CHAPTER2

Position and Displacement

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.1 A right-hand three-dimensional coordinate system illustrating
how point P is located algebraically.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.2 Helical motion of a particle.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.3 The position of a point defined by vectors.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.4 Definition of the position-difference vector RPQ.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.5 Definition of the apparent-position vector RPO2 of point P.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.6 Assembly drawing of a hand-operated clamp.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.7 Detail drawings of the clamp of Fig. 2.6: (a) frame link, (b) connecting link,
(c) handle,
and (d) clamping bar.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.8 The loop-closure equation.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.9 The Geneva mechanism or Maltese cross.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.10 (a) Vector addition and (b) vector subtraction.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.11 Graphical solution of case 2: (a) given C, Aˆ , and B;
(b) solution for A, Bˆ and A’, Bˆ’.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.12 Graphical solution of case 3: (a) given C, Aˆ, and Bˆ; (b) solution for A and B.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.13 Graphical solution of case 4: (a) given C, A, and B; (b) solution for Aˆ , Bˆ and Aˆ , Bˆ .

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.14 (a) Slider-crank mechanism with the distance RB given and angles θ2 and θ3 unknown. (b)
Vectors replace the link centerlines. (c) Graphic position analysis.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley