Principle of superposition

For linear systems the individual responses

to several disturbances or driving functions
can be superposed on each other to obtain
total response of the system.

15-28
 Dynamic Force Analysis Using Superposition
Principle
1. Kinematic Analysis to get linear & angular acceleration,
locating center of mass of each link.
2. Static Force Analysis to get constraint forces, input forces &
torques acting on each link.
3. Calculate inertia forces & torques acting on each link. Take
these inertia loads as new applied forces & torques, but
ignoring the applied loads in step 2, make another force
analysis.
Results are new input & constraint forces & torques acting
upon each link which result from inertia effects.
4.Vectoriaaly add results of steps 2 & 3 to obtain resultant forces
& torques.

15-29
Example : RAO2 = 75mm, RO4O2 = 350mm, RBA = 500mm, RBO4 = 250mm, RCO4 =
200mm, RCB = 150mm, RG3A = 250mm, RG4O4 = 142.25, w3 = 3.23Kg, w4 = 1.55kg, IG2
= 283.75g.cm.s2, IG3 = 709.37g.cm.s2, IG4 = 41.99g.cm.s2, 2 = 60 rad/s, and 2 = 0.
Make complete dynamic force analysis of the 4 bar linkage

106 274.5m/s2
m/s2 231.2m/s2
150 187.6m/s2
m/s2

18.16kg

15-30
Free-body diagrams of link 4 of showing superposition of forces: (a) F34 = 11kg, F14 =

20.1kg;
(b) F
34 = F14 = 43kg; (c) F34 = 11.34kg, F14 = 8.76kg; (d) F34 = 42.8kg,
and F14 = 60kg.

15-31
Free-body diagrams of link 3 showing superposition of forces: (a) F23 = F43 = 10.8kg;

(b) F23 = 65.8kg, F43 = 43kg; (c) F23 = F43 = 11.35kg; (d) F23 = 65.8kg, F43 =
42.8kg.

15-32
Free-body diagram of link 2 of : F32 = F12 = 65.83kg, M12 = 256.5kg.cm

15-33
Find the external torque which must be applied to link 2 of
the 4 bar linkage shown to drive it at the given velocity

Make correction- IG4

Should be 12.92
g.cm.s2

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