HO CHI MINH UNIVERSITY OF TECHNOLOGY

VIET NAM NATIONAL UNIVERSITY

🙞···☼···🙜

ASSIGNMENT’S REPORT

KINEMATICS OF DYNAMICS OF MACHINES

PROJECT OF THEORY OF MACHINES AND MECHANISMS

Lecturer: Le Khanh Dien

Class: CC01
Semester: 231
Student’s name: Huynh Duong Gia Bao
Student’s ID: 2252063
 PROJECT OF THEORY OF MACHINES AND MECHANISMS

Analyzing the dynamics of a V Four Stroke Cycle Internal combustion engine

Functions:

1. Design the mechanism of the V engine

2. Analyzing the kinematics of the mechanism
3. Analyzing the dynamics of the mechanism
 OUTLINE
CHAPTER 1: DESIGN THE MECHANISM OF THE V-ENGINE
1.1. The data of engine.
1.2. Calculating the unknown data
1.3. Designing mechanism of engine through each step.

CHAPTER 2: VELOCITY OF PISTONS AND LINKS

2.1. Calculating 𝒗𝑩 , 𝒗𝑪 , 𝝎𝟐

2.2. Calculating 𝒗𝑫

2.3 Calculating 𝒗𝑬 , 𝝎𝟒

CHAPTER 3: ACCELERATION OF PISTONS AND LINKS

3.1 Calculating 𝒂𝑪 , 𝜺𝟐

3.2 Calculating 𝒂𝑫

3.3 Calculating 𝒂𝑬 , 𝜺𝟒

CHATER 4: ANALYZING THE DYNAMICS OF THE MECHANISM

3.1 Considering Group 1

3.2 Considering Group 2
3.3 Calculating equilibrium moment

CHAPTER 5: ACKNOWLEDGEMENT
CHAPTER 1: DESIGN THE MECHANISM OF
THE V-ENGINE
1.1. The data has given in this engine:
1. The length of crank: 𝑙𝐴𝐵 = 𝑙1 = 50 𝑚𝑚
2. The length of rod: 𝑙𝐵𝐶 = 𝑙2 = 125 𝑚𝑚
3. The (position of crank) degree: 𝛾 = 16°
𝑙𝐵𝐶
4. The proportion of point D: =4
𝑙𝐵𝐷

5. The angle between BD and BC : 𝛼 = 55°

6. The angle between AC and AE: 𝛽 = 60°
7. The mass of piston C and E: 𝑚3 = 𝑚5 = 0,5 𝑘𝑔
8. The mass of frame DE: 𝑚4 = 1 𝑘𝑔
9. The mass of frame DCE: 𝑚2 = 2 𝑘𝑔
10.The mass of frame AB: 𝑚1 = 10 𝑘𝑔
11.The pressure in piston C: 𝑃𝐶 = 20 𝑁
12.The pressure in piston E: 𝑃𝐸 = 0 𝑁
13.The RPM of crank: 𝑛 = 1400 𝑟𝑝𝑚
14.Biggest allowable angle of pressure of piston 3 is: 30°
15.Allowable coefficient fluctuation of speed in the engine [𝛿] = 0.05
16.Course of cam valve: 𝑒 = 4 𝑚𝑚
17.Pressure angle of follower: 10°
1.2. Calculating the unknown data:
1. The piston course of piston C:
 - We have 𝐻𝐶 = 2 × 𝑙𝐴𝐵 = 2 × 50 = 100 𝑚𝑚
2. The length of BD:
𝑙𝐵𝐶 𝑙𝐵𝐶 125
- We have the ratio of length : = 4 => 𝑙𝐵𝐷 = = = 31,25 (𝑚𝑚)
𝑙𝐵𝐷 4 4

3. The length of DB and CB:

- Using the formula in calculating the length in triangle, we have:
2
𝑙𝐵𝐷 + 𝐿2𝐵𝐶 − 2 × 𝑙𝐵𝐷 × 𝑙𝐵𝐶 × cos (𝛼) = 𝑙𝐷𝐶
2

2
 31,252 + 1252 − 2 × 31,25 × 125 × cos(55°) = 𝑙𝐷𝐶

 𝑙𝐷𝐶 = √31,252 + 1252 − 2 × 31,25 × 125 × cos(55°)

 𝑙𝐷𝐶 = 110,093 (𝑚𝑚)

1.3 Design the mechanism through each step:

1.3.1 Choose the chain ratio

𝑙𝐴𝐵 50 𝑚𝑚
- Give 𝜇1 = = =1( ). We have the length of the segment:
𝐴𝐵 50 𝑚𝑚

* 𝐴𝐵 = 50 𝑚𝑚

𝑙𝐵𝐶 125
*𝐵𝐶 = = = 125 (𝑚𝑚)
𝜇1 1

𝑙𝐷𝐶 110,093
* 𝐷𝐶 = = = 110,093 (𝑚𝑚)
𝜇1 1

𝑙𝐵𝐷 31,25
* 𝐵𝐷 = = = 31,25 (𝑚𝑚)
𝜇1 1

100
*𝐻𝐶 = = 100 (𝑚𝑚)
1

*𝐷𝐸 = 97,577 (𝑚𝑚) (From the diagram below)

 1.3.2 Designing the mechanism through each step

- Step 1: From the horizontal line, set a point on this line which name is A. From A, draw 2
rays which one has the angle combines with the horizontal line is 60° and the other
combines with the horizontal line at 120°.
- Step 2: From A, draw a circle which has the center point at A with radius AB at 50 𝑚𝑚 and
AB combines with horizontal line at 16°. From B, draw a circle with radius at 𝐵𝐷 = 125 𝑚𝑚
and intersect with first ray at C. This is the centre of piston C.
- Step 3: From B, draw the ray by the left combines with BC at 55°.In this ray, we draw a

segment which name is BD with 𝐵𝐷 = 31,25 (𝑚𝑚). After that, we connect 2 points
including point D and point C by a line.
-Step 4: Spin the angle between segment AB and horizontal line so that three points A,B,C
are straight in one line with B in the middle of AC. From that, these points are belonged to
the first ray of point A. Therefore, the position of point C in this time is the highest position
that piston C can achieve. Give this highest point of piston C is 𝐶max . Draw a circle with
center is A and radius 𝐴𝐶max . This circle intersect with the second ray from point A at 𝐸𝑚𝑎𝑥 .
From that, 𝐸max becomes the highest point at the piston E that can achieve. About the
lowest point of piston C, we spin angle of segment AB that three points A,B,C are straight in
one line with A in the middle of BC. Therefore, the position of point C in this time is the
lowest point that piston C can achieve. Give this lowest point of piston C is 𝐶𝑚𝑖𝑛 .
-Step 5: With point B moves in the circle A, we divide this circle into 6 equal parts. From
each part, we duplicate each position of point D. From that, we connect these point of D by
the conic. So, this is the locus of point D.
-Step 6: After finding out the locus of D, we draw a circle with the centre is the highest point
on piston E is 𝐸𝑚𝑎𝑥 with radius R that this circle intersects with the above of locus of D at
𝐷ℎ . In the case when moving D to 𝐷ℎ , the position of point B at this time is the place that
makes the position of piston E achieves at the highest point. We call the position of point B
at this time is 𝐵ℎ .In this case, from the diagram, we can determine the magnitude the
length of 𝐸𝐷 ≈ 97,577 𝑚𝑚. Next, we draw a circular arc which has the center is
𝐸𝑚𝑖𝑛 belonging to the direction of AH and the radius equal HD that intersects with the
below of locus of point D at 𝐷𝑙 . In this case when moving D to 𝐷𝑙 , the position of piston E
achieves at the lowest point. We call the position of point B in this time is 𝐵𝑙
- Finally, we have finished in designing the mechanism of V engine. This is the final of
product:

DIAGRAM 1
 CHAPTER 2
VELOCITY OF PISTONS AND LINKS
2.1 Calculating 𝒗𝒃 , 𝒗𝒄 , 𝝎𝟐 :
1400 140 𝑟𝑎𝑑
• Calculate 𝜔1 = 2𝜋 × 𝑓 = 2𝜋 × = 𝜋( ). The rotation of 𝜔1 is counter
60 3 𝑠

clockwise.
• We have:

⃗⃗⃗⃗⃗
𝑣𝐵 = ⃗⃗⃗⃗⃗⃗
𝑣𝐵1 = 𝑣𝐵2
⃗⃗⃗⃗⃗⃗ = ⃗⃗⃗⃗⃗⃗⃗
𝑣𝐴1 + 𝑣𝐵1𝐴1
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
140
Value: ? 0 𝜔1 × 𝑙𝐴𝐵 = × 50 × 10−3
3
𝜋
7 𝑚
= 𝜋( )
3 𝑠

Direction: ⊥ 𝐴𝐵, ↑↑ ω1

From the equation above, we conclude that:

ℎ𝑎𝑠 𝑡ℎ𝑒 𝑠𝑎𝑚𝑒 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 𝑤𝑖𝑡ℎ ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗

𝑣𝐵1𝐴1
⃗⃗⃗⃗⃗
𝑣𝐵 : { 7
𝑀𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒: 𝑣𝐵 = 𝑣𝐵1𝐴1 = 𝜋 (𝑚/𝑠)
3

• Write the equation of velocity for frame BC, we have:

𝑣
⃗⃗⃗⃗𝐶 = ⃗⃗⃗⃗⃗
𝑣𝐵 + 𝑣𝐶𝐵 (1)
⃗⃗⃗⃗⃗⃗
7
Value: ? 𝜋 (m/s) ?
3
Direction: //AC ⊥ 𝐴𝐵, ↑↑ 𝜔1 ⊥ 𝐵𝐶

7
𝑣𝐵 𝜋 𝑚∕𝑠
• Choose a scale for the velocity graph: 𝜇𝑣 = = 3
( )
𝑚𝑏 100 𝑚𝑚
 Draw a velocity diagram according to equation (1) :
 o Choose m random outside the mechanism. Draw line 𝑚𝑏 =
100𝑚𝑚 show for ⃗⃗⃗⃗ 𝑣𝐵 . Direction of 𝑝𝑏 perpendicular with AB in the
mechanism and has the the same direction with rotation of 𝜔1 .
o From b, draw a ray Δ1 is perpendicular with BC for describing the
direction of ⃗⃗⃗⃗⃗⃗
𝑣𝐶𝐵
o From m, draw a ray Δ2 parallel with AC for describing for the
⃗⃗⃗⃗𝐶 . Two rays including Δ1 and Δ2 intersect at c.
direction of𝑣
• From the diagram 1, we have:

From the diagram above, we have:

7
𝜋
3
𝑚𝑐 = 90,27 (𝑚𝑚) => 𝑣𝑐 = 𝑝𝑐 × 𝜇𝑣 = 90,27 × ≈ 6,617 (m/s)
100
7
𝜋
3
𝑏𝑐 = 74,88(𝑚𝑚) => 𝑣𝐶𝐵 = 𝑏𝑐 × 𝜇𝑣 = 74,88 × ≈ 5,489 (m/s)
100
𝑣𝐶𝐵 5,489
 ω2 = = ≈ 43,912 (rad/s) . According to diagram 1, we have
𝑙𝐶𝐵 ×𝜇1 125×10−3
the rotation of ω2 is clockwise.
2.2 Calculating 𝒗𝑫 :
• We have:
𝑣𝐷
⃗⃗⃗⃗ = ⃗⃗⃗⃗⃗
𝑣𝐶 + 𝑣𝐷𝐶
⃗⃗⃗⃗⃗⃗⃗ = ⃗⃗⃗⃗⃗
𝑣𝐵 + 𝑣𝐷𝐵 (2)
⃗⃗⃗⃗⃗⃗⃗
7
Value: ? 6,617 (m/s) ? 𝜋 (m/s) ?
3

Direction: ? // AC ⊥ 𝐷𝐶 ⊥ 𝐴𝐵 ⊥ 𝐵𝐷

 Draw a velocity diagram according to equation (2):

o From b, draw ray Δ3 is perpendicular with DB for describing the direction
of ⃗⃗⃗⃗⃗⃗⃗
𝑣𝐷𝐵 .
o From c, draw ray Δ4 is perpendicular with DC for describing the direction
of ⃗⃗⃗⃗⃗⃗⃗
𝑣𝐷𝐶 . Two rays including Δ3 and Δ4 intersect at d.
o From there, we can get the direction and mgnitude of ⃗⃗⃗⃗⃗⃗⃗𝑣𝐷𝐵 and ⃗⃗⃗⃗⃗⃗⃗
𝑣𝐷𝐶 . And
then, we can determine the properties of ⃗⃗⃗⃗𝑣𝐷 . We will continue with
building a velocity diagram according to equation (**).
o ⃗⃗⃗⃗⃗⃗⃗
𝑣𝐷𝐵 and ⃗⃗⃗⃗⃗⃗⃗
𝑣𝐷𝐶 intersect at d.
o The direction of ⃗⃗⃗⃗
𝑣𝐷 is from m to d.

- From the diagram 2 above, we have:

 7
𝜋
𝑚𝑑 = 109,273 (𝑚𝑚)  𝑣𝐷 = 𝑝𝑑 × 𝜇𝑣 =109,273 × 3
≈ 8,01 (m/s)
100
7
𝜋
𝑐𝑑 = 65,953 (𝑚𝑚)  𝑣𝐷𝐶 = 𝑐𝑑 × 𝜇𝑣 = 65,953 × 3
≈ 4,835 (m/s)
100

7
𝜋
𝑏𝑑 = 18,721 (𝑚𝑚)  𝑣𝐷𝐵 = 𝑏𝑑 × 𝜇𝑣 = 18,721 × 3 ≈ 1,372 (m/s).
100
2.3 Calculate 𝒗𝑬 and 𝝎𝟒
• We have:

𝑣𝐸
⃗⃗⃗⃗ = ⃗⃗⃗⃗⃗
𝑣𝐷 + 𝑣𝐸𝐷 (3)
⃗⃗⃗⃗⃗⃗⃗
Value: ? 7,96 (m/s) ?
Direction: // AE ⊥ 𝐸𝐷
 Draw a velocity diagram according to equation (3):
o From d, draw ray Δ5 is perpendicular with DE for describing ⃗⃗⃗⃗⃗⃗⃗
𝑣𝐸𝐷
o From m, draw ray Δ6 parallel with AE for describing ⃗⃗⃗⃗
𝑣𝐸
o Two ray Δ5 and Δ6 intersect at e
o ⃗⃗⃗⃗⃗⃗⃗
𝑣𝐸𝐷 and ⃗⃗⃗⃗
𝑣𝐸 intersect at e
 - From the diagram above, we have:
7
𝜋
ed = 47,276 (mm) => 𝑣𝐸𝐷 = 𝑒𝑑 × 𝜇𝑣 = 47,276 × 3 = 3,466 (𝑚/𝑠)
100
7
𝜋
3
𝑚𝑒 = 80,062 (𝑚𝑚) => 𝑣𝐸 = 𝑚𝑒 × 𝜇𝑣 = 80,062 × = 5,869 (𝑚/𝑠)
100
𝑣𝐸𝐷 3,466
 𝜔4 = = ≈ 35,521(𝑟𝑎𝑑/𝑠). According to diagram 3, we
𝑙𝐸𝐷 ×𝜇1 97,577×10−3
have the rotation of 𝜔4 is counter clockwise.

• Finally, we have fully the velocity of mechanism:

 CHAPTER 3: ACCELERATION OF PISTONS AND
LINKS
Note: In this mechanism, in piston C and C don’t exist Coriolis acceleration because piston
only move translationally with its axis AC and AE

3.1 Calculating 𝒂𝑪 and 𝜺𝟐 :

140 2 980
• We have: 𝑎𝐵 = 𝜔12 × 𝑙𝐴𝐵 = ( 𝜋) × 50 × 10−3 = × 𝜋 2 (𝑚/𝑠 2 )
3 9
𝑛
𝑎𝐶𝐵 = 𝜔22 × 𝑙𝐶𝐵 = (43,912)2 × 125 × 10−3 ≈ 241,033 (𝑚/𝑠 2 )
• We have equation:
𝑎𝐶 =
⃗⃗⃗⃗ 𝑎𝐵
⃗⃗⃗⃗ + ⃗⃗⃗⃗⃗⃗
𝑎𝐶𝐵 (4)

o We analyze acceleration of 𝑎
⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗
𝑛 ⃗⃗⃗⃗⃗⃗
τ ⃗⃗⃗⃗⃗⃗
𝑛 ⃗⃗⃗⃗⃗⃗
τ
𝐶𝐵 into 𝑎𝐶𝐵 and 𝑎𝐶𝐵 with 𝑎𝐶𝐵 // CB and 𝑎𝐶𝐵 ⊥
𝐵𝐶
 ⃗⃗⃗⃗
𝑎 = 𝑎 ⃗⃗⃗⃗ + ⃗⃗⃗⃗⃗⃗
𝑎 𝑛
+ ⃗⃗⃗⃗⃗⃗
𝑎 τ (5)
𝐶 𝐵 𝐶𝐵 𝐶𝐵
980
Value: ? 𝜋 2 (m/𝑠 2 ) 241,033(m/𝑠 2 ) ?
9
Direction: //AC B -> A C -> B ⊥ 𝐵𝐶

• Choose the scale for the acceleration diagram:

980
𝑎𝐵 × 𝜋2 49 𝑚/ 𝑠2
𝜇𝑎 = = 9
= × 𝜋2 ( )
𝑎𝑓 100 45 𝑚𝑚

 Draw acceleration diagram according to (5):

o Choose a random as the center of acceleration diagram. Draw 𝑎𝑓 =
100 𝑚𝑚 and parallel to AB representing for ⃗⃗⃗⃗
𝑎𝐵 direction from B -> A.
𝑛
𝑎𝐶𝐵 241,033
o From 𝑓, draw segment 𝑓ℎ = = 49 = 22,428 (mm), 𝑓ℎ //
μa × 𝜋2
45

𝐵𝐶 and direction from C -> B representing for ⃗⃗⃗⃗⃗⃗

𝑛
𝑎𝐶𝐵
o From h, draw ray 𝜆1 ⊥ 𝐵𝐶 represents for ⃗⃗⃗⃗⃗⃗
τ
𝑎𝐶𝐵 .
o From a draw ray 𝜆2 // 𝐴𝐶 represents for ⃗⃗⃗⃗
𝑎𝐶 .
 o Two rays including 𝜆1 and 𝜆2 intersect at 𝑖 is the endpoint of
a⃗⃗⃗⃗⃗⃗
CB
τ
and ⃗⃗⃗⃗⃗
aC .

From acceleration diagram above, we have:

o 𝑎𝑖 = 75,188(mm)
⫽ AC, from a → i
 ⃗⃗⃗⃗⃗
aC : { 49
Value: ac = μa × ai = × 𝜋 2 × 75,188 ≈ 808,038(m⁄s 2 )
45

hi = 65,826 (mm)
⊥ BC, from ℎ → i
⃗⃗⃗⃗⃗⃗
τ
 aCB : { 49
Value: aτCB = μa × hi = × 𝜋 2 × 65,826 ≈ 707,426 (m ∕ s 2 )
45
 aτCB 707,426
o ε2 = = ≈ 5659,408 (rad ∕ s 2 ) => the direction of rotation is clockwise.
lCB 125×10−3
3.2 Calculating 𝒂𝑫 :
• We have the equation:
aD = ⃗⃗⃗⃗
⃗⃗⃗⃗ aB + aDB
⃗⃗⃗⃗⃗⃗⃗ = aC
⃗⃗⃗⃗ + ⃗⃗⃗⃗⃗⃗
aDC (6)
980
Value: ? 𝜋 2 (m/s) ? 808,038 (m/s) ?
9

Direction: B -> A // AC
 Draw acceleration diagram according similar triangles:
o From 𝑓, draw ray 𝜆3 makes an angle of 55° with segment 𝑓𝑖.
̂
o From 𝑖 , draw ray 𝜆4 such as (Δ4 , 𝑓𝑖) = 𝐵𝐶𝐷
o Two rays 𝜆3 and 𝜆4 intersect at 𝑗 is the endpoint of ⃗⃗⃗⃗⃗
aD

From the acceleration diagram, we have:

 o aj = 82,742 (mm).
from 𝑎 → j
o ⃗⃗⃗⃗⃗
aD : { 49
Value: aD = μa × aj = × 𝜋 2 × 82,742 ≈ 889,22 (m⁄s 2 )
45
3.3 Calculating 𝒂𝑬 and 𝜺𝟒 :
We have :
a⃗⃗⃗⃗⃗⃗
n 2 2
ED = ω4 × lED = (35,521) × 97,577 × 10
−3
≈ 123,117 (m⁄s 2 )
We have equation:

a⃗⃗⃗⃗E = aD
⃗⃗⃗⃗ + ⃗⃗⃗⃗⃗⃗
anED + ⃗⃗⃗⃗⃗⃗
aτED (7)
Value: ? 889,22 (m/𝑠 2 ) 123,117 (m/𝑠 2 ) ?
Direction: // AC // AC, E->D ⊥ 𝐷𝐸
 Draw acceleration diagram according to equation (7):
𝑛
𝑎𝐸𝐷 123,117
o From j, draw segment 𝑗𝑘 = = 49 = 11,456 (𝑚𝑚), jk // ED and
μa × 𝜋2
45

direction from E -> D represents for ⃗⃗⃗⃗⃗⃗

anED .
o From k, draw ray 𝜆5 ⊥ 𝐷𝐸 represents for ⃗⃗⃗⃗⃗⃗
aτED . From a, draw ray 𝜆6 // AE
represents for ⃗⃗⃗⃗
𝑎𝐸 .
o Two rays including 𝜆5 𝑎𝑛𝑑 𝜆6 intersect at m is the endpoint of ⃗⃗⃗⃗⃗⃗
aτ and ⃗⃗⃗⃗
𝑎𝐸 . ED
o From the diagram above, we have:
∥ 𝐴𝐸, 𝑓𝑟𝑜𝑚 𝑎 → 𝑚
𝑎𝑚 = 73,184(𝑚𝑚) => ⃗⃗⃗⃗
𝑎𝐸 : { 49 𝑚
𝑎𝐸 = μa × 𝑎𝑚 = × 𝜋 2 × 73,194 = 786,609 ( 2)
45 𝑠
𝑚𝑘 = 94,181(𝑚𝑚) =>
⊥ 𝐸𝐷, 𝑓𝑟𝑜𝑚 𝑛𝐸𝐷 → 𝑒′
⃗⃗⃗⃗⃗⃗
aτED : { 49 𝑚
aτED = μa × 𝑚𝑘 = × 𝜋 2 × 94,181 = 1012,154 ( 2 )
45 𝑠
aτED 1012,154
𝜀4 = = ≈ 10372,875 (𝑟𝑎𝑑/𝑠 2 ) and the direction of rotation is
𝑙𝐸𝐷 97,577×10−3
clockwise
 CHAPTER 3: ANALYZING THE DYNAMICS OF
THE MECHANISM.
First, we analyze all the external forces, inertial forces and moment of inertia applying in
drive link.
Then, we separate the V-engine into: 1 drive link AB and 2 static groups:
Group 1: link 4, 5 and joint D, E.
Group 2: link 2, 3 and joint B, C, D.
After separating V-engine, pressure in drive link become external force applying in links.
Ignoring friction between links, put remaining forces of 2 groups, we have diagram of each
link.

Link 5 Link 3
Link 4 Link 2

Link 1
 3.4 Considering the Group 1:
a. Considering link 5, we have forces applying to frame including:
⃗⃗⃗⃗⃗⃗
𝑁45 , ⃗⃗⃗⃗ ⃗⃗⃗⃗5 , ⃗⃗⃗⃗⃗
𝑃𝐸 , 𝐺 ⃗⃗⃗⃗5 with
𝑃𝑞5 , 𝑅
• 𝑁
⃗⃗⃗⃗⃗⃗
45 is the force from link 4 apply to link 5

⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗
𝑁45 = −𝑁 54 (parallel with DE)

• 𝑃
⃗⃗⃗⃗𝐸 is the pressure applying to link and parallel with AE
• 𝐺
⃗⃗⃗⃗5 is the gravity applying to link, give 𝑔 = 10 (𝑚/𝑠 2 )

𝐺5 = 𝑚5 × 𝑔 = 0,5 × 10 = 5 (𝑁)

• ⃗⃗⃗⃗⃗
𝑃𝑞5 is inertia force of link, we have,
⃗⃗⃗⃗⃗
𝑃𝑞5 ↑↓ ⃗⃗⃗⃗⃗⃗
𝑎𝐸5
{
𝑃𝑞5 = 𝑚5 × 𝑎𝐸5 = 0,5 × 786,609 = 393,305 (𝑁)
• 𝑅
⃗⃗⃗⃗5 is the force by frame AE applying to link 5, 𝑅
⃗⃗⃗⃗5 ⊥ 𝐴𝐸.
o Setting the equation for equilibrium moment at point E of link, we have
∑𝑚𝐸 (𝐹) = 0  𝑅5 × 𝑥1 = 0 => 𝑥1 = 0 => 𝑅 ⃗⃗⃗⃗5 has the position at point E.
o Setting equations for equilibrium for links, we have:

∑𝐹 = ⃗⃗⃗⃗⃗
𝑃𝑞5 + ⃗⃗⃗⃗
𝑃𝐸 + ⃗⃗⃗⃗5
𝐺 + ⃗⃗⃗⃗⃗⃗
𝑁45 + ⃗⃗⃗⃗5 = 0
𝑅
Direction: E->A E->A ↑↑ 𝑔 // DE ⊥ 𝐴𝐸
Value: … … 5 (N ) ? ?

o Setting the ratio:

𝑃𝐸 0
𝑃𝑞5
𝑏𝑐 = = = 0 (𝑚𝑚)
393,305 𝑁 𝜇𝑟 𝜇𝑟
𝜇𝑟 = = ( ) =>{ 𝐺 5
𝑎𝑏 100 𝑚𝑚
𝑐𝑑 = 5 = = 1,27 (𝑚𝑚)
𝜇𝑟 𝜇𝑟
o We draw the diagram vector of forces for link 5. Because 𝐺5 ≪ 𝑃𝑞5 and 𝑃𝐸 so we can
ignore it.
o We choose randomdly one point a for origin point , from that we can draw a
segment 𝑎𝑏 = 100 𝑚𝑚 from E -> A for presenting for ⃗⃗⃗⃗⃗
𝑃𝑞5 .
o From point b, we can draw segment 𝑏𝑐 = 0 => 𝑏 ≡ 𝑐
o From c, we draw ray 𝛿1 // DE for presenting for direction of ⃗⃗⃗⃗⃗⃗
𝑁45 .
 o From a, we draw ray 𝛿2 ⊥ 𝐴𝐸 for presenting for direction of 𝑅 ⃗⃗⃗⃗5 . Two rays
including 𝛿1 and 𝛿2 intersect at e. Thus, e is the end point of ⃗⃗⃗⃗⃗⃗
𝑁45 and the start
⃗⃗⃗⃗5 .
point of 𝑅

o From the diagram above, we have:

⃗⃗⃗⃗5 ↑↑ 𝑒𝑎
𝑅
𝑒𝑎 = 48,359 (𝑚𝑚) => { 393,305
𝑅5 = 𝜇𝑟 × 𝑒𝑎 = × 48,359 = 190,198 (𝑁)
100
⃗⃗⃗⃗⃗⃗
𝑁 45 ↑↑ 𝑐𝑒
𝑐𝑒 = 111,079 => { 393,305
𝑁45 = 𝑁54 = 𝜇𝑟 × 𝑐𝑒 = × 111,079 = 436,879(𝑁)
100
𝑁54 , ⃗⃗⃗⃗
b. Considering link 4, we have forces applying to link: ⃗⃗⃗⃗⃗⃗ 𝐺4 , ⃗⃗⃗⃗⃗ 𝑁24 = ⃗⃗⃗⃗⃗⃗
𝑃𝑞4 𝑎𝑛𝑑 ⃗⃗⃗⃗⃗⃗ 𝑁24𝑛
+
⃗⃗⃗⃗⃗⃗
𝑁 𝜏 , with
24
• ⃗⃗⃗⃗
𝐺4 is the gravity of link 4 (because this value of force is too small comparing with ⃗⃗⃗⃗⃗
𝑃𝑞4
so we can ignore this force in diagram)
• ⃗⃗⃗⃗⃗⃗
𝑁54 is the force of link 5 applies to link 4.
𝑁24 = ⃗⃗⃗⃗⃗⃗
• ⃗⃗⃗⃗⃗⃗ 𝑛
𝑁24 + ⃗⃗⃗⃗⃗⃗
𝑁24𝜏
is the force of link 2 applies to link 4.
• Calculating the magnitude of acceleration 𝑎𝐸𝐷 :
(𝑎𝐸𝐷 )2 = (aτED )2 + (𝑎𝐸𝐷 𝑛 )2

 𝑎𝐸𝐷 = √(aτED )2 + (𝑎𝐸𝐷 𝑛 )2

 𝑎𝐸𝐷 = √1012,1542 + 123,1172

 𝑎𝐸𝐷 = 1019,614 (𝑚/𝑠 2 )
• Calculating 𝑃𝑞4 :
o We apply the phenomenon of positive similarity, we determine point 𝑠2′ is the
midpoint of 𝑓𝑖.

o From the diagram above, we have:

𝑎𝑆4 = 62,051 (𝑚𝑚)
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 𝑓𝑟𝑜𝑚 𝑎 → 𝑆4
=> { 49
𝑎𝑆2 = 𝑎𝑆4 × 𝜇𝑎 = 62,051 × × 𝜋2 = 666,856 (𝑚/𝑠 2 )
45
 𝑃𝑞4 = 𝑚4 × 𝑎𝑆4 = 1 × 666,856 = 666,856 (𝑁)
o Writing the equation of moment at point E and equation of equilibrium forces of link,
we have:

̅̅̅̅
∑𝑀 𝜏
𝐸 (𝐹) = 𝑁24 × 𝐷𝐸 − 𝐺4 × ℎ′𝐺4 − ℎ′𝑃𝑞4 × 𝑃𝑞4 = 0 (8)
{
∑𝐹 = 0 => ⃗⃗⃗⃗⃗⃗ 𝑁24 + ⃗⃗⃗⃗
𝑁54 + ⃗⃗⃗⃗⃗⃗ 𝐺4 + ⃗⃗⃗⃗⃗ 𝑁54 + ⃗⃗⃗⃗⃗⃗
𝑃𝑞4 = ⃗⃗⃗⃗⃗⃗ 𝑁24𝑛
+ ⃗⃗⃗⃗⃗⃗
𝑁24 𝜏
+ ⃗⃗⃗⃗
𝐺4 + ⃗⃗⃗⃗⃗
𝑃𝑞4 = 0 (9)

With:
⃗⃗⃗⃗⃗⃗
𝜏 𝑡ℎ𝑒 𝑒𝑛𝑑𝑝𝑜𝑖𝑛𝑡 𝑑𝑖𝑟𝑒𝑐𝑡𝑠 𝑡𝑜 𝐷 𝑓𝑟𝑜𝑚 𝑙𝑒𝑓𝑡 𝑡𝑜 𝑟𝑖𝑔ℎ𝑡
𝑁24 ∶ { 𝜏
𝑁24 =? ?
⃗⃗⃗⃗⃗⃗
𝑁54 ↑↓ ⃗⃗⃗⃗⃗⃗
𝑁45
⃗⃗⃗⃗⃗⃗
𝑁54 ∶ {
N54 = 𝑁45 = 436,879(𝑁)
⃗⃗⃗⃗
𝐺4 ↑↑ 𝑔
⃗⃗⃗⃗
𝐺4 : {
G4 = 𝑚4 . 𝑔 = 1 × 10 = 10 (𝑁)
⃗⃗⃗⃗⃗
𝑃𝑞4 ↑↓ ⃗⃗⃗⃗⃗⃗⃗
𝑎𝐸𝐷
⃗⃗⃗⃗⃗
𝑃𝑞4 : {
𝑃𝑞4 = 666,856 (𝑁)
⃗⃗⃗⃗⃗⃗
𝑁 𝑛 ∥ 𝐷𝐸
⃗⃗⃗⃗⃗⃗
𝑁24 𝑛
: { 24 𝑛
𝑁24 = ??

𝜏
From the equation (8), for calculating force 𝑁24 , we can determine the magnitude of
ℎ𝐺4 and ℎ𝑃𝑞4 through the diagram of link 4:
 o ℎ′𝐺4 = 𝜇1 × ℎ𝐺4 = 1 × 40,356 = 40,356 (𝑚𝑚) = 40,356 × 10−3 (𝑚)
o ℎ𝑃′ 𝑞4 = 𝜇1 × ℎ𝑃𝑞4 = 1 × 11,973 = 11,973 (𝑚𝑚) = 11,973 × 10−3 (𝑚)
• Replace the value of length into the quation (8):
𝜏
𝑁24 × 𝐷𝐸 − 𝐺4 × ℎ′ 𝐺4 + ℎ′𝑃𝑞4 × 𝑃𝑞4 = 0
′
𝐺4 ×ℎ′𝐺4 − ℎ𝑃 𝑞4
×𝑃𝑞4 40,356×10−3 ×10 − 11,973×10−3 ×666,856
𝜏
 𝑁24 = = = −77,689 (𝑁)
𝐷𝐸 97,577×10−3
𝜏
 Because 𝑁24 < 0 => This force has wrong dimension.
From (9). We have :
𝑁54 + ⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗ 𝑁24𝑛
+ ⃗⃗⃗⃗⃗⃗
𝑁24 𝜏
+ ⃗⃗⃗⃗
𝐺4 + ⃗⃗⃗⃗⃗
𝑃𝑞4 = 0
Choose the dimension of x-ray from E -> D
𝑛
 𝑁54 − 𝑁24 + 𝐺4 × cos 55,808° + 𝑃𝑞4 × cos 14.206° = 0
𝑛
 𝑁24 = 𝑁54 + 𝐺4 × cos 55,808° + 𝑃𝑞4 × cos 14,206°
 𝑛
 𝑁24 = 436,879 + 10 × cos 55,808° + 666,856 × cos 14,206°
𝑛
 𝑁24 = 1088,962 (𝑁)
𝑛
o Because 𝑁24 > 0 => This force has right dimension.

3.5 Considering Group 2:

a. Considering link 3, we have forces applying to links including ⃗⃗⃗⃗⃗⃗𝑁23 , ⃗⃗⃗⃗ ⃗⃗⃗⃗3 , ⃗⃗⃗⃗⃗
𝑃𝐶 , 𝐺 ⃗⃗⃗⃗3 with:
𝑃𝑞3 , 𝑅
• ⃗⃗⃗⃗⃗⃗
𝑁23 is the force of link 4 applies to link 5, ⃗⃗⃗⃗⃗⃗
𝑁23 = −𝑁 ⃗⃗⃗⃗⃗⃗
32 .
• ⃗⃗⃗⃗
𝑃𝐶 is the pressure applying to link.
• 𝐺⃗⃗⃗⃗3 is the gravity applying to link, give 𝑔 = 10 (𝑚/𝑠 2 ), we have:
𝐺3 = 𝑚3 × 𝑔 = 0,5 . 10 = 5 (𝑁)
• ⃗⃗⃗⃗⃗
𝑃𝑞3 is the inertia force of link, we have
⃗⃗⃗⃗⃗
𝑃𝑞3 ↑↓ ⃗⃗⃗⃗⃗⃗
𝑎𝐶3
{
𝑃𝑞3 = 𝑚3 × 𝑎𝐶 = 0,5 × 808, 038 = 404,019(𝑁)
• 𝑅⃗⃗⃗⃗3 is the force by frame applying to link 3, 𝑅 ⃗⃗⃗⃗3 ⊥ AC.
o Writing the equation of equilibrium moment at C of link, we have:
∑𝑀̅̅̅̅ ⃗⃗⃗⃗
𝐶 (𝐹) = 0 𝑅3 × 𝑥2 = 0 => 𝑥2 = 0 => 𝑅3 has the position at point C.
o Writing the equation for equilibrium for link, we have:
 ∑𝐹 = 𝑁⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗ ⃗⃗⃗⃗ ⃗⃗⃗⃗
23 + 𝑃𝑞3 + 𝑃𝐶 + 𝐺3 +𝑅3 = 0 (10)
b/ Considering link 2, we have forces and moment applying to link including:
⃗⃗⃗⃗⃗⃗
𝑁42 , ⃗⃗⃗⃗⃗⃗
𝑁12 , ⃗⃗⃗⃗⃗⃗
𝑁32 , ⃗⃗⃗⃗⃗ ⃗⃗⃗⃗2 with:
𝑃𝑞2 , 𝐺
• ⃗⃗⃗⃗⃗⃗
𝑁42 is the force from link 4 applying to link 2:
𝜏
𝑁24 77,689
⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗
𝑁42 ↑↓ 𝑁24 , 𝑐𝑜𝑚𝑏𝑖𝑛𝑖𝑛𝑔 𝑤𝑖𝑡ℎ 𝐷𝐸 𝑎𝑡 𝑎𝑛𝑔𝑙𝑒 𝑖𝑠 tan ( 𝑛 ) = tan−1 (
−1
) ≈ 4°4′
{ 𝑁24 1088,962
𝑛 )2 𝜏 )2
𝑁42 = 𝑁24 = √(𝑁24 + (𝑁24 = √(77,689)2 + +(1088,962)2 = 1091,729(𝑁)

• ⃗⃗⃗⃗⃗
𝑃𝑞2 is the inertia of link:
o We apply the phenomenon of positive similarity, we determine point 𝑠2′ is the
midpoint of 𝑓𝑖.

o From the diagram of the acceleration, we have

𝑎𝑆2 = 81,349 𝑚𝑚
𝐷𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 𝑓𝑟𝑜𝑚 𝑎 → 𝑆2
=> { 49
𝑎𝑆2 = 𝑎𝑆2 × 𝜇𝑎 = 81,349 × × 𝜋2 = 874,249 (𝑚/𝑠 2 )
45
From that, we can calculate 𝑃𝑞2
⃗⃗⃗⃗⃗
𝑃𝑞2 ↑↓ ⃗⃗⃗⃗⃗
𝑎𝑆2
{
𝑃𝑞2 = 𝑚2 × 𝑎𝑆2 = 2 × 874,249 = 1748,498 (𝑁)
• 𝐺
⃗⃗⃗⃗2 is the gravity applying to link, give 𝑔 = 10 (𝑚/𝑠2 ), we have:
𝐺2 = 𝑚2 × 𝑔 = 2 × 10 = 20(𝑁)
• ⃗⃗⃗⃗⃗⃗
𝑁32 is the force from link 3 applying to link 2, ⃗⃗⃗⃗⃗⃗𝑁32 = −𝑁 ⃗⃗⃗⃗⃗⃗
23
• 𝑁12 is the force from link 1 applying to link 2, we have:
⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗⃗
𝑁12 𝑛
∥ 𝐵𝐶
⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗⃗⃗
𝜏 ⃗⃗⃗⃗⃗⃗
𝑛
𝑁12 = 𝑁12 + 𝑁12 𝑤𝑖𝑡ℎ {
⃗⃗⃗⃗⃗⃗
𝑁12 𝜏
⊥ 𝐵𝐶
o Writing the equation for equilibrium of moment at point C of link 2, we have:
∑𝑀 ̅̅̅̅ 𝜏
𝐶 (𝐹) = 0 => −𝑁12 × ℎ1 + 𝑁42 × ℎ2 + 𝐺2 × ℎ3 + 𝑃𝑞2 × ℎ4 = 0 (12)

With ℎ1 , ℎ2 , ℎ3 , ℎ4 respectively be arm of ⃗⃗⃗⃗⃗⃗

𝜏 ⃗⃗⃗⃗⃗⃗ ⃗⃗⃗⃗ ⃗⃗⃗⃗⃗
𝑁12 , 𝑁42 , 𝐺2 , 𝑃𝑞 .
2
• From the diagram for analyzing of link 2, we can determine these values of arm
following the ratio of diagram. From that we can calculate ℎ1 , ℎ2 , ℎ3 , ℎ4 .
• We consider link 2, we consider these forces at point C, we have:
o Because the diagram of analyzing forces by building the diagram so the ratio is the
ratio of diagram.
+) ℎ1 = 𝑙𝐵𝐶 = 125 (𝑚𝑚) = 0,125 (𝑚)
′
+) ℎ2 = ℎ𝑁 42
× 𝜇1 = 109,964 (𝑚𝑚) = 0,109964 (𝑚)
+) ℎ3 = ℎ3′ × 𝜇1 = 14,98 (𝑚𝑚) = 0,01498 (𝑚)
+) ℎ4 = ℎ4′ × 𝜇1 = 41,338 (𝑚𝑚) = 0,041338 (𝑚)
 From the equation (11). We have:
𝜏 𝑁42 × ℎ2 +𝐺2 × ℎ3 +𝑃𝑞2 × ℎ4 1091,729 × 0,109964+20 × 0,01498 + 1748,498 × 0,041338
 𝑁12 = =
𝑙𝐵𝐶 0,125
= 1541,039 (𝑁)
𝜏
o Because > 0 => the direction of diagram is right.
𝑁12
o Writing the equations of equilibrium of forces for link 2, we have:
∑𝐹 = ⃗⃗⃗⃗⃗
𝑃𝑞2 + ⃗⃗⃗⃗⃗⃗
𝑁42 + 𝐺 𝑁32 + ⃗⃗⃗⃗⃗⃗
⃗⃗⃗⃗2 + ⃗⃗⃗⃗⃗⃗ 𝑁12𝑛
+ ⃗⃗⃗⃗⃗⃗
𝜏
𝑁12 = 0 (13)
o Get (11) + (12) , we have:
∑𝐹 = ⃗⃗⃗⃗⃗
𝑃𝑞2 + ⃗⃗⃗⃗⃗⃗
𝑁42 + 𝐺 ⃗⃗⃗⃗2 + ⃗⃗⃗⃗⃗⃗
𝑁12𝑛
+ ⃗⃗⃗⃗⃗⃗
𝑁12 𝜏 ⃗⃗⃗⃗⃗
+𝑃 ⃗⃗⃗⃗ ⃗⃗⃗⃗ ⃗⃗⃗⃗
𝑞3 + 𝑃𝐶 + 𝐺3 +𝑅3 = 0 (14)

𝑃⃗𝑞2 𝑃⃗𝑞2 ↑↓ 𝑎𝑆2 𝑃⃗𝐶 𝑃⃗𝐶 //𝐴𝐶

𝑃𝑞2 𝑃𝐶 = 20 (𝑁)
= 1748,498(𝑁)
⃗ 42
𝑁 ⃗ 42 ↑↓ 𝑁
𝑁 ⃗ 24 ⃗⃗⃗⃗3
𝐺 ⃗⃗⃗⃗3 ↑↑ 𝑔
𝐺

𝑁42 𝐺3 = 5 (𝑁)
= 1086,126(𝑁)
⃗⃗⃗⃗2
𝐺 ⃗⃗⃗⃗2 ↑↑ 𝑔
𝐺 ⃗ 12
𝑁 𝑛 ⃗ 12
𝑁 𝑛
//𝐵𝐶
𝑛
𝐺2 = 20 (𝑁) 𝑁12 =? (𝑁)

𝑃⃗𝑞3 𝑃⃗𝑞3 ↑↓ 𝑎𝐶3 𝑅⃗3 𝑅⃗3 ⊥ 𝐴𝐶

𝑃𝑞3 =404,019 (N) 𝑅3 =? (𝑁)

⃗ 12
𝑁 𝜏 ⃗ 12
𝑁 𝜏
⊥ 𝐵𝐶
𝜏
𝑁12
= 1541,039(𝑁)

⃗⃗⃗⃗2 , 𝐺
o Because the value of 𝐺 ⃗⃗⃗⃗3 , ⃗⃗⃗⃗
𝑃𝐶 is too smaller than the other forces so we can sketch
the diagram with ignoring these forces.
 𝑁42 1086,126
𝑏𝑐 = = 1748,498 = 62,118 (𝑚𝑚)
𝜇𝑓
100
𝑃𝑞2 1748,498 𝑁 𝑃𝑞3 404,019
o Choose the ratio: 𝜇𝑓 = = ( ) => 𝑐𝑑 = = 1748,498 = 23,107 (𝑚𝑚)
𝑎𝑏 100 𝑚𝑚 𝜇𝑓
100
𝜏
𝑁12 1541,039
𝑑𝑒 = = 1748,498 = 88,135 (𝑚𝑚)
{ 𝜇𝑓
100

- From these value above, we build the diagram:

o We choose randomly point a being the origin. From a, we draw 𝑎𝑏 = 100 𝑚𝑚
𝑎𝑆2 for presenting for ⃗⃗⃗⃗⃗
has the opposite dimension with acceleration ⃗⃗⃗⃗⃗ 𝑃𝑞2 .
o From point b, we draw segment 𝑏𝑐 = 62,118 (𝑚𝑚) has the same direction ⃗⃗⃗⃗⃗⃗
𝑁42
with for presenting for ⃗⃗⃗⃗⃗⃗
𝑁42 .
o From c, we draw 𝑐𝑑 = 23,107(𝑚𝑚) parallel and has the dimension from A to C
for presenting for ⃗⃗⃗⃗⃗
𝑃𝑞3 .
o From d, we draw 𝑑𝑒 = 88,135 (𝑚𝑚) is perpendicular with BC for presenting
for ⃗⃗⃗⃗⃗⃗
𝑁12 𝜏
.
o From e, draw ray 𝛿3 parallel with BC for presenting with ⃗⃗⃗⃗⃗⃗
𝑁𝑛 . 12
o From a, draw ray 𝛿4 ⊥ 𝐴𝐶 for presenting for 𝑅 ⃗⃗⃗⃗3 . Two rays including 𝛿3 and 𝛿4
intersect at g is the endpoint of ⃗⃗⃗⃗⃗⃗
𝑁12 𝑛
and startpoint of 𝑅 ⃗⃗⃗⃗3 .
o From the diagram above, we have:
1748,498
+) 𝑔𝑎 = 43,933 (𝑚𝑚) => 𝑅3 = 𝑔𝑎 × 𝜇𝑓 = 43,933 × = 768,168 (𝑁)
100
𝑛 1748,498
+) 𝑒𝑔 = 83,721 (𝑚𝑚) => 𝑁12 = 𝑒𝑔 × 𝜇𝑓 = 83,721 × = 1563,86 (𝑁)
100
𝑛 )2 𝑡 )2
 𝑁12 = 𝑁21 = √ (𝑁12 + (𝑁12 = √(1563,86)2 + (1541,039)2 = 2195,554 (𝑁)
o Back to link 3, we have the equation of force of link following for equation of (10):
∑𝐹 = ⃗⃗⃗⃗⃗
𝑃𝑞3 + ⃗⃗⃗⃗ ⃗⃗⃗⃗3 + 𝑅
𝑃𝐶 + 𝐺 ⃗⃗⃗⃗3 + ⃗⃗⃗⃗⃗⃗
𝑁23 = 0
o From the value with the ratio of 𝜇𝑓 above, we build the diagram of link 3:
o We ignore 𝐺 ⃗⃗⃗⃗3 , 𝑃
⃗⃗⃗⃗𝐶
o We choose randomly a’ being the origin. From a’, we draw 𝑎′ 𝑏 ′ =
23,107 (𝑚𝑚) parallel and has the direction from A -> C for presenting ⃗⃗⃗⃗⃗ 𝑃𝑞3 .
o From b’, we draw segment 𝑏 ′ 𝑐 ′ = 43,933 (𝑚𝑚) has the direction like as the
diagram of equation (14) for presenting 𝑅 ⃗⃗⃗⃗3 .
o Connecting c’ with a, we have the segment c’a’ for presenting ⃗⃗⃗⃗⃗⃗ 𝑁23 .

o From the diagram above, we have:

1748,498
𝑐 ′ 𝑎′ = 49,639 (𝑚𝑚) => 𝑁32 = 𝑁23 = 𝑐 ′ 𝑎′ × 𝜇𝑓 = 49,639 × = 867,937 (𝑁)
100
4.2. Calculate equilibrium moment.
- From analyzing external force and inertia force diagram, we put in it velocity vectors of
link 2, 3 and 5 based on velocity diagram.
- Following the Principle of virtual displacement for link putting the equilibrium of moment,
we have:
𝑛
1
𝑡𝑡
𝑀𝐶𝐵 = ± × ∑( ⃗⃗𝑃𝑖 × ⃗⃗⃗
𝑣𝑖 + ̅̅̅̅
𝑀𝑡 . 𝜔1 )
𝜔1
𝑖=1

Give the direction of 𝑀𝑐𝑏 following dimension which is opposite with 𝜔1 . Applying the links
putting the moment above, we have:
∑ 𝑃 = 0 ↔ ⃗⃗⃗⃗ 𝑃𝐸 × 𝑣𝐸 + ⃗⃗⃗⃗⃗
𝑃𝑞5 × ⃗⃗⃗⃗
𝑣𝐸 + 𝐺 ⃗⃗⃗⃗5 × ⃗⃗⃗⃗
𝑣𝐸 + ⃗⃗⃗⃗⃗ 𝑣4 + ⃗⃗⃗⃗
𝑃𝑞4 × ⃗⃗⃗ 𝐺4 × ⃗⃗⃗ ⃗⃗⃗⃗𝐶 + ⃗⃗⃗⃗⃗
𝑣4 +× 𝑣 𝑃𝑞3 × 𝑣
⃗⃗⃗⃗𝐶 +
⃗⃗⃗⃗𝐶 × 𝑣
𝐺 ⃗⃗⃗⃗2 + ⃗⃗⃗⃗⃗
𝑃𝑞 × 𝑣 ⃗⃗⃗⃗2 × 𝑣
⃗⃗⃗⃗2 + 𝐺 ⃗⃗⃗⃗2 + ⃗⃗⃗⃗⃗
𝑃𝑞 × ⃗⃗⃗⃗ 𝑣1 + ⃗⃗⃗⃗
𝐺1 × ⃗⃗⃗⃗
𝑣1 + 𝑀⃗⃗⃗⃗⃗⃗⃗
𝑐𝑏 × 𝜔1 = 0 (15)
2 1

• From the equation above, we need to calculate some unknown values:

(1). Calculate 𝑣2
o From the diagram from the section 2 about calculating the value of velocity of point
C, we set a point which is the midpoint of bc is 𝑠2
o We connect point m to point 𝑠2 for representing for 𝑣
⃗⃗⃗⃗2 .
 From the diagram above, we have:
7

𝑚𝑠2 = 87,954 (𝑚𝑚) => 𝑣2 = 𝑚𝑠2 × 𝜇𝑣 = 87,954 × 3𝜋

= 6,447 (𝑚/𝑠)
100

(2). Calculate 𝑣4
o From the final of diagram of velocity, we set a point 𝑠4 which is the midpoint of
de.
o We connect point m to 𝑠4 for representing for ⃗⃗⃗
𝑣4 .
From the diagram above, we have
7𝜋

𝑚𝑠4 = 92,825 𝑚𝑚 => 𝑣4 = ms4 × 𝜇𝑣 = 92,825 × 3

= 6,804 (𝑚/𝑠)
100

• Notes: We can determine angle between the forces and velocity by the diagram of
velocity.
• From the equation (15), we have :
 𝑃𝐸 × 𝑣𝐸 × cos 180° +
𝑃𝑞5 × 𝑣𝐸 × cos 0 ° +
𝐺5 × 𝑣𝐸 × cos 30° +
𝑃𝑞4 × 𝑣4 × cos 126,733° +
𝐺4 × 𝑣4 × cos 16,747° +
𝑡𝑡 1 𝑃𝐶 × 𝑣𝐶 × cos 180° +
↔ 𝑀𝐶𝐵 =− 𝑃𝑞3 × 𝑣𝐶 × cos 0° +
𝜔1
𝐺𝐶 × 𝑣𝐶 × cos 150° +
𝑃𝑞2 × 𝑣2 × cos 124,725° +
𝐺2 × 𝑣2 × cos 5,7569° +
𝑃𝑞1 × 𝑣𝐴𝐵 × cos 90° +
( 𝐺1 × 𝑣𝐴𝐵 × cos 120° )
0 × 5,869 × cos 180° +
393,305 × 5,869 × cos 0° +
5 × 5,869 × cos 30° +
666,856 × 6,804 × cos 126,733 ° +
10 × 6,804 × cos 16,747° +
20 × 6,617 × cos 180° +
𝑡𝑡 1
↔ 𝑀𝐶𝐵 = − 140 . 404,019 × 6,617 × cos 0° +
𝜋
3 5 × 6,617 × cos 150° +
1748,498 × 6,447 × cos 124,725° +
20 × 6,447 × cos 5,7569° +
49 7
50 ×
45
× 𝜋2 × 3 𝜋 × cos 90° +
7
( 100 × 𝜋 × cos 120° )
3
𝑡𝑡
 𝑀𝐶𝐵 = − 98,531 (𝑁. 𝑚) => 𝑀𝐸𝑡𝑡 < 0
𝑡𝑡 𝑡𝑡
Because the value of 𝑀𝐶𝐵 is smaller than 0 so the direction of 𝑀𝐶𝐵 is wrong
 In conclusion, 𝑀𝐶𝐵 has same dimension with 𝜔1 and has the magnitude 𝑀𝐶𝐵 =
98,531 𝑁. 𝑚
 ACKNOWLEDGEMENT
This project is done as a final assignment as a part of the
course tittled “ Kinematics and Dynamics of Machines”. I
am really thankful to our course instructor Mr. Le Khanh
Dien, for providing me the knowledge for solving these
problems be belonged to the mechanism.

In this project, I can understand more the operation of the V

engine. Furthermore, I can be trained in calculating some
components regarding to the Kinematic and Dynamic by
using the Vector graphics.

Thanks for reading my project and I wish you have a good

day.