Example: An external force of 10 N is acting horizontally on the rocker link, 30 mm from the

point D. Find the amount of torque to be applied to the crank AB to keep the mechanism in
static equilibrium.

C
C
3
3
4
4
a a
a44 a1 = 80 mm
a33 1
B b 10
0NN a2 = 30 mm
B a3 = 70 mm
a4 = 50 mm
2
2

00
33
a
a22 f
60

A a
0

A a11
1 D
D
1

Solution: First step is a position analysis to find the angles of the crank CD and the coupler
links. The simplest way is to draw the mechanism to scale and measure the required angles by
a protractor directly from the figure. Or we can take a purely arithmetical approach.

An implicit relation between the position variables and , Freudensteins equation can be
written in the form:

A tan 2 + B tan + C = 0
2 2
where
A = cos (1 K 2 ) + K 3 K1

B = 2 sin
C = cos (1 + K 2 ) + K 3 + K 1

a1
K1 =
a2
a1
K2 =
a4
 a12 + a 22 a 32 + a 42
K3 =
2a 2 a 4

Substituting the link lengths a1, a2, a3, a4 and angle into above equations:
80
K1 = = 2.67
30
80
K2 = = 1.60
50
6400 + 900 4900 + 2500
K3 = = 1.66
2 * 30 * 50
A = cos 60(1 1.60) + 1.66 2.67 = 1.30
B = 2 sin 60 = 1.73
C = cos 60(1 + 1.60) + 1.66 + 2.67 = 3.02

1.30 * tan 2 1.73 * tan + 3.02 = 0
2 2
Solving this quadratic equation for yiels:
1 = 89.86 and 2 = 133.52
These two angles refer to two different configurations of the four-bar mechanism as
depicted in figure 1.

a3 a4
B

a2
1
A a1
1 D

Figure 1
Now, to find the angle :

X B = 30 * cos 60 = 15,00 mm
YB = 30 * sin 60 = 25,98 mm

X C = 80 + 50 * cos 89,86 = 80,75 mm

YC = 50 sin 89,86 = 49,90 mm

X C X B = 80,75 15,00 = 65,75 mm

YC X B = 49,90 25,98 = 23,92 mm

23,92
= tan 1 = 20,06
65,75

Solution of static force problems can be by arithmetical or graphical.

Arithmetical method:
a) Separate the mechanism into free bodies of links,
b) Put all the acting and interacting forces,
c) Then, apply the law of statics for each free body.
 FCy
C FCx
3

20,06
FBx B
FCy

FBy FCx
C
4
FBx 10N

B FBy
T
2

89
,86
FDx

60

FAx A D

FDy
FAy

Static equations for link 4;

F x = 0 ; FDx + FCx 10 = 0 FDx + FCx = 10 (1)

F y = 0 ; FDy + FCy = 0 FDy = FCy (2)

M D = 0 ;10 * 30 * sin 89,86 FCx * 50 * sin 89,86 + FCy * 50 * cos 89,856 = 0 (3)

49 , 99 * F Cx 0 ,12 * F Cy = 299 , 99

Static equations for link 3;

F x = 0 ; FBx FCx = 0 FBx = FCx

F Y = 0 ; FBy FCy = 0 FBy = FCy

M B = 0 ; FCx * 70 * sin 20,06 FCy * 70 * cos 20,06 = 0

24,01 * FCx 60,75 * FCy = 0

Static equations for link 2;

F x = 0 ; FAx FBx = 0 FAx = FBx

 F = 0; F F = 0 F = F
y Ay By Ay By

M = 0 ; F * 30 * cos 60,00 + F
B By Bx * 30 * sin 60,00 = T

15,00 * FBy 25,98 * FBx = T

We have 9 equations to solve simultaneously; FAx, FAy, FBx, FBy, FCx, FCy, FDx, FDy, and T.
From equation 3 and 6 :
49,99 * FCx 0,12 * FCy = 299,99
+ (2,082) * ( 24,01 * FCx 60,75 * FCy = 0)
126,36 * FCy = 299,99

299,99
FCy = = 2,37 N
126,36
then, using the equation 6 for FCx :
143,98
FCx = = 5,99 N
24,01
From equations 2, 5, 8 :
FCy = FDy = FBy = FAy = 2,37 N

From equations 1, 4, 7 :
FBx = FCx = FAx = 10 FDx = 5,99 N

and using the last equation 9:

T = 15,00 * FBy 25,98 * FBx = 15,00 * 2,37 25,98 * 5,99 = 120,07 N .mm ANS.

Graphical method:
1. Draw the mechanism in scale,
2. Measure the unknown quantities directly from the scaled drawing,
3. Separate the mechanism into free bodies of links (scaled drawing),
4. State whether the link is two force - three force member and then put all the acting and
interacting forces,
5. Apply the law of statics for each free body.

Figure 1 is given in 1:1 scale. The unknown quantities and can be directly measured from
this figure by a protractor. They become:
89,5 and = 20
Link 2 has 2 forces & 1 torque.
Link 3 is a two force member, forces at the joints B & C are equal but opposite direction.
Link 4 is a three force member, three forces form a closed vector polygon and intersect at one
point.

C F43
3

B F34
C
F23
4
10 N

F32
B

T12 D
2
d1 F14
A
F12
10 N
F14 OF
F34
F14 & F34 are measured directly from the scaled force polygon.
10 N stands for 50 mm
10 * 22.5
F14 stands for 22.5 mm F14 = = 4.5 N
50
10 * 32.5
F34 stands for 32.5 mm F34 = = 6.5 N
50
T12 = d1 * F32 = 19.5 * 6.5 = 126.75 N