MEE3261 Dynamics of Machines

Unit 2. Static and Dynamic Force analysis in Mechanism

Review on Kinematics analysis

The vector Loop Equation for a Fourbar Linkage

By definition, the angle of a vector is always measured at its root, not at its head. And also we would
like to measure the angle  4 at the fixed pivot 0 4 , so vector R4 is arranged to have its root at that

point.

And measure angle  3 at the point where links 2 & 3 meet, so vector R3 is rooted there. The same

procedure is applied to vectors R1 and R2 .

From that, we can get this vector loop equation

R2  R3  R4  R1  0

or

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RA  RBA  RBO4  RO4  0....(1)

Now, we substitute the complex number notation for each vector.

ae j2  be j3  ce j4  de j1  0....(2)

To solve this polar form, we must apply the Euler equation and get

a  cos2  j sin 2   b  cos3  j sin 3   c  cos4  j sin 4   d  cos1  j sin 1   0....(3)

Recall that link 1 is a ground link, then the value of its angle is fixed (at zero) i.e.

1  0
 cos 1  1
sin 1  0

Now, let’s separate Eq. (3) into two (2) scalar equations so that they can be solved simultaneously for  3

and  4 .

a cos  2  b cos 3  c cos  4  d  0

 ....(4)
a sin  2  b sin 3  c sin  4  0

Now, let’s isolate one of the unknowns on the left side.

b cos 3  a cos  2  c cos  4  d

 ....(5)
b sin 3  a sin  2  c sin  4

By squaring both sides and adding them, we get

b2  sin 2 3  cos2 3    a sin 2  c sin 4    a cos 2  c cos 4  d 

2 2

b2   a sin 2  c sin 4    a cos2  c cos4  d   sin 2 3  cos2 3  1

2 2

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By expanding and arranging the right hand side, we get

b2  2cd cos4  2ad cos2  a2  c2  d 2  2ac  sin 2 sin 4  cos2 cos4 

Or

2cd cos4  2ad cos2  a 2  b2  c2  d 2  2ac  sin 2 sin 4  cos2 cos4   0

By dividing the above equation by 2ac on both sides, we get:

d d a 2  b2  c 2  d 2
cos  4  cos  2    sin  2 sin  4  cos  2 cos  4   0
a c 2ac


 K1 cos4  K2 cos2  K3  sin2 sin4  cos2 cos4  0....(6) 
Where

d
K1 
a
d
K2 
c
a 2  b2  c2  d 2
K3 
2ac

By using the half angle identities,

4
2 tan
sin  4  2
4
1  tan 2

2
4
1  tan 2
cos  4  2
4
1  tan 2

Substituting the above values in (6) and simplify

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4 4
 cos2  K1  K2 cos2  K3  tan 2  2sin  2 tan  K3  K 2 cos  2  K1  cos  2  0
2 2

 4   4 
A tan 2    B tan    C  0
 2  2

Where

A  K3  1  K 2  cos  2  K1
B  2sin  2
C  K3  1  K 2  cos  2  K1

The solution will be

    B  B  4 AC
2
tan  4  
2 2A

 
4  2arctan  B  B2  4 AC  ....(7)

1,2  2A 
 

The solution for angle  3 is similar to that for  4 .

Let’s return to Eq. (5) and isolate  4 on the left side.

c cos  4  a cos  2  b cos 3  d

 ....(8)
c sin  4  a sin  2  b sin 3

By squaring both sides and adding these equations, we will eliminate  4 . The resulting equation can be
solved for  3 as was done for  4 , yielding this expression.

K1 cos3  K4 cos2  K5  cos2 cos3  sin 2 sin 3 ....(9)

Where

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d
K4 
b
c2  d 2  a 2  b2
K5 
2ab

This reduces to a quadratic form of

 3   4 
D tan 2    E tan    F  0
2  2

With

D   K1  1  K 4  cos  2  K 5
E  2sin  2
F  K1   K 4  1 cos  2  K 5

And the solution will be

 
3  2arctan  E  E 2  4DF  ....(10)

1,2  2D 
 

As with the angle  4 , they have two (2) solutions each, corresponding to the crossed and open circuits
of the linkage.

Angular velocities



 
a2 sin 4 2 
 3
 b sin 3 4  ....(11)


 
a2 sin 2 3 
 4

c sin 4 3 

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CD '  AF
3 
Angular acceleration AE  BD
CE  BF
4  ....(12)
AE  BD

Where

A  c sin  4
B  b sin 3
C  a 2 sin  2  a22 cos  2  b32 cos 3  c42 cos  4
D  c cos  4
E  b cos 3
F  a 2 cos  2  a22 sin  2  b32 sin 3  c42 sin  4

Linear accelerations

a A  a 2 je j2  a22 e j2

aBA  b 3 je j3  b32e j3
aB  c 4 je j4  c42e j4

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2.1. Static force Analysis

When the inertia forces are neglected in comparison to the externally applied load on a mechanism, one
may go for static force analysis.

If the body is under equilibrium condition, then this equilibrium is known as static equilibrium and this
condition is applicable in many machines where the movement is relatively slow. These include clamps,
latches, support linkages, and many hand operated tools, such as pliers and cutters.

Example:

In case of lifting cranes also, the bucket load and the static weight loads may be quite high relative to any
dynamic loads due to accelerating masses and hence one may go for static force analysis.

When the inertia effect due to the mass of the components is also considered, it is called dynamic force
analysis.

Constraint and Applied forces:

• When two or more bodies are connected together to form a group or system, the pair of action and
reaction forces between any two of the connecting bodies is called constrained forces.
• These forces constrain the connected bodies to behave in a specific manner defined by the nature of
the connection.
• Forces acting on this system of bodies from outside the system are called applied forces.

Electric, Magnetic and gravitational forces are example of forces that may be applied without actual
physical contact. But most of the forces we are concerned in mechanical equipment occur through direct
physical or mechanical contact.

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Constraint forces of action and reaction at a mechanical contact occur in pairs and thus have no net force
effect on the system of bodies being considered.

When a part of the body is considered in isolation the effect of such force is considered by using the free
body diagram.

Characteristics of a force are its magnitude, its direction and its point of application.
Two equal and opposite forces along two parallel but non collinear straight lines in a body cannot be
combined to constitute a single force and they constitute a couple. The arm of the couple is the
perpendicular distance between their lines of action and the plane of the couple is the plane containing the
two lines of action.
The moment of the couple M is a vector directed normal to the plane of the couple and the sense of M is
in accordance to the right-hand rule for rotation.

A
B

Figure 2.1 Two equal and opposite forces along two parallel but non collinear straight lines in a body

The moment of couple

M  F  RAB

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The value of M is independent of the choice of the reference point about which the moments are taken,
because the vector RAB is the same for all positions of the origin. As the moment vector M is independent
of any particular origin or line of application, hence it is a free vector.

Hence a two force member as shown in Figure 2.2(a) will be in equilibrium if

(i) Both forces are equal and opposite and

(ii) Their lines of action coincide.

If the forces are equal and opposite but not collinear as shown in Figure 2.3(b) they will form a couple
and body will start to rotate.

F1 F2 F1

F1

F2
F2
(a)
(b) (c)

Figure 2.2. Equilibrium of a two force member

Similarly a three force member will be in equilibrium if the vector sum of all these forces equal to zero
and to satisfy the vector sum of all the moments about any arbitrary point equal to zero, their line of
action should meet at a point.

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Figure 2.3: Equilibrium of three-force member

Figure 2.3(a) shows a body subjected to three forces F1,F2,F3. Also the line of action of F1 and F2
coincide at point O. Hence the resultant of must pass through point O and it should be equal and
opposite to force F3. Hence for equilibrium, line of action of F1 and F2 should pass through point O as
shown in Figure 2.3(b). In figure 2.3(c) the forces are shown to form a close polygon (triangle) and one
may use Lami’s theorem (sine rule of triangle) to find the unknown forces if at least one force is known
both in magnitude and direction and the line of action of one more force is known. According to this
theorem,

F1 F F
 2  3
sin  sin  sin 

where , and  ,  ,  are angle as shown in Figure 2.3(c).

For more than three forces one may draw force vector polygon or resolve the forces and moments to
get the required force components.

To find the constraint forces in a mechanism one may use graphical or analytical method.

If the maximum number of forces in a member is limited to three and if the system has more than three
force members, analytical method is recommended.

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Example

Calculate the torque required (assuming no friction in the bearing) for static equilibrium of an in-line
reciprocating engine in the position when crank angle θ = 45 deg (from inner dead center). The
dimensions are crank length r =30 mm, connecting rod length L = 70mm, and the piston force is P = 40 N.

nd rd th
Here OB is link 1, crank OA is the 2 link, connecting rod AB is the 3 link and the piston is the 4 link.
Crank radius r =30 mm, Length of connecting rod =70 mm

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Letting <ABO =β

r sin   L sin 

 r sin   1  30sin 45 
  sin 1     sin    17.65
0

 L   70 
Taking the positive X axis as shown in the Figure,

RAO  3045  30cos 45iˆ  30sin 45 ˆj  21.21iˆ  21.21 ˆj

RBA  70342.35  70cos342.35iˆ  70sin 342.35 ˆj  66.70iˆ  21.213 ˆj

It may be observed that link 3 is a two force member and subjected to forces F23.

The free-body diagram of link 4, i.e., that of piston is shown below. For the present case, it is a three-
force member subjected to a force P due to gas pressure, vertical reaction force F14 and force of
connecting rod on piston F34 at the gudgeon pin.

Force P is known completely both in magnitude and direction and the line of action and point of
application of force F34 is known.

Now drawing the force polygon as shown in Figure2.5 (b) the unknown forces F14 and F34 can be found.

(a) Free-body diagram of link 4 (b) force polygon

Now one may use a vector method or use simple algebraic calculation using Lami’s theorem to find the
forces. Also one may use graphical method to find the same. All these methods are described briefly
below
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Vector method

 F  0, P  F 14 F34  0

 cos(17.65)iˆ  sin(17.65) ˆj  F  Pi  F
34 14
ˆj  0

 0.953iˆ  0.303 ˆj  F  Pi  F ˆj  0
34 14

Equating the ith and jth components of the forces one may obtain

40
F34   41.973N
0.953
F14  0.303F34  12.72 N

F34  41.97334.35 N
F14  12.7290 N

Using Lami’s formula from the force diagram shown in Figure (b)

40
F34   41.973N
sin(90  17.65)
40
F14  sin(17.65)  12.72 N
sin(90  17.65)

Now considering free-body diagram of link 3

F23   F43

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But

F43   F34  41.974342.35

So F23   F43  41.974342.35

Considering equilibrium of link 2

Link 2 is subjected to forces F32 and F12. For equilibrium these two forces must be equal and
opposite.

But as they are acting at A and O respectively they will form a couple which will try to rotate the
link OA in anti-clock wise direction. Hence for static equilibrium a torque T must be applied in
clockwise direction whose magnitude should be equal to the couple formed by these forces.

Now

F32   F23  41.974342.35  40iˆ  12.7265 ˆj

T  ( RAO  F32 )  (21.213iˆ  21.213 ˆj )  (40iˆ  12.7265 ˆj )
 1118.56kˆ
Negative sign indicate the applied torque should be applied in clock-wise direction.

Static force analysis with friction

As we are considering only simple mechanisms with prismatic and revolute joints, the effect
due to dry or Coulomb friction and greasy friction at the journals are discussed. Consider a pair
of sliding surfaces as shown in Figure below

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When a force F is applied on the block to move it towards right, a friction force is generated
which oppose this motion.

According to Coulomb’s law, the magnitude of this force for impending motion is μR, where R
is the reaction force due to weight W.

Greasy friction at a journal

Generally greasy or boundary lubrication type friction force occurs in heavily loaded, slow running
bearings. Figure below shows a journal inside a bearing during static condition. Here A is the contact
point and the weight of the journal W and the reaction force R act in the vertical directions as shown in
the figure. Now let us consider a torque T is applied to the journal in the clockwise direction.

The friction force will now oppose this motion and so the contact point between the bearing and the
journal shifts to point B as shown in Figure.

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Figure (a) Journal in static condition (b) Journal when a torque is applied to start the motion

Let OC be the perpendicular distance between W and R . If a circle is drawn with radius OC and center at
O, the reaction force will be tangent to that circle. This circle is known as friction circle. Now to find the
radius of the friction circle, consider the triangle OBC.

The resultant (R) of the normal reaction force (Rn) and the friction force (μ Rn) at B should be equal and
opposite to the weight as the journal is under static equilibrium condition. These two forces will form a
couple in anticlockwise direction, which will oppose the applied torque.

Here OC = OB siϕ

where ϕ is the angle between the resultant and normal reaction force. Also the coefficient of friction

μ = tanϕ

Hence radius of the friction circle

r
rf 
1   
2

where r is the radius of the journal.

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For small value of μ, rf  r 

Wr 
Friction couple rf W   Wr 
1   
2

Example:

For the slider-crank linkage in the posture shown in Fig. 4a, an external load P=100 N acts
horizontally on link 4 at point Q, which is 1 cm above the centerline. Block 4 is 8 cm wide by 3
cm high with pin B centrally located. Determine the torque T12 that must be applied to link 2 to
hold the linkage in static equilibrium. RAO2 = 6 cm and RBA = 18 cm

ASSUMPTIONS

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1. Gravitational forces are small in comparison with the applied force P and can be ignored.
2. Frictional forces can be neglected.

Fig2.9

Solution:

FBDs

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FBD: Crank-connecting rod

FBD: Connecting rod-piston

Force polygone for three force member

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Computation of torque T12

Steps:
1. Draw the linkage and the given force to scale, as shown in Fig.2.9 a.
2. Draw the free-body diagram of each moving link, as shown in ( b) and (c)
3. Observe that link 3 is a two-force member. Show the lines of action of F23 and F43
along the axis defined by points A and B. Also show the lines of action of F34 on link 4
and F32 on link 2
4. For link 4, neither the magnitude nor the location of the frame reaction force F14 is
known as yet. However, the orientation of this force must be perpendicular to the sliding
surface, since friction is neglected. Also, link 4 is a three-force member. Therefore, when
the lines of action of P and F34 are extended, they intersect at concurrency point C and
define the line of action of F14, as shown in (c).
5. Draw the force polygon for link 4, as shown in (d), to graphically solve the equation

F  P  F 34  F14  0
6. From the force polygon in (d) , measure F34 and F14 and recognize the sense of each.
From the free-body diagram of link 3, and the nature of action and reaction forces, note
that F23 = −F43 = F34. Also, note that link 3 is in compression.

7. From the free-body diagram of link 2, in (e) and the nature of action and reaction forces, note that F32 =
−F23. Also, from the summation of forces, F12 = −F32. Taking counterclockwise moments as positive gives

M O2  F32  h  T12  0

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T12   F32  h
ANALYTIC SOLUTION

1. From a position analysis of the linkage at the posture of interest, find the angles indicated
in Fig.a. Thus,

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2. Write

F14  F14 ˆj
And

F34  F43  16.78o  cos(16.78) F34i  sin(16.78) F34 ˆj

F34 0.95742 F34iˆ  0.28870 F34 ˆj

Considering Fig. (b), the forces F34 and F14 are determined from the equation

F  P  F 34 F14  0
This equation can be written as

ˆ  cos(16.78) F34iˆ  sin(16.78) F34 ˆj  F14 ˆj  0

100iN

ˆ  0.95742F34iˆ  0.28870F34 ˆj  F14 ˆj  0

100iN

Then, equating the iˆ and ĵ components, respectively, gives

100
F34   104.45 N
0.95742

F14  0.28870F34  30.15N

In vector form

F34  104.45N   16.78  104.45cos(16,78)iˆ  104.45sin(16,78) ˆj

F34  (100iˆ  30.15 ˆj ) N

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F14  30.15N 90o  30.15cos(90)iˆ  30.15sin(90) ˆj  30.15 ˆjN

3. Next, from the free-body diagram of link 2 (Fig. c), write

M O2  T12  RAO2  F32  0

Using F32 =−F34

F32   F34  (100iˆ  30.15 ˆj ) N and solving, to find T12.

T12   RAO2  F32

RAO2  AO21200  61200  6cos(120)iˆ  6sin(120) ˆj

RAO2  3iˆ  5.196 ˆj

  
T12  3iˆ  5.196 ˆj  100iˆ  30.15 ˆj 

T12  (3iˆ  5.196 ˆj  0kˆ)  (100iˆ  30.15 ˆj  0kˆ)

iˆ ˆj kˆ
5.196 0 3 0 ˆ 3 5.196 ˆ
T12  3 5.196 0  iˆ  ˆj k  429.145kNm
30.15 0 100 0 100 30.15
100 30.15 0

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2.2. Dynamic Force Analysis

When the inertia forces are considered in the analysis of the mechanism, the
analysis is known as dynamic force analysis.

2.2.1 D'Alembert's Principle and Inertia Forces

An important principle, known as d'Alembert's principle, can be derived from

Newton's second law. In words, d'Alembert's principle states that the reverse-
effective forces and torques and the external forces and torques on a body together
give stoical equilibrium.

By applying D’Alembert principle, one may reduce a dynamic system into an

equivalent static system and use the techniques used in static force analysis to
study the system.

In a 2-D system, for each moving link, there will be 2 linear motions (in x and y
directions) and 1 rotation motion.

For n number of links and j number of joints, for a constraint mechanism the
following relationship has to be satisfied:
3(n  1)  2 j  1

The objective is to find the unknown joint forces and 1 unknown external applied
force or moment.

The number of equations will be equal to

No. of eqn.=3(n  1)

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No. of joint forces = 2j

External applied force or moment (unknown) = 1.

Total number of unknowns = 2j+1

 2j+1=3(n-1)

Inertia force and couple

Consider a body of mass m moving with acceleration as shown in Figure 2.1 (i). According to
D’Alembert Principle, the body can be brought to equilibrium position by applying a force equal to

Fi  ma in the direction opposite to the direction of acceleration.

Figure 2.1 (ii) shows a compound pendulum of mass m, moment of inertia I g about center of mass
G while rotating at its center of mass has a linear acceleration of a and angular acceleration of  .
Figure 2.1(iii) shows the inertia force and couple acting on the pendulum.

Figure 2.1: Illustration of inertia force (i) a translating body (ii) a compound pendulum, (iii) inertia force
and couple on compound pendulum.

The D’Alembert principle is mathematically defined as follows:

Fe  (ma)  0

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Te  ( IG )  0

These quantities are also referred to as inertia force and inertia torque, respectively.

Thus, we define the inertia force as Fi  maG

The inertia force acts through the center of mass G of the body.

The inertia torque or inertia couple C, is given by CI   I G

As indicated, the inertia torque is a pure torque or couple

F  F  F  0e i

T  T  C  0
G eG i

Where F refers here to the summation of external forces and, therefore, is the
resultant external force, and T eG is the summation of external moments, or
resultant external moment, about the center of mass G. Thus, the dynamic analysis
problem is reduced in form to a static force and moment balance where inertia
effects are treated in the same manner as external forces and torques. In particular
for the case of assumed mechanism motion, the inertia forces and couples can be
determined completely and thereafter treated as known mechanism loads.

Furthermore, d'Alembert's principle facilitates moment summation about any

arbitrary point P in the body, if we remember that the moment due to inertia force
F, must be included in the summation. Hence,

T  T
P eP  Ci  RPG  Ft  0

Where; T P is the summation of moments, including inertia moments, about

point P

T eP is the summation of external moments about P,

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C, is the inertia couple

F, is the inertia force

and RPG is a vector from point P to point G

For a body in plane motion in the xy plane with all external forces in that plane,

F  F x ex  Fix   Fex  (maGx )  0

F  F y ey  Fiy   Fey  (maGy )  0
T  TG eG  Ci   TeG  ( I G )  0
Where aGx and aGy are the x and y components of aG. These are three scalar equations, where the
sign convention for torques and angular accelerations is based on a right-hand xyz coordinate
system; that is. Counterclockwise is positive and clockwise is negative.

The general moment summation about arbitrary point P,

T  TP eP  Ci  RPGx Fiy  RPGy Fix  0

T  TP eP  ( IG )  RPGx (maGy )  RPGy (maGx )  0

Where RPGx and RPGy are the x and y components of position vector RPG.

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Equivalent Offset Inertia Force

Figure below shows a rigid body with planar motion represented by center of mass acceleration aC
and angular acceleration 

The inertia force and inertia torque associated with this motion are also shown. The inertia
torque  I G can be expressed as a couple consisting of forces Q and (- Q) separated by
perpendicular distance h as shown in Figure (b)

(a)
(b)

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Examples

The necessary conditions for the couple to be equivalent to the inertia torque are that the sense
and magnitude be the same. Therefore, in this case, the sense of the couple must be clockwise and
the magnitudes of Q and h must satisfy the relationship

Qh  I G
Otherwise, the couple is arbitrary and there are an infinite number of possibilities that will work.
Furthermore, the couple can be placed anywhere in the plane.

Figure (c) shows a special case of the couple, where force vector Q is equal to ma
G and acts
through the center of mass. Force (- Q) must then be placed as shown to produce a clockwise sense
and at a distance;

I G I G
h  
Q maG
Force Q will cancel with the inertia force Fi= - maG, leaving the single equivalent offset force shown
in Figure (d), which has the following characteristics:

1. The magnitude of the force is | maG |.

2. The direction of the force is opposite to that of acceleration.
3. The perpendicular offset distance from the center of mass to the line of action of the force
I G
is given by h 
maG

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4. The force is offset from the center of mass so as to produce a moment about the center of
mass that is opposite in sense to acceleration a.

For the moment of the couple to be of magnitude  I G , the distance between the forces of the
couple must be
I G
h
maG

Force analysis of a single link in pure rotation

FBD

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F  F p  F12  m2 aG

T  T 12  R12  F12   Rp  Fp   I G

FPx  F12x  m2 aGx 


FPy  F12 y  m2 aGy 
T12  R12x F12 y  R12 y F12x   RPx FPy  RPy FPx   I G 


A  B   C 
 1 0 0  F12x   m2 aGx  FPx 
    
 0 1 0  F12 y    m2 aGy  FPy 
 R12 y
 R12x 1 T12   I G  RPx FPy  RPy FPx 

Force analysis in a three bar crank-slide linkage

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X,Y is the global coordinate system (GCS)

x ', y ' is Local, rotating coordinate system (LRCS)
x, y is local, non rotating coordinate system (LNCS)

For link 2,

F12x  F32x  m2 aG 2 x 

F12 y  F32 y  m2 aG 2 y ....(1)
T12  R12x F12 y  R12 y F12x   R32x F32 y  R32 y F32x   I G 2 2 


For link 3,

Note: The reaction force F23 = - F32

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F13x  F32x  FPx  m3 aG 3 x 


F13y  F32 y  FPy  m3 aG 3 y ...(2)
R 13x F13y  R13y F13x   R32x F32 y  R32 y F32x   RPx FPy  RPy FPx   I G 3 3


There are seven unknowns: F 12x, F 12y, F 32x, F32y F 13x , F13y, and T12.
But F13y is due to friction at the joint between link 3 and link 1.

Eliminate F13y

F13y  F13x

Therefore, we have six equations with six unknowns

F12x  F32x  m2 aG 2 x 

F12 y  F32 y  m2 aG 2 y ....(1)
T12  R12x F12 y  R12 y F12x   R32x F32 y  R32 y F32x   I G 2 2 


F13x  F32x  m3 aG 3 x  FPx 


F13y  F32 y  m3 aG 3 y  FPy ...(2)
 R 13x  R13y F13x  R32x F32 y  R32 y F32x

 I G 3 3  RPx FPy  RPy FPx 

Putting the above equations in matrix form, we get

 1 0 1 0 0 0  F12x   m2 aG 2 x 
 0 1 0 1 0  
0 F12 y   m2 aG 2 y 
    
 R12 y R12x  R32 y R32x 0 1  F32x   I G 2 2 
   
 0 0 1 0 1 0  F32 y   m3 aG 3 x  FPx 
 0 0 0 1  0  F13x   m3 aG 3 y  FPy 
     
 0 0 R23 y  R32x R
13x  R13 y  0  T12   I G 3 3  RPx FPy  RPy FPx 

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Dynamic force analysis of a four bar mechanism

Let us study the four bar mechanism where m2, m3, m4 are mass of link 2,3 and 4 respectively.
We have to find the torque M required at link 2 for dynamic equilibrium
aG3y

R23
aG3x
3
Link 3 R43
aG2y
G3
m3
R32
aG4y
R34
aG2x
G2 M2
G4
aG4x
m2 R12 m4
Link 4
Link 2  R34 
2 4

1 1

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aG3y
R23
F23x F43y
aG3x
F32y
F23y Link 3
R43 F43x

F32x aG4y
aG2y
R32 F34x
R34
T2 Link 4
Link 2 aG2x aG4x
F14y
F12y 2 F34y
R12
R14

F14x
FBD F12x

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Apply D’Alambert Principles, Forces in x and y directions

F12 x  F32 x  m2 aG2 x

F12 y  F32 y  m2 aG2 y

F12 x R12 sin 2  F12 y R12 cos2  F32 x R32 sin 2  F32 y R32 cos2  T2  m2 k222

 F32 x  F43 x  m3aG3 x

 F32 y  F43 y  m3aG3 y

F43 x R43 sin 3  F43 y R43 cos3  F23 x R23 sin 3  F32 y R23 cos3  m3k323

 F43 x  F14 x  m4 aG4 x

 F43 y  F14 y  m4 aG4 y

F34 x R34 sin 4  F43 y R34 cos4  F14 x R14 sin 4  F14 y R14 cos4  m4k4 2 4

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Dynamic Force analysis in a Four bar Slider- crank mechanism

Find the expressions of forces at joints O2, A and B. Compute the torque T12 applied to
crank O2A.

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Crank

F12 x  F32 x  m2 aG2 x

F12 y  F32 y  m2 aG2 y
T12   R12 x F12 y  R12 y F12 x    R32 x F32 y  R32 y F32 x   I G 2 2

Connecting rod

F43 x  F32 x  m3aG3 x

F43 y  F32 y  m3aG3 y
R 43 x F43 y  R43 y F43 x    R32 x F32 y  R32 y F32 x   I G 3 3

Piston

F14 x  F43 x  FPx  m4 aG4 x

F14 y  F43 y  FPy  m4 aG4 y
R F
14 x 14 y  R14 y F14 x    R34 x F43 y  R34 y F43 x    RPx FPy  RPy FPx   I G 4 4
F14 x    F14 y
  F14 y  F43 x  FPx  m4 aG4 x
F14 y  F43 y  FPy  0

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In Matrix form

 1 0 1 0 0 0 0 0   F12 x   m2 aG 2 x 
 0 1 0 1 0 0 0 0  F   m a 
   12 y   2 G2 y 
  R12 y R12 x  R32 y R32 z 0 0 0 1   F32 x   I G 2 2 
     
 0 0 1 0 1 0 0 0    F32 y    m3 aG 3 x 
 0 0 0 1 0 1 0 0   F43 x   m3 aG 3 y 
     
 0 0 R23 y  R23 x  R43 y R43 x 0 0   F43 y   I G 3 3 
 0 0 0 0 1 0  0   F   m4 aG 4 x  FPx 
   14 y   
 0 0 0 0 0 1 1 0   T12    FPy 

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