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Chapter 6
6.1 Exercises
Problem 6.1
If in equation (1.4), the input variable Si had been θy what would the expression for Dyx simplify to.
Solution:
dθy dθy
If the input is θy , then Si = θy , and hy = dSi = dθy = 1. Then, from (1.4),
1 − hx θ̇y
Dyx = Di where Di =
|1 − hx | |θ̇y |
Problem 6.2
Repeat problem 1.1 except now Si is θx .
Solution:
dθx
Like the previous problem, if Si = θx , then hx = dθx = 1 and from (1.4),
hy − 1 θ̇x
Dyx = Di where Di =
|hy − 1| |θ̇x |
Problem 6.3
If in equations (1.11) and (1.13), the input variable Si had been θy , what would the expressions for Dyx simplify
to.
Solution:
In this case hy = 1 and (1.11) reduces to,
Problem 6.4
147
Repeat problem 1.3 except now Si is θx .
Solution:
In this case hx = 1 and (1.11) reduces to,
Problem 6.5
Repeat problem 1.7 and include friction in all the joints. The angular position, velocity and acceleration of link
2 are known. ω2 is counterclockwise. The position problem has been solved (using the shown vector loop), basic
first- and second-order kinematic coefficients, first- and second-order kinematic coefficients of the mass centers,
angular accelerations of all the links and linear acccelerations of the mass centers have all been computed.
So Step 1:) in Example 1.1 has been completed. Complete the remaining steps in Example 1.1, outline all
necessary equations, and show a flowchart for a computer program which calculates the bearing forces (joint
forces) and the driving torque Q.
Step 2:)
Both pin in a slot joints will use the same ût1 − ûn1 coordinate system shown in the FBD, with ût1 in the
direction of r̄3 and r̄5 , consistent with Figure 1.6, so that the equations for the direction indicator for friction
in a pin in a slot joint, Equations (1.11) and (1.13), may be applied directly.
The slider joint uses the ût2 − ûn2 coordinate system shown in the FBD, with ût2 in the direction of r̄4 ,
consistent with Figure 1.9, so that the equations for the direction indicator for friction in a sliding joint, Equation
(1.24), may be applied directly. With the path dependent coordinate systems defined this way,
cosθ3 −sinθ3 1 0
ût1 = sinθ3 , ûn1 = cosθ3 , ût2 = 0 , ûn2 = 1 .
0 0 0 0
In terms of ût1 and ûn1 the forces acting on the pin on link 1 are,
−sinθ3 cosθ3
n
F̄31 n
= F31 n
ûn1 = F31 cosθ3 , f¯31 = f31 ût1 = f31 sinθ3 . (1)
0 0
In terms of ût1 and ûn1 the forces acting on the pin on link 2 are,
−sinθ3 cosθ3
n
F̄32 n
= F32 n
ûn1 = F32 cosθ3 , f¯32 = f32 ût1 = f32
n
sinθ3 . (2)
0 0
In terms of ût2 and ûn2 the slider block’s dimensions and their signs are indicated next to the free body diagram
of the slider. The forces acting on the slider are
0 0 1
N̄14 = N14 ûn2 = N14 1 , N̄14 ′ ′
= N14 ′
ûn2 = N14 1 and f¯14 = f14 ût2 = f14 0 . (3)
0 0 0
Step 3:)
The free body diagrams are shown below
148
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G4
4
P̄
r̄7
3
G3
4
r̄4 C
111
000
000
111
000
111
1
000
111
000
111
000
111 3
r̄5
r̄1
G2 111
000
000
111
2 000
111
000
111
000
111
111
000 000
111
000
111
000
111 r̄6 000
111
000
111
000
111 Y
Q̄
r̄3
2
A1111
0000
0000
1111
0000
1111
0000
1111 X
0000
1111
0000
1111
r̄2
fig505
149
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
r̄′ r̄
slider dimensions: ûn2
r̄ > 0 4 G4 −F̄34
r̄t
′ P̄
r̄ < 0 ût2
r̄t > 0 r̄b f¯14 −t̄34
F̄34 t̄14
r̄b < 0
t̄′14
C
r̄7
′
N̄14 N̄14 t̄34
3
G3
Y
n
−F̄31
X
vector loop frame −t̄31
−f¯31
2 ûn1
G2
ût1
111
000
000
111
000
111
Q̄
t̄12 000
111
000
111 ûn1
−F̄32n
t̄32
ût1
−t̄32
F̄12
F̄32n
f¯32 −f¯32
fig505a.fric.soltn
Step 4:)
Compute the friction terms. The problem gives ω2 as counterclockwise so θ̇2 > 0 and
θ̇2
Di = = 1. (4)
|θ̇2 |
′
f14 = µ14 (|N14 | + |N14 |)D14 (5)
From (1.22),
150
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and from (1.23),
′
if N14 > 0, then t′14 = −µ14 rb N14
′
D14
else (7)
′
if N14 < 0, then t′14 = ′
µ14 rt N14 D14 .
From (1.14),
From (1.14),
n −f3 + R(h3 − h2 )
if F32 > 0, then D32 = Di
|−f3 + R(h3 − h2 )|
else (14)
n −f3 − R(h3 − h2 )
if F32 < 0, then D32 = Di
|−f3 − R(h3 − h2 )|
Pin joint friction terms from 3 to 4:
q
t34 = (µR)34 |F34 |D34 = (µR)34 2 + F2 D
F34 (15)
x 34y 34
where,
h3 − h4 h3
D34 = Di = Di (h4 = 0), (16)
|h3 − h4 | |h3 |
Pin joint friction terms from 1 to 2:
q
t12 = (µR)12 |F12 |D12 = (µR)12 2 + F2 D
F12 (17)
x 12y 12
where,
h1 − h2 −h2
D12 = Di = Di (h1 = 0), (18)
|h1 − h2 | |h2 |
151
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
Step 5:)
Enumeration of forces/torques:
The joint forces are enumerated in Equations (1)-(3). The friction torques are given by,
0 0 0 0 0 0
t̄12 = 0 , t̄31 = 0 , t̄32 = 0 , t̄34 = 0 , t̄14 = 0 , t̄′14 = 0 ,
t12 t31 t32 t34 t14 t′14
Link 3:
n
ΣF̄ = −F̄32 − f¯32 − F̄31
n
− f¯31 − F̄34 = m3 āg3 ,
Link 4:
′
ΣF̄ = N̄14 + N̄14 + f¯14 + F̄34 + P̄ = m4 āg4 ,
Moment Equilibrium:
Link 2:
0 0 0 0
ΣM̄g2 n
= r̄2 × F̄32 + r̄2 × f¯32 + 0 + 0 + 0 = 0 α2
t12 t32 Q Ig2
152
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
which has only the Z component,
n n
r2 cosθ2 F32 cosθ3 + r2 sinθ2 F32 sinθ3 + r2 cosθ2 f32 sinθ3 − r2 sinθ2 cosθ3 + t12 + t32 + Q = Ig2 α2 ,
Link 3:
n n
has only Z comp. (−r5 F31 ) has only Z comp. (−r3 F32 )
z }| { z }| { 0 0 0
n n
ΣM̄c = r̄5 × (−F̄31 ) + r̄3 × (−F̄32 ) − 0 − 0 − 0 =
t31 t32 t34
0
0 α3 + r̄7 × m3 āg3
Ig3
Link 4:
0 0 0
ΣM̄g4 = r̄ × N̄14 + r̄′ × N14
′
+ 0 + 0 + 0 = 0 (α3 = 0)
t34 t14 t′14
rN14 + r′ N14
′
+ t34 + t14 + t′14 = 0. (note that : r′ < 0) (27)
153
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
1 0 0 0 0 −sinθ3 0 0 0 F12x m2 ag2 x − f32 cosθ3
c
2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
0 1 0 0 0 cosθ3 0 0 0
F12y
m2 ag2 y − f32 sinθ3
0 0 −1 0 sinθ3 sinθ3 0 0 0
F34x
m3 ag3 x + f32 cosθ3 + f31 cosθ3
0 0 0 −1 −cosθ3 −cosθ3 0 0 0
F34y
m3 ag3 y + f32 sinθ3 + f31 sinθ3
n
0 0 1 0 0 0 0 0 0
F31
m4 ag4 x − P − f14
= (28)
n
0 0 0 1 0 0 1 1 0
F32
0
0 0 0 0 0 r2 cos(θ3 − θ2 ) 0 0 1
N14 Ig2 α2 − r2 f32 sin(θ3 − θ2 ) − t12 − t32
154
Ig3 α3 + t31 + t32 + t34 +
′
0 0 0 0 −r5 −r3 0 0 0
N14
m3 r7 (cosθ3 ag3y − sinθ3 ag3x )
0 0 0 0 0 0 r r′ 0 Q −t34 − t14 − t′14
Input
θ2 , θ̇2 , θ̈2 , m2 , m3 , m4
P , Ig2 , Ig3
µ14 , µ32 , µ31
(µR)31 , (µR)32 , (µR)34 , (µR)12
r, r′ , rt , rb
Set the friction terms
f14 , f31 , f32 ,
and t14 , t′14 , t31 , t32 , t34 , t12 , to zero
Solve the
position problem
′
Solve (28) for N14 , N14 , F12x ,
st n n
Compute the basic 1 - & F12y , F32 , F31 , F34x , F34y , Q
2nd -order kin. coeff.
Compute the 1st - & 2nd -order Update the friction terms
kin. coeff. of mass centers using (5), (6),
(7), (9), (10), (12),
(13), (15) and (17)
Set Di = 1
yes
print Q
fig523a
Figure 6.3: Flowchart for computing joint forces and driving torque Q
155
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Problem 6.6
Repeat problem 1.10 and include friction in all the joints. According to problem 1.10. The angular position,
velocity and acceleration of link 2 are known. The position problem has been solved using the shown vector
loop shown in Figure 6.5. The basic first- and second-order kinematic coefficients have been computed using
θ2 as Si . The first- and second-order kinematic coefficients of the mass centers, angular accelerations of all the
links and linear acccelerations of the mass centers are not needed because inertia effects are being neglected in
this slow moving machine. So Step 1:) in Example 1.1 has been completed.
Complete the remaining steps outlined in Example 1.1 and derive all the necessary equations to be used in
a computer program which calculates the driving torque T2 . Show a flowchart of the program which refers to
your equation numbers for calculations. Link 2 is rotating counterclockwise, in other words ω2 > 0
11111111111111111111111111
00000000000000000000000000
1
00000000000000000000000000
11111111111111111111111111
00000000000000000000000000
11111111111111111111111111
00000000000000000000000000
11111111111111111111111111
F̄3
+
r̄5
r̄4
2
1111111111111111111111111
0000000000000000000000000
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000 r̄6
1111111111111111111111111
1 00000
11111
00000
11111
fig524c
00000
11111
00000
11111
00000
11111
+
00000
11111
00000
11111
00000
11111
1
00000T2
11111
Step 2:)
The path dependent coordinate system ût1 − ûn1 is assigned in Figure 6.6 for the sliding joint,
−1 0
ūt1 = 0 , ūn1 = −1 .
0 0
In terms of this system the forces acting on the slider are,
0 0 −f13
N̄13 = N13 ûn1 = −N13 , N̄13 ′ ′
= N13 ûn1 = −N13 , f¯13
′
= f13 ût1 = 0 . (1)
0 0 0
The path dependent coordinate system ût2 − ûn2 is assigned in Figure 6.6 for the pin in a slot joint.
0 −1
ūt2 = 1 , ūn2 = 0 .
0 0
156
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3 11111111111111111111111111
00000000000000000000000000
00000000000000000000000000
11111111111111111111111111
1
00000000000000000000000000
11111111111111111111111111
00000000000000000000000000
11111111111111111111111111
r̄2
+
r̄3
r̄1
1111111111111111111111111
0000000000000000000000000
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
0000000000000000000000000
1111111111111111111111111
Y
00000
11111
00000
11111
fig524a
00000
11111
00000
11111
00000
11111
+
00000
11111
00000
11111
00000
11111
X
00000
11111
Step 3:)
The free body diagrams are shown in the following figure.
157
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N̄13
′
t̄13 t̄′13 N̄13
ût1
r̄ r̄′
r̄5 3
ûn1
F̄3
r̄b
r̄4 Y
−f¯32
B
+
n
−F̄32 f¯13
X
r̄t
−t̄32
r̄1 r̄6
+A
+B
n
F̄32
f¯32
ût2
2
t̄32
r̄2
ûn2 t̄12
fig524b.soltn.a
+A
T2
F̄12
Figure 6.6: Free Body Diagrams
158
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Step 4:)
Compute the friction terms. The problem gives ω2 > 0 so
θ̇2
Di = = 1. (3)
|θ̇2 |
Sliding joint friction terms from 1 to 3:
From (1.21),
′
f13 = µ13 (|N13 | + |N13 |)D13 (4)
From (1.22),
In this problem,
and their values are constant. However the values of rt and rb depend on the position solution and they are not
fixed, namely, we see in the free body diagram that
where r1 comes from the position solution and r5 and r6 are known dimensions. From (1.24) direction indicator
D13 is given by
−f2
D13 = Di , (9)
|f2 |
Pin in a slot joint friction terms from 3 to 2:
From (1.8) and (1.9),
n
f32 = µ32 |F32 |D32 (10)
n
and t32 = (µR)32 F32 D32 (11)
From (1.14),
159
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where,
h1 − h2 −h2
D12 = Di = Di (h1 = 0), (14)
|h1 − h2 | |h2 |
Step 5:)
Enumeration of forces and torques:
Joint forces are given in Equations (1) and (2). Additionally,
F12x 0 F3
F̄12 = F12y , T̄2 = 0 , F̄3 = 0 (known load),
0 T2 0
0 0 0 0
t̄13 = 0 , t̄′13 = 0 , t̄32 = 0 , t̄12 = 0 .
t13 t′13 t32 t12
n ′
for a total of 12 unknowns, F12x , F12y , T2 , F32 , f32 , N13 , N13 , f13 , t12 , t32 , t13 , t′13 .
There are 6 equilibrium conditions and an additional 6 equations for computing magnitudes of the friction
terms, Equations (4), (5), (6), (8), (9) and (11). The direction indicators are known from the basic first-order
kinematic coefficients.
Force Equilibrium:
Link 2 :
n
ΣF̄ = F̄32 + f¯32 + F̄12 = 0̄
scalar components,
n
ΣFx = −F32 + F12x = 0 (15)
ΣFy = f32 + F12y = 0 (16)
Link 3:
n
ΣF̄ = −F̄32 − f¯32 + F̄3 + N̄13 + N̄13
′
+ f¯13 = 0̄
scalar components,
n
ΣFx = F32 + F3 − f13 = 0 (17)
′
ΣFy = −f32 − N13 − N13 =0 (18)
Moment Equilibrium:
Link 2:
n
ΣM̄a = r̄2 × F̄32 + r̄2 × f¯32 + t̄32 + t̄12 + T̄2 = 0̄
160
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system
In matrix form,
n
−1 1 0 0 0 0 F32 0
0 0 1 0 0 0
F12x
−f32
1 0 0 0 0 0
F12y
−F3 + f13
= (21)
0 0 0 −1 −1 0
N13
f32
′
r2 sinθ2 0 0 0 0 1 N13 −r2 cosθ2 f32 − t32 − t12
0 0 0 r r′ 0 T2 −t13 − t′13 + t32
′
Solve (21) for N13 , N13 , F12x ,
Input n
F12y , F32 and T2
θ2 , θ̇2 , F3 ,
µ13 , µ32
(µR)32 , (µR)12
r, r′
fig523aa
Figure 6.7: Flowchart for computing joint forces and driving torque T2
161
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Problem 6.7
Repeat problem 1.11 and include friction in all the joints. The machine is slow moving so inertia effects can be
neglected. The magnitude of the load torque T3 induces link forces that are an order of magnitude greater than
any of the links’ weights. Therefore, gravitational (weight) effects can be neglected.
Using Si = r1 , the basic kinematic coefficients were found in problem 1.11, so Step 1:) in the procedure
outlined in Example 1.1 is complete. The driving force F̄2 is pushing the point A up and to the right, thus
ṙ1 > 0.
Complete the remaining steps outlined in Example 1.1 and derive all the equations needed in a computer
program that calculates the driving force F̄2 which overcomes a known load torque T̄3 . Show a flowchart of the
program and refer to your equation numbers for computations.
Step 2:)
The path dependent coordinate system ût1 − ûn1 is assigned in Figure 6.8 for the sliding joint with ût1 in the
direction of r2 ,
cosθ2 −sinθ2
ūt1 = sinθ2 , ūn1 = cosθ2 .
0 0
The path dependent coordinate system ût2 − ûn2 is assigned in Figure 6.8 for the pin in a slot joint, with ût2 in
the direction of r̄1 , (r̄1 can be seen in problem 1.11)
1 0
ūt2 = 0 , ūn2 = 1 .
0 0
Step 3:)
The free body diagrams are shown in the following figure along with the slider block’s dimensions and the signs
of those dimensions.
162
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r̄b
r̄ > 0 r̄t 3
r̄′ < 0
r̄′
r̄t > 0
r̄
r̄b < 0
2 Y
r̄3
r̄2 t̄12
′
N̄23 ût1 ûn1
f¯12
−t̄23 A
t̄13
N̄23
−t̄′23 ′
C
−N̄23 F̄2 n
F̄12
−f¯23 T̄3
ût2 3 ¯
f23
−N̄23 ûn2
F̄13
Step 4:)
Compute the friction terms. The problem gives the input ṙ1 > 0 so
ṙ1
Di = = 1. (3)
|ṙ1 |
Sliding joint friction terms from 2 to 3:
From (1.21),
′
f23 = µ23 (|N23 | + |N23 |)D23 (4)
From (1.22),
The direction indicator for the sliding joint is given in terms of the computed kinematic coefficients,
−f2
D23 = Di (7)
|f2 |
163
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Pin in a slot joint friction terms from 1 to 2:
From (1.8) and (1.9),
n
f12 = µ12 |F12 |D12 (8)
n
and t12 = (µR)12 F12 D12 (9)
From (1.14),
n −f1 + R(h1 − h2 )
if F12 > 0, then D12 = Di
|−f1 + R(h1 − h2 )|
else
n −f1 − R(h1 − h2 )
if F12 < 0, then D12 = Di .
|−f1 − R(h1 − h2 )|
dr1 dr1
In this problem, r1 is the input Si , therefore f1 = dSi = dr1 = 1. Also, link 1 is fixed, so h1 = 0. Thus the
above expressions for D12 simplify to,
n −1 − Rh2
if F12 > 0, then D12 = Di
|−1 − Rh2 |
else (10)
n −1 + Rh2
if F12 < 0, then D12 = Di .
|−1 + Rh2 |
(The units in this equation are interesting. D12 should be dimensionless. Is it? Nice exam question.)
Pin joint friction terms from 1 to 3:
q
t13 = (µR)13 |F13 |D13 = (µR)13 2 + F2 D
F13 (11)
x 13y 13
where,
h1 − h3 −h3
D13 = Di = Di (h1 = 0), (12)
|h1 − h3 | |h3 |
Step 5:)
Enumeration of forces and torques:
Joint forces are given in Equations (1) and (2). Additionally,
F13x F2 0
F̄13 = F13y , F̄2 = 0 , T̄3 = 0 (known load),
0 0 −T3
0 0 0 0
t̄23 = 0 , t̄′23 = 0 , t̄12 = 0 , t̄13 = 0 .
t23 t′23 t12 t13
n ′
for a total of 12 unknowns, F13x , F13y , F2 , F12 , f12 , N23 , N23 , f23 , t12 , t13 , t23 , t′23 .
There are 6 equilibrium conditions and an additional 6 equations for computing magnitudes of the friction
terms, Equations (4), (5), (6), (8), (9) and (11). The direction indicators are known from the basic first-order
kinematic coefficients which were found in problem 4.5.
Force Equilibrium:
Link 2:
n
ΣF̄ = F̄12 + f¯12 + F̄2 − N̄23 − N̄23
′
− f¯23 = 0̄
164
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scalar components,
′
ΣFx = f12 + F2 + N23 sinθ2 + N23 sinθ2 − f23 cosθ2 = 0 (13)
n ′
ΣFy = F12 − N23 cosθ2 − N23 cosθ2 − f23 sinθ2 = 0 (14)
Link 3:
′
ΣF̄ = F̄13 + N̄23 + N̄23 + f¯23 = 0̄
scalar components,
′
ΣFx = F13x − N23 sinθ2 − N23 sinθ2 + f23 cosθ2 = 0 (15)
′
ΣFy = F13y + N23 cosθ2 + N23 cosθ2 + f23 sinθ2 = 0 (16)
Moment Equilibrium:
Link 2:
has only a Z comp. −(r2 +r)N23 has only a Z comp. −(r2 +r ′ )N23
′
has only a Z comp. −r3 f23
z }| { z }| { z }| {
ΣM̄a = (r̄2 + r̄) × (−N̄23 ) + (r̄2 + r̄′ ) × (−N̄23
′
) + r̄3 × (−f¯23 )
In matrix form,
n
0 0 0 sinθ2 sinθ2 1 F12 −f12 + f23 cosθ2
1 0 0 −cosθ2 −cosθ2 0 F13x f23 sinθ2
0 1 0 −sinθ2 −sinθ2 0 F13y −f23 cosθ2
= (19)
0 0 1 cosθ2 cosθ2 0 N23 −f23 sinθ2
0
0 0 −(r2 + r) −(r2 + r′ ) 0
′
N23 r3 f23 + t23 + t′23 − t12
0 0 0 r r′ 0 F2 −t23 − t′23 − t13 + T3
165
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r̄5
′
Solve (19) for N23 , N23 , F13x ,
Input n
F13y , F12 and F2
r1 , ṙ1 , T2 ,
µ23 , µ12 , µ13
(µR)12 , (µR)13
r, r′ , rt , rb
fig523aaa
Figure 6.9: Flowchart for computing joint forces and driving force F2
166
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concerning them were afloat, in spite of the virtues which adorned
them.
We are not sure how old Doña Elena was, and it was not an easy
thing to guess her age, for her looks varied. In the street, dressed in
black and wrapped in a cape, with her head bent and eyes fixed on
the ground, the only visible part of her face her large nose,—which
was shaped like the beak of a bird of prey and adorned with a black
and white wart, shaped like a sweet pea, a legacy of her misfortune,
—she looked about seventy. But at home, without the cape, with her
face held erect, with her abundant black hair which a young girl
might have envied, with her energetic movements and sharp,
penetrating eyes, one could not have imagined her over sixty.
From what we have been saying our readers will suppose that the
widow was ugly, and really her ugliness was perfection. She was
very tall, with a muscular and somewhat masculine form, a very
large mouth, with an overlip covered with a black down that
resembled a moustache, with only two large and sharp upper teeth
remaining, with two patches of hair on each side of her beard, a
narrow furrowed forehead, thick bushy eyebrows, and round sunken
eyes. One of these, the left one, she invariably closed when
speaking rapidly or looking attentively at any object, while the other
then became very expressive, and it was impossible to avoid her
penetrating gaze. Her voice was heavy and obscure, sounding,
whenever she raised it, like an echo from the distance. Some of her
ill-natured detractors had even said that there was reason to doubt
the sex of Doña Elena, as she might as easily be a beardless man in
disguise as a bearded woman.
Now that we have described the widow, if not as she really was, at
least as she was known to the world, we will speak of her daughters.
They did not resemble the widow in the least. They were young,
nineteen, eighteen, and seventeen, and were all prodigies of beauty.
They were called Sol, Luz, and Estrella, and with the dark clouds of
Doña Elena’s ugliness, formed a heaven on earth.
Doña Sol’s face was somewhat dark, and oval, her hair black, and
her eyes of the same color, lazy, wide open, with glances penetrating
and expressive, such glances as set you on fire, and produce an
effect similar to that of an electric current. It was impossible to look at
her unmoved, for her lips were as provoking as her fiery eyes were
burning, and it was unnecessary for her to speak or smile to set the
coldest hearts on fire, and turn the heads of the steadiest.
Doña Luz was not so tall, and of somewhat fuller though
wonderfully perfect proportions, with a fair skin, chestnut hair, and
large gray eyes with long lashes, through which passed her sweet,
quiet and melancholy glances. There was always a slight smile on
her lips, her words were pleasant, she showed great tenderness and
common sense, and was one of those gentle spirits, who, instead of
promising ineffable pleasures, offer a sweet happiness and all the
delights of an unalterable calm.
It is impossible to draw a correct likeness of Doña Estrella, who
was a spiritual and sublime being, one of those angels in human
form, apparently descended from Heaven to give us a conception of
celestial beauties. Her blonde hair, pure transparent azure eyes,
slender form and delicate shape presented a combination of
unutterable charms. Sensible, innocent, candid, and timid,—we
repeat, it is impossible to give a correct description of Estrella.
It seems impossible, too, that three girls such as we have tried to
describe could all fail to find husbands, but as we have observed,
public opinion was strongly rooted against them, and there were
people who firmly believed that their wonderful beauty was the work
of Satan to lure the innocent to destruction.
The four always went together to fulfil their religious duties, the
girls in front, the youngest first, and the mother bringing up the rear
that she might watch over them all, even with her left eye closed as it
usually was. Those who met the little procession, saw first of all
Estrella, whose timidity kept her eyes fixed on the ground, and,
impressed with the sentimentality and sublimity of her blushing
innocence, they looked up to see Doña Luz, full of artlessness and
enviable tranquility, showing her face like one who had nothing to
fear from malice; and finally, willing or unwilling, were compelled to
meet the running fire which darted from the eyes of Doña Sol—eyes
that in the street did not look upon you face to face, but slyly as if
they did not wish to see. After all these pleasant, fascinating and
enchanting visions, they beheld the round sunken eyes of the widow,
eyes with pupils like phosphorescent lights in the depths of some
cavern, and her big nose with the wart on it. And they would ask
themselves if such a horrible looking monster could really have given
birth to such beautiful daughters.
In spite of all that was said about them, the influence of their
charms brought many daring wooers to the street inhabited by Doña
Elena, and the sounds of the guitar, and voices filled with deep
emotion chanting their sweet love songs, could frequently be heard
there, yet no one of these nocturnal troubadours could pride himself
upon having noticed the smallest opening of a window or balcony in
the dwelling of these bewitching women. It happened, too, that none
of these serenades ever ended in bloody affrays, as was frequently
the case in those times, and these are our proofs for the assertion
that the young ladies never gave rise to any scandal which could
injure their reputation.
But curiosity is never hindered by obstacles and is perhaps more
tenacious than love itself, and so sometimes the lovers and
sometimes inquisitive outsiders attempted to bribe the servants of
the widow, but succeeded only in learning that there are some
servants who are incorruptible. Yet their attempts did not stop there,
for the slyest of all found some means of entering into relationship
with the only three persons who visited the widow, that is, the
Dominican friar, the Knight of Santiago, and the lame, one-eyed
captain.
But the friar when approached on the subject only said:
“It is not permitted to clergymen to speak about their children of
the confessional, for this might lead to indiscretions which, however
harmless, might become dangerous in the end.”
The Knight of Celibacy would answer angrily:
“This respectable lady is my friend. I don’t know anything more.”
And the veteran, looking askance at the interrogator with his
remaining eye, would say, twisting his moustache angrily:
“Por Dios Vivo! What I detest most is an inquisitive person.”
And all this contributed to the fact that Doña Elena and her
daughters were looked upon as mysterious people.
We have now only to state that they lived in a large house in the
street called “de las Infantas,” which in those days began in “La
Hortaleza” street, and ended in a dirty alley, which formed an angle
following the garden wall of the convent of the Barefooted
Carmelites.
CHAPTER II.
THE WOOERS.
CHAPTER III.
IN WHICH WE COMPLETE OUR ACQUAINTANCE WITH THE THREE
WOOERS, AND OTHER THINGS.
Now, let us say a few words about the black-eyed hidalgo. His
name was Jacinto Carmona, he was from Sevilla, and he, too, had
enough to live decently, although he was not rich, and spent all he
had—and more too—in enjoying himself, and dressing as
extravagantly as possible. At ten years old he had been left an
orphan under the guardianship of a clergyman, a man of honor, but
very strict and severe, who had always tried to do his duty in bringing
up the orphan in the ways of virtue and training him to work and to
be a useful man. He made him study Latin for five years, but could
not accomplish anything more. The boy was as turbulent as
possible, and the more severe the punishment, the more he rebelled,
the result of which was that the good priest became so weary that he
had finally to acknowledge himself conquered. The good man
complained of his misfortune, but his young pupil complained still
louder, asserting that he was the victim of exaggerated severity and
the stale prejudices of his guardian.
“You can see for yourself,” he would say. “You have only to look at
my clothes to see how I am treated. They have been worn out and
mended so often that it would be hard to tell which was the original
stuff. Didn’t my father leave me an income of six hundred ducats?
Why shouldn’t I be dressed decently? And as for eating, even
without counting fast days, how often do I get meat? Very seldom,
indeed. For my uncle says that gluttony is a mortal sin, and
whenever he wants to punish me he makes me do without breakfast,
dinner, or supper, and as he wants to punish me pretty often, the
result is that I fast half the days in the year. That’s the reason that I
am so thin and pale and weak, and in the end I shall die, not from
any disease, but from starvation. Though my uncle does say that I
look that way on account of my sins, and that I would be possessed
by an evil spirit, if it were not for his fervent prayers which the good
Lord has heard.”
Whenever Jacinto spoke in this strain he appeared much moved,
his eyes would become moist and at times he would even weep. And
being a handsome young man, he always appealed to the women,
so that he found plenty of defenders whenever he quarrelled with his
uncle. The fair sex was his weakness, and his follies in this direction
excited serious disgust in more than one of his acquaintances. When
the young man reached his twenty-fifth year, his uncle surrendered
to him his inheritance, in a greatly improved condition, and gave him
some good advice besides. Jacinto felt like a man who has been a
long time in prison and suddenly recovers his liberty. He threw
himself with avidity into a life of dissipation that would have speedily
accomplished his ruin if his good uncle had not continued his advice
and sometimes admonished him severely.
“I want to see the world,” said the young fellow at last, and
gathering together all the money he could obtain, and bidding his
uncle farewell, he took the road to Madrid, leaving behind him three
women who had been foolish enough to believe in the love of a
young scapegrace.
Apart from this failing, Jacinto was very kind-hearted, and could
not look upon distress unmoved. What was his object in going to
Madrid? He wanted expansion, emotions, life, and went without any
definite object. He had never been seriously in love, and, to his
misfortune, the same fate as Señor Alonso’s overtook him. One day
he saw Doña Luz on one of the balconies of her house, and, as we
have mentioned, she neither looked at people on the sly, or sought
to hide herself, as did her sisters. Jacinto stared at her, and she
contemplated him with perfect tranquility. He felt that his heart was
beating more strongly than usual, and Doña Luz, probably
unconsciously, smiled.
“Where am I?” cried the young man. “Not even in dreamland can
one conceive such a vision of beauty.”
The quiet look, revealing the tranquility of its owner’s mind,
charmed the young man all the more in that he was beginning to tire
of his stormy pleasures. He could contain himself no longer, but
lifting his head was preparing to call to her with his customary daring,
when Doña Luz smiled a second time, and disappeared.
“She would not have listened to me!” exclaimed the young man in
despair. “And yet she smiled to me when she left. Now that I think of
it, it would have been folly to do what I was thinking of, and she has
given me a lesson that will teach me to be more prudent.”
After this Doña Luz came to the balcony every day at the same
time, always perfectly tranquil, and always smiling, and Jacinto
finished by falling seriously in love. Not knowing any one in Madrid,
he could not find out who the lady was, and as luck would have it, he
never saw the stupid servant, either going or coming. This was the
situation of affairs when he met the other two gallants.