Kinematics and Dynamics of Machinery

SOLUTION MANUAL 6-64-1

PROBLEM 6-64
Statement:

Figure P6-26 shows a mechanism with dimensions. Use a graphical method to calculate the
velocities of points A, B, and C and the velocity of slip for the position shown.

Given:

Link lengths and angles:

Link 1 (O2O4)

d
31.0
mm

Angle O2O4 makes with X axis

56.5
deg

Link 2 (O2A)

a
34.3
mm

Angle 2 makes with X axis

14
deg

Link 4 (O4B)

e
34.5
mm

Link 5 (BC)

f
68.3
mm

Link 6 (O6C)

g
45.7
mm

Angle O6C makes with X axis

88
deg

20
rad
sec

Angular velocity of link 2

Solution:
1.

CW

See Figure P6-26 and Mathcad file P0664.

Draw the linkage to scale and indicate the axes of slip and transmission as well as the directions of velocities of
interest.
B

Axis of slip
Y

Axis of transmission
O4

23.86 mm

132.661
A
3
2
X
O2

Direction of VA3

2.

Use equation 6.7 to calculate the magnitude of the velocity at point A on links 2 and 3.
VA3
a

3.

VA3 686.0

mm
sec

VA3
90
deg

VA3 76.0 deg

Use equation 6.5 to (graphically) determine the magnitude of the velocity components at point A on link 3. The
equation to be solved graphically is
VA3 = Vtrans + Vslip
a. Choose a convenient velocity scale and layout the known vector VA3.
b. From the tip of VA3, draw a construction line with the direction of Vslip, magnitude unknown.
c. From the tail of VA3, draw a construction line with the direction of Vtrans, magnitude unknown.
d. Complete the vector triangle by drawing Vslip from the tip of Vtrans to the tip of VA3 and drawing Vtrans from
the tail of VA3 to the intersection of the Vslip construction line.

Kinematics and Dynamics of Machinery

SOLUTION MANUAL 6-64-2

Y
10 mm/sec

32.89 mm
X
Vtrans

VA3
60.18 mm

4.

From the velocity triangle we have:

Velocity scale factor:

5.

kv

mm

Vtrans
32.89
mm
kv

Vtrans 329

sec
mm
sec

The true velocity of point A on link 4 is Vtrans,

VA4 329

mm
sec

Determine the angular velocity of link 4 using equation 6.7.

VA4
c

c
23.86
mm and

13.785

rad

132.661
deg

CW

sec

Determine the magnitude and sense of the vector VB using equation 6.7.
VB
e

VA4
90
deg
8.

mm

Vslip 602

From the linkage layout above:

7.

10
mm
sec

Vslip
60.18
mm
kv

VA4
Vtrans
6.

V slip

VB 476

mm
sec

VA4 42.661 deg

Draw links 1, 4, 5, and 6 to a convenient scale. Indicate the directions of the velocity vectors of interest. (See
next page.)

Kinematics and Dynamics of Machinery

SOLUTION MANUAL 6-64-3

Direction of VCB

Direction of VB

Y
O4

C
A
3

Direction of VC
2

X
O2

O6

9.

Use equation 6.5 to (graphically) determine the magnitude of the velocity at point C. The equation to be solved
graphically is
VC = VB + VCB
a. Choose a convenient velocity scale and layout the known vector VB .
b. From the tip of VB, draw a construction line with the direction of VCB , magnitude unknown.
c. From the tail of VB , draw a construction line with the direction of VC, magnitude unknown.
d. Complete the vector triangle by drawing VCB from the tip of VB to the intersection of the VC construction
line and drawing VC from the tail of VB to the intersection of the VCB construction line.
VB
0

10 mm/sec

VCB
X
VC
53.04 mm

10. From the velocity triangle we have:

Velocity scale factor:
VC
53.04
mm
kv

kv

10
mm
sec

VC 530

mm
mm
sec

VC
90
deg
VC 2.0 deg