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Single rigid body motion Displacement r

Velocity v magnitude direction

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relative velocity equation vB = vA + vB/A

velocity polygon

(2.7 velocity image)

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relative acceleration equation aB = aA + aB/A acceleration polygon

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schematic drawing set a proper scale.

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1. set a proper scale. 2. use compass or graphic tools to draw the exact geomeetry of the mechanism. * There are two configurations! one is in the upper half, and the other is in the lower half.

velocity analysis 1. use relative velocity equation, vB = vA + vB/A. B/A 2. draw the velocity polygon. 3. start from A - B - C - D, from given to unknown, f from i input t to t output. t t *choose the right scale!

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velocity analysis start from A - B - C - D 1. On link 2, , relative velocity y equation q vB = vA + vB/A draw the velocity vectors vB , Its the line ob.

velocity analysis 2. On link 3, relative velocity equation vC = vB + vC/B cannot draw the velocity vector vC or vC/B, only the dircetion of vC/B is known!

rC/B

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velocity analysis 3. On link 4, relative velocity equation vC = vD + vC/D cannot draw the velocity vector vC, only the dircetion is known!

rC/D

velocity analysis 4. From two known directions of vB/C and vC , find intersection and that is vC !!!

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velocity analysis 4. From two known directions of vB/C and vC , find intersection and that is vC !!!

velocity analysis 5. Calculate the angular velocity 4

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velocity analysis 5. Calculate the angular velocity 3

velocity analysis 6. For vE , there are two methods! (a) A - B - E

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velocity analysis 6. For vE , there are two methods! (b) A - B - E and D - C - E

velocity analysis 6. For vE , there are two methods! (c) using velocity image

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velocity analysis 6. For vE , there are two methods! (c) using velocity image

Acceleration analysis start from A - B - C - D 1. On link 2, , relative acceleration equation aB = aA + aB/A draw the acceleration vectors aB , It a li Its line ob. b

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Acceleration analysis 2. On link 3, relative acceleration equation

Acceleration analysis 3. On link 4, relative acceleration equation

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Acceleration analysis 4. Use the known directions to draw the intersection and find the unknown magnitude of the accelerations!!!

Acceleration analysis 5. find the angular acceleration.

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Acceleration analysis 6. Find the acceleration of E

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