Dr.

Hassen OUAKAD 2/13/2018

ME309

ClassWork # 02 (Pb # 02)

Example 3: Velocity Analysis

Dr. Hassen OUAKAD ME 309 / 55

Example 3:
Solution

Dr. Hassen OUAKAD ME 309 / 56

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Dr. Hassen OUAKAD 2/13/2018
ME309

ClassWork # 03
Example 4: Acceleration Analysis


R R  
  R 2  jR  2 jR e j

Dr. Hassen OUAKAD ME 309 / 57

Example 4:
Solution

  
(a) r1  r3  r2 is the vector (loop-closure) equation

(b) Acceleration equation:

  
  mag  cst  mag  var  mag  var
r1  
r3  r2 where r1  ; r3  ; r2 
dir  cst dir  cst dir  var

r3e j3   
r2  r22 2  jr2 2  j 2r22  e j2
  
r1  
r3  r2  
where:

r3  50m / s 2 ; 3  0 ;
 2  10rad / s;  2  30  270  300 ;
r2  AB  0.93m; r2  5m / s
Dr. Hassen OUAKAD ME 309 / 58

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Dr. Hassen OUAKAD 2/13/2018
ME309

Example 4:
Solution

(c) Resolution:
r3e  j2   
 r2  r22 2  jr2 2  j 2r22 

real   r3 cos  2  
r2  r22 2  
r2  118m / s 2

imag   r3 sin  2  r2 2  2r22   2  60.9rad / s

 
r  118m / s 2
  2
  2  60.9rad / s (CW )

Dr. Hassen OUAKAD ME 309 / 59

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