Mechanics of Machines

Instructor:

Dr. Hitham Tlilan

Office: SR 079 (Engineering Building)

Dr. Hitham Tlilan

Tel.: 86296

Chapter Two
Motion of Machinery
2.1 Motion
Spatial Motion:
the motion of the elements is not restricted to a single plane
or to a set of parallel planes
Planar Motion:
the motion of the elements is restricted to a single plane or to
a set of parallel planes

Dr. Hitham Tlilan

Example of Rectilinear Motion

The Eccentric Cam and the Scotch Yoke

2
1

w1

O1

r-R
R

O1

+C

+C

r
Rcosq

Dr. Hitham Tlilan

For the cam - follower mechanism given above

r = the radius of the camshaft
R = offset distance = the distance between the cam center (C )
and the center of rotation (O1 )
* The distance between (O1 ) and the follower face = y = r - R
After the rotation of cam - follower by angle q
r = the radius of the camshaft
R cos q = offset distance = the distance between the cam center (C )
and the center of rotation (O1 )
* The distance between (O1 ) and the follower face = y = r - R cos q
As a result of camshaft ratation the follower moves upward distance S ; such that
S = y - y = r - R cos q - ( r - R )
= R - R cosq
Dr. Hitham Tlilan
4
= R(1 - cosq )

* For any value of q , the value of S is measured from the lower position
S = R (1- cos 0 )

For q = 0o S = 0
= R (1- cos 90 )
For q = 90o S
S = R
S = R (1- cos180)

For q = 180o
S = 2 R
= R (1- cos 360 )
For q = 360o S

S = 0

2R

0
Dr. Hitham Tlilan

q
180

360

= wt
S = R - R cos q q
S = R - R cos(wt )

dS
= Rw sin(w t ) = Rw sin q
dt
dv
Follower acceleration = a =
= Rw 2 cos(w t ) = Rw 2 cos q
dt
Follower velocity = v =

Dr. Hitham Tlilan

2.2 Vectors
A vector is a quantity described by its magnitude and
direction

If A, B , and C are vectors, m is a scalar quantity

(1) Vector addition

A+ B = B + A

( 2) Associative law for addition

( A+ B ) + C = B + ( A+ C )
(3) Commutativ e law of multiplica tion by a scallar

m A = Am
( 4) Distributive law of multiplica tion by a scallar
Dr. Hitham Tlilan

m ( A+ B ) = mA + m B

Unit Vector is a vector of unit magnitude

If A is a vector then;

Unit vector of A =

, where, A is the magnitude of A

Dr. Hitham Tlilan

qVector Components

Rx : the projection of R on x - axis

R y : the projection of R on y - axis

Rz

Rz : the projection of R on z - axis

Ry

Rx

x
Dr. Hitham Tlilan

If ( i , j , k ) are unit vectors in ( x,y,z ), repectively then;

R = i R x + j R y + k Rz

k Rz

i Rx

j Ry

Dr. Hitham Tlilan

10

* If

R = i Rx + j R y + k Rz

and

Q = i Q x + j Q y + k Qz , then;

If Rx = Q x , R y = Q y , and Rz = Qz Therefore
R = Q

Sx
647
4
8

647y 4
8

647z 4
8

R + Q = S = i ( R x + Q x ) + j ( R y + Q y ) + k ( Rz + Q z )

Cx
647
4
8

647y 4
8

647z 4
8

R - Q = C = i ( R x - Q x ) + j ( R y - Q y ) + k ( Rz - Q z )

Dr. Hitham Tlilan

11

qGraphical Addition and Subtraction of Planar Vectors

C = A+ B + D + E

G = A- B = A+ ( - B )

Dr. Hitham Tlilan

-B

12

qDeterminant
(1) Second Order Determinan t
a b
a b Det.(A)
Given [A ] =
A =
= ad - bc

c d
c d
(1) 3rd - Order Determinan t
a
Given [B ] = b
c

d
e
f

g
a d g

Det.(B)
h B = b e h
i
c f i
= a (ei - hf ) - d (bi - hc ) + g( bf - ec )

Dr. Hitham Tlilan

13

qVector Cross-Product

Given vectors ( A, B ), which are in the same plane and having angle q

then the cross - product between A and B is

C
A B = C Magnitude
of

C = AB sin q

Direction of C Perpendicular to the plane which contains A and B

(Specified Using Right Hand Rule)

Dr. Hitham Tlilan

14

If A // B then
A B = AB sin 0 = 0

A B = - B A

- j

-k

-i

Dr. Hitham Tlilan

* If

15

R = i Rx + j R y + k Rz

R Q = Rx

Ry

Rz

Qx

Qy

Qz

and

Q = i Q x + j Q y + k Qz , then;

= i ( R y Qz - Rz Q y ) - j ( Rx Qz - Rz Q x ) + k ( Rx Q y - R y Q x )
* If a link rotate about fixed center with
angular velocity

w = i w x + j w y + k wz
and the vector of ( P ) from the center (O ) is

r = i rx + j ry + k rz , then;

Dr. Hitham Tlilan

16

v = w r = wx
rx

w y wz
ry

rz

= i (w y rz - w z ry ) - j (w x rz - w z rx ) + k (w x ry - w y rx )
1442443 1442443 1442443

j vy

i vx

The direction of v is ^ the plane of w and r

and tangent to path of P

k vz

Dr. Hitham Tlilan

17

* Example : Find the instantane ous veloctiy of ( P ) if

the link shown has angular velocity of

w = i 2 + j (-1) + k 4 [rad/s]

and the position vector of ( P ) is r = i ( -1) + j 10 + k 2

i
j
k
w

v =w r =

-1

- 1 10

= i ( -2 - 40) - j ( 4 + 4) + k ( 20 - 1)

= i ( -42) + j ( -8) + k (19)

2
v =Dr. Hitham
( v x )Tlilan
+ (v y ) 2 + (v z ) 2 = ( -42)2 + ( -8) 2 + (19) 2 = 46.79 mm/s
18

T = r F = rx

ry

rz

Fx

Fy

Fz

= i ( ry Fz - rz F y ) - j ( rx Fz - rz Fx ) + k ( rx F y - ry Fx )
1442443 1442443 1442443

j Ty

i Tx

k Tz

The direction of T is ^ the plane of F and r

Magnitude of T = T = rFsinq
Dr. Hitham Tlilan

19

qDot or Scalar -Product

Given vectors ( A, B ), which are in the same plane and having angle q

then the dot - product between A and B is

A B = AB cos

A B=C

Dr. Hitham Tlilan

If A ^ B C ^ A and B , Therefore

C4
6
47
8

C4
6
47
8

A ( A B ) = B ( A B ) = 0
14243 14243
AC cos 90o

BC cos 90o

20

10

Given vectors ( A, B ), which are in the same plane and having angle q
then;

A B = B A

A ( B+ C ) = A B+ A C

A (B+ C ) = A B+ A C

Ax
A ( B C ) = B (C A) + C ( A B ) = B x

Ay
By

Az
Bz

Cx

Cy

Cz

A ( B C ) = ( A C ) B - ( A B ) C

( A B ) C = ( A C ) B - ( B C ) A
Dr. Hitham Tlilan

21

* Differentiation of a Vector

dA
A( t + Dt ) - A( t )
= lim
,
dt Dt 0
Dt

dA
: is a vector
dt

Given vectors A, B , and C , then

d
dA dB
( A+ B ) =
+
dt
dt
dt

d dB dA
( A B ) = A
+ B
,
dt
dt
dt
d dB dA
( A B ) = A
+ B
dt
dt
dt

dC

d Dr.
dB dA
Hitham
(A
BTlilan
C ) = A ( B
) + A(
C) +
( B C )
dt
dt
dt
dt

22

11

* In fixed frame, which has unit vectors ( i , j , k )

d i d j dk
=
=
= 0,
dt
dt
dt
This because they are constant in magnitude and directiocn

* For moving frame,

d
(unit vector) 0,
dt

Dr. Hitham Tlilan

23

qSolution of Vector Equation

In general the vector equarion of a mechnism has the form

ro + r1 + r2 + L + rn = 0

(2 - 14)

Any position can be written in term of the unit vectors ( i , j , k ) such that;

ro = rox i + roy j + roz k

M

rn = rnx i + rny j + rnz k

Since of vector components in each direction = 0, then we can write

rox + r1x + r2 x + L + rnx = 0
roy + r1 y + r2 y + L + rny = 0
Dr. Hitham Tlilan

roz + r1z + r2 z + L + rnz = 0

24

This means that Eq.(2 - 14) can be solved for 3 - unknown components

12

r3

r4

r2

r1

The closed loop vector equation is

r1 + r2 + r3 + r4 = 0

Dr. Hitham Tlilan

25

r2

r3

r1

r4

The closed loop vector equation is

Dr. Hitham Tlilan

r1 + r2 + r3 + r4 = 0

26

13

vSolution of Planar Equations

Given the planar vector eqaution

A+ B + C = 0

(2.15)

Interms of unit vectors and magnitude

Au A + B u B + C u C = 0

(2.16)

where;

A = A = magnitude of A

A : Unit vector of A,
B u : Unit vector of B,

B = B = magnitude of B

C u : Unit vector of C ,

C = C = magnitude of C

Dr. Hitham Tlilan

27

If the magnitude of 2-vectors are unknown, then

The vector cross product method may be used
Vector Elimination Method
Example

If the magnitude of A and B are unknown in the following Eq.

A A+ B B+C C = 0

Take the dot product of each term by ( B k ), then;

A A (B k ) +

B B (B k )
1442443

+ C C (B k ) = 0

Because B u ( B u k ) = 0

= 0444444443
14444444
44
42
44
Dr. Hitham Tlilan

A A (B k ) + C C (B k ) = 0

28

14

Therefore

- C (B k )

The magnitude of A = A = A =

(2.19)

A ( B k )

By the same way we obtaine the magnitude of B

Take the dot product of each term by ( A k ), then;

A A (A k )
1442443

+ B B (A k ) + C C (A k ) = 0

Because Au ( Au k ) = 0

4
=4
0 4442444444444443
1
4
44
4

B u B ( Au k ) + C u C ( A u k ) = 0

The magnitude of B = B = B =
Dr. Hitham Tlilan

- C ( Au k )

(2.20)

B (A k )

29

If the directions of A and B are unknown, the solution of

A+ B + C = 0 for A and B is
12

C 2 + B 2 - A2
C 2 + B 2 - A2
u
2
(C u k ) +
C
A = m B -
C

2C
2C

(2.21)

and;
12

C 2 + B 2 - A2 u
C 2 + B 2 - A2
2
u

C
B = B -
(C k ) -

2
C
2
C

Dr. Hitham Tlilan

(2.22)

30

15

If the magnitude of A and the direction of B are unknown, the solution of

A+ B + C = 0 for A and B is

A = - C A u m B 2 - C ( A u k ) A u

(2.23)

and;
2

u u
u u
2
B = - C ( A k ) ( A k ) B - C ( A k ) A

(2.24)

Dr. Hitham Tlilan

31

2.3 Analytical Vector Methods Applied to Displacement Analysis

of Planar Linkage

r3
r2 q

r1

y, j

r1 : The position vector of the slider

x, i

r2 : The position vector of the crank

r3 : The position vector of the connecting rod

z, k

The closed loop (vector) closure equation is

r1 + r2 + r3 = 0

Dr. Hitham Tlilan

32

16

Example: For the slider-crank mechanism given in the previous slide

Given that; r2 = i + j 2

and length of the connecting rod = 4

find the orientation of the connecting rod and the slider position?

Given r2 = i + j 2 and r3 = 4
{
14243

r3

B
C
r2 q

ru = ?
and

r1

y, j

r{1 = ? The direction of r1 = r1 = - i

x, i

z, k

Dr. Hitham Tlilan

33

Eq.(2.23)
Usng

r1 = A, r2 = C , and r3 = B

r1 = - r2 r1u m r32 - r2 ( r1u k ) r1u

2
( i + j 2 ) ( - i k ) = ( - i )
= (
i
+
j
2
)

(
i
)
m
(
4
)
144
42444
3
1
424
3

- i - i =1
= j

1
4
4
4
2
4
4
4
3

j - i =0

i j =0

j 2 j = 2

Dr. Hitham Tlilan

= 1 m 16 - 4 ( - i )

34

17

The first position( + ve root)

r1 = ( -1) i m 12 ( - i )
r1 = ( -1) i + 12 ( - i ) = i ( -4.464)
The 2nd position (-ve root)

r1 = ( -1) i - 12 ( - i ) = i ( 2.464)
2

Using Eq.(2.24)

r3 = - ( i + j 2) ( - i k ) ( - i k ) ( 4) 2 - ( i + j 2) ( - i k ) ( - i )

r3 = -2 j 12 ( - i )

( + ve) root
For

r3 = -2 j + 12 ( - i ) = i ( -3.464) - j ( 2)

r3 = 4 r3 =

For ( - ve) root

r3

r3

i ( -3.464) - j ( 2)
=
= i ( -0.866) - j ( 0.5)
4

r3 = -2 j - 12 ( - i ) = i (3.464) - j ( 2)

r3 = 4 r3 =
Dr. Hitham Tlilan

r3

r3

i (3.464) - j ( 2)
=
= i ( 0.866) - j ( 0.5)
4

35

vPosition Analysis using Vector Cross Product

4-BarMechanism

r3

y, j

z, k

x, i

q3

rd

q2

r2

r4

r1

q4

The closed loop vector Eq.

for the given 4 - bar Mechanism is
Dr. Hitham Tlilan

r1 + r2 + r3 + r4 = 0

(2.26)

36

18

Suppose the length of each link is given and the angular

position of the driver link (Crank) is given

* From D ( ABD), the prime diagonal is given by

rd = r1 + r2

From D (BCD), the prime diagonal is given by

rd + r3 + r4 = 0 rd = - ( r3 + r4 )

(2.27)

Since the length of each link is known and the orientation

of the crank is known, then
Let;

Dr. Hitham Tlilan

A = r3 , B = r4 , and

C = rd = r1 + r2

37

From Eqs . (2.21) and (2.22)

r3 = m

r42

r42 - r32 + rd2

2
r
d

u r42 - r32 + rd2

rd k +
- rd

2rd

r42 - r32 + rd2

r4 = r -
2rd

2
4

u
rd

u r42 - r32 + rd2 u

rd
rd k -
2rd

(2.28)

(2.29)

* If the loop ( r3 r4 rd ) is CW then,

The lower sign in Eq s .( 2.28) & ( 2.29) is used.

* If the loop ( r3 r4 rd ) is CCW then,

The upper sign in Eq s .( 2.28) & (2.29) is used.
Dr. Hitham Tlilan

38

19

r2

r1

r4

r4

r5

ro
Dr. Hitham Tlilan

39

Example

L3
q3

L2

L4

q2

L1

q4

For planar mechanism shown,

L1 ( frame ) = 120mm, L2 (crank ) = 60mm, L3 (coupler ) = 140mm, and L4 ( follower ) = 80mm
at the instant where q 2 = 116.56o , find the orientation of links 3 and 4?

Dr. Hitham Tlilan

40

20

r3

y, j

r2

x, i

q3

r4

rd

q2

q4

D
r1
h = 180o - 116.56 = 63.44o

r1 = - i 120

r = - i 60 cos 63.44o + j 60 sin 63.44o = - i 26.83 + j 53

41 .67

Dr. Hitham Tlilan

2

r3 = 140 ( unknown direction)

r4 = 80 ( unknown direction)
* From the lower triangle, the prime diagonal is given by

rd = r1 + r2

= - i 120 + [ - i 26.83 + j 53.67] = - i 146.83 + j 53.67

rd = 146.832 + 53.67 2 = 156.33

rd =

rd

= - i 0.9392 + j 0.3433

Dr. Hitham
Tlilan
d

42

21

Recall

+
- +
2

r3 = m r4 -
- rd rdu

rd
2rd
14422
142
43
44
3

2
2
2 2 2
2
2

r
r
+
r
r
r
+
r
d u
3
d u
r4 = r42 - 4 3
rd k + 4
rd

2
r
2
r
1442d44
142d43
3
a

r42

- r32

rd2

rdu k

u r42
rd k +

0.3433

= - 0.9392
0

r32

rd2

(2.29)

= i 0.3433 + j 0.9392

Dr. Hitham Tlilan

Let, a =

(2.28)

43

r42 - r32 + rd2

= 35.95
2rd

Since ( r3 r4 rd ) vectors loop is CW, use the lower sign of Eq s ( 2.28) & ( 2.29)

r3 = + r42 - a 2 rdu k + a - rd rdu

= i 137.6 + j 25.79

r3 = 140 mm
r3 =

r3

r3

= i 0.9829 + j 0.1842 q 3 = 10.6o

r3

q3

Dr. Hitham Tlilan

i r3u

j r3u
44

22

Let, a =

r42 - r32 + rd2

= 35.95
2 rd

Since (r3 r4 rd ) vectors loop is CW, use the lower sign of Eq s (2.29)

r4 =

r42

2 u

- a rd k - a rdu

= i 9.24 - j 79.46

r4 = 80 mm
r4 =

r4

= i 0.1155 - j 0.9933 q 4 = 83.4o

r4

q4

q 4

o
o
o
q 4 = 360 - 83.4 = 279.6

q 4
Dr. Hitham Tlilan

r4

The transmissi on angle = j = q 4 - 180 = 99.6o

q4

q Position Analysis using Dot Product

r3
h3

r2

h2

q3

45

rd

q2

O2

r4

qd

O4

r1

y, j

x, i

* For planar linkage the closed loop equation is

r1 + r2 + r3 + r4 = 0

* The prime diagonal is given by

Dr. Hitham Tlilan

rd = r1 + r2

46

(2.30)

23

If the input angle q 2 and the length of all links are given.
* The dot product can be used to obtain the orientation of all links
such that;
The dot product of each term of Eq.(2.30) by itself gives

rd rd = ( r1 + r2 ) ( r1 + r2 )

(2.31)

rd rd = r1 r1 + r1 r2 + r2 r1 + r2 r2

rd2 = r12 + 2r1r2 cos h 2 + r22

(2.32)

where, h 2 = the angle between link1( r1 ) and link2( r2 ) = 180o - q 2

o

2 = cos(180 -q 2 ) = - cos q 2
Eq.(2.32) cos
h
rd2 = r12 - 2r1r2 cos q 2 + r22
Dr. Hitham Tlilan

47

* The direction of rd is given by d , such that;

tan d =

r1 y + r2 y

(2.33)

r1x + r2 x

Since the frame is only in x - direction

r1 y = 0
sin d =

rd

r2 y
rd

(2.34)

r1x + r2 x
rd

(2.35)

d
1 - cos d
)=
2
sin d

(2.36)
48

cos d =

tan (
Dr. Hitham Tlilan

r1 y + r2 y

24

From (DO 4 AB ) we have

rd + r3 + r4 = 0

- r4 = rd + r3

(2.37)

- r4 - r4 = (rd + r3 ) (rd + r3 )

(2.38)

r42 = rd2 + 2rd r3 cosh3 + r32

14444244443

(2.39)

cosh3 =

r42 - rd2 - r32

2rd r3

for 0 h3 180o

q 3 = qd m h 3
14243

qd - h3 , for CW loop of ( r3 r4 rd )
q3 =

Dr.
Hitham
Tlilan
q
+
h
,
for
CCW
loop
of
(
r
d
3
3 r4 rd )

49

* From the closed loop equation

r4 = -( r1 + r2 + r3 )
sin 4 =

r4 y
r4

r4 x
cos 4 =
r4
tan (
Dr. Hitham Tlilan

4
1 - cos 4
)=
2
sin 4

(2.42)
(2.43a)
(2.43b)
(2.44)
50

25

Example

q3

r2

r3

q2

r1

r4

For the slider crank mechanism shown if

r1 = offset distance = 1 in, r2 = 2 in , r3 = 4 in , and q 2 = 60o

Dr. Hitham Tlilan

Solution

r2 + r3 - r4 - r1 = 0

r2

(1)

r3

q2

q3

The closed loop vector equation is

51

Find the slider position r4 and q 3

r1

r3 = r4 + r1 - r2

(2)

r4

* Dot product of Eq.(2)

r3 r3 = ( r4 + r1 - r2 ) ( r4 + r1 - r2 )
Dr. Hitham Tlilan

(3)
52

26

From Eq.(3)
r3 =
2

r42

+ r1 + r2 + 2 r4 r1 - 2 r4 r2 - 2 r2 r1
2

(4)

r32 = r42 + r12 + r22 - 2r4 r2 cos q 2 + 2r2 r1sinq 2

(5)

Rearrange Eq.(5) into standard quadratic form

r42 + ( -2 r2 cos q 2 )r4 + ( r12 + r22 - r32 + 2 r2 r1 sinq 2 ) = 0

(6)

- b b 2 - 4ac
Solve Eq.(6) for r4 r4 =
2a
using

2
( -2 r2 cos q 2 )r4 + ( r12 + r22 - r32 + 2 r2 r1 sinq 2 ) = 0
{ r4Dr. +Hitham
142
4 43
4
Tlilan
14444
4244444
3

a =1

r4 =

(6)
53

2r2 cos q 2 4r22 cos 2 q 2 - 4( r12 + r22 - r32 + 2 r2 r1 sinq 2 )

2

r4 = r2 cos q 2 r22 cos 2 q 2 - r12 - r22 + r32 - 2 r2 r1 sinq 2

(7)

Sub. for r1 , r2 , r3 , and q 2 into Eq.(7) gives

r4 = 3.922 in

r4 = i 3.922

or
or

r4 = -1.922 in

r4 = i (-1.922)

To find q 3 use the loop equation in component form

direction
inx -

Dr. Hitham Tlilan

r2 cosq 2+ r3 cosq 3- r4 = 0
cosq 3=

r4 - r2 cosq 2
r3

(8)

54

27

in y -direction

r2 sinq 2+ r3 sinq 3+ r1 = 0
sinq 3=

- r2 sinq 2- r1
r3

(9)

Sub. for r1 , r2 , r3 , and q 2 into Eq s .(8 & 9)

(8&9)
For r4 = 3.922 in Eq
s
cosq 3 = 0.7305

sinq 3 = -0.68301

q 3 = 360 - 43.0757 = 316.92o

Eq (8&9)

For r4 = -1.922 in s cosq 3 = -0.7305

sinq 3 = -0.68301

q 3 = 43.0757 + 180 = 223.1o

Dr. Hitham Tlilan

q3

q3

r4 = -1.922 i
Dr. Hitham Tlilan

55

r4 = 3.922 i

56

28

HW#1 Solve by Analytical and Dot product

For the Inverted Slider Crank mechanism shown if
r1 = 2 in, q1 = 135o
r2 = 1 in, q 2 = 0.0o
r p = 2 in

Find the slider position r3 ?

Dr. Hitham Tlilan

57

HW#2 Solve by Analytical and Dot product

For the Whitworth Quick - Return Mechanism mechanism shown if
r1 = r2 = 2 in,
r3B = 1 in, r4 = 1 in

q1 = 90o , q 2 = 0.0o ,q 5 = 0.0o

Find the slider position q 3 , q 4 , r3 , and r5 ?

Dr. Hitham Tlilan

58

29

2.4 Complex Numbers

v Rectangular Form

* The complex number in rectangular form is

z = x + jy ,
j = -1 (the imaginary unit)
x = a real number called real part of z
y = a real number called imaginaery part of z
Imaginary
axis
jy

z=x+jy

Real
axis
59

Dr. Hitham Tlilan

* Given vector R = Rx + jR y , such that

R x = is the real part of R
R y = is imaginaery part of R

R = R x2 + R 2y ,
Ry

Rx

q = tan -1

R x = R cosq
R y = R sinq
Dr. Hitham Tlilan

Im
Ry

q
x

Rx

Re

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30

* Euler ' s Formula

v Polar Form

e jq = cos q + j sin q

R = 1
R cos
q + j1
R sin
q = R(cos q + j sin q ) = R e jq
23
23
then

Rx

Ry

q [radians]
v Complex ArithmeticArithmetic-Addition

Given R1 = R1 x + jR1 y

R2 = R2 x + jR2 y , then

and

* R1 + R2 = ( R1 x + R2 x ) + j ( R1 y + R2 y ) = R3
14243
14243
R3 x

* R1 = R2

Dr. Hitham Tlilan

R3 y

R1 x = R2 x

if and
R1 y = R2 y

61

v Complex Multiplication, Division, and Differentiation

Given R = R e jq then,

* R e jf = R e jq e jf = R e j (q +f )

R
R e jq
=
= R e j (q - f )
jf
jf
e
e

dR d
dq
dR
*
= ( R e jq ) = j
R e jq + e jq
dt
dt
dt
dt

dq .
=q =w = Angular velocity
dt

dR
dR

= j w R e jq + e jq
dt
dt
However, for rigid link of a fixed length R, then

Dr. Hitham Tlilan

dR
dR
= 0

= j w R e jq = j w R
dt
dt

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31

Since j is imaginary unit resembles a unit vector in y - direction

similar to the unit vector j . However;

The operation on the imaginary unit j is different from those of

the unit vector j

* Note
Complex number multiplied by imaginary unit j

The original complex number rotates CCW by

p
2

rad (90o )

Dr. Hitham Tlilan

63

j = cos p + j sin p

2
Since 2

j=e

je
j =e
2

j =e
3

j =e
4

jq

j( ) j( )
2

=e

=e

j( ) j( ) j( ) j( )
2

=e

j (q + )
2

= e j (p ) = cos p + j sin p = -1

j( ) j( ) j( )
2

j ( ) jq
2

j( )

j ( 3p )
2

= cos 32p + j sin 32p = - j

= e j (2p ) = cos 2p + j sin 2p = 1

j

Im

(1)(j)

j2=-1
Dr. Hitham Tlilan

Re

j4=1
j3=-j

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32

2.5 ComplexComplex-Numbers Methods applied to displacement analysis

When link 2 rotates Slider moves relative to link 2
Link 2 will oscillate
B

L3

L2

q3

L1

O3

q2

O2

Im

r3

r2

q3

q2

Re

r1

Dr. Hitham Tlilan

The closed loop vector Eq. is

r1 + r2 - r3 = 0
r3 = r1 + r2

65

Im

r3

(1)

q3

Where; r1 Fixed link O3O2

r2

q2

Re

r1

r2 Crank O2 B

r3 The portion of link 3 O3B

For given q 2
r1 & r2 can be solved at this instant, such that

r3 = r3 x + j r3 y

(2)

=0
}
Q r1 = r1 x + j r1 y = r1 &

= r2 cos q 2

r2 =

= r2 sin q 2
}
}
r2 x + j r2 y

= r2 cos q 2 + j r2 sin q 2

Sub. into (1)

r3 = r3 x + j r3 y = r1 + r2 cos q 2 + j r2 sin q 2
Dr. Hitham Tlilan

(3)
66

33

Real Part of Eq. (3) r3 x = r1 + r2 cos q 2

Im. Part of Eq. (3) r3 y = r2 sin q 2

* The magnitude of r3 = r3 = r32x + r32y

= ( r1 + r2 cos q 2 )2 + ( r2 sin q 2 ) 2
= r12 + 2r1r2 cos q 2 + r22 cos 2 q 2 + r22 sin 2 q 2
144424443
= r22 (cos 2 q 2 + sin 2 q 2 )
= r22

Dr. Hitham Tlilan

r3 = r12 + 2r1r2 cos q 2 + r22

tan q 3 =

r3 y
r3 x

r2 sin q 2
r1 + r2 cos q 2

67

q Example For the mechanism shown in the Figure, and using the dot product
method find the location of the slider s and the angular position of
link 4 (q4) when q3=120?

L4=
L3=

Dr. Hitham Tlilan

68

34

Solution

r4

r3

L4=

r2

L3=

r1

The closed loop vector Eq.

r1 + r3 - S - r4 - r2 = 0
Rearange

Q r1 = 6 i ,

S + r4 = r1 + r3 - r2

Dr. Hitham Tlilan

(1)

69

r2 = 3 j , r3 = -3 cos 60 i + 3sin60 j

( S + r4 ) = r1 + r3 - r2 = 6 i - 3 cos 60 i + 3sin60 j - 3 j

( S + r4 ) = 4.5 i - 0.402 j

(2)

Dot product of Eq.(2) gives

( S + r4 ) ( S + r4 ) = (4.5 i - 0.402 j ) (4.5 i - 0.402 j )

144444424444443
= 4.5 2 + 0.4022 = 20.412

S 2 + r42 = 20.412
S = 20.412 - 3.52 = 2.857 in
Dr. Hitham Tlilan

70

35

Use Eq.(1) to compute q 4

S + r4 = r1 + r3 - r2

S = S cos(q 4 + 90) i + S sin(q 4 + 90) j = - S sin(q 4 ) i + S cos(q 4 ) j

r4 = r4 cos(q 4 ) i + r4 sin(q 4 ) j

[r4 cos(q 4 ) - S sin(q 4 )] i + [ S cos(q 4 ) + r4 sin(q 4 )] j = 4.5 i - 0.402 j

i - component r4 cos(q 4 ) - S sin(q 4 ) = 4.5

j - component S cos(q 4 ) + r4 sin(q 4 ) = -0.402

Solve these 2 - Eq s . for q 4

[
cos(q ) =
4

Dr. Hitham Tlilan

- 0.402
4.5
r4 + S
[ rS4 + RS ]

] q

= 360o - cos -1 (

1.46
) = 315o
2.065
71

Example: A four-bar mechanism is shown below. Find the position of

point C as a function of the input rotation of link
AB = 2.0 in., AC = 1.0 in., O2A = O4B = 4.0 in.,
vertical distance from O2 to O4 = 1.936 in.
horizontal distance from O2 to O4 = 7.5 in.

r4

Im

Re

r3

r2

r1 y = 1.936 in

r1 x = 7.5 in

r1

Dr. Hitham Tlilan

72

36

r3

rd

r2

r4

r1

Dr. Hitham Tlilan

73

-tanqd

r4

r3

rd

Dr. Hitham Tlilan

74

37

r4

rc

r3

r2

Dr. Hitham Tlilan

75

q Limiting Positions
vThe limiting positions are
determined graphically

1st limiting
position

O3

q2

r2

Eq.(2 - 58) tan q 2 =

q1

O2

ro

The other way is to determine the

limiting positions by determine the
extreme values of q2

Dr. Hitham Tlilan

r1

2nd limiting
position

r2 y
r2 x

r1 sin q1
ro + r1 cos q1

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38

d
d r1 sin q1

=0
(tan q 2 ) =
dq1
dq1 ro + r1 cos q1
[( r + r cos q1 )r1 cos q1 ] - [r1 sin q1 ( - r1 sin q1 )]
= o 1
=0
( ro + r1 cos q1 ) 2
[( ro + r1 cos q1 )r1 cos q1 ] - [r1 sin q1 ( - r1 sin q1 )] = 0
ro r1 cos q1 + r12 cos 2 q1 + r12 sin 2 q1 = 0
ro r1 cos q1 + r12 [cos 2 q1 + sin 2 q1 ] = 0
1442443
=1

ro r1 cos q1 + r12 = 0
ro r1 cos q1 = - r12

cos q1 =

- r1
ro

That' s when

Dr. Hitham Tlilan

r1 ^ r2
77

This limiting position occurs when this equation is satisfied,

v Graphically
q1

r1

ro

q2

r2

cos b = cos(180 - q1 ) = cos180 cos q1 + sin 180o sin q1 =

o

= (-1) cos q1 + 0 =

cos q1 = Dr. Hitham Tlilan

r1
ro

r1
ro

r1
ro
78

39

Dr. Hitham Tlilan

79

40