Chapter III

Mechanics of Machinery I ANALYTICAL ANALYSIS OF MECHANISMS Dr. B.M.
El-Souhily
CHAPTER III
ANALYTICAL ANALYSIS OF MECHANISMS
Introduction:
VECTOR NOTATIONS
For analytical analysis of mechanisms vectors can be described in polar or

Cartesian coordinates. Polar coordinates are most suitable for kinematic analysis,
while Cartesian coordinates are suitable for force analysis. However, there is a
relation between the two coordinate systems.
A plane vector 𝑅⃗ is represented in the

Cartesian coordinate system in terms of its
components along the x and y axes Rx and
Ry, respectively. Thus
𝑅⃗ = 𝑅𝑥 𝑖 + 𝑅𝑦 𝑗 (1)
Where 𝑖 𝑎𝑛𝑑 𝑗 are the unit vectors along

the x and y axes. In terms of polar
coordinate system, a vector can be
represented using the complex numbers as
follows:
𝑅⃗ = 𝑅 𝑒 𝑖𝜃 = 𝑅 𝑐𝑜𝑠𝜃 + 𝑖 𝑅 sin 𝜃 (2)
Where
R is the magnitude of 𝑅⃗
 is the angle of inclination of 𝑅⃗ with the x-axis, positive (+ve) in the

counterclockwise direction (c.c.w.).
i is the complex number = −1 .
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Mechanics of Machinery I ANALYTICAL ANALYSIS OF MECHANISMS Dr. B.M. El-Souhily
The first part on the R.H.S. of Eq. (2) is called the real part, while the second part
is the imaginary one.
Comparing Eqs. (1) and (2) leads to
Rx = R cos 
Ry = R sin 
The presence of (i) in the second term on the right hand side (R.H.S.) of Eq. (2)
indicates that the component is along the y-axis.
1- Unit Complex Vector
The unit complex vector ( 𝑢

⃗ ) is a vector whose magnitude is unity and makes an
angle . Thus
⃗ = ei = cos  + i sin 

𝑢 (3)
2- Complex conjugate vector
The unit complex conjugate vector ( ⃗⃗⃗⃗

𝑢𝑐 ) has a unit length and makes an angle of -
, thus
𝑢𝑐 = e-i = cos  - i sin 

⃗⃗⃗⃗ (4)
This means that in order to obtain the conjugate of any complex vector replace ()
by (-) or, simply, replace (i) by (-i).
3- Multiplication of complex vectors
Let
⃗⃗⃗⃗
𝑅1 = R1 ei1
⃗⃗⃗⃗2 = R2 ei2
𝑅
Then
⃗⃗⃗⃗ ⃗⃗⃗⃗2 = R1 ei1 * R2 ei2 = R1.R2 ei (1 + 2)

𝑅1 ∗ 𝑅
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This means that the multiplication of two complex vectors is a complex vector
whose magnitude is equal to the product of the magnitudes of the two original
vectors, and its angle is equal to the sum of the angles of the original vectors.
a- Multiplication of a vector with its conjugate
Let, 𝑅⃗ = 𝑅 𝑒 𝑖𝜃
Then, ⃗⃗⃗⃗
𝑅𝑐 = 𝑅 𝑒 −𝑖𝜃
Therefore, 𝑅⃗ ∗ ⃗⃗⃗⃗
𝑅𝑐 = R2
i.e. the multiplication of a vector by its conjugate is a real quantity which is equal
to the square of the magnitude of the original vector. This operation eliminates the
imaginary part.
b- Rotation of a vector
Let, 𝑅⃗ = 𝑅 𝑒 𝑖𝜃
If 𝑅⃗ is rotated an angle , its angle becomes  + . The new vector is represented

by
𝑅⃗ = R ei( + ) = R ei ei
If  is equal to /2, then
𝑅⃗ = R ei (cos /2 + i sin /2)
= i R ei
Therefore, if a vector is to be rotated an angle of /2 c.c.w. simply multiply it by

“i”. Similarly, if the angle of rotation is /2 in the c.w. direction, multiply by (-i).
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I- POSITION ANALYSIS
a- Four-Bar Mechanism
The coordinate system is located at O’. The coupler AB is defined as link (3),
while the rocker QB is link (4). The support of the rocker is at point Q. The
input motion of the chain is delivered at point A.
Given:
i. The location of point O, (xO,yO).

ii. The crank length “r2”.
iii. The length of the coupler “r3”
iv. The length of the rocker “r4”
v. The location of point Q (xQ , yQ)
vi. The crank angle 2 .
Find: The position of links (3) and (4). They are specified by the angles 3 and 4
Analysis:
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Crank
Usually, the crank is treated as the source of motion of the mechanism. So, its
position is usually specified.
The position vector of point A is given by:
⃗⃗⃗⃗⃗⃗⃗
𝑂′ 𝐴 = 𝑂⃗⃗⃗⃗⃗⃗⃗
′ 𝑂 + ⃗⃗⃗⃗⃗
𝑂𝐴
𝑟𝐴 = 𝑟𝑂 + 𝑟2
In complex form:
xA + i yA = (xO + i yO) + r2 ei2
= (xO + r2 cos 2) + i (yO + r2 sin 2)
Thus
xA = xO + r2 cos 2 p-a-1
yA = yO + r2 sin 2 p-a-2
Note: If the crank pivot is located at the origin of the coordinate system, then
xO = yO = 0
xA = r2 cos 2
yA = r2 sin 2
Join AQ to form the vector 𝑑. Consider the vector loop
⃗⃗⃗⃗⃗⃗⃗
𝑂 ′ 𝑄 = ⃗⃗⃗⃗⃗⃗⃗
𝑂′ 𝐴 + ⃗⃗⃗⃗⃗
𝐴𝑄
𝑟𝑄 = 𝑟𝐴 + 𝑑
Or 𝑑 = 𝑟𝑄 − 𝑟𝐴
Writing each vector in its complex form, then
d eid = (xQ + i yQ) - (xA + i yA) p-a-3
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= (xQ - xA) + i (yQ - yA)
Multiplying the vectors in both sides by its conjugate, then
d eid * d e-id = [(xQ - xA) + i (yQ - yA)]*[ (xQ - xA) - i (yQ - yA)]
This leads to
d2 = ( xQ - xA )2 + (yQ - yA)2
Or
d = ( x Q - x A ) 2 + (y Q - y A ) 2 p-a-4
From Eq. (p-a-3), equating the real parts and the imaginary parts, then
yQ − y A
sin d = p-a-5
d
xQ − x A
cos d = p-a-6
d
The exact value of  d is obtained from Eqs. (p-a-5) and (p-a-6).
In order to obtain  3 , consider the loop
⃗⃗⃗⃗⃗
𝐴𝐵 = ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗
𝐴𝑄 + 𝑄𝐵
𝑟3 = 𝑑 + 𝑟4
Or 𝑟4 = 𝑟3 − 𝑑
In complex form:
r4 ei4 = r3 ei3 - d eid p-a-7
Multiplying by the conjugate, thus
( r4 e i 4 )*( r4 e −i 4 ) = ( r3 ei 3 - dei d ) * ( r3e −i 3 - de−i d )
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This leads to
r42 = r32 + d 2 − r3 d(e i + e -i ) p-a-8
where  = 3 -  d
It is clear that
ei + e-i = 2 cos 
Thus, according to Eq. (p-a-8)
r32 + d 2 − r42
cos  = p-a-9
2r3d
It should be noted that  is an angle in the triangle QAB, Therefore, if cos  is

positive, then 0    2 . If cos  is negative, then 2     .
According to configuration of the Fig., vector 𝑟3 is leading 𝑑. Thus
3 = d + 
However, in some situations the four bar chain is located such that 𝑑 is leading 𝑟3 .
This depends upon the orientation of points A, B and Q. In this case
3 = d - 
Generally speaking, 3 is obtained (according to the chain configuration) using
3 = d   p-a-10
Now, 4 can be obtained from equation p-a-7,
r3 sin  3 − d sin  d
sin 4 = p-a-11
r4
r3 cos 3 − d cos d
cos 4 = p-a-12
r4
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b- Engine Mechanism
The engine chain, in a general way, can be located as shown. The line of action of
the slider makes an angle “” with the x-axis, and is at a distance “h” from the
origin of the coordinate axes. The distance of the slider from O  along the line of
action is x 4 .
Given:
i. The lengths of the crank and connecting rod, r2 and r3 .

ii. The angle of inclination of the line of action of the slider,  .
iii. The normal distance, h.
iv. The location of point O, (xO,yO).
v. The crank angle 2 .
Find:
The angular position of the connecting rod (3) and the position of the slider ( x 4 ).
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Analysis:
Analysis of the crank as in the four-bar mechanism:
xA = xO + r2 cos 2 p-b-1
yA = yO + r2 sin 2 p-b-2
Consider the vector loop
⃗⃗⃗⃗⃗⃗⃗
𝑂 ′ 𝐵 = ⃗⃗⃗⃗⃗⃗⃗
𝑂′ 𝐴 + ⃗⃗⃗⃗⃗
𝐴𝐵
𝑟𝐵 = 𝑟𝐴 + 𝑟3
( x4 + i h) ei = (xA + i yA) + r3 ei3
Or r3 ei3 = ( x4 + i h) ei - (xA + i yA) p-b-3
In order to simplify the analysis, 𝑟𝐴 is resolved to the components S and T along

the line of action (ei) and perpendicular to it(i.ei), respectively. Thus
xA + i yA = (S + i T) ei
In order to find S and T divide both sides by ei. Thus,
(xA + i yA) e-i.= (S + i T)
(xA + i yA) ( cos  - i. sin ) = (S + i T)
(xA cos  + yA sin ) + i (- xA sin  + yA cos ) = (S + i T)
Therefore
S = xA cos  + yA sin 
T = - xA sin  + yA cos 
Substituting into Eq. p-b-3, hence
r3 ei3 =[(x4 - xA cos  - yA sin ) + i (h + xA sin  - yA cos )] ei
Multiplying by the conjugates

103
r32 = (x 4 − x Acos − y Asin  ) 2 + (h + x Asin  − y Acos ) 2 p-b-4
From equation 1-3-12
x 4 = x A cos + y Asin   r32 - (h + x Asin  − y A cos ) 2 p-b-5
The + and - signs indicate that there are two possible positions for the slider
depending upon the configuration of the chain. The + sign is considered when the
component of 𝑟3 is along the line of action of the slider. The - sign is considered
otherwise.
The value of 3 is obtained from Eq. (p-b-3)
x 4 cos − hsin  − x A
cos 3 = p-b-6
r3
x 4 sin  + hcos − y A
sin 3 = p-b-7
r3
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c- Shaper Mechanism
The chain in its general configuration is shown. Link (4) oscillates about point Q
(xQ , yQ). The slider (3) slides on link (4). Its position is determined by the distance
x4 from Q. The motion is transmitted to the chain through point A on the slider.
Point A is considered to be at a normal distance “h” from link (4), (h = AB).
Given:
a-The location of Q (xQ , yQ). b-The position of O (xO , yO).
c-The normal distance “h” of the slider.
Find:
a- The distance x4 . b- The angle of link (4), 4.
Analysis:
xA = xO + r2 cos 2 p-c-1
yA = yO + r2 sin 2 p-c-2
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⃗⃗⃗⃗⃗⃗⃗
𝑂′ 𝐴 + ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗⃗
𝐴𝐵 = 𝑂 ⃗⃗⃗⃗⃗
′ 𝑄 + 𝑄𝐵
⃗ = 𝑟𝑄 + 𝑥4
𝑟𝐴 + ℎ
In complex form:
𝑥𝐴 + 𝑖 𝑦𝐴 + 𝑖 ℎ 𝑒 𝑖𝜃4 = 𝑥𝑄 + 𝑖 𝑦𝑄 + 𝑥4 𝑒 𝑖𝜃4
or (x4 - i h) ei4 = (xA - xQ) + i (yA - yQ) p-c-3
x42 + h2 = (xA - xQ)2 + (yA - yQ)2
From which
x4 = (x A − x Q ) 2 + (y A − y Q ) 2 − h 2 p-c-4
In order to obtain the value of 4, divide equation (p-c-3) by (x4 - i h). Thus,
(x A − x Q ) + i(y A − y Q )
e i 4 =
(x 4 − ih)
[(x A − x Q ) + i(y A − y Q )](x 4 + ih)
=
(x 4 + ih)(x 4 − ih)
[x 4 (x A − x Q ) - h(y A − y Q )] + i[x 4 (y A − y Q ) + h(x A − x Q )]

=
(x 24 + h 2 )
Therefore
[x 4 (x A − x Q ) - h(y A − y Q )]
cos 4 = p-c-5
(x 24 + h 2 )
[x 4 (y A − y Q ) + h(x A − x Q )]
sin 4 = p-c-6
(x 24 + h 2 )
106
d- Tilting-Block Mechanism
The Tilting block chain is shown. The block is pivoted at point Q (xQ,yQ). Link (3)
slides inside the block. Point “Q” is at a distance h from link (3).
Given:
a-The location of Q (xQ , yQ).
b-The position of O (xO , yO).
c-The normal distance “h” of the slider.
Find:
a- The distance x3 .
b- The angle of link (3), 3.
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Analysis:
xA = xO + r2 cos 2 p-d-1
yA = yO + r2 sin 2 p-d-2
⃗⃗⃗⃗⃗⃗⃗
𝑂 ⃗⃗⃗⃗⃗ = ⃗⃗⃗⃗⃗⃗⃗
′ 𝑄 + 𝑄𝐵 𝑂′ 𝐴 + ⃗⃗⃗⃗⃗
𝐴𝐵
⃗ = 𝑟𝐴 + 𝑥3
𝑟𝑄 + ℎ
In complex form:
𝑥𝑄 + 𝑖 𝑦𝑄 + 𝑖 ℎ 𝑒 𝑖𝜃3 = 𝑥𝐴 + 𝑖 𝑦𝐴 + 𝑥3 𝑒 𝑖𝜃3
or (x3 - i h) ei3 = (xQ - xA) + i (yQ - yA) p-d-3
x32 + h2 = (xQ - xA)2 + (yQ - yA)2
From which
x 3 = (x Q - x A ) 2 + (y Q - y A ) 2 − h 2 p-d-4
[x 3 (x Q − x A ) - h(y Q − y A )]
cos 3 = p-d-5
(x 32 + h 2 )
[x 3 (y Q − y A ) + h(x Q − x A )]
sin 3 = p-d-6
(x 32 + h 2 )
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e- Position Of A Point On A Link

In complex mechanisms the motion of a chain is transmitted to the next chain
through a point on a link. So, it is necessary to obtain the position of this point to
use it as an input for the next chain. Consider link “i” in Fig.
Given:
xA ,yA , l and .
Find: xc and yc
Analysis:
𝑟𝐶 = 𝑟𝐴 + 𝑙
= (xA + i yA) + l ei ( + )
= [xA + l cos ( + )] + i [yA + l sin ( + )]
Therefore
xc = xA + l cos ( + ) p-e-1
yc = yA + l sin ( + ) p-e-2
109
f- Sliding Links
Sliding links are used to transmit motion from a body to another through direct
contact, e.g. cams and gears. The general configuration of sliding links consists of
two bodies; (3) is the driving link and (4) is the driven one.
The points of contact are A and B. The radii of curvature are A and B , with the
centers of curvatures at points C and F for links (3) and (4) respectively. Instantly,
the radii of curvature are considered constant though they may change when the
points of contact change. Thus, AB can be considered as an imaginary link joining
the centers of curvature C and F. In order to obtain its inclination 3 , consider the
vector equation
𝑟𝐹 = 𝑟𝐶 + ⃗⃗⃗⃗⃗
𝐶𝐹
= 𝑟𝐶 + (A + B) ei 3
Since the input motion is delivered through link (3), then rA is specified. The
nature of 𝑟𝐹 depends upon the type of motion and the configuration of link (4). The
following cases are considered:
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f-1- Link (4) has Rotating Motion

Suppose link (4) rotates about point Q. The position of “F” is specified on link (4).
Thus QF and BF are defined. Also, the position of C is specified on link (3). Hence
CF and QF can be considered instantly as an equivalent 4-bar chain with
r3 →  A +  B
r4 → QF
3 → angle of CF
4 → angle of QF
Therefore, analysis of Sec. (a) can be adapted to obtain 3 and 4 .
f-2- Link (4) has Translation Motion

Link (4) slides on a surface making an angle ““. Thus point “F” is considered to
slide on a line “FS” at a distance h (OS) from the origin O and making an angle
““.
111
Hence, CF and FS can be considered instantly as an equivalent engine chain with
r3 →  A +  B
SF → line of action of the slider.
3 → angle of CF
Therefore, analysis of Sec. (b) can be used to obtain 3 and x4 .
f-3- Link (4) is Flat-Faced and with Rotating Motion

The face of link (4) is at a distance R (QS) from the pivot “Q” and makes an angle
4, Fig.13. The center of curvature “F” is at infinity along “CB”. The position of
link (4) (x4, 4) is unknown. Since “CA” is perpendicular to “SB”, then
112
3 = 4 - /2
⃗⃗⃗⃗⃗ = - i A ei 4
𝐶𝐴
Consider the loops
⃗⃗⃗⃗⃗
𝑟𝐴 = 𝑟𝐶 + 𝐶𝐴
⃗⃗⃗⃗⃗ + 𝑆𝐵
𝑟𝐵 = 𝑟𝑄 + 𝑄𝑆 ⃗⃗⃗⃗⃗
Since, 𝑟𝐴 = 𝑟𝐵
Thus, xc + i yc - i A ei 4 = xQ + i yQ + i R ei 4 + x4 ei 4
Or ( xC − xQ ) + i( yC − yQ ) = [x 4 + i(R +  A )]e i 4
Multiplying each side by its conjugate, thus
x 4 = ( xC − xQ ) 2 + ( yC − yQ ) 2 − (R +  A ) 2
x 4 ( xC − xQ ) + (R +  A )( yC − yQ )
cos 4 =
x 24 + (R +  A ) 2
x 4 ( yC − yQ ) - (R +  A )( xC − xQ )
sin  4 =
x 24 + (R +  A ) 2
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f-4- Link (4) is Flat-Faced with Translation

Link (4) slides on a surface making an angle ““ and is at a distance h (OS) from
the origin. A reference point, (T), is located on the link at a distance x 4 from S.
The point of contact is at a distance xB from T. Consider the loops
⃗⃗⃗⃗⃗
𝑟𝐴 = 𝑟𝐶 + 𝐶𝐴
𝑟𝐵 = ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗ + ⃗⃗⃗⃗⃗

𝑂𝑆 + 𝑆𝑇 𝑇𝐵
Since 𝑟𝐴 = 𝑟𝐵 and β = α + π/2
Thus, (xC + i yC) + A ei α = (x4 + i h) ei  - i xB ei α
Or (xC + i yC) = [(x4 - A) + i (h - xB)] ei 
Multiplying both sides by e - i 
(xC + i yC) e-i α = (x4 - A ) - i (xB - h )
This leads to
x4 = xC cos α + yC sin α + A
xB = xC sin  - yC cos  + h
114
II- VELOCITY AND ACCELERATION ANALYSIS

(using the relative motion principal)
Considering points “A” and “B”, then
⃗𝐵 = 𝑉
𝑉 ⃗𝐴 + 𝑉
⃗ 𝐵𝐴
𝐴𝐴 = 𝐴𝐵 + 𝐴𝐴𝐵
1- Rotating Link
If a link rotates about a fixed point “O”, with an
angular velocity ““ and an angular acceleration
““ (assumed positive in the counterclockwise
direction), the absolute velocity and acceleration of
a point “A” at a distance “r” from “O” is given by
⃗ 𝐴 = i r  ei 
𝑉
y
= VAx + 𝑖 VA
𝐴𝐴 = r (- 2 + i ) ei 
y
= AxA + 𝑖 AA
The components of the velocity and acceleration are given by
VAx = -  r sin  vel-1-a

y
VA =  r cos  vel-1-b
AxA = r (- 2 cos  -  sin ) acc-1-a

y
AA = r (- 2 sin  +  cos ) acc-1-b
115
2- Floating Link
The motion of a floating link is considered as a combination of a translation and
rotational motions. The motion of any point on the link relative to another on the
same link is rotational. The absolute velocity and acceleration of any point on the
floating link can be obtained by applying the law of relative motion.
Given:
y
a- The velocity of point “A” (VAx , VA ).
y
b- The acceleration of point “A” (AxA , AA ).
c- The angular velocity and acceleration of the link (,).

y
Find: a- The velocity of point “B” (VBx , VB ).
y
b- The acceleration of point “B” (AxB ,AB ).
Analysis:
Using the relative motion law, then
⃗𝐵 = 𝑉
𝑉 ⃗𝐴 + 𝑉
⃗ 𝐵𝐴
y
= (VAx + 𝑖 VA ) + i  r ei 
y
= (VAx -  r sin ) + i (VA +  r cos )
Similarly
𝐴𝐵 = 𝐴𝐴 + 𝐴𝐵𝐴
y
= ( AxA + 𝑖 AA ) + r (- 2 +i ) ei 
y
= (AxA - 2 r cos  -  r sin ) + i (AA - 2 r sin  +  r cos )
Therefore; VBx = VAx -  r sin  vel-2-a

y y
VB = VA +  r cos  vel-2-b
116
AxB = AxA - 2 r cos  -  r sin  acc-2-a

y y
AB = AA - 2 r sin  +  r cos ) acc-2-b
3- Sliding Links
Considering the sliding links shown in Fig.
Given:
a- The angular velocities of links (A and B).

b- The angular accelerations of links (αA and αB).
c- The radii of curvature A and B.
Find:
⃗ 𝐵𝐴 and 𝐴𝐵𝐴
𝑉
Analysis:
As proved in Chapter II,
⃗ 𝐵𝐴 = 𝑉𝐵𝐴 𝑢
𝑉 ⃗𝑡 vel-3
117
𝐴𝐵𝐴 = 𝐴𝐵𝐴 𝑛 . 𝑢
⃗ 𝑛 + 𝐴𝐵𝐴 𝑆𝐿 . 𝑢
⃗𝑡 acc-3
𝐴𝐵𝐴 𝑆𝐿 is determined from the analysis of the system.
𝐴𝐵𝐴 𝑛 = 𝐴𝐵𝐴 𝑅𝑇 + 𝐴𝐵𝐴 𝑀 + 𝐴𝐵𝐴 𝑅𝐿

2
𝑅𝑇 𝑉𝐵𝐴
𝐴𝐵𝐴 =− 𝑡ℎ𝑒 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑐𝑜𝑚𝑝𝑜𝑛𝑒𝑛𝑡;
(𝜌𝐴 + 𝜌𝐵 )
2𝑉𝐵𝐴 . (𝜔𝐴 . 𝜌𝐴 + 𝜔𝐵 . 𝜌𝐵 )
𝐴𝐵𝐴 𝑀 = − 𝑡ℎ𝑒 𝑀𝑜𝑠𝑡𝑎𝑓𝑎 𝑐𝑜𝑚𝑝𝑜𝑛𝑒𝑛𝑡;
𝑅𝐿 𝜌𝐴 . 𝜌𝐵 . (𝜔𝐴 − 𝜔𝐵 )2
𝐴𝐵𝐴 = 𝑡ℎ𝑒 𝑅𝑜𝑙𝑙𝑖𝑛𝑔 𝑐𝑜𝑚𝑝𝑜𝑛𝑒𝑛𝑡;
Special attention should be paid in setting the direction of the unit vectors 𝒖⃗ 𝒏 and
⃗ 𝒕 according to which point is related to which, 𝒖
𝒖 ⃗ 𝒏 is directed from the point
which motion is related to in the direction of the other point, 𝒖⃗ 𝒕 is leading 𝒖
⃗ 𝒏 in
the counter clockwise direction.
118
Velocity and Acceleration Analysis for Mechanisms

a- Four-Bar Mechanism
Given:
2, 2, 2
Find:
3, 4, 3, 4
Analysis:
For velocity analysis
Crank
⃗ 𝐴 = i r2 2 𝑒 𝑖𝜃2
𝑉
y
= VAx + 𝑖 VA
VAx = - 2 r2 sin 2 v-a-1

y
VA = 2 r2 cos 2 v-a-2
119
The velocity of point B;
⃗𝐵 = 𝑉
𝑉 ⃗𝐴 + 𝑉
⃗ 𝐵𝐴 v-a-3
Link 4 is a rotating link and link 3 is a floating link, thus
⃗ 𝐵 = 4 r4 i ei 4
𝑉
⃗ 𝐵𝐴 = 3 r3 i ei 3
𝑉
Substituting into equation (v-a-3), hence

y
4 r4 i ei 4 = (VAx + 𝑖 VA ) + 3 r3 i ei 3
Multiplying both sides by e- i 4 and considering the real parts leads to

y
0 = VAx cos 4 + VA sin 4 - 3 r3 sin (3 - 4)
Therefore
y
VAx . cos θ4 + VA . sin θ4
𝜔3 = 𝑣−𝑎−4
r3 sin(θ3 − θ4 )
The same procedure can be applied to obtain 4

y
− VAx . cos θ3 − VA . sin θ3
ω4 = 𝑣−𝑎−5
r4 sin(θ4 − θ3 )
For acceleration analysis
Crank
𝐴𝐴 = r2 (- 22 + i 2) 𝑒 𝑖𝜃2

y
= AxA + 𝑖 AA
AxA = r2 (-22 cos 2 - 2 sin 2) a-a-1

y
AA = r2 (-22 sin 2 + 2 cos 2) a-a-2
120
The acceleration of point B;
𝐴𝐵 = r4 (- 42 + i 4) ei 4
𝐴𝐵𝐴 = r3 (- 32 + i 3) ei 3
Then
y
r4 (- 42 + i 4) ei 4 = (AxA + i AA ) + r3 (- 32 + i 3) ei 3 a-a-3
Multiplying equation (a-a-3) by e-i4 and considering the real parts, 3 can be
obtained
y
- r4 42 = AxA cos 4 + AA sin 4 - r3 32 cos (3 - 4) - r3 3 sin (3 - 4)
Therefore
y
AxA cos θ4 + AA sin θ4 + r4 ω24 − r3 ω23 cos (𝜃3 − 𝜃4 )
𝛼3 = 𝑎−𝑎−4
𝑟3 sin(𝜃3 − 𝜃4 )
Similarly,
y
− AxA cos θ3 − AA sin θ3 + r3 ω23 − r4 ω24 cos (𝜃4 − 𝜃3 )
𝛼4 = 𝑎−𝑎−5
𝑟4 sin(𝜃4 − 𝜃3 )
121
b- Engine Mechanism
Given:
2, 2, 2
Find:
3, V4, 3, A4
Analysis:
For velocity analysis
VAx = - 2 r2 sin 2 v-b-1

y
VA = 2 r2 cos 2 v-b-2
The velocity of point B;
⃗𝐵 = 𝑉
𝑉 ⃗𝐴 + 𝑉
⃗ 𝐵𝐴 v-b-3
122
But
⃗𝐵 = 𝑉
𝑉 ⃗ 4 = V4 ei
⃗ 𝐵𝐴 = + 3 r3 i ei3
𝑉
Thus
y
V4 ei = (VAx + 𝑖 VA ) + 3 r3 i ei3 v-b-4
Multiplying both sides by e-i and considering the imaginary parts, hence
y
0 = - VAx sin  + VA cos  + 3 r3 cos (3 - )
Thus
y
VAx . sin α − VA . cos α
𝜔3 = 𝑣−𝑏−5
r3 cos(θ3 − α)
From the real parts of equation (v-b-4)

VAx − r3 ω3 sin θ3
𝑉4 = 𝑣−𝑏−6
cos 𝛼
For the acceleration
AxA = r2 (-22 cos 2 - 2 sin 2) a-b-1

y
AA = r2 (-22 sin 2 + 2 cos 2) a-b-2
The acceleration of point B;
𝐴𝐵 = 𝐴4 = A4 ei
𝐴𝐵𝐴 = r3 (- 32 + i 3) ei 3
Then
123
y
A4 ei = (AxA + i AA ) + r3 (- 32 + i 3) ei3 a-b-3
Multiplying equation (a-b-3) by e-i and considering the imaginary parts
0 = - AAx sin  + AAy cos  + 32 r3 sin (3 - ) + 3 r3 cos (3 - )
Hence
y
AxA sin α − AA cos α + r3 ω23 sin (𝜃3 − 𝛼)
𝛼3 = 𝑎−𝑏−4
𝑟3 cos(𝜃3 − 𝛼)
Considering the real parts of equation (a-b-3)
AxA − r3 ω23 cos 𝜃3 − r3 α3 sin θ3

𝐴4 = a−b−5
cos 𝛼
124
c- Shaper Mechanism
For the shaper chain shown, links 3 and 4 are sliding links. Let point B to be on the
block 3 while point C on link 4. 𝑢
⃗ 𝑡 is along link 4 while 𝑢 ⃗ 𝑡 by 90o.
⃗ 𝑛 is lagging 𝑢
Given:
2, 2, 2
Find: 4, 4
Analysis:
Since there is no relative angular motion between the block and the link, they have
the same angular velocity and angular acceleration. i.e.
3 = 4
3 = 4
For the velocity analysis,
VAx = - 2 r2 sin 2 v-c-1

125
y
VA = 2 r2 cos 2 v-c-2
Consider the vector loops
⃗𝐵 = 𝑉
𝑉 ⃗𝐴 + 𝑉
⃗ 𝐵𝐴
⃗𝐶 = 𝑉
𝑉 ⃗𝐵 + 𝑉
⃗ 𝐶𝐵
⃗𝐶 = 𝑉
∴𝑉 ⃗𝐴 + 𝑉
⃗ 𝐵𝐴 + 𝑉
⃗ 𝐶𝐵 v-c-3
It is clear that
⃗ 𝐶 = 4 x4 i ei4
𝑉
⃗ 𝐵𝐴 = - 4 h ei4 ( assuming 4 positive )

𝑉
⃗ 𝐶𝐵 = VCB 𝑢
𝑉 ⃗𝑡
= VCB ei4
Substituting into equation (v-c-3), then

y
4 x4 i ei4 = (VAx + 𝑖 VA ) - 4 h ei4 + VCB ei4
y
Or 4 ( h + i x4) ei4 = (VAx + 𝑖 VA ) + VCB ei4
Multiplying by e-i4 and considering the imaginary parts, thus

y
− VAx . sin θ4 + VA . cos θ4
𝜔4 = 𝑣−𝑐−4
x4
From the real parts

y
VCB = 4 h - VAx cos 4 - VA sin 4 v-c-5
AxA = r2 (-22 cos 2 - 2 sin 2) a-c-1
126
y
AA = r2 (-22 sin 2 + 2 cos 2) a-c-2
Consider the loop
𝐴𝐶 = 𝐴𝐴 + 𝐴𝐵𝐴 + 𝐴𝐶𝐵 a-c-3
𝐴𝐶 = x4 (- 42 + i 4) ei 4
𝐴𝐵𝐴 = - h (4 + i 42) ei 4
According to equation (acc-3)
𝐴𝐶𝐵 = 𝐴𝐶𝐵 𝑛 . 𝑢
⃗ 𝑛 + 𝐴𝐶𝐵 𝑆𝐿 . 𝑢
⃗𝑡 acc-3
The sliding component 𝐴𝐶𝐵 𝑆𝐿 is given by

𝑆𝐿
𝐴𝐶𝐵 = 𝐴𝐶𝐵 𝑆𝐿 ei4
The normal component is determined according to:
𝐴𝐶𝐵 𝑛 = 𝐴𝐶𝐵 𝑅𝑇 + 𝐴𝐶𝐵 𝑀 + 𝐴𝐶𝐵 𝑅𝐿

𝑛
𝐴𝐶𝐵 = - 2 VCB C 𝑢
⃗𝑛
Where C is the angular velocity of the link on which point C lies, i.e. link 4. Thus
𝑛
𝐴𝐶𝐵 = 2 VCB 4 i. ei4
Substituting into equation ( a-c-3)

y
x4 (- 42 + i 4) ei4 = (AxA + i AA ) - h (4 + i 42) ei4 + 2 VCB 4 i ei4 + ACBSL ei4
Multiplying by e-i4 and considering the imaginary part leads to

y
− AxA sin θ4 + AA cos θ4 − h ω24 + 2 VCB 𝜔4
𝛼4 = 𝑎−𝑐−4
𝑥4
Considering the real parts

y
ACBSL = - AxA cos 4 - AA sin 4 - x4 42 + h 4 a-c-5
127
For the tilting-block chain shown, links 3 and 4 are sliding links. Point B on the
block 4 while point C on link 3. 𝑢
⃗ 𝑡 is along link 4 while 𝑢 ⃗ 𝑡 by 90o.
⃗ 𝑛 is lagging 𝑢
Given: 2, 2, 2
Find: 3, 3
Analysis:
Since there is no relative angular motion between the block and the link, they have
the same angular velocity and angular acceleration. i.e.
3 = 4 and 3 = 4
For the velocity analysis,
VAx = - 2 r2 sin 2 v-d-1

y
VA = 2 r2 cos 2 v-d-2
128
Consider the vector loops
⃗𝐵 = 𝑉
𝑉 ⃗𝐶 + 𝑉
⃗ 𝐵𝐶
⃗𝐶 = 𝑉
𝑉 ⃗𝐴 + 𝑉
⃗ 𝐶𝐴
⃗𝐵 = 𝑉
∴𝑉 ⃗𝐴 + 𝑉
⃗ 𝐶𝐴 + 𝑉
⃗ 𝐵𝐶 v-d-3
It is clear that
⃗ 𝐵 = - 3 h ei3
𝑉
⃗ 𝐶𝐴 = 3 x3 i ei3
𝑉
⃗ 𝐵𝐶 = VBC 𝑢
𝑉 ⃗𝑡
= VBC ei3
Substituting into equation (v-d-3), then

y
- 3 h ei3 = (VAx + 𝑖 VA ) + 3 x3 i ei3 + VBC ei3
y
Or - 3 ( h + i x3) ei3 = (VAx + 𝑖 VA ) + VBC ei3
Multiplying by e-i3 and considering the imaginary parts, thus

y
VAx . sin θ3 − VA . cos θ3
𝜔3 = 𝑣−𝑑−4
x3
From the real parts

y
VBC = - 3 h - VAx cos 3 - VA sin 3 v-d-5
AxA = r2 (-22 cos 2 - 2 sin 2) a-d-1

y
AA = r2 (-22 sin 2 + 2 cos 2) a-d-2
129
Consider the loop
𝐴𝐵 = 𝐴𝐴 + 𝐴𝐶𝐴 + 𝐴𝐵𝐶 a-d-3
𝐴𝐶𝐴 = x3 (- 32 + i 3) ei 3
𝐴𝐵 = h (- 32 + i 3 ) i. ei 3
According to equation (acc-3)
𝐴𝐵𝐶 = 𝐴𝐵𝐶 𝑛 . 𝑢
⃗ 𝑛 + 𝐴𝐵𝐶 𝑆𝐿 . 𝑢
⃗𝑡 acc-3
The sliding component 𝐴𝐵𝐶 𝑆𝐿 is given by

𝑆𝐿
𝐴𝐵𝐶 = 𝐴𝐵𝐶 𝑆𝐿 ei3
The normal component is determined according to:
𝐴𝐵𝐶 𝑛 = 𝐴𝐵𝐶 𝑅𝑇 + 𝐴𝐵𝐶 𝑀 + 𝐴𝐵𝐶 𝑅𝐿

𝑛
𝐴𝐵𝐶 = - 2 VBC C 𝑢
⃗𝑛
Where C is the angular velocity of the link on which point C lies, i.e. link 3. Thus
𝑛
𝐴𝐵𝐶 = 2 VBC 3 i. ei3
Substituting into equation ( a-c-3)

y
h (-32 + i 3 )i ei 3 = (AxA + i AA ) + x3 (- 32 + i 3) ei 3 +2 VBC 3 i ei3 +ABCSL ei3
Multiplying by e-i3 and considering the imaginary part leads to

y
AxA sin θ3 − AA cos θ3 − h ω23 − 2 VBC 𝜔3
𝛼3 = 𝑎−𝑑−4
𝑥3
Considering the real parts

y
ABCSL = - AxA cos 3 - AA sin 3 + x3 32 - h 3 a-d-5
130
III- FORCE ANALYSIS

Principals
1- Transmission of Force
The force is transmitted from one link to another normal to the surface of contact
when friction is neglected.
Turning joint: The transmitted force passes through the center of the joint.
Sliding joint: The transmitted force is normal to the sliding surfaces at the point of
contact. When the surfaces are flat, the position of the force is determined from
equilibrium considerations
2- Action and reaction
Fij is termed as the force of link i on link j.
Fji is termed as the force of link j on link i.
Fij = - Fji
3- Equilibrium
 Fi = 0
 Mi = 0
Where Mi is the moment of Fi about any point.
4- Newton’s second law
-A force F acts on a body of mass m causes an acceleration A to the body such that
F=mA
-A system of forces F1, F2, ........, Fn act on a body of mass m cause an acceleration
A to the body such that
n
i=1
Fi = m A
131
If R is the resultant of the forces, then
R=mA
5- Inertia effects
According to Newton’s second law
F=mA
Or F +( - m A) = 0
This equation means that the body can be considered to be in equilibrium under the
effect of the external force F and another force (- m A) which is termed as the
inertia force (I.F.)
I.F. = - m A
i.e. the acceleration can be replaced by its inertia effect which is the inertia force.
In this case, the body is treated as if it is stationary.
Notice: The inertia force is an imaginary force.
The same reasoning can be applied for the angular acceleration. The angular
acceleration “  “ can be replaced by its inertia effect, which is the inertia torque
I.T. such that
I.T. = - I 
Where I is the mass moment of inertia of the body about its center of gravity.
132
Forces On A Link
Consider link i, which is connected to link “k” at point A, to link “j” at point B and
to link “n” at point C, respectively. These links exert forces 𝐹𝑘𝑖 , 𝐹𝑗𝑖 and 𝐹𝑛𝑖 . These
forces can be expressed in terms of their components 𝑋 and 𝑌 ⃗ along the x and y
axes. They are considered positive in the positive directions of the axes. Thus
⃗ 𝑘𝑖
𝐹𝑘𝑖 = 𝑋𝑘𝑖 + 𝑌
⃗𝑗𝑖
𝐹𝑗𝑖 = 𝑋𝑗𝑖 + 𝑌
⃗ 𝑛𝑖
𝐹𝑛𝑖 = 𝑋𝑛𝑖 + 𝑌
⃗ 𝑛𝑖 are known from the analysis of link “n”.

Usually 𝑋𝑛𝑖 𝑎𝑛𝑑 𝑌
The data provided for link i is:
• The mass, mi.

• The position of the center of gravity G i which is determined by the
distance gi from point A and the angle i from line AB.
• The mass moment of inertia Ii about Gi.
• The external moment, Mi (for links connected to the ground, and is equal
to zero for the others).
133
The lengths ri and li, the angles i and i, the angular velocity i and the angular
acceleration i and the acceleration components of point A (A Ax, AAy) are already
known from the kinematic analysis.
⃗𝑗𝑖 , 𝑋𝑘𝑖 𝑎𝑛𝑑 𝑌

It is required to determine the reaction forces 𝑋𝑗𝑖 , 𝑌 ⃗ 𝑘𝑖 .
Analysis:
i- Inertia forces
𝐹𝑖 = - mi 𝐴𝐺𝑖
= - mi [(AAx + i AAy) + gi ( - i2 + i i) ei (i + i)]
= 𝑋𝑖 + i 𝑌𝑖
Thus
Xi = - mi [AAx - gi i2 cos (i + i) - gi i sin (i + i)]
Yi = - mi [AAy - gi i2 sin(i + i) + gi i cos(i + i)]
Let
gix = gi cos (i + i)] L-1
giy = gi sin (i + i)] L-2
Thus
Xi = - mi (AAx - gix i2 - giy i ) L-3
Yi = - mi (AAy - giy i2 + gix i ) L-4
ii- Inertia torque
T i = - Ii  i L-5
iii- Equilibrium
Let
rix = ri cos i L-6

134
riy = ri sin i L-7
lix = ri cos (i + ψi) L-8
liy = ri sin (i + ψi) L-9
Taking moment about point A, then
Mi + Ti - Xi giy + Yi gix - Xni liy + Yni lix - Xji riy + Yji rix = 0
Let
ci = Ti - Xi giy + Yi gix - Xni liy + Yni lix L-10
It is clear that all the elements on the R.H.S. of equation (L-10) are known. This
means that ci can be calculated for each link.
135
a- Four- Bar Mechanism
Given:
mi, gi, ri, i, i, Ii, M14. (i=2,3,4)
Find:
X12, Y12, X23, Y23, X34, Y34, X14, Y14, and M12
Analysis:
gix = gi cos i , giy = gi sin i
rix = ri cos i , riy = ri sin i

y
AxG2 = g2 (-22 cos 2 - 2 sin 2), AG2 = g2 (-22 sin 2 + 2 cos 2)
y y
AxG3 = AxA + g3 (-32 cos 3 - 3 sin 3), AG3 = AA + g3 (-32 sin 3 + 3 cos 3)
y
Xi = - mi AGix , Yi = - mi AGiy and Ti = - Ii αi
136
For link (3):
∑ 𝑀𝐴 = 0 - X43 r3y + Y43 r3x +T3 - X3 g3y + Y3 g3x = 0 F-1
For link (4):
∑ 𝑀𝑄 = 0 - X34 r4y + Y34 r4x + T4 - X4 g4y + Y4 g4x + M14 = 0 F-2
Using
X34 = - X43
Y34 = - Y43
Equations (F-1) and (F-2) lead to
𝑟4𝑥 (−𝑇3 + 𝑋3 𝑔3𝑦 − 𝑌3 𝑔3𝑥 ) − 𝑟3𝑥 (−𝑇4 + 𝑋4 𝑔4𝑦 − 𝑌4 𝑔4𝑥 − 𝑀14 )

𝑋34 =
𝑟3𝑦 𝑟4𝑥 − 𝑟3𝑥 𝑟4𝑦
𝑟4𝑦 (−𝑇3 + 𝑋3 𝑔3𝑦 − 𝑌3 𝑔3𝑥 ) + 𝑟3𝑦 (−𝑇4 + 𝑋4 𝑔4𝑦 − 𝑌4 𝑔4𝑥 − 𝑀14 )

𝑌34 =
𝑟3𝑦 𝑟4𝑥 − 𝑟3𝑥 𝑟4𝑦
∑𝑋 = 0 X14 = - X34 - X4 F-3
∑𝑌 = 0 Y14 = - Y34 - Y4 F-4
For the equilibrium of link 3

∑𝑋 = 0 X23 = - X43 - X3 F-5
∑𝑌 = 0 Y23 = - Y43 - Y3 F-6
For link (2):
∑ 𝑀𝑂 = 0
𝑀12 = − 𝑇2 + 𝑋2 𝑔2𝑦 − 𝑌2 𝑔2𝑥 + 𝑋32 𝑟2𝑦 − 𝑌32 𝑟2𝑥 F-7
∑𝑋 = 0 X12 = - X32 - X2 F-8
∑𝑌 = 0 Y12 = - Y32 - Y2 F-9

137
b- Engine Mechanism
Given:
- mi, gi, ri, i, i, Ii. (i = 2,3,4)
- The external force P4, positive along ei.
Find: X12, Y12 , X23, Y23, X34, Y34, F14 , and M12
Analysis:
gix = gi cos i , giy = gi sin i, rix = ri cos i , riy = ri sin i

y
y y
AxA − r3 ω23 cos 𝜃3 − r3 α3 sin θ3

𝐴4 =
cos 𝛼
Xi = - mi AGix , Yi = - mi AGiy and Ti = - Ii αi (i=2,3)
F4 = - m4 A4
138
For link 4, F14 is normal to the sliding surfaces. It is considered positive in the
direction iei. Assuming that F4 and P4 pass through point B, then F14 passes also
through point B. Considering the equilibrium of links 3 and 4 together, thus
∑ 𝑀𝐴 = 0
T3 - X3 g3y + Y3 g3x + (F4 + P4) r3 sin ( - 3) + F14 r3 cos ( - 3) = 0 E-1
Therefore
+𝑇3 − 𝑋3 𝑔3𝑦 + 𝑌3 𝑔3𝑥 + (𝐹4 + 𝑃4 )𝑟3 sin(𝛼 − 𝜃3 )
𝐹14 = −
𝑟3 cos(𝛼 − 𝜃3 )
∑𝑋 = 0 X34 = - (F4 + P4) cos  + F14 sin  E-2
∑𝑌 = 0 Y34 = - (F4 + P4) sin  + F14 cos  E-3

∑𝑋 = 0 X23 = - X3 - X43 E-4
∑𝑌 = 0 Y23 = - Y3 - Y43 E-5
Note that
X43 = - X34
Y43 = - Y34
∑ 𝑀𝑂 = 0
𝑀12 = − 𝑇2 + 𝑋2 𝑔2𝑦 − 𝑌2 𝑔2𝑥 + 𝑋32 𝑟2𝑦 − 𝑌32 𝑟2𝑥 E-6
∑𝑋 = 0 X12 = - X32 - X2 E-7
∑𝑌 = 0 Y12 = - Y32 - Y2 E-8

139
c- Shaper Mechanism
Given:
mi, gi, i, ri, i, Ii, and M14 (i=2,3,4)
Find:
X12, Y12, X23, Y23, X14, Y14, a, F34 and M12
Analysis:
gix = gi cos i , giy = gi sin i ,
rix = ri cos i , riy = ri sin i

y
y y
y
140
Assume that F34 and F43 are positive in the direction iei4 and at a distance “a” from
point B. For link 3 take moment about point A, and for link 4 take moment about
point Q, then
T3 - X3 g3y + Y3 g3x + F43 a = 0 S-1
T4 - X4 g4y + Y4 g4x + M14 + F34 (x4 + a) = 0 S-2
Thus,
𝑇3 − 𝑋3 𝑔3𝑦 + 𝑌3 𝑔3𝑥 + 𝑇4 − 𝑋4 𝑔4𝑦 + 𝑌4 𝑔4𝑥 + 𝑀14
𝐹34 = −
𝑥4
𝑇3 − 𝑋3 𝑔3𝑦 + 𝑌3 𝑔3𝑥
𝒂=−
𝐹34
Finally
X14 = - X4 + F34 sin 4 S-3
Y14 = - Y4 - F34 cos 4 S-4
X23 = - X3 + F43 sin 4 S-5
Y23 = - Y3 - F43 cos 4 S-6
∑ 𝑀𝑂 = 0
𝑀12 = − 𝑇2 + 𝑋2 𝑔2𝑦 − 𝑌2 𝑔2𝑥 + 𝑋32 𝑟2𝑦 − 𝑌32 𝑟2𝑥 S-7
∑𝑋 = 0 X12 = - X32 - X2 S-8
∑𝑌 = 0 Y12 = - Y32 - Y2 S-9
141
Given:
mi, gi, i, ri, i, Ii, and M14 (i=2,3,4)
Find:
X12, Y12, X23, Y23, X14, Y14, a, F34 and M12
Analysis:
gix = gi cos i , giy = gi sin i , rix = ri cos i , riy = ri sin i

y
y y
y

142
Assume that F34 and F43 are positive in the direction iei3 and at a distance “a” from
point B. For link 3 take moment about point A, and for link 4 take moment about
point Q, then
T3 - X3 g3y + Y3 g3x + F43 (x3 + a) = 0 T-1
T4 - X4 g4y + Y4 g4x + M14 + F34 a = 0 T-2
Thus,
𝑇3 − 𝑋3 𝑔3𝑦 + 𝑌3 𝑔3𝑥 + 𝑇4 − 𝑋4 𝑔4𝑦 + 𝑌4 𝑔4𝑥 + 𝑀14
𝐹43 = −
𝑥3
𝑇4 − 𝑋4 𝑔4𝑦 + 𝑌4 𝑔4𝑥 + 𝑀14
𝒂=−
𝐹34
Finally; X14 = - X4 + F34 sin 4 T-3
Y14 = - Y4 - F34 cos 4 T-4
X23 = - X3 + F43 sin 4 T-5
Y23 = - Y3 - F43 cos 4 T-6
∑ 𝑀𝑂 = 0 𝑀12 = − 𝑇2 + 𝑋2 𝑔2𝑦 − 𝑌2 𝑔2𝑥 + 𝑋32 𝑟2𝑦 − 𝑌32 𝑟2𝑥 T-7
∑𝑋 = 0 X12 = - X32 - X2 T-8
∑𝑌 = 0 Y12 = - Y32 - Y2 T-9
e- Shaking Forces And Moments

The shaking effects are sum of the acting forces and moments of all links attached
to the frame, i.e. link 1. Thus, the shaking forces (S.F.) and the shaking moment
(S.M.) are given by
n n n
S.F. = i=1
Xi1 + 
i=1
Yi1 and S.M. = 
i=1
Mi1
143
Sheet (3)
Position Velocity and Acceleration
(Analytical Method)
1- For the mechanism shown in fig.(3-1), the piston has a vertical velocity of
200 cm/s (downward) and an upward acceleration of 800 cm/s². Find the
angular velocity and acceleration of the crank OA. The link dimensions are :
OQ=15, OA=5, AB=13, QB=4, QC=5, AND CE= 14 cm.
FIGURE (3-1)
2- For the mechanism shown in fig. (3-2), the crank OB is running at a speed of
300 rpm in the C.C.W. direction. Make complete analysis (position,
velocity, and acceleration), then determine the velocities and accelerations of
the sliders C and D when OB makes 120º with horizontal as shown. The link
dimensions are: OB=64, AC=64, OA=45, AND BD=80 mm.
FIGURE (3-2)
144
3- For the mechanism shown in fig. (3-3) calculate the velocities and
accelerations of links BC and QC and the sliding velocity of the slider A for
the shown position if ω2= 20 rad/s. The link dimensions are:
OA=25, SB=24, BC=50, AND QC=33 cm.
FIGURE (3-3)
4- Figure (3-4) shows the mechanism of a modeling press. The crank OA

rotates at 120 rpm in C.C.W. direction. Determine the distance X and the
velocity and acceleration of the slider D. The link dimensions are:
OA=80, AB=320, BC=120, BD= 320, and OC 240 mm.
FIGURE (3-4)
145
Force Analysis
5- The following figure shows an inverted slider-crank mechanism.
a- Make complete analysis (position, velocity, acceleration, and force)
b- Determine the driving torque when OA makes 11.5º C.W. with the
horizontal as shown.
OA=25, OQ=40, Og2=12.5, Qg4=50 cm and the radius of curvature of link
4 is 60 cm, ω2 = 8 rad/s in C.W. direction.
m2=0.5 kg, m3=1 kg, m4=2 kg, I2=0.01 kg.m², I4=0.1 kg.m² and M14=200
N.m. (C.C.W)
146

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Mechanics of Machinery I ANALYTICAL ANALYSIS OF MECHANISMS Dr. B.M.

For analytical analysis of mechanisms vectors can be described in polar or

A plane vector 𝑅⃗ is represented in the

Where 𝑖 𝑎𝑛𝑑 𝑗 are the unit vectors along

𝑅⃗ = 𝑅 𝑒 𝑖𝜃 = 𝑅 𝑐𝑜𝑠𝜃 + 𝑖 𝑅 sin 𝜃 (2)

 is the angle of inclination of 𝑅⃗ with the x-axis, positive (+ve) in the

i is the complex number = −1 .

Comparing Eqs. (1) and (2) leads to

1- Unit Complex Vector

The unit complex vector ( 𝑢

⃗ = ei = cos  + i sin 

2- Complex conjugate vector

The unit complex conjugate vector ( ⃗⃗⃗⃗

𝑢𝑐 = e-i = cos  - i sin 

3- Multiplication of complex vectors

⃗⃗⃗⃗ ⃗⃗⃗⃗2 = R1 ei1 * R2 ei2 = R1.R2 ei (1 + 2)

a- Multiplication of a vector with its conjugate

If 𝑅⃗ is rotated an angle , its angle becomes  + . The new vector is represented

𝑅⃗ = R ei( + ) = R ei ei

If  is equal to /2, then

𝑅⃗ = R ei (cos /2 + i sin /2)

Therefore, if a vector is to be rotated an angle of /2 c.c.w. simply multiply it by

i. The location of point O, (xO,yO).

xA + i yA = (xO + i yO) + r2 ei2

= (xO + r2 cos 2) + i (yO + r2 sin 2)

Join AQ to form the vector 𝑑. Consider the vector loop

Writing each vector in its complex form, then

d eid = (xQ + i yQ) - (xA + i yA) p-a-3

= (xQ - xA) + i (yQ - yA)

Multiplying the vectors in both sides by its conjugate, then

The exact value of  d is obtained from Eqs. (p-a-5) and (p-a-6).

In order to obtain  3 , consider the loop

r4 ei4 = r3 ei3 - d eid p-a-7

Multiplying by the conjugate, thus

( r4 e i 4 )*( r4 e −i 4 ) = ( r3 ei 3 - dei d ) * ( r3e −i 3 - de−i d )

r42 = r32 + d 2 − r3 d(e i + e -i ) p-a-8

ei + e-i = 2 cos 

Thus, according to Eq. (p-a-8)

It should be noted that  is an angle in the triangle QAB, Therefore, if cos  is

According to configuration of the Fig., vector 𝑟3 is leading 𝑑. Thus

Generally speaking, 3 is obtained (according to the chain configuration) using

Now, 4 can be obtained from equation p-a-7,

i. The lengths of the crank and connecting rod, r2 and r3 .

Analysis of the crank as in the four-bar mechanism:

Consider the vector loop

( x4 + i h) ei = (xA + i yA) + r3 ei3

Or r3 ei3 = ( x4 + i h) ei - (xA + i yA) p-b-3

In order to simplify the analysis, 𝑟𝐴 is resolved to the components S and T along

In order to find S and T divide both sides by ei. Thus,

(xA + i yA) e-i.= (S + i T)

(xA + i yA) ( cos  - i. sin ) = (S + i T)

(xA cos  + yA sin ) + i (- xA sin  + yA cos ) = (S + i T)

Substituting into Eq. p-b-3, hence

r3 ei3 =[(x4 - xA cos  - yA sin ) + i (h + xA sin  - yA cos )] ei

Multiplying by the conjugates

r32 = (x 4 − x Acos − y Asin  ) 2 + (h + x Asin  − y Acos ) 2 p-b-4

From equation 1-3-12

x 4 = x A cos + y Asin   r32 - (h + x Asin  − y A cos ) 2 p-b-5

The value of 3 is obtained from Eq. (p-b-3)

a-The location of Q (xQ , yQ). b-The position of O (xO , yO).

( r4 e i 4 )( r4 e −i 4 ) = ( r3 ei 3 - dei d ) ( r3e −i 3 - de−i d )