Table 4 Rotational speed of each component when B engaged (r/min)

S₄

\(\frac{{(1 + K_{4} )K_{2} }}{{(1 + K_{2} )K_{3} }} + 1\)

\(\frac{{1 + K_{4} }}{{K_{3} }} + 1\)

\(1 + \frac{{(1 + K_{1} )(1 + K_{4} )K_{2} }}{{(1 + K_{2} )K_{1} K_{3} }}\)

R₃PC₄

\(\frac{{K_{2} }}{{(1 + K_{2} )K_{3} }} + 1\)

\(\frac{1}{{K_{3} }} + 1\)

\(1 + \frac{{(1 + K_{1} )K_{2} }}{{(1 + K_{2} )K_{1} K_{3} }}\)

S₁S₂PC₃R₄

1

1

1

PC₁

\(\frac{1}{{1 + K_{1} }}\)

\(\frac{{K_{2} - K_{1} }}{{(1 + K_{1} )K_{2} }}\)

0

PC₂S₃

\(\frac{1}{{1 + K_{2} }}\)

0

\(- \frac{{K_{2} - K_{1} }}{{(1 + K_{2} )K_{1} }}\)

R₁R₂

0

\(- \frac{1}{{K_{2} }}\)

\(- \frac{1}{{K_{1} }}\)