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The mechanism shown below is made up of links OA, AB and BC. Links OA and BC are
pinned to ground at point O and C, respectively. Link AB joins links OA and BC at pin joints A
and B, respectively. Pins O and C are on the same horizontal line. At the instant shown,
• link AB is horizontal and BC is vertical.
• link BC is rotating in the CW sense at a constant rate of ωBC = 3 rad/sec.
A D B VB
300 mm
y
500 mm
VD
VA 300 mm
ωBC
x
O C
Velocity analysis
( )
BC : v B = vC + ! BC " r B/C = 0 + (! BC k ) " 300 j = #300! BC i
( )
!300" BC i = !300" OA i + 400" OA j + (" AB k ) # ( 300i )
= ( !300" OA ) i + ( 400" OA + 300" AB ) j $
i: ! 300" BC = !300" OA # " OA = " BC = !3 rad / sec
j: 0 = 400" OA + 300" AB # " AB = ! ( 4 / 3) " OA = 4 rad / sec
Acceleration analysis
BC : a B = aC + ! BC " r B/C # $ BC
2
r B/C = 0 + 0 # $ BC
2
(
300 j = #300$ BC
2
)
j
OA : a A = aO + ! OA " r A/O # $ OA
2
r A/O
( )
= 0 + (! OA k ) " 400i + 300 j # $ OA
2
(
400i + 300 j )
(
= #300! OA # 400$ OA
2
) (
i + 400! OA # 300$ OA
2
j )
AB : a B = a A + ! AB " r B/ A # $ AB
2
r B/ A %
!300" BC
2
(
j = !300# OA ! 400" OA
2
) (
i + 400# OA ! 300" OA
2
)
j + (# AB k ) $ ( 300i ) ! 300" AB
2
i
= ( !300# OA ! 400" OA
2
! 300" AB
2
) (
i + 400# OA ! 300" OA
2
+ 300# AB j ) %
i: 0 = !300" OA ! 400# OA
2
! 300# AB
2
$ " OA = ! ( 4 / 3)# OA
2
! # AB
2
= !28 rad / sec 2
j : ! 300# BC
2
= 400" OA ! 300# OA
2
+ 300" AB $ " AB = !# BC
2
+ # OA
2
! ( 4 / 3)" OA = 37.3 rad / sec 2
Answers:
! OA = ! OA k = ( "3k ) rad / sec
! AB = ! AB k = ( 4k ) rad / sec
# OA = # OA k = ( "28 k ) rad / sec 2
# AB = # AB k = ( 37.3k ) rad / sec 2