GROUP NAME:

I.

The quick-retlrn mechanism pictured in Fig. Q1 below has R : 0.25 ty h:0.5 m and d: 0.12 m.
The disk is rotating at a const^ntrate of 1,20 rpm as indicated. Bar EF is free to move honzontally.
Member CD rctates about an axis through point C.

Figure Q1

At the instant shown, find:

(r) Ag
(b) the velocity of B along the slot in member CD and aco.
G) the acceleration of,B alongthe slotin membe r CD dnd asp.
(d) the acceleration of bar EF.

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2.

ABC is an equilateral triangle szpported by 2 links

instant shown, 0 = 90o,0=4 nd/s and 6= 0.

as shown

in Fig. Q2 below. d

0.4 m, and at the

Figure Q2

At the instant shown. find:

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ursn

(b) Yg

G)

&nn

(d) ag
G) v6

fit

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3.

The arm AB n Figure Q3 rotates a constant rute a^ = 0.1 5 nd/s about the Y axis as it lifts two
^t
workers to an elevated position. AB extends at a constantrate of 0.5 mf s and the angle dis equal
to 22o. At the instant shown, AB ts 4.5 m long and it lies in the X-Y plzne.

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il-3*

Figure Q3.

Find the velocity of B at the instant shown and exp s it in the X-Y-Z frame.
Find the acceleratioX"rU at the instant shown and :T press it in the X-Y-Z frame.

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4.

A rn Fig. Qa below has angular acceleration of magnitude I aol - 45 nd/s2 in the direction
indicated. Gears B and C are fixed to the salne shaft. The gears have the following pitch circle radii:
RA - 200 mrn' Ra = 104 mm, Rc = 164 mrn, and Rp = 140 mm.
Gear

Figr.rre Q4

(") trind the angular accelerations

of gears B, C and D.
(b) Find the velocity ratro of the gear train.
(.) Will gear D be rotating faster or slower than gear A?
(d) If gear A has 50 teeth and gear D has 35 teeth and all mesh correctly as standard spur gears, what
the module of each of the four gears?

r'.
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GROUP NAME:

5.

A robotic arm OA needs to move a cutting tool C counter-clockwise around a circle with radius p
shown rn Fig. Q5 below. The cutting tool C is moved at a constant speed vc: 1.0 cm/s.

as

Figure Q5

Given

d:

0.5

rrt,

h:0.3

rr," and p: 0.15 rn, find the following quantities when the tool is at

(0: 0),

(")
(b)

G)0

(d)

G)6

if:

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