Problem:

Give 4-bar linkage mechanism. Bar OA rotates uniformly

with angular velocity o = 4 rad/s. Gives OA=r=0.5m;
AB=2r; BC = r 2 ; M is midpoint of bar AB.
Find angular velocity, angular acceleration of bars AB, BC?
Find velocity, acceleration of point M?
o
O A

M C

45°
1
1) Analyze the motions:
- Bar OA rotates about O.
- Bar BC rotates about C.
- Bar AB is in general plane motion, P is ICoZV.

o
O A

M C

45°
2
2) Analyze velocity:
Find instantaneous center of zero velocity P of bar AB.

o A AB
O A
vM P

C
M
BC
vB
3
Point A belongs to bar OA but bar OA rotates about axis
going through O, therefore:
v A = OA.o = 2m / s
AP = AB = 2r = 1m
BC = CP = r 2 = 0,5 2m
o A AB
O A
vM P

C
M
BC
vB
4
Point A also belongs to bar AB but bar AB is in GPM:
vA 2
 AB = = = 2rad / s
AP 1
Point B belongs to bar AB but bar AB is in GPM:
vB = BP. AB = 2 2m / s
o A AB
O A
vM P

C
M
BC
vB
5
Point B also belongs to bar BC but bar BC rotates about axis
going through C:
vB 2 2
BC = = = 4rad / s
BC 0.5 2

o A AB
O A
vM P

C
M
BC
vB
6
Point M belongs to bar AB but bar AB is in GPM:
vM = MP. AB = 2, 236m / s
MP = AM 2 + AP 2 = 1, 25m

o A AB
O A
vM P

C
M
BC
vB
7
3) Analyze accelerations:
Consider bar AB in GPM, let’s calculate acceleration of
point B when choose point A as pole:
aB = a A + aBA (1)
Point B has orbit which is circle center C radius CB, hence:
aB = aBn + aBt
O A A

C
t n
aB aBA
aBn
t
aBA
8
Bar OA rotates uniformly about O, namely a tA = 0 :
a A = a An
aBA is acceleration vector of point B in rotate motion of flat
shape S about pole A, therefore:
aBA = aBA
n
+ aBA
t

O A A

C
t n
aB aBA
aBn
t
aBA
9
Rewrite equation (1):
aBn + aBt = a An + aBA
n
+ aBA
t
(1' )

O A A

C
t n
aB aBA
aBn
t
aBA
10
Calculate some quantities:
a An = OA.o2 = 0,5  42 = 8m / s 2
aBn = BC.BC
2
= 0,5 2  42 = 8 2m / s 2
n
aBA = BA. AB
2
= 1 2 2 = 4m / s 2

O A A

C
t n
aB aBA
aBn
t
aBA
11
 →
Project equation (1’) on direction BC (positive sense from B
to C):
+ aBn + 0 = −a An .cos 45o + aBA
n
.cos 45o − aBA
t
.cos 45o
 aBA
t
= −a An + aBA
n
− aBn / cos 45o = −20 m / s 2
t
aBA
  AB = = 20 rad / s 2
BA
O A A

C
t n
aB aBA
aBn
t
aBA
12
 →
Project equation (1’) on direction BA (positive sense from B
to A):
+ aBn .cos 45o + aBt .cos 45o = 0 + aBA
n
+0
 aBt = + aBA
n
/ cos 45o − aBn = −4 2 m / s 2
aBt
  BC = = 8 rad / s 2
BC
O A A

C
t n
aB aBA
aBn
t
aBA
13
Consider bar AB in GPM, let’s calculate acceleration of
point M when choose point A as pole::
aM = a A + aMA (2)
Rewrite equation (2) :
aM = a An + aMA
n
+ aMA
t
(2' )

O aA A y
x
aMAn
aMAt C
M
AB

14
Calculate some quantities:
n
aMA = MA. AB
2
= 0,5  22 = 2m / s 2
t
aMA = MA. AB = 0,5  20 = 10m / s 2

O aA A y
x
aMAn
aMAt C
M
AB

15
Project equation (2’) on 2 directions x, y:
aMx = −a An + aMA
t
= 2m / s 2
aMy = + aMA
n
= 2m / s 2

O aA A y
x
aMAn
aMAt C
M
AB

16
Infer:
aM = aMx
2
+ aMy
2
= 2 2m / s 2
aMx aMy
cos ( x , aM ) = ;cos ( y, aM ) =
aM aM

O aA A y
x
aMAn
aMAt C
M
AB

17
Problem:
Bar OA rotates uniformly about O with angular velocity o
making wheel 1 rolling without slipping on rim of fixed
wheel 2. 2 wheels have same radius r. Bar DB ^
and bar CD
have same length l. At the time DB ⊥ OA, BDC = 45o ,
find angular velocities of wheel 1, of bar DB, of bar CD,
and find acceleration of point B?
1
2
O A
o

B C
45°

18
D
1) Analyze the motions:
- Bar OA rotates about axis going through O.
- Bar CD rotates about axis going through C.
- Wheel 1 is in general plane motion, ICoZV is P1.
- Bar DB is in general plane motion, ICoZV is P2.

1
2
O A
o

B C
45°

19
D
2) Analyze velocity:
Find instantaneous centers of zero velocity P1 and P2.

1
2
O P1 A
o 1
vA
B C
vB P2
CD
D
20
vD
Point A belongs to bar OA but bar OA rotates about axis
going through O hence:
v A = OA.o = 2ro
Point A also belongs to wheel 1 but wheel 1 is in GPM:
vA 2ro
1 = = = 2o
AP1 r
1
2
O P1 A
o 1
vA
B C
vB P2
CD
D
21
vD
Point B belongs to wheel 1 but wheel 1 is in GPM:
vB = BP1.1 = r 2.2o = 2 2ro
Point B also belongs to bar DB but bar DB is in GPM:
vB 2 2ro 4ro
DB = = =
BP2  l  l
 
 2
1
2
O P1 A
o 1
vA
B C
vB P2
CD
D
22
vD
Point D belongs to bar DB but bar DB is in GPM:
l 4ro
vD = DP2 .DB = . = 2 2ro
2 l
Point D also belongs to bar CD but bar CD rotates about
axis going through C:
vD 2 2ro
CD = =
CD l
1
2
O P1 A
o 1
vA
B C
vB P2
CD
D
23
vD
3) Analyze acceleration:
Consider wheel 1 in GPM, calculate acceleration of point B
when choose point A as pole:
aB = a A + aBA (1)

1
2
O aAn A
o aBAn 1

B C

CD 24
D
Bar OA rotates uniformly about O, i.e. a tA = 0 , hence:
a A = a An
•
 OA = o = 0

1
2
O aAn A
o aBAn 1

B C

CD 25
D
Rewrite equation (1) :
aB = a An + aBA
n
+ aBA
t
(1' )

1
2
O aAn A
o aBAn 1

B C

CD 26
D
Calculate angular acceleration of wheel 1:
'
vA •  vA 
1 =  1 =  
AP1  AP1 
•
vA a tA
do : AP1 = const  1 = = =0
AP1 AP1
1
2
O aAn A
o aBAn 1

B C

CD 27
D
Calculate some quantities:
a An = OA.o2 = 2ro2
n
aBA = BA.12 = 4ro2
t
aBA = BA.1 = 0

1
2
O aAn A
o aBAn 1

B C

CD 28
D
Rewrite equation (1’):
aB = a An + aBA
n
(1'' )

1
2
O aAn A
o aBAn 1

B C

CD 29
D
Since a An ⊥ aBA
n
hence:

(a )
n 2
+ (a )
2
aB = A
n
BA = 2 5ro2
aBx −a An aBy + aBA
n
cos ( x , aB ) = = ;cos ( y, aB ) = =
aB aB aB aB

1
2
O aAn A
o aBAn 1

B C

CD 30
D
Want to find  DB and  CD , consider bar DB in GPM,
calculate acceleration of point D when choose B as pole:
aDn + aDt = aB + aDB
n
+ aDB
t
(2) aB = aBx + aBy
a t
DB = DB. DB ; a = CD. CD
t
D
n
aDB = DB.DB
2
; aDn = CD.CD
2

1
2
O A
o aBy 1

aBx B C
aDt aDBn
aDn
aDBt 31
D
Problem:
The disk shown has a constant angular velocity of 500 rpm
counterclockwise. Knowing that rod BD is 10 inches long,
determine the acceleration of collar D when  = 180o

32
Solution:
Analysis of motion:
- Disk A rotate about a fixed axis going through point A.
- Bar DB is in general plane motion, ICoZV is C.
- Sliding object D is in translation.

A 

36.87

D
33
 500  2
Angular velocity of disk A:  A = 500rpm = = 52.36rad / s
60

Velocity of point B: vB = AB.A = 2  52.36 = 104.72in / s

6in
sin  =   = 36.87o
10in A 
vB
B

vD 36.87

BD
D C
34
Angular velocity of rod BD:
vB vB 104.72
BD = = = = 13.09rad / s
CB BD  cos 36.87 10  cos 36.87

A 
vB
B

vD 36.87

BD
D C
35
Acceleration of point B:
aB = aBn = AB. A2 = 2  52.36 2 = 5483.14in / s 2

A
aB


B
36.87

aD
aDBn

D
aDBt 36
Normal acceleration of point D rotating about point B:
n
aDB = DB.BD
2
= 10 13.09 2 = 1713.48in / s 2

A
aB


B
36.87

aD
aDBn

D
aDBt 37
Choose B as pole, acceleration of point D can be formulated:
aD = aB + aDB = aB + aDB
n
+ aDB
t
(1)

A
aB


B
36.87

aD
aDBn

D
aDBt 38
Project equation (1) on direction DB:
aD cos 36.87 = aB cos 36.87 + aDB
n

n
aDB
 aD = aB + = 7624.99in / s 2
cos 36.87

A
aB


B
36.87

aD
aDBn

D
aDBt 39
Problem:
Give mechasyst as shown. Slider A slides downward with
velocity v and acceleration a = 3v2 / l . Gives
AC=CB=DE=l; CD=2l. Bar CD is vertical. Find angular
velocity of bar AB, CD, DE and acceleration of slider B?

A
a C
v 120°

D E 40
1) Analyze the motion:
Bar DE rotates about fixed axis going through E. Sliders A
and B translates in vertical and horizontal directions
respectively. Bars AB and CD are in general plane motion.

A
a C
v 120°

D E 41
2) Analyze velocity:
Draw velocities and instantaneous centers of zero velocity.

A P1
AB
a
C
vA vC
vB
B
60°

P2 D E
CD
vD ED 42
Point A belongs to bar AB but bar AB is in GPM:
vA v v v
 AB = = o
= o
=
AP1 AB cos 60 2l cos 60 l
Point C belongs to bar AB but bar AB is in GPM:
vC = CP1.AB = l.AB = v
A P1
AB
a
C
vA vC
vB
B
60°

P2 D E
CD
vD ED 43
Point C belongs to bar CD but bar CD is in GPM:
vC v v 3v
CD = = = =
CP2 CD/ sin 60 o
(
2l / 3 / 2 4l)
Point D belongs to bar CD but bar CD is in GPM:
( )
vD = DP2 .CD = ( CD / tg 60o ) .CD = 2l / 3 .CD = v / 2
A P1
AB
a
C
vA vC
vB
B
60°

P2 D E
CD
vD ED 44
Point D belongs to bar ED but bar ED rotates about fixed
axis going through E:
vD v / 2 v
ED = = =
ED l 2l

A P1
AB
a
C
vA vC
vB
B
60°

P2 D E
CD
vD ED 45
3) Analyze acceleration:
Consider bar AB in GPM, let’s calculate acceleration of
point B when choose A as pole:
aB = a A + aBA
n
+ aBA
t
(1)

A
n
aA aBA
t
aBA
60°
aB
B 46
Calculate some quantities:
aA = a
2
2v
a n
BA = BA. 2
AB =
l
t
aBA = BA. AB

A
n
aA aBA
t
aBA
60°
aB
B 47
 →
Project equation (1) on direction AB (positive sense from A
to B) :
+ aB .cos 60o = + a A .cos 30o − aBA
n

aA .cos 30o − aBA

n
v2
 aB = o
=
cos 60 l

A
n
aA aBA
t
aBA
60°
aB
B 48
 →
Project equation (1) on direction perpendicular to AB :
+ aB .cos 30o = − a A .cos 60o + aBA
t

 aBA
t
= a A .cos 60o + aB .cos 30o = a
t
aBA a
  AB = =
BA 2l

A
n
aA aBA
t
aBA
60°
aB
B 49
Problem:
Give crank-slider mechanism. Crank OA length r rotates
about axis going through O with angular velocity  , bar AB
length l is in general plane motion. Slider B slides in vertical
direction. Determine velocity, acceleration of slider B?

A

45°
O 50
Analyze the motion:
- Bar OA rotates about fixed axis going through O.
- Bar AB is in GPM, ICoZV is P.
- Slider B is in translation.

A

45°
O 51
Find instantaneous center of zero velocity P of bar AB:

B
AB
vB
A
 vA
45°
O 52
1) Problem of velocity
Point A belongs to bar OA but bar OA rotates about
axis going through O:
vA = OA. = r.

B
AB
vB
A
 vA
45°
O 53
Point A also belongs to bar AB but bar AB is in
GPM:
v A r. r
 AB = = = .
AP l l

B
AB
vB
A
 vA
45°
O 54
Point B belongs to bar AB but bar AB is in GPM:

r
vB = BP. AB = l 2.  = 2.r
l

B
AB
vB
A
 vA
45°
O 55
1) Problem of acceleration
Consider bar AB in GPM, let’s calculate
acceleration of point B when choose A as pole:
aB = a A + aBA = a A + a + an
BA
t
BA (1)

B
t
aBAn
aBA
aB
A
 aAn
O 56
Point A is in circular motion hence acceleration of
point A has 2 components:
a A = a An + a At
•
a = OA. = OA. = OA.0 = 0 ; a = OA. = r.
t
A
n
A
2 2

 a A = a An
B
t
aBAn
aBA
aB
A
 aAn
O 57
Calculate some quantities:
2
 
2
r r
a n
BA = AB. 2
AB = l.    = . 2

l  l
t
aBA = AB. AB

B
t
aBAn
aBA
aB
A
 aAn
O 58
Rewrite equation (1) :
aB = a A + aBA + aBA (1 )
n n t '

B
t
aBAn
aBA
aB
A
 aAn
O 59
Project equation (1’) on direction BA (positive sense
from B to A) :
aB .cos 45 = aBA
o n

n
aBA r2 2
 aB = o
= . . 2
cos 45 l
B
t
aBAn
aBA
aB
A
 aAn
O 60
Problem:
Determine the angular velocity of the rod?

vB = 6m / s
B

A 61
Solution:
vA = vB + vAB (1)
vAB = AB   AB ;  = cos −1
( 4 / 5) = 36.87 o

vB = 6m / s
B


vAB

vA
A
vB 62
 vB
v AB = o
= 10m / s
sin 36.87
v AB
 AB = = 2rad / s
AB v = 6m / s
B
B


vAB

vA
A
vB 63
Problem:
The link AB has an angular velocity of 3 rad/s. Determine
the velocity of block C and the angular velocity of link BC
at the instant theta = 45.

64
Solution:
Consider bar BC in GPM, let’s calculate velocity of point C
when choose point B as pole:
vC = vB + vCB (1)
vCB = CB  CB
Point B belongs to bar AB but bar AB rotates about axis
going through A:
vB = AB  AB = 1.5m / s vB
vB

vC
vCB
65
Using trigonometric relationship in triangle:
vC = vB cos 45o = 1.061m / s
vCB = vB sin 45o = 1.061m/ s
Inferring:
vCB
CB = = 0.7073rad/ s
CB

vB vB

vC
vCB
66
Problem:
The disk rolls without slipping such that it has an angular
acceleration of 4 rad/s2 and angular velocity of 2 rad/s at the
instant shown. Determine the acceleration of points A and B
on the link and the link’s angular acceleration at this instant.
Assume point A lies on the periphery of the disk, 150 mm
from C.

67
Solution:
Bar AB is in translation at this instant.
vB = vA = AP   = 0.6m / s; AB = 0
Disk C is in general plane motion (GPM), P is instantaneous
center of zero velocity (ICoZV).

vA

P vB
68
We have:
vC = CP  
But CP=constant, taking derivative of both sides of the
above equation:
aC = CP   = 0.6m / s 2

vA

aC

P aB
69
Consider disk in GPM, let’s calculate acceleration of point A
when choose C as pole:
a A = aC + a AC = aC + a AC
n
+ a AC
t
(1)
n
a AC = AC   2 = 0.6m / s 2
a tAC = AC   = 0.6m / s 2

a tAC
n
a AC
aC

P aB
70
Project equation (1) on x, y axes:
a Ax = aC + a tAC = 1.2m / s 2
a Ay = −a AC
n
= −0.6m / s 2
 a A = a Ax
2
+ a Ay
2
= 1.342m / s 2

a tAC
n
a AC
aC

P aB
71
Consider bar AB in GPM, let’s calculate acceleration of
point B when choose A as pole:
aB = a A + aBA = a Ax + a Ay + aBA
n
+ aBA
t

n
aBA = BA   AB
2
=0
t
aBA = BA   AB
 aB = a A + aBA = a Ax + a Ay + aBA
t
( 2)

aAx
a Ay
aC
t
aBA
P aB
72
Project equation (2) on vertical direction:
0 = −a Ay + aBA
t
sin  ;  = 36.87o ;  = 53.13o
a Ay
a t
= = −0.75m / s 2
sin 
BA

  AB = aBA
t
/ BA = 1.5rad / s 2

aAx
a Ay
aC
t
aBA
P   aB
73
Project equation (2) on direction AB (positive sense from A
to B):
 = 36.87o ;  = 53.13o
aB cos ( 90 −  ) = a Ax cos ( 90 −  ) + a Ay cos ( 90 −  )
 aB

aAx
a Ay
aC
t
aBA
P   aB
74