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12
(a) (3%)Write Loop Closure Equation in complex number notation (Indicate variables on
figure and show heads and tails of vectors clearly)
(b) (3%)Find Velocity Loop Equation from above equation
(c) (6%)Find Acceleration Loop Equation from above VLE.
(d) (18%)Link 4 is moving to the left with a constant velocity of 15 m/s. Determine the
angular velocity and acceleration of the link 2 indicating directions also.
Answer: (d) &12 .=38.823 rad/s (ccw)
&&12 . = -403.86 rad/s2 (cw)
Question-2 (20 %) In the mechanism below the arms A0A, B0Band B0C are of equal length
and 50 cm each. Link AB and link A0B0 are 75 cm each. If A is rotating in the direction and
moving from the position shown in the figure, find the speed ratio between A and C at the
instant when A0A becomes perpendicular to A0B0 and BoB is rotating cw. (Figure not to
scale)
Answer: VA/VC=-1
12
Answer:PB =796.5 N
Question-4 (20 %) For the planet gear system as below, the arm, link 2 is rotating around
axis B and carries planet gear 3 with T3=18 teeth and has gear 2 withT2.=20 teeth coupled
with it as shown. The internal gear has T5=56 teeth and rotates around axis A.
The sun gear link 4 is also rotating around axis A and has T4=20 teeth.
Gear 2 and 6 forms a simple gear train.