Department of Mechanical Engineering, IIT Bombay

ME 316 Kinematics and Dynamics of Machines

Quiz 3, March 15, 2017 8 to 9:30 am

1 (a) (i) The undamped natural frequency of the system is given by

k 100 103
n    316.23rad/s (50.33Hz) (1)
m 1
(ii) The damping factor is given by
c 50
    0.0791 (2)
2mn 2 1 316.23

(iii) The damped natural frequency is given by

d  n 1   2  316.23 1  0.07912  315.24 rad/s(50.17 Hz) (3)

(iv) The period of undamped oscillations is given by

1 1
n    0.0198 s (4)
f n 50.33

(v) The period of damped oscillations is given by

1 1
d    0.0199 s (5)
f d 50.17

1(b) The initial conditions are y(0)  5 mm; y(0)  0

The general equation for the displacement response of a single degree of freedom system is given by
y(t )  Aent cos d t    (6)

The general equation for the velocity response of a single degree of freedom system is given by

y(t )  Aent n cos d t     d sin d t    (7)

Applying the displacement initial condition to the displacement response

y(0)  A cos    5mm (8)

Applying the velocity initial condition to the velocity response

y(0)  A n cos    d sin    0 (9)

1
From equation (9), the phase angle of the response is given by
n 
  tan 1  tan 1  0.079 rad(4.540 ) (10)
d 1  2

From equations (8) and (10), the amplitude of response is given by

5
A  5.0156 mm (11)
cos(0.079)
From equations (6), (10) and (11), the equation for response due to the given initial conditions is given
by

y(t )  5.0156e25.014t cos  315.24t  0.079 

1© The impulse due to the velocity input is given by mv=10x1x10-3=0.01 kg-m/s

The equation for response y(t)=mvxh(t), where h(t) is the impulse response function.
The displacement response due to the impulse input is given by
mv nt 10
y (t )  e sin d t  e 0.079316.23t sin 315.24t mm
md 315.24
 0.03172e25.014t sin 315.24t mm

1(d) Logarithmic decrement is given by

2 2  0.0791
   0.4983
1  2 1  0.07912

2
2. The position vector for link 4 (BC) is given by

rCB  1  cos ˆi  sin  ˆj (1)

The cross product of the axis of rotation vector with the above position vector is given by

kˆ  rCB  1   sin  ˆi  cos ˆj (2)

The position vector for link 3 (AB) is given by

rBA  ˆj (3)
2

The cross product of the axis of rotation vector with the above position vector is given by

kˆ  rBA   2ˆi (4)

The position vector of link 2 (AD) is given by

rDA  1  cos ˆi  sin  ˆj (5)

The cross product of the axis of rotation vector with the above position vector is given by

kˆ  rDA  1   sin  ˆi  cos ˆj (6)

Velocity analysis
The velocity of B is given by

v B  4kˆ  rCB
(7)
 4 1   sin  ˆi  cos ˆj

3
The velocity of A is given by

v A  v B  3kˆ  rBA
 4 1   sin  ˆi  cos ˆj   3 2
ˆi (8)

  4 1 sin   3 2  ˆi  4 1 cos   ˆj

The velocity of A is also be given by

v A  2kˆ  rDA
 2 1   sin  ˆi  cos ˆj (9)

From equations (8) and (9)

 4 1 sin   3 2  ˆi  4 1 cos   ˆj  2 1   sin  ˆi  cos ˆj (10)

By equating the coefficients on both sides of equation (10) along the coordinate directions
4 1 sin   3 2  2 1 sin 
4 1 cos   2 1 cos  (11)

From the above equations

3  0;  3  0
4  2   ;  4   2   (12)

This means that the angular velocity of the vertical link AB is always zero. Hence its angular
acceleration is also always zero.
Acceleration analysis
Acceleration of B is given by

a B   2rCB   kˆ  rCB
  2 1  cos ˆi  sin  ˆj     sin  ˆi  cos ˆj
1
(13)
   2 1 cos    1 sin   ˆi    2 1 sin    1 cos   j
ˆ

Since the link AB does not rotate, the acceleration of the center of mass of AB is same for all points on
it. Hence the acceleration of its mass center is given by

4
aG  a B    2 1 cos    1 sin   ˆi    2 1 sin    1 cos  ˆj (14)

From the above figure, the new coordinates can be expressed as

eˆ n  cos  ˆi  sin  ˆj (15)

eˆ t   sin  ˆi  cos ˆj (16)

Equations (15) and (16) can be rewritten as

ˆi  cos  eˆ  sin  eˆ
n t
(17)
ˆj  sin  eˆ  cos  eˆ
n t

The mass center acceleration of equation (14) can be expressed in terms of normal and tangential
coordinates using equation (17) as

aG    2 1 cos    1 sin    cos  eˆ n  sin  eˆ t     2 1 sin    1 cos    sin  eˆ n  cos eˆ t 

   2 1 cos 2    1 sin  cos    2 1 sin 2    1 cos  sin   eˆ n
(18)
  2 1 cos  sin    1 sin 2    2 1 sin  cos    1 cos   et
2
ˆ
   2 1  e    eˆ
n 1 t

5
Since link 4 is a massless member all the forces will be acting along its length. In addition, static
equilibrium can be used to compute the reaction forces.

The following equations can be obtained from such considerations:

M  Bt 1

Cn  Bn (19)
Ct  Bt

For the link AD following equations are satisfied

An  Dn
(20)
At  0 (from moment considerations)

6
The weight vector of link AB in the tangential and normal coordinate system is given by

mgˆj  mg  sin  eˆ n  cos  eˆ t  (21)

From equations (18) and (21), sum of the forces in the tangential direction are given by

 F (eˆ t direction)=Bt  mg cos   m 1 (22)

From equations (19) and (22)

M
 mg cos   m 1 (23)
1

Rearranging equation (23)

M g cos 
 2

m 1 1

5000 9.81cos 
  (24)
150 1.5 2
1.5
 14.8  6.54 cos 
The common angular velocity and angular acceleration of links BC and AD are related by
d d
 ; 
dt dt
d (25)
 dt

 d
dt
From equation (25)
 

  d   d
0 0
(26)

From equations (24) and (26)


2
 14.8  6.54cos  d 
0
2
(27)

The angular velocity as a function θ is given by

 2  29.6 13.08sin  (28)
The angular velocity at the given angle of θ=300 is given by

7
 29.6  30
  13.08sin 300  2.99 rad/s (29)
180
And the angular acceleration is given by
  14.8  6.54cos300  9.14rad/s2 (30)
Moments about the point B are equated to the cross product of inertia forces
rAB   Aneˆ n  mrBG  aG

 2  sin  eˆ n  cos  eˆ t    Aneˆ n  m 2  sin  eˆ n  cos eˆ t     2 1  e    eˆ 

n 1 t
2
(31)
From equation (31), the reaction force An is given by

An  
m
2cos 
 1 sin   1 2 cos   (32)

At the given angle of 300, the reaction force An is given by

Note: At=0

An  
m
2 cos 
  1 sin   1 2 cos  

0 
9.14 1.5sin 300  1.5  9.14 cos 300 
150
 (33)
2 cos 30
 1602.2 N

From equation (19), Bt is given by

M 5000
Bt    3333.33 N (34)
1 1.5

8
 Moments about the point A are equated to the cross product of inertia forces
Note: At=0 rBA  Bneˆ n  rBA  Bt eˆ t  mrAG  aG
Bt=3333.33 N 2  sin  eˆ n  cos  eˆ t   Bneˆ n  2  sin  eˆ n  cos  eˆ t   Bt eˆ t 
m 2
 sin  eˆ n  cos  eˆ t     2 1  e    eˆ 
n 1 t
2
(35)
From equation (35), the reaction force An at θ=300 is given by

1  m 1 sin  m 1 2 cos  
Bn     Bt sin  
cos   2 2 
1  150  9.14 1.5sin 300 150 1.5  2.992 cos 300 
 0 
  3333.33sin 300 
cos 30  2 2 
 3526.7 N

(36)