Problem 4.3 In the linkage shown below, locate all of the instant centers.

3.3" 6

AB = 1.35" BD = 3.9" DE = 0.9" BC = 0.9" CF = 2.0" 2 A

F B C 5

55

E 4 D\

Solution
1 6 2 I13 I 36

I1 5 4 2 A I26 I12 3 B I2
3

I15

6 F 6

I56

I25 C I 3
5

I 24

I14

E 4 I3
4

I46 D I4
5

Problem 4.4 Find all of the instant centers of velocity for the mechanism shown below. -4-

I 15 I 45 D I34 C 4 E 5 I35 I 25 I 24 I 23 2 A I 12

E 5 D 4 5.0 cm 2 28 A
I14 3

AB = 8.0 cm AC = 4.5 cm BD = 13.0 cm DE = 2.9 cm

B I 13 2

B
4 3 Solution

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Problem 4.5 Locate all of the instant centers in the mechanism shown below. If link 2 is turning CW at the rate of 60 rad/s, determine the linear velocity of points C and E using instant centers.
C AD = 3.8" AB = 1.2" BC = 3.0" CD = 2.3" CE = 1.35" EB = 2.05" 3 4 B E 2 125 D A

Velocity Analysis The two points of interest are on link 3. To find the angular velocity of link 3, use I13 and I23. Then
1vI
23

= 12 rI23 / I12 = 13 rI23/ I13

Therefore,
13

= 12

rI23/ I12 = 60 1.2 = 17.7 rad / s 4.07 rI23 / I13

Because the instant center I23 lies between I12 and I13, 13 is in the opposite direction of 12. Therefore, 13 is counterclockwise. Then,
1vC
3

= 13 r C / I13 1vC3 = 13 r C / I13 = 17.7 2.11 = 37.3 in / s

and
1vE
3

= 13 rE/ I13 1v E3 = 13 rE/ I13 = 17.7 3.25 = 57.5 in / s

The directions for the velocity vectors are shown in the drawing.

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I 13

I 34

3 vC 3

4 E

vE 3

I23 B 2

vB3

D I 14

A I12

I 24

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Problem 4.6 Locate all of the instant centers in the mechanism shown below. If the cam (link 2) is turning CW at the rate of 900 rpm, determine the linear velocity of the follower using instant centers.

3 103

R AB = 1.5" R = 0.75" B 2 70 A

Instant Centers

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Velocity of the Follower

Convert the angular velocity from rpm to rad/s

2 = 900 rpm =

900(2 ) = 94.25 rad / s CW 60sec

At the point I 23 the linear velocity of follower and cam is same.

v I 23 = 1 v A2 + 1 v I23 / A2 = 0 + 12 rI 23 / A = (94.25 rad / s )(0.82 in) = 77.285 in / s Down

Problem 4.7

Locate all of the instant centers in the mechanism shown below. If link 2 is turning CW at the rate of 36 rad/s, determine the linear velocity of point B4 by use of instant centers. Determine the angular velocity of link 4 in rad/s and indicate the direction. Points C and E have the same vertical coordinate, and points A and C have the same horizontal coordinate.
D C 100 B 3 2 A AB = 1.1" AC = 0.9" CD = 1.5" DE = 3.25" 4 5 E 6

Solution: Find all instant centers and linear velocity of point B2.
1 vB
2

= 12 rB2 / A2 1v B2 = 1 2 rB2 / A2 = 36 1.1 = 39.6 in / s

Using rotating radius method,

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1 vB

= 32.5 in / s

To calculate the angular velocity of link 4, we can use the relations between related instant centers.
1 2 rI24 / I12 =1 4 rI24 / I14

1 4

= 1 2

rI24 / I12 = 36 1.283 = 21.1 rad / s rI24 / I14 2.186

Therefore,
1 4

= 21.1 rad / s CW

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I15

I 46

I45 D 4 I 36 I35 E I 56 I 26 1 I13 6 2 I16 6 5

I14 C
1v 1v B
4

I25

B2

I 23 B
1 v 'I
24

I12 2 A

I34

1v 'B

5
1v I

3 4

I 24
24

Problem 4.8

Using the instant-center method, find angular velocity of link 6 if link 2 is rotating at 50 rpm CCW.

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Problem 4.12

If 2 = 5 rad/s CCW, find 5 using instant centers.

B 5 A 62 2 2 D E C 4 3

AE = 4.1" EF = 2.0" AB = 1.5" BC = 1.55" CF = 4.0" DE = 1.0"

Solution: Draw linkage to scale and find necessary instant centers ( I12, I15, and I25 ). The relationshp between 1 2 and 1 5 is
1 2

rI25/ I12 = 15 rI25 / I15

(1)

Solve Eq. (1) for 15 ,

1 5

= 12

rI25/ I12 = 5 1.83 = 4.03 rad / s rI25 / I15 2.27

So,
1 5

= 4.03 rad / s CW

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4 B I 35 5 I 45

C I 34 3

A I15 1 D 5 2 I 25 2

E I 12 I23

I13 F 4 3

Problem 4.13

If 2 = 1 rad/s CCW, find the velocity of point A on link 6 using the instant center method. Show vA6 on the drawing.
AC = BC = 1.4" BE = 3.15" DF = 1.6" 6 30 5 C 35 D E 4 X B 3

A Y

2 F (3.6", 1.45") 2

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Solution:
I 13

I 12 A I46 6 I26 C I 16
1 vI

F I36
1 vA 6
1 v'I

2 I25 D 5
1 v'
D2

I 35

26

3 I34

E 4

I 14

1 vD

26

1 6 2

5 4

I 23

Find necessary instant centers, i.e. I12, I16, and I26 , and the velocity of point D as - 21 -

Problem 4.19

If the velocity of A2 is 10 in/s to the right, find 6 using instant centers.

D AB = 1.75" BC = 1" BD = 3" ED = 2.25" CE = 1.45"

5 6

B 98 E C 4 2 3 A vA2

Solution: Find necessary instant centers as shown in the sketch above, i.e. I12, I16, and I26 . All points in link 2 have the same velocity; therefore,
1 vA
2

= 1v' A2 = 1v I26

Using the rotating radius method,

1 vD
6

= 1v D6 / E6 = 13.2 in / s

Now,
1 vD6 / E6

= 1 6 rD6 / E6 16 =

1vD / E 6 6

rD6 / E6

= 13.2 = 5.87rad / s 2.25

Therefore,
16

= 5.87 rad / s CW

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1 I56 D I26
' vA 2

5 4

5 I24 4 I 46 2 I34 , I45 B E I16 C I14 3 A I23 vA2 I12

Problem 4.20

Crank 2 of the push-link mechanism shown in the figure is driven at 2 =60 rad/s (CW). Find the velocity of points B and C and the angular velocity of links 3 and 4 using the instant center method.
B Y O2 A = 15 cm O4 B = 30.1 cm 3 D C O2 30 2 A 4 A B = 29.5 cm A = 14.75 cm D D = 7.5 cm C 7.5 cm O 2 O4 =

O4

Solution: Find all instant centers and velocity of point A

1 vA
2

= 12 rA2 / O2 1vA2 = 12 rA2 /O2 = 60 0.015 = 0.9 m / s

Using rotating radius method,

1 vB
3

= 1.15 m / s

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