BITS Pilani

Pilani Campus

Dynamic Force Analysis

21 March, 2022
Outline:

 Midsem paper solution

 Evaluative Tutorials: March 29, April 5, 12, 19

 Static force analysis  F  ma
cg F 0
 
 M  J cg  M 0

 
 Dynamic force analysis  F  ma cg
1. 4-link mechanism with 4 turning pairs  
 M  J cg
2. Slider crank mechanism
Inertial loading

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Midsem paper

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Midsem paper

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Midsem paper

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Midsem paper

[8M]
15, 24, 25, 26 [6M]

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DFA: Analytical approach
 
 F  ma cg R3
 
 M  J cg
R4
Inertial loading R2

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Motion of a rigid body subjected to
a system of forces:
Newton’s equation
  
acg 
 F  R  macg Resultant force
  
F1 e   M  J Resultant moment

CG

F2

Fn
R

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Motion of a rigid body subjected to
a system of forces:
Newton’s equation
  
acg 
 F  R  macg Resultant force
  
F1   M  J Resultant moment
CG
 D’ Alembert’s Principle
J
  
  F  0
F2
macg  F  (ma cg )  0
Fn
 

 M  ( J cg )  0 M  0
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D’ Alembert Principle:

Dynamic problem is converted into static problem by

having
• Fictitious force (-macg) Inertia Force
• Fictitious torque (-J) Inertia Tourqe

aG3
PB
α3
G3
PA
- Jα3
- maG3

W3
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Ex 1:

Four bar mechanism used in coupled wheel locomotion is shown in

Fig. The crank and follower, O2A and O4B, are of equal length of
600 mm but of negligible mass. The coupler AB is a rigid uniform
circular rod of length 1000 mm and its total mass being 15 kg. If
the locomotive is running at constant speed of 120 km/hr then
find:
1. The linear acceleration (aG3) and angular acceleration (αAB) of
coupler AB.
2. The inertial loading on coupler AB.

l2  l3  l1  l4 ----- (1)

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Ex 1: Inertial loading on link AB
G3
 α3  0

1852.15 m/s2

maG3
PA PB

mg

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Ex: 2

Four bar mechanism used in coupled wheel locomotion is as

shown in Fig. The crank and follower, O2A and O4B, are of equal
length of 600 mm but of negligible mass. The coupler AB is a rigid
uniform circular rod of length 1000 mm, its total mass being 12
kg. A torque M acts on the crank O2A, causing coupler AB to move
with a linear acceleration aG3 = 2545o m/s2 and an angular
acceleration αAB = 60 rad/sec2 (CCW). Find:
1. The FBD of link AB, O4B &
O2A.
2. Pin reactions PA and PB.
3. The minimum diameter of
the coupler required, if the M
allowable bending stress of
the material of the coupler
is 35 MPa.
4. Shifted inertia force in
coupler AB.
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Soln: Pin reactions at A and B

A
MB  0 
300 N
PAY So PAY = 104.925 N
PBY
1  
PAX PAY
PBX  A  tan    83.05
 PAX 

From FBD of coupler AB

MA  0 Gives PBY = 224.93 N in positive y-direction

So PBX = 224.93 N in positive X-direction

 Fx  0  So PAX = 12.8 N in negative x-direction

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Soln: Diameter of coupler AB

For minimum diameter of coupler AB, draw BMD of AB

32 M
 bending   d  32 mm
d 3

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Soln: Shifted inertia force in AB

A

300 N

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