1.

The mechanism shown in the figure is driven by link 2 at

𝜔2 = 45 𝑟𝑎𝑑⁄𝑠 .find the velocity of point A, angular
velocity, and also angular acceleration of link 4 and 3.

SOLUTION

USING VECTOR METHOD

VELONCITY ANALYSIS

Velocity diagram

ACCELERATION ANALYSIS
2)Crank 2 of the push-link mechanism shown in the figure is driven at 𝜔2 = 60 rad/s cw. Find
the velocities of points B and C and the angular velocities of links 3 and 4, also solve for the
acceleration of point C and the angular accelerations of links 3 and 4.

Velocity diagram

VELOCITY

acceleration
3.A)For the straight-line mechanism shown in the figure 𝜔2 = 20 rad/s cw and 𝛼2 = 140 rad/s cw.
determine the velocity and acceleration of point B and the angular acceleration of link3.
B) In the figure, the slider 4 is moving to the left with a constant velocity of 20 m/s. Find the
Angular velocity and acceleration of link 2.
SOLUTION FOR A

SOLUTION FOR B
4)The mechanism shown in the figure is a marine steering gear called Rapson's slide 𝑂2 𝐵 is

the tiller, and AC is the actuating rod. If the velocity of AC is 10 in/min to the left, find the

angular acceleration of the tiller.

SOLUTION
FORCE ANALYSIS
1)For the mechanism shown below, determine the forces F12 and F14 due to the action of the
inertia force Fe4. Also determine the shaft torque Ts applied to link 2 at 02.
Given are
A2O= 180 mm, Fe4 = -4500j N

Solution
From the geometry of the mechanism, for the phase shown 𝜃 = 44°, ∅ = 106°,O4 A= 346.1 mm
The effect of the inertia force Fe. is obtained by considering each link separately starting from
link 4. The free-body-diagram of each link dynamic equilibrium is shown below:
Consider link 4

Introducing unit vectors i and j along the x-and y-axes, respectively, we have

The reaction due to link 3 on link 4 is perpendicular to link. 4. Therefore,

Taking moment about 04

This gives;

Substituting for Fe4 and solving for F34 yields;

Again from static equilibrium of link 4 we have ;∑ 𝑓 = 𝑜

Which yields
Consider link 3

Considering link 2

For equilibrium of link 2

and
2)Find the external torque that must be applied to link 2 of the mechanism illustrated in the

figure to drive it at the given velocity.

3)Crank 2 of the four-bar linkage shown in the figure is balanced. For the given angular velocity
of link 2, find the forces acting at each pin joint and the external torque that must be applied to
link 2.
4)For the given angular velocity of crank 2 in the figure, find the reactions at each pin joint and
the external torque to be applied to the crank

4)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
a1 = 0 for the position shown in the figure. Neglect gravity and friction effects.
 5)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 method super position based on free-body diagrams.

Gear train
1)Find the speed and direction of rotation of gear 8 in the figure. What is the speed ratio of the
train.
 2)If arm 6 and gear 5 in below is diven clockwsie (viewed from the right end) at
150 and 50 rad/s, respectively, determine maginitude of and direciton of each gear.
:

Solution

Motion condition Arm 6 Gear 5 Gear 4 Gear 3 Gear 2

Locking the gear +150 +150 +150 +150 +150

with the arm and
rotating the arm
Fixing the arm 0 X 𝑇5 𝑇5 𝑇5 𝑇3
−𝑥 −𝑥 𝑥
𝑇4 𝑇4 𝑇4 𝑇2

Total result of 150 X+150=50 𝑇5 𝑇5 𝑇5 𝑇3

X= -100 150 − 𝑥 = 𝑊4 150 − 𝑥 = 𝑊3 = 𝑊3 150 + 𝑥 = 𝑊2
motion 𝑇4 𝑇4 𝑇4 𝑇2
𝑊4 = 221𝑟𝑎𝑑/𝑠𝑒𝑐 𝑊4 = 𝑊3 = 221rad/sec 𝑊2 = 30.95
2)The bevel-gear train shown below consists of the input gear 2 and the output from gear 6,
which is connected to the output shaft. The arm 3 turns freely on the output shaft and carries
the planet gears 4 and 5. Gear 7 is fixed to the frame. Determine the output speed if gear 2
rotates at 750 rpm.

Solution
Step 1:Fix gears 4 and 5 on the arm 3 and allow the arm to turn through x revolutions per minute.
Therefore, gears 4 and 5 will also turn through x revolutions per minute.
Step 2:Fix the arm and allow gear 2 to turn through y rpm. Consequently, all gears will turn as
determined by the gearing ratio.
Step 3:Sum up steps (1) and (2) to obtain the specified conditions of motion. Show the results on
a table.
3)In the reverted planetary gear train shown in below, gear 2 is driven at 180 rpm ccw while gear
6 is held stationary. Determine the speed of the arm.
What will be the speed of the arm if gear 2 were held fixed and gear 6 rotates at 12 rpm in the
clockwise direction?
1