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Content Week # Remarks

1. Introduction 1st
a. Types of links
b. Degree of freedom
2. Position 2nd
a. Vector diagram
b. Position analytical method
3. Velocity 3rd + 4th
a. Vector diagram
b. Velocity analytical method
4. Acceleration 5th + 6th
a. Vector diagram
b. acceleration analytical method
5. first midterm exam 7th
6. gear train, balance and mechanical advantage 7th + 8th
7. Flywheels: 9th
a. Energy Storing.
b. Kinetic Energy and Equivalent Inertia
8. Cams: design and kinematic analysis 10th
9. Force analysis 11th
10. Static analysis 12th
11. Second midterm exam 13th
12. Dynamic analysis 14th + 13th
a. Inertia forces
b. inertia torque
13. Free Vibrations: 15th + 16th
a. Properties of Vibration Forces.
b. Natural Frequency.
c. Engineering Applications 1 3
14. Final exam

• Grades are distributed as follow:

Quizzes Homework 1st midterm 2nd midterm Final Exam Total

10 10 20 20 40 100

• Some remarks:
• Quizzes will not be repeated for absent or late Students
with or without excuse.
• Late student will get a point which it is half absent. Two
times late ( two points ) are considered one full absent.
• References:
• Note book
• Theory of machines and mechanisms by Shigley and Uicker

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• Chapter 1: Introduction
• 1.1. Definition
• The subject Theory of Machines may be defined
as that branch of Engineering-science, which
deals with the study of relative motion between
the various parts of a machine, and forces which
act on them. The knowledge of this subject is
very essential for an engineer in designing the
various parts of a machine.
• Note:A machine is a device which receives energy
in some available form and utilizes it to do some
particular type of work.

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• 1.2. Sub-divisions of Theory of Machines

• The Theory of Machines may be sub-divided into the
following four branches :
• 1. Kinematics. It is that branch of Theory of Machines
which deals with the relative motion between the various
parts of the machines.
• 2. Dynamics. It is that branch of Theory of Machines which
deals with the forces and their effects, while acting upon
the machine parts in motion.
• 3. Kinetics. It is that branch of Theory of Machines which
deals with the inertia forces which arise from the combined
effect of the mass and motion of the machine parts.
• 4. Statics. It is that branch of Theory of Machines which
deals with the forces and their effects while the machine
parts are at rest. The mass of the parts is assumed to be
negligible.

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Kinematics of
Motion
• The kinematics of motion such as the relative
motion of bodies without consideration of the
forces causing the motion. In other words,
kinematics deal with the geometry of motion
and concepts like displacement, velocity and
acceleration considered as functions of time.

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2.2. Plane Motion

When the motion of a body is confined to only one plane, the
motion is said to be plane motion. The plane motion may be
either rectilinear or curvilinear.
2.3. Rectilinear Motion
It is the simplest type of motion and is along a straight line path.
Such a motion is also known as translatory motion.
2.4. Curvilinear Motion
It is the motion along a curved path. Such a motion, when
confined to one plane, is called plane curvilinear motion.
When all the particles of a body travel in concentric circular paths
of constant radii (about the axis of rotation perpendicular to the
plane of motion) such as a pulley rotating about a fixed shaft or a
shaft rotating about its own axis, then the motion is said to be a
plane rotational motion.
Note: The motion of a body, confined to one plane, may not be
either completely rectilinear nor completely rotational. Such a
type of motion is called combined rectilinear and rotational
motion.

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Kinetics of
Motion
• The kinetics of motion, i.e. the motion which
takes into consideration the forces or other
factors, e.g. mass or weight of the bodies.

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• Some applications of mechanisms

Valve control mechanism
Windshield wiper mechanism

Punch
Mechanism

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A Loader Mechanism Skelton

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The Scissors jack

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Classification of mechanisms according to the type of

motion transformation
• Linear Actuators Linear actuators include stationary
screws with traveling nuts, stationary nuts with
traveling screws, and single-acting and double-acting
hydraulic and pneumatic cylinders.
• Ratchets and Escapements There are many different
forms of ratchets and escapements, some quite
clever. They are used in locks, jacks, clockwork, and
other applications requiring some form of
intermittent motion. Figure 1.12 shows four typical
applications.

Figure 1.12 Ratchets and escapements.

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• Indexing Mechanisms The indexer shown in Fig. 1.13a

uses standard gear teeth; for light loads, pins can be
used in the input wheel 2 with corresponding slots in
wheel 3, but neither form should be used if the shaft
inertias are large.
• Figure 1.13b shows a Geneva-wheel, sometimes called
a “Maltese-cross,” indexer.
• Three or more slots may be used in the driven link, 2,
which can be attached to, or geared to, the output to
be indexed.
• High speeds and large inertias may cause problems
with this indexer.

Figure 1.13 Indexing mechanisms.

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• Swinging or Rocking Mechanisms The category of swinging

or rocking mechanisms is often termed oscillators; in each
case, the output rocks or swings through an angle that is
generally less than 360◦ Figure 1.14a is a mechanism
consisting of a rotating crank 2 and a coupler 3 containing a
rack, which meshes with output gear 4 to produce the
(a)
oscillating motion.

Figure 1.14 Oscillating mechanisms part (a)

• In Fig. 1.14b, crank 2 drives link

3, which slides on output link 4,
producing a rocking motion.
This mechanism is described as
a quick-return mechanism,
because crank 2 rotates through
a larger angle on the forward
stroke of link 4 than on the
return stroke. (b)

Figure 1.14 Oscillating mechanisms part (b)

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• Figure 1.14c is a four-bar linkage called the crank-rocker

linkage (Sec. 1.9). Crank 2 drives rocker 4 through the
coupler 3. Of course, link 1 is the frame. The characteristics
of the rocking motion depend on the dimensions of the
links and the placement of the frame pivots.

(c)

Figure 1.14 Oscillating mechanisms part (c)

• Figure 1.14d shows a cam-and-follower mechanism, in which the

rotating link 2, called the cam, drives link 3, called the follower, in
a rocking motion. An endless variety of cam-and-follower
mechanisms are possible, many of which are discussed in Chap. 6.

(d)

Figure 1.14 Oscillating mechanisms part (d)

• In each case, the cam can be designed to produce an output

motion with the desired characteristics.

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• Reciprocating Mechanisms Repeating straight-

line motion is commonly obtained using either
a pneumatic or hydraulic cylinder, a stationary
screw with a traveling nut, a rectilinear drive
using a reversible motor or reversing gears, or a
cam-and follower mechanism.
• A variety of typical linkages for obtaining
reciprocating motion are shown in Figs. 1.15
and 1.16

Figure 1.15 Reciprocating linkages (a) and (b).

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Figure 1.15 Reciprocating linkages (c) and (d).

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• Figure 1.17a shows a six-bar linkage derived

from the crank-rocker linkage of
• Fig. 1.14c by expanding coupler 3 and adding
coupler 5 and slider 6. Coupler point C should
be located to produce the desired motion
characteristic for slider 6

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Simple
Mechanisms
• Kinematic Link or Element
• Each part of a machine, which moves relative
to some other part, is known as a kinematic
link (or simply link) or element.

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5.3. Types of Links

In order to transmit motion, the driver and the follower may be
connected by the following three types of links :
1. Rigid link. A rigid link is one which does not undergo any
deformation while transmitting motion. Strictly speaking, rigid links do
not exist. However, as the deformation of a connecting rod, crank etc.
of a reciprocating steam engine is not appreciable, they can be
considered as rigid links.
2. Flexible link. A flexible link is one which is partly deformed in a
manner not to affect the transmission of motion. For example, belts,
ropes, chains and wires are flexible links and transmit tensile forces
only.
3. Fluid link. A fluid link is one which is formed by having a fluid in a
receptacle and the motion is transmitted through the fluid by pressure
or compression only, as in the case of hydraulic presses, jacks and
brakes.

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• The links of a mechanism must be connected in

some manner in order to transmit motion from the
driver, or input, to the driven, or follower, or output.
• The connections, the joints between the links, are
called kinematic pairs (or simply pairs), because
each joint consists of a pair of mating surfaces, two
elements, one mating surface or element being a
part of each of the joined links.
• Thus, we can also define a link as the rigid
connection between two or more joint elements.

• When several links are connected together by joints, they

are said to form a kinematic chain.
• Links containing only two joint elements are called binary
links, those having three joint elements are called ternary
links, those having four joint elements are called quaternary
links, and so on.
• If every link in a chain is connected to at least two other
links, the chain forms one or more closed loops and is called
a closed kinematic chain; if not, the chain is referred to as
open.
• If a chain consists entirely of binary links, it is a simple-
closed chain.
• Compound-closed chains, however, include other than
binary links and thus form more than a single closed loop.

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• We see that it is necessary to have a closed

kinematic chain with one link fixed.
• When we say that one link is fixed, we mean that it
is chosen as the frame of reference for all other
links; that is, the motions of all points on the links of
the mechanism are measured with respect to the
fixed link.
• This link, in a practical machine, usually takes the
form of a stationary platform or base (or a housing
rigidly attached to such a base) and is commonly
referred to as the ground, frame, or base link.∗

• We use the term kinematic chain to specify

a particular arrangement of links and joints
when it is not clear which link is to be
treated as the frame.
• When the frame link is specified, the
kinematic chain is called a mechanism.

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• There will be as many of these parameters as

there are degrees of freedom of the joint in
question, and they are referred to as joint
variables.
• Thus, the joint variable of a pinned joint will be
a single angle measured between reference
• lines fixed in the adjacent links, while a spheric
joint will have three joint variables (all angles)
to specify its three-dimensional rotation.

• The kinematic pairs classification

• The kinematic pairs are classified into two categories: namely,
higher pairs and lower pairs.
• Lower pairs have surface contact between the joint elements.
• Lower pairs consist of the six prescribed types shown in Fig. 1.2

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• The revolute or turning pair, R (Fig. 1.2a),

permits only relative rotation and is often
referred to as a pin joint. This joint has one
degree of freedom.
• The prism or prismatic pair, P (Fig. 1.2b),
permits only relative sliding motion and
therefore is often called a sliding joint. This
joint also has one degree of freedom.
• The screw or helical pair, H (Fig. 1.2c), permits
both rotation and sliding motion.

• The cylinder or cylindric pair, C (Fig. 1.2d),

permits both rotation and an independent
sliding motion. Thus, the cylindric pair has two
degrees of freedom.
• The sphere or globular pair, S (Fig. 1.2e), is a
ball-and-socket joint. It has three degrees of
freedom, sometimes taken as rotations about
each of the coordinate axes.
• The flat or planar pair, sometimes called an
ebene pair (German), F (Fig. 1.2f ), is seldom
found in mechanisms in its undisguised form,
except at a support point. It has three degrees
of freedom, that is, two translations and a
rotation.

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Types of (joints) nodes according to contact

• Lower pair: joints with surface contact
pure rolling, Full nodes
Its symbol is 𝐽1 . it includes the following
six nodes:

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Higher pairs
• Higher pairs, such as the connection between
a cam and its follower, have line or point
contact between the elemental surfaces.
• Examples include mating gear teeth, a wheel
rolling and/or sliding on a rail, a ball rolling on
a flat surface, and a cam contacting its
follower.

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Higher pair : joints with point or line contact which occurs by

sliding between two parts in a point or line of contact such as
follower with cam.
It acts as a half node and its symbol is 𝑗

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Some examples for higher and lower pairs

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Number of joints or nodes

# of nodes=# of links -1

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Example 1-1
In the following mechanisms find the number of links
and the number of nodes of lower pairs (full nodes)
𝑗 and higher pairs (half nodes) 𝑗 .

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# of links =5
# of full nodes= 5 # of links =6
# of half nodes =1 # of full nodes= 7
# of half nodes =1

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# of links =8
# of full nodes= 10
# of half nodes =0

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Example 1-1
In the following mechanisms find the number of links
and the number of nodes of lower pairs (full nodes) 𝑗
and higher pairs (half nodes) 𝑗 .

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# of links =5
# of full nodes= 5
# of half nodes =1

# of links =6
# of full nodes= 7
# of half nodes =1

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# of links =8
# of full nodes= 10
# of half nodes =0

# of links =3
# of full nodes= 2
# of half nodes =1

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Mechanisms can be divided into planar, spheric, and

spatial categories.
A planar mechanism is one in which all particles
describe planar curves in space, and all these curves
lie in parallel planes.
The planar four-bar linkage, the slider-crank linkage,
the plate cam-and-follower mechanism, and meshing
gears are familiar examples of planar mechanisms.
Planar mechanisms utilizing only lower pairs are
called planar linkages; they include only revolute and
prismatic joints.

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• A spheric mechanism is one in which each moving link has

a point that remains stationary as the mechanism moves. A
familiar example of a spheric mechanism is the Hooke
universal joint (also referred to as the Cardan joint) shown
in Fig. 1.21b.

• Spatial mechanisms include no restrictions on the relative

motions of the links.
• For example, a mechanism that contains a screw joint (Fig.
1.2c) must be a spatial mechanism, since the relative
motion within a screw joint is helical. An example of a
spatial mechanism is the differential screw shown in Fig.
1.11.

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Types of motion
• Rotational

• Translational

• Rotational+ Translational

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• MOBILITY
• If we denote the number of single-degree-of-
freedom joints as j1 and the number of two-degree-
of-freedom joints as j2, then the resulting mobility,
m, of a planar n-link mechanism is given by

• Written in this form, Eq. (1.1) is called the Kutzbach

criterion for the mobility of a planar mechanism

Mobility or Degree of Freedom DOF

Mobility or Degree of Freedom DOF is the number of
input parameters which must be controlled
independently in order to bring the device into a
particular position.[1]
• Kutzbach’s criterion
𝑚 = 3 𝐿 − 1 − 2𝐽 − 𝐽
Where
𝑚 : mobility
𝐿 : number of links
𝐽 : number of lower-pair joints (full joints)
𝐽 : number of high-pair joints (half joints)
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𝐿 = 4 , 𝑗 = 3 , 𝑗 = 1 since there is slipping

𝑚 = 3 𝐿 − 1 − 2𝑗 − 𝑗
𝑚 = 3 4 − 1 − 2 × 3 − 1 = 2 𝐷𝑂𝐹

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• examples in Fig. 1.3

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• If the Kutzbach criterion yields m > 0, the

mechanism has m degrees of freedom.
• If m = 1, the mechanism can be driven by a
single input motion to produce constrained
(uniquely defined) motion. Two examples are
the slider-crank linkage and the four-bar
linkage, shown in Figs. 1.3b and 1.3c,
respectively. If m = 2, then two separate input
motions are necessary to produce constrained
motion for the mechanism; such a case is the
five-bar linkage shown in Fig. 1.3d.

• If the Kutzbach criterion yields m = 0, as in Figs.

1.3a and 1.4a, motion is impossible and the
mechanism forms a structure.
• If the criterion yields m < 0, then there are
redundant constraints in the chain and it forms
a statically indeterminate structure.
• An example is illustrated in Fig. 1.4b. Note in
the examples of Fig. 1.4 that when three links
are joined by a single pin, such a connection is
treated as two separate but concentric joints;
two j1 joints must be counted

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GRASHOF’S LAW for a four bar linkage

Grashof’s law states that, for a planar four-bar linkage,

the sum of the shortest and longest link lengths cannot
be greater than the sum of the remaining two link
lengths if there is to be continuous relative rotation
between two links.
At least one of the links will be revolving

𝑠+𝑙 ≤𝑝+𝑞

𝑠 the shortest link,

𝑙 the longest link,
𝑝 , 𝑞 the two remaining links,

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• Grashof’s law states that one of the links, in

particular the shortest link, will rotate
continuously relative to the other three links if
and only if

• If this inequality is not satisfied, no link will

make a complete revolution relative to
another.

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You can study the four bar mechanisms in

one of the following two cases:

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Example 1-3
The four bar mechanism links are: 𝑅𝐴 =
20𝑐𝑚, 𝑅𝐵 = 70𝑐𝑚, 𝑅𝐵𝐴 = 80𝑐𝑚,
𝑅𝑂4 = 40𝑐𝑚 . Does the mechanism satisfy
grashof criterion? In case of satisfying, what
is the mechanism type?

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Solution
From the given dimensions:
𝑠 = 20𝑐𝑚 , 𝑙 = 80𝑐𝑚 , 𝑝 = 70𝑐𝑚 ,
𝑞 = 40𝑐𝑚
𝑠 + 𝑙 = 100𝑐𝑚 , 𝑝 + 𝑞 = 110𝑐𝑚
Since 𝑠 + 𝑙 < 𝑝 + 𝑞 then grashof criterion is
satisfied
The mechanism is Crank Rocker CR

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Example 1-4
The four bar mechanism links are: 𝑅𝐴 =
30𝑐𝑚, 𝑅𝐵 = 50𝑐𝑚, 𝑅𝐵𝐴 = 80𝑐𝑚,
𝑅𝑂4 = 40𝑐𝑚 . Does it satisfy grashof
criterion? In case of satisfying, what is the
mechanism type?

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Solution
𝑠 = 30𝑐𝑚 , 𝑙 = 80𝑐𝑚 , 𝑝 = 50𝑐𝑚 ,
𝑞 = 40𝑐𝑚
𝑠 + 𝑙 = 110𝑐𝑚 , 𝑝 + 𝑞 = 90𝑐𝑚
Since 𝑠 + 𝑙 > 𝑝 + 𝑞 then grashof criterion is
not satisfied

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Example 1-5
The four bar mechanism links are: 𝑅 = 40𝑐𝑚, 𝑅 = 70𝑐𝑚,
𝑅 = 80𝑐𝑚, 𝑅 = 20𝑐𝑚 . Does it satisfy grashof criterion? In
case of satisfying, what is the mechanism type?

Solution
𝑠 = 20𝑐𝑚 , 𝑙 = 80𝑐𝑚 , 𝑝 = 70𝑐𝑚 , 𝑞 = 40𝑐𝑚
𝑠 + 𝑙 = 100𝑐𝑚 , 𝑝 + 𝑞 = 110𝑐𝑚
Since 𝑠 + 𝑙 < 𝑝 + 𝑞 then grashof criterion is satisfied
The mechanism is double crank CC
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• EXAMPLE 1.1
• Determine the mobility of the planar mechanism shown in Fig.
1.7a

• SOLUTION
The link numbers and the joint types for the mechanism are shown
in Fig. 1.7b. The number of links is n = 5, the number of lower pairs
is j1 = 5, and the number of higher pairs is j2 = 1.
Substituting these values into the Kutzbach criterion, Eq. (1.1),
𝑚 = 3 𝐿 − 1 − 2𝑗 − 𝑗
the mobility of the mechanism is
m = 3(5−1)−2(5)−1(1) = 1.

EXAMPLE 1.2
For the mechanism shown in Fig. 1.8a, determine: (a) the
number of lower pairs (j1 joints) and the number of higher
pairs (j2 joints); and (b) the mobility of the mechanism using
the Kutzbach criterion. Treating rolling contact to mean rolling
with no slipping. Does this criterion provide the correct
answer for the mobility of this mechanism? Briefly explain
why or why not.

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SOLUTION
(a) The links and the joint types of the mechanism are labeled in Fig.
1.8b. The number of links is n = 7, the number of lower pairs is j1 = 9, and
the number of higher pairs is
j2 = 1
(b) Substituting these values into the Kutzbach criterion, Eq. (1.1),
𝑚 = 3 𝐿 − 1 − 2𝑗 − 𝑗
the mobility of the mechanism is
m = 3(7−1)−2(9)−1(1) = −1.

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EXAMPLE 1.3
For the mechanism shown in Fig. 1.9a, determine: (a) the number
of lower pairs and the number of higher pairs; and (b) the mobility
of the mechanism predicted by the Kutzbach criterion. Does this
criterion provide the correct answer for this mechanism?

SOLUTION
(a) The links and the joints of the mechanism are labeled as
shown in Fig. 1.9b. The number of links is n = 5, the number
of lower pairs is j1 = 5, and the number of higher pairs is
j2 = 1
(b) Substituting these values into the Kutzbach criterion, Eq.
(1.1),
𝑚 = 3 𝐿 − 1 − 2𝑗 − 𝑗
the mobility of the mechanism is
m = 3(5−1)−2(5)−1(1) = 1.

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• A measure of the suitability of the following mechanism is

called the advance-to-return ratio is defined as

• Next, noting the direction of rotation of the crank, we

determine the crank angle α traveled through during the
advance stroke and the remaining crank angle β of the
return stroke. Then

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• EXAMPLE 1.4
• The rocker of a crank-rocker four-bar linkage is
required to have a length of 4 in and swing
through a total angle of 45◦. Also, the advance-to-
return ratio of the linkage is required to be 2.0.
Determine a suitable set of link lengths for the
remaining three links.
• Solution
• Equation (1.5) requires
• Given: 𝑟 = 4 𝑖𝑛 , swing angle =45, Q=2
• Determine a suitable set of link lengths for the
remaining three links.

𝑄= = 2.0
𝛼 = 180 + ∅
𝛽 = 180 − ∅
∅
= 2.0 gives 180 + ∅ = 2(180 − ∅)
∅
180 + ∅ = 360 − 2∅
Then
∅ = 60
𝛼 = 240
𝛽 = 120

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After drawing, the measures are:

𝑂 𝐵 = 3.49 , 𝑂 𝐵 = 1.21,
𝑂 𝑂 = 1.33 , 𝑂 𝑂 = 1.4, 𝑟 = 1.93
From drawings:
𝑟 + 𝑟 = 3.49
𝑟 − 𝑟 = 2.21
Solve the two equations gives
𝑟 = 2.85 𝑟 = 0.64
Note: the values of 𝑟 , 𝑟 and 𝑟 depend on
selecting the arbitrary line through 𝐵

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Figure 1.18 Synthesized four-bar linkage.

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• EXAMPLE 1.5
• Determine a suitable set of link lengths for a
slider-crank linkage such that the stroke is
2.50 in and the advance-to-return ratio is 1.4.
• Given
• Mechanism: slider-crank linkage
• Q=1.4
• Stroke =2.5
• Determine a suitable set of link lengths
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Solution
𝑄= = 1.4
𝛼 = 180 + ∅
𝛽 = 180 − ∅
∅
= 1.4 gives 180 + ∅ = 1.4(180 − ∅)
∅
180 + ∅ = 252 − 1.4∅
Then
∅ = 30
𝛼 = 210
𝛽 = 150
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After drawing, the measures are:

𝑂 𝐵 = 3.83 , 𝑂 𝐵 = 1.71,
𝑟 = 1.31 𝑟 = 1.1 , 𝑟 = 1.71
From drawings:
𝑟 + 𝑟 = 3.83
𝑟 − 𝑟 = 1.71
Solve the two equations gives
𝑟 = 2.77 𝑟 = 1.06
Note: the values of 𝑟 , 𝑟 and 𝑟 depend on
selecting the arbitrary line through 𝐵

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• Example 1.6
• A crank and slotted lever mechanism used in a
shaper has a center distance of 300 mm between
the center of oscillation of the slotted lever and
the center of rotation of the crank.
• The radius of the crank is 120 mm.
• Find the ratio of the time of cutting to the time
of return stroke.
• Solution. Given : AC = 300 mm ; 𝐶𝐵 = 120 𝑚𝑚

1 105

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sin 90 − = = = 0.4

sin 90 − = 0.4
sin 0.4 = 90 −
23.6 = 90 −
𝛼 = 2 90 − 23.6 = 132.8
∝
𝑟𝑎𝑡𝑖𝑜 = =
∝
.
𝑟𝑎𝑡𝑖𝑜 = = 1.72
.

107

Example 1.7
In a crank and slotted lever quick return motion
mechanism, the distance between the fixed centers
is 240 mm and the length of the driving crank is 120
mm. Find the inclination of the slotted bar with the
vertical in the extreme position and the time ratio
of cutting stroke to the return stroke.
If the length of the slotted bar is 450 mm, find the
length of the stroke if the line of stroke passes
through the extreme positions of the free end of
the lever.

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𝐴𝐶 = 240 𝑚𝑚
𝐶𝐵 = 120 𝑚𝑚
A𝑃 = 450 𝑚𝑚

109

sin 90 − = = = 0.5

sin 90 − = 0.5
sin 0.5 = 90 −
30 = 90 −
𝛼 = 2 90 − 30 = 120
∝
𝑟𝑎𝑡𝑖𝑜 = =
∝

𝑟𝑎𝑡𝑖𝑜 = =2
∝
𝑙𝑒𝑛𝑔𝑡ℎ 𝑜𝑓 𝑠𝑡𝑟𝑜𝑘𝑒 = 2𝐴𝑃 sin 90 − = 2 × 450 sin(90
− 60) = 450 𝑚𝑚
110

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Example 1.8
The following figure shows the lay out of a quick return
mechanism of the oscillating link type, for a special purpose
machine. The driving crank BC is 30 mm long and time ratio of
the working stroke to the return stroke is to be 1.7. If the length
of the working stroke of R is 120 mm, determine the dimensions
of AC and AP.

Given : BC = 30 mm ; 𝑅 𝑅 = 120 𝑚𝑚 ; Time ratio of working

stroke to the return stroke = 1.7

111

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∝
𝑟𝑎𝑡𝑖𝑜 = =
∝
∝
= 1.7 then 360 −∝= 1.7 ∝
∝
∝
∝= = 133.33 or = 66.65
.

sin 90 − =

𝐴𝐶 = = = 75.69
.

∝
𝑙𝑒𝑛𝑔𝑡ℎ 𝑜𝑓 𝑠𝑡𝑟𝑜𝑘𝑒 = 2𝐴𝑃 sin 90 −
120 = 2𝐴𝑃 sin 90 − 66.65
𝐴𝑃 = = 151.38
.

113

Chapter 2
Position

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115

Graphical position method

To find the unknowns graphically

1 116

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Drawing a four bar mechanism that has

unknown 𝜃3 and 𝜃4
1- Use a suitable scale
2- Change the given dimensions to the
scaled ones according to the following
formula:
The dimension after scale=the given
actual dimension× scale
3- Fill the second and third column in
the following table:

1 117

property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝐴
𝜃2
𝑅𝐵𝐴
𝜃3
𝑅𝐵
𝜃4
𝑅𝑂4
𝛾

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4- Locate the fixed nodes 𝑂2 and 𝑂4

5- Starting from node A , make an arc with radius 𝑅𝐵𝐴
6- Starting from node 𝑂4 , make an arc with radius 𝑅𝐵 so
that it intersects with the arc of radius 𝑅𝐵𝐴 . let the
intersection point to be B
7- Connect the point A with B , and the point B with 𝑂4
8- Measure the angle 𝜃3 and the angle 𝜃4

1 119

Example 2-6
Draw the Four Bar mechanism according to the following data
and find 𝜃3 and 𝜃4 :
𝑅𝐴 = 5" , 𝜃2 = 60° , 𝑅𝐵𝐴 = 8" , 𝑅𝐵 = 4" , 𝑅𝑂4 = 6" along x
axis using scale 7:10

1 120

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property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝐴 5 3.5
°
𝜃2 60 60°
𝑅𝐵𝐴 8 5.6
𝜃3 ? ?
𝑅𝐵 4 2.8
𝜃4 ? ?
𝑅𝑂4 6 4.2
°
𝛾 0 0°

1 121

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1 123

property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝐴 5 3.5
°
𝜃2 60 60°
𝑅𝐵𝐴 8 5.6
𝜃3 ? ? 23.53 23.53
𝑅𝐵 4 2.8
𝜃4 ? ? 16.51 16.51
𝑅𝑂4 6 4.2
°
𝛾 0 0°

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Example 2-7
Using scale 1:2 draw the below four bar linkage for the
following data and find 𝑅𝐵 and 𝜃4 : 𝑅𝐴 = 5" , 𝜃2 = 60° ,
𝑅𝐵𝐴 = 8" , 𝜃3 = 45° , 𝑅𝐶𝐴 = 7" , 𝑅𝐵𝐶 = 4" , 𝑅𝑂4 = 6" along x
axis.
C

B
A

𝑂2 𝑂4

1 125

property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝐴 5 2.5
𝜃2 60° 60°
𝑅𝐵𝐴 8 4
°
𝜃3 45 45°
𝑅𝐵 ? ?
𝜃4 ? ?
𝑅𝑂4 6 3
°
𝛾 0 0°
𝑅𝐶𝐴 7 3.5
𝑅𝐵𝐶 4 2

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1 127

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The vector diagram of the mechanism is:

property Given dimension Measured Required
dimension after scale required actual
dimension dimension
𝑅𝐴 5 2.5
°
𝜃2 60 60°
𝑅𝐵𝐴 8 4
°
𝜃3 45 45°
𝑅𝐵 ? ? 5.1 10.2
°
𝜃4 ? ? 78 78°
𝑅𝑂4 6 3
°
𝛾 0 0°
𝑅𝐶𝐴 7 3.5
𝑅𝐵𝐶 4 2

1 129

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Example 2-8
Using scale 1:2 draw the below four bar linkage for the
following data and find 𝜃3 and 𝜃4 : 𝑅𝐴 = 3" , 𝜃2 = 60° ,
𝑅𝐵𝐴 = 8" , 𝑅𝐵 = 10" , 𝑅𝑂4 = 5.28" sloped by an angle ∝=
−19° . Also draw the vector diagram and write the closure
equations that you can use to solve the problem.
Show the knowns and the unknowns on each equations.

1 131

property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝐴 3 1.5
°
𝜃2 60 60°
𝑅𝐵𝐴 8 4
𝜃3 ? ?
𝑅𝐵 10 5
𝜃4 ? ?
𝑅𝑂4 5.28 2.64
°
𝛾 −19 −19°

1 132

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1 133

1 134

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1 135

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1 137

property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝐴 3 1.5
𝜃2 60° 60°
𝑅𝐵𝐴 8 4
𝜃3 ? ? 42°
𝑅𝐵 10 5
𝜃4 ? ? 76°
𝑅𝑂4 5.28 2.64
°
𝛾 −19 −19°

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1 139

property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝐴 10 5
𝜃2 110° 110°
𝑅𝐵𝐴 ? ?
𝜃3 45° 45°
𝑅𝐵 ? ?
°
𝜃4 100 100°
𝑅𝑂4 𝑥 8 4
𝑅𝑂4 𝑦 -4 -2
𝑅𝐶𝐴 5 2.5
°
𝛾 30 30°
𝑅𝐶𝐵 ? ?

1 140

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1 141

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1 143

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property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝐴 10 5
𝜃2 110° 110°
𝑅𝐵𝐴 ? ? 5.445 10.89
𝜃3 ° °
45 45
𝑅𝐵 ? ? 10.71 21.42
𝜃4 ° °
100 100
𝑅𝑂4 𝑥 8 4
𝑅𝑂4 𝑦 -4 -2
𝑅𝐶𝐴 5 2.5
°
𝛾 30 30°
𝑅𝐶𝐵 ? ? 3.51 7.02

1 145

Example 1-7
Using scale 1:2 draw the below four bar linkage for the following
data and find 𝑅 and 𝜃 : 𝑅 = 5" , 𝜃 = 60° , 𝑅 = 8" , 𝜃
= 45° , 𝑅 = 7" , 𝑅 = 4" , 𝑅 = 6" along x

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1 147

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The measured 𝑅𝐵 is 𝑅𝐵 = 5.1

1
The actual 𝑅𝐵 is 𝑅𝐵 = 5.1 ÷ = 10.2𝑐𝑚
2

The angle 𝜃4 is 𝜃4 = 78°

1 149

Example 2-8
Using scale 1:2 draw the below four bar linkage for the
following data and find 𝜃3 and 𝜃4 : 𝑅𝐴 = 3" , 𝜃2 = 60° ,
𝑅𝐵𝐴 = 8" , 𝑅𝐵 = 10" , 𝑅𝑂4 = 5.28" sloped by an angle ∝=
−19° . Also draw the vector diagram and write the
closure equations that you can use to solve the problem.
Show the knowns and the unknowns on each equations.

1 150

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1 155

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property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝑂𝑂2 20 2
𝜃2 150° 150°
𝑅𝐴3 ? ?
𝜃3 ? ?
𝑅𝑂4 100 10
𝛾 180° 180°
𝑅𝐴2 𝑂 30 3
𝑅𝐴2 ? ?
𝛽 ? ?

1 157

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1 159

property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝑂𝑂2 20 2
𝜃2 150 ° 150°
𝑅𝐴3 ? ? 7.769
𝜃3 ? ? 28°
𝑅𝑂4 100 10
𝛾 180 ° 180°
𝑅𝐴2 𝑂 30 3
𝑅𝐴2 ? ? 4.814
𝛽 ? ? 131°

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1 161

property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝑂𝑂2 ? ?
𝜃2 ? ?
𝑅𝐴3 80 8
𝜃3 28° 28°
𝑅𝑂3 100 10
°
𝛾 180 180°
𝑅𝐴2 𝑂 30 3
𝑅𝐴2 ? ?
𝛽 ? ?

1 162

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1 163

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property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝑂𝑂2 ? ? 1.893
𝜃2 ? ? 144°
𝑅𝐴3 80 8
𝜃3 28 ° 28°
𝑅𝑂3 100 10
°
𝛾 180 180°
𝑅𝐴2 𝑂 30 3
𝑅𝐴2 ? ? 4.773
𝛽 ? ? 128°

1 165

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Applying the vector diagram to the four bar

B
linkage 𝑅 ⃗
⃗
𝐵𝐴
𝑅𝐵
A 3
𝜃3

4
𝑅𝐴⃗ 𝜃4

𝑅𝑂4⃗ 𝑂4
2
𝜃2
𝛼 1
𝑂2

1 167

Closure Equation

Closure equation starting from joint 𝑂2 is

𝑅𝐴⃗ + 𝑅𝐵𝐴⃗ − 𝑅𝐵⃗ − 𝑅𝑂 ⃗ = 0
4

Or
𝑅𝐴⃗ + 𝑅𝐵𝐴⃗ = 𝑅𝐵⃗ + 𝑅𝑂4⃗

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Also we can divide the diagram into two loops according

to the need, so we get three closure equations
B

𝑅𝐵𝐴⃗
𝑅𝐵⃗
A 3
𝜃3

4
𝑅𝐴⃗ 𝑆⃗ 𝜃4

𝑅𝑂4⃗ 𝑂4
2
𝜃2
𝛼 1
𝑂2

1 169

Closure equation for loop 𝑂2 𝐴𝑂4 𝑂2 is 𝑅𝐴⃗ + 𝑆⃗ − 𝑅𝑂4⃗ = 0

Closure equation for loop 𝐴𝐵𝑂4 𝐴 is 𝑆⃗ + 𝑅𝐵⃗ − 𝑅𝐵𝐴⃗ = 0

Closure equation for loop 𝑂2 𝐴𝐵𝑂4 𝑂2 is 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗ − 𝑅𝐵⃗ −
𝑅𝑂 ⃗ = 0
4

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1 171

1 172

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Cases of unknown for the linkages

Slider crank mechanism
A 𝑅𝐵𝐴

B
𝑅𝐴

𝑅𝐵𝑦

𝑂2 𝑅𝐵𝑥

1 173

Vector diagram
A 𝑅𝐵𝐴⃗

B
𝑅𝐴⃗

𝑅𝐵⃗

𝑂2

1 174

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Closure Equation:
𝑅𝐵⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗
Also the above equation can take the following form:
𝑅𝐵𝑥⃗ + 𝑅𝐵𝑦⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗

1 175

The four cases of unknowns are:

 Magnitude and direction of the same
link are unknown:
°° √√
√√
𝑅𝐵⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗

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 Magnitude of a link and direction of another link are

unknown:
√√ °√ √°

𝑅𝐵⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗

1 177

 Direction of a link and direction of

another link are unknown:
√√ √° √°

𝑅𝐵⃗ = + 𝑅𝐵𝐴⃗
𝑅𝐴⃗

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 Magnitudes of two different links are

unknown:
√√ °√ °√

𝑅𝐵⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗

1 179

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property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝐴 10 5
𝜃2 110° 110°
𝑅𝐵𝐴 ? ?
𝜃3 45° 45°
𝑅𝐵 ? ?
𝜃4 100° 100°
𝑅𝑂4 𝑥 8 4
𝑅𝑂4 𝑦 -4 -2
𝑅𝐶𝐴 5 2.5
𝛾 30° 30°
𝑅𝐶𝐵 ? ?

1 181

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1 183

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1 185

property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝐴 10 5
𝜃2 110° 110°
𝑅𝐵𝐴 ? ? 5.445 10.89
𝜃3 ° °
45 45
𝑅𝐵 ? ? 10.71 21.42
𝜃4 ° °
100 100
𝑅𝑂4 𝑥 8 4
𝑅𝑂4 𝑦 -4 -2
𝑅𝐶𝐴 5 2.5
𝛾 30° 30°
𝑅𝐶𝐵 ? ? 3.51 7.02

1 186

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Vector Diagram

187

Closure Equations
Closure equation for loop 𝑂2 𝐴𝐵𝑂4 𝑂2 is 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗ − 𝑅𝐵⃗ − 𝑅𝑂4⃗ =
0 Or
Closure equation for loop 𝑂2 𝐴𝐵𝑂4 𝑂2 is 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗ − 𝑅𝐵⃗ − 𝑅𝑂4𝑥⃗ −
𝑅𝑂 ⃗ = 0
4𝑦

Closure equation for loop 𝑂2 𝐴𝐶𝐵𝑂4 𝑂2 is 𝑅𝐴⃗ + 𝑅𝐶𝐴⃗ + 𝑅𝐵𝐶⃗ − 𝑅𝐵⃗ −

𝑅𝑂 ⃗ = 0
4
Or

Closure equation for loop 𝑂2 𝐴𝐶𝐵𝑂4 𝑂2 is 𝑅𝐴⃗ + 𝑅𝐶𝐴⃗ + 𝑅𝐵𝐶⃗ − 𝑅𝐵⃗ −

𝑅𝑂 ⃗ − 𝑅𝑂 ⃗ = 0
4𝑥 4𝑦

Closure equation for loop 𝐴𝐶𝐵𝐴 is 𝑅𝐶𝐴⃗ + 𝑅𝐵𝐶⃗ − 𝑅𝐵𝐴⃗ = 0

1 188

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Example 1-7
Using scale 1:2 draw the below four bar linkage for the
following data and find 𝑅𝐵 and 𝜃4 : 𝑅𝐴 = 5" , 𝜃2 = 60° ,
𝑅𝐵𝐴 = 8" , 𝜃3 = 45° , 𝑅𝐶𝐴 = 7" , 𝑅𝐵𝐶 = 4" , 𝑅𝑂4 = 6"
along x axis. Also draw the vector diagram and write the
closure equations that you can use to solve the problem.
Show the knowns and the unknowns on each equations.
C

1 189

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1 191

The measured 𝑅𝐵 is 𝑅𝐵 = 5.1

1
The actual 𝑅𝐵 is 𝑅𝐵 = 5.1 ÷ = 10.2𝑐𝑚
2

The angle 𝜃4 is 𝜃4 = 78°

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The vector diagram of the mechanism is:

1 193

Example 2-8
Using scale 1:2 draw the below four bar linkage for the
following data and find 𝜃3 and 𝜃4 : 𝑅𝐴 = 3" , 𝜃2 = 60° ,
𝑅𝐵𝐴 = 8" , 𝑅𝐵 = 10" , 𝑅𝑂4 = 5.28" sloped by an angle ∝=
−19° . Also draw the vector diagram and write the
closure equations that you can use to solve the problem.
Show the knowns and the unknowns on each equations.

1 194

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1 195

1 196

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1 197

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1 199

1 200

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property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝑂𝑂2 20 2
𝜃2 150° 150°
𝑅𝐴3 ? ?
𝜃3 ? ?
𝑅𝑂4 100 10
𝛾 180° 180°
𝑅𝐴2 𝑂 30 3
𝑅𝐴2 ? ?
𝛽 ? ?

1 201

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1 203

property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝑂𝑂2 20 2
𝜃2 150 ° 150°
𝑅𝐴3 ? ? 7.769
𝜃3 ? ? 28°
𝑅𝑂4 100 10
𝛾 180 ° 180°
𝑅𝐴2 𝑂 30 3
𝑅𝐴2 ? ? 4.814
𝛽 ? ? 131°

1 204

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1 205

1 206

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property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝑂𝑂2 ? ?
𝜃2 ? ?
𝑅𝐴3 80 8
𝜃3 28° 28°
𝑅𝑂3 100 10
°
𝛾 180 180°
𝑅𝐴2 𝑂 30 3
𝑅𝐴2 ? ?
𝛽 ? ?

1 207

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1 209

property Given dimension Measured Required

dimension after scale required actual
dimension dimension
𝑅𝑂𝑂2 ? ? 1.893
𝜃2 ? ? 144°
𝑅𝐴3 80 8
𝜃3 28 ° 28°
𝑅𝑂3 100 10
°
𝛾 180 180°
𝑅𝐴2 𝑂 30 3
𝑅𝐴2 ? ? 4.773
𝛽 ? ? 128°

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1 211

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1 213

Position analytical method

Vector Analysis
𝑅⃗ = 𝑅𝑥 𝑖 + 𝑅𝑦 𝑗

𝑅⃗ = 𝑅 cos 𝜃 𝑖 + 𝑅 sin 𝜃 𝑗
Apply the position vector to all links taking in
consideration the angle starts from positive x-axis in
counter clockwise direction CCW or should be minus
angle if it starts from positive x-axis in clockwise
direction CW.

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Study of the four unknown cases for the Crank Slider

Linkage

𝑅𝐵⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗ 1

The vectors of links are:
𝑅𝐵⃗ = 𝑅𝐵 𝑐𝑜𝑠𝛼𝑖 + 𝑅𝐵 𝑠𝑖𝑛𝛼𝑗
𝑅𝐴⃗ = 𝑅𝐴 𝑐𝑜𝑠𝜃2 𝑖 + 𝑅𝐴 𝑠𝑖𝑛𝜃2 𝑗 2
𝑅𝐵𝐴⃗ = 𝑅𝐵𝐴 𝑐𝑜𝑠𝜃3 𝑖 + 𝑅𝐵𝐴 𝑠𝑖𝑛𝜃3 𝑗
After putting Eq. 2 into Eq. 1 we get:
𝑅𝐵 𝑐𝑜𝑠𝛼𝑖 + 𝑅𝐵 𝑠𝑖𝑛𝛼𝑗 = 𝑅𝐴 𝑐𝑜𝑠𝜃2 𝑖 + 𝑅𝐴 𝑠𝑖𝑛𝜃2 𝑗 +
3
𝑅𝐵𝐴 𝑐𝑜𝑠𝜃3 𝑖 + 𝑅𝐵𝐴 𝑠𝑖𝑛𝜃3 𝑗
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There are four Change Eq. 3 into two equations by

separating the coefficients of vector 𝑖 and that of vector 𝑗 as
follows:
𝑖: 𝑅𝐵 𝑐𝑜𝑠𝛼 =𝑅𝐴 𝑐𝑜𝑠𝜃2 + 𝑅𝐵𝐴 𝑐𝑜𝑠𝜃3 4
𝑗: 𝑅𝐵 𝑠𝑖𝑛𝛼=𝑅𝐴 𝑠𝑖𝑛𝜃2 + 𝑅𝐵𝐴 𝑠𝑖𝑛𝜃3 5
types of unknowns for Eq. 1:

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types of unknowns for Eq. 1:

 Case 1 : Magnitude and direction of the same link are
unknown:
°°  
𝑅𝐵⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗
Dividing Eq. 5 by Eq. 4 gives:
𝑅𝐴 𝑠𝑖𝑛 𝜃2 +𝑅𝐵𝐴 𝑠𝑖𝑛 𝜃3
tan 𝛼 =
𝑅𝐴 𝑐𝑜𝑠 𝜃2 +𝑅𝐵𝐴 𝑐𝑜𝑠 𝜃3
𝑅 𝑠𝑖𝑛 𝜃 +𝑅 𝑠𝑖𝑛 𝜃
∝= tan−1 𝑅 𝐴𝑐𝑜𝑠 𝜃2 +𝑅𝐵𝐴 𝑐𝑜𝑠 𝜃3
𝐴 2 𝐵𝐴 3

From Eq. 4
𝑅𝐴 𝑐𝑜𝑠 𝜃2 +𝑅𝐵𝐴 𝑐𝑜𝑠 𝜃3
𝑅𝐵 = cos 𝛼 1 217

 Case 2 : Magnitude of a link and direction of another link

are unknown:
 ° °
𝑅𝐵⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗

Rearranging Rq. 4 and Eq. 5 gives:

𝑅𝐵 𝑐𝑜𝑠𝛼 − 𝑅𝐴 𝑐𝑜𝑠𝜃2 = 𝑅𝐵𝐴 𝑐𝑜𝑠𝜃3 6
𝑅𝐵 𝑠𝑖𝑛𝛼 − 𝑅𝐴 𝑠𝑖𝑛𝜃2 = 𝑅𝐵𝐴 𝑠𝑖𝑛𝜃3 7

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Squaring 6 and 7 and summing them yields:

𝑅𝐵2 (cos ∝)2 − 2𝑅𝐵 𝑅𝐴 cos 𝜃2 cos 𝛼 + 𝑅𝐴2 (cos 𝜃2 )2
2
= 𝑅𝐵𝐴 (cos 𝜃3 )2
𝑅𝐵2 (sin ∝)2 − 2𝑅𝐵 𝑅𝐴 sin 𝜃2 sin 𝛼 + 𝑅𝐴2 (sin 𝜃2 )2
2
= 𝑅𝐵𝐴 (sin 𝜃3 )2
𝑅𝐵2 − 2𝑅𝐵 𝑅𝐴 (cos 𝜃2 cos 𝛼 + sin 𝜃2 sin 𝛼) + 𝑅𝐴2 = 𝑅𝐵𝐴
2

Using the formula : cos( 𝜃2 − 𝛼) = cos 𝜃2 cos 𝛼 +

sin 𝜃2 sin 𝛼 gives:
𝑅𝐵2 − 2𝑅𝐵 𝑅𝐴 cos( 𝜃2 − 𝛼) + 𝑅𝐴2 = 𝑅𝐵𝐴
2

𝑅𝐵2 − 𝑅𝐵𝐴
2
− 2𝑅𝐵 𝑅𝐴 cos( 𝜃2 − 𝛼) + 𝑅𝐴2 = 0 8

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Using the formula

𝑎𝑥 2 + 𝑏𝑥 + 𝑐 = 0
−𝑏 ± √𝑏 2 − 4𝑎𝑐 9
𝑥=
2𝑎
Then 𝑎 = 1,
𝑏 = −2𝑅𝐵 cos( 𝜃2 − 𝛼),
2
𝑐 = 𝑅𝐵2 −𝑅𝐵𝐴
𝑅𝐴
2𝑅𝐵 cos( 𝜃2 − 𝛼) ± (−2𝑅𝐵 cos( 𝜃2 − 𝛼))2 − 4(𝑅𝐵2 −𝑅𝐵𝐴
2
)
=
2
Using Eq. 7 gives:
𝑅𝐵 𝑠𝑖𝑛𝛼 − 𝑅𝐴 𝑠𝑖𝑛 𝜃2
𝜃3 = sin−1
𝑅𝐵𝐴

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 Case 3 : Direction of a link and direction of another link are

unknown:
 ° °
𝑅𝐵 = 𝑅𝐴 + 𝑅𝐵𝐴⃗
⃗ ⃗
Rearrange Eq. 4 and Eq. 5 yields:
𝑅𝐵 𝑐𝑜𝑠𝛼 − 𝑅𝐴 𝑐𝑜𝑠𝜃2 = 𝑅𝐵𝐴 𝑐𝑜𝑠𝜃3 10
𝑅𝐵 𝑠𝑖𝑛𝛼 − 𝑅𝐴 𝑠𝑖𝑛𝜃2 = 𝑅𝐵𝐴 𝑠𝑖𝑛𝜃3 11
Squaring 10 and 11 yields:
𝑅𝐵2 cos 2 𝛼 − 2𝑅𝐵 𝑅𝐴 cos 𝜃2 cos 𝛼 + 𝑅𝐴2 𝑐𝑜𝑠 2 𝜃2 = 𝑅𝐵𝐴
2
𝑐𝑜𝑠 2 𝜃3 12
𝑅𝐵2 𝑠𝑖𝑛2 𝛼 − 2𝑅𝐵 𝑅𝐴 𝑠𝑖𝑛 𝜃2 𝑠𝑖𝑛 𝛼 + 𝑅𝐴2 𝑠𝑖𝑛2 𝜃2 = 𝑅𝐵𝐴
2
𝑠𝑖𝑛2 𝜃3 13

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Adding 12 and 13 yields:

𝑅𝐵2 − 2𝑅𝐵 𝑅𝐴 (cos 𝜃2 cos 𝛼 + sin 𝜃2 sin 𝛼) + 𝑅𝐴2 = 𝑅𝐵𝐴
2
14
After rearranging Eq.14 we obtain:
(𝑅𝐵2 −𝑅𝐵𝐴
2
) − 2𝑅𝐵 𝑅𝐴 (cos 𝜃2 cos 𝛼 + sin 𝜃2 sin 𝛼) + 𝑅𝐴2 = 0 15
Let cos(𝜃2 − 𝛼) = cos 𝜃2 cos 𝛼 + sin 𝜃2 sin 𝛼 16
Then (𝑅𝐵2 −𝑅𝐵𝐴
2
) − 2𝑅𝐵 𝑅𝐴 cos(𝜃2 − 𝛼) + 𝑅𝐴2 = 0
2
𝑅𝐵2 −𝑅𝐵𝐴 + 𝑅𝐴2
cos(𝜃2 − 𝛼 ) =
2𝑅𝐵 𝑅𝐴
2 2
𝑅𝐵 −𝑅𝐵𝐴 +𝑅𝐴2
𝜃2 = 𝛼 + cos −1 2𝑅𝐵 𝑅𝐴

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Applying Eq. 6 gives

𝑅𝐵 𝑐𝑜𝑠𝛼 − 𝑅𝐴 𝑐𝑜𝑠𝜃2
𝑐𝑜𝑠𝜃3 =
𝑅𝐵𝐴
𝑅𝐵 𝑐𝑜𝑠𝛼 − 𝑅𝐴 𝑐𝑜𝑠𝜃2
𝜃3 = cos −1
𝑅𝐵𝐴

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 Case 4 : Magnitudes of two different links are unknown:

 ° °
𝑅𝐵 = 𝑅𝐴 + 𝑅𝐵𝐴⃗
⃗ ⃗
Rearrange eq. 4 and eq.5 gives:
𝑅𝐵 𝑐𝑜𝑠𝛼 − 𝑅𝐴 𝑐𝑜𝑠𝜃2 =𝑅𝐵𝐴 𝑐𝑜𝑠𝜃3 17
𝑅𝐵 𝑠𝑖𝑛𝛼 − 𝑅𝐴 𝑠𝑖𝑛𝜃2 =𝑅𝐵𝐴 𝑠𝑖𝑛𝜃3 18
Multiply Eq. 17 by 𝑠𝑖𝑛𝜃2 and Eq. 18 by 𝑐𝑜𝑠𝜃2 gives
𝑅𝐵 𝑐𝑜𝑠𝛼 𝑠𝑖𝑛𝜃2 − 𝑅𝐴 𝑐𝑜𝑠𝜃2 𝑠𝑖𝑛𝜃2 =𝑅𝐵𝐴 𝑐𝑜𝑠𝜃3 𝑠𝑖𝑛𝜃2 19
𝑅𝐵 𝑠𝑖𝑛𝛼 𝑐𝑜𝑠𝜃2 − 𝑅𝐴 𝑠𝑖𝑛𝜃2 𝑐𝑜𝑠𝜃2 =𝑅𝐵𝐴 𝑠𝑖𝑛𝜃3 𝑐𝑜𝑠𝜃2 20

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Subtract Eq.20 from Eq. 19

𝑅𝐵 (𝑐𝑜𝑠𝛼 𝑠𝑖𝑛𝜃2 − 𝑠𝑖𝑛𝛼 𝑐𝑜𝑠𝜃2 )=𝑅𝐵𝐴 (𝑐𝑜𝑠𝜃3 𝑠𝑖𝑛𝜃2 −
𝑠𝑖𝑛𝜃3 𝑐𝑜𝑠𝜃2 ) 21
From trigonometric identities
sin(𝜃2 − 𝜃3 ) = 𝑐𝑜𝑠𝜃3 𝑠𝑖𝑛𝜃2 − 𝑠𝑖𝑛𝜃3 𝑐𝑜𝑠𝜃2
22
sin(𝜃2 − 𝛼) = 𝑐𝑜𝑠𝛼 𝑠𝑖𝑛𝜃2 − 𝑠𝑖𝑛𝛼 𝑐𝑜𝑠𝜃2

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Then Eq. 21 becomes

𝑅𝐵 sin(𝜃2 − 𝛼)=𝑅𝐵𝐴 sin(𝜃2 − 𝜃3 ) 23
From Eq. 23 we get:
sin(𝜃2 − 𝛼)
𝑅𝐵𝐴 = 𝑅𝐵
sin(𝜃2 − 𝜃3 )
From Eq. 17 we get
𝑅𝐵 𝑐𝑜𝑠𝛼 −𝑅𝐵𝐴 𝑐𝑜𝑠 𝜃3
𝑅𝐴 = 𝑐𝑜𝑠 𝜃2

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From loop 𝑂2 𝐴𝑂4 𝑂2 ,

closure equation is 𝑅𝐴⃗ + 𝑆⃗ − 𝑅𝑂4⃗ = 0

The equation becomes 𝑆⃗ = 𝑅𝑂4⃗ − 𝑅𝐴⃗

Defining the knowns and the unknowns , the equation takes
the following form:
°°  
1
𝑆⃗ = 𝑅𝑂4⃗ − 𝑅𝐴⃗

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Apply case 1

°°  
2
𝑅 = 𝑅 +𝑅

∝= tan 3

𝑅 = 4

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Compare equation 1 to equation 2:

𝑅𝐵 is equivalent to 𝑆 and ∝ is equivalent 𝜃𝑆
𝑅𝐴 is equivalent to 𝑅𝑂4 and 𝜃2 is equivalent ∝
𝑅𝐵𝐴 is equivalent to −𝑅𝐴 and 𝜃3 is equivalent 𝜃2
But
𝑅𝑂4 = 𝑅𝑂4𝑥 2 + 𝑅𝑂4𝑦 2 = 82 + (−2)2 = 8.25𝑐𝑚

𝑅 𝑂 4𝑦 −2
∝= tan−1 𝑅𝑂 4𝑥
= tan−1 8
= −14.04°

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°°   °°   dimensions
⃗ ⃗ ⃗
𝑅𝐵 = 𝑅𝐴 + 𝑅𝐵𝐴 𝑆⃗ = 𝑅𝑂4⃗ − 𝑅𝐴⃗
𝑅𝐵 𝑆 ?
∝ Equivalent 𝜃𝑆 ?
𝑅𝐴 to 𝑅𝑂4 8.25
𝜃2 ∝ −14.04°
𝑅𝐵𝐴 −𝑅𝐴 -8
𝜃3 𝜃2 120°

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Then equation 3 and equation 4 can take the following

forms:
𝑅𝑂 4 𝑠𝑖𝑛 ∝−𝑅𝐴 𝑠𝑖𝑛 𝜃2
𝜃𝑆 = tan−1 5
𝑅𝑂 4 𝑐𝑜𝑠 ∝−𝑅𝐴 𝑐𝑜𝑠 𝜃2

𝑅𝑂 4 𝑐𝑜𝑠 ∝−𝑅𝐴 𝑐𝑜𝑠 𝜃2

𝑆= cos 𝜃 𝑆
6

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From equation 5
8.25sin (−14.04)−8𝑠𝑖𝑛 120
𝜃𝑆 = tan−1 = −36.65°
8.25𝑐𝑜𝑠 (−14.04)−8𝑐𝑜𝑠 120

From equation 6
8.25cos (−14.04)−8𝑐𝑜𝑠 120
𝑆= cos (−36.65)
= 14.96𝑐𝑚

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From loop 𝐴𝐵𝑂4 𝐴, closure equation is 𝑅𝐵𝐴⃗ − 𝑅𝐵⃗ − 𝑆⃗ = 0

The equation becomes 𝑆⃗ = 𝑅𝐵𝐴⃗ − 𝑅𝐵⃗
Defining the knowns and the unknowns the equation takes the
following form:
 ° °
7
𝑆⃗ = 𝑅𝐵𝐴 − 𝑅𝐵⃗
⃗
Apply case 3
 ° °
8
𝑅𝐵⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗
2 2
𝑅𝐵 −𝑅𝐵𝐴 +𝑅𝐴2
𝜃2 = 𝛼 + cos−1 9
2𝑅𝐵 𝑅𝐴
𝑅𝐵 𝑐𝑜𝑠𝛼 − 𝑅𝐴 𝑐𝑜𝑠 𝜃2
𝜃3 = cos −1 10
𝑅𝐵𝐴
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Compare equation 7 to equation 8:

𝑅𝐵 is equivalent to 𝑆 and ∝ is equivalent 𝜃𝑆
𝑅𝐴 is equivalent to 𝑅𝐵𝐴 and 𝜃2 is equivalent 𝜃3
𝑅𝐵𝐴 is equivalent to −𝑅𝐵 and 𝜃3 is equivalent 𝜃4

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 ° °  ° ° dimension
𝑅𝐵⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗ 𝑆⃗ = 𝑅𝐵𝐴⃗ − 𝑅𝐵⃗ s
𝑅𝐵 𝑆 14.96
∝ Equivalen 𝜃𝑆 −36.65°
𝑅𝐴 t to 𝑅𝐵𝐴 22
𝜃2 𝜃3 ?
𝑅𝐵𝐴 −𝑅𝐵 -18
𝜃3 𝜃4 ?

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Then equation 9 and equation 10 can take the following

forms:
2
𝑆 2 −𝑅𝐵2 +𝑅𝐵𝐴
𝜃3 = 𝜃𝑆 + cos −1 =
2𝑆𝑅𝐵𝐴
14.962 − 18 2 +22 2
−36.65 + cos −1 = 17.68°
2×14.96×22
𝑆𝑐𝑜𝑠 𝜃 𝑆 − 𝑅𝐵𝐴 𝑐𝑜𝑠 𝜃3
𝜃4 = cos −1 −𝑅𝐵
=
14.96cos (−36.65).− 22𝑐𝑜𝑠 17.68
cos−1 = 60.15°
−18

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Example 2-9
Draw the crank slider mechanism to scale 1:2 if :
𝑅𝐴 = 16, 𝜃2 = 61° , 𝑅𝐵𝐴 = 20 , ∝= 13° .
a- From the drawing find 𝜃3 , and 𝑅𝐵
b- Theoretically find 𝜃3 , and 𝑅𝐵
Note: all dimensions on the diagrams are in millimeters

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a- Analytical method
From loop 𝑂2 𝐴𝐵𝑂2 , closure equation is 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗ −
𝑅𝐵⃗ = 0
The equation becomes 𝑅𝐵⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗
Defining the knowns and the unknowns the equation
takes the following form:
𝑅𝐵⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗
 ° °
1
𝑅𝐴⃗ = 𝑅𝐵⃗ − 𝑅𝐵𝐴⃗

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Apply case 2
 ° °
2
𝑅𝐵 = 𝑅𝐴 + 𝑅𝐵𝐴⃗
⃗ ⃗
2 −𝑅 2 )
2𝑅𝐵 cos (𝜃2 −𝛼)± (−2𝑅𝐵 cos (𝜃2 −𝛼))2 −4(𝑅𝐵 𝐵𝐴
𝑅𝐴 = 3
2
𝑅𝐵 𝑠𝑖𝑛𝛼 − 𝑅𝐴 𝑠𝑖𝑛 𝜃2
𝜃3 = sin−1 𝑅𝐵𝐴
4

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Compare equation 1 to equation 2:

𝑅𝐵 is equivalent to 𝑅𝐴 and ∝ is equivalent 𝜃2
𝑅𝐴 is equivalent to 𝑅𝐵 and 𝜃2 is equivalent ∝
𝑅𝐵𝐴 is equivalent to −𝑅𝐵𝐴 and 𝜃3 is equivalent 𝜃3

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 ° °  ° ° dimensions
⃗ ⃗ ⃗
𝑅𝐵 = 𝑅𝐴 + 𝑅𝐵𝐴 𝑅𝐴⃗ = 𝑅𝐵⃗ − 𝑅𝐵𝐴⃗
𝑅𝐵 𝑅𝐴 16
∝ Equivalent 𝜃2 61°
𝑅𝐴 to 𝑅𝐵 ?
𝜃2 ∝ 13°
𝑅𝐵𝐴 −𝑅𝐵𝐴 -20
𝜃3 𝜃3 ?

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Then equation 3 and equation 4 can take the following

forms:

2𝑅𝐴 cos (𝛼−𝜃2 )± (−2𝑅𝐴 cos (𝛼−𝜃2 ))2 −4(𝑅𝐴2 −𝑅𝐵𝐴

2 )

𝑅𝐵 = 5
2
𝑅𝐴 𝑠𝑖𝑛 𝜃2 − 𝑅𝐵 𝑠𝑖𝑛𝛼
𝜃3 = sin−1 6
−𝑅𝐵𝐴

Then
2×16 cos (13−61)± (−2×16 cos (13−61))2 −4(16 2 −20 2 )
𝑅𝐵 = =
2
26.79𝑐𝑚
16𝑠𝑖𝑛 61− 26.79𝑠𝑖𝑛 13
𝜃3 = sin−1 = −23.48°
−20

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We can solve the problem by two ways:

First way is to use loops
First loop is 2 3 3 2 and its closure
equation will take the following form:

𝐴2 𝐴3 𝑂3 𝑂2 1

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𝑅𝐴2⃗ = 𝑅𝐴2 cos 𝜃2 𝑖 + 𝑅𝐴2 sin 𝜃2 𝑗

𝑅𝐴 ⃗ = 𝑅𝐴 cos 𝜃3 𝑖 + 𝑅𝐴 sin 𝜃3 𝑗
3 3 3

𝑅𝑂3 𝑂2⃗ = 𝑅𝑂3 𝑂2 cos 270 𝑖 + 𝑅𝑂3 𝑂2 sin 270 𝑗 = −𝑅𝑂3 𝑂2 𝑗

Put Eq. 2 into Eq. 1 gives
𝑅𝐴2 cos 𝜃2 𝑖 + 𝑅𝐴2 sin 𝜃2 𝑗 − 𝑅𝐴3 cos 𝜃3 𝑖 − 𝑅𝐴3 sin 𝜃3 𝑗 +
𝑅𝑂3 𝑂2 𝑗 = 0 3

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Separate coefficients of i and j from Eq. 3 as follows:

𝑖:
𝑅𝐴2 cos 𝜃2 − 𝑅𝐴3 cos 𝜃3 = 0 4
𝑗:
𝑅𝐴2 sin 𝜃2 − 𝑅𝐴3 sin 𝜃3 + 𝑅𝑂3 𝑂2 = 0 5
Rearrange Eq. 4 and Eq. 5
𝑅𝐴2 cos 𝜃2 = 𝑅𝐴3 cos 𝜃3 6
𝑅𝐴2 sin 𝜃2 + 𝑅𝑂3 𝑂2 = 𝑅𝐴3 sin 𝜃3 7

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Divide Eq. 7 by Eq. 6

𝑅𝐴 2 sin 𝜃2 +𝑅𝑂 3 𝑂 2
tan 𝜃3 = then
𝑅𝐴 2 cos 𝜃2
𝑅𝐴 2 sin 𝜃2 +𝑅𝑂 3 𝑂 2
𝜃3 = tan−1
𝑅𝐴 2 cos 𝜃2

10 sin 330+28
𝜃3 = tan−1 = 69.37°
10 cos 330

From Eq. 6
𝑅𝐴 2 cos 𝜃2 10 cos 330
𝑅𝐴3 = = = 24.576𝑐𝑚
cos 𝜃3 cos 69.37

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Then the second loop is gitten by creating a new vector

named 𝑆⃗ and its angle is 𝜃𝑆 as shown in the vector diagram.
Then the loop is 𝑂2 𝐵𝑂3 𝑂2 and the closure equation is
𝑆⃗ − 𝑅𝐵⃗ − 𝑅𝑂3 𝑂2⃗ = 0
Using unknown and known terms the equation should be in
the form:
°°  
= +
𝑆⃗ 𝑅𝐵⃗ 𝑅𝑂3 𝑂2⃗

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The equation is similar to case 1 which it is:

°°  
𝑅𝐵⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗
𝑅𝐴 𝑠𝑖𝑛 𝜃2 +𝑅𝐵𝐴 𝑠𝑖𝑛 𝜃3
∝= tan−1
𝑅𝐴 𝑐𝑜𝑠 𝜃2 +𝑅𝐵𝐴 𝑐𝑜𝑠 𝜃3
𝑅𝐴 𝑐𝑜𝑠 𝜃2 +𝑅𝐵𝐴 𝑐𝑜𝑠 𝜃3
𝑅𝐵 =
cos 𝛼

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Using comparison method, the table is:

°°   °°   dimensions
𝑅𝐵⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗ 𝑆⃗ = 𝑅𝐵⃗ + 𝑅𝑂3 𝑂2⃗
𝑅𝐵 𝑆 ?
∝ Equivalent 𝜃𝑆 ?
𝑅𝐴 to 𝑅𝐵 25
𝜃2 𝜃3 69.37°
𝑅𝐵𝐴 𝑅𝑂3 𝑂2 28
𝜃3 ∝ 270°
𝑅𝐵 𝑠𝑖𝑛 𝜃 3 +𝑅𝑂 3 𝑂 2 𝑠𝑖𝑛 ∝
𝜃𝑆 = tan−1 =
𝑅𝐵 𝑐𝑜𝑠 𝜃3 +𝑅𝑂 3 𝑂 2 𝑐𝑜𝑠 ∝
25𝑠𝑖𝑛 69.37+28𝑠𝑖𝑛 270
tan−1 = −27.59
25𝑐𝑜𝑠 69.37+28𝑐𝑜𝑠 270
𝑅𝐵 𝑐𝑜𝑠 𝜃3 +𝑅𝑂 3 𝑂 2 𝑐𝑜𝑠 ∝ 25𝑐𝑜𝑠 69.37+28𝑐𝑜𝑠 270
𝑆= = = 9.939
cos 𝜃 𝑆 cos −27.59
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The third loop is 𝑂2 𝐵𝐶𝑂2 and the closure equation is

𝑆⃗ + 𝑅𝐶𝐵⃗ − 𝑅𝐶𝑂2⃗ = 0 which it is :
 ° °
𝑆⃗ = 𝑅𝐶𝑂2⃗ − 𝑅𝐶𝐵⃗
so we can apply case 2 which it is:
 ° °
𝑅𝐵⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗
2 )
2𝑅𝐵 cos (𝜃2 −𝛼)± (−2𝑅𝐵 cos (𝜃2 −𝛼))2 −4(𝑅𝐵2 −𝑅𝐵𝐴
𝑅𝐴 =
2

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 ° °  ° ° dimension
𝑅𝐵⃗ = 𝑅𝐴⃗ + 𝑅𝐵𝐴⃗ 𝑆⃗ = 𝑅𝐶𝑂2⃗ − 𝑅𝐶𝐵⃗ s

𝑅𝐵 𝑆 9.939
Equivalen
∝ 𝜃𝑆 -27.59
t to
𝑅𝐴 𝑅𝐶𝑂2 ?
𝜃2 0 0°
𝑅𝐵𝐴 −𝑅𝐶𝐵 -15
𝜃3 𝜃5 ?

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2𝑆 cos (0−𝜃 𝑆 )± (−2𝑆 cos (0−𝜃 𝑆 ))2 −4(𝑆 2 −(−𝑅𝐶𝐵 )2 )

𝑅𝐶𝑂2 =
2

𝑅𝐶𝑂2 =
2×9.939 cos (0+27.59)± (−2×9.939 cos (0+27.59))2 −4(9.9392 −(−15)2 )
2

𝑅𝐶𝑂2 = 8.809 ± 14.276

𝑅𝐶𝑂2 = 8.809 + 14.276 = 23.085𝑐𝑚 or 𝑅𝐶𝑂2 =
8.809 − 14.276 = −5.467
Then the selected value is 𝑅𝐶𝑂2 = 23.085𝑐𝑚 because its
direction is zero
𝑆𝑠𝑖𝑛 𝜃 𝑆 − 𝑅𝐶𝑂 2 𝑠𝑖𝑛 0
𝜃5 = sin−1 =
−𝑅𝐶𝐵
9.939𝑠𝑖𝑛 (−27.59)− 23.085 𝑠𝑖𝑛 0
sin−1 = 17.87°
−15
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Second way is to use two loops:

First loop is 𝑂2 𝐴3 𝑂3 𝑂2 and its closure equation will take
the following form:
𝑅𝐴2⃗ − 𝑅𝐴3⃗ − 𝑅𝑂3 𝑂2⃗ = 0
The result is shown in the previous part

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Second loop is 𝑂2 𝑂3 𝐵𝐶𝑂2 . Applying closure equation

from the second loop
𝑅𝑂3 𝑂2⃗ + 𝑅𝐵⃗ + 𝑅𝐶𝐵⃗ − 𝑅𝐶⃗ = 0 8

𝑅𝑩⃗ = 𝑅𝐵 cos 𝜃3 𝑖 + 𝑅𝐵 sin 𝜃3 𝑗 ⎫

𝑅𝐶𝐵⃗ = 𝑅𝐶𝐵 cos 𝜃5 𝑖 + 𝑅𝐶𝐵 sin 𝜃5 𝑗 ⎪
9
𝑅𝑪⃗ = 𝑅𝐶 cos 0 𝑖 + 𝑅𝐶 sin 0 𝑗 = 𝑅𝐶 𝑖 ⎬
⎪
𝑅𝑂 𝑂 ⃗ = −𝑅𝑂 𝑂 𝑗
3 2 3 2 ⎭

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Put eqs. 9 into Eq. 8

−𝑅𝑂3 𝑂2 𝑗 + 𝑅𝐵 cos 𝜃3 𝑖 + 𝑅𝐵 sin 𝜃3 𝑗 + 𝑅𝐶𝐵 cos 𝜃5 𝑖 +
𝑅𝐶𝐵 sin 𝜃5 𝑗 − 𝑅𝐶 𝑖 = 0 10
𝑖: 𝑅𝐵 cos 𝜃3 + 𝑅𝐶𝐵 cos 𝜃5 − 𝑅𝐶 = 0 11
𝑗: −𝑅𝑂3 𝑂2 + 𝑅𝐵 sin 𝜃3 + 𝑅𝐶𝐵 sin 𝜃5 = 0 12
From Eq. 12
𝑅𝑂 3 𝑂 2 −𝑅𝐵 sin 𝜃3 𝑅𝑂 3 𝑂 2 −𝑅𝐵 sin 𝜃3
sin 𝜃5 = 𝑅𝐶𝐵
then 𝜃5 = sin−1 𝑅𝐶𝐵
=
28−25 sin 69.37
sin−1 15
= 17.87°

From Eq. 11
𝑅𝐶 = 𝑅𝐵 cos 𝜃3 + 𝑅𝐶𝐵 cos 𝜃5
= 25 cos 69.37 + 15 cos 17.87 = 23.085𝑐𝑚
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The closure equation is

𝑅𝐴⃗ + 𝑅𝐵𝐴⃗ − 𝑅𝐵⃗ − 𝑅𝑂4⃗ = 0 1

𝑅𝐴⃗ = 𝑅𝐴 𝑐𝑜𝑠𝜃2 𝑖 + 𝑅𝐴 𝑠𝑖𝑛𝜃2 𝑗 ⎫

𝑅𝐵𝐴⃗ = 𝑅𝐵𝐴 𝑐𝑜𝑠𝜃3 𝑖 + 𝑅𝐵𝐴 𝑠𝑖𝑛𝜃3 𝑗⎪
2
𝑅𝐵⃗ = 𝑅𝐵 𝑐𝑜𝑠𝜃4 𝑖 + 𝑅𝐵 𝑠𝑖𝑛𝜃4 𝑗 ⎬
⎪
𝑅𝑂4⃗ = 𝑅𝐵𝑥 𝑖 + 𝑅𝐵𝑦 𝑗 ⎭

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Apply Eq. 2 to Eq. 1

𝑅𝐴 𝑐𝑜𝑠𝜃2 𝑖 + 𝑅𝐴 𝑠𝑖𝑛𝜃2 𝑗 + 𝑅𝐵𝐴 𝑐𝑜𝑠𝜃3 𝑖 + 𝑅𝐵𝐴 𝑠𝑖𝑛𝜃3 𝑗 −
𝑅𝐵 𝑐𝑜𝑠𝜃4 𝑖 − 𝑅𝐵 𝑠𝑖𝑛𝜃4 𝑗 − 𝑅𝐵𝑥 𝑖 − 𝑅𝐵𝑦 𝑗 = 0 3
Separate coefficient of I and j
i: 𝑅𝐴 𝑐𝑜𝑠𝜃2 + 𝑅𝐵𝐴 𝑐𝑜𝑠𝜃3 − 𝑅𝐵 𝑐𝑜𝑠𝜃4 − 𝑅𝑂4𝑥 = 0 4
j: 𝑅𝐴 𝑠𝑖𝑛𝜃2 + 𝑅𝐵𝐴 𝑠𝑖𝑛𝜃3 − 𝑅𝐵 𝑠𝑖𝑛𝜃4 − 𝑅𝑂4𝑦 = 0 5

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rearrange Eq. 4 and simplify

𝑅𝐵 𝑐𝑜𝑠𝜃4 − 𝑅𝐴 𝑐𝑜𝑠𝜃2 + 𝑅𝑂4𝑥 = 𝑅𝐵𝐴 𝑐𝑜𝑠𝜃3
𝑅𝐵 𝑐𝑜𝑠𝜃4 − 7𝑐𝑜𝑠300 + 10 = 𝑅𝐵𝐴 𝑐𝑜𝑠𝜃3
𝑅𝐵 𝑐𝑜𝑠𝜃4 + 6.5 = 𝑅𝐵𝐴 𝑐𝑜𝑠𝜃3 6
rearrange Eq. 5 and simplify
𝑅𝐵 𝑠𝑖𝑛𝜃4 − 𝑅𝐴 𝑠𝑖𝑛𝜃2 + 𝑅𝑂4𝑦 = 𝑅𝐵𝐴 𝑠𝑖𝑛𝜃3
𝑅𝐵 𝑠𝑖𝑛𝜃4 − 7𝑠𝑖𝑛300 + 2.5 = 𝑅𝐵𝐴 𝑠𝑖𝑛𝜃3
𝑅𝐵 𝑠𝑖𝑛𝜃4 + 8.56 = 𝑅𝐵𝐴 𝑠𝑖𝑛𝜃3 7

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Squaring Eq. 6 and Eq. 7

2
𝑅𝐵2 𝑐𝑜𝑠 2 𝜃4 + 13𝑅𝐵 cos 𝜃4 + 42.25 = 𝑅𝐵𝐴 𝑐𝑜𝑠 2 𝜃3 8
2
𝑅𝐵2 𝑠𝑖𝑛2 𝜃4 + 17.12𝑅𝐵 𝑠𝑖𝑛 𝜃4 + 73.27 = 𝑅𝐵𝐴 𝑠𝑖𝑛2 𝜃3 9
Adding Eq. 8 to Eq.9
𝑅𝐵2 (𝑐𝑜𝑠 2 𝜃4 + 𝑠𝑖𝑛2 𝜃4 ) + 𝑅𝐵 (13 cos 𝜃4 + 17.12 𝑠𝑖𝑛 𝜃4 ) +
2 (𝑐𝑜𝑠 2
115.52 = 𝑅𝐵𝐴 𝜃3 + 𝑠𝑖𝑛2 𝜃3 ) 10
Simplify Eq. 10 using trigonometric identities and rearranging
2
𝑅𝐵2 + 𝑅𝐵 (13 cos 𝜃4 + 17.12 𝑠𝑖𝑛 𝜃4 ) + 115.52 = 𝑅𝐵𝐴
𝑅𝐵2 + 𝑅𝐵 (13 cos 𝜃4 + 17.12 𝑠𝑖𝑛 𝜃4 ) + 115.52 − 𝑅𝐵𝐴
2
=0

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Substitute the values

𝑅𝐵2 + 𝑅𝐵 (13 cos 26 + 17.12 𝑠𝑖𝑛 26) + 115.52 − 152 = 0
𝑅𝐵2 + 19.19𝑅𝐵 − 109.48 = 0
−19.19± 19.19 2 +4×109.48 −19.19±28.4
𝑅𝐵 = =
2 2

Then
𝑅𝐵 = 4.6𝑐𝑚 or 𝑅𝐵 = −23.8𝑐𝑚 which is impossible
From Eq. 6
𝑅𝐵 𝑐𝑜𝑠 𝜃4 +6.5
For 𝑅𝐵 = 4.6𝑐𝑚 𝑐𝑜𝑠𝜃3 =
𝑅𝐵𝐴
𝑅𝐵 𝑐𝑜𝑠 𝜃4 +6.5 4.6𝑐𝑜𝑠 26+6.5
𝜃3 = cos−1 = cos −1 = 44.85°
𝑅𝐵𝐴 15

270

135