ME 3102 :

Mechanics of Machines

Syed Hassaan Hussain

ME Department
DHA Suffa University

ME-314 Mechanics of Machines Slide 1

ACKNOWLEDGEMENT

Lecture Slides by
Engr. Hassaan Hussain &
Dr. M. Usama Siddiqui
ME Department, DSU

ME-314 Mechanics of Machines Slide 2

Course Outline
1. Dynamics of Mechanism (Kinematic and Kinetics)

ME-314 Mechanics of Machines Slide 3

Course Outline
2. Engine Mechanism

3. Cam and followers

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Course Outline
4. Flywheels

ME-314 Mechanics of Machines Slide 5

Course Outline
5. Gear Trains

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Course Outline
6. Steering Mechanism

ME-314 Mechanics of Machines Slide 7

Course Outline
7. Balancing of Machines

ME-314 Mechanics of Machines Slide 8

 Books

Theory of Machines
By R.S. Khurmi and J.K. Gupta

Design Of Machinery, An Introduction To The Synthesis And

Analysis Of Mechanisms And Machines
By Robert L. Norton

ME-314 Mechanics of Machines Slide 9

Grading

Final : 50%
Midterm : 25%
Quizzes : 10%
Assignments : 05%
Project : 10%

ME-314 Mechanics of Machines Slide 10

Course Learning Outcomes
Taxonomy
S. No. CLO Statement Domain PLO
Level
1. Apply the graphical techniques for velocity Cognitive 3 (M) 1
/acceleration analysis of planar mechanisms.

2 Evaluate the dynamic (position, velocity, Cognitive 5 (M) 2

acceleration, force or torque) characteristics of
mechanisms such as linkages, cams, governors,
engines and unbalance masses.

• CLOs will be tested several times though out the semester.

• Questions in quizzes, assignments, hourlies and final exam will be mapped to CLOs.
• All testing will be transparent – CLO mapping will be mentioned.

ME-314 Mechanics of Machines Slide 11

Bloom’s Taxonomy

Categorized into three domains of taxonomy

1. Knowledge and Thinking  Cognitive
2. Skills and Doing  Psychomotor
3. Affective and Feeling  Attitude

ME-314 Mechanics of Machines Slide 12

 1. Engineering Knowledge
Program 2. Problem Analysis
3. Design/Development of Solutions
Learning 4. Investigation
5. Modern Tool Usage
Outcomes 6. The Engineer and Society
7. Environment and Sustainability
(PLOs) 8. Ethics
9. Individual and Team Work
10. Communication
11. Project Management
12. Lifelong Learning

ME-314 Mechanics of Machines Slide 13

OBE in a nut shell

What do you want the students to have or able to do?

• Knowledge, Skill, Affective
How can you best help students achieve it?
• Student Centred Delivery
How will you know what they have achieved it?
• Assessment
How do you close the loop
• PDCA (Plan Do Check Act)

ME-314 Mechanics of Machines Slide 14

 Topic 1
INTRODUCTION

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Objectives

After you have finished this lecture you will be able to:

1. Explain the fundamental concepts of Mechanics of machines

2. Identify whether a system of linkages is a kinematic chain
3. Calculate the degrees of freedom of any mechanism
4. Identify basic types of simple mechanisms

ME-314 Mechanics of Machines Slide 16

Mechanics of Machines

Deals with the study of relative motion and forces

acting between various parts of machines and
mechanisms.

ME-314 Mechanics of Machines Slide 17

Kinematics and Kinetics
What is Kinematics?
• Kinematics deals with the motion (displacement, velocity &
acceleration) without considering the forces acting on it.

What is Kinetics?
• Describes the relation between forces and motion.

ME-314 Mechanics of Machines Slide 18

Kinematics of Motion
Plane Motion
• When the motion of a body is confined to only one plane, the motion is said to be
plane motion. Plane motion can be further divided

Rectilinear motion / Translatory motion Curvilinear motion

(motion along a straight line) (motion along a curved path)

ME-314 Mechanics of Machines Slide 19

Angular Motion
Angular Displacement
The angle covered by a particle when moving from one
point to another in a circular path, with respect to the
time. It is represented by ‘q’.

Representation of Angular Displacement by a Vector:

For complete representation of angular displacement, three conditions must be known
i.e.
1. Axis of rotation.
2. Magnitude of angular displacement.
3. Sense of the angular displacement.

ME-314 Mechanics of Machines Slide 20

Angular Motion
Angular Velocity
• It may be defined as the rate of change of angular displacement with respect to
time. It is usually expressed by a Greek letter ‘w’ (omega). Mathematically, angular
velocity,

𝑑𝜃
𝜔=
𝑑𝑡
Angular Acceleration
• It may be defined as the rate of change of angular velocity with respect to time. It is
usually expressed by a Greek letter ‘α’ (alpha). Mathematically, angular acceleration,

𝑑𝜔 𝑑 𝑑𝜃 𝑑2 𝜃
𝛼= = = 2
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

ME-314 Mechanics of Machines Slide 21

Relation between Linear Motion and Angular Motion
Particulars Linear motion Angular motion
Initial velocity Vi wo
Final velocity Vf w
Constant acceleration a a
Total distance travelled s q
Formula for final velocity V = Vo + at w = wo + at
Formula for distance transverse S = Vot + ½ at2 q = wot + ½ at2
Formula for final velocity V2 = Vo2 + 2as w2 = wo2 + 2aq

RELATION BETWEEN LINEAR AND ANGULAR QUANTITIES OF MOTION

From the geometry of the figure, we know that
𝑆 = 𝑟𝜃
We also know that the linear velocity,
𝑑𝑠 𝑑 𝑟𝜃 𝑑𝜃 and 𝑑𝑣 𝑑 𝑟𝜔 𝑑𝜔
𝑣= = =𝑟 = 𝑟𝜔 𝑎= = =𝑟 = 𝑟𝛼
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

ME-314 Mechanics of Machines Slide 22

Kinematic Link or Element
• It is a part of a machine which has motion relative to some other part.
• Each link may consist of several parts rigidly fastened together

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Types of Links
Rigid Link
• Rigid link is one which does not undergo a deformation while transmitting motion.

Flexible Link
• A flexible link is one which is partly deformed in a manner not to affect the
transmission of motion.

Fluid Link
Fluid link is one which is formed by
having a fluid in a container and the
motion is transmitted through the
fluid by pressure or compression only.

ME-314 Mechanics of Machines Slide 24

Types of Constrained Motion
Completely Constrained Motion
• When the motion between a pair is limited to a definite
direction irrespective of the direction of force applied.

Incompletely Constrained Motion

• When the motion between a pair can take place in more
than one direction, then the motion is called an
incompletely constrained motion.

Successfully Constrained Motion

• When the motion between the elements, forming a pair,
is such that the constrained motion is not completed by
itself, but by some other means.

ME-314 Mechanics of Machines Slide 25

Machine vs. Structure
1. The parts of a machine move relative to one another, whereas the
members of a structure do not move relative to one another.

2. A machine transforms the available energy into some useful work,

whereas in a structure no energy is transformed into useful work.

3. The links of a machine may transmit both power and motion, while
the members of a structure transmit forces only.

ME-314 Mechanics of Machines Slide 26

Pairs and Kinematic Pairs
Pair
• Two links or elements of a machine, when in contact with each other, are said to
form a pair

Kinematic Pair
• If the relative motion between them is completely or successfully constrained (i.e. in
a definite direction), the pair is known as kinematic pair.

The piston and cylinder forms a kinematic pair

with each other.

ME-314 Mechanics of Machines Slide 27

Joint Classification
• Type of contact: line, point, surface
• Number of DOF: full joint=1DOF, half
joint=2DOF
• Form closed (closed by geometry) or
Force closed (needs an external force to
keep it closed)
• Joint order = number of links-1

ME-314 Mechanics of Machines Slide 28

Joint Classification

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Types of Joints in a Chain
Binary joint
Two links are joined at the same connection is called binary joint.
Ternary joint
Three links are joined at the same connection is called ternary. 1 ternary joint is equal to
2 binary joint.
Quaternary joint.
Four links are joined at the same connection is called Quaternary joint. 1 quaternary
joint is equal to 3 binary joint

ME-314 Mechanics of Machines Slide 30

Kinematic Chain
• An assemblage of links and joints, interconnected in a way to provide a
controlled output motion in response to a supplied input motion.

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Kinematic Chain
How to determine whether a given system is a Kinematic Chain or not?
• If the system satisfies the following equation, it is called as a Kinematic chain,

3
𝑗= 𝑙−2
2
where,
𝑙 = Number of links
𝑗 = Number of joints

ME-314 Mechanics of Machines Slide 32

Kinematic Chain
• Determine whether following systems are kinematic chain or not ?

• Use the following equation

3 𝑙 = Number of links
𝑗= 𝑙−2 𝑗 = Number of joints
2

ME-314 Mechanics of Machines Slide 33

Kinematic Chain
• Here,
𝑙=3
𝑗=3
• From the equation,

3
𝑙−2=1<𝑗
2
• Since the equation is not satisfied, the arrangement shown in 3
the figure is not a Kinematic chain and no relative motion is
𝑗= 𝑙−2
2
possible. This is a Structure.
𝑙 = Number of links
𝑗 = Number of joints

ME-314 Mechanics of Machines Slide 34

Kinematic Chain
• Here,
𝑙=6
𝑗 =3+2×2=7
• From the equation,

3
𝑙−2=7=𝑗
2
• Since the equation is satisfied, the arrangement shown in the 3
figure is a Kinematic chain and relative motion is possible
𝑗= 𝑙−2
2

𝑙 = Number of links
𝑗 = Number of joints

ME-314 Mechanics of Machines Slide 35

Mechanism
When at least one of the links of a kinematic chain is fixed, the chain is known as
mechanism. It may be used for transmitting or transforming motion.

Mechanisms with four links are known as simple mechanisms, and mechanism with
more than four links are known as compound mechanisms.

ME-314 Mechanics of Machines Slide 36

Degrees of Freedom
The degrees of freedom (DOF) of a rigid body is defined as the number of independent
coordinates or parameters required to completely specify the position of a system at
any given instant.

The degrees of freedom (DOF) of a rigid body defines the number of independent
movements it has. DOF is also called as mobility.

A rigid body in a plane

has three DOF

ME-314 Mechanics of Machines Slide 37

Degrees of Freedom

1 DOF system
3 DOF system
1 DOF system

3 DOF system

ME-314 Mechanics of Machines Slide 38

Degrees of Freedom

Four bar mechanism, n = degree of freedom

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Determining Degrees of Freedom

Two unconnected links: 6 DOF

(each link has 3 DOF)

When connected by a full joint: 4 DOF

(each full joint eliminates 2 DOF)

Four bar mechanism, n = degree of freedom

Slide 40
Kutzbach Criterion to Plane Mechanisms
• 𝐷𝑂𝐹 = 𝑀𝑜𝑏𝑖𝑙𝑖𝑡𝑦 = 𝑛 = 3(𝐿 – 1) – 2𝐽1 – 𝐽2
where,
𝑛 = degree of freedom or mobility 𝐽1 = number of 1 DOF joints
𝐿 = number of links 𝐽2 = number of 2 DOF joints

1 DOF (lower pairs) joints

2 DOF (higher pairs) joints

ME-314 Mechanics of Machines Slide 41

Kutzbach Criterion to Plane Mechanisms
• Determine the DOF (mobility) of the following system by using Kutzbach Criterion

Kutzbach Criterion to Plane Mechanisms

𝑫𝑶𝑭 = 𝑴𝒐𝒃𝒊𝒍𝒊𝒕𝒚 = 𝒏 = 𝟑(𝑳 – 𝟏) – 𝟐𝑱𝟏 – 𝑱𝟐
Where,
M = degree of freedom or mobility
L = number of links
J1 = number of 1 DOF (full) joints
J2 = number of 2 DOF (half) joints
ME-314 Mechanics of Machines Slide 42
Kutzbach Criterion to Plane Mechanisms
𝑫𝑶𝑭 = 𝑴𝒐𝒃𝒊𝒍𝒊𝒕𝒚 = 𝒏 = 𝟑(𝑳 – 𝟏) – 𝟐𝑱𝟏 – 𝑱𝟐

Where,
M = degree of freedom or mobility
L = number of links
J1 = number of 1 DOF (full) joints
J2 = number of 2 DOF (half) joints

(a) Here, 𝐿 = 4, 𝐽1 = 4 and 𝐽2 = 0. Therefore,

𝑛 =3 4−1 −2×4= 1
(b) Here, 𝐿 = 5, 𝐽1 = 5 and 𝐽2 = 0. Therefore,
𝑛 =3 5−1 −2×5= 2

ME-314 Mechanics of Machines Slide 43

Kutzbach Criterion to Plane Mechanisms
• What will happen with ternary and quaternary joints?

𝑫𝑶𝑭 = 𝑴𝒐𝒃𝒊𝒍𝒊𝒕𝒚 = 𝒏 = 𝟑(𝑳 – 𝟏) – 𝟐𝑱𝟏 – 𝑱𝟐

ME-314 Mechanics of Machines Slide 44

Kutzbach Criterion to Plane Mechanisms
• What will happen with ternary and quaternary joints?

𝑫𝑶𝑭 = 𝑴𝒐𝒃𝒊𝒍𝒊𝒕𝒚 = 𝒏 = 𝟑(𝑳 – 𝟏) – 𝟐𝑱𝟏 – 𝑱𝟐

ME-314 Mechanics of Machines Slide 45

Types of Simple Kinematic Chains
The following three types of kinematic chains with four lower pairs are
important from the subject point of view:
1. Four bar chain or quadric cyclic chain
2. Single slider crank chain
3. Double slider crank chain

ME-314 Mechanics of Machines Slide 46

Four Bar Chain or Quadric Cyclic Chain
• Simplest kinematic chain
• It consists of four links, each of them
forms a turning pair at A, B, C and D.
• Important considerations:
• The input link usually makes a
complete revolution relative to the
other links
• Input link (4) is called the Crank
• Link 2 is called the Rocker or Follower
• Link 1 is called the Frame or Ground
• Link 3 is called the Coupler or
Connecting rod

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Four Bar Chain or Quadric Cyclic Chain

Oscillatory motion Cicular Motion

ME-314 Mechanics of Machines Slide 48

Four Bar Chain or Quadric Cyclic Chain
Grashof’s Law
• According to Grashof’s law for a four bar mechanism, the sum of the shortest and
longest link lengths should not be greater than the sum of the remaining two link
lengths if there is to be continuous relative motion between the two links

ME-314 Mechanics of Machines Slide 49

Four Bar Chain or Quadric Cyclic Chain

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Single Slider Crank Mechanism
• Modification of the basic four bar chain
• Consist of one sliding pair and three turning pairs
• Converts rotary motion into reciprocating motion and vice versa

ME-314 Mechanics of Machines Slide 51

Double Slider Mechanism
• Consists of two turning pairs and two sliding pairs
• Converts sliding motion in one direction to sliding motion in another direction

ME-314 Mechanics of Machines Slide 52

Books References

• Khurmi and Gupta Chapter 5

• Robert Norton Chapter 3

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