Ethiopian Institute of Technology-Mekelle

Mekelle University
School of Mechanical industrial engineering
Mechanism and Theory of Machineries
Worksheet and Assignment one
nd
2 Year Regular Mechanical Engineering Students

1. In the linkage shown in Fig. below, O2C has a constant clockwise angular velocity w2 = 2
rad/s during an interval of motion while the hydraulic cylinder gives pin A, a constant
velocity of 1.2 m/s to the right. For the position shown where O 2C is vertical and BC is
horizontal, calculate the angular velocity and angular acceleration of link BC and AB using
vector algebra, relative motion and complex numbers.
Assignment two
Section-01: 1, 4, & 9
Section-02: 2, 6, &7
Section 03: 5, 8, & 10
Submission Date: 21/03/2020

Figure: Prob. 1
2. Figure below shows a swiveling-joint mechanism. The dimensions of the various links are:

The crank O2 A rotates at 190 rpm as shown in the figure. Determine the angular velocity and
acceleration of sliding of link DE in the trunnion and also the velocity and acceleration of the
slider F.

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 Ethiopian Institute of Technology-Mekelle
Mekelle University
School of Mechanical industrial engineering

Figure: Prob. 2
3. The mechanism shown in Fig. below, is driven such that velocity of point C, Vc= 250
mm/sec to the right. Rolling contact is assumed between links 1 and 2, but slip is possible
between links 2 and 3. For the position shown in the figure, determine the angular velocity of
link 3.

4. In the mechanism shown in Fig. below, the crank O2 A rotates at a constant clock wise
angular speed of 120 rpm for the instant when θ=450 determine the acceleration of the slider
D and the angular acceleration of link BC. The Dimensions of the various links are:

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 Ethiopian Institute of Technology-Mekelle
Mekelle University
School of Mechanical industrial engineering

5. Link 2 of the mechanism shown in Fig. below rotates at 2000 rpm. For the phase shown
where O2A is horizontal, determine the acceleration of sliders Band D. The dimensions of the
various links are:
O2A=50 mm, AB =150 mm, AC=50 mm, CD=125 mm

6. In the oscillating cylinder mechanism shown in Fig. below, crank O2Arotates at a constant
speed of 100π rad/s clockwise. The cylinder oscillates about O4. For the phase when θ =
600using vector algebra determine:
a) Velocity of piston B relative to the cylinder walls;
b) Angular velocity of the piston rod AB;
c) Acceleration of the piston B relative to the cylinder walls;
d) Angular acceleration of the piston rod AB.

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 Ethiopian Institute of Technology-Mekelle
Mekelle University
School of Mechanical industrial engineering

7. For the linkage shown in Fig. below, determine the angular velocity and accelerations of
links 3and 6 when θ= 450 and velocity and acceleration of the slider Block B. The angular
velocity of link 2 is 1 rad/s. Dimensions of the links are:

8. For the four bar linkage below, solve for the angular velocities and accelerations of links 3
and 4. Also determine the magnitude and direction of the velocity of point C. Given r 1=100
mm, r2=150 mm, r3=AB=250 mm, r4=250 mm, r5=BC= 150 mm, r6=AC= 300 mm, θ2=1050
and ω2= 56 rad/sec (CCW).

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 Ethiopian Institute of Technology-Mekelle
Mekelle University
School of Mechanical industrial engineering
9. A toggle mechanism is shown in figure prb.9 above; along with the diagrams of the links in
mm. find the velocities of the points B and C and the angular velocities and accelerations of
links AB, BQ and BC when θ=300. The crank rotates at 50 rpm in the clockwise direction.
10. In a mechanism shown in figure Prob. 10, the Crank OA is 100 mm long and rotates in clock
wise direction at a speed of 100 rpm. The straight rod BCD rocks on a fixed point at C. The
links BC and CD are 200 mm each and link AB is 300 mm long. The slider E, which is
driven by the rod DE is 250 mm long. Find the angular velocity and accelerations of links
AB, BD and DE and acceleration of slider point E.

Figure: Prob. 10 Figure: Prob. 11

11. The 12-in. crank on the small aircraft landing gear actuation shown in Figure Prob. 11 rotates
in counterclockwise at a constant rate of 20 rpm. At the instant shown, determine the angular
velocity and angular acceleration of the wheel assembly.

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