Chapter 1

Introduction - Solutions

Problem 1.1

1111111
0000000
1
0000000
1111111
0000000
1111111

P1 N =6
P1 = 7
P2 = 0
6 F = 3(N − 1) − 2P1 − P2 = 3(6 − 1) − 2(7) − 0 = 1

5
P1

3 P1
+ P1
P1
4

2 1
11111111111111111111
00000000000000000000 P
00000000000000000000
11111111111111111111
00000000000000000000
11111111111111111111
00000000000000000000
11111111111111111111
drawing 015.soltn
1
P1
11111111
00000000
00000000
11111111
00000000
11111111
00000000
11111111
1

If you fix (freeze) the P1 joint between bodies 2 and 1 then 3 cannot roll on 4, so 3 and 4 cannot move and
M = F in this mechanism. If 4 cannot move, neither 5 or 6 will move. Since only one P1 was eliminated to
make this mechanism into a structure we have M = 1. M and F in this mechanism.
Problem 1.2

If you fix (freeze) the P1 joint between bodies 2 and 1 then 3 and 4 cannot move. If 4 cannot move, neither 5
or 6 will move. Since only one P1 was eliminated to make this mechanism into a structure we have M = 1. M
and F in this mechanism.

c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

 P1 N =6
P1 = 7
6 P2 = 0
F = 3(N − 1) − 2P1 − P2 = 3(6 − 1) − 2(7) − 0 = 1
11
00 5
00
11
00
11
111
00
00
11
00
11
00
11 P1 , P1
P1 , P1
2
4 P1
111111111
000000000
000000000
111111111
P1 000000000
111111111
3 1 fig001.soltn

Problem 1.3

1111111
0000000
N =5
0000000
1111111
0000000
1111111
0000000
1111111
0000000
1111111
P1 = 5
0000000
1111111
0000000
1111111
P11111111
0000000
0000000
1111111
P 2 =1
0000000
1111111
0000000
1111111
0000000
1111111
F = 3(N − 1) − 2P1 − P2 = 3(5 − 1) − 2(5) − 1 = 1
0000000
1111111
0000000
1111111
0000000
1111111
1
0 P1 0000000
1111111
0
1 0000000
1111111
0
1 0000000
1111111
0000000
1111111
11
0
0
1
0
1
0000000
1111111
0000000
1111111
0000000
1111111
5 0000000
1111111
0000000
1111111
+ 0000000
1111111
0000000
1111111
0000000
1111111
2 0000000
1111111
0000000
11111111
0000000
1111111
0000000
1111111
P1 P1111111
0000000
0000000
1111111
1
0000000
1111111
0000000
1111111
P2 fig 005.soltn

4
3
P1
If you freeze the P1 joint between 5 and 1, 2 cannot rotate without breaking the slipping contact between 2
and 5. If 2 and 5 do not move, then 3 and 4 are fixed in place. Thus the mechanism has become a structure
and M = 1. M = F in this mechanism.
Problem 1.4

N =3
P1 = 2
2 P2 = 1
0000
1111
1111
0000 F = 3(N − 1) − 2P1 − P2 = 3(3 − 1) − 2(2) − 1 = 1
0000
1111
0000
1111
0000
1111 P2
11111
0000
0000
1111
0000
1111
0000
1111
0000
1111
3
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111
0000
1111 P1
0000
1111
0000
1111 111
000
0000P1
1111 000fig008a.soltn
111
1

If you freeze the P1 joint between 1 and 3, then 2 can no longer move and maintain a rolling contact with 1. So
M = 1 and M = F in this mechanism.

2
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

Problem 1.5

P1
P2 N =4

11111111111
00000000000 P1 = 3
00000000000
11111111111
00000000000
11111111111
00000000000
11111111111 P2 = 2
00000000000
11111111111
00000000000
11111111111
00000000000
11111111111
00000000000
11111111111 F = 3(N − 1) − 2P1 − P2
3 11111111111
00000000000
00000000000
11111111111
4
00000000000
11111111111 = 3(4 − 1) − 2(3) − 2 = 1
00000000000
11111111111
P
00000000000
11111111111
2
00000000000
11111111111
00000000000
11111111111
00000000000
11111111111
00000000000
11111111111
P1 00000000000
11111111111
2 00000000000
11111111111
fig151.soltn
1
11111
00000
00000
11111
1 11111
00000 P1

If we freeze the P1 joint between 1 and 2, then 3 cannot move without breaking (violating) one of the two
slipping contacts between 4 and 1. Hence this makes the mechanism into a structure and M = 1. M = F in
this mechanism.
Problem 1.6

3
P1
4
P1 P1
1111
0000
0000
1111
2 00001
1111

N =4
+
P1 = 3

P2 = 1
P2 F = 3(N − 1) − 2P1 − P2 = 3(4 − 1) − 2(3) − 1 = 2
11111111111111111
00000000000000000
00000000000000000
11111111111111111
00000000000000000
11111111111111111
1
00000000000000000
11111111111111111
fig093a.soltn

If we freeze the P1 joint between 4 and 1, 3 can still spin and roll against 2, which slips against 1. If we then
freeze the P1 joint between 3 and 4, 2 can no longer roll on 3 and maintain contact with 1 so the system is a
structure and M = 2. M = F for this mechanism.

3
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

Problem 1.7

1
0
0
1
0
1
0
1
0
1
0
1
0
1
0
1
3
0
1
0
1
0
1
0
1
0
1 +
0
1
2 0
1
0
1 P1
P2 0
1
0
1
0
1
+
0
1
0
1
111
000 0
1
0
1
N =3
000
111 0
1
000
111 0
1 P1 = 2
1 0
1
0
1
0
1
0 P1
1 P2 = 1
0
1
0
1
0
1
0
1 F = 3(N − 1) − 2P1 − P2 = 3(3 − 1) − 2(2) − 1 = 1
0
1
11
0
0
1
0 fig107a.soltn
1

If you freeze the P1 joint between 3 and 2, 2 can no longer move and the system is a structure so M = 1 and
M = F for this mechanism.
Problem 1.8

P1

P1 3

111111111111111111111
000000000000000000000
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111 P1
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111
2 4
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111
1 N =4
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111
000000000000000000000
111111111111111111111
P1 000000000000000000000
111111111111111111111
fig025.soltn P1 = 4
000000000000000000000
111111111111111111111
1111
0000 000000000000000000000
111111111111111111111
0000
1111 P2 = 0
0000
1111
1 F = 3(N − 1) − 2P1 − P2 = 3(4 − 1) − 2(4) − 0 = 1

If you freeze the P1 joint between 1 and 2, 3 can no longer roll on 4 and we have a structure, so M = 1 and
M = F in this case.

4
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

Problem 1.9

P1 P2 P1

111
000
000 1
111
3 N =5

5 P1 = 5

P2 = 1
P1
F = 3(N − 1) − 2P1 − P2 = 3(5 − 1) − 2(5) − 1 = 1
2
P1 P1
111
000
000
111 fig273.soltn
1 111
000
If we freeze the P1 joint between 1 and 2, then the four bar formed by links 1, 2, 3 and 4 does not move so 5
can no longer move and M = 1. M = F for this mechanism.
Problem 1.10

P1
111
000
000
111
1

4
N =6
P1 , P1 P1 = 7
5
P2 = 1
P1 3
+ P1 , P1 F = 3(N − 1) − 2P1 − P2 = 3(6 − 1) − 2(7) − 1 = 0
6
2 P1
P2 1111
0000
0000
1111
0000
1111
00000000000
11111111111
1 00000000000
11111111111
00000000000
11111111111 1
fig274.soltn

This mechanism is already a structure so M = 0. To see this consider the four bar mechanism of links 1, 2, 3
and 4 which moves with 1 degree-of-freedom. We see that as this four bar moves, 6 gets get pulled and it slips
(drags) along 1. The problem is that as 6 makes this motion 5 cannot maintain a sliding contact with it. So
there is no relative movement between 6 and 5. Consequently the four bar mechanism does not move and the
mechanism does not move. M = F for this mechanism.

5
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

Problem 1.11
P1 4
3 111111111
000000000
000000000
111111111
1111
0000 000000000
111111111 P1
0000
1111 000000000
111111111 P1
P1 000000000
111111111
1 000000000
111111111
000000000
111111111
2 000000000
111111111
000000000
111111111
000000000
111111111 N =4
000000000
111111111
000000000
111111111
000000000
111111111
000000000
111111111 P1 = 5
000000000
1111111111
P1 fig275.soltn
111
000 P2 = 0
000
111
000
111
1 F = 3(N − 1) − 2P1 − P2 = 3(4 − 1) − 2(5) − 0 = −1
Link 3 cannot be rotated without 4 breaking its contact with 1, therefore 1, 3 and 4 are a structure, so 2
cannot move either. In fact, 2 will either be too long or too short, making this system a statically indeterminate
structure. Since no P1 joint needs to be frozen to make this a structure, M = 0. In this mechanism M 6= F
and M > F because the structure is statically indeterminate.
Problem 1.12
P1

111111111
000000000
000000000
111111111
2 3 000000000
111111111
000000000
111111111P1 P1
000000000
111111111 N =4
P1 000000000
111111111
000000000
111111111
111
000 4 111111111
000000000
000000000
111111111 P1 = 4
000 1
111 000000000
111111111 1
000000000
111111111
000000000
111111111
000000000
111111111 P2 = 0
000000000
111111111
000000000
111111111
000000000F = 3(N − 1) − 2P1 − P2 = 3(4 − 1) − 2(4) − 0 = 1
111111111
fig276.soltn

Freezing the P1 joint between 1 and 2 makes the mechanism a structure and so M = 1. M = F .
Problem 1.13
1111111
0000000
0000000
1111111
0000000
1111111
0000000
1111111
111
000
4 1111111
0000000
000
111 P1
000
111 0000000
1111111
000
111 0000000
1111111
0000000
1111111
000
111
000
111 0000000
1111111
000
111 0000000
1111111
P2
000
111 0000000
1111111
000
111 0000000
1111111
P2
000
111 3 0000000
1111111
0000000
1111111
000
111 0000000
1111111
000
111 0000000
1111111
1
000
111 +
0000000
1111111
000
111
000
111 0000000
1111111
000
111 0000000
1111111
000
111 0000000
1111111
000
111 P1 0000000
1111111
000
111
000
111
1
000
111
000
111 N =4
000
111 2
000
111 P1 = 3
P1
111
000
000
111
000fig277.soltn
111
P2 = 2
1
F = 3(N − 1) − 2P1 − P2 = 3(4 − 1) − 2(3) − 2 = 1

If you freeze the P1 joint between 1 and 2, 4 can no longer move and 3 cannot roll on 2 and maintain a slipping
contact with 1. So M = 1 and M = F .

6
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

Problem 1.14

P1
1 111
000
111
000
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
000
111
2 N =4
P1 = 4
3 P2 = 0
P1
F = 3(N − 1) − 2P1 − P2 = 3(4 − 1) − 2(4) − 0 = 1
P1

P1
1111
0000
0000
1111
0000
1111
1

4
fig011a.soltn

If you freeze the P1 joint between 4 and 1, then 2 and 3 cannot move without 2 breaking its rolling contact with
4, so the system becomes a structure and M = 1. M = F .
Problem 1.15

3 N =4
P1 P1 = 4
P2 = 0
F = 3(N − 1) − 2P1 − P2 = 3(4 − 1) − 2(4) − 0 = 1
P1
2
P1
1111
0000
0000
1111
0000
1111 1
P1111
000
000
111
000
111
4 0001
111
fig011b.soltn

If you freeze the P1 joint between 4 and 1, then 2 and 3 cannot move without 2 breaking its rolling contact with
4, so the system becomes a structure and M = 1. M = F .

7
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

Problem 1.16

P1 111 N =3
111
000 000
000111
111 000
000111
111 000 P1 = 2
000
111
000
111 000
111
000
111
1
000
111 000
111 P2 = 1
000111
111 000
2 F = 3(N − 1) − 2P1 − P2 = 3(3 − 1) − 2(2) − 1 = 1

P2

P1
1111
0000
0000
1111
0000
1111
1

3
fig011c.soltn

If you freeze the P1 joint between 1 and 2, 3 can no longer rotate without violating its slipping contact with 2,
so the mechanism becomes a structure and M = 1. M = F .
Problem 1.17

P2
2

P1 P1
1111
0000
0000
1111
0000
1111 111
000
00001
1111 000
111
000fig011d.soltn
111
1
N =3
3 P1 = 2
P2 = 1
F = 3(N − 1) − 2P1 − P2 = 3(3 − 1) − 2(2) − 1 = 1

If you freeze the P1 joint between 1 and 2, 3 can no longer rotate without violating its slipping contact with 2,
so the mechanism becomes a structure and M = 1. M = F .

8
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

Problem 1.18
P1
N =5

P1 = 5
3 4 P2 = 0

F = 3(N − 1) − 2P1 − P2 = 3(5 − 1) − 2(5) − 0 = 2

P1 P1

2 5
P1 P1
111111111111111111
000000000000000000
000000000000000000
111111111111111111
fig528a.soltn
1
If you freeze the P1 joint between 1 and 2, then 5 can still roll against 1 while the ”dyad” formed by 3 and 4
will extend or contract to reach the connection point between 4 and 5, so it is still moveable. If you now freeze
the P1 joint between 5 and 1, then the system becomes a structure, so M = 2. M = F .
Problem 1.19
111111
000000
000000
111111
000000
111111
000000
111111
000000
111111
000000
111111
000000
111111 N =3
000000
111111
000000
111111
000000
111111 P1 = 3
000000
111111
P1
000000
111111
000000
111111
1
000000
111111 P2 = 0
000000
111111
000000
111111
000000
111111
000000
111111 F = 3(N − 1) − 2P1 − P2 = 3(3 − 1) − 2(3) − 0 = 0
000000
111111
000000
111111
000000
111111
000000
111111
000000
111111
000000
111111
000000
111111
000000
111111
000000
111111 2 P1
000000
111111
000000
111111
000000
111111
000000
111111
000000
111111
000000
111111

3
111111111111111111111111
000000000000000000000000
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
P1
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
1
000000000000000000000000
111111111111111111111111
000000000000000000000000
111111111111111111111111
fig154.soltn

The system is moveable. If you push 3 to the left, you see that 2 will move up. If you freeze the P1 joint
between 3 and 1, then 2 is now longer moveable, so M = 1. M 6= F , and M > F . The explanation for this is
as follows. The development of Gruebler’s Criterion assumes that every body in the system has the potential
of a rotational degree-of-freedom. But, when the system consists entirely of sliding joints, as in this case, this
rotational degree-of-freedom is not possible. Gruebler’s Criterion as developed is not applicable to this system.
Problem 1.20

The system is moveable, and it moves the same way as the prior problem. If you push 3 to the left 2 will slide
up. If you freeze the P1 joint between 3 and 1 then the system is a structure so M = 1. In this case M = F . In
this example there are joints besides sliding joints, so rotational degrees-of-freedom are possible and Gruebler’s
Criterion as developed is applicable.

9
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

 11111
00000
00000
11111
00000
11111 N =3
00000
11111
P1
00000
11111
00000
11111
00000
11111 P1 = 2
00000
11111
00000
11111
00000
11111
00000
11111 2 P2 = 1
111111
00000
00000
11111
00000
11111 F = 3(N − 1) − 2P1 − P2 = 3(3 − 1) − 2(2) − 1 = 1
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111 P2
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111 3
00000
11111
00000
11111
00000
11111
00000
11111
00000
11111
11111111111111111111111
00000000000000000000000
00000000000000000000000
11111111111111111111111
00000000000000000000000
11111111111111111111111
00000000000000000000000
11111111111111111111111
P1
00000000000000000000000
11111111111111111111111
00000000000000000000000
11111111111111111111111
00000000000000000000000
11111111111111111111111
00000000000000000000000
11111111111111111111111
1
00000000000000000000000
11111111111111111111111
00000000000000000000000
11111111111111111111111
00000000000000000000000
11111111111111111111111 fig153.soltn

10
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

Problem 1.21
In the mechanism shown below, what should the questioned joints be in order for the mechanism to have F =1?

P
00
111
11
00
00
11
001
11
00
11
00
11
00
11
00
11
00
11
00
11
00
11
00
11
00
11
00
11
00
11
00
11
2

P1 , P1

5
P1
3 P1
+
? 6
+
4 111111111111111
000000000000000
000000000000000
111111111111111
000000000000000
111111111111111
fig002.soltn
1

?
1111111111111111
0000000000000000
0000000000000000
1111111111111111
0000000000000000
1111111111111111
0000000000000000
1111111111111111
1

The questioned joints are point contacts, so they can only of rolling (P1 ) or slipping (P2 ). Not counting those
two joints we have, N = 6, P1 = 5 and P2 = 0, so

F = 3(N − 1) − 2P1 − P2 = 3(6 − 1) − 2(5) − 0 = 5

In order that the mechanism have F = 1, 4 more degrees of freedom must be removed, which means that both
of the unknown contacts have to be P1 contacts, i.e. rolling contacts.

11
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

Problem 1.22
Give all the kinematic inversions of the mechanism shown in figure 1.31 a.).

1
0
0
1
0
1
21
0
3 3
4 0
1
0
1
4
0
1
12
0 1
0
0
1 0
1
0
1 0
1
0
1
11
0
0
1 21
0 5
0
1 0
1
0
1 0
1
5
1
11
00
00
11
00
11
00
11
00
11
1
00
11
00
11 11
00
111
000
3
000
111 00
11
00
11
004
11
00
11
00
11
1111
0000
3
0000
1111 00
11
3
4 1
0
0
1
04
1
2 2 0
1
0
1
0
1
5
5
1
1

279a.soltn

The fifth kinematic inversion is the mechanism as shown in figure 1.31. No need to redraw it.

12
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

Problem 1.23
Give the mechanism which results from figure 1.30 c.) when link 5 is grounded. Determine the theoretical dof
(F) and mobility (M) of that mechanism.

P1
2
P1 P1
1111
0000 3
0000
1111
5
N =6

P1 P1 = 6
1111
0000 6
0000
1111
1 1111
0000 P1 P2 = 0
5
4 F = 3(N − 1) − 2P1 − P2 = 3(6 − 1) − 2(6) − 0 = 3

P1
fig278.soltn

If we freeze the P1 joint between 1 and 6, 6 is immobilized, but the rest of the mechanism still moves. If we
continue and freeze the P1 joint between 1 and 2, 2 is immobilized, but 1, 3 and 4 continue to be moveable.
If we then freeze the P1 joint between 1 and 2, then 3 and 4 are also immobilized and the system becomes a
structure. Thus M = 3 and M = F .
Problem 1.24
The figure below shows a pair of gears in mesh. The smaller gear is referred to as the “pinion” and the larger
gear is referred to as the “gear.” Typically, the pinion is the driver and the gear is driven. Since the pinion is
smaller than the gear, the gear rotates slower than the pinion, but the torque is increased. Generally speaking,
that is the purpose of a gear pair, to reduce speed and to increase torque. This is because most prime movers
(motors, engines etc.) run at high speeds but produce relatively low torques. You will see all this later when
we study gears.
What type of joint must exist between these two gear teeth so that the system is movable, with one dof?

P1 P1
pinion gear
1111
0000 A
111
000
0000
1111 B 000
111
000
111
0000
1111 fig120a.soltn

If we neglect the contact in question, we have N = 3, P1 = 2, P2 = 0 and then

F = 3(N − 1) − 2P1 − P2 = 3(3 − 1) − 2(2) − 0 = 2

so in order that F = 1, the contact between a pair of gear teeth must be a slipping contact.

13
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.

 14
c 2015 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.