: : : ; fe Mids fil) 2ooz | SOLUTIONS MANUAL to accompany THEORY OF MACHINES AND MECHANISMS THIRD EDITION John J. Uicker, Jr. Professor of Mechanical Engineering University of Wisconsin—Madison Gordon R. Pennock Associate Professor of Mechanical Engineering Purdue University Joseph E. Shigley Late Professor Emeritus of Mechanical Enginering The University of Michigan isis ~ Oe We WAT wl New York Oxford ‘OXFORD UNIVERSITY PRESS 2003Chapter 1 The World of Mechanisms 1d 12 Sketch at least six different examples of the use of a planar four-bar linkage in practice. They can be found in the workshop, in domestic appliances, on vehicles, on agricultural machines, and so on. Since the variety is unbounded no standard solutions are shown here. ‘The link lengths of a planat four-bar linkage are 1, 3, 5, and 5 in. Assemble the links in ail possible combinations and sketch the four inversions of each. Do these linkages satisty Grashof's law? Describe each inversion by name--for example, a crank-rocker ‘mechanism or a drag-link mechanism. + P=3, q=5; these linkages all satisfy Grashof's law sincel+5<3+5 s=l, Drag-link mechanism Drag-link mechanism a Crank-rocker mechanism Crank-rocker mechanism K] Double-rocker mechanism. Crank-rocker mechanism13 ‘A crank-rocker linkage has a 100-mm frame, a 25.mm crank, a 90-mm coupler, and a ‘TS.mm rocker. Draw the linkage and find the maxienum and minimum values of the transmission angle. Locate both toggle positions and record the corresponding crank angles and transmission angles Ye #75 =98.1° ‘Togsle postions: y, =40.1":7, =59.1%; y, =2286%;7, =90.9" 14 Inthe figure, point Cis stsched tothe coupler; plot its complete path.1s 16 Find the mobility ofeach mechanism shown inthe figure. (@) 26,427,420; m=3(6=1)-2(7)-1(0)=1 a - (0) ne B10, =O; ma3(8. dan as, © the Kutzbach criterion fils inthis cat; the true mobility is m1. ‘The 4 due to redundant constraint. The assumption that the rolling contact joint doesnot allow links 2 and 3 to separate duplicates the contin ofthe fixe link length 0,0, (@) m4, j,=3,j,=2; m=3(4-1)-2(3)-1(2)=1 ds, [Note that each coaxil st of sliding joint is counted as only single prismatic pai. Use the mobility criterion to find a planar mechanism containing a moving quaternary link. How many distinc variations ofthis mechanism can you find? ‘To have at least one quatenary link, a planar mechanism must have at leas cight links. ‘The Grobler criterion then indicates that ten single-freedom joins are required. for mobility of m1. According to H. Alt, "Die Analyse und Synthese der schtglidrigen Gelenkgetriche", YDI-Rerichte, vol. 5, 1955, pp. 81-93, thee are a total of sixteen distinct cight-lik planar linkages having ten revolute joints, seven of which contain a ‘quatenary link. These seven are shown below:w 19. Find the time ratio ofthe linkage of Problem 1.3. From the values of y, and y, we find a =188.5° and f =171.5* “Then, from Eq, (1), Q=a/ = 1.099. Devise practical working model ofthe draglink mechanism. Pot the complete coupler curve of the Roberts mechanism of Fi = AD=25 in and BC = 1.25. 1.198, Use 4B = CDthe crank of Fig 18 is tumed 10 revolutions clockwise, how far and in what direction 110 ‘will the eariage move? ‘Screw and carriage move by (10 rev)/(16 ev/in) =0.625 00 into the lef Caraige moves (10 ev)/(I8 rein) = 0.855 $6 in to the right with respect tothe screw. Net motion of carriage = 10/16— 10/18 = 10/144 ~ 0.069 44 into te let, ‘More in depth sty of such devices is covered in Chap. 10 1.11 Show bow the mechanism of Fig 1.12b can be used 1 generate a sine wave. With he length nd angle of crank 2 designated at andy, respectively, he horizontal motion of ink 4s , = Reoay, = Rsin(yy +90), 1.12 Devise crank-and-rocker linkage, asin Fig I.11e, having a rocker angle of 60°. The rocker length isto be 0.50 m, ke123 The path of a moving point i defined by the equation ference from point Po point Qif RB = 4 and RG = 3 22-28, Find the position 24 The path of a moving point P defined by the equation y= 60-2913. What i the Trnecewet ofthe poi ie main begin when Xf =0 and cds when RB = 37 a 1 (0)=60-(0} /3= 0:8, (0) =O] REQ)=60- (3) 3451; R-(2)=34+51) ~ AR, =R,(3)-Ry(0) =31-91=94872- 71.6" das, oe 48 tein A nove the cus of Problem 21 Sods paceman om = 2102.5 1, (2.0) =200con4ed +2.0asin se} = 2.001 1,25) =2SacosSei+ 2SesinSa}=-25al am, =R,(25)-R, (20)=-4524 as.26 The poston ofa pin is given bythe equation R = 1006/2. Wat i the path of he point? Detemnine the displacement of he point m#=0.10101 00. Pe ‘The point moves in crcl of aus 100 wiht cemer atthe origin, as, (0.10) = 100€** « $0:9021 + 58.779} (0.40) =100e"* = -40.9024+ 58.779) AR = R(040)-R(0.10) 161.8031 =161.8032180° ns, 27° The ston R=(/2+4Je°P dete he potion point In which deton ie the poston veto roting? Where isthe pont lated when = 0? What ithe eg sae can have ifthe destin of he poston veers tobe be ave ee 7 Whats he placement fom thea poiéonoftievone ries Since the poar angle forthe position vectors ‘Jrt 10, hen d0 dt ianegative and therefore the position vector is rotating clockwise. dng R(0)=(0 +4) wacor The poston vector will next have the same direction when #1/10=2r. that is, when 20. dag R(20)=(208 s4)er** a soscor AR -=R(20)-R(0)= 40020" doe 28 The location of «pin is defied bythe equation R= (4+ 2)! where time in rnc etonf the ois inated when ¢= 0. What ithe placement during tne line ncn ching in angular cretion of the positon verter dung he ns time interval =I R(0)=(0+2)e! = 220° 224 = R(Q)=(12+2) ef w14.254° 28.2291 +11 326} AR =R(2)-R(0) 62291411326) <129262612 ay 5 18 = 54-0 54° cow as,29 ‘ 0 Link 2 in the figure rotates according tothe equation @ = n1/4. Block 3 slides outward on lnk 2 according tothe equation r=12+2. What isthe absolute displacement ‘aR, fom = 110127 What nthe apparent placement AR? R, ore” =(+2)em R, (i) =3.245"=2.1211+2.121) R, (2)=6290"=6) AR, «Ry (2)-R, (2-2 Ryq are =(?42)i, Ryall) 3h, Rya(2)=6h AR yy =Rya(2)-Rya(l)=3h de ‘Awheel with center at © rolls without slipping so that its centri displaced 10 in othe fight, What isthe displacerent of point P onthe periphery during this interval? Since the wheel ols witout sipping, lie 3.879} 4a2iciie.r® Anse ==10 n/6 in = 1.667 rad = 95.5" For Ryo, 6 =0 200 = 270°-95.5"=174.5° =10i-s9721+0.574)+6), (28i+6.574] =7.710258.5° in on. [A point Q-moves fom A to B slong link 3 while link 2 rotates fom 0 =30* to 6 =120", Find the solute displacement of 2. ny, =3230°=2 5981 +1 500] Rl =32120" = -1.5001 +2.598] ARg = Rg ~Ra =-4.0981-+1.098] ¥ AR gn = Ra, = 6.0001 AR, =AR, +R, AR, = .9021+1.098) =2.196230" in a" 2.12 The linkage shown is driven by moving the sliding block 2. Write the loop-closure equation. Solve analytically for the postion of sliding block 4. Check the result graphically forthe position where @ = ~45° ‘The loop-closure ‘equation is Ry=R,+Ryy Bye" = Ry + Rye Ry Rye” “Taking the imaginary components of thie, we get RysiniS? =-Ry sind - sind sing 45" = 200 =F» 546 men Feo Be tse 2 inte = ‘The offset slider-crank mechanism is driven by rotating crank 2. Writ the loop-closure aus ‘equation. Solve forthe postion ofthe slider 4 asa function of 8, et Ry tRoy ers Rye + Rae Taking el snd ipsagincy pars, Ro =RycO8l, +Reye080, and O=R,+Ry sind +Rysind, and, solving simuianeously, we get 8, =sin"'[ i= Rassin@) wisn 9079, 00° i Re fe haco8 LRG Oe Rina) 2 shat SOA ST tn 2.14 Wot clear program o (Rte sum of any numberof two-dimensional vectors {xessed in mixed rectangular or polar forms. Te reel shouldbe obaiable in cther, form with the mageitude and angle ofthe polar form having only psiuve values, Because he variety of makes and models of alcultrsis vast nd no standards exist for Programming them. 0 stander slaton i shown here‘rite a computer program to plot the coupler curve of any crank-rocker or double-erank form of the four-bar linkage. The program should accept four link lengths and either rectangular or polar coordinates ofthe coupler point relative tothe coupler. [Again the vaity of programming languages makes it difficult to provide a standard ‘solution. However, one version, writen in FORTRAN TV, is supplied here as an example. There are no accepted standards fr programming graphics. Therefore the ‘Tektronix PLOT-10 subroutine library, fr display on Tektronix 4010 series displays, i chosen as an older but somewhat recognized alternative. The symbols in the program ‘correspond to the notation show in Figure 2.19 ofthe text. The required input data are 1 RD, RO.R6, “ee progam can be ved sng te dt of Example 27a aking he ets tn how ofan 29. ‘Progra ccURVE 1 FORTRAN IV PROGRAM TO. PLOT THE COURLER CURVE OF NIT CRANK-ROCKER ‘On DOURLE-CRAN FOUR-BAR LtWwACE, GIVEN IFS. DINEGNTONS, warren FOR A Obs 11/70 COMPUTER SYSTEM, USING SUBROUTLNES PROM VTERTRONTE PLOT-10 FOR DIGFLAY co 40L0' SERIES OISPLATS. napsd 7 UICKER, TR, GR” PEAOOCK, & O-E-SIGLEY, TWBORY OF MACHINES "AiD MaCIOITSH, THIRD EDYTEON, ONFORD UNIVERSITY PRESS, 2003 wmareen py: gown J. urceER, JR. oe By Saningy 1900 FREAD(31 000) RL,Ra, RD, R4, 5,5, FFORD 2000 FoRATi6ri0. 0,221 PEND FS AMD ALPHA, EP (avon be. 0) Pant ASesonTnS"13er3°¥5) AcPeACATAN (5.5) Aeaxs Repu /57, 29578 {PSeaHAC (0.0, RS*SINTALENA) SMETIALIZE TOR PLOTTING AT 120 CHARACTERS PER SECOND. Shin errr (1200) THE rao FoR Tw PLOTTING AEA. (xan DwrNDO (SRD RLORTORA ORE, RAOREOYS) CYCLE THROUGH ONE CRANK ROTATION IN FIVE DEGREE TWCREMENRTS 72-0.0 Dhraes0/87.20878 bo 2 i173 ‘cha-coet2) SrassnetTa)GAM RD°R30RA*RaTRIRL“R2PREC2_O°RL*R2*CENZY (2, 0¢R3 Stabe teaaw) -or'9.99) THEN FORMAT(/""*** IME TRANSMISSION ANOLE TS TOO SHALL, Sno 1 Staw=SoRt 1 0-cansscoax GayeaTava (86a Coan ‘CALCULATE THETA 9. ‘Sus -R2"STHa-Ré>stM(GAM) ‘Tide2 D¢AtARG (Sm /eTHS) CALCULATE THe COURLER Por POSITION. Apsnaetw2=nS cos rH6) YoORa-GtHoRS-SENITHE) PLOT THIS stowewr oF THE COUPLER CURVE. zeniasomia raw rae cence, Extk movEA(O" 0°00) EALL Orawatnas-0) SGenzena-eos (a) weura-ciw( i) ALL PaMree eo}find the path of point P: (a) inverted slider-rank 2.16 For each linkage shown in the Figure, ider- crank mechanism; (c)_ straight-line mechanism; (#) second inversion of the sli ‘mechanism: (2) drarlink mechanism. ®2IT_ Using fet ser rank mechanism of Fig tothe extene values ofthe amas angi 5, find the crank angles corresponding As shown, 7 =90°-6, Also from the Figure 7 5in8, = C087. Differentiating with respect to 8, fr 156080, = sin "a dr. 5088, ' 28," hsiny Now, seting dy/d@, =0, we get cosd, =0. ‘Therefore, we conclude that @, =:2(24 +1)4/2 = 490°,270%, Ans. 2.18 In Section 1.10 iis poimted out that the transmission angle reaches an extreme value for the four ba linkage when the crank is onthe ine between the fined pivots. Refering to Fig. 219, this means that 7 reaches a maximum or minimum when crank 2is coinexceat With the fie 030. Show, analytically, that this statement is tue = From 40,0, Bar 41} 2p, c000, Also, from ABO, Sart —Anpcosy Equatng these we differentiate with espect 0 2, to bain | I I | Peat eck ay Der sin®, =2yr sing WL or " re oP nisin8, ae rainy29 220 “The figure illunates a crankand-rcker linkage inthe ist ofits two limit positions. In 8 Tit portion, points O,,A, and B He on a straight line; that i, links 2 snd 3 form a straight ine. The two limit positions ofa erank-rocker describe the extreme postions of the vocking angle. Suppote that such a linkage has j=400mm, % =200 mm, y= 300 mm and r, = 400 mm (a) Find 6 and @, coresponding to each limit positon. (6) Whetis the total rocking angle of link 4? (6) Whatare the ansmission angles at the extremes? 1 (a) From isosceles tangle 0,0,8 we can calculate or measure 8, =29°, 0,258" and 6; =248°, 6 = 136" (Then B0,=0,-8,= 78. A (© Finally, from isosceles triangle Ay 00,8. 7=29" and f= 68. nk. [A double-ocker mechanist has « deed-ceter postion and may also have a limit position ceprab 219), These positions occur when links 3 and 4 in the figure lie along & (Ghigh tne. In the deadcetter position the transmission ange is 160° and the ‘focbanism is eked. The designer must either avoid such positions or provide the at force, auch as 8 spring, to unlock the linkage. Suppose, forthe linkage shown in the figure, that 4 =16in, %p=53in, =Sin, and ry=12in. Find @ and 6 corresponding to the dead-center position. Is there a limit position? ‘Forte given dimension, there are two dead-center positions, and they conespond to the two. extreme travel. positions of crank O,A From 40,40, using the law of cosines, we can find @ =1140". ,=162.8° and, symmetrically Of =-1140°, 6f=-162.8". There ae also two lift postion, these coeur at 62565", = 193.1" and, eytmmetically, at 6 = 133.1" ns,aa ‘The figure shows a slier-crank mechaniam that has an fete and that is placed jn one of limiting postions. By changing the ost ei is posible to cause the angle hat rank 2 makes in traversing between the two limiting postions to vary in such + manne, thatthe driving or forward stroke ofthe sider takes place over «larger angle than the ‘nae ase forthe eur stoke. Such linkage is then called a quickretim mecheiom ‘The problem here ist develop a formula forthe crank angle traversed during the forwara Stoke and alo develop a similar formula forthe angle traversed during the return sve Theft ofthese two angles would then consiute an time ratio ofthe drive to reung strokes. Also determine whic) direction the erank should rotate From the figure we can seta ¢= (7; +7 )sin0, = (7 ~)sn(@-180¢) or aS) (5) ‘Assuming diving is when sliding tothe righ, the rank shoud rotate clockwise. ag =~ 8, = 180° 4s 8a 1380-0 an (ss EREChapter 3 Velocity ul 32 33 Jor of» pont is given by the equation R-=100e/™, where Risin inches “The pesition vee 40 Find te velocity ofthe point at R(t) =1000"" R(i)= jxl00e!" (0.40) jrt006""* = ji00(c080.40e + jsin040x) (00x sin 72°+ 100% cos 72" 298,783 + 97.080 = 314.1592162"inls dit. (040), -hecquion R=(1204)e7 deine the pi of parts, IR in meters, Bad be velocity ofthe particle at = 205 R()=(e+4)e"" Ri) = 2!" (x10) +4)" (20) = 406" — (jx /10)(20"-+ 4)" = oe"? = jad be” (20) = 40.000~ 126920. 193.07482-72.5° mis dos. automobile is traveling south at 5S mifh and automobile B north 60" cast at 40 mit, Tria icine velocity difference between B and A? What is the apparent velocity of B to the driver of 4? V, 9852-90" 2-55} mil Vy = 40230" =34 6411+ 20} mith Via, -¥,=346tti+ 75} 0m Vp, 82.613265.2" =82.613 N248° E mith ant Naming B as car 3 and A as car 2, we have, =V, since 2 is tranlating. Then Vpja =V -Vo=¥uu Vy = 82.61365.2" 82.613 N 248° E ith as.34 3s In the figure, whee! 2 rotates at 600 revimin and dives wheel 3 without sipping. Find the velocity difference between points B and 4. {00 revinin)(2 ado) 60 sin =20r radlsow Vag, = Re = 808 V=V.+¥un * 51 inls ns. “Two points 4 and B, located along the radius of wheel (se fire, have spends of $0 ses iao mvs. respectively. The distance between the points is Rg, = 300mm. (a) What is the diameter ofthe wheel? (0) Find V jp, V py, nd the angular ve iy ofthe whee, Vase ¥p-¥,=(-140i)-(-80))=-60} nn dae Vg=¥,-Vy=(-t0i)-(-140]) = 60} v8 das, Vy, _ Gms oR 0300 m Mg. ome Ig! OB 0.700 Din #22, =2(0.7 m)=14 m-=1'400 mm das 200 rad/s ew as.36 a uM [A plane leaves point 8 and flies east at 150 mich, Simultaneously, at point A, 200 miles southeast (ee figure), a plane leaves and flies northeast t 390 mi (4) How close wil the planes come teach othe if they fla the some altitude? (2) If they bth leave at 6.00 pam, at what time wil tis oar? ¥,=390245° mih = 27616276}; Vy «3504 Vas= Vp -V, = 741-276) AL itil time Rg, (0) =200.120° mi = 1004 +173} AL ae ie (0) = Ry (0)+ Vad =(-100+74)-+(173-276)j To find the minimum ofthis: R= (100674) «(173-2769 A, [t= 2(-100 + 74)(74) +2(173-2761)(-276)=0 163 120-110 3760 £0677 h= I minor 64pm. dns Ry (0.677) = 49.81-13.5}=51.52-165° mi i. To the daa of Problem 36, adda wind of 30 mi/h from the west (4) ITA Tes the same heading, what is its new path? (0) Wat change does the wind make in the resis of Problem 3.6? With he added wind V, = 3061 +276) = 41242" mim Since the velocity constant, the new path ia sraigh linea N48". ns Since the veloitics of both planes change bythe same amount the velocity differs Vay does not change. Therefore the results of Problem 3.6 donot change ‘dst The velocity of point 8 on the linkage shown nthe gure is 40m’. Find the velocity of Point 4 and the angular velocity of ink 3, i = Vee Vy +Vg V,=48.992-165% ms dns, Vyg =14.682-120° mvsee Es 39 ste mecanam shown in he Sure i ven by ink 2 ata = 45 Find the angular velocities of inks 3 and 4 Vig =e, =(45 08) (4 in) =180 vt Veev,+¥a= Ma t¥aa, i =1434 ids og, 18475 ils. Yan. = !434 21.43 radls cow ‘ax Crank? of he pus echanism shown isthe Sane riven at w, = 60rad/sew. Find the velocities of points and C andthe angular velo ox of links 3 and 4. | | Ve = ty, =(60 04s)(0.150:0) 9.0 28 VeeVst VM Ve, Yasin a Wy 11 300241a2 Vea V4 Ver V5 4+ Vey V.=3.830260" mis ns, Hie = 3020 43.40 rdtecw; Rar 0300 oncn aig OF ot C on link 4 af he mechanism shown in the igure if rank 2 ig ‘even at) = AB rad/s cow. What isthe angular velociy ota se a Ya, =, (48 )(8.0in) = 384.0 ine MEV Ves 8 Vay % 335 rads cow ns, fr = 107 ins; oy = Hat 107, Vo=¥+¥in =Ve4 Vics 84.72 —75.8° is as. Fe git ilasaes a paralll-bar linkage, in which opposite links have qual lengths, For this linkage, show that ai is always zero and ther = How would you dsr the motion of ink 4 with respect lnk 2? mn i 29 nd ing = wat = wm comps Ba (236 0d: SEM w=. Then Eq (229) ges 6 = Osndits derivative iso as. manne mitint E,(225) ino E233) 0 se tha y=. Then Fig 219 annie nk 3 is parle lik (2,0) then 6, =7=6,. Finally he dencarerny thi ives ©, =o, a, Sie 0-0 0, inks ncurses tsaton with expec ok 2 a.“313 The figure iluseates the antiparlel or crossed-bar linkage. If ink 2 is driven at 2 =1 radi cow, find the velocities of points C and D. - a a o Vig, “Rr, =(1106/5)(0300 8) = 0:300 is VenVs Vue Mo, +¥o, Construct the velocity image of link 3. Ve = 0.022151" m/s dos. ‘¥, =02902249° m/s dns. Find the velocity of pint Cof the linkage shown in the figure assuming that isk 2 hasan pul vclocity of 60 rads cow. Also find the angular velocities of links 3 and 4. e Yo, = ©:Ran =(60 ra) (60 in) = 360.0 ils Wye Vit Vuu= Mat Ve, Vg = 1694 inde; Py, = 317.6 i's Yo 184 wae «1824 075.24 rats ow oR 60 E Yoo, 3176 Yoo, 31763176 nalsew Oe tak mane k %, CConstivt the velocity image of ink 3; Ve =$07.12156 9" inls os.LIS) The inversion ofthe slider-rank mechanism shown nthe fi igure is driven by link 2 at 1, = 60 radis cow. Find the velocity of point 2 andthe ang sla velocities of inks 3 and co Vio, = Rao, =(60radls)(0,075 m) = 4.500 avis Vy Vit VM Vn Yaa 4259 at = 4259 «29.9 rad's cow a, 01987 a Construct the velocity image of ink 3; V, = 4.789296.5° mis das, 5146 Find the velocity ofthe coupler point Cand the angular velocities of links 3 and 4 ofthe ‘mechanism shown if crank 2 hasan angular velocity of 30 va c A ds, You 90.0 Fro, _ 000, ay = pt = 0 18.00 adie cow; ey, = LO. 2.00 2a sa. 0 ta ag beea7 38 Lik 2 of the linkage show inthe figure has an angular velocity of 10 ras ecw. Find the angular velocity oflink 6 andthe velocities of pints B,C, and. Veo, = Rao, = (10108) (25 in) Vy=Vit Vn Vy =11.57.180"in’s ‘Construct velocity image of link 3. VenVit Va =Vy Vey Ve "24222207." ils VpnVetVac=¥q ¥en, Vo 241822062" ifs BREE Von, _ 2418 = Lo = ANB 8 4.03 rads cow ag aa “The angular velocity of link 2 ofthe rag-link mechanism shown in the figure i 16 rads ae Fin a polar velocity diagram forthe velocity of poist B for all crank positions. Check the positions of thaximum and minimum velosiies by using Frewdenscin's ‘The aphical constuction is shown in the position where 6,=135° where the result is V,=5762-7.2%ivs, it repeated at increments of Ad, =15°. The taximum and minimum velocities ae Vpquq =9.132-146.6" us at @,=18° and Vyqy =459263.70m/8 at 8, =225", respectively. Within graphical accuracy these two positions approximatly verify reudenstin's theorem. ‘A numeric solution forthe same problem can be found from Eq. (3.22) using Eqs. (2.25) through (2.33) for postion values. The acuricy of the values reported above have been verified this way.ay 2 Link 2 of the mechanism shown in the figute is driven at a2, =36 rad/sew. Find the angular velocity of lnk 3 and the velocity of point 8, i a, ANa Vo, =O, = (36 r8)(5.0 in) = 1809 ins Vee Vit Vus = ¥ +¥ en vy =20282~563* int dag Find the velocity f point C andthe angular velocity of link 3 ofthe push-ink mechanism shown inthe figure. Link 2 isthe driver and rotates at 8 rad/s cew. Vo, = Ra, =(8 rad) (0.150 m) =1.200 's MV, + Vas Vo, $V Construct velocity image of link 3 rst Veu= Vy +Vey 848.2223.2° mvs Vay 3784 Yat 3784 15.14 rads cow 025071" EE4121 Lik 2 of te mechanism shown inte igre has ao angular veloiy of $6 rads cow Find the velocity of point C. Yo, =osBu,=(56 (0150) =8400 ls env + Vu Xa 2%, Const velocity image of inks. Graves VenaNy My Ven SO282137.8 8 as. 4122 Fie the vlocies of pints B,C, and D ofthe doubler mechanism shown in he figure if eran 2 rotates at 42 rn cw Vent ¥er2¥s Vea Ve = 678621542" i's Vp 2 Vo-+Vag #2123290" tvs Yq = OR, = (42 as (2.00 in) = 84.00 irs Vs +Vau V, = 65362180" ins Mas. Const velocity image of tink 3 das. as.fee are connecting od. Crank 2 rae at 200 revinin ew: Find een ‘of points B, C, and D. 2000 revimin(2 radtev an GO minis Vea, = OR, ~@09.4 rads)(2.0 in)» 418.9 ins Van VatVo=425.92~120°inls das image of link 3, f+ Vey 486.92 -93.3°inls Ans, Yo = VeVac =378.72.~60"infs as, 094 rie 224° Maks comple velocity alysis of the linkage shown inthe ‘igure given that 22" 24radls ow. What isthe absolute velocity of point 2? Whats spparent velocity {oan observer moving with ink 4?328 Vig = Ra = (24 05) (8.00 i) = 192.0 ins Using the path of Py on link 4, we write Vp eVst Vue Me t¥ ie Yoo 1618 = 21S 6.16 adsow Sy na ‘From this, or graphically, we complete the velocity image of ink 3, from which V,, =157B2-39.7 ils das. “Then, since lnk 4 remains perpendicular tink 3, we have ay = and we find the velocity image of ink 4 Vue 10332—12.4 is da Find Vf the finkage shown nthe figure if, =1 ¥,=12 ins Using the path of Ps on link 4, we waite Vpn¥ ste Ya # Van [Next construc the velocity image of ink 3 oF Vy = Vn + Vay = Vs+ Var Vy =12502-23.0" ils onWis driven by crank 2 at 4126 The figure shows a variation of the Scotch-yoke mechanism, Nay, =36rad's cow. Find the velocity ofthe crosshead ink 4 ms Ve, = AR o, = (36 radls)(0.250 a Using the path of 4 on lnk 4, we write Weave tVay (Note that the path is unknown forV,., 1) V, =4.6582180° mvs All other points of ink 4 have this same velocity; itis in transition, igure for, =72 rads as. 327, Make « complete velocity analysis ofthe linkage shown in the f 08.0 ins a, Ro, = (72 radls)(1.50 in328 Went Vnr= Mo PV Construct velocity image of link3. Ve, Ve, =76:322203.2" in's Using the path of C on fink 6, we next write Me ee Vays Bi Ve, = Ve Bm which Vo = 4.012404 ‘rom i, gropically, we can complete the vloity image of ik 6, fom which Vp =77392-98" in's ¥ perpendicular ink 6, a, =0, = 28 =867 als ow Ream Vit Ver=¥e Veo Since link 5 rem BREE EF From thee we can got Vo, = Ve, #¥ac, @64492210.1° Sted aks 2 and 3 are ven independently ato, = 30 rls cw andy = 20 T4/eW, respectively. Find the absolute velocity ofthe center of the pin Fy carnid in the two slots. * Vy ayy =(30 rals)( 0054 9:0) =1.647 mis Vy =Rgy = (20 ae)(0.102 6m) =2.052 ‘entiying the pin as separate body 4 and, not ing the two paths it travels on bodies 2 and 3, we write Vn Vn t¥n in tVqa 2 3SSLIS° ls das.a9 330 ‘The mechanism shown is driven such that Ye = 10s to the ight. Rolling contact aseume between links 1 and 2, but sip is posible between links 2 and 3. Desernine te, fink 3. po e a & Using he path fon ink 3, we wit Mee Nnmd eye =F ren = ‘The circular cam shown is driven at an angular velocity of a =15 rads cow, Thee ia rolling contact between the cam and the role, link 3. Find the angular velocity ofthe ‘oscillating follower, ink 4 15 ad)(1.25 in) =18.25 ins Yo Vas 894 Vy =¥; 4+ Vag‘331 The mechanism shown is driven by link 2 at 10 rds cow, There is rolling contact at Font. Determine the velocity of pints and Gand the angus velocities of inks, 6, 5, and 6, Vas = Ray = (10 s)(1.000 in) =10.00 ins Ve =¥,+Veu=%otVeo Voy 1333 Ye = 1333.23.333 matscow * Bo 3333 mls ns. Yon _ 6567 o, = Yn = $557 23,333 dls cow no FP as. Vp +V gn = Ve#Ve 21000522209" is dns, and Ve, = Mat Ven Construct velocity image of ink 3. Vs, Using the path of Es on ink 6, we write Ve, = Ve, * Ys, %, Yon, 4838 3.774 red/sow das. Ray 1288 const velocity image oink 6. Vo Vs, + Vax, * Vn + Von *11-994-37.1° ne ds,232 The figure shows the schematic diagram fo a two-pison pump. Is diven bya circular cecent, link 2a =28 rads cew. Find the veoctcs ofthe two pistons ake ra, Vy, “Vag =04Rye =(25 rads)(1.0 in) =25.00 ins Using the path of onlin 3, we write Vj, = Vp, Construct velocity image o ink 3 Yon Va tVog = Xe Voy and +V ag. Then Vy =Ve-+Vjc =13022180" ins Va = Vo +Vag =5.7772180 in's Van and Vy, =o Vy EE10 radis ew, 433 The epicylie gear tran shown is dkiven by the acm, tink 2. at ey ‘Determine the angular velocity ofthe output shaft, attached to gear 3. Vy =Vuu=eaPax (1010/5) (3.00 in) = 30.00 ins 7 consiruct the velocity image of lnk 4 from which Ve = 60.20" in/s Using Vo Voy _ 60.00, Yea, = 2... 3000 ras ow As a 200 1334 The diagram shows a planar schematic spproximal pivoting but n0 # onceptsofnstant centers to find a By efinson, te oll enter” of he vb dy sink 2, wih respect i one Tink By tet nat cont Py tan be fund by te repeated appeton of Kenny's theorem as shown.