# 1.    Answer to question 1: Graphical Position Analysis

Determine all possible positions of links and joints by graphical position analysis. Draw to scale all positions of joints for sixteen subsequent positions of link 2 and determine the limits of motion where appropriate. Identify and outline the paths of each moving joint.

[Write your answer here. Show detailed drawing and calculations with proper labelling and scale information]

Draw to scale all position of joints for 16 subsequent positions of link 2 and determine the path of each moving points. [See Figure below for an example] Figure 3: Position diagram showing 16 points including path of each moving parts (Scale: 1 mm = ?? m) Figure 4: Position diagram for path of each moving parts (Scale: 1 mm = ?? m)

# 2.    Answer to question 2: Graphical Velocity Analysis

Determine linear and angular velocities by graphical velocity analysis for the given position q2 = 60° of the mechanism, as shown above.  Draw to scale the velocity vector diagram encompassing all linear velocities to scale and present the results in a tabular form.

[Write your answer here. Show detailed drawing and calculations with proper labelling and scale information]

Show the calculations of VA, ω2, ω3, ω4, ω5 and draw to scale the velocity vector diagram of the mechanism at θ2 = 60°. [See Figure below for an example] Figure 5: Velocity diagram (Scale: 1 mm = ?? m/s)

Tabulate the values from Graphical Velocity Method in Table 4.

Table 4: Results from graphical velocity analysis

 Linear velocity (m/s) VA = VB = VC = VD = Angular velocity (rad/s) ω2 = ω3 = ω4 = ω5 =

# 3.    Answer to question 3: Graphical Acceleration Analysis

Determine all linear and angular accelerations by graphical acceleration analysis for the given position q2 = 60° of the mechanism. Draw to scale the acceleration vector diagram encompassing all linear accelerations to scale and present the results in tabular form.

[Write your answer here. Show detailed drawing and calculations with proper labelling and scale information]

Show the calculations of AA, α2, α3, α4, α5 and draw to scale the velocity vector diagram of the mechanism at θ2 = 60°. [See Figure below for an example] Figure 6: Acceleration diagram (Scale: 1 cm = ?? m/s2)

Tabulate the values from Graphical Acceleration Method in Table 5.

Table 5: Results from graphical acceleration analysis

 Linear acceleration (m/s2) AA = AB = AC = AD = Angular acceleration (rad/s2) α2 = α 3 = α 4 = α 5 =

# 4.    Answer to question 4: Instantaneous Centres of Velocity

Determine all instantaneous centres of velocity for the given mechanism using Kennedy’s rule, and velocities of joints A, B, C and D using identified instantaneous centres.  Draw all instantaneous centres and velocities to scale on a separate diagram of the mechanism.

[Write your answer here. Show detailed drawing and calculations with proper labelling and scale information]

Find out all the Instantaneous centres of zero velocity using Kennedys triangle theorem and draw them all. Also draw the diagram to scale using Instantaneous Centre (IC) method at θ2 = 60°. [See Figure below for an example]