##
2.5 GRASHOF'S LAW

À
p

If we want a mechanisms that will undergo continuous motion we must satisfy the Grashof criterion. In particular the shortest link, with length `s' will be in constant relative motion if the Grashof Criterion is satisfied. (In other words we can rotate the smallest link continuously)

. Consider the equation, and the four basic kinematic inversions below. Keep in mind that the crank will be the shortest link, with length `s, and in all four cases will rotate continuously.

Consider the example problem below,