1. For the mechanism shown in Figure 1, consider the position where the various coordinates are those
given below the figure. The point C denotes the center of curvature of the slotted link at the position
denoted by D. When the mechanism is in the position shown, the crank BD has an angular velocity
and angular acceleration given by,
ω
~ 2 = 16.370k̂ rad/sec,
α
~ 2 = 4.030k̂ rad/sec2 .
Determine the angular acceleration of link 3 at this position.
1
0
0
1
B
1
0
1
0
1
2
D
3
A
C
11111111
00000000
00000000
11111111
Figure 1: Slider mechanism.
A = [0.000, 0.000]
B = [1.250, 1.670] (f t)
C = [1.520, 0.170] (f t)
D = [2.070, 1.340] (f t)
2. Consider the epicyclic gear train shown in Figure 2. The gears have radii as follows: rR = 206.400mm,
rS = 124.200mm and rP = 41.100mm. Taking counter-clockwise as positive, the two inputs to the
system are ωR = 6.800rad/s and ωS = 14.700rad/s. Determine the angular velocity of the carrier OA.
R
P
O
A
S
Figure 2: Epicyclic gear train.