ErrorsinKinematics,Dynamics,andDesignofMachiner,2ndEdition,byK.WaldronandG.

Kinzel,Wiley,2004
Dateupdated(March31,2007)
(FirstPrinting)
Page54,Problem1.7c
CrosshatchingismissingonframelineinFigure1.7c

Page58,Problem1.27
Alineismissingonthedrawingin(c).Therightsideshouldbeclosed.

Page58,Problem1.29
Didnotindicatethatonelinkshouldberigidbody

Page74,Topofpage
Thenumericalresultintheequationiswrong.Theequationshouldbe
a E3 4.85 50 242.5 in/s 2
Page89,Problem2.2
Inthedrawing,thedistancebetweenfixedpivotsisshownas250mm.Itshouldbe1.2
in.:

Page89,Problem2.4
Inthedrawing,thehorizontaldistancebetweenfixedpivotsisshownas160mm.It
shouldbe120mm

Page90,Problem2.7
In(a)and(b)thesubscriptshouldbe2insteadof4.Thatis:

(a) determine 3 and 2 .

(b) determine 3 and 2 .
Page90,Problem2.8
In(a)and(b)thesubscriptshouldbe2insteadof4.Thatis:
(a) determine 3 and 2 .
(b) determine 3 and 2 .
Page90,Problem2.9
ThevelocityvectorforpointC4isshowninthewrongdirectioninthefigure.Itis
correctedbelow.

Page91,Problem2.13
Thewordconstantismissingintheproblemstatement.Theproblemstatementshould
read:
Inthemechanismshown,link2isrotatingCWattheconstantrateof180rad/s.

Page93,Problem2.30
Thewordconstantismissingintheproblemstatement.Theproblemstatementshould
read:
Inthedraglinkmechanismshown,link2isturningCWattheconstantrateof130rpm.

Page94,Problem2.32
Thefirstsubscriptinpart(b)shouldbeE3notE2.Theproblemstatementshouldread:
(b)determine a E3 , a E4 , 3 .
Page94,Problem2.35.
Thearrowheadsaremissingfromtheanglearcs.Thecorrectarrowheadsareshown
below:

Page95,Problem2.39.
ThedimensionforpointDof1.6shouldbe1.25.Thecorrecteddrawingisshown
below:

Page107,Example3.1.
Thedistancebetweenfixedpivotswasnotincludedinthedrawingforexample3.1.Itis
18.33in.Thereviseddrawingisshownbelow.

Page118,Step10.
Thereareseveralerrorsinthisstatement.Theequationnumberiswrong,andthereare
twosignerrorsintheequations.Also,somesubscriptsaremissingintheequation.
10.

Compute a P4 / P3 using the equation form given in Eq. (3.38). Then,

a

1
1
vP / O
vOB / Q3
vQ3 / P3
8.32
6.54
1.92
4 B

rP4 / OB
rOB / Q3
rQ3 / P3
1.125
2
0.875
( P4 to OB ) (OB to Q3 ) (Q3 to P3 ) ( P4 to OB ) (OB to Q3 ) (Q3 to P3 )
1

n
P4 / P3

Page138,Problem3.15.
ThedimensionBCismissing.Itshouldbe8.59.Thecorrecteddrawingisshown
below:

BC=8.59
Page139,Problem3.20.
Thesubscriptshouldbeasuperscriptinthesecondlineoftheproblem.Thefirst
sentenceshouldread:
The circular cam shown is driven at an angular velocity 2 = 15 rad/s (CW) and 2 = 100
rad/s2 (CW).
Page140,Problem3.27.
ThestatementLink2rollsonlink3.shouldbeaddedtotheproblem.
Page141,Problem3.29.
Theproblemstatementreferstolink6insteadoflink5.Thelastsentenceintheproblem
statementshouldbe:
Whatshouldthelinearvelocityoflink5besothat 4 =5rad/sCCW?
Page141,Problem3.33.
ThestatementLocatealloftheinstantcentersinthemechanismshown.shouldbe
deleted.
Page142,Problem3.35.
Thedirectionarrowfor 2 ismissingfromthefigure.Thecorrectedfigureisshownin
thefollowing:

Page169,Problem4.29.
ThevaluesforAB,AC,DCarenotgivencorrectly.Thecorrectvaluesaregiveninthe
figure.

Page177,Equation5.30.
AminussignismissingonthelastterminEq.5.30
r32 r12 r22 r42 2r1r4 (cos1 cos 4 sin 1 sin 4 )
2r1r2 (cos1 cos 2 sin 1 sin 2 ) 2r2r4 (cos 2 cos 4 sin 2 sin 4 )

Page181,Equation5.52.
Aminussignismissingonthelasttermintheequation
&
&2
&
&
&2
&
&
&2
r2&
2 cos 2 r2 2 sin 2 r3 3 cos 3 r3 3 sin 3 r4 4 cos 4 r4 4 sin 4

(5.52)

Page183,Table5.2.
Therearetwotypoerrorsinthetable.Theseareshowninredbelow
Table 5.2: Summary of results for Example 5.1

1
-1
1
-1
1
-1

-8

/2

-/2

4.75

-16

8.75

24

12.75

16

8.75

53.58
53.58
177.28
55.85
-122.09
122.09
-55.85
-177.28

66.87
-66.87
-143.85
21.98
-75.52
75.52
-21.98
148.85

Page195,Equation5.91.
Aminussignismissingonthefirsttermintheequation
&
&
&2
&
&
&2
&
r&
r&
Q &
2 r2 2 sin 2 r2 2 cos 2 i r2 2 cos 2 r2 2 sin 2 j

(5.91)

Page292,Numbersinmatrixequationareincorrect
Thematrixequationshouldlooklikethefollowing:
cos( 1 1
1 0.9952 0.6558 0.7265
0.0900
z 1 1 cos 1 cos 1

0.7671
1.2574
z 2 1 cos 2 cos 2 cos( 2
2 1 0.8182 0.2588

z 3 1 cos 3 cos 3 cos( 3
3 1 0.5439 0.1905
0.7202

0.6631

Page321,Problem6.1
TheanglebetweenA1andA2shouldbe60degrees

Page321,Problem6.2
TheanglebetweenA1andA2shouldbe40degrees

Page321,Problem6.5
GrashofsequationshouldbeGrashofsinequality
Page324,Problem6.17
Inthelastsentence,thewordfindismissing.Thelastsentenceshouldread:
FindA*,findthesliderpointthat
Page324,Problem6.22
Thefunctiontobegeneratedis

2 3
not

3 3

10

Page325,Problem6.24
TheinformationfollowingThebaselengthofthelinkagemustbe2cm.shouldbe
deleted.Theproblemshouldread:
Determine the link lengths and draw a four-bar linkage that will generate the function
2 ( and both in radians) for values of between 0.5 and 1.0 radians. Use
Chebyshev spacing with three position points. The base length of the linkage must be 2
cm.

Page325,Problem6.25
TheinformationfollowingThebaselengthofthelinkagemustbe2cm.shouldbe
deleted.Theproblemshouldread:
Determine the link lengths and draw a four-bar linkage that will generate the function
sin( ) forvaluesof between 0 and 90 degrees. Use Chebyshev spacing with three
position points. The base length of the linkage must be 2 cm.
Page544,Example12.4
TheproblemstatementforExample12.4ismissing.Whatisgivenastheproblem
statementisthefinalparagraphofExample12.3.TheendofExample12.3andthe
problemstatementforExample12.4areshowninthefollowing:
Equation (12.22) gives the relationship for the velocities of the shafts coming from the gear train.
Given any two of the angular velocities, the third can be determined. Note that it is important to
identify the direction of the angular velocities with a plus or minus sign. Typically, we could select
counterclockwise (CCW) as plus and clockwise (CW) as minus.

Example 12.4 (Analysis of Planetary Gear Train Using Equation Method)

Problem
Assume that the carrier in Fig. 12.19 is member 6 and that it and gear 5 are driven clockwise at
150 and 50 rpm, respectively, when viewed from the right end. Find the magnitude and direction
of the angular velocity of gear 2.

Page545,Example12.4
IntheparagraphfollowingEq.(12.28), 4 isgivenas50rpm.Itshouldbe 5 =50rpmas
indicatedintheproblemstatement.

11

Page580,Figure13.21
InFigure13.21,thehorizontalforceonthebottomoftheblockin(b)isshownasF53t.It
shouldbeF53n.Alsoanotewasmissingfromtheoriginalfigure.Theinformationisgivenin
thefollowingdrawing.

Page605,Problem13.12
InProblem13.12,Qshouldbe100lbnot100inlb.

Page620,Example14.4
Inthelastsentenceoftheproblemstatement,addthephasetherefore,onlydynamicforcesneed
tobeconsidered.Theproblemstatementshouldread:
Example 14.4 (Dynamic Force Analysis)
The members of the mechanism of Example 2.4 and Fig. 2.16 have the inertial properties
tabulated below and indicated on Fig. 14.9. Find the driving torque that must be applied to the
crank, member 2, in order to maintain the constant angular velocity of 60 rpm in the clockwise
direction. Friction in all joints (including the prismatic joint) and the mass and moment of inertia
of link 5 may be neglected. The mechanism moves in the horizontal plane; therefore, only
dynamic forces need to be considered.

Page628,Problem14.11
Inthelastsentenceoftheproblemstatement,theequationforthemomentofinertiaisincorrect.
Thelastsentenceshouldbe:
The moment of inertia of a uniform rectangular plate with sides 2a and 2b about an axis normal
to its plane passing through its centroid is m (2a) 2 (2b) 2 /12 , where m is the mass of the plate.
12

Page659,Problem15.13
ThefigureforProblem15.13isshownwithproblem15.14.Also,theangularaccelerationfor
link2isnotshown.Itshouldbe0.Thefigureandaccelerationvalueareshowninthe
following:
15.13 For the mechanism and data given, determine the shaking force and its location relative to
point A. Draw the shaking force vector on the figure.

2= 210 rad/s CCW 2= 0 rad/s2 W2 = 3.40 lb

IG3= 0.1085 lb-s2-in W3= 3.40 lb W4= 2.85 lb

13