1.

(a) Sketch all the inversions of a four bar slider-crank mechanism.

(b) Determine the angular velocity of the body shown in the figure below (Triangle ABC is
equilateral).

vA

Figure 1: Locate the IC and angular

vB

velocity for rigid body ABC. vB is along

vector CB.

(c) Label the links and identify lower and higher pairs in the following mechanism. How many
degrees of freedom does it have?

Figure 2: Note that the link

connecting the two sliders and the
cam follower are separate links.

(d) What type of kinematic pair (lower or higher) is present in the following situations:
I. A sphere constrained to move in a spherical cavity of the same diameter.
II. A sphere constrained to roll on a plane.
(e) How many degrees of freedom does a round shaft in a coaxial cylinder (as shown below)
have? Assume that the hollow cylinder is fixed.

(f) How many degrees of freedom does the system shown in the figure below have?

(g) All joints in a planar mechanism with an odd number of links are lower pairs. Can this
mechanism have a degree of freedom equal to 1?

(h) A six bar planar mechanism (only has revolute joints) has one degree of freedom. Is it
possible for the mechanism to have only binary links with no multiple joints?
2. Consider the mechanism shown in Figure 3:

Figure 3: Four bar mechanism. L1 = 3,

L2 = 4, L3 = 1 and L4 = 5.

a. Using Grashofs criteria, verify that this is a crank-rocker mechanism. Identify the crank
and the rocker links.

b. Determine the crank angles corresponding to the two extreme positions of the rocker.
What is the time ratio for the mechanism?
c. Derive the expression for calculating the transmission angle as a function of the input
crank angle. What are the maximum and minimum values for the transmission angle?

3.

For the mechanism shown below,

a) Draw any one kinematic inversion. (2)
In the given configuration:
b) Determine the position of point P. (2)
c) Determine the instantaneous center of link BC. (2)
d) Determine the velocities of points C, D, and P; and the angular velocities of links BC and PCD.
(6)
e) Determine the acceleration of point P and the angular accelerations of links BC and PCD. (8)

l3

1, 1
l1

l2

l1 + l2 + l3/2

Note: PCD is equilateral. Angular velocity and acceleration

for link AB are 1 and 1.

4. The figure below shows the schematic of an aircraft landing gear mechanism in two
configurations: deployed (solid lines) and retracted (dashed lines). Parts 1 and 6 are the hydraulic
actuator and the aircraft body, respectively.

(a) Draw a kinematic diagram of the mechanism. Label the links, and indicate the corresponding parts
on the schematic.
(b) What are the number and type of joints used in this mechanism?
(c) Calculate the number of degrees of freedom for this mechanism.
(d) Determine the kinematic (position, velocity, and acceleration) relationships that describe the
input-outut behavior of the system. Clearly label your diagram, and list any assumptions made.

Schematic for an aircraft landing gear

mechanism (Source:
en.wikipedia.org)

5. For the following sketch the kinematic diagram, specify the number of links and
joints, and determine the degrees of freedom.

(a) Log transporter : wheels

locked with it lifting a log

(b) Throttle
mechanism