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+ I 2 2 2 + I 3 3 3 + I 4 4 4
The forces/moment, the
corresponding application point
velocities, and the linear
accelerations are shown. We
measure the necessary angles
and evaluate the formula:
Fs
VB
G3
W3
VG 4
VG 3
T2
G4
AG 4
W4
AG 3
O2
O4
245
29.4
39.2
40.7
Power formula:
0
1.27
0.51
1.03
{0 245} 0 + {0 29.4} 0.65 + {0 39.2} 0.37 + {67.4 40.7} 0.75 + T2 (1.6) =
0
1.27
0.51
(25) {0 0} + (3) {1.32 1.16}
+ (4) {0.06 0.29}
0
0.65
0.37
+ (15)(2.0)(1.6) + (1.5)(1.24)(0.21) + (2)(0.11)(0.32)
This results into T2 = 28.3 .
(3) Analytical, Free-Body-Diagram:
In order to compute the moments, we need the following moment arms:
cos110 0.34
cos 66.7 0.49
cos 66.7 0.49
R AO2 = 1.0
, R AG3 = 1.25
, R BG3 = 1.25
=
=
=
sin110 0.94
sin 66.7 1.15
sin 66.7 1.15
cos126 0.88
cos126 0.88
R BG4 = 1.5
, R O4G4 = 1.5
=
=
sin126 1.21
sin126 1.21
FBD:
F4
F3
T2
O2
F5
F6
F5
F2
W2
W3
F3
Fs
AG 4
G3
F1
F6
G4
W4
F4
AG 3
O4
F8
Equilibrium equations:
0
F1 F3 0
= (25)
+
0
F2 F4 245
F3
F3
R AO2 + T2 {0.94 0.34 } + T2 = (15)(2.0)
F4
F4
1.32
F3 F5 0
= (3)
+
1.16
F4 F6 29.4
F3
F5
F3
F5
R AG3
+ R BG3 {1.15 0.49}
+ {1.15 0.49} = (1.5)(1.24)
F4
F6
F4
F6
0.06
F5 F7 67.4 0
= (4)
+ +
0.29
F6 F8 40.7 39.2
F5
F7
R BG4
+ Fs + R O4G4
F6
F8
{1.21
F5 67.4
F7
0.88}
+ {1.21 0.88} = (2)(0.11)
+
F6 40.7
F8
F
0 1 0
0 F2 245
F
1 3 30
0 F4 3.96
0 F5 = 25.92
1.86
0 F6
0 F 67.64
7
0 F 78.74
8
0
0
0
1.21 0.88 1.21 0.88 0 T 45.96
2
Solving these equations provides the answer for T2 .
1
0
0
0
0
0
0
0
1
0
0
0
1
0
1
0
0
0 0.94 0.34
0
0
0
1
0
1
0
0
0
1
0
1
0 1.15 0.49 1.15 0.49
0
0
0
1
0
0
0
0
0
1
0
0
0
0
0
0
1
0
0
0
0
0
0
0
0
1
F7