Chapter 3. Force Analysis of Mechanisms

Ho Chi Minh City University of Technology (HCMUT), VNU-HCM
CHAPTER 3
FORCE ANALYSIS OF MECHANISMS
Dr. Le Thanh Long
ltlong@hcmut.edu.vn
Department of Machine Design - Faculty of Mechanical Engineering

Outline
3.1. Force classification.
3.2. Method of force analysis.
3.3. Method of virtual work.
3.4. Lagrange equations and applications.

3.1. Force classification
Force
classification
External Internal Inertia

Forces Forces Force


1. External Forces
• Work resistance force
• Gravity
• Drive force
To operate the machine at the required speed, a force must be placed on
the driving link to balance all other forces acting on the machine. This
force is called the balance force placed on the driving link.


2. Internal Forces
- Reaction force between two pair elements of a pair
- At each point in a pair element, there exits two force components:

• Pressure component : perpendicular to the direction of
relative motion. Total pressure components in a joint -->
reaction force.
• Friction component: parallel with the direction of relative
motion. Total friction components in a joint --> friction force.


3. Inertia Force
- The mechanism is a moving system with acceleration, the external
forces acting on the mechanism do not cancel each other
-> Can't use static methods to solve.
- To solve the problem of unbalanced force system --> Use
D'Alambert's principle
In addition to the forces acting on a moving mechanical system,

adding inertia forces and treating them as external forces, the system
is considered to be in equilibrium. Then the static method can be
used to solve the force problem of the system.


3. Inertia Force
- An object of mass m, acting on a total force ∑ . It will have an
acceleration of ⃗.
   
 P  ma   P  ma  0
Inertia Force
   
 P  P qt  0 P qt   ma
A rotating object with a moment of inertia J, under the influence of

total moments ∑ , will have an angular acceleration of ⃗.
   
 M  J   M  J  0
    Moment of inertia force
 M  M qt  0 M qt   J 
7


3. Inertia Force
General: An object with mass m and inertia moment with the center of
mass JS, having plane-parallel motion with mass acceleration ⃗ and
angular acceleration ⃗. It produces a inertia force and a inertia moment.
   
P qt   ma S M qt   J S 
Same line, opposite direction ⃗ Same line, opposite direction ⃗

 
P qt : Set point: at the center of mass S M qt : Set point: on the object.
Magnitude: maS Magnitude: JSε
To solve the problem of dynamic joint pressure is convenient. In some

cases, it is possible to reduce and to a single force.
8

3.2. Method of force analysis

1. Statics.
2. Geometric features.
3. Work of force, kinetic energy, momentum.
4. Conditions for static equilibrium.
5. Pressure of kinematic pairs.


1. Statics
a. Definitions:
• An absolute solid is a solid object whose shape and volume do not
change under all external influences
• Equilibrium:
 The mechanical state of an absolute solid is the law of motion of
the solid in space and time.
 Equilibrium is a special mechanical state of a solid such that all
particles in the body have zero acceleration.
 There are two types of equilibrium for an object:
 Straight forward.
 The object is at rest (with the property of zero velocity).
10


1. Statics
a. Definitions:
• Force is a vector quantity used to measure the mechanical
interactions between matter.

F  (F,F
x y ,F)
z
11


1. Statics
a. Definitions:
• The characteristics of force - A: Set point of force F
- Price ab is the direction of force F,
 direction of ⃗ is the direction of the
F applied force
− ⃗ : The magnitude (intensity) of
the force F

Symbol of force F(N);
. / s2
1N  1 kgm
12


1. Statics
a. Definitions:
• A force system is a collection of forces acting on an object under
investigation. 
Symbol for n-force system: F ,j j  1, n
• Equivalent force system
Two systems of force are called mechanically equivalent if the two

systems produce the same mechanical effect on an object.
 
The symbol for the system
of two equivalent forces:
   
F j  Qk
j  1, n k  1, m 13


1. Statics
a. Definitions:
• A balanced force system is a type of force system that does not
change the mechanical state of a rigid object when the object is
acted upon by this type of force system.

Symbol of balanced force system:  
F j , j  1, n
14


1. Statics
a. Definitions:
• Resultant force : If a system of many forces is equivalent to a new
system with only one force, that single force is called the resultant
force of the system of many forces.
 
Symbol of resultant force:  
F j  R, j  1, n
The properties of resultant force:
 The resultant force vector is determined by the sum vector
 n 
R  F j
of the force vectors in the system. j1
 The projection of a force vector onto an axis is an algebraic value.

 The resultant force vector of the system of forces lies only on a
single line of action in the space R3.
 There are systems that always have a resultant force and there are
systems that never have a resultant force. 15


1. Statics
In the plane
a. Definitions: n

• Resultant force Rx  Fjx
 j 1
 n  n
Rx  Fjx R  F
 j 1  y j 1
jy
 n
Ry  Fjy
 j 1
 n 
Rz  Fjz Fjx  F j .cos
 j 1 
Fjy  F j .sin
16


1. Statics
a. Definitions:
Distributed force conversion
 xB
Q   q(x).dx  
 xA
 xB

 x q(x).x.dx
x  A
 C Q

17


1. Statics
a. Definitions:
Distributed force conversion
Evenly distributed
Triangular distribution
18


1. Statics
a. Definitions:
• Moment of force: Under the action of a force, a rigid object can
move in translational motion, in rotational motion, or in both
translational and rotational motion at the same time. The effect of the
force causing the rigid object to rotate will be evaluated by the
moment of the force.
19


1. Statics
a. Definitions:
• Moment of force about a center:  
Consider moment of force vector F about center O r  OA
 
  (r, F)
d  OH  (l)
 d  r.sin
The ability of force F to rotate a rigid object about center O will be

evaluated by the moment vector of force F about the center O as follows:
   
M o (F)  r  F
20


1. Statics
a. Definitions:
• Moment of force about a center:
   
Consider moment of force vector F about center O M o (F )  r  F
21


1. Statics
a. Definitions:
• Theorem:
The necessary and sufficient condition for the force F to not be able to
rotate the rigid object around the center O is:
  
M o (F )  0
 
 M o (F )  0
 d 0
 O(l)
22


1. Statics
a. Definitions:
• Moment of force about an axis:
 
F xy  hcxy (F)
  
Mz (F)   MO (F xy )  2.S(OAxy Bxy )
23


1. Statics
a. Definitions:
Convention:
The moment of force vector F about the
axis of rotation z will be conventionally
positive (+) if looking along the axis of
rotation z from the top of that axis, we see
that the projected force Fxy will tend to
rotate around the center O, counter-
clockwise and vice versa.
Theorem: The perpendicular projection onto the z axis of the force

vector F about the center O is equal to the moment of the
force F about the z axis.   
hcz MO (F)  Mz (F), Oz 24


1. Statics
a. Definitions:
Theorem: The necessary and sufficient condition for the force F to not be
able to make the rigid object rotate about the z-axis is the
moment of the force F about the z-axis is zero.

Mz (F)  0
 S(OAxy Bxy )  0
 mp(OAB) / / z
The z axis intersects the plane (OAB) at O, so the Z axis ⸦ (OAB)
  z,(l)
 z / /(l)
 
z x (l) 25


1. Statics
a. Definitions:
• Couple is a system of two forces simultaneously satisfying the
following conditions: Collinear but opposite direction , same
magnitude, not same line of action.
 '
Symbol of the couple (F, F )
 
F'  F
26


1. Statics
a. Definitions:
• Couple is an unbalanced system of forces.
Under the action of a couple, a completely
free, stationary rigid object will perform
rotational motion.
 '
(F, F )  
• Couple is a type of force system that
hasn’t resultant force. The random force is
a simplified form of the force system:
 ' 
(F, F )  R
27


1. Statics
a. Definitions:
• Moment of couple
The couple's ability to rotate will depend on four factors of the
couple: the plane of action (P), the lever arm d, the magnitude of the
forces, and the direction of rotation of the couple.
To measure the couple's ability to rotate an object, one defines the
torque vector quantity of the couple:
plane (P)
direction
28


1. Statics
a. Definitions:
Symbols of moment:
Method 1: Sign moment by a two-headed
straight vector. (Used in 3D space problem)
Method 2: Symbolize moment by a torque of two forces in the plane
of action. Perpendicular to the moment vector of way 1 such that the
moment vector of the torque equals the moment vector to be
represented. (Used in 2D and 3D space problems)
Note: There are many possible torques
to represent a moment
29


1. Statics
a. Definitions:
Symbols of moment:
Method 3: Represent moment by a curved vector in the plane. The
direction of the curved vector is determined according to the right hand
rule relative to the direction of the straight moment vector of way 1. Or
the direction of the curved moment vector will be in the same direction
of rotation of the torque. (Used in 2D and 3D space problems)
30


1. Statics
b. The axioms of statics
• Axiom 1: Axiom of two balancing forces
The necessary and sufficient condition for the system of two forces to
be in equilibrium is that they have the same lines of action, opposite
directions, and have the same magnitude.
31


1. Statics
• Axiom 2: Adding and subtracting two balancing forces
The effect of a system of forces does not change when two balancing
forces are added or removed
Corollary: The effect of a force on a rigid object is absolutely unchanged
as the force slides along its line of action. (Sliding force theorem)
Note: The above property is only true for absolute rigid object.
32


1. Statics
• Axiom 3: Axiom of parallelogram force
A system of two forces at the same point is equivalent to a force

placed at a common point and has a force vector equal to a
parallelogram diagonal vector whose sides are two vectors
representing two component forces.
  
F  F1  F2
33


1. Statics
• Axiom 4: Axioms of action and counteraction
The force and reaction force between two objects with the same line
of action, opposite direction, and the same magnitude
Note: The force and the reaction force are not equal forces because
they do not act on the same rigid object.
34


1. Statics
• Axiom 5: Axiom of solidification
A deformed object that is balanced under the action of a system of
forces, when solidified, remains in equilibrium under the action of
that force system.
string string
solidification
solidification
steel steel
Note: The reverse is not true.

35


1. Statics
• Axiom 6: Axiom of releasing the link
A balanced non-free object (i.e. bonded body) can be considered to be
a balanced free object if the bonds are released, replacing the action of
the released bonds with the corresponding binding reactions.
36


1. Statics
c. Support reactions are forces exerted by bonds on an object
Support reactions are passive forces
37


1. Statics
c. Support reactions
• Properties of the support reaction:
Property 1: The number of support reaction of a bond type will be
equal to the number of constraints of that bond.
Property 2: The location of the support reactions coincides with the
positions of those links (Place at the position of the link).
Property 3: The direction of the support reactions will coincide with
the direction of the lost independent motions.
Property 4: The direction of the support reactions will be opposite
to the direction of the lost independent motions.
38


1. Statics
• Basic types of link
Wire link: R= 1
 One support reaction.
39


1. Statics
R= 1
Smooth bearing link (frictionless smooth bearing)
 One support reaction
Common tangent
Note: The reaction is perpendicular to the unbroken

surface 40


1. Statics
Fixed hinge joint link: R= 2
 Two support reactions.
41


1. Statics
Mobile hinge joint link: R= 1
42


1. Statics
Ball joint link: R= 3
 Three support reactions
43


1. Statics
Flat mount link: R= 3
44


1. Statics
Space mount link: R= 6
45


1. Statics
• Basic types of link R= 1
Bar link :
Investigate straight, curved, and bar link that appear when:
- Bars weighing very little compared to the forces that bear bar.
- There are 2 links at the 2 ends of the rod belonging to one of the
following 3 types of links : hinge, ball joint, smooth seat.
- The bar is only loaded at the two ends, not in the middle of the bar.
The reactions are on the line connecting the two ends of the rod.
46


1. Statics
Bar link :
If the bar at the same time satisfying the conditions as above was used
as the link to the solid, they will be called the bar link. Each bar link
will have a constraint and produce a reaction force on the object. The
reaction of the rod connection always has the property of lying on a
straight line connecting the two ends of the rod connection.
47


1. Statics
Bar link :
Bar link
Not bar link
48


1. Statics
Bar link:
49


1. Statics
hinge joint link
Mobile hinge joint link
2 constraint
1 constraint
Dof of mechanical system
Object : 2
Constraint : 6
Bear link
Fixed hinge joint link 1 constraint
2 constraint
50


1. Statics
Release the link
51


2. Geometric features
The motion of a mechanical system depends not only on the forces
acting on it, but also on a number of factors, such as: the mass of the
system, the shape of the system, and the distribution of internal
masses.
Mass of the system
A positive scalar quantity that characterizes the degree of inertia of
the mechanical system.
= > 0,
Inertia is a property of the material reflects the ease or difficulty

changing mechanical state of the object. The greater the inertia, the more
difficult it is for an object to change its mechanical state and vice versa.
52


If the mechanical system is a constant environment:
= . → = =
If the mechanical system is a constant environment, homogeneous:
= = → = . =
53


Center of mass of the system:
Is a geometric point that exists in the space of the system, denoted
by point C and whose position is determined as follows:
∑
=
∑
∑
=
∑ with =∑
=
∑
=
54


∑ ̇
= ̇ =
∑ ∑ ̇
= ̇ = = ̇ =
∑ ̇
= ̇ =
55


∑ ̈
= ̈ =
∑ ∑ ̈
= ̇ = ̈ = = ̈ =
∑ ̈
= ̈ =
56


• Inertia moment of the system about an axis:
A scalar quantity, positive denotes the inertia of the mechanical system
as the system rotates around an axis.
∆ = ℎ ; .
= ( + )
= ( + )
= ( + )
57


• Inertia moment of the system about axis z :
Where r : is the lever arm perpendicular to

the axis z
= .
Therefore,
=
58


Example: Calculate the inertia moment of a straight bar about the axis
(∆) with mass M and length L
a. Axis (∆) goes through the top of the bar
b. The axis (∆) passes through the center of gravity of the bar
a. Consider a small element: = ∆ with =

Follow the definition :
∆ = = ∆
→ ∆ = =
3
→ ∆ =
3 59


b. Consider a small element:
Same as above:
/
→ ∆ = =
/ 12
→ ∆ =
12
The above formula can be used for uniform rectangular plate
60


Example: Calculate the inertia moment of the circle and the cylinder
about the axis (∆) passing through the center of the circle and the
cylindrical surface of mass M, radius R as shown in the figure.
Follow the definition :
∆ = =
→ ∆ =
61


Example: Calculate the inertia moment of the circle and the cylinder
about the axis (∆) passing through the center of the circle and the
cylindrical surface of mass M, radius R as shown in the figure.
Consider a small element:
= (2 .∆ )
We have:
2
∆ = = ∆
2
→ ∆ =
1
→ ∆ =
2 62


• Inertia moment of the system about center O:
A scalar quantity, positive denotes the inertia of the mechanical

system as the system rotates around center O.
In the coordinate system Oxyz
= = ( + + )
+ + +
= ( + + )
2 2 2
1
→ = ( + + )
2 63


• Inertia moment of the system about an axis:
In engineering, the mass inertia moment is usually expressed as:
∆ =
Where M is the mass of the object (kg).

is the inertia radius(m)
64


Centrifugal inertia moment of the system :
 For the xy axis system: = = [ ]
 For the yz axis system: = = [ ]
 For the zx axis system:

= = [ ]
→ = ; = ; =
65


Theorem of relationship between parallel axes
Relation of inertia moment between two parallel axes
∆ = ∆ +
Where M is the mass of the object

d is the distance between two parallel axes
∆ is the inertia moment of about the axis
through the center of mass
66


Theorem of relationship between non-parallel axes (axis rotation
formula)
= + +
−2 . −2 . −2 .
with =∑ , =∑ , =∑
is the mass inertia moment.
67


Example: Calculate the inertia moment of the straight bar about the
axis (∆) passing through the center of bar with mass M, length L.
The inertia moment of bar about the

axis passing through the end of the bar.
∆ =
3
Using the parallel axis conversion
formula
∆ = ∆ +
→ ∆ = ∆ − = −
3 4
→ ∆ =
12 68


• Mass inertia moment of some simple homogeneous object
Homogeneous straight bar with mass M, length L
1. The axis (∆) passes through the end of bar at A.
= =
3
2. The axis (∆) passes through the center of mass

C , L/2 from A.
=
12
69


Homogeneous ring with mass M and radius R
∆ = =
= = /2
Round face (round cylinder) of homogeneous object with mass M,

radius R
1
∆ = =
2
1
= =
4
70


Solid, homogeneous, thick rectangular plate
1
=
3
1
=
3
≡ = ( + )
71


Homogeneous circular cylinder with mass M radius R
= ≠
1 ℎ
= = ( + )
2 6
72


Solid homogeneous cylindrical cylinder with mass M and radius R
1
= ≠
2
1 ℎ
= = ( + )
4 3
73


• Inertia moment of a many-object system
∆ =∑( ∆ + . )
Where - ∆ is the inertia moment of the i-th object at the center of mass C
- is the mass of the i-th object
- is the distance from the center of mass of the i-th object to the
point where the moment of inertia is desired
74


Example: Calculate the moment of inertia of the rectangular frame
OABC about the axis O. With =2 =2 and the masses of the rods
AB, BC are 2M, M, respectively.
We have the inertia moment of each bar about point C.
= / + / + / + /
Use the formula

(2 )(2 ) 8
/ = ; / = =
3 3 3
The shaft passes through the ends of rods OA and OC
75


Using the axis conversion formula
=/ / +2 .
(2 ). (2 ) 14
= +2 ( 2) =
12 3
13
/ = / + ( ) =
3
The inertia moment of frame OABC about O
= + + +
14 13 8
= + + +
3 3 3 3
= 12 76


3. Work of force, momentum
• Work of force
The work of the force make the object moving over a distance s
=±
Sign (+) if force is in the same direction as s
Sign (-) if force is opposite to s
Work of the gravitational force
= ± .∆
 ∆ is the vertical displacement of the setpoint
 Sign (+) if setpoint goes down
 Sign (-) if setpoint goes up
77


• Work of force
Work of spring force
1
=− ( − )
2
The work of the force that makes the object
rotate about a fixed axis
=± .
Sign (+) if force M is in the same direction as
Sign (-) if force M is opposite to
Forces that do not work
The force is perpendicular to the distance traveled.
Static friction force between the non-slip
rolling object and the road surface 78


• Work of force
Work of dynamic sliding friction force:
=− . =− . . <0
Power of force:
.
≡ = = = .
Power of moment:
.
≡ = =± =± .
79


• Kinetic energy
Kinetic energy of N-points system
1
=
2
Kinetic energy of a rigid object in translational
The object in
motion
1 translational motion
= .
2
Kinetic energy of a rigid object rotating around a
fixed axis
1
=
2 The object rotating around
a fixed axis 80


• Kinetic energy
Kinetic energy of a rigid body moving in parallel
1 1
= . + .
2 2
Or we can calculate the kinetic energy at the center
of instantaneous velocity P
1
= .
2
Kinetic energy of a rigid object with a general motion.
1 1
= . + .
2 2
81


• Kinetic energy
Differential type:
= +
Derivative type ( When we calculate acceleration)
= +
Finite form (when we need to calculate the velocity, we must know

the initial velocity of the system)
∆ = − = +
82


• Kinetic energy
For a non-morphing system: =0
For a system with ideal connections:

A type of link, the sum of the support reactions is always zero in all
motions of the system. Now the sum of the loads is equal to the sum
of the active (active) forces.
=
83


• Momentum:
The momentum of a material point is a vector quantity denoted and
defined:
= . , . → ↑↑
The momentum of mechanical systems:
= = . = .
Kinetic moment of force
⃗ ≡ = . , .
84


• Momentum:
The momentum moment of mechanical system with center O
= × = ×( )
The momentum moment of mechanical system is

characteristic of the rotation of the system
The momentum moment of the system about the axis of rotation
∆ = ℎ = ℎ ℎ = ℎ = ∆
85


• Momentum:
Newton's Second Law =
→ = → =
Momentum Variation Theorem

The time derivative of the momentum of the mechanical system is
equal to the main vector of external forces acting on the system
Special cases
a) ∑ = 0 The center of mass of the system is conserved → =

b) ∑ =0
Projection of main vector of external force on a certain axis (x-axis) is zero
→ projection of momentum on that axis (x-axis) is preserved → = 86


Momentum:
Assuming we take the center of momentum moment as O, take O as
the origin to determine the radius of the particle , we get:
= → × = ×
→ ( × )= × → = ( )
Project on arbitrary axis through O  ∆ =∑ ∆( )

Momentum moment variation theorem:
The time derivative of the momentum moment of the mechanical
system about the center (axis) is equal to the principal moments of the
external forces with respect to that center (axis). 87


Momentum:
Ships and aircraft are moved by propellers or propellers
Jet motion of aircraft and rockets in horizontal space

Usually applied to problems:
• Calculate the momentum of the system
• Calculate the velocity after the collision
• Calculate the combined reaction of gas and
liquid flows
88


4. Conditions for Static Equilibrium
To calculate the pressure of kinematic pair, we must separate the links from
the mechanism so that the pressure of kinematic pair at the joints becomes
an external force for each link. Then on each link, we put external forces
(including inertial forces) and write the equilibrium equation.
• Conditions for Static
A number of A number of unknown in

equations the equations
89


• A number of equations:
 Force balance conditions for a link in the plane:
 X  0,  Y  0,  M  0
So if there are n links, 3n force balance equations will be created.
90


• Number of unknowns:
Direction: unknown

R ik : Setpoint: at center O
Magnitude : unknown
91


Direction : perpendicular to the sliding direction


R ik : Setpoint: unknown
Magnitude: unknown
92


Direction : follow the common normal line nn


R ik : Setpoint: at the point of contact
Magnitude: unknown
93


The unknowns of kinematic pair pressures of p5 type 5 joints and p4
type 4 joints are: 2p5 + p4
Conditions for Static
3n  2 p5  p4 3n  (2 p5  p4 )  0
To determine the kinematic pair pressure, we must solve
simultaneously the equations written for the links of a Assur group.
That is, to separate the mechanism into stationary groups and write the
force equation for each of these groups.
94


In 3D, a link can create 6 force balance equations:
 X  0,  Y  0,  Z  0
 M  0,  M  0,  M  0
x y z
So, with n links we will get 6n force balance equations.
95


Each kinematic pair pressure in a k-type joint has k unknowns.
 The number of unknows of pk type k joints is kpk
5
 The number of unknows of pk type k joints in kinematic string:  kp
k 1
k
To determine the kinematic pair pressure in the spatial mechanism,

we must solve the equations for the links in a group with degrees of
freedom of 0.
96


5. Kinematic pair pressure
Method
To analyze the reaction of kinematic pair → separate the structure
into Assur groups, on which the reactions at the joints are external
forces → write force equations for each link.
To solve the kinematic pair pressure problems, the number of force
equations created must be equal to the number contained in the
equations. This is the static condition of the problem.
5 5
6n   kPk  6n   kPk  0
k 1 k 1
When solving, we solve for Assur groups far from the driver link
(contrast to the kinematics problem).
97


Slider crank mechanism
Slider crank mechanism in the position under consideration. The
external forces (including technical resistance, inertial force,…)
acting on link 1 are , ; acting on link 2 is , ; acting on link
3 is , . Determine kinematic pair pressure at joints B, C, and D
to equilibrium.
98


Force analysis of link 3:
99


Force analysis of link 2:
100


Writing the force equations of link 3:
  
R 23  P 3  R 43  0
  
 M C  M C ( R 43 )  M C ( P3 )  M 3  0
  M C  R43 .x  P3 .h3  M 3  0
 x?
101


Writing the force equations of link 2:
  
R 32  P 2  R12  0
   
 M C ( F 2 )  M C ( R12 )  M C ( P 2 )  M 2  0
  M C  R12 .lBC  P2 .h2  M 2  0
P h  M2    n
 R12  2 2 R12  R12  R12
lBC
102


Solve the force equations of link 2:
   n
R12  R12  R12

 C 12 .lBC  P2 .h2  M 2  0
M  R
P2 h2  M 2
 R12 
lBC
103


 The mechanism has 1 degree of freedom, after separating the
Assur groups, the driving link is connected to frame by hinges.
 The balance force placed on the driving link is not arbitrary, it
must obey the equilibrium condition on the driving link.
 The balance force on the driving link can be a force or it can

be a moment
104


The balance force on the driver link is Mcb
    

 M A  M cb  M 1  P1.h1  R 21.h21  0
 M cb  R21.h21  M 1  P1.h1
105


The balance force on the driver link is Pcb
    
 M A  P cb h  M 1  P1.h1  R 21.h21  0
R21.h21  M 1  P1.h1
 Pcb 
h
Comment:
 
M cb  P cb h
106

3.3. Method of Virtual Work

 The balance force on the driver link is also the force that balances all
the forces (including the inertia force) acting on the mechanism.
 According to the principle of possible movement: "In a system of

forces in equilibrium, the sum of the instantaneous powers of all
forces acting on the mechanism is zero in all possible movements".
107

3.3. Method of Virtual Work

• The balance force on the driving link is Mcb
     
M cb . i   P i .Vi   M i .i  0
i i
• The balance force on the driving link is Pcb

     
P cb .V C   P i .Vi   M i .i  0
i i
108

3.4. Lagrange equations and applications

• General equation of kinematic
− =0
− ̈ + − ̈ + − ̈ =0
• Lagrange equations
From the general equation of dynamics, we represent it in a fully
generalized and linearly independent coordinate system
− = − =
̇ ̇
109


• Cases
If all forces acting on the system are potential forces, then the
following formula applies:
= −Π
The function L of the generalized coordinate and the generalized
velocity equals the subtract of the kinetic and potential energy of the
system, which is called the Lagrange or potential energy function.
The Lagrange equation of the potential forces has the form:
− =
̇
This is the differential equation of motion of the system. The
number of equations is equal to the exact number of degrees of
freedom of the system
110


• Generalized coordinates
The generalized coordinate of a mechanical system is an
independent parameter chosen to investigate the motion for the
whole system. For each system, we have many ways to choose the
generalized coordinate.
 The number of independent generalized coordinate to determine the
system.
= =3 −
 The position of the mechanical system is determined by n
generalized coordinates:
, ,…,
111


Example: Determine the number of coordinates for the following system:
q1  O1 A
 q1  
hay q1   
q2  
112


Example: Regardless of friction, write the equation of motion of the
system consisting of a homogeneous bar AB with length l, weight P, and
able to rotate about axis A in a vertical plane. The ball M is moving on the
bar with weight Q. The natural length of spring AM is , the stiffness is k.
Choose generalized coordinates
≡
≡
Lagrange II equation:
− =
̇
  T  T
 d     Q1
 dt      
  
 
 d  T  T
     Q2
dt 
       
113


• Application:
 Lagrange equations are widely used in practice to solve mechanical

problems in physics and engineering when it is not convenient to
use Newton's formulas in classical mechanics to solve.
 The Lagrange equation applies to the kinematic of particles, the

fields are described using the Lagrange density function.
 The Lagrange equation is also used for optimization problems for

kinematic systems.
114

115

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Ho Chi Minh City University of Technology (HCMUT), VNU-HCM

Department of Machine Design - Faculty of Mechanical Engineering

Department of Machine Design - Faculty of Mechanical Engineering

3.1. Force classification

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