CYCLOIDAL MOTION

- a cycloid is the curve traced by a point on a circle as it rolls along a straight line without
slipping.

Derivation of Cycloidal Formulas

 Displacement Equation

From the figure above, we can derive the distance (s)

*Considering that r is the hypotenuse.

 s = AE – r(sin)

opp
sin =
r
opp = sin (r)
where
Note: To prove that arc PE is equal to AE, rotate the arc PE
 AE = arc PE = r clockwise then lay it out.

Then s will become,

s = r - r(sin) s = r ( - sin) Eq. 1

Since we must consider the angle relation

Let, β = the cam angle in which the cam turns for a follower lift of h. *The unit should be in
Ө = the cam angle to travel the follower for a distance (s). rad.

Ө β Ө
 =
❑ 2π =2π(
β
) Eq. 2

h Considering that height is equal to the circumference of the roller. Eq. 3

 r=
2π

Substituting Eq. 2 & 3 to Eq. 1, the displacement equation (s) will become

s=
h
2π
2π
[ ()
Ө
β
−sin 2 π
Ө
β ( )]
s=
h
2π
(2 π )
Ө
β ( )( )
−
h
2π
sin 2 π
Ө
β ( )
s=h ( Өβ )−( 2hπ ) sin[¿ 2 π ( Өβ )]¿

 Velocity Equation
 - Can be derived through differentiating the displacement equation with respect to
time.

ds
V= =¿
dt

dӨ
Where, =ω = angular velocity of the cam,
dt

V= ( hβ ) dӨdt −( 2hπ )( 2βπ )[cos 2 π ( Өβ )] dӨdt

V= ( hβ ) ω−( hβω )cos [2 π ( Өβ )¿ ]¿

Factor the equation,

V= ( hβω ){1−cos [2 π ( Өβ )¿]}¿

 Acceleration Equation
- Can be obtained through differentiating the velocity equation.

a=
dv
dt
=−
hω
β( )
¿

dӨ
Where, =ω = angular velocity of the cam,
dt

a = 2 πh ( )
ω 2
β [ ( )]
sin 2 π
Ө
β
  Jerk Equation
- Can be obtained through differentiating the acceleration equation with respect to
time.

( ) [ cos 2 π ( θβ )]( 2βπ )( dӨdt )

2
da ω
J= =2 π
dt β

( ) [ cos 2 π ( θβ )]
3
ω
J = 4π
2
h
β

PRACTICE PROBLEMS:

1.) Calculate the maximum velocity, acceleration, and jerk of a follower which moves
through a distance of 50 mm during 120 o of cam displacement if it performs a cycloidal
motion. The cam is uniformly rotating at 100 rpm.
Solution:
*Take note that the angles should be in rad.

Given:
2 π rad 2
 β=120 ° x = π rad
360 ° 3

π
 θ= rad
3

 h = 50 mm

 (
ω=2 πN =2 ( π ) 100
rev
min )( 601 minsec )= 103 π rads
 a.) Maximum Velocity
Formula:

 V= ( hβω ){1−cos [2 π ( Өβ )¿]}¿

For the value of Ө = 0 radian,

( )
10 rad
50 mm x π

( )
3 s 0
 V= {1−cos [2 π ]}=0 ¿
2 2 ¿
π rad π
3 3

π
For the value of Ө = radian,
3

( ) ()
10 rad π
50 mm x π
3 s 3 mm
 V= {1−cos [2 π ¿]}=500 ¿
2 2 s
π rad π
3 3

2
For the value of Ө = π rad ,
3

( ) ()
10 rad 2
50 mm x π π
3 s 3
 V= {1−cos [2 π ¿]}=0 ¿
2 2
π rad π
3 3

mm
∴ themaximum velocity is 500
s

b.) Maximum Acceleration

 Since we are looking for maximum acceleration, we must assume several values
of Ө to get the maximum value.
Formula:

 a = 2 πh ( )
ω 2
β [ ( )]
sin 2 π
Ө
β

For the value of Ө = 0 radian,

( ) [ ( )]
10 rad 2
π
3 s 0
 a = 2 π ( 50 mm ) sin 2 π =0
2 2
π rad π
3 3

π
For the value of Ө = radian,
6

( ) [ ( )]
2
10 rad π
π
3 s 6 mm
 a = 2 π ( 50 mm ) sin 2 π =7,853.982 2
2 2 s
π rad π
3 3

π
For the value of Ө = radian,
3

( ) [ ( )]
2
10 rad π
π
3 s 3
 a = 2 π ( 50 mm ) sin 2 π =0
2 2
π rad π
3 3

π
For the value of Ө = radian,
2

( ) [ ( )]
2
10 rad π
π
3 s 2 mm
 a = 2 π ( 50 mm ) sin 2 π =−7,853.982 2
2 2 s
π rad π
3 3

2π
For the value of Ө = radian,
3
 ( ) [ ( )]
2
10 rad 2π
π
3 s 3
 a = 2 π ( 50 mm ) sin 2 π =0
2 2
π rad π
3 3

mm
∴ themaximum accelerationis 7,853.982 2
s

c.) Jerk
Formula:

( ) [ cos 2 π ( θβ )]
3
2 ω
 J=4π h
β

For the value of Ө = 0 radian,

( )[
3
10 rad

( )]
π
2 3 s 0 mm
 J = 4 π ( 50 mm ) cos 2 π =246,740.11 3
2 2 s
π rad π
3 3

For the value of Ө = π/6 radian,

( ) [ ( )]
3
10 rad π
π
2 3 s 6
 J= 4 π ( 50 mm ) cos 2 π =0
2 2
π rad π
3 3

π
For the value of Ө = radian,
3

( ) [ ( )]
3
10 rad π
π
2 3 s 3 mm
 J = 4 π ( 50 mm ) cos 2 π =−246,740.11 3
2 2 s
π rad π
3 3
 π
For the value of Ө = radian,
2

( ) [ ( )]
3
10 rad π
π
2 3 s 2
 J= 4 π ( 50 mm ) cos 2 π =0
2 2
π rad π
3 3

2π
For the value of Ө = radian,
3

( ) [ ( )]
3
10 rad 2π
π
2 3 s 3 mm
 J = 4 π ( 50 mm ) cos 2 π =246,740.11 3
2 2 s
π rad π
3 3

mm
∴ themaximum jerk is 246,740.11 3
s
 2.) The follower dwells from 0° to 40° , rises with cycloidal motion from 40° to 140° , dwells
from 140° to 220° , returns with cycloidal motion from 220° to 320° , and then dwells
from 320° to 370° . Show the displacement, velocity, acceleration, and jerk diagrams.

Displacement diagram:

40° 90° 140° 220° 270° 320° 370°

Velocity diagram:

40° 90° 140° 220° 270° 320° 370 °

Acceleration diagram:
 40° 90° 140° 220° 270° 320° 370 °

Jerk diagram:

40° 90° 140° 220° 270° 320° 370 °

3.) A follower lifts 20 mm during a half revolution of the cam, the later rotating at a
constant speed of 480 rpm. The constant acceleration for the first part of the lift period
 is three times as great as the constant deceleration during the latter part of this period.
Find the value of the acceleration and the cam displacement during which it takes place.

Solution:

Consider the first part of motion, AB.

2 a1 s1 = V2C – V2A Where VA = 0

 2 a1 s1 = V2C – V2max Eq. 1

Considering the second part of motion, CB,

 2 a2 s2 = V2B – V2C Where VB = 0

 2 a2 s2 = - V2C = – V2max Eq. 2

Equating 1 and 2,
 2 a1 s1 = - 2 a2 s2 But a1 = 3 (-a2)

 2 ( -3 a2) s1 = - 2 a2 s2 Eq. 3

Considering the total lift of the follower,

h = s1 + s 2 20 = s1 + s2

 s2 = 20 - s1
Eq. 4
Substituting eq. 3 to eq. 4
3 s1 = 20 – s1
 s1 = 5 mm ; s2 = 20 – 5 = 15 mm

Considering the time,

a1 t1 = Vc = Vmax = - a2 t2 Note: a1 = 3 (-a2)

 -3 a2 t1 = - a2 t2 3 t1 = t 2 Eq. 5

Solving for the total time,

 β=ωt
 β π (60) 1 1
 t= =π = sec Considering t1 + t2 = t =
ω [2 π ( 480 ) ] 16 16

1
 t2 =
16
−¿ t1 Eq. 6

Substituting Eq. 6 to Eq. 5,

1
 3 t1 = −¿ t1
16

1 1
 4 t1 = t1 = sec
16 64

Solving for acceleration,

 s1 = VA t1 + ( 12 ) a (t )
1 1
2 Where, VA = 0

 a1 = 2¿ mm
40, 960 2
s
Solving for the angular displacement of the cam for the first part of motion,

 Ө = ω t1 = 16π ( 161 )
 θ1=0.7854 rad=45 °