DOM Airwalk Module 1 PDF

Chapter 1
STATIC FORCE ANALYSIS
Introduction to force analysis in mechanisms – Static force analysis

(four bar linkages only) – Graphical methods
Matrix methods – Method of virtual work – Analysis with sliding and pin
friction.
1.1 STATIC FORCE ANALYSIS OF MECHANISMS

For design of machine components, the following forces are considered
 Forces - due to - weight of parts
 Forces of assembly
 Forces from applied loads
 Forces of friction
 Inertia forces
 Spring forces
 Impact forces
 Forces due to temperature changes
For static force analysis, the inertia forces due to acceleration are
neglected.
For dynamic force analysis, the inertia forces are taken into account.
In most of the cases, machine component weights are small when
compared to other static forces and hence these forces are neglected in static
force analysis.
1.2 STATIC EQUILIBRIUM

A body is in static equilibrium, if it is in rest and tends to remain at rest.
A body is in static equilibrium, if it is in motion and tends to keep
itself in motion.
The above are true according to Newton’s I law.
 The state of equilibrium can be changed by application of external
forces (or) moments.
1.2 Dynamics of Machinery - www.airwalkbooks.com
 In a body to be in static equilibrium, the vectorial sum of all the

forces and moments about any point is zero.
Mathematically,  Fx  0;  Fy  0;
 Mz  0 in two dimensional system
Graphically, the force polygon and couple polygon should be closed.
The following are the conditions for static equilibrium
1. A body under action of two forces
will be in equilibrium when the
F1 F2
forces F1 and F2 are same in
magnitude and opposite in direction.
Fig. 1.1.
2. A body under the action of three
forces will be in equilibrium, if these forces are concurrent forces and
their resultant is zero.
F2
F2 F3
F1
F1
Fig.1.2. (a) B ody under forces F3 Fig.1.2.(b) Force polygon
3. A body under four forces will be in equilibrium if the vector sum of

all forces is zero in such a way that resultant of first two forces.
F1 and F2 and remaining two forces F3 and F4 are collinear as shown
in Fig. 1.3.
F2
F1
F4 F1
O1
O2
F3
F3
F4 F2
Fig. 1.3 Body in Equilibrium under th e Action of Four Forces

Static Force Analysis 1.3
4. A body under several forces will be F1 F3

in equilibrium, if the vector sum of
all forces is zero and the vector sum
of all couples and moments is zero. A B
5. A beam under three or more parallel h
forces will be in equilibrium if the
algebraic sum of forces and F2
Fig. 1.4 Beam in Eq uilibriu m
moments is zero (Fig. 1.4). un der Parallel Forces
 F  F1  F2  F3  0
 MA  F3  l  F2  h  0
6. A link under the action of two B
forces and an applied couple will
F1= F2
be in equilibrium if the forces are
T
(a) equal in magnitude (b) F2= F1 h
parallel in direction and in
opposite sense and (c) the couple A
formed by them (by these 2 forces
F1 and F2) should be equal in
magnitude and should act opposite
to the applied torque (Fig. 1.5).
Equilibrium conditions are:
F1  F2
and Couple; T  F1  h  F2  h
In static force analysis, the force applied by member 1 on member 2
is represented as F12.
1.3 FREE BODY DIAGRAM

A free body diagram is a diagram of the link isolated from the
mechanism on which the forces and moments are shown in action.
Fig. 1.6 shows a slider-crank mechanism (4 bar mechanism). The
piston is subjected to gas force FG. This gas force is transmitted to crank
shaft to deliver power. The free body diagrams of individual links are shown
in Fig. 1.7.
C rank L in k C o nn ecting R o d
3
3
2
P iston L ink 4
k2
L in
P

FG
O
Fixed Link
1 1
1 (4 ba r
Fig. 1.6 A Slider - Crank Mechanism
M ech an ism )
1.3.1 Consider Piston - Link 4
C
ro o nn P iston
d ec
L in t in L in k 4 F34
k g L in k 4
3 FG
FG 4 FG
P iston G as F14
Fo rce
F34
C ylind er L in k 1 F 14
Fig. 1.7 (b) Force
Fig. 1.7 (a) Forces on Polygon
Piston (Link 4) Closes here
3 forces are acting on piston.

1. Normal reaction force is acting by cylinder on piston. F14
2. Gas force is acting on piston FG
3. Force by connecting rod is acting on piston. F34, as these 3 forces are

acting on a concurrent point of piston. The concurrent force pass through
this concurrent point. Hence, a polygon drawn by these 3 forces should
be closed for this piston to be in equilibrium.
F34
L in k 4
4 FG
P iston G as
Fo rce
F14
Fig. 1.7 (a) F orces on Piston (Link 4)
F43
C
F32 C
k
an
Co Li F 32
Cr
nn nk
ec 3 L in k 2
t in F12
g T h
Ro
d

P O
F34
F 23
(c ) Fo rces on Con nectin g R o d (Lin k 3) (d) Fo rces o n C rank (L ink 2)
Fig. 1.7 F ree B od y D iag ram s of Various L inks of a Slider-C rank M echanism
1.3.2 Consider connecting rod - Link 3

Here, the connecting rod is hinged
at two ends and hence it is a two force
F 43
system. F 32 C
2 forces are acting on connecting rod
hinges. Co
nn
Li
n
ec k 3
t in
1. F43  Force by piston (4) is acting g
Ro
d
on connecting rod (3) P
2. F34  Force by connecting rod (3) F 34
F 23
is acting on piston (4).
Fig. 1.7 (c) Forces on Connecting
Rod (Link 3)
 Both forces are equal in magnitude but opposite in direction.

F34  F43
 And force F43 is acting on crank as F32. So F43  F32
1.3.3 Consider Crank - Link 2 C

Since crank shaft is acted by
k
F32 (ie F43) at C, the fixed end O is
an
F 32
Cr
acted upon by F12 in opposite direction Link 2
F12 h
T
and F32  F12. Hence the crank is in

equilibrium. But these forces F32 and O
F12 are equal and opposite in direction

Fig. 1.7 (d) Forces on Crank (Link 2)
and hence form a couple.
 And this couple is balanced (cancelled) by the torque transmitted

by the crank shaft.
Torque  F32  h
Note:
For a member under the action of 2 forces and applied torque, to
be in equilibrium, conditions are:
 The 2 forces should be equal and opposite.
 These 2 forces should form a couple which is equal and opposite
to applied torque.
1.4 ANALYSIS WITH SLIDING AND PIN FRICTION

Friction in machine is classified as
1. Sliding friction
2. Pin friction (Turning friction)
1.4.1 Sliding Friction C ylind er

Sliding friction is generated when a link
Piston
(piston) is sliding on another link (cylinder). (Fig.
1.8). In a sliding friction if gas force is acting
towards left, then friction force  Rn will be
Fig. 1.8
acting towards right side. Refer Fig. 1.9.
 Normal reaction Rn is acting upward.
 Vectorial sum of  Rn and Rn is F14.
 F14 is acting at an angle of .
  is called friction angle and
F14  

 Rn2 R2n
 Rn
and tan      coefficient of friction
Rn
 Sliding friction is acting in sliding pair.
C
F 34
3
2
 P F 4 F
A
4 P
1 1 R n
F 34 P iston M ov in g le ft Fric tio n force in righ t
Rn
F
4
P
F
= F 14
F 34
F 14 
Fo rc e po lygo n closes h e re
Fig. 1.9 F ree Bod y Diag ram o f Slider an d F orce Polygo n
1.4.2 Pin Friction (Turning friction)

The turning pair is used to allow Pin
turning (or) revolving motion between
links. Co
nn
L i ra n k
e
The friction between the pin and L i n c ti n g
2
nk
k 3 R od
C
the links for revolving (or) rotary motion
is called turning friction. In this turning
1 Fig. 1.10
pair, the friction force does not pass
through the pin centre but it is tangent to the friction circle of the Pin. The
line of action of the force is common tangent to the friction circles of two
pins. It is called friction axis.
Problem 1.1: Determine the torque required to be applied at the crank shaft
of a slider-crank mechanism to bring it in equilibrium. The slider is subjected
to a horizontal force of 8000 N and a force of magnitude 2000 N is applied
on the connecting rod as shown in Fig. The dimensions of various links are
as under:
OA  250 mm, AB  750 mm and AC  250 mm,  BOA  40
P = 20 00 N
A L IN K
2 3 6 0o
2 LIN K 4(P ISTO N )
3
NK C
LI o
O 40 B
1
FIX ED L IN K 1
FIX ED L IN K 1
Fig. Slider-Cran k M echan ism

Solution: Graphical Method
P= 2000 N
A L IN K
2 3 60 o
2 LIN K 4(P ISTO N )
3
NK C
LI o
O 40 B
1
FIXED LIN K 1
FIXED LIN K 1
Fig.(a) Configuratio n d iagram
1. D raw configuratio n diagram o f the m echanism as show n in Figu re.
h=
= AC P = 20 00 N
21 C
6. OS
5
A m 30
L IN K o
m
3 30 o
60
C 3
Fig.(b ) F ree bo dy diagram of LIN K 3 B F= 80 00 N
Th e fo rce F4 3 is re so lv e d into 2 c om p on en ts-

r
F 43
F r 43-R a d ia l com p on en t o f F 43 a lo ng th e Link 3
n
F n 43-N o rm al c om p on en t o f F 43 p erp en dic ular to the L in k 3 F 43
( r to B C )
2 . D ra w fre e bo dy d ia gram o f lin k 3 a s sh o w n in Fig. T he fo rce F 43 is b roke n
r
in to tw o com p on en ts - o n e a lo ng th e link F 43 a nd a no the r p erpe nd icular to th e
n
link F 43 .
3 . Tak in g m o m en ts a bo ut po in t A ,
P x h = F n 43 x A B
o o
w h ere h = A C cos 3 0 =2 5 0 x co s 3 0 =2 1 6.5 m m
2 00 0 x 2 16 .5
Fo rce: F n 43 = =5 7 7.3 5N
7 50
P = 2 0 00 N
A L IN K
2 3 60
o
2 LIN K 4(P IS T O N )
NK C 3
LI o
O 40 B
1
F IX E D L IN K 1
F ig .(a) C o nfigu ration diagram n F IX E D L IN K 1
r
F 34 LIN K 4(P IS T O N )
F =8 0 0 0 N
F ig . (c ) Freeb od y diag ram o f L IN K 4
F 14
n
4 . O u t of force s a cting o n lin k 4, fo rce s F an d F a re kn o w n co m p le te ly
43
(Fig ure (c)). F o rce F is p e rp e n dicula r to th e slid in g su rfa ce a n d force
14
Fr
3 4 is a lon g th e lin k 3 . C o ns tru ct a fo rce p o lyg o n as sh o w n in F ig u re (d )
w ith su itab le s ca le . (1 m m = 1 0 0 N ) B y m e a sure m e n t,
F34 = 8324 N
n F=8 000 N
F 34
F 3 4 =8 324 N (B y m ea su rem e nt)
F14
r
F 34
Fig . (d ) Force p olygon fo r Lin k 4
- F orc es acting on LIN K 4
5. D ra w the force poly go n o f lin k 3 w ith fo rce s F 4 3 , P a nd F 23 .
By m ea sure m e nt F 2 3 = 8843 N . [S e e Figure (e) ].
N
00
20
P=
F4 3 = 8
32 4 N
F2 3 = 8 8
43 N
Fig . (e ) Force polygon fo r Link 3

A
F3 = 8
2 2 8 43 N
T2
mm
F1 = F 2
2 32 = 8 8 4 3 NK
h=190
N O LI o
40
F ig: (f) F ree B od y D ia gra m of L in k 2
6 . D ra w the free bo dy d ia g ram of lin k 2. M ea su re d ista nce h fro m [Figu re (f)] an d

calcu la te .
T 2 = F 32 x h = 8 84 3 x 0 .19 = 1680.2 N m clo ck w ise
PRINCIPLE OF VIRTUAL WORK

The principle of virtual (imaginary) work states that ‘the work done
during a virtual displacement from the equilibrium is equal to zero’. Virtual
displacement is defined as an imaginary infinitesimal displacement of the
system. By applying this principle, an entire mechanism can be examined as
a whole and not as individual links.
Be aring F orc es A cting E qual

and O pposite Sen se
A
2

3
T
4
B
O  F
1
1 x
N orm al
Fig. 1.11 B earin g Re action Force
R eaction by
C ylinder on Piston
Consider a slider-crank mechanism (shown in Fig.1.11) acted upon by

 The external piston force F
 The external crankshaft torque T and
 The force at the bearings.
 If the crank rotates through a small angular displacement , then

corresponding displacement of the piston is x and the various
forces acting on the system are
 Bearing reaction at O which performs no work.
 Force of cylinder on piston, perpendicular to piston displacement.
ie Normal reaction which produces no work.
 Work done by torque T  T 
 Work done by force F  F x
We know that workdone is positive if a force acts in the direction of
the displacement and negative if it acts in the opposite direction.
According to the Principle of Virtual work,
W  T   F x  0
Since virtual displacement takes place simultaneously during the same
interval t,
d dx
T F 0
dt dt
 T   FV  0
where  is the angular velocity of the crank and , the linear velocity
of the piston.
F
T V

The negative sign indicates that for equilibrium, T should be applied
in the opposite direction to the angular displacement.
The Problem 1.1 is solved by using principle of virtual work. First
of all, draw the velocity diagram. Refer Fig.(g).
Assume link OB has  rad/s
Velocity of A with respect to O
Va  radius OA  
 Va  0.25 
 Draw Va  0.25   250 mm  oa r to link OA. Because Va is

perpendicular to OA. [Scale: 100mm  0.1 ]
 From a, draw line perpendicular to AB (Length not known to
represent Vba (Velocity of b with respect to a).
 From O, draw horizontal line to represent velocity of piston Vb.
P= 20 00 N
A L IN K
2 3 60
o
2 L IN K 4(P IS TO N )
3
NK C
LI o
O 40 B
1
FIX ED L IN K 1
FIX ED L IN K 1
Fig.(a) Co nfiguratio n d iagram
a
Pe
rp
en
V c ’=26 m m
dic
c’P
u la
e rp
rt
Va
en
o
=2
c di
O
cu
50
A
la
rt
m
o
m
P(
20
AB
00
N)
la r to
Pa rallel to P(20 00 N )
n d ic u
P e rp e
Pa rallel to F(8 00 0 N )
b o
V b = 20 3.6 m m
Fig.(g ) VE LO CITY DIAGRAM

 The above two lines intersect at b.

 Measure ob  203.6 mm  0.2036   Vb
ab  198 mm  0.198 
 Mark c on ab in the same ratio as C divides the AB.
ac AC ac 250
ie   
ab AB 198 750  ac  66 mm
 Join oc. Now resolve oc into 2 components as

Parallel to force P (2000 N) Vc and
 Perpendicular to force P (2000 N)
Measure Vc  26 mm  0.026  (Parallel to P  2000 N)
Using principle of virtual work,
T    2000  0.026   8000  0.2036   0
T  2000  0.026  8000  0.2036
 52  1629  1680.8 N  m
Problem 1.2: A Slider-crank mechanism as shown in Fig is given below.
The force acting on slider is 8000 N and coefficient of friction between all
the links is 0.25. Calculate the driving torque if the pin diameters at joints
O, A and B are 40 mm, 40 mm and 20 mm respectively. The dimensions of
links are:
OA  200 mm ; AB  800 mm and  BOA  60
A
3
2 C onn Slid er
nk
e c tin g LIN K 4 (PIS TO N )

C ra
R od
O
60 B
O F= 80 00 N
FIXED L IN K 1 FIXED L IN K 1
G IV E N FIG
Solution:
Friction circle radius:
40
At point O   r1  0.25   5 mm
2
40
At point A   r2  0.25   5 mm
2
20
At point B   r3  0.25   2.5 mm
2
Graphical Method
A
3
2 C o nne S lider
k
an
c ti n g LIN K 4(P ISTO N )

R od
Cr
6 0O B
O F=80 00 N
FIXE D LIN K 1 FIXE D LIN K 1

Fig. Configuration Diagram
A Frictio n axis
F 32 3
2
F 12 F3 4
F=80 00 N
O
B 4
(a)

Frictio n
C ircle F1 4 
1 . Dra w con figu ration d iagra m o f slide r-cran k m e cha nism .
2 . Dra w friction circle of differe nt ra dius a t p oints O (5 m m ), A (5 mm ) an d B

(2 .5m m ).
3 . Dra w ta ng ents and d ecid e friction axis o f links 2 an d 3.

4 . Ca lculate frictio n an gle  = tan -1
(0 .25 ) =  a nd draw the re su ltan t sid e thru st
force F incline d at friction a ng le.

14
F= 8000 N
F1 4=
F3 4= 7 80 0 1050 N
(b) N
5. C onsider various forces at the slide r and dra w the force polygon w ith suitable
scale (1 00N = 1m m ) as sho w n in Figure (b) . F in d the fo rces F 3 4 and F 1 4 by

m easurem en t.
F 3 4 = 780 0 N and F 1 4 = 1050 N
F32
F23
3
( c)
F43
F 34
6 . D ra w the fre e bo dy d ia gram of link 3 a s show n in F igu re (c) w ith
F 3 4 = F 4 3 = F 32 = F 2 3
A A
F 32 F 32
2 T2
h = 8 1. 2 m m
F1 2 F1 2
O O
(d) (e)
7. M ark force s F 32 a nd F 12 at the cran k a s sho w n in Fig. (a) a nd F ig (d) an d (e).
8. M easure d ista nce h = 81.2 m m
Torque: T 2 = F 32 x h
81.2
= 7800 x
1000
= 633.36 N m (coun ter clock w ise )
Note: In actual slider-crank mechanism, the coefficient of friction is very

low. But in this problem, for easy under standing purpose, an imaginary value
of  (-Higher value-) is given to draw friction circles easily.
Problem 1.3: A four-link mechanism with the following dimensions is acted

upon by a force 80 N at  140 on the link DC [Fig.(a)].
AD  250 mm, AB  250 mm, BC  500 mm, DC  375 mm, DE  175 mm.. Determine
the input torque T on the link AB for the static equilibrium of the mechanism
for the given configuration.
Solution: If the mechanism
is in static equilibrium, then
C
each of its members should
also be in equilibrium 3
individually.
B 4
Link 4 is acted upon by
three forces F, F34 and F14. E
Link 3 is acted upon by 2 140

F =80 N
two forces F23 and F43. 120
O
A D
Link 2 is acted upon by 1 1
two forces F32 and F12 and a (a) G iven C on figuration
torque T.
C F4 3
B
F2 3
(b)
1 . Fo rce F o n the lin k 4 is kn ow n (a s 8 0 N ) co m pletely. To kn o w th e oth er tw o
forces a ctin g on th is m em b er co m pletely, th e direction o f o ne m ore force
m ust be kno w n. To kn ow tha t, the link 3 sh o uld b e co nside red first w h ich is a
tw o -fo rce m e m be r.
2 . A s the link 3 is a tw o-fo rce m e m be r (Fig.(b )), fo r its eq uilib rium , F 2 3 an d F 4 3
m ust ac t a lo ng B C . Th us , th e lin e of ac tio n of F 3 4 is also a lo ng B C .

C 3. .D raw a lin k D C R e fer Fig.(c) A s th e

34
of F fo rce F 34 acts throu gh the point C on
LOA
O
th e link 4, d raw a lin e p arallel to B C
th roug h C . E xten d fo rce F to in tersect
4 O . N ow, as the link 4 is a three -force

at m e m be r, th e third force F 14 sho uld
LOA
p ass th roug h th e intersectio n O o f F

of F
E
F= an d F 34 a s the three forces are to b e
80 14 0 O
14
N concurren t fo r eq uilibrium of th e link

[Fig. (c)].
LO A = LINE
OF
A CTIO N
D
( C )To find LO A of F34 and F14
34 C
re m e
nt of F
easu LOA
By m N
= 42
F3 4
LOA
4
of F
E
F= O
8 0 140
14
N
By m
D
eas
( C )To find Line Of Action

F=
80 (LO A) o f F34 an d F1 4
u re m
N
ent
SC ALE: 1 m m = 1 N
F14
(d)
= 66
By draw ing a fo rce polygon for link 4,

N
(Take scale 1 mm = 1 N) (F is co mp letely know n),
m agn itu des of F 14 and F 34 can be found o ut.
Fro m fo rce polygon, F 3 4 = 42 N
F 3 4 = F 43 = F 23 = F 3 2 = 42 N
F3 2
h=24 T
0 mm
F1 2
A
(e)
L in k 2 w ill be in e q uilib riu m [F ig. (e)] if F 12 is e q ua l, pa ralle l a n d o pp o site to F 32

a nd
T = F 3 2 x h = 4 2 x 0 .2 40 = 10 N m a nticlo ck w ise
Th e in pu t torq ue h as to b e eq ua l an d o p po site to th is cou ple, i.e.,
T = 10 Nm (clockw ise)
Matrix Method:
First of all, the angular inclinations of the links BC and DC i.e., angles
 and  are to be determined by drawing the configuration diagram (Fig.(a))
Position vectors:
AB  0.25 at  120, BC  0.5 at  17, DC  0.375 at  72, DE  0.175 at  72
The direction of F34 is along BC since it is a two-force member,

F34  F34 at  17
Since the link DC is in static equilibrium, there are no resultant forces

and summation of moments acting on it is zero. Taking moments of the forces
about point D.
MD  F4  DE  F34  DC  0
...(i)
Moments are the cross-multiplication of the vector, so it is done in
rectangular coordinates.
F4  80 cos 140 i  80 sin 40 j   61.28 i  51.42 j
DE  0.175 cos 72 i  0.175 sin 72 j  0.054 i  0.166 j

F34  F34 cos 17 i  F34 sin 17 j  F34 0.956 i  0.292 j
DC  0.375 cos 72 i  0.375 sin 72 j  0.1159 i  0.357 j
Inserting the values of vectors in equation (i), we get
MD   61.28 i  51.42 j  0.054 i  0.166 j  F34 0.956 i  0.292 j
 0.1159 i  0.357 j  0
Assembling in matrix form,
 i j k  i j k
    0.956 F 
  61.28 51.42 0   34 0.292 F34 0   0
 0.054 0.166 0   0.1159 0.357 0
   
 61.28  0.166  51.42  0.054
 0.956 F34  0.357  0.292 F34  0.1159  0
 12.95  0.307 F34  0 (or) F34  42 N

Thus, F34  42 at  17
Now,
F32  F23  F43  F34  42 at  180  17  42 cos 197 i  42 sin 197 j
  40.16 i  12.28 j
AB  0.25 cos 120 i  0.25 sin 120 j
  0.125 i  0.2165 j
T2c  F32  AB
 i j k
T2c    40.16  12.28 0 


  0.125 0.2165 0 
 
  40.16  0.2165  12.28  0.125   10.22 N  m counterclockwise
Thus input torque  10.22 N  m clockwise
Principle of Virtual Work

Assume link AB has  rad/s
Velocity  radius  
 Vb  0.25 
 Draw Vb  0.25   25 mm  ab  r, to link AB.
Refer Fig.(V) [Scale 10 mm  0.1 ]

(Because Vb will be perpendicular to link AB)
 Also mark d nearer to a (as both are fixed link (1))
 From a draw line, r to link DC from d. (Length not known)
 And draw another line, r to link BC from b (Length not known).

 Both of the above lines intersect at c.
 Locate e in dc in the same ratio as E divides DC in configuration
diagram.
M ATRIX ME THO D
C
1 7
O
B 4
B y m ea sure m en t
E
2 1 40 O
F= 80 N
O
1 20  O
A D B y m ea sure m en t
(a) 1 1
AB
to
P er p
r
u la
d ic
en
e n d ic
rp
Pe
m
u la r
5m
=2
5
to B C
.2
=0
Vb
a ,d
Pa
ra
l le
V l to
e ’= F( e P e rp
12 80 e n d ic
.3 u la r
N) to D
m C
m
e’ P erp en dicu la r to F (80 N ) c
Fig. (V) VELO CITY DIAG RAM

de DE de 175
ie     de  13.53 mm
dc DC 29 375
 Join ae  Now resolve ae into 2 components as
– parallel to force F ( 80 N) and
– perpendicular to force F (80 N)
 Now measure
Ve  12.3 mm  0.123  (Parallel to F (80 N))
Assume T as counterclockwise , we can apply
Principle of Virtual work

T    80  0.123   0
T   80  0.128   10.24 N  m
T  10.24 N  m clockwise
Problem 1.4: A four bar mechanism as shown in Fig. is subjected to two
forces, F3  2000 N at 60 from horizontal at mid point of link 3 and
F4  4000 N at 45 from link 4 at mid point of link 4. The dimensions of
links are as under:
AB  0.3 m, BC  0.4 m, CD  0.45 m and AD  0.6 m
Perform static force analysis and determine resisting torque on link 2.
Solution: C
This type of problem can be
3
solved by Principle of superposition. ie,
Net effect is equal to superposition of the B o
60 4
effect of individual loads taken one at a F3
o
time. 2 F4 45
o
90
A D
1 G iven Fig ure 1

e
3
B
4
O
60
F3 = 20 00 N f
2
45 O
F4 = 40 00 N
A D
(a) 1 1
1. D raw th e co nfigura tion d ia gram of m echan ism as Bo th are p arallel
show n in Figure. (a ).
( L i e c ti o
D ir
ne
Neglecting Force F4
of of F
3
a ct 4 3
F2
n
of
io n
on
)
c ti
re
) Di C
on
a c ti
of
in e
(L
0N
B
00
=2
(b)
F3
2. Consider the effect of force F 3 , neglecting force F 4 . .
3. D raw th e fre e bo dy diagra m of link 3 a nd find th e (line of action (LO A )) direction
of forces F 2 3 and F 4 3 [F igure (b)].

By
me
a su
re m
S ca le : 1 00 0 N = 1 0 m m
en
tF
1 m m = 100 N
43
=7
)
mm
3
5N
(2 0
B y u sin g the se d ire ctio n s,

0N
N
00
7 5 w e ca n d raw fo rce po ly g o n for L in k (3 )

16
=2
3 =
2 4 . C o nstru ct fo rce po lyg o n [F ig u re (c)] w ith
F3
tF
en s u ita ble sca le for L in k 3 (1 0 00 N = 1 0 m m )
m
u re
s M ea su re th e m ag n itu d e o f fo rce s F 43 a n d F 2 3 .
m ea
By B y m e a sure m e nt,
(c) F 43 = 7 3 5 N a nd F 2 3 = 1 67 5 N
h1
B
=
23
4
m
m
F32
T2 3
2 F12
A
(d)
5. D raw free body dia gra m of link 2 [Figu re.(d)] . Measu re distance h 1 = 234 mm .
. Torqu e due to fo rce F 3 ,

2 34
T 2 3 = F 23 x h 1 = 1675 x = 3 92 N m (coun terclo ckwise).
1 00 0
F4 3
C
3
F2 3 B
4
6 0O
F3 = 20 0 0 N
2
4 5O
F4 = 40 0 0 N
A D
(a )
Bo th are p arallel R epeated F or R eferen ce
4
of F3
LO A
C
N eglecting Fo rce F3
L O A o f F1 4
4
6 . N o w con side r the e ffect o f force F 4 n eg le ctin g the
e ffect o f force F 3 .
(e) 45 O
7 . D ra w the fre e bo dy diagra m of link 4 a nd find th e
F4 = 40 0 0 N L O A o f fo rces F 34 an d F 1 4 [F igu re.(e)].

D
LO A = L IN E O F A CTIO N
B y m eas ure m ent F1

8. C ons truct fo rce polyg on for link 4 [Figu re.(f)]
w ith suita ble s cale (1 m m = 1 00 N ). M e asure the

mm)
m agn itud e o f fo rces F 14 a nd F 34 .

N (4 0
F 14 = 355 0 a nd F 34 = 13 45 N
4 = 355 0
4000
F4 =
nt
rem e
easu
By m
1345
F 3 4=
(f)
F 43
C
e
3
F 23 B
4
O
60
F 3 = 200 0 N f
2
45 O
F 4 = 400 0 N
A D
(a) 1
1 R e pea te d F or R efe re n ce F 43
C
3
B
F 23
(g) F 34 = F 43 = F 23 = F 32
B 1 0. D raw th e free b od y diag ram o f lin k 2

F2 3
[Figure.(h )]. M e as u re the d ista nce
h 2 = 2 90 m m .
h2 =
T2 4
Torq ue : T 24 = F 3 2 x h 2
290 m
2 90 = 48 6 N m (cou nte rclo ckw ise )
m
= 16 75 x
1 00 0
2
Tota l res is ting to rq ue :
T 2 = T 23 + T 2 4
= 39 2 + 4 86 = 8 78 N - m
A F1 2 = 87 8 N m (cou nte rclo ckw ise )
(h)
Principle of Virtual Work

Assume link AB has an instantaneous angular velocity of  rad/s
counter clockwise.
Velocity  radius  
Hence Vb  0.3 
[ AB  0.3 m]
By knowing magnitude and direction of Vb and knowing the direction
of velocity Vcb and Vcd, velocity diagram can be drawn.
 Draw Vb  0.3   30 mm horizontally as ab. (Perpendicular to link

AB). Refer Fig. (V).
 Mark d nearer to a (as both are fixed link 1)
 Draw line r to link DC from d and draw another line r to Link

BC from b. Both lines intersect at c.
 Now mark point e as mid point of bc and mark f as mid point
of dc.
 Join ae.
 Then joint df
e
3
B
4
O
60
F 3 = 20 0 0 N f
2
45O
F 4 = 40 0 0 N
A D
(a ) R epe ate d F or R efe ren ce 1

1
c
DC
r to
u la
d ic
en
P e rp
rp
Pe
f ee n d ic
u la r
0 N)
(4 0 0 m
to B C
ll e l t f = 11 m
m
1m
=2
o F4
V’
V b = 0.3 = 30 m m
e’
V
a,d P erpe nd ic ular to A B b

N)
P a ra
00
(2 0
f’
F3
to
lel
ra l
Pa
Fig. (V) Velo city D iag ram

e’
 Now resolve ae into 2 components parallel to force F3 Ve and

perpendicular to F3
 Measure Ve  0.21    21 mm by measurement

 Similarly, resolve df into 2 components.
 Parallel to force F4 Vf and perpendicular to F4
 Measure Vf  0.11   11 mm by measurement.  From velocity

diagram
Parallel to F3  Ve  0.21  (ie 21 mm) and
Parallel to F4  Vf  0.11  (ie 11 mm)
Assume T as counterclockwise (positive) and apply principle of virtual

work.
T    F3  0.02   F4  0.11   0
T  2000  0.21  4000  0.11  0
T  860 N  m
Problem 1.5: For the mechanism shown in Fig., determine the torque on
the link AB for the static equilibrium of the mechanism.
Solution:
If the mechanism is in static equilibrium, each of its members should
also be in equilibrium individually.
 Member 4 is acted upon by three forces F1, F34 and F14
 Member 3 is acted upon by three forces F2, F23 and F43.
 Member 2 is acted upon by two forces F32 and F12 and a torque
T.
Graphical Solution by Superposition Method

(Fig. b and c) Neglecting force F2
E F2 = 80 N
10 C
.5 3
22 C E =10
30 4
B E
2 C D =30
F1 = 40 N
O
20 50
A 50 D
1 (a) Given F igure 1
F43
NEGLECTING F2
C
(b) Equilibrium of link with

F 23 B two forces - Neglecting F2
C 1 . L in k 4 is a three -force m em b er in
O
34 w hich on ly o ne fo rce F 1 is kno w n .
of F
LO A
4 2 . H o w eve r, the line o f a ctio n (LO A) of
F 34 can be obta in ed fro m th e

LO
E
e qu ilibrium of the lin k 3 w h ich is a
Ao
tw o-force m e m be r a nd is acte d upo n

fF1
4
b y force s F 23 and F 4 3 . Th us, lin es o f

F1
=
40
a ction o f forces F 43 an d F 3 4 a re alon g

N
B C . If F 1 a nd F 34 intersect at O , th e n
( c) L O A - Line O f A ctio n
line o f actio n of F 14 w ill be a long O D
sin ce the th ree forces a re to be
con curren t.
D
ent 3. D raw the forc e p olyg on ( F 1 is com ple te ly

a s uremN
m e 34 =8
By F kn ow n ) a nd ob ta in th e m ag nitu de s of forces
F 3 4 and F 1 4 .
By
me
F 3 4 = F 4 3 = F 23 = F 32 = 8 N
as
ure
Also
me
nt
F 3 4 = 8 N and F 1 4 = 38 N
F1
F1
=
4=
4. The dire ction of F 3 2 is oppo site to
40
38
N
N
(4
th at of F 2 3 .
0
m
m
)
B
N
=8
F 32
h1 =
2n
13 m
m
T1
N 5 . Link 2 is sub jec te d to tw o forces a nd a

=8
(e) F12 torqu e T 1 . F o r e q uilibrium , F 12 is equa l,
A
p aralle l a nd op po site to F 32 .
T 1 = F 3 2 x h 1 = 8 x 1 3 = 1 04 N .m m
(clo ckw ise)
E O F2 = 80 N
C
LO
3
Ao
fF43
A B
LO
of (g)
F23
7. Fig.(g ). Link 3 is a three-force m e m be r in w h ich F 2 is co m plete ly know n , only
the direction of F 43
is know n (parallel to D C ) and F 23 is com pletely unknow n.
If the line of action of F 2 an d F 43
m e et at O , then the line o f action of F 23 w ill b e
along O B as the three forces are to be concurre nt.
By
me F2 = 80 N
asu
3 N
=7
rem
F 23
nt
ent
e
rem
asu
F4 3
me
By
=3
4
(h)
N
D ra w th e fo rce p olyg on ( F 2 is co m ple te ly kno w n ) b y tak in g F 2 to a s uita ble sc ale
a nd tw o lin es p ara llel to line s of a ction o f F 23 an d F 43 . M a rk arrow h ea ds o n F 23
a nd F 43 to kno w th e direction s . R e fe r Fig.(h)
F 2 3 = 7 3 N an d F 4 3 = 34 N
a nd he n ce F 23 =F 32 = 73 N
Th e direction o f F 3 2 is o pp os ite to tha t o f F 2 3 .
B L in k 2 is su bjecte d to tw o force s
( F 12 an d F 3 2 ) a nd a To rq ue T 2 .
N
h2
3
=7 R e fer Fig.(i): F 12 = F 3 2 = 7 3 N
F32
= 11
.5 m
Fo r e qu ilib riu m , F 12 is eq u al, p ara llel

m
T2 a nd op p osite to F 32 .
T 2 = F 3 2 x h 2 = 73 x 11 .5 = 839 .5
N .m m clo ckw ise
N Tota l to rqu e
=73
2 F32 = 1 04 + 83 9.5 = 9 43 .5 N .m m
2=
F1
A
(i)

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Chapter 1

STATIC FORCE ANALYSIS

Introduction to force analysis in mechanisms – Static force analysis

1.1 STATIC FORCE ANALYSIS OF MECHANISMS

1.2 STATIC EQUILIBRIUM

 In a body to be in static equilibrium, the vectorial sum of all the

Fig.1.2. (a) B ody under forces F3 Fig.1.2.(b) Force polygon

3. A body under four forces will be in equilibrium if the vector sum of

Fig. 1.3 Body in Equilibrium under th e Action of Four Forces

4. A body under several forces will be F1 F3

1.3 FREE BODY DIAGRAM

1.3.1 Consider Piston - Link 4

3 forces are acting on piston.

3. Force by connecting rod is acting on piston. F34, as these 3 forces are

1.3.2 Consider connecting rod - Link 3

 Both forces are equal in magnitude but opposite in direction.

 And force F43 is acting on crank as F32. So F43  F32

1.3.3 Consider Crank - Link 2 C

F12 are equal and opposite in direction

 And this couple is balanced (cancelled) by the torque transmitted

1.4 ANALYSIS WITH SLIDING AND PIN FRICTION

1.4.1 Sliding Friction C ylind er

 Vectorial sum of  Rn and Rn is F14.

 F14 is acting at an angle of .

  is called friction angle and

1.4.2 Pin Friction (Turning friction)

Fig. Slider-Cran k M echan ism

Solution: Graphical Method

Fig.(b ) F ree bo dy diagram of LIN K 3 B F= 80 00 N

Th e fo rce F4 3 is re so lv e d into 2 c om p on en ts-

F ig . (c ) Freeb od y diag ram o f L IN K 4

Fig . (e ) Force polygon fo r Link 3

F ig: (f) F ree B od y D ia gra m of L in k 2

6 . D ra w the free bo dy d ia g ram of lin k 2. M ea su re d ista nce h fro m [Figu re (f)] an d

PRINCIPLE OF VIRTUAL WORK

Be aring F orc es A cting E qual

Consider a slider-crank mechanism (shown in Fig.1.11) acted upon by

 If the crank rotates through a small angular displacement , then

 Draw Va  0.25   250 mm  oa r to link OA. Because Va is

Fig.(g ) VE LO CITY DIAGRAM

 The above two lines intersect at b.

e c tin g LIN K 4 (PIS TO N )

c ti n g LIN K 4(P ISTO N )

FIXE D LIN K 1 FIXE D LIN K 1

2 . Dra w friction circle of differe nt ra dius a t p oints O (5 m m ), A (5 mm ) an d B

force F incline d at friction a ng le.

scale (1 00N = 1m m ) as sho w n in Figure (b) . F in d the fo rces F 3 4 and F 1 4 by

7. M ark force s F 32 a nd F 12 at the cran k a s sho w n in Fig. (a) a nd F ig (d) an d (e).

8. M easure d ista nce h = 81.2 m m

= 633.36 N m (coun ter clock w ise )

Note: In actual slider-crank mechanism, the coefficient of friction is very

Problem 1.3: A four-link mechanism with the following dimensions is acted

Link 3 is acted upon by 2 140

2 . A s the link 3 is a tw o-fo rce m e m be r (Fig.(b )), fo r its eq uilib rium , F 2 3 an d F 4 3

m ust ac t a lo ng B C . Th us , th e lin e of ac tio n of F 3 4 is also a lo ng B C .

C 3. .D raw a lin k D C R e fer Fig.(c) A s th e

4 O . N ow, as the link 4 is a three -force

p ass th roug h th e intersectio n O o f F

N concurren t fo r eq uilibrium of th e link

( C )To find Line Of Action

By draw ing a fo rce polygon for link 4,

(Take scale 1 mm = 1 N) (F is co mp letely know n),

m agn itu des of F 14 and F 34 can be found o ut.