Theory of Machines
Sub Code : 21ME43 CIE Marks : 100
Hrs/week : 3 + 0 + 0 SEE Marks : 100
Credits :3 SEE Duration : 3 Hrs
Unit 2c
Velocity and Acceleration (Graphical Method)
>> Klein’s Construction Method <<
Dept. Of Mechanical Engineering, RVCE, Bangalore
Syllabus 21ME43: Theory of Machines
Unit 2: 10Hrs
Velocity and Acceleration (Graphical Method):
• Relative Velocity Method: Velocity and acceleration of simple mechanisms, Coriolis
component of acceleration.
• Instantaneous centre Method: Centrodes – Kennedy’s theorem – linear and angular
velocity of simple mechanisms.
• Klein’s Construction Method - single slider crank mechanism.
Force Analysis:
• Static Force Analysis:
Analysis Static equilibrium, equilibrium of two and three force members;
members with two forces and torque, free body diagram, static force analysis of four
bar mechanism and slider crank mechanism without friction. Simple numerical
problems. (No derivations).
• Dynamic Force Analysis - four bar mechanism and slider crank mechanism.
Dynamically equivalent system. (No numerical problems)
Velocity and Acceleration (Graphical Method)
>> Klein’s Construction Method <<
This method helps us to draw the velocity and acceleration diagrams on the
construction diagram itself.
itself
The crank of the configuration diagram represents the velocityvelo and
acceleration vector of the moving end (crank).
The procedure is given below for a slider crank mechanism.
mechanism
Velocity Vector Diagram:
Link OA represents the velocity
vector
vecto of A with respect to O.
Voa = oa = ω r = ω (OA)
Draw a line perpendicular to OB at (a) Mechanism
O
Extend the line BA to meet this
perpendicular line to get point b.
b (c) Velocity
diagram
oab is the velocity vector diagram
Rotated oab through 90º opposite to
the rotation of the crank. (b) Mechanism with Velocity diagram
Acceleration diagram:
diagram
To draw the acceleration diagram follow the steps given below.
The line representing Crank OA represents the acceleration of A with respect
to O.
Draw a circle with ab as radius and A as centre.
centre
Draw another circle with AB as diameter.
diameter
The two circles intersect each other at two points C and D.
Join C and D to meet OB at b1 and AB at E. E
O1,a1,ba1and b1 is the required acceleration diagram rotated through 180º.
#1 The stroke of a reciprocating steam engine is 400 mm & the
length of connecting rod is 600 mm. The crank rotates at 300 rpm
clockwise and crank is inclined at 300 with IDC. The center of
gravity of the connecting rod is 240 mm away from the crank pin
end.
By Klein’s construction, determine;
determine
(i)Velocity & acceleration of the piston.
(ii)Angular velocity & angular acceleration of connecting rod.
(iii)Velocity & acceleration of center of gravity of connecting rod.
Solution :
Stroke length 400 mm 2r 400 mm or r 200 mm, n 300 rpm
2 n 2 300
31.42 rad / sec, Length of connecting rod l 600 mm
60 60
Klein's construction Procedure :
1. Draw the Sider crank mechanism OCP to a suitable scale.
2. Produce the connecting rod PC to meet the vertical from O at M.
3. With PC as diameter draw a circle.
4. With C as center and radius CM draw another circle to cut the prvious circle at R & S.
5. Join SR to cut PC at T & OP at N.
R
Answers : M
T C
Velocity of the piston : V p OM
30°
N O
Here,V p 31.42 0.13 4.082 m / sec P
Acceleration of the piston : Ap 2 ON S
Here, Ap 31.422 0.21 207.05 m / sec 2
CM
Angular velocity of the connecting rod : pc
PC
0.175
Here, pc 31.42 9.16 rad / sec
0.6
TN
Angular acceleration of the connecting rod : pc 2
PC
0.095
Here, pc 2
31.42 156 ra d / sec 2
0.6
Klein's construction Procedure (contd...) :
6. Locate the point D at a distance of 240 mm from C on the connecting rod PC
and draw a line from D parallel to OP which cuts the line joining CN at D 2 .
CD1 CD
7. Locate the point D1 on line CM such that
CM CP
Answers :
Velocity of point D : VD OD1 Here,VD 31.42 0.155 4.867 m / sec
Acceleration of point D : AD 2 OD2 Here, AD 31.42 2 0.195 192.2 6 m / sec 2
#2 Determine the velocity & acceleration of the piston &
angular velocity & acceleration of connecting rod by Klein's
construction for a steam engine to the following
specifications:
Stroke of the piston = 600 mm
Ratio of length of connecting rod to crank length = 5
Speed of the engine = 450 rpm clockwise
Position of the crank = 450 with inner dead center
Solution :
Stroke length 600 mm 2r 600 mm or r 300 mm, n 450 rpm
2 n 2 450 l
47.124 rad / sec, As =5, Length of connecting rod l 1500 mm
60 60 r
Klein's construction Procedure :
1. Draw the Sider crank mechanism OCP to a suitable scale.
2. Produce the connecting rod PC to meet the vertical from O at M.
3. With PC as diameter draw a circle.
4. With C as center and radius CM draw another circle to cut the prvious circle at R & S.
5. Join SR to cut PC at T & OP at N. (*In this case, N & S are at same point)
C
T M
45°
P O
N S
Answers :
Velocity of the piston : V p OM
R
Here,V p 47.124 0.2475 11.66 m / sec
C
Acceleration of the piston : Ap ON
2 T M
45°
Here, Ap 47.1242 0.2025 449.69 m / sec 2 P O
N S
CM
Angular velocity of the connecting rod : pc
PC
0.2143
Here, pc 47.124 6.73 rad / sec
1.5
TN
Angular acceleration of the connecting rod : pc 2
PC
0.2121
Here, pc 47.1242 314 rad / sec 2
1.5
Unit II: Klein’s Construction Method
Assignment
<<for Practice and Submission>>
1. Describe the Klein’s construction method of estimation of
velocities and accelerations, with the help of neat sketch.
2. Determine the velocity & acceleration of the piston & angular
velocity & acceleration of connecting rod by Klein's construction for a
steam engine to the following specifications:
Stroke of the piston = 600 mm
Ratio of length of connecting rod to crank length = 5
Speed of the engine = 450 rpm clockwise
Position of the crank = 450 with inner dead center
