Name: ………………………………………… Signature: April 28, 2017

İZMİR INSTITUTE OF TECHNOLOGY DEPARTMENT OF MECHANICAL ENGINEERING

ME 332 – THEORY OF MACHINES II
MIDTERM EXAMINATION SOLUTION

Closed books and notes. Time allowed: 110 minutes

1. (30 points) A machine with a mass of 30 kg is placed on an elastic mounting of unknown properties.
An engineer excites the machine with a harmonic force with a magnitude of 100 N at a frequency of
30 Hz. He measures the steady–state response as having an amplitude of 0.2 mm with a phase lag of
20°. Determine the natural frequency n, and damping ratio  of the system and stiffness k and
damping coefficient c of the mounting.
k c
Useful formulae: 1 Hz = 1 cycle/s = 2 rad/s n   
m 2 km
F0
x  2n x  n 2 x  sin  t   x p  t   X sin  t  d 
m
F0  2 
where X  and d  tan 1  2 n2 
m  n 2  2    2n   n   
2 2

Solution:
30 Hz = 30 rot/s = 30∙2 rad/s = 60rad/s = 188,5 rad/s

  n 2  2    2n   2.778 108  rad s 

100 N 2
X  0.0002 m 
2 2

 30 kg    2    2n 
2 2 2
n

2n
 tan  d   0,364  2n  0.364  n 2  2 
n  
2 2


1.132 n 2   60  
2 2
 2, 778 10  n  226.26 rad s
8

k
n   k  mn 2   30 kg  226, 26 rad s   1.536 106 N m
2

m
0,364  n 2  2 
2n  0,364  n      
2 2
 0.067
2n
c  2 km  907.24 N  s m
2. (50 points) Figure shows the single degree-of-freedom mechanism of a boxer motor.
y
A 3
g T12
G3 13
s16
F D 12 B F x
A0
s14
6 15 2 4
G5
5 C
Generalized coordinate for the mechanism is chosen as 12. Link lengths are |A0A| = |A0C| = a2 and
|AB| = |CD| = a3. Center of mass of link 2 is at A0 while the centers of masses of links 3 and 5 are at
G3 and G5 such that |AG3| = |CG5| = b3. Link 2 has mass moment of inertia I2, links 3 and 5 each have
mass m3 and mass moment of inertia I3 (about G3 and G5) and pistons 4 and 6 each have mass m4.
The combustion forces are modeled as two equivalent forces of magnitude F on both sides.
Gravitational acceleration acts in –y direction. The resistive effects of the vehicle are modeled as
torque T12 at the crank. Joint frictions are neglected. Kinematic analysis is already performed:
a 2 sin 12 a cos 12
13    sin 1 ; s14  a 2 cos 12  a 3 cos 13 ; 15  13   ; s16  s14 ; 13  2 12 ;
a3 a 3 cos 13
a 2 cos 12 a sin 12 sin 13
s14  a 2 sin 1212  a 3 sin 1313 ; 13  12  2 12 2 + 132 ;
a 3 cos 13 a 3 cos 13 cos 13
s14  a 2 sin 12 12  a 3 sin 1313  a 2 cos 12 12 2  a 3 cos 1313 2 ;
x G3  a 2 cos 12  b3 cos 13 ; y G3  a 2 sin 12  b3 sin 13 ; x G5   x G3 ; y G5   y G3
x G3  a 2 sin 1212  b3 sin 1313 ; yG3  a 2 cos 1212  b3 cos 1313 ;
x G3  a 2 sin 1212  b3 sin 1313  a 2 cos 12 12 2  b3 cos 13132 ;
yG3  a 2 cos 12 12  b3 cos 1313  a 2 sin 1212 2  b3 sin 1313 2

a) Determine the velocity influence coefficients g3 = d13/d12, g4 = ds14/d12, g5 = d15/d12,

g6 = ds16/d12, uG3 = dxG3/d12, vG3 = dyG3/d12, uG5 = dxG5/d12, vG5 = dyG5/d12 and acceleration
influence coefficients h3 = dg3/d12, h4 = dg4/d12, h5 = dg5/d12, h6 = dg6/d12, uG3 = duG3/d12,
vG3 = dvG3/d12, uG5 = duG5/d12, vG5 = dvG5/d12.Write down joint accelerations 13, s14 , 15, s16 and
x G3 , y G3 , x G5 , y G5 in terms of 12, 12 and influence coefficients.

b) Determine equivalent inertia J*    m j  u Gj2  vGj2   IG j g j2  , C* 

6
1 dJ *
and generalized
j 2 2 d12
force Q*. Write down the equation of motion (EoM).
c) The stroke of each piston is 2a2. Assuming an average constant force F = 3 kN (per piston) and for
a2 = 100 mm, 12 = 1500 rpm (you should convert to rad/s) and speed fluctuation constant  = 0.04,
E
determine necessary flywheel inertia, IF, to be added to the crank. Recall that I F  , where E
12 2
is the combustion energy. Neglect other force effects.
Solution:
d13 13 a 2 cos 12 dg a  sin 12 cos 12 sin 13 
a) g3     h3  3  2    g3 
d12 12 a 3 cos 13 d12 a 3  cos 13 cos2 13 
ds14 s14 dg
g4    a 2 sin 12  a 3 sin 13g 3  h 4  4  a 2 cos 12  a 3 cos 13g 3 2  a 3 sin 13h 3
d12 12 d12
d15 d13
15  13    g 5    g 3 and h 5  h 3
d12 d12
ds16 ds14
s16  s14  g 6    g 4 and h 6  h 4
d12 d12
x G3 du G3
u G3   a 2 sin 12  b3 sin 13g 3  uG3   a 2 cos 12  b3 cos 13g 32  b3 sin 13h 3
12 d12
y G3 dv G3
v G3   a 2 cos 12  b3 cos 13g 3  vG3   a 2 sin 12  b3 sin 13g 32  b3 cos 13h 3
12 d12
x G5 x G3
x G5   x G3  u G5    u G3 and u G5  u G3
12 12
yG5 yG3
yG5   yG3  vG5     v G3 and vG5   vG3
12 12
13  g 312  h 312 2 ; s14  g 4 12  h 4 12 2 ; 15  g 512  h 512 2 ; s16  g 6 12  h 6 12 2
x G3  u G3 12  u G3 12 2 ; y G3  v G3 12  vG3 12 2 ; x G5  u G5 12  u G5 12 2 ; y G5  v G5 12  vG5 12 2

b) J*    m j  u Gj2  vGj2   IG j g j2   I2  2m3 u G3 2  vG3 2  2I3g32  2m 4g 4 2

 
6

j 2

1 dJ *
C*   2m3  u G3 uG3  vG3 vG3   2I3g3h 3  2m4g 4 h 4
2 d12
EoM: J*12 + C*122 = Q* = T12 – 2Fg4 – m3g(uG3 + uG5) = T12 – 2Fg4
c) 2F = 6 kN is applied for s = 2a2 = 0.2 m, so work done by 2F: F·s = (6 kN)(0.2 m) = 1200 J.
Then the necessary energy is E = 1200 J. So,
E 1200 J
IF    1.216 kg  m2
12 0.04 1500   30 rad s 
2 2
3. (20 points) Figure shows one side of a container with a removable top in two required positions.
Find the locations of acceptable fixed joints (A0, B0) of a four-bar linkage that will guide the top
through these two positions such that the top does not interfere the side of the container.

b12

a12

A0

B0

The fixed joints A0 and B0 have to be on the perpendicular bisectors a12 and b12, respectively. A0 and
B0 should be selected on a12 and b12 such that the trajectory of A and B do not interfere with the side
of the container. On the above figure, locations of A0 and B0 are selected to be as close to the container
side as possible for ease of manufacturing. The connecting rods A0A and B0B do not have to be straight
lines, but can be composed of bent sections.