UNIT-1: Dhanalakshmi Srinivasn Institute of Research and Technology

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DHANALAKSHMI SRINIVASN INSTITUTE OF RESEARCH
AND TECHNOLOGY
SIRUVACHUR, PERAMBALUR-621113
DEPARTMENT OF MECHANICAL ENGINEERING
ME 6401 KINEMATICS OF MACHINERY
______________________________________________________________
Subject: Kinematics of Machinery
Subject In charge: N.AZHAGUVEL/ Asst.Prof
UNIT-1
TWO MARK QUESTIONS
1) Define Kinematic link.
2) Define Kinematic pair.
3) Define Kinematic chain.
5) Degree of freedom. Of Mechanism.
6) Kutzbach’s relation.
7) Write Grashoff’s law.
8) What is Inversion of mechanism?
10) What is Transmission angle?
12) List out few types of rocking mechanism?
13) Define pantograph?
15) Define structure?
16) What is simple mechanism?
17) Define mechanism?
18) Define equivalent mechanism?
19) Define single slider crank chain mechanism?
20) Define double slider crank chain mechanism?
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16 Mark Question
1. Explain Classification link.
2. Briefly Explain Kinematics inversion of four bar chain and slider crank
chain Mechanisms.
3. Write and Explain Offset Slider Mechanisms as Quick return
Mechanisms.
4. What are the Straight line generators Mechanisms? Explain both
Mechanisms.
5. Explain Hooke’s Joint Mechanisms.
6. Explain Ratchets and Escapements?
7. Explain four bar mechanisms and Pantograph
UNIT-2
TWO MARK QUESTION
1. What are the components of acceleration?
2. Write an expression for find number of instantaneous centers
In a mechanism?
3. What is expression for Cariolis component of acceleration?
4. What are the expressions for radial and tangential component?
of acceleration?
5. How can we represent the direction of linear velocity of any point
On a link with respect to another point on the same line?
6. Define instantaneous center axis?
7. What are the names of instantaneous center?
8. How can we apply instantaneous center method to determine velocity?
9. What is the objective of Kinematic analysis?
10. Write any two rules to locate Instantaneous center?
16 MARK QUESTIONS
1) PQRS is a four bar chain with link PS fixed the length of the links PQ=62.5mm,
QR=175mm, RS=112.5mm, PS=200mm.If the crank PQ rotates at 10 rad/sec clockwise
direction. Draw the velocity and acceleration diagram when angle QPS=60 0 and Q and
R lie on the same side of PS.Find the angular velocity and angular acceleration of
links QR and RS.
2) The crank of a slider crank mechanism rotates clockwise at a constant speed of

300r.p.m.The crank is 150mm and the connecting rod is 600mm long. Determine
i Linear velocity and acceleration of the midpoint of the connecting rod.

ii Angular velocity and Angular acceleration of the connecting rod, at a
crank angle Of 450 from inner dead center position.
3) An engine mechanism is shown in the following figure the crank CB=100mm and the
connecting rod BA=300mm with a center of gravity G 100mm from point B in the
position shown the crank shaft has a speed of 75 rad/sec and an angular acceleration 0f
1200 rad/sec2.Find
i Velocity of G and angular Velocity of AB
ii Acceleration of G and angular aceeleration of AB
4) Write and explain Shaping Machine Mechanisms.
UNIT3
1. What is cam?
2. Classification of cam?
3. Classify cam based on a shape?
4. Classification of follower?
5. What is roller follower?
6. Spherical follower?
7. Angle of ascend?
8. Angle of descend?
9. Angle of dwell?
10. Angle of action?
11. What is radial or disc cams?
12. What is dwell?
13. What is classification of followers according to follower shape?
14. What is classification of follower according to the motion of the follower?
15. What is classification of followers according to the path of motion?
16. What is the motion of the follower?
17. What is the application of cam?
18. What are the necessary elements of a cam mechanism?
19. What is translating angle?
20. Write the formula for maximum velocity?
16 MARK QUESTIONS
(1) A cam rotating clockwise at a uniform speed of 1000 r.p.m Is
required to give a roller follower the motion defined below :
(1.) Follower to move outwards through 50mm during 120 of cam

rotation
(2.) Follower to dwell for next 60 of cam rotation
(3.) Follower to return to its standing position during next 90 of cam

rotation
(4.) Follower to dwell for the next of the cam rotation
The minimum radius of the cam is 50 mm and the diameter of

roller is comm. . The line of stroke of the follower is offset by 20mm
from the axis of the cam shaft . If the displacement of the follower
takes place with uniform and equal acceleration and retardation of both
the outward and return stoke draw profile of the cam and find the
maximum velocity and acceleration during outstroke and return stroke.
2. A cam rotating clock wise at uniform speed pf 1000r.p.m is required
to give a knife edge follower the motion defined below
(A) follower to move outward through 2.5m during 120 of cam

rotation
(b) Follower to dwell for next 60 of cam rotation
(c) Follower to set up to its starting position during next 90 of cam

rotation
(D) follower to dwell for the next of the rotation
The minimum radius of the cam is 50mm an the line of stroke of the
follower is axial . If the displacement of the follower takes place with
uniform and equal acceleration and retardation on both outward and
return stroke dean the cam pfofile
(3)A cam profile is to give the following motion to a knife edge follower
(i) Out stroke during 60 of cam rotation.
(2)Dwell for the next 30 of am rotation.
(3)Return stroke dieing next60 of cam rotation.
(4)Dwell for the remaining 210 of cam rotation.
The stroke of follower is 40mm and the minimum radius of the cam is 50mm.
The follower moves with uniform velocity during both the outstroke and return
stroke . Draw the profile of the outstroke and return stroke. Drawn the profile of
the cam when
(a)The axis of the follower passes through the axis of the cm shaft
(b)Axis of the follower id offset by 20mm right hand side from

axis of the cam shaft .
4) .For the following data draw the profile of a cam with a flat faced follower
line of motion which passes through the cam centre.
(1) Least radius of the cam = 30mm
(2) Angle of asce4nt an descent each = 72
(3) Angle of dwell in lifted position =30
(4)Follower lift =27.5mm
The out ward stroke takes place with s.h.m and the inward strokes with uniform
acceleration and retardation. If the uniform speed of rotation of the cam is
3000r.p.m what will be the maximum velocity and acceleration during out ward
and inward stroke of the follower?
5) Draw the cam profile for following conditions: Follower type = roller
follower, in-line; lift = 25mm; base circle radius = 20mm; roller radius = 5mm;
out stroke with UARM, for 1200 cam rotation; dwell for 600 cam rotation; return
stroke with UARM, for 900 cam rotation; dwell for the remaining period.
Determine max. velocity and acceleration during out stroke and return stroke if
the cam rotates at 1200 rpm in clockwise direction.
6) Draw the cam profile for following conditions: Follower type = roller
follower, off set to the right of cam axis by 18mm; lift = 35mm; base circle
radius = 50mm; roller radius = 14mm; out stroke with SHM in 0.05sec; dwell
for 0.0125sec; return stroke with UARM, during 0.125sec; dwell for the
remaining period. During return stroke, acceleration is 3/5 times retardation.
Determine max. velocity and acceleration during out stroke and return stroke if
the cam rotates at 240 rpm.
7) Draw the cam profile for following conditions: Follower type = knife edged
follower, in line; lift = 30mm; base circle radius = 20mm; out stroke with
uniform velocity in 1200 of cam rotation; dwell for 600; return stroke with
uniform velocity, during 900 of cam rotation; dwell for the remaining period.
8) Draw the cam profile for following conditions: Follower type = flat
faced follower, in line; follower rises by 20mm with SHM in 1200 of
cam rotation, dwells for 300 of cam rotation; returns with SHM in 1200
of cam rotation and dwells during the remaining period. Base circle
radius = 25mm.
UNIT-4
Two Mark Questions:
1. Define Gear.
2. Write the Classification of Gear.
3. State law of Gearing.
4. Define Contact Ratio.
5. Define Interference.
6. What is Gear Train?
7. What are the types of Gear Trains?
8. Define Simple Gear Train.
9. Define Compound Gear Train.
10. What are the Advantages and Limitations of Gear Drive?
16 MARK QUESTIONS
1. A pinion having 30 teeth drives a gear having 80 teeth, the profile of the
gears in involute with 20˚ pressure angle, 12mm module and addendum
10mm. Find the length of path of contact, arc of contact and contact ratio.
2. Two involute gear of 20˚ pressure angle are in mesh. The number of teeth
on pinion is 20 and the gear ratio is 2.If the pitch expressed in module is
5mm and the pitch line speed is 1.2 m/s. assuming addendum as standard
and equal to one module. Find
1. The angle turned through by pinion when one pair of teeth is in mesh
and
2. The maximum Velocity of Sliding.
3.A pair of gears,having 40 and 20 teeth respectively,are rotating in mesh. The

speed of the smaller being 2000rpm.Determine the velocity of sliding b/w the
gear teeth faces of the point of engagement,at the pitch point and at the point of
disengagement if the smaller gear is the driver.Assume that the gear teeth are
20˚ involute form.addendum length is 5mm and the module is 5mm.
Also find the angle through which the pinion turns while and pair of teeth
is in contact.
4. Two mating gears have 20 and 40 involute teeth of module 10mm and
20˚pressure angle. The addendum od each wheel is to be made of such length
that the line of contact on each side of the pitch point has half the maximum
possible length. Determine the addendum height for each gear wheel, length of
the path of contact, arc of contact and contact ratio.
5. A pair of involute spur gear with 16˚ pressure angle and pitch of module 6mm in mesh.
The number of teeth on pinion is 16 and its rotational speed is 240rpm,when the gear ratio
is 1.75. Find order that the interference is just avoided.
1. The addendum on pinion and gear wheel
2. The length of path of contact
3. The maximum velocity of sliding of teeth on either side of the pitch point.
6. A pair of 20˚full depth involute spur gear having 30 and 50 teeth respectively of
module 4mm are in mesh the smaller gear rotates at 1000rpm. Determine
1. Sliding velocity at engagement and at disengagement of pair of a teeth

2. Contact ratio.
7. In an epicyclic gear train, an arm carries two gears A and B having 24 &30
teeth respectively. The arm rotates at 100rpm. In the clockwise direction. Find
the speed of gear B on its own axis when the gear A is fixed. If instand of being
fixed the wheel A rotates at 200rpm. In the counter clockwise direction, what
will be the speed of B?
8. In an epicyclic gear train as shown fig: the number of teeth on gear wheel A,
B and C are 48, 24 and 50 respectively. If the arm rotates at 400rpm clockwise.
Find
(1) Speed of gear wheel C when A is fixed and
(2) Speed of gear wheel A when C is fixed.
9. In an epicyclic gear train an annual wheel A having 54 teeth meshes with a

planet wheel B which gears with a sun wheel C, the wheels A and C being
coaxial. The wheel B is carried on a pin fixed on one end of arm P which rotates
about the axis of the wheel A and C.if the wheel A makes 20rpm.in a clockwise
sense and the arm rotates at 100rpm.in the anticlockwise direction and the wheel
C has 24 teeth, determine the speed and sense of rotation of wheel C.
10. A compound epicyclic gear is shown diagram. The gear A, D and E are free
to rotate on the axis P.The compound gear B and C rotate together on the axis Q
at the end of arm F.All the gears have equal pitch. The number of external teeth
on the gears A, B and C are 18,45 and 21 respectively. The gears D and E are
annular gears. The gear A rotates at 90 rpm in the anticlockwise direction and
the gear D rotates at 450 rpm clockwise. Find the speed and direction of the arm
and gear E.
UNIT-5
TWO MARK
1. Define clutch.
2. What are the types of friction clutches?
3. Define centrifugal clutch.
4. What are the types of flat drives?
5. Define slip.
7. Rope drive: Utility.
6. Define law of belting.
8. Belt drive: Utility.
9. What are the types of ropes?
10. Quarter turn left drive.
11. Define the velocity ratio of the belt drive.
12. Advantages of V-belt.
13. Disadvantages of V-belt.
14. Circular belts or ropes.
15. Belt materials.
16. Name the types of friction.
17. Define the angle of repose.
18. What is meant by frictional force?
19. Why self locking screws have lesser efficiency?
20. What is static friction?
21. What is dynamic friction?
22. What is co-efficient of friction?
23. Define screw jack.
24. Square thread vs V-thread.
25. What is the effort required to lift a 50tonne lorry using screw jack
26. Open belt drive.
27. Open belt drive with one idler pulley.
16 MARK
1. A single dry plate clutch transmits 7.5 kW at 900 rpm. The axial pressure is
limited to 0.07 N/mm². If the co-efficient of friction is 0.25,find mean radius
and face width of the friction lining assuming the ratio of the mean radius to the
face width as 4 and outer and inner radii of the clutch plate.
2. A single plate clutch transmits 25kW at 900 rpm. The maximum presuure
intensity between the plates is 85 kN/m². The outer diameter of the plate is
360mm. Both the sides of the plate are effective and the coefficient of friction is
0.25. Determine
1.The innerdiameter of the plate.
2. The axial force to engage the clutch.
3.A single plate friction clutch with both sides of plate being effective is used to
transmit power at an engine speed of 2000 rpm.It has outer and inner radii 10
cm and 8 cm respectively. Find maximum power transmitted and the
corresponding axial thrust. If the maximum intensity of pressure is not to exceed
0.08N/mm².Assume coefficient of friction as 0.25.
4. A multiple disc friction clutch operating in oil is required to transmit 5 kW at

760 rpm. The effective inner and outer radii of the friction surface are 40mm
and 70mm respectively. Determine the minimum number of disc required,if the
permissible average pressure foir the friction surfaces is 0.35 MPa and
coefficient of friction is 0.1. Assume uniform wear theory is applicable.
5. A multiuple disc clutch transmit 5 kW of power at 1800 rpm.Co efficient of
friction for the surfaces is 0.1. Axial intensity at pressure is not to exceed
160kN/m². The internal radius is 80mm and is 0.7 times the external radius.
Find the number of plates needed to transmit the required torque.
6. A multiplate clutch has the thre disc on the driving shaft and two on the
driven shaft. The outside diameter of the contact surfaceis 240mm and inside
diameter 120mm . Assume uniform wear coefficient of friction as 0.3. find the
maximum axial intensity of pressure between the disc for transmitting 25kW at
1575 rpm.
7. A belt drive consists of two V-belt in parallel, on grooved pully of the same
size. The angle of the groover is 30⁰. The cross-sectional aera of each belt is
750mm². And µ=0.12. The density of the belt material is 1.2 Mg/m³ and the
maximum safe stress in the material is 7 Mpa.calculate the power that can be
transmitted between pulleys 300mm diameter rotating at 1500 rpm./ find also
the shaft speed in rpm.at which the power transmitted would be maximum.
8. Power transmitted using a V-belt drive. The included angle of V-groove is

30⁰. The belt is 20mm deep and maximum width is 20mm. If the mass of the
belt is 0.35 kg per meter length and maximum allowable stress is 1.4 MPa,
determine the maximum power transmitted when the angle of lap is 140⁰.
µ=0.15.
9. A compressor , requiring 90kW is to run at about 250 rpm. The drive is by V-

belt from an electric motor running at 750 rpm. The diameter of the pulley on
the compressor shafts must not be grater than 1 metre while the centre distance
between the pulleys is limited to 1.75 metre. The belt speed should not exceed
1600 m/min.
Determine the number of V-belts required to transmited the power if each

belt has a cross-sectional area of 375 mm², density 1000kg/ m³ and an allowable
tensile stress of 2.5 Mpa.The groove angle of the pulley is 35⁰. The coefficient
of friction between the belt and the pulley is .25. Calculate also the length
required of each belt.
10. A V-belt having a lap of 180⁰ has a cross-section area of 2.5 cm²and groove
angle as 45. The density of a belt is 0.0015 kg/cm³ and maximum stress is
limited to 400×10⁴ N/m². If µ=0.15. Find the power that can be transmitted, if
the wheel has a mean diameter of 30 cm and runs at 1000rpm.

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2) Define Kinematic pair.

3) Define Kinematic chain.

5) Degree of freedom. Of Mechanism.

7) Write Grashoff’s law.

8) What is Inversion of mechanism?

10) What is Transmission angle?

12) List out few types of rocking mechanism?

13) Define pantograph?

15) Define structure?

16) What is simple mechanism?

17) Define mechanism?

18) Define equivalent mechanism?

19) Define single slider crank chain mechanism?

20) Define double slider crank chain mechanism?

1. What are the components of acceleration?

2. Write an expression for find number of instantaneous centers

3. What is expression for Cariolis component of acceleration?

4. What are the expressions for radial and tangential component?

5. How can we represent the direction of linear velocity of any point

On a link with respect to another point on the same line?

6. Define instantaneous center axis?

7. What are the names of instantaneous center?

9. What is the objective of Kinematic analysis?

10. Write any two rules to locate Instantaneous center?

2) The crank of a slider crank mechanism rotates clockwise at a constant speed of

i Linear velocity and acceleration of the midpoint of the connecting rod.

4) Write and explain Shaping Machine Mechanisms.

3. Classify cam based on a shape?

5. What is roller follower?

10. Angle of action?

11. What is radial or disc cams?

12. What is dwell?

13. What is classification of followers according to follower shape?

14. What is classification of follower according to the motion of the follower?

15. What is classification of followers according to the path of motion?

16. What is the motion of the follower?

17. What is the application of cam?

18. What are the necessary elements of a cam mechanism?

19. What is translating angle?

20. Write the formula for maximum velocity?

(1.) Follower to move outwards through 50mm during 120 of cam

(2.) Follower to dwell for next 60 of cam rotation

(3.) Follower to return to its standing position during next 90 of cam

(4.) Follower to dwell for the next of the cam rotation

The minimum radius of the cam is 50 mm and the diameter of

(A) follower to move outward through 2.5m during 120 of cam

(b) Follower to dwell for next 60 of cam rotation

(c) Follower to set up to its starting position during next 90 of cam

(D) follower to dwell for the next of the rotation

(i) Out stroke during 60 of cam rotation.

(2)Dwell for the next 30 of am rotation.

(3)Return stroke dieing next60 of cam rotation.

(4)Dwell for the remaining 210 of cam rotation.

(b)Axis of the follower id offset by 20mm right hand side from

(1) Least radius of the cam = 30mm

(2) Angle of asce4nt an descent each = 72

(3) Angle of dwell in lifted position =30

(4)Follower lift =27.5mm

Two Mark Questions:

2. Write the Classification of Gear.

4. Define Contact Ratio.