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R Prasanth Kumar
= maG or
F − maG = 0
F
T = J α or T − Jα = 0
Dynamic Force Analysis
Single Link Connected to a Pivot
P
FP
G1
T12 =F
F 12 + F
P = maG
1
(2)
F12 12 × F
T = T12 + R 12 + R
P ×F
P = JG α
1
O
(1)
The link length is 250 mm with a mass of 2 kg. CG is at the geometric center of the
link. Mass moment of inertia about CG is 0.011 kg-m2 . The kinematic data are:
θ2 = 30◦ , ω2 =20 rad/s, α2 = 15 rad/sec2 , and aG2 =50@208◦ m/s2 . An external force
of 200 N at 0◦ is acting at P. Find the force at pivot and driving torque.
The link length is 250 mm with a mass of 2 kg. CG is at the geometric center of the
link. Mass moment of inertia about CG is 0.011 kg-m2 . The kinematic data are:
θ2 = 30◦ , ω2 =20 rad/s, α2 = 15 rad/sec2 , and aG2 =50@208◦ m/s2 . An external force
of 200 N at 0◦ is acting at P. Find the force at pivot and driving torque.
Answer: 292.09 N∠ − 170.75◦ , T12 = 25.491 N-m
Dynamic Force Analysis
Four-bar Mechanism
⎧ ⎫
⎧ ⎫ ⎡ ⎤ ⎪ PO x ⎪ ⎧ ⎫
⎪ ⎪ 2 ⎪
⎨m2 ẍ2 ⎪
⎬ 1 0 1 0 ⎪
⎨P ⎬ ⎪
⎪ ⎨F2x ⎪
⎬
⎢ ⎥ O2 y
m2 ÿ2 = ⎣ 0 1 0 1 ⎦ + F2y
⎪
⎩ J θ̈ ⎪⎭ ⎪ PAx ⎪ ⎪ ⎪
d2 sin θ2 −d2 cos θ2 −f2 sin θ2 f2 cos θ2 ⎪⎪
⎩ ⎪ ⎩ M2 ⎭
⎪
2 2
PAy ⎭
⎧ ⎫
⎧ ⎫ ⎡ ⎤ ⎪PAx ⎪ ⎧ ⎫
⎪ ⎪ ⎪ ⎪F ⎪
⎨m3 ẍ3 ⎪
⎬ −1 0 1 0 ⎨P ⎪
⎪ ⎬ ⎨ 3x ⎬
⎢ ⎥ Ay
m3 ÿ3 = ⎣ 0 −1 0 1 ⎦ + F3y
⎪
⎩ J θ̈ ⎭⎪ ⎪ P ⎪ ⎪ ⎪
3 3 −d3 sin θ3 d3 cos θ3 −f3 sin θ3 f3 cos θ3 ⎪⎪ Bx ⎪
⎩ ⎪ ⎩ M3 ⎭
⎭
PBy
⎧ ⎫
⎧ ⎫ ⎡ ⎤ ⎪ PBx ⎪ ⎧ ⎫
⎪ ⎪ ⎪
⎨m4 ẍ4 ⎪
⎬ −1 0 1 0 ⎪
⎨ ⎪ ⎨
⎬ ⎪F4x ⎬
⎪
⎢ ⎥ PBy
m4 ÿ4 = ⎣ 0 −1 0 1 ⎦ + F4y
⎪
⎩ J θ̈ ⎪⎭ ⎪PO4 x ⎪⎪ ⎪⎩M ⎪
4 4 d4 sin θ4 −d4 cos θ4 f4 sin θ4 −f4 cos θ4 ⎪⎪
⎩ ⎪
⎭ 4
⎭
PO4 y
x = l cos φ + r cos θ
x 1
= cos θ + 1 − λ2 sin2 θ
r λ
For λ << 1,
λ
ẋ = −ωr sin θ + sin 2θ
2
ẍ = −ω 2 r (cos θ + λ cos 2θ)
m1 + m2 = m
m1 a1 − m2 a2 = 0
m1 a12 + m2 a22 = J
pA + mrec ẍ = Q cos φ
pA − mrec ω 2 r(cos θ + λ cos 2θ)
Q=
cos φ
pA − mrec ω 2 r(cos θ + λ cos 2θ)
M = r sin(θ + φ)
cos φ
A single cylinder vertical engine (cylinder above the crank shaft) has a bore of 30.5
cm, a stroke of 40 cm, and a connecting rod 80 cm long. Mass of the reciprocating
parts is 135 kg. When the piston is at quarter-stroke and is moving downwards, the
net pressure on it is 65 N/mm2 . If the speed of the engine is 250 rpm, find the turning
moment on the crankshaft at the instant corresponding to the position shown.
A single cylinder vertical engine (cylinder above the crank shaft) has a bore of 30.5
cm, a stroke of 40 cm, and a connecting rod 80 cm long. Mass of the reciprocating
parts is 135 kg. When the piston is at quarter-stroke and is moving downwards, the
net pressure on it is 65 N/mm2 . If the speed of the engine is 250 rpm, find the turning
moment on the crankshaft at the instant corresponding to the position shown.
Answer: M = 7472 N-m.
T = Ft r
sin 2θ
= Fr sin θ +
2 λ2 − sin2 θ
Flywheels
A flywheel with a mass of 3000 kg rotates between 315 rpm and 340 rpm. Find the
coefficient of fluctuation of speed and maximum fluctuation of energy. How do you
reduce the maximum fluctuation of energy.
References
1. Theory of Mechanisms and Machines, 3e, 2006, East-West Press Pvt Ltd.
Amitabha Ghosh and Asok Kumar Mallik
2. Kinematics and Dynamics of Machinery, SIe, 2009, Tata McGraw-Hill
Robert L Norton
3. Theory of Machines and Mechanisms, 3e, 2009, Oxford
John J. Uicker, Gordon R. Pennock, and Joseph E. Shigley
4. Kinematics, Dynamics, and Design of Machinery, 2e, 2007, Wiley
Kenneth J. Waldron and Gary L. Kinzel
5. Machines & Mechanisms: Applied Kinematic Analysis, 3e, 2009, PHI Learning
Pvt Ltd.
David H. Myszka