theory of machines dynamic analysis
TRANSCRIPT
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 150
ProfDr Fatih M Botsalı
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 250
DEFINITIONS
Dynamic Science that examines themotion of systems considering the
forces acting on the system
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 350
POINT MASS AND RIGID BODY
Point mass(particle) themass is considered to be
concentrated at the mass
center(Theoraticallyvolume=0)
Rigid body the mass isconsidered to be
distributed over the
volume
m
m
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 450
RIGID BODY
Assumed as system of point masses
8132019 Theory of Machines Dynamic Analysis
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SYSTEM OF PARTICLES(SYSTEM OF POINT MASSES)
ext
i ij i ii i j i
m + =sum sum sum sumF F a
iji j 0
=
sum sumF
exti i i
i i
m =sum sumF a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 650
DYNAMIC OF SYSTEM OF PARTICLES
i G i i
i
G i i
( m ) m
m M
M m
=
=
=
sum sum
sum
sum
r r
r r
Definition of center of mass
x
y
z
mi
ri
rG
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 750
DYNAMIC OF SYSTEM OF PARTICLES
ext i G
i i
ext G
i
( m ) 0
M 0
minus =
minus =
sum sum
sum
F a
F a
ext
i i ii i
m =
sum sumF a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 850
DrsquoALEMBERTrsquoS PRINCIPLE
=
+ = 0
Newtonrsquos 2nd law
DrsquoAlembertrsquosprinciple
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 950
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
O i i ii (m )
= times
sumH r v
O
i i i i i ii i
d d
(m ) (m )dt dt= times + times
sum sum
Hr V r V
8132019 Theory of Machines Dynamic Analysis
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ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extO i i
d
dt F= times
sumH
r
O i i i i i i
i i
d d(m ) (m )dt dt
= times + timessum sum
H
r V r V0
O i i i
i
d(m )
dt= times
sumH
r a
8132019 Theory of Machines Dynamic Analysis
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O
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extOi i
d
dt
F= timessumH
r
O 0
d
dt=
sumH
M
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1250
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G i i G i i
2i i i
( ) [ ( x )m ]
m
= times + times
minus times
sum sum sumsum
iM r m a r α r
r ω r
2i G i i= + times minus timesa a α r ω r
Letrsquos assume point O is
coincident with GO
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC EQUILIBRIUM OF
RIGID BODY
2G i i G i i i i i( ) [ ( x )m ] m= times + times minus timessum sum sum sumi
M r m a r α r r ω r
00
2
G i i
( m )=
sum sumM r α
G I=sum M α
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC EQUILIBRIUM OF
RIGID BODY
G Gext ( m) M= =
sum sumF a a
G I=
sumM α
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC EQUILIBRIUM OF
RIGID BODY
=
+ =0
Newtonrsquos
2nd law
DrsquoAlembertrsquos
principle
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1650
CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1750
2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
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8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 250
DEFINITIONS
Dynamic Science that examines themotion of systems considering the
forces acting on the system
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 350
POINT MASS AND RIGID BODY
Point mass(particle) themass is considered to be
concentrated at the mass
center(Theoraticallyvolume=0)
Rigid body the mass isconsidered to be
distributed over the
volume
m
m
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 450
RIGID BODY
Assumed as system of point masses
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 550
SYSTEM OF PARTICLES(SYSTEM OF POINT MASSES)
ext
i ij i ii i j i
m + =sum sum sum sumF F a
iji j 0
=
sum sumF
exti i i
i i
m =sum sumF a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 650
DYNAMIC OF SYSTEM OF PARTICLES
i G i i
i
G i i
( m ) m
m M
M m
=
=
=
sum sum
sum
sum
r r
r r
Definition of center of mass
x
y
z
mi
ri
rG
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 750
DYNAMIC OF SYSTEM OF PARTICLES
ext i G
i i
ext G
i
( m ) 0
M 0
minus =
minus =
sum sum
sum
F a
F a
ext
i i ii i
m =
sum sumF a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 850
DrsquoALEMBERTrsquoS PRINCIPLE
=
+ = 0
Newtonrsquos 2nd law
DrsquoAlembertrsquosprinciple
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 950
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
O i i ii (m )
= times
sumH r v
O
i i i i i ii i
d d
(m ) (m )dt dt= times + times
sum sum
Hr V r V
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1050
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extO i i
d
dt F= times
sumH
r
O i i i i i i
i i
d d(m ) (m )dt dt
= times + timessum sum
H
r V r V0
O i i i
i
d(m )
dt= times
sumH
r a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1150
O
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extOi i
d
dt
F= timessumH
r
O 0
d
dt=
sumH
M
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1250
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G i i G i i
2i i i
( ) [ ( x )m ]
m
= times + times
minus times
sum sum sumsum
iM r m a r α r
r ω r
2i G i i= + times minus timesa a α r ω r
Letrsquos assume point O is
coincident with GO
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1350
DYNAMIC EQUILIBRIUM OF
RIGID BODY
2G i i G i i i i i( ) [ ( x )m ] m= times + times minus timessum sum sum sumi
M r m a r α r r ω r
00
2
G i i
( m )=
sum sumM r α
G I=sum M α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1450
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G Gext ( m) M= =
sum sumF a a
G I=
sumM α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1550
DYNAMIC EQUILIBRIUM OF
RIGID BODY
=
+ =0
Newtonrsquos
2nd law
DrsquoAlembertrsquos
principle
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1650
CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1750
2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
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2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
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8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 350
POINT MASS AND RIGID BODY
Point mass(particle) themass is considered to be
concentrated at the mass
center(Theoraticallyvolume=0)
Rigid body the mass isconsidered to be
distributed over the
volume
m
m
8132019 Theory of Machines Dynamic Analysis
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RIGID BODY
Assumed as system of point masses
8132019 Theory of Machines Dynamic Analysis
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SYSTEM OF PARTICLES(SYSTEM OF POINT MASSES)
ext
i ij i ii i j i
m + =sum sum sum sumF F a
iji j 0
=
sum sumF
exti i i
i i
m =sum sumF a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 650
DYNAMIC OF SYSTEM OF PARTICLES
i G i i
i
G i i
( m ) m
m M
M m
=
=
=
sum sum
sum
sum
r r
r r
Definition of center of mass
x
y
z
mi
ri
rG
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC OF SYSTEM OF PARTICLES
ext i G
i i
ext G
i
( m ) 0
M 0
minus =
minus =
sum sum
sum
F a
F a
ext
i i ii i
m =
sum sumF a
8132019 Theory of Machines Dynamic Analysis
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DrsquoALEMBERTrsquoS PRINCIPLE
=
+ = 0
Newtonrsquos 2nd law
DrsquoAlembertrsquosprinciple
8132019 Theory of Machines Dynamic Analysis
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ANGULAR MOMENTUM
MOMENT OF MOMENTUM
O i i ii (m )
= times
sumH r v
O
i i i i i ii i
d d
(m ) (m )dt dt= times + times
sum sum
Hr V r V
8132019 Theory of Machines Dynamic Analysis
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ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extO i i
d
dt F= times
sumH
r
O i i i i i i
i i
d d(m ) (m )dt dt
= times + timessum sum
H
r V r V0
O i i i
i
d(m )
dt= times
sumH
r a
8132019 Theory of Machines Dynamic Analysis
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O
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extOi i
d
dt
F= timessumH
r
O 0
d
dt=
sumH
M
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC EQUILIBRIUM OF
RIGID BODY
G i i G i i
2i i i
( ) [ ( x )m ]
m
= times + times
minus times
sum sum sumsum
iM r m a r α r
r ω r
2i G i i= + times minus timesa a α r ω r
Letrsquos assume point O is
coincident with GO
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC EQUILIBRIUM OF
RIGID BODY
2G i i G i i i i i( ) [ ( x )m ] m= times + times minus timessum sum sum sumi
M r m a r α r r ω r
00
2
G i i
( m )=
sum sumM r α
G I=sum M α
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC EQUILIBRIUM OF
RIGID BODY
G Gext ( m) M= =
sum sumF a a
G I=
sumM α
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC EQUILIBRIUM OF
RIGID BODY
=
+ =0
Newtonrsquos
2nd law
DrsquoAlembertrsquos
principle
8132019 Theory of Machines Dynamic Analysis
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CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
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2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
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2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
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Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
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8132019 Theory of Machines Dynamic Analysis
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Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
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Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
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USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
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=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
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SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
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Example
E l
8132019 Theory of Machines Dynamic Analysis
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Example
I
8132019 Theory of Machines Dynamic Analysis
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(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
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II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
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T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 450
RIGID BODY
Assumed as system of point masses
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 550
SYSTEM OF PARTICLES(SYSTEM OF POINT MASSES)
ext
i ij i ii i j i
m + =sum sum sum sumF F a
iji j 0
=
sum sumF
exti i i
i i
m =sum sumF a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 650
DYNAMIC OF SYSTEM OF PARTICLES
i G i i
i
G i i
( m ) m
m M
M m
=
=
=
sum sum
sum
sum
r r
r r
Definition of center of mass
x
y
z
mi
ri
rG
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 750
DYNAMIC OF SYSTEM OF PARTICLES
ext i G
i i
ext G
i
( m ) 0
M 0
minus =
minus =
sum sum
sum
F a
F a
ext
i i ii i
m =
sum sumF a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 850
DrsquoALEMBERTrsquoS PRINCIPLE
=
+ = 0
Newtonrsquos 2nd law
DrsquoAlembertrsquosprinciple
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 950
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
O i i ii (m )
= times
sumH r v
O
i i i i i ii i
d d
(m ) (m )dt dt= times + times
sum sum
Hr V r V
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1050
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extO i i
d
dt F= times
sumH
r
O i i i i i i
i i
d d(m ) (m )dt dt
= times + timessum sum
H
r V r V0
O i i i
i
d(m )
dt= times
sumH
r a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1150
O
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extOi i
d
dt
F= timessumH
r
O 0
d
dt=
sumH
M
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1250
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G i i G i i
2i i i
( ) [ ( x )m ]
m
= times + times
minus times
sum sum sumsum
iM r m a r α r
r ω r
2i G i i= + times minus timesa a α r ω r
Letrsquos assume point O is
coincident with GO
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1350
DYNAMIC EQUILIBRIUM OF
RIGID BODY
2G i i G i i i i i( ) [ ( x )m ] m= times + times minus timessum sum sum sumi
M r m a r α r r ω r
00
2
G i i
( m )=
sum sumM r α
G I=sum M α
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC EQUILIBRIUM OF
RIGID BODY
G Gext ( m) M= =
sum sumF a a
G I=
sumM α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1550
DYNAMIC EQUILIBRIUM OF
RIGID BODY
=
+ =0
Newtonrsquos
2nd law
DrsquoAlembertrsquos
principle
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1650
CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
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2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
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8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
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USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 550
SYSTEM OF PARTICLES(SYSTEM OF POINT MASSES)
ext
i ij i ii i j i
m + =sum sum sum sumF F a
iji j 0
=
sum sumF
exti i i
i i
m =sum sumF a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 650
DYNAMIC OF SYSTEM OF PARTICLES
i G i i
i
G i i
( m ) m
m M
M m
=
=
=
sum sum
sum
sum
r r
r r
Definition of center of mass
x
y
z
mi
ri
rG
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 750
DYNAMIC OF SYSTEM OF PARTICLES
ext i G
i i
ext G
i
( m ) 0
M 0
minus =
minus =
sum sum
sum
F a
F a
ext
i i ii i
m =
sum sumF a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 850
DrsquoALEMBERTrsquoS PRINCIPLE
=
+ = 0
Newtonrsquos 2nd law
DrsquoAlembertrsquosprinciple
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 950
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
O i i ii (m )
= times
sumH r v
O
i i i i i ii i
d d
(m ) (m )dt dt= times + times
sum sum
Hr V r V
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1050
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extO i i
d
dt F= times
sumH
r
O i i i i i i
i i
d d(m ) (m )dt dt
= times + timessum sum
H
r V r V0
O i i i
i
d(m )
dt= times
sumH
r a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1150
O
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extOi i
d
dt
F= timessumH
r
O 0
d
dt=
sumH
M
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1250
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G i i G i i
2i i i
( ) [ ( x )m ]
m
= times + times
minus times
sum sum sumsum
iM r m a r α r
r ω r
2i G i i= + times minus timesa a α r ω r
Letrsquos assume point O is
coincident with GO
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1350
DYNAMIC EQUILIBRIUM OF
RIGID BODY
2G i i G i i i i i( ) [ ( x )m ] m= times + times minus timessum sum sum sumi
M r m a r α r r ω r
00
2
G i i
( m )=
sum sumM r α
G I=sum M α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1450
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G Gext ( m) M= =
sum sumF a a
G I=
sumM α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1550
DYNAMIC EQUILIBRIUM OF
RIGID BODY
=
+ =0
Newtonrsquos
2nd law
DrsquoAlembertrsquos
principle
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1650
CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1750
2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 650
DYNAMIC OF SYSTEM OF PARTICLES
i G i i
i
G i i
( m ) m
m M
M m
=
=
=
sum sum
sum
sum
r r
r r
Definition of center of mass
x
y
z
mi
ri
rG
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC OF SYSTEM OF PARTICLES
ext i G
i i
ext G
i
( m ) 0
M 0
minus =
minus =
sum sum
sum
F a
F a
ext
i i ii i
m =
sum sumF a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 850
DrsquoALEMBERTrsquoS PRINCIPLE
=
+ = 0
Newtonrsquos 2nd law
DrsquoAlembertrsquosprinciple
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 950
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
O i i ii (m )
= times
sumH r v
O
i i i i i ii i
d d
(m ) (m )dt dt= times + times
sum sum
Hr V r V
8132019 Theory of Machines Dynamic Analysis
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ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extO i i
d
dt F= times
sumH
r
O i i i i i i
i i
d d(m ) (m )dt dt
= times + timessum sum
H
r V r V0
O i i i
i
d(m )
dt= times
sumH
r a
8132019 Theory of Machines Dynamic Analysis
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O
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extOi i
d
dt
F= timessumH
r
O 0
d
dt=
sumH
M
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1250
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G i i G i i
2i i i
( ) [ ( x )m ]
m
= times + times
minus times
sum sum sumsum
iM r m a r α r
r ω r
2i G i i= + times minus timesa a α r ω r
Letrsquos assume point O is
coincident with GO
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC EQUILIBRIUM OF
RIGID BODY
2G i i G i i i i i( ) [ ( x )m ] m= times + times minus timessum sum sum sumi
M r m a r α r r ω r
00
2
G i i
( m )=
sum sumM r α
G I=sum M α
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC EQUILIBRIUM OF
RIGID BODY
G Gext ( m) M= =
sum sumF a a
G I=
sumM α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1550
DYNAMIC EQUILIBRIUM OF
RIGID BODY
=
+ =0
Newtonrsquos
2nd law
DrsquoAlembertrsquos
principle
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1650
CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
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2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
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8132019 Theory of Machines Dynamic Analysis
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Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
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Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
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USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
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=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
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SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
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Example
E l
8132019 Theory of Machines Dynamic Analysis
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Example
I
8132019 Theory of Machines Dynamic Analysis
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(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
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II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
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T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
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T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
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2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
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8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
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8132019 Theory of Machines Dynamic Analysis
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8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 750
DYNAMIC OF SYSTEM OF PARTICLES
ext i G
i i
ext G
i
( m ) 0
M 0
minus =
minus =
sum sum
sum
F a
F a
ext
i i ii i
m =
sum sumF a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 850
DrsquoALEMBERTrsquoS PRINCIPLE
=
+ = 0
Newtonrsquos 2nd law
DrsquoAlembertrsquosprinciple
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 950
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
O i i ii (m )
= times
sumH r v
O
i i i i i ii i
d d
(m ) (m )dt dt= times + times
sum sum
Hr V r V
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1050
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extO i i
d
dt F= times
sumH
r
O i i i i i i
i i
d d(m ) (m )dt dt
= times + timessum sum
H
r V r V0
O i i i
i
d(m )
dt= times
sumH
r a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1150
O
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extOi i
d
dt
F= timessumH
r
O 0
d
dt=
sumH
M
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1250
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G i i G i i
2i i i
( ) [ ( x )m ]
m
= times + times
minus times
sum sum sumsum
iM r m a r α r
r ω r
2i G i i= + times minus timesa a α r ω r
Letrsquos assume point O is
coincident with GO
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC EQUILIBRIUM OF
RIGID BODY
2G i i G i i i i i( ) [ ( x )m ] m= times + times minus timessum sum sum sumi
M r m a r α r r ω r
00
2
G i i
( m )=
sum sumM r α
G I=sum M α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1450
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G Gext ( m) M= =
sum sumF a a
G I=
sumM α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1550
DYNAMIC EQUILIBRIUM OF
RIGID BODY
=
+ =0
Newtonrsquos
2nd law
DrsquoAlembertrsquos
principle
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1650
CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
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2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
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USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 850
DrsquoALEMBERTrsquoS PRINCIPLE
=
+ = 0
Newtonrsquos 2nd law
DrsquoAlembertrsquosprinciple
8132019 Theory of Machines Dynamic Analysis
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ANGULAR MOMENTUM
MOMENT OF MOMENTUM
O i i ii (m )
= times
sumH r v
O
i i i i i ii i
d d
(m ) (m )dt dt= times + times
sum sum
Hr V r V
8132019 Theory of Machines Dynamic Analysis
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ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extO i i
d
dt F= times
sumH
r
O i i i i i i
i i
d d(m ) (m )dt dt
= times + timessum sum
H
r V r V0
O i i i
i
d(m )
dt= times
sumH
r a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1150
O
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extOi i
d
dt
F= timessumH
r
O 0
d
dt=
sumH
M
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1250
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G i i G i i
2i i i
( ) [ ( x )m ]
m
= times + times
minus times
sum sum sumsum
iM r m a r α r
r ω r
2i G i i= + times minus timesa a α r ω r
Letrsquos assume point O is
coincident with GO
8132019 Theory of Machines Dynamic Analysis
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DYNAMIC EQUILIBRIUM OF
RIGID BODY
2G i i G i i i i i( ) [ ( x )m ] m= times + times minus timessum sum sum sumi
M r m a r α r r ω r
00
2
G i i
( m )=
sum sumM r α
G I=sum M α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1450
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G Gext ( m) M= =
sum sumF a a
G I=
sumM α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1550
DYNAMIC EQUILIBRIUM OF
RIGID BODY
=
+ =0
Newtonrsquos
2nd law
DrsquoAlembertrsquos
principle
8132019 Theory of Machines Dynamic Analysis
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CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1750
2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 950
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
O i i ii (m )
= times
sumH r v
O
i i i i i ii i
d d
(m ) (m )dt dt= times + times
sum sum
Hr V r V
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1050
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extO i i
d
dt F= times
sumH
r
O i i i i i i
i i
d d(m ) (m )dt dt
= times + timessum sum
H
r V r V0
O i i i
i
d(m )
dt= times
sumH
r a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1150
O
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extOi i
d
dt
F= timessumH
r
O 0
d
dt=
sumH
M
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1250
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G i i G i i
2i i i
( ) [ ( x )m ]
m
= times + times
minus times
sum sum sumsum
iM r m a r α r
r ω r
2i G i i= + times minus timesa a α r ω r
Letrsquos assume point O is
coincident with GO
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1350
DYNAMIC EQUILIBRIUM OF
RIGID BODY
2G i i G i i i i i( ) [ ( x )m ] m= times + times minus timessum sum sum sumi
M r m a r α r r ω r
00
2
G i i
( m )=
sum sumM r α
G I=sum M α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1450
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G Gext ( m) M= =
sum sumF a a
G I=
sumM α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1550
DYNAMIC EQUILIBRIUM OF
RIGID BODY
=
+ =0
Newtonrsquos
2nd law
DrsquoAlembertrsquos
principle
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1650
CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1750
2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1050
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extO i i
d
dt F= times
sumH
r
O i i i i i i
i i
d d(m ) (m )dt dt
= times + timessum sum
H
r V r V0
O i i i
i
d(m )
dt= times
sumH
r a
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1150
O
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extOi i
d
dt
F= timessumH
r
O 0
d
dt=
sumH
M
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1250
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G i i G i i
2i i i
( ) [ ( x )m ]
m
= times + times
minus times
sum sum sumsum
iM r m a r α r
r ω r
2i G i i= + times minus timesa a α r ω r
Letrsquos assume point O is
coincident with GO
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1350
DYNAMIC EQUILIBRIUM OF
RIGID BODY
2G i i G i i i i i( ) [ ( x )m ] m= times + times minus timessum sum sum sumi
M r m a r α r r ω r
00
2
G i i
( m )=
sum sumM r α
G I=sum M α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1450
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G Gext ( m) M= =
sum sumF a a
G I=
sumM α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1550
DYNAMIC EQUILIBRIUM OF
RIGID BODY
=
+ =0
Newtonrsquos
2nd law
DrsquoAlembertrsquos
principle
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1650
CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1750
2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1150
O
ANGULAR MOMENTUM
MOMENT OF MOMENTUM
extOi i
d
dt
F= timessumH
r
O 0
d
dt=
sumH
M
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1250
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G i i G i i
2i i i
( ) [ ( x )m ]
m
= times + times
minus times
sum sum sumsum
iM r m a r α r
r ω r
2i G i i= + times minus timesa a α r ω r
Letrsquos assume point O is
coincident with GO
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1350
DYNAMIC EQUILIBRIUM OF
RIGID BODY
2G i i G i i i i i( ) [ ( x )m ] m= times + times minus timessum sum sum sumi
M r m a r α r r ω r
00
2
G i i
( m )=
sum sumM r α
G I=sum M α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1450
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G Gext ( m) M= =
sum sumF a a
G I=
sumM α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1550
DYNAMIC EQUILIBRIUM OF
RIGID BODY
=
+ =0
Newtonrsquos
2nd law
DrsquoAlembertrsquos
principle
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1650
CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1750
2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1250
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G i i G i i
2i i i
( ) [ ( x )m ]
m
= times + times
minus times
sum sum sumsum
iM r m a r α r
r ω r
2i G i i= + times minus timesa a α r ω r
Letrsquos assume point O is
coincident with GO
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1350
DYNAMIC EQUILIBRIUM OF
RIGID BODY
2G i i G i i i i i( ) [ ( x )m ] m= times + times minus timessum sum sum sumi
M r m a r α r r ω r
00
2
G i i
( m )=
sum sumM r α
G I=sum M α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1450
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G Gext ( m) M= =
sum sumF a a
G I=
sumM α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1550
DYNAMIC EQUILIBRIUM OF
RIGID BODY
=
+ =0
Newtonrsquos
2nd law
DrsquoAlembertrsquos
principle
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1650
CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1750
2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1350
DYNAMIC EQUILIBRIUM OF
RIGID BODY
2G i i G i i i i i( ) [ ( x )m ] m= times + times minus timessum sum sum sumi
M r m a r α r r ω r
00
2
G i i
( m )=
sum sumM r α
G I=sum M α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1450
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G Gext ( m) M= =
sum sumF a a
G I=
sumM α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1550
DYNAMIC EQUILIBRIUM OF
RIGID BODY
=
+ =0
Newtonrsquos
2nd law
DrsquoAlembertrsquos
principle
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1650
CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1750
2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1450
DYNAMIC EQUILIBRIUM OF
RIGID BODY
G Gext ( m) M= =
sum sumF a a
G I=
sumM α
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1550
DYNAMIC EQUILIBRIUM OF
RIGID BODY
=
+ =0
Newtonrsquos
2nd law
DrsquoAlembertrsquos
principle
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1650
CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1750
2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1550
DYNAMIC EQUILIBRIUM OF
RIGID BODY
=
+ =0
Newtonrsquos
2nd law
DrsquoAlembertrsquos
principle
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1650
CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1750
2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1650
CENTER OF PERCUSSION
Example At t=0 force P is
acted upon the beamsuspended as seen in
figure
Determine the values ofdistances p and q in
order to make the
horizontal component of
the reaction force at Ozero IGG=mk 2
A
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1750
2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1750
2I mk = Ga p( )= α larr
Gma m p( )minus = minus α rarr
AM 0=sum2
[m( p)]q (mk )x 0α minus =
2
m pq mk 0α minus α =
22 k
pq k qp
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1850
2pq k =
O and A arecenter of
percussions
AA
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 1950
Example The cylinder on
the 60˚ oblique plane is
pulled up by a rope with
tension force T at time t=0
as seen in figure
Calculate the necessarytension force T to pull the
cylinder up the oblique
plane so as to make theacceleration of the center
of mass (G) 1 ms2 (parallel to the
oblique plane)
Note Assume that there isno slippage between the
cylinder and the oblique
plane2R 400 mm r=200 mm I=03kg m= m=200 kg
600
R
r
G
T
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2150
Example
Determine the driving torque T2 to be applied to the crank (2) in
the Scotch-Yoke mechanism shown in figure in order to
maintain the given motion
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2250
Letrsquos draw the free body diagrams of the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2350
USE OF GRAPHICAL METHOD
IN DYNAMIC ANALYSIS
Transforming a 3 force+1 moment member into a
3 force member
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2450
=
=
=
=
Determining
the single force
equivalent of a
moment and a
force system
The arrow of theinertia force(ndash)maG must point
the samedirection with the
direction of theinertia torque (-)Iα
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2550
SUPERPOSITION PRINCIPLE
Applicable to linear systems
F(a)= A F(b)=B F(a+b)= A+B
k
b
k
a
k
a+b
k
A B A+B
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2650
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(1) Perform position analysis to obtain distances and angles
(2) Perform kinematic analysis to obtain accelerations of
centroids and angular acclerations
(3) Determine dynamic forces(-maG) and dynamic moments
(-Iα) acting on the members
(4) For i th member assume mine0 and Iine0 but mass and
mass moment of inertia (mmoi) of all other members are
zero Do it for all members For each case draw FBD of
the members of the mechanism
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2750
DYNAMIC ANALYSIS BY USING
GRAPHICAL METHOD
(5) Assume all masses and mmoirsquos are zero but F ne 0For this case draw the FBD of all mechanism
members
(6) Calculate T2 in all of the cases in steps 4 and 5(7) Superpose all T2 rsquos calculated in step 6 so as to
obtain total torque T2
2 2 I 2 II 2 III 2 IVT T T T T= + + +
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150983145983150 983156983144983141 983142983145983143983157983154983141983086 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983154983141 983155983144983151983159983150 983137983155 983151983142983155983141983156983156983141983140 983155983151 983137983155 983156983151 983143983141983150983141983154983137983156983141 983156983144983141
983140983161983150983137983149983145983139 983156983151983154983153983157983141 983151983142 983080983085983081983113α
983086 983108983154983137983159 983156983144983141 983142983154983141983141 983138983151983140983161 983140983145983137983143983154983137983149983155 983151983142 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141983149983141983139983144983137983150983145983155983149 983138983161 983137983152983152983148983161983145983150983143 983155983157983152983141983154983152983151983155983145983156983145983151983150 983152983154983145983150983139983145983152983148983141983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
983109983160983137983149983152983148983141 983108983141983156983141983154983149983145983150983141 983156983144983141 983140983154983145983158983145983150983143 983156983151983154983153983157983141 983124983090 983154983141983153983157983145983154983141983140 983142983151983154 983156983144983141 983149983141983139983144983137983150983145983155983149
983155983144983151983159983150 983145983150 983142983145983143983157983154983141 983145983150 983151983154983140983141983154 983156983151 983149983137983145983150983156983137983145983150 983156983144983141 983143983145983158983141983150 983149983151983156983145983151983150983086 983117983141983149983138983141983154 983090 983145983155
983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
983108983141983156983141983154983149983145983150983141 983156983144983141
983140983154983145983158983145983150983143 983156983151983154983153983157983141983124983090 983154983141983153983157983145983154983141983140 983142983151983154
983156983144983141 983152983157983149983152
983149983141983139983144983137983150983145983155983149983155983144983151983159983150 983145983150983142983145983143983157983154983141 983145983150 983151983154983140983141983154983156983151 983149983137983145983150983156983137983145983150
983156983144983141 983143983145983158983141983150983149983151983156983145983151983150983086983117983141983149983138983141983154 983090 983145983155983138983137983148983137983150983139983141983140983086
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2850
Example
E l
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
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8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
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8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
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2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
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8132019 Theory of Machines Dynamic Analysis
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8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 2950
Example
I
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
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8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
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8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
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8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
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2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
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8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3050
(-)m2a
G2
T2I
2
I
I2ne0 m2ne0 F=0
Ii=0 mi=0 i=34
II
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
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F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
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8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3550
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8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4050
983109 983148 983108 983156 983145 983156983144 983140 983145 983145 983143 983156 983124 983145 983140 983142 983156983144 983144 983145
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4150
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983138983137983148983137983150983139983141983140983086
2 3
2 4
23
3
O A 100 mm m 068 kg
O AB 90 m 10 kg
AB 400 mm I 00285 kgm
AG 100 mm
= =
= =
= =
=
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4250
2 2 2G3
G3
2B 1
3 G3
4 B
a 23927 14628 2804m s
14628tan 31
23927
a 2804 (211)
ˆa 2355u m s
m a (154)(2804) 4318 N
m a (132)(2355) 3109 N
= + =
α = α =
= micro
= minus
= =
= =
3 3
3
I (0012)(7670) 92 Nm
92
d 0021m4318
α = =
= =
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4350
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4450
983109983160983137983149983152983148983141
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4550
983109983160983137983149983152983148983141
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8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4650
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4750
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4850
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 4950
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 5050
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3150
II
I3ne0 m3ne0 F=0
mi=0 Ii= i=24
III
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3250
T2III 4 (-)m4aG4
III
I4ne0 m4ne0 F=0
Ii=0 mi=0 i=23
IV
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3350
T2IV
F4
IV
Fne0
Ii=0 mi=0 i=234
8132019 Theory of Machines Dynamic Analysis
httpslidepdfcomreaderfulltheory-of-machines-dynamic-analysis 3450
2 2 I 2 II 2 III 2 IVT T T T T= + + +
983109983160983137983149983152983148983141 983108983161983150983137983149983145983139 983142983151983154983139983141983155 983137983139983156983145983150983143 983151983150 983156983144983141 983149983141983149983138983141983154983155 983151983142 983156983144983141 983149983141983139983144983137983150983145983155983149 983137983154983141 983155983144983151983159983150
8132019 Theory of Machines Dynamic Analysis
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8132019 Theory of Machines Dynamic Analysis
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8132019 Theory of Machines Dynamic Analysis
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8132019 Theory of Machines Dynamic Analysis
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8132019 Theory of Machines Dynamic Analysis
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8132019 Theory of Machines Dynamic Analysis
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8132019 Theory of Machines Dynamic Analysis
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8132019 Theory of Machines Dynamic Analysis
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