P1.

1
(a)n = 6;
turning pair, 5;
sliding pair, 1;
rolling pair, 1;
2 dof pair,0;
m=1

(b) n = 6
turning pair, 5;
sliding pair, 2;
rolling pair, 0;
2 dof pair,0;
m=1

P1.2
(a)m = 1
(b)m = 1

P1.3
(a)n = 6;
turning pair, 7;
sliding pair, 0;
rolling pair, 0;
2 dof pair,0;
m=1

(b) n = 8
turning pair, 10;
sliding pair, 0;
rolling pair, 0;
2 dof pair,0;
m=1

P1.4
(a)n = 4;
turning pair, 0;
sliding pair, 5;
rolling pair, 0;
2 dof pair,0;
m = -1 (by inspection, m = 1)

(b) n = 4
turning pair, 0;
sliding pair, 3;
rolling pair, 0;
2 dof pair,2;
m=1

P1.5
(a)n = 4;
turning pair, 3;
sliding pair, 0;
rolling pair, 2;
2 dof pair,0;
m = -1 (by inspection, m = 1)

(b) n = 8
turning pair, 9;
sliding pair, 0;
rolling pair, 2;
2 dof pair,0;
m = -1 (by inspection, m = 1)

P1.6
(a)
(i)
l < s + p + q, link can form a mechanism
(ii)
s + l < p + q, class I four-bar kinematic chain, drag link mechanism.
(b)
(i)
l < s + p + q, link can form a mechanism
(ii)
s + l = p + q, change point mechanism
(c)
(i)
l < s + p + q, link can form a mechanism
(ii)
s + l < p + q, class I four-bar kinematic chain, crank-rocker four-bar mechanism
(d)
(i)
l < s + p + q, link can form a mechanism
(ii)
s + l < p + q, class I four-bar kinematic chain, rocker-rocker four-bar mechanism
(e)
(i)
l > s + p + q, link cannot form a mechanism
(f)
(i)
l < s + p + q, link can form a mechanism
(ii)
s + l > p + q, rocker-rocker four-bar mechanism

P1.7
(a)0 < r2 < 0.5
(cm)
(b)1.5 < r2 < 3.5 (cm)
(c) r2 = 0.5 or r2 = 1.5 or r2 = 3.5 (cm)
(d)0.5 < r2 < 1.5 or 3.5 < r2 < 5.5
(cm)

P1.8
(a)0 < r4 < 0.5
(cm)
(b)1.5 < r4 < 4.5 (cm)
(c) r4 = 0.5 or r4 = 1.5 or r4 = 4.5 (cm)
(d)0.5 < r4 < 1.5 or 4.5 < r4 < 6.5
(cm)

P1.9
(a)0 < r2 < 1.5
(cm)
(b) r2 > 0 (cm)

P1.10
(a) r3 3.5
(b) r3 > 0

P1.11

(cm)

P2.1
(a)2 = 200 or 20
3 max = 50 rpm
(b)2 = 110 or 290

P2.2
(a)2 = 90 or 270
v4 max =v2 = 52.36
(b)2 = 0 or 180

(cm/s)

vs max =v2 = 52.36

(c)2 = 0 or 180

(cm/s)

a4 max =a2N = 548.1 (cm/s2)

P2.3
(a) 2 = 53.1 or

306.9

(b)v6 = 150 (cm/s),

2 = 0

P2.4

(a)( 4,avg )cw = 7.22

(rad/s)

(b)( 4,avg )ccw = 7.58

(rad/s)

(c)TR = 0.953

P2.5
(a) (v4,avg )right = 124.18
(cm/s)
(b) (v4,avg )left = 85.56 (cm/s)
(c) TR = 1.45

P2.6
(a)2 = 306.9
(b)2 = 0 or 360
(c) 2 = 306.9 or 0 or 360

P2.7

w3 ,max = 72.4

rad/s CW ; 2 =180

P2.10
(a) 2.79 r2 3.1 (cm)
(b)The four-bar mechanism is a drag link.

P2.11
(a) 1.82 r4 2.71 (cm)
(b)The four-bar mechanism is a drag link.

P2.12
0 r2 0.76

P2.13
r2 4.95
P2.14
(a)m = 1

(cm)

(cm)

Cleghorn Ch3 answers

3.1
v B = 60 in/sec, vC = 39.5 in/sec, v D = 15 in/sec,
3.2
v3 = 47.1 in/sec
3.3
v 4 = 6.28 cm/sec
3.4
(a) &4 = 21.1 rad/sec CW
(b) v D = 20.52 in/sec
3.5
v D = 84 cm/sec
3.6

&6 = 3.7 rad/sec CW

3.7
vC = 2.89 in/sec
3.8
v D = 7.2 in/sec
3.9

(a) &3 = 6.28 rad/sec CCW

(b) v 4 = 40.84 cm/sec to the left
3.10
(a) v P 2 = 5.6 cm/sec
(b) v P 3 = 13.6 cm/sec
(c) v P 3 P 2 = 9.6 cm/sec

(d)

&3
= 1.8
&2

3.11
(a) v P 2 = 18.4 cm/sec
(b) v P 3 = 18 cm/sec
(c) v P 3 P 2 = 11.2 cm/sec

(d)

&3
= 1.7
&2

3.12 (b)

(i) v B = 25.13 in/sec@ 45

(ii) vC = 24.4 in/sec@ 29
(iii) v D = 27.5 in/sec@ 0
(iv) v BD = 20.0 in/sec@ 118.1
(v) &3 = 6.7 rad/sec CCW
3.13(b)

(i) v B = 22.0 in/sec@ 30 (ii) vC = 8.1 in/sec@ 18

(iii) v D = 13.1 in/sec@ 10 (iv) &3 = 5 rad/sec CCW
(v) &4 = 5.24 rad/sec CCW
3.14(b)

(i) v D = 45 cm/sec@ 98 (ii) v E = 24 cm/sec@ 180

(iii) &3 = 6.1 rad/sec CW (iv) &5 = 16 rad/sec CCW
3.15(c)

(i) a Bs 2 B 3 = 120 cm/sec2 (ii) &&3 = 27.1 rad/sec2 CW, &&5 = 13.9 rad/sec2 CCW
3.16(c)

&&7 = 154 rad/sec2 CCW

3.17(c)

&&5 = 80 rad/sec2 CW
3.18(c)

&&6 = 87 rad/sec2 CCW

3.19(c)

&&6 = 33 rad/sec2 CCW

3.20
(c)

(i) a B 6 = 1280 cm/sec2 (ii) &&3 = 48 rad/sec2 CW, &&6 = 160 rad/sec2 CW
(d) &&6 = 60.6 rad/sec2 CW
3.21(c)
(i) &&4 = 634 rad/sec2 CW
(ii) aC = 650 cm/sec2
3.22(c)
(i) a Bs 2 B 4 = 1880 in/sec2
(ii) &&2 = 488 rad/sec2 CW
3.23(d)

&&3 = 177 rad/sec2 CCW, &&4 = 353 rad/sec2 CCW

3.26
(b)

(i) &3 = 2.9 rad/sec CW, &4 = 10.8 rad/sec CW

(ii) v D = 59 cm/sec, v E = 102 cm/sec, v F = 42 cm/sec
(d)
(i) &&3 = 286 rad/sec2 CCW, &&4 = 490 rad/sec2 CCW
(ii) a D = 1780 cm/sec2 , a E = 3240 cm/sec2 , a F = 2780 cm/sec2
3.27(c)

&&3 = 41 rad/sec2 CCW

3.28(c)

(i) &&3 = 25 rad/sec2 CW, &&5 = 220 rad/sec2 CCW

(ii) a D = 30 cm/sec2
3.29(b)
(i) vG = 43 cm/sec

(ii) a Ec 5 E1 = 627 cm/sec2

p4.1

&2 = 0.212rad/sec(ccw)

p4.2

&&3 =42.3

p4.3

v
v32s = 1.53(in / sec) @ 70 o

rad
(ccw)
sec 2

r1 sin( 2 + )
r sin 2
r & cos( 2 + )
r3 = 1
r&2 = 1 2
sin
sin
sin
2
r && cos( 2 + ) r1&2 sin( 2 + )
r sin 2
r & cos 2
= 1 2
r3 = 1
r&3 = 1 2
sin
sin
sin
2
r && cos 2 r1&2 sin 2
= 1 2
sin

r2 =
&r&2
&r&3

p4.4

v
vc = 102.3(cm / sec) @119.4 o

p4.5

(a) &3 = 2.39rad / sec(cw)

(b) 37.4 cm/sec @71.9 o

v
(c) a Ac 2 A3 = 179 cm/sec 2 @-18.1 o
p4.6

(a) &3 = 7.29rad/sce (cw)

(b) a Bc 3 B4 = 718 cm/sec 2 @-101.8 o

p4.7

v
(a) a B = 2690cm / sec 2 @ 0 o
v
(b) a As 2 A4 = 2990cm / sec 2 @ 225o

p4.8

&3 = 1.69rad / sec(ccw)

p4.9

v
v
v
(a) vc = (4.71i 106.7 j )cm / sec
v
v
(b) v B = (241.8 j )cm / sec

p4.10

(a) &3 = 7.39rad / sec(cw)

v
(b) v B3 B1 = 29.7cm / sec @-16.8 o
(c) a Bc 3B1 = 439cm / sec 2 @ 106.8o
p4.11

(a) &3 = 28.8rad / sec(cw)

v
(b) v P2 P3 = 140cm / sec@ 215.8o

p4.12
p4.13

v
v
v
vc = (10.98i + 11.41 j )in / sec
1
v
cos 2 ) = 11.78 sin 2 + 0.577 cos 2 in / sec
(a) vc = r2&2 (sin 2 +
3
v
(b) v B4 B2 = 13.6 cos 2 in / sec
(c) &r&3 = 106.8 sin 2 in / sec 2
v
(d) v B4 B2

p4.14

p4.15

max

= 13.6in / sec

(a) &3 = 8.5rad / sec(ccw)

v
v
v
(b) vc = (177.2i 19 j )cm / sec
v
(a) v D3D1 = 44.1cm / sec @16.3 o
(b) &3 = 2.13rad / sec(cw)

5.1 d = 5.97 in
5.2 = 450 rev

min

5.3 = 66.3 rpm

5.4 (a) velocity ratio=1.333
(b) N3 = 30
5.5 N 3 = 100
N 2 = 20
5.6 N 3 = 25

N 2 = 15

pitch line velocity = 2356 mm

5.7 (a) N B = 64
(b) c=13 in
(c) pc = 0.785 in
(d) 16.5in
(e) 15.49 in
5.8 (a) d 2 = 23.3 in
(b) rb 3 = 5.48 in
(c) pc =

in

(d) c=17.5 in
(e) 600rpm CCW
(f) m=1.75
5.9
5.10
5.11 N 3 = 117
(a) pc 2 = 12.56 mm
(b) rb 3 = 219.9 mm
(c) d 4 = 192 mm
(d) c=282 mm
5.12 (a) rb 3 = 2.69 in
(b) c=4.65 in
(c ) pc = 0.395 in
(d) 4 = 5 = 18.4D

(e) d 4 = 3.52 in
(f) 3.76 in
5.13 (a) 2.17 in
(b) N B = 60
(c) rbB = 2.27 in

d3 = 11.7 in

sec

(d) 0.131 in
5.14 (a) Z=0.546 in
(b) mc = 1.48
5.15 (a) rb 4 = 1.496 in
(b) c=3.501 in
(c) mc = 1.93
(d) 0.55 in
(e) 3 = 24.6D
(f) d3 = 10.85 in
(g) 10.53 in

P6.1
(a). 0.75
(b). 56.25 rpm ( CCW )

P6.2
(a). N 2 = 15 N 3 = 120

N 4 = 150

N 5 = 75

(b). N 2 = 39

N 4 = 150

N 5 = 115

N 3 = 120

P6.3
Choose N1 = 150
N 5 = 229

N8 = 250

N 6 = 171 e1 = 0.8035

N 3 = 182 N 4 = 218 e2 = 0.5009

N 2 = 267

N 7 = 133 e3 = 0.2989

P6.4
Select N 6 = 32

N 7 = 64

N 4 = 69 N 5 = 48 N8 = 27
Select N 6 = 60

N11 = 24
N10 = 16

N 9 = 48

P6.5
1

N1
y
N4

N1
y
N5

x+ y

All locked
at x rpm
Fix 2,
move 1 at
y rpm
Absolute
rpm

N1
y
N3

N1
y
N3

x+

N1
y
N4

x+

N1
y
N5

P6.6
All locked
& move at
x rpm
Fix 2,
move 1 at
y rpm
Absolute
rpm

N1 N 4
y
N3 N5

N1 N 4
y
N3 N5

N1 N 4 N 6
y
N3 N5 N7

x+ y

N1
y
N3
N1
y
N3

N1
y
N3

N1
y
N3

x+

N1 N 4
y
N3 N5

x+

N1 N 4
y
N3 N5

x+

P6.7
All
locked,
move at
x rpm
Fix 2,
move 1
at y rpm
Absolute
rpm

N1 N 4
y
N3 N5

N1 N 4
y
N3 N6

x+ y

N1
y
N3
N1
y
N3

N1
y
N3

N1
y
N3

x+

N1 N 4
y
N3 N5

x+

N1 N 4
y
N3 N6

N1 N 4 N 6
y
N3 N5 N7

P6.8

10 =

198
4
25

10 = 264 rpm
P6.9
(a). e = 1 +

N1 N 4 N 6
N3 N5 N7

NNN
(b). e = 1 3 5 7
N1 N 4 N 6

NNN
(c). e = 1 3 5 7
N1 N 4 N 6

(d). e = 1

N1 N 5
N4 N6

P6.10
56 rpm
P6.11
(a). (i) 1412.5 rpm
(ii) 2087.5 rpm
(b). n = 3
P6.12
(a). 405 turns (opposite to indicated direction)
10

1
turns (in the indicated direction)
8

(b). 2214 turns (opposite to indicated direction)

P6.13
(a). 9442 rpm ( CW )
(b). 6328 rpm ( CW )
P6.14

N 3 = 105
e = 0.429
P6.15
19.61 rad

P6.16
(a) e2 =
1

1
1
(b) e2 =
1
7
7

P6.17 P6-18 P6-19

N1
N N
(a). e8 =
4 1 4
1
N1 + N 3 N 7 N 7
N4

(b). e8 =
1

N4

N7

N7

P6-18 c = x1 = 17542 rpm(opposite to output)

P6-19 2 = 5198.7 rpm(CW)

 x1 + y1 =
x = x + y
2
2
1

N
P6-20 x1 1 y1 = x2 ,
N4

N2 N6
y2 = 0
x2 +
N
N
5
7

1
1
1
0
condition: det
1 N1 / N 4

0
0

1
1
0

1
0

1 N 2 N6 / N5 N7
0

1
1
0
1
x1 0

3 N6
1
y
1
0
0
22 N 7 1 =
P6-21
1
x2 0
51/
20
0
0

y 0
0.48
0
1
1 2
1
0
1
1

3 N6
1

0
1
22 N 7 = 0
required relation: det
1
51/ 20 0
0

0.48
0
1
1
P6-22 (a) 2 = x1 = 28.571 rpm(CCW)
(b) 2 = x1 = 28.571 rpm(CCW)
P6-23 output 3 = 750 rpm, 5 = 700 rpm
P6-24 (a) Carrier makes 12 rotation clockwise.
Angular displacement is 30rortations.
4 f + 3g
(b) c =
7

P6-25 f = 1.4 rpm(CCW)

P6-26 (a) e = 0.4985, c = 249.25 rpm(same direction as the input)
(b) T f = 564.71 Nm(opposite to input ratation)
P6-27 7 = 19.9 rad/s
P6-28 T f = 316.67 Nm
P6-29 (a) p3 = / 5 in
(b) c = 190 rpm(same direction as the input)
(c) T f = 324.3 Nm
P6-30 2 = 7312.5 rpm(same direction as output)
T f = 546.84 Nm(same direction as output)

P6-31 (a) c = 34.9 rpm(CCW)

(b) 2 / c = 258 rpm(CCW)
(c) max. number: 4
P6-32 (a) x = 7 / 4 rev(CCW)
(b) 7.15 rev(CCW)
(c) 2.75 rev(CW)

(d)

270 1
A'

2
C'
D'

270

E'

P6-33 (a) rb = 1.496 in

2

(b) c = 4.77 in
(c) 1.64
(d) N 4 = 39, N 5 = 19, N 6 = 33, N 7 = 27
(e) 0.517 in
(f) 4 = 14.8
(g) 4 = 0
(h) d5 = 3.127 in
(i) 3.455 in
P6-34 (a) 159.3 rpm(CW)
(b) 1614 rpm(CC W)
(c) max. number: 8

P7.2
s=

L

1 cos
= 120L = 35
2

(deg)

cos

s = (deg)

20

2.4

40

3/2
1/2

8.8

60

17.5

80

-1/2

26.3

100

- 3/2
-1

32.7

120

35.0

P7.4
Required length of follower face:
= max.length min.length + 2 clearance
= 13.1 - 9.6 + 2 0.5 = 4.5cm

P7.5
(b) @= 30 = 23
@= 60 = 13
@= 90 = 3

P7.6
Duration
(sec)

Motion
(cm)

0.5

2
3

Cam Rotation (deg)

Start of
Interval

End of Interval

(deg)

+2.0

0.5
360 = 120
1.5

120

0.3

120

0.7

-2.0

192

120 +

0.3
360 = 192
1.5
360

72
168

(a) one rotation occurs in 1.5sec

 =

rev
rad
1rev
= 0.666
= 40rpm = 4.188
ccw* ( *direcrtion selected )
1.5 sec
sec
sec

(b) maximum velocity and acceleration of follower occur during interval I

( L = 2.0cm ; = 120 = 2.094rad ; = 60)
Form Figure 7.13 :

s = 2 L

s = 4 L

smax

0 < <
2

= s @ = 60 = 4 2.0 2

4.188
cm
2.094 = 8.0 sec


4.188
s = 4 L = 4 2.0
= 32.0 cm 2
sec
2.094

2

P7.10
Nominal values : d b = 2.0cm ; d r = 1.0cm ; s = 0
(a) d b = 2.19cm ; d r = 1.0cm ; s = 0
(b) d b = 2.00cm ; d r = 1.19cm ; s = 0
(c) d b = 2.0cm ; d r = 1.00cm ; s = 0.06cm

P7.12
Nominal values : d b = 3.0cm ; s = 0
(a) d b = 3.39cm ; s = 0
(b) d b = 3.00cm ; s = 0.09

Chapter 8

Graphical Force Analysis of Planar Mechanics

Ans:
P8.1

F12 1500 N , Q 1800 N

P8.2

( a ) P 14lb , (b)Q 129 N

P8.3

( a ) M 12 28 N 0.032m 0.090 N .m( ccw ), (b) F12 28 N , F13 24 N

P8.4

P 157.5lb , F41 17.5lb

P8.5
P8.6

F 20lb
M 12 F32 d 3.4lb 1.8in 6.1in lb( cw)

P8.7

8.2 Mpa

P8.8 M 12 900 N cm( cw)

P8.9 0.796 Mpa
P8.10 M 2.49 N cm (cw)
P8.11

M 12 0.5N m( cw)

P8.12

F 10.5lb

P8.13
( a )9300in lb( cw), (b)55.5in lb( ccw ), (c )89.7in lb( ccw ), ( d )9155in lb(cw)
P8.14
P8.15
P8.16
P8.17
P8.18
P8.19
P8.20
P8.21

0.32 N m (cw)
4.16 N cm ( cw)
( a )165in lb( ccw ), (b)710in lb( ccw ), ( c)875in lb(ccw )
( a )0.33N m (ccw ), (b)0.71N m( ccw ), (c )1.04 N m( ccw )
2.7 N m( ccw )
0.011N m(ccw )
8.1N cm ( ccw )
( a )0.64 N cm (ccw ), (b)1.21N cm (ccw ), ( c )1.85 N cm( ccw )

11.1
r2 0.786cm ; r3 1.364cm ; r4 1.384cm
11.2
r1 1.700cm ; r2 2.326cm ; r3 4.047cm
11.3
Employing: (2 ) s 100 o ; s s 2cm

r1 5.881cm ; r2 5.3216cm ; r3 3.082cm

11.4
Employing: (2 ) s 120 o ; (4 ) s 70 o

r1 1.000cm ; r2 1.759cm ; r3 0.724cm ; r4 2.066cm

11.6
r1 5.099cm ; r2 1.177cm ; r3 2.898cm ; r4 6.225cm