MCL 111 Quiz # 3c Solution

[Link]. Name Quiz No: Group

Consider a four link mechanism of base link length 60 mm whose follower rocks by
50o (CCW) when the input link of length 40 mm moves by 100o (CCW) from the 40o
position. This is hence a two position problem instead of the regular three position.

a) Establish the locus of the moving end of the follower as the perpendicular
bisector of two inverted locations of the moving pivot A.
b) What is the minimum length follower satisfying the requirements above?

Establish A1, A2 on circle around O2.

Rotate A2 by 50o about O4 to A2-1
Draw perpendicular bisector of A1A2-1 as the locus of the moving end.
Drop perpendicular from O4 on the locus to locate smallest length follower = 60.3mm
 MEL 111 Quiz # 3d SOLUTION
[Link]. Name Quiz No: Group

Generate the input output table if four precision points are sought as precision points for
approximating the function y = x2 for 0.5 < x < 0.9.

x y 2 4
initial 0.5 30O 30O
1
2
3
4
final 0.9 90O 120O

x y 2 4
initial 0.5 0.25 30 30
1 0.53132171 0.2823 34.6982566 35.1915
2 0.62346331 0.38871 48.519497 52.2921
3 0.77653669 0.60301 71.480503 86.7336
4 0.88477591 0.78283 87.716386 115.633
final 0.9 0.81 90 120

Range 0.2 0.28 30 45

Mid 0.7 0.53 60 75
Deg to
rad 0.017453293
 MCL 111 Quiz # 3e SOLUTION
[Link]. Name Quiz No: Group

Generate the input output table if four precision points are sought as precision points for
approximating the function y = √x for 0.5 < x < 0.9.

x y 2 4
initial 0.5 30O 10O
1
2
3
4
final 0.9 90O 100O
 MCL 111 Quiz # 3f
Solution
[Link]. Name Quiz No: Group

For the figure of the mechanism drawn below to scale, given 𝜔2 = 6 rad/s (CCW)
a) plot the velocity diagram using the auxiliary point method.
b) Find 𝜔6

8.3
𝜔6 = × 6 = 20.1 rad/s
2.4
 MCL 111 Quiz # 3g
Solution
[Link]. Name Quiz No: Group

For the figure of the mechanism drawn below to scale, given 𝜔2 = 6 rad/s (CCW)
a) plot the velocity diagram using the auxiliary point method.
b) Find the velocity of the slider.

Velocity of point Y on link 4 is zero.

𝑣𝐶4 = 6 × 𝐴𝑂2 ×0.54 = 6 × 3.7 ×0.54 = 10.24 cm/s (0.54 is the ratio of 𝑣𝐶4 , 𝑣𝐴 )
 MCL 111 Quiz # 3h
Solution
[Link]. Name Quiz No: Group

For the figure of the mechanism drawn below to scale, given 𝑣𝐴 = 6 /s (upwards)
a) plot the velocity diagram using the auxiliary point method.
b) Find the angular velocity of link 5.

𝑣𝐶 = 2.72 /s to the left. So 𝜔5 = -2.72/2.7 ≈ - 1 rad/s

 MCL 111 Quiz # 4a SOLUTION
[Link]. Name Quiz No: Group

Q1. For the mechanism shown below, a figure drawn to scale and the velocity diagram
is given.

a) Determine the scale of the velocity diagram.

b) Determine the acceleration of the point E on the coupler.

Scale of the velocity diagram = 2.9 /s : 1 mm , vc = 22.8/s

to the left; vc/b = 7.9 /s to the left and down.

Identify aC as intersection of horizontal line

through o’ and line perpendicular to BC
from the tip of anCB as shown on the figure.
Join aC to b’ and divide the line in the ratio
1:3.67. Thus find aE = 170 /s2
 MCL 111 Quiz # 4b SOLUTION
[Link]. Name Quiz No: Group

Q1. For the mechanism shown below, a figure drawn to scale and the velocity
diagram and acceleration diagram is given.

Determine what the angular acceleration of Link1 must be so that the acceleration of
point C is 60 in/s2 using Goodman’s method.

Acceleration of slider with 𝜔1 = 10 𝑟𝑎𝑑/𝑠 and 𝛼1 = 40 𝑟𝑎𝑑/𝑠 2 is 70 to the left

−22.8
So 𝐶′𝑙 × 𝜔12 = −70 − × 40
10

10×10
Ang acceleration needed for slider accn of 60 to the left = 40 − = 35.6 rad/s2
22.8

If accn is 60 to right, answer is -17 rad/s2.

 MCL 111 Quiz # 4c SOLUTION
[Link]. Name Quiz No: Group

Q1. For the mechanism shown below, a figure drawn to scale and the velocity
diagram and acceleration diagram is given.

Determine what the acceleration of point C is using Goodman’s method if the angular
acceleration of Link1 is 20 rad.s2.

Acceleration of slider currently = 70 to the left

−22.8
So 𝐶′𝑙 × 𝜔12 = −70 − × 40
10

−22.8
If ang acceleration of link 1 is 20 rad/s, slider accn is = −70 − × 40 +
10
−22.8
× 20 = 24.4 to the left
10
 MCL 111 Quiz # 5a
Solution
[Link]. Name Group

Design an optimum crank rocker with a QRR of 0.8 and rocking angle of 60o.
Construct using the pivots shown below and
enter the details in the table below after you
have done the design.

l4/ l1 l2/ l1 min

0.72 0.35 25O

2 𝜃12 12
𝑄𝑅𝑅 = 0.8 = 2𝜋−𝜃 12 or 1.6× 𝜋 = 1.8 × 𝜃2
2
1.6
or 𝜃212 = 180 × 1.8 = 160°
From the nomogram,  = 42O, min = 25O.
 MCL 111 Quiz # 0a
Solution
[Link]. Name Date: Group

Q1. A 4R mechanism has length in nanometer as follows:

Fixed : 27, Input : 17, Coupler : 10, Output : 21

a) What is the Grashof type of the mechanism? 27 + 10 < 17 + 21 Grashof 3 pt

b) What is the range of motion of the input link? 3 pt

c) What is the range of motion of the output link? 4 pt

Grashof double rocker. Input will not cross the line of centre. Limits: 12.4 deg to 86.4

Limits of output: 112.9o to 171.2o

 MCL 111 Quiz # 0b
Solution
[Link]. Name Date: Group

Q1. A 4R mechanism has length in nanometer as follows:

Fixed : 27, Input : 17, Coupler : 21, Output : 10

a) What is the Grashof type of the mechanism? 27 + 10 < 17 + 21 Grashof 3 pt

b) What is the range of motion of the input link? 4 pt

Range is 12.3o to 86.4o.

c) What is the range of motion of the output link? 3 pt

The output link will be a crank, full rotation.

 MCL 111 Quiz # 0d
Solution
[Link]. Name Date: Group

Q1. A 4R mechanism has length in nanometer as follows:

Fixed : 26, Input : 17, Coupler : 10, Output : 21

a) What is the Grashof type of the mechanism? 26+10 < 17+21 Grashof 3 pt

b) What is the range of motion of the input link? 3 pt

Range is from 17.1o to 89.7o in an anticlockwise sense. Does not cross the line of
centres.

c) What is the range of motion of the output link? 4 pt

The range of motion is from 111o to 168o in the anticlockwise direction.

 MCL 111 Quiz # 2a
Solution
[Link]. Name Quiz No: Group

a) Find all the IC’s (except I24) for the six links shown.
𝐼 𝐼
b) Given 𝜔2 = 10 rad/s, find 𝜔5 . 𝜔5 = 10 × 𝐼25 𝐼12
25 15
 MCL 111 Quiz # 2b
Solution
[Link]. Name Quiz No: Group

a) Find all the IC’s for the six links shown.

b) Given 𝜔2 = 10 rad/s, find 𝜔4 .

→
𝐼12 𝐼24 3.4
𝜔 5 = 𝜔 2 (→ ) = 10 × = 6.2 𝑟𝑎𝑑/𝑠
𝐼14 𝐼24 5.5
 MCL 111 Quiz # 2c
Solution
[Link]. Name Quiz No: Group

a) Find all the IC’s for the six links shown. (3 pts for I63, I54, I26,
3 pts for the rest)
b) Given 𝜔2 = 10 rad/s, find 𝑣6 . (3 pts)
𝐼62 𝐼12 = 0.59 ⇒ 𝑣6 = 5.9 /𝑠
 MCL 111 Quiz # 6a SOLUTION
[Link]. Name Quiz No: Group

For the mechanism below, OB = 40 mm, BC = 100 mm and  = 45O. Find the torque
T1 required if the block at C has a velocity of 50 mm/s to the left and an acceleration
of 20 mm/s2 to the right by using the method of virtual work. Ignore gravity and
assume all links are massless except BC which has a mass of 1 kg.

T1

 C
O

2 = 54.6/40 = 1.37 rad/s and 𝜔3 = 40.3/100 =

0.4 rad/s, 𝑣𝐺3 = 48.3 mm/s from the velocity
diagram.
From the accn diagram, 𝛼3 = 110/100 =1.1
rad/s2, component of 𝑎𝐺3 along vG3 is 33.2
mm/s2. BC is a floating link, and accn and vel
are in opposite sense, so the product of the
inertial force and velocities will be positive:
1
𝐼= × 1 × 0.12 = 8.33 × 10−4
12
𝜏 × 1.3 = 1.0 × 3.32 × 10−2 × 4.83 ×
10−2 + 𝐼 × 0.4 ×1.1

 ≈ 0.0015 Nm
 MCL111 Quiz 10a
SOLUTION
[Link]. Name Group

The Sun gear is fixed. Find the speed of each gear if NS = 30, NP1 = 14,
NP2 = 16 and NR = 50 if the planet carrier speed is 10 rad/s clockwise.
State S P1 P2 R C
Arm locked x 40 40 40 0
−𝑥 × 𝑥× 𝑥×
14 16 50
Gears locked y y y y y
Sum x+y 20 5 4 y
𝑦−𝑥× 𝑦+𝑥× 𝑦+𝑥×
7 2 5
We are given y = 10 and x + y = 0. So, x = -10.
P1 rotates at 207/7 = 29.6 rad/s; P2 rotates at 15 rad/s; Ring gear rotates at
2 rad/s.
 MCL111 Quiz 10b
SOLUTION
[Link]. Name Group

The Sun gear is fixed. Find the speed of each gear if NS = 28, NP1 = 14,
NP2 = 16 and NR = 50 if the planet carrier speed is 10 rad/s clockwise.
State S P1 P2 R C
Arm locked x 28 28 28 0
−𝑥 × 𝑥× 𝑥×
14 16 50
Gears locked y y y y y
Sum x+y 𝑦−𝑥×2 7 17 y
𝑦+𝑥× 𝑦+𝑥×
4 25
We are given y = 10 and x + y = 0. So, x = -10.
P1 rotates at 30 rad/s; P2 rotates at -7.5 rad/s; Ring gear at -3.2 rad/s.