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MECHANISM
or to modify motion.
mechanism.
5.1 Inversion of Mechanism
B
C
A
D
Figure 5.1
C
B M
A
D
Figure 5.2
5.1.2 Slider Crank Mechanism
2 3
1
4
Figure 5.3
Figure 5.5
Figure 5.7
Steps in drawing velocity diagram in Figure 5.7(b);
If r is the radius of the pin at the joint as in Figure 5.8, and 1 and
2 are the angular velocities of the two links, then;
1 2
Figure 5.8
Example 1
The crank and connecting rod of a theoretical steam engine are 0.5
m and 2.0 m long respectively. The crank makes 180 rpm in the
clockwise direction. When it has turned 45 from the inner dead
centre position, determine;
(a)Velocity of pistons
(b)Angular velocity of the connecting rod
(c)Velocity of point E on the connecting rod 1.5 m from the
gudgeon pin.
(d) Velocities of rubbing at the pins of the crankshaft, crank and
cross-head, when the diameter of their pins are 5 cm, 6 cm
and 3 cm respectively.
Solution
1. Draw the free body diagram to some suitable scale as in Figure 5.9.
Figure 5.9
3. The crank length AO = 0.5 m, let V AO be the linear velocity of A wrt O. Then;
V AO AO l AO 18.85 0.5 9.425 m/s.
By measurement;
Figure 6.1
Solution
Given that AB = 6.25 cm, BC = 17.5 cm, CD = 11.25 cm, DA = 20 cm.
2N 2 100
Thus, angular velocity of AB is AB 10.47 rad/s
60 60
1. Draw the free body diagram as in Figure 6.2. Use scale of 1cm = 4 cm.
Figure 6.2
Figure 6.3
7. From questions,
(a) Angular velocity of link CD and BC
V 45
CD CD 4 rad/s
CD 11.25
V 2.5 15
BC BC 2.142 rad/s.
BC 17.5
(b) Locate point e on bc using ratio;
CB cb 17.5 2.5
or
CE ce 10 ce
ce 1.428 cm
(c) Locate the point F on the free body diagram. Draw bf perpendicular to BF,
and cf perpendicular to CF to intersect atf. Then af is the velocity of F.
VF af 2.94 cm (scaled down)
VF 2.94 15 44.1 cm/s.
5.3 Acceleration Diagram for a Link
BA
BA
Tangential component of acceleration of B wrt A,
t
f BA .BA
Figure 6.4
Example 1
The free body diagram of the slider crank mechanism is as Figure 6.5
Figure 6.5
2 300
Given speed N AO 300 rpm thus AO 31.415 m/s.
60
Figure 5.19
It can be deduced from the results, the radial component of acceleration of A wrt O, is
r
f AO
V 2 4.712 2 148.02 m/s2.
f A AO
OA 0.154
The radial component of acceleration of B wrt A is,
r
f BA
V 2 3.4 2 19.27 m/s2
BA
BA 0.6
Draw the acceleration diagram as follows;
6. Since C is the midpoint of AB, thus c is also the midpoint of ab. Join oc.
The vector oc represents acceleration of mid point of c of the connecting
rod i.e
f C Vector oc = 117 m/s2
Figure 5.9
2. In Figure 5.10, the angular velocity of crank OA is 600 rpm. Determine the linear
velocity of the slider D and the angular velocity of the link BD, when the crank is
inclined at an angle of 75 to the vertical. The dimensions of the various links are :
OA = 28 mm, AB = 44 mm, BC = 49 mm, BD = 46 mm and the centre distance
between the centres of rotation O and C is 65 mm. Path of the travel of slider is
11 mm vertically below the fixed point C.
[Ans: 1.48 m/s, 34.8 rad/s]
Figure 5.10
3. In the mechanism shown in Figure 5.11, O and Q are fixed centres. The crank OC
revolves at uniform speed of 120 rpm. Draw the velocity diagram and find the
velocity of C in the given configuration.
[Ans: 62.8 cm/s]
Figure 5.11
Figure 5.12
6. In the slotted lever mechanism in Figure 5.14, the crank OA rotates at 90 rpm in
an anticlockwise direction about the fixed centre O, swinging the lever DEQ
about the fixed centre Q. Find the magnitude and direction of the angular velocity
of the lever DEQ and the velocity of the slider C when = 45. (Taken from J.C
Hannah books).
[Ans: 1.66 rad/s anticlockwise, 312 m/s]
Figure 5.14
7. In the mechanism in Figure 5.15, the crank AB drives the bent link CDE by
means of sliding block at B. AB = 120 mm, CD = 90 mm, DE = 450 mm and EF
= 450 mm. When the crank is horizontal, as shown and is rotating at 60 rpm
anticlockwise, find; (a) velocity of the slider F, (b) the angular velocity of the link
CDE. (Taken from J.C Hannah books.)
[Ans: 0.75 m/s, 1.78 rad/s]
Figure 5.15
8. .
Figure 5.16
PROBLEMS MECHANISM (ACCELERATION DIAGRAM)
1. The dimensions and configuration of the four bar mechanism is as shown in Figure
5.21 as follows P1 A 30 cm, P2 B 36 cm, AB 36 cm and P1 P2 60 cm. The angle
AP1 P2 60 . The crank P1 A has an angular velocity of 10 rad/s and an angular
acceleration of 30 rad/s2, both clockwise. Determine the angular velocities and angular
accelerations of P2 B and AB and the velocity and accelerations of the joint B.
Figure 5.21
2. In the steam engine mechanism as shown in Figure 5.22, the crank AB rotates at 200
rpm. Find the velocities of C, D, E, F and P. Also, find the acceleration of the slider at C.
The dimensions of the various links are; AB = 12 cm, BC = 48 cm, CD = 18 cm, DE =
36 cm, EF = 12 cm, and FP = 36 cm.
Figure 5.22
3. In the mechanism shown in Figure 5.23, O and Q are fixed centers. The crank OC
revolves at uniform speed of 120 rpm. Draw the velocity diagram and find the velocity of
C in the given configuration. Find the angular accelerations of links CP, PA and AQ.
Figure 5.23
4. In the mechanism shown in Figure 5.24, the crank AB is 75 mm long and rotates
uniformly clockwise at 8 rad/s. Given that BD = DC = DE and BC = 300 mm. Draw the
velocity and acceleration diagrams. State the velocity and acceleration of the pistons at C
and E.
[Ans: vc 0.6 m/s, ve 0.187 m/s: f c 4.16 m/s2, f e 9.06 m/s2]
Figure 5.24
5. Part of the reversing gear mechanism is shown in Figure 5.25. The block P
reciprocates along the line AB. If the crank OC turns at a uniform speed of 240 rpm, find
for the given position of the crank (a) the velocity and acceleration of the block P, and (b)
the velocity and acceleration of the point D.
[Ans: 3.72 m/s, 63.9 m/s2; 3.05 m/s, 71.4 m/s2]
Figure 5.25
6. In the simple link mechanism shown in Figure 5.26, the crank OA rotates about the
fixed point O and the piston B slides along YY. The lengths of the links are OA = 75 mm
and AB = 150 mm. For the configuration shown, the crank has an angular velocity
10 rad/s and an angular acceleration 30 rad/s2, both in the clockwise direction.
Sketch the vector diagrams for velocity and acceleration and determine: (a) the velocity
of point B, (b) the angular velocity of link AB, (c) the accelerations of point B.
[Ans: 1.06 m/s, 5 rad/s, 2.12 m/s2]
Figure 5.26