Dynamics of Machinery Homework Assignments

Dr. Sadettin Kapucu

7th HW Static Force Analysis, Arithmetical method.

Onto link AB of the mechanism a CCW torque of 100 N.m is acting when the   60 
degree. Calculate the amount of torque required on link EF to keep the mechanism in
static equilibrium. Show all your work clearly on your paper. Draw freebody
diagram(s), show all force(s) and torque(s) and their directions. Use separate paper if it
is necessary.
AB  4 cm, BE  EC  4 cm, EF  6 cm, CD  6 cm, AD  10 cm , e  8 cm

F
C

B E e


A
D

T......  ............... ...........

To perform the static force analysis we need angular displacements of the links. These can be
easily obtained using the discussed methods as in your mechanism course textbook or in HW-
2 and HW-3.
We know that:   60  ,  BC  18.376  ,  CD  93.8985 , and  EF  146.92  Freebody

diagram of the mechanism links are shown in Figure. Note that all forces and torque
directions, other than the given torque direction, are arbitrarily selected.

© 2010
Dynamics of Machinery Homework Assignments
Dr. Sadettin Kapucu

F16 y
6 y
6

F56 x
F x
F56 y
F65 y

F65 x

F  EF
5
 EF

F35 x F43 y
E F35 y
C F43 x
F53 y
F53 x

F23 x B  BC E
F34 y
3 C F34 x
F23 y

F32 y

B F32 x

100 Nm 4
2
  CD
F12 x A F14 x
D
F12 y F14 y

Figure 1.

Static equations for link 2:

 F  0; F  F  0
x 12 x 32 x (1)

 F  0; F  F  0
y 12 y 32 y (2)

 M  0; AB * sin  * F
A 32 x  AB * cos * F32 y  100  0

© 2010
Dynamics of Machinery Homework Assignments
Dr. Sadettin Kapucu
0.0346 * F32 x  0.02 * F32 y  100 (3)

Static equations for link 3:

F x  0; F23 x  F53 x  F43 x  0 (4)

F y  0; F23 y  F53 y  F43 y  0 (5)

M B  0;  BE * sin  BC * F53 x  BE * cos  BC * F53 y

 BC * sin  BC * F43 x  BC * cos  BC * F43 y  0

 0.0126 * F53 x  0.038 * F53 y  0.0252 * F43 x  0.0759 * F43 y  0 (6)

Static equations for link 4:

 F  0; F  F  0
x 34 x 14 x (7)

 F  0; F  F  0
y 34 y 14 y (8)

 M  0;  CD * sin 
D CD * F34 x  CD * cos CD * F34 y  0

 0.0599 * F34 x  0.0041 * F34 y  0 (9)

Static equations for link 5:

 F  0; F  F  0
x 65 x 35 x (10)

 F  0;  F  F  0
y 65 y 35 y (11)

 M  0;  EF * sin  * F
D EF 65 x  EF * cos EF * F65 y   EF  0

 0.03275 * F65 x  0.05027 * F65 y   EF  0 (12)

Static equations for link 6:

 F  0; F
x 56x 0 (13)

 F  0; F
y 56 y  F16 y  0 (14)

 M  0; D 6 0 (15)

We also know that: F65 x  F56 x , F65 y  F56 y , F35 x  F53 x , F35 y  F53 y , F34 x  F43 x , F34 y  F43 y

, F23 x  F32 x , F23 y  F32 y

© 2010
Dynamics of Machinery Homework Assignments
Dr. Sadettin Kapucu

1 0 1 0 0 0 0 0 0 0 0 0 0  F12 x   0 
0
0 1 0 1 0 0 0 0 0 0 0 0 0  F12 y   0 
0

0 0 0.035  0.02 0 0 0 0 0 0 0 0 0 0  F23 x   100
    
0 0 1 0 1 0 1 0 0 0 0 0 0 0  F23 y   0 
0 0 0 1 0 1 0 1 0 0 0 0 0 0  F34 x   0 
    
0 0 0 0 0.0252  0.076  0.013 0.038 0 0 0 0 0 0  F34 y   0 
0 0 0 0 1 0 0 0 1 0 0 0 0 0  F35 x   0 
   
0 0 0 0 0 1 0 0 0 1 0 0 0 0  F35 y   0 
0 0 0 0  0.0599  0.004 0 0 0 0 0 0 0 0  F14 x   0 
    
0 0 0 0 0 0 1 0 0 0 1 0 0 0  F14 y   0 
    
0 0 0 0 0 0 0 1 0 0 0 1 0 0  F56 x   0 
0 0 0 0 0 0 0 0 0 0  0.033 0.0503 0 1  F56 y   0 
    
0 0 0 0 0 0 0 0 0 0 1 0 0 0  F16 y   0 
0 0 0 0 0 0 0 0 0 0 0 1  1 0   EF   0 
 F12 x    367 
 F    5636 
 12 y   
 F23 x    367 
   
 F23 y    5636 
 F34 x    367 
   
 F34 y   5392 
F   0 
 35 x    
 F35 y   11029 
 F   367 
 14 x   
 F14 y   5392 
   
 F56 x   0 
 F56 y   11029
   
 F16 y   11029
     554 
 EF   
 EF  554 Nm CW

© 2010