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ME 560 Kinematics
Fall Semester 2010
Homework No. 9
Monday, November 22nd
This homework set is based on Chapter 10, Synthesis of Linkages, see Sections 10.1 to 10.11,
pages 418  454.
Problem 1.
Solve Problem 10.11, see page 465.
Problem 2
. Figure 1 below shows a rigid body that is required to move through the three
specified finitely separated positions.
(i) Locate the three poles
12
23
13
P , P and P and draw the pole triangle.
(ii) Locate the point which has its three positions on a circular arc about the point
C
D as center.
(iii) Show the image pole.
(iv) Draw the circumscribing circle and the reflections of the circumscribing circle.
(v) Locate the orthocenter. Draw the reflections of the orthocenter.
(vi) Determine the locus of points belonging to the moving rigid body and having their three
positions on straight lines.
D
C
A
1
B
1
A
2
A
3
B
2
B
3
5"
2"
7"
Figure 1. A Rigid Body Moving Through Three Finitely Separated Positions.
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Problem 3.
Figure 2 below shows the pole triangle for the motion of a rigid body through three
finitely separated positions.
(i) Specify the interior angles of the pole triangle.
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 Fall '10
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 circumscribing circle, Pole Triangle

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