AME 352 Online, HW-11

11-1 For this inverted slider-crank mechanism, the following data is available:
AO2 = 0.2, AB = 0.2, BP = 0.2, O2Q = 0.5, O4Q = 0.1, O4C = 0.8 m
A spring acts between points O4 and P having a stiffness of k = 100 N/m and an undeformed length of
0.45 m. The mass and moment of inertia for the links are given as
m2 = 1.0, m3 = 4.0, m4 = 2.0 kg
I 2 = 0.01, I 3 = 0.04, I 4 = 0.05 kg.m2
Mass centers are at the geometric centers. Gravity acts on the system (g = 9.81 m/s2) and an unknown
torque acts on link (2).
In the configuration shown (
2 = 135 o ), the angular velocity and acceleration of the crank are
ω 2 = 1.0 rad/sec CW and α 2 = 1.0 rad/sec2 CCW. (The velocity and acceleration polygons for the
system can be found in HW-8-answers.)
Determine the unknown torque that acts on link (2) using the Power Formula. Compute each
term of the formula separately before adding them together.

C
B
(3)
(4)

A O4

(2)
O2 Q
AME 352 Online, HW-11

11-2 For a four-bar mechanism, the following data are given: (SI units)
L1 = 3.0, (radius) L2 = 1.0, L3 = 2.5, L4 = 4.0, L5 = 3.0
Link 2 is in the form of a disc with its mass center at O2 . The mass centers of links 3 and 4 are at their
geometric centers. The following mass/inertia data are given:
m2 = 25.0, I 2 = 15.0, m3 = 3.0, I 3 = 1.5, m4 = 4.0, I 4 = 2.0
A spring is connected between link 4 and a point on the ground as shown. The undeformed length of
the spring is 4.0, and the stiffness of the spring is k = 35. An unknown torque acts on link 2. Gravity
acts on the system in the negative y direction.
In the configuration shown a kinematic analysis has provided the following angles, angular
velocities, and angular accelerations:
θ 2 = 110.0, θ 3 = 66.7, θ 4 = 126.0 (degrees)
ω 2 = 1.6 CCW, ω 3 = 0.21 CW, ω 4 = 0.32 CCW (rad/sec)
α 2 = 2 CW, α 3 = 1.24 CCW, α 4 = 0.11 CCW (rad/sec2)
In this configuration, the deformed length of the spring is 6.25.

Note: The spring force could be applied at B either on link 3 or on link 4.

Determine the unknown applied torque, using the free-body diagram method. Develop a
MATLAB program to solve the equations.

L3
L4
A
L2
O2 O4 O5
L1 L5