1

ME 352 - Machine Design I Name of Student:____________________________

Summer Semester 2012 Lab Section Number:_________________________



Homework No. 10 (30 points). Due at the beginning of lecture on Tuesday, July 24th.



Solve Problem 14.30, see pages 681 and 682.


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Solution. The input link 2 is rotating with a constant angular velocity
2
10 rad/s = counterclockwise.
The angular velocities of links 3 and 4 are
3
1.43 rad/s = clockwise, and
4
= 11.43 rad/s clockwise,
respectively. The angular accelerations of links 3 and 4 and the acceleration of the center of mass of
link 3, respectively, are


2
3 4
84.8 rad/sec counterclockwise = = and
2
3
G
A 310 i 295 j in/sec = + +

In the given position, the spring and the damper are both parallel to the X-axis. The stiffness of the
spring is k =12 lbs/in and the free length is
O
R 4.5ins. = The viscous damper has a damping
coefficient C= 0.25 lbs.sec/in. There is also a known external force acting at the coupler point C, that
is,
C
F 125 j lbs. = The data given in Problem 14.20, page 679, is
O
2
A = 6 in, O
2
O
4
= 18 in, AB = 18 in, O
4
B = 6 in, AC = 24 in, AG
3
= 12 in, W
3
= 10 lbs,


2
2 4
I I 0.063 sec
G G
in lb = = ,
2
3
I 0.497 sec
G
in lb = , and g = 32.2 ft/ sec
2
= 386.4 in/sec
2
(i) Figure 1 shows the vectors that will be used in the kinematic analysis of the four-bar linkage.



Figure 1. The vectors for the four-bar linkage.

The first-order kinematic coefficient of link 3 can be written as

3
3 33
2
1.43
0.143 rad/rad
10

= = = =
+
(1)

The first-order kinematic coefficient of link 4 can be written as

4
4
2
11.43
1.143 rad/rad
10

= = =
+
(2)
3
The angular acceleration of link 3 can be written as

2
3 3 2 3 2
= + (3a)

Rearranging this equation, the second-order kinematic coefficient for link 3 can be written as

2 3 3 2
3 33 2
2
rad/rad

= = (3b)

Therefore, the second-order kinematic coefficient of link 3 is

2
3 33 2
84.8 ( 0.143)(0)
0.848 rad/rad
( 10)

+
= = = +
+
(4)

Similarly, the angular acceleration of link 4 can be written as

2
4 4 2 4 2
= + (5)

Therefore, the second-order kinematic coefficient of link 4 is

2
4 2
84.8 ( 1.143)(0)
0.848 rad/rad
( 10)

+
= = +
+
(6)

Since the mass centers G
2
and G
4
are located at the fixed pivots O
2
and O
4
, respectively, then the first
and second-order kinematic coefficients of these mass centers are

0
2
=
G
x 0
2
=
G
x 0
2
=
G
x
0
2
=
G
y 0
2
=
G
y 0
2
=
G
y
18
4
=
G
x in 0
4
=
G
x 0
4
=
G
x
0
4
=
G
y 0
4
=
G
y 0
4
=
G
y

To determine the first and second-order kinematic coefficients for the center of mass of the coupler
link. Using the point path approach, the vector loop for the center of mass of link 3 can be written as

3 2 33 G
R R R = + (7)

where R
2
= 6 in,
2
= 60, R
33
= 12 in, and
33
=
3
= 321.8. The X and Y components of the vector
equation for the center of mass of link 3 are

3 2 2 33 3
cos cos 6cos 60 12cos321.8 12.4303 in = + = + = +
G
x R R (8a)
and
3 2 2 33 3
sin sin 6sin 60 12sin321.8 2.2247 in = + = + =
G
y R R (8b)

The first-order kinematic coefficients for the center of mass of link 3 are

3 2 2 33 3 3
sin sin 6sin 60 12sin321.8 ( 0.143) 6.2573 in = = =
G
x R R (9a)
and
3 2 2 33 3 3
cos cos 6cos 60 12cos321.8 ( 0.143) 1.6515 in = + = + = +
G
y R R (9b)


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The second-order kinematic coefficients for the center of mass of link 3 can be written as

2
3 2 2 33 3 3 33 3 3
cos cos sin =
G
x R R R (10a)
and
2
3 2 2 33 3 3 33 3 3
sin sin cos = +
G
y R R R (10b)

Therefore, the second-order kinematic coefficients for the center of mass of link 3 are

2
3
6cos 60 12cos321.8 ( 0.143) 12sin 321.8 ( 0.848) 3.10 in
G
x = + = + (11a)
and
2
3
6sin 60 12sin321.8 ( 0.143) 12cos321.8 ( 0.848) 2.95 in
G
y = + + = + (11b)

Check: The acceleration of the mass center of link 3 can be written as

3 3 3 3 3
2
G G G 2 G G 2

A ( ) ( ) x i y j x i y j = + + + (12a)

Substituting Equations (12) into Equation (13a), the acceleration of the mass center of link 3 is

2 2
3
G
A ( 3.10 i 2.95 j)( 10) in/sec = + + + (12b)
that is
2 2
3
G
A 310 i 295 j in/sec 25.83 i 24.58 j ft/sec = + + = + + (12c)

Note that this answer agrees with the acceleration of the mass center of link 3 which is given in the
problem statement.
(ii) To determine

=
4
2 j
j
A . Note that the equivalent mass moment of inertia of the four-bar linkage is
4
2
EQ j
j
I A
=
=

, therefore, the units must be

2
in-lb-sec .

For link 2.

2 2 2 2 2
2 2 2 2 2 2 2
( ) (0 0) 0.063 (1) 0.063 in-lb-sec
G G G
A m x y I m = + + = + + = + (13)

For link 3.
2 2 2
3 3 3 3 3 3
( ) = + +
G G G
A m x y I (14a)
which can be written as

2 2 2 2
3
10
[( 6.2573) 1.6515 )] 0.497 ( 0.143) 1.094 in-lb-sec
386.4
A = + + = + (14b)

For link 4.

2 2 2 2 2
4 4 4 4 4 4 4
( ) (0 0) 0.063 ( 1.143) 0.0823 in-lb-sec
G G G
A m x y I m = + + = + + = + (15)

Therefore, the equivalent mass moment of inertia of the four-bar linkage is

4
2
2
0.063 1.094 0.0823 1.239 in-lb-sec
EQ j
j
I A
=
= = + + = +

(16)
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To determine

=
4
2 j
j
B . Note that
4 4
2 2
2
1
2
= =
=

j
j
j j
d A
B
d
, therefore, the units must be
2
in-lb-sec .
For link 2.
2 2 2 2 2 2 2 2 2 2
( ) (0 0) 0.063(1)(0) 0
G G G G G
B m x x y y I m = + + = + + = (17)

For link 3.
3 3 3 3 3 3 3 3 3
( )
G G G G G
B m x x y y I = + + (18a)

which can be written as

2
3
10
[( 6.2573)( 3.10) ( 1.6515)( 2.95)] 0.497( 0.143)( 0.848) in-lb-sec
386.4
B = + + + + + + (18b)

or as
2
3
0.436 in-lb-sec B = (18c)
For link 4.
4 4 4 4 4 4 4 4 4
( ) = + +
G G G G G
B m x x y y I (19a)

which can be written as

2
4 4
(0 0) 0.063( 1.143)( 0.848) 0.061in-lb-sec B m = + + + = (19b)

Therefore, the sum of the coefficients is

4
2
2 3 4
2
0 0.436 0.061 0.497 in-lb-sec
j
j
B B B B
=
= + + = =

(20)

It is interesting to note that
4
2
j
j
B
=

is a negative value. Since the angular velocity of link 2 is a constant

in the counterclockwise direction then the time rate of change of the kinetic energy must be a negative
value, see Equation (31). The negative sign implies that the power due to the time rate of change of the
kinetic energy, is coming out of the system.
(iii) The power equation can be written as

d
d d
d d d
= + +
f
W
T U
P
t t t
(21)

The left-hand side of the power equation can be written as

12 2 C C
P T F V = + (22)
The unknown torque
12
T will be assumed to be in the same direction as the input angular velocity (i.e.,
counterclockwise). The velocity of point C can be written as

2

( )
C C C
V x i y j = + (23)

The first-order kinematic coefficients for the path of point C can be obtained from the vector equation

2 3 C
R R R = + (24)

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The X and Y components of this vector equation are

3 3 2 2
cos cos R R x
C
+ = (25a)
and
3 3 2 2
sin sin R R y
C
+ = (25b)

Therefore, the first-order kinematic coefficients for point C are

2 2 3 3 3
sin sin 6sin 60 24sin 321.8 ( 0.143) 7.31853 in
C
x R R = = = (26a)
and
2 2 3 3 3
cos cos 6cos 60 24cos 321.8 ( 0.143) 0.30294 in
C
y R R = + = + = + (26b)

Substituting Equations (26) into Equation (23), the velocity of point C can be written as

2

( 7.31853 0.30294 )
C
V i j = + (27)

Therefore, the power due to the vertically downward force at point C is

2 2

125 ( ) 125 in.lb/sec
C C C C C
F V j x i y j y = + = (28a)
which gives

2 2
125 ( 0.30294) 37.87 in.lb/sec
C C
F V = + = (28b)

The negative sign indicates that the vertical force and the vertical component of the velocity of point C
are in opposite directions (i.e., the vertical component of the velocity of point C must be upwards).
This answer can be checked by observing the location of the absolute instant center of the coupler link
3; i.e.,
13
, I for this position of the four-bar linkage.
Substituting Equation (28) into Equation (22), the net power is

12 2 2
37.87 P T = + (29)

Now consider the right-hand side of the power equation, see Equation (21). The time rate of change
of the kinetic energy can be written as

4 4
3
2 2
j j
j j
d T
A B
d t

= =
= +

(30a)

where the generalized input for this problem is

2 2
= =

and
2 2
= =

Therefore, Equation (30a) can be written as

4 4
3
2 2 2
2 2 = =
= +
j j
j j
d T
A B
d t
(30b)

Since the angular velocity of the input link is a constant
2
10 rad/s counterclockwise = then the time
rate of change of the kinetic energy is

7
2
2 2
[ 1.239 (0) 0.497 ( 10) ] 49.7 in-lb/sec
d T
d t
= + + = (31)

The time rate of change of the potential energy due to gravity is

3
4
3 2 2 2
2
10 1.6515 16.515 in-lb/sec
j
g
j G G
j
d U
m g y m g y
d t

=
= = = = +

(32)

The first-order kinematic coefficient for the spring. The vector loop equation for the spring can be
written as
2 10
0 =
S
R R R (33a)

where the stretched length of the spring (for the given position of the four-bar linkage) is

2 2
cos 6 cos 60 3 in
A s
R x R = = = = (33b)

The X and Y components of Equation (33a) are

2 2 S S 10 10
R cos R cos R cos 0 = (34a)
and
2 2 S S 10 10
R sin R sin R sin 0 = (34b)

Differentiating Equations (33) with respect to the input position gives

2 2
sin cos sin 0 =
S S S S S
R R R (35a)
and
2 2
cos sin cos 0 =
S S S S S
R R R (35b)

Substituting the known information into Equation (35a) gives

6sin 60 0 =
o
S
R (36a)

Therefore, the first-order kinematic coefficient for the spring is

6 sin 60 5.19 in
s
R = = (36b)

Check: For this problem, the first-order kinematic coefficient for the spring can be written as

2 2
sin 6 sin 60 5.19 in
s
A
R x R = = = = (37)


Note that the first-order kinematic coefficient
S
is not required for the power equation.
The time rate of change of the potential energy in a linear spring can be written as

2
( )
s so s
s
d U
k R R R
d t
= (38a)

Substituting Equation (36b) and the known information into Equation (38a) gives

2 2
12 lb/in (3 in 4.5 in) ( 5.19 in) 93.42 in-lb/sec
s
d U
d t
= = + (38b)
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Adding Equations (32) and (38b), the total time rate of change of potential energy is

2 2 2
16.515 93.42 109.94 in-lb/sec
g
S
d U
d U d U
d t d t d t
= + = + = + (39)

The first-order kinematic coefficient for the viscous damper. The vector loop equation for the
viscous damper can be written as

4 11
0 =
C
R R R (40)

The X and Y components of this equation are

4 4 C C 11 11
R cos R cos R cos 0 = (41a)
and
4 4 C C 11 11
R sin R sin R sin 0 = (41b)

Differentiating Equations (41) with respect to the input position gives

4 4 4
sin cos sin 0 =
C C C C C
R R R (42a)
and
4 4 4
cos sin cos 0 =
C C C C C
R R R (42b)

Substituting the known information (where the angle
4
261.8 , = the angle 180 ,
C
= and the first-
order kinematic coefficient
4
1.143 rad/rad) = into Equation (42a) gives

6sin 261.8 ( 1.143) cos180 (0) 0
o o
C C
R R = (43a)

Therefore, the first-order kinematic coefficient for the viscous damper is

6sin 261.8 ( 1.143) 6.79 in
o
C
R = + = + (43b)

The positive sign indicates that the length of the vector
C
R is increasing for the positive input. Note
that this agrees with the instant centers for the linkage. Also, note that the length of the vector
C
R is
not required since the damper is horizontal in this position and the first-order kinematic coefficient
C

is not required for the power equation.
The velocity of point B at the end of the damper is

2
V 6.79 ( 10) 67.9 in/sec
B
C
R = = + + = + (44)

Check: The first-order kinematic coefficient for the damper can be written as

2 2 3 3 3
C
sin sin = = +
B
R x R R (45a)
which can be written as

C
6 sin 60 18 sin321.8 ( 0.143) 6.79 in
B
R x = = + = +

(45b)




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The time rate of change of the dissipative effects caused by the viscous damper is

2 2 2
2 2 2
0.25 ( 6.79) 10 114.92 = = + = +
f
c
d W
C R
d t
(46)

Therefore, the right hand side of the power equation, see Equation (21), can be written as

2 2 2 2
49.7 109.94 114.92 175.16 in-lb/sec
f
d W
d T d U
d t d t d t
+ + = + + = + (47)

It is interesting to note that the first term (the time rate of change of kinetic energy) accounts for 18.1%
decrease in the total power, the second term (the time rate of change of potential energy) accounts for
40.0% of the total power, and the third term (the dissipative effects) accounts for 41.9% of the total
power. A reason for the viscous damper dominating the power equation is the numerical value that is
assigned to the damping coefficient.
Substituting Equations (29) and (47) into Equation (21) gives

12 2 2 2
37.87 175.16 in-lb/sec T + = + (48)

(iv) The equation of motion is obtained by dividing both sides of Equation (48) by the input angular
velocity
2
. Therefore, the equation of motion for this problem can be written as

12
37.87 175.16 in-lb T = + (49)

(v) The driving torque acting on the input crank, from Equation (49), is

12
213.03 in-lb T = + (50)

The positive sign indicates that the assumption that the driving torque acting on the input crank is in
the same direction as the input angular velocity (that is, counterclockwise) is correct. Therefore, the
driving torque acting on the input crank is

12
213.03 in-lb counterclockwise T = (51)

The net power can be written as

IN OUT
P P P = (52)

Substituting Equation (50) into Equation (29), the net power is

2 2 2
213.03 37.87 175.16 in.lb/sec P = + = + (53)

Note that this result agrees with Equation (47). Substituting
2
= 10 rad/sec counterclockwise into
Equation (53), the net power is

175.16 ( 10) 1751.6 in.lb/sec P = + + = + (54)

Note that the net power is positive, therefore, power is going into the mechanism.