ConnRod Mechanism
The connecting rod mechanism.
A connecting rod  connrod  mechanism converts rotating motion to reciprocating motion  or vice versa.
The position of the rod can be expressed as
s = r (1  cos φ) + (λ / 2) r sin^{2}φ (1)
where
s = position of the rod (m)
r = radius of crank (m)
φ = ω t
= 2 π n_{s} t
= angular position of crank (rad)
ω = crank angular velocity (rad/s)
t = time (s)
n_{s} = revolution per second (1/s)
λ = r / l
= crank ratio
l = length of rod (m)
The velocity of the rod can be expressed as
v = ω r sin φ (1 + λ cos φ) (2)
where
v = velocity of rod (m/s)
The acceleration of the rod can be expressed as
a = ω^{2} r (cos φ + λ cos 2φ) (3)
where
a = acceleration of rod (m/s^{2})
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