149

PART III

DYNAMICS OF MACHINES

151

Chapter 11

Static Force Analysis

11.1

The figure shows four mechanisms and the external forces and torques exerted on or by
the mechanisms. Sketch the free-body diagram of each part of each mechanism. Do not
attempt to show the magnitudes of the forces, except roughly, but do sketch them in their
proper locations and directions.

152

11.2

What moment M12 must be applied to the crank of the mechanism shown if
P = 0.9 kN ?
Kinematic analysis:
= sin 1 ( r sin ) = sin 1 ( 75 mm sin105 ) 350 mm = 11.95

153

Force analysis:
P = 900i N
F = P + F14 j + F34 cos i sin j = 900 Ni + F14j + F34 0.978i 0.207j = 0

900 N + 0.978F34 = 0
F14 0.207 F34 = 0

F34 = 900 N 0.978 = 920 N

F14 = 0.207 ( 920 N ) = 190 N

)
+ 75 mm ( cos105i + sin105j) ( 900i + 190j N ) = 0

F32 = F34 = 920 N 0.978i + 0.207j = 900i + 190j N

M = M

12

+ r2 F32 = M12

M12 + 61.5k N m = 0

11.3

M12 = 61.5k N m

Ans.

If M12 = 100 N m for the mechanism shown, what force P is required to maintain static
equilibrium?
Kinematic analysis:
Recall = 11.95 from Prob. P11.2.
x = r cos + cos = 75 mm cos105 + 350 mm cos11.95 = 323 mm

Force analysis:
M Oz = xF14 M 12 = 0

F14 = M 12 x = 100N m 0.323 m = 310 N

Recall the force polygon on link 4 from Prob. P11.2.

P = F14 tan = 310 N tan11.95 = 1 463 N
11.4

Ans.

Find the frame reactions and torque M12 necessary to maintain equilibrium of the fourbar linkage shown in the figure.
Kinematic analysis:
R AO2 = 88 mm210 = 75.775i 43.75j mm
R = 150 mm82.83 = 18.725i + 148.825j mm
BA

R BO4 = 150 mm135.53 = 107.04i + 105.07j mm

R = 100 mm135.53 = 71.375i + 70.05j mm
CO4

154

Force analysis:
M O4 = R CO4 P + R BO4 F34 = 0

( 71.375i + 70.05j mm ) (311.72i + 317.57j N )

+ ( 107.04i + 105.07j mm ) ( cos82.83i + sin 82.83j) F

34

=0

( 45.2 N m 119.325 mmF34 ) k = 0

F34 = 372.94 N82.83 = 46.55i 370.02j N

F34 = 9.47 N m

O2

= M12 + R AO2 F32 = 0

) (

M 12k + 75.775i 43.75j mm 46.55i 370.02j N = 0

M 12 = 26.408 N m
11.5

M12 = 26.408k N m

Ans.

What torque must be applied to link 2 of the linkage shown to maintain static
equilibrium?
Kinematic analysis:
R AO2 = 87.5 mm240 = 43.75i 75.775j mm R BO4 = 150 mm152.64 = 133.225i + 68.925j mm
R BA = 150 mm105.26 = 39.475i + 144.7j mm R DO4 = 175 mm152.64 = 155.425i + 80.425j mm

155

Force analysis:
M O4 = R DO4 P + R BO4 F34 = 0

( 155.425i + 80.425j mm ) ( 222.5i N )

+ ( 133.225i + 68.925j mm ) ( cos105.26i + sin105.26j) F

34

=0

( 18.176 N m 110.375 mmF34 ) k = 0

F34 = 4.116 N m

O2

F34 = 162.109 N105.26 = 42.666i 156.39j N

= M12 + R AO2 F32 = 0

) (

M 12k + 43.75i 75.775j mm 42.666i + 156.39j N = 0

M 12 = 10.23 N m
11.6

M12 = 10.23k N m

Ans.

Sketch a complete free-body diagram of each link of the linkage shown. What force P is
necessary for equilibrium?
Kinematic analysis:
R AO2 = 100 mm90 = 100j mm
R = 150 mm 4.86 = 149i 13j mm
BA

R BO4 = 125 mm44.3 = 89i + 87j mm

R = 200 mm44.3 = 143i + 140j mm
CO4

R DC = 400 mm 20.44 = 375i 140j mm

Force analysis:
M O2 = M12 + R AO2 F32 = 0

) (

90k N m + 100j mm cos 4.86i + sin 4.86j F32 = 0

( 90 N m 99.640 mmF32 ) k = 0

F32 = 903 N 4.86

156

O4

= R BO4 F34 + R CO4 F54 = 0

(89i + 87j mm ) ( cos175.14i + sin175.14j) 903 N

+ (143i + 140j mm ) ( cos 20.44i + sin 20.44j) F

54

=0

(86 N m 181 mmF54 ) k = 0

11.7

F54 = 472 N 20.44=44i 165j N

F = Pi 443 Ni + 165 Nj + F j= 0
P = 443i N
16

Ans.

Determine the torque M12 required to drive slider 6 of the figure against a load of
P = 445 N at a crank angle of = 30 , or as specified by your instructor.
Kinematic analysis:
R AO2 = 63 mm30 = 54.125i + 31.25j mm
R AO4 = 186.65 mm73.37 = 53.4i + 178.85j mm
R BO4 = 400 mm73.37 = 114.45i + 383.275j mm R CB = 200 mm175.20 = 199.3i + 16.725j mm

Force analysis:
F = Pi + F16j + cos175.20i + sin175.20j F56 = 0

F56 = P cos175.20 = 445 N 0.996 = 446.56 N ; F56 = 446.56 N175.20 = 445i + 37.34j N

O4

= R BO4 F54 + R AO4 F34 = 0

(114.45i + 383.275j mm ) ( 445i 37.34j N )

+ ( 53.4i + 178.85j mm ) ( cos163.37i + sin163.37j) F

34

( 177.58 N m + 186.65 mmF34 ) k = 0

=0

F34 = 936.67 N163.37= 897.49i + 268.07j N

157

O2

= M12 + R AO2 F32 = 0

) (

M 12k + 54.125i + 31.25j mm 897.49i 268.07j N = 0

M 12 = 43.22 N m
11.8

M12 = 43.22k N m

Ans.

Sketch complete free-body diagrams for the illustrated four-bar linkage. What torque
M12 must be applied to 2 to maintain static equilibrium at the position shown?
Kinematic analysis:
R AO2 = 200 mm60 = 100i + 173j mm
R CO4 = 350 mm 109.05 = 114i 331j mm
R BA = 400 mm 46.06 = 278i 288j mm , R CA = 700 mm 46.06 = 486i 504j mm

Force analysis:
Since the lines of action of all constraint forces can not be found from two- and threeforce members, the force F34 is resolved into radial and transverse components,

F34r and F34 . Then

O4

45k N m+350k mmF34 = 0

) (

= M14 + R CO4 F34 = 45k N m+ 114i 331j mm cos 19.05i + sin 19.05j F34 = 0
F34 = 129 N 19.05=122i 42j N

= R BA P + R CA F43
+ R CA F43r = 0

( 278i 288j mm ) ( 350i N ) + ( 486i 504j mm ) ( 122i + 42j N )

+ ( 486i 504j mm ) ( cos 70.95i + sin 70.95j) F = 0
r
43

101k N m 41k N m+624k mmF43r = 0 , F43r = 228 N70.95=74i + 215j N

158

F43 = F43r + F43

= 48i + 257j N = 261 N100.58
Now the lines of action for other forces may be found as shown.
F = F43r + F43 + P + F23 = 0
74i + 215j N 122i + 42j N 350i N + F = 0 , F =398i 257j N = 474 N 32.85

23

O2

= M12 + R AO2 F32 = 0

) (

23

M 12k + 100i + 173j mm 398i + 257j N = 0

M12 = 94.55k N m

M 12 = 94.55 N m

11.9

Ans.

Sketch free-body diagrams of each link and show all the forces acting. Find the
magnitude and direction of the moment that must be applied to link 2 to drive the linkage
against the forces shown.
Kinematic analysis:
R AO2 = 100 mm30 = 86.6i + 50j mm
R CO4 = 250 mm84.34 = 24.675i + 248.775j mm
R BA = 350 mm67.81 = 132.2i + 324.075j mm R CA = 350 mm34.61 = 288.075i + 198.775j mm
R
= 175 mm84.34 = 17.275i + 174.15j mm
DO4

Force analysis:
Since the lines of action of all constraint forces can not be found from two- and threeforce members, the force F34 is resolved into radial and transverse components,
F34r and F34 . Then

O4

= R DO4 PD + R CO4 F34 = 0

(17.275i + 174.15j mm ) ( 858.85i + 231.4j N ) + ( 24.675i + 248.775j mm )

( cos 5.66i + sin 5.66j) F = 0

34

159

155.94k N m 249.975k mmF34 = 0

F34 = 614.1 N 5.66=609.65i 62.3j N

= R BA PB + R CA F43
+ R CA F43r = 0

(132.2i + 324.075j mm ) ( 445i N ) + ( 288.075i + 198.775j mm ) ( 609.65i + 62.3j N )

+ ( 288.075i + 198.775j mm ) ( cos 95.66i + sin 95.66j) F = 0
r
43

146.448k N m + 141.363k N m 267.075k mmF43r = 0 ,

F r = 1059.1 N 95.66= 102.35i 1054.65j N
43

F43 = F43r + F43

= 712i 992.35j N = 1219.3 125.66
Now the lines of action for other forces may be found as shown.
F = F43r + F43 + PB + F23 = 0
102.35i 1054.65j N 609.65i + 62.3j N 445i N + F = 0 ,
23

F23 =1157i + 992.35j N = 1526.35 N40.62

O2

= M12 + R AO2 F32 = 0

) (

M 12k + 86.6i + 50j mm 1157i 992.35j N = 0

M 12 = 28.476 N m

M12 = 28.476k N m

Ans.

11.10 The figure shows a four-bar linkage with external forces applied at points B and C. Draw
a free-body diagram of each link and show all the forces acting on each. Find the torque
that must be applied to link 2 to maintain equilibrium.
Kinematic analysis:
R AO2 = 75 mm 30 = 65i 38j mm
R = 200 mm16.00 = 192i + 55j mm
BA

R CO4 = 200 mm124.56 = 113i + 165j mm

R = 300 mm42.38 = 222i + 202j mm
CA

160

Force analysis:
M A = R BA PB + R CA PC + R CA F43 = 0

(192i + 55j mm ) ( 354i + 354j N ) + ( 222i + 202j mm ) (1 800i N )

+ ( 222i + 202j mm ) ( cos124.56i + sin124.56j) F = 0
43

87.438k N m 363.000k N m + 297k mmF43r = 0 ,

F = 927124.56 N= 526i + 763j N
43

F = F

+ PB + PC + F23 = 0
526i + 763j N 354i + 354j N+1 800i N + F23 = 0 ,
F = 920i 1 117j N = 1 447 N 129.48
43

23

O2

= M12 + R AO2 F32 = 0

) (

M 12k + 65i 38j mm 920i + 1 117j N = 0

M 12 = 107.57 N m

M12 = 107.57k N m

Ans.

11.11 Draw a free-body diagram of each of the members of the mechanism shown in the figure,
and find the magnitude and the direction of all the forces and moments. Compute the
magnitude and direction of the torque that must be applied to link 2 to maintain static
equilibrium.
Kinematic analysis:
R AO2 = 100 mm180 = 100i mm
R CO4 = 200 mm124.23 = 112.5i + 165.35j mm
R BA = 350 mm55.98 = 195.85i + 290.075j mm R CA = 250 mm41.41 = 187.5i + 165.35j mm
R
= 150 mm95.27 = 13.775i + 149.375j mm
DO4

161

Force analysis:
Since the lines of action of all constraint forces can not be found from two- and threeforce members, the force F34 is resolved into radial and transverse components,

F34r and F34 . Then

O4

= R DO4 PD + R CO4 F34 = 0

( 13.775i + 149.375j mm ) ( 694.2i + 400.5j N ) + ( 112.5i + 165.35j mm )

( cos 34.23i + sin 34.23j) F = 0

34

99.779k N m 200k mmF34 = 0

F34 = 489.5 N34.23=404.95i + 275.9j N

= R BA PB + R CA F43
+ R CA F43r = 0

(195.85i + 290.075j mm ) ( 534i N ) + (187.5i + 165.35j mm ) ( 404.95i 275.9j N )

+ (187.5i + 165.35j mm ) ( cos 55.77i + sin 55.77j) F = 0
r
43

157.296k N m + 15.481k N m 248.025k mmF43r = 0

F r = 685.3 N 55.77=387.15i 565.15j N
43

F43 = F + F43
= 17.8i 841.05j N = 841.05 N 91.21
Ans.
Now the lines of action for other forces may be found as shown.
F = F43 + PB + F23 = 0
17.8i 841.05j N 534i N + F23 = 0 ,
F23 =551.8i + 841.05j N = 1005.7 N56.73 Ans.
F = F = 17.8i + 841.05j N = 841.05 N88.79
Ans.
r
43

34

43

F = F

+ PD + F14 = 0
17.8i + 841.05j N 694.2i + 400.5j N + F14 = 0 ,
F =676.4i 1241.55j N = 1415.1 N 61.42
34

14

F32 = F23 = 551.8i 841.05j N = 1005.7 N 123.27

F = F = 551.8i + 841.05j N = 1005.7 N56.73
12

32

O2

= M12 + R AO2 F32 = 0

) (

Ans.
Ans.
Ans.

M 12k + 100i mm 551.8i 841.05j N = 0

M 12 = 85.428 N m

M12 = 85.428k N m

Ans.

11.12 Determine the magnitude and direction of the forces that must be applied to link 2 to
maintain static equilibrium.
Kinematic analysis:
R AO2 = 75 mm90 = 75j mm
R BA

R CA = 350 mm 12.37 = 341.875i 75j mm

= 175 mm 34.93 = 143.475i 100.225j mm

162

Force analysis:
M A = R BA PB + R CA PC + R CA F14 = 0

(143.475i 100.225j mm ) ( 222.5j N ) + ( 341.875i 75j mm ) ( 445i N )

+ ( 341.875i 75j mm ) ( j) F = 0
14

F14 = 4.45 N90=4.45j N

32.431k N m 33.9k N m + 350k mmF14 = 0

F = P

+ PC + F14 + F23 = 0
222.5j N 445i N + 4.45j N + F23 = 0 ,
B

O2

= M12 + R AO2 F32 = 0

M 12 = 33.9 N m

F23 =445i 226.95j N = 498.5 N 27.02

M k + 75j mm 445i + 226.95j N = 0
12

) (

M12 = 33.9k N m

Ans.

11.13 The photograph shows the Figee floating crane with leminscate boom configuration. Also
shown is a schematic diagram of the crane. The lifting capacity is 16 T (with 1 T = 1
metric ton =1 000 kg) including the grab which is about 10 T. The maximum outreach is
30 m, which corresponds to 2 = 49 . Minimum outreach is 10.5 m at 2 = 49. Other
dimensions are given in the figure caption. For the maximum outreach position and a
grab load of 10 T, find the bearing reactions at A, B, O2 , and O4 , and the moment M12
required. Notice that the photograph shows a counterweight on link 2; neglect this
weight and also the weights of the members.
Kinematic analysis:
R AO2 = 14.700 m49.00 = 9.644i + 11.094j m , R BO4 = 19.300 m59.70 = 9.739i + 16.663j m
R BA = 6.500 m2.37 = 6.494i + 0.269j m
R CA = 22.300 m14.39 = 21.600i + 5.543j m

163

Force analysis:
Note that a metric ton is a unit of mass; the weight of a metric ton in standard gravity is
W = mg = (1 000 kg ) ( 9.81 m/s 2 ) = 9.810 kN . Therefore the rated load of the crane is
F = 98.100 kN .
M A = R BA F43 + R CA F = 0

( 6.494i + 0.269j m ) ( cos 59.70i + sin 59.70j) F + ( 21.600i + 5.543j m ) ( 98.100j kN ) = 0

43

F43 = 38759.70 kN=195i + 334j kN

5.471k mF43 2 119k kN m = 0 ,
F14 = F34 = 387 kN59.70=195i + 334j kN
Ans.

F = F

+ F + F23 = 0
195i + 334j kN 98.1j kN + F23 = 0
F = 195i 236j kN = 307 kN 129.59
43

23

F12 = F32 = 195i 236j kN = 307 kN 129.59

O2

= M12 + R AO2 F32 = 0

) (

Ans.

M 12k + 9.644i + 11.094j m 195i 236j kN = 0

M 12 = 47 kN m

M12 = 47k kN m

Ans.

11.14 Repeat Problem 11.13 for the minimum outreach position.

Kinematic analysis:
R AO2 = 14.700 m132.00 = 9.836i + 10.924j m , R BO4 = 19.300 m120.35 = 9.751i + 16.656j m
R BA = 6.500 m3.81 = 6.486i + 0.432j m
R CA = 22.300 m15.83 = 21.454i + 6.083j m

164

Force analysis:
Note that a metric ton is a unit of mass; the weight of a metric ton in standard gravity is
W = mg = (1 000 kg ) ( 9.81 m/s 2 ) = 9.810 kN . Therefore the rated load of the crane is
F = 98.100 kN .
M A = R BA F43 + R CA F = 0

( 6.486i + 0.432j m ) ( cos120.35i + sin120.35j) F + ( 21.454i + 6.083j m ) ( 98.1j kN ) = 0

43

5.815k mF43 2 105k kN m = 0

F43 = 362 kN120.35= 183i + 312j kN

F14 = F34 = 362 kN120.35= 183i + 312j kN

Ans.

F = F

+ F + F23 = 0
183i + 312j kN 98.1j kN + F23 = 0
F23 =183i 214j kN = 282 kN 49.51
F = F =183i 214j kN = 282 kN 49.51
43

12

32

O2

= M12 + R AO2 F32 = 0

) (

Ans.

M 12k + 9.836i + 10.924j m 183i + 214j kN = 0

M 12 = 109 kN m

M12 = 109k kN m

Ans.

11.15 Repeat Problem 11.7 assuming coefficients of Coulomb friction c = 0.20 between links
1 and 6 and c = 0.10 between links 3 and 4. Determine the torque M12 necessary to
drive the system, including friction, against the load P.
See the figure and solution for Problem P11.7 for the kinematic and frictionless solution.
For friction between links 1 and 6, the friction angle is = tan 1 ( 0.20 ) = 11.31 . Since
the impending motion VC6 /1 is to the left the friction force f16 = c F16n is toward the right.
Also, since the non-friction normal force F16n is downward (from the solution for Prob.
P11.7), the total force F16 acts at the angle 90 + 11.31 = 78.69 . Therefore,

165

F = Pi + ( cos 78.69i + sin 78.69j) F

16

j + cos175.20i + sin175.20j F = 0
56

445 N + cos 78.69 F16 + cos175.20 F56 = 0 , and sin 78.69 F16 + sin175.20 F56 = 0
F16 = 38.76 N
F56 = 454.19 N
F = 454.19 N175.20 = 452.6i + 38j N
56

For friction between links 3 and 4, the friction angle is = tan 1 ( 0.10 ) = 5.71 . Since
the impending motion VA3 / 4 is upward the friction force f34 = c F34n is upward. Also,
since the non-friction normal force F34n is toward the left (from the solution for Prob.
P11.7), the total force F34 acts at the angle 163.37 5.71 = 157.66 . Therefore,

O4

= R BO4 F54 + R AO4 F34 = 0

(114.45i + 383.275j mm ) ( 452.6i 38j N )

+ ( 53.4i + 178.85j mm ) ( cos157.66i + sin157.66j) F

34

( 180.176 N m + 185.725 mmF34 ) k = 0

O2

F34 = 957.45 N157.66= 885.58i + 363.94j N

= M12 + R AO2 F32 = 0

=0

) (

M 12k + 54.125i + 31.25j mm 885.58i 363.94j N = 0

M 12 = 48.117 N m

M12 = 48.117k N m

Ans.

11.16 Repeat Problem 11.12 assuming a coefficient of static friction = 0.15 between links 1
and 4. Determine the torque M12 necessary to overcome friction.
See the figure and solution for Problem P11.12 for the kinematic and frictionless
solution. For friction between links 1 and 4, the friction angle is = tan 1 ( 0.15 ) = 8.53 .
Since the impending motion VC4 /1 is to the right the friction force f14 = c F14n is toward
the left. Also, since the non-friction normal force F14n is upward (from the solution for
Prob. P11.12), the total force F14 acts at the angle 90 + 8.53 = 98.53 . Therefore,

= R BA PB + R CA PC + R CA F14 = 0

(143.475i 100.225j mm ) ( 222.5j N ) + ( 341.875i 75j mm ) ( 445i N )

+ ( 341.875i 75j mm ) ( cos 98.53i + sin 98.53j) F = 0
14

32.431k N m 33.9k N m + 326.95k mmF14 = 0 , F14 = 4.42 N98.53= 0.654i + 4.374j N

F = P

+ PC + F14 + F23 = 0
222.5j N 445i N 0.654i + 4.374j N + F23 = 0 ,
B

O2

= M12 + R AO2 F32 = 0

M 12 = 33.94 N m

F23 =445.445i 226.95j N = 500.18 N 26.98

M k + 75j mm 445.445i + 226.95j N = 0
12

) (

M12 = 33.94k N m

Ans.

166

11.17 In each case shown, pinion 2 is the driver, gear 3 is an idler, the gears have module of
4 mm/tooth and 20 pressure angle. For each case, sketch the free-body diagram of
gear 3 and show all forces acting. For (a) pinion 2 rotates at 600 rev/min and transmits
13.43 kw to the gearset. For (b) and (c), pinion 2 rotates at 900 rev/min and transmits
18.65 kw to the gearset.

N m 34 teeth 4 mm/tooth
N 2 m 18 teeth 4 mm/tooth
=
= 36 mm R3 = 3 =
= 68 mm
2
2
2
2
( 600 rev/min )( 2 ) = 62.832 rad/s cw , = R2 = 36 mm 62.832 rad/s = 33.264 rad/s ccw
2 =
3
2
60 s/min
68 mm
R3
P
13.43 1000 w (1 N m) (1000 mm/m)
F23t =
=
= 5.937 kN
R33
( 68 mm )( 33.264 rad/s )

a) R2 =

F23 = F23t cos = 5937 N cos20 = 6318 N , F43 = F23 = 6318 N

F = F

23

+ F43 + F13 = 0

F13 = F23t + F43t = 5937 + 5937 = 11.874 kN

Ans.

N m 36 teeth 4 mm/tooth
N 2 m 18 teeth 4 mm/tooth
=
= 36 mm R3 = 3 =
= 72 mm
2
2
2
2
( 900 rev/min )( 2 ) = 94.248 rad/s ccw , = R2 = 36 mm 94.248 rad/s = 47.124 rad/s cw
2 =
3
2
72 mm
60 s/min
R3
P
(18.65 kw) (1000 w/kw) (1 N m/w) (1000 mm/m)
F23t =
=
= 5497 N
R33
( 72 mm )( 47.124 rad/s )

b) R2 =

F23 = F23t cos = 5497 N cos20 = 5849 N , F43 = F23 = 5849 N

167

F13 = ( F23 + F43 )

F = F

23

+ F43 + F13 = 0

= ( 5849 N 20 + 5849 N110 )

= 4945 N225
Ans.

N m 36 teeth 4 mm/tooth
N 2 m 18 teeth 4 mm/tooth
=
= 36 mm R3 = 3 =
= 72 mm
2
2
2
2
( 900 rev/min )( 2 ) = 94.248 rad/s ccw , = R2 = 36 mm 94.248 rad/s = 47.124 rad/s cw
2 =
3
2
60 s/min
72 mm
R3
(18.65 kw )(1000 w/kw )(1 N m/w 1000 mm/m ) = 5497 N
P
F23t =
=
R33
( 75 mm )( 47.124 rad/s )
c) R2 =

F23 = F23t cos = 5497 N cos20 = 5849 N , F43 = F23 = 5849 N

F13 = ( F23 + F43 )

F = F

23

+ F43 + F13 = 0

= ( 5849 N 20 + 5849 N 70 )
= 10.6 N 45
Ans.

11.18 A 15-tooth spur pinion has a module of 5 mm/tooth and 20 pressure angle, rotates at
600 rev/min, and drives a 60-tooth gear. The drive transmits 18.65 kw. Construct a freebody diagram of each gear showing upon it the tangential and radial components of the
forces and their proper directions.

N m 60 teeth 5 mm/tooth
N 2 m 15 teeth 5 mm/tooth
=
= 37.5 mm R3 = 3 =
= 150 mm
2
2
2
2
( 600 rev/min )( 2 ) = 62.832 rad/s
R
37.5 mm
3 = 2 2 =
62.832 rad/s = 15.708 rad/s
2 =
60 s/min
R3
150 mm
R2 =

168

F32t =

P
R33

(18.65 kw )(1000 w/kw )(1 N m/w ) (1000 mm/m ) = 7915 N, F r = F t tan = 2880.8 N
32
32
( 37.5 mm )( 62.832 rad/s )

F23t = F32t = 7915 N

F23r = F32r = 2880.8 N

11.19 A 16-tooth pinion on shaft 2 rotates at 1 720 rev/min and transmits 3.73 kw to the
double-reduction gear train. All gears have 20 pressure angle. The distances between
centers of the bearings and gears for shaft 3 are shown in the figure. Find the magnitude
and direction of the radial force that each bearing exerts against the shaft.
R2 =

N 2 m 16 teeth 3 mm/tooth
N m 64 teeth 3 mm/tooth
=
= 24 mm RA = A =
= 96 mm
2
2
2
2

N B m 24 teeth 4 mm/tooth
N m 36 teeth 4 mm/tooth
=
= 48 mm R4 = A =
= 72 mm
2
2
2
2
(1 720 rev/min )( 2 ) = 180.118 rad/s = R2 = 24 mm 180.118 rad/s = 45.029 rad/s
2 =
3
2
60 s/min
96 mm
RA
R
48 mm
4 = B 3 =
45.029 rad/s = 30.020 rad/s
R4
72 mm
RB =

F23t =

P
RA3

( 3.73 kw )(1000 w/kw )(1 N m/w ) (1000 mm/m ) = 862.8 N ,

( 96 mm )( 45.029 rad/s )

F23 = F23t cos = 918.17 N

R
96 mm
862.8 N = 1725.6 N
F43t = A F23t =
48 mm
RB

F43 = F43t cos = 1836.3 N

169

Choosing a coordinate system with origin at C as shown we have

FA = F23 = 918.17 N20 = 862.8i + 314.03j lb
R A = 96j + 48k mm
FB = F43 = 1836.3 N 20 = 1725.56i 628j N
R B = 48j + 240k mm
F = F x i + F y j
R =0
C

FD = F i + FDy j

R D = 288k mm

x
D

= R A FA + R B FB + R D FD = 0

( 96j + 48k mm ) (862.8i + 314.03j N ) + ( 48j + 240k mm ) (1725.56i 628j N )

+ ( 288k mm ) ( F i + F j) = 0
( 15i + 41.35j + 82.72k N m ) + (150.7i + 414j 82.72k N m ) + ( 288F i + 288F j mm ) = 0
x
D

y
D

y
D

FDx = 1495 N, FDy = 445 N

F = F

x
D

FD = 1557.5 N163.42 = 1495i + 445j N Ans.

+ FB + FC + FD = 0

(862.8i + 314.03j N ) + (1495i 445j N ) + F + ( 1495i + 445j N ) = 0

C

FC = 961.2 N188.86 = 952.3i 146.85j N Ans.

11.20 Solve Problem 11.17 if each pinion has right-hand helical teeth with a 30 helix angle
and a 20 pressure angle. All gears in the train are helical, and, of course, the normal
module is 4 mm/tooth for each case.

170

N m 34 teeth 4 mm/tooth
N 2 m 18 teeth 4 mm/tooth
=
= 36 mm R3 = 3 =
= 68 mm
2
2
2
2
( 600 rev/min )( 2 ) = 62.832 rad/s cw , = R2 = 36 mm 62.832 rad/s = 33.264 rad/s ccw
2 =
3
2
60 s/min
R3
68 mm
(13.42 kw 1000 w/kw 1 N m/w 1000 mm/m )( 550 ft lb/s/hp )(12 in/ft ) = 5932 N
P
=
F23t =
R33
( 68 mm )( 33.268 rad/s )
a) R2 =

Since the pressure angles and the helix angle are related by cos = tan n tan t ,

t = tan 1 ( tan n cos ) = tan 1 ( tan 20 cos 30 ) = 22.80

F23r = F23t tan t = ( 5932 N ) tan 22.80 = 2493.5 N , F23a = F23t tan = ( 5932 N ) tan 30 = 3424.8 N
F = 5932i 2493.5j + 3424.8k N
F = 5923i + 2493.5j 3424.8k N
23

43

F = F + F
M =R j F

+ F13 = 0

23 R3 j F43 + M13 = 0

23

43

F13 = 11.864i N

Ans.

( 68j mm ) (5932i 2493.5j + 3424.8k N ) ( 68j mm ) (5932i + 2493.5j 3424.8k N ) + M

( 68j mm ) (5932i 2493.5j + 3424.8k N ) ( 68j mm ) (5932i + 2493.5j 3424.8k N ) + M
M13 = 465.45i N m This moment must be supplied by the shaft bearings.

13

=0

13

=0

Ans.

N m 36 teeth 4 mm/tooth
N 2 m 18 teeth 4 mm/tooth
=
= 36 mm R3 = 3 =
= 72 mm
2
2
2
2
( 900 rev/min )( 2 ) = 94.248 rad/s ccw , = R2 = 36 mm 94.248 rad/s = 47.124 rad/s cw
2 =
3
2
60 s/min
R3
72 mm
b) R2 =

F23t =

P
R33

(18.65 kw )(1000 w/kw ) (1000 w/kw 1000 mm/m ) = 5496.7 N

( 72 mm )( 47.124 rad/s )

Since the pressure angles and the helix angle are related by cos = tan n tan t ,

t = tan 1 ( tan n cos ) = tan 1 ( tan 20 cos 30 ) = 22.80

F23r = F23t tan t = ( 5496.7 N ) tan 22.80 = 2310.59 N , F23a = F23t tan = ( 5496.7 N ) tan 30 = 3173.5 N

171

F23 = 5496.7i 2310.59j 3173.5k N

F43 = 2310.59i + 5496.7j + 3173.5k N

F13 = 3186.11i 3186.11j N
Ans.

F = F + F
M =R j F
23
3

+ F13 = 0

23 + R3 i F43 + M13 = 0

43

( 72j mm ) (5496.7i 2310.59j 3173.5k N ) + ( 72i mm )

( 2310.59i + 5496.7j + 3173.5k N ) + M = 0
13

M13 = 228.49i + 228.49j N m This moment must be supplied by the shaft bearings. Ans.

N m 36 teeth 4 mm/tooth
N 2 m 18 teeth 4 mm/tooth
=
= 36 mm R3 = 3 =
= 72 mm
2
2
2
2
( 900 rev/min )( 2 ) = 94.248 rad/s ccw , = R2 = 36 mm 94.248 rad/s = 47.124 rad/s cw
2 =
3
2
60 s/min
R3
72 mm
P
(18.65 kw) (1000 w/kw) (1 N m/w) (1000 mm/m)
=
= 5496.7 N
F23t =
R33
( 72 mm )( 47.124 rad/s )

c) R2 =

Since the pressure angles and the helix angle are related by cos = tan n tan t ,

t = tan 1 ( tan n cos ) = tan 1 ( tan 20 cos 30 ) = 22.80

F23r = F23t tan t = ( 5496.7 N ) tan 22.80 = 2310.59 N ,

F23a = F23t tan = ( 5496.7 N ) tan 30 = 3173.5 N

F23 = 5496.7i 2310.59j 3173.5k N
F43 = 2310.59i 5496.7j + 3173.5k N
F = 7807.29i + 7807.29j N
F =F +F +F = 0

M =R j F
23

43

23

13

13

Ans.

+ R3i F43 + M13 = 0

( 72j mm ) (5496.7i 2310.59j 3173.5k N ) + ( 72i mm )

( 2310.59i 5496.7j + 3173.5k N ) + M = 0
13

M13 = 228.49i 228.49j N m This moment must be supplied by the shaft bearings. Ans.

172

11.21 Analyze the gear shaft of Example 11.8 and find the bearing reactions FC and FD .
The solution is shown in Fig. 11.20c.

11.22 In each of the bevel gear drives shown in the figure, bearing A takes both thrust load and
radial load, while bearing B takes only radial load. The teeth are cut with a 20 pressure
angle. For (a) T2 = 20i N m and for (b) T2 = 26.7k N m . Compute the bearing
loads for each case.
a) = tan 1 ( 32 teeth 16 teeth ) = 63.43

F32t = T2 R2 = 20 N m/0.018 m = 1111 N

F32r = F32t tan cos = 180.87 N

F23 = 180.87i + 1111j + 361.66k N

F32a = F32t tan sin = 361.66 N

= R BA FB + R PA F23 + T3 = 0

( 50k mm ) ( F i + F j) + (35i 59k mm ) ( 180.87i + 1111j + 361.66k N ) + T k = 0

(50 mmF i 50 mmF j) + ( 70i 1.9j + 40.68k N m ) + T k = 0
x
B

y
B

y
B

x
B

T3 = 40.68k N m

F = F

+ FB + F23 = 0

b) = tan 1 (18 teeth 24 teeth ) = 36.87

F32r = F32t tan cos = 242.95 N
F32 = 242.95i 834.375j + 182.21k N

FB = 37.825i 1370.6j N
FA = 218.695i + 259.0j 361.66k N

Ans.
Ans.

F32t = T2 R2 = 26.7 N m 32 mm = 834.375 N

F32a = F32t tan sin = 182.21 N

= R BA FB + R PA F32 + T2 = 0

(50k mm ) ( F i + F j) + ( 32i 20k mm ) ( 242.95i 834.375j + 182.21k N ) + ( 26.7k N m ) = 0

( 50 mmF i + 50 mmF j) + ( 16.95i + 0.9j + 26.7k N m ) + ( 26.7k N m ) = 0
x
B

y
B

F = F

y
B

x
B

+ FB + F23 = 0

FB = 17.8i 333.75j N
FA = 222.5i + 1170.35j 182.45k N

Ans.
Ans.

11.23 The figure shows a gear train composed of a pair of helical gears and a pair of straight
bevel gears. Shaft 4 is the output of the train and delivers 4.5 kw to the load at a speed of
370 rev/min. All gears have pressure angles of 20 . If bearing E is to take both thrust
load and radial load, while bearing F is to take only radial load, determine the forces that
each bearing exert against shaft 4.
The diameters of the bevel gears at their large ends are
R4 = mN 4 2 = 3 mm/tooth ( 40 teeth ) 2 = 60 mm
R3 = mN 3 2 = 3 mm/tooth ( 20 teeth ) 2 = 30 mm

173

= tan 1 ( R4 R3 ) = 63.43

= tan 1 ( R3 R4 ) = 26.57

The average pitch radii are

R4,avg = R4 0.500sin = 59.55 mm

R3,avg = R3 0.500sin = 29.78 mm

4 =

( 370 rev/min )( 2 ) = 38.746 rad/s

60 s/min
P
4.5 kw 1000 w/kw 1 N m/w 1000 mm/m
=
= 1950 N
F34t =
R4,avg4
( 59.55 mm )( 38.746 rad/s )

F34r = F34t tan cos = 317.46 N

F34 = 634.78i + 317.46j 1950k N

F34a = F34t tan sin = 634.78 N

= R FE FF + R PE F34 + T4 = 0

( 60i mm ) ( F j + F k ) + (18i 59.56j mm ) ( 634.78i + 317.46j 1950k N ) + ( 115.5i N m ) = 0

( 60 mmF j + 60 mmF k ) + (115.5i + 40.7j 31k N m ) + ( 115.5i N m ) = 0
y
F

z
F

z
F

F = F

y
F

+ FF + F34 = 0

FF = 430.98j + 564.192k N
FE = 634.78i 748.34j + 1386.97k N

Ans.
Ans.

11.24 Using the data of Problem 11.23, find the forces exerted by bearings C and D onto shaft
3. Which of these bearings should take the thrust load if the shaft is to be loaded in
compression?
The pitch radius of the helical gear S is
RS = mN S 2 = 2 mm/tooth 35 teeth 2 = 35 mm

F23t = F43t R3,avg RS = 1950 N ( 29.78 mm/35 mm ) = 1659.17 N

F23r = F23t tan = (1659.17 N ) tan 20 = 603.89 N

F = 603.89i + 957.92j + 1659.17k N

F23a = F23t tan = (1659.17 N ) tan 30 = 957.92 N

23

= R DC FD + R PC F43 + R RC F23 = 0

( 44j mm ) ( F i + F k ) + ( 29.78i + 78.21j mm ) ( 634.78i 317.96j + 1950k N )

+ ( 35i + 22j mm ) ( 603.89i + 957.92j + 1659.17k N ) = 0
( 44 mmF i 44 mmF k ) + (152.5i + 58j 40k N m ) + (36.5i 58j + 46.81k N m ) = 0
x
D

z
D

F = F

z
D

x
D

+ FD + F23 + F43 = 0

FD = 133.5i 4192k N
FC = 284.8i 538.45j + 418.3k N

Since the thrust force is in the j direction, C should be a thrust bearing.

Ans.
Ans.

174

11.25 Use the method of virtual work to solve the slider-crank mechanism of Problem 11.2.

= sin 1 ( r sin ) = sin 1 ( 75 mm sin105 ) 350 mm = 11.95

x = r cos + cos = 75 mm cos105 + 350 mm cos11.95 = 323 mm
The first-order kinematic coefficient is
x = dx d = yP24 = x tan = 323 mm tan11.95 = 68.36 mm
M 12 = Px = 900 N ( 68.36 mm ) = 61.5 N m cw

Ans.

11.26 Use the method of virtual-work to solve the four-bar linkage of Problem 11.5.

RP24O2 = 64.425 mm , RP24O4 = 114.425 mm , RDO4 = 175 mm152.64

The first-order kinematic coefficient is
4 = d 4 d 2 = RP24O2 RP24O4 = 64.425 mm/114.425 mm = 0.563

M 14 = RDO4 P sin152.64 = 175 mm ( 222.5 N ) sin152.64 = 17.89 N m cw

M 12 = M 14 d 4 d 2 = M 14 4 = (17.89 N m cw )( 0.563) = 10.07 N m ccw

Ans.

11.27 Use the method of virtual work to analyze the crank-shaper linkage of Problem 11.7.
Given that the load remains constant at P = 445i N, find and plot a graph of the crank
torque M12 for all positions in the cycle using increments of 30 for the input crank.
x AO4 = RAO4 cos 4 = 63cos 2
150 + 63sin 2

63cos 2

4 = tan 1

y AO4 = RAO4 sin 4 = 150 + 63sin 2

RAO4 = 1056.25 + 750sin 2

175

d 4 yP24O4 150
=
= 1 150sin 4 RAO4
d 2
yP24O4

yP24O4 = RAO4 sin 4

4 =

yBC = 200sin 5 = 400 400sin 4

5 = sin 1 ( 2 2sin 4 )

yP46C = yBC ( xC xCB )

= 200sin 5 ( 200 cos 5 400 cos 4 ) ( 200 cos 5 )
= 200 ( sin 5 2 cos 4 tan 5 )

dxC d 4 = yP46O4 = 400 + 200sin 5 400 cos 4 tan 5

M 12 = ( dxC d 4 )( d 4 d 2 ) P

Values for one cycle are shown in the following table.

2 (deg.)

4 (deg.)

RAO4 (mm)

d 4 d 2

5 (deg.)

dxC d 4 (mm)

M 12 (N m)

0
30
60
90
120
150
180
210
240
270
300
330
360

67.38
73.37
81.30
90.00
98.70
106.63
112.62
114.50
108.05
90.00
71.95
65.50
67.38

162.5
189.15
206.5
212.5
206.5
189.15
162.5
130.5
100.85
87.5
100.85
130.5
162.5

0.14793
0.24015
0.28197
0.29412
0.28197
0.24015
0.14793
-0.04593
-0.41416
-0.71429
-0.41416
-0.04593
0.14793

-8.85
-4.80
-1.32
0.00
-1.32
-4.80
-8.85
-10.37
-5.65
0.00
-5.65
-10.37
-8.85

393.18
392.88
396.79
400
393.99
373.65
395.48
333.64
368.04
400
392.57
394.35
393.18

26.29
42.65
50.57
53.18
50.21
40.56
23.09
-6.93
-68.89
-129.14
-73.49
-8.19
26.29

176

The values of M 12 from this table are graphed as follows:

11.28 Use the method of virtual work to solve the four-bar linkage of Problem 11.10.

3 = d 3 d 2 = RP

RP23P13 = 75 mm 688 mm = 0.1089

d 2 = 3k R BP13 = 0.1089k ( 568 mm135.33 ) = 61.881 mm45.33
d = k R = 0.1089k ( 662 mm124.56 ) = 72.153 mm34.56
23 P12

RB = dR B
RC = dR C

CP13

M 12 = PB iRB + PC iRC

= ( 500 N135 )i( 61.881 mm45.33 ) + (1 800 N0 )i( 72.153 mm34.56 )

= 30.940 cos89.67 N m+129.876 cos 34.56 N m

M 12 = 107 N m cw

Ans.

177

11.29 A car (link 2) which weighs 8900 N is slowly backing a 4450 N trailer (link 3) up a 30
inclined ramp as shown in the figure. The car wheels are of 325 mm radius, and the
trailer wheels have 250 mm radius; the center of the hitch ball is also 325 mm above the
roadway. The centers of mass of the car and trailer are located at G2 and G3 ,
respectively, and gravity acts vertically downward in the figure. The weights of the
wheels and friction in the bearings are considered negligible. Assume that there are no
brakes applied on the car or on the trailer, and that the car has front-wheel drive.
Determine the loads on each of the wheels and the minimum coefficient of static friction
between the driving wheels and the road to avoid slipping.

For the trailer:

R G3 B = 945i + 863.15j mm = 1280 mm42.41
M = 1250 mmF k + R W = 0
B

13

G3 B

F13 = 3364.2 N120 = 1682.1i + 2914.75j N

F = F

13

+ F23 + W3 = 0

Ans.
F23 = 2278.4 N42.41 = 1682.1i + 1535.25j N

For the car:

M P = 2000 mmF12Rk 800 mm (8900 N ) k + 2900i + 325j mm F32 = 0

F = F

F
12

+ f 12 i + F12R + F32 = 0

f12 F = 1682.1 N 4921.7 N

F
12

F12R = 5513.5j N
F F = 4921.7j N

Ans.

f12 = 1682.1i N

Ans.

0.342

Ans.

12

Ans.

11.30 Repeat Problem 11.29 assuming that the car has rear-wheel drive rather than front-wheel
drive.
The entire solution is identical with that of Problem P11.29 except that friction force f12
acts on the rear wheel of the car instead of on the front wheel. The solution process and
all values are the same until the final step. Then
0.305
f12 F12R = 1682.1 N 5513.5 N
Ans.

178

11.31 The low-speed disk cam with oscillating flat-faced follower shown in the figure is driven
at a constant shaft speed. The displacement curve for the cam has a full-rise cycloidal
motion, defined by Eq. (5.19) with parameters L = 30 , = 30 , and a prime circle
radius Ro = 30 mm ; the instant pictured is at 2 = 112.5 . A force of FC = 8 N is
applied at point C and remains at 45 from the face of the follower as shown. Use the
virtual work approach to determine the moment M12 required on the crankshaft at the
instant shown to produce this motion.
The moment on link 3 caused by the output load is
M13 = R CO3 FC = (150 mm )( 8 N ) sin 135k = 0.849k N m
From Eq. (5.19b),
L
2 30
112.5
y = 1 cos
=
1 cos 2
= 0.200

150
150
From virtual work
M12 = d 3 d 2 M13 = yM13 = 0.200 0.849k N m = 0.170k N m

Ans.

11.32 Repeat Problem 11.31 for the entire lift portion of the cycle, finding M12 as a function of
2.
From Problem P11.31
M13 = R CO3 FC = (150 mm )( 8 N ) sin 135k = 0.849k N m
360 2
L
2 30
1 cos
=
1 cos
= 0.200 (1 cos 2.4 2 )

150
150
M12 = yM13 = 0.200 (1 cos 2.4 2 ) 0.849k N m = 0.170 (1 cos 2.4 2 ) k N m Ans.

y =

11.33 A disk 3 of radius R is being slowly rolled under a pivoted bar 2 driven by an applied
torque T as shown in the figure. Assume a coefficient of static friction of between the
disk and ground and that all other joints are frictionless. A force F is acting vertically
downward on the bar at a distance d from the pivot O2 . Assume that the weights of the
links are negligible in comparison to F. Find an equation for the torque T required as a
function of the distance X = RCO2 , and an equation for the final distance X that is
reached when friction no longer allows further movement.

179

d cos
d
= FB
X cos
X
Rd
T = F23 R sin = FB
sin
MC = 0
X
But, for geometric compatibility, R = X sin . Therefore,

O2

F32 = FB

=0

T = FB d sin 2 = FB d ( R X )

Ans.

Also,

R
sec
1 + tan 2
1
=R
=R
=R
+1
sin
tan
tan
tan 2
Motion is still possible as long as tan , or as long as
X=

X R 1 2 +1

Ans.