BITS Pilani

Pilani Campus

Analytical method
Lecture – 15 19 Feb, 24
Dr J S Rathore
Analytical method
Displacement, velocity and acceleration B
– Gives more accurate results l3
 Vector approach A l4
 Complex number approach
l2

1. 4-link mechanism with 4R l1 O4

2. 4-link mechanism with 3R1P O2

3. Shaper mechanism

l3

l2 lp

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 Analysis of Kinematic quantities
Displacement, velocity and acceleration

Analytical method Y
– Gives more accurate results
 Vector approach
 Complex number approach
lsinθ
l

l  l cos iˆ  l sin ˆj θ
X

l  lei lcosθ

 ω3 
Primary variables    aG 2 (t , n) 
 3      
(l1, l2, l3, l4)
(θ2,ω2, α2) 3 , 4  ω   aG 3 (t , n)  aG 2 , aG3 , aG 4
Known parameters  4  a (t , n) 
   G4 
 4
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Position analysis :
4- bar mechanism
Loop-closure equation
B

l3    
l2  l3  l1  l4
A l4

l2
O4
l1
O2

 l1  l4  l3  l2  0
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Position analysis
Analytical closure equation for four-bar linkage    
l2  l3  l1  l4
B

l3 l  l cos iˆ  l sin ˆj
A l4
l2 (cos 2i  sin  2 j )  l3 (cos 3i  sin  3 j )  
 
l2 1
l (cos 1i  sin 1 j )  l 4 (cos 4 i  sin  4 j ) 

O4
l1
O2 Component equations
l2 cos 2  l3 cos3  l1 cos1  l4 cos 4
θ3, θ4 = f (θ2)
l2 sin 2  l3 sin3  l1 sin1  l4 sin 4
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Position analysis

l2 cos 2  l3 cos3  l1 cos1  l4 cos 4 l3 cos3  l1 cos1  l4 cos 4  l2 cos 2

l2 sin 2  l3 sin3  l1 sin1  l4 sin 4 l3 sin3  l1 sin1  l4 sin 4  l2 sin 2

 l12  l22  l42  2l1l2 (cos1 cos 2  sin1 sin 2 ) 

 
l3    2l1l4 (cos1 cos 4  sin1 sin 4 )
2 
 
  2l2l4 (cos 2 cos 4  sin 2 sin 4 ) 
 
A  2l1l4 cos1  2l2l4 cos 2 

B  2l1l4 sin1  2l2l4 sin 2 

C  l12  l22  l42  l32  2l1l2 (cos1 cos 2  sin1 sin 2 )

A cos 4  B sin 4  C  0
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Position analysis
 
2 tan  4 
sin 4   2 
 
1  tan 2  4 
A cos 4  B sin 4  C  0  2 

 
1  tan 2  4 
cos 4   2 
 
1  tan 2  4 
 2 
 
(C  A)t  2Bt  ( A  C )  0
2 where t  tan  4 
 2 

 2 B  4 B 2  4(C  A)(C  A)  B  B 2  C 2  A2
t  
2(C  A) CA
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Position analysis
 4 
(C  A)t  2Bt  ( A  C )  0
2 where t  tan  
 2 

 2 B  4 B 2  4(C  A)(C  A)  B  B 2  C 2  A2
t  
2(C  A) CA

 4  2 tan 1 t Two circuits are possible.

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Position analysis

OQPR

OQṔ R

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Position analysis
 B  B 2  C 2  A2
t 
CA

 if B 2  C 2  A2  ve

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Position analysis

l3 cos3  l1 cos1  l4 cos 4  l2 cos 2   B  B 2  C 2  A2 

  4  2 tan 1 
l3 sin3  l1 sin1  l4 sin 4  l2 sin 2  CA 
 

 l sin 1  l4 sin  4  l2 sin  2 

  3  tan 1  1 
 l1 cos1  l4 cos 4  l2 cos 2 

Sign of numerator and denominator is to

be maintained to determine the quadrant
in which the angle θ3 lies.
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Position analysis
Complex number approach
Refer Ghosh and Malik Page 53  l1  l4ei4  l3ei3  l2ei2  0

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Velocity analysis
Known parameters (l1, θ1), l2, l3, l4, θ2, θ3, θ4 and 1 ,2

B    
l2  l3  l1  l4
l3
A l4 l2 cos 2  l3 cos3  l1 cos1  l4 cos 4

l2 2 l2 sin 2  l3 sin3  l1 sin1  l4 sin 4

O4    
l1  l2  l3  l1  l4
O2

l22 sin 2  l33 sin3  l44 sin 4   l3 sin 3 l4 sin 4 3   l22 sin 2 
     
l22 cos 2  l33 cos3  l44 cos 4   l3 cos 3 l4 cos 4 4  l22 cos 2 
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Accln analysis
B
      
l3  l2  l3  l1  l4  l2  l3  l4
A l4
2
l2
  l3 sin 3 l4 sin 4 3   l22 sin 2 
O4      
l1   l3 cos 3 l4 cos 4 4  l22 cos 2 

O2
  l sin 3 l4 sin 4 3    l33 cos 3 l44 cos 4 3 
LHS   3      
  l3 cos 3 l4 cos 4 4   l33 sin 3  l4 4 sin 4 4 



l22 sin 2  l222 cos 2 

RHS  
  cos  l  2 sin 
2 2
l 2 2 2 2
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Accln analysis
  l3 sin 3 l4 sin 4 3   l22 sin 2 
     
  l3 cos 3 l4 cos 4 4  l22 cos 2 
 l2  l3  l4
  l3 sin3 l4 sin 4 3    l33 cos3 l44 cos 4 3   l22 sin 2  l222 cos 2 

         
  l3 cos3 l4 cos 4 4   l33 sin3  l44 sin 4 4    
l2 2 cos 2  l2 2 sin 2 
2


  l3 sin3 l4 sin 4 3  

l22 sin 2  l22 cos 2  l33 cos3  l44 cos 4 
2 2 2

    
  l3 cos3 l4 cos 4 4    cos  l  2 sin  l  2 sin  l  2 sin 
 2 2
l 2 2 2 2 3 3 3 4 4 4 

ω3 ω4  3  4 

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Ex 1:
Four bar mechanism used in coupled wheel locomotion is shown in Fig. The crank and
follower, O2A and O4B, are of equal length of 600 mm and the coupler AB is a rigid uniform
circular rod of length 1000 mm. If the crank O2A is running at constant speed of 55 rad/s,
find the angular acceleration (αAB) of coupler AB and the linear acceleration of CG of link 3
(i.e. aG3).
l2  l3  l1  l4 ----- (1)
3
2 G3
4   l3 sin 3 l4 sin 4 3   l22 sin 2 
     
  l3 cos 3 l 4 cos 4 
 4   2 2 l  cos 2

----- (2)
 0 0.6 sin 45 ω3   0.6 sin 45(ω2 ) 
       ω3  0 and ω4  ω2  55 rad/s
  1 0.6 cos 45 ω 4  0.6 cos 45(ω 2 )
  l3 sin3 l4 sin 4 3   l22 sin 2  l22 cos 2  l33 cos3  l44 cos 4 
2 2 2

     

 3 l cos 3 l 4 cos  
4  4  
   
 l2 2 cos 2  l2 2 sin 2  l33 sin3  l4 4 sin 4 
2 2 2

BITS Pilani, Pilani Campus
Ex 1: ag3
G3
ag3 = aA + ag3/A

a g 3x  0.6ω22 cos 45  0
a g 3  1815 m/s 2
a g 3 y  0.6ω22 sin 45  0
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 BITS Pilani
Pilani Campus

Analytical method
Lecture – 16 21 Feb, 24
Analytical method
Displacement, velocity and acceleration

B
 4-link mechanism with 4R
l3
 4-link mechanism with 3R1P
A l4
 Shaper mechanism
l2

l1 O4

O2
l3

l2 lp

Slider-crank mechanism
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Accln analysis

a g 2 n  d 22 2
a g 2t  d 22

ag 2 x  ag 2 n cos 2  ag 2t sin  2
ag 2 y  ag 2 n sin  2  ag 2t cos 2

ag 2 x  d 2 cos 2 .2  d 2 sin  2 .2

2

ag 2 y  d 2 sin  2 .2  d 2 cos 2 .2

2

a Ax  l2 cos 2 .2 2  l2 sin  2 .2

a  l sin  . 2  l cos .
Ay 2 2 2 2 2 2
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Accln analysis

ag3 = aA + ag3/A

ag3x = aAx + ag3/Ax

ag3y = aAy + ag3/Ay

a Ax  l2 cos 2 .2 2  l2 sin  2 .2 a g 3 / A n   d 33 2

a Ay  l2 sin  2 .2 2  l2 cos 2 .2 a g 3 / A t  d 33
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Accln analysis
ag3 = aA + ag3/A ag3x = aAx + ag3/Ax
ag3y = aAy + ag3/Ay

a Ax  l2 cos 2 .2 2  l2 sin  2 .2

a  l sin  . 2  l cos . a g 3 / A n   d 33 2
Ay 2 2 2 2 2 2
a g 3 / A t  d 33

ag 3 x  (l2 cos 2 .2 2  l2 sin  2 .2 )  (d3 cos3.32  d3 sin 3.3 )

ag 3 y  (l2 sin  2 .2 2  l2 cos 2 .2 )  (d3 sin 3.32  d3 cos3.3 ) 22
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Offset Slider-crank mechanism

l3 A'
  l3
A a piston ,  3
 l4
l 2
2 lp lp
l2 l1

    
 l2  l3  l p  l1  l4  4  1   / 2

 Base vector l1 vary in magnitude

but constant in direction
 l2, l3, l4, θ1 and θ4 are constants
 θ3 and l1 = f (θ2) = ?
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Slider-crank mechanism
 Base vector l1 vary in magnitude
but constant in direction
l3
 l2, l3, l4, θ1 and θ4 are constants

2 l4  θ3 and l1 = f (θ2) = ?

l2 lp l     
1
 l p  l2  l3  l1  l4

l2 (cos 2i  sin  2 j )  l3 (cos 3i  sin  3 j )  

 
1
l (cos 1i  sin 1 j )  l 4 (cos 4 i  sin  4 j ) 

l2 cos 2  l3 cos3  l1 cos1  l4 cos 4 l3 cos3  l1 cos1  l4 cos 4  l2 cos 2

l2 sin 2  l3 sin3  l1 sin1  l4 sin 4 l3 sin3  l1 sin1  l4 sin 4  l2 sin 2

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Offset Slider-crank mechanism

l3 l3 cos3  l1 cos1  l4 cos 4  l2 cos 2

l4 l3 sin3  l1 sin1  l4 sin 4  l2 sin 2

l2 lp l
1

 l12  l22  l42  2l1l2 (cos1 cos 2  sin1 sin 2 ) 

 
l3    2l1l4 (cos1 cos 4  sin1 sin 4 )
2  l12  Al1  B  0
 
  2l2l4 (cos 2 cos 4  sin 2 sin 4 ) 
 

A  2l4 (cos1 cos 4  sin1 sin 4 )  2l2 (cos1 cos 2  sin1 sin 2 )

B  l22  l42  l32  2l2l4 (cos 2 cos 4  sin 2 sin 4 )

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Offset Slider-crank mechanism

l3 l12  Al1  B  0
l4  A A2  4 B
l2 lp l  l1 
1
2

1  l1 sin 1
 l4 sin  4  l2 sin  2 
  3  tan   
 l1 cos1  l4 cos 4  l2 cos 2 

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Slider-crank mechanism
1  l1 sin 1
 l4 sin  4  l2 sin  2
  3  tan  
 l1 cos1  l4 cos 4  l2 cos 2
 Sign of numerator and denominator
 is to be maintained to determine
 the quadrant in which the angle θ3
lies.
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BITS Pilani, Pilani Campus
Offset Slider-crank mechanism

l3    
 l2  l3  l1  l4 - - - (1)
l4
l2 lp l
1  l2  l3  l1  l4

l2 cos 2  l3 cos3  l1 cos1  l4 cos 4  l1 

 [ A]   [ B ] - - - (2)

l2 sin 2  l3 sin3  l1 sin1  l4 sin 4  3 

 l22 sin  2  l33 sin  3  l1 cos1  cos1 l3 sin3  l1   l22 sin 2 
     
l22 cos 2  l33 cos 3  l1 sin 1  sin1  l3 cos3 3   l22 cos 2 
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Offset Slider-crank mechanism

l3    
 l2  l3  l1  l4 - - - (1)
l4
l2 lp l
1

 cos1 l3 sin3  l1   l22 sin 2 

      - - - (2)
 sin1  l3 cos3 3   l22 cos 2 

 cos1 l3 sin3  l1  

 l22 sin 2  l22 cos 2  l33 cos3 
2 2

    
 sin1  l3 cos3 3    cos  l  2 sin  l  2 sin 
 2 2
l 2 2 2 2 3 3 3 

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 BITS Pilani
Pilani Campus

Analytical methods
Lecture – 17 23 Feb, 24
Ex 1 l2  l3  l1  l4 - - - (1)

l2 cos  2  l3 cos  3  l1  l4 cos  4

- - (2)
l2 sin  2  l3 sin  3  l4 sin  4

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Ex 2: Shaper mechanism

4 S4 5 S6

Refer Fig 2.9, page 61 (Ghosh - Malik)

Problem 2.19, page 107
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Shaper mechanism

4 S4 5 S6

l 1 + s4 = l 2 - - - (1)

l2 + (l4 - s4) + l5 = l6 + s6 - - (2)

s4 cos 4  l2 cos 2
- - (3)
S 4  (l  l  2l1l2 sin  2 )
1
2 2
2
1/ 2
 l1  s4 sin  4  l2 sin  2
 (l1  l2 sin  2 ) 
 4  tan  1
 Refer Fig 2.9, page 61 (Ghosh - Malik)
 l2 cos 2  Problem 2.19, page 107
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Shaper mechanism

l 1 + s4 = l 2 - - - (1)

s4 cos 4  l2 cos 2
- - (3)
 l1  s4 sin  4  l2 sin  2

S 4  (l12  l22  2l1l2 sin  2 )1/ 2

 (l1  l2 sin  2 ) 
 4  tan 1   4 S4 5 S6
 l2 cos 2 

s4 cos 4  s44 sin  4  l22 sin  2

- - (4)
 
s4 sin  4  s4 4 cos 4  l2 2 cos 2
l2 + (l4 - s4) + l5 = l6 + s6 - - (2)
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Home assignment

Acceleration analysis

4 S4 5 S6

s4 cos 4  s44 sin  4  l22 sin  2

- - (4)
 
s4 sin  4  s4 4 cos 4  l2 2 cos 2
l2 + (l4 - s4) + l5 = l6 + s6 - - (2)
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 Home assignment
For the linkage with l1 = 1, l2 = 2, l3 = 3.5, l4 = 4 and θ1 = 0 shown in Fig, compute (i) the
corresponding values of θ3 and θ4 for each of the solution branches when the driving crank
is in the positions θ2 = 0, π/2, π, and - π/2.
(ii) If, 2  10 rad/s and 2  0 compute, B

3 ,4 ,3 ,4 for the first position i.e. 2  0

3.5
  B  B 2  C 2  A2 
1 1      53.58
  4  2 tan t  2 tan
 CA  4
  4
A θ3

 l sin 1  l4 sin  4  l2 sin  2 

  3  tan 1  1 
 l1 cos1  l4 cos 4  l2 cos 2
2

θ2
 3  66.87 θ4
A  2l1l4 cos1  2l2l4 cos 2  1

B  2l1l4 sin1  2l2l4 sin 2  O2 O4

C  l12  l22  l42  l32  2l1l2 (cos1 cos 2  sin1 sin 2 )

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 B

If, 2  10 rad/s and 2  0 3.5

compute, 3 , 4 , 3 , 4 for
the first position i.e.  2  0 4
A θ3

  l3 sin 3 l4 sin 4 3   l22 sin 2 

     
  l3 cos 3 l4 cos 4 4  l22 cos 2  2
θ2 θ4
 3  4  20 rad/s 1

O2 O4

  l3 sin3 l4 sin 4 3  

l22 sin 2  l22 cos 2  l33 cos3  l44 cos 4 
2 2 2

    
  l3 cos3 l4 cos 4 4    cos  l  2 sin  l  2 sin  l  2 sin 
 2 2
l 2 2 2 2 3 3 3 4 4 4 

 3  147.56 rad/s 2 ,4  85.42 rad/s 2

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Ex 3:
In the slider-crank mechanism shown in Fig, θ2 = 45°, ω2 = 10 rad/s (CCW), and α2 = 0. The
link lengths l2 and l3 are as shown, and the line of motion of point C is along the line AC.
Find (i) the velocity of C and the angular velocity of link BC (ii) acceleration of C and
angular acceleration of link BC.

26.23° 8
5
θ2 = 45˚
A C

ω3 = 4.93 rad/s (CW)

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