11

STATIC AND DYNAMIC FORCE ANALYSIS

Chapter Outline
11.1 Introduction

11.2 Static Force Analysis

11.2.1 Static Equilibrium

11.2.2 Equilibrium of Members

11.2.3 Force Convention

11.2.4 Free Body Diagrams

11.2.5 Principle of Superposition

11.2.6 Static Force Analysis of Four-Bar Mechanism

11.2.7 Static Force Analysis of Slider–Crank Mechanism

11.2.8 Static Force Analysis of Shaper Mechanism

11.3 Dynamic Force Analysis

11.3.1 D’Alembert’s Principle

11.3.2 Equivalent Offset Inertia Force

11.3.3 Dynamic Force Analysis of Four-Bar Mechanism

11.3.4 Dynamic Force Analysis of Slider–Crank Mechanism

11.3.5 Static and Inertia Force Analysis of Shaper Mechanism

11.1 INTRODUCTION

Forces in mechanisms arise form various sources, e.g. forces of gravity, forces of assembly,
forces from applied loads, forces from energy transmission, frictional forces, spring forces,
impact forces, and forces due to change of temperature. All these forces must be considered
in the final design of a machine for its successful operation.
In the design of mechanisms, the following forces are generally considered:

1. Applied forces
2. Inertia forces, and
3. Frictional forces.

The applied forces act from outside on the mechanism. The inertia forces arise due to the
mass of the links of the mechanism and their acceleration. Frictional forces is the outcome
of friction in the joints. A pair of action and reaction forces acting on a body are called
constraint forces.

11.2 STATIC FORCE ANALYSIS

In the analysis of static forces, the inertia forces are not taken into account. Often the gravity
forces are also small, and are neglected as compared to other forces.

11.2.1 Static Equilibrium

A body is in static equilibrium if it remains in its state of rest or of motion. The conditions
for static equilibrium are the following:

1. The vector sum of all the forces acting on the body is zero.
2. The vector sum of all the moments about any arbitrary point is zero. Mathematically, this can
be stated as:

In a planar mechanism, forces can be described by two-dimensional vectors. Thus

11.2.2 Equilibrium of Members

(a) Two-force member

A member under the action of two forces, as shown in Fig.11.1, shall be in equilibrium, if:
 1. The forces are of the same magnitude,
2. The forces are collinear i.e. act along the same line, and
3. The forces act in opposite directions.

Fig. 11.1 Two-force system

(b) Three-force member

A member under the action of three forces shall be in equilibrium, if:

1. The resultant of the forces is zero, and

2. The forces are concurrent, i.e. the line of action of the forces intersect at the same point.

Fig.11.2(a) shows a member acted upon by three forces F1, F2, and F3 such that the lines of
action of these forces intersect at point O and their resultant is zero. The resultant of three
forces shall be zero if the triangle of forces is closed, as shown in Fig.11.2(b).

Fig. 11.2 Three-force system

(c) Two-forces and torque

A member under the action of two forces and an applied torque shall be in equilibrium, if:

1. the forces are equal in magnitude, parallel and opposite in direction, and
2. the forces form a couple, which is equal and opposite to the applied torque.
Fig.11.3 shows a member acted upon by two equal and opposite forces F1 and F2 and an
applied torque T. For equilibrium, we have

Fig. 11.3 Two-forces and torque system

We may remember that a couple can be balanced by a couple only of opposite sense.

(d) Four-force members

A four-force member is completely solvable if one force is known completely in magnitude

and direction along with lines of action of the other three forces. The conditions of
equilibrium as stated above are sufficient.

Consider a system of four non-parallel forces as shown in Fig.11.4(a). Let O1 be the point of
intersection of the lines of action of F1 and F2. Similarly, O2 is the point of intersection of the
lines of action of the forces F3 and F4. Join O1O2. The resultant of F1 and F2 and that
of F3 and F4 is parallel to O1O2. The force polygon for the four forces can be drawn as shown
in Fig.11.4(b) and the forces F3 and F4 can be known completely.
Fig. 11.4 Four-force system

11.2.3 Force Convention

1. The force exerted by member i on member j is represented by Fij, and force exerted by
member j on member i by Fij, such that Fij = -Fji, i.e. magnitude of both the forces is same but
direction is opposite.
Consider two links 1 and 2 of a mechanism as shown in Fig.11.5(a). Link 1 rotates
clockwise about point A. At point B, let F12 be the force exerted by link 1 on link 2.
Then the force exerted by link 2 on link 1 at point B shall be F21.
For equilibrium of point B, F12 = −F21, as shown in Fig.11.5(b).
In general, Fij = −Fji.
2. A force unknown in magnitude but known in direction is represented by a solid straight line
without arrowhead, e.g.___________.
3. A force unknown in magnitude and direction is represented by a wavy line, e.g.
Fig. 11.5 Force convention

11.2.4 Free Body Diagrams

A free body diagram is the diagram of a link isolated from the mechanism showing all the
active and reactive forces acting on the link in order to determine the nature of forces acting
on the link. Refer to Section 11.2.6 to understand the concept of free-body diagrams.

11.2.5 Principle of Superposition

This principle states that if number of forces act on a system, the net effect is equal to the
sum of the individual effects of the forces taken one at a time. In a linear system, the output
force is directly proportional to the input force.

11.2.6 Static Force Analysis of Four-Bar Mechanism

(a) One known force

Consider a four-bar mechanism subjected to a force F applied to link 4, as shown

in Fig.11.6(a). The free body diagrams of the forces acting on the various members are
shown in Figs.11.6(b) to (d):

1. Member 2 is subjected to two forces F12, F32 and a torque T2 (Fig.11.6(b)).

2. Member 3 is subjected to two forces F23 and F43 (Fig.11.6(c))
3. Member 4 is subjected to three forces F, F34 and F14 (Fig.11.6(d))

1. We observe that member 3 is a two-force member. For its

equilibrium, F23 and F43 must act along BC. Their magnitudes are not
known at this stage
2. Draw the force polygon for member 4, as shown in Fig.11.6(e). At
point C draw a line parallel to BC to represent F34 to intersect the line of
action of F at G. Then the line of action of F14 shall also pass through G.
Now draw the triangle of forces as shown in Fig.11.6(f ) to know the
 forces F34 and F14 completely in magnitude and direction. From the
triangle of forces, we have

F34 = −F43 = F23 = −F32

3. Member 2 shall be in equilibrium, as shown in Fig.11.6(g), if F12 is equal,

parallel and opposite to F32 and,

T = −F32 × h

Input torque,

T2 = −T

(b) Two known forces

Consider a four-bar mechanism as shown in Fig.11.7(a), subjected to two forces, P and Q. A

moment T2 must be applied to link 2 to maintain equilibrium. The free body diagram of the
various links is shown in Fig.11.7(b). The unknowns for the various links are: five
(magnitude + direction of F12 and F32 and magnitude of T2) for link 2, four (magnitude +
direction of F23 and F43) for link 3, and four (magnitude + direction of F34 and F14) for link 4.
Therefore, these links cannot be solved by the equilibrium equations. If we consider links 3
and 4 together then there are six unknowns, because Fij = Fji. Since there are six equations of
equilibrium, three for each link, we can obtain a solution. The forces on links 3 and 4 are
shown in Fig.11.7(c). The force F34 is broken into components and , which are parallel
and perpendicular respectively, to O4C. The magnitude of is found by taking moments
about O4, i.e.
Fig. 11.6 Static force analysis of four-bar mechanism: one known force

On link 3 the reactions at C are equal and opposite to those at C on link 4. The magnitude
of =− On link 3, there are three unknowns: magnitude and direction of F23 and
magnitude of . The magnitude of can be found by taking moments about point B:

Qb − d+ e=0

or

Next we draw the force polygon for link 3, as shown in Fig.11.7(d), to obtain the magnitude
and direction of F23. In Fig.11.7(e), F32 = F23. Then F12 = F32. Taking moments about O2, we
obtain T2, the torque which the shaft at O2 exerts on link 2.

T2 = F32 h

F14 is obtained from the force polygon for bodies 2, 3 and 4, taken as a whole system as
shown in Fig.11.7(f).
Fig. 11.7 Static force analysis of four-bar chain: two known forces

11.2.7 Static Force Analysis of Slider–Crank Mechanism

(a) One known force

Consider the slider crank mechanism with one known force P only due to the gas force on
the piston, as shown in Fig.11.8(a). The system is kept in equilibrium by applying a
couple T2 to crank link 2 through the shaft at O2. It is required to find the forces in all the
links and the couple applied to link 2.
Fig. 11.8 Static force analysis of slider-crank mechanism: One known force

The forces acting on the various links are shown in Fig.11.8(b).

1. Link 2 is subjected to two forces F12, F32 and a torque T2. Thus link 2 has three unknowns:
force F32 known in direction only, force F12 unknown in magnitude and direction and the
unknown moment T2 exerted on crank 2 by the shaft. A wavy line placed at O2 indicates that we
do not know the magnitude or direction of the force F12, which acts through that point.
2. Link 3 is subjected to two forces F23 and F43.
3. Link 4 is subjected to three forces P, F34 and F14. Force F is known in magnitude and direction.
The two unknown forces for link 4 are F34 and F14 in magnitude only.

Link 4, which has only two unknowns, is analyzed first. The two unknown magnitudes can
be found by laying out a force polygon as shown in Fig.11.8(c). From Fig.11.8(d), we note
that F12 must be equal and opposite to F32 to balance forces on link 2. However, the two
equal, opposite and parallel forces produce a couple, which can be balanced by another
couple only. The balancing couple T2 is equal to F32 × h, where h is the perpendicular
distance between F32 and F12. It is clockwise and is the torque, which the shaft exerts on the
crank 2. From the triangle of forces, we have
F34 = −F43 = F23 = −F23 = cb
F14 = bo

Member 2 shall be in equilibrium, as shows in Fig.11.8(e), if F12 is equal, paraller and

opposite to F23.

T = −F32 × h

Input torque,

T2 = −T

(b) Two known forces

Figure 11.9(a) shows a slider crank mechanism with two known forces P and Q. A force P is
applied to the piston due to gas pressure and force Q is applied to link 3. It is required to
determine the forces in the links and the torque T2. The free body diagrams are shown
in Fig.11.9(b).

Link 3: Link 3 is a three-force member, F23, F43 , and Q. Let F43 be broken into its normal and
tangential components and , respectively. The normal component is along the link 3
and tangential component is perpendicular to the link 3. Now consider the equilibrium of
link 3 by taking moments about point B, as shown in Fig.11.9(c):

× CB = Q sin α × DB

or

Then

=−

Link 4: The forces acting on link 4 are shown in Fig.11.9(d). and P are known completely.
Their resultant is found as shown in Fig.11.9(e). is perpendicular to and F14 is
perpendicular to the path of the slider link 4 and passes through O. F34 = −F43 can be
determined from Fig.11.9(e).
Again consider the equilibrium of link 3. There are three forces F43 known fully, Q known
fully and F23, as shown in Fig.11.9(f). By polygon of forces, the direction and magnitude
of F23 is determined as shown in Fig.11.9(g).

Link 2: F23 = −F32 = F21 = −F12. With the help of Fig.11.9(h), the couple T2 is given by,

T2 = F32 × h (cw)

Example 11.1

A four-bar mechanism shown in Fig.11.10(a) is acted upon by a force P = 100 ∠120° N on

link CD. The dimensions of the various links are:

AB = 40 mm, BC = 60 mm, CD = 50 mm, AD = 30 mm, DE = 20 mm

Determine the input torque on link AB for the static equilibrium of the mechanism.

Solution

Draw the configuration diagram to a scale of 1 cm = 10 mm as shown in Fig.11.10(a).

The forces acting on the various members are as follows:

1. Member 2 is subjected to two forces F12, F32, and a torque T2 (Fig.11.10(b)).

2. Member 3 is subjected to two forces F23 and F43 (Fig.11.10(c)).
3. Member 4 is subjected to three forces F, F34, and F14 (Fig.11.10(d)).
Fig. 11.9 Static force analysis of slider-crank mechanism: Two-known forces

1. We observe that member 3 is a two-force member, as shown in Fig.11.10(c). For its

equilibrium, F23 and F43 must act along BC. Their magnitudes and direction are not known at this stage.
 2. Draw free body diagram for member 4, as shown in Fig.11.10(d). At point C, draw a line parallel
to BC to intersect the line of action of P at G. Then the line of action of F14 shall also pass
through G. Now draw the triangle of forces to a scale of 1 cm = 20 N, as shown in Fig.11.10(e) to
know the forces F34 and F14 completely in magnitude and direction. From the triangle of forces,
we have

F34 = −F43 = F23 = −F32 = ab = 2.4 cm = 28 N

F14 = bo = 4.9 cm = 98 N

3. Member 2 shall be in equilibrium, as shown in Fig.11.10(b), if F12 is equal, parallel and opposite
to F32. By measurement, h = 3.9 cm = 39 mm.

T = −F32 × h = −28 × 39 = −1092 N mm (ccw)

Input torque,

T2 = −T = 1092 N mm (cw)
Fig. 11.10 Four-bar mechanism static force analysis

Example 11.2

The links 3 and 4 of a four-bar mechanism are subjected to forces of Q = 100 ∠ 60° N
and P = 50 ∠ 45° N. The dimensions of various links are:

O2O4 = 800 mm, O2B = 500 mm, BC = 450 mm, O4C = 300 mm, BD = 200 mm, O4E = 150
mm.

Calculate the shaft torque T2 on the link 2 for static equilibrium of the mechanism. Also find
the forces in the joints.

Solution

The mechanism has been drawn in Fig.11.11(a) and forces in various links have been shown
in Fig.11.11(b).
Let and be the forces at joint C on link 4, perpendicular and parallel to the link O4C.
Draw a line at O4 parallel to force P = 50 N ∠ 60°. The perpendicular distance between these
two lines is ‘a’ = 140 mm. Taking moments about O4, we get

Measure distances b = 200 mm, d = 320 mm, e = 310 mm from joint B of forces Q, ,
and , respectively. Taking moments about joint B, we get

Knowing forces Q, and , draw the force polygon to obtain F23 from Fig.11.11(c). By
Measurement, F23 = 108 N.

F32 =_−F23
F12 = F32 = 108 N
T = −F32 × h = −108 × 180 = −19440 N mm (cw)
Fig. 11.11 Static force analysis of four-bar mechanism

Torque exerted by the crank shaft on link 2, T2 = −T = 19440 N mm (ccw)

Now complete the force polygon for all the forces acting on the mechanism, as shown
in Fig.11.11(d).

F14 = 52.5 N

Example 11.3
Link O4C of a four-bar mechanism is subjected to a torque T4 = 1 N m (ccw). The link BC is
subjected to a force Q = 45∠90° N downwards. Determine the torque T2 on link O2B and the
reactions at O2 and O4. The lengths of the various links are as follows:

O2O4 = 90 mm, O2B = 50 mm, BC = 55 mm, O4C = 30 mm, BD = BC = 27.5 m.

Fig. 11.12 Static force analysis of four-bar mechanism
 Solution

The mechanism has been drawn in Fig.11.12(a) and the forces have been shown in various links
in Fig.11.12(b). Taking moments about O4, we have

Measure perpendicular distances b = 26 mm, d = 36 mm, and e = 40 mm, as shown

in Fig.11.12(b).

Taking moments about joint B, we have

Qb − ×e= ×d=0

Draw the force polygon for link BC, as shown in Fig.11.12(c) F23 = 53 N = − F32. Also F12 = F32.
Now draw the force polygon for Q, F12 and F14, as shown in Fig.11.12(d), F14 = 63 N and h =
42 mm. Then

T = F32 × h
= −53 × 0.042 = −2.226 N m (ccw)
Torque on link O2B, T2 = −T = 2.226 N m (cw)

Example 11.4
For the four-bar mechanism shown in Fig.11.13(a), T3 on link BC is 30 N m clockwise
and T4 on CD is 20 N m counter-clockwise. Find the torque exerted by crankshaft on AB.
AD = 800 mm, AB = 300 mm, BC = 700 mm, CD = 400 mm.

Solution

The forces in various links have been shown in Fig.11.13(b).

Taking moments about joint D, we get

Fig. 11.13 Static force analysis of four-bar mechanism

Taking moments about joint B, we get

Draw force polygon for link BC, as shown in Fig.11.13(c). F23 = 59 N. F32 = −F23, F12 = F32. c =
280 mm.

T = F32 × c = −59 × 0.28 = −16.52 N m (cw)

Torque exerted by crankshaft on crank, T2 = −T = 16.52 N m (ccw)

Example 11.5
In the slider crank mechanism shown in Fig.11.14(a), the value of force applied to slider 4 is
2 kN. The dimensions of the various links are:

AB = 80 mm, BC = 240 mm, θ = 60°

Determine the forces on various links and the driving torque T2.

Solution

Draw the configuration diagram to a scale of 1 cm = 40 mm, as shown in Fig.11.14(a). The free body
diagrams for the links 2, 3 and 4 are shown in Fig.11.14(b).
On link 4 there are three forces: F = 2 kN to the right; F14 in unknown in magnitude, perpendicular
to F but direction is unknown; F34 whose magnitude and direction is unknown but acts along BC. To
determine the forces and couple, the following procedure may be adopted:

1. Draw the force polygon for link 4, as shown in Fig.11.14(c).

1. Draw a line oa = 5 cm and parallel to F to a scale of 1 cm = 400 N.
2. From ‘a’ draw a line perpendicular to oa representing F14.
3. From ‘ o’ draw a line parallel to BC representing F34 to intersect the
pervious line at b.
 4. They by measurement, we have

F14 = ab = 1.5 cm = 600 N, and F34 = ob = 5.3 cm = 2120 N

2. Now F34 = −F43 = F32 = −F23 = F21 = −F12

3. The forces on link 2 are shown in Fig.11.14(d). F12 is parallel to F32, By measurement, h = 2.98
cm = 79.2 mm
Couple

T = F32 × h = −2120 × 79.2 = −167.9 N m (ccw)

Torque on link AB,

T2 = −T = 167.9 N m (cw)

Fig. 11.14 Static force analysis of slider-crank mechanism

Example 11.6
A slider crank mechanism shown in Fig.11.15(a) is subjected to two forces: P = 3 kN and Q =
1000∠60°. The dimensions of various links are:

AB = 250 mm, BC = 600 mm, BD = 250 mm, θ = 45°

Determine the torque T2 applied to link 2.

Solution

Draw the configuration diagram to a scale of 1 cm = 100 mm, as shown in Fig.11.15(a). The forces
on the various links are shown in Fig.11.15(b), (c), and (d).

1. Consider the equilibrium of link 3 shown in Fig.11.15(c).

Taking moments about point B, we have

2. Now consider the equilibrium of link 4 shown in Fig.11.15(b). The direction of F14 is
perpendicular to force P. is completely known. Draw the force polygon as shown
in Fig.11.15(d).
 Fig. 11.15 Static force analysis of slider-crank mechanism

1. Draw P = 3 kN = bc = 6 cm to a scale of 1 cm = 500 N and parallel to the line of

action of P.
2. ‘c’ draw cd = = 360.8 = 0.72 cm perpendicular to link BC.
3. From ‘d’ draw a line perpendicular to cd representing . This line is
known in direction only.
4. From point ‘b’ draw a line perpendicular
to bc representing F14 intersecting the previous line at point ‘a’. Join ‘a’ to
‘c’ then F34 = ca. By measurement, F34 = 6.7 cm = 3350 N.
3. For the equilibrium of link 3, it is a three-force member. The forces are: F43 known in
magnitude and direction, Q known in magnitude and direction, and F23 unknown in magnitude
and direction. These forces are shown in Fig.11.15(e). Draw the force polygon as shown
in Fig.11.15(f). By measurement, F23 = −F23 = 1.1 cm = 3850 N.
4. Couple on link 2 can be calculated as shown in Fig.11.15(g). By measurement,

h = 2.1 cm = 210 mm
T = F32 × h = −3850 × 0.21 = −808.5 N m (ccw)

Torque on link AB,

T2 = −T = 808.5 N m (cw)

Example 11.7
In the four-bar linkage shown in Fig.11.16(a), the shaft at O2 exerts a torque of 0.6 N m
clockwise on link 2. Also there is a 45 N force acting vertically downward on link 3 midway
between B and C. Determine the resisting torque, which the shaft at O4 exerts on crank 4
and find the forces exerted on the frame at O2 and O4. O2O4 = 90 mm, O2B = 50 mm, BC = 55
mm, O4C = 30 mm, BD = DC = 27.5 mm.

Solution
The forces acting on the various links are shown in Fig.11.16(b).

b = 25 mm, d = 14 mm, e = 51 mm, h = 7 mm

ΣMc = 0 gives
Fig. 11.16 Static force analysis of four-bar linkage
Draw the force polygon as shown in Fig.11.16(c). From the figure, we have

F43 = 37 N, F34 = −F43,F14 = F34 = 37N

T4 = F34 × h = 37 × 0.007 = 0.259 N m (ccw)

Now draw the force polygon for the whole mechanism as shown in Fig.11.16(d).

F12 = 27 N

11.2.8 Static Force Analysis of Shaper Mechanism

The shaper mechanism is shown in Fig.11.17(a). We begin in by considering link 7 as a free
body, as shown in Fig.11.17(b). The direction of F67 and F17 are known and their magnitudes
can be found from a force polygon as shown. In Fig.11.17(c), the free body diagram for link 6
is drawn. F76 = F67, and because 6 is a two-force member, therefore F56 = F76.

The free body diagram of link 5 is shown in Fig.11.17(d), where F65 = F56. Force F45 is directed
perpendicular to link 5 but its magnitude is unknown. F15 is unknown in magnitude and
direction. Taking moments about O5, we have

F65b = F45e

or

The magnitude and direction of F15 can be determined from force polygon shown
in Fig.11.17(e). The free body diagram for slider 4 is shown in Fig.11.17(f), where F54 = F45.
Also F34 = F54.

The free body diagram for link 3 is shown in Fig.11.17(g), where F45 = F34 and F13 is unknown
in magnitude and direction. The values of moment arm h and the radius Rb3 of the base
circle can be measured, where ϕ is the pressure angle of the gear. By taking moments
about O3, the magnitude of F23 can be calculated. Next the magnitude and direction
of F13 can be found from a force polygon as shown in Fig.11.17(h). Finally,
from Fig.11.17(i), F32 = F23 and F12 = F32. The torque exerted by the pinion shaft on the
pinion, T2 = F32. Rb2 and is clockwise.
Fig. 11.17 Static force analysis of shaper mechanism

11.3 DYNAMIC FORCE ANALYSIS

Dynamic forces in mechanisms arise due to mass of the links and their accelerations.
Dynamic analysis has to be carried out when the dynamic forces are comparable with the
externally applied forces.

11.3.1 D’ Alembert’s Principle

For rectilinear motion, this principle states that inertia forces and external forces acting on a
body taken together give statical equilibrium. Thus

Inertia force,

or

where m = mass of the body, and fG = acceleration of centre of gravity or (mass) of the body.

Negative sign indicates that the inertia force acts in the opposite direction to that of
acceleration. The force acts through the centre of gravity of the body.

Similarly for angular motion, this principle states that inertia couples and external torques
applied to a body keep it in statical equilibrium. Thus,

Inertia couple,

or

where IG = moment of inertia of the body about an axis passing through centre of
gravity G and perpendicular to plane of rotation.

a = angular acceleration of the body.

According to D’Alembert’s principle, for a body subjected to number of external forces, the
vector sum of external forces and inertia forces must be equal to zero. Thus,

Similarly

where ΣF = vector sum of external forces F1, F2, F3, etc. acting on the body.
ΣT = vector sum of external torques, TG1, TG2, TG3, etc. acting on the body about centre of
gravity.

These equations are similar to the equations for a body in static equilibrium. Thus, a
dynamic problem can be reduced to a static problem by adding the inertia forces and
couples taken in the reverse direction to the externally applied forces and torques.

11.3.2 Equivalent Offset Inertia Force

In rectilinear motion involving acceleration, the inertia force acting on a body passes
through its centre of mass. If the resultant of the forces acting on the body does not pass
through the centre of mass, then a couple also acts on the body. In graphical solutions, it is
possible to replace inertia force and inertia couple by an equivalent offset inertia force,
which can account for both. This is done by displacing the line of action of the inertia force
from the centre of mass. The perpendicular displacement h of the force from the centre of
mass is such that the torque so produced is equal to the inertia couple acting on the body.

Consider a body whose centre of mass is G, its linear acceleration fG, and angular
acceleration α, as shown in Fig.11.18(a). Let a force Fi = m · fG be applied at G, from left to
right upwards. This force can be replaced by another force Fi acting at a
distance h (Fig.11.18(b)) together with a torque Ti = IG · α, where IG is the moment of inertia
of the body about an axis passing through G and perpendicular to the plane of rotation.
Hence

Ti = Ci
Fi × h = IG·α

or

Fig. 11.18 Equivalent offset inertial force

The radius of gyration K is taken in such a way that the force produces a moment about the
centre of mass, which is opposite in sense to angular acceleration α.

11.3.3 Dynamic Force Analysis of Four-Bar Mechanism

Consider a four-bar mechanism shown in Fig.11.19(a), where the magnitude of ω2 is
assumed known and constant. Points G2, G3, and G4 denote the centres of mass of the links 2,
3, and 4 respectively. We are interested to determine the torque which the shaft at O2 must
exert on crank 2 to give the desired motion.

To determine the linear acceleration of the points G2, G3, and G4, we construct the
acceleration polygon. From the magnitude and sense of the tangential components of
acceleration, the magnitude and sense of α3 and α4 can be determined.

Link 2 is shown in Fig.11.19(c), where fG2 is the acceleration of the centre of mass G2. The
resultant force F2 = m2 · fG2, where m2 is the mass of the link 2, has the same sense and line
of action as fG2. The inertia force f2 = −F2.

Link 3 is shown in Fig.11.19(d) with the acceleration of the centre of mass G3 indicated as fG3.
The resultant force F3 = m3·fG3, where m3 is the mass of the link 3, has the same sense and
line of action as fG3 · f3 = −F3 is the inertia force. In order to produce α3, there must be a
resultant torque T3 = I3 · α3 having the same sense as α3. Inertia torque t3 = −T3. Link 3 is
again shown in Fig.11.19(e), where the inertia force f3 and inertia torque t3 have been
replaced by a single force f3. The direction and sense of f3 is the same as in Fig.11.19(d), but
the line of action is displaced from G3 by an amount h3, such that

In Fig.11.19(e), f3 can be located by drawing a circle of radius h3 with its centre at G3 · f3 is

drawn tangent to the left side of the circle rather than the right side because f3 must produce
a torque about G3 in the same sense as t3.

Link 4 is shown in Fig.11.19(f) where f4 = −F4 and T4 = I4 · α4. Inertia torque t4 = −T4. Link 4
appears again in Fig.11.19(g), where the inertia force f4 and inertia torque t4 have been
replaced by a single force f4. Since f4 · h4 must equal t4, therefore
Fig. 11.19 Inertia forces in a four-bar mechanism

To find the forces at each pin connection and the torque which the shaft exerts on crank 2,
we draw the free body diagrams of links 2, 3, and 4 as shown in Fig.11.20(a) to (c). For the
known inertia forces in each link, the forces in each pin can be determined by using the
equilibrium equations. Starting with link 4, we take the moments about point O4 and
determine . Then on link 3, =− For Equilibrium of link 3, the sum of the
moments about B equal zero. This determines . The force polygon for link 3 is shown
in Fig.11.20(d) to determine F23.

Link 2 appears in Fig.11.20(e). Here F32 = −F23. Then F12 = −(f2 f32). Taking moments
about O2, we obtain T2, as

T2 = (f2 F32) a

where represents vector sum.

Force F14 obtained from the force polygon for bodies 2, 3, and 4 taken as a whole system as
shown in Fig.11.20(f).
Fig. 11.20 Force polygons

Shaking force: It is defined as the resultant of all the forces acting on the frame of a
mechanism due to inertia forces only.

The inertia forces on a four-bar mechanism are shown in Fig.11.21(a). The force polygon is
shown in Fig.11.21(b). Taking moments about point O2, we get

Fse = f3b + f4d

or

Fig. 11.21 Force polygons

11.3.4 Dynamic Force Analysis of Slider–Crank Mechanism

The slider crank mechanism is shown in Fig.11.22(a). Let P be the force on the piston due to
gas pressure and ω2 the angular velocity of link 2, be known. Points G2, G3, and G4 are the
centres of mass of links 2, 3, and 4. We are interested to find the torque T2, which the crank
2 exerts on the crankshaft and the shaking force.

The velocity and acceleration polygons are constructed first, as shown in Fig.11.22(b) and (c),
respectively. Link 3 and 4 combined as a free body are shown in Fig 11.22(d). The inertia
force f3, its moment about G3 and f4 are determined as explained in Section 11.3.3. The
unknowns are the magnitudes of F23 and F14. By taking moments about B, we have
F14a + f3b + f4d–Pd = 0

or

Force F23 can then be found by a summation of forces on bodies 3 and 4 together as a free
body. The force polygon is shown in Fig.11.22(e).
Fig. 11.22 Static and inertia force analysis of slider-crank mechanism

The free body diagram for link 2 is shown in Fig.11.22(f), where

F12 = −(f2 F32)

The torque exerted by the shaft on the crank 2 at O2 is,

T2 = −(f2 F32) e

The torque exerted by the crank on the crankshaft is equal to T2 but opposite in sense to T.

Example 11.8
A four-bar mechanism shown in Fig.11.23(a) has the following length of various links:

O2O4 = 80 mm, O2B = 330 mm, BC = 500 mm, O4C = 400 mm, O2G2 = 200 mm, BG3 = 250
mm, O4G4 = 200 mm. The masses of links are: m2 = 2.2 kg, m3 = 2.5 kg, m4 = 2 kg. The
moment of inertia links about their C.G. are l2 = 0.05 kg · m2, l3 = 0.07 kg · m2. l4 = 0.02
kg · m2.

The crank O2B rotates at 100 rad/s. Neglecting gravity effects, determine the forces in the
joints and the input torque.

Solution

The mechanism has been drawn in Fig.11.23(a) to a scale of 1 cm = 100 mm. ω2 = 100 rad/s. vb =
100 × 0.33 = 33 m/s. The forces acting on the various links have been shown in Fig.11.23(b). Draw
the velocity diagram as shown in Fig.11.23(c) to a scale of 1 cm = 10 m/s. vc = 25 m/s. vcb = 26 m/s.
Fig. 11.23 Dynamic force analysis of four-bar chain

Draw the acceleration diagram, as shown in Fig.11.23 (d to a scale of 1 cm = 500 m/s2). o2b =
6.6 cm, bc = 2.8 cm, O4C = 8.4 cm.
Acceleration of G2,

fG2 = o2G = 4 × 500 = 2000 m/s2

Acceleration of G3,

fG3 = o2G = 7.4 × 500 = 3700 m/s2

Acceleration of G4,

Inertia force,

f2 = −F2
F3 = m3 fG3 = 2.5 × 3700 = 4550 N

Inertia force,

f3 = −F3
T3 = I3 α3 = 0.07 × 500 = 35 N m (ccw)

Inertia torque,
t3 = −T3 = 35 N m (cw)
F4 = m4 fG4 = 2 × 2100 = 4200 N

Inertia force,

f4 = −F4
T4 = I4 α4 = 0.02 × 9750 = 195 N m (ccw)

Inertia torque,

The forces and perpendicular distances are shown in Fig.11.23(e).

a = 230 mm, b = 150 mm, d = 90 mm, e = 490 mm

Taking moments about B, we have

Draw the force polygon for link BC, as shown in Fig.11.23(f).

F23 = 6500 N
F32 = −F23
F12 = F32
The resultant of f2 and F32 has been obtained in Fig.11.23(f) and is equal to f2 F32 = 8600
N.

T = −(f2 F32)c
= −8600 × 0.13 = −1118 N m (cw)

Torque exerted by the crankshaft on crank O2B, T2 = −T = 1118 N m (ccw)

Now draw the force polygon for the whole mechanism, as shown in Fig.11.23(g).

F14 = 5600 N

Example 11.9
The slider crank mechanism of a single cylinder diesel engine is shown in Fig.11.24(a). A gas
force P = 17800 N acts to the left through piston pin C. The crank rotates counter-clockwise
at a constant speed of 1800 rpm. Determine (a) the force F14 and F12 and the
torque T2 exerted by the crankshaft on the crank for equilibrium and (b) the magnitude and
direction of the shaking force and its location from point O2. O2B = 75 mm, O2G2 = 50
mm, BC = 280 mm, BG3 = 125 mm, m2 = 2.25 kg, m3 = 3.65 kg, m4 = 2.75 kg, I2 = 0.0055 kg ·
m2, I3 = 0.041 kg · m2.

Solution

The forces acting on the various links have been shown in Fig.11.24(b).

Draw the velocity diagram to a scale of 1 cm = 2 m/s, as shown in Fig.11.24(c).

vcb = bc = 3.7 cm = 7.4 m/s

vc = o2c = 0.7 cm = 2.4 m/s

Draw the acceleration diagram to a scale of 1 cm = 500 m/s2, as shown in Fig.11.24(d).

Fig. 11.24 Dynamic force analysis of slider-crank chain

fG3 = o2G = 3.4 cm = 1700 m/s2, fG2 = o2G = 3.55 cm = 1775 m/s2
FG4 = fc = 1050 m/s2
F2 = m2 fG2 = 2.25 × 1775 = 3993.75 N, f2 = −F2
F3 = m3 fG3 = 3.65 × 1700 = 6205 N, f3 = −F3
F4 = m4 fG4 = 2.75 × 1050 = 2997.5 N, f4 = −F4

a = 272.5 mm, b = 52.5 mm, d = 65 mm, e = 67.5 mm, c = 35 mm, s = 17.8 mm

ΣMB = 0 gives
F14 × a − P × d + f3 × b + f4 × d = 0

Draw the force diagram as shown in Fig.11.24(e).

F23 = 6.5 cm = 13000 N, F32 = −F23

F12 = −7.1 × 2000 = −14200 N
T = −F12 × e = −14200 × 0.0675 = −958.5 N m (ccw)
Input torque on O2B, T2 = −T = 958.5 N m (cw)

Shaking force,
Fs = 6.1 × 2000 = 12200 N
Fs × s = f3 × c

Example 11.10
For the reciprocating engine mechanism in Figure 11.25(a), the following data is given:

Length of crank is 7.5 cm, Length of connecting rod is 28 cm, Distance of centre of gravity
(C.G.) of link 2 from main bearings is 5 cm, Distance of centre of gravity of link 3 from crank
pin is 12 cm, Crank angle from line of stroke is 60°, Crank speed is 2000 rpm counter-
clockwise, Mass of link 2 is 2.5 kg, Mass of link 3 is 4 kg, Mass of link 4 is 3 kg, Mass
moment of inertia of link 2 is 60 kg · cm2 and mass moment of inertia of link 3 is 500 kg ·
cm2. Make a complete inertia force analysis.

Solution

Given:

r = 7.5 cm, l = 28 cm, O2G2 = 5 cm, BG3 = 12 cm, θ = 60°, N2 = 2000 rpm ccw, m2 = 2.5
kg, m3 = 4 kg, m4 = 3 kg, I2 = 60 kg · cm2, I3 = 500 kg · cm2

Let force on the piston, P = 20 kN to the left (not given in the data)

The forces acting on the various links have been shown in Fig 11.25(b).

vb = O2B × ω = 0.075 × 209.44 = 15.71 m/s

Draw the velocity diagram to a scale of 1 cm = 2 m/s, as shown in Fig.11.25(c).

vcb = bc = 4.1 cm = 8.2 m/s

vc = o2c = 7.8 cm = 15.6 m/s

Draw the acceleration diagram to a scale of 1 cm = 300 m/s2, as shown in Fig.11.25(d).

F2 = m2fG2 = 2.5 × 2190 = 5475 N, f2 = −F2
F3 = m3fG3 = 4 × 2160 = 8640 N, f3 = −F3
F4 = m4fG4 = 3 × 1290 = 3870 N, f4 = −F4

a = AC = 275 mm, b = 45 mm, d = 65 m, e = 66.25 mm

ΣMB = 0 gives
F14 × a − P × d + f3 × b + f4 × d = 0

Draw the force diagram as shown in Fig.11.25(e).

F23 = 6.9 cm = 13800 N, F32 = −F23

F12 = −7.9 × 2000 = −15800 N
T = F12 × e = −15800 × 0.06625 = −1046.75 N m (ccw)
Torque on link O2B, T2 = −T = 1046.75 N m (cw)
Fig. 11.25 Dynamic force analysis of slider-crank machanism

11.3.5 Static and Inertia Force Analysis of Shaper Mechanism

Consider the shaper mechanism shown in Fig.11.26(a), where the link 2 rotates with
constant velocity ω2 and the force P is known on the slider 6. We are interested to determine
the forces at all the points and the torque T2 exerted by the shaft to drive the crank. The
acceleration diagram is shown in Fig.11.26(b).
The force analysis is started with link 6, shown in Fig.11.26(c). The unknowns are:
magnitude of F16, magnitude and direction of F56. The horizontal component of F56 is F and
its magnitude can be found from the summation of horizontal forces on link 6.

In Fig.11.26(d), F = −F . The magnitude of F can be found by summation of moments

about C. Then from a force polygon for link 5, the magnitude and direction of F45 are found.
Next, in Fig.11.26(e), F54 = −F45 is known. There are four unknowns in Fig.11.26(e): the
magnitude and direction on F14 and the magnitude and location of F34. For link 3 shown
in Fig.11.26(f), there are also four unknowns: F23 in magnitude and direction and F43 in
magnitude, which is perpendicular to link 4. However, for the combination of links 3 and 4,
there are six unknowns that can be analyzed in combination. From the free body of link 3 we
see that F23 causes no torque about the centre of mass B3 and thus F43 must be of such a
magnitude as to balance the forces and its line of action must be displaced from B3 and a
torque about B3 sufficient to balance the inertia torque. This is shown in Fig.11.26(g). The
equal and opposite force and torque on link 4 as shown in Fig.11.26(h) makes the free body
of link 4 with three unknowns. The magnitude of F34 can be found by setting the sum of the
moments about O4 equal to zero. F14 can then be found from a force polygon for link 4.
Fig. 11.26 Static and inertia force analysis of shaper mechanism

We replaced F43 in Fig.11.26(f) with the force F43 and T43, which are shown in Fig.11.26(g).
Thus in Fig.11.26(f),

F43a = T43 = I3α3

or

F23 can now be determined from a force polygon for link 3. The free body diagram of link 2 is
shown in Fig.11.26(i) and F32 = −F23. F12 can be determined from a force polygon on link 2.
Finally, by summing moments about O2, the torque T2 can be determined.

Example 11.11
The value of force applied to slider in a four-bar mechanism shown in Fig.11.27(a) is 4 kN.
Determine the forces in various links and driving torque T2.

Fig. 11.27 Static force analysis of a slider-crank mechanism

Solution
The free-body diagrams of links are shown in Fig.11.27(b).

There are three forces acting on link 4.

1. F = 4 kN towards left, which is known as magnitude and direction.

2. F34 acting along AB whose magnitude is unknown.
3. F14 acting perpendicular to OB whose magnitude is unknown.

Draw the force polygon for member 4 as shown in Fig.11.27(c).

1. Draw Oa = F = 4 kN to a scale of 1 cm = 0.5 kN

2. Draw ab perpendicular to OB and ob parallel to ab to intersect at b.

Then

F14 = ab = 1.3 cm = 0.65 kN

F34 = bO = 8.1 cm = 4.05 kN
h = 3.8 cm

Now

F34 = F43 = F23 = F32 = F21 = F12

T = F32 × h = 4.05 × 3.8 = 153.9 N m (ccw)
T2 = −T = 153.9 N m (cw)

Example 11.12
In the four-bar mechanism shown in Fig.11.28(a), determine the force acting perpendicular
to link 2 passing through its midpoint.

O2O4 = 25 cm, O2A = AB = O4B = 10 cm, AC = BD = 5 cm.

Solution

Draw the configuration diagram as shown in Fig.11.28(a) to a scale of 1 : 2.5. All links are three
force members.
First consider link 4 as shown in Fig.11.28(b).
Draw a line through O4 parallel to Q. By measurement, a = 1.1 × 2.5 = 2.75 cm F34 force is resolved
into and

For the link 3, as shown in Fig.11.28(c), draw lines parallel to , and P through A. Then

b = 2.2 × 2.5 = 5.5 cm

c = 3.1 × 2.5 = 7.75 cm
d = 1.5 × 2.5 = 3.75 cm
ΣMA = 0 gives
Fig. 11.28 Static force analysis of a four-bar mechanism

Draw the force polygon shown in Fig.11.28(d).

F23 = co = 2.6 cm = 520 N

F32 = −F23

Lines of action of F and F32 meet at G. Join O2G. Then O2G is the line of action of F12. Draw
force polygon for link 2 (Fig.11.28). Then F = bo = 2.5 cm = 500 N, F12 = 4.3 cm = 860 N.

Example 11.13
The crank of a four-bar mechanism shown in Fig.11.29(a) is balanced and rotating in anti-
clockwise direction at a constant angular speed of 200 rad/s. The particulars of the
mechanism are: O2A = 50 mm, AB = 450 mm, AG3 = 225 mm, O4B = 200 mm, O4G4 = 100
mm, O2O4 = 350 mm, W3 = 1.2 kg, W4 = 3 kg, I3 = 68.6 kg · cm2, I4 = 55 kg ·
cm2. G3 and G4 are mass-centres of links 3 and 4, W3, W4 their respective masses
and I3, I4 their respective mass moment of inertia about their mass centres. For the given
angular position of the crank 2, draw velocity and acceleration diagrams and find the
angular accelerations of links 3 and 4. Determine also the forces acting at the pin-
joints A, B and the external torque which must be applied to link 2. Ignore the gravitation
effects.

Solution

ω = 200 rad/s
va = O2A × ω = 0.05 × 200 = 10 m/s

Draw the velocity diagram as shown in Fig.11.29(b).

Draw the acceleration diagram as shown in Fig.11.29(c).

Fig. 11.29 Dynamic force analysis of four-bar chain

aG = AG3 × ab/AB = 225 × 2.368/450 = 1.184 cm

fG3 = o2G = 9.8 cm = 1960 m/s2, fG4 = o4G = 4.85 cm = 970 m/s2
F3 = m3fG3 = 1.2 × 1960 = 2352 N, f3 = −F3
F4 = m4fG4 = 3 × 970 = 2910 N, f4 = −F4
T3 = I3 α3 = 0, t3 = −T3 = 0
T4 = I4 α4 = 55 × 10−4 × 7200 = 39.6 N m (cw), t4 = −T4 ccw
h3 = t3/f3 = 0, h4 = t4/f4 = 39.6/2910 = 13.6 mm
a = 65 mm, b = 345 mm, c = 290 mm, d = 225 mm, e = 40 mm
ΣMO4 = 0 gives
× BO4 = f4 × a
 = 2910 × 65/200 = 945.75 N, =−
ΣMA = 0 gives
×b− × c + f3 × d = 0
= (945.75 × 345 + 235 × 225)/290 = 2950 N, =−

Draw the force diagram as shown in Fig.11.29(d).

F23 = 3500 N, F32 = −F23, F12 = −F32

T2 = F32 × e = 3500 × 0.04 = 140 N m (cw)
Torque exerted on O2 A = 140 N m (ccw)

Example 11.14
The lengths of the links of a four-bar chain shown in Fig.11.30(a) are: AB = 60 mm, BC =
180 mm, CD = 110 mm, and AD = 200 mm. Link AD is fixed and AB turns at a uniform
speed of 180 rpm ccw. The mass of link BC is 2.5 kg, its centre of gravity is 100 m
from C and its radius of gyration about an axis through the centre of gravity is 75 mm. The
mass of link CD is 1.5 kg, its centre of gravity is 40 mm from C and its radius of gyration
about an axis through D is 80 mm. When BA is at right angles of AD and B and C lie on
opposite sides of AD, find the torque on AB to overcome the inertia of the links and the
forces which act on the pins at B and C. Neglect gravity effects.

Solution

ω = 2π × 180/60 = 18.85 rad/s

vba = AB × ω = 0.06 × 18.85 = 1.13 m/s

Draw the velocity diagram as shown in Fig.11.30(b).

vcb = bc = 4.1/5 = 0.82 m/s, vcd = dc = 3.8/5 = 0.76 m/s

= /AB = (1.13)2/0.06 = 21.28 m/s2
= /BC = (0.82)2/0.18 = 3.735 m/s2
= /CD = (0.76)2/0.11 = 5.25 m/s2

Draw the acceleration diagram as shown in Fig.11.30(c).

= c′c = 3.8 cm = 19 m/s2, fcb = bc = 3.9 cm = 19.5 m/s2

fcd = cd = 4 cm = 20 m/s2, = c″c = 3.8 cm = 19 m/s2
Fig. 11.30 Dynamic force analysis of a four-bar chain

α3 = /BC = 19/0.18 = 105.5 rad/s2 (cw),

α4 = /CD = 19/0.11 = 172.7 rad/s2 (cw)
cG′4 = CG4 × cd/CD = 40 × 4/110 = 1.45 cm
bG′3 = BG3 × bc/BC = 80 × 3.9/180 = 1.73 cm
dG′4 = 4 −1.45 = 2.55 cm fG3 = aG′3 = 3.7 cm = 18.5 m/s2, fG4 = dG′2 = 2.55 cm = 12.75 m/s2
F3 = m3fG3 = 2.5 × 18.5 = 46.25 N, f3 = −F3
F4 = m4fG4 = 1.5 × 12.75 = 19.125 N, f4 = −F4
I3 = m3K23 = 2.5 × (0.075)2 = 0.014 kg · m2
I4 = m4K24 = 1.5 × (0.082 −0.072) = 0.00 2 25 kg · m2
T3 = I3 α3 = 0.014 × 105.5 = 1.477 N m (cw), t3 = −T3 ccw
T4 = f4 α4 = 0.00225 × 172.7 = 0.388 N m (cw), t4 = −T4 ccw
h3 = t3/f3 = 1.477/46.25 = 32 mm, h4 = t4/f4 = 0
a = 44 mm, b = 56 mm, c = 40 mm
ΣMD = 0 gives
× CD = f4 × a
 = 19.125 × 44/110 = 7.65 N, =−
ΣMB = 0 gives
× BC = f3 × b
= 46.25 × 56/180 = 14.4 N, =−

Draw the force diagram as shown in Fig 11.30(d).

F23 = 37 N, F32 = −F23, F12 = −F32

T2 = F32 × c = 37 × 0.04 = 1.48 N m (cw)
Torque exerted on AB = 1.48 N m (ccw)

Example 11.15
The crank of a four-bar chain shown in Fig.11.31 is rotating at a speed of 24 rad/s in a
clockwise direction. The particulars of the chain are: O2A = 75 mm, AB = 250 mm, O4B =
250 mm, AG3 = 125 mm, O2G4 = 150 mm, BC = 130 mm, m2 = 4.5 kg, m3 = 2 kg, m4 = 4
kg, I2 = 0.025 kg · m2, I3 = 0.008 kg · m2, I4 = 0.035 kg · m2. The mass moment of inertias are
about the respective mass centres. Determine the forces acting the pin-joints A, B and the
external torque, which must be applied to link 2. Ignore the gravitation effects.

Solution

ω2 = 24 rad/s
va = AB × ω2 = 0.075 × 24 = 1.8 m/s

Draw the velocity diagram as shown in Fig.11.31(b)

vcb = bc = 1.6 cm = 0.8 m/s, vc = o4c = 3.1 cm = 1.55 m/s,

vba = ab = 1.9 cm = 0.95 m/s, vb = o4b = 3.1 cm = 1.55 m/s
vG4 = o4G4 = 1.8 cm = 0.9 m/s

Draw the acceleration diagram as shown in Fig.11.31(c).

= v2a/O2A = (1.8)2/0.075 = 43.2 m/s2, = /AB = (0.95)2/0.25 = 3.61 m/s2

= v2b/O4B = (1.55)2/0.25 = 9.61 m/s2, fnc = v2c/O4C = (1.55)2/0.25 = 9.61 m/s2
= /BC = (0.8)2/0.13 = 4.92 m/s2, fnG4 = v2G4/O4G4 = (0.9)2/0.15 = 5.4 m/s2
o4G′4 = O4G4 × o4d/O4D = 150 × 2.5/250 = 1.5 cm, fG4 = 1.5 × 10 = 15 m/s2
= b′b = 4.6 cm = 46 m/s2 , fba = ab = 4.7 cm = 47 m/s2
 = b″b = 2.4 cm = 24 m/s2, fb = o4b = 2.6 cm = 26 m/s2
α3 = /AB = 46/0.25 = 18.4 rad/s2 (ccw), α4 = /O4B = 24/0.25 = 96 rad/s2 (cw)
aG′3 = AG3 × ab/AB = 125 × 4.7/250 = 2.35 cm, fG3 = o2G′3 = 2.5 cm = 25 m/s2
F2 = 0
Fig. 11.31 Dynamic force analysis of a four-bar chain

F3 = m3fG3 = 2 × 25 = 50 N, f3 = −F3
F4 = m4fG4 = 4 × 15 = 60 N, f4 = −F4
T3 = I3α3 = 0.008 × 184 = 1.472 N m (ccw), t3 = −T3 cw
T4 = I4α4 = 0.035 × 96 = 3.36 N m (cw), t4 = −T4 ccw
h3 = t3/f3 = 1.472/50 = 29 mm, h4 = t4/f4 = 3.36/60 = 56 mm
a = 195 mm, b = 35 mm, e = 60 mm
ΣMO4 = 0 gives
× O4B = f4 × a
= 60 × 195/250 = 46.8 N, =−
ΣMa = 0 gives
× BC = f3 × b
= 50 × 35/250 = 7 N, =−

Draw the force diagram as shown in Fig.11.31(d).

F23 = 93 N F32 = −F23, F12 = F32

T2 = F32 × e = 93 × 0.06 = 5.58 N m (cw)

Torque exerted on AB = 5.58 N m (ccw)

Draw the force polygon for the mechanism as shown in Fig.11.31(e).

F14 = 12 N

Summary for Quick Review

1. Forces acting on the system from outside are called applied forces.
2. A member under the action of two forces shall be in equilibrium if the forces are of the same
magnitude, act along the same line, and are in equilibrium.
3. A member under the action of three forces shall be in equilibrium if the resultant of the forces
is zero and the lines of action of the forces intersect at a point, i.e. the forces are concurrent.
4. A member under the action of two forces and an applied torque shall be in equilibrium if the
forces are equal in magnitude, parallel having different lines of action and opposite in sense, i.e.
form a couple which is equal and opposite to the applied torque.
5. The force exerted by a member i on another member j is represented by Fij.
6. A force unknown in magnitude and known in direction is represented by a solid line without an
arrow.
7. A force unknown in magnitude and direction is represented by a wavy line.
8. A free body diagram is a diagram of a link isolated from the mechanism showing both active
and reactive forces acting on it.
9. The principle of superposition states that if a number of forces act on a system the net effect is
equal to the superposition of the effects of the individual forces taken one at a time.
10. A linear system is one in which the output force is directly proportional to the input force. The
principle of superposition holds good for a linear system.
11. D’Alembert’s principle can be used to convert a dynamic system into an equivalent static
system.
12. Equivalent offset inertia force accounts for both inertia force and inertia couple. This is
obtained by displacing the line of action of the inertia force from the centre of mass.
 Multiple Choice Questions

1. The forces generally considered in the design of mechanisms are:

1. applied forces
2. inertia forces
3. frictional forces
4. all of them.
2. A pair of action and reaction forces acting on a body are called
0. applied forces
1. inertia forces
2. frictional forces
3. constraint forces.
3. For the static equilibrium of planar mechanisms
0. ΣFx = 0
1. ΣFy = 0
2. ΣM0 = 0
3. all of the above.
4. If the resultant of forces acting on a body does not pass through the centre of mass, then the
inertia force and inertia couple is replaced by

0. Equivalent inertia force

1. equivalent inertia couple
2. Equivalent offset inertia force
3. equivalent offset inertia couple

Answers

1. (d)
2. (d)
3. (d)
4. (c)

Review Questions

1. State the conditions of static equilibrium.

2. State the principle of superposition.
3. State the D’Alembert’s principle.
4. What is equivalent offset inertia force?
5. What is inertia force?
6. Which do you mean by a static force?
7. What is an applied force?
 8. State the conditions for the equilibrium of a body under the following system of loading. (a)
Two forces, (b) three forces, and (c) two forces and a torque.

Exercises

11.1 A four-bar mechanism shown in Fig.11.32 is subjected to a force of 2 ∠ 60° k N of link

CD. The dimensions of the various links are:

Fig. 11.32 Four-bar mechanism

AB = AD = 300 mm, BC = 450 mm, CD = 400 mm, CE = 150 mm.

Calculate the required value of torque to be applied to link AB for static equilibrium of
the mechanism.
11.2 A four-bar mechanism shown in Fig.11.33 is subjected to a force as shown. The
dimensions of the various links are:

Fig. 11.33 Four-bar mechanism

AB = CD = 200 mm, BC = 300 mm, AD = 400 mm, CE = 100 mm.

Calculate the input torque to link AB for the static equilibrium of the mechanism.
11.3 A four-bar mechanism shown in Fig.11.34 is subjected to torques T3 = 50 N m and T4 =
60 N m. The dimensions of the various links are:
Fig. 11.34 Four-bar mechanism

AB = CD = 400 mm, BC = 800 mm, AD = 1000 mm

Calculate the input torque to link CD for the static equilibrium of the mechanism.
11.4 A slider crank mechanism is loaded as shown in Fig.11.35. AB = 400 mm, BC = 600
mm, AD = 200 mm, CE = 300 mm. Calculate the input torque for the static equilibrium of
the mechanism.

Fig. 11.35 Slider-crank mechanism

11.5 The lengths of crank and connecting rod of a slider crank mechanism are 40 mm and
100 mm, respectively. It is subjected to piston force of 2000 N. Determine the required
input torque on the crank for the static equilibrium.
11.6 A four-bar mechanism is loaded as shown in Fig.11.36. AB = CD = 300 mm.
BC = 250 mm, AE = CG = 150 mm, BF = 100 mm, AD = 500 mm

Fig. 11.36 Four-bar mechanism

Determine the magnitude of force F.

11.7 A slider-crank mechanism shown in Fig.11.37 is subjected to piston load of 1 kN, AB =
250 mm, BC = 600 mm. Determine the input torque to link AB for the static equilibrium of
the mechanism.
Fig. 11.37 Slider-crank mechanism

11.8 A slider-crank mechanism shown in Fig.11.38 is subjected to piston load of 3 kN and a

force 1 ∠ 45° kN or link BC.

Fig. 11.38 Slider-crank mechanism

AB = 300 mm, BC = 750 mm, BD = 300 mm.

Determine the input torque to link AB for the static equilibrium of the mechanism.