Dynamics of

Machinery
Week 5

Asist. Prof. Dr. Abdurrahim DAL

Static Force Analysis
 Superposition Technique
 Static Force Analysis
 Superposition Technique
 Free Body Diagrams of Four-Bar Mechanism
links

3-Forces Member

2-Forces 1-Moment 3-Forces Member

Static Force Analysis
 Superposition Technique

 All
links have 3-Force and/or 1-moment
members. How does it solve?

 We can use Superposition Technique.

 If it is assumed that one of the external forces

is equal to 0, a link-of-mechanism could be
two-force member.
Static Force Analysis
 Completely analyze includes two solution
step,

 First step,
 For 𝐹𝐴 = 𝐹𝐴 , 𝐹𝐵 = 0 , calculate the joint forces,
′
𝐹12 ′
, 𝐹32 ′
, 𝐹23 ′
, 𝐹34 ′
, 𝐹43 ′
𝑎𝑛𝑑 𝐹14 and the moment 𝑀12
′

 Second Step,
 For 𝐹𝐵 = 𝐹𝐵 , 𝐹𝐴 = 0, calculate the joint forces,
′ı
𝐹12 ′ı
, 𝐹32 ′ı
, 𝐹23 ′ı
, 𝐹34 ′ı
, 𝐹43 ′ı
𝑎𝑛𝑑 𝐹14 and the moment 𝑀12
′′

 Inthis scope, we can use graphic and/or

analytic methods.
Static Force Analysis
 Completely analyze includes two solution
step,

 Finally, total forces and moment

′ ′ı
𝐹12 = 𝐹12 + 𝐹12
′ ′ı
𝐹32 = 𝐹32 + 𝐹32
′ ′ı
𝐹23 = 𝐹23 + 𝐹23
′ ′ı
𝐹34 = 𝐹34 + 𝐹34
2 ′ı
𝐹43 = 𝐹43 + 𝐹43
′ ′ı
𝐹14 = 𝐹14 + 𝐹14

′ ′′
𝑀12 = 𝑀12 + 𝑀12
Superposition for Graphical
Solution Method
Four-Bar Mechanism
Superposition Technique
Step-1
 Superposition Technique/Step-1
 Let’s assumed that the external force applied
the link-4i s equal to 0, 𝐹𝐵 = 0,

∑𝐹𝑙𝑖𝑛𝑘−4 = 0
3-Forces Member ′ ′
𝐹14 + 𝐹34 =0
′ ′
𝐹14 = −𝐹34
′ ′
𝐹34 = −𝐹43
2-Forces 1-Moment
2-Forces Member
Superposition Technique/Step-1
 Ifmechanism is at equilibrium in staticaly, total
forces on the link-3 is equal to 0, hence;
Now, we know the direction of
the forces and magnitude of the
𝐹𝐴 . Let’s draw a force polygon
with a scale factor , 𝑘𝑓 = ⋯

∑𝐹𝑙𝑖𝑛𝑘−3 = 0
′ ′
𝐹23 + 𝐹43 + 𝐹𝐴 = 0
Superposition Technique/Step-1
Finally, total forces on the link-2 is equal to 0 and
total moment is equal to 0 for equalibrium

∑𝐹𝑙𝑖𝑛𝑘−2 = 0
′ ′
𝐹32 + 𝐹12 =0
′ ′ ′ ′
𝐹23 = −𝐹32 , 𝐹12 = −𝐹32
Superposition Technique/Step-1
Finally, total forces on the link-2 is equal to 0 and
total moment is equal to 0 for equalibrium

∑𝐹𝑙𝑖𝑛𝑘−2 = 0
′ ′
𝐹32 + 𝐹12 =0
′ ′ ′ ′
𝐹23 = −𝐹32 , 𝐹12 = −𝐹32

∑𝑀𝑙𝑖𝑛𝑘−2 = 0
′ ′
𝑀12 + ℎ𝐹32 =0
Superposition Technique

Step-2
 Superposition Technique/Step-2
 Let’s assumed that the external force applied
the link-3 is equal to 0, 𝐹𝐴 = 0,

2-Forces Member

∑𝐹𝑙𝑖𝑛𝑘−3 = 0
′′ ′′
𝐹23 + 𝐹43 =0
′′ ′′
𝐹23 = −𝐹43
′′ ′′
𝐹34 = −𝐹43
2-Forces 1-Moment
3-Forces Member
Superposition Technique/Step-2
 Ifmechanism is at equilibrium in staticaly, total
forces on the link-4 is equal to 0, hence;

Now, we know the direction of

the forces and magnitude of the
𝐹𝐵 . Let’s draw a force polygon
with a scale factor , 𝑘𝑓 = ⋯

∑𝐹𝑙𝑖𝑛𝑘−4 = 0
′′ ′′
𝐹14 + 𝐹34 + 𝐹𝐵 = 0
Superposition Technique/Step-2
Finally, total forces on the link-2 is equal to 0 and
total moment is equal to 0 for equalibrium

∑𝐹𝑙𝑖𝑛𝑘−2 = 0
′′ ′′
𝐹32 + 𝐹12 =0
′′ ′′ ′′ ′′
𝐹23 = −𝐹32 , 𝐹12 = −𝐹32
Superposition Technique
Finally, total forces on the link-2 is equal to 0 and
total moment is equal to 0 for equalibrium

∑𝑀𝑙𝑖𝑛𝑘−2 = 0
′′ ′′
𝑀12 + ℎ𝐹32 =0
Superposition Technique
Total Solution
Superposition Technique
 Completely analyze includes two solution
step,

 Finally, total forces and moment

′ ′ı
𝐹12 = 𝐹12 + 𝐹12
′ ′ı
𝐹32 = 𝐹32 + 𝐹32
′ ′ı
𝐹23 = 𝐹23 + 𝐹23
′ ′ı
𝐹34 = 𝐹34 + 𝐹34
2 ′ı
𝐹43 = 𝐹43 + 𝐹43
′ ′ı
𝐹14 = 𝐹14 + 𝐹14

′ ′′
𝑀12 = 𝑀12 + 𝑀12
Slider-Crank Mechanism
 Superposition Technique
 Superposition Technique
 Free
Body Diagrams of Slider-Crank
Mechanism links

3-Forces Member

2-Forces 1-Moment 3-Forces Member

Superposition Technique
Step-1
 Superposition Technique/Step-1
 Let’s assumed that the external force applied
the link-3 is equal to 0, 𝐹𝐴 = 0,

2-Forces Member

∑𝐹𝑙𝑖𝑛𝑘−3 = 0
′ ′
𝐹23 + 𝐹43 =0
′ ′
2-Forces 1-Moment 𝐹23 = −𝐹43
′ ′
𝐹34 = −𝐹43
3-Forces Member
Superposition Technique/Step-1
 Ifmechanism is at equilibrium in staticaly, total
forces on the link-4 is equal to 0, hence;

Now, we know the direction of the

forces and magnitude of the 𝐹𝐵 .
Let’s draw a force polygon with a
scale factor , 𝑘𝑓 = ⋯

∑𝐹𝑙𝑖𝑛𝑘−4 = 0
′ ′
𝐹14 + 𝐹34 + 𝐹𝐵 = 0
Superposition Technique/Step-1
Finally, total forces on the link-2 is equal to 0 and
total moment is equal to 0 for equalibrium

∑𝐹𝑙𝑖𝑛𝑘−2 = 0
′ ′
𝐹32 + 𝐹12 =0
′ ′ ′ ′
𝐹23 = −𝐹32 , 𝐹12 = −𝐹32
Superposition Technique/Step-2
Finally, total forces on the link-2 is equal to 0 and
total moment is equal to 0 for equalibrium

∑𝑀𝑙𝑖𝑛𝑘−2 = 0
′ ′
𝑀12 + ℎ𝐹32 =0
Superposition Technique
Step-2
 Superposition Technique/Step-2
 Let’s assumed that the external force applied
the link-4 is equal to 0, 𝐹𝐵 = 0,

3-Forces Member

∑𝐹𝑙𝑖𝑛𝑘−4 = 0
′′ ′′
𝐹14 + 𝐹34 =0
′′ ′′
𝐹14 = −𝐹34
2-Forces 1-Moment ′′
𝐹34 = −𝐹′′43
2-Forces Member
Superposition Technique/Step-2
 Ifmechanism is at equilibrium in staticaly, total
forces on the link-3 is equal to 0, hence;
Now, we know the direction
of the forces and magnitude
of the 𝐹𝐵 . Let’s draw a force
polygon with a scale factor
, 𝑘𝑓 = ⋯

∑𝐹𝑙𝑖𝑛𝑘−3 = 0
′ ′
𝐹23 + 𝐹43 + 𝐹𝐴 = 0
Superposition Technique/Step-2
Finally, total forces on the link-2 is equal to 0 and
total moment is equal to 0 for equalibrium

∑𝐹𝑙𝑖𝑛𝑘−2 = 0
′ ′
𝐹32 + 𝐹12 =0
′ ′ ′ ′
𝐹23 = −𝐹32 , 𝐹12 = −𝐹32
Superposition Technique/Step-2
Finally, total forces on the link-2 is equal to 0 and
total moment is equal to 0 for equalibrium

∑𝑀𝑙𝑖𝑛𝑘−2 = 0
′′
𝑀12 + ℎ𝐹′′32 = 0
Superposition Technique
Total Solution
Superposition Technique
 Completely analyze includes two solution
step,

 Finally, total forces and moment

′ ′ı
𝐹12 = 𝐹12 + 𝐹12
′ ′ı
𝐹32 = 𝐹32 + 𝐹32
′ ′ı
𝐹23 = 𝐹23 + 𝐹23
′ ′ı
𝐹34 = 𝐹34 + 𝐹34
2 ′ı
𝐹43 = 𝐹43 + 𝐹43
′ ′ı
𝐹14 = 𝐹14 + 𝐹14

′ ′′
𝑀12 = 𝑀12 + 𝑀12
Superposition for Analytical
Solution Method
Superposition in Analytical Solution
 An example

𝐴𝐴0 = 38 𝑚𝑚 𝐴𝐵 = 61 𝑚𝑚 𝐴𝐶 = 103 𝑚𝑚
𝐵𝐷 = 45 𝑚𝑚 𝐵𝐵0 = 102 𝑚𝑚 𝐷𝐵0 = 68 𝑚𝑚
𝐴0 𝐵0 96 𝑚𝑚
 Superposition in Analytical Solution
 Free Body Diagrams of Mechanism Links

3-Forces Member

3-Forces Member
2-Forces 1-Moment
Superposition in Analytical Solution
Step-1
𝑃𝐶 = 𝑃𝐶 , 𝑃𝐷 = 0
 Superposition in Analytical Solution
 For 𝑃𝐶 = 𝑃𝐶 , 𝑃𝐷 = 0

3-Forces Member

2-Forces Member
2-Forces 1-Moment
Superposition in Analytical Solution
 For 𝐿𝑖𝑛𝑘 − 3

∑𝑀𝐴 = 0
𝑟𝐴𝐶 𝑥𝑃𝐶 + 𝑟𝐴𝐵 𝑥𝐹43 ′ = 0

𝑟𝐴𝐶 = 103 𝑚𝑚 51° = 103(0.63𝑖 + 0.77𝑗)

𝑟𝐴𝐵 = 61 𝑚𝑚 39° = 61(0.777𝑖 + 0.63𝑗)
𝐹𝐶 = 3000 𝑁 180° = 3000(−1𝑖)
𝐹43 ′ = 𝐹43 ′ 𝑁 151° = 𝐹43 ′(−0.8746𝑖 + 0.485𝑗)
Superposition in Analytical Solution
 For 𝐿İ𝑛𝑘 − 3

𝑖 𝑗 𝑘
𝑟𝐴𝐶 𝑥𝑃𝐶 = 64.89 79.31 0 = 237930 𝑘𝑁. 𝑚𝑚
−3000 0 0
𝑖 𝑗 𝑘
47.39 38.43 ′
0 = 56.57𝐹43
𝑟𝐴𝐵 𝑥𝐹43 ′ = 𝑘𝑁. 𝑚𝑚
′ ′
−0.8746𝐹43 0.485𝐹43 0

′
237930 𝑘 + 56.57𝐹43 𝑘=0
′
𝐹43 = −4196 𝑁
′
𝐹43 = 4196 331° = 3670𝑖 − 2035.2𝑗 𝑁

′ ′
𝐹34 = −𝐹 ′ 43 = 𝐹14
Superposition in Analytical Solution
 For 𝐿İ𝑛𝑘 − 3

′ ′
∑𝐹𝑙𝑖𝑛𝑘−3 = 0, 𝐹23 +𝐹43 + 𝑃𝐶 = 0
′
𝐹23 + 3670𝑖 − 2035.2𝑗 − 3000𝑖 = 0
′
𝐹23 = −670𝑖 + 2035.2𝑗
′
𝐹23 = 2142.6 𝑁 (108°)

′ ′
𝐹32 = −𝐹 ′ 23 , 𝐹 ′12 = −𝐹32
Superposition in Analytical Solution
 For 𝐿İ𝑛𝑘 − 2

∑𝑀𝐴0 = 0

𝑀2′ + 𝑟𝐴𝐴 0 𝑥𝐹 ′ =0
32

𝑟𝐴𝐴 0 = 38 𝑚𝑚 165°
= 38(−0.966𝑖 + 0.259𝑗)
𝑖 𝑗 𝑘
𝑟𝐴𝐴0 𝑥𝐹32 ′ = −36.70 9.83 0
670 −2035.2 0
= 6810.6𝑘𝑁. 𝑚𝑚
𝑀2′ = 6810.6 𝑁. 𝑚𝑚 (𝑐𝑤)
References
 Uicker, John Joseph, Gordon R. Pennock,
and Joseph Edward Shigley. Theory of
machines and mechanisms. Vol. 1. New
York: Oxford University Press, 2011.
 Prof. Dr. Fatih Mehmet Botsalı, Makina
Dinamiği Teori ve Problemlerle, NOBEL
AKADEMİK YAYINCILIK, 2015.