Solutions to Chapter 3 Exercise Problems

Problem 3.1

In the figure below, points A and C have the same horizontal coordinate, and ω3 = 30 rad/s.
Draw and dimension the velocity polygon. Identify the sliding velocity between the block and
the slide, and find the angular velocity of link 2.

ω3 B3 , B4
3
A
45˚
AC = 1 in
2 BC = 3 in
r = 2.8 in
C

Position Analysis: Draw the linkage to scale.

AC = 1 in
2 in BC = 3 in

B
3 Velocity Polygon
Ov
45.0°
A 30 in/sec

C
b 2 , b4

b3

Velocity Analysis:

1
v B3 = 1vB 3 / A 3 = 1ω 3 × rB 3 / A 3 ⇒ 1 vB 3 = 1 ω3 rB 3 / A 3 = 30(2.2084) = 66.252 in / sec

1
v B4 =1 v B2 = 1v B3 + 1vB4 / B3 (1)

- 33 -
1
v B2 = 1v B2 / C2 = 1ω 2 × rB2 / C2

Now,
1
v B3 = 66.252in / sec in the direction of rB / A

1
v B2 = 1ω 2 × rB / C (⊥ to rB / C )

1
v B4 / B3 is on the line of AB

Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1
v B4 / B3 = 15.63in / sec

Also,
1v
1 B2 / C 2 68.829
ω2 = = = 22.943 rad / sec
rB / C 3

From the directions given in the position and velocity polygons

1
ω 2 = 22.943 rad / sec CW

- 34 -
Problem 3.5

Determine the velocity and acceleration of point B on link 2.

3 in

2
Y B
3

ω 4 = 1 rad/s

α4 = 0 30˚
4

X
A

Position Analysis

Draw the mechanism to scale.

Velocity Analysis
rB /A = 3/ cos30Þ= 3.4641

The velocity of B2 is given by

` 1vB2 /A1 = 4vB2 / A1 + 1ω 4 × rB /A (1)

and
1ω 4 × rB/ A = 1⋅3.4642 = 3.4642 ( ⊥ to rB/ A in the direction indicated by the cross product)

The direction for the velocity 1vB2 /A1 must be vertical. Equation (1) can be solved for the
unknowns. From the polygon,
1vB /A
2 1 = 4.0278 in / sec ↑
4 vB / A
2 1 = 2.0148 in / sec

Acceleration Analysis

The acceleration of B2 is given by

- 44 -
 1aB /A
2 1 = 4aB2 / A1 + 1α 4 × rB/ A + 1 ω 4 × ( 1ω4 × rB/ A ) + 2 1ω4 × 4vB2 / A1 (2)

2
B
3

4
b'2
b'2

Velocity Scale
2 in/sec

Acceleration Scale
2 in/sec 2 Ov
o'

The individual vectors are:

1ω 4 × ( 1ω4 × rB/ A ) = (1)2 ⋅ 3.4642 = 3.4642 in/sec2 (opposite to rB/ A )

1α 4 × rB/ A = 0 × rB/ A = 0

2 1ω4 × 4vB2 / A1 = 2(1)2.0148 = 4.0296 in / sec2 (⊥ to 4 vB2 / A1 in the direction up and to left)

1α 4 × rB /A (vector ⊥ to rB/ A )
4 aB / A (vector along the slot)
2 1

Equation (2) has only two unknowns and can be solved. From the polygon, the acceleration of
B2 is 4.666 in/sec2 upward

- 45 -
Problem 3.6

If 1ω2 = 100 rad/s CCW, find 1ω6.

E (2.0", 6.0")

Y C
AB = 1.2"
BC = 6.0"
CD = 3.0" 3
AD = 4.0" 4
BF = 3.0" ω2 F
5

A D
B X
2

Position Analysis

Draw the linkage to scale.

- 46 -
Velocity Analysis

1
v B2 = 1 v B2 / A2 = 1ω2 × rB / A ⇒ 1 v B2 = 1ω2 rB / A = 100(1.2) = 120 in/s (1)
1
v C3 = 1 v B3 + 1 v C3 / B3 = 1 v B2 + 1ω3 × rC / B

1
v C4 = 1 v D4 + 1 v C4 / D4 = 0 + 1ω4 × rC / D

1
v F6 = 1 v F5 + 1 v F6 / F5

1
v F6 = 1 v E6 + 1 v F6 / E6 = 0 + 1ω6 × rF / E

- 47 -
Now,

1
v B2 = 120 in/s (⊥ to rB / A )

1
v C3 / B3 = 1ω3 × rC / B (⊥ to rC / B )

1
v C4 / D4 = 1ω4 × rC / D (⊥ to rC / D )

1
v F6 / F5 ( // to rE / F )

1
v F6 / E6 = 1ω6 × rF / E (⊥ to rF / E )

Solve Eq. (1) graphically with a velocity polygon.

- 48 -
To find the point “ f3 ” construct the velocity image by

BC : BF = bc : bf

and
1
v F3 = 1 v F5

From the polygon,

1
v F6 / E6 = 25.2 in / sec

and

1
v F6 / E6 25.2
1
ω6 = = = 5.54 rad / sec CW
rF / E 4.549

- 49 -
Problem 3.7

If ω2 = 50 rad/s CCW, find the velocity of point G5.

3 AB = 1.16"
C BC = 0.70"
4 E CD = 1.45"
B
DE = 1.16"
32˚ 5 AD = 1.30"
DF = 1.30
2 75˚ EG = 2.20"

A D F
6
ω2
G

Position Analysis

Draw the linkage to scale.

- 50 -
Velocity Analysis

1
v B2 = 1 v B2 / A2 = 1ω2 × rB / A ⇒ 1 v B2 = 1ω2 rB / A = 50(1.16) = 58 in/s (1)
1
v C3 = 1 v B3 + 1 v C3 / B3 = 1 v B2 + 1ω3 × rC / B

1
v C4 = 1 v C3 = 1 v D4 + 1 v C4 / D4 = 0 + 1ω4 × rC / D

1
v E4 = 1 v D4 + 1 v E4 / D4 = 0 + 1ω4 × rE / D

1
v G5 = 1 v E5 + 1 v G5 / E5 = 1 v E4 + 1ω5 × rG / E

1
v F5 = 1 v F6 + 1 v F5 / F6 = 0 + 1 v F5 / F6

Now,

1
v B2 = 58 in/s (⊥ to rB / A )

1
v C3 / B3 = 1ω3 × rC / B (⊥ to rC / B )

- 51 -
 1
v C4 / D4 = 1ω4 × rC / D (⊥ to rC / D )

1
v G5 / E5 = 1ω5 × rG / E (⊥ to rG / E )

1
v F5 / F6 ( // to rG / E )

Solve Eq. (1) graphically with a velocity polygon.

From the polygon,

- 52 -
 1
v C4 / D4 = 46 in / sec

and

1
v C4 / D4 46
1
ω4 = = = 31.72 rad / sec CCW
rC / D 1.45

To find the point “ g ” construct the velocity image by

EF : EG = ef 5 : eg

From the polygon,

1
v G5 = 32.5 in / sec

- 53 -
Problem 3.8

If ω2 = 5 rad/s CCW, find ω6.

E D
5

6 4
F A

AC = 1.0" 50˚
AB = 2.0" 2
BD = 4.0" 3
DE = 1.5" ω2
B
EF = 1.5"
AF = 4.1"

Position Analysis

Draw the linkage to scale.

- 54 -
 Velocity Analysis
1
v B2 = 1 v B2 / A2 = 1ω2 × rB / A ⇒ 1 v B2 = 1ω2 rB / A = 5(1) = 5 in/s (1)
1
v B4 = 1 v B3 + 1 v B4 / B3

1
v B4 = 1 v C4 + 1 v B4 / C4

Now,
1
v B2 = 5 in/s (⊥ to rB / A )

1
v B4 / C4 = 1ω4 × rB / C (⊥ to rB / C )

Solve Eq. (1) graphically with a velocity polygon.

rB / C = 1.33 in

From the polygon,

1
v B4 / C4 = 4.5 in / sec

and
1
v B4 / C4 4.5
1
ω4 = = = 3.38 rad / sec CW
rB / C 1.33

With the value of ω4

1
v D4 = 1 v C4 + 1 v C4 / D4 = 1ω4 × rC / D ⇒ 1 v D4 = 1ω4 rC / D = 3.38(3.88) = 13.12 in/s

1
v D5 = 1 v D4

1
v D5 = 1 v E5 + 1 v D5 / E5

1
v E6 = 1 v E5

1
v E6 = 1 v F6 + 1 v E6 / F6 = 0 + 1 v E6 / F6

- 55 -
 1
v D5 / E5 ( ⊥ to rD / E )

1
v E6 / F6 (⊥ to rE / F )

Solve graphically with a velocity polygon.

From the polygon,

1
v E6 / F6 = 15.4 in / sec

and
1
v E6 / F6 15.4
1
ω6 = = = 10.267 rad / sec CW
rE / F 1.5

- 56 -
Problem 3.13

In the mechanism below, the angular velocity of Link 2 is 2 rad/s CCW and the angular
acceleration is 5 rad/s2 CW. Determine the following: v B4 , v D 4 , ω 4 , aB4 , a D4 , α 4 , .

3 B

AC = 5.2 in
AB = 6.0 in
2 CD = 10.0 in

4
α2

ω2

75˚
A C

Position Analysis

Draw the mechanism to scale. Locate the pivots A and C. Draw link 2 and locate point B. Then
draw line CBD.

Velocity Analysis:
1vB
2 = 1vB3 = 1v B2 /A 2 = 1vB4 + 1vB2 / B4 (1)
1vB
4 = 1vB4 /C4

Now,
1vB /A
2 2 = 1ω2 × rB /A ⇒ 1vB2 /A 2 = 1ω 2 rB /A = 2⋅6 = 12 in / sec (⊥ to rB/ A )
1vB /C
4 4 = 1ω 4 × rB/ C ⇒ 1 vB4 /C4 = 1ω 4 rB /C (⊥ to rB/C )
1vB /B in the direction of rB/ C
2 4

Solve Eq. (1) graphically with a velocity polygon. From the polygon,

- 69 -
 d’4
b’4

Oa

1 at
1 ar B4 /C4
B4 /C4
D
4 a B /B
2 4

1a r
B2 /A2 Acceleration Scale
10 in/sec 2

3 B
5.44 in

E
2 1a
t 1ac
B2 /A2 B2 /B4

4
b’2

Velocity Scale
10 in/sec

b2
A C o

d4 b4
1vB
4 = 8.156 in / sec

or
1vB4 /C4
1ω4 = = 8.156 = 1.191rad / sec CCW
rB /C 6.8476

Also,
1vB /B
2 4 = 8.802 in / sec

Also,

- 70 -
 1vD
4 = 11.91 in / sec

Acceleration Analysis:
1aB
2 = 1aB3 = 1a B2 /A 2 = 1aB4 + 1aB2 / B4
1aB
4 = 1aB4 /C4

a rB2 /A 2 + 1a tB2 / A2 = 1a rB4 /C4 + 1a tB4 /C4 + 4 aB2 /B4 + 2⋅1ω4 × 4vB4 / C4 (2)

Now,
2
B2 / A2 = ω2 × ( ω2 × rB/ A ) ⇒ a B2 /A 2 = 1ω 2 ⋅ rB/ A = 22 ⋅ 6 = 24 in / sec2
1a r 1 1 1 r

r
in the direction opposite to B 2 / A 2
1at
B2 /A 2 = 1α2 × rB/ A ⇒ 1atB2 / A2 = 1α2 ⋅ rB /A = 5 ⋅ 6 = 30 in / sec2 (⊥ to rB /A )

2
B4 / C4= ω 4 × ( ω4 × rB/C ) ⇒ a B4 /C4 = 1ω 4 ⋅ rB /C = 1.1912 ⋅ 6.848 = 9.713 in / sec2
1a r 1 1 1 r

r
in the direction opposite to B 3 / C3
1at
B4 /C4 = 1α 4 × rB /C ⇒ 1atB4 /C4 = 1α 4 ⋅ rB/C (⊥ to rB/ C)

r
4 aB / B
2 4 in the direction of B4 / C4

2 ⋅1ω 4 × 4 vB2 /B4 = 2 ⋅1.191 ⋅8.802 = 20.966 in / sec2

Solve Eq. (2) graphically with an acceleration polygon. From the polygon,

B4 / C4= 23.75 in / sec

1a t 2

or
1at
1α 4 = B4 / C4
= 23.752 = 3.469 rad / sec2 CW
rB4 /C 4 6.8476

Also,
1aB
4 = 25.66 in / sec2

Also,

4=
1a D 37.47 in / sec2

- 71 -
To find the center of the curvature of the path that B4 traces on link 2, we must find an
expression which involves that the radius of curvature of the path. This term is 2 an B4 / B2 and it
can be evaluated from the following:
1a B / B = −1a B /B
2 4 4 2

therefore,

B2 / B4 = − a B4 /B2
1a t 1 t

and

B2 / B4 = − a B4 /B2
1a n 1 n

Also,
3 an
B2 /B4 + 2⋅1ω4 × 1vB2 /B4 =− 2 anB4 /B2 − 2⋅1ω2 × 1vB4 /B2 (3)

For our purpose, we should arrange Eq. (3) as

2 an
B4 / B2 = − (3anB2 / B4 + 2 ⋅1ω 2 × 1vB4 / B2 + 2 ⋅1ω4 × 1vB2 /B4 )

Now,
3 vn
B2 /B4
3 an = =0
B2 /B4 ∞

2 ⋅1ω 4 × 1vB2 / B4 = 2 ⋅ 1.191⋅ 8.802 = 20.97 in / sec2 (⊥ to DC) down and to the left.

2 ⋅1ω 2 × 1vB4 / B2 = 2⋅2 ⋅8.802 = 35.20 in / sec2 (⊥ to DC) up and to the right

Let E be the location of the center of curvature of B4 on link 2. If we choose up and to the right
as the positive direction,

1vB4 / B2 2
2 an B / B
4 2 = = −(35.20 − 20.97 + 0) = −14.24 in / sec2
rB/ E

Because 2 an B4 / B2 is negative, 2 an B4 / B2 points down and to the left which is the direction of E.
The magnitude of the distance is given by

1vB4 /B2 2
= 8.802 = 5.44 in
2
rB/ E =
14.24 14.24

The direction of E is shown on the drawing.

- 72 -
using velocity image theorem,
1v
rC/B = rD/B ⋅ 1 C3 /B3 = (3.1)⋅ 6.90 = 0.48 in
v D3 /B3 43.7

The location of C is shown on the following figure.

A 2
B
C'
3
C

4 6

5
D

Problem 3.19

The scotch-yoke mechanism is driven by crank 2 at ω2 = 36 rad/s (CCW). Link 4 slides

horizontally. Find the velocity of point B on Link 4.

ω2 2 3
CA = 2.0"
AB = 1.7"

45˚ 105˚
C 4
B

Position Analysis: Draw the linkage to scale.

- 89 -
 1 in Velocity Polygon
A
50 in/s
CA = 2.0"
2 AB = 1.7" a2, a3

45.0° 4 105.0°
C B

a4 Ov

Velocity Analysis:
1vA
2 = 1v A2 /C2 = 1ω2 × rA2 /C2 ⇒ 1vA2 = 1ω2 rA2 /C2 = 36 ⋅(2) = 72 in / s

1vA
3 = 1vA4 + 1vA3 /A4 (1)

1vA
3 = 1vA2

Now,
1vA2 = 72 in / s (⊥ to rA/C )

1vA / A is along the slider

3 4

1vA4 moves on a horizontal axis, and because 4 is a rigid body

1vA
4 = 1vB4

Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vA
4 = 1vB4 = 37.5 in / s

- 90 -
Problem 3.20

The circular cam shown is driven at an angular velocity ω2 = 15 rad/s (CW) and α2 = 100 rad/s2
(CW). There is rolling contact between the cam and the roller, link 3. Find the angular velocity
and angular acceleration of the oscillating follower, link 4.

3
4 E (3.0", 3.0")
D

AB = 1.22"
Y DE = 3.50"
BC = 2.00"
2 B CD = 0.50"
135˚
A X

Position Analysis:

Draw the linkage to scale. Note that because of rolling contact and because we are to find the
velocity and acceleration of link 4 only, we can model the system as a four-bar linkage. If we
were asked for the kinematic properties of link 3, we would have to model the system using
rolling contact directly.

Velocity Analysis:
1v
B2 = 1vB2 /A2 = 1ω2 × rB/A ⇒ 1vB2 = 1ω 2 rB/A = 15⋅(1.22) = 18.3 in / s

1v
B5 = 1vB2

1v
D5 = 1vB5 + 1vD5 /B5 (1)

1v
D5 = 1vD4 = 1ω 4 × rD/E ⇒ 1vD4 = 1ω 4 rD/E

Now,
1v
D5 /B5 = 1ω5 × rD/B (⊥ to rD/ B)

1v
D5 = 1ω 4 × rD4 /E4 (⊥ to rD/E)

Solve Eq. (1) graphically with a velocity polygon. The velocity directions can be gotten directly
from the polygon. The magnitudes are given by:

- 91 -
 3 D 4 Velocity Polygon
E d5 , d4 , d3 8 in/s
C
b2
5

B 135°
2
A

o' o

Acceleration Polygon
100 in/s 2
b'2
d'4

1v
1v
D5 /B5 = 11.4 in / s ⇒ 1ω 5 = D5 /B5
= 11.4 = 4.56 rad / s
rD/ B 2.5

From the directions given in the position and velocity polygons

1ω = 4.56 rad / s CCW
5

Also,
1vD /E
1v D4 /E4 = 14.6 in / s ⇒ 1ω 4 = 4 4
= 14.6 = 4.17 rad / s
rD/E 3.5

From the directions given in the position and velocity polygons

1ω4 = 4.17 rad / s CW

Acceleration Analysis:

For the acceleration analysis, use the same points in the same order as was done in the velocity
analysis.

- 92 -
 1a
B2 =1aB2 /A2 = 1aBr2 /A2 +1atB2 / A2

1a
B5 = 1aB2

1a
D5 = 1aB5 + 1aD5 / B5 = 1arB2 / A2 + 1aBt 2 /A2 + 1arD5 /B5 +1aDt 5 /B5

1a
D5 = 1aD4 = 1aD4 /E4 = 1arD4 /E4 + 1atD4 /E4

Therefore,
1ar
D4 /E4 + 1atD4 /E4 = 1arB2 /A2 + 1atB2 /A2 + 1arD5 /B5 +1atD5 /B5 (2)

Now,
1ar
B2 / A2 = 1ω2 2 ⋅ rB/A = 152 ⋅1.22 = 274.5 in / s2 in a direction opposite to rB /A .

r
1aD
4 /E4 = 1ω4 2 ⋅ rD/E = 4.172 ⋅3.5 = 60.8 in / s2 in a direction opposite to rD /E .

1ar
D5 /B5 = 1ω5 2 ⋅ rD/ B = 4.562 ⋅ 2.5 = 52.0 in / s2 in a direction opposite to rD /B .

1at
B2 / A2 = 1α2 × rB/A ⇒ 1atB2 /A2 = 1α2 ⋅ rB /A = 100⋅1.22 = 122 in / s2 (⊥ to rB/A)

1at
D4 /E4 = 1α4 × rD/E ⇒ 1atD4 /E4 = 1α4 ⋅ rD/E (⊥ to rD/E)

1at
D5 /B5 = 1α5 × rD/B ⇒ 1atD5 /B5 = 1α5 ⋅ rD/B (⊥ to rD/B)

Solve Eq. (2) graphically with an acceleration polygon. The acceleration directions can be
gotten directly from the polygon. The magnitudes are given by:

1a t
1a t
D4 / E4 = 120.6 in / s2 ⇒ 1α 4 = D4 / E4
rD / E = 120.6
3.5 =34.5 rad / s
2

From the directions given in the position and acceleration polygons

1at
D4 /E4 =34.5 rad / s2 CCW

- 93 -
Problem 3.21

For the mechanism shown, assume that link 2 rolls on the frame (link 1) and link 4 rolls on Link
3. Assume that link 2 is rotating CW with a constant angular velocity of 100 rad/s. Determine
the angular acceleration of link 3 and link 4.

Y
4.0"
0.3"

BC = 1.0" B

3 122˚
C X

1.0" 4
A
2
0.5"

Position Analysis

Draw the linkage to scale. Start with link 2 and locate point A. Locate point C and draw link 4.
Then draw a line corresponding to the path of point C. Then locate point C and draw a circle
1.3" in radius. Draw a line from point A tangent to the circle centered at C. Then locate point B
on the radial line from the tangent point to C.

Velocity Analysis:

Find angular velocity of link 2,

1vA
2 = 1v A2 /D2 = 1vA3 = 1ω2 × rA/D

1vB
3 = 1vA3 + 1vB3 / A3 = 1vB4 = 1vB4 /C4 (1)

Now,
1v A
2 = 1ω2 rA/D = 100 ⋅0.5 = 50 in / s (⊥ torA /D)

1vB / A
3 3 = 1ω3 × rB/A ⇒ 1vB3 /A3 = 1ω3 rB/A (⊥ to rB/A)

1vB4 /C4 = 1ω4 × rB/C ⇒ 1vB4 /C4 = 1ω 4 rB/C (⊥ to rB/C )

- 94 -
 B

D
Acceleration Scale
100 in/sec 2
Velocity Scale b3
20 in/sec b4
1a r
o'
B3 /A3

1a t
B4 / C 4
o a3 1a t
c4 B3 / A3

Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vB / A
3 3 = 27.5 in / s

1vB /C
4 4 = 44.6 in / s

Then
1vB / A
1ω3 = 3 3
= 27.5 = 7.03 rad / s
rB/A 3.91

1vB /C
1ω4 = 4 4
= 44.6 = 44.6 rad / s
rB/C 1

To determine the direction of 1ω3 , determine the direction that rB/ A must be rotated to be
parallel to 1vB3 / A3 . This direction is clearly counterclockwise.

- 95 -
To determine the direction of 1ω4 , determine the direction that rB/ C must be rotated to be
parallel to 1vB4 /C4 . This direction is clearly clockwise.

Acceleration Analysis:
1aA
3 = 1aA2 = 1aD2 /D1 + 1aA2 /D2

Because of rolling contact on a flat surface,

1aD /D
2 1 = 1a nD2 /D1 =1a rD2 /A2

Also,
1aA /D
2 2 = 1a rA2 /D2 + 1a tA2 /D2

Combining the equations,

1aA
2 = 1a rD2 / A2 + 1a rA2 / D2 + 1a tA2 /D2 = 1a tA2 /D2 = 1α2 × rA/D = 0

Going to point B,
1aB
3 = 1aA3 + 1aB3 /A3 = 1aA3 + 1a rB3 /A3 + 1a tB3 / A3
also,
1aB
3 = 1aB4 + 1aB3 /B4 = 1aB4 /C4 +1aB3 /B4
Then,
1aB /C
4 4 + 1aB3 /B4 = 1aA3 + 1aB3 /A3

Expanding the terms,

B4 /C4 + a B4 /C4 + a B3 /B4 = aA3 + 1a rB3 /A3 + 1a tB3 /A3

1a r 1 t 1 n 1

Expanding 1a nB3 /B4 recognizing that there is rolling contact between a circle and flat surface, and
that 1aA 3 = 0,

B4 /C4 + a B4 /C4 + a C4 / B4= a B3 /A 3+ a B3 / A 3

1a r 1 t 1 n 1 r 1 t

which simplifies to

B4 / C4= a B3 / A3+ a B3 /A 3
1a t 1 r 1 t (3)
Now,
(
1a rB / A = 1ω3 × 1ω3 × rB/A
3 3 ) ⇒ 1a rB3 / A3 = 1ω3 2 ⋅ rB/ A = 7.042 ⋅3.91 = 194 in / s2

in the direction opposite to rB/A

B3 / A3= α3 × rB/A (⊥
1a t 1 to rB /A)

B4 /C4 = α 4 × rB/C
1a t 1 (⊥ to rB/C )

- 96 -
Solve Eq. (3) graphically with an acceleration polygon. From the polygon,
1at
B3 /A3 = 17.2 in / s2

1at
B4 /C4 = 194 in / s2
Then
1at
= 17.2 = 4.41 rad / s2
1α3 B3 / A3
=
rB/ A 3.91
and
1at
= 194 = 194 rad / s2
B4 / C4
1α 4 =
rB /C 1

To determine the direction of 1α3 , determine the direction that rB/A must be rotated to be parallel
to 1atB3 / A3 . This direction is clearly counterclockwise.

To determine the direction of 1α4 , determine the direction that rB/C must be rotated to be parallel
to 1atB4 / C4 . This direction is clearly counterclockwise.

Problem 3.22

For the mechanism shown, assume that link 4 rolls on the frame (link 1). If link 2 is rotating CW
with a constant angular velocity of 10 rad/s, determine the angular accelerations of links 3 and 4
and the acceleration of point E on link 3.

Y AB = 0.95"
300˚
BC = 3.25"
CD = 1.2"
A X BE = 1.2"
2 EC = 3.75"

B 4
C
2.45"

3
E
D
Position Analysis

Draw the linkage to scale. Start with link 2 and locate point B. Then draw a line corresponding
to the path of point C. Then locate point C and draw link 4. Then locate point E.

Velocity Analysis:

Find angular velocity of link 2,

1vB
2 = 1vB2 / A2 = 1vB3 = 1ω2 × rB/ A

- 97 -
Problem 3.26

In the mechanism shown below, link 2 is turning CW at the rate of 20 rad/s, and link 3 rolls on
link 2. Draw the velocity and acceleration polygons for the mechanism, and determine aC3 and
α3.

D
C
3 4

AB = 4.0"
BE = 2.8" E 10.0"
6.4"
EC = 4.0"
CD = 10"
B 2

30˚ A

Position Analysis

Draw the linkage by scale. Locate the relative positions of A and D. Locate point B and then
draw the circle arc centered at B. Locate point C by finding the intersection of a circle arc of 10
inches centered at D and a second circle of 6.8 inches centered at B. Finally draw the circle
centered at C and of radius 4.0 inches.

Velocity Analysis:

The equations required for the velocity analysis are:

1vE
2 = 1vE2 / A2

1vE
3 = 1vE2 + 1vE3 / E2

1vE
3 = 1vC3 + 1vE3 /C3 (1)

1vC
3 = 1vC4 =1vC4 / D4

Because 1vE3 / E2 = 0 , 1vE3 = 1vE2 and

1vE / A
2 2 =1 ω 2 × rE2 / A2 ⇒ 1vE2 / A2 = 1ω2 ⋅ rE/ A = 20 ⋅5.94 = 118.8 in / s (⊥ to rE/ A)

- 110 -
 1vE / C =1 ω 3 × rE / C ⇒ 1 vE3 / C3 = 1ω3 ⋅ rE3 /C3 (⊥ to rE3 /C3 )
3 3 3 3

1vC / D
4 4 =1 ω 4 × rC4 /D 4 ⇒ 1vC4 / D 4 = 1ω 4 ⋅ rC4 / D4 (⊥ to rC4 /D 4 )

Solve Eq. (1) graphically with a velocity polygon. From the polygon,

4 in
3 D
4

Acceleration Polygon
E 2000 in/s 2

2
1a r C t
E 3/ 3 1a C
4 / D4
B
1 a tE / C
3 3

Velocity Polygon 1 a nE 3 / E 2
100 in/s o'
r
1 a C /D
4 4
c3 b2 1a r / A
e3 E2 2
c’3
e '2

o
1vE /C
3 3 = 104 in / s
or
1vE / C
1ω 3 = 3 3
= 104 = 26.0 rad / s CCW
rE3 / C3 4
Also,
1vC / D
4 4 = 69.33 in / s
or
1vC / D
1ω 4 = 4 4
= 69.3 = 6.93 rad / s CW
rC4 / D4 10

- 111 -
Acceleration Analysis:

The equations required for the acceleration analysis are:

1aE
2 = 1aE2 / A2

1aE
3 = 1aE2 + 1aE3 / E2

1aE
3 = 1aC3 + 1aE3 / C3

1aC
3 = 1aC4 = 1aC4 / D4

E2 / A2 + aE3 / E2 =1 aCr 4 / D4 +1 aCt 4 / D4 +1 arE3 / C3 +1 atE3 /C3

1a r 1 n (2)
Now,
× (1ω2 × rE2 / A2 )⇒ 1a rE2 / A2 = 1ω 2 ⋅ rE2 / A2 = 202 ⋅5.94 = 2360 in / s2
2
1a rE / A = 1ω2
2 2

in the direction opposite to rE2 /A2

1an
E3 / E2 = 1aEn3 /C3 + 1aCn3 / B2 +1aBn2 / E2
2 2 2
1vE /C 1vC / B 1v B / E
= 104 − 48.3 + 56 = 3500 in / s2
2 2 2
1an
E3 / E2 = 3 3
− 3 2
+ 2 2
rE3 / C3 rC3 / B2 rB2 / E2 4 6.8 2.8

in the direction opposite to rE3 / C3

1a rC /D = 1ω4
4 4 × (1ω4 × rC4 /D4 )⇒ 1a Cr 4 /D4 = 1ω 4 2 ⋅ rC4 /D4 = 6.932 ⋅10 = 480 in / s 2

in the direction opposite to rC4 / D4

1at
C4 / D4 =1 α 4 × rC4 / D4 ⇒ 1atC4 /D 4 = 1α 4 ⋅ rC4 / D4 (⊥ to rC4 /D 4 )

(
1a rE /C = 1ω 3 × 1ω3 × rE3 / C3
3 3 ) ⇒ 1a rE3 / C3 = 1ω 3 2 ⋅ rE3 /C3 = 26.02 ⋅4 = 2700 in / s2

in the direction opposite to rE3 / C3

1atE / C
3 3 = 1α 3 × rE3 / C3 ⇒ 1atE3 / C3 = 1α 3 ⋅ rE3 /C3 (⊥ to rE3 / C3 )

Solve Eq. (2) graphically with an acceleration polygon. From the polygon,
1at
E3 /C3 = 770 in / s2
or
1aEt /C
1α 3 = 3 3
= 770 = 192 rad / s2
rE3 / C3 4

To find the direction, determine the direction that rE 3 /C3 must be rotated 90˚ to get the direction
of 1atE3 / C3 . The direction is clearly CCW.

- 112 -
Also from the polygon,
1aC
3 = 1290 in / s2

Problem 3.27

In the mechanism shown below, Link 2 is turning CW at the rate of 200 rpm. Draw the velocity
polygon for the mechanism, and determine vC3 and ω3.

D
C
3 4

AB = 1.0"
BE = 0.7" E
1.6" 2.5"
EC = 1.0"
CD = 2.5"
2 B
A
30˚

Position Analysis: Draw the linkage to scale.

D
4
C
AB=1.0" 10 in/sec
BE=0.7"
EC=1.0" c3 e2 e3
3 CD=2.5"
E

B
Velocity Polygon
30.0°

A
Ov

Velocity Analysis:

1ω2 = 200 2π = 20.94 rad / s

60
1vB
2 = 1vB2 / A2 = 1ω2 × rB2 / A2 ⇒ 1vB2 = 1ω 2 rB2 / A2 = 20.94 ⋅(1) = 20.94 in / s

- 113 -
 1vE
2 = 1vE2 / A2 = 1ω 2 × rE2 / A2 ⇒ 1vE2 = 1ω 2 rE2 / A2 = 20.94⋅(1.46) = 30.57 in / s

1vE
3 = 1vE2

1vC
3 = 1vE3 + 1vC3 / E3 (1)

Now,
1vE
3 = 30.57 in / s (⊥ to rE/ A)

1vC
3 = 1vC4 = 1ω4 × rC / D (⊥ to rC / D)

1vE /C
3 3 = 1ω3 × rE/ C (⊥ to rE /C ) tangent to two circles.

Solve Eq. (1) graphically with a velocity polygon. The velocity directions can be gotten directly
from the polygon. The magnitudes are given by:
1v E / C
1vE3 / C3 = 27 in / s ⇒ 1ω 3 = 3 3
= 27 = 27 rad / s
rE /C 1

From the directions given in the position and velocity polygons

1ω3 = 27rad / s CCW

Also, from the velocity polygon,

1vC3 = 18.29 in / s

- 114 -
Now,
1vD
4 = 4 in / s (⊥ to rD3 /C3 )

1vE / D
4 4 = 1ω4 ⋅ rE4 / D4 = 5⋅1.65 = 8.25 in / s (⊥ to rE4 / D4 )

1vE is in the vertical direction,

6

1vE / E is in the horizontal direction.

4 6

Solve Eq. (1) graphically with a velocity polygon. From the polygon
1vE
6 = 1.28 in / s in the direction shown on the polygon.

Problem 3.30

In the mechanism shown, ω2 = 10 rad/s. Determine vC3/C2 and vC3 using two approaches: 1)
Equivalent linkages and 2) Coincident points at C

ω2

225˚
2 3
B
A C
AB = 0.5"
AC = 1.0"

Solution (Equivalent Linkage)

The equivalent linkage is shown below. For the equivalent linkage, we need only find the
velocity and acceleration of point B2.

The velocity equations which must be solved are:

1vA
2 = 1v A2 / B2 = 1 ω2 × rA/ B
and
1vA
2 = 1v A3 + 1vA2 / A3 (1)

- 117 -
Here we have written the velocity equation in terms of the velocity of B2 relative to B3 rather
than vice versa because we can easily identify the direction of the velocity of B2 relative to B3.
We also know the direction for the velocity (and acceleration) of B3.

1vA
2 = 10(0.5) = 5 in / s (⊥ to AB)

1vA is along the slide direction between link 3 and the frame
3

1v A / A is along the slide direction between link 4 and link 3

2 3

From the velocity polygon,

1v = 3.61 in/s in the direction shown.
A3

1
ω2
B
2 3

A 4 C
a 2 ,a 4

a 3 ,c 3 o

Velocity Scale
5 in/s

c2
Solution (Direct Approach)

To analyze the problem, we can determine the velocity and acceleration of any point on link 3
because all points on link 3 have the same velocity and the same acceleration. The point to
choose is the contact point C3. To solve for the velocity and acceleration of C3, first find the
velocity of point C2. Then write the relative velocity expression between points C2 and C3 and
solve for the velocity of C3.

Velocity Analysis

The relevant equations are:

1vC
2 = 1vC2 / B2 = 1ω2 × rC/ B
and

- 118 -
 1vC
3 = 1 vC2 + 1vC3 /C2

1vC / B
2 2 = 10(0.737) = 7.37 in / s (⊥ to AC)

1vC is along the slide direction between link 3 and the frame
3

1vC / C is along the face of link 3

3 2

1
ω2
B
2 3

A C

o
c3

Velocity Scale
5 in/s

c2

From the velocity polygon,

vC3 = 35 in/s in the direction shown.

- 119 -
Problem 3.31

In the mechanism shown, ω2 = 20 rad/s CCW. At the instant shown, point D, the center of
curvature of link 3, lies directly above point E, and point B lies directly above point A.
Determine v C3 / C2 and ω3 using: 1) equivalent linkages and 2) Coincident points at C.

AB = 0.75"
BC = 1.5"

3 3.5"

2 Y C
E
B
ω2 1.2"
A X

3.0"

Position Analysis

Draw the linkage to scale. First locate pivots A and E. Then locate point B and draw link 2.
Next locate point D and draw link 3.

Solution (Equivalent Linkage)

The equivalent linkage is a fourbar linkage involving points A, B, D, and E. For the equivalent
linkage, we need only find the velocity of point B2.

The velocity equations which must be solved are:

1vB
2 = 1vB2 / A2 = 1 ω2 × rB/ A

1vD
x =1vBx + 1v Dx / Bx = 1vD3 = 1vE3 + 1 vD3 / E3

Where x is the imaginary link between points B and D. Simplifying and combining terms
1vD / E
3 3 = 1vB2 + 1vDx / Bx (1)

- 120 -
 D

C
2
E

c2 Velocity Scale
A
20 in/s

b2 o
d3 e3

c3

Now
1v B
2 = 1ω2 rB/ A = 20(0.75) = 15 in / s (⊥ to AB)

1vD / E = 1ω3 × rD/ E is perpendicular to DE

3 3

1vD / B is perpendicular to BD
x x

From the velocity polygon,

1vD / E
3 3 = 1vB2 = 15 in / s (⊥ to AB)

Therefore,
1vD3 /E3
1ω3 = = 15 = 4.28 rad / s
rD/E 3.5

To determine the direction of 1ω3 , determine the direction that we must rotate rD/ E 90˚ to get the
direction of 1vD3 / E3 . This is counterclockwise

To find 1vC3 /C2 , compute 1vC2 and 1vC3 and use

- 121 -
 1vC /C
3 2 = 1vC3 − 1vC2

Both 1vC2 and 1vC3 may be determined by velocity image (or computed directly). From the
polygon,
1vC /C
3 2 = 44.8 in / s

in the direction indicated by the polygon.

Solution (Direct Approach)

First find the velocity of point C2. Then write the relative velocity expression between points C2
and C3 and solve for the velocity of C3.

The relevant equations are:

1vC
2 = 1vC2 / A2 = 1ω2 × rC / A
and
1vC
3 = 1 vC2 + 1vC3 /C2 = 1vC3 / E3

Where
1vC2 /A2 = 20(2.158) = 43.16 in / s (⊥ to AC)

1vC / E is perpendicular to CE
3 3

1vC / C is along the tangent to the contact point (perpendicular to BD)

3 2

From the velocity polygon,

1vC /C
3 2 = 44.8 in / s
and
1vC / E
3 3 = 9.84 in / s

Therefore,
1vC3 /E3
1ω3 = = 9.84 = 4.28 rad / s
rC/E 2.30

To determine the direction of 1ω3 , determine the direction that we must rotate rC / E 90˚ to get the
direction of 1vC3 / E3 . This is counterclockwise

- 122 -
Problem 3.32

In the position shown, find the velocity and acceleration of link 3 using: 1) equivalent linkages
and 2) Coincident points at C

C
2
AB = 0.5"
3 BC = 1.1"
B

ω2 A 45˚

ω 2 = 100 rad/ s CCW

α 2 = 20,000 rad /s 2 CCW

Solution (Equivalent Linkage)

This problem is similar to Example 2.11 except for a nonzero value for the acceleration. The
equivalent linkage is shown below. For the equivalent linkage, we need only find the velocity
and acceleration of point B2.

Velocity Analysis

The velocity equations which must be solved are:

1v B
2 = 1 v B2 / A 2 = 1 ω 2 × rB / A
and
1v B
2 = 1 v B3 + 1v B2 / B3 (1)

Here we have written the velocity equation in terms of the velocity of B2 relative to B3 rather
than vice versa because we can easily identify the direction of the velocity of B2 relative to B3.
We also know the direction for the velocity (and acceleration) of B3.
1vB
2 = 100(0.5) = 50 in / s (⊥ to AB)
1vB is along the slide direction between link 3 and the frame
3

1v B /B is along the slide direction between link 4 and link 3

2 3

- 123 -
 C

3
B
4
2
Acceleration Scale
A 5,000 2
in/sec
o'
aB 3

Velocity Scale aBr 2 /A2

50
in/sec
o b'2
b2
3a
B2 /B3
b3 b'3

From the velocity polygon,

vB3 = 35 in/s in the direction shown.

Acceleration Analysis

The acceleration equations which must be solved are:

1aB
2 = 1aB2 / A 2 = 1a rB2 /A 2 + 1atB2 / A2 ,

1a B
2 = 1 a B3 +1 aB2 / B3 = 1 a B3 + acB2 / B3 + 3 aB2 / B3 ,
and
a cB2 / B3 = 2 1ω3 × 3 vB / B
2 3 =0

The Coriolis term is a function of velocities only and can be computed; however, Links 3 and 4
simply translate making 1ω3 = 0. Therefore, the acceleration expression becomes

1a B
2 = 1 aB
3+
3 aB / B
2 3

Therefore, the equation has only two unknowns (once 1aB2 is computed), and the equation can be
solved for 1aB3 and 3aB2/B3.

1ar
B2 / A2 = 1ω 2 2 rB /A = 1002 ⋅0.5 = 5000 in / sec 2 opposite to rB/ A

1at
B2 / A2 = 1α2 rB /A = 20000 ⋅0.5 = 10000 in / sec2 (⊥ to AB)

- 124 -
 1 aB is along the slide direction between link 3 and the frame
3

3 aB /B is along the slide direction between link 4 and link 3

2 3

Therefore, the equation has only two unknowns (once 1aB2 is computed), and the equation can be
solved for 1aB3 and 3aB2/B3.

The result is shown in the acceleration polygon. From the polygon,

a B3 = 10,200 in/sec2 in the direction shown.

Solution (Direct Approach)

This problem is similar to Example 2.10 except for a nonzero value for the acceleration. To
analyze the problem, we can determine the velocity and acceleration of any point on link 3
because all points on link 3 have the same velocity and the same acceleration. The point to
choose is the contact point C3. To solve for the velocity and acceleration of C3, first find the
velocity of point C2. Then write the relative velocity expression between points C2 and C3 and
solve for the velocity of C3.

Velocity Analysis

The relevant equations are:

1v C
2 = 1 v C2 / A2 = 1 ω 2 × rC / A
and
1v C
3 = 1 v C2 + 1 v C3 / C2
1vC
2 = 100(1.52) = 152 in / sec (⊥ to AC)

1vC is along the slide direction between link 3 and the frame
3

1vC / C is along the face of link 3

3 2

Solve the velocity equation and then solve for the velocity of B2 by image. This will be needed
for the acceleration analysis.

vC3 = 35 in/s in the direction shown.

Acceleration Analysis

The acceleration equations which must be solved are:

1a C
2 = 1a C2 / A2 = 1 anC2 / A 2 + 1 atC2 / A 2 ,

1a C
3 = 1 aC2 + 1a C3 / C2 = 1 a C2 + 1 atC3 / C2 + 1a nC3 / C2 ,

- 125 -
 C
1 inch

3
2 B
1ω
2

A c2

Velocity Scale
50 in/sec

n
a C3 /C 2
c2 atC3 /C2 o' o
b2
a C3
c3 c3

Acceleration Scale
a Ct 2 /A2 a Cr 2 /A2
10,000 in/sec 2

and
1 vC / D 2 1v D / B 2 1v B / C 2 1 vB / C 2
1a n = 1a nC3 / D 3 + 1a nD3 / B2 + 1a nB2 / C2 = 3 3
+ 3 2
+ 2 2
= 2 2
C3 / C2 ∞ ∞ rB /C rB / C

Where D3 is the center of curvature of the cam follower surface and is located at infinity. The
final equation which must be solved is
1aC
3 = 1 anC2 / A 2 + 1atC2 / A 2 + 1atC3 /C2 + 1anB2 / C2

where
1an
C2 / A 2 = 1ω2 2 rC / A = 1002 ⋅1.52 = 15,200 in / sec2 opposite to rC /A

1at
C2 / A 2 = 1α2 rC/ A = 20000⋅1.52 = 30,400 in / sec2 (⊥ to AC)

1aC is along the slide direction between link 3 and the frame
3

- 126 -
 2
1vP / P 2
rB/ E = 4 2
= ( 4.675) = 0.327 in
66.9 66.9

Therefore, the center of the curvature of the path that B3 traces on link 2 is in same direction of
rC/P as shown in the drawing.

Problem 3.36

For the mechanism shown, find ω2, α2, vB2, aB2, vD3, aD3, and the location of the center of
curvature of the path that point B3 traces on link 2.

AB = AC = 10 cm CD = 14 cm
ω3 = 1rad/ s CCW α 3 = 1 rad/ s2 CW

2
3

60˚
A C

Position Analysis

Locate points A and C. Construct link 2 at an angle of 60˚ from the line AC. Draw the line CD
from C and through B.

- 136 -
 Velocity Polygon
10 cm/s Acceleration Polygon
D
b2 10 cm/s 2

1a r
B o B3 /C 3
o'
d3 b3 b’
3
d’
3
1a r 1a t
B2 /A 2 B3 /C 3
2 3 c
a B2 /B3

3a
C B2 /B 3
A
1a t
B2 /A 2
b’2

Velocity Analysis:
1vB
2 = 1vB3 + 1vB2 / B3 (1)

Now,
1vB
2 = 1ω2 × rB/ A (⊥ to rB/ A)

1vB
3 = 1ω 3 × rB/ C ⇒ 1v B3 = 1ω3 ⋅ rB /C = 1⋅0.1 = 0.10 m / s (⊥ to rB/ C)

1vB / B in the direction of rB/ C

2 3

Solve Eq. (1) graphically with a velocity polygon. From the polygon,
1vB2 = 0.200 m / s

or
1vB
1ω 2 = 2
= 0.200 = 2.00 rad / s
rB/ A 0.1

From the directions given in the position and velocity polygons

1ω2 = 2.00 rad / s CCW

Also,
1vB / B
2 3 = 0.173 m / s

- 137 -
The velocity of D3 can be computed directly because it is located on the driver link.

1vD
3 = 1ω3 × rD/C ⇒ 1vD3 = 1ω 3 ⋅ rD/C = 1⋅0.14 = 0.14 m / s (⊥ to rD/C )

Acceleration Analysis:
1aB
2 = 1aB3 + 1aB2 / B3

B2 / A2 + aB2 / A2
1a r 1 t = 1arB3 / C3 + 1atB3 /C3 + 3aB2 / B3 + 2⋅1 ω3 × 3vB2 / B3 (2)

Now,

1a rB /A = 1ω2
2 2 × (1ω2 × rB/A) ⇒ 1a rB2 /A2 = 1ω 2 2 ⋅ rB/A = 2.002 ⋅0.1 = 0.400 m / s2

in the direction of - rB/ A

1atB /A
2 2 = 1α 2 × rB/A ⇒ 1aBt 2 /A2 = 1α 2 ⋅ rB/A (⊥ to rB/A)

1a rB / C = 1ω3
3 3 × (1ω 3 × rB/ C ) ⇒ 1a rB3 / C3 = 1ω 3 2 ⋅ rB /C = 12 ⋅0.1 = 0.1m / s2

in the direction of - rB/ C

1atB /C
3 3 = 1α 3 × rB/C ⇒ 1atB3 / C3 = 1α 3 ⋅ rB/ C = 1⋅0.1 = 0.1 m / s2 (⊥ to rB/ C)

1ac
B2 / B3 = 2⋅1 ω 3 × 3vB2 / B3 = 2⋅1⋅0.173 = 0.346 m / s2 (⊥ to rB/ C)

3aB / B in the direction of rB/C

2 3

Solve Eq. (2) graphically with a acceleration polygon. From the polygon,
1at
B2 / A2 = 0.201m / s2

and
1at
= 0.201 = 2.01 rad / s2
B2 / A2
1α 2 =
rB/ A 0.1

From directions given in the polygon,

1α 2 = 2.01 rad / s2 CW

The acceleration of D3 can be computed by image or directly since it is on the driver link. The
magnitude of the acceleration is
1aD
3 = 0.200 m / s 2

- 138 -
Problem 3.41

For the mechanism shown, points C, B and D are collinear. Point B2 moves in a curved slot on
link 3. For the position given, find ω3, α3, vB3,aB3, vD3,aD3, and the location of the center of
curvature of the path that point B3 traces on Link 2.

AB= AC =5m CD =7m CE = 5.7m

ω2 = 2 rad/ s CCW α 2 = 3 rad/ s2 CCW

B
3m

E
2
3

60˚ C
A

Position Analysis:

Draw the linkage to scale. Start by locating the pivots A and C. Next draw link 2 and locate
point B. Next find point E and draw the arc at B. Also locate point D.

Velocity Analysis:
1vB
2 = 1vB2 / A 2 = 1ω 2 × rB /A ⇒ 1vB2 = 1ω 2 rB/ A = 2⋅(5) = 10m / sec
1vB
2 = 1vB3 + 1vB2 / B3 = 1vB3 + 3vB2 / B3 (1)

or
1vB
3 = 1vB2 + 1vB3 /B2 = 1vB2 + 2vB3 /B2 (2)
1vB
3 = 1vB3 / C3 = 1ω3 × rB3 /C3
1vD
3 = 1vD3 / C3 = 1ω3 × rD3 / C3

- 150 -
Now, to find 1vB3 , we can use either equ.1 or equ.2. However, to see 1vB3 /B2 , it is better to
begin with Eq..(1).

D
Velocity Scale
b2 5 m/sec
B

o
E
2 3

d3 b3

A C

n o'
a B2 /B3 1a r
B3 /C 3
1a r
B2 /A 2 1a t
B3 /C 3
b’
3
c
a B2 /B3 d'3 Acceleration Polygon
10 m/sec2
3a
B2 /B 3

1a t
B2 /A 2

b’2 1a t
B3 /C 3

1vB
2 = 1ω2 rB2 /A 2 = 2 ⋅(5) = 10m / sec in the direction of rB/ A
1vB
3 = 1ω3 × rB/ C (⊥ to rB/ C)

1vB /B is tangent to the curvature on point B

2 3

- 151 -
Solve Eq. (1) graphically with a velocity polygon. The velocity directions can be gotten directly
from the polygon. The magnitudes are given by:
1vB / B
2 3 = 8.66m / sec.

Also,
1vB3
1vB
3 = 5 m / sec ⇒ 1ω 3 = = 5 = 1rad / sec
rB/C 5

From the directions given in the position and velocity polygons

1ω 3 = 1 rad / sec CCW

To compute the velocity of D3,

1vD
3 = 1vD3 / C3 = 1ω3 × rD3 / C3 ⇒ 1 vD3 = 1ω3 rB3 /C3 = 1⋅(7) = 7m / sec

Acceleration Analysis:
1α B = 1αB2 / A 2 = 1α tB2 / A2 + 1α rB2 / A2
2

1α B = 1αB3 + 1αB2 / B3
2

also
1α B / A = 1αB3 /C3 + 1α B2 /B3
2 2

Expanding the equation,

1α t + 1α rB2 / A2 = 1α rB3 /C3 + 1α tB3 / C3 + 3α B2 / B3 + 1α nB2 /B3 + 1αcB2 / B3
B2 /A 2

Or

B2 / A2 + aB2 /A 2 = 1arB3 /C3 + 1atB3 /C3 + 3aB2 / B3 + 2 ⋅1ω 3 × 3 vB2 /B3 + 1anB2 /B3
1a r 1 t (2)

Now,

B2 / A2 = ω2 × ( ω2 × rB/ A ) ⇒ a B2 /A 2
1a r 1 1 1 r = 1ω 2 2 ⋅ rB/ A = 2.02 ⋅5 = 20 m / sec2

in the direction of rB/ A

1at
B2 /A 2 = 1α2 × rB/ A ⇒ 1atB2 / A2 = 1α2 ⋅ rB /A = 3.0 ⋅5 = 15 m / sec 2 (⊥ to rB /A )

B3 /C3= ω3 × ( ω3 × rB /C) ⇒ a B3 /C3

1a r 1 1 1 r = 1ω3 2 ⋅ rB/ C = 12 ⋅5 = 5 m / sec2

in the direction opposite to rB/ C

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 1at
B3 / C3 = 1α3 × rB/C ⇒ 1atB3 /C3 = 1α3 ⋅ rB /C (⊥ to rB /C)

1ac
B2 /B3 = 2 ⋅1ω3 × 3vB2 / B3 = 2⋅1⋅8.66 = 17.32 m / sec2 (⊥ to rB /C)

3vB2 / B3 2
= 8.66 = 25m / sec2 from B to E
2
1an
B2 /B3 =
rB/ E 3

3 aB /B in the direction of rB/ C

2 3

Solve Eq. (2) graphically with a acceleration polygon. From the polygon,
1a t
1α3 = B3 /C3
= 0.2131 = 0.0426 rad / sec2
rB /C 5

From directions given in the polygon,

1α 3 = 0.0426 rad / sec2 CCW

The accelerations of D3 and B3 can be computed by image. The direction of the accelerations
are given in the polygon and the magnitudes of the accelerations are
1aD
3 = 8.00 m / sec2
1aB
3 = 5.71m / sec2

To find the center of the curvature of the path that B3 traces on link 2, we must find an
expression which involves that the radius of curvature of the path. This term is 2 an B3 /B2 and it
can be evaluated from the following:
1a B / B = −1a B3 /B2
2 3

therefore,

B2 / B3= −1a tB3 /B2

1a t

and

a nB2 /B3= −1a nB3 / B2

Also,
3 an
B2 /B3 + 2 ⋅1ω3 × 1vB2 / B3 =−2 anB3 /B2 − 2 ⋅1ω 2 × 1vB3 /B2 (3)

For our purpose, we should arrange Eq. (3) as

2 an
B3 /B2 = −(3a nB2 /B3 + 2⋅1ω2 × 1vB3 / B2 + 2 ⋅1ω 3 × 1vB2 / B3)

Now,

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 3 an
B2 /B3 = 25 m / sec2 (from B to E)

2 ⋅1ω3 × 3vB2 / B3 = 2 ⋅1 ⋅ 8.66 = 17.32 m / sec2 (from B to E)

2 ⋅1ω 2 × 1vB3 / B2 = 2 ⋅2⋅8.66 = 34.64 m / sec2 (from E to B)

Let F be the location of the center of curvature of B3 on link 2. If we choose rD/B as the positive
direction,

1vB3 /B2 2
2 an B /B
3 2 = = −(25+ 17.32 − 34.64) = 7.68 m / sec2 (from E to B)
rB /F

Because 2 an B3 /B2 points from F toward B, point E must lie on the opposite same side of B than
F. The magnitude of the distance is given by

1vB3 /B2 2
= 8.66 = 9.765m
2
rB/ F =
7.68 7.68

The location of F is shown on the drawing.

Problem 3.42

If the mechanism shown is drawn full scale, find ω3, α3, and the location of the center of
curvature of the path that point B3 traces on Link 2. Assume that Link 2 is driven at constant
velocity.

3 B

1.25" 2
ω 2 = 200 rad/s (constant)

AB = 1" 60˚
C AC = 4.3" A

Velocity Analysis:
1vB
2 = 1vB2 / A 2 = 1 vB3 + 1vB2 / B3 (1)
1vB
3 = 1vB3 / C3

Now,
1vB /A
2 2 =1 ω 2 × rB2/A2 ⇒ 1vB2 /A 2 = 1ω 2 rB/ A = 200 ⋅1 = 200 in / sec (⊥ to rB2 /A 2 )

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