Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix

nd Matrix Solution

MAAE 3004:
Dynamics of Machinery
Chapters 11 and 12
Force Analysis of Mechanisms

Department of Mechanical and Aerospace Engineering

Carleton University

c M.J.D. Hayes, R.A. Irani, F.F. Afagh and R.G. Langlois

Sections in text: 11.1-11.8, 12.1, 12.4-12.8

Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

Outline

Preliminaries

Forces Acting on Links

Solution Using Graphical Analysis and Superposition

Analytical Force Balances and Matrix Solution

Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

Introduction

In the design of mechanisms and machines, the required motions are often
specified first. The dynamics task is essentially determining those forces that
must be applied and/or those forces that accompany the motions

The required process is to:

1. Determine masses, centres of mass, and mass moments of inertia, IG , of
the links
2. Perform kinematic analysis to determine linear and angular accelerations of
all links (evaluate ~
aG at the centre of mass for all links as well as α
~)
3. Perform force analysis either by:
• graphical analysis and superposition, or by
• analytical force balances and matrix solution
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

5.1 Preliminaries

5.1.1 Newton’s Laws

For each link in a mechanism, ~
aG and α
~ are found from kinematics where G
indicates the centre of mass

Newton’s laws state:

• The actions of two bodies on each other are always equal and directly
opposite
• The change in motion of a body is proportional to the moving force
impressed upon it and occurs in the direction of the impressed force
X
F~ = m~aG (translation) (1)

and X
M~G = IG α
~ (rotation) (2)
| {z } |{z}
mass moment
net moment
about CM of inertia about the CM

Newton’s laws are vector equations implying both magnitude and direction.
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

5.1.2 D’Alembert’s Principle

D’Alembert’s principle states
The vector sum of all external forces and inertia forces acting on a
system of rigid bodies is zero.

X
F~applied − m~
aG = 0 (3)
The vector sum of all external moments and inertia moments acting
on a system of rigid bodies is also separately zero

X
~ Gapplied − IG α
M ~ =0 (4)
The inertial force F~I and inertia moment M
~I are defined such that
X
~ ~
F + FI = 0 ⇒ F~I = −m~aG (5)
X
~ +M
M ~I = 0 ⇒ ~ I = −IG α
M ~ (6)
Therefore
X
F~ = 0 (including F~I ) (7)
X
~
M = 0 ~I)
(including M (8)
D’Alembert’s principle allows dynamic problems to be treated similarly to static
problems (i.e., quasi-static)
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

5.1.3 Combining F~I and M

~ I into One Offset Force

The combined effect of all forces and moments acting on a rigid body can be
represented by a single equipollent force and a single equipollent moment
acting about the centre of mass

The equipollent force and moment

can be replaced by a single offset
force F~o that has the same
magnitude and direction as ΣF~ but
is shifted by h to cause the same
effect as M~G

|M ~G|
h= (9)
|F~O |
The offset direction is chosen such
that the offset force results in the
same moment direction as M ~G
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

5.1.4 Mass and Weight

• Mass
• Defines the inertia of a system
• Is unrelated to gravity
• Should be considered when large mass and or accelerations (related to
operating speeds) cause significant inertia forces
• Weight
• Defines the force exerted by gravity such that W = mg where m is the link
mass and |g | = 9.8 m/s2 = 32.2 ft/s2
• Is a static load
• Should be considered when it is significant and acts in a relevant direction
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

5.2 Forces Acting on Links

5.2.1 Two-Force Members

A two-force member has only 2 significant forces acting on it

• m and I often may be ignored due to small values

P ~
• the two forces must be colinear to satisfy M = 0 and must act along
the line joining their points of application
• the two forces must have equal magnitudes but opposite directions to
P~
satisfy F =0
• One of the two forces could be the inertia force.
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

Other examples of two-force members:

Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

5.2.2 Three-Force Members

A three-force member has three significant forces acting on it:

• the lines of action of all three forces must intersect at a point (necessary
P ~
to satisfy M = 0)
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

P~
• the sum of the applied forces must balance (i.e., F = 0 including the
inertia force)

For the system shown below

X
F~ = F~A + F~B + F~C = 0 (10)

• two unknown force magnitudes can be solved for, provided the magnitude
and direction of one force (e.g., the inertia force) and directions of the
other two forces are known.
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

Example 5.1
Offset-Crank Engine

Determine the output torque τ that can be developed by the offset-crank

engine in the configuration shown using graphical force analysis. Ignore the
inertia force and moment acting on the connecting rod and crank.
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

1. Piston (three-force member)

|F~I | = maG = (1.5kg )(2744m/s 2 ) = 4116 N

2
|F~P | = PA = (1.0x106 mN2 )( π(0.1)
4
) = 7854 N

since two known applied forces can be combined into a single force,
then
√√
piston
√√
becomes
√
a three-force member
√ √√
o o
( F~I + F~P )+ F~W + F~A = ~0

then from the force polygon |F~A | = 3860 N; direction as shown

Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

2. Connecting Rod (two-force member neglecting inertia)

√√ √ √√
o
• F~B = −F~A ( F~A + F~B = ~0 )
• |F~B | = 3860 N; direction as shown
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

3. Crank

• ΣF~ = m~
a ⇒ ΣF~ = 0

F~C = −F~B
• ΣM~C = IG α~ =0

τ − dFB = 0

where d is the perpendicular distance from FB to a parallel line passing

through point C, then

τ = dFB = (35mm)(3860N) = 135.1Nm ccw

Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

5.3 Solution Using Graphical Analysis and Superposition

Principle of Superposition: “For linear systems the individual responses to

several disturbances or driving functions can be superposed on each other to
obtain the total response of the system.”
The general procedure is:
1. Perform a kinematic analysis of the complete mechanism and extract the
linear acceleration of each link centre of mass and angular acceleration.
2. Ignoring inertia, perform a static analysis using free-body diagrams (FBDs)
for each link.
3. Find F~I and M ~ I for each link and the corresponding values F~O and offset
distances h.
4. For each offset force, but now ignoring static loads, analyse forces in the
mechanism. This should be repeated for each offset force.
5. Vectorially add the results of each force analysis for each constraint force
location.
Note that constraint forces are the pair of action and reaction forces between
any two contacting points. Applied forces are those that are applied to links
but developed outside the system of links.
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

Example 5.2
Perform a complete dynamic force analysis of the four-bar linkage shown in the
figure below. The known information is provided on the figure.

J J.Uicker.Theory of Machines and Mechanisms. Oxford University Press Inc., New York, New York, United States, 4th edition, 2011.
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

1. Perform the kinematic analysis to determine the velocity and subsequently

acceleration polygons. The images are used to obtain A~G 3 and A
~G 4 .

J J.Uicker.Theory of Machines and Mechanisms. Oxford University

Press Inc., New York, New York, United States, 4th edition, 2011.

J J.Uicker.Theory of Machines and Mechanisms. Oxford University

Press Inc., New York, New York, United States, 4th edition, 2011.

Angular accelerations are calculated:

AtB/A
α3 = = 148 rad/s2 ccw
RB/A
AtB/O4
α4 = = 604 rad/s2 cw
RB/O4
These linear and angular accelerations subsequently will be used to determine
inertia forces and moments respectively on links 3 and 4.
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

2. Calculate F~I 3 and M

~ I 3 as well as F~I 4 and M
~ I4

F~I 3 = −m3 ~
aG 3 = (7.13/32.2)(758) = 168lb (see dir.)
~ I3
M = −IG 3 α ~ 3 = (0.625 in lb s2 )(148) = 92.5 in lb cw
|MI 3 |
h3 = = 0.550 in
|FI 3 |
F~I 4 = −m4 ~
aG 4 = 37.1lb (see direction on figure)
~ I4
M = −IG 4 α ~ 4 = 22.3 in lb ccw
|MI 4 |
h4 = = 0.602 in
|FI 4 |

J J.Uicker.Theory of Machines and Mechanisms. Oxford University

Press Inc., New York, New York, United States, 4th edition, 2011.

J J.Uicker.Theory of Machines and Mechanisms. Oxford University

Press Inc., New York, New York, United States, 4th edition, 2011.
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

3. Force Analysis Strategy

• Use superposition principle to simplify the force analysis into a series of

problems comprised of two and three-force members.
1. Apply inertia force m4 AG 4 only ⇒ Link 4 is a three-force member; link 3 is
a two-force member
2. Apply inertia force m3 AG 3 only ⇒ Link 4 is a two-force member; link 3 is a
three-force member
3. Apply external force F~c only ⇒ Link 4 is a three-force member; link 3 is a
two-force member

J J.Uicker.Theory of Machines and Mechanisms. Oxford University Press Inc., New York, New York, United States, 4th edition, 2011.
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

4. Evaluate loads associated with inertia force m4 AG 4

Link 4

Link 3
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

5. Evaluate loads associated with inertia force m3 AG 3

Link 3
Link 4
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

6. Evaluate loads associated with applied force F~c

Link 4

Link 3
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

7. Link 4 Summary
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

8. Link 3 Summary
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

9. Determine resultant load F32 and required torque M12

0 00 000 0 00 000
F32 = F32 + F32 + F32 = −(F23 + F23 + F23 )

F32 = 145 lb
• Link 2 is pivoted to ground at O2 where the link centre of mass G2 is
located; therefore it will not experience any linear inertia force and it can
be considered at the end of the overall analysis.

M12 = F32 h2 = (145lb)(1.56in) = 226 in lb cw

Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

5.4 Analytical Force Balances and Matrix Solution

The general procedure with this approach is to:

1. Draw free body diagrams for each link;
2. Generate equilibrium equations for each link;
3. Assemble all equilibrium equations into a single linear matrix equation; and
4. Solve the matrix equation for all unknown force components.
Note that for static moment equilibrium, any point can be used as the
reference point; with dynamic equilibrium, in general, moments should be
summed about the link centres of mass.
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

Example 5.3
Outline how the matrix solution method can be used to determine the required
applied driving torque Ts and corresponding joint reaction forces in the four-bar
mechanism for a set of specified linear and angular accelerations of each of the
links determined by a previous kinematic analysis of the linkage.

Solution Method:
1. Draw free-body
diagrams
2. Write equilibrium
equations
3. Form matrix equation
4. Solve
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

rij vector from CG of

link i to joint j
Fik force link i exerts on
link k
gi CG of link i
Agi acceleration of CG gi
αi angular acceleration
of link i
Mi mass of link i
Ii mass moment of
inertia of link i
about gi
Ts driving torque
applied to link 2
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

• Fik = −Fki
• An independent set of solution
variables must be chosen.
• F14 , F21 , F32 , and F43 are
selected as solution variables in
this example.
• Other selections are possible.
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

Equilibrium equations are written for link 2.

F32x − F21x = M2 Ag2 x

F32y − F21y = M2 Ag2 y

r22x F32y − r22y F32x − r21x F21y

+r21y F21x + Ts = I2 α2
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

Equilibrium equations are written for link 3.

F43x − F32x = M3 Ag3 x

F43y − F32y = M3 Ag3 y

r33x F43y − r33y F43x − r32x F32y

+r32y F32x = I3 α3
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

Equilibrium equations are written for link 4.

F14x − F43x = M4 Ag4 x

F14y − F43y = M4 Ag4 y

r44x F14y − r44y F14x − r43x F43y

+r43y F43x = I4 α4
Preliminaries Forces Acting on Links Solution Using Graphical Analysis and Superposition Analytical Force Balances and Matrix Solution

Each of the nine equilibrium equations are combined into a single 9 by 9 matrix
equation where the unknowns are the eight unknown joint reaction force
components and the applied torque Ts .

 
 −1 0 1 0 0 0 0 0 0  F21x 
 M2 Ag2 x 
−1
   
 0 0 1 0 0 0 0 0 

 F21y 




 M 2 Ag2 y 


 r21y −r21x −r22y r22x 0 0 0 0 1  F32x I2 α2
 
 
 

  
 
 

 0 0 −1 0 1 0 0 0 0  F32y  M3 Ag3 x
 
 
 

   
 0
 0 0 −1 0 1 0 0 0 
 F43x = M 3 Ag3 y
 0
 0 r32y −r32x −r33y r33x 0 0 0 
 F43y 






 I3 α3 



 0 0 0 0 −1 0 1 0 0 
 F14x 




 M4 Ag4 x 


−1
   
0 0 0 0 0 0 1 0 F14y
    M A 

 
   4 g4 y 

0 0 0 0 r43y −r43x −r44y r44x 0 Ts
 
I4 α4

This equation can be solved either numerically or symbolically as it is in the

familiar form for simultaneous linear equations

[A]{x} = {b}