Q6.

In the slotted lever mechanism in figure 5.14, the crank OA rotates at 90 rpm in an anticlock
about the fixed centre Q. Find the magnitude and direction of the angular velocity of the leve

tes at 90 rpm in an anticlockwise direction about the fixed centre O, swinging the lever DEQ
e angular velocity of the lever DEQ and the velocity of the slider C when = 45

Solution ;
step 1 :

draw FBD,

A
45
360mm

step 2 :
N = 90 rpm
= (90 r rpm * 2) / /60 = 9.425 rad/s

step 3 :
V = x L
9.425 rad/s * 0.09 = 0.848 m/s
V is the velocity of the whole body AEQ

step 4 :

A
428.40mm

9
0
m
m

45
360 mm

AE = 360 + 90- 2*90*360 cos ; = 135

AE = 428.70mm
= sin ((sin 135/ 428.4)*90) = 8.54

19.29

15
0

42
8.4
0

70.70

mm

A
mm

E
8.54

20

0
1. 8

mm

1.6806 rad/s
150m
m

48.01

135
mm

8.54
V

8.54

V
O
8.54
50.55

8.54

step 5 :

V = 0.2018 * 1.6806 = 0.339 ms

O
90-50.53=39.47
0.
3

39

m
m

0.2154mm
8.54

8
17
2
.
0

90-8.54=81.46

sin 59.07/X = sin 81.46/0.339

= 0.294 ms
V = 294 mms
X = 0.2154/cos 8.54
step 7 :
294-312/312 = 5.7% error

scale ; 1cm=0.1ms

mm

step 6 :

step 8 :

180-81.46-39.42=59.07

O,Q
=70.7+ 8.54
=79.24

7.2cm

V=8.5cm
A'

A'

8.54
7.5cm
A"

80-81.46-39.42=59.07

Solution:

1) First and foremost, draw a free body diagram (FBD) to some suitable scale based on the f
2) Given that the speed N = 90 rpm. Thus,
= 2*N/60
= ( 2 x 90 rpm )/60
= 9.425 rad/s
3) Given that the crank length is AO = 0.09 m. Let VAO be the linear velocity of A wrt O.
Then, V = x L
9.425 rad/s * 0.09 = 0.848 m/s
VAO is the velocity of the whole body of AEQ.
4) Next, we must find the length and the degree of AE
A = B + C- 2*B*C*cos
AE = 360 + 90- 2*90*360 cos ; = 135
= sin ((sin 135/ 428.4)*90) = 8.54
5) Beside that, find the value of VB.
V = Angular velocity * Length
V = x LBC
V = 0.2018 * 1.6806 = 0.339 ms
6) By using the sine rule. We can find Vc
Sin X/V = Sin Y/V
sin 59.07/X = sin 81.46/0.339
= 0.294 ms
V = 294 mms
X = 0.2154/cos 8.54
7) Moreover, find the percentage errors of the calculation.
294-312/312 = 5.7% error
8) Lastly, draw the velocity diagram using the appropriate scale.
Red: Do not change the formulas given because it is a fixed.

suitable scale based on the figure given.

inear velocity of A wrt O.