Pilani Campus
J S Rathore
F ma cg
M J cg
F 0
M 0
2
BITS Pilani, Pilani Campus
X
X
3
BITS Pilani, Pilani Campus
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BITS Pilani, Pilani Campus
acg
e
F1
M J
Resultant torque
CG
F2
Fn
R
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BITS Pilani, Pilani Campus
acg
F1
CG
F2
macg
Fn
M J
Resultant torque
D Alemberts Principle
F (ma cg ) 0
M ( J cg ) 0
F 0
M 0
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BITS Pilani, Pilani Campus
Analytical method:
aG3
PB
G3
PA
W3
F ma G3
M J 3
Newtons eq
F (ma G3 ) 0
M ( J 3 ) 0
D Alemberts eq
F 0
M 0
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BITS Pilani, Pilani Campus
D Alembert Principle:
Dynamic problem is converted into static problem by having
Fictitious force (-macg)
Inertia Force
Inertia Torque
aG3
PB
PA
G3
- J3
- maG3
W3
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BITS Pilani, Pilani Campus
Ex 1:
Four bar mechanism used in coupled wheel locomotion is as shown in Fig. The
crank and follower, O2A and O4B, are of equal length of 600 mm but of negligible
mass. The coupler AB is a rigid uniform circular rod of length 1000 mm, its total
mass being 12 kg. A torque M acts on the crank O2A, causing coupler AB to move
with a linear acceleration aG3 = 25 45o m/s2 and an angular acceleration AB = 60
rad/sec2 (CCW). Find:
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BITS Pilani, Pilani Campus
Soln: FBD
Torque M acts on the crank O2A, causing coupler AB to move with a linear
acceleration aG3 = 25 45o m/s2 and an angular acceleration AB = 60 rad/sec2
(CCW).
aG3
3
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BITS Pilani, Pilani Campus
300 N
So PAY = 104.925 N
PBY
PAX
PBX
PAY
A tan
PAX
83.05
MA 0
Fx 0
Soln: FBD
A
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bending
32M
d 3
d 32 mm
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J AB
maG 3 cos 45
60
e
0.2828 m
300 cos 45
300 N
Objectives:
DAlembert principle: Dynamic problem is converted into static problem by having
Pseudo force (-macg)
Pseudo torque (-J)
Dynamic force analysis of 4-bar mechanism
Crank and follower with negligible mass
External force/moment is acting only on crank
aG3
F2
M2
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BITS Pilani, Pilani Campus
M3
2
F3
aG2
M2
F2
M4
F4
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FBD
Fj,x = External force in the x-direction applied at CGj
aG3
aG2
aG4
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BITS Pilani, Pilani Campus
Link 2
Fj,x = External force in the x-direction applied at CGj
aG2
Lj = dj + fj
Po2 x
a g 2 x
F2 x 1
0
1
0
Po2 y
1
0
1
F2 y 0
P m2 a g 2 y
d sin - d cos - f sin f cos Ax
2
M
2
2
2
2
2 2
2
2 k2
2 2
P
Ay BITS Pilani, Pilani18Campus
Link 3
aG3
PAx
a g 3 x
F3 x 1
0
1
0
PAy
1
0
1 m3 a g 3 y
F3 y 0
d sin - d cos f sin - f cos PBx
2
M
3
3
3 3
3
3
3
3k3
3 3
PBy
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BITS Pilani, Pilani Campus
Link 4
aG4
4
PBx
a g 4 x
F4 x 1
0
1
0
P
By
1
0
1
F4 y 0
m4 a g 4 y
d sin - d cos f sin - f cos Po4 x
2
4
4
4 4
4
4
4
4 K 4
M 4 4
P
o4 y
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RAO2 = 60 mm
RO4O2= 100 mm
RBA = 220 mm
RBO4 = 150 mm
RCO4 = RCB =120 mm
RG3A = 90 mm
RG4O4 = 90 mm
Assuming gravitational and frictional effects are negligible, Determine all constraint forces
and driving torque (on link 2) required to produce the velocity and acceleration conditions
specified.
m3 = 1.5 kg, m4 = 5 kg
JG2 = 0.025 kg m2, JG3 = 0.012 kg m2, JG4 = 0.054 kg m2
2 = 0, 3 = 119k rad/s2, 4 = 625k rad/s2
AG3 = 162@73.2 m/s2, AG4 = 104@233 m/s2
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FC = 0.8 j kN.
BITS Pilani, Pilani Campus
Ex 2: Home assignment
Four bar mechanism used in coupled wheel locomotion is shown in
Fig. The crank and follower, O2A and O4B, are of equal length of
600 mm but of negligible mass. The coupler AB is a rigid uniform
circular rod of length 1000 mm and its total mass being 15 kg. If
the locomotive is running at constant speed of 120 km/hr then
find:
1. The linear acceleration (aG3) and angular acceleration (AB) of
coupler AB.
2. The inertial loading on coupler AB.
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