EXERCISES Chapter 7 : Velocity in Mechanisms Page : 169 1. In a slider crank mechanism, the length of crank OB and connecting rod AB are 125 mm and 500 mmrespectively. The centre of gravity E of the connecting rod is 275 mm from the slider A. The crankspeed is 600 r.p.m. clockwise. When the crank has turned 45° from the inner dead centre position,determine: 1. velocity of the slider A, 2. velocity of the point E, and 3. angular velocity of theconnecting rod AB[Ans. 6.45 m/s; 6.75 m/s; 108 rad/s} Given: N= 600 rpm(c.w) , Va=?, Ve=? ,Wab=? 2*3.14+ 600 Wob=—“Gg = 6283 rad/s Vob = Wob * OB = 62.83 * 0.125 =7.85 rad /s v. dscale [7.85 m/s =45mm ] VA 237 * 32 2645 m/s VG = 38.7 +72 = 6.75 ms a va (0) Velocity diagram. VAB = ab +" wS4m/s VAR 54 ‘WAB = pms =10.8 rad/s2. In the mechanism, as shown in Fig. 7.32, OA and OB are two equal cranks at right angles rotating about O at a speed of 40 r.p.m. anticlockwise. The dimensions of the various links are as follows :OA = OB = 50 mm ; AC = BD = 175 mm ; DE = CE = 75 mm ; FG = 115 mm and EF = FC.Draw velocity diagram for the given configuration of the mechanism and find velocity of the slider G. [Ans. 68 mm/s] Solution : 2314040 Woa = Wop = ——— = 4.188 rad/s. VA= Woa *OA, VA = 4.18 * 50 = 209.4 mm /s [209.4 mm/s =60mm] a velocity diagrams scale . = fg #7024 Vg = fg im c a Vg= 19.5 724 = 68mm/s f e3. The dimensions of various links in a mechanism, as shown in Fig. 7.33, are as follows :AB = 60 mm ; BC = 400 mm ; CD = 150 mm; DE = 115 mm ; and EF = 225 mm. Find the velocity of the slider F when the crank AB rotates uniformly in clockwise direction at a speedof 60 r.p.m. [Ans. 250 mm/s] 2x60 0 = 6.28rad/s VAB=WAB°AB . VAB=6.28 * 602377 mm/s . [. 37mm /s= Tom on the V. diagram. | + We can find ( d }on the S.DIA by this relationship . Vr = 46.45 * 277 = 250mm/s o,d4. In a link work, as shown , the crank AB rotates about A at a uniform speed of 150 r.p.m.The lever DC oscillates about the fixed point D, being connected to AB by the connecting link BC. The block F moves, in horizontal guides being driven by the link EF, when the crank AB is at 30°. The dimensions of the various links are : AB = 150 mm ; BC = 450 mm ; CE = 300 mm; DE= 150 mm ; and EF = 350 mm. Find, for the given configuration, 1. velocity of slider F, 2. angular velocity of DC, and 3. Rubbing speed at pin C which is 50 mm in diameter. [Ans. 500 mms ; 3.5 rad/s ; 2.4 cm/s] Given : N=150rpm, d=SO0mm. R=0.25cm Space diagram scale 1:10 it means All Given Dimensions 10 150mm (given at the statement ) I 15 mm (on the space diagram) 2m+150 WBA= =15.7 rad/s VBA = WBA* AB Veaz 15.7 * 150 mm = 2355 mm/s Chose this it as the velocity diagram scale . So 2355mm/sec = 45 mm (in v.daigram ). => > (a) Space diagram. (6) Velocity diagram. Since the point E lies on DC, therefore divide vector de in e in the same ratio cE 4s E dividesCD In other words Ce=ed* = = 30028 20mm =fd* Vr=fd* a =9.56 mi » Be mmm VF = 500 mms Ic * BSS Voc = de * 335 = 1575 mm/s when [ de = 30.1mm ] wm 8 Woc= = 3.5 rad/s Vea=eb*—- =2669mm/s when [cb = Simm] vce 2669 Wen= = EP = 6 rad is V.RO© = ( Wee + Woc) *R VR © = (643.5) *0,.25 =238 cm5. The oscillating link OAB of a mechanism.as shown , is pivoted at O and is moving at 90 r.p.m. anticlockwise. If OA= 150 mm ; AB =75 mm, and AC= 250 mm calculate 1. the velocity of the block C; 2. the angular velocity of the link AC; and 3. the rubbing velocities of the pins at O, A and C, assuming that these pins are of equal diameters of 20 mm [Ans. 1.2 m/s ; 1.6 rad/s clockwise ; 200 mm/s, 782 mm/s, 160 mm/s} WOB = <0 = 9.42 rad /s . Vos = Won * OB Vos = 942 * 0. 225 = 2.12 m/s. va Scale : [Von = 9.42m/s = 50mm } ob = op ——> o=ob* 33.3mm VC =0¢ = 30mm * 722 2.12m/s VAC = ac = 10mm * WAC= 70 = O25 =i 6rad/s. o cWOB =7=""= 9,42 rad &.= WOA {because on the one link} vac 0.424 WAC = 9c = pq = 16 rad/s. Ru.O =(WOA )*R RuO =(942)*10=94.2mm4 RuA =( WOB+WAC)*R Rua =(9.42-1.6)* 10=78 .2mm/s Ru.c =(WAC)*R Ru.C =(1.6)*10mm=16 mm/s6. The dimensions of the various links of a mechanism, as shown , : AB = 30 mm ; BC = 80 mm ; CD = 45 mm ; and CE = 120 mm. The crank AB rotates uniformly in the clockwise direction at 120 r.p.m. Draw the velocity diagram for the given configuration of the mechanism and determine the velocity of the slider £ and angular velocities of the links BC, CD and CE. [Ans. 120 mm/s ; 2.8 rad/s ; 5.8 rad/s ; 2rad/s | 2eei2 Lamrad/s VBA = 43°30 =377 mm/s [V.d scale 377mm /s = 50 mm } 377 _ 9 VEA =a¢ =16 507 mm/s vac=te= 44+ = 334.75 mm /s 334.76 vac wacs St = = 4.14 rad/s. VoD =de= 24+ 2 = 190.96 mm/s WCD = veo _ 100.96 Sn OM wa arate VCE = ce =20.5¢ 22 2 154.5mm/s =9. In a Whitworth quick return motion mechanism, as shown , the dimensions of various links are as follows : OQ = 100 mm ; OA = 200 mm ; BQ = 150 direction and makes an angle of 120° with OQ, Find : 1. velocity of the block P, and 2. angular velocity of the slotted link BQ. [Ans. 0.63 m/s ; 6.3 rad/s ]. N=120 1pm ewet 120 WOA = ~o =4=rad/s VOA = WOA * OA VOA = 41+200 = 2.51 m/S VD: [ VOA = 2.51 mm/s= 70mm} Vp=op=17.6* ==" = 0.63 m/s ‘Vos = qb 226.408 946 m/s oq P m6 * a5” Sirads. b 1010. A toggle press mechanism, as shown, has the dimensions of various links as follows :OP = 50 mm ; RO = RS = 200 mm ; PR = 300 mm. Find the velocity of S when the crank OP rotates at 60 r.p.m. inthe anticlockwise direction. If the torque on P is 115 N-m, what pressure will be exerted at S when the overall efficiency is 60 percent. [Ans. 400 mys ; 3.9 kN] =2mrad/s Vp= wp * oP s 4,0 Ves 2 rad /s* 50x 10* m=0.3141m/s V.D Scale : [ 0.3141 m /s = 60 mm] P r oattmis Vs=os *—< = » when{os= 6mm} Vs =0.03141 m/sec 11‘Tp * WP =in put Fs*Vs=output = 0-6-9915 923.14 0.03141 _ Fs: = 13802.6N = 13 8KN.11. in the figure shows a toggle mechanism in which link D is constained to move inzhorizontal direction. For the given configuration, find out : I.velocities of points band D ; and 2. angular velocities of links AB, BC, and BD.The rank OA rotates at 60 r.p.m. in anticlockwise direction. [Ans. 0.9 mvs; 0.5 m/s; 0.0016 rad/s (anticlockwise) 0.0075 rad/s (anti-clockwise),0.0044 rad/s (anticlockwise)] . Woa = =2mrad/s 2-m-60 60 VoA = Woa * OA Von =2 2 *150* 107% = 0.942 m/s Velocity diagram Scale [0.942m/s = 70mm) 0982 70 VcB= ob =67* =09 m/s Vo sod=39 7 20.52m/s%05m/s. a b 1312. A riveter, as shown below , is operated by a piston F acting through the links EB, AB and BC. The ram D carries the tool. The piston moves in a line perpendicular to the line of motion of D. The length of link BC is twice the length of link AB. In the position shown, AB makes an angle of 12° with AC and BE is at right angle to AC. Find the velocity ratio of E to D. If, in the same position, the total load on the piston is 2.2 KN, find the thrust exerted by D when the efficiency of the mechanism is 72 per cent, Ans. [3.2 ; 5 KN] Given: Fe=2.2KN, Q=72% bye ee a ™ 2), Fo=? Solution : To drow space diadram we know that BC = 2AB, if we assume that AB = 40 mm, so BC = 80 mm. aslo we assume the scale of velocity digram is 60 mm = ab. Ve =ae = 58mm and VD=ad=ac = 18mm. dc a ve _se ” "au =3.222 Ee = b ef