Part II

Dynamic Analysis of Mechanisms

Introduction

Dynamic forces are associated with accelerating masses. As all machines have some accelerating
parts, dynamic forces are always present when the machines operate. In these situations where
dynamic forces are dominant or comparable with magnitude of external forces and operating
speeds are high, dynamic analysis is carried out.

For example in case of rotors which rotates at speeds more than 80000rpm, even the slightest
eccentricity of the center of mass from the axis of rotation produce very high dynamic forces.
This may lead vibrations, wear, noise or even the machine failure.

When the inertia forces are considered in the analysis of the mechanism, the analysis is known as
dynamic force analysis.

D'Alembert's Principle and Inertia Forces:

An important principle, known as d'Alembert's principle, can be derived from Newton's second
law. In words, d'Alembert's principle states that the reverse-effective forces and torques and the
external forces and torques on a body together give statical equilibrium.

The terms in parentheses in the above equations are called the reverse-effective force and the
reverse-effective torque, respectively. These quantities are also referred to as inertia force and

inertia torque. Thus, we define the inertia force F, as .

This reflects the fact that a body resists any change in its velocity by an inertia force
proportional to the mass of the body and its acceleration. The inertia force acts through the center

of mass G of the body. The inertia torque or inertia couple C, is given by: .
As indicated, the inertia torque is a pure torque or couple. Above equations and their directions
are opposite to that of the accelerations. Substitution of reverse effects of inertial force and
inertial torque leads to equations that are similar to those used for static-force analysis:

Where;∑T P is the summation of moments, including inertia moments, about point

P. ∑TeP is the summation of external moments about P, C, is the inertia couple.

For a body in plane motion in the xy plane with all external forces in that plane.

Where aGx and aGy are the x and y components of aG. These are three scalar equations, where
the sign convention for torques and angular accelerations is based on a right hand xyz coordinate
system; that is. Counterclockwise is positive and clockwise is negative. The general moment
summation about arbitrary point P becomes;
Illustration of inertia force (i) a translating body (ii) a compound pendulum, (iii) inertia force and
couple on compound pendulum

Consider a body of mass moving with acceleration as shown in above figure

I. According to D’Alembert Principle, the body can be brought to equilibrium position by

applying a force equal to ma, Fi = ma and in a direction opposite to the direction of
acceleration.
II. shows a compound pendulum of mass m, moment of inertia Ig about center of mass G
while rotating at its center of mass has a linear acceleration of a and angular acceleration
of α .
III. Shows the inertia force and couple acting on the pendulum.

Equivalent off-set Inertia force

Figure 2: (i) Illustration of equivalent off-set inertia force

Figure 2(i) shows a body with inertia force Fi and inertia couple Ic . The couple can be replaced
by two parallel forces (equal in magnitude and opposite in direction) acting at G and H
respectively as shown in Figure 2(ii). If we consider their magnitude of these forces same as that
of inertia force, then the equal and opposite forces at point G will cancel each other and the
resulting force will be a force at H which is in the same direction as inertia force. If h is the
minimum distance between the force at G and H, then

Where and Ic Fi are magnitude of Ic and Fi respectively. This force acting at H is known as
equivalent offset inertia force.

Example problem 1

The compressor mechanism shown in Figure 14.7 is driven clockwise by a DC electric motor at
a constant rate of 600 rpm. In the position shown, the cylinder pressure is 45 psi. The piston
weighs 0.5 lb, and the coefficient of friction between the piston and the compressor cylinder is
0.1. The weight of all other links is negligible. At the instant shown, determine the torque
required from the motor to operate the compressor.

SOLUTION: 1. Draw a Kinematic Diagram and Identify the Degrees of Freedom this is a
common in-line, slider-crank mechanism, having a single degree of freedom.

2. Decide on a Method to Achieve the Required Motor Torque. Because the piston is the only
component without negligible weight, the inertial force, and the acceleration, of this component
must be determined. The acceleration of the piston (link 4) is strictly translational and is identical
to the motion of point C. Once the acceleration of the piston has been obtained, the subsequent
inertial forces can be calculated. Finally, free-body diagrams and the corresponding equations
can be used to determine the required torque.
3. Determine the Velocity of Points B and C. This type of analysis was extensively discussed in
the earlier chapters of the book. The 2-in. crank is rotating at 600 rpm. The velocity of point B is

The direction of VB is perpendicular to link 2 and consistent with the direction of ω2, up and to
the left. The relative velocity equation for points B and C can be written as;

From the ordinary method of relative velocity equation.

4. Calculate Acceleration Components. The next step is to construct an acceleration diagram,

which includes points B and C. Calculating the magnitudes of the known accelerations,

Note that point A does not have a normal acceleration because the motion is strictly translational.

5. Construct an Acceleration Diagram. The relative acceleration equation for points B and C
can be written as.

6. Measure the Piston Acceleration. Scaling the vector magnitudes from the diagram,
7. Calculate the Inertial Force. Because the piston is the only link of considerable weight, its
inertial force is computed by combining equations;

8. Sketch Free-Body Diagrams of the Mechanism Links and solve dynamic equilibrium

The two unknown forces on this link for the piston are solved by using the following equilibrium
equations:
9. Solve for Equilibrium of Link 3. Because link 3 is a two-force member, the equilibrium
equations dictate that the forces have the same magnitude, act along the same line, and are
opposite in sense. Of course, Newton’s third law dictates that F32 = F23. Thus, the forces acting on
link 3 are;

10. Solve for Equilibrium of Link 2. The free-body diagram of link 2 will reveal the required
motor torque. Of course, Newton’s third law dictates that F32 = F23. The unknown forces and
moment on this link are solved using the following equilibrium equations:
 Dynamic force analysis of four bar mechanism
Let us study the four bar mechanism where are mass of link 2,3 and 4 respectively. We have to find the
torque required at link 2 for dynamic equilibrium when an external force acts on link4 as shown in figure
below. Now for dynamic force analysis the following steps may be followed.

 Draw the acceleration diagram or use any analytical method to determine acceleration
 Determine angular acceleration of link 2,3 and 4.
 Determine linear acceleration of center of mass (aigi = 2, 3, 4 ) of link 2 3 and 4 .
 The magnitude of inertia force of link i ( i =2 ,3 or 4) can be determined by multiplying mass
of link i with the corresponding acceleration of the center of mass.
 The direction of the inertia force is opposite to the direction of the acceleration.
 Determine the magnitude of inertia couple which is equal to iiαi
 The direction of the inertia couple is opposite to that of angular acceleration.
 Replace the inertia force and couple by the equivalent offset inertia force for each link.
 Treat these offset inertia force as external force and follow the procedure for static force
analysis.
 One may use either super-position principle or principle of virtual work to find the required
torque for equilibrium.
Example problem 2
The mechanism shown in Figure below is used to lower and retract the landing gear on small
airplanes. The wheel assembly link weighs 100 lb, with a center of gravity as shown. The
radius of gyration of the assembly, relative to the center of gravity, has been experimentally
determined as 1.2 ft. The motor link is rotating counterclockwise at 3 rad/s and accelerating
at 10 rad/s2. For mass property estimation, the motor crank will weigh approximately 15 lb
and will be 2 ft long, 1 ft wide, and 0.25 ft thick. The connecting link is estimated to weigh
20 lb and can be modeled as a 3.5-ft slender rod. Determine all forces acting on the joints of
all links and the torque required to drive the motor link.

SOLUTION: 1. Draw a Kinematic Diagram and Identify the Degrees of Freedom. This

mechanism is the common four-bar linkage, having a single degree of freedom. A kinematic

diagram is given in Figure below.

2. Decide on a Method to Achieve the Required Motor Torque. Because all links have
significant weight, the acceleration of the center of gravity of all links must be determined.
Such acceleration analysis has been extensively presented in Chapter 5. Once the
accelerations have been established, the subsequent inertial forces and torques can be
calculated. Finally, free-body diagrams and the corresponding equations can be used to
determine the required torque.
3. Determine the Velocity of Points B and C. This type of analysis was extensively
discussed in the earlier chapters of the book. The 1.77-ft crank is rotating at 3 rad/s. The
velocity of point B is

The direction of VB is perpendicular to link 2 and consistent with the direction of ω2, up and
to the left. Using the velocity diagram origin, to represent this velocity. The relative velocity
equation for points B and C can be written as.
4. Calculate Acceleration Components. The next step is to construct an acceleration
diagram, which includes points B and C. Calculating the magnitudes of the known
accelerations,

5. Construct an Acceleration Diagram. The relative acceleration equation for points B and
C can be written as

6. Measure the Acceleration of the Center of Gravity of All Links. Scaling the vector
magnitudes from the diagram,

7. Calculate Mass Properties. The motor crank can be considered a rectangular block. From
Table at the end of the document the mass moment of inertia, at the center of mass, relative
to an axis normal to the broad side of the link is
The connecting arm can be considered a slender rod. From Table at the end, the mass
moment of inertia at the center of mass relative to an axis normal to the length of the link is

The radius of gyration of the wheel assembly has been experimentally determined. From
equation above the mass moment of inertia at the center of mass relative to an axis normal to
the length of the assembly is

8. Calculate the Inertial Force. For the three moving links, the inertial force

9. Calculate the Inertial Torque. For the three moving links, the inertial torque.
10. Sketch Free-Body Diagrams of the Mechanism Links. Because the weight of all links is
to be included in the analysis, there are no two-force members. Thus, all contact forces at the
joints are general and are represented by their orthogonal components. The free-body
diagram of all link are shown below. Because each link has more than three unknown forces,
the equilibrium equations from all links will need to be solved simultaneously.

11. Generate Equilibrium Equations for Link 4. The following dynamic equilibrium
equations are generated from the free-body diagram link 4.
12. Generate Equilibrium Equations for Link 3. The following dynamic equilibrium
equations are generated from the free-body diagram of link 3.

13. Generate Equilibrium Equations for Link 2. The following dynamic equilibrium
equations are generated from the free-body diagram of link 2
14. Solve the Equilibrium Equations. A total of nine equilibrium equations have been
generated. As previously stated, Newton’s third law stipulates that the following magnitudes
are equal.

Therefore, nine unknown quantities remain. Solving the nine equilibrium equations,
simultaneously, gives the following results:
Centroids and Center of Mass

 In solving engineering problems, we frequently find that forces are distributed in some
manner over a line, an area, or a volume.
 The resultant of these distributed forces is usually not too difficult to find.
 In order to have the same effect, this resultant must act at the centroid of the system.
 Thus, the centroid of a system is a point at which a system of distributed forces may be
considered concentrated with exactly the same effect.
 Instead of a system of distributed forces, we may have a distributed mass.
 Then, by center of mass we mean the point at which the mass may be considered
concentrated so that the same effect is obtained.

 The plane area in Fig. Below is a composite shape made up of a rectangular area plus a
triangular area minus a circular area.
 The location of the centroids of the parts G1, G2, and G3 can be found with the help of
Fig. next.
 The center of mass G of the composite area is then located using the equation;
 where the expression for ý is similar.
 A more general set of relations for the location of a centroid in a plane can be obtained by
using integration instead of summation.
 The relations then become
Mass moment of inertia common shapes
Self Testing Problems
1) The four-bar linkage shown in Figure below has the dimensions shown in the figure
where G refers to center of mass, and the mechanism has the following mass properties:

Determine the instantaneous value of drive torque T required to produce an assumed motion
given by input angular velocity ω = 95 rad/s counterclockwise and input angular
acceleration a = 0 for the position shown in the figure. Neglect gravity and friction effects.
1

2) The compressor mechanism shown in Figure below is driven clockwise by a DC electric

motor at a constant rate of 800 rpm. In the position shown, the cylinder pressure is 70 psi,
and the piston weighs 0.75 lb. The coefficient of friction between the piston and the
compressor cylinder is 0.1. The weight of all other links is negligible. At the instant
shown, determine the torque required from the motor to operate the compressor.
3) For the compressor mechanism described in Problem 2, determine the torque required
from the motor if the motor is rotating at 800 rpm and accelerating at a rate of 5000
rad/s2.
4) The four-bar mechanism of Figure has one external force P = 200 Ibf and one
inertia force S = 150 Ibf acting on it. The system is in dynamic equilibrium as a result of
torque T2 applied to link 2. Find T2. (a) Use the graphical method based on free-body
diagrams.

5) Figure below shows a small hydraulic jack. At this instant, a 10-lb force is applied to the
handle. This causes the 3.5-in. link to rotate clockwise at a constant rate of 5 rad/s. The
weight of links 2 and 3 is negligible, and link 4 is 1.5 lb. Determine the following:
i. The linear acceleration of the piston,
ii. The inertial force of link 4,
iii. The pin forces, and
iv. The force developed on the piston due to the hydraulic fluid
6) The materials handling mechanism, shown in Figure below, slides 4-kg packages along a
counter. The machine operates with the crank rotating counterclockwise at a constant rate
of 120 rpm. The coefficient of kinetic friction between the package and counter is 0.15.
The weight of all the mechanism links is negligible. Determine the instantaneous torque
required from the motor to operate this mechanism