İZMİR INSTITUTE OF TECHNOLOGY

ME 331 THEORY OF MACHINES I

FALL 2020-2021
EXAMPLES FOR STATIC FORCE ANALYSIS of MECHANISMS

1. For the four-bar mechanism in figure, |A0B0| = a1, |A0A| = a2, |AB| = a3, |AC| = b3, CAB = 3,
|B0B| = a4. An external force is acting on link 3 with magnitude F13 and angle . Position analysis is
already performed, so 13 and 14 are known for given 12. Derive the expression for the necessary
input torque T12 when the mechanism is in static equilibrium under the action of the external force
F13 .

y C 
B
3
A 13

12 14
A0 B0 x

Solution: Note that link 4 is a two-force member. Free body diagrams:

14
3
14
13

12

For link 4(two-force member):  F = 0 →F 34 = −G14

For joint B: F34 = − F43
For link 3:
b3 sin( −  3 − 13 )
M A = 0  F13b3 sin( −  3 − 13 ) − F43 a3 sin(14 − 13 ) = 0 → F43 =
a3 sin(14 − 13 )
F13

F x = 0  F13 cos( ) − F43 cos(14 ) + F23x = 0 → F23x = F43 cos(14 ) − F13 cos( )

F y = 0  F13 sin( ) − F43 sin(14 ) + F23 y = 0 → F23 y = F43 sin(14 ) − F13 sin( )
For joint A: F32x = − F23x , F32 y = − F23 y

For link 2:
M A0 = 0  T12 + F32x a2 sin( − 12 ) + F32 y a2 sin(3 2 − 12 ) = 0
 T12 = F32 y a2 cos(12 ) − F32x a2 sin(12 )
2. Figure shows a clamp mechanism with double toggle joint levers at its two limiting positions. Link 2 is a
key and the mechanism is used for locking/releasing a payload in a space shuttle1. The force F applied by the
payload on the key can be modeled as linearly changing with the stroke of the key bolt. The maximum force
occurs when links 3 and 4 are collinear (left figure) and the force vanishes when the key detaches from the
payload (right figure). A cable attached to link 6 at C actuates the mechanism to release the key. The direction
of the cable force (i.e. angle ) may be assumed to be constant. A linear compression spring attached to link
6 at B activates the mechanism for locking when the cable is released by the actuator. Assume s12 is the input
and spring force Fsp is known. Write down the necessary equations in order to determine the necessary
actuation force Fact for given loading F. Note that bold F is used for representing force vectors.

a2

f1 2
16
a3 b6 D
13 C0
e1 a5 a6 3
y 15 6
a4 Fact 4 A 5
s12
a1 x B
A0  14 C 
d1 Fact
B0
c1 b1
Solution: The free body diagrams of the moving links and joint A are given below.
Force equilibrium and moment equilibrium about D for link 2:
Fx = 0  G′12 – G″12 + F32cos13 = 0 (i)
Fy = 0  –F + F32sin13 = 0 (ii)
MD = 0  – (e1 – s12)G′12 + (e1 + f1 – s12)G″12 = 0 (iii)
From (ii) F32 = F/sin13. (i) and (ii) can be solved linearly for G′12 and G″12:

 1 −1 G12   −F32 cos 13 

s − e e + f − s G  =  
 12 1 1 1 12  12   0 

1
Birner, R. And Ral, H., A Clamp Mechanism for Deploable Three-Ton Payloads, NASA Marshall Space Flight Center
15th Aerospace Mech. Symp., USA, 1981, pp. 375-390.
 −F32 cos 13 −1 1 −F32 cos 13
0 e1 + f1 − s12 (s12 − e1 − f1 ) F32 cos 13 s −e 0 (s12 − e1 )F32 cos13
 =
 G12 =  = 12 1
,G12 =
1 −1 f1 1 −1 f1
s12 − e1 e1 + f1 − s12 s12 − e1 e1 + f1 − s12

F
FA5
F23 5
G″12 F65
3
f1 FA3
2 G16y
G′12 FA4 G16x
D e1 - s12
4
F32 13 G14 F56 6
15
F3A 13 
15 sp
A Fact
F4A 14 F5A Fsp
Since link 3 is a two force member, F23 = –F32 = –FA3 = F3A. Force equilibrium at joint A:
Fx = 0  –F3Acos13 + F4Acos14 + F5Acos15 = 0 (iv)
Fy = 0  –F3Asin13 + F4Asin14 + F5Asin15 = 0 (v)
(iv) and (v) can be solved linearly for F4A and F5A:

cos14 cos15 F4A  F3A cos13  sin(15 −13 ) sin(13 −14 )

sin  sin  F  =  F sin    F4A = F3A ,F5A = F3A
 14 15  5A   3A 13  sin(15 −14 ) sin (15 −14 )
Since links 4 and 5 are two force members, FA4 = –F4A = –G14 and FA5 = –F5A = –F65. Force equilibrium and
moment equilibrium about C0 for link 6:
Fx = 0  Fspcossp – F56cos15 + Factcos – G16x = 0 (vi)
Fy = 0  Fspsinsp – F56sin15 – Factsin – G16y = 0 (vii)
|A0B| = p = mag(a6; b6) and A0B =  = = 16 – tan-1(b6/a6)  The moment induced by Fsp on link 6 at C0:
pFspsin(sp – ). Also Fsp = k(lsp – lsp0).
MCₒ = 0  –a6F56sin(15 – 16) – a6Factsin( + 16) + pFspsin(sp – ) = 0 (viii)
From (viii) Fact = [–a6F56sin(16 – 15) + pFspsin(sp – )]/[a6sin( + 16)].
Also from (vi) and (vii) G16x = Fspcossp – F56cos15 + Factcos and G16y = Fspsinsp –F56sin15 – Factsin.
3. Figure shows a stone crusher mechanism. Link lengths: |A0B0| = a1, |A0C0| = b1, |A0A| = a2, |AB| =
a3, |B0B| = a4, |BC| = a5, |C0C| = a6. Kinematics is already solved. The force applied for crushing the
stones can be modelled as a horizontal (in +x direction) force F16 acting on C. Determine necessary
torque T12 for given external force F16. Neglect frictional, gravitational and inertial effects.
 A
13 y

2 12

x
C0 A0
16

3
1

14
F16 15
5
C
4
B0
B

Solution: Free body diagrams:

F23
13 A
16 G12
G16
A 12
C0 F32
T12
A0

15
F16
C
F56
15 +  F5B 14

F4B
B
B 13 – 
F65 F3B
FB3
G14
C
B0
FB5 FB4 B
B
Notice that links 3, 4 and 5 are two-force members, link 2 is a two-force and a moment member, link
6 is a three-force member. F16 is given so we start from link 6. Since moment about C should be zero,
the ground reaction force passes through C.

 F = 0  F + G cos  + F cos  = 0 cos 

x 16 16 16 56 15 16 cos 15  G16   − F16 
=
 F = 0  G sin + F sin  = 0   sin
y 16 16 56 15 16 sin 15   F56   0 
− sin 15 sin 16
 G16 = F16 , F56 = F16
sin ( 15 − 16 ) sin ( 15 − 16 )
F56 = F65 = FB5 = F5B
Joint B:

 F = 0  −F cos 13 + F4B cos 14 − F5B cos 15 = 0   − cos 13 cos 14   F3B  cos 15 
  = 
x 3B
  F5B
 F = 0  −F
y 3B sin 13 + F4B sin 14 − F5B sin 15 = 0 
  −sin13 sin 14   F4B   sin 15 
sin ( 14 − 15 ) sin ( 13 − 15 )
 F3B = F5B , F4B = F5B
sin ( 13 − 14 ) sin ( 13 − 14 )
F4B = FB4 = G14 ; F3B = FB3 = F23 = F32 = G12

Link 2:
M A0 = 0  T12 + a 2 F23 sin ( 13 − 12 ) = 0
 T12 = −a 2 F23 sin ( 13 − 12 )

4. For the mechanism shown below, the link lengths are |A0A| = a2, |AB| = a3, |BC| = a4 and |BD| =a5. Assume
that the position analysis is already performed so that 13, 14, 15 and s16 are known for any given 12. Draw
the free body diagrams of the moving links, write down the force/moment equilibrium equations and
determine the necessary input torque T12 for given vertical force F16.

θ14

b1 y
θ12
θ13 T12
x
θ15
a1
s16

F16
Solution:

F16
 Fy = 0 → F56 sin 15 + F16 = 0 → F56 = −
a) sin 15
 Fx = 0 → F56 cos 15 − G16 = 0 → G16 = F56 cos 15
F16
b)  F = 0 → FB 5 = − F65 = − 15
s15

 Fx = 0 → F3 B cos (13 +  ) + F4 B cos 14 + F5 B cos (15 −  ) = 0   − cos 13 cos 14   F3 B  cos 15 
 =
 Fy = 0 → F3 B sin (13 +  ) + F4 B sin 14 + F5 B sin (15 −  ) = 0   − sin 13 sin 14   F4 B   sin 15  5 B
F
c)
s (14 − 15 ) s ( −  )
 F3 B = F5 B , F4 B = 13 15 F5B
s (13 − 14 ) s (13 − 14 )

d)  F = 0 → G14 = − FB 4 = F4 B = F4 B 14

e)  F = 0 → F23 = − FB 3 = F3 B = F3 B 13 + 

f)  M A0 = 0 → T12 = a2 F32 s (12 − 13 )

5. For the steam engine C
mechanism shown, the 14
steam force F12 applies 4
on link 2 along point A in
+y direction. The B0
kinematic analysis is
already performed. B
Determine output torque
T16 for given external 5
force F12. Neglect
3 13
frictional, gravitational
A
and inertial effects. y

1
15
s12
D
16
T16 6 2 P
D0 Q F12 x
Solution:
F45
C 14
C
15 4
F54 G14x B0

G14y B
F43
F32 13
B 13 F34
5
A G12
F56 3 13
15
D A

15 16 F23

T16 6
D D0 2
15
G16 F12
F65
F32 = −F23 = F43 = −F34 (with equal magnitudes: F32 = F23 = F43 = F34)
F54 = −F45 = F65 = −F56 = G16 (with equal magnitudes: F54 = F45 = F65 = F56 = G16)
Link 2: Fy = F12 − F32 sin 13 = 0  F32 = F12 sin 13
a 4 sin ( 13 − 14 )
Link 4: M B0 = a 4 F32 sin ( 13 − 14 −  ) + b 4 F54 sin ( 15 − 14 ) = 0  F54 = F32
b 4 sin ( 15 − 14 )
Link 6: M A0 = T16 + a 6 F54 sin ( 15 +  − 16 ) = 0  T16 = a 6 F54 sin ( 15 − 16 )