Question 1) (45P) m3 m2,r 2 Ao Zemin 8 D 7 C 2: ring gear, 3: spur gear, 5 and 6: mid jointed bars 7 and 8: pistons, 9: lifting platform The mechanism is driven counterclockwise by moment M2(t) from the bearing Ao. Motion is transmitted to the rack spur gear with the equation x=r0. AB=BC=EB=BD=r Link 2 has radius as r and mass as 2m. Link 3; m3=2m Link 5; ms-4m Link 6; m6=4m Link 7; m7=m Link 8; ms-m Link 9; m9=5m The bars are homogeneous and their center of gravity is in the middle. During the solution, just consider the weight of link 9 ignore the weights of other links!!! a) (20P) Find the reduced mass moment of inertia to support Ao? For simplicity, reducing masses of links 5 and 6 to points A,C, D and E makes the operation easier. Also, joint A and support E have the same height. b) (10P) Find the generalised force? c) (15P) Obtain the equation of motion of the mechanism.