The Theory of Machines

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Let a and I (Fig. 117) be two links connected by a pin joint, and let the radius of the pin be r. If & rotate about a with angular velocity co, the velocity of rubbing at the wearing surfaces is obviously cu . R. L_ When either a or & is fixed to earth, F IG< the above conception of the velocity of rubbing will be clear. When both are moving, the problem appears more difficult. If, however, the conception of relative motion explained in par. 16 has been grasped, it will, be seen that the velocity of rubbing at any pin equals the radius of the pin multiplied by the relative angular velocity between the two links constrained by that pin. EXAMPLE 4. Let r p, r Q, r R, r s be the radii of the pins at P lf Q, R, and P 2 respectively in the quadric cycle chain, Fig. 91. If I rotate with angular velocity a)! about a, determine the velocities of rubbing at P lf Q, R, and P 2 at the instant of configuration. Let 1 and +o) 2 be the angular velocities of c and d. The velocities of rubbing at P x and P 2 are o> 1 r p and to^r s respectively.

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