Solution Manual for Mechanisms and Machines Kinematics

Dynamics and Synthesis SI Edition 1st Edition Stanisic

1285057562 9781285057569
Full download link at:
Solution manual: https://testbankpack.com/p/solution-manual-for-mechanisms-and-machines-
kinematics-dynamics-and-synthesis-si-edition-1st-edition-stanisic-1285057562-9781285057569/

Chapter 5

Machine Dynamics Part I: The Inverse

Dynamics Problem - Solutions

Problem 5.1

The input to the machine below is θ2 . The values of θ2 , θ̇ 2 and θ̈2 are known, i.e. the “state of motion” is known.
The load torque, T¯5 , is known. This is a two loop mechanism. The figure shows appropriate vector loops.
There are two vector loop equations,

r̄ 2 + r̄ 3 + r̄ 4 − r¯5 + r̄ 1 =
r̄ 8 − r̄ 7 − r̄ 6 − r¯5 + r̄ 1 =

and three geometric constraints,

θ8 + γ − θ2 = 0
θ6 + (π − ψ) − θ4 = 0
π
and θ6 + − θ7 = 0
2
With

scalar knowns: r1 , θ1 = π, r2 , r3 , r4 , r5 , r6 , r8 , γ, ψ.
and
scalar unknowns: θ2 , θ3 , θ4 , θ5 , θ6 , r7 , θ7 , θ8 .
With seven equations in eight unknowns there is 1 degree-of-freedom. Take θ2 as Si .
The figure below defines the locations of the mass centers. vectors r̄ 9 , r̄ 10 , r̄ 11 , r̄ 12 and angles φ2 and φ4 are
known.
The inertias, m2 , Ig2 , m3 , Ig3 , m4 , Ig4 and m5 , Ig5 are known.
Assume that steps 1-4 in Example 1.1 are completed. You should complete Steps 5 and 6 here and derive a
system of equations in matrix form which could be solved for the magnitude of the driving torque, T̄2 and all
the bearing forces. The following figures are for your free body diagrams.
For link 2 sum moments about point A.
For link 3 sum moments about point B.
For link 4 sum moments about point E.
For link 5 sum moments about point F .
For each moment equation specify which unknowns were eliminated by summing moments about the designated
point versus summing moments about the mass center.
Solution:
Step 5: Sketch a free body diagram of each link

91
 1

F
T̄5

C 5

4 E
B
X

2
T̄2 D
A
r̄1

1
r̄5
ψ
r̄3 r̄4

r̄6

r̄7
r̄2
γ
Y
r̄8

fig501

Figure 5.1: The machine to be analyzed and its vector loop

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 F

r̄12

C G5
r̄5
r̄3 G3
r̄4 E
r̄10 φ4

B r̄11
G4
r̄2
G2
φ2 D
r̄9
A

fig501a

Figure 5.2: Definition of inertia properties

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 C

4 E

F̄34 F̄15
G4
−F̄34 F̄54 F

−F̄42 D T̄5
G3 C
5
G5
3
B Y X −F̄54

F̄32
−F̄32 E

B
the same fixed frame as
used in the vector loop
G2
2
T̄2 D

fig501bsoltn
F̄42
A

F̄12

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 Enumerate the forces/torques/vectors:

F12x F32x F34x F54x F15x

F̄12 = F12y , F̄32 = F32y , F̄34 = F34y , F̄54 = F54y , F̄15 = F15y
0 0 0 0 0

cos(θ7 − 2π ) sinθ7 0

π
F̄42 = F42 sin(θ7 − 2) = F42 −cosθ7 , T̄2 = 0
0 0 −T2

The free body diagrams contain

scalar unknowns: F12x , F12y , F32x , F32y , F34x , F34y , F54x , F54y , F15x , F15y , F42 , T2 ,
which is correct because there will be 3 equilibrium equations for each of the four bodies giving a total of 12
equations in 12 unknowns.
Step 6: Write the force equilibrium equations (1.2), (1.3) and moment equilibrium equation (1.10) for each link.
Force Equilibrium:
Link 2:

ΣF̄ = F̄12 + F̄32 + F̄42 = m2 āg2

which has scalar components,

ΣFx = F12x + F32x + F42 sinθ7 = m2 ag2x (1)

ΣFy = F12y + F32y − F42 cosθ7 = m2 ag2y (2)
Link 3:

ΣF̄ = −F̄32 − F̄34 = m3 āg3

which has scalar components,

ΣFx = −F32x − F34x = m3 ag3x (3)

ΣFy = −F32y − F34y = m3 ag3y (4)
Link 4:

ΣF̄ = F̄34 + F̄54 − F̄42 = m4 āg4

which has scalar components,

ΣFx = F34x + F54x − F42 sinθ7 = m4 ag4x (5)

ΣFy = F34y + F54y + F42 cosθ7 = m4 ag4y (6)
Link 5:

ΣF̄ = F̄15 − F̄54 = m5 āg5

which has scalar components,

ΣFx = F15x − F54x = m5 ag5x (7)

ΣFy = F15y − F54y = m5 ag5y (8)

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 Moment Equilibrium:
Link 2:

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 0 0 cos(θ2 − φ)

ΣM̄ a = r̄ 2 × F̄32 + r̄ 8 × F̄42 + 0 = 0 + r̄ 9 × m2 ā g2 , where r̄ 9 = r9 sin(θ2 − φ) .

−T2 Ig2 α2 0

Expand the cross products and write out the Z component of the above equation (the X and Y components are
zero)
−r8 F42 cos(θ8 −θ7 )
z }| {
r2 (cosθ2 F32y − sinθ2 F32x ) +r8 cosθ8 (−F42 cosθ 7) − r 8sinθ 8(F 42sinθ 7) −T 2 =
Ig2 α2 + m2 r9 cos(θ2 − φ2 )ag2y − sin(θ2 − φ2 )ag2x

r2 (cosθ2 F32y − sinθ2 F32x ) − r8 F42 cos(θ8 − θ7 ) − T2 =

Ig2 α2 + m2 r9 cos(θ2 − φ2 )ag2y − sin(θ2 − φ2 )ag2x . (9)

By summing moments about A instead of G2 , we have eliminated the unknowns F12x and F12y from this moment
equilibrium condition for link 2.
Link 3:
0 cosθ3

ΣM̄ b = r̄ 3 × (−F̄34 ) = 0 + r̄ 10 × m3 ā g3 , where r̄ 10 = r10 sinθ3 .

Ig3 α3 0

This equation has only the Z component,

r3 (−cosθ3 F34y + sinθ3 F34x ) = Ig3 α3 + m3 r10 (cosθ3 ag3y − sinθ3 ag3x ) (10)
By summing moments about B instead of G3 we have eliminated the unknowns F32x and F32y from this moment
equilibrium condition for link 3.
Link 4:
0
ΣM̄ e = −r̄4 × F̄34 + (r¯6 + r̄ 7 ) × (−F̄42 ) = 0 + r̄ 11 × m4 ā g4 ,
Ig4 α4

cos(θ4 + φ4 + π) −cos(θ4 + φ4 )

where r̄ 11 = r11 sin(θ4 + φ4 + π) = r11 −sin(θ4 + φ4 ) .

0 0

Note that r̄ 6 and F̄42 are parallel so r̄6 ×(−F̄42 ) = 0̄. This moment equilibrium condition has only a Z component,

r4 (−cosθ4 F34y + sinθ4 F34x ) + r7 F42 = Ig4 α4 + m4 r11 −cos(θ4 + φ4 )ag4y + sin(θ4 + φ4 )ag 4x . (11)

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By summing moments about point E we have eliminated the unknowns F54x and F54y from this moment
equilibrium condition.
Link 5:
0 0 cosθ5

ΣM̄ f = r̄ 5 × (−F̄54 ) + 0 = 0 + r̄ 12 × m5 ā g5 , where r̄ 12 = r12 sinθ5 .

−T5 Ig5 α5 0

This equation has only the Z component,

r5 (−cosθ5 F54y + sinθ5 F54x − T5 = Ig5 α5 + m5 r12 (cosθ5 ag5y − sinθ5 ag5x ). (12)
(1)-(12) contain the twelve unknowns previously enumerated. The system of equations in matrix form is given
on the following page.

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 1 0 1 0 0 0 0 0 0 0 sinθ7 0 F12x
c

−cosθ7
2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

0 1 0 1 0 0 0 0 0 0 0 F12y
0 0 −1 0 −1 0 0 0 0 0 0 0 F32x
0 0 0 −1 0 −1 0 0 0 0 0 0 F32y
0 0 0 0 1 0 1 0 0 0 −sinθ7 0 F34x
0 0 0 0 0 1 0 1 0 0 cosθ7 0 F34y
=
0 0 0 0 0 0 −1 0 1 0 0 0 F54x
0 0 0 0 0 0 0 −1 0 1 0 0 F54y

0 0 −r2 sinθ2 r2 cosθ2 0 0 0 0 0 0 −r8 cos(θ8 − θ7 ) −1 F15x

0 0 0 0 r3 sinθ3 −r3 cosθ3 0 0 0 0 0 0 F15y

0 0 0 0 r4 sinθ4 −r4 cosθ4 0 0 0 0 r7 0 F42
0 0 0 0 0 0 r5 sinθ5 −r5 cosθ5 0 0 0 0 T2

m2 ag2x
m2 ag2y
97

m3 ag3x
m3 ag3y
m4 ag4x
m4 ag4y
m5 ag5x
m5 ag5y
Ig2 α2 + m2 r9 cos(θ2 − φ2 )ag2y − sin(θ2 − φ2 )ag2x

Ig3 α3 + m3 r10 (cosθ3 ag3y − sinθ3 ag3x )

Ig4 α4 + m4 r11 −cos(θ4 + φ4 )ag4y + sin(θ4 + φ4 )ag4x

Ig5 α5 + m5 r12 (cosθ5 ag5y − sinθ5 ag5x ) + T5

Problem 5.2
The figure below is of a “walkable hoist.” As link 2 is rotated counterclockwise by the driving torque T̄2 , its
center moves up and to the right. This causes link 4 to move down and to the right. In doing so a cable attached
to link 4 hoists a known load, F̄4 . The figure also shows an appropriate vector loop. A vector r̄ 2 , which is not
a part of the vector loop, must be attached to 2 in order to capture the rotation of 2.
the cable hoisting the load
F̄4

4
ρ4
ρ2
2
A
T̄2
3

r̄2
4 X
ρ4
2
3 ρ2
r̄3

r̄4

r̄1
fig502 Y

Figure 5.3: A walkable hoist and its vector loop

The vector loop equation and rolling contact equation are,

r̄ 1 + r̄ 3 − r̄ 4 = 0̄
ρ2 (θ2 − θ2i ) − (ρ2 + ρ4 )(θ3 − θ3i ) = 0

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 The vector loop and rolling contact equation provide 3 scalar position equations with
scalar knowns: θ4 , θ1 , r3 , r2 , ρ2 , ρ4 , θ3i , θ2i , and
scalar unknowns: r4 , θ3 , θ2 and r1 .
The load is to be hoisted at a desired constant rate. This means the “state of motion” of the machine is defined
by desired values of r4 , ṙ4 and r̈4 and since the hoisting is to be at a constant rate, r̈4 = 0.
The figure belows defines the location of the mass centers. Vectors r̄ 5 and r̄ 6 are known. The values of m2 ,

4
G4 2
r̄5 3
A G2
r̄ 6
G3

fig502a X
Y

Figure 5.4: Definition of inertia properties

m3 , m4 , Ig2 , Ig3 and Ig4 are known. Using r4 as the input, steps 1-4 in Example 1.1 have been completed. You
should complete Steps 5 and 6 here and derive a system of equations in matrix form which could be solved for
the magnitude of the driving torque, T̄2 and all the bearing forces.
The following figure is for your free body diagrams. Since your kinematic analysis uses the vector loop
coordinate system the X and Y components of the mass center accelerations are expressed in that system and
therefore that system defines the directions of the X and Y components of all the forces in your free body
diagrams.

For link 2 sum moments about point g2 .

For link 3 sum moments about point A.
For link 4 sum moments about point A.

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 3
A

r̄ 6
G3
−F̄32
−F̄34

F̄4
X
4
F̄34 Y
G4 F¯24
t

r̄5
A
r̄ 8 F¯24
n

r̄9
F̄14

2 F̄32

r̄7
fig502b.soltn G2
−F¯24
n

−F¯24
t T̄2 F̄12

Figure 5.5: Free body diagrams

Enumerating the forces/torques:

F32x F34x cos(θ4 − π/2) sinθ4

F̄32 = F32y , F̄34 = F34y , F̄14 = F14 sin(θ4 − π/2) = F14 −cosθ4 ,
0 0 0 0

cosθ4 cosθ3 cos(θ3 + π/2) −sinθ3

F̄4 = F4 sinθ4 , F̄ n = F n sinθ3 , F̄ t = F t sin(θ3 + π/2) =Ft cosθ3 ,

24 24 24 24 24
0 0 0 0

0 0

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 F̄12 = F12 , T̄2 = 0 .
0 T2

Force Equilibrium:
Link 2:

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 ΣF̄ = F̄12 + F̄32 − F̄ n − F̄ t = m2 āg
24 24 2

which has scalar components,

ΣFx = F32x − F24ncosθ3 + F24t

sinθ3 = m2 ag2x (1)
ΣFy = F12 + F32y − F24 sinθ3 − F24t cosθ3 = 0 (ag2y = 0)
n
(2)
Link 3:

ΣF̄ = −F̄32 − F̄34 = m3 āg3

which has scalar components,

ΣFx = −F32x − F34x = m3 ag3x (3)

ΣFy = −F32y − F34y = m3 ag3y (4)
Link 4:

ΣF̄ = F̄14 + F̄4 + F̄34 + F̄ t + F̄ n = m2 āg

24 24 2

which has scalar components,

ΣFx = F14 sinθ4 + F4 cosθ4 + F34x + F24ncosθ3 − F24

t
sinθ3 = m4 ag4x (5)
ΣFy = −F14 cosθ4 + F4 sinθ4 + F34y + F24 sinθ3 + F24 cosθ3 = m4 ag4y
n t
(6)
Moment Equilibrium:
Link 2:
t
has Z comp. (r7 F 24 )
z }| { 0 0
ΣM̄ g2 = r̄ 7 × (−F¯ t ) + 0 = 0
24
T2 Ig2 α2

which has only the Z component

−r7 F24
t
+ T2 = Ig2 α2 . (7)

Link 3:
0 −cosθ3

ΣM̄ a = −r̄3 × (−F̄32 ) = 0 + r̄ 6 × m3 ā g3 where : r̄ 6 = r6 −sinθ3 .

Ig3 α3 0

Expanding the cross products gives an equation with only the Z component,

r3 cosθ3 F32y − r3 sinθ3 F32x = Ig3 α3 + m3 r6 (−cosθ3 ag3y + sinθ3 ag3x ) (8)
Link 4:
t
has only the Z comp. (−r9 F14 ) has only the Z comp. (−r8 F 24 )
0
z }| { z }| {
4
ΣM̄ a = r¯9 × F̄1 + r̄ 8 × F¯24
t
= 0 + r¯5 × m4 āg4
Ig4 α4

where, cos(θ4 − π/2)

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 sinθ4
r̄ 5 = r5 sin(θ4 − π/2) = r5 −cosθ4
0 0

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Expanding the cross products gives an equation with only the Z component,
−r9 F14 − r8 F 24
t
= m4 r5 (sinθ4 ag4y + cosθ4 ag4x ) (α4 = 0). (9)

(1)-(9) contain the 10 unknowns, F14 , r9 (actually the product (r9 F14 )), F32x , F32y , F34x , F34y , F24n, F24t ,
F12 and T2 . The missing equation comes from the rolling contact being a positive drive, i.e. a gear pair. We
know this must be a gear pair because there is a rigid arm connecting the centers. The pressure of the gears, φ,
is known and,
n
F 24
= tan φ −→ F n − tan φF t = 0 (10)
t 24 24
F24
which is the tenth equation. In matrix form the 10 equations are

0 0 1 0 0 0 −cosθ3 sinθ3 0 0
0 0 0 1 0 0 −sinθ3 −cosθ3 1 0 F (r9 F14 )
14
0 0 −1 0 −1 0 0 0 0 0 F32x
0 0 0 −1 0 −1 0 0 0 0 F32y
sinθ4 0 0 0 1 0 cosθ3 −sinθ3 0 0 F34x
=
−cosθ4 0 0 0 0 1 sinθ3 cosθ3 0 0 F34y
0 0 0 0 0 0 0 −r7 0 1 Fn
24
0 0 −r3 sinθ3 r3 cosθ3 0 0 0 0 0 0 Ft
24
0 −1 0 0 0 0 0 −r8 0 0
0 0 0 0 0 0 1 − tan φ 0 F
0 12 T2

m2 ag2x
0
m3 ag3x
m3 ag3y
m4 ag4x − F4 cosθ4
m4 ag4y − F4 sinθ4
Ig2 α2
Ig3 α3 + m3 r6 (−cosθ3 ag3y + sinθ3 ag3x )
m4 r5 (sinθ4 ag4y + cosθ4 ag4x )
0

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 Problem 5.3
In the machine below link 2 is rotated clockwise by the driving torque T̄2 . This causes the center of link 4 to
move towards the right. This motion of 4 is resisted by a known load F̄4 . The figure also shows an appropriate
vector loop and the direction of the gravity field relative to the coordinate system for the vector loop method.

3 F̄4
B C
ρ4

2 4

T̄2 1

A θg

1
r̄3 ḡ
B 3
C

r̄ 5 ρ4

r̄2

4 D
2 fig025b

1
Y r̄4

r̄1
A
X
1
Figure 5.6: A machine with a friction drive

The vector loop equation and rolling contact equation are,

r̄ 2 + r̄ 3 − r̄ 5 − r¯4 − r̄ 1 =

(r3 − r3i ) + ρ4 (θ5 − θ5i ) = 0.

The vector loop and rolling contact equation are 3 scalar equations with
scalar knowns: r1 , θ1 , θ4 , r2 , r5 , ρ4 , r3i , θ5i and
scalar unknowns: θ2 , r3 , θ3 and θ5 .
The figure belows defines the location of the mass centers. r̄ 6 r̄ 7 and r̄ 8 are known. The inertias m2 , m3 , m4 ,
Ig2 , Ig3 and Ig4 are known.

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 3 G3

B C
r̄7
G4

r̄8
D
2 4

fig025c

A
r̄6

G2
Figure 5.7: Definition of inertia properties

Suppose that θ2 is given and that steps 1-4 in Example 1.1 are completed. You should complete Steps 5
and 6 here and derive a system of equations in matrix form which could be solved for the magnitude of the
driving torque, T̄2 and all the bearing forces. Link 3 is an order of magnitude heavier than the other links. Your
analysis should include the weight of 3 but not the remaining links.
The following figure is for your free body diagrams. Since your kinematic analysis uses the vector loop
coordinate system the X and Y components of the mass center accelerations are expressed in that system and
therefore that system defines the directions of the X and Y components of all the forces in your free body
diagrams.

For link 2 sum moments about point A.

For link 3 sum moments about point B.
For link 4 sum moments about point D.

As a part of your solution, for each moment equation specify which unknowns were eliminated from that
equation by summing moments about the designated point, versus summing moments about the mass center.

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 Solution to Step 5: Free Body Diagrams
3 F¯43
t C

B G3
r̄7
Y
−F̄32 F¯43
n
W̄3 X

same coordinate system

−F¯43
n as in vector loop

B F̄32 −F¯43
t

C
F̄4
G4
2
r̄8
D
4
T̄2
A
θg F̄14
r̄9

r̄6 fig025d.soltn
ḡ
F¯12
G2

Figure 5.8: Free body diagrams

Before writing out the equilibrium conditions we can check if our FBDs are correct. There are 3 bodies and
each has 3 equilibrium conditions so we have a total of 9 equations. The unknowns are F12x , F12y , F32x , F32y ,
Fn t

43 , F43 , F14 , (r9 F14 ) and T2 . 9 equations in 9 unknowns means our FBDs are likely correct.
Enumerate the forces/torques:
F12x F32x 0 cosθ5
F̄12 = F12y , F̄32 = F32y , F̄14 = F14 , F̄ n3 = F n sinθ5 ,
4 43
0 0 0 0

cosθ3 cosθg −F4 0

= F43 ¯ ¯ ¯
43

F̄ t t
sinθ3 , W3 = W 3 sinθg , F4 = 0 , T2 = 0 .
0 0 0 −T2

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 Force Equilibrium:
Link 2:

ΣF̄ = F̄12 + F̄32 = m2 āg2

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which has scalar components,

ΣFx = F12x + F32x = m2 ag2x (1)

ΣFy = F12y + F32y = m2 ag2y (2)
Link 3:

ΣF̄ = −F̄32 + F̄ t + F̄ n + W̄3 = m3 āg

43 43 3

which has scalar components,

ΣFx = −F32x + F43t cosθ3 + F43ncosθ5 + W3 cosθg = m3 ag3x (3)

ΣFy = −F32y + F43 t n
sinθ3 + F43 sinθ5 + W3 sinθg = m3 ag3y (4)

Link 4:

ΣF̄ = −F̄ t − F̄ n + F̄4 + F̄14 = m4 āg

43 43 4

which has scalar components,

ΣFx = −F t cosθ3 − F n cosθ5 − F4 = m4 ag (5)

43 43 4x
t n
ΣFy = −F 43 sinθ3 − F 43 sinθ5 + F14 = 0 (6)
Moment Equilibrium:
Link 2:
0 0 cosθ2

ΣM̄ a = r¯2 × F̄32 + 0 = 0 + r̄ 6 × m2 ā g2 , where r̄ 6 = −r6 sinθ2 .

−T2 Ig2 α2 0

Expand the cross products and write out the Z component of the above equation (the X and Y components are
zero)

r2 (cosθ2 F32y − sinθ2 F32x ) − T2 = Ig2 α2 + m2 r6 (−cosθ2 ag2y + sinθ2 ag2x ). (7)

By summing moments about A instead of G2 , we have eliminated the unknowns F12x and F12y from this moment
equilibrium condition for link 2.
Link 3:
n
has Z comp. (r3 F 43 )
0 cosθ3
z }| { z }| {
ΣM̄ b = r̄ 7 × W̄3 + r¯3 × F¯43
n
+ r¯3 × F¯43t = 0 + r̄ 7 × m3 ā g3 , where r̄ 7 = r7 sinθ3 .
Ig3 α3 0

Expand the cross products and write out the Z component of the above equation (the X and Y components are
zero)

r3 F n = Ig α3 + m3 r7 (cosθ3 ag − sinθ3 ag ) − r7 W3 sin(θg − θ3 ). (8)

43 3 3y 3x

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43 )
0
By summing moments about B instead of G3 , we have eliminated the unknowns F32x and F32y from this moment
equilibrium condition for link 3.
Link 4:
has Z comp. (r9 F14 ) has Z comp. (r5 F t
0
z }| {4 z }| { z }| {
n
ΣM̄ d = r¯9 × F̄1 + r̄5 × (−F̄43 )+ r̄5 × (−F¯4t3 ) = 0 + r̄ 8 × m4 ā g4 , where r̄ 8 = r8 .
α4 0
Ig4

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 Expand the cross products and write out the Z component of the above equation (the X and Y components are
zero)
t
(r9 F14 ) + r5 F43 = −m4 r8 ag4x . (9)

By summing moments about D instead of G4 we have eliminated unknown F n34 from the moment equilibrium

condition for link 4.

Solution to Step 6:
(1)-(9) can be written in matrix form as

1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0 F12 F12y
x
0 0 −1 0 cosθ3 cosθ5 0 0 0
0 0 0 −1 sinθ3 sinθ5 0 F
0 0 32x F32y
0 0 0 0 −cosθ3 −cosθ5 0 0 0 t
F 43 =
0 0 0 0 −sinθ3 −sinθ5 1 0 0 F43n

0 0 −r2 sinθ2 r2 cosθ2 0 0 0 0 −1 F14

0 0 0 0 0 r3 0 0 0 (r9 F14)
0 0 0 0 r5 0 0 1 0 T2

m2 ag2x
m2 ag2y
m3 ag3x a−W3 cosθg
m3 ag3y a−W3 sinθg
m4 ag4x + F4 .
m4 ag4y
Ig2 α2 + m2 r6 (−cosθ2 ag6y + sinθ2 ag6x )
Ig3 α3 + m3 r7 (cosθ3 ag7y − sinθ3 ag7x ) − r7 W3 sin(θg − θ3 )
−m4 r8 ag4x

After this equation is solved and the unknowns have been computed, one needs to check to see that
t
F 43 ≤ µs F43
n

where µs is the static coefficient of friction between links 3 and 4. If this condition is violated then there is
slipping at the joint and not rolling. In this case the friction is kinetic and is given by,
t n
F 43 = µk F43

where µk is the kinetic coefficient of friction between links 3 and 4. This adds a tenth equation to our system.
There would also be a tenth unknown which is ag4x .

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Problem 5.4

The machine below is a scissor jack. It is commonly used to lift an automobile in order to change a flat tire.
W̄ is a known weight of the automobile. F̄ is the driving force. This force is usually developed through a screw
which is turned by the operator of the jack.
This is a two loop mechanism. The right side shows two appropriate vector loops.

W̄

r̄5 C
3 r̄3

r̄4 r̄2

2 r̄6 r̄7
Y

B X A
F̄
r̄1
fig205d
1
1

Figure 5.9: A scissor jack

The mechanism’s vector loop equations and geometric constraints are,

r̄ 1 + r̄ 4 + r̄ 3 − r̄ 2 = 0̄ and r̄ 1 + r̄ 7 − r̄ 6 =

θ2 − θ6 = 0 and θ4 − θ7 = 0.

Together these comprise 6 scalar equations with

scalar knowns: θ1 , r2 , r3 , r4 , r6 , r7 and
scalar unknowns: r1 , θ2 , r3 , θ3 , θ4 , θ6 and θ7 .
You may assume that r2 = r4 = R and r6 = r7 = r (realize that this would only be true to a certain tolerance)
in which case unknown θ3 = 0 and is constant.
The system has one dof. Suppose that r1 is a given input and that ṙ1 and r̈1 are known (i.e. the state of
motion is known). The weight being lifted is large and it is being lifted very slowly. This means that it is
reasonable to neglect inertia effects. Likewise, the weights of the links are significantly less than weight W and
they can also be neglected.

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 Suppose that steps 1-4 in example 1.1 have been completed. Complete steps 5 and 6 to derive all equations
necessary in order to compute F and the bearing forces in terms of the prescribed W , link lengths and state of
motion. Present all systems of equations in matrix form.

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 The following figure is for your free body diagrams. For your moment equations please sum moments as stated:
for link 2 sum moments about the point B,
for link 3 sum moments about the point C and
for link 4 sum moments about the point A.

W̄

r̄5 3
fig205e.soltn
C
r̄3

−F̄34
F̄32 F̄34
−F̄32

−F̄42

4
F̄42
2

Y A
F̄
B
same frame used in vector loop

X F̄14
F̄12
Figure 5.10: Free body diagrams

Enumerating the forces/torques:

F12x 0 F34x 0
F̄12 = F12y , F̄32 = −F32 , F̄34 = F34y , F̄14 = F14 ,
0 0 0 0

F42x −F 0

F̄42 = F42y , F̄ = 0 , W̄ = −W ,
0 0 0

There are nine equilibrium conditions and nine unknowns, F12x , F12y , F32 , F42x , F42y , F34x , F34y , F14 , F .

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 Force Equilibrium:
Link 2:

ΣF̄ = F̄12 + F̄42 + F̄32 = 0̄

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which has scalar components,
ΣFx = F12x + F42x = 0 (1)
ΣFy = F12y + F42y − F32 = 0 (2)
Link 3:

ΣF̄ = −F̄34 + W̄ − F̄32 =

which has scalar components,

ΣFx = −F34x = 0 (3)

ΣFy = −F34y − W + F32 = 0 (4)
Link 4:
ΣF̄ = F̄14 − F̄42 + F̄34 + F̄ = 0̄

which has scalar components,

ΣFx = −F42x + F34x − F = 0 (5)
ΣFy = F14 − F42y + F34y = 0 (6)

Moment Equilibrium:
Link 2:
ΣM̄ b = r̄ 6 × F̄42 + r̄ 2 × (F̄32 ) =
expanding the cross product yields only the Z component,
r6 cosθ2 F42y − r6 sinθ2 F42x + r2 cosθ2 (−F32 ) = 0 (7)
Link 3:
has Z comp. only (r3 F32 ) has Z comp. only (−r5 W )

z }| { z }| {
ΣM̄ c = r¯ × (−F̄ ) + r¯ × W̄ =
3 32 5

which has only the Z component,

r3 F32 − r5 W = 0. (8)

Link 4:
ΣM̄ a = r̄ 7 × (−F̄42 ) + r̄ 4 × F̄34 = 0̄
expanding the cross product yields only the Z component,
−r7 cosθ4 F42y + r7 sinθ4 F42x + r4 cosθ4 F34y − r4 sinθ4 F34x = 0 (9)
(1)-(9) are the 9 equations in the previously enumerated 9 unknowns. In matrix form
F34x
1 0 0 0 0 1 0 0 0 F12x
0 1 −1 0 0 0 1 0 0
0 0 0 −1 0 0 0 0 0
0 0 1 0 −1 0 0 0 0 F12y

F32

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 0 W
0 0
0 0 0 1 0 −1 0 0 −1 F34y = 0

0 0 0 0 1 0 −1 1 0 F42x 0
0 0 −Rcosθ2 0 0 −rsinθ2 rcosθ2 0 0 F42y 0
0 0 r3 0 0 0 0 0 0 F14 r5 W
0 0 0 −Rsinθ4 Rcosθ4 rsinθ4 −rcosθ4 0 0 F 0

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 Problem 5.5
The indexing machine below has a known load force F̄4 . The mechanism’s vector loop equation, r̄ 2 + r̄ 3 −
r̄ 4 − r̄ 1 = 0̄ has 2 scalar components with
scalar knowns: r2 , r3 , r4 , θ4 , θ1 and
scalar unknowns: θ2 , θ3 and r1 .

F̄
4 G4

1 1
3

G3
G2
2
1 fig503

T̄2

r̄9 r̄10

1 1
r̄3

3
r̄2 r̄4
2
X
r̄1

Figure 5.11: An indexing machine and an appropriate vector loop

The inertia properties of the links are known and the locations of the mass centers are defined in the figure on
the following page. The vectors r̄ 9 and r̄ 10 locate the centerlines of the bearings on the left and right, relative
to the origin of the vector loop’s coordinate system. Suppose the angular position, velocity and acceleration of
link 2 are known and that steps 1-4 in Example 1.1 (the kinematic analysis) have been completed. Complete
steps 5 and 6 and derive a system of equations that can be solved for the driving torque T̄2 and all the bearing
forces.
For link 2 sum moments about point A
For link 3 sum moments about point C
For link 4 sum moments about point B

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 This figure is for your free body diagrams.

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 r̄9 4
r̄1 r̄10

G4
F̄4
r̄ 8 r̄6
B F̄14R
F̄14L

−F̄43
C F̄32
2
G2 A F̄43
3

r̄5 r̄7
T̄2
G3
F̄12
B
C
Y

same frame used in vector loop

−F̄32

fig503b.soltn X
Figure 5.12: Free body diagrams

Enumerate the forces and torques:

F12x F32x F43x

F̄12 = F12y , F̄32 = F32y , F̄43 = F43y ,

0 0 0

0 0 0 F4
F̄14L = F14L , F̄14R = F14R , T̄2 = 0 , F̄4 = 0 .
0 0 T2 0

There are 9 equilibrium conditions and nine unknowns,

F12x , F12y , F32x , F32y , F43x , F43y , F14L , F14R and T2 , so our FBDs are likely correct.
Force Equilibrium:
Link 2:
which has scalar components,

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 ΣF̄ = F̄12 + F̄32 = m2 āg2

ΣFx = F12x + F32x = m2 ag2x

(1) ΣFx = F12y + F32y = m2 ag2y
(2)

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 Link 3:

ΣF̄ = −F̄32 + F̄43 = m3 āg3

which has scalar components,

ΣFx = −F32x + F43x = m3 ag3x (3)

ΣFx = −F32y + F43y = m3 ag3y (4)
Link 4:

ΣF̄ = −F̄43 + F̄14L + F̄14R + F̄4 = m4 āg4

which has scalar components,

ΣFx = −F43x + F4 = m4 ag4x (5)

ΣFy = −F43y + F14L + F14R = 0 (ag4y = 0) (6)

Moment Equilibrium:
Link 2:

0 0 cosθ2

ΣM̄ a = r̄ 2 × F̄32 + 0 = 0 + r̄ 5 × m2 ā g2 , where r̄ 5 = r5 sinθ2 .

T2 Ig2 α2 0

Expanding the cross products gives an equation with only the Z component,

r2 cosθ2 F32y − r2 sinθ2 F32x + T2 = Ig2 α2 + m2 r5 (cosθ2 ag2y − sinθ2 ag2x ) (7)
Link 3:

0 cosθ3

ΣM̄ c = r̄ 3 × F̄43 = 0 + r̄ 7 × m3 ā g3 , where r̄ 7 = r7 sinθ3

Ig3 α3 0

Expanding the cross products gives an equation with only the Z component,

r3 cosθ3 F43y − r3 sinθ3 F43x = Ig3 α3 + m3 r7 (cosθ3 ag3y − sinθ3 ag3x ). (8)

Link 4:
only has Z comp. −(r1 +r9 )F14L only has Z comp. (−r1 +r10 )F14R only has Z comp. (−r8 F4 )

z }| { z }| { z }| {
ΣM̄ b = ( −r̄ 1 + r̄ ) × F̄ + (−r̄1 + r̄ ) × F̄ + r¯ × F̄ =
9 14L 10 14R 8 4

−m4 r6 ag4x
0

0 4 Ig4 α4

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 z }| {
+ r¯6 × m̄4 ag ,

which has only the Z component,

−(r1 + r9 )F14L + (−r1 + r10 )F14R − r8 F4 = −m4 r6 ag4x , α4 = 0. (9)

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(1)-(9) are the 9 equilibrium equations in the 9 previously enumerated unknowns. In matrix form,
1 0 1 0 0 0 0 0 0 F12x
0 1 0 1 0 0 0 0 0 F12y
0 0 −1 0 1 0 0 0 0
F32x
0 0 0 −1 0 1 0 0 0
0 0 0 0 −1 0 0 0 0 F32y
0 0 0 0 0 −1 1 1 0 F43x =
0 0 −r2 sinθ2 r2 cosθ2 0 0 0 0 1
F43y
0 0 0 0 −r3 sinθ3 r3 cosθ3 0 0 0
0 0 0 0 0 0 −(r1 + r9 ) (−r1 + r10 ) 0 F14L
F14R
T2

m2 ag2x
m2 ag2y
m3 ag3x
m3 ag3y
m4 ag4x − F4
0
Ig2 α2 + m2 r5 (cosθ2 ag2y − sinθ2 ag2x )
Ig3 α3 + m3 r7 (cosθ3 ag3y − sinθ3 ag3x )
r8 F4 − m4 r6 ag4x

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 Problem 5.6

In the mechanism below P̄ is a known force acting on link 8 and Q̄ is an unknown torque (couple) on link 2.
The machine is slow-moving so inertia effects are neglected. P is very large so weight forces are also negligible.

C1

3
5
2

Q̄ Y
A

1 X
7
1
fig504
B
8

P̄

Figure 5.13: An eight bar mechanism

The figure below shows appropriate vector loops along with a vector r̄ 9 which locates the line of action of force
P̄ (r9 is known and θ9 = θ8 ).
This is a three loop mechanism and the vector loop equations are,

r̄ 1 + r̄ 8 + r̄ 7 − r̄ 11 − r̄ 3 − r¯10 = 0̄ (1)
r̄ 1 + r̄ 8 + r̄ 7 + r̄ 12 − r̄ 6 − r¯13 = 0̄ (2)
r̄ 2 + r̄ 4 + r̄ 5 + r¯11 + r¯12 − r¯6 − r¯13 = 0̄ (3)

and there are the geometric constraints,

θ2 − θ10 = 0 , θ5 − θ11 = 0 , θ5 + π − φ − θ12 = 0. (4)

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 C 1
r̄4

4
r̄13
6

r̄5
r̄6
r̄2 r̄3
3
5
2
r̄12
r̄10 r̄11
Y
A φ

1 X
r̄ 1
7
1 r̄7
fig504b
B r̄ 9
8
r̄8
P̄

Figure 5.14: Appropriate vector loops for this eight bar mechanism

The six scalar components of vector loops (1)-(3) and the three geometric constraints in (4) contain
scalar knowns: φ, r1 , θ1 = 0, r2 , r3 , r4 , r5 , r6 , r7 , r8 , r10 , r11 , r12 , r13 , θ13 , and
scalar unknowns: θ2 , θ3 , θ4 , θ5 , θ6 , θ7 , θ8 , θ10 , θ11 , θ12 .
9 position equations in 10 scalar unknowns which means there is 1 degree of freedom. Suppose θ2 is given and
the position problem has been solved for the remaining 9 unknowns. Write in matrix form the equations you
would implement in a computer code to solve for Q and the bearing forces, given P̄ . The following figure is for
your free body diagrams.

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 F̄6

−F̄4
6

C
4
−F̄6
F̄4

F̄4

3 F̄6
F̄3 −F̄3 5

F̄3

−F̄4 2
Y
−F̄3

F̄7
Q̄
X −F̄7
A vector loop frame

7
F̄12 8 −F̄7
B F̄7

fig504a.sotln

F̄18 P̄

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Enumerate the forces/torques:

F12x F18x 0 cos(θ8 + π/2) −sinθ8

F̄12 = F12y , F̄18 = F18y , Q̄ = 0 , P̄ = P sin(θ8 + π/2) =P cosθ8 ,

0 0 Q 0 0

cosθ3 cosθ4 cosθ6 cosθ7

F̄3 = F3 sinθ3 , F̄4 = F4 sinθ4 , F̄6 = F6 sinθ6 , F̄7 = F7 sinθ7 .
0 0 0 0

There are 9 unknowns, F12x , F12y , F18x , F18y , Q, F3 , F4 , F6 and F7 . There are no more equilibrium conditions
available from links 3, 4, 6 and 7. The equilibrium conditions those links had to offer were used when we took
advantage of them being two-force members. We have three equilibrium conditions for each of links 2, 8 and 5.
So we have 9 equations in 9 unknowns.
Force Equilibrium:
Link 2:

ΣF̄ = F̄12 − F̄4 − F̄3 =

which has scalar components,

ΣFx = F12x − F4 cosθ4 − F3 cosθ3 = 0 (5)

ΣFy = F12y − F4 sinθ4 − F3 sinθ3 = 0 (6)
Link 5:

ΣF̄ = F̄3 + F̄4 + F̄6 + F̄7 =

which has scalar components,

ΣFx = F3 cosθ3 + F4 cosθ4 + F6 cosθ6 + F7 cosθ7 = 0 (7)

ΣFy = F3 sinθ3 + F4 sinθ4 + F6 sinθ6 + F7 sinθ7 = 0 (8)
Link 8:

ΣF̄ = F̄18 − F̄7 + P̄ =

which has scalar components,

ΣFx = F18x − F7 cosθ7 − P sinθ8 = 0 (9)

ΣFy = F18y − F7 sinθ7 + P cosθ8 = 0 (10)
Moment Equilibrium:
Link 2:
0
ΣM̄ a = 0 + r̄ 10 × (−F̄3 ) + r¯2 × (−F̄4 ) = 0̄,
Q

which has only the Z component,

Q − r10 F3 (cosθ2 sinθ3 − sinθ2 cosθ3 ) − r2 F4 (cosθ2 sinθ4 − sinθ2 cosθ4 ) = 0

which simplifies to

Q − r10 F3 cos(θ2 − θ3 ) − r2 F4 cos(θ2 − θ4 ) = 0 (11)

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 Link 5:
replace with (r̄5 +r̄11 )×F̄6 +r̄12 ×F̄6
z }| {
ΣM̄ c = r̄ 5 × F̄3 + (r̄ 5 + r¯11 ) × F̄7 + (r̄ 5 + r̄ 11 + r̄12 ) × F̄6 = 0̄.

Expanding the cross products gives only the Z component,

r5 F3 (cosθ5 sinθ3 − sinθ5 cosθ3 ) + (r5 + r11 )F7 (cosθ5 sinθ7 − sinθ5 cosθ7 )
+(r5 + r11 )F6 (cosθ5 sinθ6 − sinθ5 cosθ6 ) + r12 F6 cos(θ5 + π − φ) sinθ6 − sin(θ5 + π − φ) cosθ6 = 0
| {z } | {z }
−cos(θ 5 −φ) −sin (θ 5 −φ)

which simplifies to,

r5 F3 cos(θ5 − θ3 ) + (r5 + r11 )F7 cos(θ5 − θ7 )

+(r5 + r11 )F6 cos(θ5 − θ6 ) − r12 F6 cos(θ5 − φ − θ6 ) = 0 (12)

Link 8:
has only Z comp. r9 P
z }| {
ΣM̄ b = r¯9 × P̄ +r̄8 × (−F̄7 ) =

which has only the Z component,

r9 P − r8 F7 (cosθ8 sinθ7 − sinθ8 cosθ7 ) = 0

which simplifies to,

r9 P − r8 F7 cos(θ8 − θ7 ) = 0. (13)

(5)-(13) are the 9 equilibrium equations in the previously enumerated 9 unknowns. In matrix form,

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c
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1 0 0 0 0 −cosθ3 −cosθ4 0 0 F12x 0

0 1 0 0 0 −sinθ3 −sinθ4 0 0 0

0 0 0 0 0 cosθ3 cosθ4 cosθ6 cosθ7 F12y 0

0 0 0 0 0 sinθ3 sinθ4 sinθ6 sinθ7 0

0 0 1 0 0 0 0 0 −cosθ7 F18x P sinθ8

F18y

Q
120

=
0 0 0 1 0 0 0 0 −sinθ7 F3 −P cosθ8

0 0 0 0 1 −r10 cos(θ2 − θ3 ) −r2 cos(θ2 − θ4 ) 0 0 F4 0

0
0 0 0 0 0 r5 cos(θ5 − θ3 ) 0 (r5 + r11 )cos(θ5 − θ6 ) (r5 + r11 )cos(θ5 − θ7 ) F6
−r12 cos(θ5 − φ − θ6 )
−r9 P

0 0 0 0 0 0 0 0 −r8 cos(θ8 − θ7 ) F7
 Problem 5.7
The load P̄ applied to link 4 is known. The driving torque Q̄ applied to link 2 is unknown. The figure shows
locations of mass centers. Inertia properties of all links are known.

G4
4
P̄

r̄7
3
G3
4
r̄ 4 C

1
3
r̄5
r̄1

G2
2
r̄6
Y
Q̄ r̄3

2
A
X

r̄2

fig505

Figure 5.15: A machine

The mechanism’s vector loops and geometric constraint are,

r̄ 2 − r̄ 3 − r̄ 4 − r̄ 1 = 0̄ , r̄ 6 − r̄ 5 − r̄ 4 − r¯1 = 0̄ , θ3 − θ5 = 0,

so there are 5 scalar position equations with

scalar knowns: r1 , θ1 , θ4 , r6 , θ6 , r2 and
scalar unknowns: r4 , r5 , θ5 , r3 , θ3 and θ2
and there is one degree of freedom. Suppose the state of motion, θ2 , θ̇ 2 and θ̈2 is known and steps 1-4 in Example
1.1 are completed. Complete Steps 5 and 6 here and derive a system of equations in matrix form which could

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 4 G4
P̄ F̄43

−F̄43

C
r̄8
r̄7

F̄14 3
G3
Y

F̄13
X
vector loop frame

G2

Q̄

−F̄32
2

F̄12
F̄32

fig505a.soltn

Figure 5.16: Free body diagrams

be solved for the magnitude of the driving torque, Q̄ and all the bearing forces. For link 2 sum moments about
G2 , for link 3 sum moments about C and for link 4 sum moments about G4
Enumeration of forces/torques:
F12x F43x cos(θ3 + π/2) −sinθ3

F̄12 = F12y , F̄43 = F43y , F̄13 = F13 sin(θ3 + π/2) = F13 cosθ3 ,
0 0 0 0

cos(θ3 − π/2) sinθ3 0 P 0

F̄32 = F32 sin(θ3 − π/2) = F32 −cosθ3 , F̄14 = F14 , P̄ = 0 , Q̄ = 0 .

0 0 0 0 Q

There will be 9 equilibrium conditions and there are 9 unknowns, F12x , F12y , F43x , F43y , F13 , F32 , F14 , (r8 F14 )
and Q.

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Force Equilibrium:
Link 2:

ΣF̄ = F̄32 + F̄12 = m2 ā g2 ,

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 which has scalar components,

ΣFx = F32 sinθ3 + F12x = m2 ag2x (1)

ΣFy = −F32 cosθ3 + F12y = m2 ag2y (2)
Link 3:

ΣF̄ = −F̄32 + F̄13 + F̄43 = m3 ā g3 ,

which has scalar components,

ΣFx = −F32 sinθ3 − F13 sinθ3 + F43x = m3 ag3x (3)

ΣFy = F32 cosθ3 + F13 cosθ3 + F43y = m3 ag3y (4)
Link 4:

ΣF̄ = F̄14 − F43 + P̄ = m4 ā g4 ,

which has scalar components,

ΣFx = −F43x + P = m4 ag4x (5)

ΣFy = −F43y + F14 = 0 (ag4y = 0) (6)

Moment Equilibrium:
Link 2:
0 0
ΣM̄ g2 = r̄ 2 × F̄32 + 0 = 0
Q Ig2 α2

which has only the Z component,

−r2 cosθ2 F32 cosθ3 − r2 sinθ2 F32 sinθ3 + Q = Ig2 α2 ,

which simplifies to,

−r2 F32 cos(θ2 − θ3 ) + Q = Ig2 α2 , (7)

Link 3:
has only Z comp. r5 F13 has only Z comp. r3 F32
z }| { z }| { 0
ΣM̄ c = r¯ × F̄ + r¯ × (−F̄ ) = 0 + r̄ × m ā
5 13 3 32 7 3 g3
Ig3 α3

expanding the cross products gives only a Z component,

r5 F13 + r3 F32 = Ig3 α3 + m3 r7 (cosθ3 ag3y − sinθ3 ag3x ) (8)

Link 4:

ΣM̄ g4 = r̄ 8 × F̄14 = 0̄ (α3 = 0)

expanding the cross products gives only a Z component,

(r8 F14 ) = 0. (9)

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Clearly, in this case we will have r8 = 0. (1)-(9) are the 9 equilibrium conditions in the previously enumerated
9 unknowns. In matrix form,

1 0 0 0 0 sinθ3 0 0 0 F12x m 2 ag2 x

F12y m 2 ag2 y

0 1 0 0 0 −cosθ3 0 0 0 F43x m 3 ag3 x

F43y m 3 ag3 y
0 0 1 0 −sinθ3 −sinθ3 0 0 0
F13 m 4 ag4 x − P

0 0 0 1 cosθ3 cosθ3 0 0 0

0 0 −1 0 0 0 0 0 0

=
0 0 0 −1 0 0 1 0 0 F32 0

F14 Ig2 α2

0 0 0 0 0 −r2 cos(θ2 − θ3 ) 0 0 1

0 0 0 0 r5 r3 0 0 0 (r8 F14 ) Ig3 α3 +

m3 r7 (cosθ3 ag3y − sinθ3 ag3x )

0 0 0 0 0 0 0 1 0 Q 0

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 Problem 5.8

In the machine below the load torque T̄5 is known and the magnitude of the driving torque T̄2 is to be determined.
An appropriate vector loop is shown on the right. The mechanism’s vector loop equation, geometric constraint
equation and rolling contact equation are,

−r̄1 + r̄ 2 + r̄ 3 − r̄ 4 − r¯5 = 0̄ , θ3 + π/2 − θ4 = 0

and
ρ4 (θ4 − θ4i ) − (ρ4 + ρ5 )(θ5 − θ5i ) = 0.

These represent 4 scalar position equations with

scalar knowns: r1 , θ1 , r2 , r4 , r5 , ρ1 , ρ4 , θ4i , θ5i and
scalar unknowns: θ2 , θ3 , r3 , θ4 and θ5 .
Since there are 5 scalar unknowns the mechanism has one degree of freedom. Suppose the angular position,
velocity and acceleration of link 2 are known. The inertia properties of links are known.
Assume that steps 1-4 in Example 1.1 are completed. You should complete Steps 5 and 6 here and derive a
system of equations in matrix form which could be solved for the magnitude of the driving torque, T̄2 and all
the bearing forces.

3 r̄4
4
r̄3

1 ρ4 ρ4
r̄
2
2
T̄2
ρ1 r̄1 ρ1
r̄5
5 1
rolling contact T̄5 Y

1 fig519
X

Figure 5.17: A machine

Vectors r̄ g2 , r̄ g3 , r̄ g4 , r̄ g5 , are in the direction of vectors r̄ 2 , r̄ 3 , r̄ 4 , r̄ 5 respectively. For links 2, 3, 4 and 5 sum
moments about points A, B, C and D respectively.

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 3

r̄3 F̄34
−F̄34 r̄6
r̄g3
r̄6
G3
B
r̄4
G4
fig519a.solt
4
n
−F̄32 r̄g4
4
C
Y − cos θ5

−F̄45 ρ4 ρ̄4 = ρ4 − sin θ5

0
X

vector loop coordinate system F¯14

t
F¯14
n

F̄45
F̄12

G2
A
F̄32 5
G5
r̄g5

2 T̄2 T̄5
r̄g2
D F̄15

Figure 5.18: Free body diagrams

Enumeration of forces/torques:

F12x F15x F32x F45x 0

F̄12 = F12y , F̄15 = F15y , F̄32 = F32y , F̄45 = F45y , T̄2 = 0 ,
0 0 0 0 T2

0 cosθ5 sinθ5 −cosθ4

T̄5 = 0 , F̄ n = F n sinθ5 , F̄ t = F t −cosθ5 , F̄34 = F34 −sinθ4 .
14 14 14 14
−T5 0 0 0

There are 12 equilibrium conditions (4 bodies, 3 conditions each) and the 13 unknowns, F12x , F12y , F15x , F15y ,
F32x , F32y , F45x , F45y , T2 , F14n, F14t , F34 and (r6 F34 ). The thirteenth equation is due to the positive drive at

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the rolling contact, namely,
n
F 14 = tan φF14t −→ tan φF14t − F14n = 0 (1)
where φ is the known pressure angle associated with the gear teeth on 1 and 4.

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 Force Equilibrium:
Link 2:

ΣF̄ = F̄12 + F̄32 = m2 āg2

scalar components,

ΣFx = F12x + F32x = m2 ag2x (2)

ΣFy = F12y + F32y = m2 ag2y (3)
Link 3:

ΣF̄ = −F̄32 − F̄34 = m3 āg3

scalar components,

ΣFx = −F32x + F34 cosθ4 = m3 ag3x (4)

ΣFy = −F32y + F34 sinθ4 = m3 ag3y (5)
Link 4:

ΣF̄ = F̄34 + F̄ n + F̄ t − F̄45 = m4 āg

14 14 4

scalar components,

ΣFx = −F34 cosθ4 + F n cosθ5 + F t sinθ5 + F45 = m4 ag (6)

14 14 x 4x

ΣFx = −F34 sinθ4 + F n sinθ5 − F t cosθ5 + F45 = m4 ag (7)

14 14 y 4y

Link 5:

ΣF̄ = F̄15 + F̄45 = m5 āg5

scalar components,

ΣFx = F15x + F45x = m5 ag5 (8)

ΣFy = F15y + F45y = m5 ag5y (9)
Moment Equilibrium:
Link 2:
0 0
ΣM̄ a = r̄ 2 × F̄32 + 0 = 0 + r̄ g2 × m2 āg2
T2 Ig2 α2

which has only the Z component,

r2 (cosθ2 F32y − sinθ2 F32x ) + T2 = Ig2 α2 + m2 rg2 (cosθ2 ag2y − sinθ2 ag2x ) (10)
Link 3:
has only Z comp. (r3 +r6 )F34
z }| { 0
ΣM̄ b = ( r̄ 3 + r̄6 ) × (−F̄34 ) = 0 + r̄g3 × m3 āg3
Ig3 α3

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 which has only the Z component,

(r3 + r6 )F34 = Ig3 α3 + m3 rg3 (cosθ3 ag3y − sinθ3 ag3x ) (11)

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Link 4:
t
has only Z comp. (−r6 F34 ) has only Z comp. ρ4 F 14
0
z }| { z }| {
ΣM̄ c = r¯6 × F̄34 + ρ̄4 × F̄14
t
= 0 + r̄g4 × m4 āg4
Ig4 α4

which has only the Z component,

−r6 F34 + ρ4 F t = Ig α4 + m4 rg (cosθ4 ag − sinθ4 ag ) (12)

14 4 4 4y 4x

Link 5:
0 0
ΣM̄ d = r¯5 × F̄45 + 0 = 0 + r̄ g5 × m5 āg5
−T5 Ig5 α5

which has only the Z component,

r5 (cosθ5 F45y − sinθ5 F45x ) − T5 = Ig5 α5 + m5 rg5 (cosθ5 ag5y − sinθ5 ag5x ) (13)

(1)- (13) are the 13 equations in previously enumerated 13 unknowns. In matrix form,

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 0 0 0 0 0 0 0 0 −1 tan φ 0 0 0 F12x 0
c
2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

F12y m2 ag2x
1 0 1 0 0 0 0 0 0 0 0 0 0
F32x m2 ag2y

F32y m3 ag3x
0 1 0 1 0 0 0 0 0 0 0 0 0
F45x m3 ag3y

F45y m4 ag4x
0 0 −1 0 0 0 0 0 0 0 cosθ4 0 0
F15x m4 ag4y
0 0 0 −1 0 0 0 0 0 0 sinθ4 0 0

0 0 0 0 1 0 0 0 cosθ5 sinθ5 −cosθ4 0 0

0 0 0 0 0 1 0 0 sinθ5 −cosθ5 −sinθ4 0 0

129

0 0 0 0 1 0 1 0 0 0 0 0 0 F15y = m5 ag5x

m5 ag5y
0 0 0 0 0 1 0 1 0 0 0 0 0 F14n
Ig2 α2

0 0 −r2 sinθ2 r2 cosθ2 0 0 0 0 0 0 0 0 1 Ft +m2 rg (cosθ2 ag − sinθ2 ag )

14 2 2y 2x

Ig3 α3

0 0 0 0 0 0 0 0 0 0 r3 1 0 −r5 sinθ5 r5 cosθ5 0 0

0 0 0 0 0
0 0
0 0 0 0 0 0 0 0 0 ρ4 0 −1 0 0
0
 F34
+m3 rg3
(cosθ3 ag3
y −
(r6 F34 )
sinθ3 ag3x
)
T2

Ig4 α4

+m4 rg4
(cosθ4 ag4
y −
sinθ4 ag4x
)

T5 + Ig5
α5

+m
5 rg5
(cos
θ5 ag
5y −

sinθ
5 ag5
x)
Problem 5.9

Consider the machine shown below. Appropriate vector loops are shown on the right.

T2

2 3
r̄3
r̄4
4 1
1 r̄
5
X
5
G4
G4
γ

r̄6 r̄7

θg

1 1
ḡ
6 6 fig019

fig019c

Y
F̄6
Y

Figure 5.19: A machine and its vector loop

The mechanism has the vector loop equations and geometric constraints,
r̄ 3 + r̄ 4 − r̄ 5 = 0̄ , r̄ 5 − r̄ 7 − r̄ 6 = 0̄,

and θ5 + π/2 − θ3 = 0 , θ4 + γ + π − θ7 = 0

which is 6 scalar equations with

scalar knowns: r4 , r7 , θ6 and
scalar unknowns: r3 , θ3 , θ4 , r5 , θ5 , r6 , θ7
The 7 unknown scalars means there is one degree of freedom. Suppose the angular position, velocity and
acceleration of 2 are known.
The machine below moves slowly. The weight of link 4 dominates all other weights and only this weight
needs to be included in your analysis. Gravity acts in the shown direction. The load F̄6 is known and it acts
on 6. The mass center of 4 is defined in the figure below.
The driver T2 acts on 2 and is unknown. Steps 1-4 in Example 1.1 have been completed. Complete Steps 5 and
6 and derive a system of equations in matrix form which could be solved for T2 .

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The following figure is for your free body diagrams.

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 A

φ4 r̄4

r̄4′

G4

fig019e

Figure 5.20: Inertia properties of link 4

Enumerating the forces/torques:

cosθg 0 −F16 F12x cosθ3

W̄4 = W4 sinθg , F̄6 = −F6 , F̄16 = 0 , F̄12 = F12y , F̄25 = F25 sinθ3 ,
0 0 0 0 0

−cosθ5 F34x F54x F64x 0

F̄23 = F23 −sinθ5 , F̄34 = F34y , F̄54 = F54y , F̄64 = F64y , T¯2 = 0 .
0 0 0 0 −T2

The free body diagrams consists of the 15 unknowns, F12x , F12y , F34x , F34y , F54x , F54y , F64x , F64y , T2 , F23 ,
(r8 F23 ), F25 , (r10 F25 ), F16 and (r9 F16 ).
Force Equilbrium:
Link 2:
Link 4:

scalar components,

Link 3:

scalar components,

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 Σ ΣF̄ = F̄23 − F̄34 = m3 āg3
F
¯
ΣFx = −F23 cosθ5 − F34x = m3 ag3x (3)
ΣFy = −F23 sinθ5 − F34y = m3 ag3y (4)
=

−
F ΣF̄ = F̄64 + F̄54 + F̄34 + W̄4 = m4 āg4
¯
2
5

F
¯
1
2

F
¯
2
3

=
¯
0

(a
¯
g
2

=
¯
0
)

ΣFx = −F25 cosθ3

+ F12x + F23 cosθ5
=0
(1) ΣFy =
−F25 sinθ3 + F12y
+ F23 sinθ5 = 0
(2)

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 A
vector loop frame
X F̄34

3 φ4 r̄4
−F̄34
F̄23
r̄4′
Y
G3 r̄8
G4 F̄54

4 W̄4

θg
r̄6
ḡ
r̄7
−F̄64
T2
F̄64 G6
r̄9
−F̄23 F̄16

r̄8 6
r̄3 F̄6

−F̄54
2 G2 r̄5
F̄12
r̄10
−F̄25 G5
5
r̄10

F̄25
fig019d.soltn

Figure 5.21: Free body diagrams

scalar components,

ΣFx = F64x + F54x + F34x + W4 cosθg = m4 ag4x (5)

ΣFx = F64y + F54y + F34y + W4 sinθg = m4 ag4y (6)
Link 5:

ΣF̄ = F̄25 − F̄54 = m5 āg5

scalar components,

ΣFx = F25 cosθ3 − F54x = m5 ag5x (7)

ΣFy = F25 sinθ3 − F54y = m5 ag5y (8)
Link 6:

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ΣF̄ =
F̄16 −
F̄64 + F̄6
= m6 āg6

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 scalar components,
ΣFx = −F16 − F64x = m6 ag6x (9)
ΣFy = −F64y − F6 = m6 ag6y (10)

Moment Equilibrium:
Link 2:
only has Z comp. −(r3 +r8 )F23 only has Z comp. −(r5 +r10 )F25
0 z }| { z }| { 0

ΣM̄ g2 = 0 + (r̄ 3 + r̄ 8 ) × (−F̄23 ) + (r̄ 5 + r̄ 10 ) × (−F̄25 ) = 0

−T2 Ig2 α2

has only a Z scalar component,

−T2 − (r3 + r8 )F23 − (r5 + r10 )F25 = Ig2 α2 (11)
Link 3:

0
ΣM̄ g3 = r̄ 8 × F̄23 = 0
Ig3 α3
has only a Z scalar component,

r8 F23 = Ig3 α3 (12)

Link 4:

0
ΣM̄ a = r̄ 4 × F̄54 + r̄ 6 × F̄64 + r̄′ × W̄4 = 0 + r̄′ × m4 āg
4 4 4
Ig4 α4
has only a Z scalar component

r4 (cosθ4 F54y − sinθ4 F54x ) + r6 (cosθ6 F64y − sinθ6 F64x ) +

sin(θg −θ4 +φ4 )
z }| {
′
r (cos(θ − φ )sinθ − sin(θ − φ )cosθ ) =
4 W4 4 4 g 4 4 g

′
cos(θ4 − φ4 )ag − sin(θ4 − φ4 )ag
Ig4 α4 + m4 r4 4y 4x

which simplifies to
r4 (cosθ4 F54y − sinθ4 F54x ) + r6 (cosθ6 F64y − sinθ6 F64x ) + r′4W4 sin(θg − θ4 + φ4 ) =
′ − sin(θ4 − φ4 )ag
cos(θ4 − φ4 )ag (13)
Ig4 α4 + m4 r4 4y 4x

Link 5:
has only a Z scalar
component, ΣM̄ g5 = r̄ 10 × F̄25 =

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 0
Ig5 α5
0
r10 F25 = Ig5 α5 (14)
Link 6:

0
ΣM̄ g6 = r̄ 9 × F̄16 = 0
Ig6 α6

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 has only a Z scalar component,
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r9 F16 = Ig6 α6 (15)

(1)-(15) are the 15 equilibrium equations in the previously enumerated 15 unknowns. In matrix form,
1 0 0 0 0 0 0 0 cosθ5 0 −cosθ3 0 0 0 0 F12x

F12y
0 1 0 0 0 0 0 0 sinθ5 0 −sinθ3 0 0 0 0
F34x
0 0 −1 0 0 0 0 0 −cosθ5 0 0 0 0 0 0
F34y

0 0 0 −1 0 0 0 0 −sinθ5 0 0 0 0 0 0 F54x

F54y
0 0 1 0 1 0 1 0 0 0 0 0 0 0 0
F64x
0 0 0 1 0 1 0 1 0 0 0 0 0 0 0 F64y
=
134

F23
0 0 0 0 −1 0 0 0 0 0 cosθ3 0 0 0 0
(r8 F23 )
0 0 0 0 0 −1 0 0 0 0 sinθ3 0 0 0 0
F25

0 0 0 0 0 0 −1 0 0 0 0 0 −1 0 0

0 0 0 0 0 0 0 −1 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0 −r3 −1 −r5 −1 0 0 −1

0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 (r10 F25 )

0 0 0 0 −r4 sinθ4 r4 cosθ4 −r6 sinθ6 r6 cosθ6 0 0 0 0 0 0 0 F16

0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 (r9 F16 )

0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 T2
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m 3 a g3 x

m 3 a g3 y

m4 ag4 x − W4 cosθg

m4 ag4 y − W4 sinθg

m 5 a g5 x

m 5 a g5 y

m 6 a g6 x

m6 ag6 y + F6
135

Ig2 α2

Ig3 α3

−r4′ W4 sin(θg − θ4 + φ4 ) + Ig4 α4

4y 4x
4

cos(θ4 − φ4 )ag − sin(θ4 − φ4 )ag

+m4 r′
Ig5 α5

Ig6 α6
Problem 5.10

The machine below moves slowly. The load F̄3 is known and is an order of magnitude larger than the weight of
any link. An appropriate vector loop is shown on the following page. The vector loop equation, r̄ 1 + r̄ 2 − r̄ 3 = 0̄
has 2 scalar components and
scalar knowns: θ1 , θ2 , r3 and
scalar unknowns: r1 , r2 and θ3 ,
so it has one degree of freedom. Suppose the angular position, velocity and acceleration of link 2 are known
and steps 1-4 in example 1.1 have been completed. Complete steps 5 and 6 in Example 1.1 and derive a system
of equations in matrix form which could be used to compute T2 .
In your free body diagrams, model the force between 1 and 3 as a force with unknown line of action, like in
example 1.1, where the force between 1 and 4, F̄14 , has an unknown line of action determined by the magnitude
of r̄9 .
Do you notice anything odd when you do this? Please discuss.

3
F̄3

r̄4
2

fig524 1

+ T2
1

Figure 5.22: A machine

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 1

r̄2
+

r̄3

r̄1

Y
fig524a

+
X

Figure 5.23: The vector loop

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 3
F̄3

Y
F̄23 B
+
r̄4
X

r̄5
r̄1
F̄13
+

−F̄23
+

2
r̄2

fig524b.soltn

+A

T2
F̄12
Figure 5.24: Free body diagrams

Enumerate forces/torques:

F3 0 F12x 0 −F23
F̄3 = 0 , T̄2 = 0 , F̄12 = F12y , F̄13 = F13 , F̄23 = 0 ,
0 T2 0 0 0

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there 6 equilibrium conditions and 6 unknowns, F12x , F12y , F23 , F13 , (r5 F13 ) and T2

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 Force Equilibrium:
Link 2:

ΣF̄ = F̄12 − F̄23 =

scalar components:

ΣFx = F12x + F23 = 0 (1)

ΣFy = F12y = 0 (2)
Link 3:

ΣF̄ = F̄3 + F̄23 + F̄13 =

ΣFx = F3 − F23 = 0 (3)

ΣFy = F13 = 0 (4)

We see from (4) that F13 = 0. This will be discussed later.

Moment Equilibrium:
Link 2:
0
ΣM̄ a = r¯2 × (−F̄23 ) + 0 =
T2

which has only a Z component,

−r2 sinθ2 F23 + T2 = 0 (5)

Link 3:
has only Z comp. −(r4 −r1 )F3 has only Z comp. −r5 F13

z }| { z }| {
Σ M̄ b = (r̄ − r̄ ) × F̄ + r̄ × F̄ =
4 1 3 5 13

which has only a Z component,

−(r4 − r1 )F3 − r5 F13 = 0 (6)

(1)-(6) are the 6 equilibrium conditions in the previously enumerated 6 unknowns. In matrix form,
1 0 0 0 −1 0 F12x 0
F12y 0
0 1 0 0 0 0 F13 −F 3

0 0 0 0 1 0

=
0 0 1 0 0 0 (r5 F13 ) 0

0 0 0 0 r2 sinθ2 1 F23 0

0 0 0 −1 0 0 T2 (r4 − r1 )F3

Discussion of force between 1 and 3:

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 From (4) we observed that F13 = 0. From (6) we compute the line of action of F̄13 as,

(r4 − r1 )F3
r5 = − , where F13 = 0 −→ r5 = ∞
F13

and r5 = ∞ is impossible. Our model of the force between 1 and 3 must be incorrect. 3 is ”cocking” against 1,
i.e. there is not a one-sided contact between 1 and 3. Cocking is discussed in section 1.3, where we develop a
generic model of slider forces that handles the case of cocking.

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Problem 5.11

This problem continues with problem 4.5 where the position equations and the basic first and second order
kinematic coefficients were found. Suppose that all of steps 1-4 in Example 1.1 have been completed. The load
T̄3 is known. Complete steps 5 and 6 and derive a system of equations in matrix form that can be solved to
find the driving force F̄2 and all the bearing forces. Neglect the effects of inertia and gravity.
In your free body diagrams, model the force between 2 and 3 as a force with unknown line of action, like in
example 1.1, where the force between 1 and 4, F̄14 , has an unknown line of action determined by the magnitude
of r̄9 .
Do you notice anything odd when you do this? Please discuss.

2
Y
vector loop frame
r̄3

r̄2

A
F̄23
F̄12
r̄ 5 C
3 r̄5 F̄2
T̄3
3

−F̄23 F̄13

fig364f.soltn

Enumerate the forces/torques:

0 F13x F2 −cosθ3 0

F̄12 = F12 , F̄13 = F13y , F̄2 = 0 , F̄23 = F23 −sinθ3 , T̄3 = 0 .

0 0 0 0 −T3

So there are 6 equilibrium equations in the 6 unknowns, F12 , F2 , F13x , F13y , F23 and (r5 F12 ).
Force Equilibrium:
Link 2:

ΣF̄ = F̄2 + F̄12 − F̄23 =

scalar components, Link 3:

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 ΣFx = F2 +
F23 cosθ3 = 0
(1) ΣFy = F12 +
F23 sinθ3 = 0
(2)

ΣF̄ = F̄13 + F̄23

= 0̄

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 scalar components,

ΣFx = F13x − F23 cosθ3 = 0 (3)

ΣFy = F13y − F23 sinθ3 = 0 (4)

Moment Equilibrium:
Link 2:
only has Z comp. −(r2 +r5 )F23
z }| {
ΣM̄ a = (r̄ 2 + r̄5 ) × (−F̄23 ) =

which has only the Z component

−(r2 + r5 )F23 = 0 (5)

Link 3:
only has Z comp. r5 F23
0
z }| {3
ΣM̄ c = r¯5 × F2 + 0 =
−T3

which has only the Z component

r5 F23 − T3 = 0. (6)
In matrix form,

0 0 0 1 cosθ3 0 F12 0
1 0 0 0 sinθ3 0 F13x 0
0 1 0 0 −cosθ3 0 F13y 0
=
0 0 1 0 −sinθ3 0 F2 0
0 0 0 0 −r2 −1 F23 0
0 0 0 0 0 1 (r5 F23 ) T3

Discussion of force between 2 and 3:

From equation (5), we see that

r2 F23 = −r5 F23 −→ r5 = −r2 (7)

then from (6)

T3 T3
r5 F 23 = T3 −→ F 23 = =− (8)
r5 r2

which all seems fine mathematically, but the problem is that since r5 = −r2 in (7), the normal force between 2
and 3 does not fall on the physical shape of body 2! It falls off of the shape of 2. As in the previous homework
problem this situation is not physically possible and once again, what is happening is that the slider 3 is cocking
in 2, i.e. there is not a one-sided contact between 3 and 2. Cocking is discussed in section 1.3, where we develop
a generic model of slider forces that handles the case of cocking.

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Problem 5.12

Repeat example 3.7 but use a force analysis instead of a kinematic analysis to determine the Ratio. The
planetary geartrain is redrawn below. 4 is fixed, the load torque, T5 , is applied to link 5 and the driving torque,
T2 , is applied to 2. Figures for your free body diagrams are provided. The Ratio does not account for inertia
effects or gravitational effects, so you should neglect these.

4
ρ3
fig184a.soltn

ρ2 5
2 T5

T 2
1 ρ4
ρ4 = ρ2 + 2ρ3

X ¯43
n

F¯32
n
F
F¯32
t F̄35 F¯43
t

B ρ3
ρ2
2 B
5
A 3 −F̄35
T5
T2 −F¯32
t
F̄12
A F̄15 −F¯32
n

Enumeration of forces/torques:

F12x F35x F15x 0 0

F̄12 = F12y , F̄35 = F35y , F̄15 = F15y , T̄2 = 0 , T̄5 = 0 ,
0 0 0 −T2 T5

0 −F32
t
0 t
F43
n
F̄ n
−F n , F t
= 0 , F = −F n , F t
= 0 ,
32 = 32 43
0 ¯ ¯ 0 ¯
32 43 43
0 0

Lets suppose that the load T5 is known, then these forces and torques contain the 11 unknowns F12x , F12y , F35x ,
F35y , F12x , F15y , T2 , F32n, F32t , F43n and F43t . There are 9 equilibrium equations and pressure angle relationships
for each of the 2 positive drives, for 11 equations.

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Force Equilibrium:
Link 2:

ΣF̄ = F̄12 + F̄32

n t
+ F̄ 32 =

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 scalar components,

ΣFx = F12 x − F 32
t
=0 (1)
ΣFy = F12 y − F 32
n
=0 (2)
Link 5:

ΣF̄ = F15 + F̄35 =

scalar components,

ΣFx = F15x + F35x = 0 (3)

ΣFy = F15y + F35y = 0 (4)
Link 3:

ΣF̄ = F̄35 − F̄ n − F̄ t + F̄ n + F̄ t =
32 32 43 43

scalar components,

ΣFx = F35x + F32t + F43t = 0 (5)

ΣFy = F35y + F32n − F43n = 0 (6)

Moment Equilibrium:
The moment equations are easy enough that we will just directly write the Z component without the formalism
of cross products.
Link 2:

ΣMa = F 32
t
ρ2 − T2 = 0 (7)

Link 5:

ΣMa = −F35x (ρ2 + ρ3 ) + T5 = 0 (8)

Link 3:

ΣMb = F t ρ3 − F t ρ3 = 0 −→ F t = F t (9)
32 43 32 43

Pressure angle relations:

n
F 32 = F32t tan φ (10)
n
F 43 = F43t tan φ (11)

(1)-(11) are 11 equations in the previously enumerated 11 unknowns. To solve for the Ratio, we need to solve
for T2 in terms of T5 . We could apply Cramer’s Rule to this problem but that is too much work. We can get
our answer from equations (5), (7), (8) and (9) which are a system of 4 equations in the 4 unknowns, F t32, F t54,
T2 and F35x (T5 is known). From (7),

t T2
F 32 = , (12)
ρ2

Substitute (11) and (12) into (5),

t t 2T2

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 F35x = −F32 − F43 = − (13)
ρ2

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and substitute (12) into (8) to get the result,

2T2
T5 = − (ρ2 + ρ3 )
ρ2

manipulating,

T5 ρ2 = −2T2 (ρ2 + ρ3 ) = −T2 (2ρ2 + 2ρ3 ) = −T2 (ρ2 + ρ4 ) (recall, ρ4 = ρ2 + 2ρ3 )

from which,

Tout = − T5 = ρ2 + ρ4 = 1 + ρ4 = 1 + N4
R = −nt = − T2 ρ2 ρ2 N2
Tin

which is the same reasult as in example 3.7.

A planetary geartrain built with a single planet gear, as shown above, would have an imbalance due to the
rotating planet gear.

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 To balance the system, typically multiple planet gears are used, such as shown in the following figure, so
that their imbalances cancel out. How do you suppose the gear forces would be computed in this case?

fig184b
4
3

5
T5
2
T2
5

1
3
3

Figure 5.25: Planetary geartrain with multiple planet gears

There is no way to compute the gear forces since the problem would be statically indeterminate. You have 2
options,
Option 1:
Assume the forces are shared equally by all the gears, so just divide the gear forces into three equal parts, or
Option 2:
Assume the worst case that all the gear forces are seen by a single gear and assume the computed gear force
acts on each gear.

148 148
c 2015c Cengage
2015 Cengage
Learning.
Learning.
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All Reserved.
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May notMay
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duplicated,
or duplicated,
or posted
or posted
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 146
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.