ASSIGNMENT / HOME WORK-II

(SIMPLE LINKAGES/MECHANISMS)
Question No. 1:
In the mechanism shown below, link 2 is rotating CCW at the rate of 500 rad/s (constant). In
the position shown, link 2 is vertical.

a) Explain the Grashoff's Rotatability and the Inversion of Four Bar Linkage.
b) Determine θ3 and θ4.
c) Determine ω3 and ω4.
d) Determine α3 and α4.
e) Determine linear velocity, VC/D.
f) Determine linear acceleration, AC/D.

Link lengths: AB = 1.2 in, BC = 2.42 in, CD = 2 in

Answers:
a) and b) Do It Yourself and compare with your fellow's answers.
c) ω3 = 216.3 rad/sec and ω4 = 429 rad/sec
d) α3 = -27900 rad/sec 2
and α4 = -75700 rad/sec2
e) VC/D = 858 in/sec
f) AC/D = 398000 in/sec2

Figure Q1

Question No. 2:
In the mechanism shown below, link 2 is rotating CW at the rate of 10 rad/s (constant). In the
position shown, link 4 is vertical.

a) Explain the Grashoff's Rotatability and the Inversion of Four Bar Linkage.
b) Determine θ2 and θ3.
c) Determine ω3 and ω4.
d) Determine α3 and α4.
e) Determine linear velocity, VC/D.
f) Determine linear acceleration, AC/D.

Link lengths: AB = 100 mm, BC = 260 mm, CD = 180 mm

 Figure Q2

Answers:
a) and b) Do It Yourself and compare with your fellow's answers.
c) ω3 = 0.12 rad/sec and ω4 = -5.5 rad/sec
d) α3 = 18.4 rad/sec2 and α4 = 9.88 rad/sec2
e) VC/D = 990 mm/sec
f) AC/D = 5700 mm/sec2

Question No. 3:
In the mechanism shown below, link 2 is rotating CW at the rate of 4 rad/s (constant). In the
position shown, θ is 53°.

a) Explain the Grashoff's Rotatability and the Inversion of Four Bar Linkage.
b) Determine θ2 and θ4.
c) Determine ω3 and ω4.
d) Determine α3 and α4.
e) Determine linear velocity, VC/D.
f) Determine linear acceleration, AC/D.

Link lengths: AB = 100 mm, BC = 160 mm, CD = 200 mm

Figure Q3
 Answers:
a) and b) Do It Yourself and compare with your fellow's answers.
c) ω3 = 3.125 rad/sec and ω4 = 1.5 rad/sec
d) α3 = 3.87 rad/sec2
and α4 = 16.1 rad/sec2
e) VC/D = 300 mm/sec
f) AC/D = 3250 mm/sec2

Question No. 4:
In the mechanism shown below, link 2 is rotating CCW at the rate of 4 rad/s (constant). In the
position shown, link 2 is horizontal.

a) Explain the Grashoff's Rotatability and the Inversion of Four Bar Linkage.
b) Determine θ3 and θ4.
c) Determine ω3 and ω4.
d) Determine α3 and α4.
e) Determine linear velocity, VC/B.
f) Determine linear acceleration, AC/B.

Link lengths: AB = 1.25 in, BC = 2.5 in, CD = 2.5 in

Figure Q4

Answers:
a) and b) Do It Yourself and compare with your fellow's answers.
c) ω3 = 2.5 rad/sec and ω4 = -1.5 rad/sec
d) α3 = 1.87 rad/sec 2
and α4 = 1.87 rad/sec2
e) VC/B = 6.25 in/sec
f) AC/B = 16.29 in/sec2
Question No. 5:

For the four-bar linkage, assume that ω2 = 50 rad/s CW and α2 = 1600 rad/s2 CW.

a) Explain the Grashoff's Rotatability and the Inversion of Four Bar Linkage.
b) Determine θ3 , θ4 and angle BEC.
c) Determine ω3 and ω4.
d) Determine α3 and α4.
e) Determine linear velocities, VB , VC and VE
f) Determine linear accelerations, AB , AC and AE

Figure Q5

Answers:
a) and b) Do It Yourself and compare with your fellow's answers.
c) ω3 = -12.7 rad/sec and ω4 = -33.7 rad/sec
d) α3 = -303 rad/sec 2
and α4 = 1775 rad/sec2
e) VB = -- in/sec VC = 92.6 in/sec and VE = 107.8 in/sec
2 2
f) AB = -- in/sec AC = 5794 in/sec and AE = 5958 in/sec2

Question No. 6:
In the mechanism shown below, link 2 is turning CCW at the rate of 10 rad/s (constant).
Determine the velocities and accelerations of Centre of Gravity 'G' of Coupler Link.

Figure Q6
Question No. 7:
Determine which (if either) of the following linkages can be driven by a constant-velocity
motor. For the linkage(s) that can be driven by the motor, indicate the driver link.

Figure Q7(i) Figure Q7(ii)

Question No. 8:
Assume that you have a set of links of the following lengths: 20 mm, 30 mm, 45 mm, 56 mm,
73 mm. Design a four-bar linkage that can be driven with a continuous-rotation electric motor.
Justify your answer with appropriate equations, and make a freehand sketch (labeled) of the
resulting linkage. Label the crank, frame, coupler, and rocker (follower).

Question No. 9:
For the four-bar linkages below, indicate whether they are crank-rocker, double-crank (Drag
Link or Parallelogram), or double-rocker mechanisms.

Figure Q9(i) Figure Q9(ii) Figure Q9(iii)

Question No. 10:

You have available a set of eight links from which you are to design a four-bar linkage. Choose
the links such that the linkage can be driven by a continuous-rotation motor. Sketch the linkage
and identify the type of four-bar mechanism resulting.
L1 = 2”, L2 = 3”, L3 = 4”, L4 = 6”, L5 = 7”, L6 = 9.5”, L7 = 13”, and L8 = 9”
Question No. 11:
In the crank-slider mechanism shown below, link OB is rotating CW at the rate of 10 rad/s
(constant).
a) Find the range of slider.
b) Find the position of slider (from T.D.C.) for the shown configuration.
c) Determine the linear velocity of Point 'B'.
d) Find the velocity of slider for the shown configuration.
e) Determine the angular velocity of link AB.
f) Determine the angular acceleration of link OB.
g) Determine the acceleration of slider.

Figure Q11

Answers:
a) 0-200 mm
b) Xexact = 35.5889 mm ; Xapproximate = 35.5393 mm
c) VB = 1 m/sec in the sense of angular velocity
d) VA = 0.832 m/sec
e) ωAB = 1.78 rad/sec
f) αOB = 0 rad/sec2
g) AA = 7.07 m/sec2

Question No. 12:

The crank and connecting rod of a theoretical steam engine are 0.5 m and 2 m long respectively.
The crank makes 180 rpm. in the clockwise direction. When it has turned 45° from the inner
dead centre position, Determine:
1. Displacement, Velocity and Acceleration of piston for the shown configuration.
2. Angular velocity of connecting rod.
3. Linear Velocity and Linear Acceleration of point E on the connecting rod 1.5 m from the
gudgeon pin.
4. Position, Linear velocity and Linear Acceleration of any point G on the connecting rod
which has the least velocity relative to crank shaft.

Figure Q12
 Question No. 13:
An engine mechanism is shown in Figure Q3. The crank BC = 100 mm and the connecting rod
AB = 300 mm with centre of gravity G, 100 mm from B. In the position shown, the crankshaft
has a speed of 75 rad/s and an angular acceleration of 1200 rad/s2.
1. Determine the velocity of G and angular velocity of AB.
2. Determine the acceleration of G and angular acceleration of AB.

Figure Q13

Question No. 14:

In the mechanism shown below, link 2 is rotating CW at the rate of 100 rad/s (constant). In the
position shown, link 2 is horizontal.

Perform the Kinematic Analysis of the Mechanism.

Link lengths: AB = 60 mm, BC = 200 mm

Figure Q14

Question No. 15:

In the mechanism shown below, link 4 moves to the right with a constant velocity of 75 ft/s.
Perform the Kinematic Analysis and Comment.
Link lengths: AB = 4.8 in , BC =16.0 in , BG = 6.0 in

Figure Q15
Question No. 16:
In the toggle mechanism shown below, link 2 is rotating CCW at the rate of 240 rpm
(constant).
a) Find the toggle positions of slider 'E'.
b) Find the position of slider for the configurations shown.
c) Graph the output Displacement, Velocity and Acceleration verses Time.
Link lengths: AB = 150 mm ; BC = 300 mm ; CD = 225 mm ; and CE = 500 mm

Figure Q16

Question No. 17:

In the figure below, the angular velocity of the crank OA is 600 rpm. The dimensions of
various links are: OA = 28 mm; AB = 44 mm; BC = 49 mm; and BD = 46 mm. The centre
distance between the centers of rotation O and C is 65 mm. The path of travel of the slider is
11 mm below the fixed point C. The slider moves along a horizontal path and OC is vertical.
Graph the output Displacement, Velocity and Acceleration verses Time.

Figure Q17
 Question No. 18:
In the toggle mechanism shown below, the slider D is constrained to move on a horizontal path.
The crank OA is rotating in the counter-clockwise direction at a speed of 180 rpm. The
dimensions of various links are as follows: OA = 180 mm; CB = 240 mm; AB = 360 mm; and
BD = 540 mm.
Plot output Displacement, Velocity and Acceleration verses Time.

Figure Q18

Question No. 19:

The dimensions of the various links of a toggle mechanism, as shown in Figure below, are as
follows: AB = 30 mm; BC = 80 mm; CD = 45 mm; and CE = 120 mm.
The crank AB rotates uniformly in the clockwise direction at 120 rpm. Draw the velocity
diagram for the given configuration of the mechanism and determine the velocity of the slider
E and angular velocities of the links BC, CD and CE.
Also draw a diagram showing the extreme top and bottom positions of the crank DC and the
corresponding configurations of the mechanism. Find the length of each of the strokes.

Figure Q19
Question No. 20:
For the Toggle Mechanism shown, Plot output Displacement, Velocity and Acceleration
verses Time when the crank OP rotates at 60 rpm in the anticlockwise direction.
OP = 50 mm; RQ = RS = 200 mm; PR = 300 mm.

Figure Q20

Question No. 21:

For the toggle mechanism shown, link D is constrained to move in horizontal direction.
For the given configuration,
Find out: 1. velocities of points band D; and 2. angular velocities of links AB, BC, and BD.
The rank OA rotates at 60 rpm in anticlockwise direction.

Figure Q21
Question No. 22 - 25:
Solve the Problems 2.11, 2.12, 2.19, and 2.20 as given in the Book “Mechanisms and
Dynamics of Machinery by H. H. Mabie and C. F. Reinholtz”