Unit 2:Static and Dynamic force analysis

Dynamics fundamentals
Lect.2.1Dynamics fundamentals

Mechanical Engineering –

Branch of engineering concerned primarily with the industrial application of mechanics and
with the production of tools, machinery and their products.

Mechanics –

Applied science that deals with energy and forces and their effects on bodies.

These bodies are:

• Solids

• Fluids
 Mechanics

Solid Mechanics Fluid Mechanics

Statics Dynamics Stress Analysis Hydrodynamics

Kinematics Thermodynamics

Kinetics Aerodynamics

January 15, 2025 Dynamics Fundamentals 3

 Kinematics –
Study of motion without regard to the forces producing it.

Kinematics analysis of a mechanism

• Position
• Velocity
• Acceleration

Kinetics –
Analysis of forces present in moving mechanisms and machinery
• Reaction forces
• Applied forces /Torques

January 15, 2025 Dynamics Fundamentals 4

 Mass & Weight

1. Mass –

Measure of the amount of material in an object

Resistance of an object to acceleration

January 15, 2025 Dynamics Fundamentals 5

 Mass Moment

Mass moment–

When the mass of an object is distributed over some dimensions, it will possess a moment
wrt any axis of choice

It is the product of its mass and its distance from the axis of interest

It is also called first moment of mass

January 15, 2025 Dynamics Fundamentals 6

 Center of Gravity

Center of gravity of an object –

*Balance point of that object

*Single point at which the object’s weight could be held and be in balance in all directions.

January 15, 2025 Dynamics Fundamentals 7

January 15, 2025 Dynamics Fundamentals 8
 Mass Moment of Inertia

Newton’s laws of motion applies to systems in rotation as well as to those in translation

T – torque

I – mass moment of inertia - constant of proportionality btn torque &

acceleration

 - angular acceleration
Mass moment of inertia of an object is the product of a mass and the square of its distance from
the axis of interest

January 15, 2025 Dynamics Fundamentals 9

 PRINCIPLE OF D’ALEMBERT

→ Quasi-static problem

→ More useful with graphical force analysis

But you know what?

We are not of D’Alembert generation

→ Now, we have computers to perform heavy calculations

January 15, 2025 Dynamics Fundamentals 10

 R2 + R3 − R4 − R1 = 0

RA + RBA − RBO4 − RO4 = 0....(1)

ae j2 + be j3 − ce j4 − de j1 = 0....(2)

1 = 0
 cos 1 = 1
a ( cos 2 + j sin 2 ) + b ( cos 3 + j sin 3 ) − c ( cos 4 + j sin 4 ) − d ( cos 1 + j sin 1 ) = 0....(3) sin 1 = 0

a cos  2 + b cos 3 − c cos  4 − d = 0 b cos 3 = −a cos  2 + c cos  4 + d

 ....(4)  ....(5)
a sin  2 + b sin 3 − c sin  4 = 0 b sin 3 = −a sin  2 + c sin  4

b2 ( sin 2 3 + cos 2 3 ) = ( −a sin  2 + c sin  4 ) + ( −a cos  2 + c cos  4 + d )

2 2

b 2 = ( −a sin  2 + c sin  4 ) + ( −a cos  2 + c cos  4 + d ) sin 2 3 + cos 2 3 = 1

2 2

b2 = 2cd cos 4 − 2ad cos 2 + a 2 + c 2 + d 2 − 2ac ( sin 2 sin 4 + cos 2 cos 4 )

2cd cos 4 − 2ad cos 2 + a 2 − b2 + c 2 + d 2 − 2ac ( sin 2 sin 4 + cos 2 cos 4 ) = 0

 2cd cos 4 − 2ad cos 2 + a 2 − b2 + c 2 + d 2 − 2ac ( sin 2 sin 4 + cos 2 cos 4 ) = 0

By dividing the above equation by 2ac on both sides, we get:

d d a 2 − b2 + c2 + d 2
cos  4 − cos  2 + − ( sin  2 sin  4 + cos  2 cos  4 ) = 0
a c 2ac

(
 K1 cos4 − K2 cos2 + K3 − sin2 sin4 + cos2 cos4 = 0....(6) )
d
By using the half angle identities, K1 =
a
d
4 4 K2 =
2 tan 1 − tan 2 c
sin  4 = 2 , cos  4 = 2
a 2 − b2 + c2 + d 2
2 4 2 4 K3 =
1 + tan 1 + tan 2ac
2 2

Substituting the above values in (6) and simplify

4 4
( cos 2 − K1 − K2 cos 2 + K3 ) tan 2 − 2sin 2 tan + K3 − K 2 cos 2 + K1 − cos 2 = 0
2 2
 4   4  A = K3 + (1 − K 2 ) cos  2 − K1
A tan 2   + B tan   + C = 0 B = −2sin  2
 2  2
C = K3 − (1 + K 2 ) cos  2 + K1
  4   4 
A tan 2   + B tan   + C = 0
 2  2
.
  4  − B  B − 4 AC
2
tan   =
The solution will be  2 2A

 
4 = 2arctan  −B  B2 − 4 AC  ....(7)

1,2  2A 
 

The solution for angle 3 is similar to that for 4

c cos  4 = a cos  2 + b cos 3 − d

 ....(8)
 c sin  4 = a sin  2 + b sin  3 d
K4 =
b
K1 cos 3 + K 4 cos  2 + K5 = cos  2 cos 3 + sin  2 sin 3 ....(9) c2 − d 2 − a 2 − b2
K5 =
2ab

3 3
2 tan 1 − tan 2
sin 3 = 2 , cos 3 = 2
2 3 2 3
1 + tan 1 + tan
2 2
D = − K1 + (1 + K 4 ) cos  2 + K5
    E = −2sin  2  
2 3
D tan   + E tan  3  + F = 0
F = K1 + ( K 4 − 1) cos  2 + K5 3 = 2arctan  −E  E 2 − 4DF  ....(10)

 2  2 1,2  2D 
 
 Angular velocities
.



 =
a2 sin (4 −2 )
 3
 b sin (3 −4 ) ....(11)


 =
a2 sin (2 −3 )
 4

c sin (4 −3 )

Angular acceleration A = c sin  4

B = b sin 3
CD ' − AF
3 =
AE − BD C = a 2 sin  2 + a22 cos  2 + b32 cos 3 − c42 cos  4
CE − BF
4 = ....(12) D = c cos  4
AE − BD
E = b cos 3
F = a 2 cos  2 − a22 sin  2 − b32 sin 3 + c42 sin  4
.
Linear accelerations
j 2 j 2
a A = a 2 je − a e
2
2
j3 j3
aBA = b 3 je − b e
2
3
j 4 j 4
aB = c 4 je − c e
2
4
2.2. Static force Analysis
• When the inertia forces are neglected in comparison to the
externally applied load on a mechanism, one may go for static force
analysis
• If the body is under equilibrium condition, then this equilibrium is
known as static equilibrium and this condition is applicable in many
machines where the movement is relatively slow.
• When the inertia effect due to the mass of the components is also
considered, it is called dynamic force analysis.
 Constraint and Applied forces

• When two or more bodies are connected together to form a group or system,
the pair of action and reaction forces between any two of the connecting bodies
is called constrained forces.
• Forces acting on this system of bodies from outside the system are called applied
forces
• Constraint forces of action and reaction at a mechanical contact occur
in pairs and thus have no net force effect on the system of bodies
being considered.
 Characteristics of a force
• Characteristics of a force are its magnitude, its direction and its point
of application
• Two equal and opposite forces along two parallel but non collinear
straight lines in a body cannot be combined to constitute a single
force and they constitute a couple.
• The arm of the couple is the perpendicular distance between their
lines of action and the plane of the couple is the plane containing the
two lines of action

M = F  RAB
 Free-body diagram
• A free body diagram is a sketch or drawing of the body, isolated from
the rest of the machine and its surroundings, upon which the forces
and moments are shown in action.

When a link or body is subjected to only two forces it is called a

two-force member and when it is subjected to 3 forces it is
The free body diagram of link 3 is as shown below called a three-force member. Similarly, one may consider
multi-force member also.
Static equilibrium
• A free body diagram is a sketch or drawing of the body, isolated from the
rest of the machine and its surroundings, upon which the forces and
moments are shown in action.
• A body is in static equilibrium if:
▪ the vector sum of the forces acting on the body is zero  F = 0
▪ the vector sum of all the moments about any arbitrary point is zero  M = 0
• Hence a two force member as shown in Figure 2.3(a) will be in equilibrium
if
 Static equilibrium
Hence a two force member as shown in Figure(a) will be in equilibrium if
• Both forces are equal and opposite and
• Their lines of action coincide.
• If the forces are equal and opposite but not collinear as shown in Figure (b)
they will form a couple and body will start to rotate.
 Static equilibrium
• Similarly, a 3 force member will be in equilibrium if the vector sum of all these forces
equal to zero and to satisfy the vector sum of all the moments about any arbitrary point
equal to zero, their line of action should meet at a point.
• In figure (c) the forces are shown to form a close polygon (triangle) and one may use
Lami’s theorem (sine rule of triangle) to find the unknown forces if at least one force is
known both in magnitude and direction and the line of action of one more force is
known.
• To find the constraint forces in a mechanism one may use graphical or analytical
method .

F1 F F
= 2 = 3
sin  sin  sin 
Example: constraint forces in a 4 bar mechanism

• Find the bearing forces and the torque required for static equilibrium of the
four- bar mechanism shown in Fig below using alytical and graphical
aproaches
 Example1: constraint forces in a 4 bar
mechanism
(1)Analytical Method:
For Planar mechanism

F x = 0, Fy = 0,

Step1: write all the quantities in vector form

Link 3 is a two-force member and at this stage we know only the line of action of the forces which
RAB = AB cos  2iˆ + AB sin  2 ˆj should be along the line BC
RBC = BC cos 3iˆ + BC sin 3 ˆj
RCD = CD cos  4iˆ + CD sin  4 ˆj
Link 4 is a three-force member in which force P is completely known and the line of action of forces F34
RQD = DQ cos  4iˆ + DQ sin  4 ˆj which is equal and opposite to F43 is known.

P = P cos  iˆ + P sin  ˆj
Example1: constraint forces in a 4 bar
mechanism
(1)Analytical Method:
Link 4 is a three-force member in which force P is completely known and the line of action of forces F34
which is equal and opposite to F43 is known.

Link 2 which is acted upon by two forces i.e F12and F32 , and
M D = 0  RCD  F34 + RQD  P = 0
the external applied torque, will be in equilibrium only if F12=
F32 , i.e., these forces are equal and opposite and the resulting
F23 = − F43 = F34 moment of the couple is equal to the applied torque. Also one
may find the torque by taking moment about point A.
Example1: constraint forces in a 4 bar
mechanism
(1) Graphical method:

Q
 Example2: constraint forces in a 4-bar slider-
crank mechanism
Calculate the torque required (assuming no friction in the bearing) for static equilibrium of
an in-line reciprocating engine in the position when crank angle θ = 45 deg (from inner
dead center). The dimensions are crank length r =30 mm, connecting rod length L =
70mm, and the piston force is P = 40 N.

Letting <ABO =β
r sin  = L sin 

 r sin  
 = sin −1  
 L 
 30sin 45 
 = sin −1   = 17.65
0

 70 

RAO = 3045 = 30cos 45iˆ + 30sin 45 ˆj = 21.21iˆ + 21.21 ˆj RBA = 70342.35 = 70cos342.35iˆ + 70sin 342.35 ˆj = 66.70iˆ − 21.213 ˆj
 Example2: constraint forces in a 4-bar slider-
crank mechanism

40
Vector method Using Lami’s formula from the force diagram
F34 =
sin(90 − 17.65)
= 41.973N

40
F14 = sin(17.65) = 12.72 N
RAO = 3045 = 30cos 45iˆ + 30sin 45 ˆj = 21.21iˆ + 21.21 ˆj sin(90 − 17.65)
RBA = 70342.35 = 70cos342.35iˆ + 70sin 342.35 ˆj = 66.70iˆ − 21.213 ˆj

 F = 0, P + F14 +F34 = 0

( cos(−17.65)iˆ + sin(−17.65) ˆj ) F − Pi + F
34 14
ˆj = 0

( 0.953iˆ − 0.303 ˆj ) F − Pi + F ˆj = 0
34 14
40
F34 = = 41.973N
Equating the ith and jth components of the forces one may 0.953
F14 = 0.303F34 = 12.72 N
obtain
F34 = 41.97334.35 N
F14 = 12.7290 N
 Example2: constraint forces in a 4-bar slider-
crank mechanism
Now considering free-body diagram of link 3

F23 = − F43 F43 = − F34 = −41.974342.35

F23 = − F43 = 41.974342.35

The free-body diagram of link 4

Considering equilibrium of link 2

F32 = − F23 = −41.974342.35 = −40iˆ + 12.7265 ˆj
T = −( RAO  F32 ) = −(21.213iˆ + 21.213 ˆj )  (−40iˆ + 12.7265 ˆj ) 40
F34 = = 41.973N
sin(90 − 17.65)
iˆ ˆj kˆ 40
T = −21.213 21.213 0 = −1118.56 Nm F14 = sin(17.65) = 12.72 N
sin(90 − 17.65)
−40 12.7265 0
 Static force analysis with friction

• As we are considering only simple mechanisms with prismatic and revolute

joints, the effect due to dry or Coulomb friction and greasy friction at the
journals are discussed. Consider a pair of sliding surfaces as shown in Figure
• When a force F is applied on the block to move it towards right, a friction force is
generated which oppose this motion.
• According to Coulomb’s law, the magnitude of this force for impending motion is
μR, where R is the reaction force due to weight W.
 Greasy friction at a journal
• Generally greasy or boundary lubrication type friction force occurs in heavily loaded, slow
running bearings.
• Figure (a) shows a journal inside a bearing during static condition.
• Here A is the contact point and the weight of the journal W and the reaction force R act in the
vertical directions as shown in the figure. Now let us consider a torque T is applied to the
journal in the clockwise direction.
• The friction force will now oppose this motion and so the contact point between the bearing
and the journal shifts to point B as shown in Figure (b).
 Greasy friction at a journal

• Let OC be the perpendicular distance between W and R . If a circle is drawn with

radius OC and center at O, the reaction force will be tangent to that circle
• This circle is known as friction circle.
• To find the radius of the friction circle, consider the triangle OBC.
• The resultant (R) of the normal reaction force (Rn) and the friction force (μ Rn) at
B should be equal and opposite to the weight as the journal is under static
equilibrium condition.
 Greasy friction at a journal

OC = OB sinϕ
where ϕ is the angle between the resultant and normal reaction force
The coefficient of friction
μ = tanϕ
r rf = r 
Hence radius of the friction circle rf = For small value of μ,
(1 −  )
2

where r is the radius of the journal. Friction couple

Wr 
rf W = = Wr 
(1 −  )
2
Example3
• For a mechanism shown below, find the magnitude and direction of all the forces and moments. Compute
the torque applied to link 2 to maintain static equilibrium. Link 2 is horizontal.

AO2 = 4cm, O4O2 = 8cm,

CO4 = 8cm, DO4 = 8cm,
AB = 14cm, AC = 10cm.
 Heron’s Formula to compute the high of triangle
AO2 = 4cm, O4O2 = 8cm,
(a + b + c)
CO4 = 8cm, DO4 = 8cm, Half perimeter: p=
2
AB = 14cm, AC = 10cm. Area, A = p ( p − a )( p − b)( p − c )
2A
h=
b
a = AC = 10cm
b = AO2 + O2O4 = 12cm (10 + 12 + 8)
p= = 15cm
c = CO4 = 8cm 2

Area, A = 15(15 − 10)(15 − 12)(15 − 8) = 39.68cm 2

2 A 2  39.68
h= = = 6.61cm
b 12
CO4 6.61 XO4
= =
sin(90) sin  sin 
6.61sin(90) 6.61sin(90)
sin  = = = 0.83
CO4 8
 = 55.70
XO4 = CO4 cos(  ) = 8  cos(55.7) = 4.5cm

 = 180 − (55.7 + 30) = 94.30 O2 X = O2O4 − XO4 = 8 − 4.5 = 3.5cm

AX = AO2 + O2 X = 4 + 3.5 = 7.5cm

 = 180 − ( + 30) = 180 − (94.3 + 30) = 55.7 0
 AX  −1  7.5 
 = cos −1   = cos   = 41.4
0

 AC   10 
BX = AB sin( + 15) = 14sin(41.5 + 15) = 11.67cm

DY = DO4 cos( ) = 8cos(55.7) = 4.5cm

O4Y = DO4 2 − DY 2 = 82 − 4.52 = 6.61cm

 Link 4

F x = 0  F14 x +F34 x − 200 cos(30) = 0  F14 x + F34 x = 173.2

F y = 0  F14 y +F34 y + 200 cos(30) = 0  F14 y + F34 y = −100.....(1)

Moments about O4 (CCW +ve)

M O4 = 0  − F34 x  6.61 −F34 y  4.5 + 200  6.61 = 0  F34 x  6.61 + F34 y  4.5 = −1322......(2)

Between link 3 and 4

F43 x = − F34 x
F43 y = − F34 y ..........(3)

F23 x + F43 x = 100

F23 y + F43 y = 0..........(4)

M A = 0  − F43 x  6.61 + F43 y  7.5 + 100 11.67  F43 x  6.61 − F43 y  7.5 = − 1167......(5)

F23 x − F34 x = 100

F23 y − F34 y = 0
− F34 x (6.61) − F34 y (7.5) = −1167..........(6)

Between link 2 and 3

F32 x = − F23 x • Use MATLAB to compute F14x,

F32 y = − F23 y ..........(7) F14y,F34x,F34y,F23x,F23y,F12x,F12y,
For link 2 Moments about O2
T12
F
x = 0 F32 x + F12 x = 0
F
y = 0 F32 y + F12 y = 0..........(8) M O2 = 0 F32 y  4 + T12 = 0....(9) F = 0−F
x 23 x + F12 x = 0
F = 0−F
y 23 y + F12 y = 0..........(10)
 M = 0 F
O2 23 y (4) + T12 = 0
2.2. Dynamic Force Analysis

• When the inertia forces are considered in the analysis of the

mechanism, the analysis is known as dynamic force analysis
• An important principle, known as d'Alembert's principle, can be
derived from Newton's second law
• In words, d'Alembert's principle states that the reverse-effective
forces and torques and the external forces and torques on a body
together give stoical equilibrium.
• By applying D’Alembert principle, one may reduce a dynamic system
into an equivalent static system and use the techniques used in static
force analysis to study the system.
2.2. Dynamic Force Analysis

• In a 2-D system, for each moving link, there will be 2 linear motions (in x and y
directions) and 1 rotation motion.
• For n number of links and j number of joints, for a constraint mechanism the
following relationship must be satisfied:
3(n − 1) − 2 j = 1

• The objective is to find the unknown joint forces and 1 unknown external applied
force or moment.

No. of eqn.=3(n − 1)

Total number of unknowns = 2j+1

No. of joint forces = 2j

 2j+1=3(n-1)
External applied force or moment (unknown) = 1.
 Inertia force and couple
According to D’Alembert Principle, the body can be brought to equilibrium position by applying a force equal to Fi = ma

The D’Alembert principle is mathematically defined as follows:

Fe + (−ma ) = 0

Te + (− I G ) = 0

Fi = −maG

Ci = − I G

F = F +F = 0 e i

T = T + C = 0
G eG i

Furthermore, d'Alembert's principle facilitates moment summation about any arbitrary point P in the body, if we remember that the moment due
to inertia force F, must be included in the summation.

T = TP eP + Ci + RPG  Ft = 0 C, is the inertia couple, F, is the inertia force and RPG is a vector from point P to point G

For a body in plane motion in the xy plane with all external forces in that plane,
F = F x ex + Fix =  Fex + (−maGx ) = 0
F = F y ey + Fiy =  Fey + (−maGy ) = 0
T = TG eG + Ci =  TeG + (− I G ) = 0
Inertia force and couple
The general moment summation about arbitrary point P,

T = TP eP + Ci + RPGx Fiy − RPGy Fix = 0

T = TP eP + (− I G ) + RPGx (−maGy ) − RPG y (− maGx ) = 0

Where RPGx and RPGy are the x and y components of position vector RPG.
Equivalent Offset Inertia Force

I G I G
Qh = IG h == =
Q maG
Force analysis of a single link in pure rotation

F = F p + F12 = m2 aG

T = T 12 + (R12  F12 ) + (Rp  Fp) = I G

FPx + F12 x = m2 aGx 


FPy + F12 y = m2 aGy 
T12 + (R12 x F12 y − R12 y F12 x ) + (RPx FPy − RPy FPx ) = I G 


A  B  = C 
 1 0 0  F12 x   m2 aGx − FPx 
    
 0 1 0  F12 y  =  m2 aGy − FPy 
− R12 y
 R12 x 1 T12   I G − (RPx FPy − RPy FPx )
Force analysis in a three - bar crank-slide linkage
X,Y is the global coordinate system (GCS)
x ', y ' is Local, rotating coordinate system (LRCS)
x, y is local, nonrotating coordinate system (LNCS)

For link 2,

F12 x + F32 x = m2 aG 2 x 

F12 y + F32 y = m2 aG 2 y ....(1)
T12 + (R12 x F12 y − R12 y F12 x ) + (R32 x F32 y − R32 y F32 x ) = I G 2 2 


For link 3,

F13 x − F32 x + FPx = m3 aG 3 x 


F13 y − F32 y + FPy = m3 aG 3 y ...( 2)
(R 13 x F13 y − R13 y F13 x ) − (R32 x F32 y − R32 y F32 x ) + (RPx FPy − RPy FPx ) = I G 3 3


There are seven unknowns: F 12x, F 12y, F 32x, F32y F 13x , F13y, and T12.
But F13y is due to friction at the joint between link 3 and link 1.

F13 y = F13 x
Force analysis in a three - bar crank-slide linkage
F12 x + F32 x = m2 aG 2 x 

F12 y + F32 y = m2 aG 2 y ....(1)
T12 + (R12 x F12 y − R12 y F12 x ) + (R32 x F32 y − R32 y F32 x ) = I G 2 2 


F13 x − F32 x = m3 aG 3 x − FPx 


F13 y − F32 y = m3 aG 3 y − FPy ...( 2)
( R 13 x − R13 y )F13 x − R32 x F32 y + R32 y F32 x

= I G 3 3 − RPx FPy + RPy FPx 

 1 0 1 0 0 0  F12 x   m2 aG 2 x 
 0 1 0 1 0 0  F12 y   m2 aG 2 y 
   
− R12 y R12 x − R32 y R32 x 0 1  F32 x   I G 2 2 
   =  
 0 0 −1 0 1 0  F32 y   m3 aG 3 x − FPx 
 0 0 0 −1  0  F13 x   m3 aG 3 y − FPy 
     
 0 0 R23 y − R32 x (R13x − R13 y ) 0  T12   I G 3 3 − RPx FPy + RPy FPx 
Force analysis in a four- bar linkage / mechanism
In the four-bar mechanism shown in Figure, Link 1 is the ground link (sometimes called the
frame or fixed link), and is assumed to be motionless.

Links 2 and 4 each rotate relative to the ground link about fixed pivots (O1 and O4).

Link 3 is called the coupler link, and is the only link that can trace paths of arbitrary shape
(because it is not rotating about a fixed pivot).

Usually one of the "grounded links" (link 2 or 4) serves as the input link, which is the link which
may either be turned by hand, or perhaps driven by an electric motor or a hydraulic or
pneumatic cylinder

If link 2 is the input link, then link 4 is called the follower link, because its rotation merely
follows the motion as determined by the input and coupler link motion.

If link 2 is the input link and its possible range of motion is unlimited, it is called a crank, and
the linkage is called a crank-rocker.
Force analysis in a four- bar linkage / mechanism
For dynamic force analysis the following steps may be followed.

Draw the acceleration diagram or use any analytical method to determine acceleration

• Determine angular acceleration of link 2,3 and 4.

• Determine linear acceleration of center of mass (

aGi
i = 2,3,4) of link 2 3 and 4 .

• The magnitude of inertia force of link i ( i= 2,3 or 4 ) can be determined by multiplying mass of link i

with the corresponding acceleration of the center of mass.

The direction of the inertia force is opposite to the direction of the acceleration. FGi = −mi aGi

• Determine the magnitude of inertia couple which is equal to I i i

• The direction of the inertia couple is opposite to that of angular acceleration.

• Replace the inertia force and couple by the equivalent offset inertia force for each link.
FBD of a four- bar linkage / mechanism

aGi
FBD of a four- bar linkage / mechanism
F12 x + F32 x + FG 2 x = 0....(1)
−m2 g + F12 y + F32 y + FG 2 y = 0....(2)
T12 − RG 2  F12 + ( R2 − RG 2 )  F32 + TG 2 = 0.....(3)

F12 x + F32 x = m2 aG 2 x ....(1)

F12 y + F32 y = m2 aG 2 y + m2 g....(2)
T12 − RG 2  F12 + ( R2 − RG 2 )  F32 + TG 2 = 0.....(3)

F23 x + F43 x + FG 3 x = 0.....(4)

aGi
−m3 g + F23 y + F43 y + FG 3 y = 0.....(5)
−( RG 3  F23 ) + ( R3 − RG 3 )  F43 + TG 3 = 0.....(6)

F23 x + F43 x = m3aG 3 x .....(4)

F23 y + F43 y = m3aG 3 y + m3 g.....(5)
−( RG 3  F23 ) + ( R3 − RG 3 )  F43 = I G 33 .....(6)

F34 x + F14 x + FG 4 x = 0...........(7)

−m4 g + F34 y + F14 y + FG 4 y = 0........(8)
−( RG 4  F23 ) + ( R4 − RG 4 )  F34 + TG 4 + T4 = 0............(9)

F34 x + F14 x = m4 aG 4 x ...........(7)

F34 y + F14 y = m4 aG 4 x + m4 g........(8)
−( RG 4  F23 ) + ( R4 − RG 4 )  F34 = I G 4 4 − T4 ............(9)
 • Equations (3), (6) and (9) can be written as
T12 − RG 2 cos( 2 +  2 ) F12 y + RG 2 sin( 2 +  2 ) F12 x + ( R2 cos  2 − RG 2 cos( 2 +  2 )) F32 y
−( R2 sin  2 − RG 2 sin( 2 +  2 )) F32 x = I G 2 2 .....(3b)

− RG 3 cos(3 +  3 ) F23 y + RG 3 sin(3 +  3 ) F23 x + ( R3 cos 3 − RG 3 cos(3 +  3 )) F43 y

−( R3 sin 3 − RG 3 sin(3 +  3 )) F43 x = I G 3 3 .....(6b)

− RG 4 cos( 4 +  4 ) F14 y + RG 4 sin( 4 +  4 ) F14 x + ( R4 cos  4 − RG 4 cos( 4 +  4 )) F34 y

−( R4 sin  4 − RG 4 sin(3 +  3 )) F34 x = I G 4 4 − T4 .....(9b)
Dynamic Force analysis in a Four bar Slider- crank mechanism
• FBD
crank

F12 x + F32 x = m2 aG2 x

F12 y + F32 y = m2 aG2 y
T12 + ( R12 x F12 y − R12 y F12 x ) + ( R32 x F32 y − R32 y F32 x ) = I G 2 2

Connecting rod

F43 x − F32 x = m3aG3 x

F43 y − F32 y = m3aG3 y
(R 43 x F43 y − R43 y F43 x ) − ( R32 x F32 y − R32 y F32 x ) = I G 3 3

Piston

F14 x − F43 x + FPx = m4 aG4 x

F14 y − F43 y + FPy = m4 aG4 y
(R F
14 x 14 y − R14 y F14 x ) − ( R34 x F43 y − R34 y F43 x ) + ( RPx FPy − RPy FPx ) = I G 4 4
F14 x =   F14 y
  F14 y − F43 x + FPx = m4 aG4 x
F14 y − F43 y + FPy = 0
• In matrix form

 1 0 1 0 0 0 0 0   F12 x   m2 aG 2 x 
 
 0
 1 0 1 0 0 0 0   F12 y   m2 aG 2 y 
 − R12 y R12 x − R32 y R32 z 0 0 0 1   F32 x   I G 2 2 
     
 0 0 −1 0 1 0 0 0   F32 y   m3aG 3 x 
 =
 0 0 0 −1 0 1 0 0   F43 x   m3aG 3 y 
     
 0 0 R23 y − R23 x − R43 y R43 x 0 0   F43 y   I G 3 3 
 0 0 0 0 −1 0  0   F14 y   m4 aG 4 x − FPx 
     
 0 0 0 0 0 −1 1 0   T12   − FPy 