1

MECH 103
Revi ew of Dynami c s and
Mec hani sms of Mac hi ner y
Goal
1. learn how to analyze and to predict the
motion of machines (Force, Motion)
2. learn how to design (synthesize) mechanisms,
esp. 4-bar linkage (a paradigm)
(Geometry, Motion)
2
Summary of Chapter 2
dt
d r
v =
dt
d v
a =
Basic Equations (Motion variables)
Position vector: r
Velocity:
Acceleration:
3
Chapt er 2
Acceleration of P relative to point O at
time t :
0
( ) ( )
lim
t
d t t t
dt t

+
= =

v v v
a
(a)
(b)
(c)
2
2
, ,
ds dv d s
s
dt dt dt
= = = = r e v e a e e
Straight-line Motion of P relative to
point O at time t :
e is a unit vector parallel to the line of
motion
4
Summary of Chapter 2
Straight Line Motion
s is the coordinate measured along the line of
motion
dt
ds
v =
dt
dv
a =
5
Summary of Chapter 2
For dv/dt = a(v),

=
t v
v
dt
v a
dv
o
0
) (
( )
ds ds dv ds
v a v
dt dv dt dv
= = =
( )
o o
v s
v s
vdv
ds
a v
=

For dv/dt = a(s),
( )
dv dv
v a s
dt ds
= =
0 0
2 2
1
( ) ( )
2
v s
o
v s
vdv v v a s ds = =

( )
ds
v s
dt
=
0 0
1
( )
t s
t s
dt ds
v s
=

Chain rule
6
Summary of Chapter 2
Cartesian Coordinates
z
P
(x,y,z)
r
y
x
O
Position, r = x i + y j +z k
Velocity, v = v
x
i + v
y
j + v
z
k
Acceleration, a = a
x
i + a
v
j + a
z
k
7
Summary for Chapter 2
Angular Motion
dt
d
=
Angular acceleration,

L
o
L
O
dt
d
=
Angular velocity
Angular displacement
8
Rotation of a Unit Vector e = function()
t
t t t
dt
d
dt
d
dt
d
t

+
=
= =

) ( ) (
lim
0
e e e
n n
e

n n
e

= =
dt
d
dt
d

e
n
L
0
O

e
n
L
0
O
n
(t)
e(t)
L
0

( ) t t + e
O
R=1*
Summar y f or Chapt er 2
9
Summary for Chapter 2
Motion along a curve (Moving coordinate)
Normal and Tangential Components
,
t t t
ds
v
dt
= = v e e
2

, .
t t
t n t
where
dv d v
a a v
dt dt
= = =

,
t t n n
d
a a
dt
= = +
v
a e e

e
t
e
n
P
s
O
10
Summary for Chapter 2
Polar Coordinates
r
r e r =
r
x
y

P
e

e
r
O
. 2
,

2
2
2

dt
dr
r a
r
dt
r d
a
where
r
+ =
=

e e e e v r
dt
dr
v v
r r r
+ = + =

e e a a a
r r
+ =
Coriolis acc.
Centripetal acc.
11
Summary of Chapter 2
Relative Motion
/ /
/ /
where
,
A B A B
A B A B
d d
dt dt
= =
r v
v a
O
A
B
r
A
r
B
r
A/B
r
A/B
specifies the position of A relative to B:
r
A
= r
B
+ r
A/B
v
A
= v
B
+ v
A/B
a
A
= a
B
+ a
A/B
12
Chapt er 3- New t ons Sec ond Law
Newtons Second Law
Force on a particle = rate of change of its
linear momentum
) ( v f m
dt
d
=
Mass is constant
a
v
f m
dt
d
m = =
13
Chapt er 3
Inertia Reference Frames
- The motion of the center of mass:
F
i
= m a
where F
i
refers to external forces only
Motion in Cartesian coordinates
z z y y x x
ma ma ma = = = F F F , ,
14
Chapt er 3
Motion in Polar Coordinates
) (
2

&
& &
r r m ma
r r
= = F
) 2 (

&
&
& &
r r m ma + = = F
z z
ma = F
Free Body Diagram
15
Example 3-5 Package moves along a circular ramp
16
mg
Example 3-5
Packages (each mass = 2 kg), delivered from a conveyor to a
smooth circular ramp with velocity v
0
= 1 m/s. If the ramp radius =
0.5 m, determine the angle =
max
at which each package begins to
leave the surface.
m/s 1
0
= v
d ds 5 . 0 =
62 . 19 = mg
n n
ma F = +

t t
ma F = +

r = 0.5m
Equations of Motion
17
Equation of Motion
F
n
= -N + mg cos = mv
2
/R = ma
n
F
t
= mg sin = ma
t
[ ]

0
0
1
2
cos sin
2
Rg d Rg
v
v
= =

) cos 1 (
2
1
2
2
= Rg
v
Solution for e.g. 3-5
Free body diagram

mg
N
e
t
e
n

sin g
d
dv
R
v
d
dv
dt
d
dt
dv
a
t
= = = =
) cos 1 ( 2 1 + = gR v
0 ))
1
2 ( cos 3 ( cos
2
+ = =
gR
mg
R
mv
mg N
gR
1
2 cos 3 + =
o
7 . 42
3
1
3
2
cos
1
max
=

+ =

gR

(v(), N
B
, a
t
) = independent variable
18
Chapt er 4 - Pr i nc i pl e of w or k & Ener gy
Principle of work & Energy:
Newtons second law
dt
d
m
v
F =
Dot both sides with v and integrate them with respect to t
Work done Uto an object equals the change in
the kinetic energy (KE) of the object

= = =

2
1
) (
2
1
) (
2
1
2
1
2
2 1 1 2 2 2 1
r
r
v v v v r F v v m m d U
19
Summar y of Chapt er 4
2 2 1 1
T U T = +

2
1
1 2
r
r
U d F r

Work done by a central force

1 2
2
2 1
1 1
r r
mgR U
E
r
E
r
mgR
e F
2
2
=
Principle of work and energy
Work done by weight mg
) (
1 2 2 1
y y mg U =

mg = F j
20
Summar y of Chapt er 4
Work done by a spring with initial compression
( )
2
1
2
2 2 1
2
1
x x k U =

F = kx
2
i
x
2
: final deformation
x
1
: initial deformation
21
Summar y of Chapt er 4
Potential Energy (PE)
Weight : V
g
= mgy
Central Force :
Spring (- strain energy) :
r
mgR
V
E
g
2
=
2
1
2
g
V U kx = =
o Independent of the loading path
o Dependent only on the final and initial values of
the potential energy function
o Denoted by V
g
that
U
1-2
= (V
g
)
1
- (V
g
)
2
22
Summar y of Chapt er 4
Potential Energy
Force, potential energy and strain energy
g
dV d = r F
g
dV dU =

= = =
2
1
2
1
) (
1 2 12
r
r
r F
V
V
V V dV d U
Work done U to an object equals the change in PE of the object
23
Summar y of Chapt er 4
Conservation of energy
T
1
+U
1 - 2
= T
2
(true for all cases)
For conservative force (potential energy)
U
1- 2
= V
1
- V
2
T
1
+ V
1
= T
2
+ V
2
= Constant
Weight :
2 2
1 1 2 2
1 1
2 2
mv mgy mv mgy + = +
Central force :
2 2
2 2
1 2
1 2
1 1
2 2
E E
mgR mgR
mv mv
r r
=
2
2
2
2
2
1
2
1
2
1
2
1
2
1
2
1
kx mv kx mv + = +
Spring :
24
Example 4-1
25
Example 4-1 Potential energy (strain
energy) : spring and friction
A spring is used to stop a 60-kg package which is
sliding on a surface. The spring has a constant k =
20kN/mand is held by cables so that it is initially
compressed x
1
=120mm. Knowing that the package
has v
1
= 2.5m/s shown and that the max additional
spring deflection is 40 mm, determine (a) the coefficient
of kinetic friction (
k
) between the package and the
surface, (b) the vel. of the package as it passes again
through the position shown
S.E. = Strain Energy
26
Ex 4-1 Example-package stopped by spring
Solution (
k
=0)
Free Body Diagram

k
=0
W
N
f =
k
N
F= kx
Energy in each state
1
v
1
x
0
+x
1
x
1
: Initial
compression
2
1
2
1
1
. .
2
1
. .
2
K E mv
S E k x
=
=
State 1
Initial Condition
2
s
v
2
= 0
x
0
+ x
2
2
2
2
2
1
. . 0
2
1
. .
2
K E mv
S E k x
= =
=
State 2
Spring is fully
compressed
x
2
: Final compression
s : total distance traveled
2 2 2
1 1 2
1 1 1
2 2 2
mv k x k x + =
27
Conservation of energy
Initial K.E. of the package |Work done by friction|+ initial S.E.
stored in spring = Zero K.E. + S.E. stored in spring
2
1
2
1
1
. .
2
1
. .
2
K E mv
S E k x
=
=
State 1
Initial Condition
2
2
2
2
1
. . 0
2
1
. .
2
K E mv
S E k x
= =
=
State 2
Spring is fully
compressed
2 2 2
1 1 2
1 1 1
2 2 2
k
mv mg s k x k x + =

k
is unknown
1
v
1
v
2
= 0
2
s
2 1
0.04 0.16 x x m m = + =
1
0.12 x m =
2 1
0.6 .
k
s x x can be determined = +
1
2.5 / v m s =
Ex 4-1 Example-package stopped by spring
28
2
v
2
= 0
2
2
2
2
1
. . 0
2
1
. .
2
K E mv
S E k x
= =
=
State 2
Spring is fully
compressed
3
v
3
2
3
2
1
1
. .
2
1
. .
2
K E mv
S E k x
=
=
State 3
Rebounce
s
2
v
2
= 0
W
N
f =
k
N
F=kx
Conservation of energy
Final K.E. of the package (State 3) + Initial S.E. stored in spring
(State 3 = State1) = S.E. stored in spring (State 2) Work done by
friction
2 2 2
3 1 2
1 1 1
2 2 2
k
mv k x k x mg s + =
v
3
is unknown
2 1
0.04 x x m = +
1
0.12 x m =
2 1
0.6 s x x = +
3
. v can be determined
Ex 4-1 Example-package stopped by spring
29
Chapt er 5 I mpul se & moment um
Principle of Impulse & Momentum
time 1
mv
1
F
time 2
mv
2
Newtons second Law
dt
d
m
v
F =
Impulse

= = =

2
1
2
1
1 2 2 1
Imp
v
v
t
t
m m md dt v v v F
Linear momentum
m = v
30
Chapt er 5 Summar y
Principle of Impulse & Momentum
Average force
2
1
2 1
1
t
a v
t
d t
t t
=

F F
Impulse

= = =

2
1
2
1
1 2 2 1
Imp
v
v
t
t
m m md dt v v v F
1 1 2 2
Imp m m

+ = v v
(for multiple particles)
2 2 1 1
Imp v v m m = +

31
Chapt er 5 Summar y
Conservation of Linear Momentum
If no external forces act on objects A & B
constant = +
B B A A
m m v v
Impulsive force
F
t
t
1
t
2
A force of large magnitude that acts
over a small interval of time
Velocity of the combined center of masses is constant
B A
B B A A
m m
m m
+
+
=
r r
r
B A
B B A A
m m
m m
+
+
=
v v
v
32
Chapt er 5 Summar y
Coefficient of restitution
Direct central impact
0 1
B A
A B
v v
e
v v

A A B B A A B B
m v m v m v m v

+ = +
B B A A B B A A
m m m m v v v v

+

= +
Oblique central impact
( ) ( ) ( ) ( )
t
B
t
B
t
A
t
A
v v v v

=

= ,
] ) ( ) [( ) ( ) (
n B n A n A n B
v v e v v =

(No friction in the tangential direction. The

tangential momentum eq. is redundant.)
(Normal direction)
Line of impact, n
t
A
B
m
A
v
A
m
B
v
B
33
Example 5-6
34
Example 5-6
The bag A, having a weight of 6 lb, is released from rest at
the position = 0. After falling = 90, it strikes an 18-lb box
B. If the coefficient of restitution between the bag and box is
e = 0.5, determine the velocities of the bag and box just after
impact and the loss of energy during collision.
35
Example 5-6 continued
Solution
Conservation of energy (just prior to impact)
2
) (
2
1
0 0
A A
v m mgh + = +
2 ( 3 )
A A A
v gh h ft = =
Conservation of momentum (during impact)
1 eq., 2 unknowns Not enough eqs. for
the number unknowns
B B A A B B A A
v m v m v m v m

+

= +
36
Chapt er 5 Summar y
Principle of angular impulse & momentum
2 2
1 1
2 1
( ) ( ) ( )
t t
o o
t t
dt md = =

r F r v H H
v r H m
o
=
Angular momentum
o
d
dt
= =

H
r F M
Central Force Motion (Force remains directed toward a
fixed point)
H
o
= rv

= Constant
Angular momentum about the fixed point is conserved
37
Chapt er 5 Orbital motion
2
2
(central force)
E
r
mgR
r
= F e
Solution to EOM
1
u
r
=
0
at 0 r r = =
2
0 0
2
0
1
, 1 (eccentricity)
1 cos
E
r r v
r gR
+
= =
+
0 1 < <
0 =
1 =
1 >

0
r
y
x
r
1
Escape velocity:
2
0
0
2
1
E
gR
v
r
= =
Period:
0 0 0 0
0
2 2
A
dA ab
r v r v

= =

0 1
1
( )
2
a r r = +
0 1
b r r =
F = m a
38
Chapt er 6 Pl anar Ki nemat i c s of r i gi d bodi es
2
2
2
2
,
r
d d
a r r a r r
dt dt

= = = =


, is a constant
r
r r = r e
2
r r
d
r r r r
dt

= + = a k e k e e e
If planar motion, reduced to the simplified version in Chap 2:
r
= k e e
r
= k e e
e
r
e

k
Motion about a fixed axis with = k
r
r
v = =
dt
d
) ( r r
v
a + = =
dt
d
39
( ) ( ) ( )
x y z
x y z
y z z y z x x z x y y x
r r r
r r r r r r


=



= + +
i j k
r
i j k
0 0
z z y z x
x y z
r r
r r r


= = +



i j k
r i j
Planar motion:
0,
x y z
= = = k
Chapt er 6 Pl anar Ki nemat i c s of r i gi d bodi es
Cross product:
x y z
= + + i j k
x y z
r r r = + + r i j k
= i j k = j k i = k i j
40
Chapt er 6 Pl anar Ki nemat i c s of r i gi d bodi es
Relative Motion
r
A
= r
B
+ r
A/B
v
A
= v
B
+ v
A/B
a
A
= a
B
+ a
A/B
If A and B are points of a rigid body with angular velocity
O
A
B
r
A
r
B
r
A/B
e

d
dt
=

/
/ / /
( )
A B
A B A B A B
d
dt
= = +
v
a r r
/ / A B A B r
r = r e
B A
B A
B A
dt
d
/
/
/
r
r
v = =
41
Relative Motion
Chapt er 6 Pl anar Ki nemat i c s of r i gi d bodi es
If A and B are points of a rigid body
with angular velocity
/ / A B A B
r

= v e
2
/ / / A B A B A B r
d
r r
dt

= a e e
Planar motion:
O
A
B
r
A
r
B
r
A/B
e

/ A B A B
= + r r r
/ /
( )
A B A B A B
= + + a a r r
/ / A B A B r
r = r e
/ A B A B
= + v v r
42
Instantaneous center: A point of rigid body whose velocity
is zero at a give instant.

C
Chapt er 6 Pl anar Ki nemat i c s of r i gi d bodi es
: Instantaneous center. It can lie inside or
outside the rigid body. (In general, there
is no instantaneous acceleration center.)
r

C
r = = v r k
43
Sliding Contact needs two ref frames to relate
v
A
to v
b
(a
A
to a
B
)

x, i
y , j
z, k
A is not a point of the rigid body (Bar BD)
(i, j, k) are NOT constant, roate with body-
fixed ref frame (x, y, z)
D
/ A B A B
= + v v r
44
Differentiation with respect to a rotating frame
( )
rel
d d
dt dt
= +
q q
q
q

x y z
q q q = + + q i j k
y
x z
x y z
dq
d dq dq d d d
q q q
dt dt dt dt dt dt dt
= + + + + +
q i j k
i j k
( )
y
x z
rel
dq
d dq dq
dt dt dt dt
= + +
q
i j k
( )
rel
= 2
nd
ref frame
Textbook: p.322-325
Secondary ref frame (body fixed) =(x, y,
z), rotating frame with angular vel.
q
k j i
= + +
dt
d
q
dt
d
q
dt
d
q
z y x
45
Chapter 6 Planar Kinematics of rigid bodies
Rotating Coordinate System (Sliding Contact)
Points A and B are not in the same rigid body
r
A/B

/ / /
( )
A B A B rel A B
= + v v r
/ /
/ /
( )
A B A B
A B rel A B
d d
dt dt
= = +
v v
a v
/ / / / /
( ) 2 ( ) ( ),
A B A B rel A B rel A B A B
= + + + a a v r r
B A rel B A B B A B A / / /
) ( r v v v v v + + = + =
46
Sliding Contact needs two ref frames to relate
v
A
to v
b
(a
A
to a
B
)
B A rel B A B B A B A / / /
) ( r v v v v v + + = + =
47
Ex 6 Falling rod against the wall
48
Ex 6 Falling rod against the wall
Given: and. Find a
G
(accel of cg) in terms of and.
Solution:
v
B
y
C

G
A
B
L

C is an instantaneous center.
( ) cos
B
y y L = = = v k j i i
cos y L =
2
( cos sin ) ( cos sin )
B
d d
L L
dt dt

= = a i i
/ / /
( )
G B G B B G B G B
r

= + = + v v r v e
2
/ / / /
( ) ( )
G B G B G B G B r G B
r r = + a a e e

/
( ) sin cos
r G B
= + e i j
/
( ) cos sin
G B
= e i j
/
/ 2
G B
r L =
2
/ / / /
2 2
( ) ( )
[( cos sin ) ( sin cos ) ]
2
G B G B G B G B r G B
r r
L

= +
= +
a a e e
i j
e
r
e

We obtain a
B
by differentiating v
B
with respect to t
49
Chapter 7 2D Dynamics of Rigid Bodies
Newtons second law for rigid body: summary
( )
i
i
d m
m
dt
= =

v
F a
( )
o i i i i i
i i
d
m
dt
= =

M r F r v
Force :
Moment about
O :
m = L v Linear momentum :
o
m = H r v
Angular momentum about an axis O and an axis through cg
( ) ( = )
i i i
i
m or dm =

H R v R v
o
m = + H r v H
Relation between the two angular momentums
d
dm
dt
=

v
M R
Moment
about cg :
v
cg
O
r
R
i
dm
i
v
i
(r
i
)

r
i
50
o
d d
m
dt dt
= +
H H
r a
o
o
d
dt
=
H
M
i
d
dt
=

H
M
o
m = + M r a M
Relation between moments about Oand cg :
mv
cg
O
r
Newtons second law for rigid body: summary
Chapt er 7 2D dynami c s of r i gi d bodi es
51
Rotation about a fixed axis Owith
= k
O

Rigid body
r

= = v r e
o o
H = H k
o o
H I =
2
o
A
I r dm =

Summary : planar motion
o
o o o
dH d
M I I
dt dt

= = =
Moment
equation:
2
A
I R dm =

H I =
dH d
M I I
dt dt

= = =
Moment
equation:
About cg:
For rotation about the
axis O only
Chapt er 7 2D dynami c s of r i gi d bodi es
52
O

Rigid body
Summary : planar motion
(about cg)
( )
i i
d d
m m m
dt dt
= = =

v
F v a
Force Eq:
dH
M I
dt
= =
Moment
equations:
Moment equation about the axis through O
2
A
I R dm =

For rotation about the
axis O only
k a r I m M
o
+ =

) (

2
) ( , mr m = = = k a r r k r a
Chapt er 7 2D dynami c s of r i gi d bodi es
53
Parallel-axis theorem for mass moment of inertia
2 2 2
( )
o
m m
I r dm x y dm = = +

x
x x d

= +
y
y y d

= +
2 2 2
x y
d d d = +
2
o
I I d m = +
Summary : planar motion
Chapt er 7 2D dynami c s of r i gi d bodi es
54
Example 7.3
55
Ex. 7.3 The slender bar weighs 10lb and the disk weighs
20lb. The coefficient of kinetic friction between the disk and
the horizontal surface is
If the disk has an
initial counter clock-
wise angular velocity
of 10 rad/s, how
long does it take to
stop spinning?
0.1
k
=
A
B
W
b
W
d
N
F
friction
Similar to Textbook: Ex 18.6
56
Solution (of 7.3): 1
st
draw free body diagram
0,
x Bx
F N F = + =

. 0 = + =

N W F F
D By y
From the free body diagram of the disk:

= + = 0 ) 30 sin 3 ( ) 30 cos 3 ( ) 30 cos 5 . 1 (

Bx By B A
F F W M
For the bar, the sum of the moments about
the left hand support is (W
B
=10lb, W
D
=30lb)
Solve these three equations for three unknowns:
, 53 . 26 lb N =
, 65 . 2 lb F
Bx
=
, 53 . 6 lb F
By
=
from which we obtain
2.65
k
N lb =
3ft
1m
A
B
B
Ex. 7.3
57
The mass moment of inertia of the disk about the axis of
rotation is
2
2 2
1
0.311
2 2
D
D
W R
I mR slug ft
g
= = =
Equation of angular motion of the disk:
1
k D
N I =
from which we find
2
/ 54 . 8 s rad =
( 2.65 )
k
N lb =
The time required for the disk to stop is obtained
from( = 10 rad/s)
0 , t = + from which s t 17 . 1 = =

Solution (of 7.3): : (continued)

1m
Ex. 7.3
58
Kinematics terminologies
Crank : a link that makes a complete revolution and is
pivoted to ground (full rotation, no limit)
Rocker: a link that has oscillatory rotation and is
pivoted to ground (not full rotation)
Coupler: a link that has complex motion and is not
pivoted to ground
Ground: any link or links that are fixed with respect to
the reference frame
Inversions: a derivative of a kinematic chain created
by grounding a different link
Chapter 9 Introduction to Mechanism
59
Inversions of 4-bar Mechanism
Created by attaching different links to
ground
1st - Link 1 grounded
2nd - Link 2 grounded
3rd - Link 3 grounded
4th - Link 4 grounded
60
2 1
2 ) 1 ( 3 J J N M =
Mobility: Kutzbacks modification of
Grueblers eqn. for 2D mechanisms
Chapt er 9 Posi t i on Anal ysi s
61
Four-bar linkage example
Using Working model
4-bar linkage = Simplest one-DOF linkage
Ground link
input link
(driver)
coupler link
output link

Chapt er 9 Posi t i on Anal ysi s

62
Vector Loop Representation of Linkage
The links are represented as position vectors.
Fig. 4-6 Position vector loop for a fourbar linkage
0
1 4 3 2
= + R R R R
) cos( cos cos
4 2 3 2 2 4 1
= + K K K
Chapt er 9 Posi t i on Anal ysi s
=
=180

+
+
=
C B
C B A A
2 2 2
arctan 2
) ( f =
63
1. Input link 2 (driver) :
a) rotate completely
- transform rotary motion into oscillatory motion
- no linkage locking
b) oscillate
- the mechanism multiplier oscillatory motion
- may have dead points (toggle points),
need flywheel to pass through these points
2. Transmission angle :
the angle between the coupler link 3 and the output link 4
- measure of mechanical advantage of mechanism; 90 deg =
ideal, 180 deg = zero transmission (measure of quality of
force & vel. transmission at the joint)
- Rule of thumb : 40 < < 140
Ground Link = Link1, Input link = Link 2
Coupler link = Link 3, Output Link = Link 4
Textbook: p.91
64
Grashoffs law for four-bar linkage
Identify longest, shortest, intermediate 2 links: L, S, P, Q
I: If L + S < P + Q, then we call this a Grashof Mechanism
G.1 = crank-rocker if S is the crank and either of the
adjacent link is the fixed link
G.2 = double-crank if S is the fixed link
G.3 = double-rocker if the link opposite S is the fixed link
II: If L + S > P + Q, then we call it non-Grashof mechanism
only double-rocker
III: If L + S = P + Q, it can have G.1~G.3 and
parallelogram form (colinear)
65
Grashof Mechanisms
66
Non-Grashof Mechanisms
67
FOUR-BAR SLIDER-CRANK POSITION SOLUTION
Offset slider-crank= the slider axis not pass through the crank pivot O
2
Application:
- Internal combustion
engine: explosion drives
piston (input), output is the
rotation of drive shaft
-Air compressor: electric
motor drives crank (input),
piston (output) compressed
air
R
2
- R
3
- R
4
- R
1
= 0

=
b
c a
2
3
sin
arcsin
1

=
b
c a
2
3
sin
arcsin
2
68
Four-bar linkage analysis by Graphical method
O
2
O
4
A
B

4
2
3
4
69
O
2
O
4
A
B
B

4
2
3
3
4
4
a
b
c
d
open
crossed
Four-bar linkage analysis by Graphical method
70
Vector Loop Representation of Linkage
The links are represented as position vectors.
Fig. 4-6 Position vector loop for a four-bar linkage
Four-bar Linkage Position Analysis by Analytical Method
Textbook: Chap 4
71
0
1 4 3 2
= + R R R R
Vector Loop Equation for a Four-bar Linkage
(4.5a)
or
0
2 4 4
/ / /
= +
O O O B A B A
R R R R (4.5b)
x component
0 cos cos cos cos
1 4 3 2
= + d c b a
0 cos cos cos
4 3 2
= + d c b a
, 0
1
=
Since
(4.6a)
y component
0 sin sin sin
4 3 2
= + c b a
2 3 4 1
sin sin sin sin 0 a b c d + =
(4.6b)
72

=

A
AC B B
2
4
2
2
4
1
tan
0
2
tan
2
tan
4 4
2
= +

C B A

3 2 2 1 2
cos cos K K K A + =
3 2 2 1
cos ) 1 ( K K K C + + =
2
sin 2 = B
ac
d c b a
K
a
d
K
c
d
K
2
2 2 2 2
3 2 1
+ +
= = =
Nortons textbook: p. 176
Vector Loop Equation for a Four-bar Linkage

=

D
DF E E
2
4
2
2
3
1
tan
5 2 4 1 2
cos cos K K K D + + =
2
sin 2 = E
5 2 4 1
cos ) 1 ( K K K F + + =
Open
Crossed
73
Chapter 10 Introduction to Mechanism Synthesis
Function generation: correlation of I/P motion with O/P motion in an
mechanism (black box: mechanical analog computer, artillery rangefinder,
shipboard gun aiming system); Linkage performs a mathematical function w/ input
the independent variable and output the dependent variable
- rocker output
Path generation: control of a Point in the plane such that it follows some
prescribed path; The linkage guides some pt. (coupler pt.) along a desired path
Motion generation: control of a Line in the plane such that it follows some
prescribed set of sequential positions: bucket control on a bulldozer (rigid body
guidance); The linkage guides a body through a specified path with specified
orientation
- simple case: coupler output
74
Two-Position Synthesis
Rocker output:
- Grashof crank-rocker is desired
- a trivial case of function generator
Coupler output (complex motion)
- more general
- simple case of motion generation
- two positions of a line are defined as O/ P
75
Two-Position Synthesis
4-bar Grashof crank-rocker synthesis
Design a 4-bar Grashof crank-rocker to give 45 of rocker
rotation with equal time forward and back, from a constant
speed motor input
76
Two position synthesis
Design a four-bar crank and rocker mechanism to give 45
o
of rocker
rotation with equal time forward and back, from a constant speed motor
input.
1 Draw the rocker O
4
B in both extreme
positions, B
1
and B
2
in any convenient
location with angle
4
= 45
o
.
2 select a convenient point O
2
on line
B
1
B
2
extended.
3 Bisect line B
1
B
2
, and draw a circle
with that radius about O
2
.
4 Label the two intersection points of
the circle with B
1
B
2
extended, A
1
and A
2
.
5 Measure O
2
A (crank, link2) and AB
(coupler, link3).
77
Analytical Mechanism Synthesis
Two-Position Motion Generation by Analytical Synthesis
Fig. 5-1 Nortons textbook
Design a four-bar linkage, which
will move a line on its coupler
link such that a point P on that
line will be first at P
1
and later at
P
2
and will also rotate the line
through an angle
2
between
those two precision positions.
Find the lengths and angles of
the four links and the coupler
link dimensions A
1
P
1
and B
1
P
1
as shown in Fig 5-1.
P
1
P
2
A
1
B
1
A
2
B
2
o
2
o
4
78
First solve for the left side of the linkage
(vectors W
1
and Z
1
). A vector loop equation
around the loop which includes both positions
P
1
and P
2
for the left-side dyad.
W
2
+ Z
2
P
21
Z
1
W
1
= 0
(5.3)
W
2
z
2
z
1
W
1
P
21
Two-Position Motion Generation by Analytical Synthesis

8 variable in the Eqns: w, ,

2
, z, ,
2
,
p
21
and
2
. Three of the eight are
defined (
2
, p
21
and
2)
. Choose three as
free choices (,
2
, ) in order to solve
for the other two (w,z)
79
Repeat the process for the right-
hand dyad, U
1
S
1
U
2
+ S
2
P
21
S
1
U
1
= 0
(5.9a)
Two-Position Motion Generation by Analytical Synthesis
U
2
S
2
S
1
U
1

2
8 variable in the Eqns. Three of the eight
are defined (
2
, p
21
and
2
). Choose
three as free choices ( ,
2
, ) in
order to solve for the other two (u,s)
80
Nortons FOURBAR program for 2 position
synthesis
Ex: 5-1, p.219
81
Spur gear: gear with radial teeth parallel to its axis
Rack and pinion: a mechanism in which a toothed wheel (pinion)
engages a notched bar (rack) to convert rotary motion into linear motion
Bevel Gear: Either of a pair of toothed wheels whose working surfaces are
inclined to nonparallel axes. Example: differential in automobile
Helical gear: a gear that has the teeth cut at an angle to the
center line of the gear. It can operate quieter than spur gear
Worm and gear : A coarse, spiral shaped gear cut on a shaft. It is used to
engage with and drive another gear or portion of a gear.
Herringbone Gears (double helical gears): two helical gears operating together
and so placed that the angle of the teeth form a "V" shape; cancel out end-thrust
forces
Chapter 11: Introduction to Gear Trains
82
Axis of the gear
Rack
Pinion
Chapter 11: Introduction to Gear Trains
83
Either of a pair of toothed
wheels whose working surfaces
are inclined to nonparallel
axes. Example: differential in
automobile
Chapter 11: Introduction to Gear Trains
84
Worm
Worm wheel
(worm gear)
Herringbone Gears (double helical gears): two
helical gears operating together and so placed
that the angle of the teeth form a "V" shape;
cancel out end-thrust forces. no thrust
bearing is needed
Chapter 11: Introduction to Gear Trains
85
Chapter 11: Introduction to Gear Trains
Kinematics of Gears
j i k
r v v v
1 1 1 1
/ 1 /
0
r r
O A O A O A


= =
+ = + =
j i k
r v v v
2 2 2 2
/ 2 /
) (
0
r r
P A P A P A


= =
+ = + =
2 2 1 1
r r =
2
1
1
2
r
r
=

or
Fundamental law of gearing:
Angular vel. Ratio = constant throughout the mesh
86
How can the radii r
1
and r
2
be related to the number of
teeth on each gear?
Assume that the gears must have the same circular pitch
n
1
= teeth on gear 1
n
2
= teeth on gear 2
Pitch: the distance between a point on one gear tooth and the same
point on the next gear tooth
2
1
1
2
n
n
=

87
Example: Find the speed reductions possible for the
transmission
the power is transmitted
through gears 0456
1012.
If gear 34 slides to the left (disengaging 4 from 5) and gear 12 to the left
(engaging 1 and 9), then power is transmitted through 01961012
88
Reverse on a Car
http:/ / www.innerauto.com/ innerauto/ anim/ trans.html
Manual Trasmission in Automobile
Chapter 11: Introduction to Gear Trains`
89
The Involute Profile
Chapter 11: Introduction to Gear Trains
90
Mechanics courses in HKUST MECH Program
Mech 221 (521)
Fluid Mechanics
Mech 593:
Finite element
method
Mech 261:
Control principles
Mech 101, 202
Solid mechanics
(mechanics of material,
strength of material)
Mech 371
Introduction to Robotics
Mech 373:
Vibration
Mech 300F:
Numerical
methods in Eng.
Mech 152:
Design & Manufacturing I
Mech 252:
Design & Manufacturing II
Mech 398, 399:
Final Year Design Project I & II
Mech 098, 099
Industrial Traning
Mech 523:
Computational
Fluid Dynamics
Mech 283, 284
Mech Laboratory I & II
Mech 251:
CAD/CAM
Mech 103:
Mech. & Dyn of Machinery
91
Properties of volumes and homogeneous objects
From the last page of Textbook
The moments and products of inertia of the object in terms of the xyz coordinate
system are
92
Properties of volumes and homogeneous objects