Errors in Kinematics, Dynamics, and Design of Machiner, 2nd Edition, by K. Waldron and G. Kinzel, Wiley, 2004

Date updated (March 31, 2007)

(First Printing)

Page 54, Problem 1.7cCross hatching is missing on frame line in Figure 1.7c

Page 58, Problem 1.27A line is missing on the drawing in (c). The right side should be closed.

Page 58, Problem 1.29Did not indicate that one link should be rigid body

Page 74, Top of pageThe numerical result in the equation is wrong. The equation should be

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Page 89, Problem 2.2In the drawing, the distance between fixed pivots is shown as 250 mm. It should be 1.2 in.:

Page 89, Problem 2.4In the drawing, the horizontal distance between fixed pivots is shown as 160 mm. It should be 120 mm

Page 90, Problem 2.7In (a) and (b) the subscript should be 2 instead of 4. That is:

(a) determine and . (b) determine and .

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Page 90, Problem 2.8In (a) and (b) the subscript should be 2 instead of 4. That is:

(a) determine and . (b) determine and .

Page 90, Problem 2.9The velocity vector for point C4 is shown in the wrong direction in the figure. It is corrected below.

Page 91, Problem 2.13The word “constant” is missing in the problem statement. The problem statement should read:

In the mechanism shown, link 2 is rotating CW at the constant rate of 180 rad/s. …

Page 93, Problem 2.30The word “constant” is missing in the problem statement. The problem statement should read:

In the drag-link mechanism shown, link 2 is turning CW at the constant rate of 130 rpm. …

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Page 94, Problem 2.32The first subscript in part (b) should be E3 not E2. The problem statement should read:

(b) determine , , . …

Page 94, Problem 2.35.The arrowheads are missing from the angle arcs. The correct arrowheads are shown below:

Page 95, Problem 2.39.The dimension for point D of 1.6” should be 1.25”. The corrected drawing is shown below:

Page 107, Example 3.1.The distance between fixed pivots was not included in the drawing for example 3.1. It is 18.33 in. The revised drawing is shown below.

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Page 118, Step 10.

There are several errors in this statement. The equation number is wrong, and there are two sign errors in the equations. Also, some subscripts are missing in the equation.

10. Compute using the equation form given in Eq. (3.38). Then,

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Page 138, Problem 3.15.The dimension BC is missing. It should be 8.59”. The corrected drawing is shown below:

BC=8.59”

Page 139, Problem 3.20.The subscript should be a superscript in the second line of the problem. The first sentence should read:

The circular cam shown is driven at an angular velocity = 15 rad/s (CW) and = 100 rad/s2 (CW).

Page 140, Problem 3.27.The statement “Link 2 rolls on link 3.” should be added to the problem.

Page 141, Problem 3.29.The problem statement refers to link 6 instead of link 5. The last sentence in the problem statement should be:

“What should the linear velocity of link 5 be so that = 5 rad/s CCW?”

Page 141, Problem 3.33.The statement “Locate all of the instant centers in the mechanism shown.” should be deleted.

Page 142, Problem 3.35.The direction arrow for is missing from the figure. The corrected figure is shown in the following:

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Page 169, Problem 4.29.The values for AB, AC, DC are not given correctly. The correct values are given in the figure.

Page 177, Equation 5.30.A minus sign is missing on the last term in Eq. 5.30

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Page 181, Equation 5.52.

A minus sign is missing on the last term in the equation

(5.52)

Page 183, Table 5.2.

There are two typo errors in the table. These are shown in red below

Table 5.2: Summary of results for Example 5.1

A B C

0 1 -8 0 4.75 53.58˚ 66.87 53.58˚ -66.87

/2 1 8 -16 8.75 177.28˚ -143.85˚-1 55.85˚ 21.98˚

1 24 0 12.75 -122.09˚ -75.52˚-1 122.09˚ 75.52˚

-/2 1 8 16 8.75 -55.85˚ -21.98˚-1 -177.28˚ 148.85˚

Page 195, Equation 5.91.

A minus sign is missing on the first term in the equation

(5.91)

Page 292, Numbers in matrix equation are incorrectThe matrix equation should look like the following:

Page 321, Problem 6.1The angle between A1 and A2 should be 60 degrees

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Page 321, Problem 6.2The angle between A1 and A2 should be 40 degrees

Page 321, Problem 6.5… “Grashof’s equation” should be “Grashof’s inequality”

Page 324, Problem 6.17In the last sentence, the word “find” is missing. The last sentence should read:

Find A*, find the slider point that …

Page 324, Problem 6.22The function to be generated is

not

Page 325, Problem 6.24The information following “The base length of the linkage must be 2 cm.” should be deleted. The problem should read:

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Determine the link lengths and draw a four-bar linkage that will generate the function ( 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.

Page 325, Problem 6.25The information following “The base length of the linkage must be 2 cm.” should be deleted. The problem should read:

Determine the link lengths and draw a four-bar linkage that will generate the function sin( )for values of between 0 and 90 degrees. Use Chebyshev spacing with three position points. The base length of the linkage must be 2 cm.

Page 544, Example 12.4The problem statement for Example 12.4 is missing. What is given as the problem statement is the final paragraph of Example 12.3. The end of Example 12.3 and the problem statement for Example 12.4 are shown in the following:

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)

ProblemAssume 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.

Page 545, Example 12.4In the paragraph following Eq. (12.28), is given as -50 rpm. It should be = -50 rpm as indicated in the problem statement.

Page 580, Figure 13.21In Figure 13.21, the horizontal force on the bottom of the block in (b) is shown as F53t. It should be F53n. Also a note was missing from the original figure. The information is given in the following drawing.

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Page 605, Problem 13.12In Problem 13.12, Q should be 100 lb not 100 in-lb.

Page 620, Example 14.4In the last sentence of the problem statement, add the phase “therefore, only dynamic forces need to be considered.” The problem statement should read:

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.

Page 628, Problem 14.11In the last sentence of the problem statement, the equation for the moment of inertia is incorrect. The last sentence should be:

“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 , where m is the mass of the plate.”

Page 659, Problem 15.13The figure for Problem 15.13 is shown with problem 15.14. Also, the angular acceleration for link 2 is not shown. It should be 0. The figure and acceleration value are shown in the following:

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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 lbIG3

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

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