San José State University

ME 154 Mechanical Engineering Design · Fall 2021 NAME: ________________________________________

PROBLEM 2: FORCE ANALYSIS [20 points]

This problem is based on our Design of Machinery textbook Problem 11-5a as partially
illustrated here. The full nomenclature is labeled in the textbook (same in 5th edition
and 6th edition), and all of the kinematic variables, mass information, and geometry is
provided in the corresponding tables.

For this exam, however, there are three important modifications that are required:
1. Set T4 = 0, meaning there is no externally applied torque acting on Link 4. However, do keep the external torque T3 on Link 3.
2. Set FP4 = 0, meaning there is no externally applied force acting on Link 4 (only the reactions at its ground node).
3. All given values must be converted to SI units, all partial work for credit must be shown in SI units, all final answers must be
reported in SI units. No credit will be given for content in other units and there is no point in spending any page space for such
(i.e., please do all your conversions separately). As a reminder, a “blob” is a very large mass unit, equal to 175.126 kg.

This problem will be graded holistically within the maximum available points, but the approximate distribution of credit will be
guided by the following proportions.
a. [~3 points] Concisely well-organized and correct conversion of all variables into SI units.
b. [~5 points] Neat and correct writing of the equations of motion for each moving link (a total of 9 equations).
c. [~6 points] Neat and correct entry of numerical values into a matrix equation.
d. [~6 points] Correct solution of the matrix equation for the necessary driving torque T12 on Link 2, and all of the other unknown
reaction forces, with correct direction and magnitude throughout.
Here are some of the most relevant conversions and position vector components:

Symbol Value Units Symbol Value Units Symbol Value Units Symbol Value Units Symbol Value Units
L2 0.1016 m omega2 20.00 rad/s rG2 0.0508 m m2 0.3503 kg aG2 20.35 m/s²
L3 0.3048 m omega3 -5.620 rad/s delta2 0.000 rad m3 3.503 kg at 3.877 rad
L4 0.2032 m omega4 3.560 rad/s rG3 0.1270 m m4 17.51 kg aG3 42.96 m/s²
L1 0.3810 m alpha2 20.00 rad/s² delta3 0.000 rad I2 0.0113 kg·m² at 3.634 rad
theta2 0.7854 rad alpha3 75.29 rad/s² rG4 0.1016 m I3 0.0226 kg·m² aG4 24.87 m/s²
theta3 0.4358 rad alpha4 244.4 rad/s² delta4 0.5236 rad I4 0.0565 kg·m² at 3.879 rad
theta4 1.733 rad T3 -1.695 N·m

The equation of motion and matrix setup (including position vector components) are almost exactly the same as Design of Machinery
Example 11-3, except for the right-hand side of the equation with no FP and T3 being given (and thus placed on the right-hand side of
the moment equation for Link 3). The assembled matrix and solution are as follows. Final answers may vary slightly if intermediate
values were rounded.

F12x F12y F32x F32y F43x F43y F14x F14y T12

1 0 1 0 0 0 0 0 0 F12x -5.28 F12x = -405 N
0 1 0 1 0 0 0 0 0 F12y -4.78 F12y = -209 N
0.036 -0.036 -0.036 0.036 0 0 0 0 1 F32x 0.226 F32x = 400 N
0 0 -1 0 1 0 0 0 0 F32y -133 F32y = 204 N
0 0 0 -1 0 1 0 0 0 F43x = -71.2 F43x = 267 N
0 0 -0.054 0.115 -0.075 0.161 0 0 0 F43y 3.40 F43y = 133 N
0 0 0 0 -1 0 1 0 0 F14x -322 F14x = -54.8 N
0 0 0 0 0 -1 0 1 0 F14y -293 F14y = -160 N
0 0 0 0 0.122 -0.032 0.079 0.064 0 T12 13.8 T12 = 14.3 N·m

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