Universidad San Francisco de

Quito
IME 4085: Mechanisms
NRC: 2930
Exam Correction
Date: 6/10/2022

Student Code
Juan F. Vásquez Ruiz 00208549

Problem 1.

Using AutoCAD, the for-bar linkage was drawn to scale. The longitudes are in
millimeters. All the angles were obtained. The direction angles of links 3 (θ3 ) and 4 (θ 4) , and
the position and direction of point E ( R EA , θ6 ), were determined.

Figure 1. Four-bar linkage with all the angles and dimensions for the posture given.

The angles that the problem required, were obtained from the figure.

θ3 =29 [ ° ]
 θ 4=78 [ ° ]

θ6 =51 [ ° ]

Knowing that ⃗
R A =0 , the position at each point was determined analytically through
the following procedure.
⃗
R B= ⃗
R A +⃗
RBA
⃗
R F =⃗
R B +⃗
R FB
⃗
R E= ⃗
R B +⃗
R EB
⃗
RC =⃗
RB + ⃗
R CB
⃗
R D =⃗
R A +⃗
R DA

The following table summarizes the results of this calculations.

POSTITIONS RELATIVE TO THE POINT A

Coordinates
Point Radius [mm] ϴ [°]
x [mm] y[mm]
A 0.00 0.00 0 0
B 8.00 150.00 -6.93 4.00
F 20.00 29.00 10.56 13.70
E 21.54 51.00 6.63 20.74
C 36.00 29.00 24.56 21.45
D 20.00 0.00 20.00 0.00

Finally, the position of point E is:

⃗
R E= ( 6.63 i⃗ +20.74 ⃗j ) [mm]

R EA= √ ( 6.63 ) + ( 20.74 )

2 2

R EA=21.77 [mm]

Problem 2.

For this problem, the same four-bar linkage was considered, and it was known that the
angular velocity of link 2 is ω 2=750[rpm]. The instantaneous velocity of point E ( V E ) and the
angular velocities of links 3 (ω 3) and 4 (ω 4 ) were determined as it follows.

First, the instantaneous velocity of point B was calculated knowing that ⃗

V A =0 and
⃗
V D =0:
⃗
V B= ⃗
V A +⃗
V BA
⃗ ω2 × ⃗
V B=⃗ RB
 ⃗
V B=(−0.314 ⃗i −0.544 ⃗j )
[ ]
m
s
Now, looking for the instantaneous velocity of point C:
⃗
V C =⃗
V B +⃗
V CB
⃗ ω3 × ⃗
V CB =⃗ RCD
⃗
V C =⃗ ω3 × ⃗
V B +⃗ RCD

⃗
V C =⃗
V D +⃗
V CD
⃗ ω 4 ×⃗
V CD =⃗ RCD
⃗ ω4 × ⃗
V C =⃗ RCD
Then, the following system of equations is obtained replacing the data that is known:

−0.314−0.0175 ω 3=−0.0215 ω 4
−0.544 +0.0315 ω3 =0.00456 ω 4

{
−0.0175 ω3 + 0.0215 ω4 =0.314
0.0315 ω3−0.00456 ω4 =0.544

Solving for ω 3 and ω 4:

ω 3=21.96
[ ]rad
s

ω 4=32.44
[ ]rad
s
Finally, the instantaneous velocity of point E is given by:
⃗
V E= ⃗
V B +⃗
V EB
⃗ ω3 × ⃗
V EB =⃗ R EB
⃗
V E= ⃗ ω3 × ⃗
V B +⃗ R EB

⃗
V E= (−0.681 i⃗ −0.246 ⃗j )
[ ]
m
s

V E= √ (−0. 681 ) + (−0. 246 )

2 2

V E=0. 724
[ ]
m
s
Problem 3.

Again, the mechanism was drawn in AutoCAD to obtain all the geometry that is needed

to solve the problem. It is known that the angular velocities of each link are ω 2=45 [ ]
rad
s
cw

and ω 3=35 [ ]
rad
s
cw.

Figure 2. Slotted links 2 and 3.

First, the velocity of point P relative to the point A is obtained.

⃗ ω2 × ⃗
V P=⃗ RPA +⃗
V P /2
Then, the velocity of point P relative to the point B is obtained.
⃗ ω3 × ⃗
V P=⃗ RP B +⃗
V P/ 3
 Since both the instant velocity of P is equal at both points of reference, the following
system of equations was obtained.

{ 0.5 V P / 2+ 0.71V P /3=142.97

−0.87 V P/ 2+ 0.71V P /3=3797.35

Finally, solving for V P/ 2 and V P/ 3:

V P/ 2=−2667.43
[ ]
mm
s

V P/ 3=2079.84
[ ]
mm
s

At the end, the instantaneous velocity of pin P4 is:

⃗
V P=(−3831.82 i⃗ −878.41 ⃗j )
mm
s[ ]
V E= √ (−3831.82 ) + (−878.41 )
2 2

V E=3931.21
[ ]
mm
s

Problem Extra.

The path of the point E was obtained drawing several positions of the four-bar linkage
of the problem 1.
Figure 3. Path of E.