MECHANICS OF MACHINES (1)

Syllabus
1. Mechanisms
2. Velocity and Acceleration
3. Equilibrium of Machines & Turning Moment
Diagram(Flywheel)
4. Cams
5. Gear(Geometry and Train)
6. Balancing
 References
1. The theory of machines, T. Bevan
2. The theory of machines, P. L. Ballaney
3. The theory of machines, R. S. khurmi & J. K. Gupta
4. The theory of machines(worked example), Ryder
5. The theory of machines(solved example), Onvoner
6. The theory of machines, W. Grean
7. Mechanics of machine, Ham & Crane
8. Mechanics for engineering, Duncan & Macmillan
9. Mechanics of machine, Hannah & Stephens
 4

CHAPTER 1
MECHANISM
S
 5

Definitions
Theory of machines
This branch of engineering- science is very essential
for an engineer in designing various parts of a
machine .

Shaping Machine

V-Engine
 6
Mechanics of machines (1) Chapter 1: Mechanisms
 7

Theory of machines

Kinematics Dynamics
 8

Statics Kinetics
1. Kinematics
Study of the relative motion between the various parts of a machine
2. Dynamics
Study of the forces which acts on the machine parts
2.1. Statics
Deals with the forces assuming the machine parts to be massless
2.2. Kinetics
Deals with the inertia forces arising from the combined effect of the
mass and the motion of the parts

Mechanics of machines (1) Chapter 1: Mechanisms

Definitions
Example: Reciprocating engine
Rotary speed of the crank shaft relative to the
reciprocating speed of the piston form a kinematic
problem

The thrust exerted by the steam or gas on the piston and

force produced on the connecting rod form a static
problem
Connecting
Skeleton outline rod Crank
Piston
r
 Definitions
Link or element
A link may be defined as a resistant (rigid or non rigid) body
fixed or in motion which transmits force with negligible
deformation
It has 2 or more pairing elements by which it may be connected to
other bodies for transmitting force or motion
movable rigid links

Pair
A

B O
Pa
ir
fixed rigid link
 13

Definitions
Examples of links which are resistant but not rigid:
A)Liquids
Resistant to compressive forces and used as links in hydraulic
presses
B)Chains & Belts
which are resistant to tensile forces and transmitting motion and
forces

Cylinder (fixed rigid link)

Belt (movable non rigid link)
 14

Definitions
Pulley (movable rigid link)
Hydraulic oil (movable non rigid link)
Kinematic pair
Two links which are connected together in such a way that their relative
motion is completely constrained
Complete constrain pair
The relative motion is limited to a definite direction

B
B
B A
A

A
Turning Pair Screw
Sliding
Pair Pair
There is a relation between the rotation of A
and
the axial displacement of A relative to B
 16

Definitions
Incomplete pair
As an example of this pair
The relative motion may be slide- rotate- sliding and rotation
So there is nothing in connection A & B to determine
which of the motions take place
B

A
 Definitions Pairs

Lower Higher
When relative motion takes place, The two links have line or point
there is a contact surface between contact while they are in
the two links (turning pair- sliding pair- motion(Cams- Gears- Bearings)
screw pair)
The pair must be force-closed in
order to provide completely
Lower Pair
constrained motion
Lower Pair

Lower Pair
Lower Pair
Definitions
Kinematic chain
when a number of links are connected by means of pairs the
resulting assemblage is called kinematic chain
 Definitions
Kinematic chain

Locked Constrained Unconstrained

n=0 n=1 n>1

output
θ φ

No relative motion is
possible(Structure) Definite relative motion
is possible
The basis of all machine

Single input –single

the relative motion is
possible but not definite
Definitions
Mechanism
If one of the of the links of the kinematic chain is fixed, the
chain
became mechanism(inversions different fixed links)
Definitions
Machine
Is a mechanism which receive energy in some available
form and uses it to do some particular kind of work
Definitions
Degrees of freedom n
The link have 3 degrees of
freedom Two links have 6
degrees of freedom
If two links jointed together by turning pair the degree of freedom become 4

i.e. one lower pair removes 2 degree of freedom from the system

y y

xθ
y

θ
x x
Definitions 3

∴n = 3L - 2Pl - 3 2

3
= 12 - 8 - 3 = 1 1
4

4
Where

n: is the degrees of freedom Pl : number of lower pairs

 2 L=4
n= 3L-2Pl+cPh-3 Pl = 4
1
1=9-
4+cPh-3 1 2
1
c=-1
2 3
n= 3L-2Pl-Ph-3
L=3
Ph : number of higher Pl = 2
pairs
1 Ph = 1
Inversions
Different mechanisms can be obtained by fixing in
turn different links in a kinematic chain

It is important to note that inverting a mechanism doesn’t

change the motions of its links relative to each other, but
does change their absolute motions
 Inversions
Example 1: original gear train, epicyclic gear train
1st inversion: Original Train 2nd inversion: Epicyclic Gear Train
 Inversions
Example 2: Inversions of 3T, 1S
slider crank chain
1ST Inversion: the cylinder is fixed: reciprocating engine mechanism

C
P

O
 Inversions
Example 2: Inversions of slider crank chain
d
inversion: PC becomes fixed: oscillating cylinder engine

O
P

Q
C
Trunnion
 Inversions
Example 2: Inversions of slider crank chain
3rd Inversion: fixing the link OC: Whitworth or quick return motion
mechanism
(slotting and shaping machines)

CP rotates at uniform speed

𝑡 P
180−𝜃
𝐶 =
𝜃

𝑡𝑅
𝑑𝜃 𝑑𝑡
𝜔= =k
𝜃∝𝑡 C
θ
R
P2

Q1 O Q2
Q
 Inversions
Example 2: Inversions of slider crank chain
4th inversion: fixing the piston: pendulum pump
CP will oscillate, QO will reciprocate

C
P
Q

O
 Inversions
Example 3: Inversions of 2T, 2 S
double slider crank chain
1st inversion: If the slotted frame is
fixed: ellipse trammels

𝑥 = 𝑎 𝑐𝑜𝑠𝜃 𝑦 = 𝑏 𝑠𝑖𝑛𝜃

𝑥2 𝑦2 𝑐𝑜𝑠2𝜃 + 𝑠𝑖𝑛2𝜃 =1
( ) +( ) =
𝑎 𝑏

b
θ

A
𝑦2

a
𝑥2

C
 i.e. 𝑎2 + 𝑏2=1

a=semi-minor axis, b= semi- major axis

 Inversions
Example 3: Inversions of 2T, 2 S
double slider crank chain
1st inversion: If the slotted frame is
fixed: ellipse trammels
 C
A
B
 Inversions
Example 3: Inversions of double slider crank
chain
2nd inversion: If one of the two blocks is fixed: scotch yoke
it is used for converting rotary into reciprocating motion
 A
B
Scotch yoke mechanism
Inversions
Example 3: Inversions of double slider crank chain
3rd inversion: Coupling link AB is fixed: Oldham’s coupling

If one block is turned through a definite angle, the frame and the other
block must turn through the same angle

A
B
 Inversions
Example 3: Inversions of double slider crank chain
3rd inversion: Coupling link AB is fixed: Oldham’s coupling
If the two shafts remain parallel the distance h may vary while the shafts
are in motion without affecting the transmission of uniform motion from
one shaft to the other
The centre of the disc will describe a circular path with h as a diameter
Hooke’s joint (Universal Joint)
To transmit the motion between two intersecting shafts
Where a shaft drive has to be fitted to a flexible frame
(tractors) The centre of the cross must lies on the axis of
each shaft


Semi
circular
forks

Right angle cross

Hooke’s joint (Universal Joint)
Gear box to back axel
 Hooke’s joint
C

A1
Relation between the β C1 C2
angular velocities θ
𝑑𝜃 θ
𝜃: Angular displacement of the driver
𝜔=
A B
𝑑𝑡 E O M F N

𝑑𝛽

𝛽: Angular displacement of the driven

𝑑𝑡
D1 B1
𝜔1 =
𝑂𝑁 tan 𝛽 = 𝑁𝐶2
 𝑂𝑁 𝑂𝑀 𝑂𝑀
tan 𝛽 1
tan 𝜃 = =
= = 𝑀𝐶1 𝑁𝐶2 Driven shaft
Q
tan 𝜃 𝑂𝑀 ω
α 1
𝑐𝑜𝑠𝛼
α
tan 𝜃= tan 𝛽 . cos α P
O M N

ω
N
Driving shaft

Q
Hooke’s joint (Universal Joint)
tan 𝜃= tan 𝛽 . cos α
Differentiating this equation
𝑑𝜃 �
𝑠𝑒𝑐2𝜃 =cos α .𝑠𝑒𝑐2𝛽. �
�
�
�𝑑𝑡
�
𝜔 𝜔1
𝑡
𝜔
= cos α .𝑐𝑜𝑠2𝜃 𝑠𝑒𝑐2𝛽
2 2
𝜃= 1+ 𝑠𝑖𝑛 𝜃 2
𝜔1
𝑡𝑎𝑛
𝑠𝑒𝑐2𝛽= 1+ 𝑡𝑎𝑛2𝛽= 1 + 2
2 2 2 2
cos α
 2 2 2 2
𝑐𝑜𝑠 𝜃.cos α
𝑐𝑜𝑠 𝜃.cos 𝑐𝑜𝑠 𝜃.cos 1−𝑐𝑜𝑠 𝜃(1−cos α)
α+𝑠𝑖𝑛 𝜃 α+1−𝑐𝑜𝑠 𝜃 =
= 2 2 = 2 2 2 2

𝑐𝑜𝑠 𝜃.cos α 𝑐𝑜𝑠 𝜃.cos α 𝑐𝑜𝑠 𝜃.cos α

2 2

1− 𝑐𝑜𝑠 �
= 2 �
.
�
�
�
�
�
�

α
2
𝑐𝑜𝑠 𝜃.cos α
Hooke’s joint (Universal Joint)
Hence
𝜔1−𝑐𝑜𝑠2𝜃.𝑠𝑖𝑛2α
𝜔1= cos
α
𝜔
at cos 𝜃 = ±1 i.e. at 𝜃=0, 𝜋,
𝜔
1𝑚𝑎𝑥 2𝜋.. etc.
𝜔 = 𝑐𝑜𝑠α
𝜔 𝜔
, 𝜔 =
1𝑚𝑎𝑥 𝑐𝑜𝑠α

1𝑚𝑎𝑥
𝜔
𝜔 at cos 𝜃 = i.e. at 𝜃=𝜋
1𝑚𝑖𝑛
, 3𝜋 2 , 5𝜋 2 .. etc.
𝜔
0
2

1
𝜔 = , 𝜔1𝑚𝑖𝑛= 𝜔
1𝑚𝑖𝑛
𝑐𝑜𝑠α 𝑐𝑜𝑠α
Hooke’s joint (Universal Joint)
𝜔 𝜔
1𝑚𝑎𝑥 𝜔 = 𝜔 𝑐𝑜𝑠α ∆𝜔1
= 1𝑚𝑖𝑛
𝑐𝑜𝑠α

∆𝜔1= 1
- 𝑐𝑜𝑠α= 1 − 𝑐𝑜𝑠 α
2
𝜔 𝑐𝑜𝑠α
𝑐𝑜𝑠α
2

𝑠𝑖𝑛 α 𝑠𝑖𝑛α 𝑠𝑖𝑛α

= 𝑠𝑖𝑛α 𝑡𝑎𝑛α
= =
𝑐𝑜𝑠α 𝑐𝑜𝑠α
∆𝜔1 ∝ α 2
𝜋 α

2
 55

Hooke’s joint (Universal

Joint)
Conditions of equal speeds 𝜔1
Put 𝜔 𝜔2 1
2 =1 ,1−𝑐𝑜𝑠 𝜃.𝑠𝑖𝑛 α
𝑚𝑎𝑥 =1
𝜔1 cosα
�
1 − 𝑐𝑜𝑠 𝜃. 𝑠𝑖𝑛 α= cosα
2 2
�
1 − cosα= 𝑐𝑜𝑠2𝜃. 𝑠𝑖𝑛2α 𝜔1
𝑚𝑖𝑛

𝑐𝑜𝑠2𝜃 = 1−
cosα 𝜋

1−cosα 1−cosα
3𝜋
2
2𝜋 θ
= = = 1
𝑠𝑖𝑛2α 1−cos2α (1−cosα)(1+cosα)
(1 + cosα)
1
𝑠𝑖𝑛2𝜃=1- 𝑐𝑜𝑠2𝜃= 1- = cosα
 56

Hooke’s joint (Universal

(1+cosα) (1 + cosα)
Joint)
𝑠𝑖𝑛2𝜃 cosα

= . (1 + cosα)= cosα
𝑐𝑜𝑠2𝜃
(1+cosα)
Angular acceleration of the driven shaft

𝜔1 cosα
= 𝜔 cosα(1 − 𝑐𝑜𝑠2𝜃.
= 𝜔
1−𝑐𝑜𝑠2𝜃.𝑠𝑖𝑛2α 𝑠𝑖𝑛2α)-1
𝑑𝜔1
= 𝜔 cosα [-(1 − 𝑐𝑜𝑠2𝜃. 𝑠𝑖𝑛2α)-2.

2 2 𝑐𝑜𝑠𝜃.𝑠𝑖𝑛𝜃 𝑑𝜃
(𝑠𝑖𝑛 α . ]
 𝑑𝑡 𝑠𝑖𝑛2𝜃 𝑑𝑡

= −𝜔 2
cosα 𝑠𝑖𝑛2α
α1 𝑠𝑖𝑛2𝜃
( 1 − 𝑐𝑜𝑠2𝜃.
α1 will increase by increasing α,)in
𝑠𝑖𝑛2α 2 normal practice such α don’t

exceed 10° Maximum acceleration occur when

𝑐𝑜𝑠2𝜃 ≅ 2

This relation is valid if α < 30° 𝑠𝑖𝑛2α

2−
𝑠𝑖𝑛2α
 59

Hooke’s joint
If the driving and the driven shafts are equally inclined to the
intermediate shaft and the 2 forks on the intermediate shaft lie in the
same plane, it is evident that speeds of driving and driven shafts are
identical and the fluctuation of speed are confined to intermediate
shaft, which may be made short and light


Hooke’s joint
If the forks of the intermediate shaft lie in planes perpendicular to
each other, the fluctuation of the driven shaft shall vary between
𝑐𝑜𝑠2𝛼 and
1
𝑐𝑜𝑠2𝛼


