M.

C Abel Díaz Olivares Elements of Mechanisms

SECOND UNIT. ANALYSIS OF MOVEMENT OF

Rigid Bodies and Mechanisms.

2.1 General motion analysis of rigid bodies.

Exercise. Describe yourself and trace the locus of a point P that moves obeying
the equations P0 ( =) at cos 2 ; P0 ( =) a sin 2 ; P0 ( =) 0, in an interval of
time from 0 to 2 seconds consider increments [Link]: Growing elliptical on the x-axis.
4

Exercise. The trajectory of a moving point is defined by the equation =

2 2- 28Find the difference in position of point P to point Q if = 4y =
-3. Sol: = -7i -14

Exercise. Find the difference in position from point P to point Q on the curve. =
2+ − 16, where = 2y = 4. Sol: = 2i +14

2
Exercise. The trajectory in motion of P is defined by the equation = 5 - .
3
What is the displacement of the point if its movement starts when = 0and concludes
when = 3? Consider for this analysis an increase of half a unit. Sol: Parabola.

Example. The two forces P and Q act on pin A. As shown in the figure.
next. Determine the resultant force using the graphical and analytical method.

Graphical method solution.

Figure 2.1 Forces on pin A.

Analytical method solution 1.

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M.C Abel Díaz Olivares Elements of Mechanisms

Analytical method solution 2.

Analytical method solution 3.

Example. A car is being dragged by means of two cables, as shown in the figure.
next. If the resultant of the two forces exerted by the cables is a force of 300lb,
parallel to the axis of the car, calculate a) the tension in each cable, knowing that α=30°, b)
the value of α for which the tension in cable 2 is minimized. Solve using the method
graphic and analytical.

Figure 2.2 Forces of the cables on the car.

a) Graphical method solution.

a) Analytical method solution.

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M.C Abel Díaz Olivares Elements of Mechanisms

b) Graphical method solution.

b) Solution analytical method.

Exercise. Four forces act on pin A, as shown in the following figure.

Determine the resultant force on the pin using graphical and analytical methods.

Solution: = . . °

Figure 2.3 Forces on pin A.

Exercise. Determine the resultant force and the x and y components of each of the forces.
shown in the following figure. Use graphical and analytical method.

Solution: = . . °

Figure 2.4 Forces on the screw.

Exercise. If the resultant FRfrom two
forces acting on the trunk must
to be directed along the positive x-axis
and has a magnitude of 10 kN, as
shown in figure 2.5, determine the
angle from the cable connected to B, do it in
such that the force FBin this cable be
minimum. What is the magnitude of the force
in each cable for this situation?
Solution: = . ; = . ; Figure 2.5 Forces of the cables on the
= . ° automobile.

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M.C Abel Díaz Olivares Elements of Mechanisms

2.2 Position analysis in planar mechanisms by graphical method

and analytical.
In the solution by the graphic method depending on the shapes of the two unknowns,
It is feasible to find four distinct cases, Chacelas classifies according to the unknowns.
that is to say, the cases and their corresponding unknowns are:

Magnitude and direction of the same vector.

2. Magnitudes of two different vectors.
3. Magnitude of one vector and direction of another.
4. Directions of two different vectors.

Case 1: The two unknowns are the magnitude and direction of the same vector, this case
can be solved by the addition or subtraction of the remaining vectors' direct graphs,
that are completely defined. The steps to follow are:

a) Selection of the coordinate system and factor

of scale.
b) Draw vector A at the origin (magnitude and
address).
c) Draw vector B at the end of A
(magnitude and direction).
d) Draw vector C from the origin to the
extreme of B.

a) Selection of the coordinate system and factor

of scale.
b) Draw vector C (magnitude and at the origin
address) .
c) Draw vector B at the end of C
(magnitude and direction).
d) Draw vector A from the origin to the
origin of B
Figure 2.6 Graphical solution case 1.
Case 2: In this case, two magnitudes must be found, the steps involved are:

a) Selection of the coordinate system and factor

of scale.
b) Draw the vector C at the origin (magnitude and
address).
c) Project the vector A (direction) at the origin.
d) Project vector B (direction) that passes through
the extreme of C.
e) The intersection of these two lines defines
both magnitudes of A and B.
Figure 2.7 Graphical solution case 2.

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M.C Abel Díaz Olivares Elements of Mechanisms

Case 3: For this case, it is necessary to find a magnitude and a direction of distinct vectors.
The solution is obtained in the order indicated below:
a) Selection of the coordinate system and factor
of scale.
b) Draw the vector C (magnitude and) at the origin.
address).
c) Project the vector A (direction) at the origin.
d) Build a circular arc with the magnitude of
B whose center is located at the end of C.
e) The intersection of the line and the arc defines the
two sets of solutions (magnitude of A and
address of B).
f) Draw B from the end of A to the
C. extreme
Figure 2.8 Graphical solution case 3.
Case 4: In this case, the addresses of two distinct vectors must be found, the steps of
this solution is obtained as indicated below:
a) Selection of the coordinate system and factor
of scale.
b) Draw the vector C (magnitude and) at the origin
address).
c) Build a circular arc with the magnitude of
Whose center is located at the origin of C.
d) Construct a circular arc with the magnitude of
B whose center is located at the end of C.
e) The intersection of these two arcs defines the
two sets of solutions (direction of A and
address of B).
f) Draw A from the origin of C to the
intersection of the two arcs.
g) Draw B from the end of A to the
extreme of C.
Figure 2.9 Graphical solution case 4.
Example: Figure 2.10 shows a kinematic diagram of a driven mechanism
the movement of link 2. Graphically reposition the links of the mechanism, if the
Link 2 moves 30° counterclockwise. Determine the angular displacement.
resulting from link 4 and the linear displacement of point E.

Figure 2.10 Kinematic diagram.

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M.C Abel Díaz Olivares Elements of Mechanisms

Solution:

Example: When large shear forces are required, scissors are often used.
from sheet metal lever like the ones shown in figure 2.11, instead of normal scissors
of the sheet metal worker. Using the top handle as a workbench, reposition graphically the
components of the scissors when the jaw opens 15°. Determine the displacement
resulting from the lower handle.

Figure 2.11 Sheet metal cutting scissors.

Solution:

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M.C Abel Díaz Olivares Elements of Mechanisms

Closed-form position analysis equations for slider-crank mechanism in line

For a mechanism, it is specifically known as a crank-slider mechanism.
online, because the restricted trajectory of the slider pin joint extends through
the center of rotation of the crank. Figure 2.12 illustrates the basic configuration of this
mechanism.

−1[ 2
3= 2]
3
= 180° − ( 2+3)
2 2
4= √ 2+ 3- 2 2 ( 3cos
)( )
Figure 2.12 Crank-slider mechanism.

Example: Figure 2.13 shows a binder that is used to securely hold.

Workpieces. Determine the displacement of the surface by analytical method.
subject to the handle turning 15° downward.

Figure 2.13 Piece holder.

Analytical Method Solution:

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M.C Abel Díaz Olivares Elements of Mechanisms

Closed-form positional analysis equations for an off-center crank-slider

For a mechanism, it is specifically known as a slider-crank mechanism.
decentered, since the restricted trajectory of the pin union in the slide does not
extends through the same level of the crank's pivot point. Figure 2.14 illustrates
the basic configuration of an off-center crank-slider mechanism.

−1[ 1
+ 2 2
3= ]
3
= 180° − ( 2+ 3)
4= 2 2+ 3 3
Figure 2.14 Off-center crank-slider.

Example: Figure 2.15 shows the concept of a hand pump used to

increase the oil pressure in a hydraulic line. Determine analytically the
displacement of the piston, as the handle rotates 15° counterclockwise.

Figure 2.15 Manual Pump.

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M.C Abel Díaz Olivares Elements of Mechanisms

Analytical Method Solution:

Example: Figure 2.16 shows a fastener that is used to secure a piece of

work during a machining operation. Determine by graphic and analytical method
the angle that the handle must be moved to lift the arm of the fastener 30° in the
clockwise.

Figure 2.16 Manual fastener.

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M.C Abel Díaz Olivares Elements of Mechanisms

Graphical Method Solution:

Analytical Method Solution:

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M.C Abel Díaz Olivares Elements of Mechanisms

Example: The mechanism shown in figure 2.17 is the driving linkage of a

reciprocating jigsaw (pendulum). Determine the configurations of the mechanism that
place the saw blade in its limit positions and the total displacement, use the method
graphic and analytical.

Figure 2.17 Jigsaw mechanism.

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M.C Abel Díaz Olivares Elements of Mechanisms

Graphic Method Solution:

Example: Figure 2.18 shows a mechanism that operates the water nozzle in a washing.
vehicle automation. Determine the limit positions of the mechanism that locates the
nozzle in its extreme positions, use the graphical and analytical method.

Figure 2.18 Water nozzle mechanism.

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M.C Abel Díaz Olivares Elements of Mechanisms

Graphical Method Solution:

Analytical Method Solution:

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M.C Abel Díaz Olivares Elements of Mechanisms

Example: Figure 2.19 shows the

mechanism of a conveyor belt
of transfer, whose function is
supply packages to a station of
boarding at specific intervals.
Determine graphically and analytically
the extreme positions of the segment of
elevation of the conveyor belt,
use the graphic and analytical method.
Figure 2.19 Conveyor belt.
Analytical Method Solution:

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M.C Abel Díaz Olivares Elements of Mechanisms

2.3 Speed analysis in planar mechanisms by method

graphic and analytical.
Relationship between linear and angular velocities
In a link with pure rotation, the magnitude of the linear velocity of any point
the link is related to the angular velocity of the link. This relationship is expressed as:
=
= | | = magnitude of the linear velocity of the point of interest.
= distance from the center of rotation to the point of interest.
= angular velocity of the rotating link that contains the point of interest.

Usually, it is necessary to convert to the most common unit of revolutions.

per minute (rpm):
2
( ⁄ )[(= ⁄ )] ] =[ 2 [ ( ⁄ )]
1
2 1
( ⁄ )[ ( = ⁄ )] [( ) ( )] = [( ⁄ )]
1 60 30

Example: Figure 2.20 illustrates a cam mechanism that is used to drive the valve.
escape of an internal combustion engine. Point B is a point of interest on the
rocking chair. At this moment, the cam forces point B upward to30 . ⁄Determine the
angular velocity of the rocker in ⁄ y as well as the speed of point C.

Figure 2.20 Cam mechanism.

Solution:

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M.C Abel Díaz Olivares Elements of Mechanisms

Example: Figure 2.21 illustrates the mechanism for lifting cargo from a delivery truck.
At this moment, point A has a velocity of12 in at the shown ⁄ address, in
so much that point B has a velocity of10.4 at⁄ the indicated address. Determine
the angular velocity of the lowest link and the relative velocity of point B with respect to
to point A.

Figure 2.21 Lifting mechanism.

Graphical Method Solution:

Analytical Method Solution:

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M.C Abel Díaz Olivares Elements of Mechanisms

Example: Figure 2.22 illustrates a rock crushing mechanism. It is used in a machine.

where a large rock is placed in a vertical hopper and falls into the crushing chamber.
The appropriately sized rocks, which pass through a screener, are discharged by the
bottom. The rocks that do not pass through the screen are reintroduced into the chamber of
crushing. Determine the angular velocity of the crushing ram, in the configuration
shown, as the 60 mm crank turns at 120 rpm in the clockwise direction.

Figure 2.22 Rock crushing mechanism.

Solution:

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M.C Abel Díaz Olivares Elements of Mechanisms

Example: Figure 2.23 illustrates a mechanism that extends cable reels from a
delivery truck, is operated by a hydraulic cylinder A. At this moment, the cylinder is
Retracts at a speed of 5 mm/s. Determine the speed of the upper joint, point E.

Figure 2.23 Coil extension mechanism.

Solution:

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M.C Abel Díaz Olivares Elements of Mechanisms

Example: Figure 2.24 presents a mechanism that tilts the platform of a truck.
Tilting. Determine the required speed of the hydraulic cylinder to tilt the platform.
from the truck at a speed of 5 rad/min.

Figure 2.24 Dump truck mechanism.

Solution:

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M.C Abel Díaz Olivares Elements of Mechanisms

Example: A linkage of 4 bars as shown in figure 2.25 is driven

through the handle 2 with a speed 2= 900 counterclockwise (ccw).
Calculate the instantaneous speeds of points E and F in / as well as the speeds
angles of links 3 and 4.

Figure 2.25 a) 4-bar mechanism. b) Velocity polygon.

Solution graphical method.

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M.C Abel Díaz Olivares Elements of Mechanisms

Exercise: A linkage of 4 bars as shown in figure 2.26 is propelled.

through the crank 2 with a speed 2= 1100 Calculate the speeds
snapshots of points E and F in / as well as the angular velocities of the
links 3 and 4.

Figure 2.26 a) 4-bar mechanism. b) Velocity polygon.

Graphical method solution.

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M.C Abel Díaz Olivares Elements of Mechanisms

Example: The eccentric slider-crank mechanism illustrated in figure 2.27,

it is driven by slide 4 at a speed = 10 to the left, in the ⁄
indicated phase. Determine the instantaneous velocity of point D and the angular velocities.
from links 2 and 3. (The dimensions are given in millimeters).

Figure 2.27 a) Slider-crank mechanism. b) Velocity polygon.

Graphical method solution.

Exercise: The concentric slider-crank mechanism illustrated in figure 2.28,

it is driven by the slide 4 with a speed = 15 ft to the right, in⁄ the
indicated phase. Determine the instantaneous velocity of point D and the angular velocities
of the links 2 and 3.

Figure 2.28 a) Slider-crank mechanism. b) Velocity polygon.

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M.C Abel Díaz Olivares Elements of Mechanisms

Graphical method solution.

2.4 Acceleration analysis in planar mechanisms by method

graphic and analytical.
Normal and Tangential Acceleration
The speed of a point moving along any trajectory changes from two
independent ways: the magnitude or direction of the velocity vector can change
In time. Of course, acceleration is the change in velocity over time.
elapsed, so that acceleration is generally divided into two components:
normal and tangential. The normal component is formed as a result of the change in the
direction of the velocity vector. The tangential component is formed as a result of
change in the magnitude of the velocity vector.

Tangential acceleration
For a point on a rotating link, little effort is required to determine the
direction of the components of acceleration. Remember that the instantaneous velocity of a
A point on a link that rotates is perpendicular to the line that connects that point with the
center of rotation. Any change in the magnitude of this velocity creates an acceleration
tangential, which is also perpendicular to the line that connects the point with the center of rotation.
The magnitude of the tangential acceleration of point A on link 2 that is rotating is expressed
as:
( 2 ) 2
= = = = 2

Normal acceleration
Any change in the direction of velocity creates a normal acceleration, directed
towards the center of rotation. Figure 2.29a shows a link that rotates at a constant speed.
The speed of point A is shown an instant before and an instant after the
configuration under consideration, separated by a small angle 2 . As the link turns to
constant speed, the magnitudes of are equal ′ y ′′So that ′ = ′′.
Figure 7.4b illustrates a velocity polygon solved vectorially to obtain
the change in speed. The normal acceleration will always be directed towards the center
of the link's rotation. This is so because as the point rotates around a fixed pivot, the
velocity vector will change along the curvature of the motion. Consequently, the
The normal vector to the curvature will always be directed towards the fixed pivot.

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M.C. Abel Díaz Olivares Elements of Mechanisms

How It is small in figure 2.29a, the following relationship is established:

= 2
Since acceleration is defined as the change in velocity over time
Afterward, by dividing both sides of the expression by time, we obtain:
2
= = = 2

Using the equation that relates the magnitudes of linear velocity and speed
From angular, the following equations of the normal acceleration of a point are derived:
= 2
2= ( 2 )2= 2
2
= 2= ( =)

Figure 2.29 Normal acceleration.

Total acceleration
The analysis of acceleration is important because accelerations generate forces.
inertial. These loads must be determined to ensure that the machine is designed
adequately to handle these dynamic loads. The inertial forces are
proportional to the total acceleration of a body. The total acceleration A is the vector
resulting from the tangential and normal components. Mathematically, this is expressed as:
= +

Example: The mechanism shown in figure 2.30 is used in a distribution center.

to push boxes along a platform towards the loading area. The link of
entry is powered by an electric motor which, at the shown moment, has a
speed of25 rad and ⁄accelerates to500 ⁄If the
2 input link has a length
of 250 mm, determine the instantaneous acceleration of the input link's end in the
position that is shown.

Figure 2.30 Transfer mechanism.

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M.C Abel Díaz Olivares Elements of Mechanisms

Solution:

Relative Movement
The difference between the movement of two points is known as relative motion.
Relative velocity was defined as the speed of one object observed from another object.
of reference that is also moving. Similarly, the relative acceleration is the
acceleration of an object observed from another reference object, which is also in
movement.

We have to:
= +

Differentiating with respect to time, we obtain

= +

It is usually more convenient to separate the total accelerations into their

normal and tangential components, so that each acceleration is separated into its two
components:
+ = + + +

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M.C Abel Díaz Olivares Elements of Mechanisms

Example: Figure 2.31 shows a power saw for metals. At this moment, the
the electric motor spins counterclockwise and drives the free end of the crank of the
⁄
motor (point B) at a speed of12 in . In addition, the crank is accelerating to
37 rad ⁄ The2 top of the saw moves to the left with a speed

⁄ 2
of9.8 in/s and accelerates to82 in Determine the relative acceleration of point C with
regarding point B in ⁄ 2
.

Figure 2.31 Power saw mechanism.

Solution:

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M.C Abel Díaz Olivares Elements of Mechanisms

Example: From the previous exercise, determine the angular acceleration of the connecting link.
6 in (link 3).
Solution:

Example: The mechanism shown in figure 2.32 was designed to move objects along
from a tray conveyor to then turn them over and lower them to another belt
The drive wheel rotates at a constant angular speed of 12 rpm.
Determine the angular acceleration of the seesaw that rotates and lowers the parts in ⁄ 2 .

Figure 2.32 Crank-rocker mechanism.

Solution:

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M.C Abel Díaz Olivares Elements of Mechanisms

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M.C Abel Díaz Olivares Elements of Mechanisms

Example: The mechanism shown in figure 2.33 is a punching machine designed to

perform successive stamping operations. The machine has just been turned on and in the
the shown moment works at full speed. The motor shaft rotates clockwise with a
⁄
angular speed of72 rad and accelerates to250 ⁄At2the shown moment, determine
the acceleration of the stamping matrix in ⁄ 2that strikes the workpiece.

Figure 2.33 Die cutter mechanism.

Solution:

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M.C Abel Díaz Olivares Elements of Mechanisms

Example: Figure 2.34 shows a mechanism that is used to feed cardboard boxes.
to a labeling machine and, at the same time, prevent the stored boxes from falling.
At full speed, the driving shaft rotates with an angular velocity of 200 rpm in a sense
schedule. At the shown moment, determine the acceleration of the ram and the acceleration
angle of the connecting rod.

Figure 2.34 Cardboard box feeder mechanism.

Solution:

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M.C Abel Díaz Olivares Elements of Mechanisms

Example: The linkage of 4 bars illustrated in figure 2.35 was analyzed in the section
of velocities and its velocity polygon was obtained. Assuming that link 2 is
driven with a constant angular velocity, determine the absolute accelerations of
the points E and F, and the angular accelerations of links 3 and 4. (cmr)

Figure 2.35 Four-bar mechanism.

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M.C Abel Díaz Olivares Elements of Mechanisms

Solution.

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M.C. Abel Díaz Olivares Elements of Mechanisms

Example: In the example of figure 2.27, the speed analysis of a mechanism was performed.
eccentric sliding and crank. The speed polygon was illustrated earlier.
Assuming that the given speed of the slider is constant, determine the
instantaneous absolute acceleration of point D and the angular accelerations of the links
2 and 3.

Figure 2.36 Slider-crank mechanism.

Solution.

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