4.4 PRACTICE PROBLEMS

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À  p

1. Develop position and velocity equations for the following mechanisms in complex polar notation. If other calculations are required, write these out also. Show the equations needed to calculate any unknown angles. Do not attempt to solve any equations, but indicate which variables are unknown by underlining them in the final equation.

a) Find all of the positions and velocities.

b) In addition to the basic equations, also write the equations for the position and velocity of point G?

b) Find all of the positions and velocities. Assume points A, C and F lie on a horizontal line.

2. Find the orientations and velocities of the joints and point G in the mechanism using trigonometry, or any other non complex method. Assume that link 2 is being driven at 2 rad/sec.