Klein’s Construction.

1. Draw the mechanism to the Ksscale.

𝑉𝑎
2. 𝑉𝑎 = 𝜔𝑘 𝐶𝑎. Choose Kv such that 𝐶𝐴 = 𝑉𝑎, 𝐾𝑣 = 𝐶𝐴
𝐾𝑣 2
3. Establish the relations that = .
𝐾𝑠
4. Draw the line CV perpendicular to the line of centers CB, Extend the line AB to point V.
5. Draw circle n with A as center and AV as radius.
6. Draw the arc m with the midpoint N between points A and B as centers and AM as
radius.
7. Mark the intersections of the two arcs as point PNK. From this point draw line
perpendicular to AB. Point K is the intersections of the arc m and the line of centers CB.
8. From the Klein’s construction, observe that:
a) The triangle CAV is the velocity polygon, of the mechanism.
𝑉𝑎 = 𝐶𝐴
𝑉𝑏 = 𝐶𝑉
𝑉𝑏𝑎 = 𝐴𝑉
b) Then polygon CANK is the acceleration polygon of the mechanism.
𝐴𝑎 = 𝐶𝐴
𝐴𝑏 = 𝐶𝐾
𝐴𝑏 𝑛 𝑎 = 𝐴𝑁
𝐴𝑏 𝑡 𝑎 = 𝑁𝐾
6. Coriolis’ Law on Acceleration

When a particle moves in a certain path and the path is also in motion. Then the total
acceleration of the particle can be obtained by the use of Coriolis’ Law. Coriolis’ Law states that
the total acceleration of a particle is the vector sum of (1) the acceleration of the particle what
it is moving along the path and the path is assumed to be fixed; (2) the acceleration of the
particle when it is fixed to the path and the path is in motion; and (3) the Coriolis’ acceleration .
The Coriolis’ acceleration is equal to two times the product of the linear velocity of the particle
relative to the path and the angular velocity of the path.

In Fig. 4.M the body m is rotating about C in the counter-clockwise direction with an
angular velocity 𝜔 and angular acceleration. At the same time a particle B is moving along the
body m and instantaneously turning about an instantaneous axis 0. The angular velocity  and
acceleration of particle B about the axis 0 are respectively given, both are clockwise. By
applying the Coriolis’ Law, the total acceleration of particle B can be determined.
By Coriolis’ Law:

𝐴𝑏 = 𝐴𝑟 + 𝐴𝑚 + 2𝑢 eq. 4.8

𝐴𝑟 = 𝐴𝑟 𝑛 + 𝐴𝑟 𝑡 eq. 4.9

𝐴𝑚 = 𝐴𝑚𝑛 + 𝐴𝑚𝑡 eq. 4.10

where𝐴𝑟 𝑛 = 𝜔2 𝑟 is parallel to B0 from B toward 0.

𝐴𝑟 𝑡 = 𝐶𝑟is perpendicular to Bo and the sense is consistent with the sense of

𝐴𝑚𝑛 = 𝜔2 𝜌is perpendicular to BC from B toward C.

𝐴𝑚𝑡 = ∝ 𝜌is perpendicular to BC and the sense is consistent with the sense of

𝑢 = 𝑟is perpendicular to Bo and has the same sense as the sense of .

From Fig. 4.12 measure cb, then 𝐴𝑏 = 𝑐𝑏 × 𝐾𝑎.

7. Pure Rolling Bodies:

In Fig 4.13, cylinder 2 rolls over cylinder 4 without slipping. Cylinder 2 is carried by the
arm m. While cylinder 2 rolls clockwise with angular velocity 𝜔2 , the arm m is turning clockwise
about c4 with constant angular velocity 𝜔𝑚 .

Solution:

1. 𝐴𝑐2 = 𝐴𝑐2𝑛 + 𝐴𝑡 𝑐2
𝑉𝑐2 = 𝜔𝑚 (𝑟2 + 𝑟4 )is constant since m is constant.
Therefore 𝐴𝑐2𝑡 = 0 and 𝐴𝑐2 = 𝐴𝑐2𝑛
2
𝐴𝑐2 = 𝜔𝑚 (𝑟2 + 𝑟4 ) eq. 4.11

where𝐴𝑐2 is parallel to 𝑐2 𝑐.

2. 𝐴𝑝 = 𝐴𝑝𝑛 𝐴𝑝𝑡
𝐴𝑝𝑐𝑛2 =2 r2parallel to 𝑃𝐶2
 𝑉𝑐 2
where𝜔2 = . Since 𝑉𝑐2is constant, therefore 2 is also constant. It follows 𝐴𝑝𝑡 𝑐2 = 0
𝑟2

𝐴𝑝 = 𝐴𝑐2 + 𝐴𝑝𝑛 𝑐2
𝑉𝑐22 𝑉𝑝2 𝑐2
𝐴𝑝 = + eq. 4.12
𝑟2 + 𝑟4 𝑟2
3. 𝐴𝑐 = 𝐴𝑐2 + 𝐴𝑐𝑐2 or 𝐴𝑐 = 𝐴𝑐𝑐2 + 𝐴𝑐2 𝑐4
𝑉𝑐
where𝐴𝑐𝑐2 = 2⁄𝑟2 parallel to 𝑐2 𝑐 from 𝑐2 to 𝑐.
𝑉𝑐2 2
𝐴𝑐2 𝑐4 = ⁄(𝑟 + 𝑟 )parallel to 𝑐2 𝑐4 from 𝑐2 to 𝑐4 .
2 4
𝐴𝑐 = 𝑉𝑐 2 + 𝑉𝑐2 𝑟2 /(𝑟2 + 𝑟4 )
𝐴𝑐 = 𝑉𝑐2 𝑟 2 ⁄(𝑟2 𝑟4 + 𝑟22 )
𝐴𝑜 = 22 (𝑟2 𝑟4 )⁄(𝑟2 + 𝑟4 ) eqn. 4.13
Determine the acceleration of all points if crank 2 turns clockwise at 20 rad/acc. and angular
acceleration of 100 rad/sec2Kv = 20 cm/sec, Ka = 400 cm/sec2

For finding velocities, use the relative velocity method:

a) 𝑉𝐴 = 𝜔2 × 𝑐2
= 20
𝑉𝐴 = 30 cm/

From pole c of the velocity polygon, lay out ca to scale equal and parallel to 𝑉𝐴 .

b) 𝑉𝐵 = 𝑉𝐴 ↔ 𝑉𝐵𝐴

From point a, draw a line (line ab) perpendicular to AB, then lay out from pole c a line (line
ab) perpendicular to 𝐶4 𝐵. Measure cb; 𝑉𝐵 = 𝑐𝑏 × 𝐾𝑣 = 3.1 (20) = 62 𝑐𝑚/𝑠𝑒𝑐.

c) 𝑉𝐷 = 𝑉𝐵 ↔ 𝑉𝐷𝐵 and 𝑉𝐷 = 𝑉𝐴 ↔ 𝑉𝐷𝐴

From point b, lay out 𝑉𝐷𝐵 (line bd) perpendicular to BD and draw 𝑉𝐷𝐴 (line ad) from point a
perpendicular to AD until it intersects line bd. Measure cd; 𝑉𝐷 = 𝑐𝑑 × 𝐾𝑣 = 4.2(20) =
84 𝑐𝑚/𝑠𝑒𝑐.
 d) 𝑉𝐵𝐴 = 𝑎𝑏 × 𝐾𝑣 = 3.20(20) = 64 𝑐𝑚/𝑠𝑒𝑐

For finding the acceleration of points a, b, and d:

a) 𝐴𝑎𝑛 = 𝑉𝐴2 ⁄𝐶24 = 802 ⁄4 = 1600 𝑐𝑚/𝑠𝑒𝑐 2

Lay out from pole c of the acceleration polygon 𝐴𝑎𝑛 parallel to 𝐶24 , direction
from A towards 𝐶2 .

b) 𝐴𝑎𝑡 = ∝2 × 𝐶24 = 100(4) = 400 𝑐𝑚/𝑠𝑒𝑐 2

Lay out 𝐴𝑎𝑡 perpendicular to 𝐴𝑎𝑛 , direction same as

c) 𝐴𝑏𝑎𝑛 = 𝑉𝑏𝑎2⁄𝐴𝐵 = 642⁄3 = 512 𝑐𝑚/𝑠𝑒𝑐 2

Plot 𝐴𝑏𝑎𝑛 parallel to AB since B is rotating about A, its direction is from B towards
A.

d) Draw the direction line of the 𝐴𝑏𝑎 𝑡2 perpendicular to 𝐴𝑏𝑎 𝑛.

e) 𝐴𝑏 𝑛 = 𝑉𝐵2 ⁄𝐶4 𝐵 = 522⁄4 = 951 𝑐𝑚/𝑠𝑒𝑐 2

From pole c, lay out 𝐴𝑏 𝑛 parallel to 𝐶4 𝐵 and the direction is from B towards 𝐶4 .

f) Draw 𝐴𝑏 𝑡 perpendicular to 𝐴𝑏 𝑛 until it intersects 𝐴𝑏𝑎 𝑡.

g) Measure ca and cb; 𝐴𝐴 = 𝑐𝑎 × 𝐾𝑎 = 4.15(400) = 1660 𝑐𝑚/𝑠𝑒𝑐 2

𝐴𝐵 = 𝑐𝑏 × 𝐾𝑎 = 4.90(400) = 1960 𝑐𝑚/𝑠𝑒𝑐 2

h) Lay out 𝐴𝑏 𝑡 = 𝑎𝑏 along link AB and from 𝑏 𝑡 plot a line parallel to BD forming
triangle 𝐴𝑏 𝑡 𝑑 𝑡 . Draw triangle abd in the acceleration polygon. Sequence of 𝐴𝑏 𝑡 𝑑𝑡
have same sequence as abd.

i) Measure cd; 𝐴𝐷 = 𝑐𝑑 𝑥 𝐾𝑎 = 2.80(400) = 1120 𝑐𝑚/𝑠𝑒𝑐 2 .