- 106 -

Problem 2.21
Link 2 of the linkage shown in the figure has an angular velocity of 10 rad/s CCW. Find the
angular velocity of link 6 and the velocities of points B, C, and D.
A
D
C
B
2
4
6
5

2
E
F
3
X
Y
0.3"
AE = 0.7"
AB = 2.5"
AC = 1.0"
BC = 2.0"
EF = 2.0"
CD = 1.0"
DF = 1.5"
2
= 135
2
Position Analysis
Locate points E and F and the slider line for B. Draw link 2 and locate A. Then locate B. Next
locate C and then D.
Velocity Analysis:
v v v
A A A E 3 2 2 2
= =
/
v v v v
B B A B A 4 3 3 3 3
= = +
/
(1)
Find v
C3
by image.
v v
C C 5 3
=
v v v v v
D D D F C D C 5 6 6 6 5 5 5
= = = +
/ /
(2)
Now,
v
B3
in horizontal direction
v r v r r
A E A E A E A E A E 2 2 2 2 2 2
10 0 7 7
/ / / / /
. ( ) = = = = in / s to
v r v r r
B A B A B A B A B A 3 3 3 3 3 3 / / / / /
( ) = = to
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
- 107 -
E
A
B
C
D
F
2
3
4
6
Slider Line
Velocity Polygon
2.5 in/s
a
3
o
f
6 b
3
c
3
c5
d5
v
B3
3 29 = . in / s
Using velocity image,
v v
C C 5 3
6 78 = = . in/ s
Now,
v r v r r
D F D F D F D F D F
to
6 6 6 6 6 6 / / / / /
( ) = =
v r v r r
D C D C D C D C D C
to
5 5 5 5 5 5 / / / / /
( ) = =
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
v v v
D D D F 5 6 6 6
6 78 = = =
/
. in / s
or

6
6 6
6 6
6 78
1 5
4 52 = = =
v
r
D F
D F
/
/
.
.
. rad / s CCW
- 108 -
Problem 2.22
The linkage shown is used to raise the fabric roof on convertible automobiles. The dimensions at
given as shown. Link 2 is driven by a DC motor through a gear reduction. If the angular velocity,

2
= 2 rad/s, CCW, determine the linear velocity of point J, which is the point where the linkage
connects to the automobile near the windshield.
AB = 3.5"
AC = 15.37"
BD = 16"
CD = 3"
CE = 3.62"
EG = 13.94"
GF = 3.62"
HF = 3"
FC = 13.62"
HI = 3.12"
GI = 3.62"
HL = 0.75"
KC = 0.19"
JH = 17"
B
A
E
C
D
F
G
H
I
J
H
F
C
D
K
L
2
3
4
6
7
8
5
3
1
2

Detail of Link 3
110
Position Analysis:
Draw linkage to scale. Start with link 2 and locate points C and E. Then locate point D. Then
locate points F and H. Next locate point G. Then locate point I and finally locate J.
Velocity Analysis:
The equations required for the analysis are:
v v r v r
C C A C A C C A 2 2 2 2 2 2 2 2 2 2
2 15 37 30 74 = = = = =
/ / /
( . ) . in / s
v v
C C 3 2
=
v v v v v
D D D B C D C 3 4 4 4 3 3 3
= = = +
/ /
(1)
v v v v v v v
G G G F G F E G E 5 6 7 5 5 5 6 6 6
= = = + = +
/ /
v v
F F 5 3
=
v v
E E 6 2
=
So,
- 109 -
v v v v
F G F E G E 5 5 5 6 6 6
+ = +
/ /
(2)
v v v v v v
I I G I G H I H 7 8 7 7 7 8 8 8
= = + = +
/ /
v v
H H 8 3
=
So,
v v v v
G I G H I H 7 7 7 8 8 8
+ = +
/ /
(3)
c
3
d
3
f
3
h
3
e
2
g
6
i
8
j
8
A
B
C
D
E
G
F
H
I
J
2
4
3
6
5
7
8
10 in/s
Velocity Polygon
o
- 110 -
Now,
v r
C C A 3
30 74 = . ( )
/
in / s to
v r r
D C D C D C 3 3 3 / / /
( ) = to
v r r
D B D B D B 4 4 4 / / /
( ) = to
Solve Eq. (1) graphically with a velocity polygon. The velocity directions can be gotten directly
from the polygon. The magnitudes are given by:
v
D4
30 9 = . in / s
Using velocity image of link 3, find the velocity of points F and H and of link 2, find the velocity of
point E.
v
F5
30 5 = . in / s
v
H3
30 3 = . in / s
and
v
E6
3 80 = . in / s
Now,
v r r
G F G F G F 5 5 5 / / /
( ) = to
v r r
G E G E G E 6 6 6 / / /
( ) = to
Solve Eq. (2) graphically with a velocity polygon. The velocity directions can be gotten directly
from the polygon. The magnitudes are given by:
v
G6
37 8 = . in / s
Now,
v r r
I G I G I G 7 7 7 / / /
( ) = to
v r r
I H I H I H 8 8 8 / / /
( ) = to
Solve Eq. (3) graphically with a velocity polygon. Using velocity polygon of link 8
v
J8
73 6 = . in / s
- 111 -
Problem 2.23
In the mechanism shown, determine the sliding velocity of link 6 and the angular velocities of links
3 and 5.
2
4
5
6
B
C
D
E
F
= 3

2
rad
s
50
10.4"
2.0"
29.5"
A
AB = 12.5"
BC = 22.4"
DC = 27.9"
CE = 28.0"
DF = 21.5"
3
34
Position Analysis
First locate Points A and E. Next draw link 2 and locate B. Then locate point C by drawing a circle
centered at B and 22.4 inches in radius, and finding the intersection with a circle centered at E and
of 28 inches in radius. Find D by drawing a line 27.9 inches long at an angle of 34 relative to line
BC. Locate the slider line 2 inches above point E. Draw a circle centered at D and 21.5 inches in
radius and find the intersections of the circle with the slider line. Choose the proper intersection
corresponding to the position in the sketch.
Velocity Analysis
Compute the velocity of the points in the same order that they were drawn. The equations for the
four bar linkage are:
v v r
B B A B A 2 2 2 2
= =
/ /

v v
B B 3 2
=
v v v
C B C B 3 3 3 3
= +
/
- 112 -
A
B
C
D
10 in/sec
Velocity Polygon
o
E
c
3
F
b
3
d
3
f
3
Also,
v v v v v
C C E C E C E 3 4 4 4 4 4 4
= = + =
/ /
where,
v r B B A
in
2
2 3 12 5 37 5 = = =
/
. . / sec
v r
C B C B
to CB
3 3 3 / /
( ) =
v r
C E C E
to CE
4 4 4 / /
( ) =
The velocity of C
3
(and C
4
) can then be found using the velocity polygon. After the velocity of C
3
is found, find the velocity of D
3
by image. Then,
- 113 -
v v
D D 5 3
=
v v v
F D F D 5 5 5 5
= +
/
and
v v
F F 5 6
=
where
v r v r F D F D C F D
to FD
5 5 5 5 5 / / /
( ) = =
and v
F6
is along the slide direction.. Then the velocity of F
5
(and F
6
) can be found using the
velocity polygon. From the polygon,
v
F6
= 43.33 in/sec
v
C B
in
3 3
26 6
/
. / sec =
v
F D
in
5 5
18 54
/
. / sec =

3
3 3 26 6
22 4
1 187 = = =
v
r
C B
C B
rad
/
/
.
.
. / sec

5
5 5 18 54
21 5
0 862 = = =
v
r
F D
F D
rad
/
/
.
.
. / sec
To determine the direction for
3
, determine the direction that r
C B /
must be rotated to be in the
direction of v
C B 3 3 /
. From the polygon, this direction is CCW.
To determine the direction for
5
, determine the direction that r
F D /
must be rotated to be in the
direction of v
F D 5 5 /
. From the polygon, this direction is CW.
- 114 -
Problem 2.24
In the mechanism shown, v
A2
= 15 m/s. Draw the velocity polygon, and determine the velocity of
point D on link 6 and the angular velocity of link 5.

1
v
A2
=
15 m/s
2
3
4
5
A
C
B
D
45
2.05"
AC = 2.4"
BD = 3.7"
BC = 1.2"
X
Y
2.4"
6
Velocity Analysis:
v v
A A 3 2
=
v v v v
C C A C A 4 3 3 3 3
= = +
/
(1)
v v
B B 3 5
=
v v v v
D D B D B 5 6 5 5 5
= = +
/
(2)
Now,
v
A
m
3
15 = / sec in vertical direction
v
C3
in horizontal direction
v r v r r
C A C A C A C A C A
to
3 3 3 3 3 3 3 3 3 3 3 3 / / / / /
( ) = =
Solve Eq. (1) graphically with a velocity polygon. From the polygon, using velocity image,
v v
B B
m
3 5
14 44 = = . / sec
Now,
- 115 -
3
4
5
C
B
D
2
A
6
a
3
c
3 o
10 m/sec
Velocity Polygon
b
3
b
5
b
d
5
v
D5
along the inclined path
v r v r r
D B D B D B D B D B
to
5 5 5 5 5 5 5 5 5 5 5 5 / / / / /
( ) = =
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
v
D
m
6
12 31 = . / sec
Also,
v
D B
m
5 5
16 61
/
. / sec =
or

5
5 5 16 605
3 7
4 488 = = =
v
r
D B
D B
rad CCW
/
/
.
.
. / sec
- 116 -
Problem 2.25
In the mechanism shown below, points E and B have the same vertical coordinate. Find the
velocities of points B, C, and D of the double-slider mechanism shown in the figure if Crank 2
rotates at 42 rad/s CCW.
A
D
C
2
6
5
B
4
3
3
E

2
0.75"
60
EA = 0.55"
AB = 2.5"
AC = 1.0"
CB = 1.75"
CD = 2.05"
Position Analysis
Locate point E and draw the slider line for B. Also draw the slider line for D relative to E. Draw
link 2 and locate A. Then locate B. Next locate C and then D.
Velocity Analysis:
v v v
A A A E 3 2 2 2
= =
/
v v v v
B B A B A 4 3 3 3 3
= = +
/
(1)
v v
C C 5 3
=
v v v v
D D C D C 5 6 5 5 5
= = +
/
(2)
Now,
v
B3
in horizontal direction
- 117 -
A
D
C
2
6
5
B
4
3
3
E
10 in/sec
Velocity Polygon
b
3
a
3
c
3
d
5
o
v r v r r
A E A E A E A E A E
in to
2 2 2 2 2 2 2 2
42 0 55 23 1
/ / / / /
. . / sec ( ) = = = =
v r v r r
B A B A B A B A B A
to
3 3 3 3 3 3 3 3 / / / / /
( ) = =
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
v
B
in
4
17 76 = . / sec
Using velocity image,
v
C
in
3
18 615 = . / sec
Now,
v
D5
in vertical direction
v r v r r
D C D C D C D C D C
to
5 5 5 5 5 5 5 5 / / / / /
( ) = =
- 118 -
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
v
D
in
5
5 63 = . / sec
Problem 2.26
Given v
A
4
= 1.0 ft/s to the left, find v
B
6
.
A
B
C
D
2
4
5
E
6
3
X
Y
157.5
DE = 1.9"
CD = 1.45"
BC = 1.1"
AD = 3.5"
AC = 2.3"
1.0"
0.5"
Position Analysis
Draw the linkage to scale. Start by locating the relative positions of A, B and E. Next locate C and
D.
Velocity Analysis:
v v
A A 4 3
=
v v v v
C C A C A 5 3 3 3 3
= = +
/
(1)
v v
D D 3 2
=
v v v
D E D E 2 2 2 2
= +
/
(2)
- 119 -
v v v
B C B C 5 5 5 5
= +
/
Now,
v
A
ft
4
1 0 = . / sec in horizontal direction
v r v r r
C A C A C A C A C A
to
3 3 3 3 3 3 / / / / /
( ) = =
v r v r r
D E D E D E D E D E
to
2 2 2 2 2 2 / / / / /
( ) = =
Solve Eq. (1) graphically with a velocity polygon.
From the polygon, using velocity image,
v
C A
ft
3 3
1 28
/
. / sec =
and,

3
3 3 1 28
2 3
0 56 = = =
v
r
C A
C A
/
/
.
.
. rad / s
To determine the direction of
3
, determine the direction that r
C A /
must be rotated to be parallel to
v
C A 3 3 /
. This direction is clearly clockwise.
Now,
v
B6
is horizontal direction
v r v r r
B C B C B C B C B C
to
5 5 5 5 5 5 / / / / /
( ) = =
- 120 -
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
v
B
ft
6
1 23 = . / sec
Problem 2.27
If v
A
2
= 10 cm/s as shown, find v
C
5
.
Position Analysis
Draw the linkage to scale. Start by locating the relative positions of D, F and G. Next locate A and
B. Then locate E and C.
Velocity Analysis:
v v
A A 3 2
=
v v v
B A B A 3 3 3 3
= +
/
(1)
v v
B B 4 3
=
v v v v
B F B F B F 4 4 4 4 4 4
0 = + = +
/ /
(2)
v v
E E 5 4
=
v v v
G E G E 5 5 5 5
= +
/
- 121 -
v v
G G 6 5
=
Now,
v
A
cm
2
10 = / sec

( )
/
to
A C
r
v r v r r
B A B A B A B A B A
to
3 3 3 3 3 3 / / / / /
( ) = =
v r v r r
B F B F B F B F B F
to
4 4 4 4 4 4 / / / / /
( ) = =
From the polygon,
v
B
cm
4
6 6 = . / sec
Using velocity image,
v
E
cm
4
3 12 = . / sec
Now,
v
G6
is horizontal direction
v r v r r
G E G E G E G E G E
to
5 5 5 5 5 5 / / / / /
( ) = =
For the velocity image
draw a line to
C E
r
/ at e
draw a line to
C E
r
/ at g
and find the point c
From the velocity polygon
v
B
cm
6
3 65 = . / sec
- 122 -
Problem 2.28
If v
A
2
= 10 in/s as shown, find the angular velocity of link 6.
2
3
4
5
6
A
v
2
A
27
AB = 1.0"
AD = 2.0"
AC = 0.95"
CE = 2.0"
EF = 1.25"
BF = 3.85"
B
C
D
E
F
Position Analysis
Draw the linkage to scale. Start by locating the relative positions of B, D and F. Next locate A and
C. Then locate E.
Velocity Analysis:
v v
A A 3 2
=
v v v
D A D A 3 3 3 3
= +
/
(1)
v v
D D 4 3
=
v v
C C 5 3
=
v v v
E C E C 5 5 5 5
= +
/
(2)
v v
E E 6 5
=
v v v v
E F E F E F 6 6 6 6 6 6
0 = + = +
/ /
Now,
v
A
in
2
10 = / sec
- 123 -
v r v r r
D A D A D A D A D A
to
3 3 3 3 3 3 / / / / /
( ) = =
From the polygon,
v
D A
in
3 3
9 1
/
. / sec =
Using velocity image,
r r v v
D A C A D A C A / / / /
: : =
3 3 3 3
v
C A
in
3 3
4 32
/
. / sec =
Now,
v r v r r
E C E C E C E C E C
to
5 5 5 5 5 5 / / / / /
( ) = =
v r v r r
E F E F E F E F E F
to
6 6 6 6 6 6 / / / / /
( ) = =
from the velocity polygon
v
E
in
6
2 75 = . / sec
and

6
6 6 2 75
2
1 375 = = =
v
r
E F
E F
/
/
.
. rad / s
To determine the direction of
6
, determine the direction that r
E F /
must be rotated to be parallel to
v
E F 6 6 /
. This direction is clearly counterclockwise.
- 124 -
Problem 2.29
The angular velocity of link 2 of the mechanism shown is 20 rad/s, and the angular acceleration is
100 rad/s
2
at the instant being considered. Determine the linear velocity and acceleration of point
F
6
.
D
2
3
4
5
6
C
B
E
F

2

2
,
A
115
2"
0.1"
2.44"
EF = 2.5"
CD = 0.95"
AB = 0.5"
BC = 2.0"
CE = 2.4"
BE = 1.8"
Position Analysis
Draw the linkage to scale. Start by locating the relative positions of A and D. Next locate B and
then C. Then locate E and finally F.
Velocity Analysis:
The required equations for the velocity analysis are:
v v v
B B B A 3 2 2 2
= =
/
v v v v v
C C C D B C B 3 4 4 4 3 3 3
= = = +
/ /
(1)
v v
E E 5 3
=
v v v v
F F E F E 5 6 5 5 5
= = +
/
(2)
Now,
v r v r r
B A B A B A B A B A 2 2 2 2 2 2 2 2 2 2 2 2
20 0 5 10
/ / / / /
. ( ) = = = = in / s to
v r v r r
C D C D C D C D C D 4 4 4 4 4 4 4 4 4 4 4 4 / / / / /
( ) = = to
v r v r r
C B C B C B C B C B 3 3 3 3 3 3 3 3 3 3 3 3 / / / / /
( ) = = to
Solve Eq. (1) graphically with a velocity polygon. From the polygon and using velocity image,
- 125 -
v
C B 3 3
6 59
/
. = in / s
or

3
3 3
3 3
6 59
2
3 29 = = =
v
r
C B
C B
/
/
.
. rad / s CCW
Also,
v
C D 4 4
8 19
/
. = in / s
or

4
4 4
4 4
8 19
0 95
8 62 = = =
v
r
C D
C D
/
/
.
.
. rad / s CW
And,
v
E5
5 09 = . in / s
Now,
v
F5
in horizontal direction
v r v r r
F E F E F E F E F E 5 5 5 5 5 5 5 5 5 5 5 5 / / / / /
( ) = = to
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
v
F E 5 5
3 97
/
. = in / s
or

5
5 5
5 5
3 97
2 5
1 59 = = =
v
r
F E
F E
/
/
.
.
. rad/ s CCW
Also,
v
F6
3 79 = . in / s
Acceleration Analysis:
a a a
B B B A 3 2 2 2
= =
/
a a a a a
C C C D B C B 3 4 4 4 3 3 3
= = = +
/ /
a a a a a a
C D
r
C D
t
B A
r
B A
t
C B
r
C B
t
4 4 4 4 2 2 2 2 3 3 3 3 / / / / / /
+ = + + +
(3)
- 126 -
b
3
e
5
o
5 in/sec
Velocity Polygon
f
5
b'
3
c'
3
e'5
o'
50 in/s
Acceleration Polygon
2
f'
5
1
a
F
5
/E
5
t
1
a
F
5
1
a
E
5
D
2
3
4
5
C
B
E
F
A
1
a
F
5
/ E
5
r
1
a
C
3
/B
3
t
1
a
C
3
/B
3
r
1
a
C
4
/D
4
t
1
a
C
4
/D
4
r
1
a
B
2
/A
2
r
1
a
B
2
/A
2
t
c
3
a a
E E 5 3
=
a a a a
F F E F E 5 6 5 5 5
= = +
/
a a a a
F E
F E
r
F E
t
5 5
5 5 5 5
= + +
/ /
(4)
Now,
a r a r
B A
r
B A
B A
r
B A
2 2
2 2
2 2
2 2 2 2 2
2
2
20 0 5 200
/
/
/
/
. = ( ) = = = in / s
2
- 127 -
in the direction of - r
B A
2 2
/
a r a r r
B A
t
B A
B A
t
B A B A
2 2
2 2
2 2
2 2 2 2 2 2
100 0 5 50
/
/
/
/ /
. ( ) = = = = in / s to
2
a r a r
C B
r
C B
C B
r
C B
3 3
3 3
3 3
3 3 3 3 3
2
2
3 29 2 21 6
/
/
/
/
. . = ( ) = = = in / s
2
in the direction of - r
C B
3 3
/
a r a r r
C B
t
C B
C B
t
C B C B
3 3
3 3
3 3
3 3 3 3 3 3
/
/
/
/ /
( ) = = to
a r a r
C D
r
C D
C D
r
C D
4 4
4 4
4 4
4 4 4 4 4
2
2
8 62 0 95 70 6
/
/
/
/
. . . = ( ) = = = in / s
2
in the direction of - r
C D
4 4
/
a r a r r
C D
t
C D
C D
t
C D C D
4 4
4 4
4 4
4 4 4 4 4 4
/
/
/
/ /
( ) = = to
Solve Eq. (3) graphically with an acceleration polygon. From the polygon, using acceleration
image,
a
E5
252 0 = . in / s
2
Now,
a
F5
in horizontal direction
a r a r
F E
r
F E
F E
r
F E
5 5
5 5
5 5
5 5 5 5 5
2
2
1 59 2 5 6 32
/
/
/
/
. . . = ( ) = = = in / s
2
in the direction of - r
F E
5 5
/
a r a r r
F E
t
F E
F E
t
F E F E
5 5
5 5
5 5
5 5 5 5 5 5
/
/
/
/ /
( ) = = to
Solve Eq. (4) graphically with an acceleration polygon. From the polygon,
a
F6
152 7 = . in / s
2
- 128 -
Problem 2.30
In the drag-link mechanism shown, link 2 is turning CW at the rate of 130 rpm. Construct the
velocity and acceleration polygons and compute the following: a
E5
, a
F6
, and the angular acceleration
of link 5.
AB = 1.8'
BC = 3.75'
CD = 3.75'
AD = 4.5'
AE = 4.35'
DE = 6.0'
EF = 11.1'
60
A
C
B
D
E
F
3
2
4
5
6
Velocity Analysis:

2
130 130
2
60
13 614 = = = rpm rad / s .
v v v
C C C B 3 2 2 2
= =
/
v v v v v
D D D A C D C 3 4 4 4 3 3 3
= = = +
/ /
(1)
v v
E E 5 4
=
v v v v
F F E F E 5 6 5 5 5
= = +
/
(2)
Now,
v r v r r
C B C B C B C B C B 2 2 2 2 2 2
13 614 3 75 51 053
/ / / / /
. . . ( ) = = = = ft / s to
v r v r r
D C D C D C D C D C 3 3 3 3 3 3 / / / / /
( ) = = to
v r v r r
D A D A D A D A D A 4 4 4 4 4 4 / / / / /
( ) = = to
Solve Eq. (1) graphically with a velocity polygon. From the polygon, using velocity image,
v
D C 3 3
41 3
/
. = ft / s
or
- 129 -
20 ft/s
Velocity Scale
c3
d
3
o
e
4
f
5
1
a
C
2
/ B
2
r
1
a
D
3
/C
3
r
1
a D
3
/C
3
t
1
a
D
4
/A
4
r
1
a
D
4
/A
4
t
d
3
'
c
3
'
o'
200 ft/s
Acceleration Scale
2
a
4
'
60
A
C
B
D
E
F
3
2
4
5
6
e
4
'
f
5
'
1
a
F
5
/E
5
t
1
a
F
5
/E
5
r
- 130 -

3
3 3
3 3
41 3
3 75
11 0 = = =
v
r
D C
D C
/
/
.
.
. rad / s CW
Also,
v
D A 4 4
37 19
/
. = ft / s
or

4
4 4
4 4
37 19
4 5
8 264 = = =
v
r
D A
D A
CW
/
/
.
.
. rad / s
And,
v
E5
35 95 = . ft / s
Now,
v
F5
in horizontal direction
v r v r r
F E F E F E F E F E 5 5 5 5 5 5 5 5 / / / / /
( ) = = to
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
v
F E 5 5
12 21
/
. = ft / s
or

5
5 5
5 5
12 21
11 1
1 1 = = =
v
r
F E
F E
/
/
.
.
. rad / s CCW
Acceleration Analysis:
a a a
C C C B 3 2 2 2
= =
/
a a a a a a
D A
r
D A
t
C B
r
C B
t
D C
r
D C
t
4 4 4 4 2 2 2 2 3 3 3 3 / / / / / /
+ = + + +
(3)
a a
E E 5 4
=
a a a a
F F E F E 5 6 5 5 5
= = +
/
a a a a
F E
F E
r
F E
t
5 5
5 5 5 5
= + +
/ /
(4)
Now,
a r a r
C B
r
C B
C B
r
C B
2 2 2 2
2 2 2
2
2
13 614 3 75 695 0
/
/
/
/
. . . = ( ) = = = ft / s
2
in the direction of - r
C B /
- 131 -
a r a r
C B
t
C B
C B
t
C B
2 2 2 2
2 2
0 3 75 0
/
/
/
/
. = = = = ft / s
2
a r a r
D C
r
D C
D C
r
D C
3 3 3 3
3 3 3
2
2
11 0 3 75 453 8
/
/
/
/
. . . = ( ) = = = ft / s
2
in the direction of - r
D C /
a r a r r
D C
t
D C
D C
t
D C D C
3 3 3 3
3 3
/
/
/
/ /
( ) = = to
a r a r
D A
r
D A
D A
r
D A
4 4 4 4
4 4 4
2
2
8 264 4 5 307 3
/
/
/
/
. . . = ( ) = = = ft / s
2
in the direction of - r
D A /
a r a r r
D A
t
D A
D A
t
D A D A
4 4
4 4
4 4
4 4
/
/
/
/ /
( ) = = to
Solve Eq. (3) graphically with an acceleration polygon. From the polygon, using acceleration
image,
a
E5
308 0 = . ft / s
2
Now,
a
F5
is in the horizontal direction
a r a r
F E
r
F E
F E
r
F E
5 5 5 5
5 5 5
2
2
1 1 11 1 13 4
/
/
/
/
. . . = ( ) = = = ft / s
2
in the direction of - r
F E /
a r a r r
F E
t
F E
F E
t
F E F E
5 5
5 5
5 5
5 5 5 5 5 5
/
/
/
/ /
( ) = = to
Solve Eq. (4) graphically with an acceleration polygon. From the polygon,
a
F6
83 4 = . ft / s
2
Also,
a
F E
t
5 5
325 2
/
. = ft / s
2
or

5
5 5
5 5
325 2
11 1
29 3 = = =
a
r
F E
t
F E
/
/
.
.
. rad / s CCW
2
- 132 -
Problem 2.31
The figure shows the mechanism used in two-cylinder 60-degree V-engine consisting, in part, of an
articulated connecting rod. Crank 2 rotates at 2000 rpm CW. Find the velocities and acceleration
of points B, C, and D and the angular acceleration of links 3 and 5.
A
C
2
3
D
5
B
4
E
3
X
EA = 1.0"
AB = 3.0"
BC = 3.0"
AC = 1.0"
CD = 2.55"
30
o
30
o
Y
6
90
Position Analysis
Draw the linkage to scale. First locate the two slider lines relative to point E. Then draw link 2 and
locate point A. Next locate points B and C. Next locate point D.
Velocity Analysis:
Find angular velocity of link 2,

2
30
2000
30
209 44 =

=

=
n
. rad / s
v v v r
A A E A A E 2 2 2 3 2
= = =
/ /

v v v v
B B A B A 3 4 3 3 3
= = +
/
(1)
v v
C C 3 5
=
- 133 -
10000 in/s
Acceleration Polygon
2
E
C
A
B
D
2
4
5
6
3
100 in/s
Velocity Polygon
a
2
a
3
,
b
3 b
4
b
,
c
3
, c
5
d
5
d
6
,
o
o'
a2

b
3
b
4
b

,
1
a
A
2
/ E
2
r
1
a
B3 /A3
r
1
a
B
3
c
3

d
5
d
6
,
1
a
C
3
1
a
D
5
/C
5
r
1
a
D
5
/C
5
t
1
a
D
5
1
a
B3 /A3
t
- 134 -
v v v v
D D C D C 5 6 5 5 5
= = +
/
(2)
Now,
v r r
A A E A E 2 2
209 44 1 209 44 = = =
/ /
. . ( ) in / s to
v
B3
in the direction of r
B E /
v r v r r
B A B A B A B A B A 3 3 3 3 3 3 / / / / /
( ) = = to
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
v v
B B 3 4
212 7 = = . in / s
Also,
v
B A 3 3
109 3
/
. = in / s
or

3
3 3 109 3
3
36 43 = = =
v
r
B A
B A
/
/
.
. rad / s
To determine the direction of
3
, determine the direction that r
B A /
must be rotated to be parallel to
v
B A 3 3 /
. This direction is clearly clockwise.
Also,
v v
C C 3 5
243 3 = = . in / s
Now,
v v
D D 5 6
= in the direction of r
D E /
v r v r r
D C D C D C D C D C
to
5 5 5 5 5 5 / / / / /
( ) = =
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
v v
D D
in
5 6
189 2 = = . / sec
Also,
v
D C 5 5
135
/
= in / s
or

5
5 5 135
2 55
52 9 = = =
v
r
D C
D C
/
/
.
. rad / s
- 135 -
To determine the direction of
5
, determine the direction that r
D C /
must be rotated to be parallel to
v
D C 5 5 /
. This direction is clearly clockwise.
Acceleration Analysis:
a a a a
A A
A E
r
A E
t
2 3
2 2 2 2
= = +
/ /
a a a a
B B A B A 3 4 3 3 3
= = +
/
a a a a a
B
A E
r
A E
t
B A
r
B A
t
3
2 2 2 2 3 3 3 3
= + + +
/ / / /
(3)
a a
C C 3 5
=
a a a a
D D C D C 5 6 5 5 5
= = +
/
a a a a a
D D C
D C
r
D C
t
5 6 5
5 5 5 5
= = + +
/ /
(4)
Now,
a
B3
in the direction of r
B E /
a r a r
A E
r
A E
A E
r
A E
2 2 2 2
2 2 2
2
2
209 44 1 43860
/
/
/
/
. = ( ) = = = in / s
2
in the direction of - r
A E /
a r a r
A E
t
A E
A E
t
A E
in
2 2 2 2
2 2
2
0 1 0
/
/
/
/
/ sec = = = =
a r a r
B A
r
B A
B A
r
B A
3 3 3 3
3 3 3
2
2
36 43 3 3981
/
/
/
/
. = ( ) = = = in / s
2
in the direction of - r
B A /
a r a r r
B A
t
B A
B A
t
B A B A
3 3 3 3
3 3
/
/
/
/ /
( ) = = to
Solve Eq. (3) graphically with an acceleration polygon. From the polygon,
a
B3
14710 = in / s
2
Also,
a
B A
t
3 3
38460
/
= in / s
2
or

3
3 3 38460
3
12820 = = =
a
r
B A
t
B A
/
/
rad / s
2
- 136 -
To determine the direction of
3
, determine the direction that r
B A /
must be rotated to be parallel to
a
B A
t
3 3 /
. This direction is clearly counterclockwise.
Also,
a a
C C
in s
3 5
39 300
2
= = , /
Now,
a
D5
in the direction of - r
D E /
a r a r
D C
r
D C
D C
r
D C
5 5 5 5
5 5 5
2
2
52 9 2 55 7136
/
/
/
/
. . = ( ) = = = in / s
2
in the direction of - r
D C /
a r a r r
D C
t
D C
D C
t
D C D C
5 5 5 5
5 5
/
/
/
/ /
( ) = = to
Solve Eq. (4) graphically with an acceleration polygon. From the polygon,
a a
D D 5 6
24 000 = = , in / s
2
Also,
a
D C
t
5 5
26 300
/
, = in / s
2
or

5
5 5 26300
2 55
10 300 = = =
a
r
D C
t
D C
/
/
.
, rad / s
2
To determine the direction of
5
, determine the direction that r
D C /
must be rotated to be parallel to
a
D C
t
5 5 /
. This direction is clearly clockwise.
Problem 2.32
In the mechanism shown,
2
= 4 rad/s CCW (constant). Write the appropriate vector equations,
solve them using vector polygons, and
a) Determine v
E
3
, v
E
4
, and
3
.
b) Determine a
E
3
, a
E4
, and
3
.
Also find the point in link 3 that has zero acceleration for the position given.
- 137 -
Position Analysis
Locate pivots A and D. Draw link 2 and locate B. Then locate point C. Finally locate point E.
Velocity Analysis
For the velocity analysis, the basic equation is:
v v v
B B B A 2 3 2 2
= =
/
v v v v v
C B C B C C D 3 3 3 3 4 4 4
= + = =
/ /
Then,
v v v
C D C B B A 4 4 3 3 2 2 / / /
= +
and the vectors are:
v v
B A B A B A B A B A
r r r
2 2 2 2 2 2
4 0 5 2
/ / / / /
. ( ) = = = = m/ s to
v
C B C B C B
r r
3 3 3 / / /
( ) = to
v
C D C D C D
r r
4 4 4 / / /
( ) = to
The basic equation is used as a guide and the vectors are added accordingly. Each side of the
equation starts from the velocity pole. The directions are gotten from a scaled drawing of the
mechanism.
The graphical solution gives:
v
C B
s
3 3
2 400 46 6
/
. . = m/
v
C D 4 4
0 650 1
/
. = m/ s
v
E3
2 522 93 9 = . . / m s (by image)
- 138 -
Now,

3
3 3 2 400
0 8
3 0 = = =
v
C B
C B
r
/
/
.
.
. rad / s

4
4 4 0 65
0 8
0 81 = = =
v
C D
C D
r
/
/
.
.
. rad / s
To determine the direction of
3
, determine the direction that r
C B /
must be rotated to be parallel to
v
C B 3 3 / . This direction is clearly clockwise.
To determine the direction of
4
, determine the direction that r
C D /
must be rotated to be parallel to
v
C D 4 4 / . This direction is clearly clockwise.
Find the velocity of E
3
and E
4
by image. The directions are given on the polygon. The magnitudes
are given by,
v
E3
2 522 = . m/ s
v
E4
0 797 = . m/ s
Acceleration Analysis
The graphical acceleration analysis follows the same points as in the velocity analysis. Start at link
2.
a a a
a r
a r a r
B A
B A
t
B A
r
B A
t
B A
B A
r
B A
B A
r
B A
ce
2 2
2 2 2 2
2 2
2 2 2 2
2 2
2 2 2
2
0 0
/
/ /
/
/
/
/
/
/
sin
= +
= = =
= ( ) =


or
a
B A
r
2 2
4 0 0 5 8 0
2
/
( . ) ( . ) . = = m/ s fromBto A
2
- 139 -
1 m/s
Velocity Scale
C
B
D
2
3
4
E
b
o
o'
1a
B
2
/ A
2
r
1
a
C
3
/ B
3
t
c
3
3
e
3
e
4
4 m/s
Acceleration
Scale
d'
4

1a
E
4
2
A
e'
3
e'
4
c'
3
1
a
C
3
/ B
3
r

1
a
E
3
b'
3

1
a
C
4
/D
4
r
1
a
C
4
/D
4
t

1
a
C
3
- 140 -
Now go to Point C and follow the same path as was used with velocities.
a a a r v
C D
C D
t
C D
r
C D C D 4 4
4 4 4 4
4 4 4 4 /
/ /
/ /
= + = +
Also
a a a a a a
r v a
C D C B B A
C B
t
C B
r
B A
C B C B B A
4 4 3 3 2 2
3 3 3 3
2 2
3 3 2 2 3 3
/ / /
/ /
/
/ / /
= + = + +
= + +
Therefore,
a a a a a
C D
t
C D
r
C B
t
C B
r
B A
4 4 4 4 3 3 3 3
2 2
/ / / /
/
+ = + +
and
a v
C D
r
C D
4 4
4 4 4
0 812 0 650 0 528
/
/
( . )( . ) . = = = [ ] fromC to D
a r r
C D
t
C D C D
4 4
4
/
/ /
? = =
a v
C B
r
C B
3 3
3 3 3
3 0 2 4 7 2
/
/
( . )( . ) . = = = [ ] fromC to B
a r r
C B
t
C B C B
3 3
3
/
/ /
? = =
These values permit us to solve for the unknown vectors. We can then find e by acceleration
image. From the acceleration polygon,
a
C B
t
3 3
16 13
/
. = m/ s
2
Then,

3
3 3 16 13
0 8
20 16 = = =
a
r
C B
t
C B
/
/
.
.
. rad / s
2
To determine the direction of
3
, determine the direction that r
C B /
must be rotated to be parallel to
a
C B
t
3 3 /
. This direction is clearly counterclockwise.
and
a
E3
15 84 = . m/ s
2
a
E4
32 19 = . m/ s
2
- 141 -
Problem 2.33
In the mechanism shown, point A lies on the X axis. Draw the basic velocity and acceleration
polygons and use the image technique to determine the velocity and acceleration of point D
4
. Then
determine the velocity and acceleration images of link 4. Draw the images on the velocity and
acceleration polygons.
A
B
D
E
F (-1.0", -0.75")
2
3
4
5
6
v = 10 in/s
A
2
(constant)
C
X
Y
FE = 1.35"
ED = 1.5"
BD = CD = 1.0"
AB = 3.0"
84
90
Square
Position Analysis:
Plot the linkage to scale. Start by drawing point D and the rest of link 4. Next draw link B and
finally draw link 3. Links 5 and 6 do not need to be drawn because they do not affect the
information that is requested.
Velocity Analysis:
v v
A A 3 2
=
v v
B B 3 4
=
v v v v v
B A B A B B C 3 3 3 3 4 4 4
= + = =
/ /
(1)
Now,
v
A2
10 = in / s in the horizontal direction
v v r v r r
B B B C B B C B C 3 4 4 4 4 4 4
= = =
/ / /
( ) to
v r v r r
B A B A B A B A B A 3 3 3 3 3 3 3 3 / / / / /
( ) = = to
- 142 -
30 in/s
Acceleration Scale
2
A
B
C
D
5 in/s
Velocity Scale
a
3 o
b
3
c
4
b
4
d
4
1
a
B
3
/A
3
r
1
a
B
4
/ C
4
r
b
3
'
o'
a'
2
a'
3
c'
4
1
a
B
3
/A
3
t
1
a
B
4
/C
4
t
b
4
'
d
4
'
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
v
B A 3 3
6 64
/
. = in / s
or
- 143 -

3
3 3 6 64
3
2 21 = = =
v
r
B A
B A
/
/
.
. rad / s
To determine the direction of
3
, determine the direction that r
B A /
must be rotated to be parallel to
v
B A 3 3 /
. This direction is clearly counterclockwise.
Also,
v
B4
9 70 = . in / s
and

4
4 4 9 70
1 414
6 86 = = =
v
r
B C
B C
/
/
.
.
. rad / s
To determine the direction of
4
, determine the direction that r
B C /
must be rotated to be parallel to
v
B C 4 4 /
. This direction is clearly clockwise.
Also,
v r
D D C 4
6 77 = . ( )
/
in / s to
Draw the image of link 4 on the velocity polygon. The image is a square.
Acceleration Analysis:
a a
A A 2 3
=
a a a a a
B B A B A B C 3 4 3 3 3 4 4
= = + =
/ /
a a a a a
B C
r
B C
t
A
B A
r
B A
t
4 4 4 4
3
3 3 3 3 / / / /
+ = + +
(3)
Now,
a
A3
0 =
a r a r
B C
r
B C
B C
r
B C
4 4 4 4
4 4 4
2
2
6 86 1 414 66 54
/
/
/
/
. . . = ( ) = = = in / s
2
in the direction of - r
B C /
a r a r r
B C
t
B C
B C
t
B C B C
4 4 4 4
4 4
/
/
/
/ /
( ) = = to
a r a r
B A
r
B A
B A
r
B A
3 3 3 3
3 3 3
2
2
2 21 3 14 6
/
/
/
/
. . = ( ) = = = in / s
2
in the direction of - r
B A /
a r a r r
B A
t
B A
B A
t
B A B A
3 3
3 3
3 3
3 3
/
/
/
/ /
( ) = = to
- 144 -
Solve Eq. (3) graphically with a acceleration polygon. From the polygon,
a
D4
54 0 = . in / s
2
The image of link 4 is a square as shown on the acceleration polygon.
Problem 2.34
In the mechanism shown below, the velocity of A
2
is 10 in/s to the right and is constant. Draw the
velocity and acceleration polygons for the mechanism, and record values for angular velocity and
acceleration of link 6. Use the image technique to determine the velocity of points D
3
, and E
3
, and
locate the point in link 3 that has zero velocity.
A
C
B
D
E
F
2
3
4
5
6
v = 10 in/s
A2
(constant)
CF = 1.95"
FE = 1.45"
ED = 1.5"
CD = 1.0"
BC = 1.45"
BD = 1.05"
AB = 3.0"
103
Position Analysis:
Locate points C and F and the line of action of A. Draw link 6 and locate pont E. Then locate point
D. Next locate point B and finally locate point A.
Velocity Analysis:
The equations required for the velocity analysis are:
v v
A A 3 2
=
v v
B B 3 4
=
v v v
B A B A 3 3 3 3
= +
/
(1)
v v
D D 5 4
=
v v v v
E E D E D 5 6 5 5 5
= = +
/
(2)
Now,
v
A2
10 = in / s in the horizontal direction
- 145 -
v v r v r r
B B B C B B C B C 3 4 4 4 4
= = =
/ / /
( ) to
v r v r r
B A B A B A B A B A 3 3 3 3 3 3 / / / / /
( ) = = to
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
v
B A 3 3
5 97
/
. = in / s

3
3 3 5 97
3
1 99 = = =
v
r
B A
B A
/
/
.
. rad / s
Also,
v
B
in s
4
9 42 = . /
or

4
4 4
4 4
9 42
1 45
6 50 = = =
v
r
B C
B C
/
/
.
.
. rad / s CW
Now,
v r
D D C
in s to
4
6 50 = . / ( )
/
v r v r r
E D E D E D E D E D 5 5 5 5 5 5 / / / / /
( ) = = to
v v v r v r r
E E E F E F E F E F E F 5 6 6 6 6 6 6 6
= = = =
/ / / / /
( ) to
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
v
E6
5 76 = . in / s
or

6
6 6 5 76
1 45
3 97 = = =
v
r
E F
E F
/
/
.
.
. rad / s
Acceleration Analysis:
a a
A A 2 3
=
a a a a
B B A B A 3 4 3 3 3
= = +
/
a a a a
B C
r
B C
t
B A
r
B A
t
4 4 4 4 3 3 3 3 / / / /
+ = +
(3)
a a
D D 5 4
=
a a a a a
E E E F D E D 5 6 6 6 5 5 5
= = = +
/ /
- 146 -
a a a a a
E F
r
E F
t
D
E D
r
E D
t
6 6 6 6
5
5 5 5 5 / / / /
+ = + +
(4)
Now,
A
C
B
D
E
F
2
3
4
6
o'
25 in/s
Acceleration Polygon
2
1
a
B
3
/A
3
r
1
a
B
3
/A
3
t
1
a
B
4
/C
4
r
b
3

b
4
b

,
d
4
'
1
a
E
5
/ D
5
r
1
a
E
5
/D
5
t
1
a
E
6
/F
6
r
e
5
'
1
a
B
4
/ C
4
t
1
a
E
6
/F
6
t
O
2.5 in/s
Velocity Polygon
a
2
a
3
,
b
3
b
4
b ,
d
4
d
5
,
e
5
3
o
d
3
e
3
5
D
or
a r a r
B C
r
B C
B C
r
B C
4 4 4 4
4 4 4
2
2
6 50 1 45 61 3
/
/
/
/
. . . = ( ) = = = in / s
2
in the direction of - r
B C /
a r a r r
B C
t
B C
B C
t
B C B C
4 4 4 4
4 4
/
/
/
/ /
( ) = = to
- 147 -
a r a r
B A
r
B A
B A
r
B A
3 3 3 3
3 3 3
2
2
1 99 3 11 9
/
/
/
/
. . = ( ) = = = in / s
2
in the direction of - r
B A /
a r a r r
B A
t
B A
B A
t
B A B A
3 3 3 3
3 3
/
/
/
/ /
( ) = = to
Solve Eq. (3) graphically with an acceleration polygon. From the polygon,
a
B A
t
3 3
65 3
/
. = in / s
2
or

3
2
3 3 65 3
3
21 8 = = =
a
r
B A
t
B A
rad s CW
/
/
.
. /
And,
a
D3
86 6 = . in / s
2
Also,
a r a r
E D
r
E D
E D
r
E D
5 5 5 5
5 5 5
2
2
1 73 1 5 4 49
/
/
/
/
. . . = ( ) = = = in / s
2
in the direction of - r
E D /
a r a r r
E D
t
E D
E D
t
E D E D
5 5 5 5
5 5
/
/
/
/ /
( ) = = to
a r a r
E F
r
E F
E F
r
E F
6 6 6 6
6 6 6
2
2
5 76 1 45 48 1
/
/
/
/
. . . = ( ) = = = in / s
2
in the direction of - r
E F /
a r a r r
E F
t
E F
E F
t
E F E F
6 6 6 6
6 6
/
/
/
/ /
( ) = = to
Now solve Eq. (4) using the acceleration polygon. Then,
a
E F
t
6 6
38 2
/
. = in / s
2
or

6
6 6 38 2
1 45
26 4 = = =
a
r
E F
t
E F
/
/
.
.
. rad / s CCW
2
Using the image concept, the velocities of points D
3
and E
3
are
v
D3
10 2 = . in / s
- 148 -
v
E3
12 7 = . in / s
The point in link 3 with zero velocity is shown on position diagram. The point is found by finding
the position image of oa b
3 3
.
Problem 2.35
The instant center of acceleration of a link can be defined as that point in the link that has zero
acceleration. If the accelerations of Points A and B are as given in the rigid body shown below, find
the Point C in that link at which the acceleration is zero.
B
A
A
a
a
B
70
5
145
A
a = 1500 in/s
2
= 1050 in/s
a
B
2
AB = 3.75"
Acceleration Analysis:
Draw the accelerations of points A and B on an acceleration polygon. Then o' will correspond to
the instant center of acceleration. Find the image of o' on the position diagram, and that will be the
location of C
- 149 -
500 in/s
Acceleration Scale
2
o'
a'
b'
c'
A
B
C
1 in
Problem 2.36
The following are given for the mechanism shown in the figure:

2 2
6 5 40 = = . rad/ s (CCW); rad/ s (CCW)
2
Draw the velocity polygon, and locate the velocity of Point E using the image technique.
A
C
B
D (2.2", 1.1")
2
3
4
E
55
X
Y
AB = DE = 1.0 in
BC = 2.0 in
CD = 1.5 in
Position Analysis
Locate the two pivots A and D. Draw link 2 and locate pivot B. Then find point C and finally
locate E.
- 150 -
Velocity Analysis:
v v v
B B B A 3 2 2 2
= =
/
v v v v v
C C C D B C B 3 4 4 4 3 3 3
= = = +
/ /
(1)
Now,
v r v r r
B A B A B A B A B A
in to
2 2 2 2 2 2 2 2 2 2 2 2
6 5 1 6 5
/ / / / /
. . / sec ( ) = = = =
v r v r r
C D C D C D C D C D
to
4 4 4 4 4 4 4 4 / / / / /
( ) = =
v r v r r
C B C B C B C B C B
to
3 3 3 3 3 3 3 3 3 3 3 3 / / / / /
( ) = =
Solve Eq. (1) graphically with a velocity polygon. From the polygon, using velocity image,
v
E
in
4
5 4042 = . / sec
c
3
b
3
o
2 in/sec
Velocity Polygon
e
4
A
C
B
D
E
- 151 -
Problem 2.37
In the mechanism shown, find
6

and
3
. Also, determine the acceleration of D
3
by image.
A
C
B
D
E
F (-1.0", -0.75")
2
3
4
5
6
v = 10 in/s
A
2
(constant)
X
Y
81
CD = 1.0"
BD = 1.05"
BC = 1.45"
ED = 1.5"
FE = 1.4"
AB = 3.0"
Velocity Analysis:
v v
A A 3 2
=
v v
B B 3 4
=
v v v
B A B A 3 3 3 3
= +
/
(1)
v v
D D 5 4
=
v v v v
E E D E D 5 6 5 5 5
= = +
/
(2)
Now,
v
A
in
2
10 = / sec in the horizontal direction
v v r v r r
B B B C B B C B C
to
3 4 4 4 4 4 4 4 4 4 4
= = =
/ / /
( )
v r v r r
B A B A B A B A B A
to
3 3 3 3 3 3 3 3 3 3
3 3 / / / / /
( ) = =
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
v
B A
in
3 3
6 282
/
. / sec =
or

3
3 3
3 3
6 282
3
2 094 = = =
v
r
B A
B A
rad
/
/
.
. / sec
- 152 -
A
C
B
D
E
F
3
4
5
6
2
d
4
d
5
,
2.5 in/sec
Velocity Polygon
o
b
3
b
4
b
,
a
2
a
3
,
e
5
25 in/sec
Acceleration Polygon
2
o'
1
a
B
3
/A
3
r
1
a
B
3
/ A
3
t
1
a
B
4
/C
4
t
1
a
B
4
/C
4
r
b
3

b
4
b

,
d
3
'
Also,
v
B
in
4
9 551 = . / sec
or

4
4 4
4 4
9 551
1 45
6 587 = = =
v
r
B C
B C
rad CW
/
/
.
.
. / sec
Now,
v
D
in
4
6 587 = . / sec ( )
/
to
D C
r
4 4
- 153 -
v r v r r
E D E D E D E D E D
to
5 5 5 5 5 5 5 5 5 5 5 5 / / / / /
( ) = =
v v v r v r r
E E E F E F E F E F E F
to
5 6 6 6 6 6 6 6 6 6 6 6 6 6
= = = =
/ / / / /
( )
Solve Eq. (2) graphically with a velocity polygon. From the polygon,
v
E
in
6
6 132 = . / sec
or

6
6 6
6 6
6 132
1 45
4 229 = = =
v
r
E F
E F
rad CW
/
/
.
.
. / sec
Acceleration Analysis:
a a
A A 2 3
=
a a a a
B B A B A 3 4 3 3 3
= = +
/
a a a a
B C
r
B C
t
B A
r
B A
t
4 4 4 4 3 3 3 3 / / / /
+ = +
(3)
Now,
a r a r
B C
r
B C
B C
r
B C
in
4 4
4 4
4 4
4 4 4 4 4
2
2 2
6 587 1 45 62 913
/
/
/
/
. . . / sec = ( ) = = =
in the direction of
r
B C
4 4
/
a r a r
B C
t
B C
B C
t
B C
4 4
4 4
4 4
4 4 4 4
/
/
/
/
= =

( )
/
to
B C
r
4 4
a r a r
B A
r
B A
B A
r
B A
in
3 3
3 3
3 3
3 3 3
2
2 2
2 094 3 13 155
/
/
/
/
. . / sec = ( ) = = =
in the direction of r
B A /
a r a r r
B A
t
B A
B A
t
B A B A
to
3 3
3 3
3 3
3 3 3 3 3 3
/
/
/
/ /
( ) = =
Solve Eq. (3) graphically with a acceleration polygon. From the polygon,
a
B A
t
in
3 3
68 568
2
/
. / sec =
or

3
2
3 3
3 3
68 568
3
22 856 = = =
a
r
B A
t
B A
rad CW
/
/
.
. / sec
Also,
a
D
in
3
91 390
2
= . / sec
- 154 -
Problem 2.38
In the mechanism shown,
2
= 1 rad/s (CCW) and
2
= 0 rad/s
2
. Find
5
,
5
, v
E6
, a
E6
for the
position given. Also find the point in link 5 that has zero acceleration for the position given.
A
C
B
D
2
3
4
E
5
6
30
AD = 1 m
AB = 0.5 m
BC = 0.8 m
CD = 0.8 m
BE = 0.67 m
0.52 m
Velocity Analysis
v v v v
B B B B A 2 3 5 2 2
= = =
/
v v v v
E E B E B 5 6 5 5 5
= = +
/
(1)
Now,
v r v r r
B A B A B A B A B A
m to
2 2 2 2 2 2 2 2 2 2 2 2
1 0 5 0 5
/ / / / /
. . / sec ( ) = = = =
1
5
v
E
in the horizontal direction
v r v r r
E B E B E B E B E B
to
5 5 5 5 5 5 5 5 5 5 5 5 / / / / /
( ) = =
Solve Eq. (1) graphically with a velocity polygon. From the polygon,
v
E B
m
5 5
0 47313
/
. / sec =
or

5
5 5
5 5
0 47313
0 67
0 706 = = =
v
r
E B
E B
rad CCW
/
/
.
.
. / sec
Also,
- 155 -
A
C
B
D
2
3
4
E
5
6
o'
0.1 m/sec
Acceleration Polygon
2
1
a
E
5
1
a
B
2
/A
2
r
1
a
E
5
/B
5
r
1
a
E
5
/B
5
t
b
3
b
'
e
5
'
2.2
27.8
O'
0.1 m/sec
Velocity Polygon
b
5
o
e
5
v
E
m
6
0 441 = . / sec
Acceleration Analysis:
a a a a
B B B B A 2 3 5 2 2
= = =
/
a a a a
E E B E B 5 6 5 5 5
= = +
/
a a a a a
E
B A
r
B A
t
E B
r
E B
t
5
2 2 2 2 5 5 5 5
= + + +
/ / / /
(2)
Now,
- 156 -
a
E5
in horizontal direction
a r a r
B A
r
B A
B A
r
B A
m
2 2 2 2
2 2 2
2
2 2
1 0 5 0 5
/
/
/
/
. . / sec = ( ) = = =
in the direction opposite to r
B A /
a r a r
B A
t
B A
B A
t
B A
m
2 2 2 2
2 2
2
0 1 0
/
/
/
/
/ sec = = = =
a r a r
E B
r
E B
E B
r
E B
m
5 5 5 5
5 5 5
2
2 2
0 706 0 67 0 334
/
/
/
/
. . . / sec = ( ) = = =
in the direction opposite to r
E B /
a r a r r
E B
t
E B
E B
t
E B E B
to
5 5 5 5
5 5
/
/
/
/ /
( ) = =
Solve Eq. (2) graphically with an acceleration polygon. From the polygon,
a
E
m
6
0 042
2
= . / sec
Also,
a
E B
t
m
5 5
0 42
2
/
. / sec =
or

5
2
5 5
5 5
0 42
0 67
0 626 = = =
a
r
E B
t
E B
rad CW
/
/
.
.
. / sec
Using acceleration image, point O' is in the location in which the acceleration of link five is zero.
- 157 -
Problem 2.39
Part of an eight-link mechanism is shown in the figure. Links 7 and 8 are drawn to scale, and the
velocity and acceleration of point D
7
are given. Find
7

and
7
for the position given. Also find
the velocity of G
7
by image.
D
E
7
6
G
8
X
Y
1.25"
1.6"
DE = 1.5"
DG = 0.7"
GE = 1.65"
= 5.0 320 in/sec = 40 260
in/s
2 v
D7
a
D7
Velocity Analysis
Compute the velocity of Points E
7
and E
8
.
v v
v v v
E E
E D E D
7 8
7 7 7 7
=
= +
/
and because points on the same link are involved,
v v v r v
D E D D E D E 7 7 7 7 8 7
+ = + =
/ /

From the velocity polygon:

v
E
in
8
2 884 = . / sec
in the direction shown, and
v
E D
in
7 7
3 405
/
. / sec =
in the direction shown.

7
7 7 3 405
1 50
2 27 = = =
v
r
E D
E D
rad
/
/
.
.
. / sec
- 158 -
o'
D
E
7
7
d'
6
G
8
1
a
E7 / D7
r
1
a
E
7
/ D
7
t
e'
7
2 in/sec
Velocity Scale
2
20 in/sec
Acceleration Scale
7
d
7
e
8
, e
7
g
o
The direction can be found by rotating r
E D /
90 in the direction of
7
to get v
E D 7 7 /
. From the
polygon, the direction must be counter clockwise. Therefore,

7
2 27 = . / sec rad CCW
The velocity of G
7
is found by image. The magnitude of the velocity is:
v
G
in
7
6 016 = . / sec
in the direction shown.
Acceleration Analysis
Use the same points as were used in the velocity analysis.
a a a a a r a
D E D F D
E D
r
E D F 7 7 7 8 7
7 7
7 7 8 7
+ = = + + =
/
/
/

where
a
v
r
E D
r
E D
E D
in
7 7
7 7
2
2
2
3 405
1 50
7 729
/
/
/
.
.
. / sec = = =
- 159 -
in the direction opposite r
E D /
.
From the polygon,
a r
E D
t
E D
7 7
7 7 7
0
/
/
= =
Therefore,

7
2
7 7 42 59
1 50
28 40 = = =
a
r
E D
t
E D
rad
/
/
.
.
. / sec
The direction can be found by rotating r
E D /
90 in the direction of
7
to get a
E D
t
7 7 /
. From the
polygon, the direction must be counter clockwise. Therefore,
a
7
2
28 40 = . / sec rad CCW
Problem 2.40
In the mechanism shown below, link 2 is rotating CW at the rate of 3 rad/s (constant). In the
position shown, link 2 is horizontal. Write the appropriate vector equations, solve them using vector
polygons, and
a) Determine v
C
4
, v
E
4
,
3
, and
4
.
b) Determine a
C
4
, a
E
4
,
3
, and
4
.
Link lengths: AB = 3 in, BC = BE = CE = 5 in, CD = 3 in
B
C
2
3
4
D

2
A
7"
E
Position Analysis
Draw the linkage to scale. Start by locating the relative positions of A and D. Next locate B and
then C. Then locate G.
- 160 -
Velocity Analysis:
v v v
B B B A 3 2 2 2
= =
/
v v v v v
C C C D B C B 3 4 4 4 3 3 3
= = = +
/ /
(1)
Now,
v r v r r
B A B A B A B A B A 2 2 2 2
3 3 9
/ / / / /
( ) = = = = in / s to
v r v r r
C D C D C D C D C D 4 4 4 4 4 4 / / / / /
( ) = = to
v r v r r
C B C B C B C B C B 3 3 3 3 3 3 / / / / /
( ) = = to
Solve Eq. (1) graphically with a velocity polygon.
From the polygon,
v
C B 3 3
11 16
/
. = in / s
v
C D 4 4
6 57
/
. = in / s
in the direction shown.
- 161 -
Now

3
3 3 11 16
5
2 232 = = =
v
r
C B
C B
/
/
.
. rad / s
and

4
4 4 6 57
3
2 19 = = =
v
r
C D
C D
/
/
.
. rad / s
To determine the direction of
3
, determine the direction that r
C B /
must be rotated to be parallel to
v
C B 3 3 /
. This direction is clearly clockwise.
To determine the direction of
4
, determine the direction that r
C D /
must be rotated to be parallel to
v
C D 4 4 /
. This direction is clearly counterclockwise.
The velocity of point E
3
v v v v r
E B E B B E B 3 3 3 3 3 3
= + = +
/ /

from the polygon

v
E3
13 5 = . in / s
v
C4
6 57 = . in / s
Acceleration Analysis:
a a a
B B B A 3 2 2 2
= =
/
a a a a a
C C C D B C B 3 4 4 4 3 3 3
= = = +
/ /
a a a a a a
C D
r
C D
t
B A
r
B A
t
C B
r
C B
t
4 4 4 4 2 2 2 2 3 3 3 3 / / / / / /
+ = + + +
(2)
Now,
a r a r
B A
r
B A
B A
r
B A
2 2 2 2
2 2 2
2
2
3 3 27
/
/
/
/
= ( ) = = = in / s
2
in the direction of - r
B A
2 2
/
a r a r
B A
t
B A
B A
t
B A
2 2 2 2
2 2
0
/
/
/
/
= = =
a r a r
C B
r
C B
C B
r
C B
3 3 3 3
3 3 3
2
2
2 232 5 24 9
/
/
/
/
. . = ( ) = = = in / s
2
in the direction of - r
C B /
a r a r r
C B
t
C B
C B
t
C B C B
3 3 3 3
3 3
/
/
/
/ /
( ) = = to
- 162 -
a r a r
C D
r
C D
C D
r
C D
in
4 4 4 4
4 4 4
2
2 2
2 19 3 14 39
/
/
/
/
. . / sec = ( ) = = =
in the direction of - r
C D /
a r a r r
C D
t
C D
C D
t
C D C D
to
4 4 4 4
4 4
/
/
/
/ /
( ) = =
Solve Eq. (2) graphically with acceleration.
From the acceleration polygon,
a
C B
t
3 3
0
/
= in / s
2
a
C D
t
4 4
46 71
/
. = in / s
2
Then,

3
3 3 0
2
0 = = =
a
r
C B
t
C B
/
/
rad / s
2

4
4 4 46 71
3
15 57 = = =
a
r
C D
t
C D
/
/
.
. rad / s
2
To determine the direction of
4
, determine the direction that r
C D /
must be rotated to be parallel to
a
C D
t
4 4 /
. This direction is clearly counterclockwise.
Determine the acceleration of point E
3
a a a a a a
E B E B B
E B
r
E B
t
3 3 3 3 2
3 3 3 3
= + = + +
/
/ /
- 163 -
a r a r
E B
t
E B
E B
t
E B
in
3 3 3 3
3 3
2
0 1 0
/
/
/
/
/ sec = = = =
a r a r
E B
r
E B
E B
r
E B
in
3 3 3 3
3 3 3
2
2 2
2 232 5 24 9
/
/
/
/
. . / sec = ( ) = = =
From the acceleration polygon,
a
E3
34 29 = . in / s
2
a
C4
48 87 = . in / s
2
Problem 2.41
Part of a 10-link mechanism is shown in the figure. Links 7 and 8 are drawn to scale, and the
velocity and acceleration of points D
7
and F
8
are given. Find
8

and
7
for the position given.
Also find the velocity of G
7
by image.
D
E
F (1.8", -1.05")
7
8
9
6
G
X
Y
DE = 1.5"
EF = 1.45"
DG = 0.7"
EG = 1.65"
= 6.0 353 in/s
= 7.5 54 in/s
= 40 235
in/s
2
= 30 305
in/s
2
v
D
v
F
7
8
a
D
a
F
7
8
Velocity Analysis
Compute the velocity of Points E
7
and E
8
.
v v
v v v
v v v
E E
E D E D
E F E F
7 8
7 7 7 7
8 8 8 8
=
= +
= +
/
/
Therefore,
v v v v
D E D F E F 7 7 7 8 8 8
+ = +
/ /
and because points on the same link are involved,
- 164 -
v v v v v r v r
D E D F E F D E D F E F 7 7 7 8 8 8 7 7 7 8 8 8 7 8
+ = + = + = +
/ / / /

From the velocity polygon:
v
E F 8 8
0
/
=
so

8
0 =
The velocity of G
7
is found by image. The magnitude of the velocity is
v
G7
9 1 = . in / s
o'
o
7
d
E
7
d'
8
f
8
f'
D
F
7
8
9
6
G
8
e ,
7
g
7
e
,
8
e'
7
e' ,
5 in/s
Velocity Polygon
2
20 in/s
Velocity Polygon
v
G7
9 1 = . in / s
Acceleration Analysis
Use the same points as were used in the velocity analysis for the acceleration analysis.
a a a a
a a r a a r
D E D F E F
D
E D
r
E D F
E F
r
E F
7 7 7 8 8 8
7
7 7
7 7 8
8 8
8 8 7 8
+ = +
= + + = + +
/ /
/
/
/
/

- 165 -
a
v
r
a
v
r
E D
r
E D
E D
E F
r
E F
E F
7 7
7 7
7 7
8 8
8 8
8 8
2 2
2 2
6 92
1 50
32 0
0
1 44
0
/
/
/
/
/
/
.
.
.
.
= = =
= = =
in / s
in / s
2
2
From the polygon,
a r
E D
t
E D
7 7
7 7 7
0
/
/
= =
Therefore,

7
0 =