ME3102: Dynamics of Machinery

Force analysis: Static Force Analysis

2
: Force Analysis of Four Bar Linkage

Prof. Suraj Kumar Behera,

Department of Mechanical Engineering
NIT Rourkela
Mail id : beherask@nitrkl.ac.in
Mob : 9040893760
 Where Should Be the Clutch
? ?
f
l c c
y l l
Engine w u u Output
GB
h t t
e c c
e h h
l

Power
Power  Tourqe X Speed Tourqe 
Speed

If GB is Speed Reducer: Clutch is before the GB

If GB is Speed Enhancer: Clutch is after the GB
 Static Equilibrium
A body is in static equilibrium , if it remains in the state of rest
or uniform motion.
𝐹1
𝐹2
𝐹y

𝑀Z 𝐹x
𝐹4
𝐹3
In a Planer System,
 F  0;
x

 F  0;
y

 M  0;z
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 Static Equilibrium of Two-Force System
𝐹1
A two force system is in
static equilibrium only if,

𝐹2
F1  F2
a. Both the forces are in
same magnitude
F
x  0;
F
y  0;
b. Forces are in opposite F1   F2
directions

F1        F2
M
c. Forces acts along the
z  0;
same line
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 Static Equilibrium of Three-Force System
𝐹1 𝐹2

A three force system is in Point of concurrency

static equilibrium only if,

𝐹3

a. The resultant of
forces will be Zero.
the 𝐹1
𝐹2 F x  0;

F1  F2  F3  0
𝐹3
𝐹2
or
𝐹1
𝐹3
F y  0;

b. The line of action of

forces intersect at a M z  0;
point.
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 Where is the point of concurrency ?
𝐹1 𝐹2
If three forces are parallel
, Can the three force
system rule stay valid ?

𝐹3

a. The resultant of the

forces will be Zero. 𝐹1
𝐹3
F1  F2  F3  0
𝐹2

b. The line of action of

forces intersect at a
point. Point of concurrency will be at infinity

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 System with Two Forces and a Torque
A member under action of two 𝐹1
forces and a torque will be in 𝑇′ 𝑇
ℎ
static equilibrium, only if: 𝐹2

a. The Forces are equal in

magnitude , parallel and F1  F2 ; F1   F2 ; F1 F2 ;
opposite in direction

b. The forces forms a couple(T),

Which is equal and opposite to T '  F1 X h  T
the applied couple(T’).

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 Can they be in Static Equilibrium ?

Can a member under action of 𝑇

Single forces and a torque be
in equilibrium ?

Can a member under action of

Many forces but at different
point of meet in equilibrium ?

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 Example 1.1
Example 1.1
How to find the unknown force F2 and F3 if in a three 𝐹1 𝐹2 ?
force system : 𝐴
F1: Known with magnitude point of application and
direction( Known completely) 𝐵
F2: Known with direction and point of application only
F3: Known with only point of application 𝐶
Solution
To find 𝐹3 ?
• Magnitude of F2 and
• Direction and magnitude of F3 𝐹1 𝐹2
𝐴
Steps:
a. Find point concurrency O by extending F1 𝑂 𝐵
and F2
b. Extend C to O to find direction of F3 𝐶
c. Draw F1 with magnitude and direction 𝐹1
d. From two ends of F1 draw parallel lines to 𝐹3
the line of action of F2 and F3 to make a
force triangle. 𝐹2 𝐹3
e. The force triangle will give magnitude of F2
and F3 9
 Assignment 1.1
Assignment 1.1
How to find the unknown force F2 and F3 if in a four 𝐹1 𝐹2 ?
force system : 𝐴
𝐵
F1: Known with magnitude, point of application and 𝐷
direction ( Known completely)
𝐶
F2: Known with direction and point of application
only
F3: Known with only point of application 𝐹4 𝐹3 ?
F4: Known with magnitude, point of application and
direction ( Known completely)

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 4-Bar Mechanism
Why four bar mechanism is so popular ?

Locking plier

Pump Jack

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 4-Bar Mechanism

Bicycle peddling

Slider Crank
Mechanism

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 Static Force Analysis of a 4-Bar Mechanism
Example 1.2
F
3 
j
T2 4
2
1

If F ,  and j,. is known , Then what is the magnitude and

direction of T2 to keep the mechanism in equilibrium ?

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 Static Force Analysis of a 4-Bar Mechanism
F43
Solution: F34
3 F
Draw the reaction forces F32 
F23 j
F23   F32 T2 4

F34   F43 2
1
Draw the Free body diagram of all F12 F14
necessary links

F32 F34 F

T2  ? F43

2 4
3
j
F12
F23
F14
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 Static Force Analysis of a 4-Bar Mechanism
Force analysis of member 4, Using 3-force system

Find the direction F14 point of concurrency

O
Find the magnitude of F14 and F34 using
force polygon

F34
F34 j F

F14 F

Now F14 and F34 are known.

F14
F34   F43
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 Static Force Analysis of a 4-Bar Mechanism
Force analysis of member 3, Using 2 force system

F43

3
j  F43  F23
F23

Force analysis of member 2, Using 2 force and a torque system

F32
F12   F32 ; F12 F32 ;
T2  ?
T  F12 X h (Clockwise)
2

F12

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 Next Class

Force analysis:
• Static forces Analysis of four bar mechanism.
• Static force analysis of slider crank mechanism.

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Thank You

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