Chapter 11: Dynamic Force

Analysis

Chapter Outcomes
At the end of this chapter, you should be
able to:
Calculate dynamic joint forces of mechanisms

Why Study Force Analysis?

Design Mechanisms
Determine if links will
fail under operation
Perform stress and
deflection analysis on links
Determine all loads (forces
and torques) acting on links

Ultimate Goal

MEMB243 &
MEMB331

Chap. 11:
Force Analysis

Objective of Force Analysis

Determine all loads acting on the links in
a mechanism to allow stress and
deflection analysis
Determine input torque(s) required to
produce desired motion in a mechanism
(input torque = torque supplied by input
device)

11.0: Introduction

F ma
Forward dynamics problem:
Given F and m, solve for a
Inverse dynamics problem:
Given a and m, solve for F
Also called kinetostatics
Chapter 11 deals with inverse dynamics
problems, as accelerations of links are assumed
to be known (calculated using methods in
Chapter 7)

11.1: Newtonian Solution Method

F ma

T I

For 2D mechanisms:

maCM , x

maCM , y

CM

I CM

Assumption throughout this chapter:

Gravitational forces (weight) are small
compared to other dynamic forces acting on
links produced by kinematic accelerations
Weight of links will be ignored
Assumption will be invalid when links are
massive or moving slowly (have small
kinematic accelerations)

Info Needed Prior to Performing Force Analysis

Chapter 4

Position Analysis

Chapter 6

Velocity Analysis

Chapter 7

Chapter 11

Chapter 10

of all links

aCM of all links

Force
Analysis
Mass of all links

External forces
and torques

ICM of all links

11.1: Newtonian Solution Method

Information needed prior to performing force
analysis:
Angular acceleration of all links ()
Linear acceleration of CM of all links (aCM)
Mass of all links
ICM of all links
All external forces and torques
Assume all information needed are either known
or already given when solving problems in this
chapter

11.2: Single Link in Pure Rotation

FP

aCM
O2

Unknowns: Input torque and

reaction force at joints

Info needed:

aCM
m
ICM
FP
External load, FP is given
in the diagram
Assume aCM, , m and ICM
are already known
Motor attached at point
O2 to produce and aCM

11.2: Single Link in Pure Rotation

FP

Tmotor

RP
RO2

aCM
O2

Tmotor

maCM , x

FP , x FO 2, x maCM , x

P
FO2

maCM , y

FP , y FO 2, y maCM , y

CM

I CM

Tmotor RP FP RO 2 FO 2 I CM
RP , x FP , y RP , y FP , x RO 2, x FO 2, y RO 2, y FO 2, x I CM

Unknowns usually input torque and reaction forces at

joints:
Tmotor, FO2,x, FO2,y
Solve 3 equations for 3 unknowns

Solving Equations
Using a Matrix solver (only numeric equations):

1
0
RO 2, y

0
1
RO 2, x

0
1

maCM , x FP , x
FO 2, x

F
ma

F
CM , y
P, y

O 2, y
Tmotor I CM RP , x FP , y RP , y FP , x

Using Maple (both numeric and symbolic)

Usually, every moving link will generate 3
equations

Sample Numerical Problem

FP

5m
P
RP

R O2

aCM

10 m

O2

Mass of link = 0.0104 kg

Moment of inertia about
CM = 0.08 kgm2
= 30
= 15 rad/s2
aCM = 2001 m/s2 @ 208
FP = 40 N @ 0

Solution
Using Matrix solver:

11
0 0 00 F
(0ma
.0104
)(1767) 40

OF2O, x2, x
CM , x FP , x

00
1 1 00 F OF2O, y2, y
(0.0104
)(

939
)

0
ma

F
CM , y
P, y

2.50
11 T motor
08)(15
RO 2, y 4R.33
Tmotor ( 0I.CM
- R) P, x{(
FP4,.y33
)(
R0P ), y FP(,2x .5 )(40)}
O 2, x

FO2,x = -58.4 N
FO2,y = -9.77 N
Tmotor = 205 Nm

11.2: Single Link in Pure Rotation

FP

maCM , x

FP , x FO 2, x maCM , x

P
Tmotor

FO2

maCM , y

FP , y FO 2, y maCM , y

O2

CM

I CM

Tmotor RP , x FP , y RP , y FP , x RO 2, x FO 2, y RO 2, y FO 2, x I CM

11.3: Threebar Crank-Slide Linkage

B
Link 3
P
FP
A
Link 2

O2

Info needed:
2, 3
aCM2, aCM3
m2, m3
ICM2, ICM3
FP
External load, FP is given in
the diagram
Assume the rest has been
obtained
Motor attached at point O2

Slider crank linkage

Refer to textbook: Figure 11-2

11.3: Threebar Crank-Slide Linkage

Link 2:
FO 2, x FA, x m2 aCM 2, x
FO 2, y FA, y m2 aCM 2, y
Tmotor R A 2, x FA, y R A2, y FA, x RO 2, 2, x FO 2, y RO 2, 2, y FO 2, x I CM 2 2

Link 3:
FB , x FA, x FP , x m3aCM 3, x
FB , y FA, y FP , y m3 aCM 3, y
RB 3, x FB , y RB 3, y FB , x RA3, x FA, y R A3, y FA, x RP 3, x FP , y RP 3, y FP , x I CM 3 3

Friction assumption
Zero friction: F 0
B, y

Non-zero friction: F N F
B, y
B, x

11.3: Threebar Crank-Slide Linkage

Solve 7 equations for 7 unknowns.

Solving 7 equations using a Matrix solver:
1
0
RO 2, 2, y
0
0
0
0

0
1
RO 2, 2, x
0
0

1
0
RA 2, y
1
0

0
0

R A 3, y
0

FO 2, x
F
O 2, y
FA, x

R A 2, x
0
1

0
0
0
1
0

0
0
0
0
1

0
0
1

0
0

R A3, x
0

RB 3 , y

RB 3, x
1

0
0

0
1

m2 aCM 2, x
m2 aCM 2, y
I CM 2 2
m3 aCM 3, x FP , x
m3 aCM 3, y FP , y

FA, y

FB , x

FB , y I CM 3 3 RP 3, x FP , y RP 3, y FP , x

Tmotor
0

Exercise: Numerical Problem

Link 2:
m2 = 0.0052 kg
ICM2 = 0.05 kgm2

2 = 60
2 = -10 rad/s2
15 m

Link 3
FP

aCM2 = 2700 m/s2 @ -89.4

Link 3:
m3 = 0.0104 kg

45

P
9m

3m

3 = 99.59

Link 2
30

3 = -136.16 rad/s2
aCM3 = 3453.53 m/s2 @ 254.4

2
5m

O2

ICM3 = 0.10 kgm2

Rp = 2.7 m @ 101about line AB

FP: 50 N @ -45

11.4: Fourbar Pin Jointed Linkage

FP
P
B
Link 3

Link 2

Link 4
A
O2

T4
O4

External loads: FP acting at point P, T4 acting on

Link 4
Motor attached at point B
Unknowns: Input torque and joint forces

11.4: Fourbar Pin-Jointed Linkage

Link 2:
FO 2, x FA, x m2 aCM 2, x
FO 2, y FA, y m2 aCM 2, y
RA 2, x FA, y RA 2, y FA, x RO 2, 2, x FO 2, y RO 2, 2, y FO 2, x I CM 2 2

Link 3:
FB , x FA, x FP , x m3 aCM 3, x
FB , y FA, y FP , y m3 aCM 3, y
Tmotor RB 3, x FB , y RB 3, y FB , x RA3, x FA, y RA3, y FA, x RP 3, x FP , y RP 3, y FP , x
I CM 3 3

11.4: Fourbar Pin-Jointed Linkage

Link 4:
FB , x FO 4, x m4 aCM 4, x
FB , y FO 4, y m4 aCM 4, y
T4 Tmotor RB 4, x FB , y RB 4, y FB , x RO 4, 4, x FO 4, y RO 4, 4, y FO 4, x I CM 4 4

Solve 9 equations of 9 unknowns

11.5: Fourbar Slider-Crank Linkage

A

Link 3

Link 2
B

O2

FP (acting
on slider)

Link 4 (Slider)

External loads: FP acting at point B on slider

Motor attached at point A
Unknowns: Input torque and joint forces

11.5: Fourbar Slider-Crank Linkage

Link 2:
FO 2, x FA, x m2 aCM 2, x
FO 2, y FA, y m2 aCM 2, y
Tmotor RA 2, x FA, y RA 2, y FA, x RO 2, 2, x FO 2, y RO 2, 2, y FO 2, x I CM 2 2

Link 3:
FA, x FB , x m3 aCM 3, x
FA, y FB , y m3 aCM 3, y
Tmotor RA3, x FA, y RA3, y FA, x RB 3, x FB , y RB 3, y FB , x I CM 3 3

11.5: Fourbar Slider-Crank Linkage

Link 4:
FB , x FP , x Fsliding , x m4 aCM 4, x
FB , y FP , y Fsliding , y 0

Friction assumption
Zero friction: Fsliding , x 0
Non-zero friction: Fsliding , x Fsliding , y
Solve 9 equations for 9 unknowns

11.6: Inverted Slider-Crank

Link 3
Link 2

O2

B
Link 4

O4

No external loads
Motor attached at point O2
Unknowns: Input torque and joint forces:
Tmotor, FO2,x, FO2,y, FA,x, FA,y, FB,x, FB,y, FO4,x, FO4,y
3 = 4 (obtained from acceleration analysis)
Assumption: No sliding friction at point B

11.6: Inverted Slider-Crank

Link 2:
FO 2, x FA, x m2 aCM 2, x
FO 2, y FA, y m2 aCM 2, y
Tmotor RA 2, x FA, y RA 2, y FA, x RO 2, 2, x FO 2, y RO 2, 2, y FO 2, x I CM 2 2

Link 3:
FA, x FB , x m3aCM 3, x
FA, y FB , y m3aCM 3, y
RA3, x FA, y RA3, y FA, x RB 3, x FB , y RB 3, y FB , x I CM 3 3

Force at slider (point B) on Link 3

FB

-FA
3
A

Link 3

FB has no component along

axis of slip (line AB) because
of no sliding friction
assumption
FB only has component along
axis of transmission
(perpendicular to line AB)
Condition to ensure 2 vectors
are perpendicular, dot product
of both vectors is equal to zero

u AB cos 3i sin 3 j
FB FB , x i FB , y j

u AB FB 0
u AB FB cos 3 FB , x sin 3 FB , y

11.6: Inverted Slider-Crank

Link 4:
FB , x FO 4, x m4 aCM 4, x
FB , y FO 4, y m4 aCM 4, y

4 3

RB 4, x FB , y RB 4, y FB , x RO 4, 4, x FO 4, y RO 4, 4, y FO 4, x I CM 4 3

10 equations, but only 9 unknowns

1 equation is redundant
Equations 6 and 10 can be combined
because they have the same 3

RA3, x FA, y RA3, y FA, x RB 3, x RB 4, x FB , y RB 3, y RB 4, y FB , x

RO 4, 4, x FO 4, y RO 4, 4, y FO 4, x I CM 3 I CM 4 3

10

11.8: Shaking Forces and Shaking Torque

FP

-T
Tmotor
motor

-F
FO2O2
O2

-FFO4O4
O4

Moving links deliver forces to the ground at the

fixed pivots O2 and O4
Set up vibrations in the structure that supports
the machine

11.8: Shaking Forces and Shaking Torque

-Tmotor

-FO2
O2

-FO4
O4

Shaking force: Sum of all forces acting on the

ground plane
FS = -FO2 FO4
Shaking torque: Reaction torque felt by the
ground plane
TS = -Tmotor

11.8: Shaking Forces and Shaking Torque

Plot of shaking force for an

unbalanced crank-rocker from
program FOURBAR

Shaking force tends to

move the ground support
back and forth
Shaking torque tends to
rock the ground support
about the driveline axis
Methods to minimize
shaking force and
shaking torque
Balancing
Add a flywheel
Shock mount frame

Course Outcomes
Identify mechanisms and predict their motion
Calculate the degrees of freedom of mechanisms
Design mechanisms to fulfill motion generation and quick
return requirements
Determine the positions, velocities and accelerations of links
and points on mechanisms
Derive SVAJ functions to fulfill cam design specifications
Calculate dynamic joint forces of mechanisms
Balance simple rotating objects and pin-jointed fourbar
linkages
Work in a team to analyze and modify existing mechanisms
Present completed work in oral and written form
Use related computer programs to design, model and analyze
mechanisms

End of Chapter 11
Thank You