Dynamics of Mechanisms – MECH 314

Practice problems

1 – For the mechanism shown in the scaled position diagram, RBA = 8.34 cm, RCA = 9.48 cm, RCD = 16.53
cm, and RBC = 2.36 cm. The angular velocity of link 2 is w2 = 5.274 rad/s cw, and the velocity of point D5
is VD5 = 30 i cm/s.
(a) Determine the magnitude and direction of the angular velocity of link 4, assuming general
contact between links 2 and 3 (we do not assume rolling). Give the detailed set of velocity
difference and/or apparent velocity equations that are necessary for the solution. Employ point
OV and scale 1cm = 10 cm/s.
(b) Using the graphical representation developed for point (a), determine the magnitude and
direction of the angular velocity of link 3 for the case when rolling contact is assumed between
links 2 and 3. Give the detailed set of velocity difference and/or apparent velocity equations that
are necessary for the solution.
D
5 VD5

1
4

3
C

B y

2
w2 x
A

OV

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 Dynamics of Mechanisms – MECH 314
Practice problems

2 – An inversion of the slider-crank mechanism is shown in the figure with the dimensions of the
various elements (the figure is not to scale). The input variable is the angle of link 2 measured relative
to the x axis, its value is q2 = 50°. Using the method of complex polar algebra, determine:
(a) the two possible solutions for the orientation of link 4 (q4), and
(b) the two possible positions of point C expressed in the xy coordinate system.

C
3

2 4 80 mm

q2 q4
A
100 mm D x
1 1

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 Dynamics of Mechanisms – MECH 314
Practice problems

3 – The scaled position diagram of a mechanism is shown in the figure: REA = 6 cm, RBA = 3 cm, RCE = 8
cm, RDC = 3.2 cm, and the ratio of RCB/RBE=0.805. The angular velocity of link 2 is given as w2 = 500
rad/s ccw.
(a) Determine the velocity images and velocity vectors of all the representative points of the
mechanism (i.e., A, E, B2, B3, B4, C4, C5, D1, D5, D6) using graphical representation of the vector
equations. Give the sets of velocity difference and/or apparent velocity equations necessary for
this analysis. Employ point Ov and scale 1cm = 150 cm/s.
(b) Based on the graphical representation, determine the magnitude and direction
of the angular velocity of link 5, and the magnitude and direction of the sliding
velocity of link 3 relative to link 4 (apparent velocity).

OV

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 Dynamics of Mechanisms – MECH 314
Practice problems

4 – For the mechanism shown in the figure, the dimensions are given as RCO = 10 cm, RCB = 6 cm, qCO =
135° (the figure is not to scale). The input variable is RBO = 12 cm.
(a) Write the loop-closure equation for this mechanism.
(b) Based on the loop-closure equation and using the method of complex polar algebra,
determine the angles that represent the orientation of links 2 and 4.
(c) Verify the results using the graphical method.

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 Dynamics of Mechanisms – MECH 314
Practice problems

5 – The scaled position diagram of a mechanism is shown in the figure. The input is the rotational
velocity of link 2, w2 = 0.7 rad/s ccw. RCA = 4.3 cm, RCB = 3 cm, RBD = 6 cm, RDE = 2.9 cm
(a) Determine the velocity images and velocity vectors of all the representative points of the
mechanism (i.e., A2, C2, C3, C4, D4, D5, E5, E6) using graphical representation of the vector
equations. Give the sets of velocity difference and/or apparent velocity equations necessary for
this analysis. Employ point Ov and scale 1 cm = 1 cm/s.
(b) Based on the graphical representation, determine the magnitude and direction of the sliding
velocity of link 4 relative to link 3 (apparent velocity), and the angular velocity of link 5.

OV

5
 Dynamics of Mechanisms – MECH 314
Practice problems

6 – For the mechanism shown in the figure, dimensions are RAO = 8 cm, RBA = 6 cm, REB = 38 cm, RDC = 6
cm, RDO = 20 cm. The figure is not to scale. The input variable is qA = 135°. Based on the loop-closure
equation, and using the method of complex polar algebra, determine:
(a) Angle qCB.
(b) Position of point E.

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 Dynamics of Mechanisms – MECH 314
Practice problems

7 – The offset slider-crank mechanism shown in the figure is driven by the rotating crank 2.
Dimensions are RBA = 2 cm, RBC = 6 cm, and the offset d = 1 cm. The input variable is is qBA = 65°.
(a) Write the loop-closure equation for this mechanism.
(b) Based on the loop-closure equation and using the method of complex polar algebra
determine the angle of crank 3, qCB, and the position of slider 4, xC.
(c) Verify the results using the graphical method.

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 Dynamics of Mechanisms – MECH 314
Practice problems

8 – The scaled position diagram of a mechanism is shown in the figure. In the current position, RAO = 5
cm. The input is the translational velocity of point A2, VA = 5 cm/s, from right to left.
(a) Determine the velocity images and velocity vectors of all the representative points of the
mechanism using graphical representation of the vector equations. Give the sets of velocity
difference and/or apparent velocity equations necessary for this analysis. Employ point Ov and
scale 1 cm = 1 cm/s.
(b) Based on the graphical representation, determine the magnitude and direction of the sliding
velocity of link 3 relative to link 4 (apparent velocity) and the angular velocity of link 3.

OV

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 Dynamics of Mechanisms – MECH 314
Practice problems

9 – The scaled position diagram of a mechanism is given in the figure: ROD = 8 cm, ROB = 11 cm. At the
moment shown, the angular velocity of link 4 is given as q4 = 2 rad/s, ccw, and link 2 is moving to the
right with constant velocity. The relative velocity of point A3 with respect to link 4 is 10.8 cm/s,
pointing in the direction of the vector from O to A.
Perform the complete acceleration analysis of the mechanism using graphical representation of
the vector equations. Give the sets of acceleration difference and/or apparent acceleration
equations necessary for this analysis. Employ origin OA, and scale 1 cm = 5 cm/s2. Based on this
graphical representation determine the magnitude and direction of the acceleration of point B4,
the magnitude and direction of the angular acceleration of link 4, and the magnitude and
direction of the relative acceleration of point A3 with respect to link 4.

OA

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 Dynamics of Mechanisms – MECH 314
Practice problems

10 – For the mechanism shown below in the scaled position diagram, RBD = 0.9 m, RAB = 5.4 m, RAO5 =
2.1 m, RBC = 6.1 m, RAC = 2.4 m, RCO2 = 0.9 m. The angular velocity of link 4 is w4 = 4 rad/s cw. Link 4 is
in rolling contact with link 1; the contact between link 2 and link 3 is a general direct contact where
slip is possible.
(a) Determine the velocity images and velocity vectors of all the representative points of the
mechanism using graphical representation of the vector equations. Give the sets of velocity
difference and/or apparent velocity equations necessary for this analysis. Employ point Ov and
scale 1 cm = 1 m/s.
(b) Based on the graphical representation, determine the angular velocities of links 2, 3, and 5.

OV

10
 Dynamics of Mechanisms – MECH 314
Practice problems

11 – For the mechanism shown in the figure, the kinematic pair variables are r1, q2, r3, and q4. Angles
q2 and q3 are related to each other via the constraint q3 = q2 + 270°. The configuration of the
mechanism is represented by r1 = 47.6 cm, r2 = 45 cm, r3 = 20 cm, r4 = 30 cm, q2 = 60°, and q4 = 105°.
The input variables are 𝑟1ሶ = -1 m/s and w2 = 5 rad/s ccw.
(a) Develop the formulation that is necessary to determine the magnitudes and directions of the
angular velocity of link 4 and the apparent velocity of link 2 relative to link 3 (𝑟3ሶ ) using the
method of direct time differentiation. Write the detailed component-form expressions of the
loop-closure equation for the position and velocity levels.
(b) Determine numerically the angular velocity of link 4 and the apparent velocity of link 2
relative to link 3 (𝑟3ሶ ).

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 Dynamics of Mechanisms – MECH 314
Practice problems

12 – The scaled position diagram of a mechanism is shown in the figure. RCO = 6.8 cm, RBC = 6.7 cm,
and RBO = 8.5 cm. The angular velocity of link 4 is w4 = 3.5 rad/s ccw. The apparent velocity of point C4
with respect to link 3 (VC4/3) is 48 cm/s, parallel to the line indicating link 4 and pointing upwards. The
input is the acceleration of point C2, AC2 = 300 cm/s2 in the vertical direction, pointing upwards.
(a) Determine the acceleration images and vectors of all the representative points of the
mechanism (i.e., C1, C2, C3, C4, and B4) using graphical representation of the vector equations.
Give the sets of acceleration difference and/or apparent acceleration equations that are
necessary for this analysis. Employ point OA and scale 1 cm = 100 cm/s2.
(b) Based on the graphical representation, determine the magnitude and direction of the angular
acceleration of link 4.

OA

12
 Dynamics of Mechanisms – MECH 314
Practice problems

13 – The figure shows the scaled kinematic diagram of a mechanism (scale 1 cm : 1 cm). The following
dimensions are known: RBA = 3 cm, RCB = 4 cm, RCE = 1.5 cm. The angular velocity of link 2 is w2 = 10
rad/s, ccw. The contacts between link 4 and links 1 and 5 are general direct contacts, where slip is
possible. The contact between links 5 and 1 can be considered a prismatic pair.
(a) Determine the apparent velocity of point C3 with respect to link 5 (VC3/5), and the velocity of
point D5. Use graphical velocity analysis and scale 1 cm : 5 cm/s. Give the detailed set of
necessary velocity difference and/or apparent velocity equations and construct the velocity
vector diagram. What is the angular velocity of link 5?
(b) Assume rolling at point E between links 1 and 4. For this case, determine the angular velocity
of link 4, w4.

OV

13
 Dynamics of Mechanisms – MECH 314
Practice problems

14 – The scaled position diagram of a mechanism is shown in the figure: RBO = 8 cm, RBA = 2.1 cm. Disk
4 is attached to link 1 via a revolute joint at point A. The angular velocity of link 4 is w4 = 1 rad/s cw.
From the velocity analysis of the mechanism, it is known that w3 = w2 = 0.51 rad/s cw, and the
apparent velocity of point B3 with respect to link 2 (VB3/2) is 3 cm/s, parallel to link 2 and pointing
upwards. The input of the mechanism is a4 = 2 rad/s2, ccw.
(a) Perform the complete acceleration analysis of the mechanism using the graphical method.
Obtain the acceleration images for points B2, B3, and B4. Give the necessary sets of acceleration
difference and/or apparent acceleration equations. Use scale 1 cm : 1.5 cm/s2.
(b) Determine the angular acceleration of link 2 (a2) and the acceleration of point B2.

OA

14
 Dynamics of Mechanisms – MECH 314
Practice problems

15 – For the given configuration of the mechanism shown in the figure, q2 = 0°, q3 = 150°, r2 = 50 mm,
r3 = 80 mm, h = 40 mm, and s = 119.28 mm. The input variable is q2, and its time derivatives are 𝜃ሶ 2 =
4 rad/s and 𝜃ሷ 2 = 0.
(a) Develop the formulation that is necessary to determine the magnitudes and directions of the
angular velocity and angular acceleration of link 3 and the sliding velocity and acceleration
between links 4 and 1. Write the detailed component-form expressions of the loop-closure
equation for the position, velocity, and acceleration levels.
(b) Determine numerically the angular velocity of link 3, the sliding velocity of link 4 relative to
link 1, and the first order kinematic coefficients that relate 𝑠ሶ and 𝜃ሶ 3 to 𝜃ሶ 2 .

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 Dynamics of Mechanisms – MECH 314
Practice problems

16 – The scaled position diagram of a mechanism is shown in the figure. RAB = 2 cm, the input is the
angular velocity and acceleration of link 4, w4 = 2 rad/s cw, and a4 = 2 rad/s2 ccw. The velocity analysis
has been performed and the velocity polygon is shown next to the diagram: VB4 = 4 cm/s, VB2 = 2 cm/s,
VB2/3 = 5.65 cm/s. Rolling contact is assumed at point A between links 1 and 4.
(a) Determine the acceleration images and acceleration vectors of all the representative points of
the mechanism (i.e., A1, A4, B1, B2, B3, and B4) using graphical representation of the vector
equations. Give the sets of acceleration difference and/or apparent acceleration equations
necessary for this analysis. Employ point OA and scale 1 cm : 1 cm/s2.
(b) Based on the graphical representation, determine the magnitude and direction of the
apparent acceleration of point B3 relative to link 2, the angular acceleration of link 2, and the
acceleration of point B2.

OA

16
 Dynamics of Mechanisms – MECH 314
Practice problems

17 – For the mechanism shown in the figure (scaled position diagram, scale 1 cm : 1cm), the mass and
second moments of inertia of links 2 and 3 are negligible compared to that of link 4. It is known that
m4 = 1 kg. Link 4 can be considered a point mass for the purpose of force analysis. The friction
between links 1 and 4 can be represented with the Coulomb model and a coefficient m = 0.2. A torque
M12 = 100 Nm (ccw) acts between links 1 and 2, and a horizontal force with magnitude P is applied on
point C.
Determine the magnitude and direction of the reaction force transmitted from link 1 to link 4 and the
horizontal force P necessary to maintain a constant sliding velocity of link 4 relative to link 1 in the positive
direction of the x axis. Indicate the lines of action of all the forces and use scale 1 cm : 0.5 kN for the
construction of the force polygons.

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 Dynamics of Mechanisms – MECH 314
Practice problems

18 – The scaled position diagram of a mechanism is shown in the figure. The input is w2 = 10 rad/s cw
(constant). The following quantities are known: w3 = 2.8 rad/s ccw, w6 = 1.6 rad/s ccw, and the
magnitude of the apparent velocity of D6 relative to link 5 is VD6/5 = 57 cm/s, pointing towards D along
line DE.
Perform the complete acceleration analysis of the mechanism using graphical representation of the
vector equations. Employ origin OA and scale 1 cm = 100 cm/s2. Determine the acceleration of D5 and
the angular acceleration of link 6.

OA

18
 Dynamics of Mechanisms – MECH 314
Practice problems

19 – The scaled position diagram of a mechanism is shown in the figure. REA = 6 cm, RBA = 3 cm, RBE =
4.4 cm, RCB = 3.5 cm, RDC = 3.2 cm; w2 = 5 rad/s ccw (constant). Based on this, w3 = 0.924 rad/s ccw, w5
= 1.195 rad/s ccw, and VB4/3 = 14.55 cm/s pointing towards point C from E.
Perform the complete acceleration analysis using graphical representation of the vector equations.
Use origin OA and scale 1 cm = 15 cm/s2. Determine accelerations AC5 and a5.
C
5
D A
6
45o

3
B

OA

19
 Dynamics of Mechanisms – MECH 314
Practice problems

20 – For the mechanism shown below in the scaled position diagram, RBA = RCB = 2.7 cm, RBD = 15.87
cm. Rolling contact is assumed at point A between links 1 and 2, but slip is possible between links 2
and 3. VB2 = 50 cm/s, positive along the x axis.
Determine w3 and w2, using graphical representation. Employ point OV and scale 1 cm = 10 cm/s.

OV

20
 Dynamics of Mechanisms – MECH 314
Practice problems

SOLUTIONS
Problem 1: w4 = 3.15 rad/s cw; w3 = 13.77 rad/s ccw
Problem 2: q4 = 156.75°, q4 = 123.25°; Rc = 41.2 mm, Rc = 87.3 mm
Problem 3: w5 = 119.53 rad/s ccw; VB3/4 = 1455 cm/s
Problem 4: qBO = 164.93°, qCB = 40.79°
Problem 5: VC4/3 = 1.6 cm/s; w5 = 0.517 rad/s cw
Problem 6: qCB = 12.44°, REO = 32.9 cm, qEO = 5.8°
Problem 7: qCB = 332°, xC = 6.14 cm
Problem 8: w3 = 0.58 rad/s cw, VO3/4 = 5.8 cm/s
Problem 9: a4 = 4.7 rad/s2 cw, AA3/4 = 36.8 cm/s2
Problem 10: w2 = 2.55 rad/s cw, w3 = 0.52 rad/s cw, w5 = 2.33 rad/s cw
Problem 11: 𝑟3ሶ = 287.98 cm/s; w4 = -7.1 rad/s (cw)
Problem 12: a4 = 98.23 rad/s2 cw
Problem 13: w4 = 17.3 rad/s ccw, w5 = 0 rad/s, VC3/5 = 3.7 cm/s
Problem 14: a2 = 1.475 rad/s2 ccw; AB2 = 11.95 cm/s2
Problem 15: 𝜃ሶ 3 = -2.89 rad/s; 𝑠ሶ = -115.47 mm/s; q3’ = -0.72 rad/rad; s’ = -28.87 mm/rad
Problem 16: AB3/2 = 5.6 cm/s2 ; a2 = 0; AB2 = 2.05 cm/s2
Problem 17: P = 2.15 kN; F14 = 1 kN
Problem 18: a6 = 24.6 rad/s2 ccw; AD5 = 800 cm/s2
Problem 19: a5 = 27.18 rad/s2 ccw; AC5 = 178.5 cm/s2
Problem 20: w2 = 18.5 rad/s cw; w3 = 1.07 rad/s cw

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