ME8492 - KINEMATICS OF MACHINERY

Tutorial
Book

Prepared & Compiled by

Dr.V.KANDAVEL, M.E., Ph.D.,
Associate Professor
Prof.E.SIVASELVAM, M.E.,
Assistant Professor
Department of Mechanical Engineering

NAME :_____________________________
REG. NO. :____________________________ Sec:____
SEMESTER : IV Semester
BRANCH : Mechanical Engineering

SSM INSTITUTE OF ENGINEERING & TECHNOLOGY

Sindalagundu post, Dindigul – 624 002, Tamilnadu
Phone:0451 – 2448800-99(100 Lines) Email:ssmietdgl@gmail.com
Fax:0451-2448855 www.ssmiet.com
OBJECTIVES:
 To understand the basic components and layout of linkages in the assembly of a system machine.
 To understand the principles in analyzing the assembly with respect to the displacement, velocity, and
acceleration at any point in a link of a mechanism.
 To understand the motion resulting from a specified set of linkages, design few linkage mechanisms and
cam mechanisms for specified output motions.
 To understand the basic concepts of toothed gearing and kinematics of gear trains and the effects of friction
in motion transmission and in machine components.

UNIT I BASICS OF MECHANISMS 9

Classification of mechanisms – Basic kinematic concepts and definitions – Degree of freedom, Mobility –
Kutzbach criterion, Gruebler’s criterion – Grashof’s Law – Kinematic inversions of four-bar chain and slider crank
chains – Limit positions – Mechanical advantage – Transmission Angle – Description of some common
mechanisms – Quick return mechanisms, Straight line generators, Universal Joint – rocker mechanisms.
UNIT II KINEMATICS OF LINKAGE MECHANISMS 9
Displacement, velocity and acceleration analysis of simple mechanisms – Graphical method– Velocity and
acceleration polygons – Velocity analysis using instantaneous centres – kinematic analysis of simple mechanisms –
Coincident points – Coriolis component of Acceleration – Introduction to linkage synthesis problem.
UNIT III KINEMATICS OF CAM MECHANISMS 9
Classification of cams and followers – Terminology and definitions – Displacement diagrams –Uniform velocity,
parabolic, simple harmonic and cycloidal motions – Derivatives of follower motions – Layout of plate cam profiles
– Specified contour cams – Circular arc and tangent cams – Pressure angle and undercutting – sizing of cams.
UNIT IV GEARS AND GEAR TRAINS 9
Law of toothed gearing – Involutes and cycloidal tooth profiles –Spur Gear terminology and definitions –Gear
tooth action – contact ratio – Interference and undercutting. Helical, Bevel, Worm, Rack and Pinion gears [Basics
only]. Gear trains – Speed ratio, train value – Parallel axis gear trains – Epicyclic Gear Trains.
UNIT V FRICTION IN MACHINE ELEMENTS 9
Surface contacts – Sliding and Rolling friction – Friction drives – Friction in screw threads –Bearings and
lubrication – Friction clutches – Belt and rope drives – Friction in brakes- Band and Block brakes.
TOTAL: 45 PERIODS
OUTCOMES: Upon the completion of this course the students will be able to
CO1 Discuss the basics of mechanism
CO2 Calculate velocity and acceleration in simple mechanisms
CO3 Develop CAM profiles
CO4 Solve problems on gears and gear trains
CO5 Examine friction in machine elements
TEXT BOOKS:
1. F.B. Sayyad, “Kinematics of Machinery”, MacMillan Publishers Pvt Ltd., Tech-max Educational resources, 2011.
2. Rattan, S.S, “Theory of Machines”, 4th Edition, Tata McGraw-Hill, 2014.
3. Uicker, J.J., Pennock G.R and Shigley, J.E., “Theory of Machines and Mechanisms”, 4th Edition, Oxford University Press,
2014.

REFERENCES:
1. Allen S. Hall Jr., “Kinematics and Linkage Design”, Prentice Hall, 1961
2. Cleghorn. W. L, “Mechanisms of Machines”, Oxford University Press, 2014
3. Ghosh. A and Mallick, A.K., “Theory of Mechanisms and Machines", 3rd Edition Affiliated East-West Pvt. Ltd., New
Delhi, 2006.
4. John Hannah and Stephens R.C., "Mechanics of Machines", Viva Low-Prices Student Edition, 1999.
5. Thomas Bevan, "Theory of Machines", 3rd Edition, CBS Publishers and Distributors, 2005.
 SUBJECT SUBJECT
: ME 8492 : KINEMATICS OF MACHINERY
CODE TITLE

Name of the Student :_______________________REG.NO.: ______________SEC :__

Sl. Date of Signature of the

Unit Topics Marks
No. submission faculty

Basic kinematic concepts and definitions:

1. I DOF, Mobility, Kutzbach criterion,
Gruebler’s criterion.

Mechanisms: Quick return mechanisms,

2. I Straight line generators, Universal Joint
and rocker mechanisms.

Displacement, velocity and acceleration

3. II
analysis of simple mechanisms

Kinematic analysis, Coriolis component

4. II of Acceleration and linkage synthesis
problem.

Cams and followers: Terminology and

5. III definitions, Displacement diagrams and
Uniform velocity.

Layout of plate cam profiles: Specified

6. III contour cams, Circular arc and tangent
cams and Pressure angle and undercutting

Gears: Helical, Bevel, Worm, Rack and

Pinion gears [Basics only] Gear trains:
7. IV
Speed ratio, train value, Parallel axis gear
trains and Epicyclic Gear Trains.

Friction: Surface contacts, Sliding and

8. V Rolling friction, Friction drives

# Practice alone doesn’t make one perfect, only perfect practice ensure perfection#
*Small things make perfect, but perfect is not a small things*
***All the best***
 Tutorial-1 (UNIT-I)
Part A
1. Define Kinematics of machinery.
2. Define degree of freedom (or) what is mean by mobility?
3. How to determine the given assemblies of links forms the kinematic chain or not?
4. Difference between mechanism, machine and structure.
5. Explain the term (a) lower pair (b) Higher pair.
6. State the Kutzback criterion and Grubler’s Equation.
7. Write down the Grashof’s law for four bar mechanism.
8. What is ‘Mechanical Advantage’ in a mechanism?
9. What is pantograph?
10. What is meant by ‘Transmission angle’?

Part B
11. What is inversion of mechanism? With neat sketch and explain any two inversion of double slider
crank chain mechanism.

12. Determination of degrees of freedom of planer mechanisms also to check whether the given link is a
kinematic chain.

13. A crank-rocker mechanism has a 70 mm fixed link, a 20 mm crank, a 50 mm coupler, and a 70 mm

rocker. Draw the mechanism and determine the maximum and minimum values of the transmission angle.
Locate the two toggle positions and find the corresponding crank angles and the transmission angles.

14. Sketch and explain the peaucellier straight line motion mechanism.

15. With a neat sketch, explain the Ackermann steering gear of an automobile

*****
 Tutorial-2 (UNIT-I)
Part A

1. What is a Hooke’s joint? Differentiate a double Hooke’s joint from a single Hooke’s joint.
2. Define kinematic chain and inversion of kinematic chain.
3. Give out the inversion of a double slider crank chain.
4. What is toggle position?
5. List out the application of straight line motion mechanism
6. Sketch an exact straight line mechanism, with link properties.
7. List out few types of rocking mechanism.
8. Define turning pair and sliding pair.
9. Define the term Constraint”. What are its different types?
10. Name the application of crank and slotted lever quick return motion mechanism.

Part B

11. In a crank and slotted lever quick return mechanism, the ration of maximum velocities is 2. If
the length of stroke is 250mm; determine (i) the length of the slotted lever (ii) the ratio of times
(iii) cutting velocity per second if the crank rotates at 30rpm.

12. In a whitworth quick return mechanism, if the length of driving link is 400mm, what should be
the distance between the fixed pivots if required ratio of forward ( cutting ) stroke to return
stroke is 2.

13. Angle between two shafts connected by a Hooke’s joint is 25°, if the driving shaft is rotating at
1000rpm, find: (i) Maximum speed of the driven shaft in rpm (ii) Minimum speed of the driven
shaft (iii) The driving shaft rotation angles at which driven and driving shaft speeds are same.

14. Sketch the Davis steering gear mechanism. How does it differ from Ackermann steering?

15. Sketch a simple oldham’s coupling. If the driver and driven shafts are parallel but 20mm offset.
Show that the velocity is unity. If the driver shaft rotates at 90rpm. Find the maximum velocity
of sliding.

*****
 Tutorial-3 (UNIT-II)
Part A

1. What are the types of motion?

2. What is configuration diagram or space diagram?
3. Explain the term Coincident points & Coriolis Component
4. Classify the instantaneous centers?
5. Prove the Kennedy’s theorem.
6. Sate the Angular Velocity ratio theorem.
7. Define rubbing velocity.
8. List the stages of kinematic synthesis.
9. what are the components of acceleration?
10. define the instantaneous centre and instantaneous axis.

Part B
11. The dimensions of the various links of a mechanism, as shown in fig. are as follows: OA=300
mm; AB=1200; BC=450 mm and CD=450 mm. if the crank OA rotates at 20 rpm. in the anti
clock wise direction and gives motion to the sliding blocks B and D, find, for given configuration:
(i) Velocity of sliding at B and D, (ii) Angular velocity of CD
(iii) Linear acceleration of D and
(iv) angular acceleration of CD.

12. Derive the expressions for Velocity

and acceleration of piston in reciprocating steam engine mechanism with neat sketch.

13. Locate all instantaneous centers of the slider crank mechanism; the length of crank OB and
Connecting rod AB are 125 mm and 500 mm respectively. The crank speed is 600 rpm clockwise.
When the crank has turned 45° from the IDC. Determine (i) velocity of slider’ A’ (ii) Angular
Velocity of connecting rod ‘AB.

14. What do you mean by instantaneous centre? What are its types? Give the properties of
instantaneous centre?

15. State and explain angular velocity ratio theorem. Give its expression.

*****
 Tutorial-4 (UNIT-II)
1. What is kinematic analysis?
2. Write down the different types of motion.
3. Define Rubbing velocity.
4. What is meant by virtual centre?
5. Write the condition for Coriolis component of acceleration.
6. Define space centrode and body centrode.
7. What is axode?
8. Write the different types of graphical method.
9. What is meant by coincident points?
10. Write down the different types of Instantaneous centres.
PART B
11. In the mechanism shown in fig. The crank OA
rotate at a constant speed equal to 20rpm
anticlockwise and gives motion to the sliding
blocks B and D. The dimensions of various are OA
= 300mm:AB = 1200mm:;BC = 450mm and CD =
450mm, For the given configuration, determine:
Velocities of slider B and D
Angular velocity of link CD
Linear acceleration of D and
Angular acceleration of CD.

12. For the four-bar linkage shown fig. find the

acceleration of A and B and the angular of links 3 and
link 3 and 4, Crank 2 has a constant angular velocity,
ω2 = 200 rad/s counter clockwise direction. The
linkage AO2 = 150 mm; BA = 450 mm; BO4 = 300mm;O4O2 = 200mm.

13. The driving crank AB of a quick-return mechanism

shown below revolves at a uniform speed of 200 rpm. Find
the velocity of the tool-box R, in the position shown in Fig,
when the crank makes as angle of 60° with the vertical line
AP. Also determine the angular velocity of link PQ.

14. The following data refer to the dimensions of the links of

a four-bar mechanism:AB = 50mm;BC = 66mm;cd = 56mm
and AD (fixed link) = 100mm.At the instant when angle DAB = 60° , the link AB has as an
angular velocity of 10.5rad/s in the counter clock wise direction. Determine the velocity of point
C,velocity of point E on the link BC while BE = 40mm and the angular velocities of the links BC
and CD.Also sketch the mechanism and indicate the data.

15. Derive the expression for coriolis component of acceleration with neat sketch.
 *****
Tutorial-5 (UNIT-III)
Part A
1. State the advantages of cam mechanism over linkage mechanisms.
2. Define a cam.
3. Briefly write about undercutting in cam mechanisms.
4. Define pressure angle of a cam mechanism and state the best value of the pressure angle.
5. State the advantages of tangent cam and sketch it.
6. What are the different types of followers? and sketch them.
7. Write the equation for the maximum velocity and maximum acceleration of a follower move with
(S.H.M) and Draw the displacement and velocity diagrams for a follower moves with simple harmonic
motion..
8. Sketch any four types of cam followers.
9. Sketch a cylindrical cam, the follower reciprocates in a direction parallel to the cam axis and also a
cylindrical cam with oscillating follower.
10. Write the equation to determine the maximum velocity and the maximum acceleration when the
follower has simple harmonic motion

Part B

11. Sketch a cam-roller follower arrangement indicating important cam terminologies and explain them in
detail.

12. It is required to set out the profile of a cam to give the following motion to the reciprocating follower
with a flat mushroom contact surface: (i) Follower to have a stroke of 20 mm during 120° of cam rotation,
(ii) Follower to dwell for 30° of cam rotation, (iii) Follower to return to its initial position during 120° of
cam rotation, (iv) Follower to dwell for remaining 90° of cam rotation. The minimum radius of the cam is
25 mm. The out stroke of the follower is performed with SHM and return stroke with equal uniform
acceleration and retardation.

13. A disc cam used for moving a knife edge follower with simple harmonic motion during life and
uniform accelerations and retardation motion during return rotates in clockwise direction at 300 rpm. The
line of motion of the follower has an offset 10mm to the right of camshaft axis. The minimum radius of
the cam is 30mm. The lift of the follower is 40mm. The cam rotation angles are: Life 60 0, dwell 900,
return 1200 and remaining angle for dwell. Draw the cam profile and determine the maximum velocity
and acceleration during the lift and return.

14. 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.

15. 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.

*****
 Tutorial-6 (UNIT-III)
Part A
1. What are the advantages of roller follower than knife-edge follower?
2. Sketch the displacement velocity and acceleration diagram when a follower moves with uniform
velocity.
3. What are high speed cams? Give examples?
4. Construct the displacement diagram for the follower motion to be cycloidal.
5. State the expressions for the maximum velocity and acceleration of a follower moves with
cycloidal motion
6. What is prime circle of a cam? What is the radial distance between the prime circle and base
circle for a cam with knife edge follower?
7. Where are the roller follower extensively used?
8. What is high speed cam?
9. What type of follower is suitable for high speed cam? Give reasons.
10. Discuss the effect of pressure angle and under cutting in cams.

Part B
11. A cam is to give the following motion to a knife edged follower: (a) Outstroke during 60° of cam
rotation (b) Dwell for the next 45° of cam rotation (c) Return stroke during next 90° of cam rotation and
(d) Dwell for the remaining of cam rotation The stroke of the follower is 40 mm and the minimum radius
of the cam is 50 mm. The follower moves with uniform velocity during both the outstroke and return
strokes. Draw the profile of the cam when (a) the axis of the follower passes through the axis of the cam
shaft, and (b) the axis of the follower is offset by 20 mm from the axis of the cam shaft.

12. Sketch and briefly compare the displacement, velocity and acceleration diagrams for uniform velocity,
uniform acceleration and retardation, simple harmonic motion and cycloidal motion, used in cam
mechanisms.

12. A cam, with a minimum radius of 50 mm, rotating clockwise at a uniform speed, is required to given a
knife-edged follower the motion as described below: (a) To move outwards through 40 mm during 100°
rotation of the cam; (b) to dwell for next 80° (c) To return to its starting position during next 90 ° and (d)
To dwell for the rest period of revolution. Draw the profile of the cam (i) When the line of stroke of the
follower passes through the centre of the cam shaft and (ii) When the line of stroke of the follower is to
take place with Uniform acceleration and uniform retardation. Determine the maximum velocity and
acceleration of the follower when the cam shaft rotates at 900 r.p.m.

14. A tangent cam to drive a roller follower through a total lift of 12.5 mm for a cam rotation of 75°. The
cam speed is 600 rpm . The distance between cam centre and follower centre at full lift is 45 mm and the
roller is 20 mm in diameter. Find the cam proportions and plot displacement, velocity and acceleration for
one full cycle.

15. Draw the profile of a cam operating a roller reciprocating follower and with the following data:
Minimum radius of cam =25 mm; lift=30mm; Roller diameter= 15mm. The cam lifts the follower for
120° with SHM, followed by a dwell period of 30°. Then the follower lowers down during 150° of cam
rotation with uniform acceleration and retardation followed by a dwell period. If the cam rotates at a
uniform speed of 150 RPM. Calculate the maximum velocity and acceleration of follower during the
descent period.
*****
 Tutorial-7 (UNIT-IV)
Part A
1. What are the standard interchangeable tooth profiles?
2. What are the methods to avoid interference?
3. What you meant by non-standard gear teeth?
4. Define cycloidal tooth profile and involute tooth profile.
5. Define circular pitch and diametral pitch in spur gears.
6. Define Backlash.
7. State the methods to find the velocity ratio of epicyclic gear train.
8. Mention two methods to transmit power between two wheels when the distance between them is
great?
9. What are the externally applied torques used to keep the gear train in equilibrium?
10. Where the epicyclic gear trains are used?

Part B
11. In an epicyclic gear train the internal wheels A and B and compound wheels C and D rotate
independently about axis O. The wheels E and F rotate on pins fixed to the arm G. E gears with A and C .
Wheel F gear with B and D. All the wheels have the same module and the number of teeth are: TC =28
TD=26; TE = TF=18. (a) Sketch the arrangement, (b) Find the number of teeth on A and B, (c)If the arm
G makes 100 rpm clockwise and A is fixed, find the speed of B, and (d) If the arm G makes 100 rpm
clockwise and wheel A makes 10 rpm counter clockwise; Find the speed of wheel B.

12. Two gear wheels mesh externally and are to give a velocity ratio of 3 to 1. The teeth are of involute
form; module=6mm, addendum=one module, pressure angle= 20°. The pinion rotates at 90 rpm.
Determine (a) the number of teeth on the pinion to avoid interference on it and the corresponding number
of teeth on the wheel, (b) The length of path and arc of contact, (c) the number of pairs of teeth in contact.

13. The arm of an epicyclic gear train rotates at 100 rpm in the anticlock-wise direction. The arm carries
two wheels A and B having 36 and 45 teeth respectively. The wheel A is fixed and the arm rotates about
the centre of wheel A. Find the speed of wheel B. What will be the speed of B, if the wheel A instead of
being fixed, makes 200 rpm (clockwise).

14. In a reverted epicyclic train, the arm F carries two wheels A and D and a compound wheel B-C.
Wheel A meshes with wheel B and Wheel D meshes with wheel C. There numbers of teeth on wheel A, D
and C are 80, 48, and 72. Find the speed and direction of wheel D, when wheel A is fixed and arm F
makes 200 rpm clockwise.

15. An epicyclic train is composed of a fixed annular wheel A having 150 teeth. Meshing with A is a
wheel B which drives wheel D through an idle wheel C, D being concentric with A. Wheels B and C are
carried on arm which revolves clockwise at 100 rpm about the axis of A or D. If the wheels B and D are
having 25 teeth and 40 teeth respectively, find the number of teeth of C and the speed and sense of
rotation of C.

*****
 Tutorial-8 (UNIT-V)
Part A
1. What is the efficiency of inclined plane?
2. What is the difference between cone clutch and centrifugal clutch?
3. What is the centrifugal effect on belts?
4. What are the disadvantages of V-belt drive over flat belt?
5. What is the condition of transmission of optimum or maximum power in belt drive?
6. List out the commonly used breaks.
7. What do you mean by a brake?
8. Explain self energizing
9. When is the Intensity of pressure acting brake shoe is assumed to be uniform?
10. Why self-locking screw have lesser efficiency?

Part B

11. The mean diameter of the screw jack having pitch of 10 mm is 50 mm. A load of 20 KN is lifted
through a distance of 170 mm. Find the work done in lifting the load and efficiency of the screw jack
when (i) the load rotates with the screw, and (ii) the load rests on the loose head which does not rotate
with screw. The external and internal diameter of the bearing surface of the loose head is 60 mm and
10mm respectively. The coefficient of friction for the screw as well as the bearing surface may be taken
as 0.08.

12. Two shaft whose centers are 1m apart are connected by a V belt drive. The driving pulley is supplied
with 100 KW and has an effective diameter of 300 mm. It runs at 375 rpm. The angle of groove on the
pulley is 400. The permissible tension in 400 mm 2 cross sectional area of the belt is 2.1 MPa. The density
of the belt is 1100 kg/ mm3 coefficient of friction is 0.28. Estimate number of belts required.

13. Two pulley one 450 mm diameter and other 200mm dia are on parallel shaft 2.1 m apart and are
connected by a cross belt. The larger pulley rotates at 225 rpm. The maximum permissible tension in the
belt is 1 KN and the coefficient of friction between the belt and the pulley is 0.25. Find the length of the
belt required and the power can be transmitted.

14. A leather belt is required to transmit 7.5 kw from a pulley 1.2 m in diameter, running at 250 rpm. The
angle entranced is 1650 and the coefficient of friction between the belt6 and the pulley is 0.3. If safe
working stress for the leather belt is 1.5 MPa, density of leather is 1 kg/ m 3 end thickness of belt is 10mm.
Determine the width of the belt taking C.F tension into account.

15. A multiplate disc clutch transmits 55 KW of power at 1800 rpm. Coefficient of friction for the friction
surfaces is 0.1. Axial intensity at pressure is not to exceed 160 KN/m2. The internal radius is 80 mm and
is 0.7 times the external radius. Find the number of plates needed to transmit the required torque.

*****