Dynamic Force Analysis (Planar)

15-1

Centroid and center of Mass

Particle of mass dmP at location P on a rigid body.

15-2

Centroid and center of Mass

15-3

(a) Particles of mass distributed along a line. (b) Particles of mass distributed in a plane.

15-4

Center of mass location for (a) a right circular solid, (b) a rectangular solid, and (c a triangular prism.

15-5

Moment of Inertia and Product of Inertia

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Fig. shows a connecting rod made of ductile iron with density of 7.2 g/cm3. Find the mass moment of inertia about the Z axis.
1.875 cm

2.5cm

7.5cm

2.5cm 40cm

15-8

Inertia forces and DAlemberts Principle

(a) An unbalanced set of forces on a rigid body. (b) The accelerations that result from the unbalanced forces.

15-9

DAlemberts Principle
Vector sum of all the external forces & inertia forces acting upon a system of rigid bodies is zero. Vector sum of all the external moments & inertia torques acting upon a system of rigid bodies is zero.

15-10

(a) Unbalanced forces and resulting accelerations. (b) Inertia force and inertia couple. (c) Inertia force offset from center of mass.

I G 3 h= m3 AG
15-11

Determine the force FA required for dynamic equilibrium at a constant velocity of VA =3.84m/s for the mechanism shown.. Link 3 weighs 998.8 g and IG3 = 54.36g.cm.s2. Assume no friction and that the linkage is in horizontal plane so that gravity acts normal to the plane of motion Solution for Example 12.3: (a) Scale drawing with RBA = 10 in, RGA = 5 in, RAO = 8 in, and RBO = 6 in. (b) Acceleration polygon.

3.84m/s

217.4 6m/s2
270.84m/s2

162.56 m/s2

135.42m/s2

15-12

(c) Free-body diagram and force polygon.

15-13

Example 12.9: RAO2 = 60 mm, RO4O2 = 100 mm, RBA = 220 mm, RBO 4 = 150 mm, RCO4 = RCB = 120 mm, RG3A = 90 mm, RG4O4 = 90 mm, m3 = 1.5 kg, m4 = 5 kg, IG2 = 0.025 kg m2, IG3 = 0.012 kg m2, IG4 = 0.054 kg m2, 2 = 0, 3 = 119k rad/s2, 4 = 625k rad/s2, AG3 = 16273.2 m/s2, AG4 = 104233 m/s2, FC = 0.8 j kN.

15-14

Principle of superposition
For linear systems the individual responses to several disturbances or driving functions can be superposed on each other to obtain total response of the system.

15-15

Example : RAO2 = 75mm, RO4O2 = 350mm, RBA = 500mm, RBO4 = 250mm, RCO4 = 200mm, RCB = 150mm, RG3A = 250mm, RG4O4 = 142.25, w3 = 3.23Kg, w4 = 1.55kg, IG2 = 283.75g.cm.s2, IG3 = 709.37g.cm.s2, IG4 = 41.99g.cm.s2, 2 = 60 rad/s, and 2 = 0.

15-16

Free-body diagrams of link 4 of showing superposition of forces: (a) F34 = 11kg, F14 = 20.1kg; ( b ) F = F = 43kg; ( c ) F = 11.34kg, F = 8.76kg; ( d ) F = 42.8kg, 34 14 34 14 34 and F14 = 60kg.

15-17

Free-body diagrams of link 3 showing superposition of forces: (a) F23 = F43 = 10.8kg; (b) F23 = 65.8kg, F = 43kg; ( c ) F = F = 11.35kg; ( d ) F = 65.8kg, F 43 23 43 23 43 = 42.8kg.

15-18

Free-body diagram of link 2 of : F32 = F12 = 65.83kg, M12 = 256.5kg.cm

15-19

Find the external torque which must be applied to link 2 of the 4 bar linkage shown to drive it at the given velocity

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