Department of Mechanical Engineering

Indian Institute of Technology, Roorkee

MIC -202 – Theory of Machines
B.Tech – II Year mechanical/ Production and Industrial Engineering
nd

Assignment No. 3 Topic: Force Analysis of Mechanism

Q.3) For the mechanism as shown in Figure 1 is acted upon by a force P = 100N at ∠120° on link CD.
The dimensions of the various links are AB = 40 mm, BC = 60 mm, CD = 50 mm, CE = 30 mm,
and DE = 20 mm. Determine the input torque on link AB for the static equilibrium of the
mechanism.

Solution:
Draw the configuration diagram to a scale of 1 cm = 10 mm as shown in Figure 5 (a). The forces acting
on the various members are as follows:
Step-1
Consider Link 2: Link 2 is subjected to two forces F12, F32, and a torque T2 (Figure 5(b)).
Step-2
Consider Link 3: Link 3 is subjected to two forces F23 and F43 (Figure 5(c)).
Step-3
Consider Link 4: Link 4 is subjected to three forces F, F34, and F14 (Figure 5(d)).
Step-4
We observe that link 3 is a two-force link, as shown in Figure 5(c). For its equilibrium, F23 and F43
must act along BC. Their magnitudes and direction are not known at this stage.
Step-5
Draw free body diagram for link 4, as shown in Figure 5(d). At point C, draw a line parallel to BC to
intersect the line of action of P at G. Then the line of action of F14 shall also pass through G. Now draw
the triangle of forces to a scale of 1 cm = 20 N, as shown in Figure 5(e) to know the forces F34 and F14
completely in magnitude and direction. From the triangle of forces, we have
F34 = -F43 = F23 = -F32 =ab = 2.4 cm = 28 N
F14 = bo = 4.9 cm = 98 N
Step-6
Link 2 shall be in equilibrium, as shown in Figure 5(b) if F12 is equal, parallel, and opposite to F32. By
measurement, h = 3.9 cm = 39 mm.
T = -F32 X h = -28 X 39 = -1092 N mm (Counter-clockwise)
Input torque,
T2 = -T = 1092 N mm (Clockwise)

Q.4) Determine the torque required to be applied at the crankshaft of a slider crank mechanism to bring
it in equilibrium. The slider is subjected to a force of 5000 N and a force of magnitude 1000 N is
applied on the connecting rod as shown in Figure 2. The dimensions of various links are as under:
OA = 250 mm, AB = 750 mm and AC = 250 mm, BOA = 40°. Also, determine the values of all
the pin reactions.
Solution: The graphical solution procedure is given as under:
Step-1. Draw configuration diagram of the mechanism as shown in Figure (a).
Start from link 3 Figure (b):
Draw free body diagram of link 3 as shown in Figure 1(b). The force F43 is
broken into two components—one along the link 𝐹 𝑡 43 and another normal to the
link 𝐹 𝑛 43 .
Step-2. Taking moments about point A,
P × 𝑥 = 𝐹 𝑛 43 × 𝐴𝐵
Where 𝑥 = AC cos 30° = 250 × cos 30° = 216.5 mm
1000×216.5
Force: 𝐹 𝑛 43 = = 288.67 𝑁
750

Step-3. Out of forces acting on link 4, force’s F and 𝐹 𝑛 43 are known completely [Figure
1(c)]. Force 𝐹14 is perpendicular to the sliding surface and force 𝐹 𝑡 43 is along
the link 3. Construct a force polygon as shown in Figure 1(d) with suitable scale
(1 mm = 100 N). By measurement, the magnitude of force 𝐹34 = 5200 N.
Step-4. Draw the force polygon of link 3 with forces 𝐹43 , P and 𝐹23 . By measurement, force
𝐹23 = 5700 N. [See Figure 1(e)].
Step-5. Draw the free body diagram of link 2. Measure distance h and calculate torque
[Figure 1(f)].
𝑇2 = 𝐹32 × ℎ
= 5700 × 0.175
= 997.5 Nm clockwise
 (𝑎)

(𝑑)

(𝑒) (𝑓)

Q.5) For the mechanism as shown in Figure 3, carryout the complete dynamic force analysis of the
mechanism.
𝜔2 = 20 𝑟𝑎𝑑/𝑠 (𝐶𝑊), 𝛼2 = 160 𝑟𝑎𝑑⁄𝑠 2 (CW)
OA= 250 mm, OG2= 110 mm, AB=300 mm, AG3=150 mm, BC=300 mm, CG4=140 mm, OC=550
mm, AOC = 60°
The masses and mass moment of inertia of the various links are given as below;
Link Mass Mass Moment of
(m, kg) Inertia (𝐼𝐺 , Kg-𝑚2 )
2 20.7 0.01872
3 9.66 0.01105
4 23.47 0.0277
Given Data: OA= 250 mm, OG2= 110 mm, AB=300 mm, AG3=150 mm, BC=300 mm, CG4=140 mm,
OC=550 mm, AOC = 60°
Link Mass (m, kg) Mass Moment of Inertia
(IG, Kg-m2)
2 20.7 0.01872
3 9.66 0.01105
4 23.47 0.0277

The given configuration diagram is shown in figure,

The velocity diagram for given mechanism is shown in figure

Given, 𝜔2 = 20 rad/s (CW), OA = 250mm
Velocity of input link 2 (𝑉𝐴 ),
∴ 𝑉𝐴 = 𝜔2 × 𝑂𝐴 = 20 × 250 = 5000 𝑚𝑚/𝑠 = 𝟓 𝒎/𝒔
Take scale, 1 m/s = 1 cm
Velocity of link 3 (𝑉𝐵 ) = 3.95 m/s
Velocity of link 3 (𝑉𝐵𝐴 ) = 4.28 m/s
The acceleration diagram for given mechanism is shown in figure,
Given, 𝛼2 = 160 𝑟𝑎𝑑/𝑠 2 (CW), OA = 250 mm
Radial acceleration of input link 2,
(𝑉𝐴 )2 (5)2
𝐴𝐴𝑟 = = = 𝟏𝟎𝟎 𝒎/𝒔𝟐
𝑂𝐴 0.250
Tangential acceleration of input link 2,
𝐴𝐴𝑡 = 𝛼2 × 𝑂𝐴 = 160 × 0.250 = 𝟒𝟎 𝒎/𝒔
 𝑎′

Therefore;
(𝑉𝐵 )2 (3.95)2
𝐴𝑟𝐵 = = = 𝟓𝟐. 𝟎 𝒎/𝒔𝟐
𝐶𝐵 0.3
(𝑉𝐵𝐴 )2 (4.28)2
𝐴𝑟𝐵𝐴 = = = 𝟔𝟏. 𝟎𝟔 𝒎/𝒔𝟐
𝐵𝐴 0.3
𝐴𝑔2 = 47.4 𝒎/𝒔𝟐
𝐴𝑔3 = 111.8 𝒎/𝒔𝟐
𝐴𝑔4 = 58.0 𝒎/𝒔𝟐
𝐴𝑡𝐵𝐴 22.2
𝛼3 = = = 74 𝒎/𝒔𝟐
𝐴𝐵 0.3
𝐴𝑡𝐵 113
𝛼4 = = = 376.67 𝒎/𝒔𝟐
𝐶𝐵 0.3
Inertia forces (accelerating forces)
𝐹𝑔2 = 𝑚2 × 𝐴𝑔2 = 20.7 × 47.4 = 981.18 N (In the direction of 𝑂𝑔2 )
𝐹𝑔3 = 𝑚3 × 𝐴𝑔3 = 9.66 × 111.8 = 1079.99 N (In the direction of 𝑂𝑔3 )

𝐹𝑔4 = 𝑚4 × 𝐴𝑔4 = 23.47 × 58.0 = 1361.26 N (In the direction of 𝑂𝑔4 )

𝐼𝐺2 × 𝛼2 (0.01872 × 160)
ℎ2 = = = 𝟑. 𝟎𝟓 × 𝟏𝟎−𝟑 𝒎
𝐹𝑔2 981.18

𝐼𝐺3 × 𝛼3 (0.01105 × 74)

ℎ3 = = = 𝟕. 𝟓𝟕 × 𝟏𝟎−𝟒 𝒎
𝐹𝑔3 1079.99

𝐼𝐺4 × 𝛼4 (0.0277 × 376.67)

ℎ4 = = = 𝟕. 𝟔𝟔 × 𝟏𝟎−𝟑 𝒎
𝐹𝑔4 1361.26

The inertia force Fi 2 , Fi3 and Fi 4 have magnitudes equal and direction opposite to the respective
accelerating forces and will be tangents to the circles of radius h2, h3 & h4 from G2, G3 & G4 so as to
oppose  2 ,  3 &  4 .
𝑭𝒊𝟐 = 𝟗𝟖𝟏. 𝟏𝟖 𝑵,
𝑭𝒊𝟑 = 𝟏𝟎𝟕𝟗. 𝟗𝟗 𝐍
𝑭𝒊𝟒 = 𝟏𝟑𝟔𝟏. 𝟐𝟔 𝐍

Q.6) The connecting rod of a gasoline engine is 300 mm long between its centres. Its has a mass of 15
kg and mass moment of inertia of 7000 kg-mm2. Its centre of gravity is at 200 mm from its small
end centre. Determine the dynamical equivalent two mass system of the connecting rod if one of
the masses is located at the small end centre.

Solution: Given : L = 300 mm; m = 15 kg; I = 7000 kg-mm2; ℎ1 = 200 𝑚𝑚

Let 𝑘𝑔 = Radius of gyration of the connecting rod about an axis passing through its centre of gravity G.

We know the mass moment of inertia (I)

𝐼 = 𝑚𝑘𝐺2

7000 = 15 𝑘𝐺2
7000
𝑘𝐺2 = = 466.7 𝑚𝑚2
15
 𝑘𝐺 = 21.6 𝑚𝑚

It is given that one of the masses is located at the small end centre. Let the other mass is placed at a distance ℎ2
from the centre of gravity G, as shown in Figure

We know that for a dynamical equivalent system,

ℎ1 ℎ2 = 𝑘𝐺2

𝑘𝐺2 466.7
ℎ2 = = = 2.33 𝑚𝑚
ℎ1 200
Let
𝑚1 = Mass placed at the small end centre, end

𝑚2 = Mass placed at the distance ℎ2 from the centre of gravity G.

We know that
ℎ2 𝑚 2.33 × 15
𝑚1 = = = 0.16 𝑘𝑔
ℎ1 + ℎ2 200 + 2.33
ℎ1 𝑚 200 × 15
𝑚2 = = = 1483 𝑘𝑔
ℎ1 + ℎ2 200 + 2.33