ME 352 - Machine Design I Name_______________________________

Fall Semester 2009 Lab. Div.___________________________

EXAM 1. OPEN BOOK AND CLOSED NOTES. Wednesday, September 30th, 2009
Please use the blank paper provided for your solutions. Write on one side of the paper only.
Where necessary, you can use the figures that are provided on the exam to show vectors and
instantaneous centers of velocity. Any work that cannot be followed will assume to be wrong.
Problem 1 (25 Points).
Part I. (13 Points).
(i) Clearly number each link and label the lower pairs and the higher pairs on the mechanism shown in
Figure 1(a). Then determine the mobility of this mechanism.
(ii) Define vectors that are suitable for a complete kinematic analysis of the mechanism. Label and show
the direction of each vector on Figure 1(a).
(iii) Write the vector loop equation(s) for the mechanism and clearly identify:
(a) suitable input(s) for the mechanism; and
(b) the known variables, the unknown variables, and any constraints.
(c) If you identified constraints in part (b) then write the constraint equation(s).

Figure 1(a). A Planar Mechanism.

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ME 352 - Machine Design I Name___________________________________

Fall Semester 2009 Lab. Div.________________________________

Problem 1 (continued).
Part II. (12 Points). Consider the four-bar linkage in the position shown in Figure 1(b). The angle of
the input link 2 is θ2 = 60o , measured counterclockwise from the ground link which is coincident with
the fixed X-axis. The lengths of the four links are R1 = O2O4 = 7 cm, R 2 = O2 A = 8 cm,
R 3 = AB = 5 cm, and R 4 = O4 B = 10 cm.
Use Freudenstein's equation to determine the angular position of the output link θ4 .

Figure 1(b). A Planar Four-Bar Linkage.

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ME 352 - Machine Design I Name___________________________________

Fall Semester 2009 Lab. Div.________________________________

Problem 2 (25 Points). For the mechanism in the position shown in Figure 2, the input link 2 is rotating
counterclockwise with a constant angular velocity ω2 = 30 rad / s. Also for this position, the coupler
link 3 is horizontal and is sliding along the vertical output link 4. The known link lengths are
O2O4 = 30 cm, O2 A = 15 cm, and AB = 22.5 cm.

(i) Write a vector loop equation that would be suitable for a complete kinematic analysis of this
mechanism. Indicate the input, the known variables, the unknown variables, and any constraints. Draw
your vectors clearly on Figure 2.
(ii) Determine the first-order kinematic coefficients for the mechanism from your vector loop equation.
(iii) Determine the angular velocities of links 3 and 4. Give the magnitudes and the directions.
(iv) Determine the velocity of point B fixed in link 3 relative to the velocity of the coincident point B
fixed in link 4. Give the magnitude and the direction of this vector.

Figure 2. A Planar Mechanism.

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ME 352 - Machine Design I Name___________________________________
Fall Semester 2009 Lab. Div.________________________________

Problem 3 (25 points). For the mechanism in the position shown in Figure 3, the input link 2 is rotating
clockwise with a constant angular velocity ω2 = 15 rad / s . Link 2 is in contact with link 3 at point C
and link 4 is in contact with the slot in link 3 at point E. The figure is drawn full scale, i.e., 1 in = 1 in.
(i) List the primary instant centers and the secondary instant centers for the mechanism.
(ii) Using the Kennedy circle, show the location of all the instant centers on Figure 3.
Using the location of the instant centers, determine:
(iii) The first-order kinematic coefficients of links 3 and 4.
(iv) The magnitudes and directions of the angular velocities of links 3 and 4.
(v) The magnitude and direction of the velocity of point B, and the magnitude and direction of the
slipping velocity at point E.

Kennedy Circle.

Figure 3. A Planar Mechanism. (Drawn Full Scale: 1 in = 1 in).

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ME 352 - Machine Design I Name___________________________________
Fall Semester 2009 Lab. Div.________________________________

Problem 4 (25 points). For the gear mechanism in the position shown in Figure 4, the input link 2 is
rotating with an angular velocity ω2 = 50 rad / s clockwise and an angular acceleration α 2 = 15 rad / s2
clockwise. Link 2 is pinned to the ground at O1 and is pinned to the center of gear 3 at point A. The
center of gear 4 is also pinned to the ground at O1 and gear 5 is pinned to the ground at O5 . Gears 3, 4
and 5 are all in rolling contact at point B. The radii of the fixed gear 1 and the moving gears 3, 4 and 5,
are ρ1 = 10 cm, ρ3 = 10 cm, ρ 4 = 30 cm, and ρ5 = 50 cm, respectively. Determine:

(i) The first-order kinematic coefficients for gears 3, 4, and 5.

(ii) The angular velocities of gears 3, 4, and 5. Specify the magnitudes and directions.
(iii) The angular accelerations of gears 3, 4, and 5. Specify the magnitudes and directions.
(iv) The velocity of point B fixed in gear 3.

Figure 4. A Gear Mechanism.

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Solution to Problem 1.
Part I. (i) 4 points. There are five links in this mechanism and the joint types connecting these five
links are as shown in Figure 1(a).

Figure 1(a). Joint Types of the Mechanism.

For this mechanism, the number of links, number of lower pairs (or J1 joints), and number of higher
pairs (or J 2 joints), respectively, are

n = 5, J1 = 5, and J2 = 1 (1)

The Kutzbach mobility criterion for a planar mechanism can be written as

M = 3(n − 1) − 2J1 − 1J 2 (2)

Substituting Equation (1) into Equation (2), the mobility of the mechanism is
M = 3(5 − 1) − 2(5) − 1 = 1 (3)

This is the correct answer for this mechanism, that is, for a single input there is a unique output.

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(ii) 5 points. Suitable vectors for a kinematic analysis of the mechanism are shown in Figure 1(b).

Figure 1(b). Vectors for the Mechanism.

(iii) 4 points. There are 5 unknown variables, therefore, 2 independent vector loop equations are
required and one rolling contact equation. If the input link is chosen to be the slider, that is, link 2 then
the two independent vector loops can be written as

Loop 1:
Ι√
R2 + √R13C + R?√23 − √R33C − √?
R3 = 0 (4a)

Loop 2:
√?
R3 + √C
R333 + √R4? + √√
R7 − R9 − R1 = 0
?√ √√
(4b)

(a) Since the input link is the slider, that is, link 2, then the input variable is the length R2 .
(b) The four unknown variables in Equations (4) are the angular displacements θ3 , θ 4 , and the linear
distances R23 and R9 .
(c) There are four constraint equations, namely:

θ13 = θ 2 + 90° (5a)

θ33 = θ3 + 90° (5b)

and

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 θ333 = θ3 − 90° (5c)

Note that the angular displacement of the wheel θ5 is constrained to the linear distance R9 by rolling
contact. The rolling contact equation between link 5 and the ground link 1 can be written as

± ΔR9 = ρ5 ( Δθ5 − Δθ9 ) = ρ5 Δθ5 (6a)

Note that this equation can also be written in terms of the first-order kinematic coefficients as

± R9′ = ρ5θ5′ (6b)

The correct sign in Equations (6) is positive because for a positive rotation of the wheel (that is,
counterclockwise) the length of the vector R9 is increasing or for a negative rotation of the wheel (that
is, clockwise) the length of the vector R9 is decreasing.
Part II. 13 points. The vectors for the four-bar linkage are shown in Figure 1(b).

Figure 1(b). The vector loop for the four-bar linkage.

The vector loop equation (VLE) can be written as

√I √? √? √√
R 2 + R 3 − R 4 − R1 = 0 (1a)

The X and Y components of Eq. (1) are

R2 cos θ 2 + R3 cos θ3 − R4 cos θ 4 − R1 cos θ1 = 0 (2a)

8
and
R2 sin θ 2 + R3 sin θ3 − R4 sin θ 4 − R1 sin θ1 = 0 (2b)

Freudenstein's Equation can be written as

A cos θ4 + B sin θ4 = C (3)
where
A = 2 R1 R 4 cos θ1 − 2 R 2 R 4 cos θ2 (4a)

B = 2 R1 R 4 sin θ1 − 2 R 2 R 4 sin θ2 (4b)

and
C = R 32 − R12 − R 22 − R 24 + 2 R1 R 2 cos (θ1 − θ2 ) (4c)

Substituting the known data into Equations (4) gives

A = 2 × 7 × 10 cos 0D − 2 × 8 × 10 cos 60D = + 60 cm2 (5a)

B = 2 × 7 × 10 × sin 0D − 2 × 8 × 10 × sin 60D = − 138.56 cm2 (5b)

and
C = 52 − 72 − 82 −102 + 2 x 7 x 8 cos (0D − 60D ) = − 132 cm2 (5c)

Substituting Equations (5) into Equation (3) gives

+ 60 cos θ − 138.56 sin θ = − 132 cm2 (6)

4 4
To determine the output angle we can write this transcendental equation as an algebraic equation,
(namely, a quadratic equation). The procedure is to use the tangent of the half-angle relationship; i.e.,
θ
Z = tan ( 4 ) (7a)
2
which gives
2Z 1 − Z2
sin θ4 = and cos θ4 = (7b)
1 + Z2 1 + Z2

Substituting Equations (7b) into Equation (3), and rearranging, gives

(A + C) Z2 − (2 B) Z + (C − A) = 0 (8)

The solution to this equation can be written as

+ B ± B2 − (A + C)(C − A)
Z= (9)
A+C

Substituting Equations (5) into Equation (9) gives

− 138.56 ± (− 138.56)2 − (60 − 132)(− 132 − 60)

Z= (10a)
60 − 132

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The two roots to this quadratic equation are
Z1 = + 0.90620 and Z2 = + 2.94269 (10b)

Equation (7a) can be written as

θ 4I = 2 tan −1 Z1 and θ 4II = 2 tan −1 Z2 (11)

Substituting Equations (10b) into Equations (11) gives

θ 4I = 2 tan −1 0.90620 and θ 4II = 2 tan −1 2.94269 (12)

Therefore, the two possible answers for the angular position of link 4 are
θ4 = 84.37D and θ4 = 142.46D (13)

The answer for the angular position of link 4, for the given open configuration shown in Figure 1(b), is
θ4 = 84.37D

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Solution to Problem 2.
(i) 8 Points. A suitable set of vectors for a kinematic analysis of the mechanism are shown in Fig. 2(a).

Figure 2(a). Suitable Vectors for the Mechanism.

The vector loop equation (VLE) can be written as

√I √? ?C √√
R 2 + R 3 − R 34 − R1 = 0 (1a)

where the constraint is

θ34 = θ 4 = θ3 + 90° (1b)

The X and Y components of the VLE, see Eq. (1), are

R 2 cos θ2 + R 3 cos θ3 − R 34 cos θ34 − R1 cos θ1 = 0 (2a)

and
R 2 sin θ2 + R 3 sin θ3 − R 34 sin θ34 − R1 sin θ1 = 0 (2b)

(ii) 7 Points. Differentiating Equations (2) with respect to the input position θ2 gives

− R 2 sin θ2 − R 3 sin θ3θ′3 − R ′34 cos θ34 + R 34 sin θ34θ′3 = 0 (3a)

and
R 2 cos θ2 + R 3 cos θ3θ′3 − R ′34 sin θ34 − R 34 cos θ34θ′3 = 0 (3b)

Then writing Equations (3) in matrix form gives

⎡ − R 3 sin θ3 + R 34 sin θ34 − cos θ34 ⎤ ⎡ θ′3 ⎤ ⎡ + R 2 sin θ2 ⎤

⎢ + R cos θ − R cos θ =
− sin θ34 ⎦⎥ ⎣⎢ R ′34 ⎦⎥ ⎢⎣ − R 2 cos θ2 ⎥⎦
(4)
⎣ 3 3 34 34

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Substituting the known data into Equation (4) gives

⎡ + 12.99 cm − 0 rad ⎤ ⎡ θ′3 ⎤ ⎡ + 12.99 cm ⎤

⎢ + 22.5 cm − 1 rad ⎥ ⎢ R ′ ⎥ = ⎢ − 7.5 cm ⎥ (5a)
⎣ ⎦ ⎣ 34 ⎦ ⎣ ⎦

The determinant of the coefficient matrix in Equation (5a) is

DET = ( + 12.99 cm)( − 1 rad) − ( + 22.5 cm)(0 rad) = − 12.99 cm (5b)

Using Cramer’s rule, then from Eq. (5a), the first-order kinematic coefficient for link 3 is
− 12.99 cm
θ′3 = = + 1 cm / cm (6a)
− 12.99 cm

The positive sign indicates that link 3 is rotating in the same direction as the input link, i.e.,
counterclockwise. Also this answer indicates that link 3 is rotating with same angular velocity as the
input link; i.e., by definition
θ′3 = θ′2 = 1rad / rad (6b)

Also, using Cramer’s rule, the first-order kinematic coefficient for links 3 and 4 is
(+ 12.99 cm) (− 7.5 cm) − (+ 22.5 cm)(+ 12.99 cm)
R ′34 = = + 30 cm 2 / cm (7a)
− 12.99 cm

The positive sign indicates that the vector R 34 is increasing in length for a positive input, that is, point
B on link 3 is moving away from the ground pivot of link 4.
(iii) 7 Points. The angular velocity of link 4 can be written as

ω4 = θ′4 ω2 (8)

Note that the first-order kinematic coefficient for link 4 is

θ′4 = θ′34 = θ′3 = + 1 rad / rad (9)

Substituting Eq. (9) and the input angular velocity into Eq. (8), the angular velocity of link 4 is

ω4 = (+ 1 rad / rad)(+ 30 rad / s) = + 30 rad / s (10)

The positive sign means that link 4 is, indeed, rotating counterclockwise.
(iv) 5 Points. The velocity of point B fixed in link 3 relative to the velocity of point B fixed in link 4
can be written as
R B = R ′34 ω2 (11)

Substituting Equation (7a) and the input angular velocity into Equation (11), the velocity is

R B = (+ 30 cm 2 / cm)( + 30 rad / s) = + 900 cm / s (12)

The magnitude and the direction of the velocity of point B fixed in link 3 relative to the velocity of point
B fixed in link 4 is
VB = + R B j = + 900 j cm / s (13)

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The velocity of point B fixed in link 3 relative to the velocity of point B fixed in link 4 is directed
vertically upwards. This can be verified by finding the instantaneous centers of velocity, see Figure 2(c).

Figure 2(c). The location of the instant centers.

Check. Using instant centers, the velocity of point B fixed in link 3 relative to the velocity of the
coincident point B fixed in link 4 can be written as

VB34 = VB3 − VB4 (14)

Using instant centers, the magnitude of the velocity of point B fixed in link 3 can be written as

VB3 = (I13B)ω3 (15a)

The distance I13B is measured as I13B = 32.692 cm . Therefore, the velocity of point B fixed in link 3 is

VB3 = (32.692)(30 rad / s) = 980.76 cm / s (15b)

Using instant centers, the velocity of point B fixed in link 4 can be written as

VB4 = − (I14 B)ω4 i (16a)

The distance I14 B is measured as I14 B = 12.990 cm . Therefore, the velocity of point B fixed in link 4 is

VB4 = − (12.990)(30 rad / s) = − 389.7 i cm / s (16b)

Substituting Eqs. (15b) and (16b) into Eq. (14), the velocity of point B fixed in link 3 relative to the
velocity of the coincident point B fixed in link 4 is

VB34 = VB3 − VB4 = (389.7 i + 900 j) − 389.7 i = 900 j cm / s (17)

The direction of this vector is indeed vertically upward as shown in Figure 2(c).

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Solution to Problem 3.
(i) 10 Points. The number of links in the mechanism is four, therefore, the total number of instant centers
for this mechanism is six; i.e.,
n ( n − 1) 4 x 3
N= = =6 (1)
2 2
There are three primary instant centers; namely, I12, I13, and I14. The three secondary instant centers;
namely, I23, I24, and I34 can be obtained as follows:
(i) It is important to note that the secondary instant center I23 is not located at point C because there is
slip between links 2 and 3. However, the instant center I23 must lie on the line that is perpendicular to
the line BC through the point of contact C. The point of intersection of this line with the line connecting
the instant centers I12I13 is the instant center I23.
(ii) The point of intersection of the line through I13I14 and the perpendicular to the slot in link 3 that
passes through point E is the instant center I34.
(iii) The point of intersection of the line through I12I14 and the line through I23I34 is the instant center I24.
The procedure to locate the three secondary instant centers are marked on the Kennedy circle.

Figure 3(a). The Kennedy Circle.

The location of the six instant centers for this mechanism are shown on Figure 3(b).
(ii) 5 Points. The first-order kinematic coefficient of link 3 can be written as
I12 I 23
θ 3′ = (4a)
I13 I 23

The distance I12 I 23 is measured as I12 I 23 = 1.875 in and the distance I13 I 23 is measured as
I13 I 23 = 3.125 in. Therefore, the first-order kinematic coefficient of link 3 is

1.875 in
θ 3′ = = 0.6 in/in (4b)
3.125 in

Note that the correct sign is negative because the relative instant center I 23 lies between the absolute instant
centers, that is
θ 3′ = − 0.6 rad/rad (4c)

The first-order kinematic coefficient of link 4 can be written as

I12 I 24
θ 4′ = (5a)
I14 I 24

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The distance I12 I 24 is measured as I12 I 24 = 2.785 in and the distance I14 I 24 is measured as
I14 I 24 = 2.307 in. Therefore, the first-order kinematic coefficient of link 4 is

2.785 in
θ 4′ = = 1.207 in / in (5b)
2.307 in

Note that the correct sign is negative because the relative instant center I 24 lies between the absolute instant

centers I12 and I14 , that is

θ 4′ = − 1.207 rad/rad (5c)

Figure 3(b). The location of the instant centers.

(iii) 5 Points. The magnitude of the angular velocity of link 3 can be written as

ω3 = θ3′ ω2 = (− 0.6 rad rad)(− 15 rad sec) = + 9 rad sec (6)

The positive sign indicates that the direction of the angular velocity of link 3 is counterclockwise, as
shown in Figure 3(c).
The magnitude of the angular velocity of link 4 can be written as

ω4 = θ 4′ ω2 = (− 1.207 rad rad)(− 15 rad sec) = + 18.105 rad sec (7)

The positive sign indicates that the direction of the angular velocity of link 4 is counterclockwise, as shown
in Figure 3(c).

15
 Figure 3(c). Angular velocities of links 3 and 4.
(iv) 5 Points. The velocity of point B can be written as
VB = ( I13 B ) ω3 (8a)

The distance I13 B is measured as I13 B = 4.940 in, therefore, the velocity of point B is

VB = ( I13 B ) ω3 = (4.94 in) ( 9 rad sec ) = 44.46 in sec (8b)

The direction of the velocity of point B is perpendicular to the line connecting the instant center I13 to

point B as shown in Figure 3(d). The velocity of point B is directed 52 degrees below the X-axis.
The slipping velocity at point E can be written as
VSlip = ( I 34 E )ω43 = ( I 34 E )(ω4 − ω3 ) (9)

where the slipping velocity at point E is defined here as

VSlip = VE4 /E3 = VE4 − VE3 (10)

The direction of the slipping velocity. The angular velocity of link 4 is counterclockwise and the angular
velocity of link 3 is counterclockwise. Since the angular velocity of link 4 is greater than the angular
velocity of link 3 then the angular velocity of link 4 relative to the angular velocity of link 3 is

16
counterclockwise about the instant center I34. This means that the slipping velocity of point E along the
slot is pointed downward as shown in Figure 3(d).
The distance I 34 E is measured as

I 34 E = 1.510 in (11)

Substituting Eqwuation (11) into Equation (10), the slipping velocity at point E is
VSlip = ( I 34 E ) ω43 = 1.510 × (18.105 − 9 ) = 13.75 in sec (12)

If the slipping velocity at point E is defined as

VSlip = VE3 /E4 = VE3 − VE4 (13)

then Equation (11) would be written as

VSlip = ( I 34 E ) ω34 = 1.510 × ( 9 − 18.105 ) = − 13.75 in sec (14)

Since the angular velocity of link 3 relative to the angular velocity of link 4 is clockwise about the
instant center I34. This means that the slipping velocity of point E along the slot (based on this
definition) is pointed upward as shown in Figure 3(d).

Figure 3(d). Velocity of point B and the slipping velocity at point E.

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Solution to Problem 4.
(i) 6 Points. The rolling contact equation for gear 3 rolling on the ground link 1 can be written as

ρ1 ⎛ θ3′ − θ 2′ ⎞
± =⎜ ⎟ (1a)
ρ3 ⎝ θ1′ − θ 2′ ⎠
The correct sign on the left hand side is negative since there is external contact, that is

ρ1 ⎛ θ3′ − 1 ⎞
− =⎜ ⎟ (1b)
ρ3 ⎝ 0 − 1 ⎠
and
ρ1 ⎛ θ3′′ − 0 ⎞
− =⎜ ⎟ (1c)
ρ3 ⎝ 0 − 0 ⎠
The rolling contact equation between gear 3 and gear 4 can be written as

ρ3 ⎛ θ 4′ − θ 2′ ⎞
± =⎜ ⎟ (2a)
ρ 4 ⎝ θ3′ − θ 2′ ⎠
The correct sign on the left hand side is positive since there is internal contact, that is

ρ3 ⎛ θ 4′ − 1 ⎞
+ =⎜ ⎟ (2b)
ρ 4 ⎝ θ3′ − 1 ⎠
and
ρ3 ⎛ θ 4′′ − 0 ⎞
+ =⎜ ⎟ (2c)
ρ 4 ⎝ θ3′′ − 0 ⎠
The rolling contact equation between gear 4 and gear 5 can be written as

ρ 4 ⎛ θ5′ − θ1′ ⎞
± =⎜ ⎟ (3a)
ρ5 ⎝ θ 4′ − θ1′ ⎠
The correct sign on the left hand side is positive since there is internal contact, that is

ρ 4 ⎛ θ5′ − 0 ⎞
+ =⎜ ⎟ (3b)
ρ5 ⎝ θ 4′ − 0 ⎠
and
ρ 4 ⎛ θ5′′ − 0 ⎞
+ =⎜ ⎟ (3c)
ρ5 ⎝ θ 4′′ − 0 ⎠
(ii) 7 Points. Substituting the known radius for gear 1 and the radius of gear 3into Equation (1b), and
rearranging, gives
10
+ = θ3′ − 1 (4a)
10
Therefore, the first-order kinematic coefficient for gear 3 is
θ3′ = + 2 rad/rad (4b)

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Equation (1a) can also be written as
± ρ1 (θ1′ − θ 2′ ) = ρ3 (θ3′ − θ 2′ ) (5a)
or as
± ρ1 (θ1′′− θ 2′′) = ρ3 (θ3′′ − θ 2′′) (5b)
Substituting the known second-order kinematic coefficients into Equation (5b) gives
± ρ1 (0 − 0) = ρ3 (θ3′′ − 0) (6a)

Therefore, the second-order kinematic coefficient for gear 3 is

θ3′′ = + 0 rad/rad (6b)

Substituting the known radius for gears 3 and 4 into Equation (2b) gives

10 ⎛ θ 4′ − 1 ⎞
+ =⎜ ⎟ (7a)
30 ⎝ θ3′ − 1 ⎠

Then rearranging this equation gives

10
θ 4′ = (θ3′ − 1) + 1 (7b)
30
Substituting Equation (4b) into this equation gives
10 40
θ 4′ = ( 2 − 1) + 1 = + rad/rad (8a)
30 30
Therefore, the first-order kinematic coefficient for gear 4 is
θ 4′ = + 1.333 rad/rad (8b)

Substituting the known radius for gears 3 and 4 into Equation (2c) the second-order kinematic
coefficient for gear 4 is
θ 4′′ = + 0 rad/rad 2 (8c)

Substituting the known radius for gears 5 and 4 into Equation (3b) gives
30 θ5′
+ = (9a)
50 θ 4′
Substituting Equation (6b) into this equation gives
⎛ 30 ⎞ ⎛ 40 ⎞ 40
θ5′ = ⎜ + ⎟⎜ + ⎟=+ rad/rad (9b)
⎝ 50 ⎠ ⎝ 30 ⎠ 50
Therefore, the first-order kinematic coefficient for gear 5 is
θ5′ = + 0.8 rad/rad (10a)

Substituting the known radius for gears 5 and 4 into Equation (3c), the second-order kinematic
coefficient for gear 5 is

19
 θ5′′ = + 0 rad/rad 2 (10b)

(iii) 8 Points. The angular velocity of gear 3 can be written as

ω3 = θ3′ω2 (11a)

Substituting Equation (4a) into Equation (11a), the angular velocity of gear 3 is
ω3 = (+ 2)(− 50) = − 100 rad/s (11b)

The negative sign indicates that gear 3 is indeed rotating clockwise.

The angular velocity of gear 4 can be written as
ω4 = θ 4′ω2 (12a)

Substituting Equation (6b) into Equation (10a), the angular velocity of gear 4 is
ω4 = (+ 1.333)(− 50) = − 66.67 rad/s (12b)

The negative sign indicates that gear 4 is indeed rotating clockwise.

The angular velocity of gear 5 can be written as
ω5 = θ5′ω2 (13a)

Substituting Equation (8a) into Equation (11a), the angular velocity of gear 5 is
ω5 = (+ 0.8)(− 50) = − 40 rad/s (13b)

The negative sign indicates that gear 5 is indeed rotating clockwise.

The angular acceleration of gear 3 can be written as
α 3 = θ3′α 2 + θ ′′ω22 (14a)

Substituting Equation (4c) into Equation (14a), the angular acceleration of gear 3 is
α 3 = (+ 2)(− 15) + (0)(− 50) 2 = − 30 rad/s 2 (14b)

The negative sign indicates that gear 3 is accelerating clockwise.

The angular acceleration of gear 4 can be written as
α 4 = θ 4′α 2 + θ 4′′ω22 (15a)

Substituting Equation (6c) into Equation (15a), the angular acceleration of gear 4 is
α 4 = (+ 1.333)(− 15) + (0)(−50)2 = − 20 rad/s 2 (15b)

The negative sign indicates that gear 4 is accelerating clockwise.

The angular acceleration of gear 5 can be written as
α 5 = θ5′α 2 + θ5′′ω22 (16a)

Substituting Equation (8b) into Equation (16a), the angular acceleration of gear 5 is
α 5 = (+ 0.8)(− 15) + (0)(− 50) 2 = − 12 rad/s 2 (16b)

20
The negative sign indicates that gear 5 is accelerating clockwise.
(iv) 5 Points. The velocity of point B fixed in gear 3 can be written as

VB = VB = ( I14 B ) ω4 (17a)
3 4

Since point B is coincident with the instant center I 34 . Substituting the values into Equation (17a) gives

⎛ 200 ⎞
VB = VB = ⎜ ⎟ 30 = 2000 cm/s (17b)
3 4 ⎝ 3 ⎠

The velocity of point B fixed in gear 3 is directed vertically downward.

21