Static Force Analysis 1

Example 12.7 A four-link mechanism is subjected to following external forces

(Fig. 12.12):

Fig. 12.12

Table 12.1
Link Length Force Magnitude Point of application force (r)
AB (2) 500 mm F2 80 –73.5°N 325 mm from A
BC (3) 660 mm F3 144 –58°N 297 mm from B
CD (4) 560 mm F4 60 –42°N 373 mm from D
AD (1) 1000 mm — (Fixed link)

Determine the shaft torque T2 on the input link AB for static equilibrium of the
mechanism. Also, find the forces on the bearings A, B, C and D.
Solution
The solution of the stated problem is worked out by
(i) Graphical solution by using theorem of Superposition, i.e. dividing the problem
into subproblems by considering only one force on a member and ignoring the
other forces on other members.
(ii) A composite graphical solution.
(iii) Analytical solution.
(i) Graphical Method by Superposition
Subproblem a (Fig. 12.13) Neglecting forces F3 and F4.
Link 3 and 4 are both two-force members. Therefore, F43 is to be along BC and F34,
along DC. As F43 is to be equal and opposite to F34, both must be zero.
Also F43 = F23 = F32 = 0
Hence, link 2 is in equilibrium under the action of two forces F2 and F12 (F12 = F2)
and torque T2a.
T2a = F2 ¥ h2a = 80 ¥ 0.325 sin 13.5° = 6 N.m clockwise
Subproblem b (Fig. 12.14) Neglecting forces F2 and F4.
Link 4 is a two-force member.
\ F34 = F14, magnitudes unknown, directions parallel to DC
2 Theory of Machines

Fig. 12.13

Fig. 12.14

Link 3 is a three-force member in which F3 is completely known, only the direction

of F43 is know (parallel to DC) and F23 is completely unknown. If the line of action of
F3 and F43 meet at O, the line of action of F23 will be along OB. Draw the force triangle
(F3 is completely known) by taking F3 to a suitable scale and two lines parallel to lines
of action of F23 and F43. Mark arrowheads on F23 and F43 to know the directions.
F43 = 50 N
Also, F43 = F34 = F14 = 50 N
F23 = 113 N
and F23 = F32 = 113 N
Link 2 is subjected to two forces and a torque F26.
For equilibrium, F12 is equal, parallel and opposite to F32.
T2b = F32 ¥ h2b = 113 ¥ 0.16 = 18.1 N.m counter-clockwise
Subproblem c (Fig. 12.15) Neglecting forces F2 and F3.
Link 4 is a three-force member in which only one force F4 is known. However, line
of action of F34 can be obtained from the equilibrium of link 3 which is a two-force
member. F34 will be equal and opposite to F43 which is along BC. If F4 and F34 intersect
at O, then line of action of F14 will be along OD. Draw the force triangle (F4 is
completely known) and obtain the magnitudes of forces F34 and F14.
F14 = 34.8 N
Also, F34 = F43 = F23 = F32 = 34 N
 Static Force Analysis 3

Fig. 12.15

Link 2 is subjected to two forces and a torque T2c.

For equilibrium, F12 = F32.
T2c = F32 ¥ h2c = 34 ¥ 0.38 = 12.9 N.m counter-clockwise
Net crankshaft torque = T2a + T2b + T2c
= –6 + 18.1 + 12.9
= 25 N.m counter-clockwise
To find the magnitudes of forces on the bearings, the results obtained in a, b and c
have to be added vectorially as shown in Fig. 12.16. The results are
F14 = 80 N, F34 = F43 = 60 N, F23 = F32 = 137 N, F12 = 204 N

Fig. 12.16
4 Theory of Machines

(ii) Composite graphical solution

The problem can be solved by following the same procure as in Examples 12.4 and
12.5. The solution is worked out in Fig. 12.17 which is self explanatory. After obtaining
the force F32, the resultant R¢¢ of this force with the force F2 can be obtained by drawing
a force diagram. This resultant passes through the intersection of the lines of action of
F2 and F23.
T = R¢¢ ¥ h = F12 ¥ h
= 208.8 ¥ 117 = 24 430 N.mm or 24.43 N.m

Fig. 12.17

(iii) Analytical Method

First of all, determine the angular inclinations of the links BC and DC, i.e. angles b and
j. This may be done by drawing the configuration or by analytical means (Sec. 4.2).
Angles b and j are found to be 10.3° and 100.4° (Fig. 12.18) respectively using
analytical means.
 Static Force Analysis 5

Fig. 12.18

Position vectors AB = 0.5 –60° = 0.25i + 0.433j

BC = 0.66 –10.3° = 0.649i + 0.118j
DC = 0.56 –100.4° = –101i + 0.551j
AE = 0.325 –60° = 0.163i + 0.281j
BG = 0.297 –10.3° = 0.292i + 0.053j
DH = 0.373 –100.4° = –0.0673i + 0.367j
Force vectors F2 = 80 –73.5° = 22.72i + 76.7j
F3 = 144 –58° = 76.31i + 122.1j
F4 = 60 –42° = 44.59i + 40.15j
Subproblem a
F14 = –F2 = –80 –73.5° = 80 –253.5° = –22.72i – 76.7j
T2a = F2 ¥ AE = (22.72i + 76.7j) ¥ (0.163i + 0.281j)

i j k
= 22.72 76.7 0
0.163 0.281 0

= –6.12 N.m

Subproblem b
As the link BC is in static equilibrium, the resultant forces and moments acting on it are
zero.
Taking moments of the forces about point B,
Mb = F3 ¥ BG + F43 ¥ BC = 0 (i)
As the direction of F43 is along DC if force F4 is ignored,
\ F43 = F43 –100.4° = – 0.181 F43i + 0.983 F43 j
Inserting the values of vectors in (i),
(76.31i + 122.1 j ) ¥ (0.292i + 0.053 j)
+ (– 0.181 F43i + 0.983 F43 j ) ¥ (0.649i + 0.118 j) = 0
–31.61 – 0.659 F43 = 0
F43 = – 48
6 Theory of Machines

Thus,
F43 = –48–100.4° = 48–280.4° = 8.66i – 47.1j
F14 = –F34 = F43 = 48–280.4° = 8.66i – 47.1j
Similarly, Net force on link 3,
F23 + F3 + F43 = 0
or F23 + (76.31i + 122.1 j) + (8.66 i – 47.1 j) = 0
or F23 + 84.97 i +75 j = 0
or F23 = –84.97i – 75 j or 113.3 –221.4°
or F32 = 113.3 –41.4° = 84.97i + 75 j
F12 = –F32 = – 84.97i – 75 j
T2b = F32 ¥ AB–60° = (84.97i +75 j) ¥ (0.25i + 0.433 j) = 18 N.m
Subproblem c
As the link DC is in static equilibrium, no forces and no moments are acting on it.
Taking moments of the forces about point D,
Md = F4 ¥ DH + F34 ¥ DC = 0 (ii)
As the direction of F34 is along BC if force F3 is ignored,
\ F34 = F34 –10.3° = 0.984 F34 i + 0.179 F34 j
Inserting the values of vectors in (ii),
(44.59i + 40.15 j) ¥ (–0.0673i + 0.367 j)
+ (0.984 F34 i + 0.179 F34 j ) ¥ (–101i + 0.551j) = 0
19.067 + 0.56 F34 = 0
F34 = –34
Thus, F34 = –34–10.3° = 34–190.3° = –33.45i – 6.08 j
Net force on link 4, F34 + F4 + F14 = 0
or (–33.45 i – 6.08 j) + (44.59 i + 40.15 j) + F14 = 0
or 11.14 i + 34.07 j + F14 = 0
or F14 = –11.14 i – 34.07j or 35.8 –251.9°
Now, F32 = –F23 = F43 = –F34 = 33.45i + 6.08 j
F12 = –F32 = –33.45i – 6.08 j
T2c = F32 ¥ AB–60° = (33.45i + 6.08 j) ¥ (0.25i + 0.433 j)
= 12.96 N.m
Net crankshaft torque = T2a + T2b + T2c
= –6.12 + 18 + 12.96
= 24.84 N.m counter-clockwise
Forces on the bearings
On D, F14 = (8.66i – 47.1 j) + (–11.14i – 34.07 j)
= –2.48i – 81.17 j
= 81.2 –268.2° N
or it can be stated as
F41 = 81.2 –88.2° N
On C, F43 = (8.66i – 47.1 j) + (33.45i + 6.08 j)
= 41.45i – 41.02 j
= 58.8 –315.8° N
On B, F23 = (–84.97i – 75 j) + (–33.45i – 6.08 j)
= 118.42i – 81.08 j
= 143.5 –214.4° N
 Static Force Analysis 7

On A, F12 = (–22.72i – 76.7j) + (–84.97i – 75 j)

+ (–33.45i – 6.08 j)
= –141.14i – 157.78 j
= 211.7–228.2° N