Steps to solve problem

• Complete Kinematic analysis

• Find D’Alembert inertia forces and offsets for each link
Inertia forces (Fi) = -miAGi
Inertia Torque (Ti) = (-IGiαi)
Offset Distance (hi) = Ti /Fi

• Draw free body diag. of each link (direction of Fi oppsite to αi from Gi )

(If lines of action for the forces on the FBD can not be discovered from 2 &3 force
members then resolve the force in to radial and transverse comp. by choosing appropriate
link)
• Use equilibrium condition ∑M=0 for (chosen and adjacent link to find resolved
comp. and ) to find the react. force. (consider Ti and moment due to Fi )
• Use equilibrium condition ∑F = 0 for each link (excluding fix link) to
find the reaction forces. (consider Fi )
• Use equilibrium condition ∑M(o2) =0 to find torque applied to input
link. (consider Ti and moment due to Fi )

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Find the external torque which must be applied to link 2 of
the 4 bar linkage shown to drive it at the given velocity

IG4= 12.91 g.cm.s2

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F3

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