ME 352 - Machine Design I Name of Student:____________________

Summer Semester 2012 Lab Section Number:________________

Homework No. 4 (30 points). Due at the beginning of lecture on Monday, June 25th.


Consider Problem 3.29, see Figure P3.29, page 162, of the Fourth Edition of the Uicker, et
al., text book. In addition to determining the angular velocity of the oscillating follower (link 4)
also determine the angular velocity of the roller (link 3).

To solve this problem use the method of kinematic coefficients. Then check your answers
using the method of instantaneous centers of velocity.


2
Solution to Homework 4 (30 Points).
Position Analysis. The method used here is trigonometry.
The following data is given in the problem statement, see Figure 1:
2 2
R O B 1.25 inches, = =
23
R BD 2.5 inches, = =
4 4
R O D 3.5 inches, = =
11 2
R O K 3 inches, = =
12 4
R O K 3 inches, = =
11
= 0 and
12
= 90 . Note that
23
R is a link (referred to as the arm) connecting point B in
link 2 to point D in link 3.



Figure 1. Position analysis of the Mechanism.

The triangle O
2
KO
4
is a right-angled triangle, therefore

2 2
2 4
O O 3 3 3 2 inches 4.243inches = + = = (1)

Note that the angles KO
2
O
4
and KO
4
O
2
are both 45. Also, note that the triangle O
2
BO
4
is a
right-angled triangle (this is clear by starting with the angle of link 2 and subtracting the 45 of
angle KO
2
O
4
), therefore

( )
2
2
4
BO 1.25 3 2 4.423inches = + = (2)
3
For the triangle O
2
BO
4
, the law of sines gives

inches
rads
inches
3 2 sin90
sin O BO 0.959
2 4
4.423

= = (3a)

Therefore, the angle is
1
O BO sin 0.959 73.58
2 4

= = (3b)

The sum of the interior angles of the triangle O
2
BO
4
is 180 , therefore, the angle

BO O 180 90 73.58 16.42
4 2
= = (4)

For the triangle BDO
4
, the law of cosines gives

2 2 2
3.5 2.5 4.423 (2)(2.5)(4.423)cos O BD
4
= + (5a)

Rearranging this equation gives

2 2 2
2.5 4.423 3.5
cos O BD 0.6133
4
(2)(2.5)(4.423)
+
= = (5b)

Therefore, the angle

1
O BD cos 0.6133 52.17
4

= = (5c)

Using the law of sines gives

2.5sin52.17
sin DO B 0.5642
4
3.5

= = (6a)

Therefore the angle

1
DO B sin 0.5642 34.35
4

= = (6b)

The sum of the interior angles of the triangle BDO
4
is 180 , therefore, the angle

BDO 180 34.35 52.17 93.48
4
= = (7)

The angle of the vector
23
R (that is, the line BD) can be written as

180 O BO O BD
23 2 2 4 4
= + + (8a)

Substituting the known angles into this equation gives

135 180 73.58 52.17 80.75
23
= + + = (8b)

The angle of the vector
4
R (that is, the line ED) can be written as

270 KO O O O B BO D
4 4 2 2 4 4
= (9a)
4
Substituting the known angles into this equation gives

270 45 16.42 34.34 174.24
4
= = (9b)

Summary: For the input position 135
2
= , the position solution is

80.75
23
= and 174.24
4
= (10)

Velocity Analysis.
(i) The method of kinematic coefficients.
The vector loop equation (VLE) for the mechanism can be written as

I ?
R R R R R 0
2 23 4 12 11
?

+ = (1)

The X and Y components of Equation (1) are

2 2 23 23 4 4 12 12 11 11
cos cos cos cos cos 0 R R R R R + = (2a)
and
2 2 23 23 4 4 12 12 11 11
sin sin sin sin sin 0 R R R R R + = (2b)

Differentiating Equations (2a) and (2b) with respect to the input position variable
2
gives

2 2 23 23 23 4 4 4
sin sin sin 0 R R R + = (3a)
and
2 2 23 23 23 4 4 4
cos cos cos 0 R R R + = (3b)

Then writing Equations (3) in matrix form gives

23 23 4 4 23 2 2
23 23 4 4 4 2 2
sin sin sin
cos cos cos

=



R R R
R R R


(4a)

The determinant of the coefficient matrix in Equation (4a) is

23 4 23 4
sin( ) DET R R = (4b)

Substituting the numerical values into Equation (4) gives

23
4
2.467 inches 0.351inches 0.884 inches
0.402 inches 3.482 inches 0.884 inches

+ +
=

+ + +

(5)

Therefore, the determinant of the coefficient matrix in Equation (5) is

( 2.467 inches)( 3.482 inches) ( 0.402 inches)( 0.351inches) DET = + + + (6a)
that is
2
8.734 inches DET = (6b)

Using Cramers rule, the first order kinematic coefficients from Equation (5) are

2 2 2 2
23 4
0.3169 inches / inches and 0.2904 inches / inches = = + (7)
5
The angular velocity of the input link 2 is
2
15 rad/s = counterclockwise, therefore, the
angular velocity of link 4 is

2 2
4 4 2
( 0.2904 inches / inches ) ( 15 rad/s) 4.356 rad/s = = + + = + (8)

Therefore, the angular velocity of link 4 (the oscillating follower) is
4
4.356 rad/s =
counterclockwise (commonly written as
4
4.356 rad/s k = ).
To calculate the first-order kinematic coefficients of the roller (link 3). Use the rolling
contact equation between the cam 2 and the roller 3. The rolling contact equation between these
two links can be written as
3 23 2
3 2 23



=

(9)

Sign convention: Use the negative sign because there is external rolling contact between the cam
2 and the roller 3 at point C, see Figure 1.
Differentiating Equation (9) with respect to the input position variable
2
gives

3 23 2
3 2 23



=

(10)

Substituting the known numerical values into Equation (10), where by definition
2
1, = gives

2 2
3
2 2
0.3169 inches /inches 2 inches
0.5 inches 1 0.3169 inches /inches
+
=
+
(11a)

Rearranging this equation, the first-order kinematic coefficient of the roller 3 is

3
5.5845 inches/inches = (11b)

Therefore, the angular velocity of the roller 3 is

3 3 2
( 5.5845 inches/inches) ( 15 rad/s) 83.7675 rad/s = = + = (12)

Therefore, the angular velocity of the roller is
3
83.7675 rad/s = clockwise (commonly written
as
3
83.7675 rad/s k = ).
(ii) The method of instantaneous centers of velocity.
The number of instant centers is

( 1) 4 x 3
6
2 2
n n
N

= = = (13)

There are four primary instant centers; namely, I
12
, I
23
, I
34
and I
41
and two secondary instant
centers; namely, I
13
and I
24
. The instant centers are marked on the Kennedy circle, see Figure 2.
Figure 3 shows the location of the six instant centers on the mechanism.

6

Figure 2. The Kennedy Circle.



Figure 3. The Instantaneous Centers of Velocity for the Mechanism.
Scale: 1 inch represents 1 inch.

The angular velocity of link 4 can be written as

4 4 2
= (14)



7
Therefore, the first-order kinematic coefficient for link 4 (in terms of the instant centers) is

4 12 24
4
2 14 24
I I
I I

= = (15)

Measuring the distances from Figure 3 gives

12 24 14 24
1.7403 inches and 5.9926 inches I I I I = = (16)

Substituting Equation (16) into Equation (15), the first-order kinematic coefficient for link 4 is

4
1.7403 inches
5.9926 inches
= (17)

Sign Convention: The positive sign must be used here because the relative instant center I
24
is
not between the absolute instant centers I
12
and I
14
. Therefore, the first-order kinematic
coefficient for link 4 is

4
0.2904 inches/inches = + (18)

Substituting Equation (18) and the input angular velocity into Equation (14), the angular velocity
of link 4 is

4
( 0.2904 inches/inches) ( 15 rad/s) 4.356 rad/s = + + = + (19)

Therefore, the angular velocity of link 4 (the oscillating follower) is
4
4.356 rad/s =
counterclockwise.
The angular velocity of the roller 3 can be written as

3 3 2
= (20)

Therefore, the first-order kinematic coefficient for the roller 3 (in terms of the instant centers) is

3 12 23
3
2 13 23
I I
I I

= = (21)

Measuring the distances from Figure 3 gives

12 23 13 23
2.9128 in and 0.5216 in = = I I I I (22)

Substituting Equation (22) into Equation (21) gives

12 23
3
13 23
2.9128 inches
0.5216 inches
I I
I I
= = (23)

Sign Convention: The negative sign must be used here because the relative instant center I
23
is
between the absolute instant centers I
12
and I
13
. Therefore, the first-order kinematic coefficient
for the roller (link 3) is

3
5.5844 inches / inches = (24)
8
Comparing Eqs. (11b) and (24), the values of the first-order kinematic coefficient are the same
(within round-off error). However, Eq. (11b) requires a vector loop equation and differentiation
to obtain the answer whereas in Eq. (24), the first-order kinematic coefficient is obtained from
the straightforward manner of instant centers. This shows that instant centers are a very useful
tool to calculate the first-order kinematic coefficients (i.e., a velocity analysis).
Substituting Equation (24) and the input angular velocity into Equation (20), the angular
velocity of link 3 is

3 3 2
( 5.5845 inches/inches) ( 15 rad/s) 83.7675 rad/s = = + = (25)

As an aside. Note that the velocity of point C fixed in the input link (the cam 2) can be written as

12 2 12 23 2
2
( ) ( )
C
V I C I I = = (26a)

Therefore, the velocity of point C fixed in the cam 2 is

2
(2.9128 inches) ( 15 rad/s) 43.692 in/sec
C
V = + = (26b)

The direction of the velocity of point C is shown in Figure 3; i.e., point C is moving upward to
the right at an angle of
o
11.14 counterclockwise from the horizontal (the positive X-axis).
(iii) The velocity of point C fixed in the roller 3 can be written as

13 3 13 23 3
3
( ) ( )
C
V I C I I = = (27a)

Therefore, the velocity of point C fixed in the roller 3 is

3
(0.5216 inches) ( 83.7675 rad/s) 43.692 in/sec
C
V = + = (27b)

Note that the velocity of point C fixed in the cam 2 is equal to the velocity of point C fixed in the
roller 3 because point C is a relative instant center; i.e.,

2 3 C C
V V = (28)

The direction of the velocity of point C is shown in Figure 3; i.e., point C is moving upward to
the right at an angle of
o
11.14 counterclockwise from the horizontal (the positive X-axis).