Question

Determine the angular velocities (ω3 and ω4) and the linear velocity (magnitude and direction) of point P. The filled circles are the joints of the fixed link 1. Use the dimension of the link provided to determine the appropriate scale and to determine the remaining link lengths, if need be.

4 - 29 in W, - 2 rad/s cow

Answer 1

# AD= e, = 29 in Wze 2 rad Path of point B and cis touch to each other at M AB=9 in eo=2oin Sec velocity digrame. 100 2 Joe ad Upa= Velocity of point P with respect to a Upea velocity of point with respect toc Pb & Velocity of pont p with respect to be

→ Velocity of Point VB = W2X AB & is = 2x9. → from velocity diagram , scale 3 1 cm ab= 6 cm baz 6x3 = 18 in (see cb = 1.5cm Voc a 1.5x3= 4.5 in/Bee de = 6.5 cm Ved= 8.5 x3 = 19.5 in fee apz 4.2 cm Vea = 4.2x3 = 12.6 in see Angular velocity of link 4 Vaa= Waxed Wo e che = 0.975 med Angular velocity of link & with respect to c Voc = W3 X BC W3 = V = 4 20.22 rad recto velocity of point p with respect to a Up = 12.6 1h toward P from a or counter clockwise see