Tutorial 2

Q1: Problem 5-8 Design a linkage to carry the body in Figure P5-1 through the
two positions P1 and P2 at the angles shown in the figure. Use analytical synthesis
without regard for the fixed pivots shown. Hint: Try the free choice values
z= 1.075, φ = 204.4°, β2 = –27°; s = 1.24, ψ = 74°, γ2 = –40°.

Figure T 2.1

Q2: The four-bar linkage, shown not to scale in Figure T 2.2 is driven by crank 2
at constant angular velocity of 2 = 900 rev/min ccw. Use Graphical and
analytical methods to find the angular velocity of link3 and 4.

a = 100 mm, b = 450, c = 280, d = 250, 2 = 120

Figure T 2.2
 Q3:Problem 6.7c: The general linkage configuration and terminology for an
offset fourbar slider-crank linkage are shown in Figure T2.3. Draw the linkage to
scale and find the velocities of the pin joints A and B and the velocity of slip at the
sliding joint using a graphical method and analytical method. Link2 = 3”, link3 =
8”, 2 = -30, offset = 2” and 2 = -15 rad/s.

Figure T2.3

Q4: Figure T2 -3 shows the general linkage configuration and terminology of

fourbar mechanism. Use analytical vector method to find the accelerations of
points A and B. Then calculate 3 and 4 and the acceleration of point P.
Link 1 = 8 ” = d Link 3 = 8 ” = b, Link 2 = 5 ” = a Link 4 = 6 ” = c, θ2 =
7 5 ° RPA = 9 ”
ω2 = -5 0 rad/ s δ 3 = 3 0 0 ° α2 = 1 0 rad/ s2

Figure T2-4
Q5: Figure T2 -5 shows a rock – crushing mechanism. It is used in a machine
where large rock is placed in a vertical hopper and falls into this crushing
chamber. Properly sized aggregate, which passes through a sieve, is
discharged at the bottom. Rock not passing through the sieve is reintroduced
into crushing chamber
Determine the angular velocity of the crushing arm, in shown configuration,
as the 6 0 mm crank rotates at 1 2 0 Rpm, cw.
3 = 0.25 rad/s, 4 = 4.36 rad/s --- Ans.

Kinematic diagram for crushing mechanism

Figure T2 -5