Dynamics of Mechanism

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

Given Data: RAO2 = 75 mm, RO4O2 = 175 mm, RBA = 200 mm, RBO4 = 150 mm,
RG3A = 100 mm, RG4O4 = 75 mm, w3 = 321.4g, w4 = 354.1g, IG2 = 29.28 g.cm.s2 ,
IG4 = 602.7 g.cm.s2 , 2 = 180 k rad/s
Ans: 2 = 0, 3 = 4950 k rad/s2 , 4 = -8900 k rad/s2 , M12 = -21.47 k N.m, aG3 =
1896i+225j m/s2 , aG4 = 684i+225j m/s2,

Use CM coordinates tab to specify the location of center of mass of the

body.
Click: use center of mass check box .
Under origin button click point
Body

Centre of mass

Input

G2

Coupler

G3

Follower

G4

Create Joints

Type of
Joints
Revolute
Joint
Revolute
Joint
Revolute
Joint
Revolute
Joint

Joint
lebel
Joint G2

Body 1

Body 2

Point

Vector

Input

G2

Joint A

Ground
Body
Input

Coupler

Point A

Joint B

Coupler

Follower

Point B

Joint O4

Follower

Ground
body

Point O4

Global
Z
Global
Z
Global
Z
Global
Z

Specify the motion for mechanism

On joint G2 > velocity > 180 rad/sec

Create output:

3 = 4950 k rad/s2

aG3 = 1896i+225j m/s2

aG4 = 684i+225j m/s2

M12 = 21.47 k N.m

Results
Analytical

Motion View

4950 rad/s2

5103 rad/s2

aG3

1909.3 m/s2

1904.7 m/s2

8900 rad/s2

9062.08 rad/s2

aG4

720.0562 m/s2

713.9768 m/s2

M12

21.47 N.m

20.2066 N.m