ME 352 - Machine Design I Name of Student:____________________________

Summer Semester 2012 Lab Section Number:________________________

Homework No. 8 (30 points). Due at the beginning of lecture on Monday, July 16th.


Static Force Analysis. Consider Problem 13.7 on page 603. Solve the static force problem using the
Graphical Method. Draw the force polygons accurately to scale.

Take the crank position shown in Figure P13.7 to be
o
45 , =
and for the position analysis you
should use trigonometry to check your graphical measurements of distances and angles.

Make the following assumptions: (i) gravity is acting into the paper (i.e., the negative Z-direction);
and (ii) the effects of friction in the mechanism can be neglected.


































2

Solution to Homework 8. The crank-shaper mechanism is drawn half-full size in the figure below.

3

Position Analysis. First, determine the angles that links 4 and 5 make with the positive X-axis. The
angle

2 4
45 90 135
o o o
AO O = + = (1)

From measurements of the scaled drawing, the angle

4 2
AO O 13 = (2)
and the angle
CBE 3 = (3)

where point E is shown in Figure 1.
CHECK: To check the accuracy of these measurements, use trigonometry. Applying the cosine rule to
the
2 4
O A O gives

2 2 2
4 2 2 4 2 2 4 2 4
AO AO O O 2 (AO ) (O O ) cos AO O = + (1)

which can be written as

2 2 2 2
4
AO 2.5 6 2 2.5 6 cos135 63.463 in
o
= + = (2)

Therefore, the distance between pin A and the ground pin
4
O is

4
AO 7.966 in = (3)

Now applying the sine rule to the
2 4
O A O gives

2 4 4 2
4 2
sin AO O sin AO O
AO AO

= (4)
Equation (4) can be written as

2 4
4 2 2
4
sin AO O
sin AO O AO
AO

= (5)
or as
4 2
sin 135
sin AO O x 2.5 0.2219 rad
7.966

= = (6)

Therefore, the angle is
( )
1
4 2
AO O sin 0.2219 12.82

= = (7)


The angle that link 4 (and link 3) makes with the positive X-axis is

90 12.82 77.18 = (8)

Note that the angle
4
DBO 77.18 . = In the right-angled triangle
4
DBO , the length O
4
D is

4 4 4
O D O Bsin O BD 16 sin 77.18 15.601in = = = (9)

4

Therefore, the vertical distance EC is 16 inches 15.601 inches = 0.399 inches. Since the triangle CEB
is a right-angled triangle then

EC 0.399
sin CBE 0.0499 rad
CB 8
= = = (10a)

Therefore, the angle

( )
1
CBE sin 0.0499 2.86

= = (10b)

The geometry of the mechanism is shown in Figure 1.

Figure 1. The Geometry of the Mechanism.

The graphical solution to the static force analysis can be obtained from the following three steps:

Step I. Identify each link in the mechanism from an inspection of the mechanism; i.e.,
(i) Link 3 is a two-force member. The forces are F
23
and F
43
.
(ii) Link 5 is a two-force member. The forces are F
45
and F
65
.
(iii) Link 6 is a three-force member. The forces are F
16
, F
56
and P.
(iv) Link 4 is a three-force member. The forces are F
14
, F
34
and F
54
.
(v) Link 2 has two forces and a torque. The forces are F
12
, F
32
and the torque is T
2
.

Step II. Draw the free body diagram for each link beginning with the two force members.
5

(i) The FBD of Link 3 is shown in Figure 2. The line of action of the two forces F
23
and F
43
are shown
by the dashed line on the figure. The direction of the two forces is not known at this time (i.e., link 3 is
either in compression or in tension) but the two forces must be equal and opposite.



Figure 2. The FBD of Link 3.

(ii) The FBD of Link 5. Link 5 is a two-force member, see Figure 3.
The line of action of the forces F
45
and F
65
are shown on by the dashed line on the figure.


Figure 3. The FBD of Link 5.

(iii) The FBD of Link 6. Link 6 is a three-force member, see Figure 4. The forces are F
16
, F
56
and P. The
force P = 150 lb is acting horizontally to the right through point C. Therefore, for static equilibrium, the
normal force F
16
must also act through point C (either vertically upwards or vertically downwards).


Figure 4. The FBD of Link 6.

(iv) The FBD of Link 4. Link 4 is a three-force member, see Figure 5. The forces are F
14
, F
34
and F
54
.
Since link 4 is a three force member then the three forces have to intersect at a single point. Also, since
the magnitudes of the three forces are not known at this time then the lines of action of the three forces
are shown by the dashed line on Figure 5. The angles of the lines of action of the three forces are known
from the scaled drawing of the mechanism or from the position analysis presented above.
6



Figure 5. The FBD of Link 4.

(v) The FBD of Link 2. Link 2 is subjected to two forces and a torque, see Figure 6. The two forces F
32

and F
12
must be equal, opposite and parallel. The magnitude and direction of the two forces are not
known at this time. The line of action of the two forces can be obtained from the FBD for link 3 and are
shown as dashed lines on the FBD.


Figure 6. The FBD of Link 2.

Since link 2 has two forces and a torque then for static equilibrium the line of action of F
32
(which is the
same as the line of action of F
23
) and the line of action of F
12
must be parallel. The forces F
32
and F
12

must be equal in magnitude and opposite in direction.

Step III. Draw the force polygons.
(i) The Force Polygon for link 6 is shown in Figure 7.
The scale for the force polygon is chosen as 40 lb = 1 in. Since P = 100 lbs then the length of the
force P in the force polygon will be 2.5 in.
Note that the direction of the force P is given to the right. Therefore, the direction of the two forces F
16

and F
56
can be obtained from the force polygon. Also note that the sum of the forces must be zero for
static equilibrium.
7


Figure 7. The Force Polygon for Link 6. Scale is 40 lb = 1 in.

From the force polygon for link 6, the reaction forces are measured as

F
16
= 0.1249 in x 40 lb/in = 4.996 lb at 270
o
(11)
and
F
56
= - F
65
= F
45
= - F
54
= 2.5031 in x 40 lb/in = 100.124 lb at 177.14
o
(12)

Therefore, the reaction force

F
65
= F
54
= 100.124 lb at = - 2.86
o
(13)


Note that the direction of the reaction force F
54
is determined from the direction of the reaction force
F
56
. Also, observe that link 5 is subjected to a compressive force (i.e., link 5 is in compression).
(ii) The Force Polygon for link 4 is shown in Figure 8. Since five pieces of information are available;
i.e., the magnitude and direction of the reaction force F
54
, the direction of the reaction force F
34
and the
direction of the reaction force F
34
then the force polygon for link 4 can be drawn. The scale for the force
polygon is 40 lb = 1 in.



Figure 8. The Force Polygon for Link 4. Scale is 40 lb = 1 in.

From this force polygon, the internal reaction forces are measured as

F
14
= 100.944 lbs at -23
o
(14)


F
34
= F
23
= 198.064 lbs at 167
o
(15)


F
32
= F
43
= 198.064 lbs at -13
o
(16)


Link 3 is a two-force member and the direction of the internal reaction forces F
23
and F
43
would suggest
that link 3 is in tension. However, this is not the physical reality. The direction of the internal reaction
force F
43
indicates that the contact between links 3 and 4 is on the right side of the slot in link 3.
Since the internal reaction forces F
32
and F
12
are equal in magnitude but opposite in direction then

F
12
= - F
32
= 198.064 lbs at 167
o
(17)

8

For the static equilibrium of link 2, see Figure 9, the sum of the moments about the ground pivot O
2
is

2
O
EXT
M

= 0 (18)

Figure 9. The FBD of Link 2. This figure is drawn half-full size.

Equation (18) can be written as

12 32
+ T d F 0 = (19)

Note that the torque acting on link 2 is assumed to be counterclockwise. The perpendicular distance
from the ground pivot
2
O to the line of action of the reaction force
32
F is measured as

d 2.116 in = (20)

Substituting Equations (16) and (20) into Equation (19), the torque acting from link 1 on link 2 is

12 32
T d F 2.116 x 198.064 lb-ins = = (21a)
that is
12
T 419.10 lb-ins = (21b)

In order for the shaper mechanism to be in static equilibrium in this position, the torque acting on link 2
must be positive (i.e., counterclockwise).
Check. Analytical approach. Equation (18) can be written as

12 2 32Y 2 32X
+ T ( F F ) 0
X Y
R R + = (22)

where the torque
12
T is assumed to be counterclockwise. Substituting the given trigonometry into
Equation (22), the sum of the moments about the ground pivot O
2
can be written as

( ) ( ) ( ) ( )
12 32 32
+ T 2.5 cos 45 F sin 13 2.5 sin 45 F cos 13 0 + = (23)

Therefore, the torque acting on link 2 is

12
T 419.10 lb-ins = + (24)

Note that in order for the linkage to be in static equilibrium in this position, the torque acting on link 2
must be acting counterclockwise. Also, note that the two answers for the torque acting on link 2; i.e.,
Equations (21b) and (24), are in complete agreement.