DNR College of Engineering and Technology

DYNAMICS OF MACHINERY
by
B. SURESH KUMAR

Assistant professor

Department of Mechanical Engineering

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 SYLLABUS
UNIT – I
FRICTION: Inclined plane, friction of screw and nuts, pivot and collar, uniform
pressure, uniform wear, friction circle and friction axis: lubricated surfaces,
boundary friction, film lubrication.
CLUTCHES: Friction clutches- single disc or plate clutch, multiple disc clutch,
cone clutch, centrifugal clutch.
BRAKES AND DYNAMOMETERS: Simple block brakes, internal expanding
brake, band brake of vehicle. General description and operation of
dynamometers: Prony, Rope brake, Epicyclic, Bevis Gibson and belt
transmission,
UNIT – II
STATIC AND DYNAMIC FORCE ANALYSIS: Dynamic force analysis of
four bar mechanism and slider crank mechanism, inertia torque, angular
velocity and acceleration of connecting rod, crank effort
TURNING MOMENT DIAGRAMS: Turning moment diagrams – fluctuation
of energy – fly wheels and their design.
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UNIT-III
PRECESSION: Gyroscopes, effect of precession motion on the stability of moving
vehicles such as motor car, motor cycle, aero planes and ships.
GOVERNERS: Watt, porter and proell governors, spring loaded governors –
Hartnell and Hartung with auxiliary springs. sensitiveness, isochronism and
hunting.
UNIT – IV
BALANCING: Balancing of rotating masses single and multiple – single and
different planes, use analytical and graphical methods. Primary, secondary, and
higher balancing of reciprocating masses. analytical and graphical methods,
unbalanced forces and couples – examination of “V” multi cylinder in line and
radial engines for primary and secondary balancing, locomotive balancing,
hammer blow, swaying couple, variation of tractive effort.
UNIT – V
VIBRATIONS: Free Vibration of spring mass system –Natural frequency-types of
damping – damped free vibration, Simple problems on forced damped vibration,
vibration isolation and transmissibility transverse loads, vibrations of beams with
concentrated and distributed loads. Dunkerly’s methods, Raleigh’s method,
whirling of shafts, critical speeds, torsional vibrations, two and three rotor systems.

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 UNIT I
SYLLABUS

FRICTION: Inclined plane, friction of screw and nuts, pivot and collar, uniform
pressure, uniform wear, friction circle and friction axis: lubricated surfaces,
boundary friction, film lubrication.
CLUTCHES: Friction clutches- single disc or plate clutch, multiple disc clutch,
cone clutch, centrifugal clutch.
BRAKES AND DYNAMOMETERS: Simple block brakes, internal expanding
brake, band brake of vehicle. General description and operation of dynamometers:
Prony, Rope brake, Epicyclic, Bevis Gibson and belt

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Friction
When a body slide or tends to slide on a surface on
which it is resting, a resisting force opposing the motion is
produced at the contact surface. This resisting force is called
friction or friction force.

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Limiting Friction
The maximum friction force that can be developed at the
contact surface, when body is just on the point of moving Is called
limiting force of friction .

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 Types Of Friction
Static Friction:-
Friction experienced by a body when it is at rest is called
static friction.
Dynamic Friction:-
Friction experienced by a body when it is motion is called
dynamic friction.
Sliding Friction:-
Friction experienced by a body when it slides over another
body, is called sliding friction.
Rolling Friction:-
Friction experienced by a body when it rolls over another
body is called rolling friction.
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Department of Mechanical Engineering, DN
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Angle of Friction

The angle between normal reaction (A) and resultant force (R) is
called angle of friction.
It is also called limiting angle of friction.

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Coefficient of friction
The ratio of limiting friction (F) and normal reaction (N) is called
coefficient of friction.
µ=F/N
F = Friction Force
N= Normal Reaction

Angle Of Repose With increase in angle of the inclined surface,

the maximum angle at which body starts sliding down is called
angle of friction

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Laws Of friction

Laws of static friction

The friction force always acts in a direction, opposite to
that in which the body tends to move.
The magnitude of friction force is equal to the exteRNal
force.
F=P
The ratio of limiting friction (F) and normal reaction
(N) is constant.
F/N=µ
The friction force does not depends upon the area of
contact between the two surfaces.
The friction force depends upon the roughness of the
surfaces.

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Laws of dynamic friction
• The friction force always acts in a direction, opposite that in
which the body is moving.
•The ratio of limiting friction (F) and normal reaction (N) is
constant & it is known as coefficient of friction (µ).
• For moderate speeds, the friction force remains constant. But it
decreases slightly with the increase of speed.

1) A Pull of 50 N inclined at 30° to the horizontal is necessary

to move a wooden block on horizontal table. If coefficient
of friction is 0.20, find the weight of wooden block.
Solution :
P = 50 N
µ = 0.20
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

Resolve || to plane : µ = F/N

F = 50 cos 30º 0.20 = 43.30/N
F = 43.30 N N = 216.5
Resolve (perpendicular) to plane
N + 50 sin 30º = W
216.5 + 25 = W
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W = 241.5 N DNRCET, BVRM
Problem 1.
A body, resting on a rough horizontal plane required a pull of 180
N inclined at 30º to the plane just to move it. It was found that a
push of 220 N inclined at 30º to the plane just moved the body.
Determine the weight of the body and the coefficient of friction.

Resolving the forces horizontally,

F = 180 cos 30º = 180 × 0.866 = 156 N
Now resolving the forces vertically,
RN = W – 180 sin 30º = W – 180 × 0.5 =(W– 90) N
We know that F = μ. RN or 156 = μ (W – 90)
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Resolving the forces horizontally,
F = 220 cos 30º = 220 × 0.866 = 190.5 N
Now resolving the forces vertically,
RN =W+220 sin 30º = W + 220 × 0.5 = (W + 110) N
We know that F = μ. RN or 190.5 = μ (W + 110)

W = 1000 N, and μ = 0.1714 Ans.

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Minimum Force Required to Slide a Body on a Rough
Horizontal Plane
Consider that a body A of weight (W) is resting on a horizontal
plane B. Let an effort P is applied at an angle θ to the horizontal
such that the body A just moves. The various forces acting on the
body. Resolving the force P into two components, i.e. P sin θ acting
upwards and P cos θ acting horizontally. Now for the equilibrium
of the body A,

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 RN + P sin θ = W
or
RN = W – P sin θ ...(i)
and
P cos θ = F = μ. RN ...(ii)
...(∵ F = μ. RN)
Substituting the value of RN from equation (i), we have
P cos θ = μ (W – P sin θ) = tan φ (W – P sin θ) ...(∵ μ = tan φ)
= Sin(φ)/cos(φ) (W – P sin θ)
P cos θ .cos φ = W sin φ – P sin θ.sin φ
P cos θ.cos φ + P sin θ.sin φ = W sin φ
P cos (θ – φ) = W sin φ ...[cos θ. cos φ + sin θ.sin φ
= cos (θ – φ)]

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P = Wsinφ ...(iii)
cos (θ−φ )

For P to be minimum, cos (θ – φ) should be maximum,

i.e. cos (θ – φ) = 1 or θ – φ = 0° or θ = φ
In other words, the effort P will be minimum, if its inclination
with the horizontal is equal to the angle of friction.
∴ Pmin = W sin θ ...[From equation (iii)]

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Friction of a body lying on a rough inclined plane

1. Considering the motion of the body up the plane

Let,
W = Weight of the body,
α = Angle of inclination of the plane to the horizontal,
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φ = Limiting angle of friction for the contact surfaces,
P = Effort applied in a given direction in order to cause the body
to slide with uniform velocity parallel to the plane, considering
friction,
P0 = Effort required to move the body up the plane neglecting
friction,
θ = Angle which the line of action of P makes with the weight of
the body W,
µ = Coefficient of friction between the surfaces of the plane and
the body,
RN = Normal reaction, and
R = Resultant reaction.
When the friction is neglected, the body is in equilibrium
under the action of the three forces, i.e. P0, W and RN, The triangle
of forces. Now applying sine rule for these three concurrent forces,

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2. Considering the motion of the body down the plane
Neglecting friction, the effort required for the motion
down the plane will be same as for the
motion up the plane, i.e.
W sin (α) ...(iii)
P0 =
sin ( θ − α )
When the friction is taken into account, the force of friction
F = μ RN will act up the plane and the resultant reaction R will
make an angle φ with RN towards its right. The triangle of forces
is shown ,Now from sine rule,

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Efficiency of Inclined Plane
The ratio of the effort required neglecting friction (i.e. P 0)
to the effort required considering friction (i.e. P) is known as
efficiency of the inclined plane. Mathematically, efficiency of the
inclined plane,
η = P0 / P
Let us consider the following two cases :

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Multiplying the numerator and denominator by sin (α+ ø) sin ϴ, we
get

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1) Define the following terms Mar/Apr 2017

(a) Angle of friction

(b) Angle of repose
Angle of Friction
The angle between normal reaction (A) and resultant force (R) is
called angle of friction.
It is also called limiting angle of friction.

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Angle Of Repose With increase in angle of the inclined surface,
the maximum angle at which body starts sliding down is called
angle of friction

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2) A body weighing 570 N hauled along a rough horizontal plane by
a pull of 190 N acting at an angle of 30° with horizontal. Find the
coefficient of friction. Mar/Apr 2017

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3) A body of weight 1000 N is to be pulled up an inclined plane of
angle 20°. The coefficient of friction between body and plane is
0·28. Find the effort required (a) when it is parallel to the plane
and (b) when it is parallel to the base. Mar/Apr 2018

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4) What horizontal force is required to pull a load of weight 200
N along the horizontal surface? Take the coefficient of friction
as 0·2. Mar/Apr 2016

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5) Write short notes on significance of Friction Mar/Apr 2017

1) Nails and screws hold boards together by means of friction.

2) Power many be transmitted from a motor to a machine by means of a
clutch or a friction belt.
3) In walking, driving a car, striking a match, tying shoes, or sewing
fabric together we find friction to be a useful force.
4) Sand is placed on rails in front of the drive wheels of locomotives,
cinders are scattered on icy streets, chains are attached to the wheels of
automobiles, and special materials are developed for use in brakes.
5) Aero planes can't fly without moving on the ground (Frictional Force)
6) For erasing a mistake, the rubber has to show friction with the paper.
7) It enables us to walk forward because it provides a counter-force to
which the direction of the human being.

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