: : : ; fe Mids fil) 2ooz | SOLUTIONS MANUAL to accompany THEORY OF MACHINES AND MECHANISMS THIRD EDITION John J. Uicker, Jr. Professor of Mechanical Engineering University of Wisconsin—Madison Gordon R. Pennock Associate Professor of Mechanical Engineering Purdue University Joseph E. Shigley Late Professor Emeritus of Mechanical Enginering The University of Michigan isis ~ Oe We WAT wl New York Oxford ‘OXFORD UNIVERSITY PRESS 2003Chapter 1 The World of Mechanisms 1d 12 Sketch at least six different examples of the use of a planar four-bar linkage in practice. They can be found in the workshop, in domestic appliances, on vehicles, on agricultural machines, and so on. Since the variety is unbounded no standard solutions are shown here. ‘The link lengths of a planat four-bar linkage are 1, 3, 5, and 5 in. Assemble the links in ail possible combinations and sketch the four inversions of each. Do these linkages satisty Grashof's law? Describe each inversion by name--for example, a crank-rocker ‘mechanism or a drag-link mechanism. + P=3, q=5; these linkages all satisfy Grashof's law sincel+5<3+5 s=l, Drag-link mechanism Drag-link mechanism a Crank-rocker mechanism Crank-rocker mechanism K] Double-rocker mechanism. Crank-rocker mechanism13 ‘A crank-rocker linkage has a 100-mm frame, a 25.mm crank, a 90-mm coupler, and a ‘TS.mm rocker. Draw the linkage and find the maxienum and minimum values of the transmission angle. Locate both toggle positions and record the corresponding crank angles and transmission angles Ye #75 =98.1° ‘Togsle postions: y, =40.1":7, =59.1%; y, =2286%;7, =90.9" 14 Inthe figure, point Cis stsched tothe coupler; plot its complete path.1s 16 Find the mobility ofeach mechanism shown inthe figure. (@) 26,427,420; m=3(6=1)-2(7)-1(0)=1 a - (0) ne B10, =O; ma3(8. dan as, © the Kutzbach criterion fils inthis cat; the true mobility is m1. ‘The 4 due to redundant constraint. The assumption that the rolling contact joint doesnot allow links 2 and 3 to separate duplicates the contin ofthe fixe link length 0,0, (@) m4, j,=3,j,=2; m=3(4-1)-2(3)-1(2)=1 ds, [Note that each coaxil st of sliding joint is counted as only single prismatic pai. Use the mobility criterion to find a planar mechanism containing a moving quaternary link. How many distinc variations ofthis mechanism can you find? ‘To have at least one quatenary link, a planar mechanism must have at leas cight links. ‘The Grobler criterion then indicates that ten single-freedom joins are required. for mobility of m1. According to H. Alt, "Die Analyse und Synthese der schtglidrigen Gelenkgetriche", YDI-Rerichte, vol. 5, 1955, pp. 81-93, thee are a total of sixteen distinct cight-lik planar linkages having ten revolute joints, seven of which contain a ‘quatenary link. These seven are shown below:w 19. Find the time ratio ofthe linkage of Problem 1.3. From the values of y, and y, we find a =188.5° and f =171.5* “Then, from Eq, (1), Q=a/ = 1.099. Devise practical working model ofthe draglink mechanism. Pot the complete coupler curve of the Roberts mechanism of Fi = AD=25 in and BC = 1.25. 1.198, Use 4B = CDthe crank of Fig 18 is tumed 10 revolutions clockwise, how far and in what direction 110 ‘will the eariage move? ‘Screw and carriage move by (10 rev)/(16 ev/in) =0.625 00 into the lef Caraige moves (10 ev)/(I8 rein) = 0.855 $6 in to the right with respect tothe screw. Net motion of carriage = 10/16— 10/18 = 10/144 ~ 0.069 44 into te let, ‘More in depth sty of such devices is covered in Chap. 10 1.11 Show bow the mechanism of Fig 1.12b can be used 1 generate a sine wave. With he length nd angle of crank 2 designated at andy, respectively, he horizontal motion of ink 4s , = Reoay, = Rsin(yy +90), 1.12 Devise crank-and-rocker linkage, asin Fig I.11e, having a rocker angle of 60°. The rocker length isto be 0.50 m, ke123 The path of a moving point i defined by the equation ference from point Po point Qif RB = 4 and RG = 3 22-28, Find the position 24 The path of a moving point P defined by the equation y= 60-2913. What i the Trnecewet ofthe poi ie main begin when Xf =0 and cds when RB = 37 a 1 (0)=60-(0} /3= 0:8, (0) =O] REQ)=60- (3) 3451; R-(2)=34+51) ~ AR, =R,(3)-Ry(0) =31-91=94872- 71.6" das, oe 48 tein A nove the cus of Problem 21 Sods paceman om = 2102.5 1, (2.0) =200con4ed +2.0asin se} = 2.001 1,25) =2SacosSei+ 2SesinSa}=-25al am, =R,(25)-R, (20)=-4524 as.26 The poston ofa pin is given bythe equation R = 1006/2. Wat i the path of he point? Detemnine the displacement of he point m#=0.10101 00. Pe ‘The point moves in crcl of aus 100 wiht cemer atthe origin, as, (0.10) = 100€** « $0:9021 + 58.779} (0.40) =100e"* = -40.9024+ 58.779) AR = R(040)-R(0.10) 161.8031 =161.8032180° ns, 27° The ston R=(/2+4Je°P dete he potion point In which deton ie the poston veto roting? Where isthe pont lated when = 0? What ithe eg sae can have ifthe destin of he poston veers tobe be ave ee 7 Whats he placement fom thea poiéonoftievone ries Since the poar angle forthe position vectors ‘Jrt 10, hen d0 dt ianegative and therefore the position vector is rotating clockwise. dng R(0)=(0 +4) wacor The poston vector will next have the same direction when #1/10=2r. that is, when 20. dag R(20)=(208 s4)er** a soscor AR -=R(20)-R(0)= 40020" doe 28 The location of «pin is defied bythe equation R= (4+ 2)! where time in rnc etonf the ois inated when ¢= 0. What ithe placement during tne line ncn ching in angular cretion of the positon verter dung he ns time interval =I R(0)=(0+2)e! = 220° 224 = R(Q)=(12+2) ef w14.254° 28.2291 +11 326} AR =R(2)-R(0) 62291411326) <129262612 ay 5 18 = 54-0 54° cow as,29 ‘ 0 Link 2 in the figure rotates according tothe equation @ = n1/4. Block 3 slides outward on lnk 2 according tothe equation r=12+2. What isthe absolute displacement ‘aR, fom = 110127 What nthe apparent placement AR? R, ore” =(+2)em R, (i) =3.245"=2.1211+2.121) R, (2)=6290"=6) AR, «Ry (2)-R, (2-2 Ryq are =(?42)i, Ryall) 3h, Rya(2)=6h AR yy =Rya(2)-Rya(l)=3h de ‘Awheel with center at © rolls without slipping so that its centri displaced 10 in othe fight, What isthe displacerent of point P onthe periphery during this interval? Since the wheel ols witout sipping, lie 3.879} 4a2iciie.r® Anse ==10 n/6 in = 1.667 rad = 95.5" For Ryo, 6 =0 200 = 270°-95.5"=174.5° =10i-s9721+0.574)+6), (28i+6.574] =7.710258.5° in on. [A point Q-moves fom A to B slong link 3 while link 2 rotates fom 0 =30* to 6 =120", Find the solute displacement of 2. ny, =3230°=2 5981 +1 500] Rl =32120" = -1.5001 +2.598] ARg = Rg ~Ra =-4.0981-+1.098] ¥ AR gn = Ra, = 6.0001 AR, =AR, +R, AR, = .9021+1.098) =2.196230" in a" 2.12 The linkage shown is driven by moving the sliding block 2. Write the loop-closure equation. Solve analytically for the postion of sliding block 4. Check the result graphically forthe position where @ = ~45° ‘The loop-closure ‘equation is Ry=R,+Ryy Bye" = Ry + Rye Ry Rye” “Taking the imaginary components of thie, we get RysiniS? =-Ry sind - sind sing 45" = 200 =F» 546 men Feo Be tse 2 inte = ‘The offset slider-crank mechanism is driven by rotating crank 2. Writ the loop-closure aus ‘equation. Solve forthe postion ofthe slider 4 asa function of 8, et Ry tRoy ers Rye + Rae Taking el snd ipsagincy pars, Ro =RycO8l, +Reye080, and O=R,+Ry sind +Rysind, and, solving simuianeously, we get 8, =sin"'[ i= Rassin@) wisn 9079, 00° i Re fe haco8 LRG Oe Rina) 2 shat SOA ST tn 2.14 Wot clear program o (Rte sum of any numberof two-dimensional vectors {xessed in mixed rectangular or polar forms. Te reel shouldbe obaiable in cther, form with the mageitude and angle ofthe polar form having only psiuve values, Because he variety of makes and models of alcultrsis vast nd no standards exist for Programming them. 0 stander slaton i shown here‘rite a computer program to plot the coupler curve of any crank-rocker or double-erank form of the four-bar linkage. The program should accept four link lengths and either rectangular or polar coordinates ofthe coupler point relative tothe coupler. [Again the vaity of programming languages makes it difficult to provide a standard ‘solution. However, one version, writen in FORTRAN TV, is supplied here as an example. There are no accepted standards fr programming graphics. Therefore the ‘Tektronix PLOT-10 subroutine library, fr display on Tektronix 4010 series displays, i chosen as an older but somewhat recognized alternative. The symbols in the program ‘correspond to the notation show in Figure 2.19 ofthe text. The required input data are 1 RD, RO.R6, “ee progam can be ved sng te dt of Example 27a aking he ets tn how ofan 29. ‘Progra ccURVE 1 FORTRAN IV PROGRAM TO. PLOT THE COURLER CURVE OF NIT CRANK-ROCKER ‘On DOURLE-CRAN FOUR-BAR LtWwACE, GIVEN IFS. DINEGNTONS, warren FOR A Obs 11/70 COMPUTER SYSTEM, USING SUBROUTLNES PROM VTERTRONTE PLOT-10 FOR DIGFLAY co 40L0' SERIES OISPLATS. napsd 7 UICKER, TR, GR” PEAOOCK, & O-E-SIGLEY, TWBORY OF MACHINES "AiD MaCIOITSH, THIRD EDYTEON, ONFORD UNIVERSITY PRESS, 2003 wmareen py: gown J. urceER, JR. oe By Saningy 1900 FREAD(31 000) RL,Ra, RD, R4, 5,5, FFORD 2000 FoRATi6ri0. 0,221 PEND FS AMD ALPHA, EP (avon be. 0) Pant ASesonTnS"13er3°¥5) AcPeACATAN (5.5) Aeaxs Repu /57, 29578 {PSeaHAC (0.0, RS*SINTALENA) SMETIALIZE TOR PLOTTING AT 120 CHARACTERS PER SECOND. Shin errr (1200) THE rao FoR Tw PLOTTING AEA. (xan DwrNDO (SRD RLORTORA ORE, RAOREOYS) CYCLE THROUGH ONE CRANK ROTATION IN FIVE DEGREE TWCREMENRTS 72-0.0 Dhraes0/87.20878 bo 2 i173 ‘cha-coet2) SrassnetTa)GAM RD°R30RA*RaTRIRL“R2PREC2_O°RL*R2*CENZY (2, 0¢R3 Stabe teaaw) -or'9.99) THEN FORMAT(/""*** IME TRANSMISSION ANOLE TS TOO SHALL, Sno 1 Staw=SoRt 1 0-cansscoax GayeaTava (86a Coan ‘CALCULATE THETA 9. ‘Sus -R2"STHa-Ré>stM(GAM) ‘Tide2 D¢AtARG (Sm /eTHS) CALCULATE THe COURLER Por POSITION. Apsnaetw2=nS cos rH6) YoORa-GtHoRS-SENITHE) PLOT THIS stowewr oF THE COUPLER CURVE. zeniasomia raw rae cence, Extk movEA(O" 0°00) EALL Orawatnas-0) SGenzena-eos (a) weura-ciw( i) ALL PaMree eo}find the path of point P: (a) inverted slider-rank 2.16 For each linkage shown in the Figure, ider- crank mechanism; (c)_ straight-line mechanism; (#) second inversion of the sli ‘mechanism: (2) drarlink mechanism. ®2IT_ Using fet ser rank mechanism of Fig tothe extene values ofthe amas angi 5, find the crank angles corresponding As shown, 7 =90°-6, Also from the Figure 7 5in8, = C087. Differentiating with respect to 8, fr 156080, = sin "a dr. 5088, ' 28," hsiny Now, seting dy/d@, =0, we get cosd, =0. ‘Therefore, we conclude that @, =:2(24 +1)4/2 = 490°,270%, Ans. 2.18 In Section 1.10 iis poimted out that the transmission angle reaches an extreme value for the four ba linkage when the crank is onthe ine between the fined pivots. Refering to Fig. 219, this means that 7 reaches a maximum or minimum when crank 2is coinexceat With the fie 030. Show, analytically, that this statement is tue = From 40,0, Bar 41} 2p, c000, Also, from ABO, Sart —Anpcosy Equatng these we differentiate with espect 0 2, to bain | I I | Peat eck ay Der sin®, =2yr sing WL or " re oP nisin8, ae rainy29 220 “The figure illunates a crankand-rcker linkage inthe ist ofits two limit positions. In 8 Tit portion, points O,,A, and B He on a straight line; that i, links 2 snd 3 form a straight ine. The two limit positions ofa erank-rocker describe the extreme postions of the vocking angle. Suppote that such a linkage has j=400mm, % =200 mm, y= 300 mm and r, = 400 mm (a) Find 6 and @, coresponding to each limit positon. (6) Whetis the total rocking angle of link 4? (6) Whatare the ansmission angles at the extremes? 1 (a) From isosceles tangle 0,0,8 we can calculate or measure 8, =29°, 0,258" and 6; =248°, 6 = 136" (Then B0,=0,-8,= 78. A (© Finally, from isosceles triangle Ay 00,8. 7=29" and f= 68. nk. [A double-ocker mechanist has « deed-ceter postion and may also have a limit position ceprab 219), These positions occur when links 3 and 4 in the figure lie along & (Ghigh tne. In the deadcetter position the transmission ange is 160° and the ‘focbanism is eked. The designer must either avoid such positions or provide the at force, auch as 8 spring, to unlock the linkage. Suppose, forthe linkage shown in the figure, that 4 =16in, %p=53in, =Sin, and ry=12in. Find @ and 6 corresponding to the dead-center position. Is there a limit position? ‘Forte given dimension, there are two dead-center positions, and they conespond to the two. extreme travel. positions of crank O,A From 40,40, using the law of cosines, we can find @ =1140". ,=162.8° and, symmetrically Of =-1140°, 6f=-162.8". There ae also two lift postion, these coeur at 62565", = 193.1" and, eytmmetically, at 6 = 133.1" ns,aa ‘The figure shows a slier-crank mechaniam that has an fete and that is placed jn one of limiting postions. By changing the ost ei is posible to cause the angle hat rank 2 makes in traversing between the two limiting postions to vary in such + manne, thatthe driving or forward stroke ofthe sider takes place over «larger angle than the ‘nae ase forthe eur stoke. Such linkage is then called a quickretim mecheiom ‘The problem here ist develop a formula forthe crank angle traversed during the forwara Stoke and alo develop a similar formula forthe angle traversed during the return sve Theft ofthese two angles would then consiute an time ratio ofthe drive to reung strokes. Also determine whic) direction the erank should rotate From the figure we can seta ¢= (7; +7 )sin0, = (7 ~)sn(@-180¢) or aS) (5) ‘Assuming diving is when sliding tothe righ, the rank shoud rotate clockwise. ag =~ 8, = 180° 4s 8a 1380-0 an (ss EREChapter 3 Velocity ul 32 33 Jor of» pont is given by the equation R-=100e/™, where Risin inches “The pesition vee 40 Find te velocity ofthe point at R(t) =1000"" R(i)= jxl00e!" (0.40) jrt006""* = ji00(c080.40e + jsin040x) (00x sin 72°+ 100% cos 72" 298,783 + 97.080 = 314.1592162"inls dit. (040), -hecquion R=(1204)e7 deine the pi of parts, IR in meters, Bad be velocity ofthe particle at = 205 R()=(e+4)e"" Ri) = 2!" (x10) +4)" (20) = 406" — (jx /10)(20"-+ 4)" = oe"? = jad be” (20) = 40.000~ 126920. 193.07482-72.5° mis dos. automobile is traveling south at 5S mifh and automobile B north 60" cast at 40 mit, Tria icine velocity difference between B and A? What is the apparent velocity of B to the driver of 4? V, 9852-90" 2-55} mil Vy = 40230" =34 6411+ 20} mith Via, -¥,=346tti+ 75} 0m Vp, 82.613265.2" =82.613 N248° E mith ant Naming B as car 3 and A as car 2, we have, =V, since 2 is tranlating. Then Vpja =V -Vo=¥uu Vy = 82.61365.2" 82.613 N 248° E ith as.34 3s In the figure, whee! 2 rotates at 600 revimin and dives wheel 3 without sipping. Find the velocity difference between points B and 4. {00 revinin)(2 ado) 60 sin =20r radlsow Vag, = Re = 808 V=V.+¥un * 51 inls ns. “Two points 4 and B, located along the radius of wheel (se fire, have spends of $0 ses iao mvs. respectively. The distance between the points is Rg, = 300mm. (a) What is the diameter ofthe wheel? (0) Find V jp, V py, nd the angular ve iy ofthe whee, Vase ¥p-¥,=(-140i)-(-80))=-60} nn dae Vg=¥,-Vy=(-t0i)-(-140]) = 60} v8 das, Vy, _ Gms oR 0300 m Mg. ome Ig! OB 0.700 Din #22, =2(0.7 m)=14 m-=1'400 mm das 200 rad/s ew as.36 a uM [A plane leaves point 8 and flies east at 150 mich, Simultaneously, at point A, 200 miles southeast (ee figure), a plane leaves and flies northeast t 390 mi (4) How close wil the planes come teach othe if they fla the some altitude? (2) If they bth leave at 6.00 pam, at what time wil tis oar? ¥,=390245° mih = 27616276}; Vy «3504 Vas= Vp -V, = 741-276) AL itil time Rg, (0) =200.120° mi = 1004 +173} AL ae ie (0) = Ry (0)+ Vad =(-100+74)-+(173-276)j To find the minimum ofthis: R= (100674) «(173-2769 A, [t= 2(-100 + 74)(74) +2(173-2761)(-276)=0 163 120-110 3760 £0677 h= I minor 64pm. dns Ry (0.677) = 49.81-13.5}=51.52-165° mi i. To the daa of Problem 36, adda wind of 30 mi/h from the west (4) ITA Tes the same heading, what is its new path? (0) Wat change does the wind make in the resis of Problem 3.6? With he added wind V, = 3061 +276) = 41242" mim Since the velocity constant, the new path ia sraigh linea N48". ns Since the veloitics of both planes change bythe same amount the velocity differs Vay does not change. Therefore the results of Problem 3.6 donot change ‘dst The velocity of point 8 on the linkage shown nthe gure is 40m’. Find the velocity of Point 4 and the angular velocity of ink 3, i = Vee Vy +Vg V,=48.992-165% ms dns, Vyg =14.682-120° mvsee Es 39 ste mecanam shown in he Sure i ven by ink 2 ata = 45 Find the angular velocities of inks 3 and 4 Vig =e, =(45 08) (4 in) =180 vt Veev,+¥a= Ma t¥aa, i =1434 ids og, 18475 ils. Yan. = !434 21.43 radls cow ‘ax Crank? of he pus echanism shown isthe Sane riven at w, = 60rad/sew. Find the velocities of points and C andthe angular velo ox of links 3 and 4. | | Ve = ty, =(60 04s)(0.150:0) 9.0 28 VeeVst VM Ve, Yasin a Wy 11 300241a2 Vea V4 Ver V5 4+ Vey V.=3.830260" mis ns, Hie = 3020 43.40 rdtecw; Rar 0300 oncn aig OF ot C on link 4 af he mechanism shown in the igure if rank 2 ig ‘even at) = AB rad/s cow. What isthe angular velociy ota se a Ya, =, (48 )(8.0in) = 384.0 ine MEV Ves 8 Vay % 335 rads cow ns, fr = 107 ins; oy = Hat 107, Vo=¥+¥in =Ve4 Vics 84.72 —75.8° is as. Fe git ilasaes a paralll-bar linkage, in which opposite links have qual lengths, For this linkage, show that ai is always zero and ther = How would you dsr the motion of ink 4 with respect lnk 2? mn i 29 nd ing = wat = wm comps Ba (236 0d: SEM w=. Then Eq (229) ges 6 = Osndits derivative iso as. manne mitint E,(225) ino E233) 0 se tha y=. Then Fig 219 annie nk 3 is parle lik (2,0) then 6, =7=6,. Finally he dencarerny thi ives ©, =o, a, Sie 0-0 0, inks ncurses tsaton with expec ok 2 a.“313 The figure iluseates the antiparlel or crossed-bar linkage. If ink 2 is driven at 2 =1 radi cow, find the velocities of points C and D. - a a o Vig, “Rr, =(1106/5)(0300 8) = 0:300 is VenVs Vue Mo, +¥o, Construct the velocity image of link 3. Ve = 0.022151" m/s dos. ‘¥, =02902249° m/s dns. Find the velocity of pint Cof the linkage shown in the figure assuming that isk 2 hasan pul vclocity of 60 rads cow. Also find the angular velocities of links 3 and 4. e Yo, = ©:Ran =(60 ra) (60 in) = 360.0 ils Wye Vit Vuu= Mat Ve, Vg = 1694 inde; Py, = 317.6 i's Yo 184 wae «1824 075.24 rats ow oR 60 E Yoo, 3176 Yoo, 31763176 nalsew Oe tak mane k %, CConstivt the velocity image of ink 3; Ve =$07.12156 9" inls os.LIS) The inversion ofthe slider-rank mechanism shown nthe fi igure is driven by link 2 at 1, = 60 radis cow. Find the velocity of point 2 andthe ang sla velocities of inks 3 and co Vio, = Rao, =(60radls)(0,075 m) = 4.500 avis Vy Vit VM Vn Yaa 4259 at = 4259 «29.9 rad's cow a, 01987 a Construct the velocity image of ink 3; V, = 4.789296.5° mis das, 5146 Find the velocity ofthe coupler point Cand the angular velocities of links 3 and 4 ofthe ‘mechanism shown if crank 2 hasan angular velocity of 30 va c A ds, You 90.0 Fro, _ 000, ay = pt = 0 18.00 adie cow; ey, = LO. 2.00 2a sa. 0 ta ag beea7 38 Lik 2 of the linkage show inthe figure has an angular velocity of 10 ras ecw. Find the angular velocity oflink 6 andthe velocities of pints B,C, and. Veo, = Rao, = (10108) (25 in) Vy=Vit Vn Vy =11.57.180"in’s ‘Construct velocity image of link 3. VenVit Va =Vy Vey Ve "24222207." ils VpnVetVac=¥q ¥en, Vo 241822062" ifs BREE Von, _ 2418 = Lo = ANB 8 4.03 rads cow ag aa “The angular velocity of link 2 ofthe rag-link mechanism shown in the figure i 16 rads ae Fin a polar velocity diagram forthe velocity of poist B for all crank positions. Check the positions of thaximum and minimum velosiies by using Frewdenscin's ‘The aphical constuction is shown in the position where 6,=135° where the result is V,=5762-7.2%ivs, it repeated at increments of Ad, =15°. The taximum and minimum velocities ae Vpquq =9.132-146.6" us at @,=18° and Vyqy =459263.70m/8 at 8, =225", respectively. Within graphical accuracy these two positions approximatly verify reudenstin's theorem. ‘A numeric solution forthe same problem can be found from Eq. (3.22) using Eqs. (2.25) through (2.33) for postion values. The acuricy of the values reported above have been verified this way.ay 2 Link 2 of the mechanism shown in the figute is driven at a2, =36 rad/sew. Find the angular velocity of lnk 3 and the velocity of point 8, i a, ANa Vo, =O, = (36 r8)(5.0 in) = 1809 ins Vee Vit Vus = ¥ +¥ en vy =20282~563* int dag Find the velocity f point C andthe angular velocity of link 3 ofthe push-ink mechanism shown inthe figure. Link 2 isthe driver and rotates at 8 rad/s cew. Vo, = Ra, =(8 rad) (0.150 m) =1.200 's MV, + Vas Vo, $V Construct velocity image of link 3 rst Veu= Vy +Vey 848.2223.2° mvs Vay 3784 Yat 3784 15.14 rads cow 025071" EE4121 Lik 2 of te mechanism shown inte igre has ao angular veloiy of $6 rads cow Find the velocity of point C. Yo, =osBu,=(56 (0150) =8400 ls env + Vu Xa 2%, Const velocity image of inks. Graves VenaNy My Ven SO282137.8 8 as. 4122 Fie the vlocies of pints B,C, and D ofthe doubler mechanism shown in he figure if eran 2 rotates at 42 rn cw Vent ¥er2¥s Vea Ve = 678621542" i's Vp 2 Vo-+Vag #2123290" tvs Yq = OR, = (42 as (2.00 in) = 84.00 irs Vs +Vau V, = 65362180" ins Mas. Const velocity image of tink 3 das. as.fee are connecting od. Crank 2 rae at 200 revinin ew: Find een ‘of points B, C, and D. 2000 revimin(2 radtev an GO minis Vea, = OR, ~@09.4 rads)(2.0 in)» 418.9 ins Van VatVo=425.92~120°inls das image of link 3, f+ Vey 486.92 -93.3°inls Ans, Yo = VeVac =378.72.~60"infs as, 094 rie 224° Maks comple velocity alysis of the linkage shown inthe ‘igure given that 22" 24radls ow. What isthe absolute velocity of point 2? Whats spparent velocity {oan observer moving with ink 4?328 Vig = Ra = (24 05) (8.00 i) = 192.0 ins Using the path of Py on link 4, we write Vp eVst Vue Me t¥ ie Yoo 1618 = 21S 6.16 adsow Sy na ‘From this, or graphically, we complete the velocity image of ink 3, from which V,, =157B2-39.7 ils das. “Then, since lnk 4 remains perpendicular tink 3, we have ay = and we find the velocity image of ink 4 Vue 10332—12.4 is da Find Vf the finkage shown nthe figure if, =1 ¥,=12 ins Using the path of Ps on link 4, we waite Vpn¥ ste Ya # Van [Next construc the velocity image of ink 3 oF Vy = Vn + Vay = Vs+ Var Vy =12502-23.0" ils onWis driven by crank 2 at 4126 The figure shows a variation of the Scotch-yoke mechanism, Nay, =36rad's cow. Find the velocity ofthe crosshead ink 4 ms Ve, = AR o, = (36 radls)(0.250 a Using the path of 4 on lnk 4, we write Weave tVay (Note that the path is unknown forV,., 1) V, =4.6582180° mvs All other points of ink 4 have this same velocity; itis in transition, igure for, =72 rads as. 327, Make « complete velocity analysis ofthe linkage shown in the f 08.0 ins a, Ro, = (72 radls)(1.50 in328 Went Vnr= Mo PV Construct velocity image of link3. Ve, Ve, =76:322203.2" in's Using the path of C on fink 6, we next write Me ee Vays Bi Ve, = Ve Bm which Vo = 4.012404 ‘rom i, gropically, we can complete the vloity image of ik 6, fom which Vp =77392-98" in's ¥ perpendicular ink 6, a, =0, = 28 =867 als ow Ream Vit Ver=¥e Veo Since link 5 rem BREE EF From thee we can got Vo, = Ve, #¥ac, @64492210.1° Sted aks 2 and 3 are ven independently ato, = 30 rls cw andy = 20 T4/eW, respectively. Find the absolute velocity ofthe center of the pin Fy carnid in the two slots. * Vy ayy =(30 rals)( 0054 9:0) =1.647 mis Vy =Rgy = (20 ae)(0.102 6m) =2.052 ‘entiying the pin as separate body 4 and, not ing the two paths it travels on bodies 2 and 3, we write Vn Vn t¥n in tVqa 2 3SSLIS° ls das.a9 330 ‘The mechanism shown is driven such that Ye = 10s to the ight. Rolling contact aseume between links 1 and 2, but sip is posible between links 2 and 3. Desernine te, fink 3. po e a & Using he path fon ink 3, we wit Mee Nnmd eye =F ren = ‘The circular cam shown is driven at an angular velocity of a =15 rads cow, Thee ia rolling contact between the cam and the role, link 3. Find the angular velocity ofthe ‘oscillating follower, ink 4 15 ad)(1.25 in) =18.25 ins Yo Vas 894 Vy =¥; 4+ Vag‘331 The mechanism shown is driven by link 2 at 10 rds cow, There is rolling contact at Font. Determine the velocity of pints and Gand the angus velocities of inks, 6, 5, and 6, Vas = Ray = (10 s)(1.000 in) =10.00 ins Ve =¥,+Veu=%otVeo Voy 1333 Ye = 1333.23.333 matscow * Bo 3333 mls ns. Yon _ 6567 o, = Yn = $557 23,333 dls cow no FP as. Vp +V gn = Ve#Ve 21000522209" is dns, and Ve, = Mat Ven Construct velocity image of ink 3. Vs, Using the path of Es on ink 6, we write Ve, = Ve, * Ys, %, Yon, 4838 3.774 red/sow das. Ray 1288 const velocity image oink 6. Vo Vs, + Vax, * Vn + Von *11-994-37.1° ne ds,232 The figure shows the schematic diagram fo a two-pison pump. Is diven bya circular cecent, link 2a =28 rads cew. Find the veoctcs ofthe two pistons ake ra, Vy, “Vag =04Rye =(25 rads)(1.0 in) =25.00 ins Using the path of onlin 3, we write Vj, = Vp, Construct velocity image o ink 3 Yon Va tVog = Xe Voy and +V ag. Then Vy =Ve-+Vjc =13022180" ins Va = Vo +Vag =5.7772180 in's Van and Vy, =o Vy EE10 radis ew, 433 The epicylie gear tran shown is dkiven by the acm, tink 2. at ey ‘Determine the angular velocity ofthe output shaft, attached to gear 3. Vy =Vuu=eaPax (1010/5) (3.00 in) = 30.00 ins 7 consiruct the velocity image of lnk 4 from which Ve = 60.20" in/s Using Vo Voy _ 60.00, Yea, = 2... 3000 ras ow As a 200 1334 The diagram shows a planar schematic spproximal pivoting but n0 # onceptsofnstant centers to find a By efinson, te oll enter” of he vb dy sink 2, wih respect i one Tink By tet nat cont Py tan be fund by te repeated appeton of Kenny's theorem as shown.a the automotive industry it has become common practice 10 use only half ofthis canatrction, assuming by symmety that Pix must le onthe cenarline et tne ae Notice that i i ve only when the right and lef supension sans ae symantec positioned. lis not tru once the vehicle begin ool ine ne 3.35 Locate all instant centers for the linkage of Problem 3.22. Instant centers 2, Py, Par Rule infinity, 2, Puy Bod Rat infinity) are found by inspection. Atl others are found ‘by repeated applications of Kennedy's “theorem uni Pao One tine can be found for Pas however no second line can be found since no line can be drawn between Ba and Pe in finite space). Now it must be seen that 2, must be infinitely remote because the relative motion between Hinks 4nd 6 is transition, the angle between links nd 6 remains constant,336 Locate all instant centers forthe mechanism of Problem 3.25. =< Instant centers A(t infinity, Fy, ‘(at infinity), and Ry are found by ‘inspection. All others are found by repeated spplications of Kennedy's ‘theorem. mechanism of Problem 3.26. Tnstant centers Pz» Par Pa (tt infinity), and Ay(at infinity) are found by inspection. All others are found by repeated applications fof Kennedy's theorem except 2 One line (Ay) ean be found for however no second Tine cat bbe found since no line can be drawn, (in finite space) between , and Py. Now it ust be seen at A, must be infinitely remote ‘recause the relative motion between links 1 and 3 it translation; the angle between Tinks 1 and 3 remains constant338 Locate all instant centers for the mechanism of Problem 3.27, ie Instant centers A. By, Bay Buy Bye Plat 5 Pe Rare a lg a Al others ar fund by repeted app of Kennedys theorem. Instant centers 2, and P, are found by inspection. One line for A, is found by Kennedy's theorem. The other is found by drawing perpendicular tothe relative velocity Of slipping at the point of contac between Hinks 2 and 3. Zh lnwtant center 7,2, By and Ry ae found by inspection. The cher wo se ound by Kemeahnn ‘hearerChapter 4 Acceleration d_Theposton cor fit i deft ye euation R-=(4 7/1] wee Ri vers niin seconds, Find he celeron athe pia a ¢= 23 R(y=(#-P)ited aoe(-?)i R(2)=-2(2)i=al ins? aus. a3 of «point whieh moves scoring 16 the equation fe=(?-P/6)io(?2)i- Tee we meters ae sects 42 no-(?-24)i+(°)i n()-(0-PAlirFi 8()=(0-01+24 KOs)=@-Di+2G)i=-issims? dan 443. The pth of & point i deserved by the enuaion R= (72 +4)e/#19-where & i 8 siete and is in seconds. For ¢= 20 3, find the unit angent vector for the pa lime tangential Components of he points absolute acceleration, an te radius of cunvatre ofthe path RQ) ere” eye re HO LEG gaye het (0)! Ha oye h-(2-B enn (ane 8) JU 1,0, we find that Noticing, ats = 20s, tnat e-/*"! R (20 s)= (202 +4) = 40844 4s 8 (20 8)=2(20)-ZE (20? +4) = 40.00-/12692=133.072-725" mms Reans)- (2-222). px 2 ~ 520? + 4) = 37.873 j25.133 mens? Fp 20? +4) 37.873 ~ 25.133 mens 3 From the direction ofthe velocity we find the unit tangent and unit normal vectors F=1Z~ 725 =co1- 72.5% + sin 72.55 = 0.30058% -0.953765] ns. B= 4k = sin- 72.5% -cos— 72.5%] = -0.95376i 0.30058) From thes, te components te pins sale celeron ae =(-195976-030088){ 3787912513] ms?) 43.676 me? 12.586 rams? BE A mit = (0300381 -0.95376])-37.8731~2s. 133) mos?" ‘Then, from Eq. (4.2) or Eq. (4.14), the radius of curvature is [Rf 03307 me} 05.6 em dos. @ 43.676 mem ‘Where the negative sign indicates thatthe pont isin the negative direction from the center of curvature of the points path. ‘The mation of pints deverbed bythe equations x= Arcot x? and y=(1/6)sia2er where x and y rein feet and is in seconds. Find the eceleration ofthe point st falas ROL secon" }hs[(0/6)in2n1]j RO) [eons t24? sant Jel (en 2e1+ (e082) RE)x[ er sian? -36 conn? Ji(t-203) ander +t corde] R(L40 5) =1112.6201-19.753}=1 112.7962-1.0" et da. Link 2 in the figure has an angular velocity of o =120;aW/scew snd an angular celeration of $900 rad/s? cow atthe instant shown, Determine the asoltescelertion of pint 4 Ais Ka tg Alo, AOR +k Ry, =~ (120) 0.5001 +4 8008:0.5004 ‘Ag=-7 2001+2 400] ms! =7 589.161.6" mis? ae————— EE ‘ko Line 2 ig oting clockwise as shown in the figure. Find its angular velocity and the acceleration ofits midpoint C. AgtAct Aut Ae Construct the acceleration polygon. ow [fa PERE gH Yet Fanaa ae Note the ambiguous sig of hie square root. The sense of cannat be dterited rom Tho sceteratons, but here found from the problem statement. ig 1708 fie at ras ew 2012 8 doa. Ac #309.2248.0" 8 aos. “47 Forte data given inthe figure, find the velocity and acceleration of points B and C. Vyp=¥,+¥nn Vp = yy = (24 rads) (16/12 A) =32 15 Construct the velocity polygon. Yprl202210 sat. Viessoranirts dns mAh tA Apa ahha, =(24 nds) (W612 Y= 768.0 88 (160 ras)(16/12 ft) = 213.3 5? Construct te secelerationpolyzon. Ay = 39.12165" 5 Ac =210.222803" hs! EEFor the stnigh-tine mechaniom shown in the figure, oy =20md/sew and 22 = 140 rads? ew. Determine the velocity and acceleration of pint 2 and the angular scceleration of link 3, % apie Ya %a+¥e, Vag, * Ra, =(20r2d)(0.100 m) = 2.000 ms Ye=V,+Ve, Construct the velocity polygon of ink 3, V, =3:8642270° ms ns, A= Ka thin +e, Ain, = Rs, = (20 rads} (0.100 m= 40.000 ms? foo," Bo, =(140rads?)(0.100 m= 14,000 ms? Aes AssAL +l, Vea] Res =(2.000 ms) /(0.100 m)= 40,000 as? Constr the acceleration polygon of ink 3, Ay =6340250" mis! as, fae 14000 ag sath cw dan Ru 0.100m 49" fate fer the side ia moving tothe lf witha constant velocity of 2.0 mi. Find he ‘angular velocity and acceleration of ink 2. ae 4 4 7 i A \ 4 {ieee r AL ia ! i 4, old e VseVerVc Yo *Vi- Constr the velocity polygon of ik 3 Yon 3.864 we Yea a 28 6s atten tte as,———————— EE “ Ape Ket hic thc =a tg tA, be Vice = 864 4) (0100 0) = 148.28 ms? ig Vn [Ra = (3864 m4} (0100 ) = 10828 8! doo, $87.13 m8 6s s713 rads! ow ns. Rg” 0.100m “410 Sotve Problem 3.8, forthe acelerton of point 4 andthe angular aecleation of ink 3 ‘Assume V, =constant. Therefore A, Ae Ka Nig Ale Voy CAO MAY 535.9 mvs? “Ra 080m A, = 7579215" mvs Aig 3389.08 fia 4 352.05" 213397 nds! ow 400m EE Assume 0, =constant. Therefore = 0. ew Ka tl hy a}, = (45 rae) (in) =8 100 ins?Neth hit he Ky tA al, 4.4 ins) (0.0 in)2057 oe lore compare cepa Aig = V1 Ray 846.8 ive? eg, a, ‘Assumcay, = constat. Therefore a, =0 Ky tA eX, Ain, =O2R, =(60 rls} (0.150 m Ame Rist hes Ky $AL, +A, ig “Via! Ray = (13.02 mvs} 1(0300 mn) =565.1 ve? ic, “Vi! aa, = (11.36 mi 10.300 mm) = 430.1 vs? Construct the acceleration polygon of lnk 3. Ae=200.6210.6" ms? as, ig 1365 ve? , = ie BES 055 0 calls cow fae Se = 4550 nde da. os. cya fn MOM AS say ow1. find the aceeraton of point Cand the angular accelerations of Tinks 3 ‘assume o, =constant, Therefore 2, =0 Aka t hy they Re, (48 cas (6.00 in)= 18 432.0 in? Apts + ist As Kot Aig #8 b)=Mes aah 1(920in)=3.6 n't (Ignore compared 0 ober pars.) FB, = (0748 i) (160 in) 8 7708 i ia Contre ine celeron polygon fink 4 Shea 25421144" in? as. fog 55 73008 y= fin SS TBDII ran ae cow sofa SDR a a dx. Ag, S8002in ‘ of SBN essa ate ow a, ‘sing the data of Problem 313, solve forthe aeeeations of points Cand D en he angular seceleration of ink 4 ¢aus [Assume ©, =constant. Therefore 2, = 0. Aya Kathi hey “gh fi.0eas} (0300-030 01 Ae hye Bin hia Ko,*Kig thin ‘Aaa Raa =(0263$ win} 1(0150 m= 0462 9 ‘hog =W/ Ma = (0227 O19) (0.308) = 01718 Cnr theeceerin polygon fink 3. (A =O515 42-1198" ws" a ‘Ape 0492 5221.8 mie? rm yy, 0221208 afin, 0221 2018 9.737 4a ow fo RS Ot A tos. or roblem 114 id the eckson of it Cand the angular aclertion of ik ‘Assure o, = constant. Therefore = 0 hea Kathy Aig fio} = (COD (6958) ~21 60 ins? Att Nast Kat Ag Aig A= Vist Rg = 014 is) 1 (60 in) = 4783 i? fia =Voa! iu, = (17.6 ils} (10.0 ia) =10 090s? Conte tn aceation polygon oflink3 ‘Ag = 31 2502-68." ins! 4y a, = Ra, BE 14.930 ini 14.950 ils" 1 495 ras? cow 000 |Assume a =constant. Theeire 2, <0 Aen Ky tA aX, Ain = 018g ~(20.0 rae) (30 in)=2 700 net MOA Aly hina AL $A, Ais Visa, = (900 ins} (5.0 in) 620 ing? fia = Va, Ba, = (0.0 in) 1(5.0 in) = 0.0 ini? Construct the acceleration plygon of in > Ac =5 9402216.9° inva? as, fia, _ 4320 in? “ 60in = 720 rad? cow Atsume 0, =constn. Therefore o, =0 Aina tA 0X, Aon =a, = (100 rd} (250 in) MPAA Ay 50.0 nls? Ais “Vi Ruy = (18.0 its} 100.00) 3499418 ‘A, =200.920" ins au, fig ile : yw fate ASE 27.49 a? cow i oom du. “Consrwe the aceeration polygon of ink 3, or Ac =/Ay + Res + Aes Ape Act bet Nie = Ka tng +A “Ae =Vicl Roe ™(0600;08) (409) =0090 ins! (gp compare oer Fans) = Vg Rag = (2418 ns) (600) = 97478 in? AA HAL HAL, Ao, 878 in 7 ag = Ai = SATB w0.81 as? ow du "Ry 60in ] torte data of Problem 3.18, what anglar acceleration mst be given ink 2 fr the ‘Poston shown to make the angular aeeeeation of ink 420? ees a iS a rl a A ae Kiet Me, “Aig =i Bo = (264 15 (0400) = 9.056 awh, + Ala Aig = Kot ig tA Lig=Wg oy = (5004 m8} 1(0428 0) = 58.99 A=W! = (5600 8} (035 tm) = 99.60 2 fa MEARE op na cow fa re49 For hed of Prblom 3.1, wha angular scslerton must be gen nk 2 we ngs sceltion otk 410 be 100 ras ew att nsarranene 2 +A tal, gH, = (2028 nv) (8.0 in) 140.7 i in, = Ra, = (100 ra”). in) = 800.0 is? AltA thin Aig = Key SAL A, "2h! Ru = (2587 ins) (8.0 in) 53.63 in! grrable compare oie ane 80.08) 1(5.0 in) = 6 480.0 ins! 4180.7 adie? cow as, Soe Pobem 3.20 forthe acceleration of pint Cand the angular szceletion of ik 3. Assume ©, = constant. Therefore a, =0 MaAy th 3X, Ain, = Ra =(8.0 ras) (0.150 m) 9.600 mie? MPAA A= Ke AS, 4A, isis! Bu = (3.783 9 mse} (0250 m)=57270 mis? ‘os "Yin Rey = (3483 7 me) (0.250 m)m 8 544 met Constrct the acceleration polygon of lnk 3, Ac =63412-22.9" ms? EE a, fi 1567 mv! ee Ras 0250m 7 259 ra4at or Problem 3.21 find the acceleration of pont Cand he angular aceeation nk 3. haa Kathy hy Ain =o = (850 044) (0150 m= A704 wi pA st ist Rin Ke tg tla, Aegis) Bas" (6986 m8} 1(0.280 2)=194.09 et 1 By, (1380 mn) (0250 m)= 518.06 mt Aim. Construct the soceleration polygon of link 3 ‘Ae = 450622556" mis? ua 182.8 Ais = 1852.08 «7408 ral? ow a am Find the accelerations of points B and D of Problem 322, [Assume o, = constant. Therefore 4; = 0 Aya Kathy thin Ao 0g = (62.0) (2.0in)=3 528.0108 RNa Baa Mal ha (ez b be} 1100 i8)=1819 int Aya 211720" inl? ‘Ant. aera an ecceton polygon of 3,0 Ae A, +A Res Ay Mi 1M Rom Act Abe + Moc Age = Vie ie = (1.6 ns} (8.018) =475 ‘ay =1 616290" ins? a.4u 423 Find the accelerations of points 2 and D of Problem 323, Assume = constant. Therefore a, =0 AK tho, Ao "Rn, = (2094 rs} (2.00 in) 87 730 ne? APA tA AL, iam Vis! Ray = (218.75 nls} 6. in) =7 975.4 in! Ay =29 2872240" ine dos, Grint te celeron yn Ok, hem Ay A+ Ay 6A +A, Aen Act det Aly Ai =Vac Raz = (2699s) (50 in)=14 473 ive? Ay =48 3722120" ins? as, dimension aehncture fr this group of problems is shown in the figure, andthe sirensions and date re given in the accompanying table, pt St problem, determined, Oy, a a, a, used to indicate the clockwise direction. ‘The dimensions i /-numbered problems ae given in Mis 704527. 475668 319668749 333090 $537 911s 4.0000 “A 9000 54.890 98 2832558806326 2 ts57 6.704 18 24176323 1h 167 17129 7497593 384215560 oass2 tases 9651421, 73.16 13831___“03081, 7275320638428 94.122 01 S01 7275320638628 94.1221‘431. Crank 2 of the sytem shown inthe figure basa speed of 6) Tov Cov, Find the Crm ot acorn of pit B nd the angalat elt and aceleraton of Hk 4 St oom Ee) sata q V4 =% + Va 7a Va ce cone eat n\08) 7 con nw Po Pome ot Rog 558 in A] = 6572 als ow dnt. ¥ Van Wat Vin, Vig, yg, = (6.572 rls)(28.0 in) Vpn18402-19.1"infs At. Since we kiow the path of on lik 4 we wee Bae Ain * Xin =a Rig *Riye Mat Aa ®t Ala * Me foog=01Rgo, = (6283 rman) (99) = 77635 tl Nw 2o, Vga ®2( 6572 08) 2464 il) 228. 93218.1" fe Vis 4640 9 Const the acceleration polygon sah inst 33430 —- ‘Construct the aceleration image of tink 4. ‘Ay = 2702.72187.5" ids? te. ‘as2_‘Themecasim shown inthe figue is marie seringpacalled Raps Ge OB Fe tind AC sth actuating 04 the velit of ACs 10 fin othe, Ga the angular acceleration ofthe tiles.(10 Rin)(12 ia’) + @sininy Vg My Vy Me Vu Construct the velocity polygon Assume ¥, «constant. Therefore 4, =0 @ 20ins Since we know te path of 400k 3, we write Aye Ku Aig tg said Ky mA tA A Fa, 0.732 inst uaa = 0.036 08 in/s* Ra Bein Ng =26)* Vg =2(0.020 85 r)(.00 ins) 0041672300" wed KL (1.000 invs)* Peete Conte te celeron polygon Aig, _ 0.04167 ins? yw fit, AMIS 005955 teow "Ra Bltin en, Determine the acceleration of lnk 4of Problem 3.26. Assume oy constant. Therfore a, =0 Sine we know te path of 4 on ink 4, we write Meh thin tig Ac thie shit Ay Aig =©Rao, = 260 ad} (0250 m)=324.0 mee v ins 5 diy tie 5 (65880) Ae Aug, = 20 *Y,,, =2(0.0rad)(6.588 mvs CConsruet the acceleration 4, =29052180.0° mis? Polygon, es.434 435 For Problem 3.27, find the acceleration of point E. a, 2 * Hin, =e Rag~(729 268) (50 it) = 776i Dewar Nat Aas Kathy thay Aa Vig l= (512 is} 1(00S in) = 21773 id! “ag~Ya Br, = (720 ib5} 1(50in)=1 0368 i Constuct the sceeleration polygon of tink 3 See me know the path of Co ik 6, we wete ae he "Aig, + Net Ney and Ae, Kat Aka * Ain epg = 2a, xVora = 2(0.67 nl S015) = 970.16 Es an S015i0} 9 Aus (43.07 iv) 4453 in ‘Construct the aceleration polygon of link 6 ‘A, =7232,9.2252.8" int ns. eget OE anos rite acces of pin B nd the angular aclerton fink 4 of Problem 3.4 ‘Assume o, = constant, Therefore 4; = 0 Aya Kathi thay Aig =2iRin, 40 ean) (Din) = 608 ltSince we know the pth of Pn ink 4, we write Mamba thin +g ay thin Abe t Ay Fis “Vin! Rng =(15138 ins} (2627 in) 996.6 iat? Aig, =200*V 4 *2(6,159 ad)(103.7 ns) «1 27752-10048 Ain Ties 00327 int} a ins? =0 Construct the acceleration polygon of link 3, Ay = 4.95062 ~25.7 ing? ns, ‘Since links 3 and 4 remain perpendicular, 120238 ins? Sa 245.78 ad cow4st ‘Assume V, =constant. Therefore A, =0. ‘ince we know the path of yon ink 4, we write Thee Ag iat Ana Xn tin Aire An ag 2Vig yn = @735;15) 1.958) 0831? og = 2,2 Vg 2(03039 (1231 nfs) = 74812-1008 ns! Vi 231i) Px ee CConsrvt the acceleration polygon of ink 3. "hyn 20.232-102.1* ins? fos. yw Me Line 0.247 rt? ow os. O Rag 9.050 emaing tat vt inks 403 of Problem 3.28 are iting at conta ses nd 26 Since a constant and 0, const, 2, =0- Se on the pts of Pon ink 2 an nik 3 we we Meek thy Bigs Aan Ka hig? Ki gna, = (00 anf (00549 0) = 48.410 Aig, =e yp, (20.0 rs) (0102 6) = 41.039 ww? Tran tin haat Nan Kan +k Ahn oy ia avn 2600 me 189 a) 100982200 me Me amps =3(209 mn) L135 a) = AO 2225.7 Bia C1550) fonw tian staal a, MPa * ean conmnet nace YEP ‘Ay 2125.732-66.6" 8? as.a 7 in Assume oy = constant. Therefore a, -0 Since we now te path of Fo ak 3, we write Mn Kat hig thie MOA tA Ai te bode Ain sy P Ain“ O1Rys, = (25.0 als} (.0 in) 625 nt? Ya (61100) : Bog = OO ary ing in =204*Vay 92( 0676 th) 2466 hye d9 42-205 Fig = CAG int) Bin onset he session polygon of ik Mths hetlle md Asay ssh, Ae Vio! Rac = (7807 ins} (60 in) = 10.16 in? A, =168.220" nt es io Vi Bug = (7.822 inl) (6.0 in) =9.68 vs? Ay = 806.120" in/s? ic =03Rs, = (100 rad) (2.0 in) 3000 nt? Aaah, =(20,ds)(3.0 in) <6. ins? AeA tA tA oA, pln = Fa Roy = (30.0) 1.0 in) 9000? Draw the acceleration image of linkA, 2600. a Ae, te, + Ae Kat Aer t Aer “A =Tes/e, = (600i 1(2.0 in) =1 800.0 i ibe wctoton ag link 3 Ba 12D on ow ain ‘Ado Determine the angular secelrtions of inks 3 and 4 of Problem 330. ne On ge ‘Aaestne oy =consint. Therefore =0- Since we know te pth of Do ak, we write aKa Nag + KoAng =7Ry = (050 045) (1250 n= 261.25 in! Ann hin *Aie* Aya aby Age A, =20,°Vo=2150 (4) acaba? fsa Vra/ Pan = (491 ins} (250i) 57658? Aaa, = Vas, [Rag, = (524 inks} /(3.50 in) = 6639 vs? Dr te een age ie 2 ao nti Al Ai Mn [Rey =(41.91 5} /050'0)=3 513.0 in! yn BT 65 ale cow tas fake Sag, determine te aceceation of pit and the angular seceleratons of Tinks 5 and 6 Assume a =constan, Therefore a, = 0 NAKA Ais a5, = (10 2b8) (1.0 in) 10000 ive? Aen Ay+ Ay beg Kat Ain + Aly AVR (13.33 int) /(40 in) 4.48 ine Aion! Rey = (6.66 in) 1(2.0 in) 22.22 in! Construct the acceleration image of ink 3 Since we know the path of Eon link 6, we write Behe Neg tnt Ale td Ag = +A + Aly Alig = 2a *Vi=2(3.74eads)(1089 ins) 82.23.2104 5,4a Aiga "Via! Pas = 0089 int} 0 = “Mh / a= (4860s) f.291n 839 8! atthe sexceration image of ink 6 Tea 3SLAc O45" in! das das. ago Hits «MES 1102 rar? ow Ren 1298 Anwar Nut An tA Bit Bigg = Vg Bots = C278 ievs} [0.30 in) =326.7 in? Aug, Oil? fs 0 aR one Aas Find the iaflection circle for mation of he cowl of the doube-lider mechasism shown in the figure jn ie fr mets onthe eee normal and Si hes Ses ine Fe portions of hepa of tee pits © demonic for yourself thatthe ekfupates re indeed the centers of CHYAReSince point Cis onthe intection circle pad ‘Ris a straight ine in the vicinity of te sine OF curvature a init, and it point Position shown,4a For the motion ofthe coupler relative to the ame, find the inflection circle, the centrode formal, the eenrode tangent, and the centers of curvature of points C end D of the Tinkage of Problem 3.13. Choose points on the coupler coincident withthe instant center ‘and ifletion pole and plot their paths.445, On 8. by 2t'n paper. raw the linge shown in the Figure in fal sze, pacing 4 at 6 ig tom eave ear nom te right edge. Beer uleaion oie pceg obtained by iting the frame though about 15° as skeen, (a) Find the inflection circle. (®) Draw the cubic of stationary curvature. (©) Cores &, coupler point C coincident withthe cubic and pot a portion of it coupler curve inthe vicinity of the eubie, (Fama ganiuante point C’. Draw a circle through C with center at C* and compare this circle withthe actual path of © orl belt. Loca point D on he coupler at Ball's pin and pot portion of its path. Compare the result witha straight line