ME 260 MECHANICS OF

MACHINES
Lecture 1

INTRODUCTION
Faisal Wahib Adam
Mechanical Engineering Department, KNUST
Jan 2016
 COURSE OUTLINE
• Kinematics of Particles
• Kinetics of Particles
• Kinetics of a Rigid Bodies
• Rotary balancing
• Displacement, Velocity and Acceleration Analysis of linkages
• Transmission of Rotational Motion including gear trains, belt and
chain drives and Belt and rope drives
GRADING
• Continuous assessment: 30%
• End of semester examination: 70%
RFERENCE BOOKS
• Robert L. Norton, Design of Machinery An introduction to Synthesis and
Analysis of Mechanisms and Machines, 2nd Edition, McGraw-Hill. 1999
• A. G. Erdman and G. N. Sandor , Mechanism Design, Analysis and Synthesis,
Vol. I 2nd Edition, Prentice Hall, 1991.
• Joseph E. Shigley and John J. Uicker, Jr, Theory of Machines and Mechanisms,
McGraw-Hill, 1981.
• Charles E. Wilson and J. Peter Sadler, Kinematics and Dynamics of Machinery,
Harper Collins College Publishers.
• R. S. Khurmi & J. K. Gupta, Theory of Machines, Eurasia Publishing House
(PVT.) Ltd, 2005.
• R. C. Hibbeler, Principles of Dynamics, Pearson Prentice Hall
• Pytel Kiusalaas, Engineering Mechanics Dynamics, Thomson Learning
• F. P. Beer, E. R. Russell & W. E. Cluasen, Vector Mechanics for Engineers:
Idealisations in Mechanics
• Particles
• Rigid bodies
• Continuum
• Point force
• Deformable bodies
 Definitions
• Kinematics is the study of motion of bodies without considering
the manner in which the motion is produced
• Kinetics on the other hand deals with the relationships
between the forces acting on a body and the kinematic
quantities.
• When the motion of a body is confined to only one plane, the
motion is said to be in a plane motion
A particle moving along a straight line is said to be in rectilinear
motion
 Definitions
When a particle has continuous or non-changing motion then its position,
velocity, and acceleration can be described by a single continuous mathematical
function along the entire path. It may be conveniently represented by an
equation.
When a particle has erratic or changing motion then its position, velocity, and
acceleration cannot be described by a single continuous mathematical function
along the entire path.
curvilinear motion is the motion along a curved path. Such a motion, when
confined to one plane, is called plane curvilinear motion.
When all the particles of a body travel in concentric circular paths of constant
radii (about the axis of rotation perpendicular to the plane of motion) such as a
pulley rotating about a fixed shaft or a shaft rotating about its own axis, then the
motion is said to be a plane rotational motion.
Kinematic Quantities
• Linear Displacement-It may be defined as the distance moved
by a body with respect to a certain fixed direction. The
displacement may be along a straight or a curved path
• Linear Velocity-It may be defined as the rate of change of
linear displacement of a body with respect to the time.
Mathematically, linear velocity, v = ds/dt.
• Linear Acceleration-It may be defined as the rate of change of
linear velocity of a body with respect to time. It is also a vector
quantity. Mathematically, linear acceleration, a=dv/dt.
 Rectilinear Motion
Also, the acceleration is

• The acceleration has SI unit of

• A positive value of acceleration a
Consider a particle P moving along a
indicates that v is increasing
straight-line path which, for • a negative value of a indicates
convenience, is chosen to coincide
that v decreases.
with the x-axis as shown in the Figure. • Negative acceleration is also
The velocity is given by
called deceleration or
Δ 𝑥 𝑑𝑥
𝑣 = lim = retardation.
∆ 𝑡 →0 Δ 𝑡 𝑑𝑡
Example 1-1: Rectilinear Motion with variable
Acceleration
A particle moving in a straight line assumes a position defined by the
equation:
where t and x are t expressed in seconds and metres (m) respectively.
Determine the
(i) the velocity and acceleration of the particle at any time t.
(ii) the velocity and acceleration of the particle at time t= 2 s.
(iii) the instant the particle comes to rest.
Solution
(i)

(ii) v= 12 m/s and a=0

(iii) At rest, v =0 ,t = 0 and t = 4 s.
Example 1‑2: Rectilinear Motion with variable
Acceleration
The damping mechanism used to stop continues vibration
of a vehicle’s suspension consists essentially of a piston
attached to the axle and moving in a cylinder filled with oil
and attached to the frame. As the axle moves with an
initial velocity vo, the piston moves and oil is forced
through orifices in the piston, causing the piston and the
axle to decelerate at a rate proportional to their velocity;
that is, a = -kv. Express (a) v in terms of time t, (b) piston
displacement x in terms of t, (c) v in terms of x.
 Solution
a)
c)
dv dv
a   kv  kdt
dt v  kt dv
v vo e a v  kv
V
dv
t
 v dx

Vo
v 0
 kdt ln   kt
 vo 
v
dv
x

b) 
vo
v
v 0
 kdx v vo  kx
x t
dx
v  vo e  kt   o dt
  kt
dx  v e
dt 0 0

1
x 
k
 
vo  kt
e
t
0
vo
x  1  e  kt 
k
 Constant acceleration
• We shall now consider the case of constant acceleration.
Let a particle with initial velocity u move a distance s in
time t to attain a final velocity v. Let the initial time be t=0.
From

• Integrating and inserting the initial values, we have

Also from
Constant acceleration
Again, from

Combining 1 and 3 gives

Example 1‑3: Rectilinear Motion with
constant Acceleration
Ball A is released from rest at a height of 12 m and after 0.2 s ball B is thrown
upward 1.5 m from the ground. The balls pass one another at a height of 6 m.
Determine the speed at which ball B was thrown upward.
 Solution

First we calculate the time required for ball A to drop 6 m

1 1
s A u A t  a A t 2  6 0 t   9.81t 2 t 1.106 s
2 2
Ball B
It is throw upward from a height of 1.5 m above ground and
travels (6-1.5) m to meet ball A.
It must reach a height of 6 m at time ball A reaches this height
minus the elapse time of 0.2 s.
1 1
s B u B t 
2
aBt 2 6  1.5 u B 1.106  0 .2    9.811.106  0.22 u B 9.41 m/s
2
Example 1‑4: Rectilinear Motion with constant
Acceleration
When two cars A and B are next to one another, they are
traveling in the same direction with speeds uA and uB
respectively. If B maintains its constant speed, while A begins
to decelerate at the rate aA, determine the distance d between
the cars at the instant A stops.
 Solution
Motion of car A:
2
1 2  uA  1  uA  1 uA
2

v A 0 u A   a A t s A u At  a At u A     a A  
u sA 
 t  A 2 aA
aA 2  aA  2  aA 
Motion of car B:

u  u  1 u A2 2u B u A u A
a B 0 s B u B t u B  A  d s B  s A u B  A   d 
 aA   aA  2 aA 2a A
 Variable Acceleration and Erratic Motion
• When the acceleration is variable, no simple equations can be
written from which the state of motion of the particle can be
determined readily. However, if there is a simple mathematical
expression for the displacement, velocity or the acceleration the
other quantities can be determined by calculus.
• In problems where the motion is non-uniform and where no
algebraic or trigonometric expressions are given for
displacement, velocity or acceleration, graphical solutions are
called for
Graphs of Displacement, Velocity and
Acceleration vrs. time
 Example 1‑5: Erratic Motion
A car starting from rest moves along a straight track with acceleration as
shown in the Figure. Determine the time t1 for the car to reach speed 50
m/s.

Solution
Velocity, v is given by area under the curve.
1
v 50  106  t  106 t 13.33 s
2
 Example 1‑6: Rectilinear Motion with constant
Acceleration
A ball is dropped from rest at a height of 50 m above the ground. What
is the speed just before it hits the ground? How long does it take to
reach the ground?

Solution
u=0; a= g=9.81 ms-2 and s=50 m.
The speed just before it hits the ground, v, can be found, using
Equation 1-6
𝑣 =√ 𝑢 +2 𝑎𝑠=31.32 m/s
2

Using the formula v=u+at, we have

31.32 = 0+9.81t
⇒ t = 3.19 s.
,

Example 1‑7: Rectilinear Motion with variable

Acceleration
A particle moves along a horizontal path with a velocity defined
by

where t is in seconds. Determine its position and acceleration

when t=3 s. At t= 0, x=0.
Solution
Distance Travelled
Since v = f(t), the position as a function of time may be found by integrating v = ds/ dt
with t = 0, s = 0.

Now, applying initial condition (at t=0, x=0); gives A=0

Therefore the distance covered at any given time is given by,

Acceleration: a=dv/dt, the acceleration as a function of time may be found by

differentiating the velocity function with respect to time, and at t= 3s, the distance covered
is,

At time= 3 the acceleration is given by 6(3)-6= 12 m/s2

 Curvilinear Motion in Cartesian Coordinates
• Curvilinear motion is motion along any path which is not a
straight line.
• It consists of linear and rotational motion. For curvilinear motion
the velocity and acceleration of the particle can, in general, vary
in both magnitude and direction. It can be shown that the
velocity is always tangent to the path along which the particle
moves.
• Curvilinear motion of particles can be described in terms of
several different coordinate systems. Here, we will use Cartesian
coordinates and show that curvilinear motion can be considered
as the vector sum of three simultaneous rectilinear motions along
the x, y and z coordinate axes.
Curvilinear Motion: Rectangular Components
The position vector of a particle can be written as
r  xi  yj  zk
If the particle moves from an initial position ri to a final position rf, the
displacement of the particle during the time interval Δt is
r r f  ri

The velocity of the particle is v r v x i  v y j  vk k

At any instant the magnitude

v  vofx
2
v
 is
v defined
y
2
 v z
2
as
2
The acceleration is define as a 
dv d r
 2 a x i  a y j  ak k
dt dt

2 2 2
a  ax 
At any instant the magnitude ofaay isdefined
az as
Example 1‑8: Curvilinear Motion
2 2
r 3t i  (t  4t ) j
The position vector of a particle is

where r is measured in metres and the time is in seconds,

(a) Determine the displacement of the particle during the time
interval t=1 s and t=3 s.
(b) Find the acceleration of the particle at time t = 3s.
 Solution
r 3t 2i  (t  4t 2 ) j
At t 1 s, ri 3(1) 2 i  (1  4(1) 2 ) j 3i  3 j
At t 3 s, rf 3(3) 2 i  (3  4(3) 2 ) j 27i  33 j
Therefore, the displacement during the interval is
r rf – ri (27i - 33j) - (3i - 3j) 24i - 30j
Differenti ating the position vector, we have
v 6t i  (1 - 8t) j and a 6i - 8j
Therefore, at t 3 s,
a 6i - 8j
2
 Projectile Motion
Horizontal Motion(to the right)
a x 0; s  x  xo ; u vox
v u  at; v u
1 2
s ut  at ; x  xo vox t
2

Vertical M otion(Upwa rd)

a y  g  9.81 m/s 2 ;s  y  yo ; u voy
1 2 1 2
s ut  at ; y  yo voy t  gt
2 2
 Example 1‑9: Projectile
The track for a racing event was designed so that riders jump off the
slope at 30°, from a height of 1 m. During a race it was observed that
the rider shown in the Figure remained in mid-air for 1.5s. Determine
the speed at which he was traveling off the ramp, the horizontal
distance he travels before striking the ground, and the maximum
height(h) he attains. Neglect the size of the bike and rider.
 Solution ;

a ) Initial velocity of rider (v)

Vertical M otion(Upward) b) Horizontal Distance Travelled(R)
Horizontal Motion;
a y  9.81 m/s 2 ;s 0  1; u v sin θ
u  13.38 cos 30o 11.59 m/s; s R; a 0
1 2 1
s ut  at ;  1 1.5v sin 30  g( 1.5 )2
o
1 2
2 2 s ut  at ; R 11.59 1.5 17.38 m
v 13.38 m/s 2

c) Maximum height attained

Vertical M otion(Upward)
a y  9.81 m/s 2 ;s h  1; u v sin θ 6.69 m/s; v 0; t ?
v 2 u 2  2as; 0 6.69 2  2 g (h  1)
h 3.28 m
 Rotational Motion
The instantaneous angular velocity, ω,
Pure Rotational Motion
is defined as the time rate of change
The figure below shows a line of the angular position of the line OP,
OP which rotates in a plane and is given by d
about point O. Let the point P 
dt
move from position P to P’ in Angular velocity is measured in
a time interval ∆t, the change radians per second.
in angular position (measured The instantaneous angular
relative to the x-axis) acceleration is defined as the time rate
of change of the angular velocity, and
is given by
d  
  
dt
Rotational Motion
Let the line OP rotate through angle  radians in time t
seconds with initial and final velocities equal to ωi and ωf
respectively. Then the following expressions can be
derived:
 f i  t
2 2
 f i  2
1 2
 i t  t
2
 i   f 
   t
 2 
 Relationship between Linear and Rotational
Motions for planar motion(at constant angular
velocity)
There is relationship between rotational motion and
linear motion. Thus, a rotational motion may lead to
linear motion, and vice versa. The relationships
s=r θ
v=r ω
a=r α
 Curvilinear Motion: Normal and Tangential
Components


OP R  xi  yj r cos i  r sin j
 
v R r ( sin i  cos j ) r e
  
a v R  r (cosi  sin j )  r  ( sin i  cos j )
2

 
3 a  r er  r e
2
Example 1‑12: Rotational Motion
The rotor of a jet engine is rotating at 10 000 rpm when
the fuel is shut off. The ensuing angular acceleration is α
= -0.02ω, where ω is angular velocity in rad/s. Determine
(a) the time it takes for the rotor to slow down to 1000
rpm, (b) the corresponding number of revolutions the
rotor turns while decelerating to 1000 rpm.
 solution
ω = (2π/60) x 10 000 = 1000 π/3
100 / 3 t
d d
(a)  
dt
 0.02 
1000 / 3

 0.02dt
0
t 115 s

d d d d
(b)      0.02 d  0.02d
dt d dt d

100 / 3 

d  0.02d

1000 / 3 0
 15000 rad  7500 rev
 Example 1‑10: Curvilinear Motion
A car travels around the horizontal circular track that has a radius of 95
m. If the car increases its speed at a constant rate of 2.3 m/s2, starting
from rest, determine the time needed for it to reach an acceleration of 2.8
m/s2 (resultant). Find the corresponding speed of the car at this instant.
Solutiona 2.3 m/s 2 v u  a t 0  2.3t
t t v 2.3t

an 
v2

2.3t 
2
a n 0.05568t 2
 95
2
a  at  a n
2
 2.3t  2

 0.05568t 2

2
2.8

2.3t 2  0.05568t 2 2 2.82 t 2  1706.6

Solving the above equation, t 2 0.5291

t  0.5291 t 0.7274 s
Disregarding the negative answer, we have
Example 1‑11: Curvilinear Motion
Solution
The flexible belt in Figure E1-12 runs Assuming that the belt does not stretch,
around two pulleys of different radii. then Every point of the belt has the same
At the instant shown point C on the speed, vA=vB=vC = 4 m/s
belt has a velocity of 4 m/s and The rate of change of speed (dv/dt) of
acceleration of 60 m/s2 in the every point on the belt is the same, i.e.
direction in indicated in the figure. (aA)t=(aB)t=(aC )t= 40 m/s2
Calculate the magnitudes of the a A n 
v A2

4
2
114.3 m/s 2
R1 0.14
acceleration of points A and B on the
belt at this instant. aA  a A 2n  a A t  114.3 2  60 2
2

a A 129 m/s 2

a B n 
v B2

4
2
160 m/s 2
R2 0.1
aB  a B 2n  a B t  160 2  60 2
2

a B 170.9 m/s 2
 Relative and Dependent Motions
Relative Motion
• There are many motions where the path of motion for a particle
is complicated. Such motions may be simplified by using two or
more frames of reference. Such motions are considered as
relative motion.
• Relative-motion analysis of particles using rotating frames of
reference will be treated in under kinematics of rigid bodies.
 Relative Motion
Position
• Consider particles A and B, which move
along the arbitrary paths shown in the
figure.
• The absolute position of each particle, vA
and vB , is measured from the common
Velocity
origin O of the fixed x, y, z reference frame.
The velocity relation of points A and B is
• The origin of a second frame of reference
derived from the derivative of the position
x', y', z' is attached to and moves with
equation, which gives
particle A.
• The axes of this frame are only permitted v B v A  v B / A
to translate relative to the fixed frame.
The acceleration relation of points A and B is
• Using vector addition, the position of B is
derived from the derivative of the velocity
related to position of A by the equation
equation , which gives
Where is the position of B relative to A. a B a A  a B / A
 Example 1‑13: Relative Motion
Example Error! No text of specified style in document.-1: Relative Motion

Two boats leave the shore at the same time and travel in the
Two boats leave the shore at the same time and travel in the directions shown Figure E1-12o
directions shown with given velocities. Using the data θ =45 ,
with given velocities. Using the data θ =45 , θ =30 , d=300 m, v =6 m/s, v =4.5 m/s, 1
o o
1 2 A B
θ2=30o, d=300 m, vA=6 m/s, vB=4.5 m/s. Determine the speed of
(a) Determine the speed of boat A with respect to boat B
boat A with respect to boat B. How long after leaving the shore will
(b) How long after leaving the shore will the boats be at a distance d = apart.
the boats be at a distance
Assume constant velocities.
300 m apart. Assume constant velocities.
Solution
Solution

  sin 1    sin 45   4.2426 

(a) v A V A   6  v A  
 cos1    cos45   4.2426 

 cos 2   cos30   3.8971

v B VB   4.5  v B  
 sin  2   sin 30   2.25 

  4.2426   3.8971   8.1398 

vA/ B v A  a B      vA/ B  
 4.2426   2.25   1.9926 

vA/ B   8.1398  1.9926 

2 2
v A / B 8.38 m/s

d 300
(b) t  t 35.8 s
vA/ B 8.38
 Dependent Motion Analysis of Two Particles
• In some types of problems the motion of one particle will
depend on the corresponding motion of another particle.
• This dependency commonly occurs if the particles, here
represented by blocks, are interconnected by inextensible cords
which are wrapped around pulleys.
 Dependent Motion Analysis of Two Particles
We select coordinates such that:
(a) their origin at fixed points or datums,
(b) are measured in the direction of motion of each block,
(c)are positive to the right for SA and positive downward for SB.
During the motion, the length of the darkened segments of the
cord in the figure remains constant. If L represents the total length
of cord and LD represents each darkened segment, then the
position coordinates can be related by the equation
2 s B  h  S A  4 LD L

Taking time derivative of the above expression, realizing that L D, h

Consider the pulley system shown and L remain constant, while SA and SB measure the segments of
in Figure. The position of block A the cord that change in length.
vA We have
v B 
is specified by SA, and the position 2
of the end of the cord from which
block B is suspended is defined In a similar manner, time differentiation of the velocities yields the
by SB. a
relation between theaaccelerations, i.e.,
B A
2
Example 1‑14: Dependent Motion

In the pulley system shown in the Figure, the effort P is moving

downward at 6 m/s, increasing at 3 m/s 2. Determine the speed
and acceleration of the load W.
Solution

Solution
From Figure E1-14(a)

s A  3S B L

Taking time derivative of the above expression, realizing that L remains constant, we have

v A  3v B 0 v B 
vA

 6 v B 2 m/s 
3 3

Taking time derivative of the velocity expression, we have

a A  3a B 0 a B 
aA

 3 a B 1 m/s 2 
3 3
 Example 1‑15: Dependent Motion
The figure shows a pulley system used to lift load. If the cable at A is
pulled downward at a speed of 8 m/s increase at 2 m/s 2, find the
speed and acceleration of the load at B.
Solution
s B  S C L1 (1)
s B  s B  S C  s A  S C  L2 or 2 s B  s A  2 sC L2 (2)
Substituting for SC in (2) using (1), and simplifying we have
s A  4 s B L2  2 L1
Taking time derivative of the above expression, realizing that both L1 and L2 remain constant,
we have

v A  4v B 0 v B 
vA

 8 v B 2 m/s 
4 4
Taking time derivative of the velocity expression, we have

a A  4a B 0 a B 
aA

 2 a B 0.5 m/s 2 
4 4