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E
6
O
4
= 2 rad/s (ccw)
C
3
O B = 15 mm 2 BC = 40 mm CD = 30 mm O C = 15 mm 4 O D = 37 mm 4 DE = 25 mm O E = 15 mm
6
2 1
(i) Complete the velocity polygon on the answer sheet and find the velocities of points D and E, and the angular velocities of link 3, link 4, link 5 and link 6. Contruct the velocity polygon V =V +V
C B
CB
CB
= 17.5 mm/s
3 4
Use V
3
CB
ED
= 9.5 mm/s
5 6
Use V
3
ED
= 0.38 rad/s (cw) ; = 3.06 rad/s (cw) (ii) Construct the required acceleration polygon on the answer sheet and find the angular acceleration of link 4 and the acceleration of point D.
+A =A
C
n B
+A +A
B t C
(zero)
CB
+A
2
t CB t CB
= 81 mm/s
= 2 rad/s (cw) ; = 2.7 rad/s (cw) Use acceleration image of link 4 to locate D directly on the acceleration diagram. 2 A = 127 mm/s
D
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Q2. The Figure below the kinematic diagram of a six-bar mechanism. The input link O C is rotating at a constant angular velocity of 2 rad/s
2
(ccw).
O
1
D A
2 5 3
= 2 rad/s (ccw)
2
C
6
B
4
O A = 15 mm 2 O C = 30 mm 2 AB = 25 mm CD = 40 mm DE = 70 mm O D = 50 mm
6 6
(i) Complete the velocity polygon on the answer sheet and find the sliding velocity of link 4, the velocity of point E and the angular velocities of link 3, link 5 and link 6. Contruct the velocity polygon V =V +V
B A
BA
BA
= 16 mm/s
3
Use V
3
BA
DC
DC
= 57 mm/s
Use velocity image of link 5 to locate E directly on the velocity diagram. V = 92 mm/s
E
(ii) Complete the acceleration polygon on the answer sheet and find the sliding acceleration of link 4, the acceleration of point E and the angular accelerations of link 3, link 5 and link 6. Contruct the acceleration polygon A =A
B n A
+A +A
A B
(zero)
n BA
+A
t BA 2
t BA
= 51 mm/s
3
+A =A
D
n C
+A +A
C t D
(zero)
DC
+A
2
t DC
t DC
= 96 mm/s
O
2
D A
2 5 3
= 2 rad/s (ccw)
O A = 15 mm 2 O C = 30 mm 2 AB = 25 mm CD = 40 mm DE = 70 mm O D = 50 mm
6
C
6
B
4
Q3. The Figure below shows the kinematic diagram of a five-bar mechanism. At the instant, the angular velocity and angular acceleration of link 2 are 1 rad/s (ccw) and 1 rad/s (ccw) respectively. The velocity of slider 5 is 50 mm/s to the right and its acceleration is 50 mm/s to the left.
B
3
C
4 2
= 1 rad/s (ccw)
2 D D
V2 A
D O
1
2
O B = 50 mm 2 BC = 30 mm CD = 25 mm
(i) Complete the velocity polygon on the answer sheet and find the velocity of point C, and the angular velocities of link 3 and link 4.
This is a 2-dof mechanism and two inputs are needed. Contruct the velocity polygon V =V +V C B CB
V =V +V
C D CD
CB
= 45 mm/s ; V
CD
= 107 mm/s ;
CD
Q3(cont.) (ii) Construct the acceleration polygon on the answer sheet and find the acceleration of point C, and the angular accelerations of link 3 and link 4.
+ A +A
B CD
n
CB t CD
+A
t CB
n A = A + A + A
D
t CB
= 475 mm/s ; A
t CD
= 300 mm/s
CD 2
= 12 rad/s (cw)
4
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Note: the normal component of acceleration depends only on velocity and therefore its magnitude and deirction are known when performing acceleration analysis: A = r The tangential component can only be calculated if the angular acceleration is known: A =r
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t n 2