The planar four-bar mechanism shown below has a driving crank O1A that turns about O1 at...

Question:

The planar four-bar mechanism shown below has a driving crank O1A that turns about O1 at a constant rate of (theta- dot) θ. = 10 rad/s CCW. The links O1A and O2B are balanced and have a mass moments of inertia about their center of mass of Iz = 0.02 kgm2 . The link ABC has a center of mass located at point G, has a mass of m = 2 kg, and has a mass moment of inertia of Iz = 0.1 kgm2 about G.

The geometry of the mechanism is as follows:

O1A = 6 cm, AB = 18 cm, O1O2 = 18 cm

AG = 12 cm, AC = 24 cm, O2B = 6 cm

At the instant shown, the mechanism has the following angles, angular velocities and angular accelerations:

Ignoring the effects of friction and gravity, determine the following:

a) the D'Alembert force set corresponding to each of the three links; and,

b) the external torque required on O1A that must be applied to drive the mechanism at the given instant and to counteract the force FC = -30j N.

А y т. U 02 G B FC С

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