machines-exercises-by-chapters.

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emilywarren

Teoría de Máquinas y Mecanismos

2º Grado en Ingeniería Mecánica

Escuela Politécnica de Ingeniería de Gijón

Universidad de Oviedo

Reservados todos los derechos.

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
 No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
CHAPTER 1 .
introduction

✓ Problem 1.1 . Draw a kinematic diagram The end of the handle should be identified .

as a point of interest .

✓ Problem 1. 2. Draw a kinematic diagram . The foot Dad should be identified as a

cylinder with 2
point of interest
>

hey g
4

Reservados todos los derechos.

mobile parts
.

un
th
a A
> same as ground is / / ' / / /
y

✓ Problem 1.3 .
Draw a kinematic diagram .

s 6
•

'
Wh ' '

in 2
114
/

A
1 1 11

Problem 1. 4- .
Draw a kinematic diagram
A
111 6

3
•

" Y ,
cos ¥ ,
•

÷,
✓ a) In this mechanism ,
02A bar rotates counterclockwise with acte angular speed
calculate the mobility of the system .

2
3,5 I 1
m =
31h -

1) -2J , -

ljz >
joints with 2 dot
>

42>3-4 1 dot
>
joints with
r
has
L -
2 dot : jz n

^
6 > M = 316 -

l ) -

2- 6- 1.2--15-12-2=1
< s
[
In this case : But if they were ensembled :
,
3 I '
3 and so :
j
'

;
'

> / 1- dot lit

! / 2 dot lid
1g -
12-1=2

Problem 1.6 . Classify the 4- bar mechanism based on its possible motion when :

b 02A =
40cm AB -52cm
-

0413=4 5cm

Closed planar linkages consisting of 4 Din -

connected rigid
a

links are usually identified simply as four-bar linkages .

'
-

If one of the links can perform a full rotation relative to another ,

d
30
,

it's called Grashot 's mechanism : La + Ld ≤ Lb +

Lc
1/182+242=30
40+30 ≤ 52+45 →
70 ≤ 97

The shortest link is d--30 ltramel ,

so it's a Double crank .

a64b0469ff35958ef4ab887a898bd50bdfbbe91a-5890231
 Problem 1.7 .

GRASHOF Name
classify the 4- bar
La + Ld '
Lbtlc and shortest link Frame Double crank
mechanism .

La + Ld <
Lbtlc and shortest link _= Side crank -

Rocker

La + Ld '
Lbtlc and shortest link Coupler Double Rocker

Lat Ld Lbtlc Change point

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
=

µ , ,, ,
,, , , , , , , , ,,, ,

a) a = 12 b =
1 'S C- 14
-
D= 4

La + Ld =
4 +11=16 > Lbtlc =
1 'S +14--15 'S Triple Rocker

b) a =
12 b=5 c--12 D= 4

La + Ld =
12+4=16 < Lb + Lc =
5+12=17 →
shortest = side → Crank Rocker
-

c) 9=12 b=3 5- 8 D= 4

La + Ld =
12+4=16 > Lbtlc = 3+8=11 →
Triple Rocker

Reservados todos los derechos.

d) a =
12 b =3 c--12 d=s

La + Ld =
12+5=17 > Lb + Le =
3+12=15 →
Triple Rocker
Problem 1.8 . Design a Grashof 'S mechanism indicating the dimension of the

bars that make bar C Of 3cm rock an angle

of 71° between CID and Cs D. The motor will

be located in A and rotating clockwise .

Lc =3 cm and Ld =
S 'S

For the mechanism to be Rocker in C , C should be the coupler and

La + Ld <
Lb +
Lc → Lats 's < Lb +3 →
Unknowns : La and Lb

Lbc we don't know if

↓ ,
it's ↳ Orla
sin 54° = % → h =
2143

th Lc C ' =3
1/32-21432
= '
Ldz = =
I 76
g ,,
/
Ld Ldl 3174
'
=
S 's = S 'S -
I 76 =

1 / /

1/3742+21432
1

Ldl t.dz L =
=
4146

Ld 4146+3
'

If [ =
Lb →
La -
↳ + Lc -
= -

s 's =
/ 96 →
La < I' 96

but this is impossible be shortest link must be Le =3 >

1196

If L= La → Lb >
4146 +
S 's -3=6196 ,
this IS possible → Lb >
6196 and Lc =
446

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 CHAPTER 2 . Kinematics of machinery

✓ Example 2.1 .
Find VI if both points belong to the same body and we

:B
' '

have as data : Unt = Zi ; Ñ = -

I ; AB =
6
'

I 6- sin 30°
First
,
find ÑB : AI 609307+6 sin 30T
= =
S
'

Zit 3T A ← 1- 30° _
-
1- /

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
compute the velocity of point Wrt another :
' '
To a
6. cos 30 .

i T I I 0=-7
>

si
'

vis -0T
-
+ ÑNAB = 2 it 0 0 -

I
=
2i→ -

s
'
2T +3T = -

s
'
2T Is = A

52 3 0 • B
A
✓ Example 2.2 .
Get VT and Tris if Troi = 2T c ◦
• →

' ' ' '

2J
' '

All points have same velocity so : Fib -0A = =

' '

Example 2.3 .
Data : 02A =
70 ; AB =
6 ; WT =
ZI

Joints are named with letters ( A. B. ) being 0 the fixed joints

Reservados todos los derechos.

. .

corresponding body
◦
3 with the subindex of the
2

0¥! 3-0%-4 :B , ,
Bodies are named with numbers (being 1 always the frame)

( all frames count actually as just one body ) .

✓ a) mobility Bc we assume body 4 is also restricted

m =
31h 1) 2 ji -71-2=314 1) 2.4=1 by gravity so joint B counts as it
-
- - -

✓ b) Find 01J

Define friendly points : strategic points for which we have some data

Fixed points always have Ñ=Ñ so Oz is a friendly point NOT 0-1 =

we also know that FB will only have e- component lots OBI ; =

0137=0-1
As our friendly point is in body 2 102 C- 21 and At 2 as well , start by computing OT
027 =
10 COS 45°F +10 sin 45 =
7-
'

07T +7107T

iii.
FA ☒ twin 027 i -114 14T
'

Body 2 : = =
0 0 2 =
-14114
'
7- 0771070

At 2 but also A- c- 3 ,
and as 13+3 ,
we apply the formula in body 3 to get 0T
'
AT =
6. COS 30°F -6 Sin 30 =
52T -3T we have an
T T
'

I unknown W3

Body 3 : FB =
V7 +
ÑSNAB =
-14
'

141-1+141147 + 0 0 Was = £
52 -3 0

3) 1- 013T UBT 598T

{
=
f- 14 14 '

+3W = = →
substitute was
→
v5 = -

WHT UBT "s!

-

11444+512 solve for

'
→
= =
wz = =
2 72

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 Example 2. 4- .
Data : OTA =
7- I +7T ; AB =
10 ; WT = IT '
% '

40
"
✓ a) mobility

m =
31h -
1) -2J ,
-
I jz =
314 -

1) -2.4 =
1 Ao 3 •
B
✓ b) v5 2

Equations we'll be 02A

using :
' / / / 1

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
FB =
FA + win A-B FB ◦

1 OF
◦ 04
Determining friendly
◦

points :
[
◦

ÑÉ 0%05 '

AS 02 And 04 are fixed points = Toi , = g-

OF will 0h14 have 1- component 1 this is 0h14 be the 4 body is completely
vertical , so what would happen is that B would describe a circle

such that when it's in the vertical v7 =

VBI and VBT -01 -

GATT
Start by Body 2: 02 C- 2 and At 2 →
get
I

Reservados todos los derechos.

ont = ☒ + win 02ft = 0 0 7 =
-7T +7T
7- 7 0

NOW do body 3 : At 3 and Bf 3 →

get v3
i I I
T: i
/j
013=-7 → V73 = -
7-
V15 =
UT + WT n ABT =
-7177T o o w, =
; = 7- +10W 3

10 0 0

✓ Example 2.5 .
Data : 04A =
90 ; 0413=130 ; 01A
=
4616 ; WT =
SOI .
Get v3 .

$ Equations we'll be using :

Got =UB- + Ñn BÑ
4
For relative motion we use : VAT = rat +
VAST
130
☒ ""
¥00k
'

1%-9 where the fraction indicates the hook :

A will have VAT Taz ,oaT

Determine friendly points :
,

02 and 04 are fixed points -

Toi -_oÑ=0
Start by body 2:02 C- 2 and A C- 2 →
get OAT
A
sin 30
= 9% →
4=45
90 I 46,6
-4616 74 95
'
" sin ✗ = →
✗
!
=

✗
04 130 ( 02
46 6 sin 7495=-12 IT't 45T
'

46 6 cos 74195
' '
= -
+
" 1 1 '

L, 12 '

i T I'
VAT ☒ win 027
-_ + =
0 0 SO =
-2250 it 6053T
-12 't 45 0

A belongs to bodies 2,3 and 4 but the relative motion is only between 3 and 4

such that for body 3 : VAT = VAT bc it's the same point IN Orel . Motion )

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 No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
compute now OAT in the same way as VAT
047--90 COS 30+90 Sin 30=7794 It 45T
e- i I
VAT =
VI + win 047 =
O O Wu =
-45W 4T +
7- Swuj →
7 Unknown !

7794 45 0

NOW follow with the relative motion of A :

FAT = FAT VA# +

UNIT VECTOR

VA3T4= VA 314 UA%T =

30T ) VA 3141 COS 30 'T + Sin

substitute : -22501--60537=-45 W4Ñ+7SW4T+VA314 COS 307+07314 Sin 30'T'=

Reservados todos los derechos.

T:
=/ T
G' 6rad Is
{
-45Wh +0A314 ( 0530
'

-2250 =
W4 =

→
solve
-224317cm / s
.

: -60513--75004 +
Gaza, sin 30 VA 314 =

NOW that we've got Wu , we can compute tis finally : ,

0417=130 COS 30T +1305in 30 =

1121581-+6 ST
I ñ
'

T
=
# +
Wun 041J =
0 0 616
=
-429T +74312T
112158 65 0

✓ Example 2.6 .
Data : 027=1-15.151 ;Ñ=-21T ;✗i=k;0TA= 126,151 ; 04-13=152,30) ;BT= -40T
C
6 .
5 7
B
EQUATIONS we'll be using :
' / I / /
4

/ gpj.gg#,,fapg=ap,+apg-,,.,w,-,gp
, velocity acceleration

E¥
"

3 Basic oA_=oJ+wnBA- art =aI+ÑnBA-W2BA

#
02,4¥ µ, ,
motion ,

Find it and at WJ =wT + Wiz Ñ=Ñ+Ñ

Determine friendly points :

Pointe : Ñ=oii as at -_ aci ; also Ñi=a=0
Start by 02 C- 2 and At 2 →
get OAZ

Ii
'

VAT =
OF +
win 027 =
0 0 -2
=
30T +30T
-

IS IS 0

NOW continue with VAT :

'

i i I
VAT =
☒ twin 047 =
O O Wu = -
lSW4Ñ +26004T
26 IS 0

Relative motion between one and VA "

Ñ4 =
GAIN 1 COS 30 + Sin 30J ) ,
0A 214=4018

301730T =
-15Wh i' +
VAIN COS 301-+26 W4Tt0A2 / 4 Sin 30T s Wu =
O' 37

a64b0469ff35958ef4ab887a898bd50bdfbbe91a-5890231
 AS how we have v04 , Bf 4 and 04 f- 4 , get 0J :
i TI
VI =
0¥ Ñ4nAÑ + =
0 0 037
=
-111-+19 2T '

S2 30 0

NOW in body s : Bfs and Cfs →

get 0T

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
it I
ñ=0B +
WTNBT =
-111--49 '2T+ 0 0 Ws
=
-111-+1921--40 WST
-400 0 I :vT=ocÑ= -11in
Let's now start with accelerations : 02+2 and Af2 →
getaa :
it I
aaT= ☒ +
In Oia -
wi0zA→ = 0 0 1 -221-15-1+1517=751--7 ST
-

IS IS 0

Body 4-i 04 C- 4 and At 4 →

Obtain AAT

Reservados todos los derechos.

e- TI
047 O' 37212617+1571
'

AAT =
☒ + ✗ 4h -

Wii 04th =
0 0 ✗4 -

26 IS 0

= AAT =
I -3156-15×411-+1 -2105+26×4 )T

Relative motion AAZ and AA 4 :

ÑA 2--974+97214 + 2Ñ4rÑ4 i T I 0A 314

751775=1-3156 -15×411-+1-2105+26×4117 0 0 2-037 +

( ( 0530J

4040530 4085in } 0 +
sin 3071

/ TT : 75=-15×4-3156+087 AA 214 IS substitute ✗ 4=-392

- →
=

: -75=26×4-2+0 'S AAL / 4+263 →

solve for arts / 4=54

ABI
NOW in body 4- : Bf 4 and 04 C- 4 →
Obtain

TI
ABT = + Ñn 041J -

WIP 041J =
0 0 -392 -03721521-+307 )
52 30 0

ABT ST -207195T
'
=
110

Body S : Cfs and Bfs →

get ACT :

iii.
ACT -_ ABT + Ñ nBT-wiBT-110.si -207195T 0 0 ✗s -

O' 454-4071
-400 0

ii. ACT
'

-1188T
/T -110 'S ACT
'

=
= -8 / → =

: =
-207195 -401ns →
Ñ= -

s '2Ñ

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 ✓ Example 2.7 .
Data : 0413=20 BA = 16 Wi =
2 Clockwise ✗ 2=7 counter c.

⇐ 04
. _
02 vis ? WT ? WT ? AB ?

45
Equations we'll be using :
2
B¥i

/
acceleration

/
4
velocity
/
¥A Basicoa-OB-wnBA-aa-aB-i-X-nBA-WZB.tt
28

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
, ,

µ, ,
motion ,,,- = ,p,- *, ,
+ apg.az app, +
, , ,w,,g

Define friendly points : WJ = WT + Wiz Ñ=Ñ+Ñ

'

VI VBÑ and AT
-_ = ABT ( and obviously 02 And 04)

start b4 body 2:02 C- 2 and Af 2 →

compute VAT
cos 45 = ¥2 → h =
39 6
'
→ 0iA= -398 COS 451-3916 sin 45=-287 -
28T
i it
VAT =
# +
Ñn0iA = 0 0 -2 = -
SGT + SGT
-28 -18 0

Reservados todos los derechos.

NOW apply in body 4- i 04 C- 4 and At 4 →
get FAT
☒ =
1314 i 28T -

i T IF
Jay =
¢4T + Wu n OTA =
0 0 Wy
=
-28Wh it 1314W 4T
134 -28 0

Relative motion of point A :

trail =
b-Al / 41 COS 60 it sin 60,7
VAT = VAI -
VAI -
-561-+5617 -28W 41713 '4WÑ+VA2 / 40 sit '
vault 0187T

{ {
-

SO =
-28W 4 +
VAZ / 40 'S VAL / 4 = 13418 =
VA 314
= →
solve
56 =
13 '4W4 +
VAL / 40187 Wu =
'
-4 4 → WI -441T=

NOW apply in body 4- : Out 4 and Bf 4 →

get OF
041J =
-20T i T I
ÑB =
☒ + Wun OTB =
0 0 -44 =
88T
0 -10 0

TO get WJ we have to use the relative motion :

WT -
WT -
WI →
to get Ñ / 4 apply the basic equation in TA3i4 :

BA- =
16105307-16 Sin 3¥ 28 T -

8T
0,13 has no rel motion .

i F I
GATI 4=0133%1 +
WT34nBA- =
O O W 314 =
134 8. O' sit 13418 O'
'
.
87T
28 -8 0 Such that W 314=8143

NOW substituting : Ws = -

4 4+8
' '

43 =
4103 → WT =
41031T

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 NOW for the acceleration start we body 2 : A C- 2 and 021-2 →
get anti
i T I
AAT =
AOI In 02T
+ -
Wi 027 = 0 0 1 -1-1121-287-2817=1407 +84T
-28 -28 0

Move now to body 4 to compute in the same way AAT :

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
it ii
'

AAI ☒ = +
Ñn04A -

Wu
'
OI =
0 0 ✗4 -1-4
'
41211319T -28T )
1319 28 0

AAT =
128×4-269 I
'
lit 113191 ✗ 4 +
5421T
NOW relative accelerations in A between bodies 3 and 4 : again basic equation in 214
0 be B has no relative motion
→

AAT/ 4 = 9¥14 + Ñ4nBA -

W 3142 BI

Ñ4nBA=AÑnorm=¥unoTm

Reservados todos los derechos.

^

AAJ/ 4 = Ats / 4 + ÑunBA -

Was / 42B$
-

W 3142 BA_=AÑtg =
✗ Rutg
ÑTUORM SI +0187T
{ UÑtg
= sin 30T +
COS 30T =
O
'

In this case :

30T 87T
'

30T 01ST
'
= -

cos + sin = -

O +

substitute : at/ 4 =
✗ 314 .

16 1-01877+0
'

ST ) +
ᵗ% 1-01877+0 ST ) '

☒4 881 It 8) j
'

18×3/4 113 9 ✗ 314

'
= -
9 + 56

substitute in the rel .

acceleration equation : AAT =
AAJ - AAH + 2 WT VAIN +

1401-+8417--128×4 -

269
'
11171139×4+542IT + 18×314-9
'
8811^+1139×314+568 )Tt 1017T-593T
ii.
{
' '

370 1=28×4+8×314 30 96
{
✗" =
=
→ solve
'
: -433 =
1319×4 +
13.4 ✗ } , ,, ✗ 314 = -

62 12

NOW that we've got ✗4 ,

we can apply the equation to body 4 to get at
e- i I
ABT ¢4T ÑnÑ 041J -1-41414-1051=619 21-+387 IT '
'
'
= + -

Wu =
0 03096

0 -20 0

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 No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
Exam Problem 2.5 .

Reservados todos los derechos.

mobility : m =3 Is -11-2.5 -
I -

I =
1

Define friendly points :

04 and 02 are fixed lÑ=Ñ=0T and VT = Vsi

start with body 2:02 C- 2 and At →

get OAT

:* 0 'S COS 53
-

= ¥ →
4--03 027=-0 'S COS 53-+0 'S sin 53
'

531 h
1/0924032=014 0iA- -013T 4
'

I✗ O
= = +

Oi, o,
o ,
,
,
,
28 't
'
tan ✗
' =

/ OS Li 1105-03 =
'
=
L, -

i
'

T E
Tai ☒ Ñn0zA→ O' 81-+0 6T
'
= +
= O O -
L =

03014 0

NOW in body 3 : VAT =

OAT

Finally body 4 : out 4 and At 4 →

get VAT
40142+11105-0312 047=085 COS 284+085 Sin 284=07517-0
'

04A 08s 4T
'
= = →

ii
'

HOT it 0 '7SW4j
'

VAT -_ + Wu n 04ft =
O O Wu =
-04Wh

07s O' 4 0

Apply relative motion :

trail
VA314.UA#--VA314-lC0S28'l.i-'+sin28ijTFA3--VAT+fA3T4--0'
=
,

45+0731410528 8T-0 '6T= 014W 417075W .li?-0A314Sin28' IT

i:
{T {
O' 8=014004 + GAS/ 4 COS 28 't W4 = 048
→ solve

VAS / 4 Sin 28 't O 99

'
: O' 6 =
O' 75Wh + VA 314 =

a64b0469ff35958ef4ab887a898bd50bdfbbe91a-5890231
 NOW that we've got w4 →
04 C- 4 and B C- 4 and get v5

lwe could also apply the equation between VAT and VI. but as Ñ=Ñ it's easier) .

¥3s B
◦

0413
'

COS 28 / A
'
= →
= I 19
◦

OTB =
'

I 19 COS 28
'
IT +149 sin 28
'

IT =
/
'

OST +
O
'

SGT 04 ◦ 728 "

◦ 02

T T E
' '

i' OS

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
013-4 ☒ WT
-_ +
n OTB = 0 0 048 =
-0
'

Ii +
O' 2T
I' 05 096 0

Between VBT and OBJ there's relative motion again ( slider ) :

0134T =
01341s -

COS 28
'

11-+013415 .

sin 28
'

IT =

013-4=0135-1-01347 -041-+027=0135-+013415 COS 28 / Ñ +01341s Sin 28 IT

' '
→

I :-O
/T
'
'
/ =
OBS +01341s COS 28 't →
substitute O' 42 → FBI =
-0
'
47T
012=0+013415 Sin 28 ' / solve for 013415=0 42
'

: →

For acceleration we'd follow the exact same steps

Reservados todos los derechos.

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 Exam Problem 2.6 .

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
start by defining friendly points :
0J ODI and at ADI
= =

A- =
OEI and at = AEÑ

Reservados todos los derechos.

OF =
VBÑ and AI =
ABI
start by body 2:02 C- 2 and At 2 -
07
027=10 COS 451-+10 Sin 45T 07T +7107T
=
7-
'

i i I
0T =
☒ win 0zA_
+
=
0 0 1 -7T +7J =
with WT=7Ñ
710771070
In body 3 Use At 3 to get 01J
AT =
30T IT I
01J =fA- Ñsn AT+ =
-7177ft 0 0 was =
-71+71+30 Wsj
30 O O

tiT : 013=-7 -
v7 = -7T
: 0=7+30 Was →
Ws =
-
'

O 23 → WJ -0231T
=

NOW move to body 4 to get v3 Using 04 and use it to solve for Wu :

OTB -40.2T= =
-80T
a- TE
v5 =
☒ + WIN 04-13 =
0 0 W4 =8OW4I= -7T -
Wu = -

O' 088 →WI =

-

O' 0881T

0 -80 0

In body 4 ,
with this data , get 0T
Out =
-40T
i T I
VI ☒ WT 041=7 O O 088 =-3 'S 2T
'
= + n O -

0 -40 0

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 Chas relative motion between sand 4 : oct and Oct __Ñ
Get UCT from ( C- 4 And Ef 4 :

ET =
30 COS 30°F -

305in 30
◦

1- = 20T -

1ST
e- Ti
ECT =
OF + win ET = -3 'S 217 0 0 Ws =
-3521-+26 WsF+ IS Wist

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
26 -

IS 0

NOW Using 05-1-17 given and as Dff and a- 6 , get ocT=Ñ :

= 491ST -7T computed with some shitty geometry computations

it I

v70 =
VT + WINDT = lit 0 0 WE =
1 i +49 'SW6T+7W6Ñ
49 'S -7 0

-31521+2600%+15 WsÑ= 11-1-49 'S Wsj

Wait
UCI = Get → + 7-

Ñ: WI 0221T
{
-3152 lsws 7 7- We W 4=0122
→ =
+ = +

gave

Reservados todos los derechos.

→

T: 26W s
= 49 'S Ws Ws =
-0 'll → WI = -

O' 111T
So now substituting either WI in vet or WT in Oct ,
we get :Ñ= O' lit 57J -

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 No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
EXAM Problem 2.7 .

Reservados todos los derechos.

M =
31h -

l) -

Zji
-

7 jz =3 / S -

l ) -5.2 -

7. I =
1

Determine friendly points :

a- =
Oei
Pure Rolling in D: AT =aÑrm =
ADT 05=07 be pure Rolling
Body 2: At 2 and Btl →
get 013-2
ABT 2614 COS 59 17 59475=13531-+22 67T
' '
=
+2614 sin

IT I
013-2=07 Ñzn ABT + =
0 00327 =
-7141-+4 '
4T
1315322870

Body 4 : B. C- 4 and Df 4 → find OBT

DBT =
I -

I/
'

2 COS 37
'
2) it 116+1 / '
Isin 3721T
I TI
VBT =
v☒+wTnDÑ= O O W 4=22 '8W4Ñ -9W 4T
-9 2218 0

Relative motion of B. between 2 and 4 :

VBT = 0134-+0132/7
ÑBT 4 =
sin 37
'

21-+053721=0161-+0 8T '

41-+41417--22 '8W4Ñ -900417013214081-+0132/40 8T

' '
-

7-

Ñ: WT O' 671T
{T
-7 4=22 '8W4
'

+013214016 Wu -087 →

/
-
=

→
solve
: 4 4 -9W 4+0132/4018
'
=
013214=13

a64b0469ff35958ef4ab887a898bd50bdfbbe91a-5890231
 Now in body 4. Use ☐ c- 4 and Ef 4 to get GET
ED→= 16 COS 36 'S 'T +116+18 sin 3s
'

SIT =
13T +13J
'

i i I
of WINDT 941-+8 73T '

GET
'
=
+ =
0 0 087 =
-16

13 13 0

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
Body s : Efs and Ffs →
get GET
FF = -
I 'S3Ñ +32162T
e- Ii
GET =
# WT n FF + =
0 0 Ws
=
-32 62
'
WSI -

I' 53 WST
-

I' 5331820

Apply relative motion to E between bodies 4 and S :

GET GET VETS

= + →
-16941-+8 73T '
=
-32162W ST -1 'S 3. WST'VE 41s UtÑ .

Ñ= 31T
{
'
-1694=32162 WS -0 'S8 VE 41s
/
Ws = -
O' 3 →
-

Reservados todos los derechos.

.

→ solve
gig , we , , , 01=415--10 2
' '
8 73=-1 'S zws +

TO get ws we have to apply Ñ=wT+wTu

we already have WT ,
but what about wT34 ?
it I
013374 =
O O W 314 =
13 COS 37
'

lit 135in 37417=10321-+7 74T

'

-8908 0

314T G' 8W 3147=1032 I +774T

'
16
'
-

8 9
'

W + →
W 314=1

WJ =
Wit WI =
O' 671T + I
'

161T = I
'

831T
For acceleration we'd follow the exact same steps

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 Problem 2. 1.02A __
O' IS ; A 13=012111 ; AC __
O' 549 ; 061=01449 ; we 10 ; ✗ 2=-7
✓ a) The mobility 549 •
g
• , g
M =3 In -11 -2J , -

til =
* d
✓ b) velocity of points and angular is BC
3
2
velocity of body ABC h

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
84
d
✓ c) Angular velocity of link 06C
y
✓ d) Acceleration of point Band angular
1
acceleration of body ABC

✓ e) Angular acceleration of link 06C

Define friendly points :

FB Orsi and aB-
__ = ABT
start b4 body 2 : A £2 and 02 C- 2 →
get UA→
IS COS 4s it 457=10161-+10 6T
'

=
IS sin

Reservados todos los derechos.

IT
'

OT = # win ☒ + =
0 0 10 =
-10617106T
108 1080

Go with body 3 : always easier chasing friendly points - A- E3 and BE} →

get#
AT =
21121 COS 30T -21121 Sin 307=18 4T-108T
'

IT I
=vI+wJnÑB= -10617106T -1
O O W}
=
1-106+10 '6wÑ+ 1106+18 '4W3Ñ

1814 -1080

Ñ: -106+1016003=-106+108 1-5761=-167 FB -167T

/T
=
V13 = → =

: 0 =
106+18 '4W3 →
W3= -576 →
WT -5761T
=

continue with body 3 but now get Ñ3

BCy=h = 115+5491 sin 450=14148
"
Hsin 45=20148
'
" '"
sin 130+15) = / BC → B( =

'

20 48 COS 45=-14 48
'

Bcx = -
.

IT I
=VB- twin BT =
-16717 00-576=-83%7+83'46j
Ñ=Ñs -14'S 14 'S 0

Get now Using 066-6 :

06T =
-14 49T
'

1- g- I
VCT ☒ Won 06T W6↑
'

= + =
0 0 WG
=
-1449

-14490 0

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 Now that we've got oct and OCT apply relative motion on C :

=
OCT + vÑ → -

83
'

61783 46T '

=
-14
'
49 Wsj + Ocs / 6T
i: Isis I
{T
-8316 =
Vcs / 6 - =
-8316
=

: 83
'

46 = -
1449 WG →
WI =
-5716 IT
NOW we have to repeat everything but with accelerations : art in body 2:

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
iiñ
at = ☒ ÑnOzA WiOzA
+ -
=
0 0 -

I
-

10211081-+101651=-1049 4T-10708T
'

1016108 0

Continue with ABT Of Bt3

i T I
a-B =TAttÑsnÑB W32AT3= 41--1070 6ft -1-5761418 47 -108J )
' '

-1049
'

-
0 0 Xs

18 4-108
'

Ñ: ABT -12457T
'

9+1016×3=165919+1016.39
'
1659
/I
'
AB =
I =
-1245 7- →

Reservados todos los derechos.

=

-718192+18 4×3
'

Ñ= II
'
'
:O = →
✗3=39 I →
39

Now we have to get act with this data :

i iñ
ACT =aI+ÑnBT-ws2BT= -124577+0 -1-53714-1457+14 ST )
'

039 't

-14'S 14 'S 0

ACT =
-1331
'
Ii -1043T ACT =

Get act with 06 to then apply relative motion :

it I
act =
AOI Jin Ost
+ -

Wo
'
06T =
0 0 to -1-578121-141471=4811-+4 4826J
'

-14140 0

Apply relative motion in C. between sand 6 :

act =
act + Aest +2 win Ñ6
it I
-

133112171048T 4811-+4143×617 Acs / 617+2

= 0 0 -076
-878 0 0

Ñ:
/j -13312=481 ACS / 6
+

: -1048 =
4143×6 +963 -
✗6 =
138 8
'
→ Ñ =
13818T

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 No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
✓ Example 2.8 locate the IC for the following mechanism :

if
"
I
"
I N= =
=p
\

I \
, I ,
^
In Its →
Its

\ 1--14 143 →
Its
41=41 → a
\

,
_
- # ¥24 "
-

= 2
↳
3
§ ¥ In 114 →
-124
I
-1-32=-1-23 1--21=1--12
⑤
¥ 134 Its 124
→

-
" % ,
}
1-31=1--13

i.

Reservados todos los derechos.

✓ Example 2. 9. locate the IC for the following mechanism :

I 31

/ \

/
' i
31
1--14 II
-1-232%44 / Ill
/ 1%2>1--43
→

4- -2 1--23 I34→ II
-
-
É 4
-1-24 ✗ WZ
-

← - -

-1,9-77121 ¥27141
}
They're asking us absolute angular velocities : was ,W4

I'' I" INIT

/
Wz =
W3l W32
= →
W3= Wl
WZ = Wz ,
Ñ I 13 I 23 ¥-23

✓ Example 2.10 .
6 Bodies → 6 points i
1=341--41
INN 6
Total hoof Centro :

IBIn¥
I v1 ,
2

N=h=6¥=
,

↑ I' 21=14 #
¥ -1,511--1-13 Its IS
1

%÷¥:É¥¥¥É¥¥
"
t /
/ > I3SN
I 26 g
,
•
5- '
3
:* "

.
D 1--341--45
4
I F- -

"
→
-114146 Draw triangles in the circle
" 6
_

¥,I
"
connecting 3 Points such that
_
→
± ,, , , , we know 2 of the sides and

☒ Its V34 Its Iss IX Iki Its Its not the third one .

IH ILS Its I 36 II 1--24 : 1--231--34 In I14

Example -124 : elongating the line defined by Io 1--26 : IKI is 1--24146

and -1-34 as well as the One defined by -112 and -1-14 Iss : ISIII } I34I4S
,

we find Izu in the intersection between them II } : In IB 1--34141

a64b0469ff35958ef4ab887a898bd50bdfbbe91a-5890231
 ✓ Example 2.11 . IHI 's
_
,

Ils
,↑¥ Is
µ 1

¥%
I3SIS6 '

☒ y f ,
I / 3 : I 121--23 It 4134
, ,
' ,
I
_

6 " 6 Its i Iis Iss In Ies

ii. Is!
◦ *
, ' ' '
iz
Iso *

¥Éf¥
' Ivo : Ik Ils Ils Ist

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
it
-

,
I30 : Ilott Iss Iss
"

¥!
3 " g-

€3S Its
Iz5_É '
,

i 4
\

2 ☒ Ils

,É;i
"

Iis Is ,

¥
✓ Problem 2. 2. Geometry and v02 are given Compute Ws and Wu

Reservados todos los derechos.

.
.

If we're interested in Getting ◦ It } Get W3 With -1-23 :

IN .
we elongate the 2
01--23=(1--121-13) WZ =
11--131--231 W3
bodies connecting Xy 9
Primary centers 11--121--23 )wz
such that W3=
( aka elongate 2-v1 until 9 secondary centers 11-131=231

they meet limit

◦ -1-34 NOW get W4 With 1--24 :

-1-23
◦
GILLI = lIl2IÑW2=lII4\W4
11=121--2 " )W2
It " such that we, =

o o o
(1--141--24)
I 12 I 14

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 CHAPTER 3. dynamics of machinery .

✓ Example 3.1 .
Get Ti ,
FB .
Fc Fo
,
by the matrix method
'
" "
i ×
1
I

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
!
!
I B - - -
-
- -
→
013 _-
30mm
go
1 5 70 21 'll BC =
70mm
"

oaf -4£ II. C ←

I +
,
6617
y
_

/ 1 1 11 /

Free Body diagram : 1^1=314 1^1=234 ,

◦ → ◦ →
1=234

↑
1)

¥-4
""
Isolate bodies 1=3211
Fay }y
21 weights ↑ 0 →
P

3) Estra forces /torques As we have 12 unknowns , µ, "

4) kinematic pairs we'll need 12 equations 1=24

Reservados todos los derechos.

Fx 1--12×+1=3211--0 40

{
= → →
FILX =

Link 2 1=4--0 →
1=124+1--324--0 →
1--124=-12172
T = →
1-12-01021211=32×+01021211--324--0
5-23×+1=4311--0 1=234--40

4
FX = → → →
1--32,1=-40

un , } Fy 1--234+1=434--0 1--344=-1272
'
= → →
1=434
=
12 72 →

1- =D →
-01021211--23×-0106671=2311--0 →
1--234=-125-2 N

/
Fx = →
1=34×-13--0 →
1=3411--40 and 1--434=-40

un , , Fy 1--2441-1=344--0
'
=
∅ → →
1=244--12 72

F- 0 →
1-24=0 →
this reaction _ torque is 0 almost always
1-2=0102121-1-40 ) -

0102121 .
1272=-1112 NM

Bearing @
>

/
c :
^
1--344=-1272 40
Fc -42N
-

Co >
1--3411=40 V 1272

Bearing @ B : FB =
42N

Bearing @ 0 : to =
42N

✓ Example 3.2 . Apply the matrix method

B
Free Body diagram :
A
3
g) 1) Isolate bodies
4 •

↓ 21 weights
04 (
F 3) Estra forces /torques

¥
2
I "t kinematic pairs
-127,02
2kg
=
me

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a64b0469ff35958ef4ab887a898bd50bdfbbe91a-5890231
 it 'll be ∅ but
/
,

Fzzy
pg, let's draw it
F" " p
1=244
4
↑ ◦ →
1=324

↑ (
^
↑ " "Yvf F" " ◦
1=124
p
'
2
f-
-11=34
g
3 1=43 wit [ ◦
→
Fux
1=34/1
(

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
→
T2
1=24/1

Fzux

{
f- ✗ = → -

1=34 ✗
=

Link 4 Ty = →
Filly +1=344 -
F =
0

F- ∅ → 1-34+047.1=34 -041J -

F =
∅

|
Fx =
1--32×+1--1211=0

Link 2 Fy =
1=12×+1--324--0
F- T2 +
ÉOLA -

Los 02 -

Wz -
OTA '

Sin 021=32×-027 -

COS 02--1-324=0

/
# =
1=23×-1--43 ✗ =

Reservados todos los derechos.

Link 3 Fy =
1=234 + 1=434 =
∅

1- =
1-43=0

✓ Example 3. 3. Apply the matrix method

F ""
↓ ↑
1=234

jc
7 C. 1=344
300 →
Fzzx

F' "
↑ 1^1=434 Fµ×
14

2%§É
→ 1=43 ✗
→
Fzzx →
•
• →
1=34 ✗
↑ 1^1=14 "
E → FIZX
A
%!
-

,
" " " /
' ' ' /
200 200

Fx 0 1--12×+1=32/1--0

4
→

§§
=

Fy =
0 →
1=124+1--324 -

F = 0 -1-14=1200
10g

T=0
→ -

O' 0451=32×+0121--324 -
0F=0 →
-
O' 0451-1--341+01210122511=14-108--0

0 1--23×+1=4311--0

µ
Fx -1=32×-1--34--0 1--32/1=-1--14
→ →
=

gym
→

1=4--0 →
1--234+1--434=0 →
-1-23×+012251--34=0-3 1=324+012251--34--0 →
1=324--02251--14

F- 0-30121=434+010451--4311--0 →
O' 21--43×-00451--14=0 → F- 4--41451=434 →
1--434=-012251--34

f
1=11--0 →
1=34×+1--1411--0 →
1--14--1--344=-1--43/1

§§ Fy =
0 →
1--344+1=144--0

1- =
0 →
1-14=0

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a64b0469ff35958ef4ab887a898bd50bdfbbe91a-5890231
 No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
✓ Example 3. 1. Draw the free body diagrams
prissy
.

# szx
1=134

!
^

I
!
3) 6
F
←
1=13×1/1--23

µ
p, ,
I. → as
pts
""

y
" E
"
g
FKX
[=p , ↑
" ""
7→Fs4x
[
111=354
→
Flux
¥4 →
Fssx

-5454
LT

Reservados todos los derechos.

↑
→ F4sx ↓w 1-56
,

↓Fs6

✓ Example 3.5 .

' / / / / '
02A __
20 A- 13=26 0262=10
°2^Tz ME 20 2T 1-2=60 Ñ=2Ñ
④ Gz
M4=4 AB_=4Ñ -1-4=20 84=-13
"
a) Free body diagram
B. ← P
nouuass Has no rotation
"
11111 ↑ no moment

lakanoang.ve/ocity1o#F2jj=iz0tinlttiA
A

Fsm, →
Fill
1) Isolate links g.↑ -5234 1^1=43 "

Til °→F23x
◦ → Fsuxp
2) weights
↓wi
1--43×-114
" ""
↑
1=32 "
3) inertial forces # 1=3 ,×
vwy

4) Ext . forces / torques

5) kinematic pairs Reactions
b) Inertial effects

FIT
/ tiz
'

tint"
= -

mi -

AGT =
-20.2J
=
-

I, .ñ= -60.217=-12015
-4T
/ Ti4=
FiT= AGT
ma -4 vector , not value
≤
-

Link 4
-
=

It .Ñ= -20.10-4.07=8
✓ Example 3. 6. The figure shows the opening mechanism of a garage door The .

door is operated by an electric motor that provides a torque Tm .

The masses

of bars 2 and 4 are negligeble compared to that of bar 3 and for all

purposes they can be considered tero lmz=mu=0 ) .

The mass of the 2bar

3. and its moment of inertia Wrt the center of mass are respectively
m3 =
20 and 1--3=6167 .
From the kinematic diagram take into account that

f- 7M .

a64b0469ff35958ef4ab887a898bd50bdfbbe91a-5890231
 Location : 9=0-2--2100 0-3=48980

velocity : d :wT= -01061T wT= -0041T Ñ= -01037+010537 Ñ= O' 026T

Ñ= -114861T
"

Acceleration : Ñ= -21271T AT =
-1432171968T AGT -01019701984J =

I / 111
"" 1=4311
' '
Fizy →

↑
'
l ◦ 4 _ 1. cos 30
↓ -5431
B ' 002-1=1211
↑ ,

pF34y
" "
v9 1=3211 > Fis

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
¥ L Tm
<

↑
>
L mge , Fi3x
É % →

0-329-100-2
1=234 Tl ✓
SIM i
↓W3
- →
, 1=3211
_

↑
, →
1=3411
*
0 - - -

11,1
→ 1=23/1 ↑ 1=14
/ L

"" "
8%054898
FiT= -

Ms -

AGT : M3=2OkgnaGJ= O' 0191-+01984,7 / / / 1

'

066 0%6
FIT = +
O' 38T -19168in Isin 48158
' O' 7s
Tis = -

Is -

Ñ : 13=6 '67nÑ= -
I' 486
% :
Tis -9191T -

Isin 4858

Reservados todos los derechos.

075
1-4-8158

§
1=11--0 →
1--32×+1=12/1--0 , ,

Link L Fy = →
1--324+1--124=0

1- = → -

LCOS 301=324+151'M 301=3211 +Tm=0

1--23×+173×+1=4311--0 -11--23×+0138+1=4/3/1--0 O' 38-11--32/1=038

y
Fx = → → F23x= -

Link}
'

Fy = →
1--234+1=1-34+1--431 -

W3=0 -11--234-19168+1=434 -

W3=0

T
_0Wz+0'66Fi3y -0751=13×+1321--43×-1 'S -54/3×+1--13=0
= →

129136-13-0285+1321=434+919--0
-

4
Fx = →
1=34/1--0

Link 4 Fy = →
1--14+1=344--0

1- =D
→
1-14=0

✓ Example 3.7. Lafiguramuestraunmecanismodeyugoescocésconmou .

alternatiuodelelement03.debldoaunmotoraueactiasob.ie/abarra2
proporcionandounparcleznmlsentidohorariol.tl/UntOArueda4 dlslita

sinrotamientoalolargodelaranurayeleslabornstampocotiene

sobrelalguiataonauelociaadde0247-hacialaderechayunaaceleracion.ae
rotamientoaldeslitar

hacialaitauierda.tl degrauedad O' 494 Centro

deleslabon3est-asitoadodondesecortalahoritontala.ve/asapor02
ylauerticala.ve Data DORA .

Datos : 0-2=45 ;0zA=3SO;wT= -

II ;Ñ=Ñ;vGT= O' 123T -

O' 123T ;Ñ= -0747T
D= / SO

Mz= 3kg ; IGF O' 015 ; -1-63=003 ; Ms -5

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 1=23
7<-1--23 ← > Fi 3
F"
"

pm,
,
@A e-
FS

↑
1 pm
Til tis
↓ 1=13

Fme¥×ñ

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
WT
Matrix method :

compute inertial forces and torques :

""" FIT Mz AGT + 3. O' 247T = - . =

= -

I a- = -

O' 01s HII = -

O' 01ST NM

Fi
/ Tis AGT O' 494TH 47in
'
Link } = -

Ms . = -

5. I -

IGHT =D

Apply the method :

Reservados todos los derechos.

Fx=∅ → 1=12×+01741 -1=32--0

Link 2
/ 1--4=0
To , =
→

→
Fry
Tnf
-

?
Wi

O 124-2914
'
= →
Fry
-
=
3.918
O' 124.0 711
'
=

-
2914N

O' 01St O' 2481--32=0

→
1=32 =
23N

Fs

421=11--0-1
'
1=23+2 47 0 47N
'

23+2 47 Fs 25
'
- -
= → = =

Link } . . .
d

- - \

Virtual works method ! d O' 248

0124
F-F. + FÑ; Ñ VI. FIEF TT Ñs=0 -
+ -

r -141 -8
F. F= Fsi O' 2477--01471=3
-

1) + '

124 45°
go
=
cos

TÑ
,

2) = -

21T I -71T 1=2

O' 248
.

WT UGT -2414T 123T 123J )

, is
31 Ñ VJ - =
-
=
/ O' -

O' =3 '6

4) FT Ñ 10741 I 10 / 23T O' 123712147T 10247T ) O' 7

'
-
= - =

s) TTÑ =
-010151T II .
= -
O' 015

substitute : 6 3
'
+ O' 2471=5--0 →
Fs =
-25
'
56N → FT =
-25156T

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 Problem 3.2 .

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
Reservados todos los derechos.
1 Ry

a
FBAY
>
FBA
T2 ← 1¥
⇐ >
MR
VW }
FABX FAB
FBAX
>
µ
FABY

↓ ,

FT +
twt ÑVJ + Five +
TTÑ =
0

F- F- Fits TTVJ
_ + = -80T .

1- Isil + 100Th Isil -

= -

SOO

tw-T.WT-F.o.SE =
01ST

ÑVJ
mzoi.ooti-msg.ro?--i4#.0T-lO-9/j-l-Si-l--0F-ivT=MiAGT/
=

GOT + M3 AGT GOT = 20-1-71 7-

'
Still -2517=35875
TTÑ = -

IGLXT WT -
= -

O' 012 .
11T .
O' SI =
O' 006

Substitute : -

SOO + O' ST +0+35825+01006=0 → 1- =

-706501012

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 No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
Problem 3.5 .

Reservados todos los derechos.

234

Tis #>
FBX
FB

1=534*-1-43
↓wÑ 1=43
FS3×

wJ=S .

1-9
'
8) =
-49T
1=324
↑ F32×
◦ →
1=144
↑oF Fssx
Fky
y 1=14 ×

pF3SY F3SX TM
# Flix
↑ -134
51=34
◦ →

TIF = -

M3 -

AGT →
AGT =
1633253 .
=
1314 F- 913T
FIT =
-5113141--9371=-671-+46 4T
'

TIJ
IG3.dz?---O'4.1O2E---40'8kF.J+T-.w-+EW-.vJ+Fi-.oT+TT.w---
= -

F. J = F. VT =
1-992 'S'T -121187T / 1019851.0102471=-200
F.Ñ = TMI -301T =
30Th

ÑVG =
WJ UGT
.

-49J 10109T O' 4117=20 / 3

= .
-
'

Fis VGT 1-677+46 4J ) (-01091--01417)--585-19=-13121

'
'
- =

Tis WJ .
= -40
'
81T -

17
'
917=-730 '
32

200+30 Tm +20 / 3 -13121 -730 32--0 92314=0 3078 Nm

'

30Th Tm
'
- → -
→ =

a64b0469ff35958ef4ab887a898bd50bdfbbe91a-5890231
 CHAPTER 4- .
power transmissions and drives .

Example 4- .
1 .
What is the pitch diameter of a 40 -
teeth spur gear having a

circular pitch Of 3717 ?

Spur gears →
circular pitch →
D=
1T¥ →
37 7- =
' →
dpc =
480mm

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
Example 4- .
2 .
How many r.D.M.is a spur gear turning at if it has a m = 2mm
,

MM
40 teeth and a pitch -
line velocity of 2500 /S .

W 1rad IS ] -60
M [ V. p.m ] =
21T

W [ rad / s7=¥c
RPC = Radius of circular pitch = ¥
spur gear → module = m = is
2 =
d¥ → dpc = 80

Rpc =
¥ =
% = 40

radish
W = = 62 'S

Reservados todos los derechos.

◦ '
= =
596 83 V. P.M .

Example 4- 3. .
How many r.p.m.is a spur gear turning at if it has 28 teeth

a circular pitch of 18 'S mm and a pitch line velocity of 4M IS ?

u =
wT v
w =
RPT

Rpc = ¥
IT dpc

spur gears → circular pitch =p "I¥→

=
18 'S =
-28 →
dPc= 1649
16 " "

Rpc = 9/2 =
82
'
44

w = 4000182144 =
40152
n =
40%-60 = 463 32 rpm
'

Example 4. 4- .
A spur gear having 3s teeth is rotating at 350 rpm and it is to

drive another spur gear at SZORDM

a) What is the value of the velocity ratio ?

Spur gear →
velocity ratio = e- =
"
Yui = -
"
% so = -

I 486
'

b) How many teeth most the second gear have ?

t'
Nyu / zz -520/350 35
-

,
= → =
/ zz →
2-2--23186

we always chose the odd number → 24 teeth

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 Example 4.5 .
An external full depth spur gear has a modulus of 8mm .
The

spur gear drives an internal gear with 7s teeth to produce a velocity ratio
driven / driver of 113
.
Determine the distance between centers .

72
velocity ratio =i=ᵗ¥= §
A = RPCI Rpcz
§
-

DRU

No se permite la explotación económica ni la transformación de esta obra. Queda permitida la impresión en su totalidad.
•
, RPC DPC / 2
d
da
✗ =

a
Pc
✗
DRC I
0
m = /z →
dpc = Mt

z,
8 KP "
,
{ RPK
a
=
M¥ _

M = 7- It , -2-21=82-175-251--200

Example 4.6 .
Two meshing spur gears have a module of 6 ,
a velocity ratio
( driven /
driver ) of 11s and a center distance of 360 .
How many teeth do the

gears have ?
•
a = 360
*

AS before : a = RPCI + Rpcz =

¥ (71+72)
£ 1711-2-21
{ { 2-2
+ 360 = ti =
20
solve

Reservados todos los derechos.

→
+

Ratio : § =
'

¥ =
100

Example 4- 7. A pair of spur gears have a circular pitch of 151708 MM ,

a Ditch
line velocity of 4000 MMA and a center distance of 350mm .
The larger gear

has 84 more teeth than the smaller . Determine the rotational speed [ rpm ]
°
In pure rotation →
WR =
0 →
0 =
Wi RPCI →
Wi = / RPG

Spur gear →
circular pitch =p =
1¥ -
dpc , =
Pi¥ Rpc I P¥
→
,
=

a
=
Im 171 1-2-21 =
Im It , + 2-11-84 ) -
350=1-25127-1+841 →
2-1=28

Zz = 2-11-84 = 28+84=112

£ s¥
"
Rpc , = =
70
Trev 60$
Wi = 4000170 strays =
Zltrad 1min
=
544
'
3 rpm

Example 1.8 .
Two meshing 20° gears have a module m = -

s . The pinion hat

32 teeth and the centre distance is 200mm .

To what value should the center be

increased in order for the actual pressure angle to become 23° ?

' '
A COS ✗
'
COS 230=200 COS 20° 204 17
'
=
a cost → a →
a' =

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