Attached is the solution to HW set 9.

I have include the solution to problem 6-18 which show how to solve for the
angular velocity of link 3.

Problem 6-18 c is the analytical with the arbitrary point at the origin and the loop
vector closing at B.
Problem 618 a uses IC to find the velocity at A and B and then uses the velocity
to find the angular velocity of link 3.
DESIGN OF MACHINERY SOLUTION MANUAL 6-18c-1

PROBLEM 6-18c
Statement: The linkage in Figure P6-5f has the dimensions and coupler angle given below. Find 3, VA, VB,
and VC for the position shown for VA = 10 in/sec in the direction shown. Use an analytical method.
Given: Link lengths and angles: Coupler point:
Link 3 (A to B) b
1.8
in Distance A to C Rca
1.44
in
Coupler angle
128
deg Angle BAC
49
deg
1
Slider 4 angle
59
deg Input slider velocity VA
10
in
sec

Solution: See Figure P6-5f and Mathcad file P0618c.

1. Draw the mechanism to scale and define a vector loop using the fourbar slider-crank derivation in Section 6.7 as
a model.
0 0.5 1 in
Y

B C

4
R3
R4
3

b 49 .0 00

59.0 00 12 8.00 0

VA
X
R2
A 2

2. Write the vector loop equation, differentiate it, expand the result and separate into real and imaginary parts to
solve for 3 and VB.
R2 R3
R4
j
j
j

a
e b
e
c
e
where a is the distance from the origin to point A, a variable; b is the distance from A to B, a constant; and c is
the distance from the origin to point B, a variable. Angle 2 is zero, 3 is the angle that AB makes with the x axis,
and 4 is the constant angle that slider 4 makes with the x axis. Differentiating,

d
j d j
a j
b
e c

e
dt
dt

Substituting the Euler equivalents,

d
d
a b
sin j cos
c cos j
sin
dt dt
Separating into real and imaginary components and solving for 3 and VB . Note that dc/dt = VB and da/dt = VA

VA
tan rad

13.288
sin tancos
b sec

VA b

sin in
VB
VB 17.180
cos
sec
DESIGN OF MACHINERY SOLUTION MANUAL 6-18c-2

VB
VB cos j
sin arg
VB59.000 deg

3. Determine the velocity of the coupler point C using equations 6.36.

VCA
Rca
sin j
cos
in
VCA (18.783 3.651j)
sec
VA
VA

VC
VA VCA

arg
VC22.572 deg
in in
VC ( 8.783 3.651j) VC 9.512
sec sec
DESIGN OF MACHINERY SOLUTION MANUAL 6-18b-1

PROBLEM 6-18b
Statement: The linkage in Figure P6-5f has the dimensions and coupler angle given below. Find 3, VA, VB,
and VC for the position shown for VA = 10 in/sec in the direction shown. Use the instant center
graphical method.
Given: Link lengths and angles: Coupler point:
Link 3 (A to B) b
1.8
in Distance A to C p
1.44
in
Coupler angle
128
deg Angle BAC
49
deg
1
Slider 4 angle
59
deg Input slider velocity VA
10
in
sec
Solution: See Figure P6-5f and Mathcad file P0618b.
1. Draw the linkage to scale in the position given, find the instant centers, distances from the pin joints to the
instant centers and the angles that links 3 and 4 make with the x axis.

From the layout: 2,4 at infinity

1,4 at infinity 3,4

B C

AI13
0.753
in BI13
1.293
in 4 0.716

67.428
CI13
0.716
in C
67.428
deg
3 1,3
2. Determine the angular velocity of link 3 1.293
using equation 6.9a. 0.753

VA rad VA

13.280 CW A 2
AI13 sec
2,3
3. Determine the magnitude of the velocity at point B using
equation 6.9b. Determine its direction by inspection. 1,2 at infinity
in
VB
BI13
VB 17.17
sec

VB
VB 59.000 deg

4. Determine the magnitude of the velocity at point C using equation 6.9b. Determine its direction by inspection.
in
VC
CI13
VC 9.509
sec

VC
C 90
deg VC 22.572 deg
DESIGN OF MACHINERY SOLUTION MANUAL 7-15a-1

PROBLEM 7-15a
Statement: The linkage in Figure P7-5c has the dimensions and coupler angle given below. Find 3, AB, and
AC for the position shown for VA = 10 in/sec and AA = 15 in/sec 2 in the directions shown. Use the
acceleration difference graphical method.
Given: Link lengths and angles:
Link 3 (A to B) b
1.8
in
Coupler angle
128
deg Slider 4 angle
59
deg
Coupler point:
Distance A to C p
1.44
in Angle BAC
49
deg
1 2
Input slider motion VA
10
in
sec AA
15
in
sec

Solution: See Figure P7-5c and Mathcad file P0715a.

1. In order to solve for the accelerations at points B and C, we will need 3. From the layout below and Problem
6-18,
rad
128 deg 13.288
sec

Direction of AB
0 0.5 1 in
Y
Direction of ABAt

B C

3 Direction of ACAt

b 49.000

59.000 128.000

AA
VA X
A 2

2. The graphical solution for accelerations uses equation 7.4: (AP t + AP n) = (AAt + AAn) + (APAt + APAn)

3. For point B, this becomes: AB = AA + (ABAt + ABAn) , where

2
AA 15.000 in
sec AA
0
deg

2 2
ABAn
b
ABAn 317.828 in
sec

ABAn
180
deg ABAn 308.000 deg

4. Choose a convenient acceleration scale and draw the vectors with known magnitude and direction. From the
origin, draw AA at an angle of AA. From the tip of AA , draw ABAn at an angle of ABAn . Now that the vectors with
known magnitudes are drawn, from the origin and the tip of ABAn, draw construction lines in the directions of AB
and ABAt, respectively. The intersection of these two lines are the tips of ABAt, and AB .
DESIGN OF MACHINERY SOLUTION MANUAL 7-15a-2

Y
AA
X

0 100 IN/S/S

Acceleration Scale

n
ABA

9.126

8.638

AB

A tBA

5. From the graphical solution above,

in
Acceleration scale factor ka
100
2
sec
2
AB
9.126
ka AB 912.6in
sec at an angle of 239 deg

2
ABAt
8.638
ka ABAt 863.8 in
sec

6. Calculate 3 using equation 7.6.

ABAt 2

479.9rad
sec CW
b

7. For point C, equation 7.4 becomes: AC = AA + (ACA t + ACA n) , where

2 2
ACAn
p
ACAn 254.262 in
sec

APAn
180
deg APAn 259.000 deg
2
ACAt
p
ACAt 691.040 in
sec

APAt 90
deg APAt 169.000 deg
DESIGN OF MACHINERY SOLUTION MANUAL 7-15a-3

8. Repeat procedure of step 4 for the equation in step 7.

Y
7.215
AA
0 100 IN/S/S
X

Acceleration Scale
AC
170.609

t
ACA

n
ACA

9. From the graphical solution above,

in
Acceleration scale factor ka
100
2
sec
2
AC
7.215
ka AC 721.5 in
sec at an angle of -170.61 deg
DESIGN OF MACHINERY SOLUTION MANUAL 7-15b-1

PROBLEM 7-15b
Statement: The linkage in Figure P7-5c has the dimensions and coupler angle given below. Find 3, AB, and
AC for the position shown for VA = 10 in/sec and AA = 15 in/sec 2 in the directions shown. Use an
analytical method.
Given: Link lengths and angles:
Link 3 (A to B) b
1.8
in
Coupler angle
128
deg
Slider 4 angle
59
deg
Coupler point:
Distance A to C Rca
1.44
in
Angle BAC
49
deg
1 2
Input slider motion VA
10
in
sec AA
15
in
sec

Solution: See Figure P7-5c and Mathcad file P0715b.

1. Draw the mechanism to scale and define a vector loop using the fourbar slider-crank derivation in Section 7.3 as
a model.
0 0.5 1 in
Y

B C

4
R3
R4
3

b 49 .0 00

59.0 00 12 8.00 0

VA
X
R2
A 2

2. Write the vector loop equation, differentiate it, expand the result and separate into real and imaginary parts to
solve for 3 and VB.

j
j
j

R2 R3
R4 a
e b
e
c
e

where a is the distance from the origin to point A, a variable; b is the distance from A to B, a constant; and c is
the distance from the origin to point B, a variable. Angle 2 is zero, 3 is the angle that AB makes with the x axis,
and 4 is the constant angle that slider 4 makes with the x axis. Differentiating,

d
j d j
a j
b
e c

e
dt
dt

Substituting the Euler equivalents,

d
d
a b
sin j c
cos
cos j
sin
dt dt
DESIGN OF MACHINERY SOLUTION MANUAL 7-15b-2

Separating into real and imaginary components and solving for 3. Note that dc/dt = VB and da/dt = VA

VA
tan rad

13.288
sin tancos
b sec

3. Differentiate the velocity equation, expand it and solve for 3 and AB .

d
2 j
2 d2
j j


e
e
c
2
a b j b j e
2
dt dt
Substituting the Euler equivalents,

2
d
2
a b
sin j
cos


0
dt
2

2 d
b
cos j
sin c cos j
sin
2
dt

Separating into real and imaginary components and solving for 3 and AB . Note that d2c/dt2 = AB and d2a/dt2 =
AA

2
AA
sin b

sin rad

479.924
cos
b 2
sec

2
b

cos b

sin in
AB
AB 912.662
sin
2
sec

4. Determine the acceleration of the coupler point C using equations 7.32.

2
ACA
Rca
sin j
cos Rca
cos j
sin

in
ACA 726.910 117.729j
2
sec

AA
AA AC
AA ACA

arg
AC170.610 deg
in in
AC 711.910 117.729j AC 721.579
2 2
sec sec
DESIGN OF MACHINERY SOLUTION MANUAL 7-13a-1

PROBLEM 7-13a
Statement: The linkage in Figure P7-5a has the dimensions and crank angle given below. Find 3, AA , AB, and
AC for the position shown for 2 = 15 rad/sec and 2 = 10 rad/sec2 in the direction shown. Use the
acceleration difference graphical method.
Given:
Link lengths: Link 2 a
0.8
in Link 3 b
1.93
in
Offset: c
0.38
in

Coupler point data: p

1.33
in
38.6
deg
rad rad
Link 2 position, velocity, and acceleration:
34.3
deg
15
10
sec 2
sec
Solution: See Figure P7-5a and Mathcad file P0713a.

1. In order to solve for the accelerations at points A, B and C, we will need 3, and 3. From the graphical position
solution below,
154.502
deg

a
cos 1
Using equation 6.22a,
5.691 rad
sec
b cos
Direction of ACAt
Direction of AAt

Y
A
38.600

34.300

X 154.502
O2 Direction of AB
B

Direction of ABAt

2. The graphical solution for accelerations uses equation 7.4: (APt + APn) = (AA t + AA n) + (APAt + APAn)

3. For point B, this becomes: AB = (AA t + AA n) + (ABAt + ABAn) , where

2 2
AAn
a
AAn 180.000 in
sec

AAn
180
deg AAn 214.300 deg
2
AAt
a
AAt 8.000in
sec

AAt
90
deg AAt 124.300 deg
2 2
ABAn
b
ABAn 62.500 in
sec
ABAn
ABAn 154.502 deg
DESIGN OF MACHINERY SOLUTION MANUAL 7-13a-2

4. Choose a convenient acceleration scale and draw the vectors with known magnitude and direction. From the
origin, draw AAn at an angle of AAn. From the tip of AAn, draw AAt at an angle of AAt. From the tip of AAt , draw
ABAn at an angle of ABAn . Now that the vectors with known magnitudes are drawn, from the origin and the tip of
ABAn, draw construction lines in the directions of AB (horizontal) and ABAt , respectively. The intersection of
these two lines are the tips of ABAt, and AB.

7.089

AB
X
t
ABA

3.010

0 25 IN/S/S

Acceleration Scale
n
A BA

AAn
AtA

5. From the graphical solution above,

in
Acceleration scale factor ka
25
2
sec
2
AB
7.089
ka AB 177.2in
sec at an angle of 180 deg

2
ABAt
3.010
ka ABAt 75.3 in
sec

6. Calculate 3 using equation 7.6.

ABAt 2

38.990 rad
sec CCW
b

7. For point C, equation 7.4 becomes: AC = (AAt + AAn) + (ACA t + ACA n) , where
2 2
ACAn
p
ACAn 43.070 in
sec

APAn
APAn 193.102 deg
2
ACAt
p
ACAt 51.856 in
sec

APAt 90
deg APAt 103.102 deg

8. Repeat procedure of step 4 for the equation in step 7.

DESIGN OF MACHINERY SOLUTION MANUAL 7-13a-3

8.554 X

165.351

AC
0 25 IN/S/S

t
ACA Acceleration Scale

n
t AA
n AA
A CA

9. From the graphical solution above,

in
Acceleration scale factor ka
25
2
sec
2
AC
8.554
ka AC 213.9 in
sec at an angle of -165.35 deg
DESIGN OF MACHINERY SOLUTION MANUAL 7-13b-1

PROBLEM 7-13b
Statement: The linkage in Figure P7-5a has the dimensions and crank angle given below. Find 3, AA , AB, and
AC for the position shown for 2 = 15 rad/sec and 2 = 10 rad/sec2 in the direction shown. Use an
analytical method.
Given: Link lengths:
Link 2 a
0.8
in Link 3 b
1.93
in
Offset: c
0.38
in
Coupler point data: p
1.33
in
38.6
deg
rad rad
Link 2 position, velocity, and acceleration:
34.3
deg
15
10
sec 2
sec
Solution: See Figure P7-5a and Mathcad file P0713b.
1. Draw the linkage to scale and label it.

Y
A
38.600

34.300
X 154.502
O2
B

2. Determine 3 and d using equations 4.16 and 4.17.

a
sin c
asin
154.502 deg
b
d
a
cos b
cos d 2.403in

3. Determine the angular velocity of link 3 using equation 6.22a.

a cos rad


5.691
b cos sec

4. Using the Euler identity to expand equation 7.15b for AA , determine its magnitude, and direction.

2
AA
a
sin j
cos a
cos j
sin

arg
AA
in
AA 153.206 94.826j AA
AA AA
2
sec
in
The acceleration of pin A is AA 180 at AA 148.2 deg
2
sec
5. Determine the angular acceleration of link 3 using equation 7.16d.
DESIGN OF MACHINERY SOLUTION MANUAL 7-13b-2

2 2
a

cos a

sin b

sin rad

38.990
cos
b 2
sec

6. Use equation 7.16e for the acceleration of pin B.

2 2
AB
a

sin a

cos b

sin b

cos

in
AB 177.2 A negative sign means that AB is to the left
2
sec
7. Determine the acceleration of the coupler point C using equations 7.32. Note that 3 is defined from point B in
Figure 7-6 and from point A in Figure 7-9. To use equation 7.32 for a slider-crank we must redefine 3.

180
deg 25.498 deg

ACA
p
sin j
cos

p
2
cosj sin
AC
AA ACA

arg
AC
in
AC 206.910 54.083j AC
AC AC
2
sec
in
The acceleration of point C is AC 213.861 at AC 165.352 deg
2
sec
DESIGN OF MACHINERY SOLUTION MANUAL 7-30-1

PROBLEM 7-30
Statement: The linkage in Figure P7-8d has the dimensions and crank angle given below. Find AA, AB , and
Abox in the global coordinate system for the position shown for = 30 rad/sec CW, constant .
Use the acceleration difference graphical method.
Given: Link lengths:
Link 2 (O2 to A) a
30
mm Link 3 (A to B) b
150
mm
Link 4 (O4 to B) c
30
mm Link 1 (O2 to O4) d
150
mm
Crank angle:
58
deg Global XY system
1 2
Input crank angular velocity
30
rad
sec
0
rad
sec
Solution: See Figure P7-8d and Mathcad file P0730.
1. Draw the linkage to a convenient scale. Indicate the directions of the acceleration vectors of interest.

Vbox
1 Direction of ABAt

58 B
A 3 58
2
Direction of ABt

O2 O4 4

Direction of AAt

2. In order to solve for the accelerations at points A and B, we will need 3, 3, and 4. From the graphical position
solution above (in the global XY coordinate system),

0
deg 0.000deg

58.000 deg
This is a special-case Grashof in the parallelogram configuration. Therefore,
1

0.0
rad
sec

3. The graphical solution for accelerations uses equation 7.4: (AP t + AP n) = (AAt + AAn) + (APAt + APAn)

4. For point B, this becomes: (AB t + AB n) = (AAt + AAn) + (ABAt + ABAn) , where
2 2
ABn
c
ABn 27000 mm
sec

ABn
180
deg ABn 238.000 deg
2 2
AAn
a
AAn 27000 mm
sec

AAn
180
deg AAn 238.000 deg
2
AAt
a
AAt 0.0mm
sec
2 2
ABAn
b
ABAn 0 mm
sec
DESIGN OF MACHINERY SOLUTION MANUAL 7-30-2

5. In this case, there is no need to draw an acceleration diagram since AAt and ABAn are zero. This means that ABAt
and ABt will also be zero and AA = AAn, AB = ABn.

6. Since ABAt = 0, 3 = 0 and, since AB = AA , 4 = 2= 0.

7. For the box, equation 7.4 becomes: Abox = (AA t + AA n) + (AboxA t + AboxA n) , where AboxA t and AboxAn are both zero
since 3 and 3 are zero. Therefore, Abox = AAx.