Question4 the constant angular velocity is 2 rad/s. a) What is the velocity of p

Question

Question4 the constant angular velocity is 2 rad/s. a) What is the velocity of point D relative to ground? b) What is the angular velocity of link 3 relative to ground? c) Where is the instantaneous centre of link 3 relative to ground? Answer Set up known parameters (ptA {0, 0, 0), ptB {3, 2, 0), ptC {2, 4, 0), ptD {6, 5, o)) 4points params Velocity (and unit velocity) at point B can be determined from the angular velocity and length of link 1, and substituting values: vby4 “ (-4, 6, 0) 4.1 The direction of velocity at point D can be determined from a normal to link 2:

Explanation / Answer

a) velocity of point D =   (-2 * (1 - 2/3) , 8 * (1 - 2/3) , 5 * (3 - 3))

                                     = ( - 2/3 ,   8/3 , 0)

b)   angular velocity   =   ( - 2/3 + 2/3 , 8/3 - 8/3 , 0 - 10/9)

                                 = ( 0 , 0 , - 10/9)

c) instantaneous centre = ( 7/5 + 1 , 1 - 2/5 , 10/9 - 10/9)

                                        = ( 12/5 , 3/5 , 0 )

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