Given Data

𝜔2 = −10 𝑟𝑎𝑑/𝑠

Angle, 𝜃2 = 90𝑜

𝛼2 = 20 𝑟𝑎𝑑/𝑠 2

Answers

a)

Step 1: Draw the mechanism with the given dimensions

From above diagram we get

Angular position of follower link = 𝟏𝟏𝟐. 𝟕𝒐

Angular position of follower link = 𝟓𝟏. 𝟔𝟏𝒐

Step 2: Linear velocity of link 2, 𝑉𝐴 = 𝑅𝐴𝐴′ × 𝜔2 {𝑽 = 𝒓𝝎}

60
= 1000 × 10

= 𝟎. 𝟔 𝒎/𝒔𝒆𝒄

Draw a line perpendicular to 𝐴𝐴′ , length 𝑉𝐴 = 0.6 𝑚/𝑠,

The starting point denoted as 𝒂′ , 𝒃′ ∶ Fixed points and end point is denoted as a

Step 3: Draw another line perpendicular to AB, started from point a

Step 4: Draw one more line perpendicular to 𝐵𝐵′ started from point 𝒂′ , 𝒃′

Step 5: These two lines will intersect, and the meeting point is denoted as b

Step 6: From the velocity diagram, measure the length of ab and 𝒃𝒃′ we get the
velocities of 𝑉𝐴𝐵 and 𝑉𝐵
b) Velocity diagram

From velocity diagram we get the following velocities

✓ Linear Velocity of Coupler, 𝑉𝐴𝐵 = 𝑎𝑏 = 𝟎. 𝟐𝟔𝟓 𝒎/𝒔

✓ Velocity of Follower, 𝑉𝐵 = 𝑏′ 𝑏 = 𝟎. 𝟒𝟐𝟔 𝒎/𝒔

𝑉𝐴𝐵 0.265
✓ Angular velocity of coupler, 𝜔𝐴𝐵 = = = 𝟐. 𝟔𝟓 𝒓𝒂𝒅
𝐴𝐵 0.1

𝑉 0.426
✓ Angular velocity of follower, 𝜔𝐵 = 𝐵𝐵′
𝐵
= 0.150 = 𝟐. 𝟖𝟒 𝒓𝒂𝒅

Orientation of angular velocity of follower = 𝟐𝟎𝟐. 𝟕𝒐

Orientation of angular velocity of follower = 𝟑𝟐𝟏. 𝟔𝟏𝒐

c) Acceleration analysis

Acceleration has two component radial and tangential components Radial

acceleration is parallel to the link and tangential is perpendicular to the link.
𝑟
✓ Radial acceleration of crank A𝐴’ = 𝑎𝐴𝐴′ = 𝑟𝜔2

= 0.06 × 102

= 6 𝑚/𝑠 2

Draw radial acceleration of 𝐴𝐴′ parallel to 𝐴𝐴′

𝑡
✓ Tangential acceleration of crank A𝐴’ = 𝑎𝐴𝐴′ = 𝑟𝛼

= 0.06 × 20

= 1.2 𝑚/𝑠 2

Draw Tangential acceleration of 𝐴𝐴′ perpendicular to 𝐴𝐴′

2
𝑟 𝑉𝐴𝐵 0.2652
✓ Radial acceleration of link AB, 𝑎𝐴𝐵 = = = 0.70 𝑚/𝑠 2
𝐴𝐵 0.1

Draw this parallel to AB

𝑟 𝑉𝐵2 0.4262
✓ Radial acceleration of link 𝐵𝐵′, 𝑎𝐵𝐵′ = 𝐵𝐵′ = = 1.23 𝑚/𝑠 2
0.150

Draw this parallel to 𝐵𝐵′

Acceleration diagram

Acceleration diagram is drawn with a scale of 10𝑚𝑚 = 1𝑚/𝑠 3

From diagram we get the following

51.08
✓ Absolute acceleration of coupler, 𝑎𝑎𝑏 = = 𝟓. 𝟏𝟎𝟖 𝒎/𝒔𝟐
10

✓ Orientation of absolute acceleration of coupler, 𝜽𝒂𝒃 = 𝟑𝟏𝟑. 𝟕𝟑𝒐

32.81
✓ Absolute acceleration of Follower, 𝑎𝑏𝑏′ = = 𝟑. 𝟐𝟖𝟏 𝒎/𝒔𝟐
10

✓ Orientation of absolute acceleration of follower, 𝜽𝒃𝒃′ = 𝟒𝟒. 𝟕𝟐𝒐

𝑡 50.60
✓ Tangential acceleration of coupler 𝑎𝑎𝑏 = = 5.06 𝑚/𝑠 2
10
𝑡
𝑎𝑎𝑏 5.06
✓ Angular acceleration of coupler, 𝛼𝑎𝑏 = = = 𝟓𝟎. 𝟔 𝒓𝒂𝒅/𝒔𝟐
𝐴𝐵 0.1

𝑡 30.42
✓ Tangential acceleration of follower 𝑎𝑏𝑏′ = = 3.042 𝑚/𝑠 2
10
𝑡
𝑎𝑏𝑏′ 3.042
✓ Angular acceleration of coupler, 𝛼𝑎𝑏 = = = 𝟐𝟎. 𝟐𝟖 𝒓𝒂𝒅/𝒔𝟐
𝐵𝐵′ 0.15