ME 452 Machine Design II Professor G. R.

Pennock
Homework 10 Monday, November 22nd, 2021

The Power Equation and the Equation of Motion. Solve Problem 12.30, see page 730.

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Solution to Homework 10.
The input link 2 is rotating with a constant angular velocity ω2 = 10 rad/s counterclockwise. The
angular velocities of links 3 and 4, from Problem 12.20, see page 728, are ω3 = 1.43 rad/s clockwise,
and ω4 = 11.43 rad/s clockwise, respectively. The angular accelerations of links 3 and 4 and the
acceleration of the center of mass of link 3, respectively, can be taken as

α3 = α 4 = 84.8 rad/sec2 counterclockwise and A G = + 310 i + 295 j in/sec 2

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In the given posture, the spring and the damper are both parallel to the X-axis. The stiffness of the
spring is k = 12 lbs/in and the free length is R O = 4.5 ins. The viscous damper has a damping
coefficient C = 0.25 lbs.sec/in. There is also a known external force acting at the coupler point C, that
is, FC = − 125 j lbs.
The data that is provided in Problem 12.20, see page 728, is O2A = 6 in, O2O4 = 18 in, AB = 18 in,
O4B = 6 in, AC = 24 in, AG3 = 12 in, W3 = 10 lbs, IG 2 = IG 4 = 0.063 in-lb-sec 2 , IG 3 = 0.497 in-lb-sec 2 ,
and gravity g = 32.2 ft/ sec2 = 386.4 in/sec2.
(i) Figure 1 shows the vectors that will be used in the kinematic analysis of the four-bar linkage.

Figure 1. The vectors for the four-bar linkage.

The first-order kinematic coefficient of link 3 can be written as
ω3 − 1.43
θ3′ = θ33′ = = = − 0.143 rad/rad (1)
ω2 + 10

The first-order kinematic coefficient of link 4 can be written as

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 ω4 − 11.43
θ 4′ = = = − 1.143 rad/rad (2)
ω2 + 10

The angular acceleration of link 3 can be written as

α 3 = θ3′′ ω2 2 + θ3′ α 2 (3a)

Rearranging this equation, the second-order kinematic coefficient for link 3 can be written as
α 3 − θ3′ α 2
θ3′′ = θ33′′ = rad/rad 2 (3b)
ω22

Therefore, the second-order kinematic coefficient of link 3 is

+ 84.8 − (− 0.143)(0)
θ3′′ = θ33′′ = 2
= + 0.848 rad/rad 2 (4)
(+ 10)

Similarly, the angular acceleration of link 4 can be written as

α 4 = θ 4′′ ω2 2 + θ 4′ α 2 (5)

Therefore, the second-order kinematic coefficient of link 4 is

+ 84.8 − (− 1.143)(0)
θ 4′′ = = + 0.848 rad/rad 2 (6)
(+ 10) 2

Since the mass centers G2 and G4 are located at the fixed pivots O2 and O4, respectively, then the first
and second-order kinematic coefficients of these mass centers are
xG 2 =0 xG′ 2 =0 xG′′ 2 =0
yG 2 =0 y G′ 2 =0 y G′′ 2 =0
xG 4 = 18 in xG′ 4 =0 xG′′ 4 =0
yG 4 =0 y G′ 4 =0 y G′′ 4 =0

To determine the first and second-order kinematic coefficients for the center of mass of the coupler
link. Using the point path approach, the vector loop for the center of mass of link 3 can be written as

RG 3 = R2 + R33 (7)

where R2 = 6 in, θ2 = 60º, R33 = 12 in, and θ33 = θ3 = 321.8º. The X and Y components of the vector
equation for the center of mass of link 3 are
xG 3 = R2 cos θ 2 + R33 cos θ3 = 6 cos 60° + 12 cos 321.8° = + 12.4303 in (8a)
and
yG 3 = R2 sin θ 2 + R33 sin θ3 = 6sin 60° + 12sin 321.8° = − 2.2247 in (8b)

The first-order kinematic coefficients for the center of mass of link 3 are
xG′ 3 = − R2 sin θ 2 − R33 sin θ3θ3′ = − 6sin 60° − 12sin 321.8°(− 0.143) = − 6.2573 in (9a)
and

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 yG′ 3 = R2 cos θ 2 + R33 cos θ3θ3′ = 6 cos 60° + 12 cos 321.8°(− 0.143) = + 1.6515 in (9b)

The second-order kinematic coefficients for the center of mass of link 3 can be written as

xG′′ 3 = − R2 cos θ 2 − R33 cos θ3θ3′2 − R33 sin θ3θ3′′ (10a)

and
yG′′ 3 = − R2 sin θ 2 − R33 sin θ3θ3′2 + R33 cos θ3θ3′′ (10b)

Therefore, the second-order kinematic coefficients for the center of mass of link 3 are

xG′′ 3 = − 6 cos 60° − 12 cos 321.8°(− 0.143)2 − 12sin 321.8°(+ 0.848) = + 3.10 in (11a)
and
yG′′ 3 = − 6sin 60° − 12sin 321.8°(− 0.143) 2 + 12 cos 321.8°(+ 0.848) = + 2.95 in (11b)

Check: The acceleration of the mass center of link 3 can be written as

A G3 = ( xG′′ 3 iˆ + yG′′ 3 ˆj )ω2 2 + ( xG′ 3 iˆ + yG′ 3 ˆj )α 2 (12a)

Substituting Equations (12) into Equation (13a), the acceleration of the mass center of link 3 is

AG = (+ 3.10 i + 2.95 j)( + 10) 2 in/sec 2 (12b)

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that is
A G = + 310 i + 295 j in/sec 2 = + 25.83 i + 24.58 j ft/sec 2 (12c)
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Note that this answer agrees with the acceleration of the mass center of link 3 which is given in the
problem statement.
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(ii) To determine A
j =2
j . Note that the equivalent mass moment of inertia of the four-bar linkage is
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I EQ =  Aj , therefore, the units must be in-lb-sec 2 .
j =2

For link 2.

A2 = m2 ( x′G22 + y′G22 ) + I G 2θ 2′2 = m2 (0 + 0) + 0.063 (1) 2 = + 0.063 in-lb-sec 2 (13)

For link 3.
A3 = m3 ( x′G23 + y′G23 ) + I G 3θ3′2 (14a)
which can be written as
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A3 = [(− 6.2573) 2 + 1.65152 )] + 0.497 (− 0.143) 2 = + 1.094 in-lb-sec 2 (14b)
386.4
For link 4.

A4 = m4 ( x′G24 + y′G24 ) + I G 4θ 4′2 = m4 (0 + 0) + 0.063 (− 1.143) 2 = + 0.0823 in-lb-sec 2 (15)

Therefore, the equivalent mass moment of inertia of the four-bar linkage is

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 4
I EQ =  Aj = 0.063 + 1.094 + 0.0823 = + 1.239 in-lb-sec 2 (16)
j =2
4 4
1 4 d Aj
To determine  B j . Note that
j =2
 Bj =
j =2

2 j =2 d θ2
, therefore, the units must be in-lb-sec 2 .

For link 2.
B2 = m2 ( xG′ 2 xG′′ 2 + yG′ 2 yG′′ 2 ) + I G 2θ 2′θ 2′′ = m2 (0 + 0) + 0.063(1)(0) = 0 (17)

For link 3.
B3 = m3 ( xG′ 3 xG′′ 3 + yG′ 3 yG′′ 3 ) + I G 3θ3′θ3′′ (18a)

which can be written as

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B3 = [(− 6.2573)(+ 3.10) + (+ 1.6515)(+ 2.95)] + 0.497(− 0.143)( + 0.848) in-lb-sec 2 (18b)
386.4
or as
B3 = − 0.436 in-lb-sec2 (18c)
For link 4.
B4 = m4 ( xG′ 4 xG′′ 4 + yG′ 4 yG′′ 4 ) + I G 4θ 4′θ 4′′ (19a)

which can be written as

B4 = m4 (0 + 0) + 0.063(− 1.143)(+ 0.848) = − 0.061 in-lb-sec 2 (19b)

Therefore, the sum of the coefficients is

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B
j =2
j = B2 + B3 + B4 = 0 − 0.436 − 0.061 = − 0.497 in-lb-sec 2 (20)

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It is interesting to note that B j =2
j is a negative value. Since the angular velocity of link 2 is a constant

in the counterclockwise direction then the time rate of change of the kinetic energy must be a negative
value, see Equation (31). The negative sign implies that the power due to the time rate of change of the
kinetic energy, is coming out of the system.
(iii) The power equation can be written as

d T d U d Wf
P= + + (21)
dt dt dt

The left-hand side of the power equation can be written as

P = T12 ⋅ ω2 + FC ⋅VC (22)

The unknown torque T12 will be assumed to be in the same direction as the input angular velocity (i.e.,
counterclockwise). The velocity of point C can be written as

VC = ( xC′ iˆ + yC′ ˆj ) ω2 (23)

The first-order kinematic coefficients for the path of point C can be obtained from the vector equation
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 RC = R2 + R3 (24)

The X and Y components of this vector equation are

xC = R2 cos θ 2 + R3 cos θ 3 (25a)
and
y C = R2 sin θ 2 + R3 sin θ 3 (25b)

Therefore, the first-order kinematic coefficients for point C are

xC′ = − R2 sin θ 2 − R3 sin θ3θ3′ = − 6sin 60° − 24sin 321.8°(− 0.143) = − 7.31853 in (26a)
and
yC′ = R2 cos θ 2 + R3 cos θ3θ3′ = 6 cos 60° + 24 cos 321.8°(− 0.143) = + 0.30294 in (26b)

Substituting Equations (26) into Equation (23), the velocity of point C can be written as

VC = (− 7.31853 iˆ + 0.30294 ˆj ) ω2 (27)

Therefore, the power due to the vertically downward force at point C is

FC ⋅ VC = − 125 ˆj ⋅ ( xC′ iˆ + yC′ ˆj ) ω2 = − 125 yC′ ω2 in.lb/sec (28a)

which gives

FC ⋅VC = − 125 × (+ 0.30294) ω2 = − 37.87 ω2 in.lb/sec (28b)

The negative sign indicates that the vertical force and the vertical component of the velocity of point C
are in opposite directions (i.e., the vertical component of the velocity of point C must be upwards).
This answer can be checked by observing the location of the absolute instant center of the coupler link
3; i.e., I13 , for this position of the four-bar linkage.
Substituting Equation (28) into Equation (22), the net power is
P = + T12ω2 − 37.87 ω2 (29)

Now consider the right-hand side of the power equation, see Equation (21). The time rate of change
of the kinetic energy can be written as
4 4
dT
=  Aj ψ ψ +  B j ψ 3
  (30a)
d t j =2 j =2

where the generalized input for this problem is

ψ = θ2 = ω2 and ψ = θ2 = α 2

Therefore, Equation (30a) can be written as

4 4
dT
=  Aj ω2 α 2 +  B j ω23 (30b)
d t j =2 j =2

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Since the angular velocity of the input link is a constant ω2 = 10 rad/s counterclockwise then the time
rate of change of the kinetic energy is
dT
= [+ 1.239 (0) − 0.497 (+ 10) 2 ] ω2 = − 49.7 ω2 in-lb/sec (31)
dt

The time rate of change of the potential energy due to gravity is

d Ug 4
=  m j g yG′ j ψ = m3 g yG′ 3 ω2 = 10 × 1.6515 ω2 = + 16.515 ω2 in-lb/sec (32)
dt j =2

The first-order kinematic coefficient for the spring. The vector loop equation for the spring can be
written as
R2 − RS − R10 = 0 (33a)

where the stretched length of the spring (for the given position of the four-bar linkage) is
Rs = x A = R2 cos θ 2 = 6 cos 60° = 3 in (33b)

The X and Y components of Equation (33a) are

R 2 cos θ 2 − R S cos θS − R10 cos θ10 = 0 (34a)
and
R 2 sin θ 2 − R S sin θS − R10 sin θ10 = 0 (34b)

Differentiating Equations (33) with respect to the input position gives

− R2 sin θ 2 − RS′ cos θ S − RS sin θ Sθ S′ = 0 (35a)
and
R2 cos θ 2 − RS′ sin θ S − RS cos θ Sθ S′ = 0 (35b)

Substituting the known information into Equation (35a) gives

− 6sin 60o − RS′ = 0 (36a)

Therefore, the first-order kinematic coefficient for the spring is

Rs′ = − 6 sin 60° = − 5.19 in (36b)

Check: For this problem, the first-order kinematic coefficient for the spring can be written as
Rs′ = x′A = − R2 sin θ 2 = − 6 sin 60° = − 5.19 in (37)

Note that the first-order kinematic coefficient θ S′ is not required for the power equation.
The time rate of change of the potential energy in a linear spring can be written as
d Us
= k ( Rs − Rso ) Rs′ ω2 (38a)
dt

Substituting Equation (36b) and the known information into Equation (38a) gives
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 d Us
= 12 lb/in (3 in − 4.5 in) (− 5.19 in) ω2 = + 93.42 ω2 in-lb/sec (38b)
dt
Adding Equations (32) and (38b), the total time rate of change of potential energy is

d U d Ug d US
= + = 16.515 ω2 + 93.42 ω2 = + 109.94 ω2 in-lb/sec (39)
dt dt dt

The first-order kinematic coefficient for the viscous damper. The vector loop equation for the
viscous damper can be written as

R4 − RC − R11 = 0 (40)

The X and Y components of this equation are

R 4 cos θ4 − R C cos θC − R11 cos θ11 = 0 (41a)
and
R 4 sin θ4 − R C sin θC − R11 sin θ11 = 0 (41b)

Differentiating Equations (41) with respect to the input position gives

− R4 sin θ 4θ 4′ − RC′ cos θC − RC sin θCθC′ = 0 (42a)
and
R4 cos θ 4θ 4′ − RC′ sin θC − RC cos θCθC′ = 0 (42b)

Substituting the known information (where the angle θ 4 = 261.8°, the angle θC = 180°, and the first-
order kinematic coefficient θ 4′ = − 1.143 rad/rad) into Equation (42a) gives

− 6sin 261.8o (− 1.143) − RC′ cos180o − RC (0) = 0 (43a)

Therefore, the first-order kinematic coefficient for the viscous damper is

RC′ = + 6sin 261.8o (− 1.143) = + 6.79 in (43b)

The positive sign indicates that the length of the vector RC is increasing for the positive input. Note
that this agrees with the instant centers for the linkage. Also, note that the length of the vector RC is
not required since the damper is horizontal in this position and the first-order kinematic coefficient θC′
is not required for the power equation.
The velocity of point B at the end of the damper is
VB = RC′ ω2 = + 6.79 (+ 10) = + 67.9 in/sec (44)

Check: The first-order kinematic coefficient for the damper can be written as
RC′ = − x′B = R2 sin θ 2 + R3 sin θ3 θ3′ (45a)
which can be written as

RC′ = − x′B = 6 sin 60° + 18 sin 321.8 (− 0.143) = + 6.79 in (45b)

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 The time rate of change of the dissipative effects caused by the viscous damper is
d Wf
= C Rc′2 ω2 2 = 0.25 (+ 6.79) 2 10 ω2 = + 114.92 ω2 (46)
dt

Therefore, the right-hand side of the power equation, see Equation (21), can be written as

d T d U d Wf
+ + = − 49.7 ω2 + 109.94 ω2 + 114.92 ω2 = + 175.16 ω2 in-lb/sec (47)
dt dt dt

It is interesting to note that the first term (the time rate of change of kinetic energy) accounts for 18.1%
decrease in the total power, the second term (the time rate of change of potential energy) accounts for
40.0% of the total power, and the third term (the dissipative effects) accounts for 41.9% of the total
power. A reason for the viscous damper dominating the power equation is the numerical value that is
assigned to the damping coefficient.
Substituting Equations (29) and (47) into Equation (21) gives
+ T12 ω2 − 37.87 ω2 = + 175.16 ω2 in-lb/sec (48)

(iv) The equation of motion is obtained by dividing both sides of Equation (48) by the input angular
velocity ω2. Therefore, the equation of motion for this problem can be written as
T12 − 37.87 = + 175.16 in-lb (49)

(v) The driving torque acting on the input crank, from Equation (49), is
T12 = + 213.03 in-lb (50)

The positive sign indicates that the assumption that the driving torque acting on the input crank is in
the same direction as the input angular velocity (that is, counterclockwise) is correct. Therefore, the
driving torque acting on the input crank is
T12 = 213.03 in-lb counterclockwise (51)

The net power can be written as

P = PIN − POUT (52)

Substituting Equation (50) into Equation (29), the net power is

P = + 213.03 ω2 − 37.87 ω2 = + 175.16 ω2 in.lb/sec (53)

Note that this result agrees with Equation (47). Substituting ω2 = 10 rad/sec counterclockwise into
Equation (53), the net power is
P = + 175.16 (+ 10) = + 1751.6 in.lb/sec (54)

Note that the net power is positive, therefore, power is going into the mechanism.