ME 352 - Machine Design I Name of Student:___________________________

Fall Semester 2019 Lab Section Number:_______________________

Homework 6 (40 points). Due on Gradescope before 8:00 am on Friday, September 27th.

The important notes for this homework assignment are as printed on Homework 1.

Solve Problem 12.15, page 484. For the offset slider-crank linkage in the given posture, solve the
dynamic force analysis problem by the method of inspection; that is, solve one equation for one
unknown variable, or in the worst-case scenario solve two equations for two unknown variables.
Note that the standard procedure for the force analysis is to first perform a kinematic analysis of the
linkage, that is, determine: (i) the first and second-order kinematic coefficients of the linkage; and (ii)
the first and second-order kinematic coefficients of the centers of mass of links 3 and 4.
Make the following assumptions: (i) the crank is balanced, that is, the center of mass of link 2 is
coincident with the crankshaft at O2; (ii) there is no friction in the linkage; (iii) the external force FB is
acting on the slider (link 4) at point B; and (iv) gravity is acting into the paper, that is, in the negative Z-
direction.
If you would like to check your answers for this homework assignment then you would write a
computer program in Matlab which will use matrix inversion to determine the unknown variables.
Solution to Homework 6. (i) Kinematic analysis of the offset slider-crank linkage. The vectors for the
linkage are as shown in Figure 1.

Figure 1. The vectors for the offset slider-crank linkage.

Therefore, the vector loop equation (VLE) for the linkage, see Figure 1, can be written as

√ I √ ? ?√ √√
R2 + R3 − R4 − R1 = 0 (1)

The X and Y components of Eq. (1) are

R2 cos θ 2 + R3 cos θ3 − R4 cos θ 4 − R1 cos θ1 = 0 (2a)
and
R2 sin θ 2 + R3 sin θ3 − R4 sin θ 4 − R1 sin θ1 = 0 (2b)

Substituting the given numerical data into Eq. (2b) gives

0.1 sin 120° + 0.38 sin θ3 − R4 sin 0° − 0.06 sin (− 90°) = 0 (3a)
which gives
sin θ3 = − 0.3858 radians (3b)

Therefore, the posture of link 3 is

θ3 = − 22.69° or θ3 = + 337.31° (3c)

Substituting Eq. (3b) and the given numerical data into Eq. (2a) gives
0.1 cos 120° + 0.38 cos (− 22.69°) − R4 cos 0° − 0.06 cos (− 90°) = 0 (4a)

Therefore, the position of the slider is

R4 = x = 0.30 m (4b)

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Differentiating Eqs. (2a) and (2b) with respect to the input posture variable θ 2 gives

− R2 sin θ 2 − R3 sin θ3 θ3′ − R4′ cos θ 4 = 0 (5a)

and
R2 cos θ 2 + R3 cos θ3 θ3′ − R4′ sin θ 4 = 0 (5b)

Writing Eqs. (5a) and (5b) in matrix form gives

 − R3 sin θ3 − cos θ 4   θ′3   R2 sin θ 2 

 R cos θ = (6)
 3 3 − sin θ 4   R ′4   − R2 cos θ 2 

The determinant of the coefficient matrix in Eq. (6) can be written as

− R3 sin θ3 − cos θ 4
DET = = R3 sin θ3 sin θ 4 + R3 cos θ3 cos θ 4 = R3 cos (θ3 − θ 4 ) (7)
R3 cos θ3 − sin θ 4

Using Cramer’s rule, the first-order kinematic coefficient for link 3 can be written as

R2 sin θ 2 − cos θ 4
− R2 cos θ 2 − sin θ 4 − R2 sin θ 2 sin θ 4 − R2 cos θ 2 cos θ 4 − R2 cos (θ 2 − θ 4 )
θ3′ = = = (8a)
DET DET R3 cos (θ3 − θ 4 )

Substituting the numerical data into Eq. (8a), the first-order kinematic coefficient for link 3 is
− 0.1 cos (120° − 0°)
θ 3′ = = + 0.1426 rad/rad (8b)
0.38 cos (− 22.69° − 0°)

The positive sign indicates that link 3 is rotating in the clockwise direction for a clockwise rotation of
the input link 2.
Using Cramer’s rule, the first-order kinematic coefficient for link 4 can be written as

− R3 sin θ3 R2 sin θ 2
R3 cos θ3 − R2 cos θ 2 R2 R3 cos θ 2 sin θ3 − R2 R3 sin θ 2 cos θ3 R2 R3 sin (θ3 − θ 2 ) (9a)
R4′ = = =
DET DET R3 cos (θ3 − θ 4 )

Substituting the numerical data into Eq. (9a), the first-order kinematic for link 4 is
(0.1) (0.38) sin (− 22.69° − 120°)
R4′ = = − 0.0657 m/rad (9b)
0.38 cos (− 22.69° − 0°)

The negative sign indicates that link 4 is moving to the right, that is, the velocity of link 4 is to the right,
for a clockwise rotation of the input link 2.
Differentiating Eqs. (5a) and (5b) with respect to the input posture variable θ 2 gives

− R2 cos θ 2 − R3 cos θ 3θ ′32− R3 sin θ 3θ 3′′ − R4′′ cos θ 4 = 0 (10a)

and
− R2 sin θ 2 − R3 sin θ 3θ ′32 + R3 cos θ 3θ 3′′ − R4′′ sin θ 4 = 0 (10b)

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Writing Eqs. (10a) and (10b) in matrix form gives

 − R3 sin θ3 − cos θ 4   θ′′3   R2 cos θ 2 + R3 cos θ3θ ′32

 =  (11)
 R3 cos θ3 − sin θ 4   R ′′4   R2 sin θ 2 + R3 sin θ3θ ′32

Using Cramer’s rule, the second-order kinematic coefficient for link 3 is

R2 cos θ 2 + R3 cos θ3θ ′32 − cos θ 4

R2 sin θ 2 + R3 sin θ3θ ′32 − sin θ 4 R2 sin (θ 2 − θ 4 ) + R3 sin (θ3 − θ 4 )θ ′32
′′
θ3 = = (12a)
DET R3 cos (θ3 − θ 4 )

Substituting the numerical data into Eq. (12a), the second-order kinematic for link 3 is

(0.1) sin (120° − 0°) + (0.38) sin (− 22.69° − 0°)(+ 0.1426)2

θ′′3 = = + 0.2385 rad/rad 2 (12b)
0.38cos (− 22.69° − 0°)

The positive sign indicates that the change in the first-order kinematic coefficient of link 3 for a
clockwise rotation of the input link 2 is negative.
Using Cramer’s rule, the second-order kinematic coefficient for link 4 is

− R3 sin θ3 R2 cos θ 2 + R3 cos θ3θ ′32

R3 cos θ3 R2 sin θ 2 + R3 sin θ3θ ′32 − R2 R3 cos (θ 2 − θ3 ) − R32θ ′32
R ′′4 = = (13a)
DET R3 cos (θ3 − θ 4 )

Substituting the given numerical data into Eq. (13a), the second-order kinematic for link 4 is

− (0.1)(0.38) cos (120° + 22.69°) − (0.38) 2 (0.1426) 2

R ′′4 = = + 0.07783 m/rad 2 (13b)
0.38cos (− 22.69° − 0°)

The positive sign indicates that the change in the first-order kinematic coefficient of link 4 for a
clockwise rotation of the input link 2 is negative.
The angular acceleration of the connecting rod (link 3) can be written as
α 3 = θ 3′′ ω2 2 + θ 3′ α 2 (14a)

Substituting the given numerical data into Eq. (14a), the angular acceleration of the connecting rod is

α 3 = (+ 0.2385)( − 18) 2 + ( + 0.1426)( 0) = + 77.274 rad/s 2 (14b)

The positive sign indicates that the angular acceleration of link 3 is counterclockwise.
The acceleration of the piston (link 4) can be written as
 = R ′′ ω 2 + R ′ α
R (15a)
4 4 2 4 2

Substituting the given numerical data into Eq. (15a), the acceleration of the piston is
 = ( + 0.0778)(− 18) 2 + (− 0.0657)( 0) = + 25.207 m/ s 2
R (15b)
4

The positive sign indicates that the piston (link 4) is accelerating to the right.

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 The vector equation for the mass center of link 3 (i.e., point G3) can be written as

?? √ I √C
RG3 = R2 + R33 (16a)

where R2 = 0.1 m, θ 2 = 120°, R33 = 0.26 m, and the constraint

θ33 = θ3 + α = θ3 + 22° = 337.31° + 22° = 359.31° (16b)

which indicates that, in the given posture, the vector R33 is 0.69° below the fixed X-axis (see Figure 3).
The X and Y components of Eq. (16a) are
X G3 = R2 cos θ 2 + R33 cos θ33 = + 0.2100 m (17a)
and
YG3 = R2 sin θ 2 + R33 sin θ33 = + 0.0835 m (17b)

Differentiating Eqs. (17a) and (17b) with respect to the input posture θ 2 , the first-order kinematic
coefficients of the mass center G3 are
X G′ 3 = − R2 sin θ 2 − R33 sin θ33 θ 3′ = − 0.0862 m/rad (18a)
and
YG′3 = R2 cos θ 2 + R33 cos θ33 θ3′ = − 0.0130 m/rad (18b)

Then differentiating Eqs. (18a) and (18b) with respect to the input posture θ 2 , the second-order
kinematic coefficients of the mass center G3 are

X G′′3 = − R2 cos θ 2 − R33 cos θ 33 θ ′32 − R33 sin θ 33 θ 3′′ = + 0.0455 m/rad 2 (19a)
and
YG′′3 = − R2 sin θ 2 − RG 3 sin θ 33 θ ′32 + R33 cos θ 33 θ 3′′ = − 0.0245 m/rad 2 (19b)

The X and Y components of the acceleration of the mass center G3 can be written as

A G 3 X = X G′′3 ω22 + X G′ 3 α 2 (20a)

and
A G 3Y = YG′′3 ω22 + YG′3 α 2 (20b)

Substituting the given numerical data into Eqs. (20), the X and Y components of the acceleration of the
mass center G3 are

A G 3 X = (+ 0.0455)(− 18) 2 + (− 0.0862)( 0) = + 14.742 m/s 2 (20a)

and
A G 3Y = (− 0.0245)(− 18) 2 + (− 0.0130)( 0) = − 7.938 m/s 2 (20b)

Summary of the kinematic analysis of the linkage.

The geometry, the first-order kinematic coefficients, and the second-order kinematic coefficients of
the linkage, for the given input posture, are presented in the following table.

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 θ2 θ3 a = R1 x = R4 α θC θ 3′ R4′ θ 3′′ R4′′
degrees degrees m m degrees degrees rad/rad m/rad rad/rad 2 m/rad 2
120° 337.31° 0.06 0.30 22° 32° + 0.1426 − 0.0657 + 0.2385 + 0.0778

(ii) The dynamic force analysis of the offset slider-crank mechanism. Knowing the kinematics of the
mechanism, the dynamic force analysis can now be performed.
The free-body diagram for link 2 is shown in Figure 2. Recall that: (i) there is no friction in the
mechanism; (ii) the external force FB is acting on the slider (link 4) at point B; and (iii) gravity is acting
into the paper, that is, in the negative Z-direction.

Figure 2. The free-body diagram for link 2.

The sum of the external forces in the X-direction acting on link 2 can be written as

F
EXT
X = m2 AG 2 X (1a)

Since the mass center G2 is coincident with the ground pivot O2 then Equation (1a) can be written as

F12 X + F32 X = 0 (1b)

The sum of the external forces in the Y-direction acting on link 2 can be written as

F
EXT
Y = m2 AG 2Y (2a)

or as
F12Y + F32Y = 0 (2b)

The sum of the external moments acting on link 2 about the fixed pivot O2 (which is also the center of
mass of link 2) can be written as

M
EXT
O2 = I O2 α 2 (3a)

The scalar form of this equation is

( R2 X F32Y − R2Y F32 X ) + T12 = I O2 α 2 (3b)

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or
( R2 cos θ 2 F32Y − R2 sin θ 2 F32 X ) + T12 = I O2 α 2 (3c)

Substituting the angular acceleration of link 2, α 2 = 0 , into Equation (3c) gives

R2 cos θ 2 F32Y − R2 sin θ 2 F32 X + T12 = 0 (3d)

Note that T12 is the torque acting from the ground link 1 on the crankshaft (the input link 2) and is
assumed to be in the counterclockwise direction. Depending on the application of this mechanism, this
torque is commonly referred to as either the driving torque (a pump or a compressor) or the reaction
torque (an engine).
There are three equations, see Equations (1b), (2b), and (3d), and five unknown variables for the free
body diagram of link 2. The five unknown variables are the four components of the internal reaction
forces F12 X , F12Y , F32 X and F32Y and the driving torque (or reaction torque) T12 .
The free-body diagram for link 3 is shown in Figure 3. Recall that: (i) there is no friction in the
mechanism; (ii) the external force FB is acting on the slider (link 4) at point B; and (iii) gravity is acting
into the paper, that is, in the negative Z-direction.

Figure 3. The free-body diagram for link 3.

The sum of the external forces in the X-direction acting on link 3 can be written as

F
EXT
X = m3 AG 3 X (4a)

or as
F23 X + F43 X − FCX = m3 AG 3 X (4b)

The sum of the external forces in the Y-direction acting on link 3 can be written as

F
EXT
Y = m3 AG 3Y (5a)

or as
F23Y + F43Y = m3 AG 3Y (5b)

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The sum of the external moments acting about the mass center of link 3 can be written as

M
EXT
G3 = I G3 α 3 (6a)

Also, the sum of the external moments acting about point A on link 3 can be written as

M
EXT
A = I A α 3 + m3 RG 3/ A × AA (6b)

or as
M
EXT
A = I G3 α 3 + m3 RG 3/ A × AG 3 (6c)

Note that Equations (6a) and (6b) are not as convenient to use as Equation (6c). Therefore, Equation (6c)
will be used here and will be written as the scalar equation

( R3 cos θ3 F43Y − R3 sin θ3 F43 X ) − RAC sin θ AC (− FCX ) = I G3α 3 + m3 ( R33 cos θG 3 AG 3Y − R33 sin θG 3 AG 3 X ) (6d)

Equations (4b), (5b), and (6d) contain two new unknown variables; namely, the internal reaction
forces F43X and F43Y. Therefore, there are a total of six equations, Equations (1b), (2b), (3d), (4b), (5b)
and (6d), and seven unknown variables, F12 X , F12Y , F32 X , F32Y , T12 , F43X and F43Y.
The free-body diagram for link 4 is shown in Figure 4. Recall that: (i) there is no friction in the
mechanism; (ii) the external force FB is acting on the slider (link 4) at point B; and (iii) gravity is acting
into the paper, that is, in the negative Z-direction.

Figure 4. The free-body diagram for link 4.

The sum of the external forces in the X-direction acting on link 4 can be written as

F
EXT
X = m4 AG 4 X (7a)

or as
F34 X − FBX = m4 AG 4 X (7b)

The sum of the external forces in the Y-direction acting on link 4 can be written as

8
 F
EXT
Y = m4 AG 4Y (8a)

Since link 4 can only accelerate in the X-direction; i.e., AG 4Y = 0, then Equation (8a) can be written as

F34Y + F14Y = 0 (8b)

The sum of the external moments acting about the mass center of link 4 can be written as

M
EXT
G4 = I G4 α 4 (9a)

or as
( R14 X F14Y − R14Y F14 X ) = I G4 α 4 (9b)

Since link 4 can only translate; that is, the angular acceleration α 4 = 0, and the internal reaction force
F14 X = 0 (since there is no friction) then Equation (9b) can be written as

R14 X F14Y = 0 (9c)

Equations (7b), (8b), and (9c) contain two new unknown variables; namely, the internal reaction force
F14Y and the distance R14X. Therefore, there are a total of nine equations, Equations (1)-(9), and a total of
nine unknown variables.
Summary: The nine equations from the dynamic force analysis are
F12 X + F32 X = 0 (1b)

F12Y + F32Y = 0 (2b)

R2 cos θ 2 F32Y − R2 sin θ 2 F32 X + T12 = 0 (3d)

F23 X + F43 X − FCX = m3 AG 3 X (4b)

F23Y + F43Y = m3 AG 3Y (5b)

( R3 cos θ3 F43Y − R3 sin θ3 F43 X ) − RAC sin θ AC (− FCX ) = I G3α 3 + m3 ( R33 cos θG 3 AG 3Y − R33 sin θG 3 AG 3 X ) (6d)

F34 X − FBX = m4 AG 4 X (7b)

F34Y + F14Y = 0 (8b)

and
R14 X F14Y = 0 (9c)
The nine unknown variables are
F12 X , F12Y , F32 X , F32Y , T12 , F43 X , F43Y , F14Y , and R14 X

(iv) Solving the dynamic force analysis problem by the Method of Inspection.
Recall that the given data and the results obtained from the kinematic analysis are
m 2 = m 4 = 2.5 kg, m3 = 7.4 kg, IG 2 = 0.005 N-m-s 2 , IG3 = 0.0136 N-m-s 2

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 α 2 = + 0 rad/s 2 , α 3 = + 77.27 rad/s 2 , α 4 = 0 rad/s 2 , A G2X = 0 m/s 2 , A G2Y = 0 m/s 2

A G3X = + 14.74 m/s 2 , A G3Y = − 7.94 m/s 2 , A G4X = A 4 = + 25.21 m/s 2 , A G4Y = 0 m/s 2

R33 = 0.26 m, θ 33 = θ3 + 22° = 359.31°, RAC = 0.4 m, and θ AC = θ3 + 32° = 9.31°

Rearranging Equation (7b), the internal reaction force acting from link 3 on link 4 in the X-direction
can be written as
F34 X = m4 AG 4 X + FBX (10a)

Substituting the known data into this equation, the internal reaction force acting from link 3 on link 4 in
the X-direction is
F34 X = 2.5 × (+ 25.21) + 2000 = + 2063.03 N (10b)

Therefore, the internal reaction force acting from link 4 on link 3 in the X-direction is
F43 X = − 2063.03 N (10c)

Rearranging Equation (4b), the internal reaction force acting from link 2 on link 3 in the X-direction
can be written as
F23 X = m3 AG 3 X − F43 X + FCX (11a)

Substituting the known data and Equation (10c) into Equation (11a), the internal reaction force acting
from link 2 on link 3 in the X-direction is
F23 X = 7.4 × (+ 14.74) − (− 2063.03) + 1000 = + 3172.11 N (11b)

Therefore, the internal reaction force acting from link 3 on link 2 in the X-direction is
F32 X = − 3172.11 N (11c)

Substituting Equation (11c) into Equation (1b), the internal reaction force between link 1 and link 2
in the X-direction is
F12 X = − F32 X = + 3172.11 N (12a)

Therefore, the internal reaction force acting from link 2 on link 1 in the X-direction is
F21 X = − F12 X = − 3172.11 N (12b)

Rearranging Equation (6d), the internal reaction force acting from link 4 on link 3 in the Y-direction
can be written as

R3 cos θ3 F43Y = I G3α 3 + m3 ( R33 cos θG 3 AG 3Y − R33 sin θG 3 AG 3 X ) + R3 sin θ3 F43 X + RAC sin θ AC (− FCX ) (13a)

Substituting the known data and Equation (10c) into Equation (13a), the internal reaction force acting
from link 4 on link 3 in the Y-direction can be written as

(0.38cos 337.3°) F43Y = 0.0136 (+ 77.27) + 7.4[ 0.26 cos 359.3o (− 7.94) − 0.26sin 359.3o (+ 14.74) ]

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 + 0.38sin 337.3°( − 2063.03) + 0.4sin 9.3°( − 1000) (13b)

Simplifying Equation (13b) gives

0.35 F43Y = + 1.05 − 15.28 + 0.05 + 302.53 − 64.64 Nm = + 223.71 Nm (13c)

Therefore, the internal reaction force acting from link 4 on link 3 in the Y-direction is
F43Y = + 639.17 N (13d)

This implies that the internal reaction force acting from link 3 on link 4 in the Y-direction is
F34Y = − 639.17 N (14)

Rearranging Equation (5b), the internal reaction force acting from link 2 on link 3 in the Y-direction
can be written as
F23Y = m3 AG 3Y − F43Y (15a)

Substituting the value for m3 AG 3Y and Equation (13d) into this equation, the internal reaction force
acting from link 2 on link 3 in the Y-direction is
F23Y = 7.4 × (− 7.94) − 639.17 = − 697.93 N (15b)

Therefore, the internal reaction acting from link 3 on link 2 in the Y-direction is
F32Y = + 697.93 N (16)

Substituting Equation (14) into Equation (8b), the internal reaction force acting from link 1 on link 4
in the Y-direction is
F14Y = − F34Y = + 639.17 N (17)

Note that Equation (9c) implies that either: (i) the distance R14 X = 0; or (ii) the Y-component of the
internal reaction force F14Y = 0 . Since (ii) is not possible, that is, the internal reaction force F14Y cannot
be zero (i.e., there must be contact between link 1 and link 4, either a single point of contact or two
points of contact, and also the mechanism has a mobility of one) then the conclusion is that the distance
R14 X = 0 (18)

The internal reaction force F14Y must act through the center of mass of link 4 (or pin B).
Substituting Equation (16) into Equation (2b), the internal reaction force acting from link 1 on link 2
in the Y-direction is
F12Y = − F32Y = − 697.93 N (19a)

and the internal reaction force acting from link 2 on link 1 in the Y-direction is
F21Y = − F12Y = + 697.93N (19b)

Finally, rearranging Equation (3d), the reaction torque can be written as

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 T12 = − R2 cos θ 2 F32Y + R2 sin θ 2 F32 X (20a)

Substituting Equations (11c) and (16) into this equation, the reaction torque is
T12 = − 0.1 cos 120° × (+ 697.93) + 0.1 sin 120° × (− 3172.11) (20b)

Therefore, the reaction torque is

T12 = + 34.90 − 274.71 Nm (21a)
that is, the reaction torque is
T12 = − 239.21 N-m (21b)

The negative sign indicates that the assumption that the reaction torque (for the specified posture of the
slider-crank mechanism) is acting counterclockwise is not correct. Therefore, the reaction torque must
be acting clockwise, that is
T12 = − 239.21 k N-m (21c)

The crank torque, from the crankshaft (or the input link 2) acting on the ground link 1, is
T21 = − T12 = + 239.21 N-m (22a)

The positive sign indicates that the crank torque (for the specified posture of the slider-crank
mechanism) is acting in the counterclockwise direction, that is

T21 = + 239.21 k N-m (22b)

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