ME3112

Mechanics of Machines

G. Leng

Text : F. Beer, E. Johnston and P. Cromwell, "Vector Mechanics for Engineers - Dynamics,
Ninth Edition in SI units" 2010 McGraw Hill
Course Website : http://dynlab.mpe.nus.edu.sg/mpelsb/

Level I : Particle kinematics - Fixed and translating frames {I, J, K}

Chapter 11. 9 to 11.12
11.90

I
Ans : a) 0 m/s, -22 I + 162 J m/s2
b) 2 I m/s, -162 J m/s2

11.170
Determoves
h,

Ans : = vo / h sec sin2 ( + )

Level II : Particle kinematics - Rotating reference frame {i, j, k}

Chapter 15.10 to 15.11
15.160

i
decreased
B

Ans : a) -0.2i - 0.48j m/s

b) -0.038i + 0.032j m/s2

ME3112
15.175, 15.176
Knowing that at
the instant shown,
the rod attached at
B rotates with a
constant counter
clockwise angular
velocity of 6 rad/s,
determine the
angular velocity
and angular
acceleration of the
rod attached at A.

Mechanics of Machines

G. Leng

j
j

i
i
Ans : 1.5 k rad/s , 7.79 k rad/s2

Ans : 6 k rad/s, -62.35 k rad/s2

Level III : Rigid body kinematics

Chapter 15.1 to 15.9
15.40

J
I

Ans : a) 62 K rad/s b) 13.1 I m/s

J
15.125 and 15.126

Ans : 15.125) -148.3J m/s2

15.126) 295.9J m/s2
15.121

Ans : -1558.36 J m/s2,

336.52I m/s2

ME3112

Mechanics of Machines

G. Leng

Level IV : Rigid body kinetics - Equations of (planar) motion

Chapter 16.1 to 16.8
16.7

Ans : 5 m/s2 , 0.312 m h 1.488 m

16.8

Ans : 2.55 m/s2 , 0 m h 1.047 m

16.19

I
Ans : - 194 J N, - 194 J N

16.78
J

Ans : a) - 107 K rad/s2, b) -21.4 I + 39.2 J N

ME3112

Mechanics of Machines

G. Leng

Special Problems
1. Trigonometric equations in loop analysis
Solve the equations below given that a,b,c,d are known constants.
a) a sin + b cos =

b) a cos + b cos =
a sin + b sin =

c
d

Hint : Let cos = a /(a2 + b2), sin = b /(a2 + b2)

(i)
(ii)

Hint : Bring the terms to the RHS, square each equation to eliminate the terms.
Discussion : Are there multiple solutions? Why?

2. Mechanisms with offset

For the crank-slider shown, the
crank length is b m and the
coupler length is l m. The
crank rotates at a constant rate
of rad/s . Write the loop
equations and find the slider
velocity and acceleration for a
given crank orientation, .
Note that the slider is offset by
a distance of e m.
Discussion : Whats the geometric constraint for the offset, crank and coupler lengths? How
would you solve the problem if the slider slides at an angle to the X axis?

3. Mechanism Synthesis
The crank OP of the quick return mechanism is of
length R m and rotates at a constant speed rad/s.
Find the velocity and acceleration of the point B as the
crank rotates. What is the angular acceleration of the
rod AB ?
Challenge 1 : Given the times for the mechanism to
extend and retract, how would you design the
mechanism i.e. select R, L and ? This is a
mechanism synthesis problem.

ME3112

Mechanics of Machines

G. Leng

4. Force analysis
Do the force analysis for the crank-slider example shown in the lectures except that the
mechanism now lies in the horizontal plane.

Challenge 2 : Use the linsolve function in Scilab or equivalent functions in Matlab or

Mathematica to solve the equations of motion easily for different crank orientation 2. Can
you automate the force analysis?

5. Force balancing
The figure shows the ith link of a four-bar mechanism. The link is non-uniform and the mass
centre is located as shown. How does this change the equations of motion for the link?

Challenge 3 : Do the force analysis of the four-bar mechanism example shown in the lectures
except that the links are all non-uniform. Can you adjust the mass centres of the links so that
the shaking force and moment are minimized? This is called force balancing. Look it up in
the references.