ESCUELA POLITÉCNICA NACIONAL

FACULTY OF MECHANICAL ENGINEERING

THEORY OF MACHINES
DINAMIC EQUILIBRIUM WITH MASSES
NAME: Benavides Gavilánez Jared Isaac
GROUP: GR1-ING
DATE: 16/07/2024

DEVELOPMENT
Consider the following characteristics for the mechanism: AB=CD=CE= L;
m AB=mCD =mCE =m , it is possible to find the polygon of accelerations of the system taking
into account that for this instant of time the angular velocity in all the bars is equal to zero,
therefore there are no centripetal accelerations in the system.

Fig. 1: 4BAR mechanism.

With that information the polygon of acceleration is the following figure:

Fig. 2: Polygon of acceleration.

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Analyzing the accelerations it is possible obtain this relations about angular accelerations in
the system.
a' b'
α AB=α 2=
L
2a ' b '
α CD =α 3=
L
α CE =α 4=0
Also is necessary found accelerations acting in the center of masses for any bodies.
a' b'
a G AB=a G 2=
2
a G C D =aG 3=a ' b '
a G CE =aG 4=0

Free body diagram of CE

Now, let’s start with forces analysis. On body CE the weight must be balance with any
force, so this forces for balance are in the extreme points with half magnitude of the weight.
In addition, the tension acting in the axis of the cable, however it has any unknown forces,
there are reaction forces, but these can be determine using the forces mentioned previously.

Fig. 3: FBD of CE without reactions forces and without magnitude scale

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Free body diagram of CD
In that case is necessary balance all reactions forces, external forces and inertial forces for
determine dynamic equilibrium. Keep in mind that inertial forces are caused by
accelerations and angular accelerations.

Fig. 4: FBD of CD without magnitude scale

Free body diagram of AB

Also, analyzing the body AB, it is diagram resultant without magnitudes scales.

.
Fig. 5: FBD of AB without magnitude scale

Finding magnitudes
With FBD of three bodies it is possible to create an equation system realizing summatory of
moments and forces.

Using FBD of CD and applicate sum of moments around point B:

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mg L L
−T sin 60 ° + I G α 3 =0
2 2 2

mgL √ 3 L
2 ' '
mL 2a b
− T+ =0
4 4 12 L

mg √ 3 m ' '
− T + a b =0
4 4 6

And with sum of forces in vertical direction:

V mg
T sin 60 ° +m aG 3 + F 23 − −mg=0
2
√3 T + ma' b' + F V − 3 mg =0
23
2 2
At this moment it exists two equations with three incognito, so realizing sum of moments in
the point A on the body AB:
L L V
I G α 2−mg + maG 2 −F 3 2 L=0
2 2
2 ' '
m L a b mgL a' b' L V
− +m −F 2 3 L=0
12 L 2 2 2
mL ' ' mgL mL ' ' V
a b− + a b −F23 L=0
12 2 4
m ' ' V mg
a b −F 23 − =0
3 2
With this equation system:

{
mg √ 3 m
− T + a' b' =0(1)
4 4 6
√ 3 T +m a' b' + F V − 3 mg =0(2)
23
2 2
m ' ' V mg
a b −F 23 − =0(3)
3 2

Solving (3) for F V23:

V −mg m ' '
F 23 = + ab
2 3
Replace that in (2) and solve for a ' b' :

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√3 T + ma' b' − mg + m a' b ' − 3 mg =0

2 2 3 2
4m ' ' √3 ' ' 3 g 3 √3
a b −2 mg+ T =0a b = − T
3 2 2 8m
Replace that in (1) and solve for T:
mg √ 3
4
− T+
4
m 3 g 3 √3
6 2
−
8m (
T =0 )
mg √ 3 mg √3
− T+ − T =0
4 4 4 16
mg 5 √ 3
− T =0
2 16
8 √3
T= mg
15
With this it is possible find the rest of the incognito.

' ' 9
a b= g
10
V −1
F 23 = mg
5
9g
α 2=
10 L
18
α 3= g
10 L
9
a G 2= g
20
9
a G 3= g
10

With that find al the magnitudes for FBD.

In CE:
8 √3
T= mg
15
W =mg

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In body CD:
9
m aG 3 = mg
10
18 mL
I G α3 = g
120

Fig. 6: Directions of forces in link 3.

Fig. 7: Analysis link 2.

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References
[1] J. J. Uicker, Theory of machines and mechanisms, 5th ed. New York: Oxford Univ.
Press, 2011.

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