Dynamics of Machines (ME22004)

Tutorial 3

Q1 A light hydraulic actuator tilts the uniform slender 100 kg rigid

beam at a constant expansion rate ds/dt=0.2 m/s in the vertical
plane, as shown. At θ=30 deg, determine (a) the force developed
by the actuator, and (b) the force on the pin at O. Assume all
contacts to be frictionless, and take l = 1.5 m, b = 1 m, and g =
9.81 m/s2.

Q2 The mechanism shown lies in the horizontal plane and moves the slider B of
mass mB due to the motion of link OA having moment of inertia IO about
O. Determine the force in the rigid light link AB when a torque τ = 0.5 Nm
is suddenly applied as shown with the mechanism at rest at some angle θ.
Take the values of r = 0.25 m, l = 0.2 m, mB = 1.4 kg, IO = 0.3 kg m2, and θ
= 30 deg. Neglect friction at all contacts.

Q3 A fork is driven by a circular cam as shown in the horizontal

plane. The cam is driven by a constant torque at O.
Neglecting friction at all contacts, derive the equation of
motion of the system. Take the moment of inertia of the fork
about A as IF = 0.4 kg m2, mass of the uniform circular disc
cam mC = 0.3 kg, radius r = 0.15 m, e = 0.1 m, and OA=0.5
m. If the torque on the cam is τ = 0.1 Nm (constant), plot the
variation of angular speed of the cam with time. Also, plot
the result with θ.
Q4 Derive the equation of motion of the scissor mechanism driven by
a linear hydraulic actuator at A (not shown) in the vertical plane.
Take the mass of the identical uniform links to be mL and the
mass of the horizontal platform to be mP. Neglect friction at all
contacts. If the pin A is to move at a constant velocity v0 as
shown, determine the force required at the actuator. Also,
calculate the net reaction force on the fixed ground pin. Take mL
= 8 kg, mP = 10 kg, L = 2 m, and g = 9.8 m/s2 to plot the results
with θ (starting from θ0 = 5 deg to θf = 30 deg) for v0=0.2 m/s.
Note carefully the definition of θ.

Q5 The mechanism in the horizontal plane shown is driven by the

crank OA while the slotted link experiences a counter-clockwise
constant load torque τC through the shaft at C. The moment of
inertia of the crank OA is IO about O, while that of the slotted link
is IC about C. Determine the torque required at the crankshaft O at
some given angle θ to start the crank with a clockwise angular
acceleration α from rest.