =
�������⃗
𝐷𝐷𝐷𝐷𝐷𝐷𝐴𝐴2
2 2
𝑙𝑙4 𝜃𝜃̈ 14 cos(𝜃𝜃14 ) − 𝑙𝑙4 𝜃𝜃̇ 14 sin(𝜃𝜃14 ) − 𝑙𝑙5 𝜃𝜃̇ 15 sin(𝜃𝜃15 ) −𝑙𝑙5 cos (𝜃𝜃15 )
𝐷𝐷𝐷𝐷𝐷𝐷 � 2 2 �
𝑙𝑙4 𝜃𝜃̈ 14 sin(𝜃𝜃14 ) + 𝑙𝑙4 𝜃𝜃̇ 14 cos(𝜃𝜃14 ) + 𝑙𝑙5 𝜃𝜃̇ 15 cos(𝜃𝜃15 ) −𝑙𝑙5 sin (𝜃𝜃15 )
̈
𝑆𝑆15 =
−𝑙𝑙5 sin (𝜃𝜃15 )

1 2 2
𝑙𝑙4 𝜃𝜃̈ 14 cos(𝜃𝜃14 ) − 𝑙𝑙4 𝜃𝜃̇ 14 sin(𝜃𝜃14 ) − 𝑙𝑙5 𝜃𝜃̇ 15 sin(𝜃𝜃15 )
𝐷𝐷𝐷𝐷𝐷𝐷 � �
0 2 2
𝑙𝑙4 𝜃𝜃̈ 14 sin(𝜃𝜃14 ) + 𝑙𝑙4 𝜃𝜃̇ 14 cos(𝜃𝜃14 ) + 𝑙𝑙5 𝜃𝜃̇ 15 cos(𝜃𝜃15 )
𝜃𝜃̈15 =
�������⃗
𝐷𝐷𝐷𝐷𝐷𝐷𝐴𝐴2
2 2
𝑙𝑙4 𝜃𝜃̈ 14 sin(𝜃𝜃14 ) + 𝑙𝑙4 𝜃𝜃̇ 14 cos(𝜃𝜃14 ) + 𝑙𝑙5 𝜃𝜃̇ 15 cos(𝜃𝜃15 )
𝜃𝜃̈15 =
−𝑙𝑙5 sin (𝜃𝜃15 )

Notations Used in Mathcad Calculations

̇ , 𝜃𝜃14
𝜃𝜃12𝑣𝑣, 𝜃𝜃13𝑣𝑣, 𝜃𝜃14𝑣𝑣, 𝜃𝜃15𝑣𝑣, 𝑆𝑆15𝑣𝑣 == 𝜃𝜃̇12 , 𝜃𝜃13 ̇ , 𝜃𝜃̇15 , 𝑆𝑆15
̇

𝜃𝜃12𝑎𝑎, 𝜃𝜃13𝑎𝑎, 𝜃𝜃14𝑎𝑎, 𝜃𝜃15𝑎𝑎, 𝑆𝑆15𝑎𝑎 == 𝜃𝜃12 ̈ , 𝜃𝜃̈14 , 𝜃𝜃̈15 , 𝑆𝑆15

̈ , 𝜃𝜃13 ̈
DET == Determinant
𝑔𝑔24𝑣𝑣, 𝑔𝑔34𝑣𝑣, 𝑔𝑔34𝑣𝑣, 𝑔𝑔𝑔𝑔15𝜃𝜃14𝑣𝑣 ==
̇ 𝑡𝑡𝑡𝑡 𝜃𝜃̇14 ,
𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 𝜃𝜃12
̇ 𝑡𝑡𝑡𝑡 𝜃𝜃̇14
𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 𝜃𝜃13
̇ 𝑡𝑡𝑡𝑡 𝜃𝜃̇14
𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 𝜃𝜃15
̇
̇ 𝑡𝑡𝑡𝑡 𝜃𝜃14
𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 𝑆𝑆15
𝑔𝑔24𝑎𝑎, 𝑔𝑔34𝑎𝑎, 𝑔𝑔34𝑎𝑎, 𝑔𝑔𝑔𝑔15𝜃𝜃14𝑎𝑎 ==
̈ 𝑡𝑡𝑡𝑡 𝜃𝜃14
𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖𝑖 𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐𝑐 𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟𝑟 𝜃𝜃12 ̈ 𝑒𝑒𝑒𝑒𝑒𝑒, 𝑒𝑒𝑒𝑒𝑒𝑒.
 𝑟𝑟𝑟𝑟𝑟𝑟
̇ = 6.98
𝜃𝜃12
𝑠𝑠
𝑟𝑟𝑟𝑟𝑟𝑟
𝜃𝜃̇13 = −5.144
𝑠𝑠
𝑟𝑟𝑟𝑟𝑟𝑟
̇ = −13.612
𝜃𝜃15
𝑠𝑠
𝑚𝑚
̇ = −0.549
𝑆𝑆15
𝑠𝑠
𝑟𝑟𝑟𝑟𝑟𝑟
𝜃𝜃̈12 = −96.707 2
𝑠𝑠
𝑟𝑟𝑟𝑟𝑟𝑟
𝜃𝜃13̈ = −25.483
𝑠𝑠 2
𝑟𝑟𝑟𝑟𝑟𝑟
̈ = −195.176
𝜃𝜃15
𝑠𝑠 2
𝑚𝑚
̈ = −12.309
𝑆𝑆15
𝑠𝑠 2