Mechanical Basics - Kinetics

11/13/21 / SI-T Mechanical - Basics 1

Force
F = Force in Newton [N] or [kg * m/s²]
m = mass [kg]
a = acceleration [m/s²]
g = acceleration due to gravity [9,80665 m/s²]
G = weight DE

F=m*a
G=m*g
F GB

ES

In simply terms, a force is a push or a pull. Force may be caused by

electromagnetism, gravity, or a combination of a physical means.
11/13/21 / SI-T Mechanical - Basics 2
Net Force

10 N 10 N 20 N
=

Net force is the vector sum of all forces that act on an object, including friction and
gravity. When forces are applied in the same direction they are added.
11/13/21 / SI-T Mechanical - Basics 3
Net Force

10 N 5N 5N
=

If 10 N of force were applied in one direction and 5 N of force applied in the

opposite direction, the net force would be 5 N. And the object would move in the
direction of greater force.
11/13/21 / SI-T Mechanical - Basics 4
Net Force

10 N 10 N 0N
= 0

If 10 N of force were applied equally in both directions, the net force would be zero
and the object would not move.
11/13/21 / SI-T Mechanical - Basics 5
Torque
M = Torque [Nm] Force 10 N
F = Force in Newton [N] or [kg * m/s²]
l = Radius, length of the lever arm [m]

M=F*l Force 10 N

Radius 0, 2 m
M= 2 Nm

Radius 0, 1 m
M= 1 Nm
Torque is a twisting
Torque oristurning
the product
force of
that
force
tends
andtoradius
cause an
(lever
object
arm)
to rotate. A force
applied to the end of a leverTorque
causes=aForce
turning
* Radius
effect or torque at the pivot point.
11/13/21 / SI-T Mechanical - Basics 6
Torque
M = Torque [Nm]
Force 20 N
F = Force in Newton [N] or [kg * m/s²]
l = Radius, length of the lever arm [m]

M=F*l Force 10 N

Radius 0, 1 m
M= 2 Nm

Radius 0, 2 m
M= 2 Nm
An increase in force or radius would result in a corresponding increase in torque.

11/13/21 / SI-T Mechanical - Basics 7

Torque
M = Torque [Nm]
F = Force in Newton [N] or [kg * m/s²]
l = Radius, length of the lever arm [m]

M=F*l DE

GB

ES

11/13/21 / SI-T Mechanical - Basics 8

Speed - velocity
v = Speed or velocity [m/s]
s = Distance [m]
t = Time [s]

v = s/t

An object in motion travels a given distance in a given time.

Speed is the ratio of the distance traveled to the time it takes to travel the distance.
11/13/21 / SI-T Mechanical - Basics 9
Linear speed – linear velocity
v = Speed or velocity [m/s] t
s = Distance [m]
t = Time [s]

v = s/t s

s= (v*t)/2 = ½ * a * t ²

A B

The linear speed of an object is a measure of how long it takes the object to get from
point A to point B. Linear speed is usually given in a form such as meters per
11/13/21 / SI-T second.
Mechanical - Basics 10
Angular speed – angle velocity
 = Angle velocity [1/s] or [rad/s]
 = Angle [rad]
t = Time [s] Starting point
n = speed [1/min]
Rotational Motion
= /t = 2 *  * n
n= (*60s) / (2  * min) Pivot point

 = (  *t)/2 = ½ *  * t ²

TheSpeed
speedSpeed
of
of aa rotating
rotating
also applies
object
object
to is
ais rotating
generally
a measurement
object,
given in
such
of revolutions
how
as long
the shaft
it per
takes
ofminute
aamotor.
given
(RPM).
point on
An the
object
rotating
that makes
object ten
to make
complete
one complete
revolutions
revolution
per minute
from
hasitsa starting
speed ofpoint.
10 RPM.
11/13/21 / SI-T Mechanical - Basics 11
Acceleration
Linear movement: a [m/s²] a= v/t
Rotary movement:  [1/s ²] = /t

10 RPM to 20 RPM 20 RPM to 10 RPM DE

GB

ES
Acceleration Deceleration

Acceleration
AAn
rotating
Anobject
objectobject
also
only
cancan
occurs
change
canchange
accelerate
when
speed.
from
there
This
from
a higher
ischange
a10change
RPM
to in
a lower
to
speed
in 20
theRPM,
speed.
isnet
called
force
or
This
decelerate
acceleration.
acting
is known
upon
from
asthe
object,
20which
RPM causes
deceleration.
to 10 RPMa change
(example).
in velocity.
11/13/21 / SI-T Mechanical - Basics 12
Way, velocity, acceleration, … - overview
Linear Movement Corresponding Rotary movement

s [m] way/distance angle  [rad]

v [m/s] velocity angle velocity  [1/s] or [rad/s]
a [m/s²] acceleration angle acceleration  [1/s²]
F [N] or [kg*m/s²] force torque M [Nm]

Others
W [J or Ws] work, energy
P [W] power
t [s] time
f [1/s] frequency
n [1/min] speed/revolution
r [m] radius
11/13/21 / SI-T Mechanical - Basics 13
Inertia
J = Moment of Inertia [kgm²]

for calculation use DKI-engineering tool

Density

IfThe
we force
look at
required
a continuous
to overcome
roll of this
paper,inertia
as it can
unwinds,
come from
we know
a source
that when
of energy
the roll
suchis
stopped,
as a motor.
it would
Once take
rolling,
a certain
the paper
amount
will continue
of force tounwinding
overcomeuntil
the inertia
anotherof force
the roll
acts
to
on it toget
bring
rolling.
it to stop.

The law of inertia

The
Mechanical
unit
states
for
that
inertia
systems
an object
is kilogramm-meter-squared
arewill
subject
tend to
to the
remain
law of
in inertia.
its(kgm²).
current state of rest
or motion unless acted upon by an external force.
11/13/21 / SI-T Mechanical - Basics 14
 Stiction
Sliding Haftre
fr
Rolling iction i bu
Gleitre ng
friction ibung
Rollrei
bung
Friction Package

Fr= Friction force Motor

Fn= Normal force Festo
= Friction factor
Rollers
Fr =  * Fn
Bearings

Belt

These
Once losses
the system
include:
is in motion,
• Friction
only within
the energy
motor is required
an driven- equipment
to compensate
bearings
for various
• Windage
losses -losses
to keep
in it
theinmotor
motion.
and driven equipment
• Friction between conveyor belt and rollers.

Because
In
Thethe
law
friction
following
of inertia
removes
illustration
is still
energy
valid,
a motor
from
however,
aruns
mechanical
since
a conveyor.
thesystem,
force
A applied
large
a continual
amount
is needed
force
of force
only
mustis
tobe
applied to overcome
applied
compensate
the to
inertia
keepfor
of
anthe
the
object
system
energy
in motion.
at
lost.
rest to start moving.
11/13/21 / SI-T Mechanical - Basics 15
Inertia Ratios

Theoretical Optimum in regulator stability: J M : JE = 1 : 1

Controllable: JM : JE = 1 : 10
Critical: JM : JE = 1 : 10....20
Instable / uncontrollable JM : JE > 1 : 20

ItOne
Ideally
is important
aspect
it isof
desireable
motion
that thecontrol
inertia
to havesystems,
ofa the
1:1 servo
(JMwhich
: JEmotor
) inertia
must(Jbe
mratio
) isconsidered,
matched
betweentois
the
the
that
load
inertia
theandriven
the
of the
machine and the servo motor,drivendriving the machine,
motor.
machine (JE) . are physically independent.
11/13/21 / SI-T Mechanical - Basics 16
Inertia Ratios
Initial overshoot
Oscillation

Initial speed New speed

When changing from a lower speed to a higher speed, for example, the motor
accelerates the applied load quickly, resulting in a slight overshoot before settling
into the new speed. If there is too great a mismatch between the motor and the load
the system can become unstable.
Oscillations can occur which contribute to system instability.
11/13/21 / SI-T Mechanical - Basics 17
Inertia Ratios
Initial overshoot

Initial speed New speed

No oscillation

When the inertia of a system is properly matched the system will settle into a new
speed quickly.
This provides a stable system with quick response.

11/13/21 / SI-T Mechanical - Basics 18

Work
W = Work [J] or electrical work in [Ws]
F = Force F [N] or [kg*m/s²]
s = Way/distance Festo

W=F*s

1J = 1N * m = 1 kg * m² / s²

Work is defined
Whenever byofthe
a force product
any of themotion,
kind causes force (F)work
applied and the distance
is accomplished. For (s) moved.
example,
If twice
work the force is applied,
is accomplished when antwice the on
object work is done. If
a conveyor is an object
moved moves
from onetwice
pointthe
to
distance, twice the work is done.
another.

11/13/21 / SI-T Mechanical - Basics 19

Power
P = Power [kW]
W = Work [J] or electrical work in [Ws]
t = Time [s] Festo
F = Force F [N] or [kg*m/s²]
v = velocity [m/s]
M = torque [Nm]

P=W /t 1W = 1 J/s =1N*m/s

P=F*v
P = 2 * n * M
Power
Power in
is the
an electrical
rate of doing
circuit
work,
is measured
or work divided
in wattsby
(W)
time.
or kilowatts
In other words,
(kW). AC
power
drives
is
the amount and
of work
motors
it takes
are rated
to move
in watts
the package
or kilowatts
from (HP
one point
in thetoUS).
another point,
divided
1 kW by= 1,36
the time.
HP

11/13/21 / SI-T Mechanical - Basics 20

Torque vs. Power T~ 1/N T = constant T~N T ~ N²
Constant torque
The load is essentially the same kW = constant kW ~ N kW ~ N² kW ~ N³
throughout the speed range. kW T
Hoisting gear and belt conveyors
are examples. kW
T
T
Variable torque kW
T
kW
The load increases as speed increases.
N N N N
Pumps and vans are examples.
Constant power
The load decreases as speed increases.
Winders and rotary cutting machines
are examples.

On
No
When
the
workother
considering
is accomplished
hand, amotors
characteristic
unless
and drives
there
of motion
for
is motion.
a given
control
Therefore,
application
systemspower
is
wethe
typically
isability
zero when
think
to deliver
the
in
full torque at zero
system
speed.
andFor
its associated
thisterms
reasonof
motor
itpower.
is more
is at common
rest (zerotospeed).
base motion control
We havesystems
learnedonthat
torque
powerrather
is a than
function
power.
of speed.

11/13/21 / SI-T Mechanical - Basics 21

Constant torque - example

Constant torque
The load is essentially the same
throughout the speed range.
Hoisting gear and belt conveyors
are examples.

A constant torque load implies that the torque required to keep the load running is
the same throughout the speed range. One example is a conveyor.
11/13/21 / SI-T Mechanical - Basics 22
Constant power - example

Constant power
The load decreases as speed increases.
Winders and rotary cutting machines
are examples.

If the cutting tool has to cut away half of the radius, the RPM must double to
maintain
Constant
a constant
powersurface
applications
speed (FRM).
requireReducing
a constantthe
force
radius
as radius
by halfchanges
will cause a
corres-ponding
One example isreduction
a turning
inlathe,
torquethe
(therefore
cutting force
doubling
mustof
remain
speed constant.
required).
11/13/21 / SI-T Mechanical - Basics 23
Acceleration Torque

The torque required to accelerate a machine should be determined first.

The following information is needed:

• Inertia of the machine in kgm²

• Amount of change of speed in RPM [n]
• Time taken to change speed in sec. [t]

The torque required to accelerate a system with a total inertia of 0,005 kgm² from
rest to 3000 RPM in 0,2 seconds would be 7,85 Nm.
11/13/21 / SI-T Mechanical - Basics 24
Effective Torque or RMS-torque

Accelerating torque is usually required on an intermittent basis only. Due to the

cyclic nature of motion control applications, servomotors have both continuous
rating it is also necessary to know the effective torque, also referred to as RMS
(root-mean-square) torque.

The value of effective torque is actually a means of expressing the equivalent of

varying values of torque required during a cycle of operation.
Effective torqueis determined by looking at all the operating points of a torque-time
curve during a complete cycle.
11/13/21 / SI-T Mechanical - Basics 25
Effective Torque or RMS-torque

Three operating points are used during

a cycle in the following example.
The load requires 7,85 Nm of torque
to accelerate the load in 0,2 seconds (T1).
During constant state run the load
requires 1 Nm of torque to overcome
losses due to friction and maintain speed
for 1 second (T2).
To decelerate the load and stop requires 2 Nm of torque for 0,2 seconds (T3).
The system will remain stopped for 1 second before repeating the cycle.
The total cycle time is 2,4 seconds.
11/13/21 / SI-T Mechanical - Basics 26
Effective Torque or RMS-torque
The following formula can be used to calculate effective torque.
Effective torque (t eff) ist the square root of the summation ()
of the square of torque required (t ²) by the motor at
each increment (Mot i) and time period ( ti)
divided by the total cycle time (Tt).
Using the values for the three time periods (T1-T3)
in the example, effective torque can be calculated.

11/13/21 / SI-T Mechanical - Basics 27

Mechanical Basics- Kinetics (Questionaire)
• Force is a push or a pull. The formula is … the unit of measurement is …

• Torque is a twisting or a turning force. The formula is … the unit is …

• A change in speed is called … or …

• Inertia or Mass moment of inertia is important for …

• Friction is a kind of …. . Therefore a conventional … must be applied.

• Inertia rations best case: JM : JE is … still controllable is …

11/13/21 / SI-T Mechanical - Basics 30

Mechanical Basics- Kinetics (Answers)
• Force is a push or a pull. The formula is F=m*a the unit of measurement is N .

• Torque is a twisting or a turning force. The formula is M = F * l the unit is Nm .

• A change in speed is called acceleration or deceleration.

• Inertia or Mass moment of inertia is important for rotary drives / rotating applic.

• Friction is a kind of losses . Therefore a conventional force must be applied.

• Inertia rations best case: JM : JE is 1:1 still controllable is 1:10

11/13/21 / SI-T Mechanical - Basics 31