Mechanics of Machines

MCB3043

Lecture 17
Outline
 Static Force Analysis
 Force Transmission
 Static Equilibrium
 2-Force Member
 Force Analysis
Forces
Forces are transmitted from a machine member
to another through contact surfaces. The
contact surfaces might be in the forms of:
 A round pin turning in circular slot
 A round pin sliding or rolling in a linear slot
 Mating gear teeth
 Cam in contact with the follower
 A piston sliding in a cylinder
 A screw turning in a threaded hole
Force Transmission in Gears
Force Transmission in Cams
Force Transmission at Linkage Joints
Equilibrium
 A link might be in a state of:
 static equilibrium if it is stationary
 dynamic equilibrium if it is moving at constant
velocity
 A mechanism is in a state of static equilibrium
if all its links are stationary
Static Equilibrium
All machine members must be designed to be able
to withstand the static load. To analyse for the static
load on each member, the concept of static
equilibrium must be applied to the machine member.
For an object to be in static equilibrium, the following
conditions apply:
 sum of all external forces acting on the object
Σ F = 0;
 sum of all moments about an arbitrary point on the
object Σ MA = 0
Static Force Analysis
Applicable when the linkage is:
 at rest
 moving at low speeds such that the
accelerations are low and thus the inertial
forces generated in its members can
neglected
2-Force Member
If an object is:
 in static equilibrium
 has only two joints (or contact points) to other links
 not subjected to an external force or torque,
then the object is a 2-force member.

Presence of 2-force members in a linkage simplify the process of

determining force directions in the force analysis
Force Analysis of a 2-Force Member

ΣF=0
ΣM=0

For a 2-force member to be in static equilibrium,

the two forces at the two joints must:
• have the same magnitude
• act in opposite direction

• act along the same line (otherwise Σ M ≠ 0)

 Force Analysis of a Linkage
ΣF=0
 ΣM=0


 
A


A motor turns Link 2 about Joint A. Link 4 is supported by a spring to
the frame.
The acceleration is low so that the inertial forces can be neglected.
Link 3 is the only 2-force member of the linkage so we have the
information on the directions of forces acting at its joints.
Force Analysis of a Linkage
ΣF=0

ΣM=0 

 
A


Force Analysis of a Rock Crusher

The rock crusher is moving slowly

and thus the inertial force can be
neglected. In the position shown,
determine the torque required to
drive the 60-mm link and crush the
rocks. To crush the rocks, a force of
9000 N is required at the position
shown.
Force Analysis of a Rock Crusher

 

 Sketch the free body
diagram for each
moving link.
 Solve the equilibrium
equations for each
link.
Free Body Diagrams

The angular positions can

be obtained by drawing a
scaled kinematic diagram
of the linkage.
Reaction Forces at a Joint
 Link 2 and Link 3 are joined at Joint B
 The reaction force of one link to another must be
equal in magnitude but in opposite direction
 Note the nomenclature: F32 is the force exerted by
Link 2 to Link 3 
B
B

 Free Body Diagram: Link 4
 Link 4 should be analysed
first because it contains
D the Σ Fx = 0
applied force, which is 9000 cos13  F43 cos17.3  F41X  0
known.
Σ Fy = 0

9000 sin 13  F43 sin 17.3  F41Y  0

Σ MD = 0

9000 130  F43 sin 65.7 180  0

F43 = +7132 N 17.3° F41X = +1960 N 

F41Y = +96.3 N 
Free Body Diagram: Link 3

|F34| = |F43|

F34 = +7132 N 17.3°

F32 = +7132 N 17.3°

Free Body Diagram: Link 2
Σ Fx = 0
 F21X  F23 cos17.3  0
A
Σ Fy = 0
 F21Y  F23 sin 17.3  0

Σ MA = 0

 T21  ( F23 cos17.3)  60  0

|F23| = |F32| F23 = 7132 N 17.3°
T21=408561 Nmm = 409 Nm cw
Problem 13-11

A mechanism shown raises packages in a transfer

mechanism. If a 100-N package sit on the horizontal
link while the mechanism is stationary, determine the
torque required from the motor. The weights of the
links are negligible.
Ans: 28.9 Nm
Sliding Friction Force
 frictional force should also be included in static force
analysis
 The force magnitude is Ff = μ N where μ is the
frictional coefficient and N is the reaction force acting
normal to the contacting surface
 The direction of the force is opposite to the direction
of motion (for dynamic friction) or potential motion
(for static friction)

motion

Ff
N
Problem 13-12

25°

Ans: 868 N
Tutorial Week 12
 13-12