ME 2006

Dynamic Force Analysis

 Dynamic Equilibrium
• Under dynamic action, the system does
not remain inertial system and each
member of the system is subjected to
linear and/or angular acceleration.
• The equations of dynamic equilibrium then
are:
Sum(Fx) = m ax
Sum(Fy) = m ay
Sum(M) = IG α
 D'Alembert's Principle of Inertial Forces

• One can transform an accelerating rigid body into

an equivalent static system by adding the inertial
force and inertial torque or moment.
• The inertial force must act through the center of
mass.
• The system can then be analyzed as a static
system subjected to this inertial force and moment
and the external forces.
 Equivalent Static System

• In the equivalent static system, we can take

moments about any point (not just the center of
mass).
• It leads to simpler calculations because any
force can be eliminated from the moment
equations by choosing the appropriate point
about which to apply the moment equation
Sum of moments = zero
 Equivalent Static System
• If the system is analyzed for the external forces
and torques acting on the body, the inertia force
acting through the center of mass and the
inertial torque (acting around the centre of mass
is as good as anywhere), it is equivalent to one
in static equilibrium.
• Thus the equations of static equilibrium holds.
i.e.
Sum(Fx) = 0
Sum(Fy) = 0
Sum(M) = 0
 Types of Forces
• All members of a machine are subjected to some
form of loading.
• These loads arise from various sources.
– Applied Forces: Combustion of fuel, Hydraulic pressure.
– Applied Moment: Driving moment of a motor, Turbines.
– Friction Forces: Sliding and Turning pairs.
– Inertia forces and couples.
– Weight of machines members.
 Dynamic Analysis
• All real physical structures, when subjected to
loads or displacements, behave dynamically.
• The additional inertia forces, from Newton’s
second law, are equal to the mass times the
acceleration.
• If the loads or displacements are applied very
slowly then the inertia forces can be neglected
and a static load analysis can be justified.
• Hence, dynamic analysis is a simple extension
of static analysis.
Dynamic Force Analysis
 Dynamic Equilibrium
• Under dynamic action, the system does not
remain inertial system and each member of the
system is subjected to linear and/or angular
acceleration.
• The equations of dynamic equilibrium then are:
Sum(Fx) = m ax
Sum(Fy) = m ay
Sum(M) = IG α
• These three equations will be written for each
member of the moving system, leading to
simultaneous set of equations.
• Matrix Dynamic Analysis for Four Bar
– The four bar linkage shown below operates in a vertical plane.
Each link is a uniform bar with 2 cm by 2 cm square cross-
section stainless steel. Assume that the masses of the bearings
and the effects of friction are negligible. Do not neglect the
effects of gravity.

C
q3 AD = 22 cm
Y AB = 8 cm
B
BC = 12 cm
CD = 11 cm

T12
q4
q2

A D X
 Kinematics Known
• q2 = 45 deg 2 = 20 rad/s CW 2 = 100 rad/s/s CCW
• q3 = 20 deg 3 = 12.82 rad/s CCW 3 = 39.6 rad/s/s CW
• q4 = 117.4 deg 4 = 6.20 rad/s CW 4 = 482.5 rad/s/s CCW

• m2 = 0.248 kg IG2 = 1.405 kg.cm2 ρ = 7.75 g/cm3

• m3 = 0.372 kg IG3 = 4.588 kg.cm2
• m4 = 0.341 kg IG4 = 3.552 kg.cm2

• VG2 = 56.57 - j 56.57 cps aG2 = -1414.2 - j 848.5 cps2

• VG3 = 86.83 - j 40.86 cps aG3 = -3672.5 - j 2260.9 cps2
• VG4 = 30.27 - j 15.71 cps aG4 = -2262.4 - j 1412.4 cps2
 FBD
F32y

RB2/G2 F32x
F34y

B F34x
C
RA2/G2
T12
G2 RC4/G4
F12x
A W2 G4
F12y
F43y
RD4/G4
W4
F43x
RC3/G3
F14x

RB3/G3 C D
F14y
F23x G3

B
W3
F23y
• Weight will be considered (if appropriate) only
as externally applied force.
• CG of each link is considered as the point of
reference for all forces.
• Source torque T12 will appear only on input
link (driver crank) to which the motor is
attached.
 Forces/Moment Equations
• ΣFx on link 2 F12x + F32x = m2 aG2x
• ΣFy on link 2 F12y + F32y + W2 = m2 aG2y
• ΣM on link 2 about CG2
F12x rA2/G2y - F12y rA2/G2x - F32x rB2/G2y
+ F32y rB2/G2x + T12 = IG2 α2
F32y

RB2/G2 F32x

RA2/G2
T12
G2
F12x
A W2

F12y
 Forces/Moment Equations
• ΣFx on link 3 F23x + F43x = m3 AG3x
• ΣFy on link 3 F23y + F43y + W3 = m2 aG3y
• ΣM on link 3 about CG3
F23x rB3/G3y - F23y rB3/G3x - F43x rC3/G3y
+ F43y rC3/G3x = IG3 α3
F43y

F43x
RC3/G3

RB3/G3 C

F23x G3

B
W3
F23y
 Forces/Moment Equations
• ΣF on link 4 F34x + F14x = m4 AG4x
• ΣF on link 4 F34y + F14y + W4 = m4 aG4y
• ΣM on link 4 about CG4
-F34x rC4/G4y - F34y rC4/G4x + F14x rD4/G4y
F 34
y
+ F14y rD4/G4x = IG4 α4
F34x
C

RC4/G4

G4

RD4/G4
W4

F14x

D
F14 y
 Force Matrix

 1 0 −1 0 0 0 0 0 0  F12x   m2 AGx 2 
 0    
 1 0 −1 0 0 0 0 0  F12y  m2 AGy 2 − W2 
+ rAy2 / G 2 − rAx2 / G 2 rBy2 / G 2 − rBx2 / G 2 0 0 0 0 1  F23x   J G' 2 2 
    
 0 0 1 0 −1 0 0 0 0  F23y   m3 AGx 3 
 0    
0 0 1 0 −1 0 0 0  F34x  =  m3 AGy 3 − W3 
 
 0 0 + rBy3 / G 3 − rBx3 / G 3 rCy3 / G 3 − rCx3 / G 3 0 0 0  F34y   J G' 3 3 
   
 0 0 0 0 1 0 1 0 
0  F14   m4 AG 4 
x x
    
 0 0 0 0 0 1 0 1 0  F14y  m4 AGy 4 − W4 
 0 − rCy4 / G 4 − rCx4 / G 4 rDy4 / G 4 rDx4 / G 4 0 T12   J G' 4 4 
 0 0 0

Geometric Unknown Dynamic

Information Forces/Torques Information

[A] {B} = {C}

 Supplementary Info
• W2 = -j 2.433 N
• m2 aG2 = -3.507 - j 2.104 N
• IG2 α2 = 1.405 N.cm
• W3 = -j 3.649 N
• m3 aG4 = -13.662 - j 8.411 N
• IG3 α3 = -1.817 N.cm
• W4 = -j 3.345 N
• m4 aG4 = -7.715 - j 4.816 N
• IG4 α4 = 17.138 N.cm
 1 0 −1 0 0 0 0 0 0  F12x   − 3.507 
 0  
 1 0 −1 0 0 0 0 0  F12y   0.329 
2.828 − 2.828 2.828 − 2.828 0 0 0 0 1 F23x   1.405 
    
 0 0 1 0 −1 0 0 0 0 F23y  − 13.662
 0    
0 0 1 0 −1 0 0 0 F34x  =  − 4.762 
 
 0 0 2.052 − 5.638 2.052 − 5.638 0 0 0 F34x   − 1.817 
   
 0 0 0 0 1 0 1 0 
0  F14   − 7.715 
x
    
 0 0 0 0 0 1 0 1 0  F14y   − 1.471 
 0 − 4.883 − 2.531 4.883 2.531 0 T12   17.138 
 0 0 0
Results

 F12x   - 22.236 N 
 y  
F
 12   - 6.221 N 
F23x   - 18.729 N 
 y  
 23  
F - 6.550 N 
 x  
 34  
F = - 5.067 N 
F x   - 1.788 N 
 34   
 F14   - 2.648 N 
x

 y  
F
 14   0.317 N 
T12  81.135 N.cm
 Slider Crank Mechanism
• Matrix Dynamic Analysis for Slider Crank

B
T12 3
G3

2
C
A q f 4
P

1
1
 FBD
F32y
F23y

q F23x
T12 B

B f F43y
F32x
2
G3
G2 = A q F43x
3

F12x C f
F12y

+ direction for
VC to right

F34y
F34x
C 4
P

F14x
F14y
 Forces/Moment Equations
• ΣF on link 2 F12x + F32x = m2 aG2x
• ΣF on link 2 F12y + F32y = m2 aG2y
• ΣM on link 2 F12x rA2/G2y - F12y rA2/G2x - F32x rB2/G2y
+ F32y rB2/G2x + T12 = IG2 α2

F32y

q
T12 B

F32x
2
G2 = A q

F12x
F12y
 Forces/Moment Equations
• ΣF on link 3 F23x + F43x = m3 aG3x
• ΣF on link 3 F23y + F43y = m3 aG3y
• ΣM on link 3 -F23x rB3/G3y – F23y rB3/G3x + F43x rC3/G3y
+ F43y rC3/G3x = IG3 α3

F23y

F23x

B f F43y

G3
F43x
3
C f
 Forces/Moment Equations
0
• ΣF on link 4 F34x + F14x + FP= m4 aG4x
0
• ΣF on link 4 F34y + F14y = m4 aG4y
• ΣM on link 4 No moment equation at the point of application.

+ direction for
VC to right

F34y

F34x
C 4
P

F14x
When friction is F14y
neglected, Fx14=0
 Force Matrix

 1 0 −1 0 0 0 0 0  F12x   m2 aGx 2 
 0    
 1 0 −1 0 0 0 0  F12y   m2 aGy 2 
+ rAy2 / G 2 − rAx2 / G 2 rBy2 / G 2 − rBx2 / G 2 0 0 0 1  F23x   I G 2 2 
    
 0 0 1 0 −1 0 0 0  F23y   m3 aGx 3 
 0    
0 0 1 0 −1 0 0  F34x  =  m3 aGy 3 
 
 0 0 − rBy3 / G 3 − rBx3 / G 3 − rCy3 / G 3 − rCx3 / G 3 0 0  F34y   I G 3 3 
   
 0 0 0 0 1 0 0 
0  F14  m4 aG 4 − FP 
y x
    
    
 0 
0  T12   
 0 0 0 0 1 1 0

For the crank, aG2 and α2 may be taken

zero.
 Forces/Moment Equations
• ΣF on link 4 F34x + F14x + FP= m4 aG4x
0
• ΣF on link 4 F34y + F14y = m4 aG4y
• ΣM on link 4 No moment equation at the point of application.

+ direction for
VC to right

F34y

F34x
C 4
P

F14x

F x
14 = F y
14
F14y
 Force Matrix

 1 0 −1 0 0 0 0 0  F12x   m2 aGx 2 
 0    
 1 0 −1 0 0 0 0  F12y   m2 aGy 2 
+ rAy2 / G 2 − rAx2 / G 2 rBy2 / G 2 − rBx2 / G 2 0 0 0 1  F23x   I G 2 2 
    
 0 0 1 0 −1 0 0 0  F23y   m3 aGx 3 
 0    
0 0 1 0 −1 0 0  F34x  =  m3 aGy 3 
 
 0 0 − rBy3 / G 3 − rBx3 / G 3 − rCy3 / G 3 − rCx3 / G 3 0 0  F34y   I G 3 3 
   
 0 0 0 0 1 0  
0  F14  m4 aG 4 − FP 
y x
    
    
 0 
0 T12   
 0 0 0 0 1 1 0