MECHANICS OF MACHINES

(DJJ40163)

CHAPTER 1
HOIST
MUHAMAD HAZIQ BIN ABD MANAP
LECTURER
DEPARTMENT OF MECHANICAL ENGINEERING
POLITEKNIK KOTA KINABALU, SABAH
 Introduction
• HOIST is a device used for lifting or
lowering a load (mass) by means of
a drum or lift-wheel around which
rope or chain wraps.
• HOIST SYSTEM can be manually
operated, electrically or
pneumatically driven and may use
chain, fiber or wire rope as its lifting Manual
medium. Lifting
Pulley
Small Lifting
Lifts
Equipment

Type of Lifting
Machine

Overhead
Cranes Monorail Lifting
System
 Small Lifting Equipment
• Small lifting equipment mainly include lifting pulley, hanging tools, Jack,
manual hoist, electric hoist and common winch, most of the small size, light
weight, easy to use.
Crane Boom Hoist
Electric Winch Hoist
Manual
Chain
Hoist

Hydraulic
Chain Hoist
 Lifts
The lifts is mainly vertical movement, with fixed lifting routes, including
elevators, lifting units, and mine hoist.
Traction Lift Hydraulic Lift

Mine Hoist
 Cranes
Cranes are a multi-action lifting device that lifts up the load vertically and
horizontally within a certain range. It can be mobile or stationary.

Mobile Crane

Stationary Crane
 Overhead Monorail Lifting System
Overhead Monorail System provide an ergonomic way to move heavy loads that
would be difficult to configure. In the industry, it is really beneficial in optimizing
productivity, safety, and space savings, which allow an easy material handling for
lifting and moving in industrial facilities.
 Forces on Hoist System
There are several forces and moment acting on a
hoisting system:

1) Inertia force (ma)

2) Inertia couple (Iα)
3) Torque drive (T)
4) Torque brake (𝑇𝑏 )
5) Friction couple (𝑇𝑓 )
6) Torque couple (Pr)
 Forces on Hoist System
1. Inertia force (𝒎𝒂)
• Action force from mass and acceleration
• Act at linear motion
• Opposite direction of linear acceleration, a
2. Inertia couple (𝑰𝜶)
• Action force from moment of inertia and angular acceleration
• Act at angular motion
• Opposite direction of angular acceleration, α
3. Torque drive (𝑻)
• To drive pulley
• Power transmitted from motor
• Same direction with pulley motion
 Forces on Hoist System
4. Torque brake (𝑻𝒃 )
• Opposite direction of Torque
• Act when brake is apply
5. Friction couple (𝑻𝒇 )
• Friction between cable and pulley
• Opposite direction of pulley motion
6. Torque couple (𝑷𝒓 )
• Torque that produced by the action of force from cable that rotate the
pulley
• Same direction with cable tension
• Torque Couple = Force (P) x radius (r)
 Forces on Hoist System
Where:
a = Linear Acceleration (𝑚/𝑠 2 )
ma = Inertia Force (N)
𝛼 = Angular Acceleration (rad/𝑠 2 )
I𝛼 = Inertia Couple (Nm)
T = Torque produce by pulley (Nm)
Tf = Friction Couple (Nm)
P = Tension in Cable (N)
mg = Weight of mass (N)
Pr = Torque Couple (Nm)
 Other Related Formula
Linear Motion - Constant Acceleration
𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝑉 = 𝑢 + 𝑎𝑡
𝑃𝑜𝑤𝑒𝑟 𝑜𝑓 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝑉 2 = 𝑢2 + 2𝑎𝑠
Power
1 2
𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡, 𝑠 = 𝑢𝑡 + 𝑎𝑡 𝑃𝑜𝑤𝑒𝑟, 𝑃 = 𝜔T
2

Angular Motion Moment of Inertia

𝑉 (Hoop about symmetry axis)
𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝜔 =
𝑟 𝑀𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝐼𝑛𝑒𝑟𝑡𝑖𝑎, 𝐼 = 𝑚𝑘 2
𝑎
𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝐴𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛, 𝛼 =
𝑟
 Typical Condition of Hoisting System
1. Load upward with acceleration

Linear Motion: Angular Motion:

∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝑀(↺) = ∑𝑀(↻)

P = mg + ma T = Iα + Tf + Pr
P = m (g + a)
 Typical Condition of Hoisting System
2. Load upward with constant velocity (a = 0)

Linear Motion: Angular Motion:

∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝑀(↺) = ∑𝑀(↻)

P = mg T = Tf + Pr
 Typical Condition of Hoisting System
3. Load upward and stopped by torque brake and friction couple

Linear Motion: Angular Motion:

∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝑀(↺) = ∑𝑀(↻)

P = mg + m(−a) 0 = I −α + Tf + Tb + Pr
P = mg − ma I α − Tf − Pr = Tb
P = m(g − a) Tb = I α − Tf − Pr
 Typical Condition of Hoisting System
4. Load downward with acceleration

Linear Motion: Angular Motion:

∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝑀(↺) = ∑𝑀(↻)

P + ma = mg Iα + Tf = T + Pr
P = mg − ma Iα + Tf − Pr = T
P = m(g − a) T = Iα + Tf − Pr
 Typical Condition of Hoisting System
5. Load downward stopped by torque brake and friction couple

Linear Motion: Angular Motion:

∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝑀(↺) = ∑𝑀(↻)

P + m(−a) = mg I −α + Tf + Tb = Pr
P = mg + ma Tf + Tb = Pr + Iα
P = m(g + a) Tb = Pr + Iα − Tf
 Typical Condition of Hoisting System
6. Load freely fall (T = 0)

Linear Motion: Angular Motion:

∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝑀(↺) = ∑𝑀(↻)

P + ma = mg Iα + Tf = Pr
P = mg − ma Pr = Iα + Tf
P = m(g − a)
 Steps in solving hoist system
1. Draw a free body diagram (FBD).
2. Identify the motion of load (upward or downward)
3. Show all forces and torque acting on the FBD.
4. Create formula from linear motion.
5. Create formula from angular motion.
6. Indicate all the values for the formula.
7. Compute the formula and get the answer.

ALWAYS REMEMBER THESE

STEPS WHEN SOLVING THE
PROBLEM OF HOIST SYSTEM.
 Example 1.1
A hoisting machine used to pull a 5 tonnes load of mass with
acceleration 1.2 m/𝑠 2 .The machine spindle mass 1.5 tonnes with 1.8m
diameter while the gyration radius of 630mm. Calculate the torque on the
spindle to increase the load while overcoming friction spindle bearings
1.9 kNm. What is the power to move the mass from rest until 5 second.
(T= 52239 Nm, P=348260 Watt)
 Example 1.2
A hoist drum has a moment of inertia of 115kg𝑚2 and is used to stop a
mass of 100 kg that move downward with deceleration of 0.2m/𝑠 2 by
mean of light cable. If the drum diameter is 950 mm and neglect the
friction torque, calculate the torque brake required to stop the mass.
(𝐓𝐛 =523.89 Nm)
 Example 1.3
• Reels of cable hoisting the lightest used to decrease the burden of
mass M kg with deceleration 3.19 m/𝑠 2 . Find the maximum value of M,
if the maximum pull cable is 180 kN. Reel 2m diameter and mass,
which was between 1.3 tonnes and 0.8 m radius of gyration. Calculate
the braking torque on the brake drum and the number of seconds that
should be applied so that the load is stopped in a distance of 15m with
deceleration 3.19 m/𝑠 2 . (𝐓𝐛 =182654Nm, t = 3.1s)
 TUTORIAL 1.1
A hoisting system with a drum diameter of 0.65 m has a moment of inertia
of 75 kg𝑚2 . A hoist was used to raise 1.2 tonnes lift with acceleration 1.2
m/𝑠 2 . Calculate the :
i) Drum driven torque (T = 4570.65Nm)
ii) Power output after the lift accelerated for 5 seconds from rest
(P = 84374.2 Watt)
iii) Power required, if the lift moving upward with a uniform velocity in (ii),
after it accelerates for 5 seconds from rest (P = 70626.11 Watt)

Final Examination Session June 2013

 TUTORIAL 1.2
The mass pulley of hoisting machine is 950 kg and the diameter is 0.8
m. One mass with 3.7 ton is release from rest and it take 2 second to
move along 4 m. The friction couple between cable and pulley is 3.2
kNm. Find the radius of gyration for this pulley. (k = 1.33m)
 TUTORIAL 1.3
A pulley of mass 550 kg of hoisting machine is used to lowered a mass of 200 kg
with acceleration of 0.8 m/𝑠 2 . The diameter of pulley is 950 mm and a radius of
gyration of 450 mm. The friction couple during the operation is 1.8 kNm.
Calculate,
a) The cable tension (P = 1802 N)
b) The driven torque (T = 1131.606 Nm)
c) The power required when the load has velocity of 1.5 m/s. (P = 3573.49 Watt)
 TUTORIAL 1.4
A hoist drum has a moment of inertia of 115 kg𝑚2 and is used to stop a
mass of 100 kg that move downward with deceleration of 0.2 m/𝑠 2 by
mean of light cable. If the drum diameter is 950 mm and neglect the
friction torque, calculate the torque brake required to stop the mass.
(𝑇𝑏 = 523.89 𝑁𝑚)
 Load Balancing System

• In this hoisting system there is a balance

mass used to balance the hoisting machine
during the operation.
• Balance mass is connected to a load with a
cable and the acceleration both of it is the
same
 Typical Condition of Load Balancing System
1. Load upward with acceleration

Linear Motion: Linear Motion: Angular Motion:

∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝑀(↶) = ∑𝑀(↷)

P1 = m1 g + m1 a P2 + m2 a = m2 g P2 r + T = Iα + Tf + P1 r
P1 = m1 (g + a) P2 = m2 g − m2 a T = Iα + Tf + P1 r − P2 r
P2 = m2 (g − a)
 Typical Condition of Load Balancing System
2. Load upward with constant velocity (a=0)

Linear Motion: Linear Motion: Angular Motion:

∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝑀(↶) = ∑𝑀(↷)

P1 = m1 g P2 = m2 g P2 r + T = Tf + P1 r
T = Tf + P1 r − P2 r
 Typical Condition of Load Balancing System
3. Load upward and stopped by torque brake and friction couple

Linear Motion: Linear Motion: Angular Motion:

∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝑀(↶) = ∑𝑀(↷)

P1 = m1 g + m1 (−a) P2 + m2 (−a) = m2 g P2 r = Tf + Tb + I(−α) + P1 r

P1 = m1 g − m1 a P2 = m2 g + m2 a Iα + P2 r = Tf + Tb + P1 r
P1 = m1 (g − a) P2 = m2 (g + a) Tb = Iα + P2 r − Tf − P1 r
 Typical Condition of Load Balancing System
4. Load downward with acceleration

Linear Motion: Linear Motion: Angular Motion:

∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝑀(↶) = ∑𝑀(↷)

P1 + m1 a = m1 g P2 = m2 g + m2 a P2 r + Tf +Iα = T + P1 r
P1 = m1 g − m1 a P2 = m2 (g + a) T = P2 r + Tf +Iα − P1 r
P1 = m1 (g − a)
 Typical Condition of Load Balancing System
5. Load downward stopped by torque brake and friction couple

Linear Motion: Linear Motion: Angular Motion:

∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝑀(↶) = ∑𝑀(↷)

P1 + m1 (−a) = m1 g P2 = m2 g + m2 (−a) P2 r + Tf +Tb + I(−α) = P1 r

P1 = m1 g + m1 a P2 = m2 (g − a) Tb = P1 r + Iα − P2 r − Tf
P1 = m1 (g + a)
 Typical Condition of Load Balancing System
6. Load freely fall (T = 0)

Linear Motion: Linear Motion: Angular Motion:

∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝐹𝑦 (↑) = ∑𝐹𝑦 (↓) ∑𝑀(↶) = ∑𝑀(↷)

P1 + m1 a = m1 g P2 = m2 g + m2 a P2 r + Tf +Iα = P1 r
P1 = m1 g − m1 a P2 = m2 (g + a) P1 r = P2 r + Tf + Iα
P1 = m1 (g − a)
 Steps in solving hoist system
1. Draw a free body diagram (FBD).
2. Identify the motion of load (upward or downward)
3. Show all forces and torque acting on the FBD.
4. Create formula from linear motion.
5. Create formula from angular motion.
6. Indicate all the values for the formula.
7. Compute the formula and get the answer.

ALWAYS REMEMBER THESE

STEPS WHEN SOLVING THE
PROBLEM OF HOIST SYSTEM.
 Example 1.4
A hoist drum has a moment of inertia of 65 𝑘𝑔𝑚2 and is used to elevate a lift
of mass 800 kg with an upward acceleration of 1.5 𝑚/𝑠 2 by mean of light
cable. The cable is wound onto the drum with diameter of 600 mm and the
other end is fixed with a balance mass of 200 kg to form a balance mass
hoisting machine. If the friction force is neglected, calculate the driving
torque required to move the lift upward. (T = 2540.8 Nm)
 Example 1.5
A hoisting machine system is used to lift a load of 400 kg with an
acceleration of 1.4 𝑚/𝑠 2 . The load is connected to a 170 kg counter weight.
The drum has a diameter of 800 mm, 50 kg mass and 370 mm radius of
gyration. If the friction torque is measured as 18 kNm, determine :
a) Rope tension (𝐏𝟏 = 4484 N, 𝐏𝟐 = 𝟏𝟒𝟑𝟎 𝐍)
b) Driving torque and the power of the torque if the velocity of the load is 1.2
m/s (𝑻 = 𝟏𝟗𝟐𝟒𝟓. 𝟓𝟔 𝑵𝒎, 𝑷 = 𝟓𝟕𝟕𝟑𝟔. 𝟔𝟖 𝑾𝒂𝒕𝒕)
c) Its new acceleration if the system is released freely and friction is
negligible (𝐚 = 𝟑. 𝟔𝟖 𝒎/𝒔𝟐 )
 Example 1.6
A hoist drum has a moment of inertia of 80 𝑘𝑔𝑚2 and is used to stop a
mass of 200 kg that move upward with deceleration of 1.2 𝑚/𝑠 2 . The mass
is connected to counter balance of 450 kg. If the drum diameter is 750 mm
and the friction torque is 1.2 kNm, calculate the torque brake required to
stop the mass. (𝐓𝐛 =268.188 Nm)
 TUTORIAL 1.5
A load of mass 150 kg is lifted by means of a rope which wound several
times round a drum and which then supports a balance mass of 80 kg. As
the load rises, the balance mass falls. The drum has a diameter of 1.2 m,
a radius of gyration of 480 mm, and its mass is 70 kg. Calculate the driven
torque, and also the power required, at an instant when the load has an
upward velocity of 2.5 m/s and upward acceleration of 1.2 𝑚/𝑠 2 .
(𝐓 = 𝟏𝟓𝟖𝟖. 𝟐𝟐 𝐍𝐦, 𝐏 = 𝟔𝟔𝟐𝟐. 𝟖𝟖 𝐖𝐚𝐭𝐭)
 TUTORIAL 1.6
A drum of hoisting machine is used to downward a mass of 250 kg that
connected to balance mass of 400 kg. The diameter of drum is 1.2 m
and moment of inertia is 190 𝑘𝑔𝑚2 . Time taken to move the mass as far
as 1 m is 3 second from rest position. Neglect the friction couple during
the operation, calculate :
a) Torque drive to downward the mass (𝐓 = 𝟏𝟎𝟑𝟖. 𝟑𝟕𝐍𝐦)
b) Power required at velocity of 0.8 m/s (P = 1384.49 Watt)
c) Torque drive when the mass move downward at constant velocity
(T = 882.9 Nm)
 TUTORIAL 1.7
A load of mass 150 kg is lifted by means of a rope which wound several
times round a drum and which then supports a balance mass of 80 kg.
As the load rises, the balance mass falls. The drum has a diameter of
1.2 m, a radius of gyration of 480 mm, and its mass is 70 kg. Calculate
the driven torque, and also the power required, at an instant when the
load has an upward velocity of 2.5 m/s and upward acceleration of 1.2
𝑚/𝑠 2 .(𝐓 = 𝟏𝟓𝟖𝟖. 𝟐𝟐 𝐍𝐦, 𝐏 = 𝟔𝟔𝟐𝟐. 𝟖𝟖 𝐖𝐚𝐭𝐭)
 TUTORIAL 1.8
A hoist machine system is used to move downward (to be lowered) a load of 28 kg
with initial velocity of 0.98 m/s. The load is connected to balance mass of 35 kg.
The drive torque used to move hoist drum is 120 Nm. Then the load is stopped by
torque brake when the load is moved 400 mm from the initial position. The hoist
drum has a diameter of 50 mm, 52 kg of mass and 30 mm of radius of gyration.
Calculate :
a) Linear acceleration of the load when the brake was applied (𝐚 = −𝟏. 𝟐𝐦/𝐬𝟐 )
b) Tension in the cables (𝐏𝟏 = 𝟑𝟎𝟖. 𝟐𝟖𝐍, 𝐏𝟐 = 𝟑𝟎𝟏. 𝟑𝟓𝐍)
c) Torque brake (𝐓𝐛 = 𝟐. 𝟒𝟐𝐍𝐦)
d) Power produced by a hoist machine at the velocity of 0.98 m/s (𝐏 = 𝟒𝟕𝟎𝟒 𝐖𝐚𝐭𝐭)