Solutions to Chapter 4 Exercise Problems

Problem 4.1

Locate all of the instant centers in the mechanism shown below.

A 4
30˚ 63˚
2 B 1

AB = 1.5"
3

Position Analysis

Draw the linkage to scale. Start by locating point B. Then draw the line on which B must slide
and draw a horizontal line on which link 4 must slide. This will locate all of the ponts and
directions required for the analysis.

Instant Center Locations

Locate the obvious instant centers ( I12, I23, I34, I14 ). Then I24 is found in a straight forward
manner using the procedures given in Section 2.15. To locate I13, note that it must lie on the line
AB. It also lies on the line through I14 and I43. However, both points are at infinity and, the line
through the two ponits lies at infinity. Therefore, the line through AB intersects this line at
infinity meaning that I13 must be at infinity in the direction indicated.

-1-
 ∞
A I12
4 I14

∞
2 I23 1
B

3 1
I24
I34
I34 ∞ 4 2
∞ ∞ ∞ I13
I14

Problem 4.2

Find all of the instant centers of velocity for the mechanism shown below.

BC = CD
BD = 3.06"

3
2
150˚
C
D
A 50˚
4

-2-
 I24
I 23 1

B 4 2

3
3
2
C D
A 50˚
4 I14
I12
I34

I13

-3-
Problem 4.3

In the linkage shown below, locate all of the instant centers.

3.3"

6
AB = 1.35" F
BD = 3.9"
DE = 0.9" B 5
BC = 0.9"
CF = 2.0" C
2

55˚ 3
A E

4
D\
Solution

1
I13 I 36
6 2

I1
5 3 6
F 6
I15 I56
B I2 5
4 3
I25 C I
2 3
5
A 3 I 24 I14 E I46
I26
I12 4
D
I3
4

I4
5

Problem 4.4

Find all of the instant centers of velocity for the mechanism shown below.

-4-
 I 15
E I35
I 45
5
D I 25
4
I34 I 24
I 23
C
2
E
A
5
D I 12
4

5.0 cm I14
C
2
3
28˚ A

1
B
AB = 8.0 cm
AC = 4.5 cm I 13
BD = 13.0 cm 3 5
DE = 2.9 cm 2

B
4 3
Solution

-5-
Problem 4.5

Locate all of the instant centers in the mechanism shown below. If link 2 is turning CW at the
rate of 60 rad/s, determine the linear velocity of points C and E using instant centers.

AD = 3.8"
C AB = 1.2"
BC = 3.0"
CD = 2.3"
CE = 1.35"
EB = 2.05"
3
B
4 E

2
125˚
D A

Velocity Analysis

The two points of interest are on link 3. To find the angular velocity of link 3, use I13 and I23.
Then
1vI
23 = 1ω2 × rI23 /I12 = 1ω3 × rI23/I13

Therefore,
rI23/ I12
1ω3 = 1ω2 = 60 1.2 = 17.7 rad / s
rI23 /I13 4.07

Because the instant center I23 lies between I12 and I13, 1ω3 is in the opposite direction of 1ω2.
Therefore, 1ω3 is counterclockwise.

Then,
1vC
3 = 1ω3 × rC/I13 ⇒ 1vC3 = 1ω3 rC/I13 = 17.7⋅2.11 = 37.3 in / s

and
1vE
3 = 1ω3 × rE/I13 ⇒ 1v E3 = 1ω3 rE/I13 = 17.7⋅3.25 = 57.5 in / s

The directions for the velocity vectors are shown in the drawing.

-6-
 I 13 1

4 2

C 3
I 34 vC 3

4 3
vE 3 I23 vB3
E
B

2
D A I 24

I 14 I12

-7-
Problem 4.6

Locate all of the instant centers in the mechanism shown below. If the cam (link 2) is turning
CW at the rate of 900 rpm, determine the linear velocity of the follower using instant centers.

103˚

R
B
AB = 1.5"
R = 0.75" 2
70˚
A

Instant Centers

-8-
Velocity of the Follower

Convert the angular velocity from “rpm” to “rad/s”

900(2π )
ω2 = 900 rpm =
1
= 94.25 rad / s CW
60sec

At the point I 23 the linear velocity of follower and cam is same.

1
v I 23 = 1 v A2 + 1 v I23 / A2 = 0 + 1ω2 × rI 23 / A = (94.25 rad / s )(0.82 in) = 77.285 in / s Down

Problem 4.7

Locate all of the instant centers in the mechanism shown below. If link 2 is turning CW at the
rate of 36 rad/s, determine the linear velocity of point B4 by use of instant centers. Determine the
angular velocity of link 4 in rad/s and indicate the direction. Points C and E have the same
vertical coordinate, and points A and C have the same horizontal coordinate.

D
5
C 4 E
6
100˚
AB = 1.1"
B AC = 0.9"
A CD = 1.5"
3 2 DE = 3.25"

Solution:

Find all instant centers and linear velocity of point B2.

1v B
2 = 1ω2 × rB2 /A2 ⇒ 1v B2 = 1ω 2 ⋅ rB2 /A2 = 36⋅1.1 = 39.6 in / s

Using rotating radius method,

-9-
 1v B
4 = 32.5 in / s

To calculate the angular velocity of link 4, we can use the relations between related instant
centers.
1ω 2 × rI 24 /I12 =1ω 4 × rI24 /I14

rI24 /I12
1ω 4 = 1ω 2 ⋅ = 36 ⋅ 1.283 = 21.1 rad / s
rI24 /I14 2.186

Therefore,
1ω 4 = 21.1 rad / s CW

- 10 -
 I15

I 46
I45
D
5
I 36
4 I35
I14 I16
I25 E
C 6
1v
B2 I 56
1v B I 26
4 1
I 23 I12
I13
B 2 A 6 2
3
1 v 'I I34
24

1v 'B
2 5 3
I 24
1v I
24 4
Problem 4.8

Using the instant-center method, find angular velocity of link 6 if link 2 is rotating at 50 rpm
CCW.

- 11 -
 AC = 1.2" G (2.55", 2.95")
AB = 1.35"
BC = 0.9" 6
CE = 2.7"
BD = 2.6"
DE = 2.6" D
DF = 2.2" F
EF = 3.1"
FG = 2.8" 5

Y B

4
2
C

A 20˚
X
3

Position Analysis:

Draw linkage to scale. This is a trial and error process because the linkage is a Stephenson II
linkage. First draw link 2 to locate points B and C. Draw a circle centered at B of radius 2.6 ".
Draw a second circle centered at C and of radius 2.7". Draw a third circle centered at G and of
radius 2.8". Next construct the triangle CDF to scale and manipulate the triangle until points D,
E, and F intersect their respective circles. Alternatively, the procedure given in Section 2.10 can
be used.

Velocity Analysis:

The angular velocity of link 2 is

ω2 = 2 ⋅ π ⋅50 = 5.24 rad / s

60

Using the instant centers I12, I16, and I26 ., we can write the relationship between ω2 and ω 6 as

1ω2 × rI26/ I12 = 1ω6 × rI26 /I16 (1)

Solve Eq. (1) for 1ω6

rI26 /I12
1ω 6 = 1ω 2 ⋅ = 5.24 ⋅ 1.56 = 3.47 rad / s
rI26 /I16 2.35

So,
1ω6 = 3.47 rad / s CW

- 12 -
 1
G
6 2 I 16 6 I 46
F
D

5 3 I 45
5 4

B
I 25
I 26

2 I 23
I 24
C
3
A I
12 E I 34

- 13 -
Problem 4.9

In the operation of this mechanism, link 3 strikes and trips link 5, which is initially at rest. High
wear has been observed at the point of contact between links 3 and 5. As an engineer, you are
asked to correct this situation. Therefore, you decide to do the following:

1) Determine the direction of the velocity of point C on link 3 at the moment of contact.

2) Relocate the ground pivot of link 4 to make the direction of the velocity of point C
perpendicular to link 5 (hence less rubbing at the point of contact) when contact occurs.

Y
Driving Link
AE = 0.79"
A (0, 2
E BD = 0.69"
1.37") -10˚ ED = 0.74"
CD = 0.59"
3
157˚ r = 0.125"

D Compression Spring
4
X C
B (0.7",
0)
Stop
F (0.75", -0.72") 5
6
Solution

Before link 3 strikes link 5, link 5 is stationary and can be considered to be fixed to the frame.
Hence, link 5 is the same as link 1.

For part 1, find the location of the instant center I13. Then find the direction of the velocity of
point C3 relative to the frame. This is shown in the drawing.

For part 2, we want the velocity of C3 to be perpendicular to the surface of link 5. Knowing the
direction of the velocity of C3, we can find the new location of the instant center I13. Knowing
the location of the instant center, we can find the new location of the ground pivot for link 4.
The solution is shown in the figure.

- 14 -
 Original
A E Desired
I13
I13 Original velocity
3 of point C
New location
for pivot B' Desired velocity
D
4 of point C
C
B

Problem 4.10

For the linkage given, ω2 = 1 rad/s CCW. Find I26 using the circle-diagram method. Using vA2
and I26, determine the magnitude and direction of vB6 using the rotating radius method.

AC = 1.4"
AE = 3.15"
DF = 1.6"
BF = 1.25"
BD = 0.8" B
Y F (3.6", 1.45")
A 6
3
2
5
D E
C 35˚
4 X

Solution:

Draw the linkage to scale. Start by locating the pivots C and F and line of motion of E. Next
locate link 2 and point A. Then locate point E and draw the line AE. Next locate point D and
finally E.

Find the necessary instant centers, and locate I26. Find the velocity of A2 which is given by

1v A2 = 1ω2 × rA2 /I12 ⇒ 1vA2 = 1ω2 ⋅ rA2 /I12 = 1(1.4) = 1.4 in / s

Rotate point A onto the line defined by I12 and I16 to get A'2 and draw the velocity of A'2. From
the proportionality relationship, find the velocity of I26.

- 15 -
 I13

vA2 vB 6
vA'2 vB'6
I16 F
vI 26
I23 B
I24 6
A B'
3 ∞
I56 ∞
2 A'
I26 5 E
D I14
4
C
I12 ∞ I34
I35 ∞

1 in

1
6 2

5 3
4

I36

- 16 -
Rotate point B onto the line defined by I12 and I16 to get B'6. From the proportionality
relationship, using I26 and I16, find the velocity of B'6. This point will have the same velocity
magnitude as will B6. Show the velocity vector at B6 perpendicular to BI16 . The magnitude of
the velocity of B6 is given by
1vB
6 = 0.563 in / s

Problem 4.11

Find the velocity of point C given that the angular velocity of gear 2 is 10 rad/s CW. B is a pin
joint connecting links 4 and 5 . Point A is a pin in link 3 that engages a slot in link 4.

B
AE = 0.85"
BD = 1.65"
BC = 3.0"
5

D (2.05", 1.3")
C Y
6 0.95"
3 E
7˚
1.0" A
0.7" 28˚ 4
F X

ω2 2

Solution:

To find the velocity of point C, considered as a point in link 5, from the angular velocity of link
2 relative to link 1, the instant centers I12, I15, and I25 are needed. These may be located as
shown in the figure

Then,
1ω5 = 1ω2 × (I25I12) / (I25I15) = 10(1.28) / (9.57) = 1.34 rad / s CW

vC5 = 1ω5 × (I15C) = 1.34(7.21) = 9.66 in / s to the left.

- 17 -
 I 15

I25 I15 = 9.57

I25 I12 = 1.29
I15C = 7.21

B
I45

4
5

I56 D I 14
I16 6
C
I24 E I 13
A
I 23
1
2 3
2 2 F I12
6 I34

1 in
5 3
4 I25

- 18 -
Problem 4.12

If ω2 = 5 rad/s CCW, find ω5 using instant centers.

C
B
4
3
5

62˚ ω2 E
A

AE = 4.1" 2
EF = 2.0"
AB = 1.5" D
BC = 1.55"
CF = 4.0"
DE = 1.0"
F

Solution:

Draw linkage to scale and find necessary instant centers ( I12, I15, and I25 ).

The relationshp between 1ω 2 and 1ω 5 is

1ω2 × rI25/I12 = 1ω5 × rI25 /I15 (1)

Solve Eq. (1) for 1ω5 ,

rI25/ I12
1 ω5 = 1ω2 ⋅ = 5⋅ 1.83 = 4.03 rad / s
rI25 / I15 2.27

So,
1ω5 = 4.03 rad / s CW

- 19 -
 C
4
B I 34
I 35 I 45 3

A E
I 12
I15 I 25
2
1 I23
D

5 2

I13
F
4 3

Problem 4.13

If ω 2 = 1 rad/s CCW, find the velocity of point A on link 6 using the instant center method.
Show vA6 on the drawing.

AC = BC = 1.4"
BE = 3.15"
A DF = 1.6" ω2
Y
F (3.6", 1.45")
6 B 2
3
30˚
5
D E
C 35˚
4 X

- 20 -
Solution:

I 13

I 12
A
F
I46 B 2
I36 1 vA 6
6 I25
D I 35
I26 1 v'I
26
5 3 E
I 14
C I34 4
1 v'
D2 1 vD
2
I 16

1 vI
26

6 2

5 3

I 23

Find necessary instant centers, i.e. I12, I16, and I26 , and the velocity of point D as

- 21 -
 1vD
2 =1ω 2 × rD2 / F2 ⇒ 1vD2 = 1ω 2 ⋅ rD2 / F2 = 1 ⋅1.6 = 1.6 in / s

Using rotating radius method

1v A
6 = 3.095 in / s in the direction shown.

Problem 4.14

If vA2 = 10 in/s as shown, find vB4 using the instant-center method.

AC = 1.95"
AD = 2.0" vA2
Y DE = 1.1"
BD = 0.9" A
BE = 1.9"
5
B
3

2
D
4
C (3.35", 0.3")
6
E
X

1.0"

Solution:

Find necessary instant centers, i.e. I12, I15 and I25 , then using these instant centers and the
rotating radius method, find the velocity of I25 . Because the velocity is the same for all points in
link 5,
1vB
5 = 1vB4 = 1vI25 = 27.4 cm / s in the direction shown.

- 22 -
 1v2
A
I45 I14 I23
5
B 3
I34 I24
2
I15 D
4 C I25
E 6 I12
I46 I16

1
6 2

5 3
4

Problem 4.15

If vA2 = 10 in/s as shown, find vB4 using the instant-center method.

Y
vA2
B A
5
C 15˚ X CB = 1.1"
3 BE = 2.0"
BD = 1.1"
D DE = 1.2"
2
4 AD = 1.6"
1.5" AF = 1.6"

F (4.2, -1.3)
E 6

Solution:

Find necessary instant centers, i.e. I12, I14 and I24 , then using these instant centers and the rotating
radius method, find the velocity of I25 . Because velocity of link 5 makes linear movement,
1vB4 =11.8 cm / s in the direction shown.

- 23 -
 Y
I14
I 45 1vA
B 2
I 15 5
15˚ X 3 1
C I 23
I 34 A 6 2
I 24
D
4 2 5 3
1.5" 1vB 4
4

I 46 F (4.2, -1.3)
I 12
E 6 I 16

Problem 4.16

If vA6 = 10 in/s as shown, determine the velocity vector (direction and magnitude) for point B on
link 3 using the instant-center method.

G
3
B
H
4
2 CD = 0.8"
F CA = 0.6"
C I ED = 1.85"
EF = FG = 1.35"
57˚ vA 6 GH = 1.5"
6 HI = 0.95"
A CI = 2.1"
D CF = 0.65"

5
E

Solution:

Find necessary instant centers, i.e. I13, I16, and I36 . Using rotating radius method as shown in the
figure above,
1v B
3 = 17.5 in / s in the direction shown.

- 24 -
 I 13
1

6 2
G I 34
B
3 I 23
4 I 36 5
H 3
4
2
F C I
I 16
1v
I 46
I 14 6 A6 I 12
A
D
I 56
I45
5
E

Problem 4.17

In the mechanism below, ω2 is 20 rad/s CCW. Find I26 and use it to find the angular velocity of
link 6.

Y
A X
2

B AB = 1.5"
BC = 4.9"
CE = 4.3"
EF = 1.2"
(XD , Y D) = (0.95, -4.45)
3 (X F, Y F) = (2.5, -4.85)

E
5 6
4 F 65˚
D
C

- 25 -
Solution:

Y
A X
I12 2
B
I23 1

6 2
3

5 3
I24
4
I 26

I 46
E
4
5 6
I45
D
C I I15 F I56
34
I16 65.0°

I14

Find necessary instant centers as shown in the sketch above, i.e. I12, I16, and I26 . Then using the
relationship
1ω2 × rI26/ I12 = 1ω6 × rI26 / I16

we can find the angular velocity of link 6 as

rI26 / I12
1ω6 = 1ω2 ⋅ = 20 ⋅ 3.40 = 33.2 rad / s
rI26 / I16 2.05

- 26 -
Because I26 is between I12 and I16 ,
1ω6 = 33.1 rad / s CW

Problem 4.18

If vB2 = 10 in/s as shown, determine the velocity vector (direction and magnitude) of point C4
using the instant center method.

Y 5

3 E
B C
4

2 50˚
A X
6
AB = 0.75"
vB 2 BE = 3.4"
EF = 1.6"
FD = 2.85"
CD = 1.35" F (4.7, 0.75)

Solution:

Find the necessary instant centers, i.e. I12, I14 and I24 . Using rotating radius method as shown in
the figure below,
1vC
4 = 26 in / s

- 27 -
 I14

1
6 2

5 3

I46

I24
I 56
D

5
I 26
I45
B
I23 3 I34 E
4 C I36
2 A
6
I12

F
I16

- 28 -
Problem 4.19

If the velocity of A2 is 10 in/s to the right, find ω6 using instant centers.

D
AB = 1.75"
BC = 1"
BD = 3"
ED = 2.25"
5 CE = 1.45"
6

B
98˚ 3
4 A
E C vA2
2

Solution:

Find necessary instant centers as shown in the sketch above, i.e. I12, I16, and I26 . All points in
link 2 have the same velocity; therefore,
1v A
2 = 1v' A2 = 1v I26

Using the rotating radius method,

1vD
6 = 1v D6 / E6 = 13.2 in / s

Now,
1vD / E
1vD / E
6 6 = 1ω 6 × rD6 / E6 ⇒ 1ω6 = 6 6
= 13.2 = 5.87rad / s
rD6 / E6 2.25

Therefore,
1ω6 = 5.87 rad / s CW

- 29 -
 1
I56
6 2
D
I26
vA' 2
5 3
6 5
4

I24 I34 , I45

B 3
4 A
E C I23 vA2 I12
I 46 2
I16 I14

Problem 4.20

Crank 2 of the push-link mechanism shown in the figure is driven at ω2 =60 rad/s (CW). Find
the velocity of points B and C and the angular velocity of links 3 and 4 using the instant center
method.

B Y
O2 A = 15 cm A = 14.75 cm
D
O4 B = 30.1 cm D = 7.5 cm
4 C
3 A = 29.5 cm O2 O4 =
7.5 cm
C B
D

O2 O4 X
30˚
2
A

Solution:

Find all instant centers and velocity of point A

1v A
2 = 1ω2 × rA2 / O2 ⇒ 1vA2 = 1ω2 × rA2 /O2 = 60⋅0.015 = 0.9 m / s

Using rotating radius method,

1v B
3 = 1.15 m / s

- 30 -
 1vC
3 = 0.464 m / s

Now, using the relations between instant centers distances and angular velocities, we can find the
angular velocities as,

= 60 ⋅ 3.03 = 43.9 rad / s

r
1ω2 × rI23/ I12 = 1ω3 × rI23/ I13 ⇒ 1ω3 = 1ω 2 ⋅ rII23/ I12
23 /I13 4.14

= 60⋅ 2.62 = 38.4 rad / s

r
1ω2 × rI24 / I12 = 1ω4 × rI24 / I14 ⇒ 1ω4 = 1ω2 ⋅ rII24 / I12
24 / I14 4.09

Therefore,
1ω3 = 44.0 rad / s CW

1ω4 = 38.5 rad / s CW

1 vB
3 1
I34
B
1v '
A2 4 2
3
4
3
C
D 1v
C3
I13
I 24 O2 O4

1 vA
2
I 12 I 14
2
A
I 23

- 31 -
Problem 4.21

The circular cam shown is driven at an angular velocity ω2 = 15 rad/s (CW). There is rolling
contact between the cam and roller, link 3. Using the instant center method, find the angular
velocity of the oscillating follower, link 4.

3
4 E (3.0", 3.0")
D

AB = 1.22"
Y DE = 3.50"
BC = 2.00"
2 B CD = 0.50"
135˚
A X

Solution:

Find the necessary instant centers, i.e. I12, I14, and I24 . Using the relation among these instant
centers, we can write
1ω 2 × rI = 1ω 4 × rI 24 /I14
24 /I12

Now,

rI24/ I12
1ω4 = 1ω2 ⋅ = 15⋅ 2.08 = 4.18 rad / s
rI24/ I14 7.46

Therefore,
1ω 4 = 4.18 rad / s CW

- 32 -
 3 I34 4
D E
I23
C
I 14

B
2
4 2
A

I12
3
I 24

Problem 4.22

If ω3 = 1 rad/s CCW, find the velocity of points E and F using the instant center method. Show
the velocity vectors vF3 and vE4 on the figure.

168˚
F AB = 1.65"
ω3 C
E BC = 0.88"
3 CD = 0.85"
B AD = 2.46"
1.01" 0.48" 4 CE = 1.26"
2 DE = 1.56"
A 28˚ 1 D BF = 1.94"

Solution

Find the instant centers I13, I14, and I34. These are shown on the figure below. Then,

1vF
3 = 1ω3 × rF / I13 ⇒ 1vF3 = 1ω3 rF/ I13 = 1(2.84) = 2.84 in / s

The vector is shown on the figure. To find 1ω 4 , note that

1ω3 × rI = 1ω4 × rI34 / I14
34 / I13

Therefore,
rI34 /I13
1ω4 = 1ω3 = 1 0.292 = 0.343 rad / s CW
rI34/I14 0.85

- 33 -
Then,
1vE
4 = 1ω4 × rE / I14 ⇒ 1vE4 = 1ω4 rE/ I14 = 0.343(1.56) = 0.536 in / s

The direction is shown on the figure

I13
F
I23 C
1v
E
F3 3 I34
B 1v
2 4 E4

I12 I14
A 1 D

Problem 4.23

In the eight-link mechanism, most of the linkage is contained in the black box and some of the
instant centers are located as shown. The velocity of point B is 100 in/s in the direction shown.
Compute the velocity of point D8 and determine the angular velocity of link 2.

Y I58 (2.46, 1.74)

I47 (0.40, 1.48) AB = 1.30"
vB2 AE = 4.25"
B C EC = 1.30"
ED = 0.86"
3 7
Black D
ω2 2
Box 8
65˚ 65˚
E X
A

I27 (1.07, -0.45) I 67 (3.58, -0.50)

I52 (1.85, -0.78)

Solution

To find the velocity of D8, we need the instant centers I12, I18, and I28 . I12 and I18 are
determined by inspection. I28 can be found using I12 and I18 and I52 and I58 . The velocity of
D8 can then be found by the rotating radius method. The result is

1vD
8 = 59.7 in / s

in the direction shown.

- 34 -
 1v
I 28
I58
1 vB I37
2
I 23 1v I 78
B'2 C
B
3 7 1 vD
Black D 8
2
Box 8
1v
D'8
I 18 E
A
I 12 B' I28 D'
I27

I52

Problem 4.24

If the velocity of point A on link 2 is 10 in/s as shown, use the instant center method to find the
velocity of point C on link 5.

F (3.15", 1.9")
Y B
0.25" 6
vA
DE = 2.5" A 3
AD = 0.75" 5
G C5
AB = 1.75" 5
BE = 1.5" 0.45"
2
GF = 1.5" 4
D 75˚ E
X

Solution:

Find necessary instant centers, i.e. I12, I15 and I25 .

Using rotating radius method, we find the velocity of point C5 as shown below.
1vC
5 = 11.15 in / sec

- 35 -
 I 16

1
2 1 v 'I F
6 25
1v I34
C5 6
1 vA
B
2
5 3
A 3 5
G C5
4 I 25 I 56
I23 5
2 4 I45
I24
D
E
I12 I14
1v 1 v'
I25 A2

I 15

Problem 4.25

Assume that link 7 rolls on link 3 without slipping, and find the following instant centers: I13,
I15, and I27. For the given value for ω2, find ω7 using instant centers.

AB = 1.8" Y
BG = 0.85"
GF = 1.7" 5 D
BD = 3.9" 7 0.75"
DE = 3.25" 1.0"
AE = 2.0" G C
B

4 3 6

F (-2.0", 0.95") 2
90˚
E
A X

ω 2 = 2 rad/s

Solution:

Draw linkage to scale (shown below) and find necessary instant centers, i.e. I13, I15, I27, I12 and
I17.

- 36 -
Having the relationship between 1ω2 and 1ω7 using instant centers, we can write,

1ω 2 × rI
27 /I12 =
1ω7 × rI (1)
27 /I17

Solve Eq. (1) for 1ω7,

rI27 / I12
1ω7 = 1ω 2 = ⋅ = 2⋅ 3.199 = 6.385 rad / s
rI27 / I17 1.002

So
1ω7 = 6.385 rad / s CW

I13

D
5 I 56
7 I 57
G I 37 I 27
I 34 I 23 I 25 C
4 B I 17

3 6
F
I14
2
I12 E
I 16
A
1
7 2

5 4

I 15

- 37 -
Problem 4.26

If vA2 = 10 in/s as shown, find vC5 using the instant-center method.

DA = 0.95" BE = 0.85"
DF = 2.45" EG = 2.2" G
AB = 1.45" EC = 1.2" C
BF = 1.8" CG = 1.25" B 6

vA 2
3 5
A
E 1.9"
2
4
70˚ F
D

Solution:

Find necessary instant centers, i.e. I12, I15, and I25 . Using rotating radius method, get the velocity
of point C5 as
1vC
5 = 3.81cm / sec

- 38 -
 I 13
I 16

I 56 G
C
B 6

1v I 34
A2
3 5
A
I 23
I 45 E
2
I25 4
I 24 F
D

I12 I14

6 2

5 3

I 15

- 39 -
Problem 4.27

If ω2 = 10 rad/s CCW, find the velocity of point B using the instant-center method. Show the
velocity vector vB3 on the figure.

E 110˚

CA = 1.5"
DE = 2.5"
CD = 4.0" 3 4
AB = 1.6"
Β
Α
18˚
1ω
2
2

C 45˚ D

Solution:

Find necessary instant centers, i.e. I12, I13, and I23 .and velocity of point A as,

2=
1vA 1 ω2 × rA / C ⇒ 1 vA2 = 1ω 2 ⋅ rA 2 /C2 = 10⋅1.5 = 15in / sec
2 2

Then, using rotating radius method,

1vB
3 = 9.5 in / sec in the direction shown.

- 40 -
 I13 I34

1 vA
2
3 4
1
Β
Α
4 2 1 vB3
I23

2
3
1 v'
A2
C D

I12 I 14

Problem 4.28

If ω2 = 100 rad/s CCW, find the velocity of point E using the instant center method. Show the
velocity vector vE4 on the figure.

A D
ω2
2 70˚

E
B 4 AB = 1.0"
BC = 1.75"
CD = 2.0"
3 DE = 0.8"
C AD = 3.0"

Solution:

I , I , and I24
Find necessary instant centers, i.e. 12 14 and velocity of point B as
1vB
2 = 1ω2 × rB2 /A 2 ⇒ 1vB2 = 1ω2 ⋅ rB2 /A 2 = 100 ⋅1 = 100 in / sec

Therefore, using rotating radius method,

1vE
4 = 27.78 in / s in the direction shown.

- 41 -
 I24 A I12 I 14
B' D

E
1 vB
2 1 vE
I 23 4
'
1 vB B
2

I 34
1 vI C
24

Problem 4.29

If ω2 = 5 rad/s CCW, find ω6 using instant centers.

E D
5

6 4
F A

AC = 1.0" 50˚
AB = 2.0" 2
BD = 4.0" 3
DE = 1.5" ω2
B
EF = 1.5"
AF = 4.1"

Solution:

Find necessary instant centers as shown in the sketch above, i.e. I12, I16, and I26 . Then using the
relationship
1ω 2 × rI
26 /I12 =
1ω6 × rI
26 / I16

we can find the angular velocity of link 6 as

rI26 /I12
1ω6 = 1ω 2 ⋅ = 5⋅ 1.9695 = 5.054 rad / sec
rI26 /I16 1.9486

Because I26 is between I12 and I16 ,

- 42 -
 1ω6 = 5.054 rad / sec CW

I 45
D
E
I 56
I 46 5

6 4

F A I12

I 26
1 I 16 I 34 2
3 I 24
6 2 I 23
C

5 3

4
B I 14

Problem 4.30

If ω2 = 100 rad/s CCW, find vB4 using instant centers and the rotating radius method.

AD = 1.8"
CD = 0.75"
AE = 0.7" G
CF = 0.45" 125˚
FG = 1.75"
CB = 1.0" B4
DB = 1.65"
3

C
2
F
E 4
95˚
D
A

Solution:

- 43 -
Find necessary instant centers, i.e. I12, I14, and I24 and the velocity of I24 as
1vI
24 = 1ω2 × rI 24 /I12 ⇒ 1vI24 = 1ω 2 ⋅ rI24 / I12 = 100 ⋅ 2.885 = 288.5 in / s

Using rotating radius method,

1vB
4 = 460 in / s

I 23 1

G 4 2
1v
B4
B4
3
3 1 v I'
24

I 34
1 vI
2 C 24
F
E 4
D
A
I 24
I12 I 14

Problem 4.31

If vA2 = 10 in/s as shown, find the angular velocity (ω6) of link 6 using the instant-center
method.

AB = 1.0" vA
2 E
AD = 2.0"
AC = 0.95"
CE = 2.0" 5
EF = 1.25" 6
BF = 3.85" A
2 C
3 D
B 27˚ F
4

Solution:

Find necessary instant centers, i.e. I12, I16, and I26 and using rotating radius method,
1vE
6 = 2.65 in / sec

- 44 -
or
1vE 6
1vE
6 = 1 ω6 × rE/ F ⇒ 1ω 6 = = 2.65 = 1.325 rad / s CCW
rE /F 2

1 v 'I26

6 2

5 3

I13 I56
1v 1vE
A2 6 E

I36
I23 A 6
I35 5
2 D
B 3 I 14 F
I34
I26 4
I12 C I 16

1 vI '
1 vA
26 2

- 45 -
Problem 4.32

If ω2 = 50 rad/s CCW, find the velocity of point G using the instant center method. Show the
velocity vector vG5 on the figure.

3 AB = 1.16"
C BC = 0.70"
4 E CD = 1.45"
B
DE = 1.16"
32˚ 5 AD = 1.30"
DF = 1.30
2 75˚ EG = 2.20"

A D F
6
ω2
G

Solution:

Find the necessary instant centers, i.e. I12, I15, and I25 . Using rotating radius method,
1vG
5 = 33in / sec

I 34
1 vB I 23
2 3 I 45
C
4
1v '
B2
B
E
I 25 5
I56
1 vI 25 2
F
A D I16
I 24 6
I 12 I 14 1v
1 1v '
G5
I 25
G
6 2

5 3 I 15
4

- 46 -
Problem 4.33

If ω2 = 100 rad/s CCW, find ω6.

E (2.0", 6.0")

Y C
AB = 1.2"
BC = 6.0"
CD = 3.0" 3
AD = 4.0" 4
BF = 3.0" ω2 F
5

A D
B X
2

Solution:

Find necessary instant centers, i.e. I12, I16, and I26 .

1ω 2 × rI = 1ω 6 × rI26 / I16
26 /I12

rI26 / I12
1ω6 = 1ω 2 ⋅ = 100⋅ 5.988 = 1777 rad / sec
rI26 / I16 0.337

Because I26 is between I12 and I16 ,

1ω 6 = 1777 rad / s CW

- 47 -
 I 16

6 2
6
I34
C
5 3
3 4
F
4
5 I 35 I 36
I 26
I 56 D
B
2 A
I 23 I 12 I 14 I 13

- 48 -