ME321

Kinematics and Dynamics of

Machines
Steve Lambert
Mechanical Engineering,
U of Waterloo

08/20/21
 Kinematics and Dynamics
 Position Analysis
 Velocity Analysis
 Acceleration Analysis
 Force Analysis
 
F  ma
We will concentrate on four-bar linkages

08/20/21
 Dynamic (Force) Analysis
 Determine the reaction forces on pins, etc. as a consequence of
a specified motion,
 Determine the input force of torque required to achieve a
specified motion, or
 Determine the motion as a consequence of a specified set of
forces and/or torques.

 Inverse Kinematics: start with the motion and determine the

forces, or
 Direct kinematics: start with the forces and determine the
motion.

08/20/21
 Force Analysis
Define the centre of mass:

 mi ri  0  

a
g
i F 
g

And apply Newton’s Law:

 
F  Ma g
 
T  I g g

08/20/21
 Force Analysis
Resolve forces into single applied force:

e 
F

 F
2
F 
1
 F
1
 a
g

F 
g


F
2

08/20/21
 D’Alembert’s Principle
     
F  Ma g  F  F0  0 F0   Ma g
    where:  
T  I g g  T  T0  0 T0   I g g
e
e



a   F
0


 g
F
F  T
0
g

Dynamic Kinetostatic
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 Equivalent Force Systems
We can replace the inertia torque by applying the inertia force
at a distance

e 
e F
0

 
a

  g
F
F g

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 Four-Bar Linkage
If we can assume  
only one link has F
0 T
0
mass,
the solution is
simplified


T
2

08/20/21
 Free Body Diagrams

How many unknowns? 

T
0

F
0 
F
34

F
32



 F
43
T
2
F
23


 F
14
F
12

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 Analysis of Coupler
We know:
• the magnitude and direction 
F0
of Fo

• the direction of F43


 F43
• Therefore, we have 3 F23
equations and three unknowns

08/20/21
 Analysis of Coupler

F
0

F
0

F
43

F
43

F
23


F
23

Moment equilibrium gives Force equilibrium gives

direction of F23 magnitudes for F23 and F43

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 More Complex Problems

When more than one link has mass:

• Solve problem in parts, where only one link at a time has
mass, and obtain total solution through superposition
• Solve complete problem at once using equilibrium for all
links, and solve resulting equations simultaneously in the
matrix method

08/20/21