Machine Mechanics

Departament of Mechanical Engineering

BOOKLET OF

EXERCICES

MACHINE MECHANICS
2023/2024

PLANAR MECHANISMS
 Machine Mechanics

MECHANISMS EXERCICES
Kinematics and Dynamics

Exercise 23

Determine the number of degrees of freedom on the following mechanisms:

a) b)

c) d)

a) 1
b) 1
c) 3
d) 0

Excercise 24

For the following mechanism of a shovel digger, determine the number of elements, elementary pairs of
one or two degrees of freedom and the number of degrees of freedom.

Solution:

N=9, pI=11, pII=0

GDL=2

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 Machine Mechanics

Exercise 25

Find the Instantaneous Centers of Rotation of the following mechanisms.

Solution.

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Exercise 26
Given the following mechanism, draw the diagrams of velocities and accelerations, knowing that:

O12D = 330mm O12A = 300mm

O14B = 500mm O12Q = 400mm
O14C = 700mm O14Q = 500mm
AB = 460mm 2 = 10rad / s (counterclockwise)
BC = 300mm 2 = 0
CD = 700mm

Scales:

Velocities: 1cm : 100cm / s

Accelerations: 1cm : 1000cm / s 2

a) Velocities:

VA(2) = 3000mm/s |⃗⃗⃗

𝑉𝑐 | = 6300 𝑚𝑚/𝑠
|⃗⃗⃗⃗⃗⃗
𝑉𝐵𝐴 | = 3600 𝑚𝑚/𝑠 V D = 6800 mm / s

⃗⃗⃗⃗𝐵 | = 4500 𝑚𝑚/𝑠

|𝑉 V DC = 1900 mm / s

𝑟𝑎𝑑 𝑟𝑎𝑑
𝜔3 = 7,83 (clockwise) 𝜔5 = 2,7 (counterclockwise)
𝑠 𝑠
𝑟𝑎𝑑
𝜔4 = 9 (clockwise)
𝑠

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 Machine Mechanics
Departament of Mechanical Engineering

b) Accelerations: aB (3) = aB (4) = 41000mm / s 2

𝑚𝑚
|⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐴(2) | = 30000 2 ⃗⃗⃗⃗⃗⃗⃗ 𝑚𝑚
𝑠 |𝑎𝑛𝐶 | = 56700 2
𝑚𝑚 𝑠
⃗⃗⃗⃗⃗⃗⃗
|𝑎𝑛𝐵 | = 40500 𝑚𝑚
𝑠2 ⃗⃗⃗⃗⃗⃗⃗
|𝑎𝑡𝐶 | = 1400
𝑚𝑚 𝑠2
⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝑎𝑛𝐵𝐴 | = 28174
𝑠2 aC = 56717mm / s 2
𝑚𝑚
⃗⃗⃗⃗⃗⃗⃗
|𝑎𝑡𝐵 | = 1000 𝑚𝑚
𝑠2 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝑎𝑛𝐷𝐶 | = 5157 2
𝑠
𝑚𝑚
⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝑎𝑡𝐵𝐴 | = 58000 𝑚𝑚
𝑠2 ⃗⃗⃗⃗⃗⃗⃗
|𝑎𝐷 | = 1000
𝑠2
𝑟𝑎𝑑 𝑚𝑚
𝛼4 = 2 (counterclockwise) ⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝑎𝑡𝐷𝐶 | = 55000
𝑠2 𝑠2
𝑟𝑎𝑑 𝑟𝑎𝑑
𝛼3 = 126 2 (counterclockwise) 𝛼5 = 78,6 (counterclockwise)
𝑠 𝑠2
 Machine Mechanics

Exercise 27
The data of the following mechanism is:
O12 A = 24cm O14 A = 27,2cm O12G2 = 12cm O14 G4 = 16cm
m2 = 0,5kg m3  0 m4 = 1kg IG2 = 10kg  cm2 IG3  0 IG4 = 15kg  cm2

2 = 5rad / s (horario) 2 = 30 rad / s2 (antihorario)

It is asked to:
a) Determine the number of degrees of freedom of the mechanism.
b) Angular velocity of link 4. Use the scale 1cm=20cm/s.
c) Angular acceleration of link 4. Use the scale 1cm=100cm/s2

Solución.
a) number of degrees of freedom = 1

b) Velocities
|⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐴(2) | = 120 𝑐𝑚/𝑠 𝑟𝑎𝑑
𝜔4 = 1,6 (clockwise)
𝑠

c) Accelerations
𝑐𝑚 𝑐𝑚
|⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑛𝐴(2) | = 600 2 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝑎𝑐𝑜𝑟𝑖𝑜𝑙𝑖𝑠 | = 512 2
𝑠 𝑠
𝑐𝑚 𝑟𝑎𝑑
|⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑡𝐴(2) | = 720 𝛼4 = 7 (clockwise)
𝑠2 𝑠2
𝑐𝑚
|⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑛𝐴(4) | = 69,63 2
𝑠
𝑐𝑚
|⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑡𝐴(4) | = 190
𝑠2
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Exercise 28

Given de mechanism of the figure, calculate:

a) Numbers of degrees of freedom of the mechanism.
b) Angular velocities of 4 and 6. Use the scale 1cm=100cm/s.
c) Angular acceleration of 4 and 6. Scale 1cm=1000cm/s2
d) Calculate the force to be applied in cranck 6 at the level of point B and perpendicular to
O16B in order to equilibrate a clockwise torque of 5 Nm applied in cranck 4.
e) Make the static analysis indicating the reactions and moments (NOTE: don´t calculate the
modules, write down the equilibrium equations and indicate the direction of the forces
and its application points).
f) Calculate the inertia forces in elements 2 and 4. Replace by a unique resulting force and
indicate on the mechanism its modules, directions, senses and point of application.

DATA:

2 = 20rad / s = cte
(clockwise)

O1O16 = O1B = 115cm

O1O14 = 39cm
O14 B = 78cm
O12 A = 15cm
O12O14 = 30cm
O14 A = 42cm
O16 B = 70cm
O12G2 = 7,5cm
O14G4 = 39cm

m2 = 1 kg
m4 = 4 kg
IG2 = 0,030 kg·m2
IG4 = 0,200 kg·m2

Solución.

a) Numbers of degrees of freedom = 1.

b) Velocities

|⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐴(2) | = 300 𝑐𝑚/𝑠 |⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐵(4) | = |⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐵(5) | = 482,8 𝑐𝑚/𝑠
⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝑉 𝐴(4) | = 260 𝑐𝑚/𝑠 |⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐵(6) | = 40 𝑐𝑚/𝑠
|⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐴(3−4) | = 155 𝑐𝑚/𝑠 |⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐴(6−5) | = 500 𝑐𝑚/𝑠
𝑟𝑎𝑑 𝑟𝑎𝑑
𝜔4 = 6,19 (clockwise) 𝜔6 = 0,57 (counterclockwise)
𝑠 𝑠

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c) Acceleratios

𝑐𝑚 𝑐𝑚
|⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝐴(2) | = 6000 2 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝑎𝑡𝐵(4) | = 2137,2 2
𝑠 𝑠
𝑐𝑚
|⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑛𝐴(4) | = 1609,3 2 aB(4) = 3674 cm / s2
𝑠
𝑐𝑚 𝑐𝑚
|⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑡𝐴(4) | = 1150 2 |⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑛𝐵(6) | = 22,75 2
𝑠 𝑠
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ 𝑐𝑚 𝑐𝑚
|𝑎𝐴(𝑐𝑜𝑟𝑖𝑜𝑙𝑖𝑠) | = 1919 2
𝑠 |⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑡𝐵(6) | = 1262
𝑠2
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ 𝑐𝑚 𝑐𝑚
|𝑎𝑡𝐴(3−4) | = 3400 2 ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝑎𝐴(𝑐𝑜𝑟𝑖𝑜𝑙𝑖𝑠) | = 5709 2
𝑠 𝑠
𝑟𝑎𝑑 𝑐𝑚
𝛼4 = 27,4 2 (clockwise) |⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑛𝐵(5−6) | = 2174 2
𝑠 𝑠
𝑐𝑚
aA(4) = 1978 cm / s2 |⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑡𝐵(5−6) | = 1961 2
𝑠
𝑟𝑎𝑑
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗ 𝑐𝑚 𝛼6 = 18 2 (clockwise)
|𝑎𝑛𝐵(4) | = 2988,7 2 𝑠
𝑠

d)

⃗𝐹𝐵4 . 𝑣
⃗ 𝐵4 = 30,95 𝑁𝑚/𝑠
𝐹𝐵6 = =77,37 N

e) static analysis
Para todos los miembros deberá cumplirse:
F =0 y M =0

E)

O12G2 = 7,5cm
O14G4 = 39cm
𝑐𝑚
|⃗⃗⃗⃗⃗
𝑎𝐺2 | = 3000
𝑠2
𝑐𝑚
|⃗⃗⃗⃗⃗
𝑎𝐺4 | = 1837
𝑠2
|⃗⃗𝑗2 | = 30 𝑁
|⃗⃗𝑗4 | = 73,5 𝑁
|⃗⃗⃗⃗⃗⃗⃗
𝑀𝐺2 | = 0 𝑁𝑚

|⃗⃗⃗⃗⃗⃗⃗
𝑀𝐺4 | = 5,44 𝑁𝑚

|⃗⃗⃗⃗
𝑗´2 | = 30 𝑁

|⃗⃗⃗⃗
𝑗´4 | = 73,5 𝑁
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Exercise 29

In the mechanism of the figure, link 2 rotates around the fixed point O12 . Link 3 is connected
to link 2 by the joint A and to link 4 in joint B. Link 4 can rotate around the fixed point O14 and is
connected to link 5 by the joint C. The other end of link 5 (point D) can only move horizontally.

Knowing that 2 = cte = 5rad / s (clockwise sense), it is asked to calculate the moment M2
needed to maintain the mechanism in static equilibrium when the force of 500 N FD is applied.

The following data is given:

O12A = 0,34 m
AB = 0,79 m
O14C = 0,83 m
O14B = 0, 45 m
CD = 1, 02 m

Solución:
|⃗⃗⃗⃗⃗
𝐹16 | = 583 𝑁

|⃗⃗⃗⃗⃗
𝐹56 | = 546 𝑁

|⃗⃗⃗⃗⃗
𝐹65 | = 546 𝑁

|⃗⃗⃗⃗⃗
𝐹45 | = 546 𝑁

|⃗⃗⃗⃗⃗
𝐹54 | = 546 𝑁

|⃗⃗⃗⃗⃗
𝐹34 | = 1328 𝑁

|⃗⃗⃗⃗⃗
𝐹43 | = |⃗⃗⃗⃗⃗
𝐹23 | = 1328 𝑁

|⃗⃗⃗⃗⃗
𝐹32 | = 1328 𝑁
𝑀2 = 451,52 𝑁𝑚 (ℎ𝑜𝑟𝑎𝑟𝑖𝑜)

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 Machine Mechanics

Exercise 30
From the mechanism of the figure, the following data is given:

O12 A = 24cm O14 A = 27,2cm O12G2 = 12cm O14 G4 = 16cm

m2 = 0,5kg m3  0 m4 = 1kg IG2 = 10kg  cm2 IG3  0 IG4 = 15kg  cm2

2 = 5rad / s (clockwise) 2 = 30 rad / s2 (counterclockwise)

It is asked:
a) If a moment of 10N.m is applied to link 2 in a clockwise sense, determine the reactions
appearing in links 2 and 3 and the moment Mr applied to link 4 that equilibrates the
mechanism statically.
b) To calculate the reactions in links 2 and 3 and the moment Ma applied to link 4 that
equilibrates the mechanism dynamically.

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Solución:
a) Static analysis
Para todos los miembros deberá cumplirse:  F =0 y M =0

|⃗⃗⃗⃗⃗
𝐹12 | = 344,8 𝑁
𝑀𝑟 = 29,3 𝑁𝑚 (counterclockwise)

b) Dynamic analysis
𝑐𝑚
|⃗⃗⃗⃗⃗
𝑎𝐺2 | = 468,61
𝑠2
𝑐𝑚
|⃗⃗⃗⃗⃗
𝑎𝐺4 | = 214,5
𝑠2

𝑘𝑔 𝑐𝑚
|⃗⃗𝑗2 | = 234,3
𝑠2

𝑘𝑔 𝑐𝑚
|⃗⃗𝑗4 | = 214,5
𝑠2

𝑘𝑔 𝑐𝑚2
|⃗⃗⃗⃗⃗⃗⃗
𝑀𝐺2 | = 300
𝑠2

𝑘𝑔 𝑐𝑚2
|⃗⃗⃗⃗⃗⃗⃗
𝑀𝐺4 | = 5,44
𝑠2

ℎ2 = 1,20 𝑐𝑚

ℎ4 = 0,92 𝑐𝑚

J32 = 4,63 N = J23

J12 = 6,12 N

J34 = J 43 = J23 = 4,63N

J14 = 5, 46 N

Ma = 0,58 N .m (counterclockwise)

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 Machine Mechanics

Exercise 31

1. Given the following mechanism of the figure (distances en cm) and for the position
indicated (the 50 N forcé and the endings D and E are only considered in part e), it is
asked to:

a) Determine the number of degrees of freedom.

b) Determine the position of the absolute instantaneous centres of rotation of slidings
(3) and (5).
c) Known the angular velocity of rod (2) that is constant and of 6 rad /s in a clockwise
sense, calculate the angular velocities of rods (4) and (6).
d) Calculate the acceleration of point C and the angular acceleration of rod (6)
e) Neglecting the weight of the rods, calculate the height h above the supporting point
O6 on which to apply the 50 N force on rod (6) as indicated in the figure, so that the
reaction in one of the endings on rod (2) is 80 N (equilibrating force). Determine if
this equilibrating force is applied in E or D.

The following scales are suggested:

O4 6

D E

15
F=50N
10

3
4 5
5 h
A B
C
5
10 O6

O2 1

1 10 15

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Velocities 1cm→10cm/s 1

Accelerations point A: 1cm→100cm/s2

Accelerations point B: 1cm→200cm/s2
O4
6

3 5
4
A B
C

O6

O2
1

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 Machine Mechanics

SOLUTION:
a) 1.

b) Velocities.

VA2 = 60 cm/s VB6 = VB5B6 = 60 cm/s

𝜔4 = 4
𝑟𝑎𝑑
(counterclockwise) 𝑟𝑎𝑑
𝑠 𝜔6 = 12 (ℎ𝑜𝑟𝑎𝑟𝑖𝑜)
𝑠
VA3A2 = 40 cm/s

VB5 = VB4 = 60 √2 cm/s

c) Accelerations.

cm 𝑐𝑚
𝑎𝐴2 = 360 |⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑛𝐵(6) | = 720 2
s2 𝑠
cm cm
𝑎𝑐𝑜𝑟 = 480 𝑎𝑐𝑜𝑟 = 1440
s2 s2
𝑐𝑚 𝑐𝑚
|⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑛𝐴(4) | = 288 2 |⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑛𝐵(4) | = 339 2
𝑠 𝑠
𝑐𝑚 𝑐𝑚
|⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑡𝐴(4) | = 775 2 |⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑡𝐵(4) | = 912 2
𝑠 𝑠
𝑟𝑎𝑑 𝑐𝑚
𝛼4 = 43
𝑠2
(clockwise) |⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑡𝐵(6) | = 2300 2
𝑠
𝑐𝑚
⃗⃗⃗⃗⃗⃗⃗
|𝑎𝑛𝐶 | = 240 2 𝛼6 = 460
𝑟𝑎𝑑
(counterclockwise)
𝑠 𝑠2

𝑐𝑚
⃗⃗⃗⃗⃗⃗⃗
|𝑎𝑡𝐶 | = 645 2
𝑠

d) h = 16 cm.

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 Machine Mechanics

Exercise 32
Given the mechanism of the figure (distances in cm), and for the position indicated (the force of the cable is
only considered in point 5), it is asked to:
1. Determine its degrees of freedom.
2. Determine the position of the absolute instantaneous centers of rotation for the sliders (3) and (5).
3. If the angular velocity of (6) is constant and equal to 6 rad/s in a clockwise rotation, calculate the
angular velocity of links (2) and (4).
4. Calculate the angular acceleration of link (4) and the linear accelerations of its end points.
5. Neglecting the weight of the links, if a force of 50N is applied on link (6) as shown in the figure,
calculate the force in the cable in order to maintain the mechanism in equilibrium for the given
position.

15

F=50N
2
10

A 3 4 5 B 1

6
10

10 10 15 5

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 Machine Mechanics

1 The following scales are suggested:

10cm/s→2cm; 100cm/s2→3cm

2 F

4 5 1
3

o’

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 Machine Mechanics

VELOCITIES.

VB6 = 30 cm/s

𝑟𝑎𝑑
𝜔4 = 2 (counterclockwise)
𝑠

VB4B6 = 20 cm/s

VA4 = 20 √2 cm/s

VA2 = 20 cm/s

𝑟𝑎𝑑
𝜔4 = 2 (clockwise)
𝑠

ACCELERATIONS.

cm
𝑎𝐵6 = 180
s2
cm
𝑎𝑐𝑜𝑟 = 240
s2
cm
𝑎𝐵4 = 344
s2

𝑐𝑚
|⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑡𝐵(4) | = 336,5 2
𝑠
𝑟𝑎𝑑
𝛼4 = 18,7 (clockwise)
𝑠2

𝑐𝑚
|⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑛𝐴(4) | = 56,6 2
𝑠

𝑐𝑚
|⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑡𝐴(4) | = 264 2
𝑠

PTV.

cos 𝜑 = −0.447

T = 251,6 N

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 Machine Mechanics

Exercise 33
In the mechanism shown in the figure, the connecting rod (3) is articulated in its middle point
(C) to the slide (5) wich has a translation motion with respect to seesaw (balancín) (6).
a) How many degrees of freedom does the mechanism have?
b) Draw, with the help of a compass, the extreme positions of the seesaw (6).
c) Determine the absolute ICR of the connecting rod (3) and the ICR of the slide (5), for
the given position.
d) If crank (2) rotates in the clockwise sense with a constant angular velocity of 3 rad/s,
calculate the velocity of slide (4) and the angular velocity of seesaw (6) in the given
position.
e) For this position, calculate the acceleration of slide (4) and the angular acceleration of
seesaw (6).
f) Depreciating the weight of the rods, if an horizontal force of 30 N is applied towards
the right in the middle point of seesaw (D), what is the maximum horizontal force that
rod (4) is able to stand?
g) What torque has to be applied on crank (2) to overcome a force that is the double of
the force of the point before? (that is 60 N)

A Connecting rod: 30 cm
O6 Crank: 80 cm
3 Seesaw: 60 cm
5
C O6C: 10.78 cm
2

38.5 13.5 4
O2 B
23.26
1 1
D

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 Machine Mechanics

1 Connecting rod: 30 cm The following scales are suggested:

A Crank: 80 cm Velocities: 1 cm  10cm/s. Origen: O
O6 Seesaw: 60 cm Accelerations: 1cm 30cm/s2. Origen: O’
3 5 O6C: 10.78 cm
C
2
O2 4
B

1 D 1

19
 Machine Mechanics

Exercise 34
The figures show the opening mechanism of a garage door made by two plates. The superior
plate 2 rotates around axis O2-O2, and is articulated with the inferior plate 3 by axis A-A.
Points B-B slide without friction by the fixed guides on the chassis 1 . The opening is performed
by the rotation of the pulleys where the cables are threaded without sliding. For the
intermediate position of figure 3 in which the superior and inferior plates make a 90º angle and
both pulleys rotate at an angular velocity of =2 rad/s and an angular acceleration α=1rad/s2, in
the senses indicated in figure 3, determine:
a) The position of the instantaneous axis of rotation of the inferior plate, on figure 3.
b) Velocities of points A, B and C.
c) The angular velocities of the plates (module and sense).
d) The accelerations of points A, B and C.
e) The angular accelerations of the plates (module and sense).
f) The tension on each cable to maintain this position.

Figura 1 Figura 2

α


51.9

11.3

Figura 3

20
 Machine Mechanics

α
 The following scales are suggested:
Velocities: 0.1m/s → 1 cm. Origin: o
Accelerations: 0.1 m/s2 → 2 cm. Origin: o’

o'

21
 Machine Mechanics

a) instantaneous axis of rotation.

b) VB = 0,4 m/s

VA = 0,26 m/s

VC = 0,67 m/s

VAB = 0,31 m/s

c) 𝜔3 = 0,33 𝑟𝑎𝑑/𝑠 counterclockwise

𝜔2 = 0,43 𝑟𝑎𝑑/𝑠 clockwise

d) 𝑎𝐵 = 0,2 𝑚/𝑠2

𝑎𝑛𝐴 = 0,11 𝑚/𝑠2

𝑎𝑛𝐴𝐵 = 0,1 𝑚/𝑠2

𝑎𝐴 = 0,25 𝑚/𝑠2

𝑎𝑡𝐴 = 0,23 𝑚/𝑠2

𝑎𝐶 = 0,41 𝑚/𝑠2

𝑎𝑡𝐴𝐵 = 0,26 𝑚/𝑠2

𝑟𝑎𝑑
e) 𝛼2 = 0,38 counterclockwise
𝑠2

𝑟𝑎𝑑
𝛼3 = 0,29 clockwise
𝑠2

f) R32 = 19,3 N

T = 156,8 N

22
 Machine Mechanics

Exercise 35
The mechanism shown in the figure is driven by link 2, which rotates with a constant angular
velocity of 2=10 rad/s in an anticlockwise sense. For the position of the mechanism at the
instant shown:
a) Construct the diagram of velocities for the mechanism. (0,5 points)
b) Determine the value and sense of the angular velocity of links 4, 5, 6 and the
velocity of point C. (0,8 points)
c) Construct the diagram of accelerations for the mechanism. (1,25 points)
d) Determine the value and sense of the angular acceleration of links 4 and 5, and
the velocity of point C. (0,75 points)

̅̅̅̅ ) and sense

e) If a force F is applied to point C in the direction (perpendicular to CO
shown, calculate the equalizing moment that is required to be applied to link 2
so that the system is in equilibrium. (N.B. The system has no friction). (0,5
points)

2

F
Note:
• Use the following page to draw the diagrams.
• The mechanism is drawn to scale (approx. 1:1)

• Recomended scales:
o velocities Ev: 1cm – 10 cm/s accelerations: Ea: 1cm – 200 cm/s2

23
 Machine Mechanics

o´

24
 Machine Mechanics

Velocities
|⃗⃗⃗⃗⃗⃗
𝑉𝐴2 | = |⃗⃗⃗⃗⃗⃗
𝑉𝐴3 | = 50𝑐𝑚/𝑠 VC (5) = VC (6) = VB (4) = VB (5) = 76,6cm / s

|⃗⃗⃗⃗⃗⃗
𝑉𝐴4 | = 38,3 𝑐𝑚/𝑠 VCB (5) = 0cm / s

VA(3− 4) = 32,14cm / s
5 = 0rad / s
𝜔4 = 3,83 𝑟𝑎𝑑/𝑠 (clockwise)
𝜔6 = 10,94 𝑟𝑎𝑑/𝑠 (counterclockwise)

|⃗⃗⃗⃗⃗⃗
𝑉𝐵4 | = |⃗⃗⃗⃗⃗⃗
𝑉𝐵5 | = 76,6𝑐𝑚/𝑠

Accelerations

𝑎𝐴2 = 𝑎𝑛𝐴𝐵 = 500 𝑐𝑚/𝑠2 = 𝑎𝐴3 a B(4) = 1173,27 cm/s²

𝑎𝑡𝐴2 = 0 𝑚/𝑠2
aB (4) = aB (5)
𝑎𝐴4 = 146,69 𝑐𝑚/𝑠2
𝑎𝑛𝐶𝐵5 = 0 𝑐𝑚/𝑠2
2
𝑎𝑐𝑜𝑟 = 246,19 𝑐𝑚/𝑠
𝑛
𝑎𝑛𝐶5 = 𝑎𝐶6 = 838,2 𝑐𝑚/𝑠2
at =568cm/s²
A(4)
at =2266,9cm/s²
C(6)

a =586,6cm/s²
A(4) a =2416,9cm/s²
C(6)

𝛼4 = 56,8 𝑟𝑎𝑑/𝑠 (clockwise)

Forces

FA = 7,66 N
Mr = 3,8 N·m (counterclockwise)

25
 Machine Mechanics

Exercise 36
The mechanism of the figure is moved by crank 2, that rotates at a constant angular velocity
2=1 rad/s, in a counterclockwise sense. For the instant given in the figure it is asked to
determine:
a) Absolute ICR of all the links. (0,25 points)
b) Angular velocities of links 4 and 5 and velocity of point C (1 point)
c) Angular accelerations of links 4 and 5 and acceleration of point C. (1,5 points)
d) If an upwards vertical force F of 10 N is applied in point C of link 6, calculate the
equilibrating torque to apply to crank 2. Use the method of the virtual Works. (0,75
points)
e) Determine the equivalent inertia force of crank 2 with a mass of 1 kg. (0,5 points)

2

Nota:
• Use the following page to draw the graphic results
• Recommended scales:
o velocities Ev: 1cm – 10 cm/s acelerations: Ea: 1cm – 10 cm/s2

26
 Machine Mechanics

o’ '

27
 Machine Mechanics

Velocidades

VA2 = VA3 = 50 cm/s VB4 = VB5 = 70,55 cm/s

VA4 = 38,25 cm/s VC5 = VC6 = 100 cm/s

VA(3-4) = 50 cm/s VCB(5) = 70,55 cm/s

𝜔4 = 0,83 𝑟𝑎𝑑/𝑠 (antihorario) 𝜔5 = 1,41 𝑟𝑎𝑑/𝑠 (antihorario)

Aceleraciones

𝑎𝐴2 = 𝑎𝑛𝐴𝐵 = 50 𝑐𝑚/𝑠2 = 𝑎𝐴3 𝑎𝑛𝐵4 = 58,56 𝑐𝑚/𝑠2

𝑎𝑡𝐴2 = 0 𝑚/𝑠2 𝑎𝑡𝐵4 = 12,32 𝑚/𝑠2 recalcular

𝑎𝑛𝐴4 = 31,69 𝑐𝑚/𝑠2 aB (4) = aB (5)

𝑎𝑛34 = 41,67 𝑐𝑚/𝑠2 𝑎𝑛𝐶𝐵5 = 99,4 𝑐𝑚/𝑠2

𝑎𝑐𝑜𝑟 = 83 𝑐𝑚/𝑠2
a =123,2cm/s²
C(6)

at =6,67cm/s² es 81 t
A(4) aCB =145,53cm/s²

𝛼4 = 0,145 𝑟𝑎𝑑/𝑠 (horario) recalcular

𝛼5 = 2,91 𝑟𝑎𝑑/𝑠 (antihorario)

d)
M2= 10Nm

e)

𝑐𝑚
|𝑎𝐺(2) | = 25
𝑠2
|𝐽(2) | = 0,25𝑁
|𝑀𝑖(2) | = 0 𝑁𝑚
𝐽(2) = ⃗𝐽′(2)

28
 Machine Mechanics

Exercise 37
The diagram shows a scissor-lift used for vehicles. The vertical movement of the lifting platform
(4) is controlled by an actuator that moves link 6 horizontally. In the position shown, link 6 has
the velocity and acceleration given.

Datos:
Link 2 = Link 5 = 3000 mm.
AE= 2000 mm
g= 10 m/s2
m2= m5 = 10 kg
IG2 = IG5=7,5 kg.m2
⃗ 𝐴 | = 0,5 𝑚 horizontally to the
|𝑉 𝑠
right
𝑚
|𝑎𝐴 | = 0,2 2 horizontally to the
𝑠
right

1) Calculate the number of degree of freedom of the mechanism. (0.2 points)

2) Determine the positions of the absolute instantaneous centres of rotation I15 and I14.
(0,30 points)
3) Determine the angular velocity for links 4 and 5. (0,9 points)
4) Calculate the velocity of the lift platform and the sliding velocity of link 3 with respect
to the guide (link 4). (0,5 points)
5) Determine the values and the sense of the angular acceleration of rotation for links 4
and 5. (1,1 points)
6) Calculate the acceleration of the lift platform and the relative acceleration of link 3 with
respect to the guide (link 4). (0,5 points)
7) Determine the force that must be applied to link 6 if the platform is to support a mass
of 1200 kg and remain in static equilibrium. (The mass of all the links can be neglected
for this calculation.) (0,6 points)
8) Determine the equivalent inertial force for link 2. (0,5 points)

29
 Machine Mechanics

Data:
Link 2 = Link 5 = 3000 mm. AE= 2000 mm
g= 10 m/s2 m2= m5 = 10 kg
IG2 = IG5=7,5 kg.m2
⃗ 𝐴 | = 0,5 𝑚
|𝑉 𝑠
𝑚
|𝑎𝐴 | = 0,2 2
𝑠

Scales:
Velocity 1 cm: 0,1 m/s
Acceleration 1 cm: 0,02 m/s2

q´

30
 Machine Mechanics

a)= 1

Velocities)
𝑚 𝑚
⃗ 𝐴(5) | = |𝑉
|𝑉 ⃗ 𝐴(6) | = 0,5 ⃗ 𝐵(5) | = |𝑉
|𝑉 ⃗ 𝐵(2) | = 0,34
𝑠 𝑠
𝑚 𝑟𝑎𝑑
⃗ 𝐶(5) | = 0,45
|𝑉 |𝜔
⃗ (2) | = 0,22 horario.
𝑠 𝑠
𝑚 𝑚
⃗ 𝐶/𝐴 | = 0,67
|𝑉 ⃗ 𝐷(2) = = 0,67
𝑉
𝑠 𝑠
𝑟𝑎𝑑
𝑚
|𝜔
⃗ (5) | = 0,22 antihorario ⃗ 𝐴(6) | = |⃗𝑉𝐷(3/4) | = 0,5
|𝑉
𝑠 𝑠

Accelerations)
𝑚 𝑚
|𝑎
⃗ 𝐴(5) | = |𝑎
⃗ 𝐴(6) | = 0,2 ⃗⃗⃗⃗⃗⃗⃗
|𝑎 𝑡
𝐵/𝐸 | = 0,06
𝑠2 𝑠2
𝑚 𝑟𝑎𝑑
|⃗⃗⃗⃗⃗⃗⃗
𝑎𝑛𝐶/𝐴 | = 0,15 |𝛼
⃗ (2) | = 0,04 (horario)
𝑠2 𝑠𝑠2

𝑚 ⃗ 𝑐𝑜𝑟𝐷 = 0
𝑎
|𝑎
⃗ 𝐶(4) | = 0,036
𝑠2
𝑚
𝑚 |𝑎
⃗ 𝐴(6) | = 0,2
𝑠2
|⃗⃗⃗⃗⃗⃗⃗
𝑎𝑡𝐶/𝐴 | = 0,12
𝑠2
𝑚
|𝑎
⃗ 𝐷(2) | = 0,2
|𝛼
⃗ (5) | = 0,04
𝑟𝑎𝑑
(antihorario) 𝑠2
𝑠𝑠2
𝑚
𝑚 |⃗⃗⃗⃗⃗⃗⃗⃗
𝑎𝑡𝐷/𝐸 | = 0,12 2
|𝑎
⃗ 𝐵(5) | = |𝑎
⃗ 𝐵(2) | = 0,1 𝑠
𝑠2
𝑟𝑎𝑑
𝑚 |𝛼
⃗ (2) | = 0,04
⃗⃗⃗⃗⃗⃗⃗
|𝑎 𝑛
𝐵/𝐸 | = 0,075 𝑠2
𝑠2

6)

⃗⃗⃗⃗
𝐹𝐴 = 11520 𝑁
7)
𝑚
|𝑎
⃗ 𝐵(2) | = |𝑎
⃗ 𝐺(2) | = 0,1
𝑠2
|𝐽(2) | = 1𝑁
⃗⃗⃗⃗⃗⃗⃗⃗⃗
|𝑀 𝑖(2) | = 0,3 𝑁𝑚 sentido antihorario
ℎ == 0,3 m

31