MECH 343

MECHANICS OF MATERIALS

LAB 1
ANALYSIS OF A FOUR-BAR LINKAGE MECHANISM USING
SOLIDWORKS MOTION
SECTION HI-X

AAKASHDEEP SHOME
40105554
Objective:

The purpose of the experiment is to introduce the SOLIDWORKS Motion Software, which is an
add-on within SOLIDWORKS. To demonstrate this, a simple four-bar mechanism will be used.

Introduction:

The SOLIDWORKS Motion add-on is a feature included in SOLIDWORKS that allows users to
evaluate the mechanical performance of rigid body mechanisms by simulating their operational
movements. The effects of forces, springs, dampers, gravity, etc. can be simulated to visualize
and measure the kinematic and dynamic behaviour of a system. The motion of the mechanism
can be analyzed and plotted on a graph by solidworks enabling one to make calculations easier.

This lab would use Gashoff’s theorem. Gashof’s theorem states that a four-bar mechanism has
atleast one revolving link if

s+l£ p+q

And all three links will rock if

s+l>p+q
Procedure:

Create the Supports:

1. Create a new part
2. Set the units to MKS (meter, kilogram, second).
3. Select where the two dimensional profile of the part is to be sketched and choose Top
plane.
4. Then select the Centrepoint straight slot and draw the shape as per given dimensions.
5. Sketch a horizontal line through the centre of the slot and add a circle with radius 0.05m
at the centre of the arc.
6. Choose trim entities and use power trim tool to remove the bottom half of the slot and
extra lengths of the horizontal line.
7. Then exit sketch and select Extrude Boss/Base and extrude the sketch to 0.05m
thickness.

Create the remaining bars (Part 2, Part 3, Part 4):

1. Using the steps from the previous section, make three more links with the given
dimensions:
a) Part 2: L2=3m
b) Part 3: L3=3.32m
c) Part 4: L4=4m

Assemble the parts:

1. Create a new assembly and set units as in previous steps.
2. Mate the components to each other as required.
3. Then join part 2 to part 1.
4. Repeat the same procedure for other joints.
5. The final assembly should look as mentioned.

Simulating the motion of the machine:

1. Select the add-on of Solidworks motion.
2. Click on motion study.
3. Add a motor to the crank link and run an animation.
4. Choose Motion analysis from the dropdown menu and add variables like displacement,
velocity, acceleration on the second joint and angular velocity, angle and displacement
on the third joint.
5. Export the results to an Excel file.

Results:
For given dimensions from step 1 of creating the bars, the plots are as follows.

Linear Velocity
1.5000E+01

1.0000E+01

5.0000E+00

0.0000E+00 Linear Velocity1_3 Linear

Velocity1 (meter/sec) Ref.
0.000 1.000 2.000 3.000 4.000 5.000 6.000
Coordinate System:
-5.0000E+00

-1.0000E+01

-1.5000E+01
sec

Graph 1: Crank rocker Linear Velocity at joint 2

 Linear Displacement
4.0000E+00

3.0000E+00

2.0000E+00

1.0000E+00

0.0000E+00 Linear Displacement1_3 Linear

Displacement1 (meter) Ref.
0.000 1.000 2.000 3.000 4.000 5.000 6.000
Coordinate System:
-1.0000E+00

-2.0000E+00

-3.0000E+00

-4.0000E+00
sec

Graph 2: Crank rocker Linear Displacement at joint 2

 Linear Acceleration
4.0000E+02

3.0000E+02

2.0000E+02

1.0000E+02

0.0000E+00
0.000 1.000 2.000 3.000 4.000 5.000 6.000 link 332m-1 Acceleration1
(meter/sec**2) Ref. Coordinate
-1.0000E+02
System:
-2.0000E+02

-3.0000E+02

-4.0000E+02

-5.0000E+02
sec

Graph 3: Crank rocker Linear Acceleration at joint 2

 Angular Acceleration
1.5000E-12

1.0000E-12

5.0000E-13

0.0000E+00
0.000 1.000 2.000 3.000 4.000 5.000 6.000
-5.0000E-13 link 332m-1 Angular
Acceleration1 (deg/sec**2) Ref.
Coordinate System:
-1.0000E-12

-1.5000E-12

-2.0000E-12

-2.5000E-12
sec

Graph 4: Crank rocker Angular Acceleration at joint 3

 Angular Velocity
1.0000E+03

8.0000E+02

6.0000E+02

4.0000E+02
link 4m-1 Angular Velocity1
(deg/sec) Ref. Coordinate
2.0000E+02 System:

0.0000E+00
0.000 1.000 2.000 3.000 4.000 5.000 6.000

-2.0000E+02

-4.0000E+02
sec

Graph 5: Crank rocker Angular Velocity at joint 3

 Angular displacemetnt
2.0000E+01

0.0000E+00
0.000 1.000 2.000 3.000 4.000 5.000 6.000

-2.0000E+01

-4.0000E+01 link 4m-1 Angular

Displacement1 (deg) Ref.
Coordinate System:
-6.0000E+01

-8.0000E+01

-1.0000E+02
sec

Graph 6: Crank rocker Angular Displacement at joint 3

After changing the lengths of the parts, we obtain a double crank mechanism
 Linear Displacement
2.0000E+00

1.5000E+00

1.0000E+00

5.0000E-01

0.0000E+00 link 3m-1 Linear Displacement1

(meter) Ref. Coordinate
0.000 1.000 2.000 3.000 4.000 5.000 6.000
System: Part1-2
-5.0000E-01

-1.0000E+00

-1.5000E+00

-2.0000E+00
sec

Graph 7: Double-Crank rocker Linear Displacement at joint 2

 Linear Velocity
8.0000E+00

6.0000E+00

4.0000E+00

2.0000E+00

0.0000E+00 link 3m-1 Velocity1 (meter/sec)

0.000 1.000 2.000 3.000 4.000 5.000 6.000 Ref. Coordinate System:
-2.0000E+00

-4.0000E+00

-6.0000E+00

-8.0000E+00
sec

Graph 8: Double-Crank rocker Linear Velocity at joint 2

 Linear Acceleration
3.0000E+01

2.0000E+01

1.0000E+01

0.0000E+00 link 3m-1 Acceleration1

(meter/sec**2) Ref. Coordinate
0.000 1.000 2.000 3.000 4.000 5.000 6.000
System:
-1.0000E+01

-2.0000E+01

-3.0000E+01
sec

Graph 9: Double-Crank rocker Linear Acceleration at joint 2

 Angular Velocity
-2.4000E+02
0.000 1.000 2.000 3.000 4.000 5.000 6.000

-2.4000E+02

-2.4000E+02

-2.4000E+02
link 4m-1 Angular Velocity1
(deg/sec) Ref. Coordinate
-2.4000E+02 System:

-2.4000E+02

-2.4000E+02

-2.4000E+02
sec

Graph 10: Double-Crank rocker Angular Velocity at joint 3

 Angular Acceleration
1.0000E-07

0.0000E+00
0.000 1.000 2.000 3.000 4.000 5.000 6.000
-1.0000E-07

-2.0000E-07

-3.0000E-07
link 4m-1 Angular Acceleration1
(deg/sec**2) Ref. Coordinate
-4.0000E-07
System:
-5.0000E-07

-6.0000E-07

-7.0000E-07

-8.0000E-07
sec

Graph 11: Double-Crank rocker Angular Acceleration at joint 3

 Angular Displacement
2.5000E+02

2.0000E+02

1.5000E+02

1.0000E+02

5.0000E+01

0.0000E+00 link 4m-1 Angular

Displacement1 (deg) Ref.
0.000 1.000 2.000 3.000 4.000 5.000 6.000
-5.0000E+01 Coordinate System:

-1.0000E+02

-1.5000E+02

-2.0000E+02

-2.5000E+02
sec

Graph 12: Double-Crank rocker Angular Displacement at joint 3

Discussion:
• Linear Displacement
Crank Rocker: The graph is a sine graph with interval of 1.5 secs. The amplitude is at
1.4*10^3. This is the expected outcome
Double Crank Rocker: The graph is also a sine graph with an interval of 1.5 secs with
the amplitude of 1.4*10^3.
• Linear Velocity
Crank Rocker: This is a derivative of linear displacement with a 90 degree shift. The
graph is a sine graph. The cosine graph is the same as a sine graph with a phase
difference. Interval is around 1.5 secs.
Double Crank rocker: The graph shows a sinusoidal wave with a phase difference of
90 degrees as it is a derivative of linear Displacement.
 • Linear Acceleration
Crank Rocker: The graph is a sine graph and is a derivative of linear velocity at joint
2. The graph is as expected.
Double Crank Rocker: This graph is also a sine graph and a derivative of linear
displacement with a phase difference of 180 degrees.
• Angular Acceleration
Crank Rocker: The graph shows sudden acceleration in the positive and negative
direction. It resembles a saw tooth graph with curved lines.
Double Crank rocker: This graph has sudden increase and decrease in acceleration in
positive and negative direction as the crank is in circular motion. Graph is non
uniform.
• Angular Velocity
Crank Rocker: The graph is a peculiar graph.
Double Crank Rocker: The graph has sudden decrease in acceleration since the
velocity increases as the wheel is directd toward the ground and the other crank
mechanism has effect on it.
• Angular Displacement
Crank Rocker: The graph is recorded at joint 3. The rockers moves back and forth
with respect to the circular motion of crank. The motion of both the crank cycle and
rocker cycle must be in sync.
Double Crank Rocker: The graph obtained is similar to a saw tooth graph as the
motion is circular.

Conclusion:

As the dimensions of the rods are changed, the mechanism shifts from a crank-rocker to a
double crank. There is a difference in angular displacement, acceleration and velocity as it can
been in the graphical data.
Appendix:

link 332m-1
Acceleration1 (meter/sec**2)
Frame Time Ref. Coordinate System:
1 0.000 1.5570E+01
2 0.040 5.1447E+00
3 0.080 -4.6331E+00
4 0.120 -1.3808E+01
5 0.160 -2.2277E+01
6 0.200 -2.9856E+01
7 0.240 -3.6299E+01
8 0.280 -4.1269E+01
9 0.320 -4.4277E+01
10 0.360 -4.4663E+01
11 0.400 -4.2006E+01
12 0.440 -3.7117E+01
13 0.480 -3.1933E+01
14 0.520 -2.7594E+01
15 0.560 -2.3927E+01
16 0.600 -2.0431E+01
17 0.640 -1.6791E+01
18 0.680 -1.2897E+01
19 0.720 -8.7550E+00
20 0.760 -4.4346E+00
21 0.800 -3.8096E-02
22 0.840 4.3115E+00
23 0.880 8.4729E+00
24 0.920 1.2272E+01
25 0.960 1.5451E+01
26 1.000 1.7464E+01
27 1.040 1.6633E+01
28 1.080 5.5273E+00
29 1.120 -6.0567E+01
30 1.160 -3.6019E+02
31 1.200 -2.2462E+01
32 1.240 3.2985E+02
33 1.280 2.0417E+02
34 1.320 1.1497E+02
35 1.360 7.2069E+01
36 1.400 4.8838E+01
37 1.440 3.3386E+01
38 1.480 2.1117E+01
39 1.520 1.0264E+01
40 1.560 1.8251E-01
41 1.600 -9.3001E+00
42 1.640 -1.8141E+01
43 1.680 -2.6192E+01
44 1.720 -3.3238E+01
45 1.760 -3.8994E+01
46 1.800 -4.3057E+01
47 1.840 -4.4840E+01
48 1.880 -4.3705E+01
49 1.920 -3.9726E+01
50 1.960 -3.4452E+01
51 2.000 -2.9649E+01
52 2.040 -2.5710E+01
53 2.080 -2.2183E+01
54 2.120 -1.8640E+01
55 2.160 -1.4878E+01
56 2.200 -1.0854E+01
57 2.240 -6.6113E+00
58 2.280 -2.2386E+00
59 2.320 2.1509E+00
60 2.360 6.4255E+00
61 2.400 1.0431E+01
62 2.440 1.3962E+01
63 2.480 1.6662E+01
64 2.520 1.7617E+01
65 2.560 1.3446E+01
66 2.600 -1.3554E+01
67 2.640 -1.7226E+02
68 2.680 -3.8056E+02
69 2.720 2.7834E+02
70 2.760 2.7238E+02
71 2.800 1.5157E+02
72 2.840 8.9811E+01
73 2.880 5.8992E+01
74 2.920 4.0526E+01
75 2.960 2.7002E+01
76 3.000 1.5570E+01
77 3.040 5.1447E+00
78 3.080 -4.6331E+00
79 3.120 -1.3808E+01
80 3.160 -2.2277E+01
81 3.200 -2.9856E+01
82 3.240 -3.6299E+01
83 3.280 -4.1269E+01
84 3.320 -4.4277E+01
85 3.360 -4.4663E+01
86 3.400 -4.2006E+01
87 3.440 -3.7117E+01
88 3.480 -3.1933E+01
89 3.520 -2.7594E+01
90 3.560 -2.3927E+01
91 3.600 -2.0431E+01
92 3.640 -1.6791E+01
93 3.680 -1.2897E+01
94 3.720 -8.7550E+00
95 3.760 -4.4346E+00
96 3.800 -3.8096E-02
97 3.840 4.3115E+00
98 3.880 8.4729E+00
99 3.920 1.2272E+01
100 3.960 1.5451E+01
101 4.000 1.7464E+01
102 4.040 1.6633E+01
103 4.080 5.5273E+00
104 4.120 -6.0567E+01
105 4.160 -3.6019E+02
106 4.200 -2.2462E+01
107 4.240 3.2985E+02
108 4.280 2.0417E+02
109 4.320 1.1497E+02
110 4.360 7.2069E+01
111 4.400 4.8838E+01
112 4.440 3.3386E+01
113 4.480 2.1117E+01
114 4.520 1.0264E+01
115 4.560 1.8251E-01
116 4.600 -9.3001E+00
117 4.640 -1.8141E+01
118 4.680 -2.6192E+01
119 4.720 -3.3238E+01
120 4.760 -3.8994E+01
121 4.800 -4.3057E+01
122 4.840 -4.4840E+01
123 4.880 -4.3705E+01
124 4.920 -3.9726E+01
125 4.960 -3.4452E+01
126 5.000 -2.9649E+01

Linear Displacement1_3
Linear Displacement1 (meter)
Frame Time Ref. Coordinate System:
1 0.000 -6.0506E-01
2 0.040 -1.0656E-01
3 0.080 3.9492E-01
4 0.120 8.8534E-01
5 0.160 1.3510E+00
6 0.200 1.7788E+00
7 0.240 2.1567E+00
8 0.280 2.4743E+00
9 0.320 2.7225E+00
10 0.360 2.8946E+00
11 0.400 2.9855E+00
12 0.440 2.9928E+00
13 0.480 2.9163E+00
14 0.520 2.7581E+00
15 0.560 2.5227E+00
16 0.600 2.2166E+00
17 0.640 1.8485E+00
18 0.680 1.4285E+00
19 0.720 9.6856E-01
20 0.760 4.8148E-01
21 0.800 -1.9080E-02
22 0.840 -5.1911E-01
23 0.880 -1.0046E+00
24 0.920 -1.4620E+00
25 0.960 -1.8784E+00
26 1.000 -2.2422E+00
27 1.040 -2.5432E+00
28 1.080 -2.7729E+00
29 1.120 -2.9250E+00
30 1.160 -2.9952E+00
31 1.200 -2.9815E+00
32 1.240 -2.8843E+00
33 1.280 -2.7063E+00
34 1.320 -2.4525E+00
35 1.360 -2.1300E+00
36 1.400 -1.7479E+00
37 1.440 -1.3168E+00
38 1.480 -8.4881E-01
39 1.520 -3.5706E-01
40 1.560 1.4469E-01
41 1.600 6.4239E-01
42 1.640 1.1221E+00
43 1.680 1.5704E+00
44 1.720 1.9747E+00
45 1.760 2.3237E+00
46 1.800 2.6076E+00
47 1.840 2.8184E+00
48 1.880 2.9504E+00
49 1.920 2.9997E+00
50 1.960 2.9650E+00
51 2.000 2.8472E+00
52 2.040 2.6497E+00
53 2.080 2.3780E+00
54 2.120 2.0397E+00
55 2.160 1.6442E+00
56 2.200 1.2028E+00
57 2.240 7.2757E-01
58 2.280 2.3202E-01
59 2.320 -2.7004E-01
60 2.360 -7.6453E-01
61 2.400 -1.2376E+00
62 2.440 -1.6760E+00
63 2.480 -2.0675E+00
64 2.520 -2.4011E+00
65 2.560 -2.6674E+00
66 2.600 -2.8590E+00
67 2.640 -2.9705E+00
68 2.680 -2.9989E+00
69 2.720 -2.9432E+00
70 2.760 -2.8051E+00
71 2.800 -2.5885E+00
72 2.840 -2.2993E+00
73 2.880 -1.9458E+00
74 2.920 -1.5377E+00
75 2.960 -1.0866E+00
76 3.000 -6.0506E-01
77 3.040 -1.0656E-01
78 3.080 3.9492E-01
79 3.120 8.8534E-01
80 3.160 1.3510E+00
81 3.200 1.7788E+00
82 3.240 2.1567E+00
83 3.280 2.4743E+00
84 3.320 2.7225E+00
85 3.360 2.8946E+00
86 3.400 2.9855E+00
87 3.440 2.9928E+00
88 3.480 2.9163E+00
89 3.520 2.7581E+00
90 3.560 2.5227E+00
91 3.600 2.2166E+00
92 3.640 1.8485E+00
93 3.680 1.4285E+00
94 3.720 9.6856E-01
95 3.760 4.8148E-01
96 3.800 -1.9080E-02
97 3.840 -5.1911E-01
98 3.880 -1.0046E+00
99 3.920 -1.4620E+00
100 3.960 -1.8784E+00
101 4.000 -2.2422E+00
102 4.040 -2.5432E+00
103 4.080 -2.7729E+00
104 4.120 -2.9250E+00
105 4.160 -2.9952E+00
106 4.200 -2.9815E+00
107 4.240 -2.8843E+00
108 4.280 -2.7063E+00
109 4.320 -2.4525E+00
110 4.360 -2.1300E+00
111 4.400 -1.7479E+00
112 4.440 -1.3168E+00
113 4.480 -8.4881E-01
114 4.520 -3.5706E-01
115 4.560 1.4469E-01
116 4.600 6.4239E-01
117 4.640 1.1221E+00
118 4.680 1.5704E+00
119 4.720 1.9747E+00
120 4.760 2.3237E+00
121 4.800 2.6076E+00
122 4.840 2.8184E+00
123 4.880 2.9504E+00
124 4.920 2.9997E+00
125 4.960 2.9650E+00
126 5.000 2.8472E+00

Linear Velocity1_3
Linear Velocity1 (meter/sec)
Frame Time Ref. Coordinate System:
1 0.000 1.2308E+01
2 0.040 1.2558E+01
3 0.080 1.2457E+01
4 0.120 1.2007E+01
5 0.160 1.1220E+01
6 0.200 1.0119E+01
7 0.240 8.7350E+00
8 0.280 7.1060E+00
9 0.320 5.2781E+00
10 0.360 3.3023E+00
11 0.400 1.2340E+00
12 0.440 -8.6880E-01
13 0.480 -2.9473E+00
14 0.520 -4.9432E+00
15 0.560 -6.8007E+00
16 0.600 -8.4678E+00
17 0.640 -9.8976E+00
18 0.680 -1.1050E+01
19 0.720 -1.1893E+01
20 0.760 -1.2403E+01
21 0.800 -1.2566E+01
22 0.840 -1.2377E+01
23 0.880 -1.1841E+01
24 0.920 -1.0973E+01
25 0.960 -9.7983E+00
26 1.000 -8.3490E+00
27 1.040 -6.6658E+00
28 1.080 -4.7959E+00
29 1.120 -2.7917E+00
30 1.160 -7.0927E-01
31 1.200 1.3930E+00
32 1.240 3.4563E+00
33 1.280 5.4227E+00
34 1.320 7.2373E+00
35 1.360 8.8492E+00
36 1.400 1.0213E+01
37 1.440 1.1291E+01
38 1.480 1.2053E+01
39 1.520 1.2477E+01
40 1.560 1.2552E+01
41 1.600 1.2275E+01
42 1.640 1.1654E+01
43 1.680 1.0707E+01
44 1.720 9.4603E+00
45 1.760 7.9484E+00
46 1.800 6.2138E+00
47 1.840 4.3053E+00
48 1.880 2.2762E+00
49 1.920 1.8326E-01
50 1.960 -1.9148E+00
51 2.000 -3.9592E+00
52 2.040 -5.8927E+00
53 2.080 -7.6611E+00
54 2.120 -9.2150E+00
55 2.160 -1.0511E+01
56 2.200 -1.1512E+01
57 2.240 -1.2191E+01
58 2.280 -1.2529E+01
59 2.320 -1.2515E+01
60 2.360 -1.2151E+01
61 2.400 -1.1447E+01
62 2.440 -1.0422E+01
63 2.480 -9.1056E+00
64 2.520 -7.5338E+00
65 2.560 -5.7510E+00
66 2.600 -3.8071E+00
67 2.640 -1.7566E+00
68 2.680 3.4307E-01
69 2.720 2.4332E+00
70 2.760 4.4551E+00
71 2.800 6.3523E+00
72 2.840 8.0715E+00
73 2.880 9.5647E+00
74 2.920 1.0790E+01
75 2.960 1.1713E+01
76 3.000 1.2308E+01
77 3.040 1.2558E+01
78 3.080 1.2457E+01
79 3.120 1.2007E+01
80 3.160 1.1220E+01
81 3.200 1.0119E+01
82 3.240 8.7350E+00
83 3.280 7.1060E+00
84 3.320 5.2781E+00
85 3.360 3.3023E+00
86 3.400 1.2340E+00
87 3.440 -8.6880E-01
88 3.480 -2.9473E+00
89 3.520 -4.9432E+00
90 3.560 -6.8007E+00
91 3.600 -8.4678E+00
92 3.640 -9.8976E+00
93 3.680 -1.1050E+01
94 3.720 -1.1893E+01
95 3.760 -1.2403E+01
96 3.800 -1.2566E+01
97 3.840 -1.2377E+01
98 3.880 -1.1841E+01
99 3.920 -1.0973E+01
100 3.960 -9.7983E+00
101 4.000 -8.3490E+00
102 4.040 -6.6658E+00
103 4.080 -4.7959E+00
104 4.120 -2.7917E+00
105 4.160 -7.0927E-01
106 4.200 1.3930E+00
107 4.240 3.4563E+00
108 4.280 5.4227E+00
109 4.320 7.2373E+00
110 4.360 8.8492E+00
111 4.400 1.0213E+01
112 4.440 1.1291E+01
113 4.480 1.2053E+01
114 4.520 1.2477E+01
115 4.560 1.2552E+01
116 4.600 1.2275E+01
117 4.640 1.1654E+01
118 4.680 1.0707E+01
119 4.720 9.4603E+00
120 4.760 7.9484E+00
121 4.800 6.2138E+00
122 4.840 4.3053E+00
123 4.880 2.2762E+00
124 4.920 1.8326E-01
125 4.960 -1.9148E+00
126 5.000 -3.9592E+00

link 4m-1
Angular Velocity1 (deg/sec)
Frame Time Ref. Coordinate System:
1 0.000 -1.6113E+02
2 0.040 -1.7175E+02
3 0.080 -1.7874E+02
4 0.120 -1.8298E+02
5 0.160 -1.8487E+02
6 0.200 -1.8443E+02
7 0.240 -1.8129E+02
8 0.280 -1.7459E+02
9 0.320 -1.6294E+02
10 0.360 -1.4474E+02
11 0.400 -1.1966E+02
12 0.440 -9.0911E+01
13 0.480 -6.4406E+01
14 0.520 -4.4021E+01
15 0.560 -2.9853E+01
16 0.600 -2.0278E+01
17 0.640 -1.3681E+01
18 0.680 -8.9139E+00
19 0.720 -5.2259E+00
20 0.760 -2.1116E+00
21 0.800 8.0839E-01
22 0.840 3.8822E+00
23 0.880 7.5219E+00
24 0.920 1.2344E+01
25 0.960 1.9458E+01
26 1.000 3.1173E+01
27 1.040 5.3062E+01
28 1.080 1.0109E+02
29 1.120 2.2939E+02
30 1.160 5.7692E+02
31 1.200 7.8942E+02
32 1.240 4.6063E+02
33 1.280 1.8094E+02
34 1.320 2.8079E+01
35 1.360 -5.5554E+01
36 1.400 -1.0429E+02
37 1.440 -1.3445E+02
38 1.480 -1.5398E+02
39 1.520 -1.6697E+02
40 1.560 -1.7563E+02
41 1.600 -1.8117E+02
42 1.640 -1.8421E+02
43 1.680 -1.8496E+02
44 1.720 -1.8324E+02
45 1.760 -1.7846E+02
46 1.800 -1.6949E+02
47 1.840 -1.5474E+02
48 1.880 -1.3296E+02
49 1.920 -1.0539E+02
50 1.960 -7.7038E+01
51 2.000 -5.3371E+01
52 2.040 -3.6249E+01
53 2.080 -2.4602E+01
54 2.120 -1.6690E+01
55 2.160 -1.1123E+01
56 2.200 -6.9708E+00
57 2.240 -3.6225E+00
58 2.280 -6.4879E-01
59 2.320 2.3031E+00
60 2.360 5.5999E+00
61 2.400 9.7326E+00
62 2.440 1.5512E+01
63 2.480 2.4510E+01
64 2.520 4.0246E+01
65 2.560 7.1938E+01
66 2.600 1.4853E+02
67 2.640 3.6818E+02
68 2.680 7.7025E+02
69 2.720 6.4555E+02
70 2.760 3.0158E+02
71 2.800 9.2630E+01
72 2.840 -1.9665E+01
73 2.880 -8.2987E+01
74 2.920 -1.2107E+02
75 2.960 -1.4523E+02
76 3.000 -1.6113E+02
77 3.040 -1.7175E+02
78 3.080 -1.7874E+02
79 3.120 -1.8298E+02
80 3.160 -1.8487E+02
81 3.200 -1.8443E+02
82 3.240 -1.8129E+02
83 3.280 -1.7459E+02
84 3.320 -1.6294E+02
85 3.360 -1.4474E+02
86 3.400 -1.1966E+02
87 3.440 -9.0911E+01
88 3.480 -6.4406E+01
89 3.520 -4.4021E+01
90 3.560 -2.9853E+01
91 3.600 -2.0278E+01
92 3.640 -1.3681E+01
93 3.680 -8.9139E+00
94 3.720 -5.2259E+00
95 3.760 -2.1116E+00
96 3.800 8.0839E-01
97 3.840 3.8822E+00
98 3.880 7.5219E+00
99 3.920 1.2344E+01
100 3.960 1.9458E+01
101 4.000 3.1173E+01
102 4.040 5.3062E+01
103 4.080 1.0109E+02
104 4.120 2.2939E+02
105 4.160 5.7692E+02
106 4.200 7.8942E+02
107 4.240 4.6063E+02
108 4.280 1.8094E+02
109 4.320 2.8079E+01
110 4.360 -5.5554E+01
111 4.400 -1.0429E+02
112 4.440 -1.3445E+02
113 4.480 -1.5398E+02
114 4.520 -1.6697E+02
115 4.560 -1.7563E+02
116 4.600 -1.8117E+02
117 4.640 -1.8421E+02
118 4.680 -1.8496E+02
119 4.720 -1.8324E+02
120 4.760 -1.7846E+02
121 4.800 -1.6949E+02
122 4.840 -1.5474E+02
123 4.880 -1.3296E+02
124 4.920 -1.0539E+02
125 4.960 -7.7038E+01
126 5.000 -5.3371E+01

link 4m-1
Angular Displacement1 (deg)
Frame Time Ref. Coordinate System:
1 0.000 -3.5360E+00
2 0.040 -1.0208E+01
3 0.080 -1.7228E+01
4 0.120 -2.4471E+01
5 0.160 -3.1835E+01
6 0.200 -3.9229E+01
7 0.240 -4.6554E+01
8 0.280 -5.3685E+01
9 0.320 -6.0455E+01
10 0.360 -6.6633E+01
11 0.400 -7.1941E+01
12 0.440 -7.6155E+01
13 0.480 -7.9245E+01
14 0.520 -8.1391E+01
15 0.560 -8.2850E+01
16 0.600 -8.3840E+01
17 0.640 -8.4512E+01
18 0.680 -8.4959E+01
19 0.720 -8.5239E+01
20 0.760 -8.5385E+01
21 0.800 -8.5411E+01
22 0.840 -8.5318E+01
23 0.880 -8.5093E+01
24 0.920 -8.4701E+01
25 0.960 -8.4075E+01
26 1.000 -8.3084E+01
27 1.040 -8.1449E+01
28 1.080 -7.8504E+01
29 1.120 -7.2343E+01
30 1.160 -5.7127E+01
31 1.200 -2.7532E+01
32 1.240 -1.9656E+00
33 1.280 1.0357E+01
34 1.320 1.4220E+01
35 1.360 1.3512E+01
36 1.400 1.0234E+01
37 1.440 5.4133E+00
38 1.480 -3.8249E-01
39 1.520 -6.8189E+00
40 1.560 -1.3683E+01
41 1.600 -2.0828E+01
42 1.640 -2.8143E+01
43 1.680 -3.5534E+01
44 1.720 -4.2907E+01
45 1.760 -5.0153E+01
46 1.800 -5.7128E+01
47 1.840 -6.3635E+01
48 1.880 -6.9413E+01
49 1.920 -7.4192E+01
50 1.960 -7.7833E+01
51 2.000 -8.0420E+01
52 2.040 -8.2191E+01
53 2.080 -8.3393E+01
54 2.120 -8.4209E+01
55 2.160 -8.4759E+01
56 2.200 -8.5117E+01
57 2.240 -8.5327E+01
58 2.280 -8.5412E+01
59 2.320 -8.5380E+01
60 2.360 -8.5223E+01
61 2.400 -8.4921E+01
62 2.440 -8.4423E+01
63 2.480 -8.3638E+01
64 2.520 -8.2375E+01
65 2.560 -8.0212E+01
66 2.600 -7.6048E+01
67 2.640 -6.6486E+01
68 2.680 -4.3482E+01
69 2.720 -1.3017E+01
70 2.760 5.5930E+00
71 2.800 1.3046E+01
72 2.840 1.4281E+01
73 2.880 1.2115E+01
74 2.920 7.9734E+00
75 2.960 2.6126E+00
76 3.000 -3.5360E+00
77 3.040 -1.0208E+01
78 3.080 -1.7228E+01
79 3.120 -2.4471E+01
80 3.160 -3.1835E+01
81 3.200 -3.9229E+01
82 3.240 -4.6554E+01
83 3.280 -5.3685E+01
84 3.320 -6.0455E+01
85 3.360 -6.6633E+01
86 3.400 -7.1941E+01
87 3.440 -7.6155E+01
88 3.480 -7.9245E+01
89 3.520 -8.1391E+01
90 3.560 -8.2850E+01
91 3.600 -8.3840E+01
92 3.640 -8.4512E+01
93 3.680 -8.4959E+01
94 3.720 -8.5239E+01
95 3.760 -8.5385E+01
96 3.800 -8.5411E+01
97 3.840 -8.5318E+01
98 3.880 -8.5093E+01
99 3.920 -8.4701E+01
100 3.960 -8.4075E+01
101 4.000 -8.3084E+01
102 4.040 -8.1449E+01
103 4.080 -7.8504E+01
104 4.120 -7.2343E+01
105 4.160 -5.7127E+01
106 4.200 -2.7532E+01
107 4.240 -1.9656E+00
108 4.280 1.0357E+01
109 4.320 1.4220E+01
110 4.360 1.3512E+01
111 4.400 1.0234E+01
112 4.440 5.4133E+00
113 4.480 -3.8249E-01
114 4.520 -6.8189E+00
115 4.560 -1.3683E+01
116 4.600 -2.0828E+01
117 4.640 -2.8143E+01
118 4.680 -3.5534E+01
119 4.720 -4.2907E+01
120 4.760 -5.0153E+01
121 4.800 -5.7128E+01
122 4.840 -6.3635E+01
123 4.880 -6.9413E+01
124 4.920 -7.4192E+01
125 4.960 -7.7833E+01
126 5.000 -8.0420E+01
 link 332m-1
Angular Acceleration1 (deg/sec**2)
Frame Time Ref. Coordinate System:
1 0.000 9.8724E-14
2 0.040 8.2200E-14
3 0.080 6.5701E-14
4 0.120 5.0395E-14
5 0.160 3.7377E-14
6 0.200 2.8948E-14
7 0.240 2.5724E-14
8 0.280 3.0286E-14
9 0.320 4.4056E-14
10 0.360 6.5840E-14
11 0.400 8.9255E-14
12 0.440 9.8199E-14
13 0.480 8.8007E-14
14 0.520 6.8536E-14
15 0.560 4.9665E-14
16 0.600 3.4784E-14
17 0.640 2.3665E-14
18 0.680 1.5186E-14
19 0.720 8.9124E-15
20 0.760 4.2034E-15
21 0.800 5.6697E-16
22 0.840 -4.2743E-15
23 0.880 -9.7116E-15
24 0.920 -1.7709E-14
25 0.960 -3.0524E-14
26 1.000 -5.4861E-14
27 1.040 -1.0940E-13
28 1.080 -2.6049E-13
29 1.120 -7.7469E-13
30 1.160 -1.9861E-12
31 1.200 2.0200E-13
32 1.240 7.4463E-13
33 1.280 7.2731E-13
34 1.320 3.9134E-13
35 1.360 1.9811E-13
36 1.400 8.8138E-14
37 1.440 2.0156E-14
38 1.480 1.0670E-13
39 1.520 9.0521E-14
40 1.560 7.3888E-14
41 1.600 5.7882E-14
42 1.640 4.3404E-14
43 1.680 3.2668E-14
44 1.720 2.6362E-14
45 1.760 2.7022E-14
46 1.800 3.5958E-14
47 1.840 5.4475E-14
48 1.880 7.8560E-14
49 1.920 9.6191E-14
50 1.960 9.5273E-14
51 2.000 7.8760E-14
52 2.040 5.8449E-14
53 2.080 4.1666E-14
54 2.120 2.8872E-14
55 2.160 1.9052E-14
56 2.200 1.1815E-14
57 2.240 6.4442E-15
58 2.280 2.3435E-15
59 2.320 -9.6612E-16
60 2.360 -6.7381E-15
61 2.400 -1.3282E-14
62 2.440 -2.3238E-14
63 2.480 -4.0432E-14
64 2.520 -7.6471E-14
65 2.560 -1.6450E-13
66 2.600 -4.3800E-13
67 2.640 -1.3654E-12
68 2.680 -1.4925E-12
69 2.720 7.4900E-13
70 2.760 9.2502E-13
71 2.800 5.3943E-13
72 2.840 2.8045E-13
73 2.880 1.3608E-13
74 2.920 5.0321E-14
75 2.960 1.1455E-13
76 3.000 9.8723E-14
77 3.040 8.2207E-14
78 3.080 6.5703E-14
79 3.120 5.0395E-14
80 3.160 3.7377E-14
81 3.200 2.8948E-14
82 3.240 2.5724E-14
83 3.280 3.0286E-14
84 3.320 4.4060E-14
85 3.360 6.5838E-14
86 3.400 8.9250E-14
87 3.440 9.8202E-14
88 3.480 8.8069E-14
89 3.520 6.8571E-14
90 3.560 4.9665E-14
91 3.600 3.4784E-14
92 3.640 2.3665E-14
93 3.680 1.5194E-14
94 3.720 8.9124E-15
95 3.760 4.2034E-15
96 3.800 5.6688E-16
97 3.840 -4.2743E-15
98 3.880 -9.7116E-15
99 3.920 -1.7709E-14
100 3.960 -3.0524E-14
101 4.000 -5.4864E-14
102 4.040 -1.0940E-13
103 4.080 -2.6049E-13
104 4.120 -7.7469E-13
105 4.160 -1.9861E-12
106 4.200 2.0200E-13
107 4.240 7.4463E-13
108 4.280 7.2733E-13
109 4.320 3.9135E-13
110 4.360 1.9811E-13
111 4.400 8.8194E-14
112 4.440 2.0167E-14
113 4.480 1.0670E-13
114 4.520 9.0521E-14
115 4.560 7.3888E-14
116 4.600 5.7882E-14
117 4.640 4.3415E-14
118 4.680 3.2668E-14
 119 4.720 2.6362E-14
120 4.760 2.7022E-14
121 4.800 3.5958E-14
122 4.840 5.4475E-14
123 4.880 7.8560E-14
124 4.920 9.6191E-14
125 4.960 9.5273E-14
126 5.000 7.8641E-14

REFERENCES:

MECH 343 Theory of machines Lab Manual. Montreal: Concordia University