Figure 2.15 Four-bar linkage illustrating coupler point P.

(a) The dimensions of the links together with the

orientation of link 2 are given. The problem is to define the positions of the remaining links and of point P. (b)
Vector diagram illustrating the graphical solution for the open configuration of the linkage.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.16 Vector diagram illustrating the graphical solution for the crossed configuration
of the linkage of Fig. 2.15a.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.17 Notation used for the offset slider-crank mechanism.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.18 The Newton–Raphson method.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.19 The crank-and-rocker four-bar linkage.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.20 Correlation of planar vectors and complex numbers.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.21 Example 2.3.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.22 Rotation of axes by division of complex polar equations by ejθA: (a) original axes and (b) rotated axes.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.23

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.24 Example 2.5. A sliding-block linkage, RO2O4 = 9.0 in, RAO2 = 4.5 in, θ2 = 135◦.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.25 Example 2.6. Crank-and-rocker linkage illustrated in two different input
positions. RO4O2 = 600 mm, RAO2 = 140 mm, RBA = 690 mm, RBO4 = 400 mm, θ2 = 150◦, and
θ’2 = 240◦.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.26 Plotof coupler curve of Example 2.7.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.27 Displacement of a moving point.

THEORY OF MACHINES AND John J. Uicker, Jr. / Gordon R. Pennock Copyright © 2011 by Oxford University Press, Inc.
MECHANISMS Joseph E. Shigley
 Figure 2.28 Displacement difference between two points fixed in the same rigid body.

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