1.

Find the relationship between the applied force 𝑃⃗ on the hand and the moment 𝑀 acting on the
drum of the drum break as shown in the figure. The angle of contact is 𝛽, lengthes of the break
are 𝑎, 𝑏, 𝑙 and the friction coefficient between belt and drum is 𝑓.

𝑂1
𝑟

𝑀
𝑃
𝑎 𝑂2

𝐵 𝐶
𝐴 𝑏
𝑙
Solution
𝐹𝑚𝑠
𝐹𝑚𝑠
𝛽 𝛽 𝛽

𝑂1 𝑂1 𝑂1
𝑟 𝑟

𝑀 𝑀
𝑃
𝑎 𝑂2 𝑆1
𝐵 𝐶 𝑆2
𝑆1
𝐴 𝑏 𝑃
𝑙 𝑆2 𝑎 𝑂2

𝐵 𝐶
𝐴 𝑏
𝑙
Draw the free body diagram of the drum break
- The equilibrium equation for the hand
𝑆1 𝑏 − 𝑆2 𝑎 − 𝑃𝑙 = 0 (1)
- The equilibrium equation for the drum
−𝑀 + 𝐹𝑚𝑠 𝑟 = 0 (2)
- The force acting on the belt
𝐹𝑚𝑠 = 𝑆2 − 𝑆1 (3)
- Euler equation
𝑆2 = 𝑆1 𝑒 𝑓𝛽 (4)
Using the eq.s (1)-(4) to derive the relationship between 𝑃 and 𝑀
𝑀 𝑏 − 𝑎𝑒 𝑓𝛽
𝑃=
𝑙𝑟 𝑒 𝑓𝛽 − 1

2. Find the relationship between the applied force 𝑃⃗ on the hand and the force 𝑄⃗ acting on the drum
of the drum break as shown in the figure. The angle of contact is 𝛽, lengthes of the break are 𝑎, 𝑏,
𝑙 and the friction coefficient between belt and drum is 𝑓.
 ⃗
𝑄 
O1

r C
A O2 

b
B P
a l

3. Given the break as shown in the figure: the drum radius 𝑟, the length of hand 𝑂2 𝐵: 𝑎, 𝑙, the
friction coefficient between brake shoe and drum is 𝑓. Find the necessary force 𝑃⃗ need to stop the
motion of drum which is applied by the moment 𝑀 ?
l 
a P
A
O2
B
má phanh
M tang phanh
O1
r

4. Find the relationship between the applied force 𝑃⃗ on the hand and the moment 𝑀 acting on the
drum of the drum break as shown in the figure. The angle of contact is 𝛽, lengthes of the break
are 𝑎, 𝑏, 𝑙 and the friction coefficient between belt and drum is 𝑓.


r
O1

M 
P
O2

a A B
l

5. Given the slide crank mechanism as shown in the figure. The driver 1 with the length 𝑙𝐴𝐵 =
0.1𝑚 rotates with the constant angular velocity 𝜔1. The moment 𝑀2 = 60(𝑁𝑚) acts on the link
2. The force 𝑃3 = 50√3 (𝑁) acts on link 3. The moment of inertia of link 1 is 𝐽1 = 1.1(𝑘𝑔𝑚2 ),
link 2 is 𝐽2 = 0.6(𝑘𝑔𝑚2 ); link 3 has the weight of 𝑚3 = 1(𝑘𝑔). Find
- the equivalent moment of inertia 𝐽 for the weight 𝑚3 and the moments of inertia 𝐽1 , 𝐽2 felt on
the driver 1; and
- the equivalent resistance moment 𝑀𝐶 for all of forces and moment acting on the mechanism
felt on the driver 1
 1 B 2 3

M2
ω2
ω1 C P3
300
A

6. Given the slide crank mechanism as shown in the figure. The mechanism has 𝑙𝐴𝐵 = 0.05𝑚,
𝐴𝐶𝐵 = 𝛽 = 150 , 𝐶𝐴𝐵 = 900 . The force 𝑃 = 20𝑁 applies onto the point 𝐶 with the angular of
𝛼 = 300 w.r.t. horizontal line. The friction coefficient between slider and frame is 𝑓03 = 0.1.
Find
- the reaction forces at the joints 𝐵 and 𝐶; and
- the balancing moment acting on the driver 1 using: force analysis method and virtual work
analysis method
3 2 1
B

P
 150
1

C A
Solution

 C B
P  
𝐹𝑚𝑠 R23 R12
  B
 R03 R21
R32
C  Mcb

1 A R01

The reaction forces at 𝑩 and 𝑪

Draw the free body diagram of the mechanism
- The equilibrium equation for link 3
𝑃⃗ + 𝑅⃗23 + 𝑅⃗03 + 𝐹𝑚𝑠 = 0 (1)
|𝐹𝑚𝑠 | = 𝑓03 |𝑅⃗03 | (2)
- The equilibrium equation for link 2
𝑅⃗32 + 𝑅⃗12 = 0 (3)
- The force acting on the belt
𝑆2 − 𝑆1 = 𝐹𝑚𝑠 (3)
From Eq.(1)
𝑐ℎ𝑜𝑥 (1) = 𝑃𝑐𝑜𝑠𝛼 − 𝑅23 𝑐𝑜𝑠𝛽 + 𝐹𝑚𝑠 = 𝑃𝑐𝑜𝑠𝛼 − 𝑅23 𝑐𝑜𝑠𝛽 + 𝑓03 𝑅03 = 0 (4)
𝑐ℎ𝑜𝑦 (1) = −𝑃𝑠𝑖𝑛𝛼 − 𝑅23 𝑠𝑖𝑛𝛽 + 𝑅03 = 0 (5)
𝑐𝑜𝑠𝛼 + 𝑓03 𝑠𝑖𝑛𝛼 𝑐𝑜𝑠300 + 0.1𝑠𝑖𝑛300
𝑅23 = 𝑃= 20 = 19.49 𝑁
𝑐𝑜𝑠𝛽 − 𝑓03 𝑠𝑖𝑛𝛽 𝑐𝑜𝑠150 − 0.1𝑠𝑖𝑛150
𝑅03 = 𝑃𝑠𝑖𝑛𝛼 + 𝑅23 𝑠𝑖𝑛𝛽 = 20𝑠𝑖𝑛300 + 19.49𝑠𝑖𝑛150 = 15.04 𝑁
Replace the results onto the eq. (1) to derive the relationship between 𝑃 and 𝑀
𝑀 𝑎 √2 𝑒 𝑓𝛽 + 1
𝑃=
𝑟 𝑙 2 𝑒 𝑓𝛽 − 1
 From the Eq.(2)
𝑅32 = 𝑅12 = 19.49 𝑁
The balancing moment on driver
Using force analysis method
𝑀𝑐𝑏 − 𝑅21 𝑙𝐴𝐵 𝑐𝑜𝑠𝛽 = 0 (6)
⟹ 𝑀𝑐𝑏 = 𝑅21 𝑙𝐴𝐵 𝑐𝑜𝑠𝛽 = 19.49 × 0.05 × 𝑐𝑜𝑠150 = 0.94 𝑁𝑚
Using virtual work analysis
Link 2 has translating motion at this moment
⊥ 𝐴𝐵
𝑣𝐶 = 𝑣𝐵 = {
𝑙𝐴𝐵 𝜔1
From the virtual work principle
𝑀⃗⃗ 𝑐𝑏 𝜔
⃗ 1 + 𝑃⃗𝑣𝐶 + 𝐹𝑚𝑠 𝑣𝐶 = 0
⟹ 𝑀𝑐𝑏 𝜔1 − 𝑃𝑣𝐶 𝑐𝑜𝑠𝛼 − 𝐹𝑚𝑠 𝑣𝐶 = 0
𝑣𝐶
⟹ 𝑀𝑐𝑏 = (𝑃𝑐𝑜𝑠𝛼 + 𝐹𝑚𝑠 ) = (𝑃𝑐𝑜𝑠𝛼 + 𝐹𝑚𝑠 )𝑙𝐴𝐵
𝜔1
= (20𝑐𝑜𝑠300 + 0.1 × 15.04) × 0.05 = 0.94 𝑁𝑚

7. Consider the mechanism of a jig saw as shown in the figure: 𝑙𝐴𝐵 = 𝑎 = 0.1𝑚 rotates with the
constant angular velocity of 𝜔1; link 3 is applied a cutting force of |𝑃⃗3 | = 1000𝑁. The friction
coefficient between link 3 and frame is 𝑓03 = 0.1. Find
a. Reaction forces at joins 𝐵 and 𝐶
b. Balancing moment applied on driver using both forces analysis method and virtual work
analysis method. Give the comment on the results
1 1 A
2
450
3

B
C
a 2

450


P3

8. Given the slide crank mechanism as shown in the figure. The driver 1 with the length 𝑙𝐴𝐵 =
0.1𝑚 rotates with the constant angular velocity 𝜔1. The force 𝑃 = 200𝑁 acts on slider 3 through
the point 𝐶. The friction coefficient between link 3 and frame is 𝑓03 = 0.1. Find
- Reaction forces at joins 𝐵 and 𝐶
- Balancing moment applied on driver using both forces analysis method and virtual work
analysis method. Give the comment on the results

1 B 2 3

C 
300 P
A