ME 321 Kinematics Exam 1 Retake

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This exam is closed book. You can use the back of the exam paper if needed. Please denote
your answers clearly, and write neatly. There are no points for small, messy, unreadable work.
Good luck!

Some equations for your reference:

Eulers equation: = + , here j is the square root of -1

Complex polar algebra solution to:

Case 4: A and B are unknown, then we can use the following equations to solve for A and B.

Prob. 1 Calculate degree of freedom. Retake

Point out the total numbers of links, J1 and J2. Mark the links, J1 and J2 on the figure and
calculate the degree of freedom. (5 points for each, total 10 points)

Prob. 2 Retake

Known: RAO = 1, RBA = 2.5, RCB = 7. When 3 (the angle corresponding to RCB) is -30o
(negative 30 degree), calculate 2 (the angle corresponding to RBA) and Rc. Use
complex polar method (if you use other method, you will get 5 points at most)
(you will need to use Eulers equation in page 1, i.e. write vector as ).

Prob. 3 Retake

Known: Dimension: O2O4 = 1.25, O2B = 0.4, BC = 0.9, CO4 = 0.6.

Calculate 2 and 3 when 4 is equal to 120o using the Complex polar algebra
method, i.e., you have to use the equations on the first page of the exam.
Hint: Use O2 as the origin point, connect O2 with C, write two loop-closure
equations for the two triangles.