DNR College of Engineering and Technology

ENGINEERING MECHANICS (M-105)

by
B. SURESH KUMAR

Assistant professor

Department of Mechanical Engineering

Department of ME, DNRCET, BVRM

 SYLLABUS
1) Understand the concept of Statics
a) Explain the meaning of mechanics in engineering
b) State the importance of mechanics in engineering
c) State the system of units used
d) Explain the concept of force
e) List the types of forces
f) Explain the force systems
i) Co-planar and Non-coplanar
ii) Parallel and Non-Parallel
iii) Like and Unlike
iv) Concurrent and Non-concurrent
g) Explain the concept of equilibrium
h) State the parallelogram law of forces
i) State the triangle law of forces
j) State the polygon law of forces
k) State Lami‘s theorem
l) Explain the concept of free body diagram
m) Solve the problems involving concurrent coplanar forces
n) Solve simple problems involving non-concurrent coplanar forces
o) Solve simple problems using Lami‘s theorem
p) Define the terms couple and moment of couple
q) Explain the properties of a couple
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r) State the condition of equilibrium of a body acted upon by co-planar forces
2) Understand the concept of Friction
a) Explain the concept of friction
b) State the laws of friction
c) Identify the machine members in which friction exists
d) Resolve the forces acting on bodies moving on horizontal plane
e) Resolve the forces acting on bodies moving along the inclined planes
f) Solve the related numerical problems
3) Understand the Geometric Properties of Sections
a) Define the terms centre of gravity, centre of mass and Centroid
b) State the need for finding the Centroid and centre of gravity for various engineering
applications
c) Locate the C.G. of a given section
d) Explain the method of determining the Centroid by ‗Method of moments‘
e) Determine the position of Centroid of standard sections T, L, I, Channel section, Z-
section,unsymmetrical I section
f) Determine the position of Centroid of built up sections
g) Explain the meaning of the term moment of Inertia
h) Define the term polar moment of inertia
i) Explain the term radius of gyration
j) State the necessity of finding Moment of Inertia for various engineering applications
k) Determine Moment of Inertia and Radius of gyration for regular geometrical sections like
T, L, I, Channel section, Z- section, unsymmetrical I section
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l) State Parallel axis theorem and perpendicular axis theorem
m) Determine M.I of standard sections by applying parallel axes theorem
n) Determine M.I of standard sections by applying perpendicular axes theorem
o) Calculate the moment of Inertia of composite sections
p) Calculate radius of gyration of standard sections
q) Determine the polar M.I for solid and hollow circular section applying perpendicular axes
theorem
r) Solve the related numerical problems
4) Understand the concept of Dynamics
a) Define the terms Kinematics and Kinetics
b) Classify the motion types
c) Define the terms displacement, velocity and acceleration
d) State the Newton‘s Laws of motion (without derivation)
e) Solve the problems related to the rectilinear motion of a particle
f) Explain the motion of projectile
g) Solve numerical problems on projectiles
h) State D‘Alembert‘s principle
i) Define the law of conservation of energy
j) Explain the Work-Energy principle
k) Define the law of conservation of momentum
l) Explain the Impulse –momentum equation
m) Solve problems using the above principles
n) Explain the rotary motion Department
of a particle of ME, DNRCET, BVRM
o) Define centripetal force
p) Define centrifugal force
q) Differentiate between centripetal and centrifugal forces
r) Describe simple harmonic motion
s) Name the Engineering applications of simple harmonic motion
5) Comprehend the Principles involved in Simple Machines
a) Define the important terms of simple machines
i) Machine
ii) Mechanical Advantage
iii) Velocity Ratio
iv) Efficiency
b) Illustrate the three classes of simple lever
c) Show that an inclined plane is a simple machine to reduce the effort in lifting loads
d) Derive expression for VR in cases of
i) Wheel & axle
ii) Weston Differential pulley blocks
iii) Pulleys
iv) Worm & Worm wheel
v) Winch crabs
vi) Screw jack
vii) Rack & pinion
e) Compute the efficiency of a given machine
f) Interpret the law of machine
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g) State the conditions for self-locking and reversibility
h) Calculate effort lost in friction and load equivalent of friction
i) Evaluate the conditions for maximum M.A.& Maximum efficiency
6) Understand the concept of Basic Link mechanisms
a) Define important terms of basic link mechanisms
i) Link
ii) Kinematic pair
iii) Kinematic chain
iv) Mechanism, structure & machine
b) Explain kinematic pair and kinematic chain with the help of sketches
c) Give examples for Lower and Higher pairs
d) Give examples of inversion

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 6) Understand the concept of Basic Link mechanisms
a) Define important terms of basic link mechanisms
i) Link
ii) Kinematic pair
iii) Kinematic chain
iv) Mechanism, structure & machine
b) Explain kinematic pair and kinematic chain with the help of
sketches
c) Give examples for Lower and Higher pairs
d) Give examples of inversion

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VRM
THEORY OF MACHINES:
It is the branch of engg. Which deals with the study of relative motion
between the various machine parts and the forces which act on them.

SUB DIVISIONS OF THEORY OF MACHINES:

THEORY OF MACHINES

KINEMATICS (MOTION) DYNAMICS (FORCES)

STATICS (REST) KINETICS (MOTION)

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KINEMATICS :
It is the branch of theory of machine which deals with the study of relative
motion between the various parts of the machine.
i.e. It is the study of position ,displacement, speed, velocity, acceleration etc.

DYNAMICS :
It deals with the forces and their effects acting on a machine parts.
Dynamics is further divided into :
a) Statics :
It deals with the forces and their effects when the machine parts are
at rest.
b) Kinetics :
It deals with the inertia forces which occurs from the combined
effect of mass and motion of the machine parts.

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KINEMATIC LINK OR ELEMENT :
Each part of the machine which moves relative to some other
part is known as a kinematic link or element.

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 TYPES OF LINKS :
a) Rigid Link
b) Flexible Link
c) Fluid Link
a) Rigid link :
A link which does not undergo any deformation while transmitting motion.
eg. Connecting rod, crank, piston etc.

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BVRM
b) Flexible Link :
A link which partly deforms but does not affect the transmission of
motion.
Eg. Belts, ropes, chains, wires

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c) Fluid Link :
A link which transmits motion through fluid by pressure or
compression only.
eg. Hydraulic presses, brakes, etc.

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KINEMATIC PAIR
If two links or elements of a machine are in contact with each other,
then it is known as pair.
And If the relative motion between them is completely or
successfully constrained (i.e. in definite direction ), the pair is known as
kinematic pair.

Constrained Motion Motion in Definite

Direction

Types of Constrained motion:

1. Completely constrained motion
2. Incompletely constrained motion
3. Successfully constrained motion

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 a) Completely Constrained Motion :

When a motion between a pair is limited to a definite direction then

the motion is known as completely constrained motion.

eg: Motion of square bar in hole,

piston and cylinder,
motion of shaft with collars

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b) Incompletely Constrained Motion :
When the motion between a pair can take place in more than one
direction, then the motion is called incompletely constrained motion.
eg: A circular bar in circular hole

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C) Successfully constrained motion :
When the motion between the pairs is not completely constrained
by itself, but by some other means , then the motion is said to be
successfully constrained motion.
eg: Motion of I.C. Engine
valves
Shaft in footstep bearing

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Classification of Kinematic Pair:

I] Classification according the type of Relative motion between

the elements
a) Sliding pair
b) Turning pair
c) Rolling pair
d) Screw pair
e) Spherical pair
II ] Classification according to the type of contact between the
elements
f) Lower pair
g) Higher pair
III ] Classification according to the type of Closure
h) Self closed pair
i) Force closed pair
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a) Sliding Pair
In a pair, if one element can only slide relative to other element, the
pair is known as sliding pair.
eg: Piston & cylinder, crosshead & guides, tail stock on lathe bed

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b) Turning Pair
In a pair, if one element can turn or revolve about the fixed center of
other, the pair is known as turning pair.
eg: Shaft in bearing, Lathe spindle on Headstock, Cycle wheel on axle

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DNRCET, BVRM
C) Rolling Pair:
In a pair, if one element rolls over another fixed element, the pair is
known as rolling pair.
Eg: Ball & Roller Bearing

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d) Screw Pair:
In a pair, if one element can turn about the other by screw threads,
the pair is known as screw pair.
Eg: Nut & bolt, lead screw of lathe with nut

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e) Spherical Pair:
In a pair, if one element turns or swivels about the other fixed
element, the pair is known as spherical pair.
Eg: Ball & socket joint, Attachment of vehicle mirrors, Pen stand,
etc.

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II] a) Lower Pair:
When the two elements of a pair have a surface contact during their
relative motion and the motion between them is sliding, the pair is known
as lower pair.
Eg: sliding pairs, turning pairs, screw pairs

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b) Higher Pairs:
When two elements of a pair have a line or point contact during their
relative motion & the motion between them is partly sliding & partly
turning, the pair is known as higher pairs.
Eg.: cam & follower, toothed gearing, ball & roller bearing.

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III] a) Self Closed Pairs:
When two element in a pairs are in contact mechanically
itself, it is known as self closed pairs.
Eg: Lower Pairs

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b) Force Closed Pairs :
When two elements in a pair are in contact by applying external
forces, a pair is known as force closed pair.
Eg: cam & follower, I.C. engine valve, etc

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KINEMATIC CHAIN:

When the kinematic pairs are coupled together to transmit definite motion
(i.e. completely or successfully constrained ) then it is called a kinematic chain.

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In a kinematic chain
Relation between number of pairs (p) & number of links
(l) is given by

l =2p-4 1
Relation between number of joints (j) & number of links (l) is
given by

J=3/2l -2 2

In above eqn 1 & 2 If LHS

> RHS Locked chain \ structure
IF LHS = RHS Kinematic chain Unconstrained
IF LHS < RHS chain

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Types of Joints in a Kinematic Chain
a) Binary joint
b) Ternary joint
c) Quaternary joint

d) Binary Joint :
When the two links are joined at the same connection, the joint is
known as binary joint.
b) Ternary joint:
When the three links are joined at the same connection the joint is
known as ternary joint.
c) Quaternary joint:
When the four links are joined at the same connection the joint is
known as quaternary joint.

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Types of Kinematic Chain

1) Four bar chain

2) Single slider crank chain
3) Double slider crank chain

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 MACHINE
A machine is a device which receives energy in some available form
and utilizes to do useful work.

ENERGY MACHINE WORK

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STRUCTURE
It is an assembly of number of resistant bodies (known as members)
having no relative motion between them and used for carrying loads.
eg: A railway bridge, a roof truss, machine frames, etc.

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Difference between Machine and Structure
MACHINE
1. The parts of the machine s move
relative to one another.
2. A machine transforms available energy
into useful work.
3. The links of the machine may transmit
both power and motion.
4. eg: Lathe machine, Drilling Machine,
etc.
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STRUCTURE
1. The members of the structure do not
move relative to one another.
2. In structure no energy is transferred into
useful work.
3. The members of structure transmits
forces only.
4. Truss, Bridge, etc.
MECHANISM

When one of the link of a kinematic chain is fixed and is used to

transmits motion then the chain is known as mechanism.

Simple & Compound Mechanism:

A mechanism with four links is known as simple mechanism and a
mechanism with more than four links is known as compound mechanism.

When the mechanism is required to transmit power or to do some

particular type of work , then it becomes machine.

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Difference between Machine and Structure
MACHINE
1.It converts available energy into useful
work.
2. The dimensions and shape are very
important parameter for constructing
machine.
3. While designing machine strength
requirements are taken into
considerations.
4. eg: Steam engine, pump
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MECHANISM
1. It converts or modify motion.
2. The dimensions and shapes are not so
important while constructing mechanism.
3. While designing the mechanism the
required motions are taken into
considerations.
4. Single slider mechanism
Difference between Mechanism and Structure
MECHANISM STRUCTURE
1. There is a relative motion between the 1. There is no relative motion between the
links of mechanism. members of the structure.

2. It is used to transmit definite motion. 2. It is used to transmit forces.

3. Both motion and force transmission is 3. Only force transmission is desirable.
desirable.

4. Typewriter, clock, etc. 4. Roof truss, bridge, etc.

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Inversion of the Mechanism

The method of obtaining different mechanisms by fixing different

links in a kinematic chain is known as inversion of the mechanism.

Types and Inversion of the Mechanisms:

Types of Mechanisms/ Kinematic Chain:
1. Four bar chain
2. Single slider crank chain
3. Double slider crank chain

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Four bar chain or Quadric cycle chain
It consist of four links, each of them forms a turning pair with each
other.
• In four bar chain a link which makes complete revolution relative to other
three links is known as crank/driver.
• A link which makes partial rotation or oscillates is known as
Lever/follower/
• A link which connects crank & lever is known as connecting rod.
• A link which is fixed is known as frame.

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Inversions of Four Bar Chain
1. Beam Engine (Crank & Lever Mechanism)

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2. Coupling Rod of Locomotive (Double Lever Mechanism)

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3. Watts Indicator Mechanism (Double Lever Mechanism)

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3. Pantograph (Double Lever Mechanism)

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SINGLE SLIDER CRANK CHAIN

It is the modification of four bar chain.

It consist of one sliding pair & three turning pairs.
This type of mechanism converts rotary motion into reciprocating or viceversa.

In fig. link 1&2, 2&3, 3&4 forms turning pairs.

Link 1&4 forms sliding pair.
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 INVERSIONS OF SINGLE SLIDER CRANK CHAIN

1. Pendulum pump
2. Oscillating Cylinder Engine
3. Rotary Internal Combustion Engine (Gnome Engine)
4. With worth Quick Return Mechanism
5. Crank and Slotted Lever Mechanism

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1. Pendulum pump

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2. Oscillating Cylinder Engine
c) Rotary Internal Combustion Engine (Gnome Engine)

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d) With worth Quick Return Mechanism

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e) Crank and Slotted Lever Mechanism

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 DOUBLE SLIDER CRANK CHAIN

• The inversion of the double slider crank mechanism

consists of two sliding pair and two turning pairs.

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 INVERSIONS OF DOUBLE SLIDER CRANK CHAIN

a) Elliptical Trammel

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b) Scotch Yoke Mechanism

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c) Oldham’s Coupling ii) Working
i) Assembly

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1) Define (a) lower pair, and (b) higher pair and give at least one example
of each. Oct / Nov 2018

Lower Pair:
When the two elements of a pair have a surface contact during
their relative motion and the motion between them is sliding, the
pair is known as lower pair.
Eg: sliding pairs, turning pairs, screw pairs

Department of ME, DNRCET, BVRM

Higher Pairs:
When two elements of a pair have a line or point contact during
their relative motion & the motion between them is partly sliding &
partly turning, the pair is known as higher pairs.
Eg.: cam & follower, toothed gearing, ball & roller bearing.

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2) Explain coupled wheels of locomotive with a neat sketch . Oct / Nov 2018

A coupling rod or side rod connects the driving wheels of

a locomotive. Steam locomotives in particular usually have them, but
some diesel and electric locomotives, especially older ones and shunters,
also have them. The coupling rods transfer the power of drive to all wheels.

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3) Explain the slider crank mechanism with neat sketch. Mar / Apr 2017

It is the modification of four bar chain.

It consist of one sliding pair & three turning pairs.
This type of mechanism converts rotary motion into reciprocating or viceversa.

In fig. link 1&2, 2&3, 3&4 forms turning pairs.

Link 1&4 forms sliding pair.

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 4) Define the following terms : Mar / Apr 2017

(a) Successfully constrained motion

(b) Incompletely constrained motion
a) Successfully constrained motion :
When the motion between the pairs is not completely
constrained by itself, but by some other means , then the motion is
said to be successfully constrained motion.
eg: Motion of I.C.
Engine valves
Shaft in footstep
bearing

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b) Incompletely Constrained Motion :
When the motion between a pair can take place in more than one
direction, then the motion is called incompletely constrained motion.
eg: A circular bar in circular hole

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5) Illustrate the working of the crank and slotted lever mechanism with a
neat diagram. Mar / Apr 2018

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The crank and slotted quick return mechanism converts rotatory motion
into linear motion. It is extensively used in shaping and cutting machines
and is particularly useful in cutting flat surfaces out of metal stock. The
return stroke of the ram is faster than the advancing stroke. The mechanism
consists of an arm attached to a rotating disc that moves at a controlled
uniform speed. Unlike the crank, the arm of the mechanism runs at a
different rate than the disc. By having the disc run at a different rate than
the attached arm, productivity increases because the amount of time needed
for a cut is reduced.
The crank and slotted quick return mechanism was invented by
Whitworth in the 1800s. It played an active role in increasing productivity
by reducing cutting times in shaping machines.
Applications
As a quick return mechanism it finds applications in various fields. Its
quick return action is used in shaping machines to reduce the total process
time while its controlled forward action is used to give clean and defined
cuts necessary for shaping. It also finds application in shaping machines,
slotting machines, rotary internal combustion engines.
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