181

Chapter 12
Dynamic Force Analysis (Planar)
1

12.1 The steel bell crank shown in the figure is used as an oscillating cam follower. Using
7.83 Mg/
3
m for the density of steel, find the mass moment of inertia of the lever about
an axis through O.
For the vertical arm, using Appendix Table 5,
( )( )( )( )
3
18.75 mm 93.75 mm 9.375 mm 7.83 Mg/m 129 g = = = m wht
( ) ( ) ( ) ( )
2 2
2 2 2 2
12 129 g/9810 mm/s 18.75 mm 93.75 mm 12 10.02 g mm s + = + =

=

G
m a c I
( )( )
2
2 2 2 2
10.02 g mm s 129 g/98.10 mm/s 37.5 mm 28.51 g mm s
O G
I I md = + = = +
For the horizontal arm, using Appendix Table 5,
( )( )( )( )
3
9.375 mm 18.75 mm 150 mm 7.83 Mg/m 206 g = = = m wht
( ) ( ) ( ) ( )
2 2
2 2 2 2
12 206 g/9810 mm/s 18.75 mm 150 mm 12 39.99 g mm s = + + =

=

G
m a c I
( )( )
2
2 2 2 2
39.99 g mm s 206 g/9810 mm/s 84.375 mm 189.48 g mm s = + = = +
O G
I I md
For the roller, using Appendix Table 5,
( ) ( )( )
2
2 3
12.5 mm 12.5 mm 7.83 Mg/m 48 g = = = m r t
( )( )
2
2 2 2
2 48 g 9810 mm/s 12.5 mm 2 0.382 g mms = = =
G
I mr
( )( )
2
2 2 2 2
0.382 g mm s 48 g 9810 mm/s 150 mm 110.47 g mm s = + = = +
O G
I I md
For the compositie lever
( ) ( ) ( ) 129 g 206 g 48 g 383 g = + + = m
( ) ( ) ( )
2 2 2 2
28.51 g mm s 189.48 g mm s 110.47 g mm s 328.46 g mm s = + + =
O
I

2
0.33 kg mm s =
Ans.

1
Unless stated otherwise, solve all problems without friction and without gravitational loads.

182


12.2 A 5- by 50- by 300-mm steel bar has two round steel disks, each 50 mm in diameter and
20 mm long, welded to one end as shown. A small hole is drilled 25 mm from the other
end. The density of steel is 7.80 Mg/
3
m . Find the mass moment of inertia of this
weldment about an axis through the hole.
For the rectangular bar, using Appendix Table 5,
( )( )( )( )
3
0.050 m 0.300 m 0.005 m 7.80 Mg/m 0.585 kg m wht = = =
( ) ( ) ( ) ( )
2 2
2 2 2
12 0.585 kg 0.050 m 0.300 m 12 0.004 509 kg m
G
I m a c

= + = + =

( )( )
2
2 2 2
0.004 509 kg m 0.585 kg 0.125 m 0.013 650 kg m
O G
I I md = + = + =
For the two circular disks, using Appendix Table 5,
( ) ( )( )
2
2 3
2 2 0.025 m 0.020 m 7.80 Mg/m 0.613 kg m r t = = =
( )( )
2
2 2
2 0.613 kg 0.025 m 2 0.000 191 kg m
G
I mr = = =
( )( )
2
2 2 2
0.000 191 kg m 0.613 kg 0.250 m 0.038 480 kg m
O G
I I md = + = + =
For the compositie lever
( ) ( ) 0.585 kg 0.613 kg 1.198 kg m = + =
( ) ( )
2 2 2
0.013 650 kg m 0.038 480 kg m 0.052 130 kg m
O
I = + = Ans.
12.3 Find the external torque which must be applied to link 2 of the four-bar linkage shown to
drive it at the given velocity.
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )( )
3
2 2
3 3

0.3214 kg 9.81 m/s 1896 +225 m/s

62.1 7.37 kg 63.56 kg 186.77

=
=
= =
G
m
i j
f A
i j
( )( )
4
2 2
4 4

0.3214 kg 9.81 m/s 684 +225 m/s

22.4 7.37 kg 26.33 kg 198.21

=
=
= =
G
m
i j
f A
i j

( )( )
3
3 3
2 2

17.47 g cms 4 950 rad/s

86.48 kg cm 0.8648 kg m
=
=
= =
G
I t
k
k k

( )( )
4
4 4
2 2

12.91 g cms 8 900 rad/s

114.94 kg cm
=
=
=
G
I t
k
k

( ) ( ) ( ) ( )
3 3 3 4 4 4
0.8648 kg m 63.56 kg 13.6 mm, 1.149 kg m 26.33 kg 43 mm = = = = = = h t f h t f
Next, the free body diagrams are drawn. Since the lines of action for the forces on the
free body diagrams can not be discovered from two- and three-force member concepts,
the force
34
F is divided into radial and transverse components. (Notice that it is totally
coincidental that the reaction components are also exactly aligned with the radial and
transverse axes of link 3.)
183



4 4 4 4
4 4 34
t
O G O BO
= + + =

M R f t R F 0
( ) ( ) ( ) ( )( )
34

45 60 mm 22.4 7.37 kg 1.149 kg m 90 120 mm 0.800 0.600 + + + + + =
t
F i j i j k i j i j 0
( ) ( ) ( )
34

1.676 kg m 1.149 kg m 0.15 m = + +
t
F 0 k k k
34
19.98 kg =
t
F
3
3 3 43
r
A G A BA
= + + =

M R f t R F 0
( ) ( ) ( ) ( ) ( )
43

80 60 mm 62.1 7.37 kg 0.8648 kg m 160 120 mm 0.600 0.800 + + + + =
r
F i j i j k i j i j 0
( ) ( ) ( )
43

3.1364 kg m 0.8648 kg m 0.2 m = + +
r
F 0 k k k
43
11.36 kg =
r
F
34

9 21.34 kg 23.15 kg 67.26 = + = F i j
43 3 23
= + + =

F F f F 0
23

72.18 29 kg 77.63 kg 21.82 = + = F i j
2 2
32 12
0
O AO
= + =

M R F M
12

21.47 N m or 2.167 kg m = M k Ans.

12.4 Crank 2 of the four-bar linkage shown in the figure is balanced. For the given angular
velocity of link 2, find the forces acting at each joint and the external torque that must be
applied to link 2.
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )( )
3
2 2
3 3

1.2 kg 9.81 m/s 948 +78.6 m/s

115.96 9.61 kg 116.36 kg 4.74

=
=
= =
G
m
i j
f A
i j
( )( )
4
2 2
4 4

3 kg 9.81 m/s 240 633 m/s

73.39 193.58 kg 207 kg 69.24

=
=
= + =
G
m
i j
f A
i j

184


( )( )
3
3 3
2 2

0.0066 N m s 6 500 rad/s

42.9 N m
G
I =
=
=
t
k
k

( )( )
4
4 4
2 2

0.059 N m s 240 rad/s

14.16 N m
G
I =
=
=
t
k
k

( ) ( )
3 3 3
42.9 N m 116.36 9.81 N 37.58 mm = = = h t f ,
( ) ( )
4 4 4
14.16 N m 207 9.81 N 6.97 mm = = = h t f
Next, the free body diagrams are drawn. Since the lines of action for the forces on the
free body diagrams can not be discovered from two- and three-force member concepts,
the force
34
F is divided into radial and transverse components.

4 4 4 4
4 4 34
t
O G O BO
= + + =

M R f t R F 0
( ) ( ) ( ) ( )( )
34

36.52 93.1 mm 720 1899 N 14.16 N m 73 186 mm 0.931 0.365 + + + + + =
t
F i j i j k i j i j 0
( ) ( ) ( )
34

2.32 N m 14.16 N m 0.2 m = + +
t
F 0 k k k
34
82.4 N =
t
F
3
3 3 43 43
t r
A G A BA BA
= + + + =

M R f t R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( ) 43

181.35 110.77 mm 1157 97.9 N 44.52 N m 362.7 221.55 mm 75.65 31.15 N

362.7 221.55 mm 0.365 0.931
+ + + + +
+ + =
r
F
i j i j k i j i j
i j i j 0
( ) ( ) ( ) ( )
43

148.2 N m 44.52 N m 18.66 N m 297.175 mm + = + +
r
F 0 k k k k
43
280.35 N =
r
F
34

26.7 293.7 N 293.7 N 95.06 = = F i j Ans.
34 4 14
= + + =

F F f F 0
14

720.9 1668.75 N 1815.6 N 113.27 = = F i j Ans.
43 3 23
= + + =

F F f F 0
23

1183.7 195.8 N 1201.5 N 170.57 = = F i j Ans.
32 12
= + =

F F F 0
12

1183.7 195.8 N 1201.5 N 9.43 = + = F i j Ans.
2 2
32 12
0
O AO
= + =

M R F M
12

49.6 N m = M k Ans.
185


12.5 For the angular velocity of crank 2 given in the figure, find the reactions at each joint and
the external torque to be applied to the crank.
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )( )
2 2
3
3 3

1.54 kg 9.81 m/s 2385 1487 m/s

374.4 233.4 kg 441.7 kg 31.95
G
m

=
=
= + =
i j
f A
i j

( )( )
4
2 2
4 4

1.298 kg 9.81 m/s 2394 m/s

316.75 kg 316.75 kg 0.00

=
=
= =
G
m
i
f A
i

43,330.7 N 31.95 = 3107.3 N 0.00 =
( )( )
3
3 3
2 2

0.012 N ms 7 670 rad/s

92 N m
=
=
=
G
I t
k
k

4
4 4 G
I = = t 0
( ) ( )
3 3 3
92 N m 43,330.7 N 21.23 mm = = = t f h ,
4 4 4
0 h t f = =
Next, the free body diagrams are drawn and the solution proceeds.

3
3 3 4 14 A G A BA BA
= + + + =

M R f t R f R F 0
( ) ( ) ( )
( ) ( ) ( ) ( ) 14

110.725 19.875 mm 3675.7 2291.75 N 92 N m

295.275 53.025 mm 316.75 9.81 N 295.275 53.025 mm
+ +
+ + = F
i j i j k
i j i i j j 0
( ) ( ) ( ) ( ) 14

331.99 N m 92 N m 167 N m 0.295 m + = + + F 0 k k k k
14
1975.8 N = F
14

1975.8 N 1975.8 N 90 = = F j Ans.

4 14 34
= + + =

F f F F 0
34

3107.3 1975.8 lb 3675.7 N 147.50 = + = F i j Ans.
43 3 23
= + + =

F F f F 0
23

6777.3 315.95 N 6788.25 N 177.33 = = F i j Ans.
32 12
= + =

F F F 0
12

6777.3 315.95 N 6788.25 N 177.33 = = F i j Ans.
2 2
32 12
0
O AO
= + =

M R F M
12

348 N m = M k Ans.
186


12.6 The figure shows a slider-crank mechanism with an external force
B
F applied to the
piston. For the given crank velocity, find all the reaction forces in the joints and the
crank torque.
The DAlembert inertia forces and offsets are:
( )( )
2 2
2
2 2

0.43 kg 9.81 m/s 685.8 396 m/s

30.4 17.7 kg 35.4 kg 30.00
+
=
=
= =
G
m
i j
f A
i j

2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )( )
2 2
3
3 3

1.59 kg 9.81 m/s 1708.8 680.1 m/s

276.9 110.2 kg 298 kg 21.70
+
=
=
= =
G
m
i j
f A
i j

( )( )
4
2 2
4 4

1.13 kg 9.81 m/s 1884 m/s

217 kg 217 kg 0.00

=
=
= =
G
m
i
f A
i

( )( )
3
3 3
2 2

0.012 Nms 3 090 rad/s

37 N m
G
I =
=
=
t
k
k

4
4 4 G
I = = t 0
( ) ( )
3 3 3
37 N m 298 9.81 N 12.65 mm = = = t f h ,
4 4 4
0 h t f = =
Next, the free body diagrams are drawn and the solution proceeds.

3
3 3 4 14 A G A BA BA B BA
= + + + + =

M R f t R f R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) 14

0.087 0.011 m 2716.4 1081 N 37 N m 0.298 0.0375 m 2128.7 N

0.298 0.0375 m 3560 N 0.298 0.0375 m
+ + + +
+ + + + = F
i j i j k i j i
i j i i j j 0
( ) ( ) ( ) ( ) ( ) 14

123.93 N m 37 N m 79.83 N m 133.5 N m 0.298 m + = + + + F 0 k k k k k
14
111.6 N = F
14

111.6 N 111.6 N 90 = = F j Ans.

4 14 34 B
= + + + =

F f F F F 0
34

1388 111.6 N 1393 N 4.95 = = F i j Ans.
43 3 23
= + + =

F F f F 0
23

1366 975 N 1678 N 144.50 + = = i j F Ans.
32 12
= + =

F F F 0
12

1664 1148 N 2020 N 145.40 + = = i j F Ans.
2 2
32 12
0
O AO
= + =

M R F M
12

12.2 N m = M k Ans.
187


12.7 The following data apply to the four-bar linkage shown in the figure:
2
0.3 m
AO
R = ,
4 2
0.9 m
O O
R = , 1.5 m
BA
R = ,
4
0.8m
BO
R = , 0.85 m
CA
R = , 33
C
= ,
4
0.4 m
DO
R = ,
53
D
= ,
2 2
0
G O
R = ,
3
0.65 m
G A
R = , 16 = ,
4 4
0.45m
G O
R = , 17 = ,
2
5.2 kg m = ,
3
65.8 kg m = ,
4
21.8 kg m = ,
2
2
2.3 kg m
G
I = ,
3
2
4.2 kg m
G
I = ,
4
2
0.51 kg m
G
I = . A kinematic analysis at
2
53 = ,
2

12 rad/s ccw = k , and

2
0 = ,
gave
3
0.7 = ,
4
20.4 = ,
2
3
85.6 rad/s cw = ,
2
4
172 rad/s cw = ,
3
2
96.4 259 m/s
G
= A , and
4
2
97.8 270 m/s
G
= A . Find all the pin reactions and the
torque to be applied to link 2.
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )( )
3
2
3 3

65.8 kg 18.394 94.629 m/s

1 210 6 227 N 6 343 N 259
G
m

=
=
= =
i j
f A
i j
( )( )
4
2
4 4

21.8 kg 97.800 m/s

2 132 N 2 132 N 90
G
m

=
=
= =
j
f A
j

( )( )
3
3 3
2 2

4.200 kg m 85.6 rad/s

360 N m
G
I =
=
=
t
k
k

( )( )
4
4 4
2 2

0.51 kg m 172 rad/s

88 N m
G
I =
=
=
t
k
k

( ) ( )
3 3 3
360 N m 6 343 N 0.057 m t f h = = = , ( ) ( )
4 4 4
88 N m 2 132 N 0.041 m h t f = = =
Next, the free body diagrams are drawn. Since the lines of action for the forces on the
free body diagrams can not be discovered from two- and three-force member concepts,
the force
34
F is divided into radial and transverse components.

4 4 4 4
4 4 34
t
O G O BO
= + + =

M R f t R F 0
( ) ( ) ( ) ( ) ( )
34

0.390 0.225 m 2 132 N 88 N m 0.779 0.180 m 0.226 0.974
t
F + + + + = i j j k i j i j 0
188


( ) ( ) ( )
34

831 N m 88 N m 0.800 m
t
F = + + 0 k k k
34
1 149 N
t
F =
3
3 3 43 43
t r
A G A BA BA
= + + + =

M R f t R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( ) 43

0.631 0.154 m 1 210 6 227 N 360 N m 1.498 0.059 m 259 1 119 N

1.498 0.059 m 0.974 0.226
r
F
+ + + +
+ =
i j i j k i j i j
i j i j 0
( ) ( ) ( ) ( )
43

3 745 N m 360 N m 1 661 N m 0.395 in
r
F + = + + 0 k k k k
43
4 365 N
r
F =
34

3 993 2 104 N 4 513 N 152.21 = = i j F Ans.
34 4 14
= + + =

F F f F 0
14

3 993 28 N 3 993 N 0.40 = = F i j Ans.
43 3 23
= + + =

F F f F 0
23

2 783 4 123 N 4 974 N 124.02 + = = i j F Ans.
32 12
= + =

F F F 0
12

2 783 4 123 N 4 974 N 124.02 + = = i j F Ans.
2 2
32 12
0
O AO
= + =

M R F M
12

1 411 N m = M k Ans.
12.8 Solve Problem 12.7 with an additional external force 12 0 kN
D
= F acting at point D.
The method of superposition is used for the solution. The force components of Problem
P12.7 are denoted with primes and the additional force increments with double primes.
The figure here shows the incremental forces only.

4 4 4
34 O DO D BO
= + =

M R F R F 0
( ) ( ) ( )( )
34

0.162 0.366 m 12 000 N 0.779 0.180 m 0.999 0.040 F

+ + + + = i j i i j i j 0
( ) ( ) 34

4 386 N m 0.211 m F = + 0 k k
34
20 772 N F =
34

20 756 822 N 20 772 N 177.73 = + =

i j F
34

24 749 1 282 N 24 782 N 182.97 = = i j F Ans.
14

8 756 822 N 8 794 N 5.36

= = F i j
14

12 749 850 N 12 777 N 3.81 = = i j F Ans.
23

20 756 822 N 20 772 N 177.73 = + =

i j F
23

23 539 4 945 N 24 053 N 168.14 + = = i j F Ans.
12

20 756 822 N 20 772 N 177.73 = + =

i j F
12

23 539 4 945 N 24 053 N 168.14 + = = i j F Ans.
12

5 121 N m = M k
12

6 532 N m = M k Ans.
189


12.9 Make a complete kinematic and dynamic analysis of the four-bar linkage of Problem 12.7
using the same data, but with
2 2 2
170 , 12 rad/s ccw, 0, = = = and an external
force
D
8.94 64.3 kN = F acting at point D.
Kinematic Analysis:
( ) ( )
2
2

12 rad/s 0.295 0.052 m

0.625 3.545 m/s 3.600 m/s 100
A AO
= = +
= =
V R k i j
i j

( ) ( ) ( ) ( ) ( )
( ) ( ) ( )
4
3 4
3 3 4 4
3 4

0.625 3.545 m/s rad/s 1.304 0.740 m rad/s 0.109 0.793 m

0.625 3.545 m/s 0.740 1.304 m 0.793 0.109 m
B A BA BO


+ + = +
= + + = +
= + =
= i j k i j k i j
i j i j i j
V V R R
3

3.020 rad/s = k
4

3.607 rad/s = k Ans.

2.859 0.393 m/s 2.886 m/s 172.16
B
= + = V i j
( )
( )
2 2 2
2
2
2
2 2

12 rad/s 0.295 0.052 m

42.543 7.502 m/s 43.200 m/s 10
A AO AO
= + = +
= =
A R R i j
i j

( ) ( ) ( ) ( )
( ) ( ) ( )
( )
4 4
2 2
3 3 4 4
2 2 2
3
2 2
4
2
3

42.543 7.502 m/s 11.893 6.749 m/s rad/s 1.304 0.740 m

1.419 10.311 m/s rad/s 0.109 0.793 m

32.069 3.940 m/s 0.740 1.
B A BA BA BO BO

+
= + = +
= + + +
= +
= + +
A A R R R R
i j i j k i j
i j k i j
i j i
( ) ( ) 3 4 4

304 m 0.793 0.109 m = + j i j

2
3

0.390 rad/s = k
2
4

40.816 rad/s = k Ans.

( ) ( ) ( ) ( )
3 3 3
2
3 3
2 2 2

42.543 7.502 m/s 4.149 4.234 m/s 0.390 rad/s 0.455 0.464 m
G A G A G A
= +
= + + +
A A R R
i j i j k i j

3
2 2

38.575 11.913 m/s 40.373 m/s 17.16
G
= = A i j Ans.
( ) ( ) ( )
4 4 4 4 4
2
4 4
2 2

0.932 5.780 m/s 40.816 rad/s 0.072 0.444 m
O O G G G
= +
= + +
A R R
i j k i j

4
2 2

19.054 2.841 m/s 19.265 m/s 8.48
G
= = A i j Ans.
Dynamic Analysis:
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
190


( )( )
3
2
3 3

65.8 kg 38.575 11.913 m/s

2 538 784 N 2 657 N 162.84
G
m

=
=
= + =
i j
f A
i j
( )( )
4
2
4 4

21.8 kg 19.054 2.841 m/s

415 62 N 420 N 171.52
G
m

=
=
= + =
i j
f A
i j

( )( )
3
3 3
2 2

4.200 kg m 0.390 rad/s

1.638 N m
G
I =
=
=
t
k
k

( )( )
4
4 4
2 2

0.51 kg m 40.816 rad/s

21 N m
G
I =
=
=
t
k
k

( ) ( )
3 3 3
1.638 N m 2 657 N 0.001 m t f h = = = , ( ) ( )
4 4 4
21 N m 420 N 0.050 m h t f = = =
Next, the free body diagrams are drawn. Since the lines of action for the forces on the
free body diagrams can not be discovered from two- and three-force member concepts,
the force
34
F is divided into radial and transverse components.

4 4 4 4 4
4 4 34
t
O G O DO D BO
= + + + =

M R f t R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( )
34

0.072 0.444 m 415 62 N 21 N m 0.284 0.282 m 3 877 8 056 N

0.109 0.793 m 0.991 0.136
t
F
+ + + + +
+ + =
+

i j i j k i j i j
i j i j 0
( ) ( ) ( ) ( )
34

180 N m 21 N m 3 379 N m 0.800 m
t
F = + + + 0 k k k k
34
3 972 N
t
F =
191


3
3 3 43 43
t r
A G A BA BA
= + + + =

M R f t R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( )
43

0.455 0.464 m 2 538 784 N 1.638 N m 1.304 0.740 m 3 935 542 N

1.304 0.740 m 0.136 0.991
r
F
+ + + + +
+ + =
i j i j k i j i j
i j i j 0
( ) ( ) ( ) ( )
43

1 534 N m 2 N m 3 618 N m 1.192 in
r
F + = + + 0 k k k k
43
1 747 N
r
F =
34

4 173 1 189 N 4 339 N 164.10 = = i j F Ans.
34 4 14 D
= + + + =

F F f F F 0
14

711 6 929 N 6 966 N 84.14 = = F i j Ans.
43 3 23
= + + =

F F f F 0
23

1 635 1 972 N 2 562 N 129.65 = = i F Ans.

32 12
= + =

F F F 0
12

1 635 1 972 N 2 562 N 129.65 = = i F Ans.

2 2
32 12
0
O AO
= + =

M R F M
12

668 N m = M k Ans.
12.10 Repeat Problem 12.9 using
2 2 2
200 , 12 rad/s ccw, 0, = = = and an external force
8.49 45 kN
C
= F acting at point C.
Kinematic Analysis:
( ) ( )
2
2

12 rad/s 0.282 0.103 m

1.231 3.383 m/s 3.600 m/s 70
A AO
= =
= =
V R k i j
i j

( ) ( ) ( ) ( ) ( )
( ) ( ) ( )
4
3 4
3 3 4 4
3 4

1.231 3.383 m/s rad/s 1.198 0.902 m rad/s 0.016 0.799 m

1.231 3.383 m/s 0.902 1.198 m 0.799 0.016 m
B A BA BO


+ + = +
= + + = +
= + =
= i j k i j k i j
i j i j i j
V V R R
3

2.846 rad/s = k
4

1.671 rad/s = k Ans.

1.336 0.027 m/s 1.337 m/s 178.84
B
= + = V i j
( )
( )
2 2 2
2
2
2
2 2

12 rad/s 0.282 0.103 m

40.595 14.775 m/s 43.200 m/s 20
A AO AO
= + =
= + =
A R R i j
i j

( ) ( ) ( ) ( )
( ) ( ) ( )
( )
4 4
2 2
3 3 4 4
2 2 2
3
2 2
4
2
3

40.595 14.775 m/s 9.703 7.306 m/s rad/s 1.198 0.902 m

0.045 2.233 m/s rad/s 0.016 0.799 m

30.937 9.702 m/s 0.902 1.1
B A BA BA BO BO

+
= + = +
= + + + +
= +
= + + +
A A R R R R
i j i j k i j
i j k i j
i j i
( ) ( ) 3 4 4

98 m 0.799 0.016 m = + j i j

2
3

8.760 rad/s = k
2
4

48.558 rad/s = k Ans.

( ) ( ) ( ) ( )
3 3 3
2
3 3
2 2 2

40.595 14.775 m/s 3.169 4.204 m/s 8.760 rad/s 0.391 0.519 m
G A G A G A
= +
= + + + +
A A R R
i j i j k i j

3
2 2

41.972 7.146 m/s 42.576 m/s 9.66
G
= + = A i j Ans.
192


( ) ( ) ( )
4 4 4 4 4
2
4 4
2 2

0.343 1.209 m/s 48.558 rad/s 0.123 0.433 m
G G O G O
= +
= + +
A R R
i j k i j

4
2 2

21.365 4.754 m/s 21.887 m/s 12.54
G
= + = A i j Ans.
Dynamic Analysis:
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )( )
3
2
3 3

65.8 kg 41.972 7.146 m/s

2 762 470 N 2 802 N 170.34
G
m
+
=
=
= =
i j
f A
i j
( )( )
4
2
4 4

21.8 kg 21.365 4.754 m/s

466 104 N 477 N 167.46
G
m
+
=
=
= =
i j
f A
i j

( )( )
3
3 3
2 2

4.200 kg m 8.760 rad/s

37 N m
G
I =
=
=
t
k
k

( )( )
4
4 4
2 2

0.51 kg m 48.558 rad/s

25 N m
G
I =
=
=
t
k
k

( ) ( )
3 3 3
37 N m 2 802 N 0.013 m t f h = = = , ( ) ( )
4 4 4
25 N m 477 N 0.052 m h t f = = =
Next, the free body diagrams are drawn. Since the lines of action for the forces on the
free body diagrams can not be discovered from two- and three-force member concepts,
the force
34
F is divided into radial and transverse components.

193


4 4 4 4
4 4 34
t
O G O BO
= + + =

M R f t R F 0
( ) ( ) ( ) ( ) ( )
34

0.123 0.433 m 466 104 N 25 N m 0.016 0.799 m 0.999 0.020
t
F + + + + = i j i j k i j i j 0
( ) ( ) ( )
34

214 N m 25 N m 0.800 m
t
F = + + 0 k k k
34
299 N
t
F =
3
3 3 43 43
t r
A G A CA C BA BA
= + + + + =

M R f t R F R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
43

0.391 0.519 m 2 762 470 N 37 N m 0.291 0.799 m 6 003 6 003 N

1.198 0.902 m 299 6 N 1.198 0.902 m 0.020 0.999
r
F
+ + + + +
+ + + + + =
i j i j k i j i j
i j i j i j i j 0
( ) ( ) ( ) ( ) ( )
43

1 250 N m 37 N m 3 050 N m 277 N m 1.179 in
r
F + + = + + 0 k k k k k
43
1 260 N
r
F =
34

274 1 266 N 1 295 N 77.80 = = F i j Ans.
34 4 14
= + + =

F F f F 0
14

192 1 370 N 1 383 N 82.01 = + = F i j Ans.
43 3 23 C
= + + + =

F F f F F 0
23

2 968 6 799 N 7 419 N 113.58 = = i F Ans.

32 12
= + =

F F F 0
12

2 968 6 799 N 7 419 N 113.58 = = i F Ans.

2 2
32 12
0
O AO
= + =

M R F M
12

1 612 N m = M k Ans.


12.11 At
2
270 = ,
2
18 rad/s ccw = ,
2
0 = , a kinematic analysis of the linkage whose
geometry is given in Problem 12.7 gives
3
46.6 = ,
4
80.5 = ,
2
3
178 rad/s cw = ,
2
4
256 rad/s cw = ,
3
2
112 22.7 m/s
G
= A ,
4
2
119 352.5 m/s
G
= A . An external
force 8.94 64.3 kN
D
= F acts at point D. Make a complete dynamic analysis of the
linkage.
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )( )
3
2
3 3

65.8 kg 103.324 43.221 m/s

6 799 2 844 N 7 370 N 157.30
G
m
+
= =
=
= i j
i j
f A
( )( )
4
2
4 4

21.8 kg 117.982 15.533 m/s

2 572 339 N 2 594 N 172.50
G
m

=
=
= + =
i j
f A
i j

( )( )
3
3 3
2 2

4.200 kg m 178 rad/s

748 N m
G
I =
=
=
t
k
k

( )( )
4
4 4
2 2

0.51 kg m 256 rad/s

131 N m
G
I =
=
=
t
k
k

( ) ( )
3 3 3
748 N m 7 370 N 0.101 m t f h = = = , ( ) ( )
4 4 4
131 N m 2 594 N 0.050 m h t f = = =
Next, the free body diagrams are drawn. Since the lines of action for the forces on the
194


free body diagrams can not be discovered from two- and three-force member concepts,
the force
34
F is divided into radial and transverse components.

4 4 4 4 4
4 4 34
t
O G O DO D BO
= + + + =

M R f t R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( )
34

0.059 0.446 m 2 572 339 N 131 N m 0.276 0.290 m 3 877 8 056 N

0.131 0.789 m 0.986 0.164
t
F
+ + + + + +
+ + =
i j i j k i j i j
i j i j 0
( ) ( ) ( ) ( )
34

1 127 N m 131 N m 3 348 N m 0.800 m
t
F = + + + 0 k k k k
34
2 613 N
t
F =
3
3 3 43 43
t r
A G A BA BA
= + + + =

M R f t R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( )
43

0.300 0.577 m 6 799 2 844 N 748 N m 1.031 1.089 m 2 578 429 N

1.031 1.089 m 0.164 0.986
r
F
+ + +
+ + =
+ i j i j k i j i j
i j i j 0
( ) ( ) ( ) ( )
43

3 070 N m 748 N m 3 250 N m 0.839 in
r
F + = + + 0 k k k k
43
677 N
r
F =
34

2 466 1 097 N 2 699 N 156.01 = + = i j F Ans.
34 4 14 D
= + + + =

F F f F F 0
14

1 411 9 153 N 9 261 N 98.76 = = i j F Ans.
43 3 23
= + + =

F F f F 0
23

9 265 1 747 lb 9 428 N 10.68 + = = i F Ans.

32 12
= + =

F F F 0
12

9 265 1 747 lb 9 428 N 10.68 + = = i F Ans.

2 2
32 12
0
O AO
= + =

M R F M
12

2 780 N m = M k Ans.
195


12.12 The following data apply to the four-bar linkage shown in the figure:
2
120 mm
AO
R = ,
4 2
300 mm
O O
R = , 320 mm
BA
R = ,
4
250 mm
BO
R = , 360 mm
CA
R = , 15
C
= ,
4
0
DO
R = , 0
D
= ,
2 2
0
G O
R = ,
3
200 mm
G A
R = , 8 = ,
4 4
125 mm
G O
R = , 0 = ,
2
0.5 kg m = ,
3
4 kg m = ,
4
1.5 kg m = ,
2
2
0.005 N ms
G
I = ,
3
2
0.011 N ms
G
I = ,
4
2
0.002 3 N ms
G
I = . A kinematic analysis at
2
90 = and
2
32 rad/s ccw = with
2
0 = gave
3
23.9 = ,
4
91.7 = ,
2
3
221 rad/s ccw = ,
2
4
122 rad/s ccw = ,
3
2
88.6 255 m/s
G
= A , and
4
2
32.6 244 m/s
G
= A . Using an external force
632 342 N
C
= F acting at point C, make a complete dynamic analysis of the linkage.
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )( )
3
2
3 3

4.0 kg 22.931 85.581 m/s

92 342 N 354 N 75
G
m

= + =
=
= i j
i j
f A
( )( )
4
2
4 4

1.5 kg 14.291 29.301 m/s

21 44 N 49 N 64
G
m

=
=
= + =
i j
f A
i j

( )( )
3
3 3
2 2

0.011 kg m 221 rad/s

2.431 N m
G
I =
=
=
t
k
k

( )( )
4
4 4
2 2

0.002 3 kg m 122 rad/s

0.281 N m
G
I =
=
=
t
k
k

( ) ( )
3 3 3
2.431 N m 354 N 0.007 m t f h = = = , ( ) ( )
4 4 4
0.281 N m 49 N 0.006 m h t f = = =
Next, the free body diagrams are drawn. Since the lines of action for the forces on the
free body diagrams can not be discovered from two- and three-force member concepts,
the force
34
F is divided into radial and transverse components.

196


4 4 4 4
4 4 34
t
O G O BO
= + + =

M R f t R F 0
( ) ( ) ( ) ( ) ( )
34

0.004 0.125 m 21 44 N 0.281 N m 0.008 0.249 m 0.999 0.030
t
F + + + + + + = i j i j k i j i j 0
( ) ( ) ( )
34

2.844 N m 0.281 N m 0.250 m
t
F = + + 0 k k k
34
13 N
t
F =
3
3 3 43 43
t r
A G A CA C BA BA
= + + + + =

M R f t R F R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
43

0.170 0.106 m 92 342 N 2.431 N m 0.280 0.226 m 601 195 N

0.292 0.130 m 12.5 N 0.292 0.130 m 0.030 0.999
r
F
+ + + +
+ + + =
+
+
i j i j k i j i j
i j i i j i j 0
( ) ( ) ( ) ( ) ( )
43

48 N m 2.431 N m 191 N m 1.623 N m 0.296 in
r
F + + = + + 0 k k k k k
43
496 N
r
F =
34

2 496 N 496 N 89.71 = = i j F Ans.
34 4 14
= + + =

F F f F 0
14

24 452 N 453 N 93.02 = + = i j F Ans.
43 3 23 C
= + + + =

F F f F F 0
23

690 643 N 944 N 137 = = i F Ans.

32 12
= + =

F F F 0
12

690 643 N 944 N 137 = = i F Ans.

2 2
32 12
0
O AO
= + =

M R F M
12

82.83 N m = M k Ans.
12.13 Repeat Problem 12.12 at
2
260 = . Analyze both the kinematics and the dynamics of
the system at this position.
Kinematic Analysis:
( ) ( )
2
2

32 rad/s 0.021 0.118 m

3.782 0.667 m/s 3.840 m/s 10
A AO
= =
= =
V R k i j
i j

( ) ( ) ( ) ( ) ( )
( ) ( ) ( )
4
3 4
3 3 4 4
3 4

3.782 0.667 m/s rad/s 0.138 0.289 m rad/s 0.183 0.171 m

3.782 0.667 m/s 0.289 0.138 m 0.171 0.183 m
B A BA BO


+ + = +
= + + =
= + =
= i j k i j k i j
i j i j i j
V V R R
3

10.554 rad/s = k
4

4.314 rad/s = k Ans.

0.736 0.789 m/s 1.079 m/s 46.99
B
= + = V i j
( )
( )
2 2 2
2
2
2
2 2

32 rad/s 0.021 0.118 m

21.338 121.013 m/s 122.880 m/s 80
A AO AO
= + =
= + =
A R R i j
i j

( ) ( ) ( ) ( )
( ) ( ) ( )
4 4
2 2
3 3 4 4
2 2 2
3
2 2
4

21.338 121.013 m/s 15.374 32.158 m/s rad/s 0.138 0.289 m

3.402 3.174 m/s rad/s 0.183 0.171 m
B A BA BA BO BO

+
= + = +
= + + + +
= +
A A R R R R
i j i j k i j
i j k i j
( ) ( ) ( )
2
3 3 4 4

2.562 92.029 m/s 0.289 0.138 m 0.171 0.183 m + + + = i j i j i j

197


2
3

199.622 rad/s = k
2
4

352.356 rad/s = k Ans.

( ) ( ) ( ) ( )
3 3 3
2
3 3
2 2 2

21.338 121.013 m/s 6.718 21.240 m/s 199.622 rad/s 0.060 0.191 m
G A G A G A
= +
= + + + +
A A R R
i j i j k i j

3
2 2

52.748 87.796 m/s 102.423 m/s 59.00
G
= + = A i j Ans.
( ) ( ) ( )
4 4 4 4 4
2
4 4
2 2

1.701 1.587 m/s 352.356 rad/s 0.091 0.085 m
G G O G O
= +
= + +
A R R
i j k i j

4
2 2

31.651 30.477 m/s 43.939 m/s 43.92
G
= + = A i j Ans.
Dynamic Analysis:
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )( )
3
2
3 3

4.0 kg 52.748 87.796 m/s

211 351 N 410 N 121.00
G
m
+
=
=
= =
i j
f A
i j
( )( )
4
2
4 4

1.5 kg 31.651 30.477 m/s

47 46 N 66 N 136.08
G
m
+
=
=
= =
i j
f A
i j

( )( )
3
3 3
2 2

0.011 N ms 199.622 rad/s

2.196 N m
G
I =
=
=
t
k
k

( )( )
4
4 4
2 2

0.002 3 N ms 352.356 rad/s

0.810 N m
G
I =
=
=
t
k
k

( ) ( )
3 3 3
2.196 N m 410 N 0.005 m h t f = = = , ( ) ( )
4 4 4
0.810 N m 66 N 0.012 m h t f = = =
Next, the free body diagrams are drawn. Since the lines of action for the forces on the
free body diagrams can not be discovered from two- and three-force member concepts,
the force
34
F is divided into radial and transverse components.

198


4 4 4 4
4 4 34
t
O G O BO
= + + =

M R f t R F 0
( ) ( ) ( ) ( ) ( )
34

0.091 0.085 m 47 46 N 0.810 N m 0.183 0.170 m 0.682 0.731
t
F + + + + + = i j i j k i j i j 0
( ) ( ) ( )
34

8.212 N m 0.810 N m 0.250 m
t
F = + + 0 k k k
34
36 N
t
F =
3
3 3 43 43
t r
A G A CA C BA BA
= + + + + =

M R f t R F R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
43

0.060 0.191 m 211 351 N 2.196 N m 0.066 0.354 m 601 195 N

0.138 0.289 m 25 26 N 0.138 0.289 m 0.731 0.682
r
F
+ + +
+ + + =
+
+
i j i j k i j i j
i j i j i j i j 0
( ) ( ) ( ) ( ) ( )
43

19 N m 2.196 N m 226 N m 3.629 N m 0.305 in
r
F + + = + + 0 k k k k k
43
658 N
r
F =
34

505 422 N 659 N 39.88 = = i j F Ans.
34 4 14
= + + =

F F f F 0
14

458 468 N 655 N 134.39 = + = i j F Ans.
43 3 23 C
= + + + =

F F f F F 0
23

115 124 lb 169 N 46.97 + = = i F Ans.

32 12
= + =

F F F 0
12

115 124 lb 169 N 46.97 + = = i F Ans.

2 2
32 12
0
O AO
= + =

M R F M
12

11.03 N m = M k Ans.
12.14 Repeat Problem 12.13 at
2
300 = .
Kinematic Analysis:
( ) ( )
2
2

32 rad/s 0.060 0.104 m

3.326 1.920 m/s 3.840 m/s 30
A AO
= =
= + =
V R k i j
i j

( ) ( ) ( ) ( ) ( )
( ) ( ) ( )
4
3 4
3 3 4 4
3 4

3.326 1.920 m/s rad/s 0.093 0.306 m rad/s 0.147 0.202 m

3.326 1.920 m/s 0.306 0.093 m 0.202 0.147 m
B A BA BO


+ + + = +
= + + + =
= + =
= i j k i j k i j
i j i j i j
V V R R
3

1.597 rad/s = k
4

14.071 rad/s = k Ans.

2.844 2.066 m/s 3.515 m/s 36.04
B
= + = V i j
( )
( )
2 2 2
2
2
2
2 2

32 rad/s 0.060 0.104 m

61.440 106.417 m/s 122.880 m/s 120
A AO AO
= + =
= + =
A R R i j
i j

( ) ( ) ( ) ( )
( ) ( ) ( )
4 4
2 2
3 3 4 4
2 2 2
3
2 2
4

61.440 106.417 m/s 0.237 0.780 m/s rad/s 0.093 0.306 m

29.105 39.995 m/s rad/s 0.147 0.202 m
B A BA BA BO BO

+
= + = +
= + + + +
= +
A A R R R R
i j i j k i j
i j k i j
( ) ( ) ( )
2
3 3 4 4

90.782 145.632 m/s 0.306 0.093 m 0.202 0.147 m + + + = i j i j i j

2
3

671.302 rad/s = k
2
4

567.507 rad/s = k Ans.

199


( ) ( ) ( ) ( )
3 3 3
2
3 3
2 2 2

61.440 106.417 m/s 0.079 0.504 m/s 671.302 rad/s 0.031 0.198 m
G A G A G A
= +
= + + + +
A A R R
i j i j k i j

3
2 2

71.399 85.103 m/s 111.087 m/s 50.00
G
= + = A i j Ans.
( ) ( ) ( )
4 4 4 4 4
2
4 4
2 2

14.547 20.022 m/s 567.507 rad/s 0.073 0.101 m
G G O G O
= +
= + +
A R R
i j k i j

4
2 2

71.865 21.406 m/s 74.986 m/s 16.59
G
= + = A i j Ans.
Dynamic Analysis:
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )( )
3
2
3 3

4.0 kg 71.399 85.103 m/s

286 340 N 444 N 130.00
G
m
+
=
=
= =
i j
f A
i j
( )( )
4
2
4 4

1.5 kg 71.865 21.406 m/s

108 32 N 112 N 163.41
G
m
+
=
=
= =
i j
f A
i j

( )( )
3
3 3
2 2

0.011 N ms 671.302 rad/s

7.384 N m
G
I =
=
=
t
k
k

( )( )
4
4 4
2 2

0.002 3 N ms 567.507 rad/s

1.305 N m
G
I =
=
=
t
k
k

( ) ( )
3 3 3
7.384 N m 444 N 0.017 m h t f = = = , ( ) ( )
4 4 4
1.305 N m 112 N 0.012 m h t f = = =
Next, the free body diagrams are drawn. Since the lines of action for the forces on the
free body diagrams can not be discovered from two- and three-force member concepts,
the force
34
F is divided into radial and transverse components.

200


4 4 4 4
4 4 34
t
O G O BO
= + + =

M R f t R F 0
( ) ( ) ( ) ( ) ( )
34

0.073 0.101 m 108 32 N 1.305 N m 0.147 0.202 m 0.809 0.588
t
F + + + + + = i j i j k i j i j 0
( ) ( ) ( )
34

13.273 N m 1.305 N m 0.250 m
t
F = + + 0 k k k
34
58 N
t
F =
3
3 3 43 43
t r
A G A CA C BA BA
= + + + + =

M R f t R F R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
43

0.032 0.197 m 286 340 N 7.384 N m 0.013 0.360 m 601 195 N

0.094 0.306 m 47 34 N 0.094 0.306 m 0.588 0.809
r
F
+ + +
+ + + =
+
+
i j i j k i j i j
i j i j i j i j 0
( ) ( ) ( ) ( ) ( )
43

46 N m 7.384 N m 219 N m 11.170 N m 0.256 in
r
F + + = + + 0 k k k k k
43
603 N
r
F =
34

401 453 N 606 N 48.50 = = i j F Ans.
34 4 14
= + + =

F F f F 0
14

293 486 N 567 N 121.13 = + = i j F Ans.
43 3 23 C
= + + + =

F F f F F 0
23

86 81 N 119 N 43.26 + = = i F Ans.

32 12
= + =

F F F 0
12

86 81 N 119 N 43.26 + = = i F Ans.

2 2
32 12
0
O AO
= + =

M R F M
12

13.85 N m = M k Ans.
12.15 Analyze the dynamics of the offset slider-crank mechanism shown in the figure using the
following data: 0.06 m a = ,
2
0.1 m
AO
R = , 0.38 m
AB
R = , 0.4 m
CA
R = ,
2
32 = ,
3
0.26 m
G A
R = , 22 = ,
2
2.5 kg m = ,
3
7.4 kg m = ,
4
2.5 kg m = ,
2
2
0.005 N ms
G
I = ,
3
2
0.013 6 N ms
G
I = ,
2
120 = , and
2
18 rad/s cw = with
2
0 = ,
B

2 000 N = F i ,
C

1 000 N = F i . Assume a balanced crank and no friction forces.

Kinematic Analysis:
( ) ( )
2
2

18 rad/s 0.050 0.087 m

1.559 0.900 m/s 1.800 m/s 30
A AO
= = +
= + =
V R k i j
i j

( ) ( ) ( )
( ) ( )
3
3 3
3

1.559 0.900 m/s rad/s 0.351 0.147 m

1.559 0.900 m/s 0.147 0.351 m

B A BA
B
V

+ +
= + + +
= +
= i j k i j
i j i j
V V R
i
3

2.567 rad/s = k

1.182 m/s
B
= V i Ans.
( )
( )
2 2 2
2
2
2
2 2

18 rad/s 0.050 0.087 m

16.200 28.059 m/s 32.400 m/s 60
A AO AO
= + = +
= =
A R R i j
i j

( ) ( ) ( ) ( )
2
3 3
2 2 2
3

16.200 28.059 m/s 2.310 0.966 m/s rad/s 0.351 0.147 m
B
B A BA BA
A

= +
= + + + i
A A R R
i j i j k i j
201


( ) ( )
2
3 3

13.890 27.093 m/s 0.147 0.351 m
B
A = + + i i j i j

2
3

77.188 rad/s = k
2

25.156 m/s
B
= A i Ans.
( ) ( ) ( ) ( )
3 3 3
2
3 3
2 2 2

16.200 28.059 m/s 1.713 0.021 m/s 77.188 rad/s 0.260 0.003 m
G A G A G A
= +
= + + +
A A R R
i j i j k i j

3
2 2

14.466 7.969 m/s 16.516 m/s 28.85
G
= = A i j Ans.
Dynamic Analysis:
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )( )
3
2
3 3

7.4 kg 14.466 7.969 m/s

107 59 N 122 N 151.15
G
m

=
=
= + =
i j
f A
i j
( )( )
2
4 4

2.5 kg 25.156 m/s

63 N 63 N 180
B
m

=
=
= =
i
f A
i

( )( )
3
3 3
2 2

0.013 6 N ms 77.188 rad/s

1.050 N m
G
I =
=
=
t
k
k

4
4 4 G
I = = t 0
( ) ( )
3 3 3
1.050 N m 122 N 0.009 m h t f = = = ,
4 4 4
0 h t f = =

3
3 3 4 14 A G A CA C BA BA B BA
= + + + + + =

M R f t R F R f R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
14

0.260 0.003 m 107 59 N 1.050 N m 0.395 0.065 m 1 000 N

0.351 0.147 m 63 N 0.351 0.147 m 2 000 N 0.351 0.147 m 1.000 F
+ + + +
+ + + =
i j i j k i j i
i j i i j i i j j 0
202


( ) ( ) ( ) ( ) ( ) ( )
14

15 N m 1.050 N m 65 N m 9.261 N m 294 N m 0.351 in F + + + + + = k k k k k k 0
14
639 N F =
14

639 N 639 N 90.00 = = j F Ans.

14 4 34 B
= + + + =

F F f F F 0
34

2 063 639 N 2 160 N 17.21 = = i j F Ans.
43 3 23 C
= + + + =

F F f F F 0
23

3 170 698 N 3 246 N 12.42 = = i F Ans.

32 12
= + =

F F F 0
12

3 170 698 N 3 246 N 12.42 = = i F Ans.

2 2
32 12
0
O AO
= + =

M R F M
12

241 N m = M k Ans.
12.16 Analyze the system of Problem 12.15 for a complete rotation of the crank. Use
C
= F 0
and
B

1 000 N = F i when
B
V is toward the right, but use
B
= F 0 when
B
V is toward
the left. Plot a graph of
12
M versus
2
.
3 2
1 2 3 4
j j
jR R e R e R

+ + =
3 2
0.060 0.100 0.380
j j
B
j e e R

+ + =
2 3
0.060 0.100sin 0.380sin 0 + + = ( )
1
3 2
sin 0.158 0.263sin

= +

2 3
0.100cos 0.380cos
B
R = +
( )
3 2
3 3
1 2
j j
G G A
jR R e R e
+
= + + R
( )
3 2
3
22
0.060 0.100 0.260
j j
G
j e e
+
= + + R
( ) ( )
3
2 3 2 3
0.100cos 0.260cos 22 0.060 0.100sin 0.260sin 22
G
j = + + + + + +

R
The first-order kinematic coefficients are found as follows:
3 2
3 4
0.100 0.380
j j
j e j e R

+ =
2 3 3
0.100cos 0.380cos 0 + =
2 3 3 4
0.100sin 0.380sin R =
3 2 3
0.263cos cos = ( )
2 2 3
0.100 sin cos tan
B
R =
( )
3 2
3
22
3
0.100 0.260
j j
G
j e j e

+
= + R
( ) ( )
3
2 3 3 2 3 3
0.100sin 0.260sin 22 0.100cos 0.260cos 22
G
j = + + + +

R
Similarly, the second-order kinematic coefficients are as follows:
3 3 2
2
3 3
0.100 0.380 0.380
j j j
B
e j e e R

+ =
2
2 3 3 3 3
0.100sin 0.380cos 0.380sin 0 + =
2
2 3 3 3 3
0.100cos 0.380sin 0.380cos
B
R =
2
3 2 3 3 3
0.263sin cos tan = + , ( )
2
3 2 3 3
0.100cos 0.380 cos
B
R = +


( ) ( )
3 3 2
3
22 22 2
3 3
0.100 0.260 0.260
j j j
G
e j e e


+ +
= + R
( ) ( )
( ) ( )
3
2
2 3 3 3 3
2
2 3 3 3 3
0.100cos 0.260sin 22 0.260cos 22
0.100sin 0.260cos 22 0.260sin 22
G
j


= + +

+ + + +

R

By virtual work we can formulate the dynamic input torque requirement as:
3
12 3 3 3 4

G B B B
= + + + M f R t k f R F R i i i i
203


The individual elements of this equation are:
( )
3 3 3
2 2
3 3 3 2
2 397.6 kg/s
G G G
m m = = = f A R R
( ) ( )
( ) ( )
2
3 2 3 3 3 3
2
2 3 3 3 3
240cos 623sin 22 623cos 22
240sin 623cos 22 623sin 22 j


= + + + +

+ + + +

f

( ) ( ) ( ) [ ]
( ) ( ) ( ) [ ]
3
2
3 2 3 3 3 3 2 3 3
2
2 3 3 3 3 2 3 3
240cos 623sin 22 623cos 22 0.100sin 0.260sin 22
240sin 623cos 22 623sin 22 0.100cos 0.260cos 22
G



= + + + + +

+ + + + + +




f R i
( ) ( ) ( )
3
3 3 2 3 3 3 2 3 3 3
62sin 22 1 62cos 22 162
G
= + + + f R i
( )
3 3
2
3 3 3 2 3

4.406 N m
G G
I I = = = t k k
( )
3 3 3 3

4.406 N m = t k i
( )
2 2
4 4 4 2
810 kg/s
B B B
m m = = = f A R R
( )
2
4 3 2 3 3

81cos 308 N cos = +

f i
( ) ( )
2 2
4 3 2 3 2 3 3
sin 8.1cos 30.8 N m cos
B
= +

f R i
( ) ( )
{ }
2 3 2 3 2 3

500 1 sgn cos tan sin N=500 1+sgn sin cos N
B
= +

F i i
( ) { } ( )
3 2 3 3 2 3
50 1+sgn sin cos sin cos N m
B B
=

F R i
Finally, putting these pieces together, we obtain:
( ) ( ) ( )
( ) ( )
( ) { } ( )
12 3 2 3 3 3 2 3 3 3
2 2
3 2 3 2 3 3
3 2 3 3 2 3
62sin 22 1 62cos 22 158
sin 8.1cos 30.8 cos
50 1+sgn sin cos sin cos N m
M


= + + +
+ +

+


The plot of this torque requirement is shown below. The sinusoidal curve in the first half
of the cycle is caused primarily by the mass of the connecting rod; the mass of the piston
is included also. The applied force F
B
causes the rise in the second half of the cycle.
Note that the mass of link 3 causes dynamic torque which helps to overcome up to one
third of the applied force effect.

204


12.17 A slider-crank mechanism similar to that of Problem 12.15 has 0 a = ,
2
0.1 m
AO
R = ,
0.45 m
BA
R = , 0
CA
R = , 0
C
= ,
3
0.2 m
G A
R = , 0 = ,
2
1.5 kg m = ,
3
3.5 kg m = ,
4
1.2 kg m = ,
2
2
0.01 N ms
G
I = ,
3
2
0.060 N ms
G
I = , and
12
60 N m M = .
Corresponding to
2
120 = and
2
24 rad/s cw = with
2
0 = , a kinematic analysis
gave
3
9 = , 0.374 m
B
R = ,
2
3
89.3 rad/s ccw = ,
2

40.6 m/s
B
= A i , and
3
2

40.6 22.6 m/s
G
= A i j . Assume link 2 is balanced and find
14
F and
23
F .
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )( )
3
2
3 3

3.5 kg 40.6 22.6 m/ s

142 79 N 163 N 150.90
G
m

=
=
= + =
i j
f A
i j
( )( )
2
4 4

1.2 kg 40.6 m/s

49 N 49 N 180
B
m

=
=
= =
i
f A
i

( )( )
3
3 3
2 2

0.060 N ms 89.3 rad/s

5.358 N m
G
I =
=
=
t
k
k

4
4 4 G
I = = t 0
( ) ( )
3 3 3
5.358 N m 163 N 0.033 m h t f = = = ,
4 4 4
0 h t f = =

3
3 3 4 14 A G A BA BA
= + + + =

M R f t R f R F 0
( ) ( ) ( ) ( ) ( )
( ) ( )
14

0.196 0.038 m 142 79 N 5.358 N m 0.442 0.087 m 49 N

0.442 0.087 m 1.000 F
+ + +
+ =
i j i j k i j i
i j j 0
( ) ( ) ( ) ( )
14

10.039 N m 5.358 N m 4.243 N m 0.442 m F + + + = k k k k 0
14
1 N F =
14

1 N 1 N 90.00 = = j F Ans.
14 4 3 23
= + + + =

F F f f F 0
23

191 78 N 206 N 22.21 = = i F Ans.

205


12.18 Repeat Problem 12.17 for
2
240 = . The results of a kinematic analysis are
3
11.1 = ,
0.392 m
B
R = ,
2
3
112 rad/s cw = ,
2

35.2 m/
B
s = A i , and
3
2

31.6 27.7 m/s
G
= + A i j .
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )( )
3
2
3 3

3.5 kg 31.6 27.7 m/ s

111 97 N 147 N 138.76
G
m
+
=
=
= =
i j
f A
i j
( )( )
2
4 4

1.2 kg 35.2 m/s

42 N 42 N 180
B
m

=
=
= =
i
f A
i

( )( )
3
3 3
2 2

0.060 N ms 112 rad/s

6.720 N m
G
I =
=
=
t
k
k

4
4 4 G
I = = t 0
( ) ( )
3 3 3
6.720 N m 147 N 0.046 m h t f = = = ,
4 4 4
0 h t f = =

3
3 3 4 14 A G A BA BA
= + + + =

M R f t R f R F 0
( ) ( ) ( ) ( ) ( )
( ) ( )
14

0.196 0.038 m 111 97 N 6.720 N m 0.442 0.087 m 42 N

0.442 0.087 m 1.000 F
+ + + +
+ + =
i j i j k i j i
i j j 0
( ) ( ) ( ) ( )
14

22.961 N m 6.720 N m 3.637 N m 0.442 in F + + + = k k k k 0
14
29 N F =
14

29 N 29 N 90.00 = = j F Ans.
14 4 3 23
= + + + =

F F f f F 0
23

153 68 N 168 N 24.11 + = = i F Ans.

206


12.19 A slider-crank mechanism, as in Problem 12.15, has 0.008 m a = ,
2
0.25 m
AO
R = ,
1.25 m
BA
R = , 1.0 m
CA
R = , 38
C
= ,
3
0.75 m
G A
R = , 18 = ,
2
10 kg m = ,
3
140 kg m = ,
4
50 kg m = ,
2
2
2.0 N ms
G
I = , and
3
2
8.42 N ms
G
I = , and has a
balanced crank. Make a complete kinematic and dynamic analysis of this system at
2
120 = with
2
2
6 rad/s ccw = and
2
0 = , using
B
=50 180 kN F and
C
=80 60 kN F .
Kinematic Analysis:
( ) ( )
2
2

6 rad/s 0.125 0.217 m

1.299 0.750 m/s 1.500 m/s 150
A AO
= = +
= =
V R k i j
i j

( ) ( ) ( )
( ) ( )
3
3 3
3

1.299 0.750 m/s rad/s 1.227 0.225 m

1.299 0.750 m/s 0.225 1.227 m

B A BA
B
V

+
= + +
= +
= i j k i j
i j i j
V V R
i
3

0.611 rad/s = k

1.162 m/s
B
= V i Ans.
( )
( )
2 2 2
2
2
2
2 2

6 rad/s 0.125 0.217 m

4.500 7.794 m/s 9.000 m/s 60
A AO AO
= + = +
= =
A R R i j
i j

( ) ( ) ( ) ( )
2
3 3
2 2 2
3

4.500 7.794 m/s 0.459 0.084 m/s rad/s 1.227 0.225 m
B
B A BA BA
A

= +
= + + + i
A A R R
i j i j k i j
( ) ( )
2
3 3

4.041 7.710 m/s 0.225 1.227 m
B
A = + + i i j i j

2
3

6.284 rad/s = k
2

5.455 m/s
B
= A i Ans.
( ) ( ) ( ) ( )
3 3 3
2
3 3
2 2 2

4.500 7.794 m/s 0.247 0.133 m/s 6.284 rad/s 0.660 0.357 m
G A G A G A
= +
= + + +
A A R R
i j i j k i j

3
2 2

6.496 3.514 m/s 16.516 m/s 28.41
G
= = A i j Ans.
Dynamic Analysis:
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )( )
3
2
3 3

140 kg 6.496 3.514 m/s

909 492 N 1 034 N 151.59
G
m

=
=
= + =
i j
f A
i j
( )( )
2
4 4

50 kg 5.455 m/s

273 N 273 N 180

B
m

=
=
= =
i
f A
i

207


( )( )
3
3 3
2 2

8.42 N ms 6.284 rad/s

52.911 N m
G
I =
=
=
t
k
k

4
4 4 G
I = = t 0
( ) ( )
3 3 3
52.911 N m 1 034 N 0.051 m h t f = = = ,
4 4 4
0 h t f = =

3
3 3 4 14 A G A CA C BA BA B BA
= + + + + + =

M R f t R F R f R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
14

0.660 0.357 m 909 492 N 52.911 N m 0.263 0.301 m 40 000 69 282 N

1.227 0.225 m 273 N 1.227 0.225 m 50 000 N 1.227 0.225 m 1.000 F
+ + +
+ + + =
i j i j k i j i j
i j i i j i i j j 0
( ) ( ) ( ) ( ) ( ) ( )
14

0.207 N m 52.911 N m 6 157 N m 61.425 N m 11 250 N m 1.227 in F + + + + + = k k k k k k 0

14
14 280 N F =
14

14 280 N 14 280 N 90.00 = = j F Ans.

14 4 34 B
= + + + =

F F f F F 0
34

50 273 14280 N 52 262 N 15.86 = = F i j Ans.
43 3 23 C
= + + + =

F F f F F 0
23

11 182 54 510 N 55 645 N 78.41 + = = i j F Ans.
32 12
= + =

F F F 0
12

11 182 54 510 N 55 645 N 78.41 + = = i j F Ans.
2 2
32 12
0
O AO
= + =

M R F M
12

9 240 N m = M k Ans.
208


12.20 Cranks 2 and 4 of the cross-linkage shown in the figure are balanced. The dimensions of
the linkage are
2
150 mm =
AO
R ,
4 2
450 mm =
O O
R , 450 mm =
BA
R ,
4
150 mm =
BO
R ,
600 mm =
CA
R , and
3
300 mm =
G A
R . Also,
3
1.8 kg = m ,
2 4
2
0.007 N ms = =
G G
I I ,
and
3
2
0.055 N ms =
G
I . Corresponding to the position shown, and with
2
10 rad/s ccw = and
2
0 = , a kinematic analysis gave as results
3
1.43 rad/s cw = ,
4
11.43 rad/s cw = ,
2
3 4
84.7 rad/s cw = = , and
3
2

14.28 21.1 m/s = +
G
A i j . Find
the driving torque and the pin reactions if

133.5 N =
C
F j .
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )
( )
3
3 3
2

25.7 37.98 N 45.84 N 124.10

1.8 kg 14.28 21.1 m/s =
= =
=
+
G
m
i j
f A
i j
4
4 4 G
m = = f A 0
( )( )
3
3 3
2 2

0.007 N ms 84.7 rad/s

0.593 N m
=
=
=
G
I t
k
k

( )( )
4
4 4
2 2

0.007 N ms 84.7 rad/s

0.593 N m
=
=
=
G
I t
k
k

( ) ( )
3 3 3
0.593 N m 45.84 N 12.93 mm = = = h t f ,
4
0 h =
Next, the free body diagrams are drawn. Since the lines of action for the forces on the
free body diagrams can not be discovered from two- and three-force member concepts,
the force
34
F is divided into radial and transverse components.

4 4
4 34
t
O BO
= + =

M t R F 0
209


( ) ( )( )
34

0.593 N m 21.42 148.45 mm 0.990 0.143
t
F + = k i j i j 0
34
3.96 N =
t
F
3
3 3 43 43
t r
A G A CA C BA BA
= + + + + =

M R f t R F R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
43

0.23 0.18 m 25.7 37.98 N 0.593 N m 0.47 0.37 m 133.5 N

0.35 0.28 m 3.92 0.56 N 0.35 0.28 m 0.143 0.990
r
F
+ +
+ + + =
i j i j k i j j
i j i j i j i j 0
( ) ( ) ( ) ( ) ( )
43

14.24 N m 0.6 N m 63.96 N m 0.9 N m 0.39 m
r
F = + + + + 0 k k k k k
43
195.8 N =
r
F
34

31.18 188.8 N 191.35 N 99.38 = = F i j
43 3 23 C
= + + + =

F F f F F 0
23

5.28 18.82 N 19.55 N 105.67 = = F i j
2 2
32 12
0
O AO
= + =

M R F M
12

0.74 N m = M k Ans.
12.21 Find the driving torque and the pin reactions for the mechanism of Problem 12.20 under
the same dynamic conditions, but with crank 4 as the driver.
Given the same dynamic conditions, the DAlembert forces and torques are the same as
in Problem P12.20. However, crank 2 is now a two-force member with no applied
moment. Therefore the free body diagrams appear as:

The solution now proceeds as follows:
3
3 3 23 B G B CB C AB
= + + + =

M R f t R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( )
23

0.117 0.093 m 25.7 37.98 N 0.593 N m 0.117 0.093 m 133.5 N

0.35 0.28 m 0.500 0.866
+ + +
+ + = F
i j i j k i j j
i j i j 0

( ) ( ) ( ) ( ) 23

7.119 N m 0.603 N m 15.93 N m 0.445 m = + + + F 0 k k k k
23
18.15 N = F
23

9.075 15.72 N 18.15 N 120 = = F i j Ans.
210


23 3 43 C
= + + + =

F F f F F 0
43

35.4 188.08 N 191.38 N 79.34 = + = F i j Ans.
4 4
34 4 14
0
O BO
= + + =

M R F t M
14

0.639 N m = M k Ans.
12.22 A kinematic analysis of the mechanism of Problem 12.20 at
2
210 = with
2
10 rad/s = ccw and
2
0 = gave
3
14.7 = ,
4
164.7 = ,
3
4.73 rad/s ccw = ,
4
5.27 rad/s cw = ,
3 4
10.39 rad/s cw = = , and
3
2
7.8 20.85 m/s =
G
A . Compute
the crank torque and the pin reactions for this phase of the motion using the same force
C
F as in Problem 12.20.
The DAlembert inertia forces and offsets are:
2
2 2 G
m = = f A 0
2
2 2 G
I = = t 0
2 2 2
0 h t f = =
( )
( )
3
3 3
2

13.42 5.11 N 14.37 N 159.15

1.8 kg 7.29 2.78 m/s =
= =
=
+
G
m
i j
f A
i j
4
4 4 G
m = = f A 0
( )( )
3
3 3
2 2

0.055 N ms 10.39 rad/s

0.571 N m
=
=
=
G
I t
k
k

( )( )
4
4 4
2 2

0.007 N ms 10.39 rad/s

0.0727 N m
=
=
=
G
I t
k
k

( ) ( )
3 3 3
0.571 N m 14.37 N 39.73 mm = = = h t f ,
4
0 h =
Next, the free body diagrams are drawn. Since the lines of action for the forces on the
free body diagrams can not be discovered from two- and three-force member concepts,
the force
34
F is divided into radial and transverse components.

211


4 4
4 34
t
O BO
= + =

M t R F 0
( ) ( )( )
34

0.0727 N m 0.144 0.039 m 0.263 0.965 + + + =
t
F k i j i j 0
34
0.485 N =
t
F
3
3 3 43 43
t r
A G A CA C BA BA
= + + + + =

M R f t R F R F R F 0
( ) ( ) ( ) ( ) ( )
( ) ( ) ( ) ( )
43

0.29 0.076 m 13.42 5.11 N 0.0727 N m 0.58 0.153 m 133.5 N

0.435 0.114 m 0.129 0.467 N 0.435 0.114 m 0.965 0.263
+ + + +
+ + + + =
r
F
i j i j k i j j
i j i j i j i j 0
( ) ( ) ( ) ( ) ( )

0.128 N m 0.074 N m 78.65 N m 0.191 N m 0.225 m
43
+ + + + =
r
F k k k k k 0
43
78 lb
r
F =
34

334.86 89 N 347 N 164.80 = + = F i j Ans.
43 3 23 C
= + + + =

F F f F F 0
23

322.27 230.13 N 396 N 144.47 = + = F i j Ans.
2 2
32 12
0
O AO
= + =

M R F M
12

54.8 N m = M k Ans.
12.23 The figure shows a linkage with an extended coupler having an external force of
C
F
acting during a portion of the cycle. The dimensions of the linkage are
2
0.14 m
AO
R = ,
4 2
1 m = =
O O BA
R R ,
4
1.4 m =
BO
R ,
3
0.8 m =
G A
R , and
4 4
0.5 m =
G O
R . Also
3
100.78 kg = m ,
4
94.4 kg = m ,
3
2
25.14 N ms =
G
I , and
4
2
29.37 N ms =
G
I , and the
crank is balanced. Make a kinematic and dynamic analysis for a complete rotation of the
crank using
2
10 rad/s ccw = ,

2.225 3.94 kN = +
C
F i j for
2
90 300 and
C
= F 0 for other angles.
For position analysis, the loop closure equation is:
3 2 4
2 3 1 4
j j j
R e R e R R e

+ = +
3 2 4
0.4 1 1 1.4

+ = +
j j j
e e e
2 3 4
0.4cos 1cos 1 1.4cos + = +
2 3 4
0.4sin 1sin 1.4sin + =
Eliminating
3
we find
4
from the roots of the quadratic
( ) ( ) ( )
2
2 4 2 4 2
0.425 0.2cos tan 2 1.4sin tan 2 1.2cos 3.075 0 + + = Ans.
Then ( ) ( )
1
3 4 2 4 2
tan 0.175sin 0.05sin 0.425cos 0.125 0.05cos

= +

Ans.
3 2
3
0.4 0.8

= +
j j
G
e e R
4
4
1 0.5

= +
j
G
e R Ans.
( )
3 2
4.086
0.4 1.403

= +
j j
C
e e R Ans.
The first-order kinematic coefficients are found by differentiating the above:
3 2 4
3 4
0.4 1 1.4

+ =
j j j
j e j e j e
2 3 3 4 4
0.4sin 1sin 1.4sin =
2 3 3 4 4
0.4cos 1cos 1.4cos + =
212


( ) ( )
3 4 2 4 3
0.35sin 0.875sin = ( ) ( )
4 2 3 4 3
0.25sin 0.875sin = Ans.
( ) ( )
3
2 3 3 2 3 3
3 2
0.4 0.8 0.4 sin 2sin 0.4 cos 2cos
3

= + = + + +
G
j j
j e j e j R Ans.
4
4
4 4 4 4 4
0.5 0.5sin 0.5cos

= = +
j
G
j e j R Ans.
( )
( ) [ ] ( ) [ ]
3 2
2 3 3 2 3 3
4.086
3
0.4sin 1.403sin 4.086 0.4cos 1.403cos 4.086
0.4 1.403

= + +
= +
j j
C
j
j e j e R
Ans.
The second-order kinematic coefficients are found by differentiating again:
3 3 2 4 4
2 2
3 3 4 4
0.4 1 1 1.4 1.4

+ =
j j j j j
e j e e j e e
2 2
2 3 3 3 3 4 4 4 4
0.4cos 1sin 1cos 1.4sin 1.4cos =
2 2
2 3 3 3 3 4 4 4 4
0.4sin 1cos 1sin 1.4cos 1.4sin + =
( ) ( ) ( )
2 2
3 4 2 4 3 3 4 4 3
0.35cos 0.875cos 1.225 0.875sin = +

Ans.
( ) ( ) ( )
2 2
4 4 2 3 4 3 4 4 3
0.25cos 0.625 0.875cos 0.875sin = +

Ans.
( ) ( )
3
2 2
3
2
0.4cos 0.8sin 0.8cos 0.4sin 0.8cos 0.8sin
2 3 3 3 3 2 3 3 3 3
3 3 2
0.4 0.8 0.8
3 3




+ +
= +
=
G
j
j j j
e j e e R
Ans.

( ) ( )
4 4
4
2 2 2
4 4 4 4 4 4 4 4 4 4
0.5 0.5 0.5sin 0.5cos 0.5cos 0.5sin



= = +
j j
G
j e e j R Ans.
By virtual work we can formulate the dynamic input torque requirement as:
3 4
12 3 3 3 4 4 4

G G C C
M = + + + + f R t k f R t k F R i i i i i
The individual elements of this equation are:
( )( )
( ) ( )
2 2
3
3 3 3 3
2
2
3 3 3 2
4094cos 8188sin 8188cos 4094sin 8188cos 8188sin N
2 3 3 3 3 2 3 3 3 3
100.78 kg 10 rad/s 1007.8 9.81 N

+ + + +
= = = =
=
G G G G
j
m m f A R R R

( )
( )
( )
( )
3
2
3 3 2 3 3
2
2 3 3
4094cos 8188sin 8188cos 0.4sin 0.8sin N m
2 3 3 3 3
4094sin 8188cos 8188sin 0.4cos 0.8cos N m
2 3 3 3 3


= + +
+ + +
i
G
f R
( ) ( ) ( ) ( )
3
3 3 2 3 3 3 2 3 3 3
3327.5 N m sin 1 cos 2 = +

i
G
f R
( )
3 3
2
3 3 3 2 3

2553.8 N m = = =
G G
I I t k k
( )
3 3 3 3

2553.8 N m = i t k
( )( )
( ) ( )
4 4 4 4
2
2
4 4 4 2
2 2
4 4 4 4 4 4 4 4
94.4 kg 10 rad/s 944 9.81 N
4797sin 4797cos 4797cos 4797sin N

= = = =
= + + +
G G G G
m m
j
f A R R R

( )( )
( )( )
4
2
4 4 4 4 4 4 4
2
4 4 4 4 4 4
4797sin 4797cos 0.5sin N m
4797cos 4797sin 0.5cos N m


= +
+ +
i
G
f R

213


4
4 4 4
2436.3 N m = i
G
f R
( )
4 4
2
4 4 4 2 4

2983 N m = = =
G G
I I t k k
4 4 4 4

2983 N m = i t k
( ) ( )
( ) ( )
2 3 3
2 3 3
4450 N cos120 0.4sin 1.403sin 4.086 m
4450 N sin120 0.4cos 1.403cos 4.086 m


=

+ +

i
C C
F R

( ) ( )
2 3 3
1808sin 120 6344sin 124.086 N m = i
C C
F R
Reassembling the elements we must remember that force is only nonzero for a portion of
the cycle. Therefore,
( ) ( ) ( ) ( ) [ ] ( )
( ) ( ) ( )
3 2 3 3 3 2 3 3 3 3 3 4 4 4 4
3 3 4 4 3 2 3 3 2 3 3
12
3327 sin 1 cos 2 2554 21 560 26 400 N m
N m 5419 3327cos 3327sin 1 9209 =



= +

M
for the entire cycle and, for
2
90 300 , an additional increment is added:
( ) ( )
2 3 3 12
1808sin 120 6344sin 124.086 N m

= M Ans.
This input torque requirement is shown in the following plot. Notice the very small
discontinuities in the curve when force F
C
begins and ends its effect.

12.24 The figure shows a motor geared to a shaft on which a flywheel is mounted. The mass
moments of inertia of the parts are as follows: flywheel,
2
0.308 N ms = I ; flywheel
shaft,
2
0.1724 N cms = I ; gear,
2
1.9 N cms = I ; pinion,
2
0.0388 N cms = I ;
motor,
2
0.9612 N cms = I . If the motor has a starting torque of 8.34 N m , what is the
angular acceleration of the flywheel shaft at the instant the motor is turned on ?
If we identify the motor shaft as 2 and the flywheel shaft as 3 then
2 2 2
2
0.009612 0.000388 0.01 = + = I N m s N m s N m s
2 2 2 2
3
0.308 0.001724 0.019 0.3287 = + + = I N m s N m s N m s N m s
( )
3 2 3 2
R R =

( )
3 2 3 2
R R =


3 3 23 3 3
M R F I = =

( )
2
23 2 3 3 2
F R R I =


214


2 12 2 32 2 2
M M R F I = =

( )
2
12 2 2 2 32 2 2 3 3 2
M I R F I R R I

= + = +



Now, substituting the numeric values,
( ) ( )
2
2 2
2 2
8.475 0.01 25 112.5 0.3287 0.02623 = + =



2
N m N m s mm mm N m s N m s
2
8.475 0.02623 323.103
2 2
N m N m s rad/s = =

( ) ( )
3 2 3 2
25 112.5 323.103 71.80 = = =

2 2
R R mm mm rad/s rad/s Ans.
12.25 The disk cam of Problem 14.31 is driven at a constant input shaft speed of
2
20 rad/s ccw. = Both the cam and the follower have been balanced so that the
centers of mass of each are located at their respective fixed pivots. The mass of the cam
is 0.075 kg with radius of gyration of 30 mm, and for the follower the mass is 0.030 kg
with radius of gyration of 35 mm. Determine the moment
12
M required on the camshaft
at the instant shown in the figure to produce this motion.
( )( )
3
2
2
3 3
0.030 0.035 0.000 036 75
2
G
I m k kg m kg m = = =
For full-rise cycloidal cam motion, Eq. (5.19),
2 30 112.5
1 cos 1 cos2 0.200
150 150
L
y




= = =





( )( )
( )
2 2
360 30
2 2 112.5
sin sin2 0.480
150
150
L
y

= = =

( )
2
2
3 2
0.480 20 192
2
y rad/s rad/s = = =


( )( )
3
3 3
0.000 036 75 192 0.007 056
2 2
G
t I kg m rad/s N m = = =

By virtual work,
( )
( )( )
3
12 3

0.200 0.007 056 0.150 8 sin 45 0.168

CO C
M y t
N m m N N m ccw

= +

= + =

R F k i

Ans.

12.26 Repeat Problem 12.25 with a shaftspeed of
2
40rad/sccw. =
( )( )
3
2
2
3 3
0.030 0.035 0.000 036 75
2
G
I m k kg m kg m = = =
For full-rise cycloidal cam motion, Eq. (5.19),
2 30 112.5
1 cos 1 cos2 0.200
150 150
L
y




= = =





( )( )
( )
2 2
360 30
2 2 112.5
sin sin2 0.480
150
150
L
y

= = =

( )
2
2
3 2
0.480 40 768
2
y rad/s rad/s = = =


( )( )
3
3 3
0.000 036 75 768 0.028 224
2 2
G
t I kg m rad/s N m = = =

215


By virtual work,
( )
( )( )
3
12 3

0.200 0.028 224 0.150 8 sin 45 0.164

CO C
M y t
N m m N N m ccw

= +

= + =

R F k i

Ans.

12.27 A rotating drum is pivoted at
2
O and is decelerated by the double-shoe brake mechanism
shown in the figure. The mass of the drum is 105 kg and its radius of gyration is
142 mm. The brake is actuated by force

445 N = P j , and it is assumed that the contact

between the two shoes and the drum act at points C and D, where the coefficients of
coulomb friction are 0.300. = Determine the angular acceleration of the drum and the
reaction force at the fixed pivot
12
. F

( ) ( ) ( ) ( ) 5 65

300 75 = + =

mm P mm F M i j j i 0
65
4 1780 = = F P N
5 65 35
= + + =

F P F F 0
35

1778.63 445 1833.4 14.04 = + = N N F i j
The friction angle is ( )
1
tan 0.300 16.70

= = .
( ) ( ) ( ) 3 53 23

550 125 225 cos sin = + + =

mm mm F M j F i j i j 0
23
3408.7 = F N
32

3264.9 979.5 3408.7 16.70 F N N = + = i j
216


( ) ( ) ( ) 4 64 24

625 125 225 cos sin mm mm F = + + + =

M j F i j i j 0
24
6194.4 = F N
42

5933 1780 6194.4 163.30 F N N = = i j
( )( )
2
2
2
2 2
105 0.1415 2.156 = = =
2
G
I m k kg m N m s
( ) ( ) ( ) ( )
2 2
2

0.2 3261.85 979 0.2 5931.85 1780 = + + =
O G
m N m N I M i i j i i j

2

261
2
rad/s = k Ans.
2 12 32 42
= + + =

F F F F 0
12

2668.2 800.5 2785.7 16.70 = + = F lb N i j Ans.
Note that gravitational effects are not yet included. If standard gravity acts in the

j
direction then the

j component is 410 lb. Since the main bearing at O

2
supports this
weight, it does not affect the friction forces and can be added by superposition. If
weights of the other parts were known, however, these weight might have some small
effect on the friction forces and the braking forces, and would have to be included
simultaneously. Superposition could not be applied.