ME 232: KDOM

Solution for Quiz 1

1. [10 points] Determine the mobility and the number of idle degrees of freedom of each
of the planar linkages shown below. Treat cam contact as rolling with slipping (j2 ) kind
of joint. Write down equations for each to calculate the mobility.

(a) (b) (c)

Figure 1: Determine the mobility and IDOF

Solution:

1. n = 5, j1 = 5, j2 = 1, therefore, from the Kutzbach criterion, mobility m =

3(n − 1) − 2j1 − j2 = 1 and IDOF = 0.
+3 points

2. n = 12, j1 = 15, j2 = 0, therefore, mobility m = 3 and IDOF = 0.

+3 points

3. n = 11, j1 = 13, j2 = 2, therefore, mobility m = 2 and IDOF = 1, one DOF at

cam contact is idle.
+4 points
If IDOFs are not calculated properly, 0.5 points should be deducted for each
sub-problem..

2. [5 points] If position information is available for all points in the planar linkage below
in Fig. 2, can all of the velocities be determined uniquely if value of ω is given? Explain
your answer.

1
ME 232 Solution 1, Page 2 of 4 Jan 23, 2024

Figure 2: Only ω is given

Solution: n = 7, j1 = 8, j2 = 0, therefore, mobility m = 3(n − 1) − 2j1 − j2 = 2,

however only one input variable is given whereas it has two DOF and requires two
independent variables. Hence, all of the velocities CANNOT be determined uniquely.

3. [5 points] A wheel with center at O rolls without slipping on the ground at point P.
If point O is displaced 10 in to the right, determine the displacement vector of point P
during this interval.

P1
O O1

P Q

(a) Wheel (b) Vectors

Figure 3: (a) Wheel (b) Vectors

Solution: From Fig. 3(b), the vector triangles OP P1 and OO1 P1 give rise to two
vector equations:

OP + P P1 = OP1 , OO1 + O1 P1 = OP1 .

Therefore, we have
P P1 = OO1 + O1 P1 − OP .
And, we have OP = −6ĵ, OO1 = 10î. Also, if ∠P1 O1 Q = ∆θ, and φ = 3π/2 − ∆θ,
then, O1 P1 = 6(cos φî + sin φĵ). Moreover, we know that rolling without slipping is
ME 232 Solution 1, Page 3 of 4 Jan 23, 2024

happening, hence, v O = ω × OP , or in magnitude terms vO = 6ω, or, ∆RO = 6∆θ,

or 10 = 6∆θ, so, ∆θ = 10/6 rad. This means, we have

P P1 = 10 + 6 cos φî + 6(1 + sin φĵ) = 4.0276î + 6.5743ĵ.

Here, magnitudes are in inches.

4. [5 points] A straight tube is attached to a vertical shaft at a fixed angle α as shown

in Fig. 4(a) below. The shaft rotates with a constant angular velocity ω. A particle
moves along the tube with a velocity v relative to the tube and acceleration a relative
to the tube along the tube. Find the magnitude of the acceleration of the particle when
it is at a distance l along the tube from the center in terms of l, α, v, a, ω. In Fig. 4(b),
xyz coordinate system is moving with respect to XY Z coordinate system with angular
velocity ω, such that absolute velocity Ṙ and acceleration R̈ of point P are given by

Ṙ = Ṙo + ṙ r + ω × r,
R̈ = R̈o + ω̇ × r + ω × (ω × r) + r̈ r + 2ω × ṙ r

(a) Straight tube (b) Coordinate axes

Figure 4: Straight tube problem

Solution: Assuming y-axis as the horizontal and z-axis for the vertical axis, for the
particle, we have Ṙo = R̈o = 0, r = l(sin αĵ + cos αk̂), ṙ r = v(sin αĵ + cos αk̂), r̈ r =
a(sin αĵ + cos αk̂).
ME 232 Solution 1, Page 4 of 4 Jan 23, 2024

+2 points
Also, ω = ω k̂, ω̇ = 0, therefore, ω × r = −ωl sin αî, ω × (ω × r) = −ω 2 l sin αĵ, and
ω × ṙ r = −ωv sin αî,
+2 points

R̈ = ω × (ω × r) + r̈ r + 2ω × ṙ r ,
= −ω 2 l sin αĵ + a(sin αĵ + cos αk̂) − 2ωv sin αî,
= −2ωv sin αî + (a − ω 2 l) sin αĵ + a cos αk̂.

This means, the magnitude of acceleration is

q
kR̈k = 4ω 2 v 2 sin2 α + (a − ω 2 l)2 sin2 α + a2 cos2 α.

+1 point
Even if we assume, x-axis as the horizontal and y-axis as vertical, only the unit
vectors will change, the final answer will be the same.