Meng 3071 Mechanisims of Machinery Chapter 11

Chapter 5
Force Analysis
Static Force Analysis
Introduction
A machine is a device that performs work and, as such, transmits energy by
means mechanical force from a power source to a driven load. It is necessary in the
design machine mechanisms to know the manner in which forces are transmitted from
input to the output, so that the components of the machine can be properly size
withstand the stresses that are developed. If the members are not designed to strong
enough, then failure will occur during machine operation if, on the other hand, the
machine is over designed to have much more strength than re!uired, then the machine
may not be competitive with others in terms of cost, weight, size, power re!uirements,
or other criteria. "he bucket load and static weight loads may far e#ceed any dynamic
loads due to accelerating masses, and a static$force analysis would be %ustified. An
analysis that includes inertia effects is called a dynamic$force analysis and will be
discussed in the ne#t chapter. An e#ample of an application where a dynamic$force
analysis would be re!uired is in the design of an automatic sewing machine, where,
due to high operating speeds, the inertia forces may be greater than the e#ternal loads
on the machine.
Another assumption deals with the rigidity of the machine components. &o
material is truly rigid, and all materials will e#perience significant deformation if the
forces, either e#ternal or inertial in nature, are great enough. It will be assumed in this
chapter and the ne#t that deformations are so small as to be negligible and, therefore,
the members will be treated as though they are rigid. "he sub%ect of mechanical
vibrations, which is beyond the scope of this book, considers the fle#ibility of
machine components and the resulting effects on machine behavior. A third ma%or
assumption that is often made is that friction effects are negligible. 'riction is inherent
in all devices, and its degree is dependent upon many factors, including types of
bearings, lubrication, loads, environmental conditions, and so on. 'riction will be
neglected in the first few sections of this chapter, with an introduction to the sub%ect
presented. In addition to assumptions of the types discussed above, other assumptions
may be necessary, and some of these will be addressed at various points throughout
the chapter.
"he first part of this chapter is a review of general force analysis principles
and will also establish some of the convention and terminology to be used in
succeeding sections. "he remainder of the chapter will then present both graphical
and analytical methods for static$force analysis of machines.
Compiled by Aychiluhim M. Page 1
'igure 5.()A* A four$bar linkage.
Meng 3071 Mechanisims of Machinery Chapter 11
5.1.1 Free-Body Diagrams:
+ngineering e#perience has demonstrated the importance and usefulness of
free$body diagrams in force analysis. A free$body diagram is a sketch or drawing of
part or all of a system, isolated in order to determine the nature of forces acting on
that body. ,ometimes a free$body diagram may take the form of a mental picture
however, actual sketches are strongly recommended, especially for comple#
mechanical systems.
-enerally, the first, and one of the most important, steps in a successful force
analysis is the identification of the free bodies to be used. 'igures 5.(. through 5.(+
show e#amples of various free bodies that might be considered in the analysis of the
four$bar linkage shown in 'igure 5.(A. In 'igure 5.(., the free body consists of the
three moving members isolated from the frame here, the forces acting on the free
body include a driving force or tor!ue, e#ternal loads, and the forces transmitted/
Compiled by Aychiluhim M. Page 2
'igure 5.().* 'ree$body diagram
of the three moving links
'igure 5.()C* 'ree$body diagram of
two connected links
'igure 5.()0* 'ree$body diagram
of a single link
'igure 5.()+* 'ree body diagram
of part of a link.
F
03
F
03
Meng 3071 Mechanisims of Machinery Chapter 11
5.1.2 Static Equilirium:
'or a free body in static e!uilibrium, the vector sum of all forces acting on the
body must be zero and the vector sum of all moments about any arbitrary point must
also be zero. "hese conditions can be e#pressed mathematically as follows/
1 F =
)5.(A*
1 =
)5.(.*
,ince each of these vector e!uations represents three scalar e!uations, there are a total
of si# independent scalar conditions that must be satisfied for the general case of
e!uilibrium under three$dimensional loading.
"here are many situations where the loading is essentially planar in which case,
forces can be described by two$dimensional vectors. If the !y plane designates the
plane of loading, then the applicable form of +!s. 5.(A and 5.(. is/$
1
!
F =
)5.2A*
1
y
F =
)5.2.*
1
"
=
)5.2C*
+!s. 5.2A to 5.2C are three scalar e!uations that state that, for the case of two$
dimensional !y loading, the summations of forces in the ! and y directions must
individually e!ual zero and the summation of moments about any arbitrary point in
the plane must also e!ual zero. "he remainder of this chapter deals with two$
dimensional force analysis. A common e#ample of three$dimensional forces is gear
forces.
5.1.3 Su!er!osition:
"he principle of superposition of forces is an e#tremely useful concept,
particularly in graphical force analysis. .asically, the principle states that, for linear
systems, the net effect of multiple loads on a system is e!ual to the superposition )i.e.,
vector summation* of the effects of the individual loads considered one at a time.
3hysically, linearity refers to a direct proportionality between input force and output
force. Its mathematical characteristics will be discussed in the section on analytical
force analysis. -enerally, in the absence of Coulomb or dry friction, most
mechanisms are linear for force analysis purposes, despite the fact that many of these
mechanisms e#hibit very nonlinear motions. +#amples and further discussion in later
sections will demonstrate the application of this principle
5.1." #ra!$ical Force %nalysis:
-raphical force analysis employs scaled free$body diagrams and vector
graphics in the determination of unknown machine forces. "he graphical approach is
best suited for planar force systems. ,ince forces are normally not constant during
machine motion. analyses may be re!uired for a number of mechanism positions
however, in many cases, critical ma#imum$force positions can be identified and
graphical analyses performed for these positions only. An important advantage of the
graphical approach is that it provides useful insight as to the nature of the forces in the
physical system.
"his approach suffers from disadvantages related to accuracy and time. As is
true of any graphical procedure, the results are susceptible to drawing and
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Meng 3071 Mechanisims of Machinery Chapter 11
measurement errors. 'urther, a great amount of graphics time and effort can be
e#pended in the iterative design of a machine mechanism for which fairly thorough
knowledge of force$time relationships is re!uired. In recent years, the physical insight
of the graphics approach and the speed and accuracy inherent in the computer$based
analytical approach have been brought together through computer graphics systems,
which have proven to be very effective engineering design tools. "here are a few
special types of member loadings that are repeatedly encountered in the force analysis
of mechanisms, "hese include a member sub%ected to two forces, a member sub%ected
to three forces, and a member sub%ected to two forces and a couple. "hese special
cases will be considered in the following paragraphs, before proceeding to the
graphical analysis of complete mechanisms.
5.2.1 %nalysis o& a '(o-Force )emer:
A member sub#ected to t$o forces is in e%uilibrium if and only if the t$o
forces &1' ha(e the same magnitude) &2' act along the same line) and &3' are opposite
in sense. 'igure 5.2A shows a free$body diagram of a member acted upon by forces
(
F
and 2
F
where the points of application of these forces are points A and .. 'or
e!uilibrium the directions of (
F
and 2
F
must be along line A* and (
F
must e!ual 2
F

graphical vector addition of forces (
F
and 2
F
is shown in 'igure 5.2., and, obviously,
the resultant net force on the member is zero when ( 2
F F =
. "he resultant moment
about any point will also be zero.
"hus, if the load application points for a two$force member are known, the
line of action of the forces is defined, and it the magnitude and sense of one of the
forces are known, then the other force can immediately be determined. ,uch a
member will either be in tension or compression.
Compiled by Aychiluhim M. Page +
'igure 5.2)A* A two$force member. "he
resultant force and the resultant moment
both e!ual 4ero.
'igure 5.2).* 'orce summation for a
two$force member
Meng 3071 Mechanisims of Machinery Chapter 11
5.2.2 %nalysis o& a '$ree-Force )emer:
A member sub#ected to three forces is in e%uilibrium if and only if &1' the
resultant of the three forces is "ero) and &2' the lines of action of the forces all
intersect at the same point. "he first condition guarantees e!uilibrium of forces, while
the second condition guarantees e!uilibrium of moments. "he second condition can
be under$stood by considering the case when it is not satisfied. ,ee 'igure 5.5A. If
moments are summed about point P) the intersection of forces
(
F
and
2
F
) then the
moments of these forces will be zero, but
5
F
will produce a nonzero moment,
resulting in a nonzero net moment on the member. 6n the other hand, if the line of
action of force
5
F
also passes through point P )'igure 5.5.*, the net moment will be
zero. "his common point of intersection of the three forces is called the point of
concurrency.
A typical situation encountered is that when one of the forces,
(
F
, is known
completely, magnitude and direction, a second force,
2
F
, has known direction but
unknown magnitude, and force
5
F
has unknown magnitude and direction. "he
graphical solution of this case is depicted in 'igures 5.7A through 5.7C. 'irst, the
free$body diagram is drawn to a convenient scale and the points of application of the
three forces are identified. "hese are points A) *) and C. &e#t, the known force
(
F
is
drawn on the diagram with the proper direction and a suitable magnitude scale. "he
direction of force
2
F
is then drawn, and the intersection of this line with an e#tension
of the line of action of force
(
F
is the concurrency point P. 'or e!uilibrium, the line
of action of force
5
F
must pass through points C and P and is therefore as shown in
'igure 5.7A.
"he force e!uilibrium condition states that
( 2 5
1 F F F + + =
,ince the directions of all three forces are now known and the magnitude of
(
F
were
given, this e!uation can be solved for the remaining two magnitudes. A graphical
Compiled by Aychiluhim M. Page ,
'igure 5.5)A* "he three forces on the
member do not intersect at a common
point and there is a nonzero resultant
moment.
'igure 5.5).* "he three forces
intersect at the same point P, called
the concurrency point) and the net
moment is zero.
Meng 3071 Mechanisims of Machinery Chapter 11
,olution follows from the fact that the three forces must form a closed vector loop,
called a force polygon. "he procedure is shown in 'igure 5.7.. 8ector
(
F
is redrawn.
'rom the head of this vector, a line is drawn in the direction of force
2
F
, and from the
tail, a line is drawn parallel to
5
F
. "he intersection of these lines closes the vector loop
and determines the magnitudes of forces
2
F
and
5
F
. &ote that the same solution is
obtained if, instead, a line parallel to
5
F
is drawn from the head of
(
F
, and a line
parallel to
2
F
is drawn from the tail of
(
F
. ,ee 'igure 5.7C.
"his is so because vector addition is commutative, and, therefore, both force
polygons are e!uivalent to the vector e!uation above. It is important to remember
that, by the definition of vector addition, the force polygon corresponding to the
general force e!uation
1 F =

9ill have ad%acent vectors connected head to tail. "his principle is used in identifying
the sense of forces
2
F
and
5
F
in 'igures 5.7. and 5.7C. Also, if the lines of action of
(
F
and
2
F
are parallel,: then the point of concurrency is at infinity, and the third force
5
F
must be parallel to the other two. In this case, the force polygon collapses to a
straight line.
Compiled by Aychiluhim M. Page -
'igure 5.7)A* -raphical force
analysis of a three$ force member.
Concurrency point P
;ine of action of F
3
;ine of action F
2
'igure 5.7).* 'orce polygon for the
three forces member.
'igure 5.7)C* An e!uivalent force
polygon for the three force member
Meng 3071 Mechanisims of Machinery Chapter 11
5.3.1 #ra!$ical Force %nalysis o& t$e Slider *ran+ )ec$anism:
"he slider crank mechanism finds e#tensive application in reciprocating
compressors, piston engines, presses, toggle devices, and other machines where force
characteristics are important. "he force analysis of this mechanism employs most of
the principles described in previous sections, as demonstrated by the following
e#ample.
EXAMPLE 5.1
,tatic$force analysis of a slider crank mechanism is discussed. Consider the slider
crank linkage shown in 'igure 5.5A, representing a compressor, which is operating at
so low a speed that inertia effects are negligible. It is also assumed that gravity
forces are small compared with other forces and that all forces lie in the same plane.
"he dimensions are .* / 51 mm and *C << =1 mm, we wish to find the re!uired
crankshaft tor!ue " and the bearing forces for a total gas pressure force P < 71& at
the instant when the crank angle
75 =
.
S,-.'I,/
"he graphical analysis is shown in 'igure 5.5.. 'irst, consider connecting rod 2. In
the absence of gravity and inertia forces, this link is acted on by two forces only, at
pins * and C. "hese pins are assumed to be frictionless and, therefore, transmit no
tor!ue. "hus, link 2 is a two$force member loaded at each end as shown. "he forces
(2
F
and
52
F
lie along the link, producing zero net moment, and must be e!ual and
opposite for e!uilibrium of the link. At this point, the magnitude and sense of these
forces are unknown.
&e#t, e#amine piston 5, which is a three$force member. "he pressure force P is
completely known and is assumed to act through the center of the piston )i.e., the
pressure distribution on the piston face is assumed to be symmetric*. 'rom &ewton>s
third law, which states that for every action there is an e!ual and opposite reaction, it
follows that
25 52
F F =
) and the direction of
25
F
is therefore known. In the absence of
friction, the force of the cylinder on the piston,
15
F
) is perpendicular to the cylinder
wall, and it also must pass through the concurrency point, which is the piston pin C.
&ow, knowing the force directions, we can construct the force polygon for member 5
)'igure 5.5.*. ,caling from this diagram, the contact force between the cylinder and
piston is
15
(2.=1 F 0 =
, acting upward, and the magnitude of the bearing force at C is
25 52
72.1 F F 0 = =
. "his is also the bearing force at crankpin *) because
(2 52
F F =
.
'urther, the force directions for the connecting rod shown in the figure are correct,
and the link is in compression.
Compiled by Aychiluhim M. Page 7
.* / 30 mm
*C / 70 mm
75 =

'igure 5.5)A* -raphical force
analysis of a slider crank
mechanism, which is acted on by
piston force 0 and crank tor!ue '
Meng 3071 Mechanisims of Machinery Chapter 11
'inally, crank ( is sub%ected to two forces and a couple )the shaft tor!ue is
assumed to be a couple*. "he force at * is
(2 2(
F F =
and is now known. 'or force
e!uilibrium,
1( 2(
F F =
as shown on the free$body diagram of link (. ?owever these
forces are not collinear, and for e!uilibrium, the moment of this couple must be
balanced by tor!ue . "hus, the re!uired tor!ue is clockwise and has magnitude
2(
)72.1 *)2@.@ * ((21 . (.(21 . F h 0 mm 0 mm 0 m = = = =
It should be emphasized that this is the tor!ue re!uired for static e!uilibrium in the
position shown in 'igure A.(1A. If tor!ue information is needed for a complete
compression cycle, then the analysis must be repeated at other crank positions
throughout the cycle. In general, the tor!ue will vary with position.
5.3.1 #ra!$ical Force %nalysis o& t$e Four-Bar -in+age:
"he force analysis of the four$bar linkage proceeds in much the same manner as that
of the slider crank mechanism. ?owever, in the following e#ample, we will consider
the case of e#ternal forces on both the coupler and follower links and will utilize the
principle of superposition.
EXAMPLE 5.2
,tatic$force analysis of a four$bar linkage is considered. "he link lengths for the four$
bar linkage of 'igure 5.@ A are given in the figure. In the position shown, coupler link
2 is sub%ected to force F
2
of magnitude "1 /, and follower link 5 is sub%ected to force
F
3
) of magnitude 30 /. 0etermine the shaft tor!ue 'i on input link( and the bearing
loads for static e!uilibrium.

Compiled by Aychiluhim M. Page 1
'igure 5.5).* ,tatic force
balances for the three
moving links, each
considered as a free body
Meng 3071 Mechanisims of Machinery Chapter 11
S,-.'I,/
As shown in 'igure 5.@A, the solution of the stated problem can be obtained by
superposition of the solutions of sub problems 2 and 22. In sub problem 2, force F
3
is
neglected, and in sub problem 22, force F
2
is neglected. "his process facilitates the
solution by dividing a more difficult problem into two simpler ones.
"he analysis of sub problem 2 is shown in 'igure 5.@., with !uantities
designated by superscript 2. ?ere, member 5 is a two$force member because force F
3
is neglected. "he direction of forces
(
25
F and
(
15
F are as shown, and the forces are
e!ual and opposite )note that the magnitude and sense of these forces are as yet
unknown*, "his information allows the analysis of member 2, which is a three$force
member with completely known force F
2
, known direction for
(
52
F ) and, using the
concurrency point, known direction for
(
(2
F . ,caling from the force polygon, the
following force magnitudes are determined )the force directions are shown in 'igure
)5.@.*/
( ( ( ( (
52 25 15 (2 2(
2(.1 5@ F F F 0 F F 0 = = = = =
;ink ( is sub%ected to two forces and couple
(
(
, and for e!uilibrium,
(( (( (( ((
15 25 2( 1(
2A.1 F 0 F F F = = =
And
( ( (
( 2(
)5@ *)(( * 5A@ . F h 0 mm 0 mm C3 = = =
"he analysis of sub problem 22 is very similar and is shown in 'igure 5.@C, where
superscript II is used. In this case, link 2 is a two$force member and link 5 is a three$
force member, and the following results are obtained/
(( (( (( ((
15 25 2( 1(
2A (= F 0 F F F 0 = = = =
And
(( (( ((
( 2(
)(= *)2@ * 772 . F h 0 mm 0 mm C3 = = =
"he superposition of the results of 'igures 5.@. and 5.@C is shown in 'igure 5.@0.
"he results must be added vectorially, as shown. .y scaling from the free$body
diagrams, the overall bearing force magnitudes are
Compiled by Aychiluhim M. Page 4
otal problem 5ub problem 2 6 5ub problem 22
'igure 5.@)A* -raphical force analysis of a four$bar linkage,
utilizing the principle of the superposition
Meng 3071 Mechanisims of Machinery Chapter 11
1( 25
(2 15
51 5(
51 7A
F 0 F 0
F 0 F 0
= =
= =
And the net crankshaft tor!ue is
( ((
( ( (
5A@ . 772 . B5B . 0 mm 0 mm 0 mm C3 = + = + =
"he directions of the bearing forces are as shown in the figure. "hese resultant
!uantities represent the actual forces e#perienced by the mechanism. It can be seen
from the analysis that the effect of the superposition principle, in this e#ample, was to
create sub problems containing two$force members, from which the separate analyses
could begin. In an attempt of a graphical analysis of the original problem without
superposition, there is not enough intuitive force information to analyze three$force
members 2 and 5, because none of the bearing force directions can be determined by
inspection.
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'igure 5.@.
"he solution of
sub problem 2
'igure 5.@C
"he solution of
sub problem 22
Meng 3071 Mechanisims of Machinery Chapter 11
2 03,B-E)S4
3erform a graphical static$force analysis of the given mechanism. Construct the
complete force polygon for determining bearing forces and the re!uired input force or
tor!ue. Cechanism dimensions are given in the accompanying figures.
($ "he applied piston load 0 on the offset slider crank mechanism of 'igure( remains
constant as angle

varies and has a magnitude of 100 I. 0etermine the re!uired

input tor!ue '
1
for static e!uilibrium at the following crank positions/
. 75
. (55
. 2=1
. 5(5
a
b
c
d

=
=
=
=
2$ 0etermine the re!uired input tor!ue "i for static e!uilibrium of the mechanism
shown in 'igure2. 'orces F
2
and F
3
, have magnitudes of 20 I and 10 I.
respectively. 'orce F
a
acts in the horizontal direction.
Compiled by Aychiluhim M. Page 11
'igure (
'igure 2
Meng 3071 Mechanisims of Machinery Chapter 11
5$ 0etermine the re!uired input tor!ue '
1
for static e!uilibrium of the mechanism shown
in 'igure5. "or!ues '
2
and '
3
are pure tor!ues, having magnitudes of 10/.m D m and
1 /.m, respectively.
Compiled by Aychiluhim M. Page 12
'igure 5
Meng 3071 Mechanisims of Machinery Chapter 11
Dynamic Force Analysis
2 5.".1 D5%lemert5s 0rinci!le and Inertia Forces:
An important principle, known as d>Alembert>s principle, can be derived from
&ewton>s second law. In words, d>Alembert>s principle states that the re(erse7effecti(e
forces and tor%ues and the e!ternal forces and tor%ues on a body together
gi(e statical e%uilibrium.
) * 1
8
F ma + =
)5.5A*
) * 1
e8 8
2 + =
)5.5.*
"he terms in parentheses in +!s. 5.5A and 5.5. are called the reverse$effective force
and the reverse$effective tor!ue, respectively. "hese !uantities are also referred to as
inertia force and inertia tor!ue. "hus, we define the inertia force F, as
F
i
6 -ma
#
)5.7A*
"his reflects the fact that a body resists any change in its velocity by an inertia force
proportional to the mass of the body and its acceleration. "he inertia force acts
through the center of mass # of the body. "he inertia tor!ue or inertia couple *, is
given by/
i 8
C 2 =
)5.7.*
As indicated, the inertia tor!ue is a pure tor!ue or couple. 'rom +!s. 5.7A and 5.7.,
their directions are opposite to that of the accelerations. ,ubstitution of +!s. 5.7A and
5.7. into +!s, 5.5A and 5.5. leads to e!uations that are similar to those used for
static$force analysis/
1
e i
F F F = + =
)5.5A*
1
8 e8 i
C = + =
)5.5.*
9here
F
refers here to the summation of e#ternal forces and, therefore, is the
resultant e#ternal force, and e8

is the summation of e#ternal moments, or resultant

e#ternal moment, about the center of mass #. "hus, the dynamic analysis problem is
reduced in form to a static force and moment balance where inertia effects are treated
in the same manner as e#ternal forces and tor!ues. In particular for the case of
assumed mechanism motion, the inertia forces and couples can be determined
completely and thereafter treated as known mechanism loads.
'urthermore, 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. ?ence,
1
P eP i P8 t
C 9 F = + + =

)5.5C*
9here P

is the summation of moments, including inertia moments, about point

0. eP

is the summation of e#ternal moments about 07 *, is the inertia couple

defined by +!. 5.7., F, is the inertia force defined by +!. 5.7A, and 3
0#
is a vector
from point 3 to point *. It is clear that +!. 5.5. is the special case of +!.5.5C, where
point 0 is taken as the center of mass - )i.e., 3
0#
= 1*.
'or a body in plane motion in the 8y plane with all e#ternal forces in that plane.
+!s. 5.5A and 5.5. become/
Compiled by Aychiluhim M. Page 13
Meng 3071 Mechanisims of Machinery Chapter 11
) * 1
! e! i! e! 8!
F F F F ma = + = + =
)5.@A*
) * 1
y ey iy ey 8y
F F F F ma = + = + =
)5.@.*
) * 1
8 e8 i e8 8
C 2 = + = + =
)5.@C*
9here a
8!
and a
#y
are the 8 and y components of a
#
. "hese are three scalar e!uations,
where the sign convention for tor!ues and angular accelerations is based on a right$
hand 8y9 coordinate system that is. Counterclockwise is positive and clockwise
is negative. "he general moment summation about arbitrary point 0, +!. 5.5C,
becomes/
. .
) * ) * ) * 1
P eP i P8! iy P8y i!
eP 8 P8! 8y P8y 8!
C 9 F 9 F
2 9 ma 9 ma
= + +
= + + =

)5.@0*
9here 3
0#8
and 3
0#y
are the 8 and y components of position vector 3
P8
. "his
e#pression for dynamic moment e!uilibrium will be useful in the analyses to be
presented in the following sections of this chapter.
2 5.".2 Equi:alent ,&&set Inertia Force:
'or purposes of graphical plane force analysis, it is convenient to define what is
known as the e!uivalent offset inertia force. "his is a single force that accounts for
both translational inertia and rotational inertia corresponding to the plane motion of a
rigid body. Its derivation will follow, with reference to 'igures 5.=A through 5.=0.
'igure 5.=A shows a rigid body with planar motion represented by center of
mass acceleration a
*
and angular acceleration

. "he inertia force and inertia tor!ue

associated with this motion are also shown. "he inertia tor!ue
8
2
can be e#pressed
as a couple consisting of forces ; and )- ;* separated by perpendicular
Compiled by Aychiluhim M. Page 1+
)A*
).*
)C*
)0*
E
8 8
h 2 ma = E
8 8
h 2 ma =
'igure 5.= )A* 0erivation of the e!uivalent offset inertia force associated with planer motion of a rigid
body. ).* Feplacement of the inertia tor!ue by a couple. )C* "he strategic choice of a couple. )0* "he
single force is e!uivalent to the combination of a force and a tor!ue in figure 5.=)A*
Meng 3071 Mechanisims of Machinery Chapter 11
0istance $) as shown in 'igure 5.=.. "he necessary conditions for the couple to be
e!uivalent to the inertia tor!ue are that the sense and magnitude be the same.
"herefore, in this case, the sense of the couple must be clockwise and the magnitudes
of ; and $ must satisfy the relationship
. .
8
: h 2 =
6therwise, the couple is arbitrary and there are an infinite number of possibilities that
will work. 'urthermore, the couple can be placed anywhere in the plane.
'igure 5.=C shows a special case of the couple, where force vector ; is e!ual to
ma
#
and acts through the center of mass. 'orce &- ;' must then be placed as shown to
produce a clockwise sense and at a distance
8 8
8
2 2
h
: ma

= =
)5.=*
'orce ; will cancel with the inertia force F
i
6 - ma
#
) leaving the single e!uivalent
offset force shown in 'igure 5.=0, which has the following characteristics/
(. "he magnitude of the force is G ma
#
G.
2. "he direction of the force is opposite to that of acceleration

.
5. "he perpendicular offset distance from the center of mass to the line of
action of the force is given by +!. 5.=.
7. "he force is offset from the center of mass so as to produce a moment about
the center of mass that is opposite in sense to acceleration a.
"he usefulness of this approach for graphical force analysis will be demonstrated in
the following section. It should be emphasized, however, that this approach is usually
unnecessary in analytical solutions, where +!s. 5.@A to 5.@0. Including the original
inertia force and inertia tor!ue, can be applied directly.
2 5.".3 Dynamic %nalysis o& t$e Four-Bar -in+age:
"he analysis of a four$bar linkage will effectively illustrate most of the ideas
that have been presented furthermore, the e#tension to other mechanism types should
become clear from the analysis of this mechanism.
EXAMPLE 5.3
"he four$bar linkage shown in 'igure 5.BA has the dimensions shown in the figure
where # refers to center of mass, and the mechanism has the following mass

properties/
2
( (
2
2 2
2
5 5
1.(1 21 .
1.21 711 .
1.51 21 .
8
8
8
m ;g 2 ;g mm
m ;g 2 ;g mm
m ;g 2 ;g mm
= =
= =
= =
0etermine the instantaneous value of drive tor!ue ' re!uired to produce an assumed
motion given by input angular velocity A5 E rad s = counterclockwise and input
angular acceleration a
1
6 0 for the position shown in the figure. &eglect gravity and
friction effects.
Compiled by Aychiluhim M. Page 1,
Meng 3071 Mechanisims of Machinery Chapter 11
S,-.'I,/
"his problem falls in the first analysis category that is given the mechanism motion,
determine the resulting bearing forces and the necessary input tor!ue. "herefore, the
first step in the solution process is to determine the inertia forces and inertia tor!ues.
"hereafter, the problem can be treated as though it were a static$force analysis
problem.
Hinematics analysis of the mechanism can be accomplished by using any of the
methods presented in earlier chapters. 'igure 5.B. shows a graphical analysis
employing velocity and acceleration polygons. 'rom the analysis, the following
accelerations are determined/
( (
2 2
2 2
2 2
5 5
1) * 1) *
255, 111 5(2 E 521 E
255, 111 51B E 2=71 E
C
C
C
a 5tationary Center of mass gi(en
a mm 5ec rad s cc$
a mm 5ec rad s c$

= =
= =
= =
9here the angles of the acceleration vectors are measured counterclockwise from the
positive ! direction shown in 'igure 5.BA. 'rom +!s. 5.7A and 5.7., the inertia
forces and inertia tor!ues are
(
2
2 2 2
2
5 5 5
(
2 2
2 2 2
2 2
5 5 5
1
7=, 111 (52 . E 7= (52
51, 111 (2B . E 51 (52
1
21B, 111 . E 21B .
2=7, 111 . E 2=7 .
i
i 8
i 8
i
i 8
i 8
F
F m a ;g mm s 0
F m a ;g mm s 0
C
C 2 ;g mm s c$ 0 mm c$
C 2 ;g mm s cc$ 0 mm cc$

=
= = =
= = =
=
= = =
= = =
"he inertia forces have lines of action through the respective centers of mass, and the
inertia tor!ueses are pure couples.
Compiled by Aychiluhim M. Page 1-
'igure 5.B)A*
"he four$bar
linkage of
+#ample 5.5
Meng 3071 Mechanisims of Machinery Chapter 11
#3%0<I*%- S,-.'I,/
In order to simplify the graphical force analysis, we will account for the inertia
tor!ues by introducing e!uivalent offset inertia forces. "hese forces are shown in
'igure 2.BC, and their placement is determined according to the previous section. 'or
link 2, the offset force F
2
is e!ual and parallel to inertia force F
12
."herefore,
2
7= (52 F 0 =
It is offset from the center of mass #
2
by a perpendicular amount e!ual to
2 2
2
2 2
21B
7.75
7=
8
8
2
h mm
m a

= = =
And this offset is measured to the left as shown to produce the re!uired clockwise
direction for the inertia moment about point #
2
. In a similar manner, the e!uivalent
offset inertia force for link 5 is
5
51 (2B F 0 =
at an offset distance
5 5
5
5 5
2=7
A.(5
51
8
8
2
h mm
m a

= = =
9here this offset is measured to the right from #
3
to

produce the necessary
counterclockwise inertia moment about #
3
. 'rom the values of $
2
and $
5
and the
Compiled by Aychiluhim M. Page 17
<elocity polygon
Acceleration polygon
2
2
2
2
5
255, 111 5(2 E
521 E
(11, 111 51B E
2=71 E
8
8
a mm 5ec
rad 5ec cc$
a mm 5ec
rad 5ec c$

=
=
=
=

'igure 5.B).*
the velocity and
acceleration
analysis
necessary for
determination
of inertia forces
and inertia
tor!ues
Meng 3071 Mechanisims of Machinery Chapter 11
angular relationships, the force positions r
2
and r
3
in 'igure 5.BC are computed to
be
2
2 2
5
5 5 5
75.(1
cos)(52 (= A1 *
5B.71
cos)A1 B5 (2B *
h
r *8 mm
h
r . 8 mm
= =

= + =
+
&ow, we wish to perform a graphical force analysis for known forces F
2
and F
3
.
"his has been done in +#ample 3roblem A.2, and the reader is referred to that
Analysis. "he re!uired input tor!ue was found to be ' 6 3=3/.mm c(
%/%->'I*%- S,-.'I,/
?aving determined the e!uivalent offset inertia forces F
2
and F
3
the analytical
solution could proceed according to +#ample 3roblem A, @, which e#amined the same
problem. ?owever, it is not necessary to convert to the offset force, and here we will
carry out the analytical solution in terms of the original inertia forces and inertia
couples.
'igure 5.B0 shows the linkage with the inertia tor!ues and the inertia forces in 8y
coordinate form. Consistent with 'igure A.(5A, we define the following !uantities/
( 2 5
( 2 5
( 2 5
2 2
5 5
2 5
( ( (
51 (11 51
(55 (= B5
1 51 25
7=cos)(52 * 5(.71 7=sin)(52 * 57.A1
51cos)(2B * (B.51 51sin)(2B * 25.@1
21B . 2=7 .
1
! y
! y
! y
mm mm mm
r r mm r mm
F 0 F 0
F 0 F 0
C 0 mm C 0 mm
F F C

= = =
= = =
= = =
= = = =
= = = =
= =
= = =
l l l
Compiled by Aychiluhim M. Page 11
'igure 5.B)C*
+!uivalent offset
inertia forces for
members 2 and 5
Meng 3071 Mechanisims of Machinery Chapter 11

9here the differences are due to round off/
(( 2( (
(2 22 2
7A.B 2A.2 =B@
7.5@ A5.@ (A21
a a b
a a b
= = =
= =
"hen,
25 (2
15 1(
5(.51 51.51
7A.21 51.51
F 0 F 0
F 0 F 0
= =
= =
And B5( . 0 mm =
"hus, it can be seen that the general analytical solution of the four$bar linkage
presented in this Chapter for static$force analysis is e!ually well suited for dynamic$
force analysis. .efore leaving this e#ample, a couple of general comments should be
made.
'irst, the tor!ue determined is the instantaneous value re!uired for the prescribed
motion, and the value will vary with position. 'urthermore, for the position
considered, the tor!ue is opposite in direction to the angular velocity of the crank.
"his can be e#plained by the fact that the inertia of the mechanism in this position is
tending to accelerate the crank in the counterclockwise direction, and, therefore, the
re!uired tor!ue must be clockwise to maintain a constant angular speed. If a constant
speed is to be maintained throughout the mechanism cycle, then there will be other
positions of the mechanism for which the re!uired tor!ue will be counterclockwise.
Compiled by Aychiluhim M. Page 14
'igure 5.B)0*
Combinations of
inertia forces and
inertia tor!ues for
members 2 and 5
Meng 3071 Mechanisims of Machinery Chapter 11
"he second comment is that it may be impossible to find a mechanism actuator, such
as an electric motor, that will supply the re!uired tor!ue versus position behavior.
"his problem can be alleviated, however, in the case of a :constant: rotational speed
mechanism through the use of a device called a flywheel, which is mounted on the
input shaft and produces a relatively large mass moment of inertia for crank (. "he
flywheel can absorb mechanism tor!ue and energy$ variations with minimaI speed
fluctuation and. thus, maintains an essentially constant input speed. In such a case.
"he assumed$motion approach to dynamic$force analysis is appropriate.
2 5.".3 Dynamic %nalysis o& t$e Slider-*ran+ )ec$anism:
0ynamic forces are a very important consideration in the design of slider
crank mechanisms for use in machines such as internal combustion engines and
reciprocating compressors. 0ynamic$force analysis of this mechanism can be carried
out in e#actly the same manner as for the four$bar linkage in the previous section.
'ollowing such a process a kinematics analysis is first performed from which
e#pressions are developed for the inertia force and inertia tor!ue for each of the
moving members, "hese !uantities may then be converted to e!uivalent offset inertia
forces for graphical analysis or they may be retained in the form of forces and
tor!ues for analytical solution, utilizing, in either case, the methods presented in this
chapter. In fact, the analysis of the slider crank mechanism is somewhat easier than
that of the four$bar linkage because there is no rotational motion and, in turn, no
inertia tor!ue for the piston or slider, which has translating motion only. "he
following paragraphs will describe an analytical approach in detail.
'igure 5.AA is a schematic diagram of a slider crank mechanism, showing the
crank (, the connecting rod 2, and the piston 5, all of which are assumed to be rigid.
"he center of mass locations are designated by letter G, and the members have masses
m, and moments of inertia I
#i
) i / (, 2, 5. "he following analysis will consider the
relationships of the inertia forces and tor!ues to the bearing reactions and the drive
tor!ue on the crank, at an arbitrary mechanism position given by crank angle

'riction will be neglected.
'igure 5.A. shows free$body diagrams of the three moving members of the
linkage. Applying the dynamic e!uilibrium conditions. +!s. 5.@A to 5.@0, to each
member yields the following set of e!uations. 'or the piston )moment e!uation not
included*/
25 5 5
) * 1
! 8
F m a + =
)5.BA*
15 25
1
y y
F F + =
)5.B.*
Compiled by Aychiluhim M. Page 20
Meng 3071 Mechanisims of Machinery Chapter 11
'or the connecting rod )moments about point B*/
(2 52 2 2
) * 1
! ! 8 !
F F m a + + =
)5.BC*
(2 52 2 2
) * 1
y y 8 y
F F m a + + =
)5.B0*
52 52 2 2
2 2 2 2
sin cos ) * sin
) * cos ) * 1
! y 8 ! 8
8 y 8 8
F F m a
m a 2


+ +
+ + =
l l l
l
)5.B+*
'or the crank )moments about point ,
1
):
1( 2( ( (
) * 1
! ! 8 !
F F m a + + =
)5.B'*
1( 2( ( (
) * 1
y y 8 y
F F m a + + =
)5.B-*
( 2( 2( ( (
( ( ( (
sin cos ) * sin
) * cos ) * 1
! y 8 ! 8
8 y 8 8
F r F r m a r
m a r 2


+ +
+ + =
)5.B?*
Compiled by Aychiluhim M. Page 21
'igure 5.A)A*
0ynamic$force
analysis of a slider
crank mechanism
'igure 5.A).* 'ree$body diagrams of the moving members
Meng 3071 Mechanisims of Machinery Chapter 11
9here ' is the input tor!ue on the crank. "his set of e!uations embodies both of the
dynamic$force analysis approaches described in &ewton>s ;aws. ?owever, its form is
best suited for the case of known mechanism motion, as illustrated by the following
e#ample.
MEG 373 Kinea!ics an" #ynaics o$ Mac%ines
Force Analysis &Gra'%ical Me!%o")
,tudent &ame/ ,tudent &o./
()es!ion 1:
"he four$bar mechanism of 'igure has one e#ternal force 0 6 200 I& and one
inertia force S 6 150 I& acting on it. "he system is in dynamic e!uilibrium as a result
of tor!ue '
2
applied to link 2. Find '
2
and the pin forces.
)a* Jse the graphical method based on free$body diagrams.
Compiled by Aychiluhim M. Page 22
.
2
A / 30 mm
A* / -0 mm
.
+
* / +, mm
.
2
.
+
/ 40 mm
200 lbf
23 mm
S/1,0 lbf
Meng 3071 Mechanisims of Machinery Chapter 11
MEG 373 Kinea!ics an" #ynaics o$ Mac%ines
Force Analysis &Gra'%ical Me!%o")
,tudent &ame/ ,tudent &o./
()es!ion 2:
"he input crank of the four$bar linkage of 'igure rotates at a constant speed of
(
2
6 500 rad?Sec @*.AB. +ach link has significant inertia. "he velocity and acceleration
diagrams are provided in the figure. Calculate the (alues of all (elocities and
accelerations in these diagrams.
"hen
&a) 0etermine the linear accelerations of each center of gravity and angular accelerations
2 5
,
and
7

.
&*) 'ind the inertia forces
12 15
, F F
and
17
F
.
&c) 'ind the offsets
2 5
,
and
7

of the inertia forces.

&") ,ketch the inertia forces in their correct positions on the linkage.
&e) 'ind the directions and magnitudes of the pin forces at A and *.
Compiled by Aychiluhim M. Page 23
Meng 3071 Mechanisims of Machinery Chapter 11
MEG 373 Kinea!ics an" #ynaics o$ Mac%ines
Force Analysis &Gra'%ical Me!%o")
,tudent &ame/ ,tudent &o./
()es!ion 3:
"he slider$crank mechanism of 'igure is to be analyzed to determine the effect
of the inertia of the connecting rod )link 5*. "he velocity diagram is shown in the figure
and the magnitude of C
%
is given. Calculate the cran; (ector ,
2
% and the input angular
(elocity A
2
, and proceed to calculate the (alues of all (ectors in the (elocity diagram.
"hen
&a) 0etermine the linear acceleration of the center of gravity of link 5 and the angular
acceleration
5

.
&*) 'ind the inertia force F
03
of the coupler link.
&c) 'ind the offset
5

of the inertia force F

03
.
&") 5;etch the inertia force in its correct position on the linkage.
&e) 'ind the directions and magnitudes of the pin forces at A and *.
&$) 0etermine the re!uired input tor!ue to drive this mechanism in this position under
the conditions described in this problem.
Compiled by Aychiluhim M. Page 2+
A* / + in
A8
3
/ 3 in
.
2
* / ,., in
M
3
/ 3 slugs
2
3
/ 12 slug.in
2
C
%
6 20 in?Sec
Meng 3071 Mechanisims of Machinery Chapter 11
MEG 373 Kinea!ics an" #ynaics o$ Mac%ines
Force Analysis &Gra'%ical Me!%o")
,tudent &ame/ ,tudent &o./
()es!ion +:
&a) 'ind the magnitude %
g"
.
&*) 'ind the angular accelerator
7

.
&c) 9hat is the magnitude of the inertia force F
0"
K
&") 9hat is the magnitude of the offset
7

K
&e) =ra$ the vector F
0"
in the correct location on the mechanism.
&$) -iven that the mechanism is driven by an input tor!ue, '
I/
, applied to link 2.
=etermine the following/ magnitudes of all pin forces, and magnitude and
direction of the input tor!ue.
Compiled by Aychiluhim M. Page 2,
.
2
* / 10 mm
*C / 1-0 mm
.
+
C / 100 mm
.
+
8
+
/ ,0 mm
.
2
8
+
/ 200 mm

C
A
(@B,111 mmE,ec
2
,71)000 mm>5ec
2
) *

C*
A
2,,)000 mm>5ec
2
b
+000 mm>5ec
2


0
C9
A
211)000
%
*
6 %
B
D %
*B