Question

Given: A mechanism is made up of links AB and BD, with point A being pinned to ground and point B being a pin joint connecting links AB and BD. A slider is connected to BD at pin D with the slider being constrained to move on a circular path with a radius of R. At the position shown below, link AB is vertical, link BD is horizontal and D is directly above point 0. At this position, D is traveling to the right with a constant speed of up. Find: For this position: Determine the angular velocities of links AB and BD. Write your answers as vectors. • Determine the angular accelerations of links AB and BD. Write your answers as vectors. . 'L, vo DO B

Answer 1

A v i A JB VB WAR WAS K & WBD using BD = lan WBD rullative velocity vo P BD wheue, } / + WBDX X BID BID = m A voi = b J K + W BD l 0 vo on Voit î (0) j (- l WBD t R (0) comparing Coefficients & WBD = 0 racis 7 B = V D Now, WAB VB AB WAB S d rad's III!

2 B ão ao 2 BD BID اهله o for acceleration lo a (dAB d) it Whold R LOD & BD OBL - li using relative acceleration en + LBD X CLAR dit WABld î (0) - Î F 1 L BD fR (0) - 0 on Comparing coefficients, XARX x d = o racls 2 and V + A B D x l VD PAD dl R => YAB 2 AB x D = 2 R 2 + 2 Re l R ABD = u (dtry