Problem 2.

21

Link 2 of the linkage shown in the figure has an angular velocity of 10 rad/s CCW. Find the
angular velocity of link 6 and the velocities of points B, C, and D.

AE = 0.7"
Y AB = 2.5"
D AC = 1.0"
5 BC = 2.0"
C EF = 2.0"
6 CD = 1.0"
A DF = 1.5"
3 θ 2 = 135˚
ω2 2
θ2 F
E X
0.3"
4 B

Position Analysis

Locate points E and F and the slider line for B. Draw link 2 and locate A. Then locate B. Next
locate C and then D.

Velocity Analysis:

v A3 = v A2 = v A2 / E2

v B4 = v B3 = v A3 + v B3 / A3 (1)

Find vC3 by image.

vC5 = vC3

vD5 = vD6 = vD6 / F6 = vC5 + vD5 /C5 (2)

Now,

v B3 in horizontal direction

v A2 / E2 = ω 2 × rA/ E ⇒ v A2 / E2 = ω 2 ⋅ rA/ E = 10 ⋅ 0.7 = 7 in / s (⊥ to rA/ E )

v B3 / A3 = ω 3 × rB/ A ⇒ v B3 / A3 = ω 3 ⋅ rB/ A (⊥ to rB/ A )

Solve Eq. (1) graphically with a velocity polygon. From the polygon,

- 106 -
 Velocity Polygon
D 2.5 in/s
C 4
3 o
6
A b3 f6

2
E F

B
Slider Line d5
c3
c5

a3

v B3 = 3.29 in / s

Using velocity image,

vC5 = vC3 = 6.78 in/ s

Now,

vD6 / F6 = ω 6 × rD/ F ⇒ vD6 / F6 = ω 6 ⋅ rD/ F (⊥ to rD/ F )

vD5 /C5 = ω 5 × rD/C ⇒ vD5 /C5 = ω 5 ⋅ rD/C (⊥ to rD/C )

Solve Eq. (2) graphically with a velocity polygon. From the polygon,

vD5 = vD6 = vD6 / F6 = 6.78 in / s

or

v D6 / F6 6.78
ω6 = = = 4.52 rad / s CCW
rD6 / F6 1.5

- 107 -
Problem 2.22

The linkage shown is used to raise the fabric roof on convertible automobiles. The dimensions at
given as shown. Link 2 is driven by a DC motor through a gear reduction. If the angular velocity,
ω2 = 2 rad/s, CCW, determine the linear velocity of point J, which is the point where the linkage
connects to the automobile near the windshield.

Detail of Link 3
H C D
J F 3 AB = 3.5"
L K AC = 15.37"
BD = 16"
CD = 3"
E CE = 3.62"
6 EG = 13.94"
G D GF = 3.62"
7 3
5 C HF = 3"
I 8 FC = 13.62"
F HI = 3.12"
H 4 GI = 3.62"
2 HL = 0.75"
KC = 0.19"
JH = 17"
1ω
2 110˚
A B

Position Analysis:

Draw linkage to scale. Start with link 2 and locate points C and E. Then locate point D. Then
locate points F and H. Next locate point G. Then locate point I and finally locate J.

Velocity Analysis:

The equations required for the analysis are:

vC2 = vC2 / A2 = ω 2 × rC2 / A2 ⇒ vC2 = ω 2 rC2 / A2 = 2 ⋅ (15.37) = 30.74 in / s

vC3 = vC2

vD3 = vD4 = vD4 / B4 = vC3 + vD3 /C3 (1)

vG5 = vG6 = vG7 = vF5 + vG5 / F5 = vE6 + vG6 / E6

vF5 = vF3

vE6 = vE2

So,

- 108 -
 vF5 + vG5 / F5 = vE6 + vG6 / E6 (2)

vI7 = vI8 = vG7 + vI7 /G7 = vH8 + vI8 / H8

vH8 = vH3

So,

vG7 + vI7 /G7 = vH8 + vI8 / H8 (3)

I 7 G 6
D
5 C
8 3
H F

2 4

B o
A

h3
f3
g6 c3
Velocity Polygon
i8 d3
10 in/s
e2

j8

- 109 -
Now,

vC3 = 30.74 in / s (⊥ to rC / A )

vD3 /C3 = ω 3 × rD/C (⊥ to rD/C )

vD4 / B4 = ω 4 × rD/ B (⊥ to rD/ B )

Solve Eq. (1) graphically with a velocity polygon. The velocity directions can be gotten directly
from the polygon. The magnitudes are given by:

vD4 = 30.9 in / s

Using velocity image of link 3, find the velocity of points F and H and of link 2, find the velocity of
point E.

vF5 = 30.5 in / s

vH3 = 30.3 in / s

and

vE6 = 3.80 in / s

Now,

vG5 / F5 = ω 5 × rG/ F (⊥ to rG/ F )

vG6 / E6 = ω 6 × rG/ E (⊥ to rG/ E )

Solve Eq. (2) graphically with a velocity polygon. The velocity directions can be gotten directly
from the polygon. The magnitudes are given by:

vG6 = 37.8 in / s

Now,

vI7 /G7 = ω 7 × rI /G (⊥ to rI /G )

vI8 / H8 = ω 8 × rI / H (⊥ to rI / H )

Solve Eq. (3) graphically with a velocity polygon. Using velocity polygon of link 8

v J8 = 73.6 in / s

- 110 -
Problem 2.23

In the mechanism shown, determine the sliding velocity of link 6 and the angular velocities of links
3 and 5.

B 34˚

AB = 12.5" ω 2 = 3 rad
s 2
3
BC = 22.4"
DC = 27.9" 4
CE = 28.0"
DF = 21.5" A 50˚

10.4"
F D
5
E
2.0" 6

29.5"
Position Analysis

First locate Points A and E. Next draw link 2 and locate B. Then locate point C by drawing a circle
centered at B and 22.4 inches in radius, and finding the intersection with a circle centered at E and
of 28 inches in radius. Find D by drawing a line 27.9 inches long at an angle of 34˚ relative to line
BC. Locate the slider line 2 inches above point E. Draw a circle centered at D and 21.5 inches in
radius and find the intersections of the circle with the slider line. Choose the proper intersection
corresponding to the position in the sketch.

Velocity Analysis

Compute the velocity of the points in the same order that they were drawn. The equations for the
four bar linkage are:

v B2 = v B2 / A2 = ω 2 × rB/ A

v B3 = v B2

vC3 = v B3 + vC3 / B3

- 111 -
 C

D
F
E

c3
o f3

Velocity Polygon d3
10 in/sec

b3 Also,

vC3 = vC4 = vE4 + vC4 / E4 = vC4 / E4

where,

v B2 = ω 2 rB/ A = 3⋅12.5 = 37.5 in / sec

vC3 / B3 = ω 3 × rC / B (⊥ to CB)

vC4 / E4 = ω 4 × rC / E (⊥ to CE )

The velocity of C3 (and C4) can then be found using the velocity polygon. After the velocity of C3
is found, find the velocity of D3 by image. Then,

- 112 -
 vD5 = vD3

vF5 = vD5 + vF5 / D5

and

vF5 = vF6

where

vF5 / D5 = ω 5 × rF / D ⇒ vC5 = ω 5 rF / D (⊥ to FD)

and vF6 is along the slide direction.. Then the velocity of F5 (and F6) can be found using the
velocity polygon. From the polygon,

vF6 = 43.33 in/sec

vC3 / B3 = 26.6 in / sec

vF5 / D5 = 18.54 in / sec

vC3 / B3 26.6
ω3 = = = 1.187 rad / sec
rC / B 22.4

vF5 / D5 18.54
ω5 = = = 0.862 rad / sec
rF / D 21.5

To determine the direction for ω 3 , determine the direction that rC / B must be rotated to be in the
direction of vC3 / B3 . From the polygon, this direction is CCW.

To determine the direction for ω 5 , determine the direction that rF / D must be rotated to be in the
direction of vF5 / D5 . From the polygon, this direction is CW.

- 113 -
Problem 2.24

In the mechanism shown, vA2 = 15 m/s. Draw the velocity polygon, and determine the velocity of
point D on link 6 and the angular velocity of link 5.

2 AC = 2.4"
A BD = 3.7"
BC = 1.2" D 6
3
5
B
2.05"

1v = 15 m/s
A2
C 45˚
4 X

2.4"

Velocity Analysis:

v A3 = v A2

vC4 = vC3 = v A3 + vC3 / A3 (1)

v B3 = v B5

vD5 = vD6 = v B5 + vD5 / B5 (2)

Now,

v A3 =15 m / sec in vertical direction

vC3 in horizontal direction

vC3 / A3 = ω 3 × rC3 / A3 ⇒ vC3 / A3 = ω 3 ⋅ rC3 / A3 (⊥ to rC3 / A3 )

Solve Eq. (1) graphically with a velocity polygon. From the polygon, using velocity image,

v B3 = v B5 = 14.44 m / sec

Now,

- 114 -
 2
A
D 6

3 5
B

d5
C Velocity Polygon

4 10 m/sec

o c3

b3 b5

a3

vD5 along the inclined path

vD5 / B5 = ω 5 × rD5 / B5 ⇒ v D5 / B5 = ω 5 ⋅ rD5 / B5 (⊥ to rD5 / B5 )

Solve Eq. (2) graphically with a velocity polygon. From the polygon,

vD6 = 12.31m / sec

Also,

vD5 / B5 = 16.61 m / sec

or

v D5 / B5 16.605
ω5 = = = 4.488 rad / sec CCW
rD/ B 3.7

- 115 -
Problem 2.25

In the mechanism shown below, points E and B have the same vertical coordinate. Find the
velocities of points B, C, and D of the double-slider mechanism shown in the figure if Crank 2
rotates at 42 rad/s CCW.

D
6

0.75" EA = 0.55"
AB = 2.5"
AC = 1.0"
5 CB = 1.75"
CD = 2.05"

C 4
E
2 33 B
ω2
60˚
A

Position Analysis

Locate point E and draw the slider line for B. Also draw the slider line for D relative to E. Draw
link 2 and locate A. Then locate B. Next locate C and then D.

Velocity Analysis:

v A3 = v A2 = v A2 / E2

v B4 = v B3 = v A3 + v B3 / A3 (1)

vC5 = vC3

vD5 = vD6 = vC5 + vD5 /C5 (2)

Now,

v B3 in horizontal direction

- 116 -
 D
6
3

E C
B

2 4
3

Velocity Polygon
a3
10 in/sec

c3 d5

b3 o

v A2 / E2 = ω 2 × rA2 / E2 ⇒ v A2 / E2 = ω 2 ⋅ rA/ E = 42 ⋅ 0.55 = 23.1 in / sec (⊥ to rA/ E )

v B3 / A3 = ω 3 × rB3 / A3 ⇒ v B3 / A3 = ω 3 ⋅ rB/ A (⊥ to rB/ A )

Solve Eq. (1) graphically with a velocity polygon. From the polygon,

v B4 = 17.76 in / sec

Using velocity image,

vC3 = 18.615 in / sec

Now,

vD5 in vertical direction

vD5 /C5 = ω 5 × rD/C ⇒ vD5 /C5 = ω 5 ⋅ rD5 /C5 (⊥ to rD/C )

- 117 -
Solve Eq. (2) graphically with a velocity polygon. From the polygon,

vD5 = 5.63 in / sec

Problem 2.26

Given vA4 = 1.0 ft/s to the left, find vB6.

Y
4 D

A 2
3 157.5˚
0.5"
X
C E
5
DE = 1.9" 1.0"
CD = 1.45"
BC = 1.1" B
AD = 3.5" 6
AC = 2.3"

Position Analysis

Draw the linkage to scale. Start by locating the relative positions of A, B and E. Next locate C and
D.

Velocity Analysis:

v A4 = v A3

vC5 = vC3 = v A3 + vC3 / A3 (1)

v D3 = vD2

vD2 = vE2 + vD2 / E2 (2)

- 118 -
 v B5 = vC5 + v B5 /C5

Now,

v A4 =1.0 ft / sec in horizontal direction

vC3 / A3 = ω 3 × rC / A ⇒ vC3 / A3 = ω 3 ⋅ rC / A (⊥ to rC / A )

vD2 / E2 = ω 2 × rD/ E ⇒ vD2 / E2 = ω 2 ⋅ rD/ E (⊥ to rD/ E )

Solve Eq. (1) graphically with a velocity polygon.

From the polygon, using velocity image,

vC3 / A3 = 1.28 ft / sec

and,

vC3 / A3 1.28
ω3 = = = 0.56 rad / s
rC / A 2.3

To determine the direction of ω 3 , determine the direction that rC / A must be rotated to be parallel to
vC3 / A3 . This direction is clearly clockwise.

Now,

v B6 is horizontal direction

v B5 /C5 = ω 5 × rB/C ⇒ v B5 /C5 = ω 5 ⋅ rB/C (⊥ to rB/C )

- 119 -
Solve Eq. (2) graphically with a velocity polygon. From the polygon,

v B6 = 1.23 ft / sec

Problem 2.27

If vA2 = 10 cm/s as shown, find vC5.

Position Analysis

Draw the linkage to scale. Start by locating the relative positions of D, F and G. Next locate A and
B. Then locate E and C.

Velocity Analysis:

v A3 = v A2

v B3 = v A3 + v B3 / A3 (1)

v B4 = v B3

v B4 = vF4 + v B4 / F4 = 0 + v B4 / F4 (2)

vE5 = vE4

vG5 = vE5 + vG5 / E5

- 120 -
 vG6 = vG5

Now,

v A2 =10 cm / sec (⊥ to rA/C )

v B3 / A3 = ω 3 × rB/ A ⇒ v B3 / A3 = ω 3 ⋅ rB/ A (⊥ to rB/ A )

v B4 / F4 = ω 4 × rB/ F ⇒ v B4 / F4 = ω 4 ⋅ rB/ F (⊥ to rB/ F )

From the polygon,

v B4 = 6.6 cm / sec

Using velocity image,

vE4 = 3.12 cm / sec

Now,

vG6 is horizontal direction

vG5 / E5 = ω 5 × rG/ E ⇒ vG5 / E5 = ω 5 ⋅ rG/ E (⊥ to rG/ E )

For the velocity image

draw a line ⊥ to rC / E at e

draw a line ⊥ to rC / E at g

and find the point “c”

From the velocity polygon

v B6 = 3.65 cm / sec

- 121 -
Problem 2.28

If vA2 = 10 in/s as shown, find the angular velocity of link 6.

AB = 1.0" vA
2
AD = 2.0" E
AC = 0.95"
CE = 2.0" 5
EF = 1.25" 6
BF = 3.85" A
2 C
3 D
B 27˚ F
4

Position Analysis

Draw the linkage to scale. Start by locating the relative positions of B, D and F. Next locate A and
C. Then locate E.

Velocity Analysis:

v A3 = v A2

vD3 = v A3 + vD3 / A3 (1)

vD4 = vD3

vC5 = vC3

vE5 = vC5 + vE5 /C5 (2)

vE6 = vE5

vE6 = vF6 + vE6 / F6 = 0 + vE6 / F6

Now,

v A2 =10 in / sec

- 122 -
 vD3 / A3 = ω 3 × rD/ A ⇒ v D3 / A3 = ω 3 ⋅ rD/ A (⊥ to rD/ A )

From the polygon,

vD3 / A3 = 9.1 in / sec

Using velocity image,

rD/ A: rC / A = v D3 / A3 : vC3 / A3

vC3 / A3 = 4.32 in / sec

Now,

vE5 /C5 = ω 5 × rE /C ⇒ vE5 /C5 = ω 5 ⋅ rE /C (⊥ to rE /C )

vE6 / F6 = ω 6 × rE / F ⇒ vE6 / F6 = ω 6 ⋅ rE / F (⊥ to rE / F )

from the velocity polygon

vE6 = 2.75 in / sec

and

vE6 / F6 2.75
ω6 = = = 1.375 rad / s
rE / F 2

To determine the direction of ω 6 , determine the direction that rE / F must be rotated to be parallel to
vE6 / F6 . This direction is clearly counterclockwise.

- 123 -
Problem 2.29

The angular velocity of link 2 of the mechanism shown is 20 rad/s, and the angular acceleration is
100 rad/s2 at the instant being considered. Determine the linear velocity and acceleration of point
F 6.

5 E
F
6 EF = 2.5"
CD = 0.95"
AB = 0.5"
3 BC = 2.0"
C CE = 2.4"
2" BE = 1.8"
B
4
0.1" ω 2 ,α 2 2 115˚
D
A
2.44"
Position Analysis

Draw the linkage to scale. Start by locating the relative positions of A and D. Next locate B and
then C. Then locate E and finally F.

Velocity Analysis:

The required equations for the velocity analysis are:

v B3 = v B2 = v B2 / A2

vC3 = vC4 = vC4 / D4 = v B3 + vC3 / B3 (1)

vE5 = vE3

vF5 = vF6 = vE5 + vF5 / E5 (2)

Now,

v B2 / A2 = ω 2 × rB2 / A2 ⇒ v B2 / A2 = ω 2 ⋅ rB2 / A2 = 20 ⋅ 0.5 = 10 in / s (⊥ to rB2 / A2 )

vC4 / D4 = ω 4 × rC4 / D4 ⇒ vC4 / D4 = ω 4 ⋅ rC4 / D4 (⊥ to rC4 / D4 )

vC3 / B3 = ω 3 × rC3 / B3 ⇒ vC3 / B3 = ω 3 ⋅ rC3 / B3 (⊥ to rC3 / B3 )

Solve Eq. (1) graphically with a velocity polygon. From the polygon and using velocity image,

- 124 -
 vC3 / B3 = 6.59 in / s

or

vC3 / B3 6.59
ω3 = = = 3.29 rad / s CCW
rC3 / B3 2

Also,

vC4 / D4 = 8.19 in / s

or

vC4 / D4 8.19
ω4 = = = 8.62 rad / s CW
rC4 / D4 0.95

And,

vE5 = 5.09 in / s

Now,

vF5 in horizontal direction

vF5 / E5 = ω 5 × rF5 / E5 ⇒ vF5 / E5 = ω 5 ⋅ rF5 / E5 (⊥ to rF5 / E5 )

Solve Eq. (2) graphically with a velocity polygon. From the polygon,

vF5 / E5 = 3.97 in / s

or

vF5 / E5 3.97
ω5 = = = 1.59 rad/ s CCW
rF5 / E5 2.5

Also,

vF6 = 3.79 in / s

Acceleration Analysis:

aB3 = aB2 = aB2 / A2

aC3 = aC4 = aC4 / D4 = aB3 + aC3 / B3

a Cr 4 / D4 + aCt 4 / D4 = aBr 2 / A2 + aBt 2 / A2 + aCr 3 / B3 + aCt 3 / B3 (3)

- 125 -
 5 E
F Velocity Polygon
5 in/sec

e5
3 b3

B
4 2 o f5
D A c3

1 aF
o' 5
f'5
Acceleration Polygon
1a r 50 in/s 2
C4 /D4

1a r
B2 /A2
1 at
1a E F5 /E 5
5
1 at
C4 /D 4

c'3
1a t
C3 /B3
1a r
F5 / E 5

b'3
1a t
e'5
B2 /A2 1a r
C3 /B3

aE5 = aE3

aF5 = aF6 = aE5 + aF5 / E5

aF5 = aE5 + aFr 5 / E5 + aFt 5 / E5 (4)

Now,

a rB2 / A2 = ω 2 × (ω 2 × rB2 / A2 ) ⇒ a rB2 / A2 = ω 2 2 ⋅ rB2 / A2 = 20 2 ⋅ 0.5 = 200 in / s2

- 126 -
in the direction of - rB2 / A2

aBt 2 / A2 = α 2 × rB2 / A2 ⇒ aBt 2 / A2 = α 2 ⋅ rB2 / A2 = 100 ⋅ 0.5 = 50 in / s2 (⊥ to rB2 / A2 )

a Cr 3 / B3 = ω 3 × (ω 3 × rC3 / B3 ) ⇒ a Cr 3 / B3 = ω 3 2 ⋅ rC3 / B3 = 3.292 ⋅ 2 = 21.6 in / s2

in the direction of - rC3 / B3

aCt 3 / B3 = α 3 × rC3 / B3 ⇒ aCt 3 / B3 = α 3 ⋅ rC3 / B3 (⊥ to rC3 / B3 )

a Cr 4 / D4 = ω 4 × (ω 4 × rC4 / D4 ) ⇒ a Cr 4 / D4 = ω 4 2 ⋅ rC4 / D4 = 8.62 2 ⋅ 0.95 = 70.6 in / s2

in the direction of - rC4 / D4

aCt 4 / D4 = α 4 × rC4 / D4 ⇒ aCt 4 / D4 = α 4 ⋅ rC4 / D4 (⊥ to rC4 / D4 )

Solve Eq. (3) graphically with an acceleration polygon. From the polygon, using acceleration
image,

aE5 = 252.0 in / s2

Now,

aF5 in horizontal direction

a rF5 / E5 = ω 5 × (ω 5 × rF5 / E5 ) ⇒ a rF5 / E5 = ω 5 2 ⋅ rF5 / E5 = 1.592 ⋅ 2.5 = 6.32 in / s2

in the direction of - rF5 / E5

aFt 5 / E5 = α 5 × rF5 / E5 ⇒ aFt 5 / E5 = α 5 ⋅ rF5 / E5 (⊥ to rF5 / E5 )

Solve Eq. (4) graphically with an acceleration polygon. From the polygon,

aF6 = 152.7 in / s2

- 127 -
Problem 2.30

In the drag-link mechanism shown, link 2 is turning CW at the rate of 130 rpm. Construct the
velocity and acceleration polygons and compute the following: aE5, aF6, and the angular acceleration
of link 5.

AB = 1.8'
BC = 3.75'
E CD = 3.75'
AD = 4.5'
AE = 4.35'
5 DE = 6.0'
EF = 11.1'
4
D F
3 B A
6
2
60˚
C
Velocity Analysis:

ω 2 = 130 rpm = 130 2π = 13.614 rad / s

60
vC3 = vC2 = vC2 / B2

vD3 = vD4 = vD4 / A4 = vC3 + vD3 /C3 (1)

vE5 = vE4

vF5 = vF6 = vE5 + vF5 / E5 (2)

Now,

vC2 / B2 = ω 2 × rC / B ⇒ vC2 / B2 = ω 2 ⋅ rC / B = 13.614 ⋅ 3.75 = 51.053 ft / s (⊥ to rC / B )

vD3 /C3 = ω 3 × rD/C ⇒ vD3 /C3 = ω 3 ⋅ rD/C (⊥ to rD/C )

vD4 / A4 = ω 4 × rD/ A ⇒ v D4 / A4 = ω 4 ⋅ rD/ A (⊥ to rD/ A )

Solve Eq. (1) graphically with a velocity polygon. From the polygon, using velocity image,

vD3 /C3 = 41.3 ft / s

or

- 128 -
 E

5
4
D F
3 B A
6
2
c3
60˚
C
d3

Velocity Scale
20 ft/s

f5
o
Acceleration Scale
200 ft/s 2 c '3 e4

1 ar
C2 / B2
1 ar
D3 /C3

o' f5'
a'4 d3'

1 a rD /A
4 4 t
1 atF /E 1a D
3 /C 3
5 5
t
1 a D /A
4 4

1 arF /E e'4
5 5

- 129 -
 vD3 /C3 41.3
ω3 = = = 11.0 rad / s CW
rD3 /C3 3.75

Also,

vD4 / A4 = 37.19 ft / s

or

vD4 / A4 37.19
ω4 = = = 8.264 rad / s CW
rD4 / A4 4.5

And,

vE5 = 35.95 ft / s

Now,

vF5 in horizontal direction

vF5 / E5 = ω 5 × rF5 / E5 ⇒ vF5 / E5 = ω 5 ⋅ rF / E (⊥ to rF / E )

Solve Eq. (2) graphically with a velocity polygon. From the polygon,

vF5 / E5 = 12.21 ft / s

or

vF5 / E5 12.21
ω5 = = = 1.1 rad / s CCW
rF5 / E5 11.1

Acceleration Analysis:

aC3 = aC2 = aC2 / B2

r
aD t
+ aD = aCr 2 / B2 + aCt 2 / B2 + aD
r t
+ aD
4 / A4 4 / A4 3 /C3 3 /C3 (3)

aE5 = aE4

aF5 = aF6 = aE5 + aF5 / E5

aF5 = aE5 + aFr 5 / E5 + aFt 5 / E5 (4)

Now,

a Cr 2 / B2 = ω 2 × (ω 2 × rC / B ) ⇒ a Cr 2 / B2 = ω 2 2 ⋅ rC / B = 13.614 2 ⋅ 3.75 = 695.0 ft / s2

in the direction of - rC / B

- 130 -
 aCt 2 / B2 = α 2 × rC / B ⇒ aCt 2 / B2 = α 2 ⋅ rC / B = 0 ⋅ 3.75 = 0 ft / s2

a rD3 /C3 = ω 3 × (ω 3 × rD/C ) ⇒ a rD3 /C3 = ω 3 2 ⋅ rD/C = 11.0 2 ⋅ 3.75 = 453.8 ft / s2

in the direction of - rD / C

t
aD t
= α 3 × rD/C ⇒ aD = α 3 ⋅ rD/C (⊥ to rD/C )
3 /C3 3 /C3

a rD4 / A4 = ω 4 × (ω 4 × rD/ A ) ⇒ a rD4 / A4 = ω 4 2 ⋅ rD/ A = 8.264 2 ⋅ 4.5 = 307.3 ft / s2

in the direction of - rD / A

t
aD t
= α 4 × rD4 / A4 ⇒ aD = α 4 ⋅ rD/ A (⊥ to rD/ A )
4 / A4 4 / A4

Solve Eq. (3) graphically with an acceleration polygon. From the polygon, using acceleration
image,

aE5 = 308.0 ft / s2

Now,

aF5 is in the horizontal direction

a rF5 / E5 = ω 5 × (ω 5 × rF / E ) ⇒ a rF5 / E5 = ω 5 2 ⋅ rF / E = 1.12 ⋅11.1 = 13.4 ft / s2

in the direction of - rF / E

aFt 5 / E5 = α 5 × rF5 / E5 ⇒ aFt 5 / E5 = α 5 ⋅ rF5 / E5 (⊥ to rF5 / E5 )

Solve Eq. (4) graphically with an acceleration polygon. From the polygon,

aF6 = 83.4 ft / s2

Also,

aFt 5 / E5 = 325.2 ft / s2

or

aFt 5 / E5 325.2
α5 = = = 29.3 rad / s2 CCW
rF5 / E5 11.1

- 131 -
Problem 2.31

The figure shows the mechanism used in two-cylinder 60-degree V-engine consisting, in part, of an
articulated connecting rod. Crank 2 rotates at 2000 rpm CW. Find the velocities and acceleration
of points B, C, and D and the angular acceleration of links 3 and 5.

Y D
o
30

EA = 1.0" E
AB = 3.0" X
BC = 3.0" C
90˚
AC = 1.0"
CD = 2.55" 2
3
o
3

30
A
B

Position Analysis

Draw the linkage to scale. First locate the two slider lines relative to point E. Then draw link 2 and
locate point A. Next locate points B and C. Next locate point D.

Velocity Analysis:

Find angular velocity of link 2,

ω 2 = π ⋅ n = π ⋅ 2000 = 209.44 rad / s

30 30
v A2 = v A2 / E2 = v A3 = ω 2 × rA/ E

v B3 = v B4 = v A3 + v B3 / A3 (1)

vC3 = vC5

- 132 -
 6
D

E
C

2
3
A

4
b3 , b4 Velocity Polygon
100 in/s 1a r
B3 /A3

a’
2
r
1 aD
o 5 /C 5

c3 , c5 a2 , a3
c’3

1a t b3 , b’4
B3 /A3
d5 , d6

t
1 a D /C
5 5

1 aC
Acceleration Polygon 3

10000 in/s 2 1 arA / E

2 2

d5 , d6
1 aD
5

1 aB
3

o'
- 133 -
 vD5 = vD6 = vC5 + vD5 /C5 (2)

Now,

v A2 = ω 2 rA/ E = 209.44 ⋅1 = 209.44 in / s (⊥ to rA/ E )

v B3 in the direction of rB/ E

v B3 / A3 = ω 3 × rB/ A ⇒ v B3 / A3 = ω 3 rB/ A (⊥ to rB/ A )

Solve Eq. (1) graphically with a velocity polygon. From the polygon,

v B3 = v B4 = 212.7 in / s

Also,

v B3 / A3 = 109.3 in / s

or

v B3 / A3 109.3
ω3 = = = 36.43 rad / s
rB/ A 3

To determine the direction of ω 3 , determine the direction that rB/ A must be rotated to be parallel to
v B3 / A3 . This direction is clearly clockwise.

Also,

vC3 = vC5 = 243.3 in / s

Now,

vD5 = vD6 in the direction of rD/ E

vD5 /C5 = ω 5 × rD/C ⇒ vD5 /C5 = ω 5 rD/C (⊥ to rD/C )

Solve Eq. (2) graphically with a velocity polygon. From the polygon,

vD5 = vD6 = 189.2 in / sec

Also,

vD5 /C5 = 135 in / s

or

vD5 /C5 135

ω5 = = = 52.9 rad / s
rD/C 2.55

- 134 -
To determine the direction of ω 5 , determine the direction that rD/ C must be rotated to be parallel to
v D5 /C5 . This direction is clearly clockwise.

Acceleration Analysis:

a A2 = a A3 = a rA2 / E2 + a tA2 / E2

aB3 = aB4 = a A3 + aB3 / A3

aB3 = a rA2 / E2 + a tA2 / E2 + a rB3 / A3 + a tB3 / A3 (3)

aC3 = aC5

aD5 = aD6 = aC5 + aD5 /C5

aD5 = aD6 = aC5 + a rD5 /C5 + a tD5 /C5 (4)

Now,

aB3 in the direction of ± rB/ E

a rA2 / E2 = ω 2 × (ω 2 × rA/ E ) ⇒ a rA2 / E2 = ω 2 2 ⋅ rA/ E = 209.44 2 ⋅1 = 43860 in / s2

in the direction of - rA / E

a tA2 / E2 = α 2 × rA/ E ⇒ a tA2 / E2 = α 2 ⋅ rA/ E = 0 ⋅1 = 0 in / sec 2

a rB3 / A3 = ω 3 × (ω 3 × rB/ A ) ⇒ a rB3 / A3 = ω 3 2 ⋅ rB/ A = 36.432 ⋅ 3 = 3981 in / s2

in the direction of - rB / A

aBt 3 / A3 = α 3 × rB/ A ⇒ aBt 3 / A3 = α 3 ⋅ rB/ A (⊥ to rB/ A )

Solve Eq. (3) graphically with an acceleration polygon. From the polygon,

aB3 = 14710 in / s2

Also,

aBt 3 / A3 = 38460 in / s2

or

aBt 3 / A3 38460
α3 = = = 12820 rad / s2
rB/ A 3

- 135 -
To determine the direction of α 3 , determine the direction that rB/ A must be rotated to be parallel to
aBt 3 / A3 . This direction is clearly counterclockwise.

Also,

aC3 = aC5 = 39,300 in / s 2

Now,

aD5 in the direction of - rD/ E

a rD5 /C5 = ω 5 × (ω 5 × rD/C ) ⇒ a rD5 /C5 = ω 5 2 ⋅ rD/C = 52.92 ⋅ 2.55 = 7136 in / s2

in the direction of - rD/ C

t
aD t
= α 5 × rD/C ⇒ aD = α 5 ⋅ rD/C (⊥ to rD/C )
5 /C5 5 /C5

Solve Eq. (4) graphically with an acceleration polygon. From the polygon,

aD5 = aD6 = 24, 000 in / s2

Also,
t
aD = 26,300 in / s2
5 /C5

or

t
aD
α5 = 5 /C5
= 26300 = 10,300 rad / s2
rD/C 2.55

To determine the direction of α 5 , determine the direction that rD / C must be rotated to be parallel to
t
aD 5 /C5 . This direction is clearly clockwise.

Problem 2.32

In the mechanism shown, ω2 = 4 rad/s CCW (constant). Write the appropriate vector equations,
solve them using vector polygons, and

a) Determine vE3, vE4, and ω3.

b) Determine aE3, aE4, and α3.

Also find the point in link 3 that has zero acceleration for the position given.

- 136 -
Position Analysis

Locate pivots A and D. Draw link 2 and locate B. Then locate point C. Finally locate point E.

Velocity Analysis

For the velocity analysis, the basic equation is:

v B2 = v B3 = v B2 / A2

vC3 = v B3 + vC3 / B3 = vC4 = vC4 / D4

Then,

vC4 / D4 = vC3 / B3 + v B2 / A2

and the vectors are:

v B2 / A2 = ω 2 × rB/ A ⇒ v B2 / A2 = ω 2 rB/ A = 4 ⋅ 0.5 = 2 m / s (⊥ to rB/ A )

vC3 / B3 = ω 3 × rC / B (⊥ to rC / B )

vC4 / D4 = ω 4 × rC / D (⊥ to rC / D )

The basic equation is used as a guide and the vectors are added accordingly. Each side of the
equation starts from the velocity pole. The directions are gotten from a scaled drawing of the
mechanism.

The graphical solution gives:

vC3 / B3 = 2.400∠ − 46.6° m / s

vC4 / D4 = 0.650∠ − 1˚ m / s

vE3 = 2.522∠93.9° m / s (by image)

- 137 -
Now,

vC3 / B3 2.400
ω3 = = = 3.0 rad / s
rC / B 0.8

vC4 / D4 0.65
ω4 = = = 0.81 rad / s
rC / D 0.8

To determine the direction of ω 3 , determine the direction that rC / B must be rotated to be parallel to
vC3 / B3 . This direction is clearly clockwise.

To determine the direction of ω 4 , determine the direction that rC / D must be rotated to be parallel to
vC4 / D4 . This direction is clearly clockwise.

Find the velocity of E3 and E4 by image. The directions are given on the polygon. The magnitudes
are given by,

vE3 = 2.522 m / s

vE4 = 0.797 m / s

Acceleration Analysis

The graphical acceleration analysis follows the same points as in the velocity analysis. Start at link
2.

aB2 / A2 = aBt 2 / A2 + aBr 2 / A2

aBt 2 / A2 = α 2 × rB/ A = 0 since α 2 = 0
aBr 2 / A2 = ω 2 × (ω 2 × rB/ A ) ⇒ aBr 2 / A2 = ω 2 2 rB/ A

or

aBr 2 / A2 = (4.0)2 (0.5) = 8.0 m / s 2 from B to A

- 138 -
 e3 C

b3
E 3
4

e4 B
Velocity Scale 2
1 m/s A D

o c3 1aC
3 o' d'4
1a r
c'3 1 at C /D
C 4 /D 4 4 4
1 ar
B 2 / A2

b'3

1 r 1a
aC / B E3
3 3
1 t
aC / B
3 3

e'3 Acceleration
Scale
4 m/s 2
1a
E4

e'4

- 139 -
Now go to Point C and follow the same path as was used with velocities.

aC4 / D4 = aCt 4 / D4 + aCr 4 / D4 = α 4 × rC / D + ω 4 × vC4 / D4

Also

aC4 / D4 = aC3 / B3 + aB2 / A2 = aCt 3 / B3 + aCr 3 / B3 + aB2 / A2

= α 3 × rC / B + ω 3 × vC3 / B3 + aB2 / A2

Therefore,

aCt 4 / D4 + aCr 4 / D4 = aCt 3 / B3 + aCr 3 / B3 + aB2 / A2

and

aCr 4 / D4 = ω 4 × vC4 / D4 = [(0.812)(0.650) = 0.528] from C to D

aCt 4 / D4 = α 4 × rC / D = ? ⊥ rC / D

aCr 3 / B3 = ω 3 × vC3 / B3 = [(3.0)(2.4) = 7.2] from C to B

aCt 3 / B3 = α 3 × rC / B = ? ⊥ rC / B

These values permit us to solve for the unknown vectors. We can then find “e” by acceleration
image. From the acceleration polygon,

aCt 3 / B3 = 16.13 m / s2

Then,

aCt 3 / B3 16.13
α3 = = = 20.16 rad / s2
rC / B 0.8

To determine the direction of α 3 , determine the direction that rC / B must be rotated to be parallel to
aCt 3 / B3 . This direction is clearly counterclockwise.

and

aE3 = 15.84 m / s2

aE4 = 32.19 m / s2

- 140 -
Problem 2.33

In the mechanism shown, point A lies on the X axis. Draw the basic velocity and acceleration
polygons and use the image technique to determine the velocity and acceleration of point D4. Then
determine the velocity and acceleration images of link 4. Draw the images on the velocity and
acceleration polygons.

FE = 1.35"
ED = 1.5" 4
BD = CD = 1.0" Square
AB = 3.0" B D

vA2= 10 in/s 90˚

3
(constant)
A 84˚
2 C X
5
E
F (-1.0", -0.75") 6

Position Analysis:

Plot the linkage to scale. Start by drawing point D and the rest of link 4. Next draw link B and
finally draw link 3. Links 5 and 6 do not need to be drawn because they do not affect the
information that is requested.

Velocity Analysis:

v A3 = v A2

v B3 = v B4

v B3 = v A3 + v B3 / A3 = v B4 = v B4 /C4 (1)

Now,

v A2 = 10 in / s in the horizontal direction

v B3 = v B4 = ω 4 × rB4 /C4 ⇒ v B4 = ω 4 ⋅ rB/C (⊥ to rB/C )

v B3 / A3 = ω 3 × rB3 / A3 ⇒ v B3 / A3 = ω 3 rB/ A (⊥ to rB/ A )

- 141 -
 B
D

A
C
b3
b4
Velocity Scale
5 in/s

c4
o a3 Acceleration Scale
d4 30 in/s 2
a'2
r a'3
1 a B /A
3 3 c'4
o'
r
1 a B /C
4 4

d4' 1a t
B 3 /A 3

t
1a B /C
4 4

b3' '
b4

Solve Eq. (1) graphically with a velocity polygon. From the polygon,

v B3 / A3 = 6.64 in / s

or

- 142 -
 v B3 / A3 6.64
ω3 = = = 2.21 rad / s
r B/ A 3

To determine the direction of ω 3 , determine the direction that rB/ A must be rotated to be parallel to
v B3 / A3 . This direction is clearly counterclockwise.

Also,

v B4 = 9.70 in / s

and

v B4 /C4 9.70
ω4 = = = 6.86 rad / s
rB/C 1.414

To determine the direction of ω 4 , determine the direction that rB/ C must be rotated to be parallel to
v B4 /C4 . This direction is clearly clockwise.

Also,

vD4 = 6.77 in / s (⊥ to rD/C )

Draw the image of link 4 on the velocity polygon. The image is a square.

Acceleration Analysis:

a A2 = a A3

aB3 = aB4 = a A3 + aB3 / A3 = aB4 /C4

aBr 4 /C4 + aBt 4 /C4 = a A3 + a rB3 / A3 + a tB3 / A3 (3)

Now,

a A3 = 0

aBr 4 /C4 = ω 4 × (ω 4 × rB/C ) ⇒ a rB4 /C4 = ω 4 2 ⋅ rB/C = 6.862 ⋅1.414 = 66.54 in / s2

in the direction of - rB/ C

aBt 4 /C4 = α 4 × rB/C ⇒ aBt 4 /C4 = α 4 ⋅ rB/C (⊥ to rB/C )

a rB3 / A3 = ω 3 × (ω 3 × rB/ A ) ⇒ a rB3 / A3 = ω 3 2 ⋅ rB/ A = 2.212 ⋅ 3 = 14.6 in / s2

in the direction of - rB/ A

aBt 3 / A3 = α 3 × rB3 / A3 ⇒ aBt 3 / A3 = α 3 ⋅ rB/ A (⊥ to rB/ A )

- 143 -
Solve Eq. (3) graphically with a acceleration polygon. From the polygon,

aD4 = 54.0 in / s2

The image of link 4 is a square as shown on the acceleration polygon.

Problem 2.34

In the mechanism shown below, the velocity of A2 is 10 in/s to the right and is constant. Draw the
velocity and acceleration polygons for the mechanism, and record values for angular velocity and
acceleration of link 6. Use the image technique to determine the velocity of points D3, and E3, and
locate the point in link 3 that has zero velocity.

CF = 1.95"
FE = 1.45"
ED = 1.5"
CD = 1.0"
BC = 1.45" E
BD = 1.05" B 5
AB = 3.0" D
6
vA2 = 10 in/s 3
(constant) 4
103˚
A C
2 F

Position Analysis:

Locate points C and F and the line of action of A. Draw link 6 and locate pont E. Then locate point
D. Next locate point B and finally locate point A.

Velocity Analysis:

The equations required for the velocity analysis are:

v A3 = v A2

v B3 = v B4

v B3 = v A3 + v B3 / A3 (1)

v D5 = vD4

vE5 = vE6 = vD5 + vE5 / D5 (2)

Now,

v A2 = 10 in / s in the horizontal direction

- 144 -
 v B3 = v B4 = ω 4 × rB/C ⇒ v B4 = ω 4 ⋅ rB/C (⊥ to rB/C )

v B3 / A3 = ω 3 × rB/ A ⇒ v B3 / A3 = ω 3 rB/ A (⊥ to rB/ A )

Solve Eq. (1) graphically with a velocity polygon. From the polygon,

v B3 / A3 = 5.97 in / s

v B3 / A3 5.97
ω3 = = = 1.99 rad / s
rB/ A 3

Also,

v B4 = 9.42 in / s

or

v B4 /C4 9.42
ω4 = = = 6.50 rad / s CW
rB4 /C4 1.45

Now,

vD4 = 6.50 in / s (⊥ to rD/C )

vE5 / D5 = ω 5 × rE / D ⇒ vE5 / D5 = ω 5 rE / D (⊥ to rE / D )

vE5 = vE6 = vE6 / F6 = ω 6 × rE / F ⇒ vE6 / F6 = ω 6 rE / F (⊥ to rE / F )

Solve Eq. (2) graphically with a velocity polygon. From the polygon,

vE6 = 5.76 in / s

or

vE6 / F6 5.76
ω6 = = = 3.97 rad / s
rE / F 1.45

Acceleration Analysis:

a A2 = a A3

aB3 = aB4 = a A3 + aB3 / A3

aBr 4 /C4 + aBt 4 /C4 = a rB3 / A3 + a tB3 / A3 (3)

aD5 = aD4

aE5 = aE6 = aE6 / F6 = aD5 + aE5 / D5

- 145 -
 aEr 6 / F6 + aEt 6 / F6 = aD5 + a rE5 / D5 + a tE5 / D5 (4)

Now,

1 ar Acceleration Polygon
B3 /A 3 o' e3
25 in/s 2
1 at
B3 /A 3
1a r
E 6 /F6
1 at
E 6 /F6
r
1 a B /C
4 4 Velocity Polygon d3
e'5
1 at d4' 2.5 in/s
O E5 /D 5

r
1 aE b3 , b4
5/ D 5

t
1aB /C
4 4
b 3’ , b’4

3
e5

a2 ,
o a3
d4 , d5

E
B
D 5 6
3 D
4

A C F
2

or

aBr 4 /C4 = ω 4 × (ω 4 × rB/C ) ⇒ a rB4 /C4 = ω 4 2 ⋅ rB/C = 6.50 2 ⋅1.45 = 61.3 in / s2

in the direction of - rB/ C

aBt 4 /C4 = α 4 × rB/C ⇒ aBt 4 /C4 = α 4 ⋅ rB/C (⊥ to rB/C )

- 146 -
 a rB3 / A3 = ω 3 × (ω 3 × rB/ A ) ⇒ a rB3 / A3 = ω 3 2 ⋅ rB/ A = 1.992 ⋅ 3 = 11.9 in / s2

in the direction of - rB / A

aBt 3 / A3 = α 3 × rB/ A ⇒ aBt 3 / A3 = α 3 ⋅ rB/ A (⊥ to rB/ A )

Solve Eq. (3) graphically with an acceleration polygon. From the polygon,

aBt 3 / A3 = 65.3 in / s2

or

aBt 3 / A3 65.3
α3 = = = 21.8 rad / s 2 CW
rB/ A 3

And,

aD3 = 86.6 in / s2

Also,

a rE5 / D5 = ω 5 × (ω 5 × rE / D ) ⇒ a rE5 / D5 = ω 5 2 ⋅ rE / D = 1.732 ⋅1.5 = 4.49 in / s2

in the direction of - rE / D

aEt 5 / D5 = α 5 × rE / D ⇒ aEt 5 / D5 = α 5 ⋅ rE / D (⊥ to rE / D )

a rE6 / F6 = ω 6 × (ω 6 × rE / F ) ⇒ a rE6 / F6 = ω 6 2 ⋅ rE / F = 5.762 ⋅1.45 = 48.1 in / s2

in the direction of - rE / F

aEt 6 / F6 = α 6 × rE / F ⇒ aEt 6 / F6 = α 6 ⋅ rE / F (⊥ to rE / F )

Now solve Eq. (4) using the acceleration polygon. Then,

aEt 6 / F6 = 38.2 in / s2

or

aEt 6 / F6 38.2
α6 = = = 26.4 rad / s2 CCW
rE / F 1.45

Using the image concept, the velocities of points D3 and E3 are

vD3 = 10.2 in / s

- 147 -
 vE3 = 12.7 in / s

The point in link 3 with zero velocity is shown on position diagram. The point is found by finding
the position image of oa3b3 .

Problem 2.35

The instant center of acceleration of a link can be defined as that point in the link that has zero
acceleration. If the accelerations of Points A and B are as given in the rigid body shown below, find
the Point C in that link at which the acceleration is zero.

AB = 3.75"
A aA = 1500 in/s 2
5˚
2
B a B = 1050 in/s
70˚

145˚
aB
aA

Acceleration Analysis:

Draw the accelerations of points A and B on an acceleration polygon. Then o' will correspond to
the instant center of acceleration. Find the image of o' on the position diagram, and that will be the
location of C

- 148 -
 o' c'

b'

A
B

1 in
a'
Acceleration Scale
500 in/s 2

Problem 2.36

The following are given for the mechanism shown in the figure:

ω 2 = 6.5 rad/ s (CCW); α 2 = 40 rad/ s2 (CCW)

Draw the velocity polygon, and locate the velocity of Point E using the image technique.

D (2.2", 1.1")
Y E
B

2 4 AB = DE = 1.0 in
55˚ 3 BC = 2.0 in
A X CD = 1.5 in

C
Position Analysis

Locate the two pivots A and D. Draw link 2 and locate pivot B. Then find point C and finally
locate E.

- 149 -
Velocity Analysis:

v B3 = v B2 = v B2 / A2

vC3 = vC4 = vC4 / D4 = v B3 + vC3 / B3 (1)

Now,

v B2 / A2 = ω 2 × rB2 / A2 ⇒ v B2 / A2 = ω 2 ⋅ rB2 / A2 = 6.5 ⋅1 = 6.5 in / sec (⊥ to rB2 / A2 )

vC4 / D4 = ω 4 × rC4 / D4 ⇒ vC4 / D4 = ω 4 ⋅ rC / D (⊥ to rC / D )

vC3 / B3 = ω 3 × rC3 / B3 ⇒ vC3 / B3 = ω 3 ⋅ rC3 / B3 (⊥ to rC3 / B3 )

Solve Eq. (1) graphically with a velocity polygon. From the polygon, using velocity image,

vE4 = 5.4042 in / sec

b3
Velocity Polygon
2 in/sec

c3 o

E
D

C
e4

- 150 -
Problem 2.37

In the mechanism shown, find ω6 and α3. Also, determine the acceleration of D3 by image.

Y
B
D CD = 1.0"
5 BD = 1.05"
vA2 = 10 in/s 3 BC = 1.45"
(constant) E 4 ED = 1.5"
81˚ FE = 1.4"
A AB = 3.0"
2 C
X
6

F (-1.0", -0.75")

Velocity Analysis:

v A3 = v A2

v B3 = v B4

v B3 = v A3 + v B3 / A3 (1)

v D5 = vD4

vE5 = vE6 = vD5 + vE5 / D5 (2)

Now,

v A2 = 10 in / sec in the horizontal direction

v B3 = v B4 = ω 4 × rB4 /C4 ⇒ v B4 = ω 4 ⋅ rB4 /C4 (⊥ to rB4 /C4 )

v B3 / A3 = ω 3 × rB3 / A3 ⇒ v B3 / A3 = ω 3 rB3 / A3 (⊥ to rB3 / A3 )

Solve Eq. (1) graphically with a velocity polygon. From the polygon,

v B3 / A3 = 6.282 in / sec

or

v B3 / A3 6.282
ω3 = = = 2.094 rad / sec
rB3 / A3 3

- 151 -
 B

3 D
5
E 4

A
C
2
6

F
Acceleration Polygon
r
1a B /A o' 25 in/sec 2
3 3

b 3 , b4 1a r
B4 /C 4

1 t
Velocity Polygon a B3 / A3

2.5 in/sec

e5 t
1 a B /C
4 4

b3’ , b’4
o
d4 , d5
a 2 ,a3

d3'

Also,

v B4 = 9.551 in / sec

or

v B4 /C4 9.551
ω4 = = = 6.587 rad / sec CW
rB4 /C4 1.45

Now,

vD4 = 6.587 in / sec (⊥ to rD4 / C4 )

- 152 -
 vE5 / D5 = ω 5 × rE5 / D5 ⇒ vE5 / D5 = ω 5 rE5 / D5 (⊥ to rE5 / D5 )

vE5 = vE6 = vE6 / F6 = ω 6 × rE6 / F6 ⇒ vE6 / F6 = ω 6 rE6 / F6 (⊥ to rE6 / F6 )

Solve Eq. (2) graphically with a velocity polygon. From the polygon,

vE6 = 6.132 in / sec

or

vE6 / F6 6.132
ω6 = = = 4.229 rad / sec CW
rE6 / F6 1.45

Acceleration Analysis:

a A2 = a A3

aB3 = aB4 = a A3 + aB3 / A3

aBr 4 /C4 + aBt 4 /C4 = a rB3 / A3 + a tB3 / A3 (3)

Now,

aBr 4 /C4 = ω 4 × (ω 4 × rB4 /C4 ) ⇒ a rB4 /C4 = ω 4 2 ⋅ rB4 /C4 = 6.5872 ⋅1.45 = 62.913 in / sec 2

r
in the direction of B4 / C 4

aBt 4 /C4 = α 4 × rB4 /C4 ⇒ aBt 4 /C4 = α 4 ⋅ rB4 /C4 (⊥ to rB4 /C4 )

a rB3 / A3 = ω 3 × (ω 3 × rB3 / A3 ) ⇒ a rB3 / A3 = ω 3 2 ⋅ rB/ A = 2.094 2 ⋅ 3 = 13.155 in / sec 2

in the direction of rB / A

aBt 3 / A3 = α 3 × rB3 / A3 ⇒ aBt 3 / A3 = α 3 ⋅ rB3 / A3 (⊥ to rB3 / A3 )

Solve Eq. (3) graphically with a acceleration polygon. From the polygon,

aBt 3 / A3 = 68.568 in / sec 2

or

aBt 3 / A3 68.568
α3 = = = 22.856 rad / sec 2 CW
rB3 / A3 3

Also,

aD3 = 91.390 in / sec 2

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Problem 2.38

In the mechanism shown, ω2 = 1 rad/s (CCW) and α2 = 0 rad/s2. Find ω5, α5, vE6, aE6 for the
position given. Also find the point in link 5 that has zero acceleration for the position given.

AD = 1 m C
AB = 0.5 m
BC = 0.8 m 3
CD = 0.8 m
BE = 0.67 m
6
E 5 4

0.52 m B
2

A 30˚ D

Velocity Analysis

v B2 = v B3 = v B5 = v B2 / A2

vE5 = vE6 = v B5 + vE5 / B5 (1)

Now,

v B2 / A2 = ω 2 × rB2 / A2 ⇒ v B2 / A2 = ω 2 ⋅ rB2 / A2 = 1⋅ 0.5 = 0.5 m / sec (⊥ to rB2 / A2 )

1vE5 in the horizontal direction

vE5 / B5 = ω 5 × rE5 / B5 ⇒ vE5 / B5 = ω 5 ⋅ rE5 / B5 (⊥ to rE5 / B5 )

Solve Eq. (1) graphically with a velocity polygon. From the polygon,

vE5 / B5 = 0.47313 m / sec

or

vE5 / B5 0.47313
ω5 = = = 0.706 rad / sec CCW
rE5 / B5 0.67

Also,

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 C

6 O'
E
5 4

2
A D

1 aE
o' 5
b5 e'5
r
1 a B /A
Velocity Polygon 2 2
0.1 m/sec 27.8°

b'3 2.2° t
1 aE /B
5 5

1a r
E 5 /B5
Acceleration Polygon
o 0.1 m/sec2
e5

vE6 = 0.441 m / sec

Acceleration Analysis:

aB2 = aB3 = aB5 = aB2 / A2

aE5 = aE6 = aB5 + aE5 / B5

aE5 = a rB2 / A2 + a tB2 / A2 + a rE5 / B5 + a tE5 / B5 (2)

Now,

- 155 -
 aE5 in horizontal direction

a rB2 / A2 = ω 2 × (ω 2 × rB/ A ) ⇒ a rB2 / A2 = ω 2 2 ⋅ rB/ A = 12 ⋅ 0.5 = 0.5 m / sec 2

in the direction opposite to rB / A

aBt 2 / A2 = α 2 × rB/ A ⇒ aBt 2 / A2 = α 2 ⋅ rB/ A = 0 ⋅1 = 0 m / sec 2

aEr 5 / B5 = ω 5 × (ω 5 × rE / B ) ⇒ a rE5 / B5 = ω 5 2 ⋅ rE / B = 0.7062 ⋅ 0.67 = 0.334 m / sec 2

in the direction opposite to rE / B

aEt 5 / B5 = α 5 × rE / B ⇒ aEt 5 / B5 = α 5 ⋅ rE / B (⊥ to rE / B )

Solve Eq. (2) graphically with an acceleration polygon. From the polygon,

aE6 = 0.042 m / sec 2

Also,

aEt 5 / B5 = 0.42 m / sec 2

or

aEt 5 / B5 0.42
α5 = = = 0.626 rad / sec 2 CW
rE5 / B5 0.67

Using acceleration image, point O' is in the location in which the acceleration of link five is zero.

- 156 -
Problem 2.39

Part of an eight-link mechanism is shown in the figure. Links 7 and 8 are drawn to scale, and the
velocity and acceleration of point D7 are given. Find ω7 and α7 for the position given. Also find
the velocity of G7 by image.

Y
E
7
D X
6 8
1.6"
1.25"
G

DE = 1.5"
DG = 0.7"
GE = 1.65"

v D 7 = 5.0 320˚ in/sec a D 7 = 40 260˚ in/s 2

Velocity Analysis

Compute the velocity of Points E7 and E8.

vE7 = vE8
vE7 = vD7 + vE7 / D7

and because points on the same link are involved,

vD7 + vE7 / D7 = vD7 + ω 7 × rE / D = vE8

From the velocity polygon:

vE8 = 2.884 in / sec

in the direction shown, and

vE7 / D7 = 3.405 in / sec

in the direction shown.

vE7 / D7 3.405
ω7 = = = 2.27 rad / sec
rE / D 1.50

- 157 -
 E
7
D

G 8

Velocity Scale o'

e'7
2 in/sec

e 7 , e8
o

1a t
E7 / D 7

Acceleration Scale
20 in/sec 2 d'7
g7
1a r
d7 E7 / D 7

The direction can be found by rotating rE / D 90˚ in the direction of ω 7 to get vE7 / D7 . From the
polygon, the direction must be counter clockwise. Therefore,

ω 7 = 2.27 rad / sec CCW

The velocity of G7 is found by image. The magnitude of the velocity is:

vG7 = 6.016 in / sec

in the direction shown.

Acceleration Analysis

Use the same points as were used in the velocity analysis.

aD7 + aE7 / D7 = aF8 = aD7 + aEr 7 / D7 + α 7 × rE7 / D7 = aF8

where

vE7 / D7 2 3.4052
aEr 7 / D7 = = = 7.729 in / sec 2
rE / D 1.50

- 158 -
in the direction opposite rE / D .

From the polygon,

aEt 7 / D7 = α 7 × rE7 / D7 = 0

Therefore,

aEt 7 / D7 42.59
α7 = = = 28.40 rad / sec 2
rE / D 1.50

The direction can be found by rotating rE / D 90˚ in the direction of ω 7 to get aEt 7 / D7 . From the
polygon, the direction must be counter clockwise. Therefore,

a7 = 28.40 rad / sec 2 CCW

Problem 2.40

In the mechanism shown below, link 2 is rotating CW at the rate of 3 rad/s (constant). In the
position shown, link 2 is horizontal. Write the appropriate vector equations, solve them using vector
polygons, and

a) Determine vC4, vE4, ω3, and ω4.

b) Determine aC4, aE4, α3, and α4.

Link lengths: AB = 3 in, BC = BE = CE = 5 in, CD = 3 in

E
3
C

ω2 4

A B D
2

7"
Position Analysis

Draw the linkage to scale. Start by locating the relative positions of A and D. Next locate B and
then C. Then locate G.

- 159 -
Velocity Analysis:

v B3 = v B2 = v B2 / A2

vC3 = vC4 = vC4 / D4 = v B3 + vC3 / B3 (1)

Now,

v B2 / A2 = ω 2 × rB/ A ⇒ v B/ A = ω 2 ⋅ rB/ A = 3⋅ 3 = 9 in / s (⊥ to rB/ A )

vC4 / D4 = ω 4 × rC / D ⇒ vC4 / D4 = ω 4 ⋅ rC / D (⊥ to rC / D )

vC3 / B3 = ω 3 × rC / B ⇒ vC3 / B3 = ω 3 ⋅ rC / B (⊥ to rC / B )

Solve Eq. (1) graphically with a velocity polygon.

From the polygon,

vC3 / B3 = 11.16 in / s

vC4 / D4 = 6.57 in / s

in the direction shown.

- 160 -
Now

vC3 / B3 11.16
ω3 = = = 2.232 rad / s
rC / B 5

and

vC4 / D4 6.57
ω4 = = = 2.19 rad / s
rC / D 3

To determine the direction of ω 3 , determine the direction that rC / B must be rotated to be parallel to
vC3 / B3 . This direction is clearly clockwise.

To determine the direction of ω 4 , determine the direction that rC / D must be rotated to be parallel to
vC4 / D4 . This direction is clearly counterclockwise.

The velocity of point E3

vE3 = v B3 + vE3 / B3 = v B3 + ω 3 × rE / B

from the polygon

vE3 = 13.5 in / s

vC4 = 6.57 in / s

Acceleration Analysis:

aB3 = aB2 = aB2 / A2

aC3 = aC4 = aC4 / D4 = aB3 + aC3 / B3

a Cr 4 / D4 + aCt 4 / D4 = aBr 2 / A2 + aBt 2 / A2 + aCr 3 / B3 + aCt 3 / B3 (2)

Now,

a rB2 / A2 = ω 2 × (ω 2 × rB/ A ) ⇒ a rB2 / A2 = ω 2 2 ⋅ rB/ A = 32 ⋅ 3 = 27 in / s2

in the direction of - rB2 / A2

aBt 2 / A2 = α 2 × rB/ A ⇒ aBt 2 / A2 = α 2 rB/ A = 0

a Cr 3 / B3 = ω 3 × (ω 3 × rC / B ) ⇒ a Cr 3 / B3 = ω 3 2 ⋅ rC / B = 2.232 2 ⋅ 5 = 24.9 in / s2

in the direction of - rC / B

aCt 3 / B3 = α 3 × rC / B ⇒ aCt 3 / B3 = α 3 ⋅ rC / B (⊥ to rC / B )

- 161 -
 a Cr 4 / D4 = ω 4 × (ω 4 × rC / D ) ⇒ a Cr 4 / D4 = ω 4 2 ⋅ rC / D = 2.192 ⋅ 3 = 14.39 in / sec 2

in the direction of - rC / D

aCt 4 / D4 = α 4 × rC / D ⇒ aCt 4 / D4 = α 4 ⋅ rC / D (⊥ to rC / D )

Solve Eq. (2) graphically with acceleration.

From the acceleration polygon,

aCt 3 / B3 = 0 in / s2

aCt 4 / D4 = 46.71 in / s2

Then,

aCt 3 / B3 0
α3 = = = 0 rad / s2
rC / B 2

aCt 4 / D4 46.71
α4 = = = 15.57 rad / s2
rC / D 3

To determine the direction of α 4 , determine the direction that rC / D must be rotated to be parallel to
aCt 4 / D4 . This direction is clearly counterclockwise.

Determine the acceleration of point E3

aE3 = aB3 + aE3 / B3 = aB2 + a rE3 / B3 + aEt 3 / B3

- 162 -
 aEt 3 / B3 = α 3 × rE / B ⇒ aEt 3 / B3 = α 3 ⋅ rE / B = 0 ⋅1 = 0 in / sec 2

a rE3 / B3 = ω 3 × (ω 3 × rE / B ) ⇒ a rE3 / B3 = ω 3 2 ⋅ rE / B = 2.232 2 ⋅ 5 = 24.9 in / sec 2

From the acceleration polygon,

aE3 = 34.29 in / s2

aC4 = 48.87 in / s2

Problem 2.41

Part of a 10-link mechanism is shown in the figure. Links 7 and 8 are drawn to scale, and the
velocity and acceleration of points D7 and F8 are given. Find ω8 and α7 for the position given.
Also find the velocity of G7 by image.

Y
E
DE = 1.5" 7
EF = 1.45"
DG = 0.7" D X
EG = 1.65" 8
6

G
F (1.8", -1.05")
9

v D 7 = 6.0 353˚ in/s aD 7 = 40 235˚ in/s 2

v F 8 = 7.5 54˚ in/s a F 8 = 30 305˚ in/s 2

Velocity Analysis

Compute the velocity of Points E7 and E8.

vE7 = vE8
vE7 = vD7 + vE7 / D7
vE8 = vF8 + vE8 / F8

Therefore,

vD7 + vE7 / D7 = vF8 + vE8 / F8

and because points on the same link are involved,

- 163 -
 vD7 + vE7 / D7 = vF8 + vE8 / F8 = vD7 + ω 7 × rE7 / D7 = vF8 + ω 8 × rE8 / F8

From the velocity polygon:

vE8 / F8 = 0

so

ω8 = 0
The velocity of G7 is found by image. The magnitude of the velocity is

vG7 = 9.1 in / s

E
7
D

6 8

G F

9
Velocity Polygon f 8 , e8 , e7
Velocity Polygon
5 in/s o'
20 in/s 2

g7
o
f'8
d7

d'7

e'8 , e'7

vG7 = 9.1 in / s

Acceleration Analysis

Use the same points as were used in the velocity analysis for the acceleration analysis.

aD7 + aE7 / D7 = aF8 + aE8 / F8

= aD7 + aEr 7 / D7 + α 7 × rE7 / D7 = aF8 + aEr 8 / F8 + α 8 × rE8 / F8

- 164 -
 vE7 / D7 2 6.92 2
aEr 7 / D7 = = = 32.0 in / s2
rE7 / D7 1.50
2
v 02
aEr 8 / F8 = E8 / F8 = = 0 in / s2
rE8 / F8 1.44

From the polygon,

aEt 7 / D7 = α 7 × rE7 / D7 = 0

Therefore,

α7 = 0

- 165 -