1. Block D of the mechanism is confined to move within the slot of member CB .

If link AD is rotating
at a constant rate of ω AD=4 rad /s , determine the angular velocity and angular acceleration of
member CB at the instant shown

Solution
0.2 m [m]
Using the length scale of μl= =0.01 to draw the diagram of the kinematic diagram of
20 mm [mm]
the given mechanism

Velocity Analysis
We have
⃗v D ≡ ⃗v D =
1 2
ω
AD 1
{l
⊥ AD
=0.2× 4=0.8 m/ s
⃗v D ¿ ⃗v D + ¿ ⃗v D D
3
¿ 0.8 m/s ¿¿ ? ¿
2 3 2

⊥ CD ¿ ⊥ AD ¿ ¿
0.8 m/ s [m/s]
Draw the velocity polygon with scale μv = =0.032 . From this polygon
25 mm [mm]

{
∥⃗ p d3
⃗v D = 1
3
|⃗v D | cos 600=0.8 2 =0.4 m/ s
2

{
∥⃗ d2d3
⃗v D D = |⃗v D | 0.8 1.6
= = √3 ≈ 0.92 m/s
3 2 2

cos 30
0
√3 /2 3
Then
⃗ 2≡ ⃗
ω ω3=¿
Acceleration Analysis
We have
a⃗ D ≡ ⃗aD =⃗a D =
2 1
n
1
{
n
↑ ↑⃗
2
1
DA
l AD ω =0.2× 4 2=3.2 m/s2
The centrifugal acceleration a⃗ D 3

n
D3
4 2 1.6
|a⃗ |=lCD ω =0.3 × 3 = 3 ≈ 0.53 m/s 2
2
3 ()
 c
The Coriolis acceleration a⃗ D 3
D2

|⃗a |=2 ω |⃗v |=2 × 43 × 1.6 √3=12.8 √ ≈ 2.46 m/ s

c 3 2
D 3 D2 2 D3 D 2
3 9
n t c r
a⃗ D + ¿ ⃗a D ¿ ⃗a D +¿ ⃗a D D +¿ a⃗ D D 2 √3 m /s 2 ¿ ¿ ? ¿
3 3 2 3 2 3
¿ ? ¿ ¿ 3.2m/ s ¿ ¿12.8
2

↑ ↑⃗ DC ¿⊥ CD ¿ ↑ ↑ ⃗ DA ¿ ↑↓ ⃗ p d3 ¿ ¿ 9
2 2
3.2 m/s [m/ s ]
Draw the acceleration polygon with scale μa = =0.08 . From this polygon
40 mm [mm]

{
↑↓⃗p c3
t
a⃗ D = √3 √3 √3
|⃗a D |cos 30 −|⃗a D D |=3.2 × 2 −12.8 9 =1.6 9 ≈ 0.31 m/s
3 0 c 2
2 3 2

Then
α⃗ 2 ≡ ⃗ α 3 =¿