Kinematics of Machines

Kinematics of Machines {ME44}
CHAPTER - I
Mechanics: It is that branch of scientific analysis which deals with motion, time and
force.
Kinematics is the study of motion, without considering the forces which produce that
motion. Kinematics of machines deals with the study of the relative motion of machine
parts. It involves the study of position, displacement, velocity and acceleration of
machine parts.
Dynamics of machines involves the study of forces acting on the machine parts and the
motions resulting from these forces.
Plane motion: A body has plane motion, if all its points move in planes which are
parallel to some reference plane. A body with plane motion will have only three degrees
of freedom. I.e., linear along two axes parallel to the reference plane and
rotational/angular about the axis perpendicular to the reference plane. (eg. linear along X
and and rotational about !."#he reference plane is called plane of motion. $lane motion
can be of three types. %" #ranslation &" rotation and '" combination of translation and
rotation.
Translation: A body has translation if it moves so that all straight lines in the body move
to parallel positions. (ectilinear translation is a motion wherein all points of the body
move in straight lie paths. )g. #he slider in slider cran* mechanism has rectilinear
translation. (lin* + in fig.%.%"
,ig.%.%
#ranslation, in which points in a body move along curved paths, is called curvilinear
translation. #he tie rod connecting the wheels of a steam locomotive has curvilinear
translation. (lin* ' in fig.%.&"
%
,ig.%.&
Rotation: In rotation, all points in a body remain at fixed distances from a line which is
perpendicular to the plane of rotation. #his line is the axis of rotation and points in the
body describe circular paths about it. ()g. lin* & in ,ig.%.% and lin*s & - + in ,ig.%.&"
Translation and rotation: It is the combination of both translation and rotation which is
exhibited by many machine parts. ()g. lin* ' in ,ig.%.%"
Link or element: It is the name given to any body which has motion relative to another.
All materials have some elasticity. A rigid lin* is one, whose deformations are so small
that they can be neglected in determining the motion parameters of the lin*.
,ig.%.'
Binary link: .in* which is connected to other lin*s at two points. (,ig.%.' a"
Ternary link: .in* which is connected to other lin*s at three points. (,ig.%.' b"
!aternary link: .in* which is connected to other lin*s at four points. (,ig%.' c"
Pairin" elements: the geometrical forms by which two members of a mechanism are
/oined together, so that the relative motion between these two is consistent are *nown as
pairing elements and the pair so formed is called *inematic pair. )ach individual lin* of a
mechanism forms a pairing element.
,ig.%.+ Kinematic pair
,ig.%.0
&
De"rees o# #reedom $D%&': It is the number of independent coordinates re1uired to
describe the position of a body in space. A free body in space (fig %.0" can have six
degrees of freedom. I.e., linear positions along x, y and 2 axes and rotational/angular
positions with respect to x, y and 2 axes.
In a *inematic pair, depending on the constraints imposed on the motion, the lin*s may
loose some of the six degrees of freedom.
Ty(es o# kinematic (airs:
$i' Based on nat!re o# contact )et*een elements:
$a' Lo*er (air+ If the /oint by which two members are connected has surface contact,
the pair is *nown as lower pair. )g. pin /oints, shaft rotating in bush, slider in slider
cran* mechanism.
,ig.%.3 .ower pairs
$)' Hi"her (air+ If the contact between the pairing elements ta*es place at a point or
along a line, such as in a ball bearing or between two gear teeth in contact, it is
*nown as a higher pair.
,ig.%.4 5igher pairs
$ii' Based on relati,e motion )et*een (airin" elements:
$a' -idin" (air+ 6liding pair is constituted by two elements so connected that one is
constrained to have a sliding motion relative to the other. 78, 9 %
'
$)' T!rnin" (air $re,ol!te (air'+ :hen connections of the two elements are such that
only a constrained motion of rotation of one element with respect to the other is
possible, the pair constitutes a turning pair. 78, 9 %
$c' Cylindrical (air+ If the relative motion between the pairing elements is the
combination of turning and sliding, then it is called as cylindrical pair. 78, 9 &
,ig.%.; 6liding pair
,ig.%.< #urning pair
,ig.%.%= >ylindrical pair
$d' Rollin" (air+ :hen the pairing elements have rolling contact, the pair formed is
called rolling pair. )g. ?earings, ?elt and pulley. 78, 9 %
,ig.%.%% (a" ?all bearing
,ig.%.%%(b" ?elt and pulley
$e' -(herical (air+ A spherical pair will have surface contact and three degrees of
freedom. )g. ?all and soc*et /oint. 78, 9 '
$#' Helical (air or scre* (air+ :hen the nature of contact between the elements of a
pair is such that one element can turn about the other by screw threads, it is *nown
as screw pair. )g. @ut and bolt. 78, 9 %
+
,ig.%.%& ?all and soc*et /oint
,ig.%.%' 6crew pair
$iii' Based on the nat!re o# mechanical constraint+
$a' Closed (air+ )lements of pairs held together mechanically due to their geometry
constitute a closed pair. #hey are also called formAclosed or selfAclosed pair.
$)' .nclosed or #orce closed (air+ )lements of pairs held together by the action of
external forces constitute unclosed or force closed pair .)g. >am and follower.
,ig.%.%+ >losed pair ,ig. %.%0 ,orce closed pair (cam - follower"
Constrained motion: In a *inematic pair, if one element has got only one definite
motion relative to the other, then the motion is called constrained motion.
$a' Com(letely constrained motion+ If the constrained motion is achieved by the pairing
elements themselves, then it is called completely constrained motion.
0
,ig.%.%3 completely constrained motion
$)' -!ccess#!lly constrained motion. If constrained motion is not achieved by the
pairing elements themselves, but by some other means, then, it is called successfully
constrained motion. )g. ,oot step bearing, where shaft is constrained from moving
upwards, by its self weight.
$c' Incom(letely constrained motion+ :hen relative motion between pairing elements
ta*es place in more than one direction, it is called incompletely constrained motion. )g.
6haft in a circular hole.
,ig.%.%4 ,oot strep bearing
,ig.%.%; Incompletely constrained motion
Kinematic chain: A *inematic chain is a group of lin*s either /oined together or arranged
in a manner that permits them to move relative to one another. If the lin*s are connected
in such a way that no motion is possible, it results in a loc*ed chain or structure.
,ig.%.%< .oc*ed chain or structure
3
Mechanism: A mechanism is a constrained *inematic chain. #his means that the motion
of any one lin* in the *inematic chain will give a definite and predictable motion relative
to each of the others. Bsually one of the lin*s of the *inematic chain is fixed in a
mechanism.
,ig.%.&= 6lider cran* and four bar mechanisms.
If, for a particular position of a lin* of the chain, the positions of each of the other lin*s
of the chain can not be predicted, then it is called as unconstrained *inematic chain and it
is not mechanism.
,ig.%.&% Bnconstrained *inematic chain
Machine: A machine is a mechanism or collection of mechanisms, which transmit force
from the source of power to the resistance to be overcome. #hough all machines are
mechanisms, all mechanisms are not machines. Cany instruments are mechanisms but
are not machines, because they do no useful wor* nor do they transform energy. )g.
Cechanical cloc*, drafter.
,ig.%.&% 7rafter
Planar mechanismsD :hen all the lin*s of a mechanism have plane motion, it is called
as a planar mechanism. All the lin*s in a planar mechanism move in planes parallel to the
reference plane.
4
De"rees o# #reedom/mo)ility o# a mechanism: It is the number of inputs (number of
independent coordinates" re1uired to describe the configuration or position of all the lin*s
of the mechanism, with respect to the fixed lin* at any given instant.
0r!)ler1s e2!ation: @umber of degrees of freedom of a mechanism is given by
, 9 '(nA%"A&lAh. :here,
, 9 7egrees of freedom
n 9 @umber of lin*s 9 n
&
E n
'
EFFEn
/
, where, n
&
9 number of binary lin*s, n
'
9 number
of ternary lin*sFetc.
l 9 @umber of lower pairs, which is obtained by counting the number of /oints. If more
than two lin*s are /oined together at any point, then, one additional lower pair is to be
considered for every additional lin*.
h 9 @umber of higher pairs
E3am(les o# determination o# de"rees o# #reedom o# (lanar mechanisms:
$i'
, 9 '(nA%"A&lAh
5ere, n
&
9 +, n 9 +, l 9 + and h 9 =.
, 9 '(+A%"A&(+" 9 %
I.e., one input to any one lin* will result in
definite motion of all the lin*s.
$ii'
, 9 '(nA%"A&lAh
5ere, n
&
9 0, n 9 0, l 9 0 and h 9 =.
, 9 '(0A%"A&(0" 9 &
I.e., two inputs to any two lin*s are
re1uired to yield definite motions in all the
lin*s.
$iii'
, 9 '(nA%"A&lAh
5ere, n
&
9 +, n
'
9&, n 9 3, l 9 4 and h 9 =.
, 9 '(3A%"A&(4" 9 %
I.e., one input to any one lin* will result in
definite motion of all the lin*s.
;
$i,'
, 9 '(nA%"A&lAh
5ere, n
&
9 0, n
'
9%, n 9 3, l 9 4 (at the
intersection of &, ' and +, two lower pairs
are to be considered" and h 9 =.
, 9 '(3A%"A&(4" 9 %
$,'
, 9 '(nA%"A&lAh
5ere, n 9 %%, l 9 %0 (two lower pairs at the
intersection of ', +, 3G &, +, 0G 0, 4, ;G ;,
%=, %%" and h 9 =.
, 9 '(%%A%"A&(%0" 9 =
$,i' 7etermine the mobility of the following mechanisms.
(a"
, 9 '(nA%"A&lAh
5ere, n 9 +, l 9 0 and h 9 =.
, 9 '(+A%"A&(0" 9 A%
I.e., it is a structure
(b"
, 9 '(nA%"A&lAh
5ere, n 9 ', l 9 & and h 9 %.
, 9 '('A%"A&(&"A% 9 %
(c"
, 9 '(nA%"A&lAh
5ere, n 9 ', l 9 & and h 9 %.
, 9 '('A%"A&(&"A% 9 %
<
In,ersions o# mechanism: A mechanism is one in which one of the lin*s of a *inematic
chain is fixed. 7ifferent mechanisms can be obtained by fixing different lin*s of the same
*inematic chain. #hese are called as inversions of the mechanism. ?y changing the fixed
lin*, the number of mechanisms which can be obtained is e1ual to the number of lin*s.
)xcepting the original mechanism, all other mechanisms will be *nown as inversions of
original mechanism. #he inversion of a mechanism does not change the motion of its
lin*s relative to each other.
&o!r )ar chain:
,ig %.&& ,our bar chain
8ne of the most useful and most common mechanisms is the fourAbar lin*age. In this
mechanism, the lin* which can ma*e complete rotation is *nown as cran* (lin* &". #he
lin* which oscillates is *nown as roc*er or lever (lin* +". And the lin* connecting these
two is *nown as coupler (lin* '". .in* % is the frame.
In,ersions o# #o!r )ar chain:
,ig.%.&' Inversions of four bar chain.
%=
Crank-rocker mechanism: In this mechanism, either lin* % or lin* ' is fixed. .in* &
(cran*" rotates completely and lin* + (roc*er" oscillates. It is similar to (a" or (b" of
fig.%.&'.
,ig.%.&+
Dra" link mechanism. 5ere lin* & is fixed and both lin*s % and + ma*e complete
rotation but with different velocities. #his is similar to %.&'(c".
,ig.%.&0
Do!)le crank mechanism+ #his is one type of drag lin* mechanism, where, lin*s %- '
are e1ual and parallel and lin*s & - + are e1ual and parallel.
,ig.%.&3
%%
Do!)le rocker mechanism+ In this mechanism, lin* + is fixed. .in* & ma*es complete
rotation, whereas lin*s ' - + oscillate (,ig.%.&'d"
-lider crank chain: #his is a *inematic chain having four lin*s. It has one sliding pair
and three turning pairs. .in* & has rotary motion and is called cran*. .in* ' has got
combined rotary and reciprocating motion and is called connecting rod. .in* + has
reciprocating motion and is called slider. .in* % is frame (fixed". #his mechanism is used
to convert rotary motion to reciprocating and vice versa.
,ig%.&4
In,ersions o# slider crank chain: Inversions of slider cran* mechanism is obtained by
fixing lin*s &, ' and +.
(a" cran* fixed (b" connecting rod fixed (c" slider fixed
,ig.%.&;
Rotary en"ine 4 I in,ersion o# slider crank mechanism+ $crank #i3ed'
,ig.%.&<
%&
5hit*orth 2!ick ret!rn motion mechanism4I in,ersion o# slider crank mechanism+
,ig.%.'=
Crank and slotted le,er 2!ick ret!rn motion mechanism 4 II in,ersion o# slider
crank mechanism $connectin" rod #i3ed'+
,ig.%.'%
%'
%scillatin" cylinder en"ine4II in,ersion o# slider crank mechanism $connectin" rod
#i3ed'+
,ig.%.'&
Pend!l!m (!m( or )!ll en"ine4III in,ersion o# slider crank mechanism $slider
#i3ed'+
,ig.%.''
%+
Do!)le slider crank chain: It is a *inematic chain consisting of two turning pairs and
two sliding pairs.
-cotch 46oke mechanism+
#urning pairs H %-&, &-'G 6liding pairs H '-+, +-%.
,ig.%.'+
In,ersions o# do!)le slider crank mechanism:
Elli(tical trammel+ #his is a device which is used for generating an elliptical profile.
,ig.%.'0
In fig. %.'0, if A> 9 p and ?> 9 1, then, x 9 1.cosI and y 9 p.sinI.
(earranging, % sin cos
& &
& &
+
,
_
,
_

p
y
q
x
. #his is the e1uation of an ellipse. #he
path traced by point > is an ellipse, with ma/or axis and minor axis e1ual to &p and &1
respectively.
%0
%ldham co!(lin"+ #his is an inversion of double slider cran* mechanism, which is used
to connect two parallel shafts, whose axes are offset by a small amount.
,ig.%.'3
Re#erences:
%. Theory o# Machines and Mechanisms by Joseph )dward 6higley and John Joseph
Bic*er,Jr. McGraw-Hill International Editions.
&. Kinematics and Dynamics o# Machines by Keorge 5.Cartin. McGraw-Hill
Publications.
'. Mechanisms and Dynamics o# Machinery by 5amilton 5. Cabie and ,red :.
8cvir*. John Wiley and Sons.
+. Theory o# Machines by L.$.6ingh. hanpat !ai and "o.
0. The Theory o# Machines thro!"h sol,ed (ro)lems by J.6.(ao. #ew a$e
international publishers.
3. A te3t )ook o# Theory o# Machines by 7r.(.K.?ansal. %ax&i Publications 'P( %td.
%3
Kinematics of Machines {ME44}
CHAPTER 4 I $contd+'
!ick ret!rn motion mechanisms+
Muic* return mechanisms are used in machine tools such as shapers and power driven
saws for the purpose of giving the reciprocating cutting tool a slow cutting stro*e and a
1uic* return stro*e with a constant angular velocity of the driving cran*. 6ome of the
common types of 1uic* return motion mechanisms are discussed below. #he ratio of time
re1uired for the cutting stro*e to the time re1uired for the return stro*e is called the time
ratio and is greater than unity.
Dra" link mechanism
#his is one of the inversions of four bar mechanism, with four turning pairs. 5ere, lin* &
is the input lin*, moving with constant angular velocity in antiAcloc*wise direction. $oint
> of the mechanism is connected to the tool post ) of the machine. 7uring cutting stro*e,
tool post moves from )
%
to )
&
. #he corresponding positions of > are >
%
and >
&
as shown
in the fig. %.'4. ,or the point > to move from >
%
to >
&
, point ? moves from ?
%
to ?
&
, in
antiAcloc*wise direction. I), cutting stro*e ta*es place when input lin* moves through
angle ?
%
A?
&
in antiAcloc*wise direction and return stro*e ta*es place when input lin*
moves through angle ?
&
A?
%
in antiAcloc*wise direction.
,ig.%.'4
#he time ratio is given by the following e1uation.
5hit*orth 2!ick ret!rn motion mechanism:
#his is first inversion of slider mechanism, where, cran* % is fixed. Input is given to lin*
&, which moves at constant speed. $oint > of the mechanism is connected to the tool post
%4
( )
( ) cloc)wise anti * + *
cloc)wise anti * + *
urnstro)e ,i&e-orret
wardstro)e ,i&e-or-or
% &
& %
N
N
7 of the machine. 7uring cutting stro*e, tool post moves from 7
%
to 7
%%
. #he
corresponding positions of > are >
%
and >
%%
as shown in the fig. %.';. ,or the point > to
move from >
%
to >
%%
%
to ?
%%
, in antiAcloc*wise direction. I.).,
cutting stro*e ta*es place when input lin* moves through angle ?
%
8
&
?
%%
in antiAcloc*wise
direction and return stro*e ta*es place when input lin* moves through angle ?
%%
8
&
?
%
in
antiAcloc*wise direction.
,ig.%.';
Crank and slotted le,er 2!ick ret!rn motion mechanism
#his is second inversion of slider mechanism, where, connecting rod is fixed. Input is
given to lin* &, which moves at constant speed. $oint > of the mechanism is connected to
the tool post 7 of the machine. 7uring cutting stro*e, tool post moves from 7
%
to 7
%%
.
#he corresponding positions of > are >
%
and >
%%
as shown in the fig. %.'<. ,or the point >
to move from >
%
to >
%%
%
to ?
%%
, in antiAcloc*wise direction. I.).,
cutting stro*e ta*es place when input lin* moves through angle ?
%
8
&
?
%%
in antiAcloc*wise
direction and return stro*e ta*es place when input lin* moves through angle ?
%%
8
&
?
%
in
antiAcloc*wise direction.
%;
&
%
&
&
N
N
* o *
* o *
,ig.%.'<
-trai"ht line motion mechanisms
6traight line motion mechanisms are mechanisms, having a point that moves along a
straight line, or nearly along a straight line, without being guided by a plane surface.
Condition #or e3act strai"ht line motion:
If point ? (fig.%.+=" moves on the circumference of a circle with center 8 and radius 8A,
then, point >, which is an extension of A? traces a straight line perpendicular to A8,
provided product of A? and A> is constant.
%<
&
%
&
&
N
N
* o *
* o *
,ig.%.+=
.ocus of pt.> will be a straight line, O to A) if, is constant
Proo#:
Pea!cellier e3act strai"ht line motion mechanism:
,ig.%.+%
5ere, A) is the input lin* and point ) moves along a circular path of radius A) 9 A?.
Also, )> 9 )7 9 $> 9 $7 and ?> 9 ?7. $oint $ of the mechanism moves along exact
straight line, perpendicular to ?A extended.
&=
+" +*
. .,
.
const +" i-+* const +E
const but+
+
+" +*
+E
+E
+*
+"
+
+* +E"

,o pro.e */ E and P lie on sa&e strai$ht line0
#riangles ?>7, )>7 and $>7 are all isosceles triangles having common base >7 and
apex points being ?, ) and $. #herefore points ?, ) and $ always lie on the perpendicular
bisector of >7. 5ence these three points always lie on the same straight line.
,o pro.e product o- *E and *P is constant.
In triangles ?,> and $,>,
& & &
1" 1* *" + and
& & &
1" P1 P" +
( ) ( ) *E *P P1 1* P1 1* P1 1* P" *" +
& & & &
?ut since ?> and $> are constants, product of ?$ and ?) is constant, which is the
condition for exact straight line motion. #hus point $ always moves along a straight line
perpendicular to ?A as shown in the fig.%.+%.
A((ro3imate strai"ht line motion mechanism: A few four bar mechanisms with
certain modifications provide approximate straight line motions.
Ro)ert1s mechanism
,ig.%.+&
#his is a four bar mechanism, where, $>7 is a single integral lin*. Also, dimensions A>,
?7, >$ and $7 are all e1ual. $oint $ of the mechanism moves very nearly along line A?.
&%
Intermittent motion mechanisms
An intermittentAmotion mechanism is a lin*age which converts continuous motion into
intermittent motion. #hese mechanisms are commonly used for indexing in machine
tools.
0ene,a *heel mechanism
,ig.%.+'
In the mechanism shown (,ig.%.+'", lin* A is driver and it contains a pin which engages
with the slots in the driven lin* ?. #he slots are positioned in such a manner, that the pin
enters and leaves them tangentially avoiding impact loading during transmission of
motion. In the mechanism shown, the driven member ma*es oneAfourth of a revolution
for each revolution of the driver. #he loc*ing plate, which is mounted on the driver,
prevents the driven member from rotating except during the indexing period.
Ratchet and (a*l mechanism
,ig.%.++
(atchets are used to transform motion of rotation or translation into intermittent rotation
or translation. In the fig.%.++, A is the ratchet wheel and > is the pawl. As lever ? is made
&&
to oscillate, the ratchet wheel will rotate anticloc*wise with an intermittent motion. A
holding pawl 7 is provided to prevent the reverse motion of ratchet wheel.
%ther mechanisms
To""le mechanism
,ig.%.+0
#oggle mechanisms are used, where large resistances are to be overcome through short
distances. 5ere, effort applied will be small but acts over large distance. In the
mechanism shown in fig.%.+0, & is the input lin*, to which, power is supplied and 3 is the
output lin*, which has to overcome external resistance. .in*s + and 0 are of e1ual length.
>onsidering the e1uilibrium condition of slider 3,
,or small angles of P, , (effort" is much smaller than $(resistance".
#his mechanism is used in roc* crushers, presses, riveting machines etc.
&'
tan &
&
tan
P 1
P
1

Panto"ra(h
$antographs are used for reducing or enlarging drawings and maps. #hey are also used
for guiding cutting tools or torches to fabricate complicated shapes.
,ig.%.+3
In the mechanism shown in fig.%.+3 path traced by point A will be magnified by point )
to scale, as discussed below.
In the mechanism shown, A? 9 >7G A7 9?> and 8A) lie on a straight line.
:hen point A moves to + , ) moves to E and E + 2 also lies on a straight line.
,rom the fig.%.+3, 2"E 2+ and E " 2 + 2 .
"E
+
2E
2+
2"
2
and
E "
+
E 2
+ 2
" 2
2

?ut, . G G E 2E + 2+
E 2
+ 2
2E
2+
" 2
2
2"
2

+ + E E //
And
2
2"
2+
2E
+ +
E E

,
_

2
2"
+ + E E
:here
,
_
2
2"
is the magnification factor.
&+
Hooke1s 7oint $.ni,ersal 7oints'
5oo*eQs /oins is used to connect two nonparallel but intersecting shafts. In its basic
shape, it has two B Hshaped yo*es RaQ and RbQ and a center bloc* or crossAshaped piece, >.
(fig.%.+4(a""
#he universal /oint can transmit power between two shafts intersecting at around '=
=
angles (P". 5owever, the angular velocity ratio is not uniform during the cycle of
operation. #he amount of fluctuation depends on the angle (P" between the two shafts.
,or uniform transmission of motion, a pair of universal /oints should be used
(fig.%.+4(b"". Intermediate shaft ' connects input shaft % and output shaft & with two
universal /oints. #he angle P between % and & is e1ual to angle P between & and '. :hen
shaft % has uniform rotation, shaft ' varies in speedG however, this variation is
compensated by the universal /oint between shafts & and '. 8ne of the important
applications of universal /oint is in automobiles, where it is used to transmit power from
engine to the wheel axle.
,ig.%.+4(a"
,ig.%.+4(b"
-teerin" "ear mechanism
#he steering mechanism is used in automobiles for changing the directions of the wheel
axles with reference to the chassis, so as to move the automobile in the desired path.
&0
Bsually, the two bac* wheels will have a common axis, which is fixed in direction with
reference to the chassis and the steering is done by means of front wheels.
In automobiles, the front wheels are placed over the front axles (stub axles", which are
pivoted at the points A - ? as shown in the fig.%.+;. :hen the vehicle ta*es a turn, the
front wheels, along with the stub axles turn about the pivoted points. #he bac* axle and
the bac* wheels remain straight.
Always there should be absolute rolling contact between the wheels and the road surface.
Any sliding motion will cause wear of tyres. :hen a vehicle is ta*ing turn, absolute
rolling motion of the wheels on the road surface is possible, only if all the wheels
describe concentric circles. #herefore, the two front wheels must turn about the same
instantaneous centre I which lies on the axis of the bac* wheel.
Condition #or (er#ect steerin"
#he condition for perfect steering is that all the four wheels must turn about the same
instantaneous centre. :hile negotiating a curve, the inner wheel ma*es a larger turning
angle I than the angle S subtended by the axis of the outer wheel.
In the fig.%.+;, a 9 wheel trac*, . 9 wheel base, w 9 distance between the pivots of front
axles.
,ig.%.+;
,rom
, I+E
cotI 9
%
+E
EI
+E
and
from
, *EI
cotS 9
( ) ( )
%
w
%
w
%
E+
%
w E+
EI
+* E+
EI
E*
+ +
+
+
cot
&3
%
w
cot cot + #his is the fundamental e1uation for correct steering. If this
condition is satisfied, there will be no s*idding of the wheels when the vehicle ta*es a
turn.
Ackermann steerin" "ear mechanism
,ig.%.+<
R
S
A B
A'
B'
d
x
x
d
c
P
Q
fig.%.0=
Ac*erman steering mechanism, (6A? is a four bar chain as shown in fig.%.0=. .in*s (A
and 6? which are e1ual in length are integral with the stub axles. #hese lin*s are
connected with each other through trac* rod A?. :hen the vehicle is in straight ahead
position, lin*s (A and 6? ma*e e1ual angles P with the center line of the vehicle. #he
dotted lines in fig.%.0= indicate the position of the mechanism when the vehicle is turning
left.
&4
.et A?9l, (A96?9rG * S 3 + ! P
N N
and in the turned position,
% %
N
-
N
* S * + ! + .
I), the stub axles of inner and outer wheels turn by I and S angles respectively.
@eglecting the obli1uity of the trac* rod in the turned position, the movements of A and
? in the hori2ontal direction may be ta*en to be same (x".
#hen, ( )
r
x d +
+ sin and ( )
r
x d
sin
Adding, ( ) ( ) sin &
&
sin sin + +
r
d
T%U
Angle P can be determined using the above e1uation. #he values of I and S to be ta*en in
this e1uation are those found for correct steering using the e1uation
%
w
cot cot + T&U
#his mechanism gives correct steering in only three positions. 8ne, when I 9 = and other
two each corresponding to the turn to right or left (at a fixed turning angle, as determined
by e1uation T%U".
#he correct values of S, TS
c
U corresponding to different values of I, for correct steering
can be determined using e1uation T&U. ,or the given dimensions of the mechanism, actual
values of S, TS
a
U can be obtained for different values of I. # he difference between S
c
and
S
a
will be very small for small angles of I, but the difference will be substantial, for
larger values of I. 6uch a difference will reduce the life of tyres because of greater wear
on account of slipping.
?ut for larger values of I, the automobile must ta*e a sharp turnG hence is will be moving
at a slow speed. At low speeds, wear of the tyres is less. #herefore, the greater difference
between S
c
and S
a
larger values of I ill not matter.
As this mechanism employs only turning pairs, friction and wear in the mechanism will
be less. 5ence its maintenance will be easier and is commonly employed in automobiles.
Re#erences:
4. Theory o# Machines and Mechanisms by Joseph )dward 6higley and John Joseph
;. Kinematics and Dynamics o# Machines by Keorge 5.Cartin. McGraw-Hill
Publications.
<. Mechanisms and Dynamics o# Machinery by 5amilton 5. Cabie and ,red :.
%=. Theory o# Machines by L.$.6ingh. hanpat !ai and "o.
%%. The Theory o# Machines thro!"h sol,ed (ro)lems by J.6.(ao. #ew a$e
8+ A te3t )ook o# Theory o# Machines by 7r.(.K.?ansal. %ax&i Publications 'P( %td.
Cha(ter 9I
&;
CAM-
I:TR%D.CTI%:
A cam is a mechanical device used to transmit motion to a follower by direct contact. #he
driver is called the cam and the driven member is called the follower. In a cam follower
pair, the cam normally rotates while the follower may translate or oscillate. A familiar
example is the camshaft of an automobile engine, where the cams drive the push rods
(the followers" to open and close the valves in synchroni2ation with the motion of the
pistons.
Ty(es o# cams
>ams can be classified based on their physical shape.
a' Disk or (late cam $&i"+ 8+;a and )'D #he dis* (or plate" cam has an irregular contour
to impart a specific motion to the follower. #he follower moves in a plane perpendicular
to the axis of rotation of the camshaft and is held in contact with the cam by springs or
gravity.
,ig. 3.% $late or dis* cam.
)' Cylindrical cam $&i"+ 8+<"D #he cylindrical cam has a groove cut along its cylindrical
surface. #he roller follows the groove, and the follower moves in a plane parallel to the
axis of rotation of the cylinder.
,ig. 3.& >ylindrical cam.
c' Translatin" cam $&i"+ 8+=a and )'+ #he translating cam is a contoured or grooved
plate sliding on a guiding surface(s". #he follower may oscillate (,ig. 3.'a" or reciprocate
&<
(,ig. 3.'b". #he contour or the shape of the groove is determined by the specified motion
of the follower.
,ig. 3.' #ranslating cam
Ty(es o# #ollo*ers:
(i" ?ased on surface in contact. $&i"+8+>'
(a" Knife edge follower
(b" (oller follower
(c" ,lat faced follower
(d" 6pherical follower
,ig. 3.+ #ypes of followers
(ii" ?ased on type of motionD $&i"+8+?'
(a" 8scillating follower
(b" #ranslating follower
'=
,ig.3.0
(iii" ?ased on line of motionD
(a" (adial followerD #he lines of movement of inAline cam followers pass through the
centers of the camshafts (,ig. 3.+a, b, c, and d".
(b" 8ffAset followerD ,or this type, the lines of movement are offset from the centers
of the camshafts (,ig. 3.3a, b, c, and d".
,ig.3.3 8ff set followers
Cam nomenclat!re $&i"+ 8+@':
'%
,ig.3.4
"a& Pro-ile #he contour of the wor*ing surface of the cam.
,racer Point #he point at the *nife edge of a follower, or the center of a roller, or the
center of a spherical face.
Pitch "ur.e #he path of the tracer point.
*ase "ircle #he smallest circle drawn, tangential to the cam profile, with its center on
the axis of the camshaft. #he si2e of the base circle determines the si2e of
the cam.
Pri&e "ircle #he smallest circle drawn, tangential to the pitch curve, with its center on
the axis of the camshaft.
Pressure +n$le #he angle between the normal to the pitch curve and the direction of
motion of the follower at the point of contact.
Ty(es o# #ollo*er motion:
>am follower systems are designed to achieve a desired oscillatory motion. Appropriate
displacement patterns are to be selected for this purpose, before designing the cam
surface. #he cam is assumed to rotate at a constant speed and the follower raises, dwells,
returns to its original position and dwells again through specified angles of rotation of the
cam, during each revolution of the cam.
6ome of the standard follower motions are as followsD
#hey are, follower motion with,
'&
(a" Bniform velocity
(b" Codified uniform velocity
(c" Bniform acceleration and deceleration
(d" 6imple harmonic motion
(e" >ycloidal motion
Dis(lacement dia"rams: In a cam follower system, the motion of the follower is very
important. Its displacement can be plotted against the angular displacement I of the cam
and it is called as the displacement diagram. #he displacement of the follower is plotted
along the yAaxis and angular displacement I of the cam is plotted along xAaxis. ,rom the
displacement diagram, velocity and acceleration of the follower can also be plotted for
different angular displacements I of the cam. #he displacement, velocity and acceleration
diagrams are plotted for one cycle of operation i.e., one rotation of the cam. 7isplacement
diagrams are basic re1uirements for the construction of cam profiles. >onstruction of
displacement diagrams and calculation of velocities and accelerations of followers with
different types of motions are discussed in the following sections.
$a' &ollo*er motion *ith .ni#orm ,elocity:
,ig.3.; shows the displacement, velocity and acceleration patterns of a follower having
uniform velocity type of motion. 6ince the follower moves with constant velocity, during
rise and fall, the displacement varies linearly with I. Also, since the velocity changes
from 2ero to a finite value, within no time, theoretically, the acceleration becomes infinite
at the beginning and end of rise and fall.
''
,ig.3.;
$)' &ollo*er motion *ith modi#ied !ni#orm ,elocity:
It is observed in the displacement diagrams of the follower with uniform velocity that the
acceleration of the follower becomes infinite at the beginning and ending of rise and
return stro*es. In order to prevent this, the displacement diagrams are slightly modified.
In the modified form, the velocity of the follower changes uniformly during the
beginning and end of each stro*e. Accordingly, the displacement of the follower varies
parabolically during these periods. :ith this modification, the acceleration becomes
'+
constant during these periods, instead of being infinite as in the uniform velocity type of
motion. #he displacement, velocity and acceleration patterns are shown in #i"+8+A.
#i"+8+A
$c' &ollo*er motion *ith !ni#orm acceleration and retardation $.ARM':
5ere, the displacement of the follower varies parabolically with respect to angular
displacement of cam. Accordingly, the velocity of the follower varies uniformly with
respect to angular displacement of cam. #he acceleration/retardation of the follower
becomes constant accordingly. #he displacement, velocity and acceleration patterns are
shown in #i"+ 8+;B.
'0
&i"+8+;B
s 9 6tro*e of the follower
I
o
and I
r
9 Angular displacement of the cam during outstro*e and return stro*e.
V 9 Angular velocity of cam.
#ime re1uired for follower outstro*e 9 t
o
9
o
#ime re1uired for follower return stro*e 9 t
r
9
r
'3
Average velocity of follower 9
t
s
Average velocity of follower during outstro*e 9
&
&
& max min
.o .o
t
s
t
s
o
o
+

vo
min
9 =
o o
s
t
s
.o
& &
max

9 Cax. velocity during outstro*e.
Average velocity of follower during return stro*e 9
&
&
& max min
.r .r
t
s
t
s
r
r
+

vr
min
9 =
r r
s
t
s
.r
& &
max

9 Cax. velocity during return stro*e.
Acceleration of the follower during outstro*e 9
&
&
max
+
&
o
o
o
s
t
.o
a

6imilarly acceleration of the follower during return stro*e 9
&
&
+
r
r
s
a
$d' -im(le Harmonic Motion: In fig.3.%%, the motion executed by point $

l
, which is the
pro/ection of point $ on the vertical diameter is called simple harmonic motion. 5ere, $
moves with uniform angular velocity V
p
, along a circle of radius r (r 9 s/&".
a
x
y
y
p
p'
r
'4
,ig.3.%%
7isplacement 9
t r r y
p
sin sin
G
r y
max
Td%U
Lelocity 9
t r y
p p
cos
G
p
r y
max
Td&U
Acceleration 9 y t r y
p p p
& &
sin
G
&
max p
r y
Td'U
,ig.3.%%
s9 6tro*e or displacement of the follower.
I
o
9 Angular displacement during outstro*e.
I
r
9 Angular displacement during return stro*e
t
o
9 #ime ta*en for outstro*e 9
o
t
r
9 #ime ta*en for return stro*e 9
r
Cax. velocity of follower during outstro*e 9 vo
max
9 rV
p
(from d&"
';
vo
max
9
o o
s
t
s

& &

6imilarly Cax. velocity of follower during return stro*e 9 , vr
max
9
r r
s
t
s

& &

Cax. acceleration during outstro*e 9 ao
max
9 rV
&
p
(from d'" 9
&
& &
&
&
&
o
o
s
t
s
,
_
6imilarly, Cax. acceleration during return stro*e 9 ar

max
9
r
r
s
t
s
&
& &
&
& &

,
_
'<
$e' Cycloidal motion:
>ycloid is the path generated by a point on the circumference of a circle, as the circle
rolls without slipping, on a straight/flat surface. #he motion executed by the follower
here, is similar to that of the pro/ection of a point moving along a cyloidal curve on a
vertical line as shown in figure 3.%&.
21
a
a1
a2
a3
a4
a5
a6
a7
CYCLOIDAL
MOTION
F
O
L
L
O
!
R

M
O
T
I
O
N
66
,ig.3.%&
#he construction of displacement diagram and the standard patterns of velocity and
acceleration diagrams are shown in fig.3.%'. >ompared to all other follower motions,
cycloidal motion results in smooth operation of the follower.
#he expressions for maximum values of velocity and acceleration of the follower are
shown below.
s 9 6tro*e or displacement of the follower.
d 9 dia. of cycloid generating circle 9
s
I
o
9 Angular displacement during outstro*e.
I
r
9 Angular displacement during return stro*e
t
o
9 #ime ta*en for outstro*e 9
o
t
r
9 #ime ta*en for return stro*e 9
r
vo
max
9 Cax. velocity of follower during outstro*e 9
o
s
&
+=
vr
max
9 Cax. velocity of follower during return stro*e 9
r
s
&
ao
max
9 Cax. acceleration during outstro*e 9
&
&
&
o
s
ar
max
9 Cax. acceleration during return stro*e 9
r
s
&
&
&
,ig. 3.%'
+%
+&
-ol,ed (ro)lems
$;' Dra* the cam (ro#ile #or #ollo*in" conditionsD
,ollower type 9 Knife edged, inAlineG lift 9 0=mmG base circle radius 9 0=mmG out stro*e
with 65C, for 3=
=
cam rotationG dwell for +0
=
cam rotationG return stro*e with 65C, for
<=
=
cam rotationG dwell for the remaining period. 7etermine max. velocity and
acceleration during out stro*e and return stro*e if the cam rotates at %=== rpm in
cloc*wise direction.
Dis(lacement dia"ram:
O#TSTRO$!
D!LL
R!T#RNSTRO$! D!LL
LIFT%5&''
& 1
2
3
4
5 6 7 ( )
1& 11 12
a
*
c
d
+
,
-
.
/
0
1
1
2
3
4
5
6
2
Cam (ro#ile: >onstruct base circle. Car* points %,&,'F..in direction opposite to the
direction of cam rotation. #ransfer points a,b,cF..l from displacement diagram to the
cam profile and /oin them by a smooth free hand curve. #his forms the re1uired cam
profile.
+'
1
2
3
4
5
6
a
*
c
d
+
,
7
-
6
&
3
4
5
3
(
)
1&
11
12
.
/
0
1
2
)
&
3
5&
Calc!lations:
Angular velocity of cam 9
3=
%=== &
3=
&

#
9;B>+@8 rad/sec
max
9
o
s
&
9
9
'
&
0= 43 . %=+

94;04mm/sec 9@+C?@m/sec
6imilarly Cax. velocity of follower during return stro*e 9 , vr
max
9
r
s
&
9
9
&
&
0= 43 . %=+

9 0&';mm/sec 9 ?+<=Cm/sec
max
9 rV
&
p
(from d'" 9
&
& &
&
o
s

9
++
9
( )
( )

&
& &
'
&
0= 43 . %=+
&+3<&<4.<3mm/sec
&
9 <>8A+=m/sec
<
6imilarly, Cax. acceleration during return stro*e 9 ar
max
9
r
s
&
& &
&

9
9
( )
( )

&
& &
&
&
0= 43 . %=+
%=<4+30.43mm/sec
&
9 ;BA@+?m/sec
<
+0
$<' Dra* the cam (ro#ile #or the same o(eratin" conditions o# (ro)lem $;'D *ith the
#ollo*er o## set )y ;B mm to the le#t o# cam center+
Dis(lacement dia"ram: 6ame as previous case.
Cam (ro#ile: >onstruction is same as previous case, except that the lines drawn from
%,&,'F. are tangential to the offset circle of %=mm dia. as shown in the fig.
1
2
3
4
5
6
7
(
)
1&
11
12
a
*
c d
+
,
-
.
/
0
1
2
6
&
3
4
5
3
)
&
3
5&''
1&
+3
$=' Dra* the cam (ro#ile #or #ollo*in" conditions:
,ollower type 9 roller follower, inAlineG lift 9 &0mmG base circle radius 9 &=mmG roller
radius 9 0mmG out stro*e with BA(C, for %&=
=
cam rotationG dwell for 3=
=
cam rotationG
return stro*e with BA(C, for <=
=
cam rotationG dwell for the remaining period.
7etermine max. velocity and acceleration during out stro*e and return stro*e if the cam
rotates at %&== rpm in cloc*wise direction.
2
5
&
1 2 3
4
5
6 7 (
)
1& 11
12
a
*
c
d
+
,
-
.
/
0
1
2
O#TSTRO$! D!LL R!T#RNSTRO$! D!LL
LIFT
Cam (ro#ile: >onstruct base circle and prime circle (&0mm radius". Car* points
%,&,'F..in direction opposite to the direction of cam rotation, on prime circle. #ransfer
points a,b,cF..l from displacement diagram. At each of these points a,b,cF draw circles
of 0mm radius, representing rollers. 6tarting from the first point of contact between roller
and base circle, draw a smooth free hand curve, tangential to all successive roller
positions. #his forms the re1uired cam profile.
+4
1
2
&
3
6
&
3
)
&
3
& 1
2
3
4
5
6
7 (
)
1&
11
12
a
*
c
d
+
,
-
.
/
0
1
2
2&''
Calc!lations:
Angular velocity of the cam 9

3=
%&== &
3=
&
#
;<?+@;rad/sec
Cax. velocity during outstro*e 9
o o
s
t
s
.o
& &
max

9
9

'
&
&0 4% . %&0 &
&<<<.<mm/sec 9<+AAAm/sec
Cax. velocity during return stro*e 9

&
&0 4% . %&0 & & &
max
r r
s
t
s
.r
9 '<<<.;3mm/sec 9 =+AAAm/sec
Acceleration of the follower during outstro*e 9
&
&
max
+
&
o
o
o
s
t
.o
a

9
9
( )
( )

&
&
'
&
&0 4% . %&0 +
'0<<40mm/sec
&
9 =?A+A@?m/sec
<
6imilarly acceleration of the follower during return stro*e 9
&
&
+
r
r
s
a
9
+;
9
( )
( )

&
&
&
&0 4% . %&0 +
3'<<03mm/sec
&
9 8=A+A?8m/sec
<
+<
$>' Dra* the cam (ro#ile #or conditions same as in $='D *ith #ollo*er o## set to ri"ht
o# cam center )y ?mm and cam rotatin" co!nter clock*ise+
Dis(lacement dia"ram: 6ame as previous case.
Cam (ro#ile: >onstruction is same as previous case, except that the lines drawn from
%,&,'F. are tangential to the offset circle of %=mm dia. as shown in the fig.
6
&
3
1
2
&
3
)
&
3
1
2
3
4
5
6
7
(
)
1&
11
12
a
*
c
d
+
,
-
.
/
0
1
2
2&''
5
0=
$?' Dra* the cam (ro#ile #or #ollo*in" conditions:
,ollower type 9 roller follower, off set to the right of cam axis by %;mmG lift 9 '0mmG
base circle radius 9 0=mmG roller radius 9 %+mmG out stro*e with 65C in =.=0secG dwell
for =.=%&0secG return stro*e with BA(C, during =.%&0secG dwell for the remaining
period. 7uring return stro*e, acceleration is '/0 times retardation. 7etermine max.
velocity and acceleration during out stro*e and return stro*e if the cam rotates at &+=
rpm.
Calc!lations:
>am speed 9 &+=rpm. #herefore, time for one rotation 9 sec &0 . =
&+=
3=
Angle of out stro*e 9

=
4& '3=
&0 . =
=0 . =

o
Angle of first dwell 9

=
%
%; '3=
&0 . =
=%&0 . =

w
Angle of return stro*e 9

=
%;= '3=
&0 . =
%&0 . =

r
Angle of second dwell 9

=
&
<=
w
6ince acceleration is '/0 times retardation during return stro*e,

r a
0
'
(from acceleration diagram"
0
'

r
a
?ut
0
'
G
max max

a
r
r a
t
t
r
a
t
.
r
t
.
a
7isplacement diagram is constructed by selecting t
a
and t
r
accordingly.
0%
O#TSTRO$!
D!LL
R!T#RNSTRO$! D!LL
LIFT%35''
& 1
2
3
4
5 6 7
a
*
c
d
+
,
1
2
3
4
5
6
( ) 1& 11 12 13 14
-
. /
0
1
2
'
4
5
a
5r6'ax
a
r
7a
7r
3=
&+= &
3=
&

#
9<?+;> rad/sec
max
9
o
s
&
9
9
( )
0
& &
'0 %+ . &0

9 %=<<.;4mm/sec 9;+;m/sec
6imilarly Cax. velocity during return stro*e 9

'0 %+ . &0 & &
max
r
s
.r
9 00<.< mm/sec 9 B+?8m/sec
max
9 rV
&
p
(from d'" 9
&
& &
&
o
s

9
9
( )
( )

&
& &
0
&
&
'0 %+ . &0
3<%&4.%+mm/sec
&
9 8A+;=m/sec
<
0&
acceleration of the follower during return stro*e 9
( )

0
'0 %+ . &0 %3
0
%3
;
0
&
& &
max
r
r
a
r
s
s
t
.r
a 9 4%33.'4 mm/sec
&
9
@+;@m/sec
<
similarly retardation of the follower during return stro*e 9
( )

'
'0 %+ . &0 %3
'
%3
;
'
&
& &
max
r
r
r
r
s
s
t
.r
r 9 %%<+'.< mm/sec
&
9
;;+A>m/sec
<
723
1(3
1(&3
1(
1
2
3
4
5
6
7
(
)
1&
11
12
13
14
a *
c
d
+
,
-
.
/
0
1
2
'
4
0'
$8' Dra* the cam (ro#ile #or #ollo*in" conditions:
,ollower type 9 *nife edged follower, in lineG lift 9 '=mmG base circle radius 9 &=mmG
out stro*e with uniform velocity in %&=
=
of cam rotationG dwell for 3=
=
G return stro*e with
uniform velocity, during <=
=
of cam rotationG dwell for the remaining period.
1 2 3 4 5 6 7 ( ) 1& 11 12
a
*
c
d
+
,
-
.
/
0
1
2
3&''
O#T STRO$! R!T#RNSTRO$! D!LL D!LL
Cam (ro#ile:
1
2
&
3
6
&
3
)
&
3
)
&
3
1
3
2
4
5
6
7
(
)
1&
11
12
a
*
c
d
+
,
-
.
/
0
1
2
0+
00
$@' Dra* the cam (ro#ile #or #ollo*in" conditions:
,ollower type 9 oscillating follower with roller as shown in fig.G base circle radius 9
&=mmG roller radius 9 4mmG follower to rise through +=
=
during <=
=
of cam rotation with
cycloidal motionG dwell for '=
=
G return stro*e with cycloidal motion during %&=
=
of cam
rotationG dwell for the remaining period. Also determine the max. velocity and
acceleration during outstro*e and return stro*e, if the cam rotates at 3== rpm.
76
36
4
&
3
76
A
B
O
.ift of the follower 9 6 9 length A?
arc A? 9
%;=
+= 43

2+ 9 0' mm.
(adius of cycloid generating circle 9
&
0'
9 ;.+ mm
Dis(lacement dia"ramE
03
1 2
3
4 5
6
1 2 3 4 5 6
7
(
)
1&
11
12
7 ( ) 1& 11 12
53
168(
O#T STRO$!
R!T#RNSTRO$!
D!LL
D!LL
a
*
c
d
+
, -
.
/
0
1
2
04
3=
3== &
3=
&

#
9 3&.;3 rad/sec
vo
max
9 Cax. velocity of follower during outstro*e 9
&
0' ;3 . 3& & &
o
s
9 +&+=.&
mm/sec
vr
max
9 Cax. velocity of follower during return stro*e 9
'
&
0' ;3 . 3& & &
r
s
9 '%;=
mm/sec
ao
max
9 Cax. acceleration during outstro*e 9
( )
( )
&
&
&
&
&
0' ;3 . 3& & &
o
s
9 0''=44
mm/sec
&
9 0''.% m/sec
&
.
ar
max
9 Cax. acceleration during return stro*e 9
( )
( )
&
&
&
&
'
&
0' ;3 . 3& & &
r
s
9
9 &<<;00.;mm/sec
&
9 &<<.;
m/sec
&
.
Cam (ro#ile: 7raw base circle and prime circle. 7raw another circle of radius e1ual to
the distance between cam center and follower pivot point. #a*e the line /oining cam
center and pivot point as reference and draw lines indicating successive angular
displacements of cam. 7ivide these into same number of divisions as in the displacement
diagram. 6how points %Q, &Q, 'QF on the outer circle. :ith these points as centers and
radius e1ual to length of follower arm, draw arcs, cutting the prime circle at %,&,'F.
#ransfer points a,b,c.. on to these arcs from displacement diagram. At each of these points
a,b,cF draw circles of 4mm radius, representing rollers. 6tarting from the first point of
contact between roller and base circle, draw a smooth free hand curve, tangential to all
successive roller positions. #his forms the re1uired cam profile.
0;
)
&
3
3&3
1
2
&
3
12&3
1
2
3
4
5
6
a
*
c
d
+
,
7
(
) 1& 11
12
-
.
/
1
2
'
36
76
1'
2'
3'
4'
5'
6'
7'
('
)'
1&'
11'
12'
0<
$C' Dra* the cam (ro#ile #or #ollo*in" conditions:
,ollower type 9 *nife edged follower, in lineG follower rises by &+mm with 65C in %/+
rotation, dwells for %/; rotation and then raises again by &+mm with BA(C in %/+
rotation and dwells for %/%3 rotation before returning with 65C. ?ase circle radius 9
'=mm.
Angle of out stro*e (%" 9 I
=%
9
= =
<= '3=
+
%

Angle of dwell (%" 9
= =
+0 '3=
;
%

Angle of out stro*e (&" 9 I
=&
9
= =
<= '3=
+
%

Angle of dwell (&" 9
= =
0 . && '3=
%3
%

Angle of return stro*e 9 I
r
9
= =
0 . %%& '3=
%3
0
'3=
%3
%
+
%
;
%
+
%
%
1
]
1
,
_
+ + +
1 2 3 4 5
6 7 (
) 1& 11 12 13
14 15 16 17 1( 1)
a
*
c
d
+
, -
.
/
0
1
2
'
4
9
p
:
r
;
O#TSTRO$!1
D!LL1 O#TSTRO$!2
D!LL2
R!T#RNSTRO$!
24''
24
Cam (ro#ile:
3=
)&3
453
)&3
22853
112853
1
2
3
4
5
6
7
(
)
1&
11
12 13
14
15
16
17
1(
1)
a
*
c
d
+
,
-
.
/
0
1
2
'
4
9
p
:
r
;
6&
3%
$A' Dra* the cam (ro#ile #or #ollo*in" conditions:
,ollower type 9 flat faced follower, in lineG follower rises by &=mm with 65C in %&=
=
of
cam rotation, dwells for '=
=
of cam rotationG returns with 65C in %&=
=
of cam rotation
and dwells during the remaining period. ?ase circle radius 9 &0mm.
1 2
3 4 5 6 7 ( ) 1& 11 12
a
*
c
d
+
, -
.
/
0
1
2
2
&
O#T STRO$! R!T#RNSTRO$!
D!LL
D!LL
Cam (ro#ile: >onstruct base circle. Car* points %,&,'F..in direction opposite to the
direction of cam rotation, on prime circle. #ransfer points a,b,cF..l from displacement
diagram. At each of these points a,b,cF draw perpendicular lines to the radials,
representing flat faced followers. 6tarting from the first point of contact between follower
and base circle, draw a smooth free hand curve, tangential to all successive follower
positions. #his forms the re1uired cam profile.
3&
1
2
3
4
5
6
7
(
)
1&
11
12
a
*
c
d
+
,
-
.
/
0
1
2
25
1
2
&
3
3
&
3
1
2
&
3
)
&
3
3'
$;B' Dra* the cam (ro#ile #or #ollo*in" conditions:
,ollower type 9 roller follower, in lineG roller dia. 9 0mmG follower rises by &0mm with
65C in %;=
=
of cam rotation, falls by half the distance instantaneouslyG returns with
Bniform velocity in %;=
=
of cam rotation. ?ase circle radius 9 &=m.
1 2 3 4 5 6 7 ( ) 1& 11
a
*
c
d +
,
-
.
/
0
1
2
25
1285
O#T STRO$! R!T#RNSTRO$!
Cam (ro#ile:
45
2& R
1
2
3
4
5
6
7
(
)
1&
11
a
*
c
d
+
,
-
.
/
0
1
2
3+
$;;' Dra* the cam (ro#ile #or #ollo*in" conditions:
,ollower type 9 roller follower, offAset to the right by 0mmG lift 9 '=mmG base circle
radius 9 &0mmG roller radius 9 0mmG out stro*e with 65C, for %&=
=
cam rotationG dwell
for 3=
=
cam rotationG return stro*e during %&=
=
cam rotationG first half of return stro*e
with Bniform velocity and second half with BA(CG dwell for the remaining period.
1 2 3 4 5
6
7 ( )
1& 11 12 13 14
15 1617 1(
a
*
c
d +
,
-
.
/
0
1
2
'
4
9
p
:
r
3&
Cam (ro#ile:
30
12&3
6&3
12&3
6&3
1
2
3
4
5
6
7
(
)
1&
11
12
13
14
15
16
17
1(
a
*
c
d
+
,
-
.
/
0
1
2
'
4
9
p
:
r
5
$;<" A push rod of valve of an I> engine ascends with BA(C, along a path inclined to
the vertical at 3=
=
. #he same descends with 65C. #he base circle diameter of the cam is
0=mm and the push rod has a roller of 3=mm diameter, fitted to its end. #he axis of the
roller and the cam fall on the same vertical line. #he stro*e of the follower is &=mm. #he
angle of action for the outstro*e and the return stro*e is 3=
=
each, interposed by a dwell
period of 3=
=
. 7raw the profile of the cam.
33
2&
O#T STRO$!
D!LL R!T#RNSTRO$! D!LL
1
2
3 4 5 6
7 ( ) 1& 11 12
a
*
c
d
+
, -
.
/
0
1
2
Cam (ro#ile:
6&3
1
2
3
4
5
6
a
*
c
d +
,
7
(
)
1&
11
12
-
.
/
0
1
2
5& 66
16
6&3
6&3
6&3
34
>+B 0ears:
Introd!ctionD #he slip and creep in the belt or rope drives is a common phenomenon, in the
transmission of motion or power between two shafts. #he effect of slip is to reduce the
velocity ratio of the drive. In precision machine, in which a definite velocity ratio is
importance (as in watch mechanism, special purpose machines..etc", the only positive drive
is by means of gears or toothed wheels.
&riction 5heels: Kinematiclly, the motion and
power transmitted by gears is e1uivalent to that
transmitted by friction wheels or discs in contact
with sufficient friction between them. In order to
understand motion transmitted by two toothed
wheels, let us consider the two discs placed
together as shown in the figure +.%.
:hen one of the discs is rotated, the other disc will be rotate as long as the tangential force
exerted by the driving disc does not exceed the maximum frictional resistance between the
two discs. ?ut when the tangential force exceeds the frictional resistance, slipping will ta*e
place between the two discs. #hus the friction drive is not positive a drive, beyond certain
limit.
Kears are machine elements that transmit motion by means of successively engaging teeth.
#he gear teeth act li*e small levers. Kears are highly efficient (nearly <0W" due to primarily
rolling contact between the teeth, thus the motion transmitted is considered as positive.
Kears essentially allow positive engagement between teeth so high forces can be transmitted
while still undergoing essentially rolling contact. Kears do not depend on friction and do best
when friction is minimi2ed.
-ome common (laces that "ears can normally )e #o!nd are:
$rinting machinery parts @ewspaper Industry ?oo* binding machines
(otary die cutting
machines
$lastics machinery builders In/ection molding machinery
?low molding machinery Cotorcycle #ransmissions (street
and race applications"
5eavy earth moving to
personal vehicles
Agricultural e1uipment $olymer pumps 5igh volume water pumps for
municipalities
5igh volume vacuum
pumps
#urbo boosters for automotive
applications
Carine applications
?oat out drives 6pecial offshore racing drive
systems
>anning and bottling
machinery builders
5oists and >ranes >ommercial and Cilitary Cilitary offroad vehicles
3;
,igure +.%
operations
Automotive prototype and
reproduction
.ow volume automotive
production
6tamping presses
7iesel engine builders 6pecial gear box builders Cany different special
machine tool builders
>+; 0ear Classi#ication: Kears may be classified according to the relative position of the
axes of revolution. #he axes may be
%. Kears for connecting parallel shafts,
&. Kears for connecting intersecting shafts,
'. Kears for neither parallel nor intersecting shafts.
0ears #or connectin" (arallel sha#ts
%. -(!r "ears: 6pur gears are the most common type of gears. #hey have straight teeth,
and are mounted on parallel shafts. 6ometimes, many spur gears are used at once to
create very large gear reductions. )ach time a gear tooth engages a tooth on the other
gear, the teeth collide, and this impact ma*es a noise. It also increases the stress on the
gear teeth. #o reduce the noise and stress in the gears, most of the gears in your car are
helical.

Spur gears are the most commonly used gear type. #hey are characteri2ed by teeth, which
are perpendicular to the face of the gear. 6pur gears are most commonly available, and are
generally the least expensive.
Limitations: 6pur gears generally cannot be used when a direction change between the
two shafts is re1uired.
Ad,anta"es: 6pur gears are easy to find, inexpensive, and efficient.
&. Parallel helical "ears: #he teeth on helical gears are cut at an angle to the face of the
gear. :hen two teeth on a helical gear system engage, the contact starts at one end of
the tooth and gradually spreads as the gears rotate, until the two teeth are in full
engagement.
3<
E3ternal contact
Iinternal contact
Spur gears (Emerson Power Transmission Corp)
Helical "ears
$EmersonPo*er Transmission Cor(' Herrin$bone $ears
(or doubleAhelical gears"
#his gradual engagement ma*es helical gears operate much more smoothly and 1uietly than
spur gears. ,or this reason, helical gears are used in almost all car transmission.
?ecause of the angle of the teeth on helical gears, they create a thrust load on the gear when
they mesh. 7evices that use helical gears have bearings that can support this thrust load.
8ne interesting thing about helical gears is that if the angles of the gear teeth are correct,
they can be mounted on perpendicular shafts, ad/usting the rotation angle by <= degrees.
5elical gears to have the following differences from spur gears of the same si2eD
o #ooth strength is greater because the teeth are longer,
o Kreater surface contact on the teeth allows a helical gear to carry more load than a
spur gear
o #he longer surface of contact reduces the efficiency of a helical gear relative to a spur
gear
!ac) and pinion (#he rac* is li*e a gear whose axis is at
infinity."D Racks are straight gears that are used to convert
rotational motion to translational motion by means of a
gear mesh. (#hey are in theory a gear with an infinite pitch
diameter". In theory, the tor1ue and angular velocity of the
pinion gear are related to the ,orce and the velocity of the
rac* by the radius of the pinion gear, as is shown.
$erhaps the most wellA*nown application of a rac* is the rac* and pinion steering system
used on many cars in the past
0ears #or connectin" intersectin" sha#ts: Be,el "ears are useful when the direction of
a shaftXs rotation needs to be changed. #hey are usually mounted on shafts that are <=
degrees apart, but can be designed to wor* at other angles as well.
#he teeth on bevel gears can be straight, spiral or hypoid. 6traight bevel gear teeth actually
have the same problem as straight spur gear teeth, as each tooth engagesG it impacts the
corresponding tooth all at once.
4=

Just li*e with spur gears, the solution to this problem is to curve the gear teeth. #hese spiral
teeth engage /ust li*e helical teethD the contact starts at one end of the gear and progressively
spreads across the whole tooth.
Strai$ht be.el $ears Spiral be.el
$ears
8n straight and spiral bevel gears, the shafts must
be perpendicular to each other, but they must also
be in the same plane. #he hypoid gear, can engage
with the axes in different planes.
#his feature is used in many car differentials. #he
ring gear of the differential and the input pinion
gear are both hypoid. #his allows the input pinion
to be mounted lower than the axis of the ring gear.
,igure shows the input pinion engaging the ring
gear of the differential. 6ince the driveshaft of the
car is connected to the input pinion, this also
lowers the driveshaft. #his means that the
driveshaft doesnXt pass into the passenger compartment of the car as much, ma*ing more
room for people and cargo.
:either (arallel nor intersectin" sha#tsD 5elical gears may be used to mesh two shafts
that are not parallel, although they are still primarily use in parallel shaft applications. A
special application in which helical gears are used is a crossed gear mesh, in which the
two shafts are perpendicular to each other.

Crossed-helical gears
Worm and worm gear0 :orm gears are used when
large gear reductions are needed. It is common for
worm gears to have reductions of &=D%, and even up
to '==D% or greater.
4%
Hypoid $ears (Emerson Power Transmission Corp)
Cany worm gears have an interesting property that no other gear set hasD the worm can
easily turn the gear, but the gear cannot turn the worm. #his is because the angle on the
worm is so shallow that when the gear tries to spin it, the friction between the gear and
the worm holds the worm in place.
#his feature is useful for machines such as conveyor systems,
in which the loc*ing feature can act as a bra*e for the
conveyor when the motor is not turning. 8ne other very
interesting usage of worm gears is in the #orsen differential,
which is used on some highAperformance cars and truc*s.
>+= Terminolo"y #or -(!r 0ears
4&
&i"!re >-> -(!r 0ear
4'
Terminolo"y:
Addend!m: #he radial distance between the $itch >ircle and the top of the teeth.
Arc o# Action: Is the arc of the $itch >ircle between the beginning and the end of the
engagement of a given pair of teeth.
Arc o# A((roach: Is the arc of the $itch >ircle between the first point of contact of the gear
teeth and the $itch $oint.
Arc o# Recession: #hat arc of the $itch >ircle between the $itch $oint and the last point of
contact of the gear teeth.
Backlash: $lay between mating teeth.
Base Circle: #he circle from which is generated the involute curve upon which the tooth
profile is based.
Center Distance: #he distance between centers of two gears.
Chordal Addend!m: #he distance between a chord, passing through the points where the
$itch >ircle crosses the tooth profile, and the tooth top.
Chordal Thickness: #he thic*ness of the tooth measured along a chord passing through the
points where the $itch >ircle crosses the tooth profile.
Circ!lar Pitch: Cillimeter of $itch >ircle circumference per tooth.
Circ!lar Thickness: #he thic*ness of the tooth measured along an arc following the $itch
>ircle
Clearance: #he distance between the top of a tooth and the bottom of the space into which it
fits on the meshing gear.
4+
Contact Ratio: #he ratio of the length of the Arc of Action to the >ircular $itch.
Dedend!m: #he radial distance between the bottom of the tooth to pitch circle.
Diametral Pitch: #eeth per mm of diameter.
&ace: #he wor*ing surface of a gear tooth, located between the pitch diameter and the top of
the tooth.
&ace 5idth: #he width of the tooth measured parallel to the gear axis.
&lank: #he wor*ing surface of a gear tooth, located between the pitch diameter and the
bottom of the teeth
0ear: #he larger of two meshed gears. If both gears are the same si2e, they are both called
YgearsY.
Land: #he top surface of the tooth.
Line o# Action: #hat line along which the point of contact between gear teeth travels,
between the first point of contact and the last.
Mod!le: Cillimeter of $itch 7iameter to #eeth.
Pinion: #he smaller of two meshed gears.
Pitch Circle: #he circle, the radius of which is e1ual to the distance from the center of the
gear to the pitch point.
Diametral (itch: #eeth per millimeter of pitch diameter.
Pitch Point: #he point of tangency of the pitch circles of two meshing gears, where the .ine
of >enters crosses the pitch circles.
Press!re An"le: Angle between the .ine of Action and a line perpendicular to the .ine of
>enters.
Pro#ile -hi#t: An increase in the 8uter 7iameter and (oot 7iameter of a gear, introduced to
lower the practical tooth number or acheive a nonAstandard >enter 7istance.
Ratio: (atio of the numbers of teeth on mating gears.
Root Circle: #he circle that passes through the bottom of the tooth spaces.
Root Diameter: #he diameter of the (oot >ircle.
40
5orkin" De(th: #he depth to which a tooth extends into the space between teeth on the
mating gear.
>+< 0ear-Tooth Action
>+<+; &!ndamental La* o# 0ear-Tooth
Action
,igure 0.& shows two mating gear teeth, in
which
#ooth profile % drives tooth profile & by
acting at the instantaneous contact point 4.
#
5
#
6
is the common normal of the two
profiles.
#
5
is the foot of the perpendicular from 2
5
to #
5
#
6

#
6
is the foot of the perpendicular from 2
6
to #
5
#
6
.
Although the two profiles have different
velocities V
5
and V
6
at point 4, their velocities
along #
5
#
6
are e1ual in both magnitude and
direction. 8therwise the two tooth profiles
would separate from each other. #herefore, we
have
( ) % . +
& & & % % %
# 2 # 2
or
( ) & . +
% %
& &
&
%
# 2
# 2
:e notice that the intersection of the tangency #

5
#
6
and the line of center 2
5
2
6
is point
P, and from the similar triangles,
( ) ' . +
& & % %
P # 2 P # 2
#hus, the relationship between the angular velocities of the driving gear to the driven gear, or
,elocity ratio, of a pair of mating teeth is
43
&i"!re ?-< T*o "earin" tooth (ro#iles
( ) + . +
%
&
&
%
P 2
P 2
$oint P is very important to the velocity ratio, and it is called the (itch (oint. $itch point
divides the line between the line of centers and its position decides the velocity ratio of the
two teeth. #he above expression is the #!ndamental la* o# "ear-tooth action.
,rom the e1uations +.& and +.+, we can write,
( ) 0 . +
% %
& &
%
&
&
%
# 2
# 2
P 2
P 2

which determines the ratio of the radii of the two base circles. #he radii of the base circles is
given byD
( ) 3 . + cos cos
& & & % % %
P 2 # 2 and P 2 # 2
Also the centre distance between the base circlesD
( ) 4 . +
cos cos cos
& & % % & & % %
& % & %

# 2 # 2 # 2 # 2
P 2 P 2 2 2
+
+ +
where is the pressure angle or the angle of obli1uity. It is the angle which the common
normal to the base circles ma*e with the common tangent to the pitch circles.
>+<+< Constant 9elocity Ratio
,or a constant velocity ratio, the position of P should remain unchanged. In this case, the
motion transmission between two gears is e1uivalent to the motion transmission between
two imagined slipAless cylinders with radius !
5
and !
6
or diameter
5
and
6
. :e can get two
circles whose centers are at 2
5
and 2
6
, and through pitch point P. #hese two circles are
termed (itch circles. #he velocity ratio is e1ual to the inverse ratio of the diameters of pitch
circles. #his is the fundamental law of gearAtooth action.
#he #!ndamental la* o# "ear-tooth action may now also be stated as follow (for gears with
fixed center distance"
A common normal (the line of action" to the tooth profiles at their point of contact must, in
all positions of the contacting teeth, pass through a fixed point on the lineAofAcenters called
the pitch point
Any two curves or profiles engaging each other and satisfying the law of gearing are
con/ugate curves, and the relative rotation speed of the gears will be constant(constant
velocity ratio".
44
>+<+= Con7!"ate Pro#iles
#o obtain the expected .elocity ratio of two tooth profiles, the normal line of their profiles
must pass through the corresponding pitch point, which is decided by the .elocity ratio. #he
two profiles which satisfy this re1uirement are called con7!"ate (ro#iles. 6ometimes, we
simply termed the tooth profiles which satisfy the -unda&ental law o- $ear-tooth action the
con7u$ate pro-iles.
Although many tooth shapes are possible for which a mating tooth could be designed to
satisfy the fundamental law, only two are in general useD the cycloidal and in.olute profiles.
#he involute has important advantagesG it is easy to manufacture and the center distance
between a pair of involute gears can be varied without changing the velocity ratio. #hus
close tolerances between shaft locations are not re1uired when using the involute profile. #he
most commonly used con7u$ate tooth curve is the in.olute cur.e. ()rdman - 6andor".
conjugate action D It is essential for correctly meshing gears, the si2e of the teeth ( the
module " must be the same for both the gears.
Another re1uirement A the shape of teeth necessary for the speed ratio to remain constant
during an increment of rotationG this behavior of the contacting surfaces (ie. the teeth flan*s"
is *nown as conjugate action.
>+= In,ol!te C!r,e
#he following examples are involute spur gears. :e use the word in.olute because the
contour of gear teeth curves inward. Kears have many terminologies, parameters and
principles. 8ne of the important concepts is the .elocity ratio/ which is the ratio of the rotary
velocity of the driver gear to that of the driven gears.
>+; 0eneration o# the In,ol!te C!r,e
#he curve most commonly used for gearAtooth
profiles is the involute of a circle. #his in,ol!te
c!r,e is the path traced by a point on a line as
the line rolls without slipping on the
circumference of a circle. It may also be defined
4;
&i"!re >+= In,ol!te c!r,e
as a path traced by the end of a string, which is originally wrapped on a circle when the
string is unwrapped from the circle. #he circle from which the involute is derived is called
the )ase circle.
>+< Pro(erties o# In,ol!te C!r,es
%. #he line rolls without slipping on the circle.
&. ,or any instant, the instantaneous center of the motion of the line is its point of tangent
with the circle.
@oteD :e have not defined the term instantaneous center previously. #he instantaneo!s
center or instant center is defined in two ways.
%. :hen two bodies have planar relative motion, the instant center is a point on one body
about which the other rotates at the instant considered.
&. :hen two bodies have planar relative motion, the instant center is the point at which the
bodies are relatively at rest at the instant considered.
'. #he normal at any point of an involute is tangent to the base circle. ?ecause of the
property (&" of the involute curve, the motion of the point that is tracing the involute is
perpendicular to the line at any instant, and hence the curve traced will also be
perpendicular to the line at any instant.
#here is no involute curve within the base circle.
Cycloidal (ro#ile:
E(icycliodal Pro#ile:
4<

Hy(ocycliodal Pro#ile:
The in,ol!te (ro#ile o# "ears has im(ortant ad,anta"esE
Z It is easy to manufacture and the center distance between a pair of involute gears can
be varied without changing the velocity ratio. #hus close tolerances between shaft
locations are not re1uired. #he most commonly used con7u$ate tooth curve is the
in.olute cur.e. ()rdman - 6andor".
&. In involute gears, the pressure angle, remains constant between the point of tooth
engagement and disengagement. It is necessary for smooth running and less wear of gears.
?ut in cycloidal gears, the pressure angle is maximum at the beginning of engagement,
reduces to 2ero at pitch point, starts increasing and again becomes maximum at the end of
engagement. #his results in less smooth running of gears.
'. #he face and flan* of involute teeth are generated by a single curve where as in cycloidal
gears, double curves (i.e. epiAcycloid and hypoAcycloid" are re1uired for the face and flan*
respectively. #hus the involute teeth are easy to manufacture than cycloidal teeth.
In involute system, the basic rac* has straight teeth and the same can be cut with simple
tools.
Ad,anta"es o# Cycloidal "ear teeth:
%. 6ince the cycloidal teeth have wider flan*s, therefore the cycloidal gears are stronger than
the involute gears, for the same pitch. 7ue to this reason, the cycloidal teeth are preferred
specially for cast teeth.
&. In cycloidal gears, the contact ta*es place between a convex flan* and a concave surface,
where as in involute gears the convex surfaces are in contact. #his condition results in less
wear in cycloidal gears as compared to involute gears. 5owever the difference in wear is
negligible
;=
'. In cycloidal gears, the interference does not occur at all. #hough there are advantages of
cycloidal gears but they are outweighed by the greater simplicity and flexibility of the
involute gears.
Pro(erties o# in,ol!te teeth:
%. A normal drawn to an involute at pitch point is a tangent to the base circle.
&. $ressure angle remains constant during the mesh of an involute gears.
'. #he involute tooth form of gears is insensitive to the centre distance and depends only on
the dimensions of the base circle.
+. #he radius of curvature of an involute is e1ual to the length of tangent to the base circle.
0. ?asic rac* for involute tooth profile has straight line form.
3. #he common tangent drawn from the pitch point to the base circle of the two involutes is
the line of action and also the path of contact of the involutes.
4. :hen two involutes gears are in mesh and rotating, they exhibit constant angular velocity
ratio and is inversely proportional to the si2e of base circles. (.aw of Kearing or con/ugate
action"
;. Canufacturing of gears is easy due to single curvature of profile.
#he %+[
8
co&posite syste& is used for general purpose gears.
It is stronger but has no interchangeability. #he tooth profile of this system has cycloidal
curves at the top and bottom and involute curve at the middle portion.
#he teeth are produced by formed milling cutters or hobs.
System of Gear Teeth
The following four systems of gear teeth are commonly used in practice:
1. 14
O
Composite system
2. 14
O
Full depth involute system
. 2!
O
Full depth involute system
4. 2!
O
"tu# involute system
;%
#he tooth profile of the %+[
8
-ull depth in.olute syste& was developed using gear hobs for
spur and helical gears.
#he tooth profile of the &=
o
-ull depth in.olute syste& may be cut by hobs.
#he increase of the pressure angle from %+[
o
to &=
o
results in a stronger tooth, because the
tooth acting as a beam is wider at the base.
#he 68
o
stub in.olute syste& has a strong tooth to ta*e heavy loads.
Involutometry
#he study of the geometry of the involute profile for gear teeth is called involumetry.
>onsider an involute of base circle radius ra and two points ? and > on the involute as
shown in figure. 7raw normal to the involute from the points ? and >. #he normal ?) and
>, are tangents to the ?ase circle.
.et
r
a
9 base circle radius of gear
r
b
9 radius of point ? on the involute
r
c
9 radius of point > on the involute
and
b
9 pressure angle for the point ?
c
9 pressure angle for the point >
;&
ra
$itch >ircle
Addendum >ircle
?ase >ircle
)
,
?
>
Kear
8
A
r
t
b
9 tooth thic*ness along the arc at ?
t
c
9 tooth thic*ness along the arc at >
,rom the properties of the InvoluteD
+rc +E 9 %en$th *E and
+rc +1 9 %en$th "1
6imilarlyD
;'
( ) & cos
" % ( cos
c c a
b b a
r r
r r
2"1
and 2*E 1ro&
c c b b
r r
,here-ore
cos cos
( )
1
]
1

-unction in.olute called
is Expression
In.
+2E +2*
2E
*E
2E
+rc+E
+2E
b b
b b b
b b b
b

tan
tan .
tan
tan
c c c
" " c
c
In.
+21 +2"
21
*E
21
+rc+1
+21

tan .
tan
tan
b
b
b b
b
b
r
t
r
t
+2* +2
* po the +t
&
tan
&
int
+
+

c
c
c c
b
c
r
t
r
t
+2" +2
" po the +t
&
tan
&
int
+
+

Bsing this e1uation and *nowing tooth thic*ness at any point on the tooth, it is possible to
calculate the thic*ness of the tooth at any point
Path o# contact:
>onsider a pinion driving wheel as shown in figure. :hen the pinion rotates in cloc*wise,
the contact between a pair of involute teeth begins at 4 (on the near the base circle of pinion
or the outer end of the tooth face on the wheel" and ends at % (outer end of the tooth face on
the pinion or on the flan* near the base circle of wheel".
M# is the common normal at the point of contacts and the common tangent to the base
circles. #he point 4 is the intersection of the addendum circle of wheel and the common
tangent. #he point % is the intersection of the addendum circle of pinion and common
tangent.
#he length of path of contact is the length of common normal cutAoff by the addendum
circles of the wheel and the pinion. #hus the length of part of contact is 4% which is the sum
;+
$itch
>ircle
$inion
:heel
8&
8%
$
?ase >ircle
?ase >ircle
$itch
>ircle
Addendum
>ircles
r
ra
(A
(
@
K
.
C
" at thic)ness tooth
r
r
t
in. in. t
r
t
in.
r
t
in.
r
t
r
t
equations abo.e the Equatin$
c
b
b
c b c
c
c
c
b
b
b
c
c
c c
b
b
b b
,
_
+
+ +
+ +
&
&
. .
&
.
&
.
&
tan
&
tan
D

of the parts of path of contacts 4P and P%. >ontact length 4P is called as (ath o# a((roach
and contact length P% is called as (ath o# recess.
r
a
9 2
5
% 9 (adius of addendum circle of pinion,
and
!
+
9 2
6
4 9 (adius of addendum circle of wheel
r 9 2
5
P 9 (adius of pitch circle of pinion,
and
! 9 2
6
P 9 (adius of pitch circle of wheel.
(adius of the base circle of pinion 9 2
5
M 9 2
5
P cos 9 r cos
and
radius of the base circle of wheel 9 26# 9 26P cos 9 ! cos
,rom right angle triangle 2
6
4#
$ath of approachD 4P
6imilarly from right angle triangle 2
5
M%
$ath of recessD P%
.ength of path of contact 9 4%
;0
( ) ( )
( )
& & &
&
&
&
&
cos ! !
# 2 4 2 4#
+

sin sin
&
! P 2 P#
( ) sin cos
& & &
! ! !
P# 4# 4P
+

( ) ( )
( )
& & &
&
%
&
%
cos r r
M 2 % 2 M%
a

sin sin
%
r P 2 MP
( ) sin cos
& & &
r r r
MP M% P%
a

( ) ( ) ( ) sin cos cos
& & & & & &
r ! r r ! !
P% 4P 4%
a +
+ +
+
Arc o# contact: Arc of contact is the path traced by a point on the pitch circle from the
beginning to the end of engagement of a given pair of teeth. In ,igure, the arc of contact is
EP1 or GPH.
>onsidering the arc of contact GPH.
#he arc GP is *nown as arc o- approach and the arc PH is called arc o- recess. #he angles
subtended by these arcs at 8
%
are called an$le o- approach and an$le o- recess respectively.
.ength of arc of approach 9 arc GP
.ength of arc of recess 9 arc PH
.ength of arc contact 9 arc GPH 9 arc GP : arc PH
Contact Ratio $or :!m)er o# Pairs o# Teeth in Contact'
#he contact ratio or the number of pairs of teeth in contact is defined as the ratio of the
length of the arc of contact to the circular pitch.
Cathematically,
;3
C
.
K
@
(
(A
ra
r
Addendum
>ircles
$itch
>ircle
?ase >ircle
$
8%
8&
$inion
$itch
>ircle
5
,
)
K
Kear
$rofile
:heel
cos cos
4P approach o- path o- %en$ht

cos cos
P% recess o- path o- %en$ht

cos cos cos cos
contact o- path o- %en$th 4% P% 4P
+
"
P
contact o- arc the o- %en$th
ratio "ontat
:hereD and & 9 Codule.
;4
& pitch "ircular P
"

:!m)er o# Pairs o# Teeth in Contact
>ontinuous motion transfer re1uires t*o (airs o# teeth in contact at the ends o# the (ath
o# contact, though there is only one pair in contact in the middle of the path, as in ,igure.
#he average number of teeth in contact is an important parameter A if it is too low due to the
use of inappropriate profile shifts or to an excessive centre distance.#he manufacturing
inaccuracies may lead to loss of *inematic continuity A that is to impact, vibration and noise.
#he average number of teeth in contact is also a guide to load sharing between teethG it is
termed the contact ratio
Len"th o# (ath o# contact #or Rack and Pinion:
;;
$
r
(A>K
c
#
a
b
h
$c
$I#>5 .I@)
?ase >ircle
(A>K
$I@I8@
$I#>5 .I@)
.et
r 9 $itch circle radius of the pinion 9 8
%
$
9 $ressure angle
r
a
. 9 Addendu m radius of the pinion
a 9 Addendum of rac*
E1 9 .ength of path of contact
EF F Path o# a((roach EP G Path o# recess P&
1ro& trian$le 2
5
#10
E3ercise (ro)lems re#er (resentation slides
Inter#erence in In,ol!te 0ears
;<

cos cos
sin sin
D
" ' (
" & (
sin
" % ( sin
% %
%
%
r P 2 # 2
r P 2 #P
#P 2 trian$le 1ro&
#P #1 P1 recess o- Path
a
EP approach o- Path
EP
a
EP
+P

( ) ( )
( )
( )
sin cos
sin
sin cos
" ' (
cos
&
%
& & &
&
%
& & &
&
%
& & &
&
%
&
%
&
%
r r r
a
P1 EP E1 contact o- len$th o- Path
r r r P1 racess o- Path
equation the in .alues #1 and #P n$ Substituti
r r # 2 1 2 #1
a
a
a
+
+

$itch
>ircle
$inion
:heel
8&
8%
$
?ase >ircle
?ase >ircle
$itch
>ircle
Addendum
>ircles
r
ra
(A
(
@
K
.
C
,igure shows a pinion and a gear in mesh with their center as 8
%
and8
&
respectively. M# is
the common tangent to the basic circles and 4% is the path of contact between the two
mating teeth.
>onsider, the radius of the addendum circle of pinion is increased to 8
%
@, the point of
contact % will moves from % to #. If this radius is further increased, the point of contact %
will be inside of base circle of wheel and not on the involute profile of the pinion.
#he tooth tip of the pinion will then
undercut the tooth on the wheel at the
root and damages part of the involute
profile. #his effect is *nown as
inter-erence, and occurs when the teeth
are being cut and wea*ens the tooth at its
root.
In general, the phenomenon, when the tip
of tooth undercuts the root on its mating
gear is *nown as interference.
6imilarly, if the radius of the addendum circles of the wheel increases beyond 8
&
C, then the
tip of tooth on wheel will cause interference with the tooth on pinion. #he points C and @
are called interference points.
Interference may be avoided if the path of the contact does not extend beyond interference
points. #he limiting value of the radius of the addendum circle of the pinion is 8
%
@ and of
the wheel is 8
&
C.
#he interference may only be prevented, if the point of contact between the two teeth is
always on the involute profiles and if the addendum circles of the two mating gears cut the
common tangent to the base circles at the points of tangency.
:hen interference is /ust prevented, the maximum length of path of contact is C@.
<=
%heel
&ndercut 'inion
sin r MP approach o- path Maxi&u&
sin ! P# recess o- path Maxi&u&
( ) sin ! r P# MP M#
M# contact o- path o- len$th Maxi&u&
+ +
( )
( )
tan
cos
sin
! r
! r
contact o- arc o- len$th Maxi&u& +
+
Methods to a,oid Inter#erence

%. 5eight of the teeth may be reduced.
&. Bnder cut of the radial flan* of the pinion.
'. >entre distance may be increased. It leads to increase in pressure angle.
+. ?y tooth correction, the pressure angle, centre distance and base circles remain unchanged,
but tooth thic*ness of gear will be greater than the pinion tooth thic*ness.
Minimum number of teeth on the pinion avoid Interference
#he pinion turns cloc*wise and drives the gear as shown in ,igure.
$oints C and @ are called interference points. i.e., if the contact ta*es place beyond C and
@, interference will occur.
#he limiting value of addendum circle radius of pinion is 8
%
@ and the limiting value of
addendum circle radius of gear is 8
&
C. >onsidering the critical addendum circle radius of
gear, the limiting number of teeth on gear can be calculated.
.et
; 9 pressure angle
! 9 pitch circle radius of gear 9 [&,
r 9 pitch circle radius of pinion 9 [&t
, < t 9 number of teeth on gear - pinion
& 9 module
<%
$itch
>ircle
$inion
:heel
8&
8%
$
?ase >ircle
?ase >ircle
$itch
>ircle
Cax.
Addendum
>ircles
r
ra
(A
(
@
K
.
C
a
w
9 Addendum constant of gear (or" wheel
a
p
9 Addendum constant of pinion
a
w
. & 9 Addendum of gear a
p
. & 9 Addendum of pinion
G 9 Kear ratio 9 ,=t
,rom triangle 8
%
@$, Applying cosine rule
.imiting radius of the pinion addendum circleD
+ddendu& o- the pinion 9 2
5
# - 2
5
P
5
# - 2
5
P
<&
( )
( )

sin sin
sin & %
sin & sin
%
sin & sin
<= cos sin & sin
cos &
&
& &
&
&
& &
&
& & & &
& & &
% %
& &
%
&
%
! P 2 P#
r
!
r
!
r
r
!
r
!
r
! r ! r
! r ! r
P# 2 P# P 2 #P P 2 # 2

1
]
1
,
_
+ +
1
]
1
+ +
+ +
+ +
+
&
%
&
&
%
&
%
sin & %
&
sin & %
1
]
1
,
_
+ +
1
]
1
,
_
+ +
t
,
t
, &t
r
!
r
!
r # 2
1
1
1
]
1
,
_
,
_
+ +
1
]
1
,
_
+ +
% sin & %
&
&
sin & %
&
&
%
&
&
%
&
t
,
t
, &t
&t
t
,
t
, &t
& a
p
( ) ( )
1
]
1
+ +
1
1
1
]
1
,
_
,
_
+ +
% sin & %
&
% sin & %
&
&
%
&
&
%
&
G G
a
t
t
,
t
, t
a
p
p
,he equation $i.es &ini&u& nu&ber o- teeth required on the pinion to a.oid inter-erence.
I- the nu&ber o- teeth on pinion and $ear is sa&e0 G95
%. %+ [
8
>omposite system 9 %&
&. %+ [
8
,ull depth involute system 9 '&
'. &=
8
,ull depth involute system 9 %;
+. &=
8
6tub involute system 9 %+
Minim!m n!m)er o# teeth on the *heel a,oid Inter#erence
,rom triangle 8&C$, applying cosine rule and simplifying, #he limiting radius of wheel addendum
circleD
6
M- 2
6
P
<'
( )
1
]
1
% sin ' %
&
&
%
&
p
a
t
$itch
>ircle
$inion
:heel
8&
8%
$
?ase >ircle
?ase >ircle
$itch
>ircle
Cax.
Addendum
>ircles
r
ra
(A
(
@
K
.
C
&
%
&
&
%
&
&
sin & %
&
sin & %
1
]
1
,
_
+ +
1
]
1
,
_
+ +
,
t
,
t &,
!
r
!
r
! M 2
,he equation $i.es &ini&u& nu&ber o- teeth required on the wheel to a.oid inter-erence.
Minim!m n!m)er o# teeth on the (inion #or in,ol!te rack to a,oid Inter#erence
#he rac* is part of toothed wheel of
infinite diameter. #he base circle
diameter and profile of the involute
teeth are straight lines.
<+
1
1
1
]
1
,
_
,
_
+ + % sin & %
&
&
%
&
,
t
,
t &,
& a
w
1
1
1
]
1
,
_
,
_
+ + % sin & %
&
&
%
&
,
t
,
t ,
a
w
1
1
1
]
1

,
_
,
_
+ +
% sin &
% %
%
&
&
%
&
G G
a
,
W
$I#>5 .I@)
$c
#
h
a
b (A>K
c
$I#>5 .I@)
$I@I8@
(A>K
C
.
5
$
K
L+7
t % M/4/'<' 4<'*+r 9, 7++7. 94 7.+ p/4/94
r % P/7c. c/rc2+ rad/<; 9, 7.+ p/4/94 % = mt
% Pr+;;<r+ a4-2+
A
R
.m % Add+4d<' 9, rac1
#he straight profiles of the rac* are tangential to the pinion profiles at the point of contact
and perpendicular to the tangent PM. $oint . is the limit of interference.
+ddendu& o- the rac)0
Backlash:
#he gap between the nonAdrive face of the pinion tooth and the ad/acent wheel tooth is
*nown as acklash.
If the rotational sense of the pinion were to reverse, then a period of unrestrained pinion
motion would ta*e place until the bac*lash gap closed and contact with the wheel tooth reA
established impulsively.
?ac*lash is the error in motion that occurs when gears change direction. #he term Ybac*lashY
can also be used to refer to the si2e of the gap, not /ust the phenomenon it causesG thus, one
could spea* of a pair of gears as having, for example, Y=.% mm of bac*lash.Y
A pair of gears could be designed to have 2ero bac*lash, but this would presuppose
perfection in manufacturing, uniform thermal expansion characteristics throughout the
system, and no lubricant.
#herefore, gear pairs are designed to have some bac*lash. It is usually provided by reducing
the tooth thic*ness of each gear by half the desired gap distance.
<0
( )
&
&
&
&
sin
&
D ce interferen
sin
&
sin
sin
sin sin
sin
!
!
+
t a.oid ,o
&t
r
2P
2P
P% %H & +

In the case of a large gear and a small pinion, however, the bac*lash is usually ta*en entirely
off the gear and the pinion is given full si2ed teeth.
?ac*lash can also be provided by moving the gears farther apart. ,or situations, such as
instrumentation and control, where precision is important, bac*lash can be minimised
through one of several techni1ues.
.et
r 9 standard pitch circle radius of pinion
! 9 standard pitch circle radius of wheel
c 9 standard centre distance 9 r :!
r> 9 operating pitch circle radius of pinion
!> 9 operating pitch circle radius of wheel
c> 9 operating centre distance 9 r> : !>
; 9 6tandard pressure angle
;> 9 operating pressure angle
h 9 tooth thic*ness of pinion on standard pitch circle9 p=6
<3
CX
@X
(
(X
rX
r
?ase >ircle
?ase >ircle
$
8%
8&
C
@
(
(A
ra
r
$
8%
8&
:heel
$inion
6tandard
(cutting"
$itch >ircle
6tandard
(cutting"
$itch >ircle
c
6tandard
(cutting"
$itch >ircle
6tandard
(cutting"
$itch >ircle
c
cX
8perating
$itch >ircle
X
X
1i$ure a
$inion
1i$ure b
:heel
h> 9 tooth thic*ness of pinion on operating pitch circle
.et
H 9 tooth thic*ness of gear on standard pitch circle
H5 9 tooth thic*ness of gear on operating pitch circle
p 9 standard circular pitch 9 &\ r/ t 9 &\(/#
p> 9 operating circular pitch 9 &\ r%/t 9 &\(%/#
?" 9 change in centre distance
* 9 ?ac*lash
t 9 number of teeth on pinion
, 9 number of teeth on gear.
Involute gears have the invaluable ability of providing con/ugate action when the gearsX
centre distance is varied either deliberately or involuntarily due to manufacturing and/or
mounting errors.
O4 7.+ 9p+ra7/4- p/7c. c/rc2+>
<4
1
]
1

%
X cos
cos
X cos
cos
X
X cos
cos
X
cos X cos X
X X X

c c c c c c #ow
c c
c c
c
c
!
!
r
r
" % ( X X X * H h p
*ac)lash thic)ness tooth o- su& pitch 2peratin$
+ +
+
1
]
1
+
1
]
1
+
!
h
in. in. ! H
r
h
in. in. r h
try in.oluto&e *y
&
X . . X & X
&
X . . X & X
D

S<*;7/7<7/4- h? a4d H? /4 7.+ +:<a7/94 @1A>
#here is an infinite number of possible centre distances for a given pair of profile shifted
gears, however we consider only the particular case *nown as the e!tended centre distance.
:on -tandard 0ears:
#he important reason for using non standard gears are to eliminate undercutting, to prevent
interference and to maintain a reasonable contact ratio.
#he two main nonA standard gear systemsD
(%" .ong and short Addendum system and
(&" )xtended centre distance system.
.ong and 6hort Addendum 6ystemD
#he addendum of the wheel and the addendum of the pinion are generally made of e1ual
lengths.
5ere the profile/rac* cutter is advanced to a certain increment towards the gear blan* and
the same 1uantity of increment will be withdrawn from the pinion blan*.
<;
( ) ( )
* in. c in. c
c
c
c
c
h p
* ! r in. ! r in.
!
!
r
r
h p
*
!
h
in. in. !
r
h
in. in. r p
+ +
,
_
+
+ + + +
,
_
+
+
1
]
1
+ +
1
]
1
+
X . X & . X &
X X
X
X X X . & X X . &
X X
X
&
X . . X &
&
X . . X & X

[ ]
[ ]
[ ]

. X . X &
X
X
&
. X . X &
X
&
&
&
X &
. X . X &
X
&
in. in. c
c
c
r r
t
*
in. in. c
c
c
t
r
t
r
*
in. in. c
c
c
h p *
+
,
_

+
+
[ ]
[ ]

. X . X &
. X . X &
X
X
&
in. in. c * *ac)lash
in. in. c
r
r
r r
t
*

+
,
_

#herefore an increased addendum for the pinion and a decreased addendum for the gear is
obtained. #he amount of increase in the addendum of the pinion should be exactly e1ual to
the addendum of the wheel is reduced.
#he effect is to move the contact region from the pinion centre towards the gear centre, thus
reducing approach length and increasing the recess length. In this method there is no change
in pressure angle and the centre distance remains standard.
E3tended centre distance system:
(eduction in interference with constant contact ratio can be obtained by increasing the centre
distance. #he effect of changing the centre distance is simply in increasing the pressure
angle.
In this method when the pinion is being cut, the profile cutter is withdrawn a certain amount
from the centre of the pinion so the addendum line of the cutter passes through the
interference point of pinion. #he result is increase in tooth thic*ness and decrease in tooth
space.
@ow If the pinion is meshed with the gear, it will be found that the centre distance has been
increased because of the decreased tooth space. Increased centre distance will have two
undesirable effects.
:%TE: Please re#er (resentation slides also #or more #i"!reD (hotos and e3ercise
(ro)lems
Re#erences:
%&. Theory o# Machines and Mechanisms by Joseph )dward 6higley and John Joseph
%'. Kinematics and Dynamics o# Machines by Keorge 5.Cartin. McGraw-Hill
Publications.
%+. Mechanisms and Dynamics o# Machinery by 5amilton 5. Cabie and ,red :.
%0. Theory o# Machines by L.$.6ingh. hanpat !ai and "o.
%3. The Theory o# Machines thro!"h sol,ed (ro)lems by J.6.(ao. #ew a$e
%4. A te3t )ook o# Theory o# Machines by 7r.(.K.?ansal. %ax&i Publications 'P( %td.
;C+ Internet: Many 5e) )ased e notes
<<
>hapter 0D Kears #rains
A gear train is two or more gear wor*ing together by meshing their teeth and turning each other in a
system to generate power and speed. It reduces speed and increases tor1ue. #o create large gear ratio,
gears are connected together to form gear trains. #hey often consist of multiple gears in the train.
#he most common of the gear train is the gear pair connecting parallel shafts. #he teeth of this type
can be spur, helical or herringbone. #he angular velocity is simply the reverse of the tooth ratio.
Any combination of gear wheels employed to transmit motion from one
shaft to the other is called a gear train. #he meshing of two gears may be
ideali2ed as two smooth discs with their edges touching and no slip
between them. #his ideal diameter is called the $itch >ircle 7iameter
($>7" of the gear.
-im(le 0ear Trains
#he typical spur gears as shown in diagram. #he direction of rotation is reversed from one gear to
another. It has no affect on the gear ratio. #he teeth on the gears must all be the same si2e so if gear A
advances one tooth, so does ? and >.
,he .elocity . o- any point on the circle &ust be the sa&e -or all the $ears/ otherwise they would be
slippin$.
%==
(Idler $ear"
GE+! @"@ GE+! @*@
GE+! @+@
.
.
"
*
.
module
module
&esh would not rwise they $ears othe
all e sa&e -or &ust be th
and

t
9 & 9
in rp& # 9 speed &eter/ circle dia 9 Pitch
r/ on the $ea o- teeth t 9 nu&ber
r 9
cle. . 9 on the cir .elocity . 9 linear

. r .elocity 9 an$ula
9 & t and 9 & t A 9 & t
t
9
t
9
t
& 9
" " * * + +
"
"
*
*
+
+

&
" " * * + +
" " * * + +
" " * * + +
" " * * + +
"
"
*
*
+
+
t # t # t #
re. o- ter&s in or
t t t
t & t & t &

.

min /
& & &

+pplication0
a( to connect $ears where a lar$e center distance is required
b( to obtain desired direction o- &otion o- the dri.en $ear ' "W or ""W(
c( to obtain hi$h speed ratio
Tor2!e H E##iciency
,he power trans&itted by a torque , #-& applied to a sha-t rotatin$ at # re.=&in is $i.en by0
In an ideal $ear box/ the input and output powers are the sa&e soA
It follows that if the speed is reduced, the tor1ue is increased and vice versa. In a real gear box, power
is lost through friction and the power output is smaller than the power input. #he efficiency is defined
asD
?ecause the tor1ue in and out is different, a gear box has to be clamped in order to stop the case or
body rotating. A holding tor1ue #
'
must be applied to the body through the clamps.
#he total tor1ue must add up to 2ero.
,5 : ,6 : ,B 9 8
If we use a convention that antiAcloc*wise is positive and cloc*wise is negative we can determine the
holding tor1ue. #he direction of rotation of the output shaft depends on the design of the gear box.
Compound "ear train
%=%
3=
& , #
P

G!
#
#
,
,
, # , #
, # , #
P

&
%
%
&
& & % %
& & % %
3=
&
3=
&
% %
& &
% %
& &
3= &
3= &
, #
, #
, #
, #
In Power
out Power
GE+! @+@
GE+! @*@
GE+! @"@
GE+! @@
"o&pound Gears
+
"
*
2utput
Input
>ompound gears are simply a chain of simple gear
trains with the input of the second being the output of the
first. A chain of two pairs is shown below. Kear ? is
the output of the first pair and gear > is the input of the
second pair. Kears ? and > are loc*ed to the same shaft
and revolve at the same speed.
,or large velocities ratios, compound gear train
arrangement is preferred.
,he .elocity o- each tooth on + and * are the sa&e so0
+
t
+
9
*
t
*
-as they are si&ple $ears.
%i)ewise -or " and /
"
t
"
9
.
Re,erted 0ear train
#he driver and driven axes lies on the same line. #hese are used in speed reducers, cloc*s and
machine tools.
If ! and ,9$itch circle radius - number of teeth of the gear
!
A
: !
*
9 !
"
: !
and t
+
: t
*
9 t
"
: t
%=&
"
+
*
*
" +
"

+
* *
" +
"

"
+
* *
+
"
"
+
*
*
+
t
t
t
t
t
t
t
t
,
t
and
t
t
t t
and
t t

( )
( )
G!
t
t
t
t
2ut #
In #
as written
be &ay ratio $ear ,he
# Since
G!
t
t
t
t
sha-t sa&e the on are " and * $ear Since
"
+
*
"
+
*
+
" *

D
&

" +
*
+
t t
t t
#
#
G!

Epic#clic gear train:
)picyclic means one gear revolving upon and
around another. #he design involves planet and
sun gears as one orbits the other li*e a planet
around the sun. 5ere is a picture of a typical gear
box.
#his design can produce large gear ratios in a
small space and are used on a wide range of
applications from marine gearboxes to electric
screwdrivers.
Basic Theory
%='
+r& @+@
*
"
Planet wheel
Sun wheel
+r&
*
"
#he diagram shows a gear ? on the end of an arm. Kear
? meshes with gear > and revolves around it when the
arm is rotated. ? is called the planet gear and > the sun.
,irst consider what happens when the planet gear orbits
the sun gear.
8bserve point p and you will see that gear * also revolves once on its own axis. Any ob/ect orbiting
around a center must rotate once. @ow consider that * is free to rotate on its shaft and meshes with >.
6uppose the arm is held stationary and gear " is rotated once. * spins about its own center and the
number of revolutions it ma*es is the ratio
*
"
t
t
. * will rotate by this number for every complete
revolution of ".
@ow consider that > is unable to rotate and the arm + is revolved once. Kear * will revolve
*
"
t
t
+ %

because of the orbit. It is this extra rotation that causes confusion. 8ne way to get round this is to
imagine that the whole system is revolved once. #hen identify the gear that is fixed and revolve it
bac* one revolution. :or* out the revolutions of the other gears and add them up. #he following
tabular method ma*es it easy.
6uppose gear " is fixed and the arm + ma*es one revolution. 7etermine how many revolutions the
planet gear * ma*es.
6tep % is to revolve everything once about the center.
6tep & identify that " should be fixed and rotate it bac*wards one revolution *eeping the arm fixed as
it should only do one revolution in total. :or* out the revolutions of *.
6tep ' is simply add them up and we find the total revs of " is 2ero and for the arm is %.
Step $ction $ B C
% (evolve all once % % %
&
(evolve " by H% revolution,
*eeping the arm fixed
=
*
"
t
t
+
A%
' Add %
*
"
t
t
+ %
=
#he number of revolutions made by * is
,
_
+
*
"
t
t
%
@ote that if > revolves A%, then the direction of *
is opposite so
*
"
t
t
+
.

E3am(le: A simple epicyclic gear has a fixed sun gear with %== teeth and a planet gear with 0=
teeth. If the arm is revolved once, how many times does the planet gear revolve]
-ol!tion:
Step $ction $ B C
% (evolve all once % % %
&
(evolve " by H% revolution,
*eeping the arm fixed
=
0=
%==
+ A%
' Add ; = B
%=+
0ear B makes = re,ol!tions #or e,ery one o# the arm+
#he design so far considered has no identifiable input and output. :e need a design that puts an input
and output shaft on the same axis. #his can be done several ways.
Pro)lem ;: In an ecicyclic gear train shown in figure, the arm A is fixed to the shaft 6. #he wheel ?
having %== teeth rotates freely on the shaft 6. #he wheel , having %0= teeth driven separately. If the
arm rotates at &== rpm and wheel , at %== rpm in the same directionG find (a" number of teeth on the
gear > and (b" speed of wheel ?.
Solution:
,
*
9588A ,
1
95C8A #
+
9688rp&A #
1
9588rp&0
" $ears on teeth o- #u&ber ,
,
, , ,
r r r
$ears all -or sa&e is ule the Since
"
"
" * 1
" * 1

+
+
+
&0
& %== %0=
&
&
D cirlce pitch the to al proportion is gears on the teeth of number the
D mod
#he gear ? and gear , rotates in the opposite directionsD
%=0
+r& +
"
S
*588 *
15C8
"
688 rp&
588 rp&
'0=
&==
&== %==
%0=
%==
" exp (

E
*
+ *
+ 1
1
*
+ *
+ 1
+r& 1
+r& %
1
*
#
#
# #
# #
,
,
train $ear epicyclic -or ression $eneral
# #
# #
# #
# #
,D also
,
,
.alue ,rain
%he "ear B rotates at &'( rpm in the same direction o) gears F and $rm $.
Pro)lem <: In a compound epicyclic gear train as shown in the figure, has gears A and an annular
gears 7 - ) free to rotate on the axis $. ? and > is a compound gear rotate about axis M. Kear A
rotates at <= rpm >>: and gear 7 rotates at +0= rpm >:. ,ind the speed and direction of rotation of
arm , and gear ). Kears A,? and > are having %;, +0 and &% teeth respectively. All gears having
same module and pitch.
Solution:
,
+
95E A ,
*
9FCA ,
"
965A#
+
9 -G8rp&A #
9FC8rp&0
$ear on teeth ,
, , , ,
r r r r
and
" * +
" * +
;+ &% +0 %;
D cirlce pitch the to al proportion is gears on the teeth of number the
D gears all for same are pitch module the 6ince
+ +
+ +
+ +
%=3
M
$
"
+r& 1
+
E
*
+nnular @+@
Spider @%@
Sun Wheel @S@
Planet Wheel @P@
Kears A and 7 rotates in the opposite directionsD
"W rp& +r& o- Speed #
#
#
# #
# #
,
,
,
,
# #
# #
# #
# #
,D also
,
,
,
,
.alue ,rain
1
1
1
1 +
1
"
*
+
1 +
1
+r& 1
+r& %
"
*
+

< . +==
<=
+0=
;+ +0
&% %;
@ow consider gears A, ? and )D

E $ear on teeth o- #u&ber ,
,
, , ,
r r r
E
E
* + E
* + E

+
+
+
%=;
+0 & %;
&
&
Kears A and ) rotates in the opposite directionsD
"W rp& E $ear o- Speed #
#
# #
# #
,
,
# #
# #
,D also
,
,
.alue ,rain
E
E
1 +
1 E
E
+
1 +
1 E
E
+

4& . +;&
< . +== <=
< . +==
%=;
%;
*rolem &: In an epicyclic gear of sun and planet type shown in figure ', the pitch circle diameter of
the annular wheel + is to be nearly &%3mm and module +mm. :hen the annular ring is stationary, the
spider that carries three planet wheels P of e1ual si2e to ma*e one re.olution for every -i.e re.olution
of the driving spindle carrying the sun wheel.
7etermine the number of teeth for all the wheels and the exact pitch circle diameter of the annular
wheel. If an input tor1ue of &= @Am is applied to the spindle carrying the sun wheel, determine the
fixed tor1ue on the annular wheel.
%=4
Solution: Codule being the same for all the meshing gearsD
,
A
9 ,
6
E &,
$

teeth
&
+ o- P"
,
+
0+
+
&%3

+peration
Spider
arm ,
"un %heel "
%
S
'lanet wheel '
%
*
(nnular wheel (
%
$
F ?>
+r& % is fixed -
6un wheel S is
given E% revolution
= E%
P
S
,
,
+
S
+
P
P
S
,
,
,
,
,
,

Cultiply by &
(S rotates through
& revolution"
8 &
&
,
,
P
S
&
,
,
+
S
Add n revolutions
to all elements
n &:n
&
,
,
n
P
S
&
,
,
n
+
S
If % rotates E% revolutionD n 9 % (%"

#he sun wheel 6 to rotate E0 revolutions correspondinglyD
n E & 9 0 (&"
,rom (%" and (&" & 9 +
:hen + is fixedD
teeth ,
, , &
,
,
n
S
S +
+
S
0 . %'
+
0+
+ =

?ut fractional teeth are not possibleG therefore ,
S
should be either %' or %+ and ,
+
correspondingly 0& and 03.
%rial -D .et ,
+
9 0& and ,
S
9 %'
%=;
,igure +
"
+r&
*
+
H
G
E
1
teeth
, ,
,
S +
P
0 . %<
+
%' 0&
&

A %his is impracticale
%rial .D .et ,
+
9 03 and ,
S
9 %+
teeth
, ,
,
S +
P
&%
+
%+ 03
&

A %his is practicale
%
$
F ?8D %
S
F ;> and %
*
F <;
$>7 of + 9 03 + 9 &&+ mm
Also
#or1ue on %
%
9 #or1ue on 6
S
#or1ue on %
%
9 & # %==
%
0
&=
,ixing tor1ue on A 9 (,
%
H ,
S
" 9 %== H &= 9 CB :-m
I
*rolem /: #he gear train shown in figure +
is used in an indexing mechanism of a milling
machine. #he drive is from gear wheels + and
* to the bevel gear wheel through the gear
train. #he following table gives the number of
teeth on each gear.
5ow many revolutions does 7 ma*es for one
revolution of A under the following
situationsD
a. If + and * are having the same speed and same direction
b. If + and * are having the same speed and opposite direction
c. If + is ma*ing 4& rpm and * is at rest
d. If + is ma*ing 4& rpm and * '3 rpm in the same direction
-ol!tion:
Kear 7 is external to the epicyclic train and thus > and 7 constitute an ordinary train.
+peration
$rm
C 01(2
E 0.32 F 0./2 $ 04.2 B 04.2 " 0.32 5 0./2
0ear A B C D E &
:!m)er o#
teeth
4& 4& 3= '= &; &+
Diametral
(itch in mm
=; =; %& %& =; =;
%=<
P6
+6
+5
P5
P
S5
S6
3
,igure 0
+r& or " is fixed
- wheel + is given
E% revolution
= A%
3
4
&+
&;
:5 A% :5
3
4
&+
&;
Cultiply by &
(+ rotates through
& revolution"
8 A& &
3
4
:& A& :& &
3
4
Add n revolutions
to all elements
n n - & & n
3
4
n : & n - & n : & & n
3
4
+
$i' ,or one revolution of +D n : & 9 % (%"
,or + and * for same speed and directionD n : & 9 n H & (&"
,rom (%" and (&"D n 9 % and & 9 =
If " or arm ma*es one revolution, then revolution made by is given byD
"
"
"
# #
,
,
#
#
&
&
'=
3=

$ii' + and * same speed, opposite directionD (n : &" 9 A (n H &" ('"
n 9 =G & 9 %
:hen " is fixed and + ma*es one revolution, does not ma*e any revolution.
$iii' + is ma*ing 4& rpmD (n : &" 9 4&
* at rest (n H &" 9 = n 9 & 9 '3 rpm
" ma*es '3 rpm and 7 ma*es rp& 4&
'=
3=
'3
$i,' + is ma*ing 4& rpm and * ma*ing '3 rpm
(n : &" 9 4& rpm and (n H &" 9 '3 rpm
(n : (n H &"" 9 4&G n 9 0+
ma*es rp& %=;
'=
3=
0+
*rolem 'D ,igure 0 shows a compound
epicyclic gear train, gears S
%
and S
&
being
rigidly attached to the shaft 3. If the shaft
$ rotates at %=== rpm cloc*wise, while
the annular +
&
is driven in counter
cloc*wise direction at 0== rpm,
determine the speed and direction of
rotation of shaft 3. #he number of teeth
in the wheels are S
%
9 &+G S
&
9 +=G +
%
9
%==G +
&
9 %&=.
Solution: >onsider the gear train P +
%
S
%
D
%%=
+peration
$rm
*
$
;
0-((2
S
;
0./2 +peration
$rm
*
$
;
0-((
2
S
;
0./2
+r& P is fixed -
wheel +
%
is given
E% revolution
= E%
3
&0
&+
%==
%
%

+
P
P
2!
+r& P is fixed
- wheel +
%
is
given A%
revolution
= A%
%
%
%
%
%
%
S
+
S
P
P
+
+

Cultiply by &
(+
%
rotates through
& revolution"
8 E& &
3
&0
= A%
3
&0
&+
%==
Add n revolutions
to all elements
n n: & & n
3
&0
Add :%
revolutions to
all elements
E% =
3
'%
%
3
&0
+
If +
%
is fixedD n: &G gives n 9 A &

%
3
'%
3
&0
%
'%
3
'%
3 %
S P
S
P
# #
n n
n
#
#

+
@ow consider whole gear trainD

+peration
$
;
0-((2
$
<
0-.(2
S
;
$<>'D S
<
$>B'
and
(rm '
+
%
is fixed -
wheel +
&
is given
E% revolution
= E%
'
+=
%&=
&
&

+
P
P
'%
%;
'%
3
'

Cultiply by &
(+
%
rotates through
& revolution"
8 E& & '
&
'%
%;
Add n revolutions
to all elements
n n: & & n ' & n
'%
%;
:hen P ma*es %=== rpmD & n

'%
%;
9 %=== (%"
and +
&
ma*es H 0== rpmD n: & 9 A0== (&"
%%%
from (%" and (&"D %===
'%
%;
0== & &
( ) ( )
rp& n and
rp& &
&
++< 0== <+<
<+<
+< '% 0== %=== '%

+
#
M
9 n H ' & 9 ++< H (' A<+<" 9 '&<3 rpm
*rolem 1. An internal
wheel ? with ;= teeth is
*eyed to a shaft ,. A fixed
internal wheel > with ;&
teeth is concentric with ?. A
>ompound gears 7A)
meshed with the two
internal wheels. 7 has &;
teeth and meshes with
internal gear > while )
meshes with ?. #he
compound wheels revolve
freely on pin which pro/ects
from a arm *eyed to a shaft
A coAaxial with ,. if the
wheels have the same pitch
and the shaft A ma*es ;==
rpm, what is the speed of the
shaft ,] 6*etch the
arrangement.
Data: t
*
9 E8A t
"
9 E6A 9 6EA #
+
9 E88 rp&
-ol!tion: #he pitch circle radius is proportional to the number of teethD

%%&
1
E
"
+
*
+r&
"
*
E
+
*E8
"E6
6E
#+9E88rp&
E $ear on teeth o- nu&ber
t
t
t t t t
r r r r
E
E
E * "
E * "

&3
;= &; ;&
&:n n
Add n
revolutions to all
elements
:& 8
)ultiply #y m
*+ rotates
through m
revolution,
+1 0
Arm is fi-ed . B
is given O/0
revolution *C%,
D (28) E(26)
C (82)
Compound Gear wheel
B (80) (rm peration
&:n n
Add n
revolutions to all
elements
:& 8
)ultiply #y m
*+ rotates
through m
revolution,
+1 0
Arm is fi-ed . B
is given O/0
revolution *C%,
D (28) E(26)
C (82)
Compound Gear wheel
B (80) (rm peration
&3
;=
+
&3
;=
+
;&
&;
&3
;=
+
&
%'
+=
+
&
%'
+=
+
&
+%
%+
%'
+=
+
n &+
%'
+=
n &+
%'
+=
n &+
+%
%+
%'
+=
6ince the wheel > is fixed and the arm (shaft" A ma*es ;== rpm,
*rolem 4: #he fig shows an )picyclic gear train. :heel ) is fixed and wheels > and 7 are
integrally cast and mounted on the same pin. If arm A ma*es one revolution per sec (>ounter
cloc*wise" determine the speed and direction of rotation of the wheels ? and ,.
%%'
rp& &
&
n &
rp& n
+& . 43%
= ;==
+%
%+
%'
+=
=
+%
%+
%'
+=
;==

+
+

rp& 1 sha-t o- Speed * $ear o- Speed
rp& n & * $ear o- Speed
0; . ';
0; . '; ;== +& . 43%

+ +
+r&
*68
"BC
5C
E68
1B8
-ol!tion:
Data: t* 9 68A t" 9 BCA t 9 5CA tE 9 68A t1 9 B8 #+ 9 5rps-'""W(
6ince the wheel ) is fixed and the arm A ma*es % rpsA>>:
*rolem 4D In the gear train shown, the wheel > is fixed, the gear ?, is *eyed to the input shaft and
the gear , is *eyed to the output shaft.
%%+
&:n n
Add n
revolutions to
all elements
:& 8
)ultiply #y m
*+ rotates
through m
revolution,
E% 8
Arm is fi-ed .
+ is given
O/0
revolution
*C%,
C (!") D (1")
# (!0) E (20)
Compound Gear
wheel
B (20) (rm peration
&:n n
Add n
revolutions to
all elements
:& 8
)ultiply #y m
*+ rotates
through m
revolution,
E% 8
Arm is fi-ed .
+ is given
O/0
revolution
*C%,
C (!") D (1")
# (!0) E (20)
Compound Gear
wheel
B (20) (rm peration
%0
&=
'
4
&=
'0
'
+
+

'=
&=
'
4

%0
&=
&
'
+
&
'
+
&
'
4
&
<
%+
& n
'
+
n &+
'
4
& n
<
%+
& n
'
+
+&< . =
4
'
= %
'
4
=
'
4
%

+
& &
n & and rps n
" ( 334 . % +&< . =
<
%+
%
<
%+
" ( 04% . = % +&< . =
""W & n 1 $ear o- Speed
""W rps n & * $ear o- Speed

+
I
8
>;=
?&=
,'&
)'=
Input
6haft
8utput
6haft
A
#he arm A, carrying the compound wheels 7 and ) turns freely on the out put shaft. If the input
speed is %=== rpm (ccw" when seen from the right, determine the speed of the output shaft. #he
number of teeth on each gear is indicated in the figures. ,ind the output tor1ue to *eep the wheel >
fixed if the input power is 4.0 *:.
-ol!tion:
Data D
t
*
9 &=G t
>
9 ;=G t
9 3=G t
E
9 '=G t
1
9 '&G #
*
9 %=== rpm (ccw" (input speed"G P 9 4.0 *:
Input shaft speed 9 %=== rpm (ccw"
i.e., gear ? rotates H %=== rpm
%%0
&:n n
Add n
revolutions to
all elements
& 8
)ultiply #y m
*+ rotates
through m
revolution,
E% 8
Arm is fi-ed .
+ is given 11
revolution
E (!0) D (60)
# (!2) C (80)
Compound Gear
wheel
B (20)
2nput
(rm peration
&:n n
Add n
revolutions to
all elements
& 8
)ultiply #y m
*+ rotates
through m
revolution,
E% 8
Arm is fi-ed .
+ is given 11
revolution
E (!0) D (60)
# (!2) C (80)
Compound Gear
wheel
B (20)
2nput
(rm peration
'
%
3=
&=
+
%
;=
3=
'
%

%3
0
'&
'=
'
%

'
%
&
'
%
&
'
%
&
+
%
&
%3
0
& n
+
%
& n
%3
0
n &+
'
%
n &+
'
%
&== ;== %===
;==
&0 . %
%===
= &0 . = %===
=
+
%
G
%===
+

+
n
&
& &
& n -ixed is " Gear
n &
,igure 3
+6
+5
S6
P6
P5
S5
#he #or1ue re1uired to hold the wheel > 9 %'3=.&% @m in the same direction of wheel
*rolem 3: ,ind the velocity ratio of two coA
axial shafts of the epicyclic gear train as shown
in figure 3. S
%
is the driver. #he number of teeth
on the gears are S
%
9 +=, +
%
9 %&=, S
&
9 '=, +
&
9
%== and the sun wheel S
&
is fixed. 7etermine also
the magnitude and direction of the tor1ue
re1uired to fix S
&
, if a tor1ue of '== @Am is
applied in a cloc*wise direction to S
%

%%3
" ( 0=
0=
%3
0
;== &==
%3
0
"W rp& 1 sha-t output the o- Speed
& n 1 o- Speed
+
+

#& ,
,
, #
P power Input
*
* *
0< . 4%
%=== &
3= 40==
3=
%=== &
%=== 0 . 4
3=
&

B
#& ,
,
# , # ,
# -ixed is " Since
# , # , # ,
equation ener$y the 1ro&
1
1
1 1 *
"
" " 1 1 *
; . %+'%
= 0= %=== 0< . 4%
=
= D
=
G
+
+
+
+ +
B
B
#& ,
,
, , ,
equation torque the 1ro&
"
"
" 1
&% . %'3=
= ; . %+'% 0< . 4%
=
D

+ +
+ +
B
& +
,
& S
,
& +
% S
% S
,
SolutionD >onsider first the gear train S
%,
+
%
and
+
&
for which +
&
is the arm, in order to find the
speed ratio of S
%
to +
&,
when +
%
is fixed.
(a" >onsider gear train S
%,
+
%
and +
&
D
+peration
$
<
(%=="
$
;
(%&="
S
;
(+="
+
6
is fixed -
wheel +
%
is given
E% revolution
= E% '
+=
%&=

Cultiply by &
(+
%
rotates through
& revolution"
= E&
& '
Add n revolutions
to all elements
n n: &
& n '
A
%
is fixedD
n &
& %
&
%
+
+
'
+ S
+
S
# #
n
n n
#
#

(b" >onsider complete gear trainD

+peration $
;
(%&=" $
<
(%==" S
;
(+=" S
<
('="
+
5
is fixed - wheel S
&
is given
E% revolution
=
%=
'
%==
'=

0
3
+
%=
'
E%
Cultiply by &
(+
%
rotates through & revolution"
= &
%=
'
&
0
3
E&
Add n revolutions to all elements n & n
%=
'
& n
0
3
n: &
S
&
is fixed & 9 A n
%'
&&
%'
%=
0
%%
%=
'
0
3
&
%

+
+
n n
n n
#
#
+
S
Input tor1ue on S
%
9 ,
6%
9 '== @Am, in the direction of rotation.
(esisting tor1ue on +
&
G
%%4

rotation o- directio7n to opposite
& # ,
+
4 . 0=4
%'
&&
'==
&
(eferring to the figureD

" ( 4 . &=4 '== 4 . 0=4
&
"W & # ,
S

%%;
Su!ect" K#$EM%T#CS &' M%C(#$ES
Topic" )E*&C#T+ %$, %CCE*E-%T#&$
Session . #
Introd!ction
Kinematics deals with study of relative motion between the various parts of the machines.
Kinematics does not involve study of forces. #hus motion leads study of displacement,
velocity and acceleration of a part of the machine.
6tudy of Cotions of various parts of a machine is important for determining their
velocities and accelerations at different moments.
As dynamic forces are a function of acceleration and acceleration is a function of
velocities, study of velocity and acceleration will be useful in the design of mechanism of
a machine. #he mechanism will be represented by a line diagram which is *nown as
configuration diagram. #he analysis can be carried out both by graphical method as well
as analytical method.
-ome im(ortant De#initions
6isplacementD All particles of a body move in parallel planes and travel by same distance
is *nown, linear displacement and is denoted by RxQ.
A body rotating about a fired point in such a way that all particular move in
circular path angular displacement and is denoted by RQ.
Velocit#: (ate of change of displacement is velocity. Lelocity can be linear velocity
of angular velocity.
.inear velocity is (ate of change of linear displacement9 L 9
dt
dx
Angular velocity is (ate of change of angular displacement 9 9
dt
d
(elation between linear velocity and angular velocity.
x 9 r
dt
dx
9 r
dt
d
%%<
9 F r
F
dt
d
AccelerationD (ate of change of velocity
f 9
&
&
dt
x d
dt
dv
.inear Acceleration ((ate of change of linear velocity"
#hirdly 9
&
&
dt
d
dt
d
Angular Acceleration ((ate of change of angular velocity"
:e also have,
$solute 7elocit#D Lelocity of a point with respect to a fixed point (2ero velocity point".
L
a
9
&
x r
L
a
9
&
x 8
&
A
)xD Lao
&
is absolute velocity.

Relati7e 7elocit#D Lelocity of a point with respect to another point RxQ
E3: 9
)a
9elocity o# (oint B *ith res(ect to A
@oteD >apital letters are used for configuration diagram. 6mall letters are used for
velocity vector diagram.
8
&
&
A
8
&
8
+
&
A
'
?
+
%&=
#his is absolute velocity
Lelocity of point A with respect to 8
&
fixed point, 2ero velocity point.
L
ba
9 or L
ab
L
ba
9 or L
ab
)1ual in magnitude but opposite in direction.
L
b
Absolute velocity is velocity of ? with respect to 8
+
(fixed point, 2ero velocity
point"
9elocity ,ector dia"ram
Lector a 8
&
9 L
a
9 Absolute velocity
Lector
ab
9 L
ab

ba
9 L
a
L
ab
is e1ual magnitude with L
ba
but is apposite in direction.
A
'
?
8
+
?
b
L
ba
L
ab
L
b
8
&
, 8
+
a
%&%
(elative velocity
Lector b 8
+
9 L
b
absolute velocity.
#o illustrate the difference between absolute velocity and relative velocity. .et, us
consider a simple situation.
A lin* A? moving in a vertical plane such that the lin* is inclined at '=
o
to the
hori2ontal with point A is moving hori2ontally at + m/s and point ? moving vertically
upwards. ,ind velocity of ?.
L
a
9 + m/s
ab
Absolute velocity 5ori2ontal direction
(*nown in magnitude and directors"
L
b
9 ]
ab
Absolute velocity Lertical direction
(*nown in directors only"
Lelocity of ? with respect to A is e1ual in magnitude to velocity of A with respect
to ? but opposite in direction.
Relati,e 9elocity E2!ation
>
8
L
b
L
ba
a
L
a
L
ab
'=
o
?
+ m/s
A
8
+
y
a
y
(
A
x
A
x
(igid body
8
%&&
&i"+ ; Point % is #i3ed and End A is a (oint on ri"id )ody+
(otation of a rigid lin* about a fixed centre.
>onsider rigid lin* rotating about a fixed centre 8, as shown in figure. #he
distance between 8 and A is ( and 8A ma*es and angle RQ with xAaxis next lin*
x
A
9 ( cos , y
A
9 ( sin .
7ifferentiating x
A
with respect to time gives velocity.
( )
dt
d
sin (
dt
d
xA
B
B
9 A ( sin
6imilarly, ( )
dt
I d
I cos (
dt
dy
A

9 A ( cos
.et,
x
A
xA
L
dt
d
y
A
yA
L
dt
d
9
dt
I d
9 angular velocity of 8A
x
A
L 9 A (V sin

y
A
L 9 A (V cos
#otal velocity of point A is given by
L
A
9
( ) ( )
& &
I cos sin ! ! +
9
A
F RV
Relati,e 9elocity E2!ation o# T*o Points on a Ri"id link
%&'
&i"+ < Points A and B are located on ri"id )ody
,rom ,ig. &
x
?
9 x
A
E ( cos y
?
9 y
A
E ( sin
7ifferentiating x
?
and y
?
with respect to time
we get,
( )
dt
d
sin (
dt
d
L
dt
d
xA x
?
x?
B
B +
sin L I sin ! !
dt
d
x
+
x+
+
6imilarly, ( )
dt
I d
I os c (
dt
d
L
dt
d
yA y
?
y?
+
I cos L I cos ! !
dt
d
y
+
y+
+
L
A
9
x
A
L

y
A
L
9 #otal velocity of point A
6imilarly, L
?
9
x
?
L

y
?
L
9 #otal velocity of point ?
9
x
A
L
((V sin "
y
A
L
(V cos
x
A
R sin
A
y
?
x
(igid body
y
A
?
R cos
x
?
%&+
9 (
x
A
L
y
A
L
" ((V sin E ( Vcos "
9 (
x
A
L
y
A
L
" L
A
6imilarly, ( ( Vsin E (V cos " 9 (V
L
?
9 L
A
(V 9 L
A
L
?
A
9
BA
F 9
B
4

9
A
Lelocity analysis of any mechanism can be carried out by various methods.
%. ?y graphical method
&. ?y relative velocity method
'. ?y instantaneous method
By 0ra(hical Method
#he following points are to be considered while solving problems by this method.
%. 7raw the configuration design to a suitable scale.
&. .ocate all fixed point in a mechanism as a common point in velocity diagram.
'. >hoose a suitable scale for the vector diagram velocity.
+. #he velocity vector of each rotating lin* is
r
to the lin*.
0. Lelocity of each lin* in mechanism has both magnitude and direction. 6tart from a
point whose magnitude and direction is *nown.
3. #he points of the velocity diagram are indicated by small letters.
%o e!plain the method let us take a )ew speci)ic e!amples.
%. 1our H *ar Mechanis& D In a four bar chain A?>7 lin* A7 is fixed and in %0 cm
long. #he cran* A? is + cm long rotates at %;= rpmV (cw" while lin* >7 rotates
about 7 is ; cm long ?> 9 A7 and
?A7 ^
9 3=
o
. ,ind angular velocity of lin* >7.
3=
o
w
?A
A 7
?
>
%0 cm
%0 cm
; cm
%&0
Con#i"!ration Dia"ram
Lelocity vector diagram
L
b
9 r 9
ba
x A? 9 + x
3=
%&= x &C
9 0=.&+ cm/sec
>hoose a suitable scale
% cm 9 &= m/s 9
ab
L
cb
9
bc
L
c
9
dc
9 '; cm/s 9 L
cd

:e *now that L 9V (
L
cd
9
>7
x >7
:
c7
9 40 . +
;
'; L
cd

"
rad/s (cw"
&. Slider "ran) Mechanis&D
In a cran* and slotted lover mechanism cran* rotates of '== rpm in a counter
cloc*wise direction. ,ind
(i" Angular velocity of connecting rod and
(ii" Lelocity of slider.
r
to >7
r
to ?>
r
to A?
a, d
b
c
Lcb
%&3
Con#i"!ration dia"ram
6tep %D 7etermine the magnitude and velocity of point A with respect to =,
L
A
9
8%A
x 8
&
A 9 3= x
3=
'== x &C
9 3== mm/sec
6tep &D >hoose a suitable scale to draw velocity vector diagram.
L
ab
9
ab
9%'==mm/sec
ba
9 33 . ;
%0=
%'==

*+
D
ba
rad/sec
L
b
9
ob
velocity of slider
@oteD Lelocity of slider is along the line of sliding.
B. Shaper Mechanis&0
In a cran* and slotted lever mechanisms cran* 8
&
A rotates at rad/sec in >>:
direction. 7etermine the velocity of slider.
3= mm
+0
o
A
?
%0= mm
8
L
a
a
b
r
to A?
r
to 8A
Along sides ?
%&4
L
a
9
&
x 8
&
A
> 8
c 8
? 8
b 8
%
%
%
%
#o locate point >
,
_

? 8
> 8
b 8 c 8
%
%
% %
To Determine 9elocity o# R!))in"
+
8
%
8
&
>
?
'
&
V
0
3
7
6cale % cm 9 FFxF. m
6cale % cm 9 FFxF. m/s
d 8
%
8
&
L
7>
c
a
b
L
?A
L
A8&
9 L
A
L
?8%
%&;
#wo lin*s of a mechanism having turning point will be connected by pins. :hen
the lin*s are motion they rub against pin surface. #he velocity of rubbing of pins depends
on the angular velocity of lin*s relative to each other as well as direction.
,or exampleD In a four bar mechanism we have pins at points A, ?, > and 7.
L
ra
9
ab
x ratios of pin A (r
pa
"
E sign is used
ab
is >: and :
bc is
>>: i.e. when angular velocities are in
opposite directions use E sign when angular velocities are in some directions use A
ve
sign.
L
r>
9 (
bc
E
cd
" radius r
9
rD
F
cd
r
(d
Pro)lems on ,elocity )y ,elocity ,ector method $0ra(hical sol!tions'
*rolem -:
In a four bar mechanism, the dimensions of the lin*s are as given belowD
A? 9 0= mm, ?> 9 33 mm
>7 9 03 mm and A7 9 %== mm
At a given instant when
o
3= 7A? ^
the angular velocity of lin* A? is %=.0
rad/sec in >>: direction.
7etermine,
i" Lelocity of point >
ii" Lelocity of point ) on lin* ?> when ?) 9 += mm
iii" #he angular velocity of lin* ?> and >7
iv" #he velocity of an offset point , on lin* ?>, if ?, 9 +0 mm, >, 9 '=
mm and ?>, is read cloc*wise.
v" #he velocity of an offset point K on lin* >7, if >K 9 &+ mm, 7K 9 ++
mm and 7>K is read cloc*wise.
vi" #he velocity of rubbing of pins A, ?, > and 7. #he ratio of the pins
are '= mm, += mm, &0 mm and '0 mm respectively.
%&<
Solution:
6tep A%D >onstruct the configuration diagram selecting a suitable scale.
6caleD % cm 9 &= mm
6tep H &D Kiven the angular velocity of lin* A? and its direction of rotation determine
velocity of point with respect to A (A is fixed hence, it is 2ero velocity point".
L
ba
9
?A
x ?A
9 %=.0 x =.=0 9 =.0&0 m/s
6tep H 'D #o draw velocity vector diagram choose a suitable scale, say % cm 9 =.& m/s.
,irst locate 2ero velocity points.
7raw a line
r
to lin* A? in the direction of rotation of lin* A? (>>:" e1ual to
=.0&0 m/s.
,rom b draw a line
r
to ?> and from d. 7raw d line
r
to >7 to interest at >.
L
cb
is given vector bc L
bc
9 =.++ m/s
L
cd
is given vector dc L
cd
9 =.'< m/s
6tep H +D #o determine velocity of point ) (Absolute velocity" on lin* ?>, first locate the
position of point ) on velocity vector diagram. #his can be done by ta*ing corresponding
ratios of lengths of lin*s to vector distance i.e.
3=
o
A
7
?
>
,
K
>
f
L
ed
a, d
e, g
L
ba
9 =.0&0 m/s
b
%'=
?>
?)
bc
be
be 9
?>
?)
x L
cb
9
=33 . =
=+ . =
x =.++ 9 =.&+ m/s
Join e on velocity vector diagram to 2ero velocity points a, d / vector
de
9 L
e
9
=.+%0 m/s.
6tep 0D #o determine angular velocity of lin*s ?> and >7, we *now L
bc
and L
cd
.
L
bc
9V
?>
x ?>
:
?>
9 " ( . / 3 . 3
=33 . =
++ . =
cw s r
*"
D
bc

6imilarly, L
cd
9 :
>7
x >7
:
>7
9 s / r <3 . 3
=03 . =
'< . =
>7
L
cd
(>>:"
6tep H 3D #o determine velocity of an offset point ,
7raw a line
r
to >, from > on velocity vector diagram.
7raw a line
r
to ?, from b on velocity vector diagram to intersect the previously
drawn line at RfQ.
,rom the point f to 2ero velocity point a, d and measure vector fa/fd to get L
f
9
=.+<0 m/s.
6tep H 4D #o determine velocity of an offset point.
7raw a line
r
to K> from > on velocity vector diagram.
7raw a line
r
to 7K from d on velocity vector diagram to intersect previously
drawn line at g.
Ceasure vector dg to get velocity of point K.
L
g
9 s / m '=0 . = dg
6tep H ;D #o determine rubbing velocity at pins
(ubbing velocity at pin A will be
%'%
L
pa
9
ab
x r of pin A
L
pa
9 %=.0 x =.=' 9 =.'%0 m/s
(ubbing velocity at pin ? will be
L
pb
9 (
ab
E
cb
" x r
ad
of point at ?.
T
ab
>>: and
cb
>:U
L
pb
9 (%=.0 E 3.3" x =.=+ 9 =.3;+ m/s.
(ubbing velocity at point > will be
9 3.<3 x =.='0 9 =.&++ m/s
*rolem .:
In a slider cran* mechanism the cran* is &== mm long and rotates at += rad/sec in
a >>: direction. #he length of the connecting rod is ;== mm. :hen the cran* turns
through 3=
o
from InnerAdead centre.
7etermine,
i" #he velocity of the slider
ii" Lelocity of point ) located at a distance of &== mm on the connecting rod
extended.
iii" #he position and velocity of point , on the connecting rod having the least
absolute velocity.
iv" #he angular velocity of connecting rod.
v" #he velocity of rubbing of pins of cran* shaft, cran* and cross head having
pins diameters ;=,3= and %== mm respectively.
Solution:
6tep %D 7raw the configuration diagram by selecting a suitable scale.
L
a
9 :
oa
x 8A
+0
o
?
,
)
A
8 K
%'&
L
a
9 += x =.&
L
a
9 ; m/s
6tep &D >hoose a suitable scale for velocity vector diagram and draw the velocity vector
diagram.
Car* 2ero velocity point o, g.
7raw
oa

r
to lin* 8A e1ual to ; m/s
,rom a draw a line
r
to A? and from o, g draw a hori2ontal line (representing the
line of motion of slider ?" to X
seet
the previously drawn line at b.
ab
give L
ba
9+.; m/sec
6tep H 'D #o mar* point ReQ since R)Q is on the extension of lin* A? drawn
be
9 ab x
A?
?)

mar* the point e on extension of vector ba. Join e to o, g. ge will give velocity of point
).
L
e
9 ge 9;.+ m/sec
6tep +D #o mar* point , on lin* A? such that this has least velocity (absolute".
7raw a line
r
to
ab
passing through o, g to cut the vector ab at f. ,rom f to o, g.
gf will have the least absolute velocity.
#o mar* the position of , on lin* A?.
,ind ?, by using the relation.
A?
ab
?,
fb
e
a
f
b o, g
6caleD % cm 9 & m/s
%''
AB 3
a)
#)
B&
9&==mm
6tep H 0D #o determine the angular velocity of connecting rod.
:e *now that L
ab
9
ab
x A?

a)
F
AB
9
a)
F 8 rad/sec
6tep H 3D #o determine velocity of rubbing of pins.
L
pcran*shaft
9
ao
x radius of cran*shaft pin
9 ; x =.=;
9 =.3+ m/s
L
$cran* pin
9 (
ab
E
oa
" r
cran* pin
9 (3 E;"=.=3 9=.;+ m/sec
L
$ cross head
9
ab
x r
cross head
9 3 x =.% 9 =.3 m/sec
Pro)lem =: A 1uic* return mechanism of cran* and slotted lever type shaping
machine is shown in ,ig. the dimensions of various lin*s are as follows.
8
%
8
&
9 ;== mm, 8
%
? 9 '== mm, 8
&
7 9 %'== mm and 7( 9 +== mm
#he cran* 8
%
? ma*es an angle of +0
o
with the vertical and relates at += rpm in the
>>: direction. ,indD
i" Lelocity of the (am (, velocity of cutting tool, and
ii" Angular velocity of lin* 8
&
7.
-ol!tion:
Step -D 7raw the configuration diagram.
%'+

6tep &D 7etermine velocity of point ?.
L
b
9
8%?
x 8
%
?
8%?
9 sec / rad %; . +
3=
+= x &
3=
@ &
? % 8
L
b
9 +.%; x =.' 9 %.&0+ m/sec
6tep 'D 7raw velocity vector diagram.
>hoose a suitable scale % cm 9 =.' m/sec
o 7raw 8
%
b
r
to lin* 8
%
? e1ual to %.&0+ m/s.
8
&
8
%
7
>
?
&
+0
o
(
8
&
8
%
7
> on 8
&
7
? on oran*, 8, ?
(
#ool
&==
r
8
%
8
&
d
b
c
%'0
o ,rom b draw a line along the line of 8
&
? and from 8
%
8
&
draw a line
r
to 8
&
?.
#his intersects at c
bc
will measure velocity of sliding of slider and > 8
&
will
measure the velocity of > on lin* 8
&
>.
o 6ince point 7 is on the extension of lin* 8
&
> measure
d 8
&
such that
d 8
&
9
> 8
7 8
> 8
&
&
& . d 8
&
will give velocity of point 7.
o ,rom d draw a line
r
to lin* 7( and from 8
%
8
&
. 7raw a line along the line
of stro*e of (am ( (hori2ontal", #hese two lines will intersect at point r r 8
&

will give the velocity of (am (.
o #o determine the angular velocity of lin* 8
&
7 determine L
d
9
d 8
&
.
:e *now that L
d
9
8&7
x 8
&
7.

3 O
d O
2
2
d O
2
r/s
Pro)lem >: ,igure below shows a toggle mechanisms in which the cran* 8A rotates
at %&= rpm. ,ind the velocity and acceleration of the slider 7.
-ol!tion:
%'3
6tep %D 7raw the configuration diagram choosing a suitable scal.
6tep &D 7etermine velocity of point A with respect to 8.
L
ao
9
8A
x 8A
L
ao
9 s / m =&+ . 0 + . =
3=
%&= x &

6tep 'D 7raw the velocity vector diagram.

o >hoose a suitable scale
o Car* 2ero velocity points 8,1
o 7raw vector
oa

r
to lin* 8A and magnitude 9 0.=&+ m/s.
o ,rom a draw a line
r
to A? and from 1 draw a line
r
to M? to intersect at b.
%==
%<=
%'0 %&=
%&=
7
?
A
+0
o
+=
All the dimensions in mm
a b
7
8,1
%'4
b1 ba
L 1b and L ab .
o 7raw a line
r
to ?7 from b from 1 draw a line along the slide to intersect at
d.
" velocity slider ( L d1
d
Pro)lem ?: A whitworth 1uic* return mechanism shown in figure has the following
dimensions of the lin*s.
#he cran* rotates at an angular velocity of &.0 r/s at the moment when cran*
ma*es an angle of +0
o
with vertical. >alculate
a" the velocity of the (am 6
b" the velocity of slider $ on the slotted level
c" the angular velocity of the lin* (6.
-ol!tion:
6tep %D #o draw configuration diagram to a suitable scale.
6tep &D #o determine the absolute velocity of point $.
L
$
9
8$
x 8$
6
(
A
8
?
$ on slider M on
?A
+0
o
%';
8$ (cran*" 9 &+= mm
8A 9 %0= mm
A( 9 %30 mm
(6 9 +'= mm
L
ao
9 s / m 3 . = &+ . = x
3=
&+= x &
6tep 'D 7raw the velocity vector diagram by choosing a suitable scale.
o 7raw
op

r
lin* 8$ 9 =.3 m.
o ,rom 8, a, g draw a line
r
to A$/AM and from $ draw a line along A$ to
intersect previously draw, line at 1. $1 9 Lelocity of sliding.
a1 9 Lelocity of M with respect to A.
L
1a
9 a1 9
o Angular velocity of lin* (6 9
6(
sr
(6

rad/sec
Pro)lem 8: A toggle mechanism is shown in figure along with the diagrams of the
lin*s in mm. find the velocities of the points ? and > and the angular velocities of
lin*s A?, ?M and ?>. #he cran* rotates at 0= rpm in the cloc*wise direction.
1
r
$
6
8, a, g
=.3 m
%'<
-ol!tion
6tep %D 7raw the configuration diagram to a suitable scale.
6tep &D >alculate the magnitude of velocity of A with respect to 8.
L
a
9
8A
x 8A
L
a
9
s / m %0=4 . = s / m =0 . = =' . = x
3=
0= x &

,
_

9ector ,elocity dia"ram
o 7raw
8a

r
to lin* 8A 9 =.%0 m/s
o ,rom a draw a lin*
r
to A? and from 8, 1 draw a lin*
r
to ?M to intersect at b.
?
A
%==
M
>
%+=
8
0= rpm
All dimensions are in mm
8A 9 '=
A? 9 ;=
?M 9 %==
?> 9 %==
b
a
8, 1 c
%+=

ba
L ab and s / m %' . = L 1b
b

ab
9
" ccw ( s / r 4+ . =
A?
ab

b1

" ccw ( s / r ' . %
a?
1b
o ,rom b draw a line

r
to ?e and from 8, 1 these two lines intersect at >.
s / m %=3 . = L 8>
>

>b
L b>
" ccw ( s / r '' . %
?>
bc
?>

Pro)lem @: #he mechanism of a stone crusher has the dimensions as shown in figure
in mm. If cran* rotates at %&= rpm >:. ,ind the velocity of point K when cran* 8A
is inclined at '=
o
to the hori2ontal. :hat will be the tor1ue re1uired at the cran* to
overcome a hori2ontal force of += *@ at K.
-ol!tionD
6tep &D Kiven speed of cran* 8A determine velocity of A with respect to RoQ.
L
a
9
8A
x 8A 9
s / m &3 . % % . = x
3=
%&= x &

,
_

&==
'3=
+==
&==
3==
'&=
0==
%==
%==
3=
o
3==
C
A
? >
7
K
h2
h
&
%+%
6tep 'D 7raw the velocity vector diagram by selecting a suitable scale.
o 7raw
8a

r
to lin* 8A 9 %.&3 m/s
r
to A? and from 1 draw a lin*
r
r
to ?> and from a, draw a line
r
to A> to intersect at c.
o ,rom c draw a line
r
to >7 and from m draw a line
r
to C7 to intersect at d.
r
to K7 and from m draw a line
r
to KC to x intersect the
previously drawn line at *.
o 6ince we have to determine the tor1ue re1uired at 8A to overcome a hori2ontal
force of += *@ at K. 7raw a the hori2ontal line from o, 1, m and c line
r
to this
line from *.
( ) ( )
$
8
$
I
# #
L 9
(
# 9 , x $ , 9
r
#

8A
#
8A
9 ,
*
L
*
hori2ontal
#
8A
9
( )
8A
h2 * *
L ,
#
8A
9
3 . %&
+0 . = X +====
9 @Am
c a
d
b
*
L
*
(h2"
o, 1, m
%+&
Pro)lem C: In the mechanism shown in figure lin* 8A 9 '&= mm, A> 9 3;= mm and
8M 9 30= mm.
7etermine,
i" #he angular velocity of the cylinder
ii" #he sliding velocity of the plunger
iii" #he absolute velocity of the plunger
:hen the cran* 8A rotates at &= rad/sec cloc*wise.
-ol!tionD
6tep %D 7raw the configuration diagram.
6tep &D 7raw the velocity vector diagram
o 7etermine velocity of point A with respect to 8.
L
a
9
8A
x 8A 9 &= x =.'& 9 3.+ m/s
o 6elect a suitable scale to draw the velocity vector diagram.
o Car* the 2ero velocity point. 7raw vector
oa

r
to lin* 8A e1ual to 3.+ m/s.
r
to A? and from o, 1, draw a line perpendicular to A?.
A
8 (
? on A( (point on A(
below M"
3=
o >
8, 1
b
c
a
%+'
o #o mar* point c on
a#
:e *now that
(C
(+
ac
a#

(+
(C - a#
ac 9
o Car* point c on
a#
and /oint this to 2ero velocity point.
o Angular velocity of cylinder will be.
ab
9
(+
4
a#
9 0.3% rad/sec (c"
o 6tudying velocity of player will be
5# 9 +.% m/s
o Absolute velocity of plunger 9
5c
OC
9 +.&& m/s
Pro)lem A: In a swiveling /oint mechanism shown in figure lin* A? is the driving
cran* which rotates at '== rpm cloc*wise. #he length of the various lin*s areD
7etermine,
i" #he velocity of slider bloc* 6
ii" #he angular velocity of lin* ),
iii" #he velocity of lin* ), in the swivel bloc*.
-ol!tion:
%++
A? 9 30= mm
A? 9 %== mm
?> 9 ;== mm
7> 9 &0= mm
?) 9 >,
), 9 +== mm
8, 9 &+= mm
,6 9 +== mm
6tep &D 7etermine the velocity of point ? with respect to A.
L
b
9
?A
x ?A
L
b
9
6!
!! - 2
x =.% 9 '.%+ m/s
6tep 'D 7raw the velocity vector diagram choosing a suitable scale.
o Car* 2ero velocity point a, d, o, g.
o ,rom RaQ draw a line
r
to A? and e1ual to '.%+ m/s.
o ,rom RbQ draw a line
r
to 7> to intersect at >.
+0
o
'==
+==
+==
?
)
8
A 7
$
6
K
,
a, d, o, g
c
b
$
f
6
%+0
o Car* a point ReQ on vector bc such that
+C
+0
- #c #e
o ,rom ReQ draw a line
r
to $) and from Ra,dQ draw a line along $) to intersect at $.
o )xtend the vector ep to ef such that
0F -
0'
ef
ef
o ,rom RfQ draw a line
r
to 6f and from 2ero velocity point draw a line along the
slider R6Q to intersect the previously drawn line at 6.
o Lelocity of slider s 7 m 6 . 2 g" . Angular Lelocity of lin* ),.
o Lelocity of lin* , in the swivel bloc* 9 s 7 m 89 . 1 O' .
Pro)lem ;B: ,igure shows two wheels & and + which rolls on a fixed lin* %. #he
angular uniform velocity of wheel is & is %= rod/sec. 7etermine the angular velocity
of lin*s ' and +, and also the relative velocity of point 7 with respect to point ).
-ol!tion:
6tep &D Kiven
&
9 %= rad/sec. >alculate velocity of ? with respect to K.
L
b
9
&
x ?K
L
b
9 %= x +' 9 +'= mm/sec.
0= mm
+= mm
'=
o
3= mm
'
&
K
&
?
>
7
,
+
A
%+3
Redra*n con#i"!ration dia"ram
o 7raw g# 9 =.+' m/s
r
to ?K.
r
to ?> and from RfQ draw a line
r
to >, to intersect at >.
r
to ?) and from g, f draw a line
r
to K) to intersect at e.
r
to >7 and from f draw a line
r
to ,7 to intersect at d.
Pro)lem ;;D ,or the mechanism shown in figure lin* & rotates at constant angular
velocity of % rad/sec construct the velocity polygon and determine.
i" Lelocity of point 7.
ii" Angular velocity of lin* ?7.
'=
o
K
)
?
,
7
>
0= mm
e g, f
d
b
c
%+4
iii" Lelocity of slider >.
-ol!tionD
6tep %D 7raw configuration diagram.
6tep &D 7etermine velocity of A with respect to 8
&
.
L
b
9
&
x 8
&
A
L
b
9 % x 0=.; 9 0=.; mm/sec.
6tep 'D 7raw the velocity vector diagram, locate 2ero velocity points 8
&
8
3
.
o ,rom 8
&
, 8
3
draw a line
r
to 8
&
A in the direction of rotation e1ual to 0=.;
mm/sec.
+
>
8
&
9 0=.; mm
A? 9 %=& mm
?7 9 %=& mm
78
3
9 %=& mm
A> 9 &=' mm
%=& mm
A
8
3
7
0
3
?
'
8
&
+0
o
8
&
8
3
>
b
L
d
a
d
B
db
%+;
r
to Ac and from 8
&
, 8
3
draw a line along the line of stoc*s
of c to intersect the previously drawn line at c.
o Car* point b on vector ac such that
(+ -
(C
a#
a#
r
to ?7 and from 8
&
, 8
3
draw a line
r
to 8
3
7 to intersect at
d.
6tep +D L
d
9 d O
6
9 '& mm/sec
bd
9
+3
#d
9
L
c
9 C O
2
9
ADDITI%:AL PR%BLEM- &%R PRACTICE
Pro)lem ;D In a slider cran* mechanism shown in offset by a perpendicular distance
of 0= mm from the centre >. A? and ?> are 40= mm and &== mm long respectively
cran* ?> is rotating e at a uniform speed of &== rpm. 7raw the velocity vector
diagram and determine velocity of slider A and angular velocity of lin* A?.
Pro)lem <D ,or the mechanism shown in figure determine the velocities at points >,
) and , and the angular velocities of lin*s, ?>, >7) and ),.
A
>
0= mm
?
%+<
#he cran* op of a cran* and slotted lever mechanism shown in figure rotates at %==
rpm in the >>: direction. Larious lengths of the lin*s are 8$ 9 <= mm, 8A 9 '==
mm, A( 9 +;= mm and (6 9 ''= mm. #he slider moves along an axis perpendicular
to
r
A8 and in %&= mm from 8. 7etermine the velocity of the slider when
(O' :
is
%'0
o
and also mention the maximum velocity of slider.
Pro)lem >D ,ind the velocity of lin* + of the scotch yo*e mechanism shown in figure.
#he angular speed of lin* & is &== rad/sec >>:, lin* 8
&
$ 9 += mm.
,
)
>
?
A
%&=
7
%0=
%==
0=
%==

rpm
3=
%&=
o
%&=
7
?
8
+0
o
A
>
+0
o
'
$
+
&
M on lin* +
%0=
Pro)lem ?D In the mechanism shown in figure lin* A? rotates uniformly in >
direction at &+= rpm. 7etermine the linear velocity of ? and angular velocity of ),.
,
?
A
) >
+0
o
A? 9 %3= mm
?> 9 %3= mm
>7 9 %== mm
A7 9 &== mm
), 9 &== mm
>) 9 += mm
%== mm
%0%

II Method
Instantaneo!s Method
#o explain instantaneous centre let us consider a plane body $ having a nonAlinear
motion relative to another body 1 consider two points A and ? on body $ having
velocities as L
a
and L
b
respectively in the direction shown.
&i"+ ;
If a line is drawn
r
to L
a
, at A the body can be imagined to rotate about some
point on the line. #hirdly, centre of rotation of the body also lies on a line
r
to the
direction of L
b
at ?. If the intersection of the two lines is at I, the body $ will be rotating
about I at that instant. #he point I is *nown as the instantaneous centre of rotation for the
body $. #he position of instantaneous centre changes with the motion of the body.
&i"+ <
In case of the
r
lines drawn from A and ? meet outside the body $ as shown in ,ig &.
&i"+ =
If the direction of L
a
and L
b
are parallel to the
r
at A and ? met at . #his is the case
when the body has linear motion.
A
L
a
L
b
?
I
$
1
A
L
a
L
b
?
I
$
1
A
L
a
I at
?
L
b
%0&
%0'
Su!ect" K#$EM%T#CS &' M%C(#$ES
Topic" )E*&C#T+ %$, %CCE*E-%T#&$
Session . #
Introd!ction
Kinematics deals with study of relative motion between the various parts of the machines.
Kinematics does not involve study of forces. #hus motion leads study of displacement,
velocity and acceleration of a part of the machine.
6tudy of Cotions of various parts of a machine is important for determining their
velocities and accelerations at different moments.
As dynamic forces are a function of acceleration and acceleration is a function of
velocities, study of velocity and acceleration will be useful in the design of mechanism of
a machine. #he mechanism will be represented by a line diagram which is *nown as
configuration diagram. #he analysis can be carried out both by graphical method as well
as analytical method.
-ome im(ortant De#initions
6isplacementD All particles of a body move in parallel planes and travel by same distance
is *nown, linear displacement and is denoted by RxQ.
A body rotating about a fired point in such a way that all particular move in
circular path angular displacement and is denoted by RQ.
Velocit#: (ate of change of displacement is velocity. Lelocity can be linear velocity
of angular velocity.
.inear velocity is (ate of change of linear displacement9 L 9
dt
dx
Angular velocity is (ate of change of angular displacement 9 9
dt
d
(elation between linear velocity and angular velocity.
x 9 r
dt
dx
9 r
dt
d
9 F r
%0+
F
dt
d
AccelerationD (ate of change of velocity
f 9
&
&
dt
x d
dt
dv
.inear Acceleration ((ate of change of linear velocity"
#hirdly 9
&
&
dt
d
dt
d
Angular Acceleration ((ate of change of angular velocity"
:e also have,
$solute 7elocit#D Lelocity of a point with respect to a fixed point (2ero velocity point".
L
a
9
&
x r
L
a
9
&
x 8
&
A
)xD Lao
&
is absolute velocity.

Relati7e 7elocit#D Lelocity of a point with respect to another point RxQ
E3: 9
)a
9elocity o# (oint B *ith res(ect to A
@oteD >apital letters are used for configuration diagram. 6mall letters are used for
velocity vector diagram.
#his is absolute velocity
8
&
&
A
8
&
8
+
&
A
'
?
+
%00
Lelocity of point A with respect to 8
&
fixed point, 2ero velocity point.
L
ba
9 or L
ab
L
ba
9 or L
ab
)1ual in magnitude but opposite in direction.
L
b
Absolute velocity is velocity of ? with respect to 8
+
(fixed point, 2ero velocity
point"
Lector a 8
&
9 L
a
9 Absolute velocity
Lector
ab
9 L
ab

ba
9 L
a
L
ab
is e1ual magnitude with L
ba
but is apposite in direction.
Lector b 8
+
9 L
b
absolute velocity.
A
'
?
8
+
?
b
L
ba
L
ab
L
b
8
&
, 8
+
a
%03
(elative velocity
#o illustrate the difference between absolute velocity and relative velocity. .et, us
consider a simple situation.
A lin* A? moving in a vertical plane such that the lin* is inclined at '=
o
to the
hori2ontal with point A is moving hori2ontally at + m/s and point ? moving vertically
upwards. ,ind velocity of ?.
%04
L
a
9 + m/s
ab
Absolute velocity 5ori2ontal direction
(*nown in magnitude and directors"
L
b
9 ]
ab
Absolute velocity Lertical direction
(*nown in directors only"
Lelocity of ? with respect to A is e1ual in magnitude to velocity of A with respect
to ? but opposite in direction.
Relati,e 9elocity E2!ation
&i"+ ; Point % is #i3ed and End A is a (oint on ri"id )ody+
(otation of a rigid lin* about a fixed centre.
>onsider rigid lin* rotating about a fixed centre 8, as shown in figure. #he
distance between 8 and A is ( and 8A ma*es and angle RQ with xAaxis next lin*
x
A
9 ( cos , y
A
9 ( sin .
>
8
L
b
L
ba
a
L
a
L
ab
'=
o
?
+ m/s
A
8
+
y
a
y
(
A
x
A
x
(igid body
8
%0;
7ifferentiating x
A
with respect to time gives velocity.
( )
dt
d
sin (
dt
d
xA
B
B
9 A ( sin
6imilarly, ( )
dt
I d
I cos (
dt
dy
A

9 A ( cos
.et,
x
A
xA
L
dt
d
y
A
yA
L
dt
d
9
dt
I d
9 angular velocity of 8A
x
A
L 9 A (V sin

y
A
L 9 A (V cos
#otal velocity of point A is given by
L
A
9
( ) ( )
& &
I cos sin ! ! +
9
A
F RV
Relati,e 9elocity E2!ation o# T*o Points on a Ri"id link
%0<
&i"+ < Points A and B are located on ri"id )ody
,rom ,ig. &
x
?
9 x
A
E ( cos y
?
9 y
A
E ( sin
7ifferentiating x
?
and y
?
with respect to time
we get,
( )
dt
d
sin (
dt
d
L
dt
d
xA x
?
x?
B
B +
sin L I sin ! !
dt
d
x
+
x+
+
6imilarly, ( )
dt
I d
I os c (
dt
d
L
dt
d
yA y
?
y?
+
I cos L I cos ! !
dt
d
y
+
y+
+
L
A
9
x
A
L

y
A
L
9 #otal velocity of point A
6imilarly, L
?
9
x
?
L

y
?
L
9 #otal velocity of point ?
9
x
A
L
((V sin "
y
A
L
(V cos
x
A
R sin
A
y
?
x
(igid body
y
A
?
R cos
x
?
%3=
9 (
x
A
L
y
A
L
" ((V sin E ( Vcos "
9 (
x
A
L
y
A
L
" L
A
6imilarly, ( ( Vsin E (V cos " 9 (V
L
?
9 L
A
(V 9 L
A
L
?
A
9
BA
F 9
B
4

9
A
Lelocity analysis of any mechanism can be carried out by various methods.
+. ?y graphical method
0. ?y relative velocity method
3. ?y instantaneous method
By 0ra(hical Method
#he following points are to be considered while solving problems by this method.
4. 7raw the configuration design to a suitable scale.
;. .ocate all fixed point in a mechanism as a common point in velocity diagram.
<. >hoose a suitable scale for the vector diagram velocity.
%=. #he velocity vector of each rotating lin* is
r
to the lin*.
%%. Lelocity of each lin* in mechanism has both magnitude and direction. 6tart from a
point whose magnitude and direction is *nown.
%&. #he points of the velocity diagram are indicated by small letters.
%o e!plain the method let us take a )ew speci)ic e!amples.
+. 1our H *ar Mechanis& D In a four bar chain A?>7 lin* A7 is fixed and in %0 cm
long. #he cran* A? is + cm long rotates at %;= rpm (cw" while lin* >7 rotates about
7 is ; cm long ?> 9 A7 and
?A7 ^
9 3=
o
. ,ind angular velocity of lin* >7.
%3%
Lelocity vector diagram
L
b
9 r 9
ba
x A? 9 + x
3=
%&= x &C
9 0=.&+ cm/sec
>hoose a suitable scale
% cm 9 &= m/s 9
ab
L
cb
9
bc
L
c
9
dc
9 '; cm/sec 9 L
cd

:e *now that L 9V (
L
cd
9
>7
x >7
V
c7
9 40 . +
;
'; L
cd

"
rad/sec (cw"
0. Slider "ran) Mechanis&D
3=
o
V
?A
A 7
?
>
%0 cm
%0 cm
; cm
r
to >7
r
to ?>
r
to A?
a, d
b
c
Lcb
%3&
In a cran* and slotted lever mechanism cran* rotates of '== rpm in a counter
cloc*wise direction. ,ind
(iii" Angular velocity of connecting rod and
(iv" Lelocity of slider.
6tep %D 7etermine the magnitude and velocity of point A with respect to =,
L
A
9
8%A
x 8
&
A 9 3= x
3=
'== x &C
9 3== mm/sec
6tep &D >hoose a suitable scale to draw velocity vector diagram.
L
ab
9
ab
9%'==mm/sec
ba
9 33 . ;
%0=
%'==

*+
D
ba
rad/sec
L
b
9
ob
velocity of slider
@oteD Lelocity of slider is along the line of sliding.
3= mm
+0
o
A
?
%0= mm
8
L
a
a
b
r
to A?
r
to 8A
Along sides ?
%3'
I. Shaper Mechanis&0
In a cran* and slotted lever mechanisms cran* 8
&
A rotates at rad/sec in >>:
direction. 7etermine the velocity of slider.
L
a
9
&
x 8
&
A
> 8
c 8
? 8
b 8
%
%
%
%
#o locate point >
,
_

? 8
> 8
b 8 c 8
%
%
% %
+
8
%
8
&
>
?
'
&
V
0
3
7
6cale % cm 9 FFxF. m
6cale % cm 9 FFxF. m/s
d 8
%
8
&
L
7>
c
a
b
L
?A
L
A8&
9 L
A
L
?8%
%3+
To Determine 9elocity o# R!))in"
#wo lin*s of a mechanism having turning point will be connected by pins. :hen
the lin*s are motion they rub against pin surface. #he velocity of rubbing of pins depends
on the angular velocity of lin*s relative to each other as well as direction.
,or exampleD In a four bar mechanism we have pins at points A, ?, > and 7.
L
ra
9
ab
x ratios of pin A (r
pa
"
E sign is used
ab
is >: and :
bc is
>>: i.e. when angular velocities are in
opposite directions use E sign when angular velocities are in some directions use A
ve
sign.
9
r)
F $
a)
G
)c
' radi!s r
()
9
rC
F $
)c
G
cd
' radi!s r
(c
9
rD
F
cd
r
(d
Pro)lems on ,elocity )y ,elocity ,ector method $0ra(hical sol!tions'
*rolem -:
In a four bar mechanism, the dimensions of the lin*s are as given belowD
A? 9 0= mm, ?> 9 33 mm
>7 9 03 mm and A7 9 %== mm
At a given instant when
o
3= 7A? ^
the angular velocity of lin* A? is %=.0
rad/sec in >>: direction.
7etermine,
i" Lelocity of point >
ii" Lelocity of point ) on lin* ?> when ?) 9 += mm
iii" #he angular velocity of lin* ?> and >7
iv" #he velocity of an offset point , on lin* ?>, if ?, 9 +0 mm, >, 9 '=
mm and ?>, is read cloc*wise.
%30
v" #he velocity of an offset point K on lin* >7, if >K 9 &+ mm, 7K 9 ++
mm and 7>K is read cloc*wise.
vi" #he velocity of rubbing of pins A, ?, > and 7. #he ratio of the pins
are '= mm, += mm, &0 mm and '0 mm respectively.
Solution:
6tep A%D >onstruct the configuration diagram selecting a suitable scale.
6caleD % cm 9 &= mm
6tep H &D Kiven the angular velocity of lin* A? and its direction of rotation determine
velocity of point with respect to A (A is fixed hence, it is 2ero velocity point".
L
ba
9
?A
x ?A
9 %=.0 x =.=0 9 =.0&0 m/s
6tep H 'D #o draw velocity vector diagram choose a suitable scale, say % cm 9 =.& m/s.
,irst locate 2ero velocity points.
7raw a line
r
to lin* A? in the direction of rotation of lin* A? (>>:" e1ual to
=.0&0 m/s.
,rom b draw a line
r
to ?> and from d. 7raw d line
r
to >7 to interest at >.
L
cb
is given vector bc L
bc
9 =.++ m/s
3=
o
A
7
?
>
,
K
>
f
L
ed
a, d
e, g
L
ba
9 =.0&0 m/s
b
%33
L
cd
is given vector dc L
cd
9 =.'< m/s
6tep H +D #o determine velocity of point ) (Absolute velocity" on lin* ?>, first locate the
position of point ) on velocity vector diagram. #his can be done by ta*ing corresponding
ratios of lengths of lin*s to vector distance i.e.
?>
?)
bc
be
be 9
?>
?)
x L
cb
9
=33 . =
=+ . =
x =.++ 9 =.&+ m/s
Join e on velocity vector diagram to 2ero velocity points a, d / vector
de
9 L
e
9
=.+%0 m/s.
6tep 0D #o determine angular velocity of lin*s ?> and >7, we *now L
bc
and L
cd
.
L
bc
9V
?>
x ?>
V
?>
9 " ( . / 3 . 3
=33 . =
++ . =
cw s r
*"
D
bc

6imilarly, L
cd
9 V
>7
x >7
V
>7
9 s / r <3 . 3
=03 . =
'< . =
>7
L
cd
(>>:"
6tep H 3D #o determine velocity of an offset point ,
7raw a line
r
to >, from > on velocity vector diagram.
7raw a line
r
to ?, from b on velocity vector diagram to intersect the previously
drawn line at RfQ.
,rom the point f to 2ero velocity point a, d and measure vector fa to get
L
f
9 =.+<0 m/s.
6tep H 4D #o determine velocity of an offset point.
7raw a line
r
to K> from > on velocity vector diagram.
7raw a line
r
to 7K from d on velocity vector diagram to intersect previously
drawn line at g.
Ceasure vector dg to get velocity of point K.
%34
L
g
9 s / m '=0 . = dg
6tep H ;D #o determine rubbing velocity at pins
(ubbing velocity at pin A will be
L
pa
9
ab
x r of pin A
L
pa
9 %=.0 x =.=' 9 =.'%0 m/s
(ubbing velocity at pin ? will be
L
pb
9 (
ab
E
cb
" x r
pb
of point at ?.
T
ab
>>: and
cb
>:U
L
pb
9 (%=.0 E 3.3" x =.=+ 9 =.3;+ m/s.
(ubbing velocity at point > will be
9 3.<3 x =.='0 9 =.&++ m/s
*rolem .:
In a slider cran* mechanism the cran* is &== mm long and rotates at += rad/sec in
a >>: direction. #he length of the connecting rod is ;== mm. :hen the cran* turns
through 3=
o
from InnerAdead centre.
7etermine,
vi" #he velocity of the slider
vii" Lelocity of point ) located at a distance of &== mm on the connecting rod
extended.
viii" #he position and velocity of point , on the connecting rod having the least
absolute velocity.
ix" #he angular velocity of connecting rod.
x" #he velocity of rubbing of pins of cran* shaft, cran* and cross head having
pins diameters ;=,3= and %== mm respectively.
Solution:
6tep %D 7raw the configuration diagram by selecting a suitable scale.
%3;
L
a
9 :
oa
x 8A
L
a
9 += x =.&
L
a
9 ; m/s
6tep &D >hoose a suitable scale for velocity vector diagram and draw the velocity vector
diagram.
Car* 2ero velocity point o, g.
7raw
oa

r
to lin* 8A e1ual to ; m/s
,rom a draw a line
r
to A? and from o, g draw a hori2ontal line (representing the
line of motion of slider ?" to intersect the previously drawn line at b.
ab
give L
ba
9+.; m/sec
6tep H 'D #o mar* point ReQ since R)Q is on the extension of lin* A? drawn
be
9 ab x
A?
?)

mar* the point e on extension of vector ba. Join e to o, g. ge will give velocity of point
).
L
e
9 ge 9;.+ m/sec
6tep +D #o mar* point , on lin* A? such that this has least velocity (absolute".
+0
o
?
,
)
A
8 K
e
a
f
b o, g
6caleD % cm 9 & m/s
%3<
7raw a line
r
to
ab
passing through o, g to cut the vector ab at f. ,rom f to o, g.
gf will have the least absolute velocity.
#o mar* the position of , on lin* A?.
,ind ?, by using the relation.
A?
ab
?,
fb
AB 3
a)
#)
B&
9&==mm
6tep H 0D #o determine the angular velocity of connecting rod.
:e *now that L
ab
9
ab
x A?

a)
F
AB
9
a)
F 8 rad/sec
6tep H 3D #o determine velocity of rubbing of pins.
L
pcran*shaft
9
ao
x radius of cran*shaft pin
9 ; x =.=;
9 =.3+ m/s
L
$cran* pin
9 (
ab
E
oa
" r
cran* pin
9 (3 E;"=.=3 9=.;+ m/sec
L
$ cross head
9
ab
x r
cross head
9 3 x =.% 9 =.3 m/sec
%4=
Pro)lem =: A 1uic* return mechanism of cran* and slotted lever type shaping
machine is shown in ,ig. the dimensions of various lin*s are as follows.
8
%
8
&
9 ;== mm, 8
%
? 9 '== mm, 8
&
7 9 %'== mm and 7( 9 +== mm
#he cran* 8
%
? ma*es an angle of +0
o
with the vertical and relates at += rpm in the
>>: direction. ,indD
iii" Lelocity of the (am (, velocity of cutting tool, and
iv" Angular velocity of lin* 8
&
7.
-ol!tion:
Step -D 7raw the configuration diagram.

6tep &D 7etermine velocity of point ?.
L
b
9
8%?
x 8
%
?
8%?
9 sec / rad %; . +
3=
+= x &
3=
@ &
? % 8
L
b
9 +.%; x =.' 9 %.&0+ m/sec
8
&
8
%
7
>
?
&
+0
o
(
8
&
8
%
7
> on 8
&
7
? on oran*, 8, ?
(
#ool
&==
%4%
%4&
6tep ' D 7raw velocity vector diagram.
>hoose a suitable scale % cm 9 =.' m/sec
o 7raw 8
%
b
r
to lin* 8
%
? e1ual to %.&0+ m/s.
o ,rom b draw a line along the line of 8
&
? and from 8
%
8
&
draw a line
r
to 8
&
?.
#his intersects at c
bc
will measure velocity of sliding of slider and > 8
&
will
measure the velocity of > on lin* 8
&
>.
o 6ince point 7 is on the extension of lin* 8
&
> measure
d 8
&
such that
d 8
&
9
> 8
7 8
> 8
&
&
& . d 8
&
will give velocity of point 7.
r
to lin* 7( and from 8
%
8
&
. 7raw a line along the line
of stro*e of (am ( (hori2ontal", #hese two lines will intersect at point r r 8
&

will give the velocity of (am (.
o #o determine the angular velocity of lin* 8
&
7 determine L
d
9
d 8
&
.
:e *now that L
d
9
8&7
x 8
&
7.

3 O
d O
2
2
d O
2
r/s
r
8
%
8
&
d
b
c
%4'
Pro)lem >: ,igure below shows a toggle mechanisms in which the cran* 8A rotates
at %&= rpm. ,ind the velocity and acceleration of the slider 7.
-ol!tion:
6tep %D 7raw the configuration diagram choosing a suitable scal.
6tep &D 7etermine velocity of point A with respect to 8.
L
ao
9
8A
x 8A
L
ao
9 s / m =&+ . 0 + . =
3=
%&= x &

6tep 'D 7raw the velocity vector diagram.

o >hoose a suitable scale
o Car* 2ero velocity points 8,1
o 7raw vector
oa

r
to lin* 8A and magnitude 9 0.=&+ m/s.
%==
%<=
%'0 %&=
%&=
7
?
A
+0
o
+=
All the dimensions in mm
%4+
r
to A? and from 1 draw a line
r
to M? to intersect at b.
b1 ba
L 1b and L ab .
o 7raw a line
r
to ?7 from b from 1 draw a line along the slide to intersect at
d.
" velocity slider ( L d1
d
Pro)lem ?: A whitworth 1uic* return mechanism shown in figure has the following
dimensions of the lin*s.
#he cran* rotates at an angular velocity of &.0 r/s at the moment when cran*
ma*es an angle of +0
o
with vertical. >alculate
d" the velocity of the (am 6
e" the velocity of slider $ on the slotted level
f" the angular velocity of the lin* (6.
-ol!tion:
6tep %D #o draw configuration diagram to a suitable scale.
a b
7
8,1
%40
8$ (cran*" 9 &+= mm
8A 9 %0= mm
A( 9 %30 mm
(6 9 +'= mm
6
(
A
8
?
$ on slider M on
?A
+0
o
%43
6tep & D #o determine the absolute velocity of point $.
L
$
9
8$
x 8$
L
ao
9 s / m 3 . = &+ . = x
3=
&+= x &
o 7raw
op

r
lin* 8$ 9 =.3 m.
o ,rom 8, a, g draw a line
r
to A$/AM and from $ draw a line along A$ to
intersect previously draw, line at 1. $1 9 Lelocity of sliding.
a1 9 Lelocity of M with respect to A.
L
1a
9 a1 9
o Angular velocity of lin* (6 9
6(
sr
(6

rad/sec
1
r
$
6
8, a, g
=.3 m
%44
Pro)lem 8: A toggle mechanism is shown in figure along with the diagrams of the
lin*s in mm. find the velocities of the points ? and > and the angular velocities of
lin*s A?, ?M and ?>. #he cran* rotates at 0= rpm in the cloc*wise direction.
-ol!tion
6tep &D >alculate the magnitude of velocity of A with respect to 8.
L
a
9
8A
x 8A
L
a
9
s / m %0=4 . = s / m =0 . = =' . = x
3=
0= x &

,
_

?
A
%==
M
>
%+=
8
0= rpm
8A 9 '=
A? 9 ;=
?M 9 %==
?> 9 %==
%4;
9ector ,elocity dia"ram
o 7raw
8a

r
to lin* 8A 9 =.%0 m/s
r
to A? and from 8, 1 draw a lin*
r

ba
L ab and s / m %' . = L 1b
b

ab
9
" ccw ( s / r 4+ . =
A?
ab

b1

" ccw ( s / r ' . %
a?
1b

r
to ?e and from 8, 1 these two lines intersect at >.
s / m %=3 . = L 8>
>

>b
L b>
" ccw ( s / r '' . %
?>
bc
?>

Pro)lem @: #he mechanism of a stone crusher has the dimensions as shown in figure
in mm. If cran* rotates at %&= rpm >:. ,ind the velocity of point K when cran* 8A
is inclined at '=
o
to the hori2ontal. :hat will be the tor1ue re1uired at the cran* to
overcome a hori2ontal force of += *@ at K.
b
a
8, 1 c
%4<
-ol!tionD
&==
'3=
+==
&==
3==
'&=
0==
%==
%==
3=
o
3==
C
A
? >
7
K
h2
h
&
%;=
6tep & D Kiven speed of cran* 8A determine velocity of A with respect to RoQ.
L
a
9
8A
x 8A 9
s / m &3 . % % . = x
3=
%&= x &

,
_

6tep 'D 7raw the velocity vector diagram by selecting a suitable scale.
o 7raw
8a

r
to lin* 8A 9 %.&3 m/s
r
to A? and from 1 draw a lin*
r
r
to ?> and from a, draw a line
r
to A> to intersect at c.
r
to >7 and from m draw a line
r
to C7 to intersect at d.
r
to K7 and from m draw a line
r
to KC to x intersect the
previously drawn line at *.
o 6ince we have to determine the tor1ue re1uired at 8A to overcome a hori2ontal
force of += *@ at K. 7raw a the hori2ontal line from o, 1, m and c line
r
to this
line from *.
( ) ( )
$
8
$
I
# #
L 9
(
# 9 , x $ , 9
r
#

8A
#
8A
9 ,
*
L
*
hori2ontal
c a
d
b
*
L
*
(h2"
o, 1, m
%;%
#
8A
9
( )
8A
h2 * *
L ,
#
8A
9
3 . %&
+0 . = X +====
9 @Am
Pro)lem C: In the mechanism shown in figure lin* 8A 9 '&= mm, A> 9 3;= mm and
8M 9 30= mm.
7etermine,
iv" #he angular velocity of the cylinder
v" #he sliding velocity of the plunger
vi" #he absolute velocity of the plunger
:hen the cran* 8A rotates at &= rad/sec cloc*wise.
-ol!tionD
6tep &D 7raw the velocity vector diagram
o 7etermine velocity of point A with respect to 8.
L
a
9
8A
x 8A 9 &= x =.'& 9 3.+ m/s
o 6elect a suitable scale to draw the velocity vector diagram.
o Car* the 2ero velocity point. 7raw vector
oa

r
to lin* 8A e1ual to 3.+ m/s.
A
8 (
? on A( (point on A(
below M"
3=
o >
%;&
r
to A? and from o, 1, draw a line perpendicular to A?.
o #o mar* point c on
a#
:e *now that
(C
(+
ac
a#

(+
(C - a#
ac 9
o Car* point c on
a#
and /oint this to 2ero velocity point.
o Angular velocity of cylinder will be.
ab
9
(+
4
a#
9 0.3% rad/sec (c"
o 6tudying velocity of player will be
5# 9 +.% m/s
o Absolute velocity of plunger 9
5c
OC
9 +.&& m/s
Pro)lem A: In a swiveling /oint mechanism shown in figure lin* A? is the driving
cran* which rotates at '== rpm cloc*wise. #he length of the various lin*s areD
7etermine,
iv" #he velocity of slider bloc* 6
v" #he angular velocity of lin* ),
vi" #he velocity of lin* ), in the swivel bloc*.
8, 1
b
c
a
%;'
A? 9 30= mm
A? 9 %== mm
?> 9 ;== mm
7> 9 &0= mm
?) 9 >,
), 9 +== mm
8, 9 &+= mm
,6 9 +== mm
-ol!tion:
6tep &D 7etermine the velocity of point ? with respect to A.
L
b
9
?A
x ?A
L
b
9
6!
!! - 2
x =.% 9 '.%+ m/s
6tep 'D 7raw the velocity vector diagram choosing a suitable scale.
o Car* 2ero velocity point a, d, o, g.
+0
o
'==
+==
+==
?
)
8
A 7
$
6
K
,
a, d, o, g
c
b
$
f
6
%;+
o ,rom RaQ draw a line
r
to A? and e1ual to '.%+ m/s.
o ,rom RbQ draw a line
r
to 7> to intersect at >.
o Car* a point ReQ on vector bc such that
+C
+0
- #c #e
o ,rom ReQ draw a line
r
to $) and from Ra,dQ draw a line along $) to intersect at $.
o )xtend the vector ep to ef such that
0F -
0'
ef
ef
o ,rom RfQ draw a line
r
to 6f and from 2ero velocity point draw a line along the
slider R6Q to intersect the previously drawn line at 6.
o Lelocity of slider s 7 m 6 . 2 g" . Angular Lelocity of lin* ),.
o Lelocity of lin* , in the swivel bloc* 9 s 7 m 89 . 1 O' .
Pro)lem ;B: ,igure shows two wheels & and + which rolls on a fixed lin* %. #he
angular uniform velocity of wheel is & is %= rod/sec. 7etermine the angular velocity
of lin*s ' and +, and also the relative velocity of point 7 with respect to point ).
-ol!tion:
0= mm
+= mm
'=
o
3= mm
'
&
K
&
?
>
7
,
+
A
%;0
6tep &D Kiven
&
9 %= rad/sec. >alculate velocity of ? with respect to K.
L
b
9
&
x ?K
L
b
9 %= x +' 9 +'= mm/sec.
Redra*n con#i"!ration dia"ram
'=
o
K
)
?
,
7
>
0= mm
%;3
o 7raw g# 9 =.+' m/s
r
to ?K.
r
to ?> and from RfQ draw a line
r
to >, to intersect at >.
r
to ?) and from g, f draw a line
r
to K) to intersect at e.
r
to >7 and from f draw a line
r
to ,7 to intersect at d.
Pro)lem ;;D ,or the mechanism shown in figure lin* & rotates at constant angular
velocity of % rad/sec construct the velocity polygon and determine.
iv" Lelocity of point 7.
v" Angular velocity of lin* ?7.
vi" Lelocity of slider >.
-ol!tionD
6tep %D 7raw configuration diagram.
e g, f
d
b
c
%;4
6tep &D 7etermine velocity of A with respect to 8
&
.
L
b
9
&
x 8
&
A
L
b
9 % x 0=.; 9 0=.; mm/sec.
6tep 'D 7raw the velocity vector diagram, locate 2ero velocity points 8
&
8
3
.
o ,rom 8
&
, 8
3
draw a line
r
to 8
&
A in the direction of rotation e1ual to 0=.;
mm/sec.
r
to Ac and from 8
&
, 8
3
draw a line along the line of stoc*s
of c to intersect the previously drawn line at c.
o Car* point b on vector ac such that
(+ -
(C
a#
a#
r
to ?7 and from 8
&
, 8
3
draw a line
r
to 8
3
7 to intersect at
d.
+
>
8
&
9 0=.; mm
A? 9 %=& mm
?7 9 %=& mm
78
3
9 %=& mm
A> 9 &=' mm
%=& mm
A
8
3
7
0
3
?
'
8
&
+0
o
8
&
8
3
>
b
L
d
a
d
B
db
%;;
6tep +D L
d
9 d O
6
9 '& mm/sec
bd
9
+3
#d
9
L
c
9 C O
2
9
ADDITI%:AL PR%BLEM- &%R PRACTICE
Pro)lem ;D In a slider cran* mechanism shown in offset by a perpendicular distance
of 0= mm from the centre >. A? and ?> are 40= mm and &== mm long respectively
cran* ?> is rotating e at a uniform speed of &== rpm. 7raw the velocity vector
diagram and determine velocity of slider A and angular velocity of lin* A?.
Pro)lem <D ,or the mechanism shown in figure determine the velocities at points >,
) and , and the angular velocities of lin*s, ?>, >7) and ),.
#he cran* op of a cran* and slotted lever mechanism shown in figure rotates at %==
rpm in the >>: direction. Larious lengths of the lin*s are 8$ 9 <= mm, 8A 9 '==
mm, A( 9 +;= mm and (6 9 ''= mm. #he slider moves along an axis perpendicular
A
>
0= mm
?
,
)
>
?
A
%&=
7
%0=
%==
0=
%==

rpm
3=
%&=
o
%&=
%;<
to
r
A8 and in %&= mm from 8. 7etermine the velocity of the slider when
(O' :
is
%'0
o
and also mention the maximum velocity of slider.
7
?
8
+0
o
A
>
%<=
Pro)lem >D ,ind the velocity of lin* + of the scotch yo*e mechanism shown in figure.
#he angular speed of lin* & is &== rad/sec >>:, lin* 8
&
$ 9 += mm.
Pro)lem ?D In the mechanism shown in figure lin* A? rotates uniformly in >
direction at &+= rpm. 7etermine the linear velocity of ? and angular velocity of ),.
+0
o
'
$
+
&
M on lin* +
,
?
A
) >
+0
o
A? 9 %3= mm
?> 9 %3= mm
>7 9 %== mm
A7 9 &== mm
), 9 &== mm
>) 9 += mm
%== mm
%<%

II Method
Instantaneo!s Method
#o explain instantaneous centre let us consider a plane body $ having a nonAlinear
motion relative to another body 1 consider two points A and ? on body $ having
velocities as L
a
and L
b
respectively in the direction shown.
&i"+ ;
If a line is drawn
r
to L
a
, at A the body can be imagined to rotate about some
point on the line. #hirdly, centre of rotation of the body also lies on a line
r
to the
direction of L
b
at ?. If the intersection of the two lines is at I, the body $ will be rotating
about I at that instant. #he point I is *nown as the instantaneous centre of rotation for the
body $. #he position of instantaneous centre changes with the motion of the body.
&i"+ <
In case of the
r
lines drawn from A and ? meet outside the body $ as shown in ,ig &.
&i"+ =
If the direction of L
a
and L
b
are parallel to the
r
at A and ? met at . #his is the case
when the body has linear motion.
A
L
a
L
b
?
I
$
1
A
L
a
L
b
?
I
$
1
A
L
a
I at
?
L
b
%<&
:!m)er o# Instantaneo!s Centers
#he number of instantaneous centers in a mechanism depends upon number of
lin*s. If @ is the number of instantaneous centers and n is the number of lin*s.
@ 9
( )
&
% n n
Ty(es o# Instantaneo!s Centers
#here are three types of instantaneous centers namely fixed, permanent and
neither fixed nor permanent.
)xampleD ,our bar mechanism. n 9 +.
@ 9
( )
&
% n n
9
( )
3
&
% + +
,ixed instantaneous center I

%&
, I
%+
$ermanent instantaneous center I
&'
, I
'+
@either fixed nor permanent instantaneous center I
%'
, I
&+
Arnold Kennedy theorem o# three centers:
I
&+
I
&'
I
%'
I
%&
I
%+
I
'+
&
%
'
+
%<'
State&ent0 If three bodies have motion relative to each other, their instantaneous centers
should lie in a straight line.
%<+
$roofD
>onsider a three lin* mechanism with lin* % being fixed lin* & rotating about I
%&
and lin* ' rotating about I
%'
. 5ence, I
%&
and I
%'
are the instantaneous centers for lin* & and
lin* '. .et us assume that instantaneous center of lin* & and ' be at point A i.e. I
&'
. $oint
A is a coincident point on lin* & and lin* '.
>onsidering A on lin* &, velocity of A with respect to I
%&
will be a vector L
A&

r
to
lin* A I
%&
. 6imilarly for point A on lin* ', velocity of A with respect to I
%'
will be
r
to A
I
%'
. It is seen that velocity vector of L
A&
and L
A'
are in different directions which is
impossible. 5ence, the instantaneous center of the two lin*s cannot be at the assumed
position.
It can be seen that when I
&'
lies on the line /oining I
%&
and I
%'
the L
A&
and L
A'
will
be same in magnitude and direction. 5ence, for the three lin*s to be in relative motion all
the three centers should lie in a same straight line. 5ence, the proof.
6teps to locate instantaneous centersD
6tep &D Identify the number of instantaneous centers by using the relation @
9
( )
&
n % n
.
6tep 'D Identify the instantaneous centers by circle diagram.
6tep +D .ocate all the instantaneous centers by ma*ing use of KennedyQs theorem.
#o illustrate the procedure let us consider an example.
I
%&
L
A'&
&
L
A&&
I
%'
I
&'
A
'
%
%<0
%<3
A slider cran* mechanism has lengths of cran* and connecting rod e1ual to &==
mm and &== mm respectively locate all the instantaneous centers of the mechanism for
the position of the cran* when it has turned through '=
o
from I8>. Also find velocity of
slider and angular velocity of connecting rod if cran* rotates at += rad/sec.
6tep %D 7raw configuration diagram to a suitable scale.
6tep &D 7etermine the number of lin*s in the mechanism and find number of
instantaneous centers.
@ 9
( )
&
n % n
n 9 + lin*s @ 9
( )
&
% + +
9 3
6tep 'D Identify instantaneous centers.
o 6uit it is a +Abar lin* the resulting figure will be a s1uare.
'=
o
I
%&
I
%&
+
?
I
%'
A
'
;==
I
&'
&==
&
I
&+
8 %
%
I
%+
to I
%+
to
%<4
o .ocate fixed and permanent instantaneous centers. #o locate neither fixed nor
permanent instantaneous centers use KennedyQs three centers theorem.
6tep +D Lelocity of different points.
L
a
9
&
AI
%&
9 += x =.& 9 ; m/s
also L
a
9
&
x A
%'

'
9
%'
a
AI
L
L
b
9
'
x ?I
%'
9 Lelocity of slider.
Pro)lem <D
A four bar mechanisms has lin*s A? 9 '== mm, ?> 9 >7 9 '3= mm and A7 9
3== mm. Angle
o
3= ?A7 ^
. >ran* A? rotates in > direction at a speed of %== rpm.
.ocate all the instantaneous centers and determine the angular velocity of lin* ?>.
-ol!tion:
6tep &D ,ind the number of Instantaneous centers
@ 9
( )
&
n % n
9
( )
&
% + +
9 3
6tep 'D Identify the I>Qs by circular method or boo* *eeping method.
%
I
%&
&
+
I
'+
'
I
+%
I
&'
I
&+
I
%'
I
%&
I
&'
I
'+
% & ' +
I
%'
I
&+
I
%+
8(
%<;
6tep +D .ocate all the visible I>Qs and locate other I>Qs by KennedyQs theorem.
L
b
9
&
x ?I
%&
9 sec / m ' . = x
3=
%== x &
Also L
b
9
'
x ?I
%'

'
9
sec / rad
?I
L
%'
b
,or a mechanism in figure cran* 8A rotates at %== rpm cloc*wise using I.>. method
determine the linear velocities of points ?, >, 7 and angular velocities of lin*s A?,
?> and >7.
8A 9 &= cm A? 9 %0= cm ?> 9 3= cm
%
I
%&
&
+
I
'+
'
I
%+
I
&'
I
%&
I
%'
I
%&
I
&'
I
'+
% & ' +
I
%'
I
&+
I
%+
8(
I
&+
I
&'
I
%'
I
%&
I
%+
I
'+
&
%
'
+
?
A
7
>
%<<
>7 9 0= cm ?) 9 += cm 8) 9 %'0 cm
L
a
9
8A
x 8A
L
a
9 s / m % . & & . = x
3=
%== x &
n 9 3 lin*s
@ 9
( )
%0
&
% n n
'
0
&
'=
o
A
3
%= mm
7
%
8 +
?
>
)
% & ' + 0 3
%& &' '+ +0 03
%' &+ '0 +3
%+ &0 '3
%0 &3
%3
0
+
'
&
%
AAA
%0
AAA
&
%
I
%&
I
&'
I
%'
I
%3
_
I
%+
I
+0
I
%3
_ I
%3
_
I
03
I
'+
I
%0
'
0
3
&==
L
a
9
'
AI
%'
'
9
sec / rad 0 . &
AI
L
%'
a
L
b
9
'
x ?I
%'
9 &.340 m/s

Also L
b
9
+
x ?I
%+
+
9
sec / rad '4 . 3
?I
L
%+
b

L
>
9
+
x >I
%+
9 %.&4' m/s

A
I
%'
?
'
,ink &
+
>
I
%+
?
,ink /
>
I
%0
0
7 ,ink '
&=%
L
>
9
0
x >I
%0
0
9
sec / rad 4& . %
AI
L
%0
>
L
d
9
0
x 7I
%0
9 =.;&3 m/s

In the toggle mechanism shown in figure the slider 7 is constrained to move in a
hori2ontal path the cran* 8A is rotating in >>: direction at a speed of %;= rpm the
dimensions of various lin*s are as followsD
8A 9 %;= mm >? 9 &+= mm
A? 9 '3= mm ?7 9 0+= mm
,ind,
i" Lelocity of slider
ii" Angular velocity of lin*s A?, >? and ?7.
n 9 3 lin*s
@ 9
( )
%0
&
% n n
7
>
?
+0
o
A
8
'3=
%=0
&=&
+nswers
L
b
9 &.340 m/s
L
>
9 %.&4' m/s
L
d
9 =.;&3 m/s
ab
9 &.0 rad/sec
bc
9 3.'4 rad/sec
cd
9 %.4& rad/sec
L
a
9
&
x AI
%&
9 '.+ m/s

L
a
9
'
x AI
%'
'
9
sec / rad ++ . &
AI
L
%'
a
L
b
9
'
x ?I
%'
% & ' + 0 3
%& &' '+ +0 03
%' &+ '0 +3
%+ &0 '3
%0 &3
%3
0
+
'
&
%
AAA
%0
AAA
+
?
3
>
I
&+
I
03
8
I
+3
I
%&
I
&'
I
%0
I
'+
I
'0
&
'
0
A
I
+0
I
%'
I
%3
_ I
%3
_
I
%3
_
A
I
%'
?
'
,ink &
&='
L
b
9
+
x ?I
%+
+
9
sec / rad ;40 . %%
AI
L
%+
b
L
b
9
0
x ?I
%0
0
9
sec / rad '4 . +
AI
L
%0
b
L
d
9
0
x 7I
%0
9 & m/s

,igure shows a six lin* mechanism. :hat will be the velocity of cutting tool 7 and
the angular velocities of lin*s ?> and >7 if cran* rotates at %= rad/sec.
?
I
%+
>
+
,ink /
?
7
0
I
%0
,ink '
&=+
+nswers
L
d
9 & m/s
ab
9 &.++ rad/sec
bc
9 %%.;40 rad/sec
cd
9 +.'4 rad/sec
7
M
+0
?
'=
o
%0
8
+0
%0
>
3=
All dimensions
are in mm
%0
&0
A
<=
o
&=0
L
a
9
&
x AI
%&
9 %= x =.=%0
L
a
9
&
x AI
%&
9 =.%0 m/s

L
a
9
'
x AI
%'
'
9
%'
a
AI
L
L
b
9
'
x ?I
%'
3
8
I
03
I
%3
_
I
%3
_
I
%3
_
I
%&
I
&'
I
&+
I
+0
I
+3
I
'+
I
%+
'
&
0
+
I
&3
I
%'
I
%0
A
I
%'
?
'
,ink &
&=3
L
b
9
+
x ?I
%+
+
9
sec / rad &0 . +
?I
L
%+
b
L
>
9
+
x >I
%+
L
>
9
0
x >I
%0
0
9
sec / rad <; . %
AI
L
%0
>
L
d
9
0
x 7I
%0
9 %.33 m/s

A whitworth 1uic* return mechanism shown in figure has a fixed lin* 8A and cran*
8$ having length &== mm and '0= mm respectively. 8ther lengths are A( 9 &== mm
and (6 9 += mm. ,ind the velocity of the rotation using I> method when cran*
ma*es an angle of %&=
o
with fixed lin* and rotates at %= rad/sec.
>
I
%+
M
+
?
,ink /
7
I
%0
>
0
,ink '
&=4
+nswers
L
d
9 %.33 m/s
bc
9 +.&0 rad/sec
cd
9 %.<; rad/sec
Locate the IC1s
n 9 3 lin*s
@ 9
( )
%0
&
% n n
3
6
'
A
(
0
+
$
?
%
8 &
% & ' + 0 3
%& &' '+ +0 03
%' &+ '0 +3
%+ &0 '3
%0 &3
%3
0
+
'
&
%
AAA
%0
AAA
&=;
L
$
9
&
x 8$

9 FFF m/s

Acceleration Analysis
(ate of change of velocity is acceleration. A change in velocity re1uires any one
of the following conditions to be fulfilledD
o >hange in magnitude only
o >hange in direction only
o >hange in both magnitude and direction
:hen the velocity of a particle changes in magnitude and direction it has two
component of acceleration.
%. (adial or centripetal acceleration
f
c
9
&
r
Acceleration is parallel to the lin* and acting towards centre.
I
%0
0
%
3
I
+3
I
+0
I
03
I
%+
I
&'
I
'+
'
I
&+
I
%&
+
&
I
%3
_
&=<
LaQ 9 (V E ; t" r
Lelocity of A parallel to 8A 9 =
Lelocity of AQ parallel to 8A 9 LaQ sin ; <
#herefore change in velocity 9 LaQ sin ; < = !
Centripetal acceleration > f
c
>
( )
t
r t
sin +
as ;t tends to ero sin ; < tends to ; <

( )
t
t r r
f
c
> ?r *d<7 dt, >?
2
r
+ut 4 > ?r or ? > 47r

@enceA f
c
/0
1
r F 9
<
/r
<+ Tna"ential Acceleration:
LaQ 9 (V E ; t" r
Lelocity of A perpendicular to 8A 9 La
Lelocity of AQ perpendicular to 8A 9 LaQ cos ; <
#herefore change in velocity 9 LaQ cos ; < = 4a
Tnagnetial acceleration > f
t
>
( )
t
r r t
+ cos
4
a
(
O
r
(B
;<
;<
4aB cos;<
4aB sin;<
4aB
O
1
o
a
a
1
f
t

oa
f
c
oa
f
oa
&%=
as ;t tends to ero cos ; < tends to 1

( )
t
r t r r
f
t
> r
)xampleD
f
>
ab
9
&
A?
Acts parallel to ?A and acts from ? to A.
f
t
9 ?A acts
r
to lin*.
f
?A
9 f
r
?A
E f
t
?A
Pro)lem ;D ,our bar mechanism. ,or a +Abar mechanism shown in figure draw
velocity and acceleration diagram.
?
A
f
r
ab
f
ab
f
t
ab
&%%
3=
o
A 7
?
>
33
03
9 %=.0 rad/sec
0=
%==
All dimensions
are in mm
&%&
-ol!tionD
Step 5D 7raw configuration diagram to a scale.
Step 6D 7raw velocity vector diagram to a scale.
L
b
9
&
x A?
L
b
9 %=.0 x =.=0
L
b
9 =.0&0 m/s
Step BD $repare a table as shown belowD
-l+
:o+
Link Ma"nit!de Direction -ense
;+ A? f
c
9
&
A?
r
f
c
9 (%=.0"
&
/=.0&0
f
c
9 0.0% m/s
&
$arallel to A?
A
&. ?> f
c
9
&
?>
r
f
c
9 %.40
f
t
9 r
$arallel

to ?>
r
to ?>
?
H
'. >7 f
c
9
&
>7
r
f
c
9 &.40
f
t
9 ]
$arallel to 7>
r
to 7>
7
H
Step FD 7raw the acceleration diagram.
a
%
d
L
c
>
b
L
bc
&%'

o >hoose a suitable scale to draw acceleration diagram.
o Car* the 2ero acceleration point a
%
d
%
.
o .in* A? has only centripetal acceleration. #herefore, draw a line parallel to A?
and toward A from a
%
d
%
e1ual to 0.0% m/s
&
i.e. point b
%
.
o ,rom b
%
draw a vector parallel to ?> points towards ? e1ual to %.40 m/s
&
(b
%
%
".
o ,rom b
%
%
draw a line
r
to ?>. #he magnitude is not *nown.
o ,rom a
%
d
%
draw a vector parallel to A7 and pointing towards 7 e1ual to &.4& m/s
&
i.e. point c
%
.
o ,rom c
%
%
draw a line
r
to >7 to intersect the line drawn
r
to ?> at c
%
,
% %
c d 9 f
>7
and
% %
c b 9 f
bc
.
#o determine angular acceleration.
?>
9
sec / rad =< . '+
?>
b c
?>
f
%
% %
t
bc

" >>: (

>7
9
" >>: ( sec / rad %% . 4<
>7
c c
>7
f
%
% %
t
cd

Pro)lem <D ,or the configuration of slider cran* mechanism shown in figure below.
>alculate
i" Acceleration of slider ?.
ii" Acceleration of point ).
iii" Angular acceleration of lin* A?.
If cran* 8A rotates at &= rad/sec >>:.
-ol!tionD
c
%
a
%
d
%
c
%
%%
el
to >7
%%
el
to >7
to ?>
b
%
%%
el
to A?
%%
el
to ?>
f
bc
b
%
&%+

Step 5D 7raw configuration diagram.
Step 6D ,ind velocity of A with respect to 8.
L
a
9
8A
x 8A
L
a
9 &= x =.+;
L
a
9 <.3 m/s
Step FD 7raw velocity vector diagram.
Step FD
-l+
:o+
Link Ma"nit!de Direction -ense
;+ 8A f
c
a8
9
&
8A
r 9 %<& $arallel to 8A
8
&. A? f
c
ab
9
&
ab
r 9 %4.&
f
t
ab
H
$arallel

to A?
r
to A?
A
H
'. 6lider ? H $arallel

to 6lider H
All dimensions
are mm
+;=
3=
o
A
?
%3==
K
)
+0=
8
%
g
a
<.4
e
b
0.&0
&%0
Step CD 7raw the acceleration diagram choosing a suitable scale.
f
b
o
%
g
%
f
ab
f
t
ab
%<&
%4&
a
%
e
%
f
c
ab
e
e%
b
%
%
&%3
o Car* o
%
g
%
(2ero acceleration point"
o 7raw
% %
g o
9 > acceleration of 8A towards R8Q.
o ,rom a
%
draw a
%
b
%
%
9 %4.& m/s
&
towards RAQ from b
%
%

draw a line
r
to A?.
o ,rom o
%
g
%
draw a line along the slider ? to intersect previously drawn line at b
%
,
ab % %
f b a
% %
b g 9 f
b
9 4& m/s
&
.
o )xtend
% %
b a
9
% %
e a
such that
A)
( A
A?
b a
% % % %
.
o Join e
%
to
%
g
%
,
% %
e g 9 f
e
9 &'3 m/s
&
.
o
ab
9
3 . %
%34
A?
b b
A?
f
% %
t
ab

9 %=+ rad/sec
&
(>>:".
$nswersD
f
b
9 4& m/sec
&
f
e
9 &'3 m/sec
&
ab
9 %=+ rad/sec
&
Pro)lem =: In a toggle mechanism shown in figure the cran* 8A rotates at &%= rpm
>>: increasing at the rate of 3= rad/s
&
.
Lelocity of slider 7 and angular velocity of lin* ?7.
Acceleration of slider 7 and angular acceleration of lin* ?7.
&%4
Step 5 7raw the configuration diagram to a scale.
Step 6 ,ind
L
a
9
8A
x 8A
L
a
9
( )
& . = x
3=
&%= &
9 +.+ m/s
Step BD 7raw the velocity vector diagram.
Step FD
-l+
:o+
Link Ma"nit!de m/s
<
Direction -ense
;+
A8
f
c
a8
9
&
r 9 <3.;
f
t
a8
9 r 9 %&
$arallel to 8A
r
to 8A
8
H
+==
'== 0==
7
?
A
&==
+0
o
M
7
K
%0=
d
b a
o
%
,1,g
&%;
&.
A?
f
c
ab
9
&
r 9 0.<'
f
t
ab
9 r 9
$arallel

to A?
r
to A?
A
H
'.
?M
f
c
b1
9
&
r 9 ';.'
f
t
b1
9 r 9
$arallel to ?M
r
to ?M
M
H
+. ?7 f
c
bd
9
&
r 9 &=
r
to ?7 ?
0.
6lider 7
f
t
bd
9 r 9
H

r
to ?7
$arallel to slider motion
H
H
Step CD 7raw the acceleration diagram choosing a suitable scale.
o Car* 2ero acceleration point.
o 7raw o
%
a
%
%
9 f
c
8A
and a
%
%
a 9 f
t
8A
r
to 8A from
o
% %
a o
9 f
a
o ,rom a
%
draw
ab
c
% %
f b a , from b
%
%

draw a line
r
to A?.
o ,rom o
%
1
%
g
%
draw
%
%
%
1 o
9 f
c
b1
and from 1
%
%
draw a line a line
r
to ?M to intersect
the previously drawn line at b
%

b1 % %
f b 1
% %
b a 9 f
ab

o ,rom b
%
draw a line parallel to ?7 9 f
c
bd
such that
%
%
%
d b
9 f
c
bd
.
o ,rom d
%
%
draw a line
r
to ?7, from o
%
1
%
g
%
draw a line along slider 7 to meet the
previously drawn line at .
1
%
%
b
%
%
a
%
f
t
8A
d
%
%
f
c
8A
8
%
1
%
g
%
b
%
d
%
f
d
f
bd
a
%
%
fab
&%<
o
d % %
f d g
9 %3.+ m/sec
&
.
o
bd % %
f d b
9 0.+3 m/sec
&
.
o
?7
9
& bd
sec / rad & . %=<
0 . =
+3 . 0
?7
f
$nswersD
L
d
9 &.0+ m/s
bd
9 3.'& rad/s
,
d
9 %3.+ m/s
&
bd
9 %=<.& rad/s
&
&&=
Coriolis Acceleration: It has been seen that the acceleration of a body may have two
components.
>entripetal acceleration and
#angential acceleration.
5owever, in same cases there will be a third component called as corilis
acceleration to illustrate this let us ta*e an example of cran* and slotted lever
mechanisms.
Assume lin* & having constant angular velocity
&
, in its motions from 8$ to 8$
%
in a small interval of time
t
. 7uring this time slider ' moves outwards from position ?
to ?
&
. Assume this motion also to have constant velocity L
?/A
. >onsider the motion of
slider from ? to ?
&
in ' stages.
%. ? to A
%
due to rotation of lin* &.
&. A
%
to ?
%
due to outward velocity of slider L
?/A
.
'. ?
%
to ?
&
due to acceleration
r
to lin* & this component in the coriolis component
of acceleration.
:e have Arc ?
%
?
&
9 Arc M?
&
H Arc M?
%
9 Arc M?
&
H Arc AA
%
Arc ?
%
?
&
9 8M d A A8 d
A on lin* &
? on lin* '
8
d

&
A
%
?
&
$
%
?
%
&
$
'
d
M
&&%
9 A
%
?
%
d
F 9
B/A

<
dt
<
#he tangential component of velocity is
r
to the lin* and is given by L
t
9 r. In
this case has been assumed constant and the slider is moving on the lin* with constant
velocity. #herefore, tangential velocity of any point ? on the slider ' will result in
uniform increase in tangential velocity. #he e1uation L
t
9 r remain same but r increases
uniformly i.e. there is a constant acceleration
r
to rod.
7isplacement ?
%
?
&
9 [ at
&
9 [ f (dt"
&
[ f (dt"
&
9 L
?/A

&
dt
&
#
cr
B/A
F <
<
9
B/A
coriolis acceleration

#he direction of coriolis component is the direction of relative velocity vector for
the two coincident points rotated at <=
o
in the direction of angular velocity of rotation of
the lin*.
,igure below shows the direction of coriolis acceleration in different situation.
(a" (otation >: slider
moving up
(b" (otation >: slider
moving down
&

&
f
cr
&
f
cr
&&&
( 5uicC return mechanism of cranC and slotted lever type shaping
machine is shown in Fig. the dimensions of various linCs are as follows.
O
1
O
2
> 8!! mmA O
1
+ > !! mmA O
2
3 > 1!! mm and 3$ > 4!! mm
The cranC O
1
+ maCes an angle of 49
o
with the vertical and rotates at 4!
rpm in the CC% direction. Find:
v" (cceleration of the $am $A velocity of cutting toolA and
vi" (ngular (cceleration of linC (3.
So2ution"
Step 1: 3raw the configuration diagram.
(c" (otation >>: slider
moving up
(d" (otation >>: slider
moving down
&

&
f
cr
f
cr
&&'

A

8

7

>

?

&

+0
o
(

A

8

7

> on A7
? on oran*, A ?

(

#ool

&==

"tep 2: 3etermine velocity of point +.
)

/
&3
4 &3
&3
/ sec 5 ra6 78 9 4
:;
4; 4 1
:;
$ 1
3 7 &
)

/ 4978 4 ;9< / 791=4 m5sec
&&+
"tep : 3raw velocity vector diagram.
Choose a suita#le scale 1 cm > !. m7sec

r
o.a

d
b
c
$tep %: prepare ta#le showing the acceleration components
S29
$o9
*in> Magnitu6e m5s
1
,irection Sense
1. O+
f
c
o#
>
2
r >9.24

'arallel to O+

O
=
2. (C
f
c
ac
>
2
r
f
t
ac
> r
'arallel

to (+
r
to (+
(
=
. +C
f
s
#c
>r
f
cc
#c
> 2v >
'arallel to (+

r
to (C
D
=
4. 3$
f
c
#d
>
2
r > 2!
f
t
#d
> r

'arallel to 3$
r
to +3
3
D
9. "lider $
f
t
#d
> r

'arallel to slider motion
=

Acceleration of (am 9 fr 9 o
%
r
Angular Acceleration of lin* A7

)d
F
K.)@I@Q6 >onstruction
#his method helps us to draw the velocity and acceleration diagrams on the
construction diagram itself. #he cran* of the configuration diagram
represents the velocity and acceleration line of the moving end (cran*".
o
1
a
1
#
1
#
1
BB
#
1
B
#
1
BBB
d
1
r
1
B
r
1
f
c
o#
f
t
a#
f
s
a#
f
cc
#c
f
o#
f
ad
f
r
f
t
dr
f
c
dr
&&0
*
-
bd
#he procedure is given below for a slider cran* mechanism.
#o draw the velocity vector diagramD
.in* 8A represents the velocity vector of A with respect to 8.
L
oa
9 oa 9 V r 9 V 8A.
7raw a line perpendicular at 8, extend the line ?A to meet this
perpendicular line at b. oab is the velocity vector diagram rotated through
<=` opposite to the rotation of the cran*.
Acceleration diagramD
#he line representing >ran* 8A represents the acceleration of A with respect
to 8. #o draw the acceleration diagram follow the steps given below.
7raw a circle with 8A as radius and A as centre.
7raw another circle with A? as diameter.
#he two circles intersect each other at two points > and 7.
O
(
+
2!!
8!!
49E
?
o
a
#
2!!
8!!
49E
?
a
o
#
&&3
Join > and 7 to meet 8? at b
%
and A? at ).
8
%,
a
%,
b
a%
and b
%
is the re1uired acceleration diagram rotated through %;=`.
O
1
a
1
#
1
2!!
8!!
49E
?
#a1
+
O1
a
f
a
#
a1
f
c
a#
#
1
f
t
a#
f
a#
f
#
&&4

Kinematics of Machines

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Kinematics of Machines

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Kinematics of Machines {ME44}

$d' -im(le Harmonic Motion: In fig.3.%%, the motion executed by point $

6imilarly, Cax. acceleration during return stro*e 9 ar

Angle of out stro*e 9

Angle of first dwell 9

Angle of return stro*e 9

Angle of second dwell 9

6ince acceleration is '/0 times retardation during return stro*e,

:e notice that the intersection of the tangency #

Methods to a,oid Inter#erence

cle. . 9 on the cir .elocity . 9 linear

If % rotates E% revolutionD n 9 % (%"

@ow consider whole gear trainD

:hen P ma*es %=== rpmD & n

(b" >onsider complete gear trainD

#o locate point >

6tep 'D 7raw the velocity vector diagram.

o ,rom b draw a line

#o locate point >

6tep 'D 7raw the velocity vector diagram.

o ,rom b draw a line

,ixed instantaneous center I

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