2 2 2 2

1 2 3 2

d d a b c dK K K

a c ac

LEC 04 - Example 1

2 1 2 2 3

2

1 2 2 3

cos cos

2sin

1 cos

A K K K

B

C K K K

2 2 2 2

1 4 5 2

d d c d a bK K K

a b ab

2 1 4 2 5

2

1 4 2 5

cos cos

2sin

1 cos

D K K K

E

F K K K

LEC 04 - Example 1 (Cont.)

LEC 05 - Example 1

2 2 2 21 2 3 2 2 K a b c d K ac K ad

1 3

2

1 3

2

A K K

B K

C K K

LEC 05 - Example 2

LEC 05 - Example 2 (Cont.)

LEC 05 - Example 3

Given:1 2 4 26 in, 2 in, 4 in, 90 , 30L L L

Find:3 4all possible solutions for , , and b.

2 2

2 2

sin sin cos cos

sin cos cos sin

sin

P a a d

Q a a d

R c

; 2 ;S R Q T P U Q R

1,2

2

4

42arctan

2

T T SUS

2 4

3

sin sin

sin

a cb

P

Y

X

2 2 2 2

1 2 3 2

d d a b c dK K K

a c ac

2 1 2 2 3

2

1 2 2 3

cos cos

2sin

1 cos

A K K K

B

C K K K

1,2

2

4

42arctan

2

B B ACA

LEC 06 - Example 1

LEC 06 - Example 1 (Cont.)

Determine the piston position, d, with respect to the XY global coordinatesystem at the instant shown.

Also, determine the piston displacement as the crank rotates 95 deg.clockwise from the position shown.

LEC 06 - Example 2

LEC 06 Example 2 (Cont.)