DESIGN OF MACHINERY SOLUTION MANUAL 7-48-1

PROBLEM 7-48
Statement: Figure P7-18 shows a mechanism and its dimensions. Find the accelerations of points A, B, and C
for the position shown.
Given: Lengths and angles:
Link 2 (O
2
to A) a 0.80 in := Link 1 (O
2
to O
4
) d 1.85 in :=
Link 4 (O
4
to B) a' 2.97 in := Link 5 (B to C) b' 2.61 in :=
Crank angle u
2
37.5 deg := Local xy system
Coordinate rotation angle | 81.5 deg := Slider-crank offset c' 3.25 in :=
Input crank motion e
2
40
rad
min
:= o
2
1500
rad
min
2
:=
Solution: See Figure P7-18 and Mathcad file P0748.
1. Draw the mechanism to scale and define a vector loop for the input portion (links 1, 2, 3, and 4) using the fourbar
slider-crank derivation in Section 7.3 as a model.
2
37.5
3
4
5
B
y O2
81.5
x
O
4
A
x
X
O
4
R
3
R
1
R
2
A
6
Y
C
O2
y
2. Write the vector loop equation, expand the result and separate into real and imaginary parts to solve for u
3
and b
(distance from O
4
to A).
R
2
R
1
R
3
+ :=
a e
j u
2

d b e
j u
3

+ :=
Substituting the Euler equivalents,
a cos u
2 ( ) j sin u
2 ( ) + ( ) d b cos u
3 ( ) j sin u
3 ( ) + ( ) + :=
Separating into real and imaginary components and solving for u
3
and b.
u
3
atan2 a cos u
2 ( ) d a sin u
2 ( ) , ( ) := u
3
158.2 deg =
DESIGN OF MACHINERY SOLUTION MANUAL 7-48-2
b
a sin u
2 ( )
sin u
3 ( )
:= b 1.31in =
3. Differentiate the position equation, expand it and solve for e
3
and bdot.
a j e
2
e
j u
2

b j e
3
e
j u
3

bdot e
j u
3

+ :=
e
3
a e
2

b
cos u
2
u
3
( ) := e
3
0.208
rad
sec
=
bdot
a e
2
cos u
2 ( ) b e
3
cos u
3 ( )
sin u
3 ( )
:= bdot 0.459
in
sec
=
4. Differentiate the velocity equation, expand it and solve for o
3
.
a j o
2
e
j u
2

a j
2
e
2
2
e
j u
2

+ bdot j e
3
e
j u
3

b j o
3
e
j u
3

+
b j
2
e
3
2
e
j u
3

bddot e
j u
3

+ bdot j e
3
e
j u
3

+ +
... :=
o
3
1
b
a o
2
cos u
2
u
3
( ) a e
2
2
sin u
3
u
2
( ) + 2 bdot e
3

|
\
|
.
:=
o
3
0.249
rad
sec
2
=
5. Determine the acceleration of point A on link 2 (in the local xy coordinate system) using equations 7.13a.
A
A
a o
2
sin u
2 ( ) j cos u
2 ( ) + ( ) a e
2
2
cos u
2 ( ) j sin u
2 ( ) + ( ) :=
A
A
A
A
:= A
A
0.487
in
sec
2
= u
AA
arg A
A ( ) := u
AA
174.348 deg =
6. Determine the acceleration of points A and B on link 3 (in the Global XY coordinate system) using equations
7.13a.
Transformu
3
to the global coordinate frame: u
3
u
3
| + 360 deg + := u
3
120.337 deg =
A
A3
b o
3
sin u
3 ( ) j cos u
3 ( ) + ( ) b e
3
2
cos u
3 ( ) j sin u
3 ( ) + ( ) :=
A
A3
A
A3
:= A
A3
0.331
in
sec
2
= u
AA3
arg A
A3 ( ) := u
AA3
20.518 deg =
A
B
a' o
3
sin u
3 ( ) j cos u
3 ( ) + ( ) a' e
3
2
cos u
3 ( ) j sin u
3 ( ) + ( ) :=
A
B
A
B
:= A
B
0.752
in
sec
2
= u
AB
arg A
B ( ) := u
AB
20.518 deg =
7. Determine u
5
using equation 4.16.
u
5
asin
a' sin u
3 ( ) c'
b'

\
|
|
.
t + := u
5
195.254 deg =
DESIGN OF MACHINERY SOLUTION MANUAL 7-48-3
8. Determine the angular velocity of link 5 using equation 6.22a.
e
5
a'
b'
cos u
3 ( )
cos u
5 ( )
e
3
:= e
5
0.124
rad
sec
=
9. Determine the angular acceleration of link 5 using equation 7.16d.
o
5
a' o
3
cos u
3 ( ) a' e
3
2
sin u
3 ( ) b' e
5
2
sin u
5 ( ) +
b' cos u
5 ( )
:= o
5
0.100
rad
sec
2
=
10. Use equation 7.16e for the acceleration of pinC.
A
C
a' o
3
sin u
3 ( ) a' e
3
2
cos u
3 ( ) b' o
5
sin u
5 ( ) + b' e
5
2
cos u
5 ( ) + :=
A
C
0.73
in
sec
2
= A positive sign means that A
C
is to the right