ME 352 - Machine Design I Name of Student_________________________

Spring Semester 2010 Lab. Div. Number________________________

EXAM 1. OPEN BOOK AND CLOSED NOTES Thursday, February 18th, 2010
Please use the blank paper provided for your solutions. Write on one side of the paper only.
Where necessary, you can use the figures that are provided on the exam to show vectors and
instantaneous centers of velocity.
Problem 1 (25 Points).
Part I (13 Points).
(i) Clearly number each link and label the lower pairs and the higher pairs of the mechanism shown in
Figure 1(a). Then determine the mobility of this mechanism.
(ii) Define vectors that would be suitable for a kinematic analysis of the mechanism. Label and show the
direction of each vector on Figure 1(a).
(iii) Write the vector loop equation(s) for the mechanism and:
(a) Identify suitable input(s) for the mechanism.
(b) Identify the known quantities, the unknown variables, and write any constraint equations.
(c) Write the rolling constraint equation in terms of the position variables.

Figure 1(a). A Planar Mechanism.

1
ME 352 - Machine Design I Name of Student_________________________

Spring Semester 2010 Lab. Div. Number________________________

Problem 1 (continued).
Part II (12 Points). Consider the four-bar linkage in the position shown in Figure 1(b). The angular
position of the input link 2 is given by the angle θ2 = 120o , measured counterclockwise from the
ground link which is chosen to be coincident with the fixed X-axis. The lengths of the four links are
R1 = O2O4 = 15 cm, R 2 = O2 A = 6 cm, R 3 = AB = 10 cm, and R 4 = O4 B = 10 cm.
Use Freudenstein's equation to determine the angular position of the output link θ4 as shown in the
figure. Note that the mechanism is not drawn to scale in Figure 1(b).

Figure 1(b). A Planar Four-Bar Linkage.

2
ME 352 - Machine Design I Name of Student__________________________

Spring Semester 2010 Lab. Div. Number________________________

Problem 2 (25 Points). For the mechanism in the position shown in Figure 2, the input link 2 has a
constant angular velocity ω2 = 5 rad / s clockwise. The link lengths and dimensions are O2 B = 5 cm,
AB = BC = 5 cm, CO4 = 10 cm, and O4 D = 5 cm.
(i) Write a vector loop equation that would be suitable for a kinematic analysis of the mechanism.
Clearly indicate the input, the knowns, and any constraints. Draw your vectors clearly on Figure 2.
(ii) Determine the first-order kinematic coefficients for the mechanism.
(iii) Determine the angular velocities of links 3 and 4. Give the magnitude and direction of each vector.
(iv) Determine the relative velocity of point C fixed in link 3 with respect to point B fixed in link 2.
Give the magnitude and the direction of this vector.

Figure 2. A Planar Mechanism.

3
ME 352 - Machine Design I Name of Student__________________________

Spring Semester 2010 Lab. Div. Number________________________

Problem 3 (25 Points). For the mechanism in the position shown in Figure 3, the angular velocity of the
input link 2 is a constant ω2 = 7 rad / s counterclockwise. Link 5 is rolling without slipping on link 3 at
the point of contact C. The mechanism is drawn full scale in Figure 3, that is, 1 cm = 1 cm.
(i) List the primary instant centers and the secondary instant centers for the mechanism.
(ii) Using the Kennedy circle shown below, show the locations of all the instant centers on Figure 3.
Using the locations of the instant centers, determine:
(iii) The first-order kinematic coefficients of links 3, 4, and 5.
(iv) The magnitudes and directions of the angular velocities of links 3 and 5.
(v) The magnitude and direction of the velocity of point C fixed in link 5.

Figure 3. A Planar Mechanism. The scale is 1 cm = 1 cm.

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ME 352 - Machine Design I Name of Student__________________________

Spring Semester 2010 Lab. Div. Number________________________

Problem 4 (25 Points). For the mechanism in the position shown in Figure 4, the input link 2 has a
velocity V2 = 2 ˆi cm / s and an acceleration A 2 = − 5 ˆi cm / s 2 . The roller, link 4, is rolling without
slipping on the ground link 1. The known link lengths are AB = 15 cm, ρ1 = 5 cm, and ρ4 = 2 cm.
(i) Write a suitable vector loop equation for a kinematic analysis of this mechanism. Indicate the input,
the knowns, and the unknown variables. Draw your vectors clearly on Figure 4.
(ii) Write symbolic equations for the rolling contact equation between link 4 and the ground link 1 in
terms of: (a) the position variables, and (b) the first-order kinematic coefficients of the mechanism.
(iii) Determine numerical values for the first-order kinematic coefficients of the mechanism.
(iv) Determine the angular velocities of links 3 and 4. Give the magnitudes and directions of each
vector.

Figure 4. A Planar Mechanism.

5
Solution to Problem 1.
Part I. (i) 4 points. There are 6 links in the mechanism and the joint types are as shown in Figure 1(a).

Figure 1(a). Joint Types of the Mechanism.

The Kutzbach mobility criterion for a planar mechanism can be written as
M = 3(n − 1) − 2J1 − 1J 2 (1)

For this mechanism, the number of links, the number of lower pairs (or J1 joints), and the number of
higher pairs (or J 2 joints), respectively, are

n = 6, J1 = 7, and J2 = 0 (2)

Substituting Equation (2) into Equation (1), the mobility of the mechanism is
M = 3(6 − 1) − 2(7) − 0 (3a)
that is
M = 15 − 14 − 0 = 1 (3b)

This is the correct answer for this mechanism, that is, for a single input there is a unique output.

6
(ii) 5 points. Suitable vectors for a kinematic analysis of the mechanism are shown in Figure 1(b).

Figure 1(b). Vectors for the Mechanism.

(iii) 4 points. There are 5 unknown variables, therefore, 2 independent vector loop equations are
required and one rolling contact equation. The two independent vector loop equations can be written as

Loop 1:
√Ι
R2 + √C
R22 + √?
R3 − R44 − R4 − R1 = 0
√C √? √√
(4a)

Loop 2:
√?
R4 + R√44C + R√33C − √?
R5 − R9 +
√? √√
R11 =0 (4b)

(a) The input link is chosen to be the disk, denoted as link 2, and the input variable is the angle θ 2 .
(b) The five unknown variables are the angles θ3 , θ 4 , θ5 , θ6 , and θ9 .
There are three constraint equations, namely

θ 22 = θ 2 − α (5a)

θ33 = θ3 − β (5b)
and
θ 44 = θ 4 − 90° (5c)

7
(c) The rolling contact equation between the wheel (denoted as link 6) and the ground link 1 can be
written as
ρ1 Δθ6 − Δθ9
± = (6a)
ρ6 Δθ1 − Δθ9

The correct sign in Equation (6a) is the negative sign because there is external rolling contact, that is
ρ1 Δθ6 − Δθ9
− = (6b)
ρ6 0 − Δθ9

Note that Equations (6) can also be written in terms of the first-order kinematic coefficients as
ρ1 θ6′ − θ9′
± = (7a)
ρ6 θ1′ − θ9′
that is
ρ1 θ6′ − θ9′
− = (7b)
ρ6 0 − θ9′

Part II (12 points). The vectors for the four-bar linkage are shown in Figure 1(b).

Figure 1(b). The vector loop for the four-bar linkage.

The vector loop equation (VLE) can be written as

√I √? √? √√
R 2 + R 3 − R 4 − R1 = 0 (1)

The X and Y components of Eq. (1) are

R2 cos θ 2 + R3 cos θ3 − R4 cos θ 4 − R1 cos θ1 = 0 (2a)

and

8
 R2 sin θ 2 + R3 sin θ3 − R4 sin θ 4 − R1 sin θ1 = 0 (2b)

Freudenstein's Equation can be written as

A cos θ4 + B sin θ4 = C (3)
where
A = 2 R1 R 4 cos θ1 − 2 R 2 R 4 cos θ2 (4a)

B = 2 R1 R 4 sin θ − 2 R 2 R 4 sin θ (4b)

1 2
and
C = R 32 − R12 − R 22 − R 24 + 2 R1 R 2 cos (θ1 − θ2 ) (4c)

Substituting the known data into Equations (4) gives

A = 2 × 15 × 10 cos 0D − 2 × 6 × 10 cos 120D = + 360 cm2 (5a)

B = 2 × 15 × 10 × sin 0D − 2 × 6 × 10 × sin 120D = − 103.92 cm2 (5b)

and
C = 102 − 152 − 62 −102 + 2 x 15 x 6 cos (0D − 120D) = − 351 cm2 (5c)

Substituting Equations (5) into Equation (3) gives

+ 360 cos θ4 − 103.92 sin θ4 = − 351 cm2 (6)

To determine the output angle we can write this transcendental equation as an algebraic equation,
(namely, a quadratic equation). The procedure is to use the tangent of the half-angle relationship; i.e.,
θ
Z = tan ( 4 ) (7a)
2
which gives
2Z 1 − Z2
sin θ4 = and cos θ4 = (7b)
1 + Z2 1 + Z2

Substituting Equations (7b) into Equation (3), and rearranging, gives

(A + C) Z2 − (2 B) Z + (C − A) = 0 (8)

The solution to this quadratic equation can be written as

+ B ± B2 − (A + C)(C − A)
Z= (9)
A+C

Substituting Equations (5) into Equation (9) gives

− 103.92 ± (− 103.92)2 − (360 − 351)(− 351 − 360)

Z= (10a)
(360 − 351)

9
The two roots to this quadratic equation are
Z1 = + 3.025 and Z2 = − 26.118 (10b)

Writing Equation (7a) as

θ4I = 2 tan −1 Z1 and θ4II = 2 tan −1 Z2 (11)

Then substituting Equations (10b) into Equations (11) gives

θ4I = 2 tan −1 3.025 and θ4II = 2 tan −1 − 26.118 (12)

Therefore, the two possible answers for the angular position of link 4 are
θ4 = 143.41D and θ4 = − 175.61D (13)

The correct answer for the angular position of link 4, for the given open configuration shown in Figure
1(b), is
θ4 = 143.41D (14)

10
Solution to Problem 2.
(i) 8 Points. A suitable set of vectors for a kinematic analysis of the mechanism are shown in Fig. 2(a).

Figure 2(a). Suitable vectors for the planar mechanism.

The vector loop equation (VLE) can be written as

√I ?C ?C √√
R 2 + R 23 + R 34 − R1 = 0 (1)

The input is the angular position of link 2, that is, θ 2 . For the given input position θ 2 = 315°. The
knowns are the length of link 2, the length of the ground link 1, and the angle of the ground link. The
angular position of link 3 is constrained to be perpendicular to link 2, that is

θ 23 = θ 2 + 90° = 45° (2)

Also, the angular position of link 4 is constrained to be perpendicular to link 3, that is

θ34 = θ 23 + 90° = θ 2 + 180° = 135° (3)

11
(ii) 6 points. The X and Y components of the VLE, see Eq. (1), are

R 2 cos θ2 + R 23 cos θ23 + R 34 cos θ34 − R1 cos θ1 = 0 (4a)

and
R 2 sin θ2 + R 23 sin θ23 + R 34 sin θ34 − R1 sin θ1 = 0 (4b)

Differentiating Equations (4) with respect to the input position θ2 gives

− R 2 sin θ2 − R 23 sin θ23 + cos θ23R ′23 − R 34 sin θ34 + cos θ34 R ′34 = 0 (5a)
and
R 2 cos θ2 + R 23 cos θ23 + sin θ23R ′23 + R 34 cos θ34 + sin θ34 R ′34 = 0 (5b)

Then writing Equations (5) in matrix form gives

⎡cos θ23 cos θ34 ⎤ ⎡ R ′23 ⎤ ⎡ R 2 sin θ2 + R 23 sin θ23 + R 34 sin θ34 ⎤
⎢ sin θ ⎥⎢ ⎥=⎢ ⎥ (6)
⎣ 23 sin θ34 ⎦ ⎣ R ′34 ⎦ ⎣ − R 2 cos θ2 − R 23 cos θ23 − R 34 sin θ34 ⎦

Substituting the known data into Equation (6) gives

⎡ + 0.7071 radians − 0.7071 radians ⎤ ⎡ R ′23 ⎤ ⎡ + 7.071 cms ⎤

⎢ + 0.7071 radians + 0.7071 radians ⎥ ⎢ R ′ ⎥ = ⎢ ⎥ (7a)
⎣ ⎦ ⎣ 34 ⎦ ⎣ 0 ⎦

The determinant of the coefficient matrix in Equation (7a) can be written as

DET = ( + 0.7071 radians)( + 0.7071 radians) − ( + 0.7071 radians)(− 0.7071 radians) (7b)

Therefore, the determinant of the coefficient matrix is

DET = 1.000 radians 2 (7c)

Using Cramer’s rule, the first-order kinematic coefficient for link 3 with respect to link 2 is
+ 5 cm
R ′23 = = + 5 cm / rad (8)
+ 1 radians

The positive sign indicates that the distance from point B to point C, that is, the vector R 23 , is
decreasing in length as link 2 rotates clockwise.
From Cramer’s rule, the first-order kinematic coefficient for link 3 with respect to link 4 is
− 5 cm
R ′34 = = − 5 cm / rad (9)
+ 1 radians

The negative sign indicates that the distance from point C to the ground pivot O4 , that is the vector
R 34 , is increasing in length as link 2 rotates clockwise.
Differentiating Equation (2) with respect to the input position, the third kinematic coefficient of the
mechanism is

θ 23′ = θ3′ = θ 2′ = + 1 (10)

12
(iii) 7 Points. The angular velocity of link 3 can be written as

ω3 = θ′3 ω2 (11)

Substituting Equation (10) into Equation (11), the angular velocity of link 3 is

ω3 = + 1 ω2 = − 5 rad / s (12)

The negative sign indicates that link 3 is rotating clockwise.

The angular velocity of link 4 can be written as

ω4 = θ′4 ω2 (13)

Differentiating Equation (3) with respect to the input position, and using Equation (11) gives

θ34′ = θ 4′ = θ3′ = + 1 (14)

Then substituting Equation (14) into Equation (13) gives

ω4 = + 1 ω2 = − 5 rad / s (15)

The negative sign indicates that link 4 is rotating clockwise.

(iv) 7 Points. The relative velocity between point C fixed in link 3 and point B fixed in link 2 can be
written as

VCB = R ′23ω2 (16)

The relative velocity between point C fixed in link 3 and point B fixed in link 2 is directed along the line
BC in the direction from C to B.
Substituting Equation (8) and the input angular velocity into Equation (16) gives

VCB = (+ 5 cm / rad)(− 5 rad / s) = − 25 cm / s (17)

The positive sign indicates that point C is moving towards point B, that is, the distance BC is decreasing
(the angle of the velocity vector is inclined at 135 degrees clockwise to the horizontal axis).

13
Solution to Problem 3.
(i) and (ii) 15 Points. This mechanism has six links, therefore, the total number of instant centers is
n (n − 1) 6 x 5
N= = = 15 (1)
2 2
There are 7 primary instant centers; namely,
I12, I23, I34, I14, I35, I56, and I16 (2)
Therefore, there are 8 secondary instant centers; namely,
I13, I15, I24, I25, I26, I36, I45, and I46 (3)
The 8 secondary instant centers can be obtained as follows:
(i) The point of intersection of the line through I12I23 and the line through I14I34 is the instant center I13.
(ii) The point of intersection of the line through I13I35 and the line through I16I56 is the instant center I15.
(iii) The point of intersection of the line through I12I14 and the line through I23I34 is the instant center I24.
(iv) The point of intersection of the line through I12I15 and the line through I23I35 is the instant center I25.
(v) The point of intersection of the line through I25I56 and the line through I12I16 is the instant center I26.
(vi) The point of intersection of the line through I35I56 and the line through I13I16 is the instant center I36.
(vii) The point of intersection of the line through I14I15 and the line through I34I35 is the instant center I45.
(viii) The point of intersection of the line through I14I16 and the line through I45I56 is the instant center
I46.
The procedure to locate these 8 secondary instant centers is indicated on the Kennedy circle below,
see Figure 3(a).

Figure 3(a). The Kennedy Circle.

The locations of all 15 instant centers for this mechanism are shown on Figure 3(b).

14
 Figure 3(b). The locations of the fifteen instant centers.
(iii) 6 Points. The first-order kinematic coefficient of link 3 can be written as
I12 I 23
θ 3′ = (4a)
I13 I 23

The distance I12 I 23 is measured as I12 I 23 = 2.55 cm and the distance I13 I 23 is measured as
I13 I 23 = 7.88 cm. Therefore, the first-order kinematic coefficient of link 3 is

2.55 cm
θ 3′ = = 0.324 rad/rad (4b)
7.88 cm

Note that the correct sign the first-order kinematic coefficient of link 3 is negative because the relative
instant center I 23 lies between the two absolute instant centers I12 and I13 , that is

15
 θ 3′ = − 0.324 rad/rad (4c)

The first-order kinematic coefficient of link 4 can be written as

R4′ = I12 I 24 (5a)

From measuring figure, I12 I 24 = 1.70 cm, therefore, the first-order kinematic coefficient of link 4 is

R4′ = 1.70 cm (5b)

Note that the correct sign is negative because link 4 will move to the left for a positive change in the
input (that is, the distance from O2 to point B is decreasing for a positive change in the input). Therefore,
the first-order kinematic coefficient of link 4 is

R4′ = − 1.70 cm (5c)

The first-order kinematic coefficient of link 5 can be written as

I12 I 25
θ 5′ = (6a)
I15 I 25

The distance I12 I 25 is measured as I12 I 25 = 3.38 cm and the distance I15 I 25 is measured as
I15 I 25 = 4.20 cm. Therefore, the first-order kinematic coefficient of link 5 is

3.38 cm
θ 5′ = = 0.805 rad/rad (6b)
4.20 cm

Note that the correct sign is negative because the relative instant center I 25 lies between the two absolute
instant centers I12 and I15 , that is, the first-order kinematic coefficient of link 5 is

θ 5′ = − 0.805 rad/rad (6c)

The first-order kinematic coefficient of link 6 can be written as

I12 I 26
θ 6′ = (7a)
I16 I 26

The distance I12 I 26 is measured as I12 I 26 = 1.65 cm and the distance I16 I 26 is measured as
I16 I 26 = 8.00 cm. Therefore, the first-order kinematic coefficient of link 6 is

1.65 cm
θ 6′ = = 0.206 rad/rad (7b)
8.00 cm

Note that the correct sign is negative because the relative instant center I 26 lies between the two absolute
instant centers I12 and I16 , that is, the first-order kinematic coefficient of link 6 is

θ 6′ = − 0.206 rad/rad (7c)

(iv) 2 Points. The angular velocity of link 3 can be written as

16
 ω3 = θ3′ ω2 = (− 0.324 rad rad)(+ 7 rad sec) = − 2.268 rad sec (8)

The negative sign implies that the direction of the angular velocity of link 3 is clockwise, see Fig. 3(c).
The angular velocity of link 5 can be written as

ω5 = θ5′ ω2 = (− 0.805 rad rad)(+ 7 rad sec) = − 5.635 rad sec (9)

The negative sign implies that the direction of the angular velocity of link 5 is clockwise, see Fig. 3(c).
Check. The relative instant center I 35 does not lie between the two absolute instant centers I13 and I15 ,
therefore, the angular velocity of link 5 is in the same direction as the angular velocity of link 3.
The angular velocity of link 6 can be written as

ω6 = θ6′ ω2 = (− 0.206 rad rad)(+ 7 rad sec) = − 1.442 rad sec (10)

The negative sign implies that the direction of the angular velocity of link 6 is clockwise, see Fig. 3(c).

Figure 3(c). The angular velocities of links 3, 5 and 6 and the velocities of points B and C.
17
Check. The relative instant center I 26 lies between the two absolute instant centers I12 and I16 .
Therefore, the angular velocity of link 6 is in the opposite direction to the angular velocity of link 2, that
is, clockwise.
(v) 2 Points. The velocity of point C, fixed in link 3, can be written as
VC3 = ω3 (I13C) (11)

The distance I13C is measured as I13C = 5.06 cm. Therefore, the velocity of point C fixed in link 3 is

VC3 = (2.268 rad / s)(5.06 cm) = 11.48 cm / s (12)

The direction of the velocity of point C is perpendicular to the line I13C , that is, 130 degrees to the
horizontal as shown in Figure 3(c).
Check: The velocity of point C, fixed in link 5, can be written as

VC5 = VC3 = ω5 (I15C) (13)

The distance I15C is measured as I15C = 2.04 cm. Therefore, the velocity of point C, fixed in link 5, is

VC = (5.635 rad / s)(2.04 cm) = 11.50 cm / s (14)

The direction of the velocity of point C is perpendicular to the line I15C as shown in Figure 3(c).
The velocity of point B, fixed in link 4, can be written as
VB4 = VB3 = ω3 (I13B) (15)

The distance I13 B is measured as I13 B = 5.25 cm. Therefore, the velocity of point B fixed in link 4 is

VB4 = (2.268 rad / s)(5.25 cm) = 11.91 cm / s (16)

The direction of the velocity of point B is along the X-axis as shown in Figure 3(c).
Check: The velocity of point B, fixed in link 4 can be written as

VB4 = R ′4ω2 (17)

Substituting Equation (5b) into Equation (17), the velocity of point B fixed in link 4 is

VB4 = (1.70 cm)(7 rad / s) = 11.90 cm / s (18)

This answer is in good agreement with Equation (16).

18
Solution to Problem 4.
(i) 5 Points. A suitable set of vectors for a kinematic analysis of the mechanism are shown in Fig. 4(a).

Figure 4(a). Suitable vectors for the mechanism.

The vector loop equation (VLE) can be written as

I√ √√ √? √?
R 2 − R1 + R 9 − R 3 = 0 (1)

where the input is the length R 2 which defines the position of link 2, and the two unknown variables θ9
and θ3 are the angular positions of the arm (link 9) and link 3.
(ii) 6 points. The rolling contact constraint between link 4 and the ground link 1 of the mechanism can
be written as
ρ1 Δθ 4 − Δθ9
± = (2a)
ρ 4 Δθ1 − Δθ9

The correct sign is negative because there is external contact between links 4 and 1, that is

19
 ρ1 Δθ 4 − Δθ9
− = (2b)
ρ 4 Δθ1 − Δθ9

Equation (2b) can be written in terms of the first-order kinematic coefficients of the mechanism as
ρ1 θ 4′ − θ9′
− = (3)
ρ 4 θ1′ − θ9′

(iii) 9 points. The X and Y components of the VLE, see Eq. (1), are

R 2 cos θ2 − R1 cos θ1 + R 9 cos θ9 − R 3 cos θ3 = 0 (4a)

and
R 2 sin θ2 − R1 sin θ1 + R 9 sin θ9 − R 3 sin θ3 = 0 (4b)

Differentiating Equations (4) with respect to the input position R 2 gives

+ 1cos θ2 − R 9 sin θ9 θ′9 + R 3 sin θ3 θ′3 = 0 (5a)

and
+ 1sin θ2 + R 9 cos θ9 θ′9 − R 3 cos θ3 θ′3 = 0 (5b)

Then writing Equations (5) in matrix form gives

⎡ − R 9 sin θ9 + R 3 sin θ3 ⎤ ⎡θ′9 ⎤ ⎡ − 1cos θ2 ⎤

⎢ + R cos θ =
− R 3 cos θ3 ⎥⎦ ⎢⎣ θ′3 ⎥⎦ ⎢⎣ − 1sin θ2 ⎥⎦
(6)
⎣ 9 9

Substituting the known data into Equation (6) gives

⎡ − 4.95 cm − 12.99 cm ⎤ ⎡θ′9 ⎤ ⎡ − 1 rad ⎤

⎢ + 4.95 cm − 7.5 cm ⎥ ⎢ θ′ ⎥ = ⎢ 0 ⎥ (7a)
⎣ ⎦ ⎣ 3⎦ ⎣ ⎦

The determinant of the coefficient matrix in Equation (7a) is

DET = ( − 4.95 cm)(− 7.5 cm) − (+ 4.95 cm)(− 12.99 cm) = + 101.43 cm 2 (7b)

Using Cramer’s rule, the first-order kinematic coefficient for link 9 is

+ 7.5 cm
θ′9 = = + 0.074 rad / cm (8)
+ 101.43 cm 2

The positive sign indicates that link 9 is rotating clockwise as the change in the input position R 2
decreases in length.
From Cramer’s rule, the first-order kinematic coefficient for link 3 is
+ 4.95 cm
θ′3 = = + 0.049 rad / cm (9)
+ 101.43 cm 2

The positive sign indicates that link 3 is rotating clockwise as the change in the input position R 2
decreases in length.

20
 The first-order kinematic coefficient of link 4 in the mechanism can be obtained from Equation (3).
The equation can be written as
ρ1 θ 4′ − θ9′
− = (10a)
ρ 4 0 − θ9′

Rearranging this equation, the first-order kinematic coefficient of link 4 can be written as

⎛ ρ1 ⎞
θ 4′ = θ9′ ⎜1 + ⎟ (10b)
⎝ ρ4 ⎠

Substituting known values into Equation (10b), the first-order kinematic coefficient for link 4 is

⎛ 5 cm ⎞
θ 4′ = + 0.074 rad/cm ⎜1 + ⎟ = + 0.259 rad/cm (11)
⎝ 2 cm ⎠

(iv) 5 Points. The angular velocity of link 3 can be written as

ω3 = θ′3 R 2 (12)

Note that the length of the vector R2 is decreasing as the input link 2 is moving to the right (the velocity
of link 2 is given to the right). Therefore, the time rate of change in the length of this vector is

R 2 = − V2 = − 2 cm/s (13)

Substituting Eq. (9) and Eq. (13) into Eq. (12), the angular velocity of link 3 is

ω3 = (+ 0.049 rad/cm)(− 2 cm/s) = − 0.098 rad / s (14)

The negative sign indicates that link 3 is indeed rotating clockwise, that is, the angular velocity of link 3
is clockwise.
The angular velocity of link 4 can be written as

ω4 = θ′4 R 2 (15)

Substituting Eq. (11) and Eq. (13) into Eq. (15), the angular velocity of link 4 is

ω4 = (+ 0.259 rad/cm)(− 2 cm/s) = − 0.518 rad / s (16)

The negative sign means that link 4 is rotating clockwise.

Aside. The angular velocity of link 9 can be written as

ω9 = θ′9 R 2 (17)

Substituting Eq. (8) and Eq. (13) into Eq. (17), the angular velocity of link 9 is

ω9 = (+ 0.074 rad/cm)(− 2 cm/s) = − 0.148 rad / s (18)

The negative sign means that link 9 (that is, the arm) is rotating clockwise, that is, the angular velocity
of link 9 is clockwise

21