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Acceleration nomenclature: aBn…………………………. normal component of acceleration of joint B aABn……………………….. normal component of the acceleration of joint A relative to joint B aAn………………………… normal component of acceleration of point A aAt…………………………. tangential component of acceleration of point A rx,y,z………………………. displacement in x,y,z direction of joint B relative to joint A

Bibliography.

1. W. P. Boyle, Pseudographic Kinematic Analysis of the Crank-Shaper Mechanism, Annual General Meeting of ASEE, Poster Session 2566, Presentation #14, Seattle, Wa., 1998. 2. K. Liu and W. P. Boyle, Dimensional Optimization for the Crank-Rocker Mechanism using TK Solver, Int. J. Engng. Vol. 4, No. 5, 1998. 3. W. P. Boyle, Pseudographic Kinematic Analysis of a Toggle Mechanism, Conference Proceedings, p1C4-1, ASEE Zone 1 meeting, West Point, NY, April 1997. 4. W. P. Boyle, Kinematics of the Four Bar Linkage; Pseudographic Analysis, Int. J. Engng. Ed. Vol. 3, No. 4, 1997. 5. W. P. Boyle, The Offset Slider Crank: Kinematic Pseudographic Analysis, Int. J. Engng. Ed. Vol. 3, No. 2. 1997. 6. TK Solver for Windows, Universal Technical Systems Inc., 1220 Rock Street, IL., 71101, USA. 7. J. L. Meriam and L. G. Kraige, Engineering Mechanics – Dynamics, 4th Ed., p548, John Wiley & Sons, Inc., New York, 1997. 8. F. P. Beer and E. R. Johnston Jr., Vector Mechanics for Engineers: Dynamics, 3rd SI Metric Ed., McGraw-Hill Ryerson, Toronto, 1998. 9. W. P. Boyle, Mechanism Kinematics: Simul Animation. Int. J. Appl. Engng. Ed. Vol. 6, No. 3, 1990. 10. Working Model 3D, Knowledge Revolution, 66 Bovet Road, Suite 200, San Mateo, CA 94402 USA. 11. J. L. Morrison and B. Crossland, An Introduction to the Mechanics of Machines, Longmans, Harlow (1971).

Biographical Sketch.

W. Peter Boyle holds B.Sc. and Ph.D. degrees in Mechanical Engineering from The Queen's University of Belfast, is Professor of Engineering at Saint Mary's University, Halifax, N. S., and was previously Lecturer in the Department of Mechanical Engineering at the University of Cape Town. He is the author of a McGraw-Hill textbook on Introductory Fluid Mechanics, and about forty publications in a variety of topics in Mechanical Engineering. A current interest is in the application of emergent software packages to engineering pedagogy, with the specific objective of developing numerical solutions for typical textbook problems in mechanisms.

Acknowledgements.

The author wishes to thank the offices of the Director of Engineering, the Dean of Science, and the Vice President (Academic and Research) at Saint Mary's University for supporting this work.

"Proceedings of the 2002 American Society for Engineering Education Annual Conference & Exposition Copyright Ó 2002, American Society for Engineering Education"

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Boyle, P. (2002, June), Kinematics Of The 3 D Spatial Four Bar Linkage : Pseudographics A Computational Method Paper presented at 2002 Annual Conference, Montreal, Canada. 10.18260/1-2--11007