Dynamics of Machinery (ENG8603)

Fall 2021

Assignment No. 1

Due date: Sunday, Oct. 3, 2021 at 23:59 on Brightspace

Solutions must be scanned and submitted on Brightspace as a single pdf file.
When you are solving a problem, include the following steps in your solution: Summarize and list all
available data from the problem; Identify the unknowns to be found; Provide the assumptions taken in your
solution (if any); write the formulas first, and then plug in the numbers; follow the logical order of the
solution steps; Identify the final answer by putting it in a box, and write the question number next to it.
Note: randomly selected problems will be graded and their mark will be considered for the assignment.
Question 1:
Calculate the mobility (DoF) of the given mechanisms.

a) b)

c) d)

slider

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Question 2:
In a four-bar Grashof Crank-Rocker-Rocker mechanism, L1 is the ground, L2 is the input crank, L3 = 10
cm is the coupler, and L4 = 4 cm is the output. The output motion is 90° and it moves forward and backward
when the input rotates a full round.

a) Use ruler, compass and protractor to synthesize this mechanism (show the result in your assignment).
b) Calculate the length of L2.
c) Measure and find the length of L1 with ruler.
d) Check if the Grashof conditions hold.
e) Calculate the minimum transmission angle. (Minimum transmission angle happens when the crank
is parallel to the ground.)
f) Show the mechanism at the toggle positions. (Toggle position happens when the crank and coupler
are aligned.)

(The sketch is provided for hint)

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Question 3:
The offset slider-crank linkage is driven by crank 2.

a) Write the loop-closure equation and indicate on the vectors the known and unknown information
(for example shows that the size of vector is known but the direction is unknown.)
b) Solve for the horizontal position of slider 4 as a function of θ2 . Find the horizontal position of the
slider 4 given the following:

RAO = 1 in, RBA = 2.5 in, RCB = 7 in, and θ2 = 45º.

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Question 4:
The four-bar linkage in the posture illustrated is driven by crank 2 at ω2 = 60 rad/s cw.
RAO2 = 150mm, RBA = 300mm, RO4O2 = 75mm, RBO4 = 300mm, RDA = 150mm, RCD = 100mm, and θ2 = 210º.

a) Write the velocity vector equation for VB and VC and indicate on the vectors the known and
unknown information.
b) Use the numerical data above, and find the velocity of pin B and point C on link 3 in m/s.
c) Find the angular velocities of links 3 and 4 in rad/s.

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Question 5:
For the mechanism in the posture illustrated, the velocity of point C is VC = 10 in/s to the left. There is
rolling contact between links 1 and 2, but slip is possible between links 2 and 3.

ρ1 = 6 in, ρ2 = 0.75 in, RAD = -2.5 𝐢𝐢̂ – 1.75 𝐣𝐣̂ in, and RED= 1 in.

a) Write the velocity vector equation for VC2 and VC3 and indicate on the vectors the known and
unknown information.
b) Use the numerical data above and determine the angular velocity of link 3.

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Question 6:
Locate all instant centers for the linkage in the figure.