K5.

The angular acceleration of the links of the mechanism

1.In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

2. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

3. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.
4.In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

5. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

6. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.
7. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

8. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

9. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.
10. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

11. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

12. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.
13. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

14. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.

Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

15. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.
16. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

17. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

18. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.
19. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

20. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.

Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

21. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.
22. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

23. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.

Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

24. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.
25. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

26. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

27. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.
28. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

29. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.

30. In the indicated position of the mechanism, the constant angular velocity of the link OA is set. Link
lengths are given in centimeters. Links to the right which are not indicated, accept vertical or horizontal.
Slider B moves horizontally; slider C moves vertically. Find the acceleration of the mechanism hinges.
Task:
The mechanism consists of three pivotally attached rods. In the indicated position of the mechanism (Fig.
−1
87), the constant angular velocity ω OA =4 s of the OA rod is known. The lengths of the rods OA = 5 cm,
z

AB = BC = 4 cm are known. The dimensions in the figure are given in centimeters. Find the angular
accelerations of AB and BC.

Solution:
We give two methods for solving this problem.
1. The method of the MDC and the polygon of accelerations. Define angular link speeds. We
number the rods (Fig. 88). Start with calculating the speed of point A belonging to a rotating body.

−1
(OA stem). The angular rotation velocity ω 1=ωOA =4 s is known. We have
x

v A =ω 1 ∙ OA=4 ∙ 5=20 sm/s.

Find the position MDC AB link. The rod OA rotates around the hinge O, the rod BC - around the hinge
C.
 The velocity vectors of points A and B are directed perpendicular to the radius of rotation.
 The direction of the vector ⃗v A is set counterclockwise upwards (since ω1> 0), the vector ⃗
v B is
directed upwards based on the theorem on the projections of the velocity vectors of the
unchanged segment.

The MDC of the link AB lies at the intersection of the perpendiculars to the speeds of the points of the
segment AB, we denote it by P2 .Find the distance a, which determines the position of the MDC.
3 1 4
Obviously, tg φ= = . Consequently, a= =1.33m .
4 a 3

The speeds of the points of the link AB satisfy the relations v A =ω 2 ∙ A P2 , v B=ω2 ∙ B P 2 .
 sm
From the first relation at a known velocity v A =20 , taking into account
s
4 2 20
√
A P2= 4 2 +(4+ ) = sm
3
vA
3
20 −1
we find ω 2= = =3 s .
A P2 20/3

We calculate the speed of the point B

4
v B=ω2 ∙ B P 2=3 ·(4 + )=16 s м /s.
3
The angular velocity of the rod BC is
v B 16 −1
ω 2= = =4 s .
BC 4

We calculate the angular acceleration of the rods. We start by finding the acceleration of point A. The OA rod
rotates evenly. Assuming in the formula a A =OA ∙ ω41 + ε 21 to accelerate the body point during rotational
√
the motion ε 1=0, we obtain a A =OA ∙ ω21=5 ∙ 16=80 sm/s 2.

The acceleration vector is directed to the center O (Fig. 89). To calculate the acceleration of point B, we use the
Rivals formula:

Here

The direction of the vectors is shown in Figure 89. Considering that the point B moves along a circle of
radius BC centered at C, we represent the vector a B as the sum

We write (2.19) in projections on the coordinate axis:

From the system of equations, we obtain:

From here we find the angular accelerations:

aвр
BA 128 −2
ε 2= = =32 s
AB 4
τ
aBC 12 −2
ε 3= = =3 s
BC 4
 Vector equation (2.19) with respect to ε 2, ε 3 can be solved graphically. We choose an arbitrary point O
in the drawing, from which we will defer vector sums (Fig. 90). Let's start with the vectors ⃗a A and
k known both in size and direction. Sequentially putting them off O (the beginning of one to the end
of the other), we get the point K. It remains to add the vector

2. The equations of the three angular velocities and accelerations. We introduce the coordinate
system, number the rods and hinges. We assign the numbers of the hinges by the lower index to the
corresponding letters (Fig. 91). Determine the coordinates of the hinges (in centimeters):

We write the equations of three angular velocities

Where the coordinates of the hinges at the ends of the

ω
link having an angular velocity iZ. Hinges 1 and 4 are supporting. Given the known coordinates, we
have

We solve the system taking into account the known angular velocity ω 1 Z =4 s−1 and find

We write the equations of three angular accelerations:

Given the known coordinates and ε 1 z=0, these equations take the form
Substituting the found angular velocities, we obtain