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    Sol Quiz1

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    Anubhav Agrawal
    The document contains solutions to 4 problems from a mechanics quiz. Problem 1 involves determining the mobility and degrees of freedom of 3 planar linkages. Problem 2 asks if velocities can be determined uniquely given position and one input. Problem 3 involves finding the displacement of a point on a rolling wheel. Problem 4 finds the acceleration magnitude of a particle moving along a rotating tube.

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    Sol Quiz1

    Uploaded by

    Anubhav Agrawal
    6 views4 pages
    The document contains solutions to 4 problems from a mechanics quiz. Problem 1 involves determining the mobility and degrees of freedom of 3 planar linkages. Problem 2 asks if velocities can be determined uniquely given position and one input. Problem 3 involves finding the displacement of a point on a rolling wheel. Problem 4 finds the acceleration magnitude of a particle moving along a rotating tube.

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    The document contains solutions to 4 problems from a mechanics quiz. Problem 1 involves determining the mobility and degrees of freedom of 3 planar linkages. Problem 2 asks if velocities can be determined uniquely given position and one input. Problem 3 involves finding the displacement of a point on a rolling wheel. Problem 4 finds the acceleration magnitude of a particle moving along a rotating tube.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    6 views4 pages

    Sol Quiz1

    Uploaded by

    Anubhav Agrawal
    The document contains solutions to 4 problems from a mechanics quiz. Problem 1 involves determining the mobility and degrees of freedom of 3 planar linkages. Problem 2 asks if velocities can be determined uniquely given position and one input. Problem 3 involves finding the displacement of a point on a rolling wheel. Problem 4 finds the acceleration magnitude of a particle moving along a rotating tube.

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    You are on page 1of 4

    ME 232: KDOM

    Solution for Quiz 1


    1. [10 points] Determine the mobility and the number of idle degrees of freedom of each
    of the planar linkages shown below. Treat cam contact as rolling with slipping (j2 ) kind
    of joint. Write down equations for each to calculate the mobility.

    (a) (b) (c)

    Figure 1: Determine the mobility and IDOF

    Solution:

    1. n = 5, j1 = 5, j2 = 1, therefore, from the Kutzbach criterion, mobility m =


    3(n − 1) − 2j1 − j2 = 1 and IDOF = 0.
    +3 points

    2. n = 12, j1 = 15, j2 = 0, therefore, mobility m = 3 and IDOF = 0.


    +3 points

    3. n = 11, j1 = 13, j2 = 2, therefore, mobility m = 2 and IDOF = 1, one DOF at


    cam contact is idle.
    +4 points
    If IDOFs are not calculated properly, 0.5 points should be deducted for each
    sub-problem..

    2. [5 points] If position information is available for all points in the planar linkage below
    in Fig. 2, can all of the velocities be determined uniquely if value of ω is given? Explain
    your answer.

    1
    ME 232 Solution 1, Page 2 of 4 Jan 23, 2024

    Figure 2: Only ω is given

    Solution: n = 7, j1 = 8, j2 = 0, therefore, mobility m = 3(n − 1) − 2j1 − j2 = 2,


    however only one input variable is given whereas it has two DOF and requires two
    independent variables. Hence, all of the velocities CANNOT be determined uniquely.

    3. [5 points] A wheel with center at O rolls without slipping on the ground at point P.
    If point O is displaced 10 in to the right, determine the displacement vector of point P
    during this interval.

    P1
    O O1

    P Q

    (a) Wheel (b) Vectors

    Figure 3: (a) Wheel (b) Vectors

    Solution: From Fig. 3(b), the vector triangles OP P1 and OO1 P1 give rise to two
    vector equations:

    OP + P P1 = OP1 , OO1 + O1 P1 = OP1 .

    Therefore, we have
    P P1 = OO1 + O1 P1 − OP .
    And, we have OP = −6ĵ, OO1 = 10î. Also, if ∠P1 O1 Q = ∆θ, and φ = 3π/2 − ∆θ,
    then, O1 P1 = 6(cos φî + sin φĵ). Moreover, we know that rolling without slipping is
    ME 232 Solution 1, Page 3 of 4 Jan 23, 2024

    happening, hence, v O = ω × OP , or in magnitude terms vO = 6ω, or, ∆RO = 6∆θ,


    or 10 = 6∆θ, so, ∆θ = 10/6 rad. This means, we have

    P P1 = 10 + 6 cos φî + 6(1 + sin φĵ) = 4.0276î + 6.5743ĵ.

    Here, magnitudes are in inches.

    4. [5 points] A straight tube is attached to a vertical shaft at a fixed angle α as shown


    in Fig. 4(a) below. The shaft rotates with a constant angular velocity ω. A particle
    moves along the tube with a velocity v relative to the tube and acceleration a relative
    to the tube along the tube. Find the magnitude of the acceleration of the particle when
    it is at a distance l along the tube from the center in terms of l, α, v, a, ω. In Fig. 4(b),
    xyz coordinate system is moving with respect to XY Z coordinate system with angular
    velocity ω, such that absolute velocity Ṙ and acceleration R̈ of point P are given by

    Ṙ = Ṙo + ṙ r + ω × r,
    R̈ = R̈o + ω̇ × r + ω × (ω × r) + r̈ r + 2ω × ṙ r

    (a) Straight tube (b) Coordinate axes

    Figure 4: Straight tube problem

    Solution: Assuming y-axis as the horizontal and z-axis for the vertical axis, for the
    particle, we have Ṙo = R̈o = 0, r = l(sin αĵ + cos αk̂), ṙ r = v(sin αĵ + cos αk̂), r̈ r =
    a(sin αĵ + cos αk̂).
    ME 232 Solution 1, Page 4 of 4 Jan 23, 2024

    +2 points
    Also, ω = ω k̂, ω̇ = 0, therefore, ω × r = −ωl sin αî, ω × (ω × r) = −ω 2 l sin αĵ, and
    ω × ṙ r = −ωv sin αî,
    +2 points

    R̈ = ω × (ω × r) + r̈ r + 2ω × ṙ r ,
    = −ω 2 l sin αĵ + a(sin αĵ + cos αk̂) − 2ωv sin αî,
    = −2ωv sin αî + (a − ω 2 l) sin αĵ + a cos αk̂.

    This means, the magnitude of acceleration is


    q
    kR̈k = 4ω 2 v 2 sin2 α + (a − ω 2 l)2 sin2 α + a2 cos2 α.

    +1 point
    Even if we assume, x-axis as the horizontal and y-axis as vertical, only the unit
    vectors will change, the final answer will be the same.

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