ME 301 Homework 5 Solution

Question 1:
Static Analysis:

By

Bx
(2)
T12 Bx

MC
By (3)

Ay C

12
Ax

14

MC

s43
C

(4)

14

Figure 1: Free Body Diagrams for Static Analysis

Force and moment balance equations for Link 2 are as follows:

𝐴𝑥 + 𝐵𝑥 = 0 (1)
𝐴𝑦 + 𝐵𝑦 = 0 (2)

𝑇12 + 𝐵𝑦 𝑏2 cos 𝜃12 − 𝐵𝑥 𝑏2 sin 𝜃12 = 0 (3)

Force and moment balance equations for Link 3 are as follows:

𝐹 − 𝐵𝑥 + 𝐶 cos 𝜃14 = 0 (4)
𝐶 sin 𝜃14 − 𝐵𝑦 = 0 (5)

𝐹(𝑏3 + 𝑐3 ) sin 𝜃14 − 𝑀𝑐 = 0 (6)

Force and moment balance equations for Link 4 are as follows:

𝐸−𝐶 =0 (7)
𝑀𝑐 − 𝐶𝑠43 = 0 (8)

We obtained 8 equations with 8 unknowns. Now we can solve for T12.

From (4), (5) and (8);
𝐵𝑥 = 𝐹 + 𝐶 cos 𝜃14 (9)
𝐵𝑦 = 𝐶 sin 𝜃14 (10)

𝑀𝑐 = 𝐶𝑠43 (11)
Substitute (11) into (6);
𝐹(𝑏3 + 𝑐3 ) sin 𝜃14 − 𝐶𝑠43 = 0 (12)
which gives,
𝐹(𝑏3 +𝑐3 ) sin 𝜃14
𝐶= (13)
𝑠43

After C is known we can solve for Bx and By using (9) and (10). Then from (3) we can solve for
T12.
𝐹(𝑏3 +𝑐3 ) sin 𝜃14 𝐹(𝑏3 +𝑐3 ) sin 𝜃14
𝑇12 = (𝐹 + cos 𝜃14 ) 𝑏2 sin 𝜃12 − ( sin 𝜃14 ) 𝑏2 cos 𝜃12 (14)
𝑠43 𝑠43
Dynamic Analysis:

By

Bx
(2) T12
Bx
(3)

MC
m2a2x By
I2α2 C
Ay

m2a2y I3 α 3
m3a3x
12
Ax

m3a3y
14

MC F
s43

m4a4x
I4 α 4

m4a4y
(4)

r4

Ey
4
Ψ4 = 14 - 4
14

Ex

Figure 2: Free Body Diagrams for Dynamic Analysis

Force and moment balance equations for Link 2 are as follows:

𝐴𝑥 + 𝐵𝑥 − 𝑚2 𝑎2𝑥 = 0 (15)
𝐴𝑦 + 𝐵𝑦 − 𝑚2 𝑎2𝑦 = 0 (16)
𝑏2 𝑏2 𝑏2 𝑏2
𝑇12 + 𝐴𝑥 sin 𝜃12 − 𝐴𝑦 cos 𝜃12 + 𝐵𝑦 cos 𝜃12 − 𝐵𝑥 sin 𝜃12 − 𝐼2 𝛼2 = 0 (17)
2 2 2 2
Force and moment balance equations for Link 3 are as follows:
𝐹 − 𝐵𝑥 + 𝐶 cos 𝜃14 − 𝑚3 𝑎3𝑥 = 0 (18)
𝐶 sin 𝜃14 − 𝐵𝑦 − 𝑚3 𝑎3𝑦 = 0 (19)

𝐹𝑐3 sin 𝜃14 − 𝐵𝑦 𝑏3 cos 𝜃14 + 𝐵𝑥 𝑏3 sin 𝜃14 − 𝑀𝑐 − 𝐼3 𝛼3 = 0 (20)

Force and moment balance equations for Link 4 are as follows:

𝐸𝑥 − 𝐶 cos 𝜃14 − 𝑚4 𝑎4𝑥 = 0 (21)
𝐸𝑦 − 𝐶 sin 𝜃14 − 𝑚4 𝑎4𝑦 = 0 (22)
𝑐
𝐸𝑥 𝑟4 sin 𝜓4 − 𝐸𝑦 𝑟4 cos 𝜓4 − 𝐶 (𝑠43 − 24 ) + 𝑀𝑐 − 𝐼4 𝛼4 = 0 (23)

Now we can use the obtained equations to solve for T12. From (17) we can obtain an expression
for T12 as,
𝑏2 𝑏2 𝑏2 𝑏2
𝑇12 = 𝐼2 𝛼2 − 𝐴𝑥 sin 𝜃12 + 𝐴𝑦 cos 𝜃12 − 𝐵𝑦 cos 𝜃12 + 𝐵𝑥 sin 𝜃12 (24)
2 2 2 2

From (15), (16), (18), (19), (20), (21) and (22) we can obtain,
𝐴𝑥 = 𝑚2 𝑎2𝑥 − 𝐵𝑥 (25)
𝐴𝑦 = 𝑚2 𝑎2𝑦 − 𝐵𝑦 (26)

𝐵𝑥 = 𝐹 + 𝐶 cos 𝜃14 − 𝑚3 𝑎3𝑥 (27)

𝐵𝑦 = 𝐶 sin 𝜃14 − 𝑚3 𝑎3𝑦 (28)

𝐵𝑥 = (𝑀𝑐 − 𝐹𝑐3 sin 𝜃14 + 𝐵𝑦 𝑏3 cos 𝜃14 + 𝐼3 𝛼3 )⁄(𝑏3 sin 𝜃14 ) (29)

𝐸𝑥 = 𝑚4 𝑎4𝑥 + 𝐶 cos 𝜃14 (30)

𝐸𝑦 = 𝑚4 𝑎4𝑦 + 𝐶 sin 𝜃14 (31)

Substitute (30) and (31) into equation (23);

(𝑚4 𝑎4𝑥 + 𝐶 cos 𝜃14 )𝑟4 sin 𝜓4 − (𝑚4 𝑎4𝑦 + 𝐶 sin 𝜃14 )𝑟4 cos 𝜓4 + 𝐶ℎ1 + 𝑀𝑐 − 𝐼4 𝛼4 = 0 (32)

which gives,
𝑀𝑐 = 𝐼⏟
4 𝛼4 + 𝑚4 𝑎4𝑦 𝑟4 cos 𝜓4 − 𝑚4 𝑎4𝑥 𝑟4 sin 𝜓4 −
ℎ1
𝑐
𝐶 (−𝑠43 + 24 + 𝑟4 (cos 𝜃14 sin 𝜓4 − sin 𝜃14 cos 𝜓4 )) (33)
⏟
ℎ2

𝑀𝑐 = ℎ1 − 𝐶ℎ2 (34)
Substitute (27), (28), (34) into (29) to get,
𝐶ℎ2 = ⏟
ℎ1 − 𝐹𝑐3 sin 𝜃14 − 𝑚3 𝑎3𝑦 𝑏3 cos 𝜃14 + 𝐼3 𝛼3 − 𝐹𝑏3 sin 𝜃14 + 𝑚3 𝑎3𝑥 𝑏3 sin 𝜃14 (35)
ℎ3

ℎ
𝐶 = ℎ3 (36)
2

Now we can find Mc, Bx, By, Ax, Ay and then T12.

Center of Mass Accelerations:

In order to calculate T12 we also need expressions for center of mass accelerations. Position
vector of the mass center of link (2) is as follows;
𝑏2 𝑖𝜃
𝑟⃗𝐺2 = 𝑒 12
2
Acceleration of the center of mass can be found by taking the derivative of position vector
twice.
𝑏2 𝑖𝜃
𝑣⃗𝐺2 = 𝑖𝜃̇12 𝑒 12
2
2 𝑏2 𝑏2 𝑖𝜃
𝑎⃗𝐺2 = −𝜃̇12 𝑒 𝑖𝜃12 + 𝑖𝜃̈12 𝑒 12
2 2
which gives,
2 𝑏2 𝑏2
𝑎2𝑥 = −𝜃̇12 cos 𝜃12 − 𝜃̈12 sin 𝜃12
2 2
2 𝑏2 𝑏2
𝑎2𝑦 = −𝜃̇12 sin 𝜃12 + 𝜃̈12 cos 𝜃12
2 2
Similarly, for link (3);

𝑟⃗𝐺3 = 𝑏4 𝑒 𝑖𝜃14 + 𝑠43 𝑒 𝑖(𝜃14 −𝜋⁄2) = 𝑏4 𝑒 𝑖𝜃14 − 𝑖𝑠43 𝑒 𝑖𝜃14

𝑣⃗𝐺3 = 𝑖𝜃̇14 𝑏4 𝑒 𝑖𝜃14 − 𝑖𝑠̇43 𝑒 𝑖𝜃14 + 𝑠43 𝜃̇14 𝑒 𝑖𝜃14

2
𝑎⃗𝐺3 = 𝑖𝜃̈14 𝑏4 𝑒 𝑖𝜃14 − 𝜃̇14 𝑏4 𝑒 𝑖𝜃14 − 𝑖𝑠̈43 𝑒 𝑖𝜃14 + 𝑠̇43 𝜃̇14 𝑒 𝑖𝜃14 + 𝑠̇43 𝜃̇14 𝑒 𝑖𝜃14 + 𝑠43 𝜃̈14 𝑒 𝑖𝜃14
2
+ 𝑖𝑠43 𝜃̇14 𝑒 𝑖𝜃14
which gives,
2
𝑎3𝑥 = −𝜃̈14 𝑏4 sin 𝜃14 − 𝜃̇14 𝑏4 cos 𝜃14 + 𝑠̈43 sin 𝜃14 + 2𝑠̇43 𝜃̇14 cos 𝜃14 + 𝑠43 𝜃̈14 cos 𝜃14
2
− 𝑠43 𝜃̇14 sin 𝜃14
2
𝑎3𝑦 = 𝜃̈14 𝑏4 cos 𝜃14 − 𝜃̇14 𝑏4 sin 𝜃14 − 𝑠̈43 cos 𝜃14 + 2𝑠̇43 𝜃̇14 sin 𝜃14 + 𝑠43 𝜃̈14 sin 𝜃14
2
+ 𝑠43 𝜃̇14 cos 𝜃14
Similarly, for link (4);
𝑐4 𝑖(𝜃 −𝜋⁄2) 𝑐4
𝑟⃗𝐺4 = 𝑏4 𝑒 𝑖𝜃14 + 𝑒 14 = 𝑏4 𝑒 𝑖𝜃14 − 𝑖 𝑒 𝑖𝜃14
2 2
𝑐4
𝑣⃗𝐺4 = 𝑖𝜃̇14 𝑏4 𝑒 𝑖𝜃14 + 𝜃̇14 𝑒 𝑖𝜃14
2
2 𝑐4 2 𝑐4 𝑖𝜃
𝑎⃗𝐺4 = 𝑖𝜃̈14 𝑏4 𝑒 𝑖𝜃14 − 𝜃̇14 𝑏4 𝑒 𝑖𝜃14 + 𝜃̈14 𝑒 𝑖𝜃14 + 𝑖𝜃̇14 𝑒 14
2 2
which gives,
2 𝑐4 2 𝑐4
𝑎4𝑥 = −𝜃̈14 𝑏4 sin 𝜃14 − 𝜃̇14 𝑏4 cos 𝜃14 + 𝜃̈14 cos 𝜃14 − 𝜃̇14 sin 𝜃14
2 2
2 𝑐4 2 𝑐4
𝑎4𝑦 = 𝜃̈14 𝑏4 cos 𝜃14 − 𝜃̇14 𝑏4 sin 𝜃14 + 𝜃̈14 sin 𝜃14 + 𝜃̇14 cos 𝜃14
2 2

The T12 vs 𝜃12 plots for static and dynamic analyses are shown below. For lower speeds the
inertial effects are less important and thus static and dynamic analyses yield similar results. As
the speed increases, the inertial effects become much more important as shown with green curve
on the figure.

Figure 3 : T12 vs 𝜃12 for Static and Dynamic Analyses

Question 2:
By

(2) Bx

Dy
T12
C (4)

Ay Dx
MC

12

Ax

Bx

By 13

(3)
F13
MC

Figure 4: Free Body Diagrams for Static Analysis

Force and moment balance equations for Link 2 are as follows:

𝐴𝑥 + 𝐵𝑥 = 0
𝐴𝑦 + 𝐵𝑦 = 0
𝜋
𝑇12 + 𝐵𝑦 𝑎2 sin ( 2 − 𝜃12 ) + 𝐵𝑥 𝑎2 sin(−𝜃12 ) = 0
Force and moment balance equations for Link 3 are as follows:
𝜋
𝐶 cos (𝜃13 − 2 ) − 𝐵𝑥 − 𝐹13 cos 𝜙 = 0
𝜋
𝐶 sin (𝜃13 − 2 ) − 𝐵𝑦 − 𝐹13 sin 𝜙 = 0

𝐶𝑎1 − 𝐹13 sin(𝜙 − 𝜃13 − 𝜋) + 𝑀𝐶 = 0

Force and moment balance equations for Link 4 are as follows:

𝜋
𝐷𝑥 − 𝐶 cos (𝜃13 − 2 ) = 0
𝜋
𝐷𝑦 − 𝐶 sin (𝜃13 − 2 ) = 0

𝑀𝐶 = 0

Now we can solve for T12,

𝐹13 sin(𝜙 − 𝜃13 − 𝜋)
𝐶=
𝑠43
𝐹13 sin(𝜙 − 𝜃13 − 𝜋) 𝜋
𝐵𝑥 = cos (𝜃13 − ) − 𝐹13 cos 𝜙
𝑠43 2
𝐹13 sin(𝜙 − 𝜃13 − 𝜋) 𝜋
𝐵𝑦 = sin (𝜃13 − ) − 𝐹13 sin 𝜙
𝑠43 2
𝜋
𝑇12 = −𝐵𝑦 𝑎2 sin ( − 𝜃12 ) − 𝐵𝑥 𝑎2 sin(−𝜃12 )
2
𝐹13 sin(𝜙 − 𝜃13 − 𝜋) 𝜋 𝜋
𝑇12 = − ( sin (𝜃13 − ) − 𝐹13 sin 𝜙) 𝑎2 sin ( − 𝜃12 )
𝑠43 2 2
𝐹13 sin(𝜙 − 𝜃13 − 𝜋) 𝜋
−( cos (𝜃13 − ) − 𝐹13 cos 𝜙) 𝑎2 sin(−𝜃12 )
𝑠43 2

Values of 𝜃13 and s43 can be found for the given 𝜃12 as,
𝜋 − 𝜃13 = 𝑎𝑡𝑎𝑛2(𝑎1 − 𝑎2 cos 𝜃12 , 𝑎2 sin 𝜃12 )
𝜃13 = 156°

𝑠43 = √𝑎1 2 + 𝑎2 2 − 2𝑎1 𝑎2 cos 𝜃12 = 0.223𝑚

Substituting the given values, the following results are obtained.

𝑇12 = −13.3𝑁𝑚
 𝐶 = 873.2𝑁
𝐵𝑥 = 142.2𝑁
𝐵𝑦 = 345.3𝑁

𝐴𝑥 = −142.2𝑁
𝐴𝑦 = −345.3𝑁

𝐷𝑥 = 353.5𝑁
𝐷𝑦 = 798.4𝑁

Question 3:
Cx
Dy
T13
I3α3
Ay m3a3x Cy
Dx

m3a3y (3)
13

Ax

MC Cy
C
MC
C Cx (4)
m4a4x
I4α4

I2α2 m4a4y
m2a2x Ey

Ex
m2a2y m5a5x

Dx 15 I5α5
(2) s14 (5)

m5a5y

Dy N

By m5a5x

Ey P
I5α5
12
Ex (6)
Bx

m5a5y

Figure 5: Free Body Diagrams for Dynamic Analysis

Force and moment balance equations for Link 2 are as follows:
𝐵𝑥 + 𝐷𝑥 + 𝐶 sin 𝜃12 − 𝑚2 𝑎2𝑥 = 0
𝐵𝑦 + 𝐷𝑦 − 𝐶 cos 𝜃12 − 𝑚2 𝑎2𝑦 = 0
𝑎2 𝑎2 𝑎2 𝑎2 𝑎2
𝑀𝐶 + 𝐵𝑥 sin 𝜃12 − 𝐵𝑦 cos 𝜃12 − 𝐶 (𝑠14 − ) − 𝐷𝑥 sin 𝜃12 + 𝐷𝑦 cos 𝜃12 − 𝐼2 𝛼2 = 0
2 2 2 2 2

Force and moment balance equations for Link 3 are as follows:

𝐴𝑥 − 𝐶𝑥 − 𝑚3 𝑎3𝑥 = 0
𝐴𝑦 − 𝐶𝑦 − 𝑚3 𝑎3𝑦 = 0
𝑎1 𝑎1 𝑎1 𝑎1
𝑇13 + 𝐴𝑥 sin 𝜃13 − 𝐴𝑦 cos 𝜃13 + 𝐶𝑥 sin 𝜃13 − 𝐶𝑦 cos 𝜃13 − 𝐼3 𝛼3 = 0
2 2 2 2

Force and moment balance equations for Link 4 are as follows:

𝐶𝑥 − 𝐶 sin 𝜃12 − 𝑚4 𝑎4𝑥 = 0
𝐶𝑦 + 𝐶 cos 𝜃12 − 𝑚4 𝑎4𝑦 = 0

−𝑀𝐶 − 𝐼4 𝛼4 = 0

Force and moment balance equations for Link 5 are as follows:

−𝐷𝑥 + 𝐸𝑥 − 𝑚5 𝑎5𝑥 = 0
−𝐷𝑦 + 𝐸𝑦 − 𝑚5 𝑎5𝑦 = 0
𝑎3 𝑎3 𝑎3 𝑎3
−𝐷𝑥 sin 𝜃15 + 𝐷𝑦 cos 𝜃15 − 𝐸𝑥 sin 𝜃15 + 𝐸𝑦 cos 𝜃15 − 𝐼5 𝛼5 = 0
2 2 2 2

Force balance equations for Link 6 are as follows:

−𝑃 − 𝐸𝑥 − 𝑚6 𝑎6𝑥 = 0
−𝑁 − 𝐸𝑦 − 𝑚6 𝑎6𝑦 = 0

We have 14 equations with 14 unknowns (Ax, Ay, Bx, By, Cx, Cy, C, Mc, Dx, Dy, Ex, Ey, N and
T13).
𝑀𝐶 = −𝐼4 𝛼4
𝐴𝑥 = 𝐶𝑥 + 𝑚3 𝑎3𝑥
𝐴𝑦 = 𝐶𝑦 + 𝑚3 𝑎3𝑦

𝐵𝑥 = 𝑚2 𝑎2𝑥 − 𝐷𝑥 − 𝐶 sin 𝜃12

 𝐵𝑦 = 𝑚2 𝑎2𝑦 − 𝐷𝑦 + 𝐶 cos 𝜃12

𝐷𝑥 = 𝐸𝑥 − 𝑚5 𝑎5𝑥
𝐷𝑦 = 𝐸𝑦 − 𝑚5 𝑎5𝑦

𝐸𝑥 = −𝑃 − 𝑚6 𝑎6𝑥
𝑁 = −𝐸𝑦 − 𝑚6 𝑎6𝑦

Mc, Ex and then Dx can be directly solved from above equations.

Substitute Ax and Ay into moment equation of link (3) and solve for T13.
𝑎1 𝑎1 𝑎1 𝑎1
𝑇13 = −(𝐶𝑥 + 𝑚3 𝑎3𝑥 ) sin 𝜃13 + (𝐶𝑦 + 𝑚3 𝑎3𝑦 ) cos 𝜃13 − 𝐶𝑥 sin 𝜃13 + 𝐶𝑦 cos 𝜃13
2 2 2 2
+ 𝐼3 𝛼3
To find T13 we need Cx and Cy.
Substituting Bx and By into moment equation of link 2 and solving for C gives it in terms of Dy.
𝑎2 𝑎2
𝐶 (𝑠14 − ) = 𝑀𝐶 + (𝑚2 𝑎2𝑥 − 𝐷𝑥 − 𝐶 sin 𝜃12 ) sin 𝜃12
2 2
𝑎2 𝑎2 𝑎2
− (𝑚2 𝑎2𝑦 − 𝐷𝑦 + 𝐶 cos 𝜃12 ) cos 𝜃12 − 𝐷𝑥 sin 𝜃12 + 𝐷𝑦 cos 𝜃12
2 2 2
− 𝐼2 𝛼2
𝑎 𝑎
𝑀𝐶 + (𝑚2 𝑎2𝑥 − 2𝐷𝑥 ) 22 sin 𝜃12 − (𝑚2 𝑎2𝑦 − 2𝐷𝑦 ) 22 cos 𝜃12 − 𝐼2 𝛼2
𝐶=
𝑠14
Dx is already known and we know Dy in terms of Ey. Substituting Dx and Dy and Ex into moment
equation of link 5 and solving for Ey gives it in terms of known values.
𝑎3 𝑎3
−(−𝑃 − 𝑚6 𝑎6𝑥 − 𝑚5 𝑎5𝑥 ) sin 𝜃15 + (𝐸𝑦 − 𝑚5 𝑎5𝑦 ) cos 𝜃15
2 2
𝑎3 𝑎3
− (−𝑃 − 𝑚6 𝑎6𝑥 ) sin 𝜃15 + 𝐸𝑦 cos 𝜃15 − 𝐼5 𝛼5 = 0
2 2
𝑎 𝑎
𝑚5 𝑎5𝑦 23 cos 𝜃15 + 𝑃𝑎3 sin 𝜃15 + 𝑚6 𝑎6𝑥 𝑎3 sin 𝜃15 + 𝑚5 𝑎5𝑥 23 sin 𝜃15 − 𝐼5 𝛼5
𝐸𝑦 =
𝑎3 cos 𝜃15
Once Ey is known we can find Dy and then C. Using C we can find Cx and Cy.
𝐶𝑥 = 𝐶 sin 𝜃12 + 𝑚4 𝑎4𝑥
𝐶𝑦 = −𝐶 cos 𝜃12 + 𝑚4 𝑎4𝑦

Then T13 can be found with the equation obtained earlier.

𝑎1 𝑎1 𝑎1 𝑎1
𝑇13 = −(𝐶𝑥 + 𝑚3 𝑎3𝑥 ) sin 𝜃13 + (𝐶𝑦 + 𝑚3 𝑎3𝑦 ) cos 𝜃13 − 𝐶𝑥 sin 𝜃13 + 𝐶𝑦 cos 𝜃13
2 2 2 2
+ 𝐼3 𝛼3