STATIC FORCE ANALYSIS Introduction Inalltypes of machinery, forces are transmitted from one component tothe other such as from a beltto a pulley, from a brake drum toa brake shoe, from a gear to shaft. In the design of machine mechanisms, itis necessary to know the ‘magnitudes as well as the directions of forces transmitted from the input to the output. The analysis helps in selecting proper sizes of the machine components to withstand the stresses developed in them. Ifproper sizes are not selected, the components may fail during the machine operations. On the other hand, if the members are designed to have ‘more strength than required, the machine may nat be able to compete with others due to more cost, weight, size, ete. IF the components of a machine accelerate, inertia forces are produced due to their masses. However, if the ‘magnitudes of these forces are small compared to the externally applied loads, they can be neglected while analysing the mechanism, Such an analysis is known as static-force analysis, For example, i lifting cranes, the bucket load and the static weight loads may be quite high relative to any dynamic loads due to accelerating masses, and thus static- force analysisis justified. ‘When the inertia effect due to the mass of the components is also considered, its called dynamic force analysis which will be dealt in the next chapter. 12.1 CONSTRAINT AND APPLIED FORCES A pair of action and reaction forces which constrain two connected bodies to behave in a particular manner depending upon the nature of connection are known as constraint forces whereas forces acting from outside ‘on a system of bodies are called applied forces. Constraint forces As the constraint forces at a mechanical contact occur in pairs, they have no net force effect on the system of bodies. However, for an individual body isolated from the system, only one of each pair of constraint forces has to be considered. Applied forces Usually, these forces are applied through direct physical or mechanical contact. However, forces like electric, magnetic and gravitational are applied without actual physical contact. 12.2 STATIC EQUILIBRIUM A body is in static equilibrium if it remains in its state of rest or motion. Ifthe body is at rest, it tends to remain at rest and if in motion, it tends to keep the motion. In static equilibrium ‘© the vector sum of all the forces acting on the body is zero, and ‘© the vector sum of all the moments about any arbitrary point is zero. 4E Static Force Analysis 411 Mathematically, EF=0 (12.1) =T=0 (12.2) In a planer system, forces can be described by two-dimensional vectors and, therefore, ER=0 (12.3) EF,=0 (24) 2T,=0 (123) 12.3 EQUILIBRIUM OF TWO- AND THREE-FORCE MEMBERS ‘A member under the action of two forces will be in equilibrium if f ‘© the forces are of the same magnitude, ‘© the forces act along the same line, and ‘© the forces are in opposite directions. Figure 12.1 shows such a member. ‘Amember under the action of three forces will be in equilibrium if ‘© the resultant of the forces is zero, and ‘© the lines of action of the forces intersect at a point (known as point of concurrency). Figure 12.2 (a) shows a member acted upon by three forces Fj, F, and F, and is in equilibrium asthe lines of action of forces intersect atone point © and the resultant is re rey aro. This is verified by adding the fores ‘eotoraly [Fig 12.2 (AS the head ofthe —K lstvecor Fymesttheilttheistvestor_( aX, 8) F,, the resultant is zero. It is not necessary ‘Yo to add the three vectors in order to obtain the resultant as is shown in Fig. 12.2 (c) in which F; is added to F, and then Fis taken. Figure 122 (2) shows a case where the magnitudes and directions ofthe fores are [rig 122] the same a before, but the lines of ation of the forces do not intersect tone point. Ths, the member is notin equilibrium, ‘Consider a member in equllbrum in which the force Fis completely known, Fis known in ection only and Fis completely unknown. The point of applications of FF and F, are A.B and C repectivel. ‘Tosolve such a problem, fst find the point of eoncureney O from te vo frees with known direction, fiom F, and Fy Joining O with C gives the line of ation ofthe third fore F, To know the magnitudes of the forces Fy and F, ake a vector of proper magnitde and direction to represent the forse, From is two ends, draw ines parallel to the lines of action ofthe forces F and F, forming a fore tangle [Figs 12.2 () or (6. Mark arrowheads on F; and Fy so that FF and, ae inthe same ode. Ifthe ines of action of two res ar parallel hen the point of concurrency lies at infinity and, cherefore, the thi fore is also parallel othe fist twofoa2 — Thenyof Machines 124 MEMBER WITH TWO FORCES AND A TORQUE B ‘A member under the action of two forces and an applied torque will be in ‘equilibrium if * 2 ‘the forces are equal in magnitude, parallel in direction and opposite in / sense, and ‘© the forces form a couple which is equal and opposite to the applied torque. F2: Figure 12.3 shows a member acted upon by two equal forces F, and F, and ‘an applied torque T. For equili [Fig. 123] T=F,xh=F,xh (12.6) where T, F; and F, are the magnitudes of T, F, and F, respectively. Tis clockwise whereas the couple formed by F, and F, is counter-clockwise 12.5 EQUILIBRIUM OF FOUR-FORCE MEMBERS Normally, in most of the cases the above conditions for equilibrium of a member are found to be sufficient. However, in some problems, it may be found that the number of forces on a member is four or even more than that. In such cases, first look for the forces completely known and combine them into a single force representing the sum of the known forces. This may reduce the number of forces acting on a body to two or three. However, in planer mechanisms, a four-force system is also solvable if one force is known completely along with lines of action of the others. The following examples illustrate the procedure. Solution The forces F, and F, can be combined into Example 12.1 Figure 12.4(a) shows a A id enc ae bre ect offre Fy Bee neiene, D respectively: The link is in static equilibrium, Determine the magnitude of the forces F,and F; and the direction of F a single force F by obtaining their resultant [Figs 12.4(b) and (c)}. The force F acts through O, the point where lines of action of F, and F, meet. Now, the four-force member ABCD is reduced to a three-force member under the action of forces F (completely known), F (only the direction known) and F, (completely unknown), Let F and F, meet at O. Then CO’ is the line of action of force F,. By completing the force triangle, obtain the magnitude of F, and F,. Magnitude of F ~ 380 Magnitude of F, =284.N Line of action of force F; makes an angle of 15.5° with CB. Example 12.2 Figure 12.5(a) shows a cam with a reciprocating-roller “forces acting on the follower are indicated in the figure. At the instant, an external force F; of 40 N, a spring force Fy of15. N and cam force Fs of unknown magnitude act on it along the lines of action as shown. Py and F are the bearing reactions. Determine the ‘magnitudes of the forces Fy, Fyand F, Assume no friction. soy, 20 ie m4 zlBo—Fp ig ao | See y 2| Ze Foo 20 tz KR = > A ' fs qe 8 a Fah i A Fak +Fy A A— |, / toa Fahad) Fer Ale e Rb, DOU —. fe te) (a) {rig.125 12.6 FORCE CONVENTION ‘The force exerted by the member / on the member jis represented by 12.7 FREE-BODY DIAGRAMS Static Force Analysis 413, Solution As in the previous example, forces Fy and F, canbe combined intoa single force F by obtaining their resultant [Figs 12.5(b)]. Their resultant must pass through point 4, the point of intersection of F, and F,, Thus, the number of forces acting on the body is reduced to four. Now, assume that the magnitude of force F, is known and the force F is to be combined with it ‘Then the resultant must pass through their point of intersection, i.e., the point £ (Fig. 12.5(c)]. This way, the body becomes under the action of three forces which must be concurrent for the equilibrium of the body. Thus, the resultant of F and F, must pass through the point G, the point of intersection of, the forces F, and F;. Therefore, the line of action of, the resultant of F and F; is EG. Now since the force F is completely known and the lines of action of F and their resultant are known, the force diagram can be made. First take the force F and then to add F, draw a line parallel to its line of action through the head of F (Fig. 12.5(4)]. ‘Through the tail of vector F draw a line parallel to the line of action of the resultant, The triangle aeb thus provides the magnitude of the force Fy as well as resultant of F), F) and Fy Now the number of forces acting on the body is reduced to three. One force is completely known and the lines of action of the other two are known, ‘triangle of forces can be drawn and magnitudes of Fy, Fyand F, can be found. Magnitude of F; = 12 N Magnitude of Fy= 42 N Magnitude of Fs = 60 N ‘A free-body diagram is a sketch or diagram of a part isolated from the mechanism in order to determine the nature of forces acting on it. Figure 12.6(a) shows a four-link mechanism. The free-body diagrams of its members 2, 3 and 4 are shown in Figs 12.6 (b) (c) and (4) respectively. Various forces acting on each member are also shown. As the ‘mechanism is in static equilibrium, each ofits members must be in equilibrium individually.414 Theory of Machines Member 4 is acted upon by three forces F, Fyq and F;,. Member 3'is acted upon by two forces Fs and Fy. Meinber 2 is acted upon by two forces Fyy and Fy and a torque T. Initially, the direction and the sense af some ofthe forces may not be known, ‘Assume that the force F fon the member 4 is. known completely. To know the 5 other two forces acting on this {nig 6] member completely, the direction of one more force must be known. Link 3 is a two-force member and for its equilibrium, Fy and F,; must act along BC. Thus, Fy, being equal and opposite to Fyy, also acts along BC. For the member 4 to be in equilibrium, F,, passes through the intersection of F and Fy, By drawing « force triangle (F is completely known), magnitudes of Fy, and Fay ccan be known [Fig.12.6 (e)]- Now Fuy=Fn= Fn= Fey Member 2 will be in equilibrium if F,, is equal, parallel and opposite to Fy, and THF yx h= Fgh e 12.8 SUPERPOSITION {In linear systems, if] number of loads act on a system of forces, the net effect is equal to the superposition of the effects of the individual loads taken one at a tine. A linear system is one in which the output force is directly proportional to the input force, i., in mechanisms where coulomb or dry friction is neglected. Example 223 Aslider-crank mechanism with A the following dimensions. is ‘acted upon by aforce F = 2 kN at B as shown in Fig. 12.7(a): OA = 100 min, AB = 450 mm. Determine the input torque Ton the lik OA for the static equilibrium of the mechanism for the given configuration, Solution As the mechanism is in static equilibrium, Fy. cach of ils members must also be in equilibinm individually. © Fs ‘Member 4 is acted upon by three forces F, Fa and F,, [Fig. 12.700). ‘Member 3 is acted upon by two forces F5 and raf Fs [Fig. 12.7(]. _ ‘Member 2 is acted upon by two forces Fy: and nu F,, and a torque T [Fig. 12.7(4)]. [nig 127|Initially, the direction and the sense of some of the forces are not known, Now, adopt the following procedure: ‘© Force F on member 4 is known completely (© 2 KN, horizontal), To know the other two forces acting on this member completely, the direction of one more force must be known, To know that, the link 3 will have to be considered first which is a two-force member. ‘+ As the link 3 is a two-force member, for its equilibrium, Fay and F,, must act along AB (at this stage, the sense of direction of forces F, and F., is not known). Thus, the line of action of F,, on member 4 is also along 4B. As force F,, acts through the point B on the link 4, draw a line parallel to BC through B by taking a free body of the link 4 to represent the same. Now, since the link 4 isa three-force member, the third force Fy, passes through the intersection of F and Fy, (Fig. 12.7(b)]. By drawing a force triangle (F is completely known), magnitudes of F,, and F, are known [Fig.12.7 ©}. From force triangle, 04 KN Now, Fy=-Fe=Fy=—Fn Member 2 will be in equilibrium (Fig. 12.7(e)] if F is equal, parallel and opposite to Fs, and T= FyyXh = 2.04% 75 = -153 kN.mm (= 75 mm on measurement) ‘The input torque has to be equal and opposite to this couple ie. T= 153 kNnm or 153 N.m (clockwise) Analytical solution cos B= i ~sin® @ = yy [43° — sin? 120° = 0981 or B= 111° (Refer Section 13.5) Fyg608 11.1°=2 of Fyy=2.04 KN 80° 120° 11.1°= 48.9" 2,04 100 sin 48.9° = 153.7 kNmm + The direction and senses of forces in the analytical solution can be known by drawing rough figures instead of drawing these to the scale Static Force Analysis 415 Example 124 A four-link mechanism with the following dimensions is acted upon by a force 80 2150? Non the link DC [Fig. 28a): AD = 500 mm, AB = 400 mm, BC = 1000 mm, DC = 750 mm, DE = 350 mm Determine the input torque T on the link AB for the static equilibrium of the mechanism for the given configuration. Fig. 128 Solution As the mechanism is in static equilibrium, each of its members must also be in equilibrium individually. Member 4 is acted upon by three forces F, Fa, and F. Member 3 is acted upon by two forces F,and Fs. Member 2 is acted upon by two forces Fy) and Fy, and a torque T. Initially, the direction and the sense of some of the forces are not known. Now, adopt the following procedure: ‘Force F on the member 4 is known completely. To know the other two forces acting on this member completely, the direction of one more416 Theory of Machines force must be known. To know that, the link 3 will have to be considered first which is a two-force member. As the link 3 is a two-force member (Fig. 12.8b), for its equilibrium, Fy and Fy, must act along BC (at this stage, the sense of direction of forces Fy5 and Fy, is not known), ‘Thus, the line of action of Fy is also along BC. * As the force F,, acts through the point Con the link 4, draw a line parallel to BC through C by taking a free body of the link 4 to represent the same. Now, as the link 4 is a three-force memiber, the third force F,, passes through the intersection of F and F,, as the three forces are to be concurrent for equilibrium of the link [Fig. 12.8(¢)]. By drawing a force triangle F is completely known), magnitudes of F,, and Fy, are known (Fig. 12.8 (d)]. From force triangle, Fy=478N Now, Fu=-Fa=Fn=—Fo, Member 2 will be in equilibrium (Fig. 12.8(¢)] if F , is equal, parallel and opposite to Fy, and T=—F yx h = —47.8 x 393 =—18 780 N.mm ‘The input torque has to be equal and opposite to this couple ie., T= 18,78 N.m (clockwise) Analytical Method First of all, the angular inclinations of the links BC and DC, i¢., angles Band ¢ are to be determined. This may be done by drawing the configuration or by analytical means (Section 4.1). Fig. 12.9 We have (Fig. 12.9), ea -P e+e k= (0.4 — 12 + 0.752 + 0,5%)2 = - 0.01375 A= ka (d-c) c0s 0- ed =-0.01375-04 (0.5 0.75) cos 120° - 0.75 x 0.5 = -0.439 B=~2ac sin = -2x 0.4 x 0.75 sin 120° 052 C= k-a(d + 6) c0s0 + ed 0.01375 04 (0.5 + 0.75) c0s 120 +0.75 x05 onl = tant) ~B# NB =44C o= a (4.47) =| 0.524 y(-0.52)? - 4 x (-0.439)(0.61 = 2tan7t] YE eee 2x (0.439) = 2 tan-\(0.727 or ~ 0.439) = 72% or-47.4° Taking the first value (value in the first quadrant), We have, asinO+bsinB=csing —_(Bq.43) 0.4 x sin 120° + 1 x sin B= 0.75 x sin 72° or sin B=0.712 or B =21.5° Position vectors AB = 04 2120°, BC = 1.0 221.5°, DC = 0.75 ZIP ,DE=0.35 272° The direction of Fg is along BC since it is atwo- force member, Fuy= Pg 221.5° As the link DC is in static equilibrium, no resultant forces or moments are acting on it, Taking moments of the forces about point D, My= Fyx DE + FyxDC=0 w Moments are the cross-multiplication of the vector, so it should be done in rectangular coordinates. 10. 2150° = 69.281 + 40j DE =0.35 272°= 0.108 i + 0.333 j Byq= Fg 221.5° = F( 0.93 1 + 0.367 §) DC=0.75 272°=0.232 1+ 0.7135 Inserting the values of veetors in (i), (69,281 + 40 §) x (0.108 i+ 0.333 j) + Fy(0.93 i + 0.367 j) x (0.235 i+ 0.712 j) =0ik i ik or|-69.28 40 0|+/0.93F,, 0.367%, 0|=0 0.108 0.333 0| | 0.232 0.713 | or (-69.28 x 0.333 40 x 0.108) + (0.93 Fy, x 0.713 ~0.367 Fay x 0.232) or -27.4+0.58 Fy" 0 or Fyy=47.3N Thus, Fyq=47.3221.5° Now, Fy =—Fay= Fa =-Fu= 4732215" Fy =-Fy =473 215° Tae = Fyz X AB = 47.3.221,5° x 0.4 2120° = 18.9. Nm Example 12.5. A four-link mechanism with the following dimensions is acted upon by a force of 50 N on the link DC at the point E (Fig. 12.10a): 300 mm, AB = 400 mm, BC = 600 mm, DC = 640 mm, DE = 840 mm Determine the input torque T on the link AB for the static equilibrium of the mechanism for the given configuration. A Fee 8 Fra Pa Footy. ON © @ Co) Fig. 12.10 Solution As the mechanism is in static equilibrium, each of its members must also be in equilibrium individually Member 4 is acted upon by three forces F, Fy and F;, (Fig. 12.10(6)] Static Force Analysis 417 Member 3 is acted upon by two forces Fo, and Fg [Fig. 12.10(6)] Member 2 is acted upon by two forces Fy) and Fy, and a torque T (Fig. 12.10(@)] Initially, the direction and the sense of some of the forces are not known. The procedure to solve the problem graphically is exactly similar to the previous example. In brief, the link 3 is a two-force member, so it provides the line of action of force Fay on the link 4. Since the link 4 is a three-force member and forces are to be concurrent, the lines of action of all the forces on the link 4 can be drawn. Then the force diagram provides, the magnitude of various forces [Fig. 12.10(e)]. The rest of the procedure is self-explanatory. From force triangle, =30.5N Now, Fy2 == Fay = Fag =—Fyy of Fy T= Faq Xh = 30.5 X 249 = 7595 N.mnm. (= 249 mm, on measurement) The input torque has to be equal and opposite to the couple obtained by parallel forces ie., T= 1,595 N.m (counter clockwise) For the mechanism shown in Fig. 12.1a, determine the torque on the link AB for the static equilibrium of the mechanism. Example 12.6 Solution (@ Composite Graphical Solution As the mechanism is in static equilibrium, each of its members must also be in equilibrium individually. + Member 4 is acted upon by three forces Fy, Fy, and Fyq{Fig. 12.110) # Member 3 is acted upon by three forces Fy, Fyand Fes + Member? is acted upon by two forces F,, and Fi and a torque T. ‘Tosolve the problem graphically, proceed as follows: + Force F, onthe member is known completely To know the other two forces acting on this member completely the direction of one more force must be known, However, as the link 3 now is thre-frce member, its not possible to know the direction ofthe force Fy, fom that lo.18 Theory of Machines Fre B h of Fe a0 Hig 01 * Consider two components, normal FS, and tangential Figof the force Fy. Assume FS to be along DC and Ff, perpendicular to DC through C_ Also, take the components of force F,, ie, Ff'and Ff along the same directions Now as the link 4 is in equilibrium, no moments are acting on it, Taking moments of all the forces acting on it about pivot point D. M= Fly xDC+ Fl xDE=0 €No moments are to be there due to forces Fly, Ffiand F,,asthese forces passthrough the point D) or Fi, == DE 1 De . Graphically, the above value of Fly can be oblained by taking F, on the link 4 to some convenient scale and then taking two components of it, the normal component along DC and the tangential component perpendicular to DC being shown by JH in Fig. 12.11(c). Also, draw CL L DC. Draw IL parallel to HC. Join DL which intersects JH at K, Now, KH is the component Fly the direction being towards K. Now consider the equilibrium of the link 3. The forces acting on it are F Fp,and Fi, and fh. The later two components are equal and opposite to Ff, and Fy respectively, Find the resultant of Ry and Ef, by drawing the foree diagram as shown in [Fig. 12.9(¢)]. Draw a line CML BC and through C to represent the line of action of force Fi, on the link 3 (Fig. 12.11(@)}. 1 intersects the line of action of the force F at M, Now the resultant of F; and Ff, must pass through Mf. Thus, draw a Tine parallel to R through A. Now the link 3 is reduced to a three-force member (Fig. 12.11(e)), the forces bein RFR and Fry ‘As these are to be concurrent forces, Fyy must pass through the intersection of lines of forces Fg and R, Draw a line parallel to DC and trough C to represent the line of action of force Fj, This intersects the line of action of R at N. Join BN. Now BN represents the line of action of force Fay‘+ Complete the force diagram and find the ‘magnitude of Fyy and F2, * Draw fine parallel to line BN through B on link 2 (Fig. 12.11(f)] to represent the line of action of force Fy and a parallel line through A to represent the line of action of force Fy. From force diagram, Fy=49.4N Now, Fy =—Fy,=-49.4 Member 2 will be in equilibrium if Fy, is equal, parallel and opposite to Fy. and Fy Xh =—49.8 x 14.3 =—706.4 N.mm ‘The input torque has to be equal and opposite to this couple, ie, T= 706.4 N.mm (clockwise) (ii) Graphical Solution by Superposition method Zi Fig, 12.12 ‘Subproblem a (Fig. 12.12) Neglecting force F; Link 4 is a three-force member in which only one force F, is known, However, the line of action of F3, can be obtained from the equilibrium of the link 3 which is a two-force member and is acted upon by forces F>,and F;;, Thus, lines of action of forces Fs or F,gare along BC. If F, and Fy, intersect at O then line of action of F ,, will be along OD since the three forces are to be concurrent. Draw the force triangle (F, is completely known) and obtain the magnitudes of forces F,yand F Fy=17.6N Static Force Analysis 419 Also, Fyy=—Feq= Fay —Faq=-17.6 N So, the direction of F,, is opposite to that of Fy, Link 2 is subjected to two forces and a torque T, For equilibrium, F,isequal, parallel and opposite to Fy Ty = Fay X hy = 17.6 X 149 = 262 N.mm clockwise ‘Subproblem b (Fig. 12.13) Neglecting force F,. eb a Fea (Fes m\ f@ Fig. 12:13 Link 4 is a two-force member. The two forces Fy and F,, are to be equal and opposite and their line of action isto be the same which shows that the line of| action is along DC. Thus, the line of action of Fy. is also along DC. Link 3 is a three-force member in which F) is completely known, only the direction of F,, is known (parallel © DC) and F,, is completely unknown. If the line of action of F, and F,, meet at O, the line of action of Fs will be along OB as the three forces are to be concurrent. Draw the force triangle (F, is completely known) by taking F, to a suitable scale and two lines parallel to lines of action of Fs and Fy, Mark arrowheads on F,, and F,; to know the directions. Fae So, direction of Fy, is opposite to that of Fy Link 2is subjected to two forces and a torque T; For equilibrium, Fj, is equal, parallel and opposite to Fp, Ty=FyXhy Total torque = 262 + 43420. Theory of Machines Example 12.7 For the static equilibrium of the mechanism of [Fig. 12.14(a)] find the torque 10 be applied on link AB. F=50N 6 30 © D Fig, 12.14 Solution The point of action of force F on the link 4 is an offset point G. If DC is extended and let the line of action of force F, meet at H then the force Fy may be considered to be acting on a virtual point H con the link DC as the magnitude of force as well as the magnitude couple effect is not going to vary. ‘Now, the problem can be solved by adopting the procedure given in the previous example. In brief: # Take vector R/T to represent force F; to some scale, # Find force Fy. Its magnitude is given by HK and it acts through C. ‘© Find the resultant of F; and Fs and its point of application in the free body diagram. * Through point C, draw line for the vector F& and then find the line of application of Fy. From force diagram, Fyy= 689N Py Member 2 will be in equilibrium if F,, is qual, parallel and opposite to F, and T= -Fy,X h = ~68.9 x 18,65 = -1285 Namm The input torque has to be equal and opposite to this couple, ie. T= 1.285 Nam (clockwise) * The example can also be worked out by the graphical method using the principle of superposition Example 12.8 For the static equilibrium of the quicken mechaniom Shown in Fig. 12-13 dvr mine the Input tone Ty 0 be applied onthe link 4B for force of 300 Non he sider D. The dimersion athe various tint re Ot = 400 mm, AB = 200 mm, OC = 800 mm CD = 300 mm Solution The slider at D or the link 6 is a three force member. Lines of action of the forces are [Fig.12.15(6)] ‘* F,300.N as given * Fy along CD, as link 5 is a two force member ‘© Fig normal reaction, perpendicular to slider motion Draw the force diagram and determine the direction sense of forces Fyg and Fy. From the force Fag the directions of forces Fes, Fas and Fs are known, Now, the link 3 is a three- force member. Lines of action of the forces are ‘Fg, known completely through C‘+ Fey perpendicular to slider motion through B ‘* F>unknown through 4 As the lines of action of forces acting through Band C are known, the line of action of Fy through 4 must also pass through the point of intersection of the other two forces, Find the sense of the direction of force Fys by drawing the force triangle. Fig, 1215 ‘Considering the equilibrium of the slider 4, the direction of F,, is known which isequal and opposite fo Faq Considering the equilibrium of the link 2, Stotic Force Analysis 424 the lines of action of Fyy and Fy, are drawn and the perpendicular distance between them is measured. Then, torque on the link 2, Ty = Fy X b= 403 x 120 = 48 360. N counter- clockwise Example 12.9 4 four-tink mechanism is subjected 10 the following external forces (Fig. 12.16 & Table 12.1): Determine the shaft torque T; on the input link AB for static equilibrium of the mechanism. Also find the forces on the bearings A, B, Cand D. Solution ‘The solution of the stated problem is worked out by (@ graphical solution by using theorem of superposition. ie. dividing the problem into subproblems by considering only one force on a member and ignoring the other forces on other members, Gi) @ composite graphical solution iii) analytical solution (i) Graphical Method by Superposition Subproblemat Fig, 12.17) Neglecting forcesF sand Fy, Hable 127) Link Length Force Magnitude Point of application force (7) 4B 2) 500 mm F 802 735°N 325 mmm from A ABQ) 660 mm F 144. 258°N, 297 mm from B ABA) 360 mm Ky 60.242°N 373 mm from D 4B (A) 1000 mm. : (Fixed link)422 Theory of Machines Figo Fig. 12.17 Links 3 and 4 are both two-force members. ‘Therefore, F,3 can be along BC and Fy, along DC. AS Fis to be equal and opposite of Fy, both must be zero. Also Fas = Fa5= Fx = 0 Hence, the link 2 is in equilibrium under the action of two forces F, and Fy (Fj2= F)and torque Ta Tay = Fy X hing = 80 X 0.325 sin 13.5° = 6 Nm clockwise a e Fs Fig. 12.18 ‘Subproblem b (Fig. 12.18) Neglecting forces F and Fy. Link 4 is a two-force member. 5 F 6, magnitudes unknown, directions parallel to DC Link 3 is a three-force member in which Fy is completely known, only the direction of F, is know (parallel to DC) and F,, is completely unknown. If the line of action of F and Fy, meet at O, the line of action of Fay will be along OB. Draw the force triangle (F, is completely known) by taking F, to a suitable scale and two lines parallel to lines of action, of Fy and Fy, Mark arrowheads on F3, and Fs to know the directions. Fa=50N Also, = 50.N 13N = Faq= 3N Link 2is subjected to two forces and a torque Ta, For equilibrium, F,, is equal, parallel and opposite to Fs. Ty, = Fg X hy = 113 X 0.16 18.1 N.m counter- clockwise and e Fig. 12.19 Subproblem ¢ (Fig. 12.19) Neglecting forces F and F,. Link 4 isa three-force member in which only one force F, is known. However, the line of action of, F,,can be obtained from the equilibrium of the link 3 which is a two-force member. Fy, will be equal and opposite to F, which is along BC. If F, and F,, intersect at O then the line of action of F,4 will bealong OD. Draw the force triangle (Fis completely known) and obtain the magnitudes of forces Fas and Fy 48N ‘= Fn= Fo= MN Link 2 is subjected to two forces and a torque T;, For equilibrium, Fi = Pe, Tag = Fyy % hye = 34 X 0.38 = 12.9 N.m counter clockwise: ‘Net crankshaft torque rat Tay * Tag = -6+18.1+129 25 N.meounter-clockwise To find the magnitudes of forces on the bearings, the results obtained in a, b and c have to be added vectorially as shown in Fig. 12.20. Loa. « Line ot ation Fay~ Fyg= 137 N Fig7 204 N Gi) Composite graphical solution ‘The problem can be solved by following the same procure as in examples 12,6and 12.7. The solution is worked out in Fig. 12.21 which is self-explanatory. After obtaining the force Fs, the resultant A’ of this force with the force F can be obtained by drawing Static Force Analysis 423 a force diagram. This resultant passes through the intersection of the lines of action of F, and F,. c Loa. Fle Fig. 12.21 T2RKH=E, xh = 208.8 x 117 = 24 430 Nanm or 24.43 Nm i) Analytical Method First ofall, determine the angular inclinations of the Tinks BC and DC, ie., angles f and @ This may be done by drawing the configuration or by analytical ‘means (section 4.2), Angles and 9 are found to be 10.3° and 100.4° (Fig. 12.22) respectively using ‘analytical means,424 Theory of Machines Position vectors AB=0.5 260° =0.25i + 0.433) BC = 0.66 210.3° = 0.649 1+ 0.118 5 DC=0.56 2100.4°=-0.1011+0.55ij AB = 0.325 260° = 0.163 + 0.281 j 2921+ 0.053}, 0673i+0 367} F,= 80 273.5°= 22.72 1+ 76.7 j Fy= 144 258°= 7631 1+ 122.1) F,= 60 242°= 44,5914 40.155 Subproblem a Fa Force vectors F, =—80 273.5° 10 £253,5°=-22.721-76.7 | Tag = Fy X AE = (22.72 4+ 76.7) x (0.163 1+ 0.281 j) ijk =h272 76.7 | (0.163 0.281 0 2.72 x 0.281 76.7 x 0.163, =-6.12Nm Subproblem b As the link BC is in static equilibrium, the resultant forces and moments acting on it are zero, ‘Taking moments of the forces about point B, M,= FX BG + Fg x BC=0 @ [AS the direction of Fy is along DC if force Fy is. ignored, + Fag = Fg 2100.4° =-0.181 Fy f+ 0.983 Fai Inserting the values of vectors in (i), (76.31 i+ 122.1) x (0.292 i + 0.053)) +(-0.181 Fysi+ 0.983 Fs) (0.6495+0.118) ij w i ik 763 122.1 0/+|-0.181F,y 0.983F, 0/=0 0.292 0.053 0| | 0.649 0.118} 31.61 -0.659 F43=0 18.2280.4° = 8,66 147.1) Fyg= Fyy=482280.4° = 8,66 5— 47.1} Similarly, the net force on the link 3, FytFy+F, for Fay + (16.31 1+ 122.1) + (8.66 4—47.1)) = or Fis + 84.971+75j=0 or Fyy=-84,97 1-15} of 113.3 2221.42 or Fy:= 113.3 241.4 = 84.97 5+ 75) Fy7~Fy=-84971-75} Thy = Fy X ABZ60® = (84.97 1475 Dx (0251+0.433)) =18Nm Subproblem c As the link DC is in static equilibrium, no forces and no moments are acting on it. Taking moments of the forces about point D, M, ‘4x DH+ Fy xDC=0 (i As the direction of Fy, is along BC if the force Fy is ignored, Fyg= Fy 210.3°= 0.984 Fg 140.179 Fal Inserting the values of vectors in (i), (44.59 1+ 40.15 j) x (— 0.0673 i + 0.367 j) + (0.984 F,5+0.179 Fy4j)(—0.1011+0.551 i iow i i kl 4459 40.15 0|+|0.984F,, 0.179F,, 0|=0 |-0.0673 0.367 0| |-0.101 0.551 | or 19.067 +056 Fy=0 Fyn Thus Fyy=-34210.3°= 342190.3°=~33.45 16.08) Net force on the link 4, Fut Ret Fig=0 or -33.451—6.08)) + 44.591 +40.15)+F, or 11.141+34.07)+Fyg=0 OF Fyy=~ 11141-3407) of 35.8 2251.9° Now, Fiz =~ Fa Fy= 33.45 1+ 6.08} Fy, =-Fy =~33451-6.08) Tye Fy X ABZOO® (0251+0.433 j) = 12.96N.m Net crankshaft torque = Ta, + Ta, + To. 6.12 + 18+ 12.96 4.84 N.m counter- clockwise Forces on the bearings OnD, Fig = (8.664—47.1 j)+(-11.141-34.07)) 2.48 1-81.17 j = 81.2 2268.2°N or it can be stated as Fy, = 81.2 288.2°N On C, Fyy= (8.66 i—47.1 j) + (33.45 1+ 6.08 j) 1.45 1-41.02 5 8.8 2315.8°N (3345 1+ 6.08 j) xOnB, Fy = (-84.97i-75) + (-33.45i- 6.08 j) = 118.42 4-81.08 j 43.5 2214.4°N On, Fy = (-22.724-76.7§) + -84.971-75) + (33.45 1-608 j) 141.14 i 157.78 j = 211.72228.2°N Example 12.10 In a four-link mechanism The link lengths are AD = 800 mm, AB = 300 static equilibrium of the mechanism, determine Static Force Analysis 425 Solution The solution of the stated problem can be obtained by superposition of the solutions of subproblems a and b. ‘Subproblem a (Fig. 12.23(a)] Neglecting torque 1, * Torque Ton the link 4 is balanced by a couple having two equal, parallel and opposite forces at C and D. As the link 3 is a two-force member, Fg and therefore, Fy, and F,, will be parallel to BC. Taq = Fi gg = 52.2 X 0.274 = 14.3 Nm counter-clockwise. Subproblem b (Fig. 12.23(b)] Neglecting torque "i F gis along CD. The diagram is self-explanatory. th _ 30 Fs =F; yy 0.67 =44.8N Tay = Fan hay counter-clockwise. T= Tyy* T= 143+ 1.83 counter-clockwise Example 12.11 Figure 12.24 shows a schematic diagram of an eight-link mechanism. The link lengths are AB = 450mm AC = 300 mm BD = 400mm BE = 200mm Determine the required shaft torque on the link 8 for static equilibrium against an applied load of 400 N on the link 3.426 Theory of Machines [ig 24] Solution Links 2, 6 and 7 ate two-force members. Since their lines of action can easily be visualised, itis not necessary to draw their free-body diagrams. Links 3, 4 and 5 are three-force members and 8 is a ‘member with two forces and a torque, 12.9 PRINCIPLE OF VIRTUAL WORK ‘The principle of virtual (imaginary) work can be stated as ‘the work done during a virtual displacement from the equilibrium is equal to zero’, Virtual displacement may be defined as an imaginary infinitesimal displacement of the system, By applying this principle, an entire ‘mechanism is examined as a whole and there is no need of dividing it into free bodies. Slider 2 is a two-force member. If friction is neglected, the forces on it F,, and Fy must act perpendicular to the guide path, Considering the link 3, concurrency point can be found from the lines of action of F,, and F, and thus the line of action of Fz is established. The equilibrium of the link 4 cannot be considered at this stage as the line of action of only one force Fyzis known (from F,;)- Taking the link 5 which isa three-force member, the line of action of force at F is along OF and of force at G along HG. Establishing the point of concurrency from these two forces, the line of action of force at C, i., of the force F,sis known, Now, take the link 4 and determine the tine of action of the force at since the lines of action of forces at B and Care known, Force F,sis along HG and an equal, parallel and opposite force Fyg also acts on the link 8, Now, the lines of action of all the forces are known. To determine the torque on the link 8 proceed as follows: Construct a force diagram for the forces on the link 3 (F is completely known) and find Fy (thus Fis known). Draw 2 force diagram for the forces on the member 4 (Fy, is complete known) and find Fs, (thus F,sis known), Draw a force diagram for the forces on the member 5 (Fy; is complete known) and find Fs, (ths Fypis known). Now Foy Fay Fag Fig Foz FgX h~ 75 x 240~ 18.000 Num or L8.N.m clockwiseStatic Force Analysis 427 Consider a slider-crank mechanism shown in Fig, 12.25. It is acted upon by the external piston force F, the external crankshaft torque T and the force at the bearings. As the crank rotates through a small angular displacement 68, the corresponding displacement of the piston is dr. the various forces acting on the system are ‘+ Bearing reaction at O (performs no work) ‘+ Force of cylinder on piston, perpendicular to piston displacement (produces no work) ‘+ Bearing forces at A and B, being equal and opposite (AB is a two-force member), no work is done ‘© Work done by torque T= 780 ‘© Work done by force F = F x Work done is positive if a force acts in the direction of the displacement and negative if it acts in the opposite direction ‘According to the principle of virtual work, W=T60+F &=0 27) ‘As virtual displacement must take place during the same interval 5, 7p Huo a ai or To+Fe=0 (128) where @is the angular velocity of the crank and v, the linear velocity of the piston. o ‘The negative sign indicates that for equilibrium, T must be applied in the opposite direction to the angular displacement. Example 12.12 Sobe Example 12.9 by using the principle of virtual work. ) Fig. 12.26 Solution Assume that the line AB has an instantane- ous angular velocity of @ rad/s counter-clockwise. Then v,= 0.5 mis @228 Theory of Machines From the configuration diagram (Fig. 12.26(a)], draw the velocity diagram (Fig. 12.26(b)]. Locate the points E, F and G on the velocity diagram and locate the velocity vectors for the same. Take their components parallel and perpendicular to the direction of forces. ¥., = 0.0745 radis (parallel to F;) v= 0.124 rad/s (parallel to Fs) 12.10 FRICTION IN MECHANISMS ¥/, = 0.205 rad/s (parallel to F,) Assuming Tto be counter-clockwise and applying the principle of virtual work, TX @ + FyX 0.07450 — Fy x 0.1240 ~ F,x 0.2050=0 or T+80x0.0745—144x0.124-60%0.205=0 or T=-6 +173 12.3 = 23.5 Num counter-clockwise ‘When two members of a mechanism move relative to each other, friction occurs atthe joints. The presence of friction increases the energy requirements of a machine. Friction a the bearing is taken into account by drawing friction circles and atthe sliding pairs by considering the angle of friction (Refer sections 8.13 and 8.14), Example 12.13 In a four-link mechanism ABCD, AB = 350mm, BC=. DAB = 60° (AD is the fixed Tink) ge Bm A ® b) i | rig 227 A force of 35 N (Facts at E on link DC as shown in Fig. 12.27a. Determine the force on the link AB required at the midpoint in the direction shown in the diagram for the static equilibrium of the mechanism. The coefficient of friction is 0.4 for each revolving pair. Assume impending motion of AB to be counter-clockwise. The radius of each journal is 50 mm. Also, find the torque on AB for its impending clockwise motion. (A very high value of coefficient of friction has been assumed to obtain aclear diagram) Solution Radius of friction circle at each joint = jar =0.4 x 50=20 mm, For the counter-clockwise rotation of link AB, DC also rotates counter-clockwise; ZABC is deceasing and ZBCD increasing. Initially, neglect the friction at the journal bearings and find the directions of different forces by finding points of concurrency and drawing force triangles (not shown in the diagram). Considering the link 3, at its end C, ZBCD is increasing and thus it rotates clockwise relative to the link 4. Therefore, F,, must form a counter- clockwise friction couple. At the end B, ZABC is, decreasing and thus rotates clockwise relative to the k 2. Therefore, Fy, forms a counter-clockwise friction couple. The friction axis for the coupler BC is the common tangent to the two friction circles.Now, consider the link 4. The line of action of the force Fs4 will be opposite to that of F,,, Intersection of this line with the line of action of F, gives the point of concurrency O for the forces acting on the link 4. As the link 4 rotates counter-clockwise, the tangent to the friction circle at D drawn from point O is such that a clockwise friction couple is obtained. By drawing a force triangle for the forces acting on link 4 (F is completely known), F,_ is obtained. Fy Fas= Fay = Fyn ‘The point of concurrency for the forces acting on the link 2 is at O” which is the intersection of Fypand F;.As the link I rotates counter-clockwise, draw a tangent to the friction cirele at A from 0’ such that a clockwise friction couple is obtained. Draw a force diagram for the forces acting on the link 2 (Fy is completely known) and obtain the value of Fy. F,=203N ‘When the motion of AB is clockwise, DC also moves clockwise. For the equilibrium of the link 4, the friction couples at D and C are to be counter- clockwise. For the equilibrium of the link 2, friction couples at A and B are also to be counter-clockwise. Obtain Fy. in the manner discussed above and shown in Fig. 12.27(b) Fj, will be equal, parallel ‘and opposite to Fy, Ty = FyqX h= 8.6 X 208 = 1789 N.m or 1L.789N.m Example 12.14 Find the minimum value of force F, to be applied for the static equilibrium of the {follower of Example 12.2 if the friction is also considered of the sliding bearings at B and C. Assume the coefficient of friction as 0.15. Ignore the thickness of the follower. Solution When a force analysis with friction is to be made, it is always convenient to seek a rough solution of the problem first without friction. This may be obtained by drawing freehand sketches. The purpose is to know the direction-sense of the normal reactions at B and C as these have to be combined with the friction forces at the sliders. Adopting the Static Force Analysis 429 procedure of Example 12.2, the forces F, and F, at the bearings are found to be towards right. As the force F required for the static equilibrium is to be the least, i., any force smaller than that will make the follower move down due to the applied force. Thus, the impending motion of the follower is downwards. (If itis desired to have the maximum force for the static equilibrium, any force greater than that will make the follower move up and the impending motion of the follower will be upwards). Now, as the impending motion of the follower is downwards, the friction forces at the bearings are upwards. Combining these forces with the reaction forces which are towards right, the lines of action of both the forces F, and F, are tilted through an angle given by fe Fig. 12.28 = 015 or tan ¢ = 0.15 or g = 85° (On knowing the new lines of action of F3 and F, [Fig. 12.28(a)], the exact solution can be easily obtained as before [Fig. 12.28(b)]. The values obtained are Magnitude of Fy Magnitude of Fy Magnitude of Fs Example 12.15. For the static equilibrium of the quick-return mechanism shown in Fig. 12.29a, find the maximum input torque T required for a force of 300 N on the slider D. Angle is 105°. Coefficient of friction w= 0.15 Jor each sliding pair.480 Theory of Machines Fig. 1229 Solution As mentioned in the previous exemple, to analyse @ problem with friction, it is always convenient to seek a rough solution of the problem first without friction which may be obtained by drawing freehand sketches. This is needed to know the direction-sense of the normal reactions atthe two sliders which are to be combined with the friction Forces. ‘AS the torque required for the static equilibrium is to be the maximum, ie., any torque more than that will make the slider at O-move left. Thus, the impending motion of the slider D isto the let. Now, H=0.15 oF or 9=8.5° Solving the problem first without frietion, tan $= 0.15 Slider at D orthe link 6 is a three-force member. Lines of action of the forces are + Rrasgiven + Fig along CD, as link 5 is a two-force member ‘+ Fy normal reaction, perpendicular to slider motion Draw the force diagram and determine the direction sense of forces Fye and Fy, from it (the diagrams may not be to scale). From the force Fy, the directions of forces Fys. Fysand Fs, are known, Now link 3 is a three-force member. Lines of action of the forces are ‘+ Fs, known completely through C ‘+ Fy perpendicular to slider motion through + Fy.unknown through A. As the lines of action of forces acting through B and C are known, the line of action of F), through A must also pass through the point of intersection of the other two forces. Find the sense of the direction of force Fyy by drawing the force triangle. After obtaining the sense of direction of the normal forces Fy, (upwards) and F,; (towards left), solve the problem by considering the force of friction also. Now the diagrams must be to the scale. The force of friction at the slider D is towards right as the impending motion of the slider is towards the left. Combining this force with the normal force yo. it is tilted towards left as shown in the figure. Now draw the force triangle by modifying the line of action of force Fy, Repeat the above procedure and obtain magnitude as well the direction of the force Fey ‘The motion of the slider on the link 3 is upwards for impending motion of the slider D towards left, Jt implies that the motion of the link 3 relative to the link 4 is downwards. Thus, force of friction on the link 3 is upwards (on slider it is downwards), Combining this with the normal force Fey which is towards left the force Fis is tilted through an angle ‘as shown in the figure, Now again draw the force triangle with the modified direction of the force Fy for the forces on the link 3 and obtain the magnitude of this force also, Now, Pry= FasAs the slider B is a two-force member with forces Faq and Faq, Therefore, Fa= Fr = Fa = Fiz ‘Thus, as the link 2 is acted upon by two forces and a torque, T= Fyy Xh= 437 x 147 = 64240 Nam. = 64.24 N.m counter-clockwise Example 12.16 Solve Example 8.28 using graphical method. Take coeficient of friction for the journals as 0.4 instead of 0.05. (A fictitious high value of coefficient of friction is taken so that friction circles of reasonable diameter may be drawn on a smaller seale). Loa. Line o action | Fig 1230 Static Force Analysis 431 Solution Figure 12.30(a) shows the solution of the problem neglecting the friction. From the force triangle for the forces on the slider, Fyg=22500N = $872.5 N.m clockwise When friction is considered [Fig.12.30(b)], Radius of friton cree at 0 = 04x42 8 mm, 14 mm As the crank moves counter-clockwise, ZOAB decreases. AB rotates clockwise relative to OA. Thus, tangent at A is to be such that a counter-clockwise friction couple is obtained. ‘At B, ZOBA is increasing. Therefore, BA rotates clockwise relative to the piston. Thus, the tangent to the friction circle is to be such that it gives a counter- clockwise friction couple. For the sliding pair, @ = tan~ 00.7 = 4° The point of intersection of Fy, and F gives the point of concurrency for the forces on the slider Force F,4, ie, the reaction of the guide, is inclined to the perpendicular to the slider path, and passes through the point of concurrency. By drawing a force triangle for the forces acting on the slider, Fay is obtained. The force at A is equal, parallel and opposite to Fy, and tangent to the friction circle such that a clockwise friction couple is obtained. T’=F gx h'=22200x0.202=4484N.m clockwise Summary 4. Apairofactionand reaction forces which constrain two connected bodies to behave in a particular manner are known as constraint forces whereas forces acting from outside on a system of bodies are called applied forces. 2. A member under the action of two forces will be in equilibrium if the forces are of the same ‘magnitude, act along the same line and are in ‘opposite directions. 3. Amember under the action of three forces will be in equilibrium if the resultant of the forces is zero and the lines of action of the forces intersect at a point, known as the point of concurrency.42 Thoory of Machines ‘A member under the action of two forces and an applied torque is in equilibrium if the forces are equal in magnitude, parallel in direction and ‘opposite in sense and the forces form a couple which s equal and opposite to the applied torque ‘The force exerted by the member ion the member jis represented by Fy ‘A free-body diagrams a sketch or diagram of a part isolated fromthe mechanism in orderto determine the nature of forces acting on it. In linear systems, if a number of loads act on a system of forces, the net effect is equal to the superposition of the effects ofthe individual loads taken one at atime. Alinear system sone in which the output force is directly proportional to the input force, i.e, in mechanisms in which coulomb or dry friction is neglected. 8. The principle of virtual (imaginary) work can be stated as ‘the work done during a virtual displacement from the equilibrium is equal to zero’. Virtual displacement may be defined as an imaginary infinitesimal displacement of the system. By applying this principle, an entire ‘mechanism is examined as a whole and there is no need of dividing itinto free bodies. 9. Friction at the bearing is taken into account by drawing friction circles and at the sliding pairs by considering the angle of friction. Exercises What do you mean by applied and constraint forces? Explain. ‘What are conditions for a body to be in equilibrium under the action of two forces, three forces and ‘two forces and a torque? Whatare free-body diagrams of amechanism? How are they helpful in finding the various forces acting ‘on the various members of the mechanism? Define and explain the superposition theorem as applicable toa system of forces acting on a mechanism, ‘Whats the principle of virtual work? Explain. How is the friction at the bearings and at sliding pairs of amechanism is taken into account? ‘The dimensions of a fourlink mechanism are: ‘AB = 400 mm, BC = 600 mm, CD = 500 mm, AD ‘900 mm, and ZDAB = 60°. AD is the fixed link. Eis 2 point on the link BC such that BE = 4oo mm and CE = 300mm (BEC clockwise) A force of as0 245° N acts on DC at a distance of, 2250 mm fram D. Another force of magnitude 200 ZABo° N acts at point E. Find the required input ‘torque on the link AB for static equilibrium of the mechanism. (4.6N.m clockwise) Determine the required input torque on the crank of a slider-crank mechanism for the static equilibrium when the applied piston load is 4500 N. The lengths ofthe crankandtheconnecting rod are 40 mm and 100 mm respectively and the crank has tumed through 45° from the inner-dead centre (55N.m) Find the torque required to be applied to link AB of the linkage shown in Fig. 22.32 to maintain the static equilibrium, (8.85 Nim) 60 (rm) [rie n13t| 20, Determine the toque reqiredtobe appedtothe ImOA forthe stecequbvamottbe echo mene nahn) p40 4° 300 700 8 (mm) i AB= 125 [rig 232 |x1. For the mechanism shown in Fig. 22.33, find the required input torque for the static equilibrium. ‘The lengths OA and AB are aso mm and 650 mm respectively. F= SOON. (68 N.m clockwise) Fig. 12.33 42, For the static equilibrium of the mechanism of Fig. 22.34, find the required input torque. The dimensions are ‘AB = 350 mm, BC = AD = 500 mm, DC = 300 mm, CE= 100 mm and EF = 450mm, (45.5 Nim clockwise) E c FE 8 vt 2ON 200 mm 75° a 3D Fig. 12.34 13, Determine the torque to be applied to the link AB of a four link mechanism shown in Fig. 22.35 to ‘maintain static equilibrium at the given position. (44 N.om) Static Force Analysis 438 Fig. 12.35 24, A two-cylinder engine shown in Fig. 22.36 is in static equilibrium. The dimensions are OA = OB = somm,AC= BD= 250mm, ZAOB=go°. Determine the torque on the crank OAB. 3000 (206 N.m clockwise) 1000 N Fig. 1236