Solutions to Chapter 5 Exercise Problems

Problem 5.1
For the mechanism shown, do the following:
a) Write the vector equation of the above linkage.
b) Write the x and y displacement equations.
c) Find the velocity component equations.
d) Find the acceleration component equations.
B

a
A

Solution
Position Analysis
a+b=c
In component form
a cos
+ bcos = ccos0
asin
+ bsin = csin 0
Substituting in the constant numbers
a cos
+ bcos = c
asin
+ bsin = 0
Velocity Analysis

a sin
b sin = c
a cos + b cos = 0
Acceleration Analysis
sin +  2 cos) = c

a(sin +  2 cos)
b(
a( cos
 2 sin) + b( cos
 2 sin) = 0

- 178 -

Problem 5.2
In the mechanism in Problem 5.1, determine
analytically for the following values:
a = 1 cm,

b = 4cm,

= 10 rad / sec

= 60,

Solution
B
2
A

r2

r3

r1

C
4

The analysis can be conducted using the equations in Table 5.4 with M=2, J=3

The known input information is:

1 = 0 ;

2 =
= 60;

2 =
= 10 rad/sec;

r2 = AB = 1 cm;

r3 = BC = 4 cm;

r4 = 0 cm;

Start with the position analysis, and first compute constants A and B:
A = 2r4(cos1 cos4 + sin1 sin 4)
2r2 (cos1 cos2 + sin1 sin2 )
=
2 *1*(cos0 cos60 + sin0sin60) =
1
B = r22 + r42
r32
2r2 r4(cos2 cos4 + sin2 sin4 )
= 12
42 =
15
The desired configuration of the linkage corresponds to the position of the slider with the larger x
coordinates. Therefore
= +1. Then
2

(
1)+ (
1)2
4(
15)
= 4.405
r1 =
A +  A
4B =
2
2

Then
3 is given by
3 = tan
1[ r1sin1 + r4 sin 4
r2 sin2 ] = tan
1[
1sin60 ] =
12.504
4.405
1cos60
r1 cos1 + r4 cos 4
r2 cos2
For the velocity
, solve the linear set of velocity equations,

- 179 -

cos1 r3 sin3   r1
= 
r2 2 sin 2

  

sin1
r3 cos3  3 r2 2 cos2 
or
cos0 4sin(
12.504)  r1  = 
110sin60


sin0
4 cos(
12.504)
3
110cos60
then
1
0.866  r1
= 
8.660

  

0
3.905  3  5 
or
 r1  = 
9.768
  
1.280
3  

Therefore,  =
3 = 1.280 rad/sec, CW.
Problem 5.3
In the mechanism shown, s =
10 in/ s and s = 0 for the position corresponding to
= 60. Find

and
for that position using the loop equation approach.
s

3
4

10 inches

Solution
The vector equation is
r3 = r2 + r1
In component form, this equation becomes:
r3 cos
3 = r2 cos
2 + r1 cos
1
r3 sin
3 = r2 sin
2 + r1 sin
1

- 180 -

r1 3

r3

r2

Substituting the constant values
1 = 0 and
2 = 90 gives

r3 cos
= r1
r3 sin
= r2
The component equations for velocity are:
r3 cos
r3 sin = r1
r3 sin + r3 cos = 0
The component equations for acceleration are:
r3 cos
2r3 sin
r3sin
r3 2 cos = r1
cos
r3 2 sin = 0
r3 sin + 2r3 cos + r3
The known input information is:
 = 60
so

r2 = 10 in

r1 = s =
10 in / s

r3 = r2 = 10 = 11.547
sin
sin60
r1 = r3 cos
= 11.547cos60 = 5.774
Solve the velocity equations:
cos
r3 sinr3
r1

 = 
 sin r3 cos    0
or
or
then

cos60
11.547sin60 r3


10

sin60 11.547cos60     =  0 

10 r3

10

 0.5
 =

 0.866 5.774   0 
r3 
5 
  = 

  0.75
Therefore
= 0.75 rad/sec, CCW.

- 181 -

r1 = s = 0

Solve the acceleration equations:

cos
r3 sinr3
r1 + 2r3 sin + r3 2 cos

sin r3 cos  

 = 
2r3 cos + r3 2 sin 
or
or
then

cos60
11.547sin60 r3   2(
5)(0.75)sin60 +11.5470.752 cos60 

=

sin60 11.547cos60 


2(
5)(0.75)cos60 +11.547 0.752 sin60

10 r3

3.248

 0.5
0.866 5.774 
 =  9.375 
r3 6.495
 = 


 0.650

Therefore
= 0.650 rad / sec2 , CCW.

Problem 5.4
In the mechanism in Problem 5.3 assume that
is 10 rad/s CCW. Use the loop equation approach
to determine the velocity of point B4 for the position defined by  = 60.
Solution
B

4
r2

r1 3
r3

The vector equation is:

r3 = r2 + r1
In component form, this equation becomes:
r3 cos
3 = r2 cos
2 + r1 cos
1
r3 sin
3 = r2 sin
2 + r1 sin
1
Substituting the constant values
1 = 0 and
2 = 90 gives
r3 cos
= r1
r3 sin
= r2
The component equations for velocity are:

- 182 -

r3 cos
r3 sin = r1

r3 sin + r3 cos = 0
The known input information is:

= 60;
so

=10 ; r2 = 10 inches;

r3 = r2 = 10 = 11.547
sin
sin60
r1 = r3 cos
= 11.547cos60 = 5.774

Solve for the velocities:

r3 cos
=
11.54710cos60 =
66.667
sin60
sin

r1 = r3 cos
r3 sin =
66.667 cos60
11.54710sin60 =
133.333

r3 =

Therefore vB4 =
133.333 cm/sec.

Problem 5.5
In the mechanism given, point A is moving to the right with a velocity of 10 cm/s. Use the loop
equation approach to determine the angular velocity of link 3. Link 3 is 10 cm long, and  is 120
in the position shown.
4
B

Solution
The vector loop equation is:
r2 = r1 + r3
In component form, this equation becomes:
r2 cos
2 = r1 cos
1 + r3 cos
3
r2 sin
2 = r1 sin
1 + r3 sin
3
Substituting the constant values
1 = 0,
3 = , and
2 = 90 gives
- 183 -

4
B
r3
3

r2

r1 2

0 = r1 + r3 cos

r2 = r3 sin

The component equations for velocity are:
0 = r1
r3 sin
r2 = r3 cos
The known input information is:

= 120;
so

r3 = 10 cm;

r1 = vA = 10 cm/sec

r2 = r3 sin = 10sin120 = 8.66

r1 =
r3 cos  =
10cos120 = 5.00
Solve for
:

=

10
r1 =
= 1.155
r3 sin
10sin120

Therefore
=1.155 rad/sec, CCW.

Problem 5.6
Resolve Problem 5.5 if
is 150.
Solution

- 184 -

4
B
r2

r3

r1

A
2

Position Analysis
The basic loop equation is:
r1 + r3 = r2
In component form
r1 cos
1 + r3 cos  = r2 cos
2
r1 sin
1 + r3 sin  = r2 sin
2
Substituting in the constant numbers
r1 cos(0)+ r3 cos
= r2 cos(90)
r1 sin(0) + r3 sin
= r2 sin(90)
or
r1 + r3 cos
= 0
r3 sin
= r2
Then,
r1 =
r3 cos  =
10 cos(150) = 8.66
r2 = r3 sin = 10sin(150) = 5.0
Velocity Analysis
r1 = r33 sin   3 =

r1 =
10
= 2.0 rad / sec
r3 sin  10sin(150)

r2 = r33 cos  = 10(2.0)cos(150) =
17.32 in / sec

Acceleration Analysis
r1 = r33 sin  + r3 (3 )

2
r1
r3 (3 ) cos 0
10(2)2 cos(150)
cos  3 =
=
= 6.928 rad / sec2
r3 sin 
10sin(150)

- 185 -

r2 = r33 cos 
r3 (3 ) sin  = 10(6.928)cos(150)
10( 2)2 sin(150) =
80 in / sec 2
Then
vA 2 =
17.32 in / sec
aA 2 =
80 in / sec2
Problem 5.7
The mechanism shown is a marine steering gear called Raphsons slide. AB is the tiller, and CD is
the actuating rod. If the velocity of rod CD is a constant 10 inches per minute to the right, use the
loop-equation approach to determine the angular acceleration of the tiller.
= 300 A

6'

Solution
= 300 A

r1

r2

r3

4
B

The vector equation is:

r2 = r1 + r3
In component form this equation becomes:

- 186 -

r2 cos
2 = r1 cos
1 + r3 cos
3

r2 sin
2 = r1 sin
1 + r3 sin
3
Substituting the constant values q1 = 0, 3 =
90 gives
r2 cos = r1
r2 sin =
r3
The component equations for velocity is:
r2 cos
r2 
sin  = r1
cos = 0
r2 sin + r2
The component equations for acceleration is:
sin
r2
sin
r2 
2 cos = r1
r2 cos
2r2 
r2 sin + 2r2 
cos + r2
cos
r2 
2 sin = 0
The known input information is:

= 300;

r3 = 6' ;

r1 = 10 in/min;

r1 = 0;

so
r2 =
r3 =
6 = 6.928
sin sin300
r1 = r2 cos = 6.928cos300 = 3.464
To solve the velocities:
cos
sin 
or
or
then

r2 sin r2

r1

 =  
r2 cos  
 0

cos300
6.928sin300 r2


10

=

sin300 6.928cos300   
 0 
6  r2

10

 0.5
 =


0.866 3.464 
 0 
r2   6 
 =



 1.25

To solve the accelerations:

cos
sin 
or

r2 sin r2

r1 + 2r2 
sin + r2 2 cos


=



r2 cos  

2 r2 cos + r2 
2 sin 

cos300
6.928sin300 r2   2(6)(1.25)sin300 + 9.6281.252 cos300 

=

sin300 6.928cos300 



2(6)(1.25)cos300 + 9.6281.252 sin300
or

- 187 -

6  r2

7.578

 0.5
=


0.866 3.464  

16.875
then
r2  10.826
 =


 
2.165
Therefore 
=
2.165 rad / min2 CCW.
Problem 5.8
Use loop equations to determine the velocity and acceleration of point B on link 2 when
3 = 30.
Make point A the origin of your reference coordinate system.
10 in.
2

1 4 = 1 rad
sec
14 = 0

3
4

Solution

y
2 B

r3
3
3

r1
A

The vector equation is:

r3 = r1 + r2
In component form, this equation becomes:
r3 cos
3 = r1 cos
1 + r2 cos
2
r3 sin
3 = r1 sin
1 + r2 sin
2
Substituting the constant values
1 = 0 and
2 = 90 gives
- 188 -

r2

r3 cos
3 = r1
r3 sin
3 = r2
The component equations for velocity are:
r3 cos3
r3 3 sin3 = 0
r3 sin3 + r33 cos3 = r2
The component equations for acceleration are:
3 sin3
r3 32 cos3 = 0
r3 cos3
2r3 3 sin3
r3
3 cos3
r3 32 sin3 = r2
r3 sin3 + 2r3 3 cos 3 + r3
The known input information is:
so

3 = 30;

3 =  4 = 1 rad/sec;

3 =
4 = 0;

r1 = 10 inches;

r1 = 10 = 11.547
cos
3 cos30
r2 = r3 sin
3 = 11.547sin30 = 5.774

r3 =

To solve the velocities:

r3 = r3
3 sin
3 = 11.5471sin30 = 6.667

cos
3
cos30

r2 = r3 sin
3 + r3
3 cos
3 = 6.667sin30 + 11.5471 cos30 = 13.333

Therefore vB2 = r2 = 13.333 in/sec.
Solve for the accelerations:
2r3 3 sin3 + r33 sin3 + r323 cos3
r3 =
cos3
2
6.6671sin30
+ 11.54712 cos30 = 19.245
=
cos30
3 cos3
r3 32 sin3
r2 = r3 sin3 + 2r3 3 cos3 + r3
= 19.245sin30 + 2 6.6671cos30
11.54712 sin30 = 15.397
Therefore aB2 = r2 = 15.397 in / sec2 .

- 189 -

Problem 5.9
In the mechanism shown,
= 30 ,
2 = 1 rad / s CCW, and
2 = 0 . Use loop equations to
determine the velocity and acceleration of point B on link 4.
Y
3 in

A
2

Solution
A

Y
2

r2

r3
3
B

30

r1

Position Analysis
r1 + r3 = r2
In component form,
r1 cos0 + r3 cos90 = r2 cos

r1sin 0 + r3 sin90 = r2 sin

or
r1 = r2 cos

r3 = r2 sin

Solving for r2 and r3 ,
r2 = r1 / cos
= 3 / cos30 = 3.464 in.
r3 = r2 sin
= 3.464sin30 = 1.732 in
Velocity Analysis
r1 + r3 = r2
In component form,

- 190 -

or

or

r1 = r2 cos
r2 sin

0 = r2 sin + r2  cos
r2 =
r2 cos / sin
r1 = r2 cos
r2 sin
r2 =
3.464(1)[cos(30) / sin(30)] =
6.00 in / sec
r1 =
6.00cos30
3.464(1)sin30 =
6.928 in / sec

Acceleration Analysis
r1 + r3 = r2
In component form,
sin
r2 2 cos
r1 = r2 cos
2r2 sin
r2

0 = r2 sin + 2r2 cos + r2 cos
r2 2 sin

or

2
r2 =
2r2  cos + r2 cos
r2 sin
sin
r1 = [r2
r2 2 ]cos
[2r2 + r2]sin

or

2(6.00)(1)cos30
3.464(0)cos30
3.464(1)2 sin30 = 24.249 in / sec 2
r2 =

sin30
r1 = [24.249
3.464(1)2] cos30
[2(
6.00)(1) + 3.464(0)]sin30
= 18.000 + 6.000 = 24.000 in / s2

Therefore,
vB4 =
r1 = 6.928 in / s
aB4 =
r1 =
24.000 in / s2

- 191 -

Problem 5.10
In the mechanism for Problem 5.9, assume that vB4 is a constant 10 in/s to the left and
is 45. .
Use loop equations to determine the angular velocity and acceleration of link 3.
Solution
Y
A
2

r2
vB4

B
4

r1

The basic loop equations is:

r2 = r1 + r3
In component form this equation becomes:
r2 cos
2 = r1 cos
1 + r3 cos
3
r2 sin
2 = r1 sin
1 + r3 sin
3
Substituting the constant values (r1 = 3,
1 = 0,
3 = 90) gives
r2 cos
2 = r1
r2 sin
2 = r3
When
2 = 30,
and

r2 = 3 / cos
2 = 3 / cos30 = 3.464

r3 = r2 sin
2 = 3.464sin30 = 1.732

For the velocities,

r2 = r1 + r3
or in component form,
r2 cos2
r2  2 sin2 = r1
r2 sin2 + r2 2 cos2 = 0
Substituting the know values gives
0.866
(3.464)(0.5)  r2

10

 0.5 (3.464)(0.866)  2  =  0 
or

- 192 -

r3
X

 r2  
8.661
  = 

 2  1.443 
Therefore,
2 = 1.443 rad/sec, CCW.
For the accelerations,
r2 = r1 + r3
or in component form,
r2 cos2
2r22 sin2
r22 sin2
r2  22 cos2 = r1
r2 sin2 + 2r2  2 cos2 + r22 cos2
r2  22 sin2 = 0
Substituting the know values gives
0.866
(3.464)(0.5) r2
 2(
8.661)(1.443)sin30 + (3.464)(1.4432 )cos30

 0.5 (3.464)(0.866) 
2  = 
2(
8.661)(1.443)cos30 + (3.464)(1.4432 )sin30
or

r2  7.213
  = 


2 7.216

Therefore,
2 = 7.216 rad / sec 2 , CCW.

Problem 5.11
For the mechanism in the position shown, link 2 is the driver and rotates with a constant angular
velocity of 100 rad/s CCW. Write vector loop equations for position, velocity, and acceleration, and
solve for the velocity and acceleration of point C on link 4.
AB = 0.9"

AD = 1.7", BC = 2.6",

h = 0.8",

1 = 6,  = 120
C

3
B

h
2

Solution

- 193 -

r'3

Y
3

r2

r4

r3

B
2

r'4

'4

r1
A

4
X

The basic loop equation for the mechanism is:

r1 + r4 = r2 + r3
In component form of this equation becomes:
r1 cos
1 + r4 cos
4 = r2 cos
2 + r3 cos
3
r1sin
1 + r4 sin
4 = r2 sin
2 + r3 sin
3
r1, r2 , r4, and
1 are constants, and
2 =  +
1 and
4 = 90 +
3 .
The component equations for the velocities are:

r4 4 sin4 =
r2 2 sin2 + r3 cos3
r3 3 sin3
r4  4 cos4 = r2 2 cos2 + r3 sin3 + r3 3 cos3

3 =
4 ,
2 =  .
And the component equations for the accelerations are:

r44 sin4
r4 24 cos4
=
r22 sin2
r2 22 cos2 + r3 cos3
2r3 3 sin3
r33 sin3
r323 cos3
r4 4 cos4
r4  24 sin4
= r22 cos2
r222 sin2 + r3 sin3 + 2r3 3 cos3 + r33 cos3
r3 23 sin3
The known input information is:
r1 = 1.7,

r2 = 0.9,

r3 = 2.6 ,

h=0.8,

1 = 6,

2 = 126,

= 120

The position equations cannot be solved directly because there are too many unknowns. However,
if we rewrite the equations in terms of r4' and r3' , they can be solved. Here, r4' is perpendicular to
r3 , and r3' is measured along r3 from B to the intersection of r4' and r3 . Then the magnitude of r4'
is h = 0.8. Also,
'4 = 90 +
3 . After substituting
'4 = 90 +
3 into the equations for position and
rewriting the equations, we get:
r1 cos1
r2 cos2 = r4' sin3 + r3' cos3

(1)

r1sin 1
r2 sin2 =
r'4 cos3 + r3' sin3

(2)

To eliminate
3 ,

square Eqs. (1) and (2) and add the results. This gives:
- 194 -

r12 + r22
r' 24
2r1r2 cos(1
 2) = r' 23

Substitute
2 =  +
1 into the equation above. Then
or

r3' = r12 + r22
r' 24
2r1r2 cos

r3' = 1.72 + 0.92
0.82
2(1.7)(0.9)cos120 = 2.14

To solve for
3 , use the trigonometric identities

2tan
3
2
sin
3 =
2
1+ tan
3
2
1
tan2 3
2
cos3 =

2
1+ tan 3
2
Let t = tan
3 , and substitute the trigonometric identities above into Eq. (1):
2
A(1+ t 2 )
r3'(1
t2 )
r4' (2t) = 0

(3)

Where A = r1 cos1
r2 cos2

Collecting terms in Eq (3) gives:
(A + r3' )t 2
2r4' t + (A
r3' ) = 0
The roots are:
t=

r4' +  r' 24
A2 + r' 23

A + r3'

Where
= 1. Then,

and

2
2
2
t1 = 0.8 + 0.8
2.22 + 2.14 = 0.307
2.22 + 2.14
2
2
2
t1 = 0.8
0.8
2.22 + 2.14 = 0.0597
2.22 + 2.14

To determine the correct value of
for the problem, we must first compute a value of
3 for each
value of t using.
3 = 2tan
1 t

- 195 -

Next substitute both values of
3 into Eq. (3). The correct value of
will correspond to the value
of
3 satisfying Eq. (2). Then,
3 = 2tan
1 0.307 = 34.13, or 3 = 2tan
1 0.0597 = 6.83
We know that
3 = 6.83. Therefore,
= -1.
Before solving for
4 , solve for r4 from geometry. Then,
r4 = r' 24 +(r3
r3' )2
= 0.82 + (2.6
2.14)2 = 0.923
and
0.8
4 = tan
1 r h
r'  + 3 = tan
1
+ 6.83 = 66.93
2.6

2.14
3
3

To solve for the velocities, substitute
3 =
4 , into the equation for velocity, and rewrite in matrix
equation form:
cos3
r3 sin3 + r4 cos3  r3
 r2 2 sin2

 = 

 sin3 r3 cos3 + r4 sin3   3
r2 2 cos2 
or
or

cos6.83
2.6sin6.83 + 0.923cos6.83 r3

 (0.9)(100)sin126 
 =
 sin6.83 2.6cos6.83 + 0.923sin6.83  3  
(0.9)(100)cos126
 r3   95.21 
  = 

3  
14.08

3 =
4 , into the equation for acceleration, and rewrite in

To solve for the accelerations, substitute

matrix equation form:
cos3
r3 sin3 + r4 cos3 r3

 
 sin3 r3 cos3 + r4 sin3  
3
2
2 sin2 + r2  22 cos2 + 2r33 sin3 + r332 cos3


r  cos4 + r2

=  4 42


r4 4 sin4
r22 cos2 + r2  22 sin2
2r33 cos3 + r332 sin3 
or

or

cos6.83
2.6sin6.83 + 0.923cos6.83r3

 
 sin6.83 2.6cos6.83 + 0.923sin6.83  3 

(0.923)(
14.08)2 cos66.93 + (0.9)(100)2 cos126 
+2(95.21)(
14.08)sin6.83 + (2.6)(
14.08)2 cos6.83
=

(0.923)(
14.08)2 sin66.93 + (0.9)(100)2 sin126 



2(95.21)(
14.08)cos6.83 + (2.6)(
14.08)2 sin6.83
r3   132 
  = 


3  4185

To solve the velocity and acceleration of C in link 4:

- 196 -

r4c = r4(cos
4i + sin
4 j)

v4c = r4c = r4 4(
sin 4i + cos4 j)
= (0.923)(
14.08)(
sin66.93i + cos66.93j)
= 1366.93in / sec
4(
sin 4i + cos4 j) + r4 24 (
cos 4i
sin4 j)
a4c = r4c = r4
= (0.923)(4185)(
sin66.93i + cos66.93j)
+(0.923)(
14.08)2(
cos66.93i
sin66.93j)
=
3625.5i + 1345.3j = 3867159.6in / sec2
Therefore,
v4c = 13
66.93in / sec
and
a4c = 3867
159.6in / sec2
Problem 5.12
For the mechanism in the position shown, link 2 is the driver and rotates with a constant angular
velocity of 50 rad/s CCW. Write vector loop equations for position, velocity, and acceleration, and
solve for the velocity and acceleration of point C on link 3.
B
3
d

C
4

= 60
d = 0.9"
h = 0.8"
AB = 1.8"

h
A

Solution:
The vector equation is:
r1 + r4 = r2 + r3
In component form of this equation becomes:

- 197 -

B
3

r3
2

C
4

r2

r4

r1

r1 cos
1 + r4 cos
4 = r2 cos
2 + r3 cos
3

r1sin
1 + r4 sin
4 = r2 sin
2 + r3 sin
3
Substituting the constant values
1 = 0 ,
4 = 90,
2 =  , and 3 = 
90 gives
r1 = r2 cos + r3 sin
r4 = r2 sin
r3 cos
The component equations for velocity are:
r1 = r2 cos
r2  sin + r3 cos
0 = r2 sin + r2 cos + r3 sin
The component equations for acceleration are:
sin
r2 2 cos + r3
cos
r3 2 sin
r1 = r2 cos
2r2 sin
r2

2
0 = r2 sin + 2r2  cos + r2  cos
r2  sin + r3sin + r3 2 cos
The known input information is:
r3 = d = 0.9

r4 = 0.8,

= 60,

= 50

Solving for the positions:

r2 = r4 + r3 cos
= 0.8 + 0.9cos(60) = 1.44
sin(60)
sin

r1 = r2 cos
+ r3 sin
= 1.44cos(60) + 0.9sin(60) = 1.5
Solving for the velocities:
r2 cos + r3 sin
sin
(1.44)(50)cos60
+ (0.9)(50)sin60 =
86.57
=

sin60
r1 = r2 cos
r2  sin + r3 cos
= (
86.57)cos60
(1.44)(50)sin60 + (0.9)(50)cos60 =
83.14
r2 =

- 198 -

Solving for the accelerations:

cos
r2 2 sin + r3
sin + r3 2 cos
2r  cos + r2
r2 =
2
sin
2
2
=
2(
86.57)(50)cos60
(1.44)(50) sin60 + (0.9)(50) cos60 = 7299
sin60
r1 = r2 cos
2r2 sin
r2sin
r22 cos + r3 cos
r3 2 sin
= 7299cos60
2(
86.57)(50)sin60
(1.44)(50)2 cos60
(0.9)(50)2 sin60 = 7398
Therefore,
and

v3c = r1 =
83.14 in/sec

a3c = r1 = 7398 in / sec2

Problem 5.13
In the mechanism in shown, link 3 slides on link 2, and link 4 is pinned to link 3 and slides on the
frame. If 1 2 = 10 rad/s CCW (constant), use loop equations to find the acceleration of Link 4 for
the position defined by  = 90.
B
4
3
2

1 cm

Solution
The basic loop equations is:
r2 = r1 + r3
In component form this equation becomes:
r2 cos
2 = r1 cos
1 + r3 cos
3
r2 sin
2 = r1 sin
1 + r3 sin
3
Substituting the constant values (r3 = 1,
1 = 0, and
3 = 90) gives
r2 cos
2 = r1
r2 sin
2 = r3 = 1

- 199 -

Y
B
4
3
2

r2

r3

r1
When
2 = 90,
and

r2 = 1/ sin
2 = 1 / 1= 1
r1 = r2 cos
2 = 1 0 = 0

The equation for the velocities is,

r2 = r1 + r3
or in component form,
r2 cos2
r2  2 sin2 = r1
r2 sin2 + r2 2 cos2 = 0
Substituting the know values gives

(1)(10)(1) = r1 =
10
r2 = 0
The equation for the accelerations is,
r2 = r1 + r3
or in component form,
r2 cos2
2r22 sin2
r22 sin2
r2  22 cos2 = r1
r2 sin2 + 2r2  2 cos2 + r22 cos2
r2  22 sin2 = 0
Substituting the know values gives
r1 = 0
r2
(1)(10)2 = 0
Therefore, 1 aB4 = r1 = 0 cm / sec2 .

- 200 -

Problem 5.14
For the mechanism in the position shown, the cam (link 2) rotates with an angular velocity of 200
rad/s. Write the vector loop equations for position, velocity, and acceleration and determine the
angular velocity and acceleration of the follower (link 3). Use
= 60 and neglect the follower
thickness (i.e., assume that it is zero).
AD = 6.5 in
AB = 1.0 in
r = 2.0 in

3
C

B
A

2
Solution
Y
3
C
2

r4

B r3
A

r2

r1

The vector equation is:

r1 + r4 = r2 + r3
In component form, this equation becomes:
r1 cos
1 + r4 cos
4 = r2 cos
2 + r3 cos
3
r1sin
1 + r4 sin
4 = r2 sin
2 + r3 sin
3
Now, r1 , r2 , r3 , and
1 = 0 are constants, and
2 =  ,
4 = 90 +
3 .
The component equations for velocity are:
r4 cos4
r4 4 sin4 =
r2  2 sin2
r3 3 sin3
r4 sin4 + r4 4 cos4 = r2 2 cos2 + r3 3 cos3

3 =
4 ,
2 =  .
The component equations for acceleration are:

- 201 -

4 sin 4
r4 24 cos 4 =
r2

2 sin2
r2 22 cos2
r3
3 sin3
r3 23 cos3
r4 cos4
2r4 4 sin 4
r4
4 cos4
r4 24 sin4 = r2
2 cos2
r222 sin2 + r3
3 cos3
r3 23 sin3
r4 sin4 + 2r4 4 cos4 + r4
The known input information is:
r1 = 6.5

r2 = 1.0

r3 = 2.0

= 60

= 200

To solve for the positions, substitute
4 = 90 +
3 into the equation for position and rewrite the
equation. This gives:
r1
r2 cos2 = r4 sin3 + r3 cos3

(1)

r2 sin2 =
r4 cos3 + r3 sin3

(2)

To eliminate
3 , square Eqs. (1) and (2) and add. The result is:
r12 + r22
r32
2r1r2 cos2 = r42
Substitute
2 =  , into the equation above to get,
r4 = r12 + r22
r32
2r1r2 cos = 6.52 +1.0 2
2.02
2(6.5)(1.0)cos60 = 5.72
To solve for
3 , use the trigonometric identities
2tan
3
2
sin
3 =
1+ tan2
3
2
1
tan2 3
2
cos3 =

2
1+ tan 3
2
Let t = tan
3 , and substitute the trigonometric identities above into Eq. (1). This gives:
2
A(1+ t 2 )
r3(1
t2 )
r4 (2t) = 0

(3)

where A = r1
r2 cos2
Collecting terms in Eq (3) gives:
(A + r3 )t 2
2r4 t + (A
r3 ) = 0
The roots are:
t=
or

r4 +  r42
A2 + r32 5.72 +  5.72 2
62 + 2 2

=
A + r3
6 +2

- 202 -

t1 = 0.82 and t 2 = 0.61.

Where
= 1. To determine the correct value of
for the problem, we must first compute a value
of
3 for each value of t using.
or

3 = 2tan
1 t
3 = 2tan
1 0.82 = 78.7 and 3 = 2tan
1 0.61 = 62.77

Next substitute both values of
3 into Eq. (3). The correct value of
will correspond to the value
of
3 satisfying Eq. (2). In this problem,
3 = 62.77.
To solve the velocities, substitute
3 =
4 , into the equation for velocity, and rewrite in the matrix
equation form:
cos4
sin4
or
or

r4 cos3 + r3 sin3  r4


r2 2 sin2

 = 


r4 cos3
r3 cos3   4  r2  2 cos2 

cos152.77
5.72cos62.77 + 2sin62.77  r4


(1)(200)sin60

 = 

 sin152.77
5.72 sin62.77
2cos62.77  4  (1)(200)cos60 
 r4  196.39
  = 

 4  
1.69 

To solve the accelerations, substitute
3 =
4 , into the equation for acceleration, and rewrite in the
matrix equation form:
cos4 r3 sin3
r4 cos3 r4

sin4
r3 cos3
r4 sin 3  4


r 2 cos3
r22 sin2
r2 22 cos2 + 2r4 4 cos3
r4 24 sin3

=  3 32


r3 3 sin3 + r22 cos2
r2 22 sin2 + 2r4  4 sin3 + r4 24 cos3 
or

or

cos152.77
5.72cos62.77 + 2sin62.77 r4 

 
sin152.77
5.72 sin62.77
2cos62.77 
4
2
2

2(
1.69) cos62.77
(1)(200) cos60


+2(196.39)(
1.69)cos62.77
5.72(
1.69)2 sin62.77

=

2

2(
1.69) sin62.77
(1)(200)2sin60

+2(196.39)(
1.69)sin62.77 + 5.72(
1.69)2cos62.77
r4  1.615
10 4 
  = 

 4   7.10
10 3 
4 = 7.10
103 rad / sec2 CCW.
Therefore,
4 = 1.69 rad/sec CW, and 

- 203 -

Problem 5.15
In the mechanism shown, link 3 is perpendicular to link 2. Write the vector loop equations for
position and velocity. If the angular velocity of link 2 is 100 rad/s CCW, use the vector loop
equations to solve for the velocity of point C4 for the position corresponding to  = 60.

10"

B
3

Solution
Y
B
2

r3

r2
A

3
C

r1

The basic loop equations is:

r2 = r1 + r3
In component form this equation becomes:
r2 cos
2 = r1 cos
1 + r3 cos
3
r2 sin
2 = r1 sin
1 + r3 sin
3
Substituting the constant values (r3 = 10,
1 = 0), and
3 =
2 + 90 gives
r2 cos2 = r1
r3 sin2
r2 sin2 = r3 cos2
When
2 = 60,
r2 = 10
cos60 / sin60 = 5.774
and
r1 = r2 cos
2 + r3 sin
2 = 5.774cos60 + 10sin60 = 11.547
For the velocities,
- 204 -

r2 = r1 + r3
or in component form,
r2 cos2
r2  2 sin2 = r1
r3 2 cos2
r2 sin2 + r2 2 cos2 =
r3 2 sin2
Substituting the know values gives
r2 sin60 + (5.774)(100)cos60 =
(10)(100)sin60
or
r2 =
1333.40

(1333.40)cos60
(5.774)(100)sin60 = r1
(10)(100)cos60
or
r1 =
666.70
Therefore, 1 vC4 = r1 =
666.70 in/sec.
Problem 5.16
In the simple, two-link mechanism given, 1 vB2 is 10 in/s to the right. Use the loop equation
approach to determine 1 vA2 and 1
2 .
A
AB = 10 inches
2
30

Solution
r3 = r1 + r2
r3 = r1 + r2
In component form
r3 cos
3 = r1 cos
1 + r2 cos
2
r3 sin
3 = r1 sin
1 + r2 sin
2

- 205 -

1v B

A
2
r3

AB = 10 inches
r2

2
1vB

30 o

r1

Substituting the constant angles,

0 = r1 + r2 cos
2
r3 = r2 sin
2
Substituting values
r1 =
r2 cos2 =
10cos150 =
8.66 in
r3 = r2 sin2 = 10sin150 = 5 in
The velocity components are:
0 = r1
 2 r2 sin2
r3 =  2 r2 cos2
Solving for the unknowns,
 2 = r1 / r2 sin2 = 10 / [10sin150] = 2 rad CCW =1  2
sec

r3 = 2 r2 cos2 = 2(10)cos150 =
17.32 in = 1vA 2

sec

Problem 5.17
In the mechanism below, the angular velocity of link 2 is 100 rad/s CCW and the dimensions of
various links are given. Use loop equations to find the position and velocity of point D on link 3
when
2 is 90.
B
3

AB = 1.75 in
AC = 2.5 in
BD = 5 in

C
A

- 206 -

Solution

B
3

r2

r3
C

r1

Loop equation:
r1 = r2 + r3
In component form,
r1 cos
1 = r2 cos
2 + r3 cos
3
r1sin
1 = r2 sin
2 + r3 sin
3
Noting that
1 = 0, these equations can be simplified to:
r1 = r2 cos
2 + r3 cos
3
0 = r2 sin
2 + r3 sin
3
To solve for r3 , eliminate
3 by isolating
3 in each equation, squaring both equations and adding.
Then,
r1
r2 cos2 = r3 cos3

r2 sin2 = r3 sin3
and
r12
2r1r2 cos2 + r22 cos2  2 = r32 cos2 3
r22 sin2 2 = r32 sin2 3
and
r12
2r1r2 cos2 + r22(cos2 2 + sin2 2 ) = r32(cos2 3 + sin2 3)
Because sin2
+ cos2
= 1, this equation becomes,
or

r12
2r1r2 cos2 + r22 = r32

r3 = r12
2r1r2 cos 2 + r22

For the values given in the problem,

- 207 -

r3 = 2.52
2(2.5)(1.75)cos90 + 1.752 = 3.052in.

and
tan 3 =
or

r2 sin2
r1
r2 cos2

tan 3 =
r2 sin2 =
(1.75)sin90 =
0.70

r1
r2 cos2 2.5
1.75cos90
Therefore,
3 =
34.99
To find the position of Point D let r4 = BD. Then,
or

rD = r2 + r4
rD = (r2 cos
2 + r4 cos
3)i + (r2 sin
2 + r4 sin
3 )j

Substituting numbers,
rD = [1.75cos90 + 5cos(
34.99)]i + [1.75sin90 + 5sin(
34.99)]j
= 4.096i
1.117j = 4.246
15.25
The velocity equation is given by:
r1 = r2 + r3
And in component form,

or

0 =
r2 2 sin2 + r3 cos3
r3 3 sin3

0 = r2 2 cos2 + r3 sin3 + r3 3 cos3
r2 2 sin2 = r3 cos3
r3 3 sin3

r2 2 cos2 = r3 sin3 + r3 3 cos3

Substituting numbers for this problem,

1.75(100)sin90 = r3 cos(
34.99)
3.052 3 sin(
34.99)

1.75(100)cos90 = r3 sin(
34.99) + 3.052 3 cos(
34.99)
or

175 = 0.819r3 +1.750  3

175
=  0.819 1.750  r3

or
 0 
0.573 2.500  
 3
 
0 =
0.573r3 + 2.500 3

Using Cramer's Rule,

- 208 -

175 1.750
0 2.500
r3 = 0.819 1.750 = 437.5 = 143.4 in / sec
3.051

0.573 2.500
and

0.819 175

0.573 0
 3 = 0.819 1.750 = 100.28 = +32.87 rad / sec (CCW)
3.051

0.573 2.500

Now considering Point D,

rD = (
r2 2 sin2
r4 3 sin3)i + (r2 2 cos2 + r33 cos3 )j
or
rD = [1.75(100)sin90
5(32.87)sin(
34.99)]i + [1.75(100)cos90 + 5(32.87)cos(
34.99)]j
=
80.78i +134.6 j = 156.98120.97
Therefore,
and

rD3 = 4.096 i-1.117 j = 4.246
-15.25

1v

D3

= -80.78 i + 134.6 j = 156.98
120.97

Problem 5.18
In the Scotch Yoke mechanism shown, 1 2 = 10 rad/s, 1
2 = 100 rad/s2 , and 2 = 60. Also, length
O2 A = 20 inches. Determine 1 vA4 and 1 aA4 using loop equations.

2
2
2

O2
1

4
B

- 209 -

Solution
3

r2

r3

O2
1

r1

4
B

For the vector loop given,

r2 = r1 + r3
and in component form
r2 cos
2 = r1 cos
1 + r3 cos
3
r2 sin
2 = r1 sin
1 + r3 sin
3
We know that

1 = 0,
2 = 60, and
3 = 90
The variables are r1 , r3 , and
2 . Substituting in the know constants gives the following for the
position equations.
r2 cos
2 = r1
r2 sin
2 = r3
For the given input values (r2 = 20 and
2 = 60) it is clear that r1 = 10 and r3 = 17.32.
The velocity equations are:
r2 = r1 + r3
and
r2 cos2
r2  2 sin2 = r1
r2 sin2 + r2 2 cos2 = r3
Simplifying:

- 210 -

r3 = r2 2 cos2 = 20(10)cos60 = 100 in / sec

r1 =
r2 2 sin2 =
20(10)sin60 =
173.2 in / sec
The acceleration equations are:
r2 = r1 + r3
and
r1 =
r22 sin2
r2 22 cos2
r3 = r22 cos2
r222 sin2
These equations simplify to:
2 sin2
r2 22 cos2 =
20(100)sin60
20(10)2 cos60 =
2732 in / sec2
r1 =
r2
r3 = r22 cos2
r222 sin2 = 20(100)cos60
20(10)2 sin60 =
732 in / sec2
1v

= -173.2 in/s

1a

-2732 in/s2

A4

A4 =

Problem 5.19
Use loop equations to determine the velocity and acceleration of point B on link 4. The angular
velocity of link 2 is constant at 10 rad/s counterclockwise.
4
r1 = 10 cm
= 30
2 = 60

r2

2
12

r3

O2

O3

r1
Solution
Position Analysis
The basic vector loop equation is
r1 + r3 = r2
and

- 211 -

r2

r3

2
12

O2

r1

O3

3 =
2 + 
In component form,

or

r1 cos0 + r3 cos
3 = r2 cos
2

r1sin 0 + r3 sin
3 = r2 sin
2
r1 + r3 cos
3 = r2 cos
2
r3 sin
3 = r2 sin
2

In the position shown,
2 = 60. Therefore, by geometry,
2 = 60. Therefore,
3 = 90 . Therefore,

the triangle is a 30-60 right triangle. Therefore,
r2 = r1 / cos
2 = 10 / cos(60) = 20
and
r3 = r1 / sin
2 = 10 / sin(60) = 17.321
Velocity Analysis
The velocity loop equation is
r1 + r3 = r2
In component form,
r1 + r3 cos3
r3 3 sin3 = r2 cos 2
r2  2 sin2
r3 sin3 + r33 cos3 = r2 sin2 + r22 cos2
and

3 =
2
Therefore,
r3 cos3
r2 cos2 =
r2  2 sin2 + r3 3 sin3 =  2[r3 sin3
r2 sin2]
r3 sin3
r2 sin2 = r2 2 cos2
r3 3 cos3 = 2[r2 cos2
r3 cos3 ]

- 212 -

or
r3 cos90
r2 cos60 = 10[17.321sin90
20sin60]
r3 sin90
r2 sin60 = 10[20cos60
17.321cos90]
or
and

0.5 r2 = 0.0
r3
0.866r2 = 100
r2 = 0.0
r3 = 100

Then,
vB4 = r1 + r3 = (r3 cos3
r3 3 sin3,r3 sin3 + r3 3 cos3)
Substituting in numbers,
vB4 = (
173.21,100) = 200 in / sec149.98
Acceleration Analysis
The basic acceleration loop equation is
r1 + r3 = r2
In component form,
r3 cos3
r33 sin3
2r3 3 sin3
r3 23 cos3 = r2 cos 2
r2 2 sin2
2r2 2 sin2
r2 22 cos2
r3 sin3 + r33 cos3 + 2r3 3 cos3
r3 23 sin3 = r2 sin2 + r22 cos2 + 2r2 2 cos2
r2  22 sin2
and

3 =
2 = 0
Then,
r3 cos3
r2 cos2 =
2r2 2 sin2
r2 22 cos2 + 2r3 3 sin3 + r3 23 cos3
r3 sin3
r2 sin2 = 2r2 2 cos2
r222 sin2
2r3 3 cos3 + r323 sin3
Substituting in numbers,

or

r3 cos90
r2 cos60 =
2r2 2 sin60
r2  22 cos60 + 2r33 sin90 + r3 23 cos90

r3 sin90
r2 sin60 = 2r22 cos60
r2 22 sin60
2r3 3 cos90 + r3 23 sin90

0.5r2 =
0.5(20)(100) + 2(100)(10) = 1000  r2 =
2000 in / sec2
r3
0.866r2 =
0.886(20)(100)+ 17.321(100) = 0  r3 =
(0.866)2000 =
1732 in / sec2
aB4 = r1 + r3
= (r3 cos3
r33 sin3
2r3 3 sin3
r3 23 cos3, r3 sin3 + r33 cos3 + 2r3 3 cos3
r3 23 sin3 )

- 213 -

Substituting in numbers,
aB4 = (
2r33, r3
r3 23 ) = (
2(100)10,
1732
17.321(100)) = (
2000,
3464)
vB4 = 200 in / s
aB4 = 4000 in / s2

Problem 5.20
The oscillating fan shown below is to be analyzed as a double rocker. The fan is link 2, the motor
shaft is connected to link 3, and link 4 is connected from the coupler to the frame. The actual input
of the mechanism is the coupler, and 2
3 that is a constant 956 (rad/s) in the counterclockwise
direction. Compute the angular velocity and angular acceleration of link 2 if
= 120, AD = 0.75
in, AB = DC = 3.0 in, BC = 0.50 in.
2

Solution
The basic loop equations is:
r1 + r4 = r2 + r3
In component form, this equation becomes:
r1 cos
1 + r4 cos
4 = r2 cos
2 + r3 cos
3
r1sin
1 + r4 sin
4 = r2 sin
2 + r3 sin
3

- 214 -

3
r3

C
r4
4
2
r2

D
r1

Substituting the constant values (
1 = 0 ) gives

r1 + r4 cos
4 = r2 cos
2 + r3 cos
3
r4 sin
4 = r2 sin
2 + r3 sin
3
To solve for
3 and
4 , rewrite the equations above
r1 + r4 cos4
r2 cos2 = r3 cos3
r4 sin4
r2 sin2 = r3 sin3
Now square both equations and add. The resulting equation is:
2r4 (r1
r2 cos2 )cos4
2r4r2 sin2 sin4 + (r1
r2 cos2 )2 + r22 sin2 2 + r42
r32 = 0
Let
A = 2r4(r1
r2 cos2) = 2  3  (0.75
3cos120) = 13.5
B =
2r4 r2 sin2 =
2  3 3sin120 =
15.588
C = (r1
r2 cos2 )2 + r22 sin2 2 + r42
r32
= (0.75
3cos120)2 + 32 sin2 120 + 32
0.52 = 20.563
Then rewrite the equation above
A cos
4 + Bsin
4 + C = 0

(1)

Simplify using the following trigonometric itentities

2tan
4
2
sin
4 =
1+ tan2
4
2

- 215 -

1
tan2 4
2
cos4 =

1+ tan2 4
2
Let t = tan
4 , and substitute the trigonometric identities into Eq. (1). Then:
2
A(1
t 2) + B(2t) + C(1+ t 2 ) = 0
Collecting terms gives:
(C
A)t 2 + 2Bt + (C + A) = 0
The roots are:
t=

B +  B2
C2 + A2 15.588 +  (
15.588)2
20.5632 + 13.52 15.588 1.549

=
=
7.063
C
A
20.563
13.5

Determine the sign for the square root that corresponds to this problem.
t1 = 2.426 ;

4 = 2tan
1 2.426 = 135.197

t 2 = 1.988;

4 = 2tan
11.988 = 126.586

According to the problem figure,
4 = 126.586 is the correct root. Then

3 = sin
1 r4 sin4
r2 sin2 = sin
1 3sin126.586
3sin120 =
22.233
r3
0.5
The component form for the velocities are:

r4 4 sin4 =
r2 2 sin2
r3 3 sin3
r4  4 cos4 = r2 2 cos2 + r3 3 cos3
Substituting
3 =
2 + 2 3 , into the equations above and simplifying, we get

r4 4 sin4 + (r2 sin2 + r3 sin3) 2 =
r3 (2  3) sin3
r4  4 cos4
(r2 cos2 + r3 cos3)2 = r3 (2 3 ) cos3
Substituting the pertinent values into the equations gives

3sin126.586
 3cos126.586
or

(3sin120 + 0.5sin(
22.233))  4  
0.5  956sin(
22.233)


=

(3cos120 + 0.5cos(
22.233))
 2
0.5 956cos(
22.233)

 4  
486.365

  = 
2  
411.362 
The component equations for acceleration are:

- 216 -

4 sin4
r4 24 cos4 =
r2 

2 sin2
r222 cos2
r3
3 sin3
r332 cos3

r4
4 cos4
r4  24 sin4 = r2
2 cos2
r2 22 sin2 + r3
3 cos3
r3 23 sin3
r4 
2 , into the equations above and rewriting, we get
Substituting
3 =


r44 sin4 + (r2 sin2 + r3 sin 3)2 = r4 24 cos4
r2 22 cos2
r323 cos3
r4 4 cos4
(r2 cos2 + r3 cos3)2 = r4  24 sin 4
r2 22 sin2
r3 23 sin3
Substituting the pertinent values into the equations gives
4


3sin126.586 (3sin120 + 0.5sin(
22.233)) 



 3cos126.586
(3cos120 + 0.5cos(
22.233)) 2 
3(
486.365)2 cos126.586
3(
411.362)2 cos120
0.5(
411.362 + 956)2 cos(
22.233)

=

3(
486.365)2 sin126.586
3(
411.362)2 sin120
0.5(
411.362 + 956)2 sin(
22.233) 
or
4  
4.244  105 


  = 
2 
5.516  105
Therefore
2 = 411.362 rad/sec CW; and 2 = 5.516
10 5 rad / sec2 CW.
Problem 5.21
The rear motorcycle suspension can be analyzed as an inverted slider-crank mechanism. The frame
of the motorcycle is link 1, the tire assemble is attached to link 2 at point C. The shock absorber is
links 3 and 4. As the bicycle goes over a bump in the position shown, the angular velocity of link 2
relative to the frame is 1
2 is 5 (rad/s), and the angular acceleration is 1
2 is 45 (rad/s2 ), both in the
clockwise direction. Compute the angular velocity and angular acceleration of link 3 for the
position defined by
= 187.

(-9.262, 10.728)
14.17"

3
4

4.7

B
C

2
19.27"

- 217 -

X
2

Solution
A

r1

r3

r2

B
C

The basic loop equations is:

r2 = r1 + r3
In component form this equation becomes:
r2 cos
2 = r1 cos
1 + r3 cos
3
r2 sin
2 = r1 sin
1 + r3 sin
3
The known values are:
r1 = 14.17;

1 = 180 + tan
1(10.728 / (
9.262)) = 130.806

r2 = 19.27;

2 =
+ 4.7 = 187 + 4.7 = 191.7

To solve for
3 and r3 , rewrite the equations above as

r2 cos2
r1 cos1 = r3 cos3

(1)

r2 sin 2
r1 sin1 = r3 sin3

(2)

Divide Eq. (2) by Eq. (1), we get

3 = 180 + tan
1 r2 sin2
r1 sin1 = 180 + tan
1 19.27sin191.7
14.17sin130.806
19.27cos191.7
14.17 cos130.806
r2 cos2
r1 cos1
= 236.708
Then,
r3 =

r2 sin2
r1 sin1 = 19.27sin191.7
14.17sin130.806 = 17.507

sin236.708
sin3

The component equations for the velocities are:

r2 2 sin2 = r3 cos3
r33 sin3
r2 2 cos2 = r3 sin3 + r3 3 cos3

- 218 -

Substitute the relevant values

cos236.708
17.507sin236.708  r3  
19.27  (
5)sin191.7
sin236.708 17.507cos236.708 
 3  =
19.27  (
5)cos191.7 
or
 r3  
68.128
  = 

3  
3.891 
The component equations for acceleration are:

r22 sin2
r2  22 cos2 = r3 cos3
2r3 3 sin3
r33 sin3
r3 23 cos3
2 cos2
r2 22 sin2 = r3 sin3 + 2r3 3 cos3 + r3
3 cos3
r332 sin3
r2
Rewrite the equations to put the unknowns on the same side of the equations
2 sin2
r2  22 cos2 + 2r33 sin3 + r3 23 cos3 = r3 cos3
r3
3 sin3

r2
2
2
2 cos2
r2 2 sin2
2r3 3 cos3 + r3 3 sin3 = r3 sin3 + r3
3 cos3
r2
Substitute the pertinent values
cos236.708
17.507sin236.708 r3 
sin236.708 17.507cos236.708   3 

19.27(
45)sin191.7
19.27(
5)2 cos191.7


+2(
68.128)(
3.891)sin236.708 + 17.507(
3.891)2 cos236.708

=

19.27(
45)cos191.7
19.27(
5)2 sin191.7

2(
68.128)(
3.891)cos236.708 +17.507(
3.891)2 sin236.708

or
r3  
688.691
  = 

3  
45.842 
Therefore
3 = 3.891 rad/sec, CW; and
3 = 45.842 rad / sec2 , CW.

- 219 -

Problem 5.22
The door-closing linkage shown is to be analyzed as a slider-crank linkage. Link 2 is the door, and
links 3 and 4 are the two links of the door closer. Assume that the angular velocity of the door (link
2) is a constant at 3.71 radians per second clockwise. Compute the angular velocity and angular
acceleration of link 4 if the dimensions are as follows:
Coordinates of D (-2.5, -3.0)
AB = 17.0 inches

1 2

Door

6
2

x
B

3
4

Solution
Y
r2
r1

C
B
r3

The basic loop equations is:

r1 = r2 + r3
In component form, this equation becomes:
r1 cos
1 = r2 cos
2 + r3 cos
3
r1sin
1 = r2 sin
2 + r3 sin
3
The known values are:
r1 = 2.52 + 3.02 = 3.905;

1 = tan
1(3.0 / 2.5) = 50.194

r2 = 17.0 ;

2 = 174

To solve for
3 and r3 , rewrite the equations above

r1 cos1
r2 cos2 = r3 cos3

(1)

- 220 -

r1sin 1
r2 sin2 = r3 sin3

(2)

Dividing Eq. (2) by (1), we get

3 = tan
1 r1 sin1
r2 sin 2 = tan
1 3.905sin50.194
17sin174 = 3.606
r1 cos1
r2 cos2
3.905cos50.194
17cos174
r3 =

r1 sin1
r2 sin 2 = 3.905sin50.194
17 sin174 = 19.445

sin3.606
sin3

The component equations for the velocities are:

r2 2 sin2 = r3 cos3
r3 3 sin3

r2 2 cos2 = r3 sin3 + r3 3 cos3
Substitute the relevant values
cos3.606
19.445sin3.606  r3   17 (
3.71)sin174 
=

sin3.606 19.445cos3.606 
 3

17 (
3.71)cos174
or
 r3  
10.525
  = 

3  
3.198 
The component equations for the acceleration are:
r22 sin2 + r2 22 cos2 = r3 cos3
2r3 3 sin3
r33 sin3
r332 cos3

r22 cos2 + r2  22 sin2 = r3 sin3 + 2r3 3 cos3 + r33 cos3
r3 23 sin3
Rewrite the equations to isolate the unknowns on the same side of the equations
r22 sin2 + r2 22 cos2 + 2r3 3 sin3 + r3 23 cos3 = r3 cos3
r33 sin3

r22 cos2 + r2  22 sin2
2r33 cos3 + r3 23 sin3 = r3 sin3 + r33 cos3
Substituting the pertinent values gives
cos3.606
19.445sin3.606 r3

 
 sin3.606 19.445cos3.606  
3
2
17(
3.71) cos174 + 2(
10.525)(
3.198)sin3.606 + (19.445)(
3.198)2 cos3.606

= 

17(
3.71)2 sin174
2(
10.525)(
3.198)cos3.606 + (19.445)(
3.198)2 sin3.606 
or
r3  
31.842
  = 

3  
1.454 
3 = 1.454 rad / sec2 , CW.
Therefore
3 = 3.198 rad/sec, CW; and

- 221 -

Problem 5.23
The general action of a person who is doing pushups can be modeled as a four-bar linkage as
shown below. The floor is the base link, and link 4 is the back and legs. Link 2 is the forearm, and
link 3 is the upper arm. For the purposes of analysis, the motion that is controlled is the motion of
link 3 relative to link 2 (elbow joint). Assume that 2
3 is a constant 6.0 rad/s in the
counterclockwise direction. Compute the angular velocity and angular acceleration of link 4 if link
2 is oriented at 45 to the horizontal.

14.0"

C
2

3
3

2
A

57.7"
4

B
45

D
12.0"
52.0"

Solution
Y
C

r3
A

r4

r2

r1

The basic loop equations is:

r1 + r4 = r2 + r3
In component form, this equation becomes:
r1 cos
1 + r4 cos
4 = r2 cos
2 + r3 cos
3
r1sin
1 + r4 sin
4 = r2 sin
2 + r3 sin
3
Substituting the constant values (
1 = 0) gives
r1 + r4 cos
4 = r2 cos
2 + r3 cos
3
r4 sin
4 = r2 sin
2 + r3 sin
3
To solve for
3,
4, rewrite the equations above by isolating the terms which contain
3 . Then,
r1 + r4 cos4
r2 cos2 = r3 cos3
r4 sin4
r2 sin2 = r3 sin3

- 222 -

Square both sides of both equations and add the results. This gives
2r4 (r1
r2 cos2 )cos4
2r4r2 sin2 sin4 + (r1
r2 cos2 )2 + r22 sin2 2 + r42
r32 = 0

(1)

Let
A = 2r4(r1
r2 cos2) = 2  57.7  (52.0
12.0cos45) = 5021.6
B =
2r4 r2 sin2 =
2  57.7 12.0 sin45 =
979.2
C = (r1
r2 cos2 )2 + r22 sin2 2 + r42
r32
= (52.0
12.0cos45)2 +12.02 sin2 45 + 57.72
14.02 = 5098.8
Equation (1) can now be simplified as
A cos
4 + Bsin
4 + C = 0

(2)

Simplify the resulting equation using

2
sin
4 = 2t 2 and cos4 = 1
t2 .
1+ t
1+ t

where t = tan
4 . Then, Eq. (2) becomes

2
A(1
t 2) + B(2t) + C(1+ t 2 ) = 0

(3)

Collecting terms in Eq. (3) gives:

(C
A)t 2 + 2Bt + (C + A) = 0
The roots are:
t=

B +  B2
C2 + A2 979.2 +  (
979.2)2
5098.82 + 5021.62

=
C
A
5098.8
5021.6

where b =
= 1. Then,
t1 = 18.142 which gives  4 = 2tan
1 18.142 = 173.69
t 2 = 7.226 which gives  4 = 2tan
1 7.226 = 164.242
According to the picture shown, the appropriate value is
4 = 164.242. Then,
3 = sin
1 r4 sin4
r2 sin2
r3
57.7sin164.242

12.0sin45 = 149.12

1
= sin
14.0
The component form of velocity equations is:

r4 4 sin4 =
r2 2 sin2
r3 3 sin3
r4  4 cos4 = r2 2 cos2 + r3 3 cos3

- 223 -

When we substitute
3 =
2 + 2 3 , into the equations above and rewrite, we get

r4 4 sin4 + (r2 sin2 + r3 sin3) 2 =
r32 3 sin3
r4  4 cos4
(r2 cos2 + r3 cos3)2 = r3 2 3 cos3
Substituting the pertinent values into the equations and rewriting them in matrix form gives
12.0sin45 +14.0 sin149.12  4  
14.0  6.0sin149.12

57.7sin164.242
 57.7cos164.242
(12.0cos45 + 14.0cos149.12)
 2  =
14.0  6.0cos149.12 
or
 4   1.2 

  = 
2  
1.55
The component equations for the accelerations are:

r44 sin4
r4 24 cos4 =
r2 2 sin2
r222 cos2
r33 sin3
r332 cos3
r4 4 cos4
r4  24 sin4 = r22 cos2
r2 22 sin2 + r33 cos3
r3 23 sin3
Substitute
3 =
2 into the equations above and rewrite. This gives
4 sin4 + (r2 sin2 + r3 sin 3)
2 = r4 24 cos4
r2 22 cos2
r323 cos3

r4
4 cos4
(r2 cos2 + r3 cos3)
2 = r4  24 sin 4
r2 22 sin2
r3 23 sin3
r4 
Now substitute the pertinent values into the equations to get
4


57.7sin164.242 (12.0sin45 +14.0 sin149.12) 

 57.7cos164.242
(12.0cos45 + 14.0cos149.12) 
2 
57.7(1.2)2 cos164.242
12.0(
1.55)2 cos45
14.0(
1.55 + 6.0)2 cos149.12

=

57.7(1.2)2 sin164.242
12.0(
1.55)2 sin45
14.0(
1.55 + 6.0)2 sin149.12 
or

4   3.29 

  = 

2  12.07
Therefore
4 = 1.2 rad/s, CCW and
4 = 3.29rad / s2 , CCW.

- 224 -

Problem 5.24
A carousel mechanism can be modeled as an inverted slider-crank mechanism as shown. Point D is
the location of the saddle on the horse. Assume that the angular velocity of the driver (Link 2) is a
constant 2 rad/s counterclockwise. Compute the velocity and acceleration of D3 in the position
shown if AB = 8.0 in, BC = 96.0 in, and BD = 54 in.
2
A

45

12

C
Solution
The basic loop equations is:
r1 = r2 + r3
In component form, this equation becomes:
r1 cos
1 = r2 cos
2 + r3 cos
3
r1sin
1 = r2 sin
2 + r3 sin
3
r2 = 8.0; 2 =
45
r3 = 96.0 ;

3 = cos
1(
r2 cos2 / r3) = cos
1(
8cos(
45) / 96) =
93.378

1 =
90
r1 = r2 sin2 + r3 sin3 = 8sin(
45) + 96sin(
93.378) = 101.490
sin(
90)
sin1

- 225 -

In component form, the velocities are:

r2 2 sin2 = r3 cos3
r3 3 sin3

r2 2 cos2 = r3 sin3 + r3 3 cos3
Substitute the relevant values
Y
A

r2
2

r1

r3

C
cos(
93.378)
96 sin(
93.378) r3
 8(2)sin(
45)

sin(
93.378) 96cos(
93.378)   3  = 
8(2)cos(
45)

or

 r3  11.964
  = 

3  
0.111

To solve for vD 3 ,
rC /D =
rC/ D(cos3i + sin3 j)
vD 3 = rC /D =
rC / D(cos3i + sin3 j)
rCD 3(
sin3i + cos3 j)
= [(
11.964)cos(
93.378) + 42(
0.111)sin(
93.378)]i
+ [(
11.964)sin(
93.378)
42(
0.111)cos(
93.378)]j
= 5.359i + 11.669j = 12.84165.333
Therefore vD 3 = 12.841
65.333 in/sec.
- 226 -

The component equations for acceleration are:

2 sin2 + r2 22 cos2 = r3 cos3
2r3 3 sin3
r3
3 sin3
r332 cos3
r2
2 cos2 + r2  22 sin2 = r3 sin3 + 2r3 3 cos3 + r3
3 cos3
r3 23 sin3

r2
Rewriting the equations
2 sin2 + r2 22 cos2 + 2r3 3 sin3 + r3 23 cos3 = r3 cos3
r3
3 sin3
r2
2
2
2 cos2 + r2  2 sin2
2r33 cos3 + r3 3 sin3 = r3 sin3 + r3
3 cos3

r2
Substituting the pertinent values
cos(
93.378)
96 sin(
93.378)r3

sin(
93.378) 96cos(
93.378)  3 

8(2)2 cos(
45) + 2(11.964)(
0.111)sin(
93.378) + 96(
0.111)2 cos(
93.378)

= 

8(2)2 sin(
45)
2(11.964)(
0.111)cos(
93.378) + 96(
0.111)2 sin(
93.378) 
or

r3  22.444
  = 


3   0.277 

To solve for aD 3 ,
aD 3 = rCD =
rCD (cos3i + sin3 j)
2rCD 3(
sin3i + cos3 j)
3(
sin3i + cos3 j)+ rCD 23 (cos3i + sin3 j)

rCD
=
(22.444)(cos(
93.378)i + sin(
93.378)j)

2(11.964)(
0.111)(
sin(
93.378)i + cos(
93.378)j)

42(0.277)(
sin(
93.378)i + cos(
93.378)j)
+42(
0.111)2 (cos(
93.378)i+ sin(
93.378)j)
=
7.669i + 22.411j = 23.687108.891
Therefore aD 3 = 23.687
108.891 in / sec2 .

Problem 5.25
The shock absorber mechanism on a mountain bicycle is a four-bar linkage as shown. The frame
of the bike is link 1, the fork and tire assembly is link 3, and the connecting linkage are links 2 and
4. As the bicycle goes over a bump in the position shown, the angular velocity of link 2 relative to
the frame is
2 is 205 (rad/s) CW, and the angular acceleration is
2 is 60 (rad/s2 ) CW.
Compute the angular velocity and angular acceleration of link 3 for the position shown

- 227 -

201
A
2

1.64"

3
4
C
2.22"

Solution

A
2

12

r3

r4

r1
D

4
C

The basic loop equations is:

r1 + r2 = r3 + r4
In component form, this equation becomes:
r1 cos
1 + r2 cos
2 = r3 cos
3 + r4 cos
4
r1sin
1 + r2 sin
2 = r3 sin
3 + r4 sin
4
The known values are:
r1 = 1.55"

r2 = 1.88"

1 = 119

2 = 201

r3 = 1.64"

r4 = 2.22"

To solve for
3 ,
4 , rewrite the equations above to isolate
4 in both equations. Then,

- 228 -

1.55"
1

1.88"

r2

61

1 2

r1 cos1 + r2 cos2
r3 cos3 = r4 cos4

r1sin1 + r2 sin2
r3 sin3 = r4 sin4

(1)

Square both sides of both equations and add the results. This gives
2r3(r1 cos1 + r2 cos2)cos3 + 2r3 (r1 sin1 + r2 sin2 )sin3
+r42
r32
(r1 cos1 + r2 cos2 )2
(r1 sin1 + r2 sin2 )2 = 0

(2)

To simplify the equation, let

A = 2r3 (r1 cos1 + r2 cos2 ) = 2(1.64)(1.55cos119 + 1.88cos201) =
8.222
B = 2r3(r1 sin1 + r2 sin2 ) = 2(1.64)(1.55sin119+ 1.88sin201) = 2.237
C = r42
r32
(r1 cos1 + r2 cos2)2
(r1 sin1 + r2 sin2 )2
= 2.222
1.642
(1.55cos119 + 1.88cos201)2
(1.55sin119 + 1.88sin201)2
=
4.509
Now rewrite Eq. (2) as
A cos
3 + Bsin
3 + C = 0
2
To solve for
3 , replace the trignometric functions with sin
3 = 2t 2 and cos3 = 1
t 2 where
1+ t
1+ t
t = tan
3 . Then
2

A(1
t 2) + B(2t) + C(1+ t 2 ) = 0

(3)

Collecting terms in Eq. (3) gives:

(C
A)t 2 + 2Bt + (C + A) = 0
The roots are:
t=

B +  B2
C2 + A2
2.237 +  2.2372
(
4.509)2 + (
8.222)2

=
C
A

4.509 + 8.222

where
= 1. The two possible solutions are

t1 = 1.345 which gives 3 = 2tan
11.345 = 106.7
t 2 =
2.550 which gives3 = 2tan
1(
2.550) =
137.2
According to the picture shown, the correct value is
3 = 106.7. Then from Eq. (1),

and

tan 4 = r1 sin1 + r2 sin2
r3 sin3

r1 cos1 + r2 cos2
r3 cos3

- 229 -

4 = tan
1 r1 sin1 + r2 sin2
r3 sin3

r1 cos1 + r2 cos2
r3 cos3
= tan
1 1.55sin119 +1.88sin 201
1.64sin106.7 =
156.4
1.55cos119 +1.88 cos201
1.64cos106.7

[
[

The component form of velocity equations is:

r2
2 sin
2 = r3
3 sin
3 + r4
4 sin
4
r2
2 cos
2 = r3
3 cos
3 + r4
4 cos
4
Substitute the pertinent values into the velocity equations to get
1.64sin106.7 2.22sin(
156.4)  3
1.88(
205)sin201

1.64cos106.7 2.22cos(
156.4)  4  =  1.88(
205)cos201

or
 3  
10.777 

  = 
 4  
174.393
The component equations for acceleration is:
r22 sin2 + r2 22 cos2
r3 23 cos3
r424 cos4 = r33 sin3 + r4 4 sin4
r22 cos2
r2 22 sin2 + r3 23 sin3 + r4  24 sin4 = r33 cos3 + r4 4 cos 4
Substitute the pertinent values into the acceleration equations to get
3 
1.64sin106.7 2.22sin(
156.4) 
1.64cos106.7 2.22cos(
156.4) 4 
1.88(
60)sin201 + 1.88(
205)2 cos201
1.64(
10.777)2 cos(106.7)

2.22(
174.393)2 cos(
156.4)
= 1.88(
60)cos201

2
2
1.88(
205) sin201 + 1.64(
10.777) sin(106.7) 

+2.22(
174.393)2 sin(
156.4)
or
3  
7026.414


  = 
 4   860.77 
Therefore
3 = 10.777 rad/s, CW and
3 = 7026.4 rad / s2 , CW.

- 230 -