UNIT 1

TUTORIAL

1. For the Kinematic linkages shown in fig, Calculate the number of binary links,
ternary links, links and degree of freedom.
Solution :

(a) For fig (i):

binary links = 4 ; higher pairs (h) = 0
ternary links = 4
total links = 8
Degree of freedom,

fig.

n = 3(l 1) 2 j h
=3(8 1) 2 x 11 0
n = 1.
The link is a unconstrained chain.

(b)

For fig(ii)
binary links = 4
Ternary links = 4
Total links = 8
Degree of freedom , n = 3(l 1)2j h
n = 3(8 1) 2 x 10
n=1

The linkage is a constrained chain.

(c)

For fig (iii)

binary links = 7
Ternary links = 2
Total links = 11
Degrees of freedom, n = 3(l 1)2j h

=3(11 1) 2 x 15
n=0
The linkage is a locked chain.

2. Determine the mobility of all the linkages shown in fig.

Solution :

For

Fig(i)
Mobility (or) No

of

degree

of freedom

n = 3(l
1)2j h
From

the

Fig (a), = 5; h

= 0; It has

two binary joints

and

ternary joints,

two
so

j=2+2x2=6
n = 3(l 1)2j h
n = 3(5 1)2 x 6 0
n=0

Ans : Therefore linkage forms structure.

(2)

For Fig.(b): From the Fig.(b), l = 6; h = 0;

It has seven binary joints, so j = 7
n = 3(l 1) 2j h
n = 3(6 1) 2 x 7 0 = 1

Ans: Therefore it has single degree of freedom.

(3)

For Fig.1(C):From the Fig.(C), l = 7;h = 0; It has eight binary joints, so j = 8.

n = 3(l 1) 2j h
n = 3 (7 1) 2 x 8 0 = 2

Ans: Therefore, the linkage has two degrees of freedom.

(4)

For Fig.(d): l = 4; h = 1 (i.e., roller constitutes a higher pair); and

j = 3 (i.e., it has three binary joints)
n = 3(l 1) 2j h
=3(4 1) 2 x 3 1 = 2

Ans: Therefore the linkage has two degrees of freedom.

(5)

For Fig.(e): From the Fig(e), l = 3; j = 2 and h = 1(i.e., roller constitutes a higher

pair)
n = 3(l 1) 2j h
=3(3 1) 2 x 2 1
Ans: Therefore the linkage has single degree of freedom.

3.

Determine the degree of freedom of linkages shown in Fig.

Solution :
(i)
For

Fig.

(i): l = 6; j

= 7; h

=0

Degree of
freedom,

n =

3(l

1) 2j h

n =

3(6

1) 2 x 7

(ii)

0 = 1.

For Fig (ii): 1 = 8; j = 10; h = 0

n = 3(l 1) 2 j h
=3( 8 1 ) - 2 x 10 10 = 1 Ans

(iii)

For Fig.(iii): l = 4; h = 0
n = 3(l 1) 2j h
= 3(4 1) 2 x 4 0 = 0

(iv)

For Fig.(iv): l = 4; j = 4 (three turning pair and one sliding pair); h = 0

n = 3(l 1) 2j h
= 3 (4 1) 2 x 4 0 = 1

(v)

For Fig.(v): l = 3; j = 3; h = 0
n = 3(l 1) 2j h
=3(3 1) 2 x 3 0 = 0

(vi)

For Fig.(vi): l = 4; j = 4; h 0
n = 3(l 1) 2j h
=3 (4 1) 2 x 4 0 = 1

(vii)

For Fig (vii): l = 6; j = 7; h 0

n = 3(l 1) 2j h

=3(6 1) 2 x 7 0 = 1

4.

For the kinematic linkages shown in Fig. Find the degrees of freedom.

Solution :

(1)

1 = 6; j = 7; h = 0

Number of degree of freedom,

n = 3(l 1) 2j h
n = 3(6 1) 2 x 7 0 = 1
Thus the motion is constrained.

(2)

For Fig.(ii): l = 7; j = 8; h = 0
n = 3(l 1) 2j h
= 3(7 1) 2 x 8 = 2

Thus the motion is constrained.

(3)

For Fig.(iii): l = 5; j = 6; h = 0
n = 3 (l 1) 2j h
= 3 (5 10 2 x 6 0 = 0

Thus it is a structure. Ans.

(4)

For Fig.(iv): In this Fig (iv), the link 3 can slide without causing any movement in

the rest of the mechanism. Thus this link is said to have redundant degree of freedom.
L = 4; j = 4; h = 0; r = 1
n = 3 (l 1) 2j h r
=3 (4 1) 2 x 4 0 1 = 0
Thus it is a structure.

5. Find the degrees of freedom for the linkages shown in Fig below.

Solution:

(1)

For Fig.(i): l = 14; j = 18; h = 1

n = 3(l 1) 2j h
= 3(14 1) 2 x 18 1 = 2 Ans

(2)

For Fig.(ii): l = 7; j = 8; h = 0
n = 3(l 1) 2j h
= 3(7 1) 2 x 8 0 = 2 Ans

(3)

For Fig.(iii): l = 8;
j = 10 [ 2 binary joints and 2 ternary joints, so j = 2 + 4 x 2 = 10]; h = 0
n = 3(l 1) 2j h
= 3(8 1) 2 x 10 0 = 1

(4)

For Fig.(iv): l = 7; j = 7; h = 1
n = 3(l 1) 2j h
= 3(7 1) 2 x 7 1 = 3 Ans.

6.

Examine the mechanism shown in fig and indicate the cases where unique

relation between the motions of the input and output links exists.

Solution:

(i)

For Fig.(i): l = 6; j = 7; h = 0
n = 3(l 1) 2j h
=3(6 1) 2 x 7 0 = 1

Thus it is a constrained motion. This mechanism is driven by single input motion.

(2)

For Fig.(ii):

In the Fig.(ii), the link 3 can slide without causing any

movement in the rest of the mechanism. Thus this link is said to have redundant degree
of freedom.
L = 4; j = 4; h = 0; r = 1
n = 3(l 1) 2j h r
=3(4 1) 2 x 4 0 1 = 0
Thus it is a structure.
(3)

For Fig.(iii): l = 10; h = 0; h = 0; j = 12

[because ten binary joints and one ternary joint, so 10 + (1 x 2) = 12]
n = 3(l 1) 2j h
=3(10 1) 2 x 12 0 = 3

So it does not have unique relation between input and output link's motions.

7.

Prove that the mechanism shown in Fig. Below is a constrained kinematic chain.

Solution:

From the Fig., l = 6; j = 7 and h = 0; p = 5

Therefore Degree of freedom,
n = 3(l 1) 2j h
=3(6 1) 2 x 7 0 = 1

Thus it is a single degree of freedom system.

Two conditions to be satisfied are:

l = 2p 4

and

j=

3
2

l2

where l = Number of links = 6

p = Number of pairs = 5
j = Number of joints = 7
From equation (i), 6 = 2 x 5 4 = 6
So equation (i) is satisfied.

.... (i)

....(ii)

From equation (ii)

7=

3
2

x62=7

L.H.S. = R.H.S.
So equation (ii) is also satisfied.
Hence, the given mechanism is a constrained kinematic chain. Ans.

8. In a crank and slotted lever quick return mechanism, the distance between the fixed
centres is 150mm and the driving crank is 75mm long. Determine the ratio of the time
taken on the cutting and return strokes.

Solution :

Time of cutting stroke 360

Time of return storke

length of crank

sin 90
2
length of fixed link

= 75/150 =

90 -

= sin 1(0.5) = 30

= 90 30 = 60

= 120

Stroke ratio =

360 120
120

= 2.

9. In a crank and slotted level quick return motion mechanism, the length of the
fixed link is 300m and that of the driving crank is 150 mm. Determine the maximum
angle the slotted lever will make with the fixed link. Also determine the ration of time
of cutting and return strokes.
If the length of the slotted lever is 700mm, what would be the length of the stroke
assuming that the line of the stroke passes through the extreme positions of the free end
of the slotted lever?

Solution :

Given data :
AB = 300mm = 0.3
AE = 150mm = 1.15m
BP1 = 7==mm = 0.7m

Solution: (i) Inclination of the slotted bar with the fixed link:
Let ABE = inclination of the slotted bar with the vertical
Fig.1.67 shows the extreme positions of the crank.

90
2

We know that, sin ABE = sin

AE
AB

0.15
0.5
0.3

ABE = 90

= sin1(0.5)
= 30 Ans.

(ii)

Time ratio of cutting stroke to the return stroke:

We know that 90

= 30

or = 120

Time of cutting stroke

Time of return stroke

(iii)

360

=2

Length of the stroke:

Length of the stroke

= P1 P2 = 2(P1 P)

90
2

= 2(BP) sin

= 2 x 0.7 sin (90 60)

L = 450 mm

:
Time of cutting stroke
Time of return stroke

360

360 96.4
2.735
96.4

10. The distance between two parallel shafts is 18mm and they are connected by an
oldham's coupling. The driving shaft revolves at 160 rpm. What will be the maximum
speed of the tongue of the intermediate piece along its groove?

Solution :

r = Distance between the area of shafts = 18 mm = 0.018m

N = 160 rpm
= 16.75 rad/ rad/s
Maximum sliding velocity V = r.
= (0.018)(16.75)
= 0.302 m/s

ASSIGNMENT

UNIT 1

1. Explain the four bar chain and its inversions stating its applications with neat
sketches.
Four bar chain:
A four link mechanism or linkage is the most fundamental and the simplest kinematic
chain. It consists of four turning pairs.
Four links of a four bar chain are:

1. Frame: The fixed link is known as frame.

2. Crank (or) driver: A link that makes complete revolutions is called as crank.
3. Coupler: The link opposite to the fixed link is known as coupler.
4. Lever or Rocker or follower: The link which makes a partial rotation or
oscillation is known as lever.

Inversions of four bar chain:

I. First Inversion (Crank and lever Mechanism):

As shown in Fig (a), link 1 is the crank, link 4 is fixed and link 3 oscillates
whereas in Fig. (b),lnk 2 is fixed and link 3 oscillates. The mechanism is also known as
crank-rocker mechanism or a crank-lever mechanism or a rotary-oscillating converter.

Application: Beam engine

1. Beam Engine:

This is an example of crank-lever mechanism, where one link oscillates, while the
other rotates about the fixed link, as shown in Fig:
This mechanism is used to convert rotary motion into reciprocating motion.
In this mechanism, when the crank rotates about a fixed centre A, the lever
oscillates about a fixed centre D. The end E of the lever CDE is connected to a piston
rod which reciprocates due to rotation of the crank.

II. Second inversion: (Double crank mechanism)

If the shortest link, i.e., link 1 (crank) is fixed, the adjacent links 2 and 4 would
make complete revolutions, as shown in Fig. The mechanism thus obtained is known
as crank-crank or double crank mechanism or rotary-rotary converter.
Application: Coupling rod of a locomotive.

2. Coupling Rod of a Locomotive:

This is an example of a double crank mechanism where both cranks rotate about
the points in the fixed link. It consists of four links. The opposite links are equal in
length, since links 1 and 3 work as two cranks, the mechanism is also known as rotaryrotary converter. Refer Fig.

III. Third inversion:

If the link opposite to shortest link is fixed. i.e., link 3 is fixed, then the shortest
link (link 1) is made coupler and the other two links 2 and 4 would oscillate as shown in
Fig. The mechanism thus obtained is known as rocker:- rocker or double-rocker or
double-lever mechanism or an oscillating-oscillating converter.

Applications:

1.Watt's indicator mechanism

2.Pantograph
3.Ackermann steering

3.

Watt's Indicator Mechanism:

This mechanism was invented by Watt for his steam engine to guide the piston
rod. It is also known as simplex indicator. It consists of four links: fixed link at A, link
BC and link DEF, connected to the piston of the indicator cylinder. Links BC and DEF
work as levers and due to this, the mechanism is also known as double lever
mechanism. The displacement of the lever DEF is directly proportional to the steam or
gas pressure in the indicator cylinder.

In Fig. full lines depict the initial position of the mechanism, whereas the dotted
line shows the position of the mechanism when gas or steam pressure acts on the
indicator plunger.

2. Sketch the single slider crank chain and its inversions. Explain any one of its
applications.
Single slider crank chain is a modification of four bar chain. It consists of one
sliding pair and three turning pair. This is used to convert reciprocating motion to
rotary motion and vice versa.
Inversions of single slider crank chain

(i)

First inversion:
First inversion is obtained when link 1 (i.e. Frank is frame is fixed and link 2 and

4 are made the crank and slider respectively.

(ii)

Second inversion:
Second inversion is obtained by fixing the link 2 (i.e. crank) of a slider crank

chain. As shown in Fig., when the link 2 is fixed then the link 3 along with the slider at
its end E becomes a crank. This makes link 1 to rotate about O along with the slider
which also reciprocates on it.

(iii) Third inversion:

This is obtained by fixing the link 3 of the slider crank mechanism. Link2 acts as a crank
and link 4 oscillates.

(iv)

Fourth inversion:

Fourth Inversion:

Fourth inversion is obtained by fixing the link 4 of the slider crank mechanism.
As shown in Fig. In the inversion, link 3 can oscillate about the fixed pivot B on link 4.
This makes end A of link 2 to oscillate about B and end O to reciprocate along the axis
of the fixed link 4.

Application: Quick Return Mechanism:

The two inversions of single slider crank chain which are used for the same
application (i.e. Quick return motion) are:
(a)

Whitworth quick return mechanism

(b)

Crank and slotted lever mechanism

Kinematic difference:
(i)

In crank and slotted lever mechanism the output line oscillates.

(ii)

In whit worth mechanism the output link rotates.

Description:
(i)

Whitworth quick return mechanism:

It is a mechanism used in workshop i.e. In shaping and slotting machines. In this

mechanism, link 2 (i.e. Crank) is fixed, link 3 rotates, link 4 reciprocates and link 1
oscillates.

Initially, let the slider 4 be at B 1 point C2, then the tool will be in its extreme left position.
When the crank further rotates and the slider 4 reaches to point C 1 , the tool will be in its
extreme right position. The distance between extreme left and right positions is the
stroke length.
When the link AE rotates from the position AB 2 to AB2 , then the ram moves from
left to right and corresponding movement of the crank link will be from BC 2 to B C1.
When the line AE further rotates, link AE move from AB 2 to AB1, then the ram moves
from right to left and the crank BC correspondingly moves from BC 2 to BC1 .
When crank moves from BC2 to BC1, it is the backward stroke. The time taken
during the left to right motion of the ram will be equal to the time taken by the crank
from BC1 portion to BC2 . The time taken during the right to left motion of the ram will
be equal to the time taken by the crank from BC 2 position to BC1. When the tool is in its
left extreme position, it is the return or backward stroke.
Let

= obtuse angle C1BC1 at B

= acute angle at C1 B2 at B.

Then,

(b)

Time of cutting stroke

360

(or )
Time of return stroke
360

Crank and slotted Lever Quick return mechanism:This mechanism is mostly used in shaping and slotting machines.

This

mechanism is also obtained by fixing the link 3, as shown in Fig. From the figure, OA is
the driving crank, BP is the slotted lever, PT is the connecting rod and T is the cutting
tool.

As the link OA revolves clockwise, the link BP oscillates between the two extreme
positions BP1 and BP2. In the extreme pistons, BP 1 and BP2 are tangential to the circle
with A as center and AO radius. Hence the two strokes of the tool are made while the
crank makes over the arcs FGE and EHF respectively. The cutting stroke occurs when
the crank moves over the arc FGE.

Let,

= Obtuse angle FAE at A

= Acute angle FAE atA

Then,

Time of cutting stroke

360

(or )
Time of return stroke
360

The travel of the tool or length of stroke P1P2:

P1P 2 = 2 BP sin P1BA

= 2BP sin (90 -

= 2BP cos

P1P2 = 2BP

AO
AB

The ratio of the times given by the above formula can be varied by varying the distance
AB.

3. Sketch the double slider crank chain and its inversions. Explain the working of old
ham's coupling.

DOUBLE SLIDER CRANK CHAIN

As its name implies, in double slider crank chain, there are two sliders and one
crank. It is also a four bar pneumatic chain consists of two sliding pairs and two turning
pairs as shown in Fig. The link 1 and link 2 form one sliding pair and link 4 and link 1
from the second sliding pair. The link 2 and link 3 form one turning pair and link 3 and
link 4 form second turning pair.

Inversions:

(i)

First inversion:
First inversion is obtained by fixing the link 1. In this, the two adjacent pairs 2 3

and 3 4 are turning pairs and the other two pairs 1 2 and 1 4 are sliding pairs.
Refer Fig (a) Application: Elliptical trammel

(ii)

Second inversion:
Second inversion is obtained by fixing any one of the slider blocks of the first

inversion. When link 4 is fixed end B of crank 3 rotates about A and link 1 reciprocates
in the horizontal direction.
Application: Scotch yoke mechanism

(iii)

Third inversion;

Third inversion is obtained by fixing the link 3 of the first inversion. In this inversion
link 1 is free to move.
Application: Oldham's coupling.
Oldham's Coupling:
This mechanism is used for transmitting motion between two shafts which are
parallel but not coaxial. This inversion is obtained by fixing the link 3 as shown in Fig.
It consists of a driving shaft, fitted with a flange(link 2) having a diametrical slot on its
face; a driven shaft fitted with flange C (link 4) also has diametrical slot on its face. This

whole makes link 4. The slots on the two flanges are at right to each other. An
intermediate piece circular shape and having tongues X and Y at right angles on
opposite sides, is fitted in between the flanges of the two shafts in such a way that
tongues of the intermediate piece get fitted closely in the slots of flanges.

the
The

intermediate circular piece E forms link 1 which slides between the flanges C and D.
When driving shaft rotates through certain angle the driven shaft also rotates through
the same angle. Motion is transmitted through intermediate link1. If the distance
between the axis of the shafts is x, it will be the diameter of a circle traced by the center
of intermediate piece.

4. Differentiate Kinematic pair and Kinematic chain.

Kinematic pair

Kinematic chain

1. A pair is a joint of two links or 1. When the Kinematic pairs are coupled in such a
elements of a machine.
Ex: 1.Crank and connecting road.

way that the last link is joined to the first link to

transmit definite motion, it is called a Kinematic
chain.

Kinematic pair
2.Piston and cylinder.

Kinematic chain
Ex: 1. Four bar chain.
2. Double slider crank chain.

5. Structure
An assembly of resistant bodies, known as members having no relative motion
between them and meant for carrying loads is called structure.

6. Compare Machine and Structure:

Machine

Structure

1. The different parts of a machine has 1. There is no relative motion between the
relative motion.

members.

2. It transforms energy into useful work.

2. It does not convert the energy into work.

3. Links are used to transmit motion.

3. Members are used for carrying loads.

4. Example: Shaping m/c

4. Example: bridges, roof trusses m/c frames.

7. Mechanical advantage of a mechanism.

It is defined as the ratio of output torque to the input torque. It is also defined as
the ration of load to the effort.
8. Differents in Kinematic chain and Mechanism.

Kinematic chain

Mechanism

1. It is a combination of Kinematic

1. If any one of the link in the Kinematic chain is

pairs.

fixed then the Kinematic chain is called a

mechanism.

2. Types:
a) Four bar chain,
b) Slider crank chain

2. Types:
a) Simple mechanism
b)Compound mechanism.

9. Transmission angle?

In a four bar chain mechanism, the angle between the coupler and the follower
link is called as the transmission angle.

10. Diffrents in mechanism and machine:

Mechanism

Machine

1. Mechanism transmits and modifies 1.M/C transmits forces and couples.

motion.

2. It is the outline of the m/c to

produce

definite

motion

various links.

between 2. Machine may have many mechanisms for

transmitting power or work.

11. The Grashof's law for a four bar mechanism.

Grashof's law states that the sum of the shortest and longest links cannot be
greater than the sum of the remaining two link lengths, if there is to be continuous
relative motion between the two members.
The significance of Grashof's law:

(i)

Grashof's law specifies the order in which the links are connected in a Kinematic

chain.
(ii)

It specifies, which link of the four bar chain is fixed.

(iii)

A four bar chain should satisfy Grashaf's law, otherwise no link will make a
complete revolution relative to one another.
i.e. ( S + l) * (P + Q)
where
S = length of the shortest link

L = Length of the longest link

P & Q = Length of the other two links.

12. Differentiate between Movability and Mobility

(i)

Movability includes six degrees of freedom of the devices as a whole, as if the

ground link

(ii)

were not fixed and thus applies to a Kinematic chain.

Mobility neglects these and considers only the internal relative motions, thus
applying to a mechanism.

13. Classify the 'Constrained motion', and example for each.

1. Completely constrained motion [Ex: Square bar moving in square

hole]
2. Incompletely constrained motion [Ex:circular shaft in a hole]
3. Successfully constrained motion [Ex: Motion of IC engine value]

14. Explain the The Grubler's criterion for plane mechanisms.

n = 3(l 1) 2j
for single degree of freedom joints => 3l 2j = 4

where:
l = No of links
j = No of binary joints.

15. In a four bar chain, which link is called crank.

In a four bar chain, the smallest link, which makes complete revolution is called
crank.

2 Marks Questions: (UNIT 1)

1. What is Kinematics?
Kinematics is the study of motion (position, velocity, acceleration). A major goal of
Understanding kinematics is to develop the ability to design a system that will satisfy
Specified motion requirements. This will be the emphasis of this class.
2. What is Kinetics?
Kinetics is the study of effect of forces on moving bodies. Good kinematic design should
produce good kinetics.
3. Define Link.
A link is defined as a member or a combination of members of a mechanism connecting
other members and having relative motion between them. The link may consist of one or
more resistant bodies. A link may be called as kinematic link or element. Eg:
Reciprocating steam engine.
4. Define Kinematic Pair.
Kinematic pair is a joint of two links having relative motion between them. The types of
kinematic pair are classified according to
Nature of contact (lower pair, higher pair)
Nature of mechanical contact (Closed pair, unclosed pair)
Nature of relative motion (Sliding pair, turning pair, rolling pair, screw pair,
spherical pair)
5. Define Kinematic Chain
When the kinematic pairs are coupled in such a way that the last link is joined to the first
link to transmit definite motion it is called a kinematic chain.
The crank shaft of an engine forms a kinematic pair with the bearings which are fixed in
a pair, the connecting rod with the crank forms a second kinematic pair, the piston with
the connecting rod forms a third pair and the piston with the cylinder forms the fourth
pair. The total combination of these links is a kinematic chain. Eg: Lawn mower.

6. Define Degrees of Freedom.

It is defined as the number of input parameters which must be independently controlled
in order to bring the mechanism in to useful engineering purposes.
It is also defined as the number of independent relative motions, both translational and
rotational, a pair can have.
7. Define Pantograph.
Pantograph is used to copy the curves in reduced or enlarged scales. Hence this
mechanism finds its use in copying devices such as engraving or profiling machines.
8. What is meant by spatial mechanism?
Spatial mechanism have a geometric characteristics in that all revolute axes are parallel
and perpendicular to the plane of motion and all prism lie in the plane of motion.
9. Classify the Constrained motion?
Constrained motions are classified into three types
1. Completely constrained motion.
2. Incompletely constrained motion.
3. Successfully constrained motion.
10. What is Toggle position?
It is the position of a mechanism at which the mechanical advantage is infinite and the
sine of angle between the coupler and driving link is zero.
11. What are the important applications of a single slider crank mechanism?
1. Rotary or Gnome engine.
2. Crank and slotted lever mechanism.
3. Oscillating cylinder engine.
4. Bull engine and
5. Hand pump.
12. Give some examples for kinematic pairs.
1. Crank and connecting rod,
2. Connecting rod and piston rod, and
3. Piston and engine cylinder.
13. What is meant by transmission angle?
In a four bar chain mechanism, the angle between the coupler and the follower (driven)
link is called as the transmission angle.
14. What are the applications of inversion of double slider crank chain mechanism?
It consists of two sliding pairs and two turning pairs. There are three important inversions
of double slider crank chain. 1) Elliptical trammel. 2) Scotch yoke mechanism. 3)
Oldhams coupling. Give some examples for kinematic pairs.
15. Write down the Grashofs law for a four bar mechanism?
Grashofs law states that the sum of the shortest and longest links cannot be greater
than the sum of the remaining two links lengths, if there is to be continuous relative
motion between two members.

UNIT 2
TUTORIAL

1. In a revolving stage with a speed of 3 rpm, a person is walking with a speed of 0.5
m/s along a radial path.

Determine the magnitude of the coriolis component of

acceleration in this motion. NOV 2003

Solution :
Coriolis acceleration

=2V

= 2 x (0.5)

23

60

= 0.3141 rad/sec.
2. In a four bar chain mechanism crank AB = 0.4m rotates with 150 rpm and lever CD
oscillates with a linear velocity of 7 m/s and what is the mechanical advantage of the
system.
Solution :

Mechanical advantage =

VAB
VDC

VAB = AB AB

2N AB
60

AB

2150
60

0.4

= 6.2 m/s
VDC = 7 m/s

Mech. Advantage =

6.2
7

= 0.898.

3. In a four bar chain ABCD, AD is fixed and is 120 mm long and rotates at
100 rpm. Clockwise while the link CD = 60mm, Oscillates about D, BC and
AD are of equal length. Find the angular velocity of link CD when angle
BAD = 60.

Solution:
(Relative velocity method)
Given Data: AD = 120mm;

AB = 30mm;

CD = 60mm;NBA = 100 r.p.m.;

BA =
(a)

2N BA 2 100

60
60

Configuration Diagram:
Scale : 1 cm = 20mm

= 10.47 rad/sec

(b) Velocity Diagram

Scale: 0.0628 m/s = 1 cm
Vba = WBA x AB = 1.047 x 0.03
Vba = 0.3141

Procedure:
(a)

Configuration diagram: Refer Fig(a)

1.

With suitable scale draw AD and AB with an angle 600.

2.

From point B draw an arc of 120 mm radius.

3.

From point D draw another arc of radius 60mm.

4.

Take the intersecting point as C, and join

BC
(b)

CD
and

, as shown in Fig

Velocity diagram: Refer Fig (b)

ab
With suitable scale draw VBA (i.e.,

AD

Since the link

the same point.

) perpendicular to AB at any point.

is fixed whose relative velocity is zero hence a and d are lie on

CD
Draw lines perpendicular to
to get the intersection point.

BC
and

from points 'd' and 'b' respectively so as

Locate the intersecting point as C, as shown in Fig.(b)

From Fig.(b),
VBA = ab on vector velocity diagram,
VCB = bc on vector velocity diagram and
VCD = cd (or) ca on vector velocity diagram
Result: By measurement, we find that
VCD = 0.238 m/s

WCD =

0.2387 0.2387

CD
0.06

= 4 rad/sec (clockwise about D) Ans.

4.
In a four, link mechanism, the crank AB rotates at 36 rod/sec. The
length of the links are AB = 200 mm, BC = 400mm, CD = 450 mm and AD =
600 mm. AD is the fixed link. At the instant when AB is at right angle to
AD. Determine the velocity of :
(i)

The mid-point of link BC.

(ii)
A point on link CD, 100mm from the points connecting the links
CD and AD.
Solution :

Given Data:
WBA = 36 rad/sec and <BAD = 900
AB = 200mm
CD = 450mm

BC = 400 mm
AD = 600mm

AD = Fixed.
(a) Configuration diagram (b) Velocity diagram
Scale: 100 mm = 1 cm

Scale: 1.44m/s = 1 cm
VBA = WBA x AB
= 36 x 0.2 = 7.2m/s

Procedure:
(a)
Configuration diagram: Ref Fig.(a). Draw the space diagram as to the
dimensions.
(b)
Velocity diagram: Refer Fig(b). Draw the velocity diagram as discussed in the
previous

Example.
1.
Locate the point 'e' at the centre of vector bc to find velocity of mid point of
link BC.
2.

Join 'e' and 'a'. Now the vector 'ea' will give the velocity of the mid point E.

ea
i.e.,

VEA =

= (4.55 x 1.44) = 6.552 m/s

CD
To find out the velocity of point 'F' on

DF Vdf

DC Vcd
Vdf Vcd

DF
DC

By measurement,
VCD = 4.6 x 1.44 = 6.624 m/sec [From Fig.(b)]

DF
DC
Vdf = 6.624 x

= 1.472 m/sec Ans.

Results:
1.

Velocity of mid point of link BC with respect to A is

VEA = 6.552 m/s Ans.

2.

Velocity of a point on a link CD 100 mm from D is

VAF = VDF = 1.472 m/s Ans.

5.
In a slider crank mechanism, the length of crank OB and connecting
rod AB are 125mm and 150mm respectively. The centre of gravity G of the
connecting rod is 275mm from the slider A. The crank speed is 600 rpm
clockwise. When the crank has turned 450 from the inner dead centre
position, determine:
1.

Velocity of slider A,

2.

Velocity of the point G, and

3.

Angular velocity of the connecting rod AB.

Solution :
Given Data:
OB = 125mm
AB = 500mm
AG = 275mm.
NBO = 600 rpm(C )

BO =

2 600
60

= 62.83 r/s

= 45 from inner dead centre

VBO = BO x OB = 62.83 x 0.125 = 7.854 m/s
(a)

(b)

Configuration diagram: Scale : 62.5 mm = 1 cm

Velocity diagram: Scale: 1.96 m/s = 1 cm

VaG AG

Vab
AB
VaG 2.85 1.963
VaG = 3.07 m/s

275
500

Procedure:
(a)

Configuration diagram: Ref Fig (a).

First draw line of stroke.

At any point on the line of stroke draw a crank OB of length 125 mm and = 45
From point B draw an arc of radius 500 to cut the stroke, then the cutting point be A.
Locate G on Ab at a distance AG = 275 mm.
(b)

Velocity diagram: Ref Fig.(b).

ob
Draw

vector perpendicular to OB with suitable scale

From O draw an horizontal vector parallel to the line of stroke.

From point 'b' draw a line perpendicular to AB, it will intersect the line of stroke OA
at 'a'.
From velocity diagram it is understood that

oa
VOA =

= 3.3 x 1.96 = 6.468m/s

ab
VBA =

= 2.85 x 1.96 = 5.586 m/s

To locate the point 'g' on vector velocity diagram, take Vag = 3.07 m/s
(already calculated) and join the point 'o' and 'g' which will give the velocity with
respect to 'o'.
VGO = 3.45 x 1.96 = 6.77 m/s
Results: Velocity of the slider A = VOA = 6.468 m/s Ans.
Velocity of the gravity G = VOG = VGO = 6.77 m/s Ans.
Angular velocity of the connecting rod AB is given by,

AB =

VAB 5.586

AB
0.5

AB = 11.1 rad/sec

6.
In the mechanism as shown in Fig., the crank rotates at 20 rpm
anticlockwise and gives motion to the sliding blocks B and D. The
dimensions of various links are oA = 300 mm; AB = 1200 mm; BC = 450
mm and CD = 450 mm. For the given configuration, determine.
(i)

Velocity of sliding at B and D

(ii)

Angular velocity of CD.

Solution

NOA = 20 r.p.m. Anticlockwise;

OA = 300 mm;

AB = 1200 MM;

BC = 450 mm;

CD = 450 mm;

OA =

2 20
60

= 2.094 rad/sec;

VOA = 0.6283 m/s.

Procedure:
(a)
Configuration diagram: Refer Fig.(a). Draw the configuration diagram as per
the given data.
(b)

Velocity diagram: Refer Fig:(b);

oa
1.

Draw

vector from point 'o' in the direction perpendicular to the crank OA.

2.

From 'o' draw a line parallel to the line of action of the slider 'B'

AB

3.
oab.

From 'a' draw a line perpendicular to the link

to complete vector triangle

4.

From point 'o' draw a line parallel to line of action of slider 'D'.

5.

To locate point 'C' on ab'

AB AC

AB AB

AC AB

AC
750
0.553
AB
1200

[ AC = ab x scale = 4.4 x 0.1256 = 0.553 m/s]

AC = 0.345 m/s

CD
6.

From the point 'c' draw a line towards 'd' perpendicular to the link

Results:
(i)

Velocity if slider at B:
VB = Vector ob = 3.2 x 0.1256 = 0.401 m/s Ans.
And Velocity of slider at D:
VD = 1.9 x 0.1256 = 0.238 m/s Ans.

CD
(ii)

Angular velocity of CD:

CD 2.9 0.1256

CD
0.45

CD =

0.364
0.809rad / sec .
0.45

7.
In a mechanism shown in Fig. The crank OA is 100 mm long and
rotates clockwise about O at 120 rpm. The connecting rod AB is 400 mm
long. At a point C on AB, 150 mm from A, the rod CE 350 mm long is
attached. This rod CE slides in a slot in a trunion at D. The end E is
connected by a link EF, 300 mm long to the horizontally moving slider F.
For the mechanism in the position shown, Find
1.

Velocity of F

2.

Velocity of sliding of CE in the trunion and

3.

Angular velocity of CE.

Solution:
Given Data:
OA = 100

NOA = 120 r.p.m.

AB = 400 mm;

AC = 150 mm;

CE = 350 mm;

EF = 300 mm;

OA =

2N OA
60

2 120
OA =

60

= 12.5664 rad/sec

OA = OA OA = 12.566 0.1 = 1.2566 m/s

Procedure:
(a)
(b)

Configuration diagram: Refer Fig a.

Velocity diagram: Refer Fig b.

Draw VOA = 1.256 m/s, from 0 to a in the direction perpendicular to the crank OA.
From point 'o' draw a line parallel to line of stroke of the slider B.
From point 'a' draw a line perpendicular to link AB. Name the point of intersection
as 'b'.
To locate 'C' on 'ab'.

BC bc BC

BA ba BA
VBC = bc = 1.6875 0.252
VBC = 0.425 m/s.
From 'c' draw a line perpendicular to the link CE.
From point 'f' draw a line parallel to the link CE.
To locate point 'e':

 CE ce CE

CD cd CD

VCE = ce = cd

350
250

= 0.315

VCE = 0.441 m/s.

350
250

= cd scale]

From point 'e', draw a line perpendicular to the link EF and draw a line parallel
to the line of stroke 'F' at 'O' and locate the cutting point as 'f'.
Result:
1.

Velocity of F:
VF = Vector 'of' = 2.1 x 0.252
= 0.529 m/s Ans.

[
2.

of = 2.1 cm;Scale = 0.252]

Velocity of sliding of CE in the trunnion:

VCE = Vector 'ec' = 0.441 m/s Ans

3.

Angular velocity of CE:

CE =

CE 0.441

CE
0.35

= 1.26 rad/sec

8. An engine mechanism shown in Fig. The crank CB =100 mm and the

connecting rod BA=300mm with centre of gravity G, 100mm from B. In the
position shown the crankshaft has a speed of 75 rad/s and an angular
acceleration of 1200 rad/s2. find: 1: velocity of G and angular velocity of
AB, and 2 acceleration of G and angular acceleration of AB.

G
120

Solution: Given : BC=75 rad/s; BC=1200 rad/s2, CB =100 mm =0.1mm=0.1 m,

B.A =300 mm=0.3m
We know that velocity of B with respect to C or velocity of B,
vB=vB=BC x CB = 75 x 0.1=7.5m/s

(perpendicular to BC)

Since the angular acceleration of the crankshaft, BC =1200 rad/s2,

therefore tangential component of the acceleration of B with respect to C,
'BC BC xCB 1200 x 0.1= 120 m/s 2

Note: When the angular acceleration is not given, ten there will be no tangential
component of the acceleration.
Velocity of g and angular velocity of AB
First of all, draw the space diagram, to some suitable scale as shown in fig (a). Now
the velocity diagram, as shown in fig (b0 , is draw as discussed below:
1. Draw vector cb perpendicular to CB, to some suitable scale, to represent the
velocity of B with respect to C or velocity of B (i.e. vBC or VB), such that
Vector cb =vBC =vB=75 m/s
From point b, draw vector ba perpendicular to BA to represent the velocity of A with
respect to B i.e vAB, and from point c, draw vector ca parallel to the path of motion
of A (which is along AC) to represent the velocity of A i.e. vA. The vectors ba and ca
intersect at a.
Since the point G lies on AB, therefore divide vector ab at g in the same ratio as G
divides AB in the space diagram. In other words,
Ag/ab = AG /AB
The vector cg represents the velocity of G.
By measurement, we find that velocity of G,
VG= vector cg = 6.8m/s Ans.
From velocity diagram, we find that velocity of A, with respect to B,
VAB= vector ba = 4 m/s
We know the angular velocity of AB,

 AB

VAB
4

13.3rad / s(Clockwise ) Ans.

BA 0.3

(a) Space diagram.

(b) Velocity

diagram.
2. Acceleration of G and angular acceleration of AB

We know that radial component of the acceleration of B with respect to C,

a r BC

v 2BC (7.5)2

562.5m / s 2
CB
0.1

and radial component of the acceleration of A with respect to B,

a r BC

v 2BC (7.5)2

53.3m / s 2
BA
0.3

Now the acceleration diagram, as shown in Fig is drawn.

Draw vector c b parallel to CB, to some suitable scale, to represent the radial
component of the acceleration of B with respect to C. i.e aBC, such that Vector c
b = a rBC=562.5m/s2
2. From point b ,draw vector bb perpendicular to vector c b or CB to represent
the tangential component of the acceleration of B with respect to C i.e a1BC, such
that
Vector b b = aBC=120m/s2

(Given)

3. Join cb. the vector cb represents the total acceleration of B with respect to C i.e
aBC acceleration of A with respect to C i.e. a1BC.
4. From point b, draw vector x parallel to BA to represent radial component of the
acceleration of A with respect to B i.e arAB such that
Vector b x = a rBC=53.3m/s2
5. From point x, draw vector x perpendicular to vector bx or BA to represent
tangential component of the acceleration of A with respect to B i.e arAB. Whose
magnitude is yet known.
6. Now draw vector c a parallel to the path of motion of A (which is along AC) to
represent the acceleration of A i.e aA. The vectors xa and ca intersect at a Join b
a. The vector b a represents the acceleration of A with respect to B i.e aAB.

7. In order to find the acceleration of G, divide vector a b in g in the same ratio as

G divides BA in Fig . (a) . Join cg. The vector cg represents the acceleration of G.
By measurement, we find that acceleration of G,
aG vector c' g'=414 m/s2 Ans.

From acceleration diagram, we find that tangential component of the

acceleration of A with respect toB.
AAB=vector xa =546 m/s
.. (By measurement )
Angular acceleration of AB,
AB

a ' AB 546

1820rad / s 2 (Clockwise )Ans.

BA
0.3

10. In the mechanism shown in fig, the slider C is moving to the right with
a velocity o 1 m/s and acceleration of 2.5 m/s2. The dimensions of various
links are AB= 3m inclined at 45 with the horizontal Determine: 1. the
magnitude of vertical and horizontal component of the acceleration of the
point B, and 2. the angular acceleration of the links AB and BC.
Solution: Given: vC=1m/s. ac=2.5m/s2; AB=3m; BC=1.5m
First of all, draw the space diagram, as shown in fig. (a),to some suitable
scale. Now the velocity diagram, as shown in fig. (b) , is drawn as discussed below:

Since the points A and D are fixed point, therefore they lie at one place in the
velocity diagram. Draw vector dc parallel to Dc, to some suitable scale, which
represents the velocity of slider C with respect to D or simply velocity of C, such
that
Vector dc=vCD=vC=1 m/s.
Since point B has two motion, one with respect to A and the other with respect to C,
therefore from point a, draw vector ab perpendicular to AB to represent the velocity
of B with respect to A, i.e.vBA and from point c draw vector cb perpendicular to CB
to represent the velocity of B with respect to C i.evBC. The vectors ab and cb
intersect at b.

By measurement we find that velocity of B with respect to A.

VBA= vector ab =0.72 m/s and velocity of B with respect to C,
v BC vector cb=0.72m/s

We know that radial component of acceleration of B with respect to C,

ar BC

v 2BC (0.72)2

0.346m / s 2
CB
1.5

and radial component of acceleration of B with respect to A.

a r BA

v 2BA (0.72)2

0.173m / s 2
AB
3

Now the acceleration diagram, as shown in Fig , is drawn as discussed below:

1.* Since the points A and D are fixed points, therefore they lie at one place in the
acceleration diagram. Draw vector dc parallel to DC, to some suitable scale to
represent the acceleration of C with respect to D or simply acceleration of C i.e aCD
or aC such that
vector dc=aCD=ac=2.5 m/s2
2. The acceleration of B with respect to C will have components, i.e. one radial
component of B with respect to C (arBC) and the other tangential component of B
with respect to C(aBC). Therefore from point c, draw vector cx parallel to CB to
represent arBC= 0.346m/s2
3. Now from point x, draw vector xb perpendicular to vector cx or CB to represent
atBA). Whose magnitude is yet unknown.

4.The acceleration of B with respect to A will also have two components of B with
respect to A (arBA) and other tangential component of B with respect to A (atBA).
Therefore from point a draw vector ay parallel to AB to represent atBA, such that
vector ay =arBA=0.173 m/s2
From point y, draw vector yb perpendicular to vector ay or AB to represent atBA.
The vector yb interest the vector xbat b.Join a b and c b. The vector ab
represents the acceleration of point B (aB) and the vector c b represents the
acceleration of B with respect to C.
1. Magnitude of vertical and horizontal component of the acceleration of the point B
Draw b b is the horizontal component of the acceleration of the point B. By
measurement,
Vector b b = 1.13 m/s2 and vector a b = 0.9 m/s2 Ans.
2. Angular acceleration of AB and BC
By measurement from acceleration diagram, we find that tangential
component of acceleration of the point B. with respect to A.
atBA = vector yb = 1.41 m/s2
and tangential component of acceleration of the point B with respect to C,
atBC= vector xb = 1.94 m/s2
We know that angular acceleration of AB,
AB

at BA 1.41

0.47rad / s 2 Ans.
AB
3

and angular acceleration of BC,

BC

at BC 1.94

1.3rad / s 2 Ans.
BC
1.5

11. PQRS is a four bar chain with link PS fixed. The lengths of the link are
PQ =62.5 mm; QR=175mm; RS=112.5 mm; and PS =20mm. The crank PQ
rotates at 10 rad/s clockwise. Draw the velocity and acceleration diagram
when angle QPS=60 abd Q abd R lie on the same side of PS. find the
angular velocity and angular acceleration of links QR and RS.
Solution: Given QP= 10 rad/s; PQ= 625 mm = 0.0625m; QR=175mm=0.175m;
RS=112.5mm= 0.1125m; PS=200=0.2m

We know that velocity of Q with respect to P or velocity of Q.

VQP=vQ=QP x PQ = 10 x 0.0625 = 0.625 m/s.
(Perpendicular to PQ)
Angular velocity of links (QR and Rs)
First of all, draw the space diagram of a four bar chain, to some suitable
scale, as shown in Fig (a).Now the velocity diagram as shown in fig (b), is drawn as
discussed below:

1. Since P and S are fixed points, therefore these points lie at one place in velocity
diagram. Draw vector pq perpendicular to PQ, to some suitable scale, to represent
the velocity of Q with respect to P or velocity of Q i.e.vQP or VQ such that
vector pq= vQP =vQ =0.625 m/s.
2.From point q, draw vector qr perpendicular to QR to represent the velocity of R
with respect to Q (i.e.vRQ) and from point s, draw vector sr perpendicular to SR to
represent that velocity of R with respect to S or velocity of R (i.e vRS or vR). The
vectors qr and sr intersect at r. By measurement ,we find that.
VRQ=vector qr = 0.333m/s, and vRS=vR = vector sr=0.426 m/s.

We know that angular velocity of link QR.

v RQ
QR

QR=

0.333
1.9rad / s (Anticlockwise) Ans.
0.175

and angular velocity of links RS,

v RS
0.426

3.78rad / s (clockwise) Ans.

SR 0.1125

RS=
Angular acceleration of links QR and Rs.
Since the angular acceleration of the crank PQ is not given, therefore there
will be no tangential component of the acceleration of Q with respect to P.
We know that radial component of the acceleration of Q with respect to P(or
the acceleration of
a r QP aQP aQ

v 2QP
PQ

(0.625)2
6.25m / s 2
0.0625

Radial component of the acceleration of R with respect to Q.

a r RQ

2
v RQ

QR

(0.333)2
0.634m / s 2
0.175

And radial component of the acceleration of R with respect to S (or the acceleration
of R).
a r RS aRS aR

v 2RS (0.426)2

1.613m / s 2
SR
0.1125

The acceleration diagram , as shown in Fig is drawn as follows:

Since P and S are fixed points, therefore these point lie at one place in the
acceleration diagram. Draw vector pq parallel to PQ, to some suitable scale, to
represent the radial component of acceleration of Q with respect to P or
acceleration of Q i.e arQP or aQ such that
Vector pq=arQP = aQ =6.25 m/s2
2. From point q draw vector q x parallel to QR to represent the radial component of
acceleration of R with respect to Q i.e. arRQ such that
Vector q x = arRQ = 0.634 m/s2
3. From point x, draw vector xr perpendicular to QR to represent the tangential
component of acceleration of R with respect to Q i.e. atRC whose magnitude is not
yet known.

4. Now from points draw vectors y parallel to SR to represent the radial component
of the acceleration of R with respect to S i.e. arRS. Such that
Vectors y =arRS = 1.613 m/s2
5. From point y, draw vector yr perpendicular to SR to represent the tangential
component of acceleration of R with respect to S i.e atRS.
6. The vector xr and yr intersect at r.Join pr and q r. By measurement we find
that
t
t
aRQ
vectorxr ' 4.1m / s 2and aRS
vectoryr ' 5.3m / s 2

We know that angular acceleration of link QR,

QR

a t RQ
QR

4.1
23.43 rad/s2 ( Anticlockwise )Ans.
0.175

and angular acceleration of link RS.

RS

t
aRS
5.3

47.1 rad/s2 ( Anticlockwise )Ans.

SR 0.1125

12. The dimension and configuration of the four bar mechanism, shown in
Fig, are as follows:
P1A = 300mm; P2B=360 mm; AB = 360 mm, and P1P1=600 mm.

The angle AP1P2= 60. The crank P1A has an angular velocity o10 rad/ and
an angular acceleration of 30 rad/s2, both clockwise. Determine the angular
velocities and angular accelerations of P2B, and AB and the velocity and
acceleration of the P2b, and the velocity and acceleration of the joint B.
Solution: Given:AP1=10 rad/s; AP1=30 rad/s, P1A= 30mm= 0.3 m; P2B=AB=360
mm= 0.36m
We know that the velocity of A with respect to P1 or velocity of A,
VAP1=vA=AP1 x p1A= 10 x 0.3 = 3 m/s.
Velocity of B and angular velocities of P2B and AB
First of all, draw the space diagram, to some suitable scale, as shown in fig.
(a).Now the velocity diagram, as shown in fig (b), is drawn as discussed below.
Since P1 and P2 are fixed points, therefore these points lie at one place in velocity
diagram. Draw vector p1 perpendicular to P1A, to some suitable scale to
represent the velocity of A with respect to P1 or velocity of Ai.e. vAP1=vA=3m/s
From point a, draw vector ab perpendicular to AB to represent velocity of B with
respect to A (i.e.vBA) and from point p2 draw vector p2b perpendicular to P2B to
represent the velocity of B with respect to P2or velocity of B i.e vBP2 or vB. The
vectors ab and p2b intersect at b.
By measurement ,we find that
VBP2=vB= vector p2b=2.2 m/s Ans.
And

vBA=vectorab= 2.05m/s

We know that angular velocity of P2B,

p 2B

v BP 2
2.2

6.1 rad/s (clockwise) Ans.

P2B 0.36

and angular velocity of AB,

AB

v BA 2.05

5.7rad/s (clockwise) Ans.

BA 0.36

Acceleration of B and angular acceleration of P2B and AB

We know that tangential component of the acceleration of A with respect to P1,
at AP 1 AP 1 P1A 30 0.3 9m / s 2

Radial component of the acceleration of A with respect to P1,

a r AP1

v 2 AP 1
2 AP1 P1 A 102 x 0.3 30 m / s 2
P1A

Radial component of the acceleration of B with respect to A

a r BA

v 2BA (2.05)2

11.67m / s 2
AB
0.36

and radial component of the acceleration of B with respect to P2

a r BP 2

v 2BP 2 (2.2)2

13.4m / s 2
P2B
0.36

The acceleration diagram as shown in fig , is drawn as follows.

1. Since P1 and P2 are fixed points, therefore thee points will lie at one place in the
acceleration diagram. Draw vector p1x parallel to P1A, to some suitable scale, to
represent the radial component of the acceleration of A with respect to P1, such
that.
Vector p1x=arAP1 = 30 m/s2

2. From point x, draw vector xa perpendicular to p1Ato represent the tangential

component of the acceleration of A with respect to P1, such that vector
xa=atAP1= 9m/s2
3. Join P1 a. the vector p1 a represents the acceleration of A. By measurement,
we find that the acceleration of A.
aA=aAP1=31.6 m/s2
4. From point a, draw vector a y parallel to AB to represent the radial component of
the acceleration of B with respect to A, such that
vector ay=aBA=11.67 m/s2

From Point y, draw vector yb perpendicular to AB to represent the tangential

component of the acceleration of B with respect to A(i.e. atBA) whose magnitude is
yet unknown.
Now from point P2 draw vector p2z parallel to p2B to represent the radial
component of the acceleration B with respect to P2, such that
Vector p2z =arBP2 =13.44m/s2
From point z, draw vector zb perpendicular to P2B to represent the tangential
component of the acceleration of B with respect to P2i.e atBP2.
The vectors yb and zb intersect at b. Now the vector p2b represents the
acceleration of B with respect to P2 or the acceleration of B i.e aBP2 or aB. By
measurement, we find that
ABP2=aB=vector p2b= 29.6 m/s2 Ans.
Also

vector yb =atBA=13.6m/s2, and vector zb=atBP2= 26.6m/s2

We know that angular acceleration of P2B,

P 2B

t
aBP
26.6
2

73.8rad / s 2 ( Anticlockwise )Ans.

P2 B 0.36

AB

and angular acceleration of AB=

t BA 13.6

37.8rad / s 2 ( Anticlockwise )Ans.

AB 0.36

13. In the mechanism as shown in fig , the crank OA rotates at 20 r.p.m.

anticlockwise and gives motion to the sliding blocks B and D. The
dimensions of the various links are oA=300mm; AB= 1200mm; BC= 450
mm and CD = 450m.

For the given configuration , determine :1. velocities of sliding at B and D, 2 angular
velocity of CD, 3.linear acceleration of D, and 4, angular acceleration of CD.
Solution: Given NAO=20 r.p.m. or AO=2x 20/60=2.1 rad/s; OA=300 mm = 0.3m;
AB=1200 mm = 1.2 m; BC=CD=450 mm =0.45m
We know that linear velocity of a with respect to O or velocity of A,
VAO =vA=AO x OA = 2.1 x 0.3 = 0.63 m/s

(Perpendicular to OA)

1.Velocites of sliding at B and D.

First of all, draw the space diagram ,to some suitable scale, as showing fig (a)
new the velocity diagram, as sown in Fig (b), is drawn as discussed below.

1. Draw vector
to OA, to some
represent the
respect to O (or
A), such that.

on perpendicular
suitable scale, to
velocity of A with
simply velocity of
Vector

oa

=vAO=vA= 0.63

m/s
2. From point a,
perpendicular to
the velocity of B
(i.e vBA) and
draw vector ab
of motion b (which is along BO) to represent the velocity of B with
simply velocity of B). The vectors ab and ab intersect at b.

draw vector ab
AB to represent
with respect to A
from point 0
parallel to path
respect to O (or

3. Divide vector ab at c in the same ratio as C divides AB in the space diagram .In
other words.
BC/CA = bc/ca
4. Now from point c, draw vector CD to represent the velocity of D with respect to C
(i.e. vDC) and from point a draw vector ad parallel to the path of motion of d (which
along the vertical direction ) ro represent the velocity of sliding at B,
By measurement, we find that velocity of sliding at B,
VB=vector ob = 0.4m/s Ans.
And velocity of sliding at D. vD= vector od = 0.24 m/s Ans.
2. angular velocity of CD
By measurement from velocity diagram, we find that velocity of D with
respect to C,
VDC= vector cd= 0.37 m/s
Angular velocity of CD.
CD

v DC 0.37

0.82rad / s( Anticlockwise ) Ans

CD 0.45

3. Linear acceleration of D
We know that the radial component of the acceleration of A with respect to 0 or
acceleration of A.
a r AO aA

v 2 AO
2 AO OA (2.1)2 0.3 1.323 m / s 2
OA

Radial component of the acceleration of B with respect to A.

a r BA

v 2BA (0.54)2

0.243m / s 2
AB
1.2

(BY measurement , vBA= 0.54 m/s.

Radial component of the acceleration of D with respect to C,
a r DC

v 2DC (0.37)2

0.304m / s
CD
0.45

Now the acceleration diagram, as show in fig (c), is drawn as discussed below :
Draw vector o a parallel to OA to some suitable scale ,to represent the radial
component of the acceleration of a with respect to o or simply the acceleration of
,such that
Vector oa =aAO=aA = 1.323 m/s2

2. From point a draw vector a x parallel to AB to represent the radial component

often acceleration of B with respect to A, such that
Vector ax=arBA=0.243 m/s2
3. From point x, draw vector xb perpendicular to AB to represent the tangential
component of the acceleration of B with respect to A (i.e atBA) whose magnitude is
not yet known.
4. From point x draw vector22
ob parallel to the path of motion of B (which is along BO) to represent the
acceleration of B(aB). The vectors xb and ob intersect at b. Join ab. the vector
ab represents the acceleration of b with respect to A.
5. Divide vector a b at c in the same ratio as C divides AB in the space diagram.
In other words,

BC/BA=b c/ba
6. From point x, draw vector c y parallel to CD to represent the radial component of
the acceleration of D with respect to C, such that
vector cy =arDC= 0.304 m/s2
7. From point y, draw yd perpendicular to CD to represent the tangential
component of acceleration of d with respect to C (i.e.atDC) whose magnitude is not
yet known.
8. From point 0 draw vector of o d parallel to the path of motion of D (which is
along the vertical direction) to represent the acceleration of D (aD). The vectors yd
and od intersect at d.
By measurement, we find that linear acceleration of D.
AD=vector 0d=0.16m/s2 Ans.
4. Angular acceleration of CD
From the acceleration diagram ,we find that the tangential component of the
acceleration of D with respect to C,
AtDC=vector yd =1.28m/s2

..(By measurement)

Angular acceleration of CD,

CD=

a 'DC 1.28

2.84rad / s 2 (clockwise ) Ans.

Cd
0.45

UNIT 2 (KINEMATICS)
ASSIGNMENT
2 Marks Questions:
1. What are the important concepts in velocity analysis?
i. The absolute velocity of any point on a mechanism is the velocity of that point with
reference to ground.
ii. Relative velocity describes how one point on a mechanism moves relative to another
point on the mechanism.
2. Define Instantaneous centre and Instantaneous axis.

Instantaneous centre of a moving body may be defined as that centre which goes on
changing from one instant to another.
Instantaneous axis is a line drawn through an instantaneous centre and perpendicular to
the plane of motion.
3. How to represent the direction of linear velocity of any point on a link with respect to
another point on the same link?
The direction of linear velocity of any point on a link with respect to another point on the
same link is perpendicular to the line joining the points.
4. Define Kennedys theorem.
The Kennedys theorem states that if three bodies move relatively to each other, they
have three instantaneous centers and lie on a straight line.
5. Define displacement.
It may be defined as the distance moved by a body with respect to a fixed certain fixed
point. When there is no displacement in a body it is said to be at rest and when it is
being displaced, it is said to be in motion.
6. What are the types of motions?
1. Rectilinear motion.
2. Curvilinear motion.
3. Circular motion.
7. What are the methods for determining the velocity of a body?
Important methods for determining the velocity of a body are:
1. Graphical method: i) Relative velocity method
ii) Instantaneous centre method
2. Analytical method.

8. Define velocity and Speed

Velocity may be defined as the rate of change of displacement of a body with respect to
the time. Since the velocity has both magnitude and direction, therefore it is a vector
quantity.
Speed may be defined as the rate of change of linear displacement of a body with
respect to the time. Since the speed is irrespective of its direction, therefore it is a scalar
quantity.
9. Define Acceleration and Deceleration
The rate of change of velocity with respect to time is known as acceleration.
The negative acceleration is also known as deceleration or retardation.
10. Define coincident points.
When a point on one link is sliding along another rotating link, then the point is known as
coincident point.
11. Define centrode, Axode and Body centrode.
The locus of all instantaneous centres (i.e., I1, I2,) is known as centrode.
The locus of all instantaneous axis is known as axode.

The locus of all instantaneous centre relative to the body itself is called the body
centrode.

UNIT 4 - CAMS

ASSIGNMENT

2 Marks Questions:
1. What is cam?
A cam is a rotating machine element which gives reciprocating (or) oscillating motion to
another element known as follower
2. Define tangent cam?
When the flanks of the cam are straight and tangential to the base circle and nose circle,
the cam is known as tangent cam.
3. Distinguish radial and cylindrical cams.
Radial cam

Cylindrical cam

In this cam, the follower reciprocates (or) oscillates in a

In this the follower reciprocates (or) oscillates in a

direction perpendicular to the axis.

direction parallel to the cam axis.

4. What are the different motions of the follower?

(i) Uniform motion,
(ii) Simple harmonic motion,
(iii) Uniform acceleration and retardation, and
(iv) Cycloidal motion.
5. Compare Roller and mushroom follower of a cam.

S.No
1.

2.

Roller Follower

Mushroom Follower

Roller followers are extensively used where more

The mushroom followers are generally used where

space is available.

space is limited.

It is used in stationary gas engines, oil engines and

It is used in cams which operate the valves in

aircraft valves in engines.

automobile engines.

6. Explain offset follower.

When the motion of the follower is along an axis away from the axis of the cam centre, it
is called offset follower.
7. Define trace point in the study of cams.
It is a reference point on the follower and is used to generate the pitch curve. In case of
knife edge follower the knife edge represents the trace point and the pitch curve
corresponds to the cam profile. In a roller follower the centre of the roller represents the
trace point.
8. Define pressure angle with respect to cams.
It is the angle between the direction of the follower motion and a normal to the pitch
curve. This angle is very important in designing a cam profile. If the pressure angle is too
large, a reciprocating follower will jam in its bearings.
9. Define Lift (or) Stroke in cam.
It is the maximum travel of the follower from its lowest position to the topmost position.
10. Define undercutting in cam. How is occurs?
The cam profile must be continuous curve without any loop. If the curvature of the pitch
curve is too sharp, then the part of the cam shape would be lost and thereafter the
intended cam motion would not be achieved. Such a cam is said to be undercut.
Undercutting occurs in the cam because of attempting to achieve too great a follower lift
with very small cam rotation with a smaller cam.
11. What do you know about Nomogram?
In Nomogram, by knowing the values of total lift of the follower (L) and the cam rotation
angle () for each segment of the displacement diagram, we can read directly the
maximum pressure angle occurring n the segment for a particular choice of prime circle
radius (R0).

12. What are the classifications of cam based on the follower movement?
1) Rise-Return-Rise (R-R-R) cams,
2) Dwell-Rise-Return-Dwell (D-R-R-D) cams,
3) Dwell-Rise-Dwell-Return-Dwell (D-R-D-R-D) cams,
4) Dwell-Rise-Dwell (D-R-D) cams.
13. What are the different types of cams?
1. Wedge (or) flat cams
2. Radial (or) Disc cams
3. Spiral cams
4. Cylindrical (or) Barrel (or) Drum Cams

5. Conjugate cams
6. Globoidal cams
7. Spherical cams
14. What do you know about gravity cam?
In this type, the rise of the cam is achieved by the rising surface of the cam and the
return by the force of gravity of die to the weight of the cam.
15. Define Trace point.
It is a reference point on the follower to trace the cam profile. In case of a knife edge
follower, the knife edge itself is a tracing point and in roller follower, the centre of the
roller is the tracing point.
16. Define pressure angle.
It is the angle between the direction of the follower motion and a normal to the pitch
curve. This is very important in cam design as it represents steepness of the cam profile.
If the pressure angle is too large, a reciprocating follower will jam in its bearings.
17. Define Prime circle.
The smallest circle drawn tangent to the pitch curve is known as the prime circle.
18. Define Angle of Ascent.
The angle of rotation of cam from the position when the follower begins to rise till it
reaches its highest position is known as angle of ascent. It is also known as out stroke
and is denoted by 0.
19. What is meant by Simple Hormonic Motion?
When a body rotates on a circular path with uniform angular velocity, its projection on the
diameter will have simple harmonic motion. The velocity of the projection will be
maximum at the centre of and zero at the ends of the diameter. In case of acceleration
and retardation, the values will be zero at the centre and maximum at the ends of
diameter.
20. What are the different shapes of high speed cams?
1. Circular Arc cam with flat faced follower
2. Tangent cam with reciprocating roller follower
21. Define cam angle.
It is the angle of rotation of the cam for a definite displacement of the follower.
22. What are the classifications of follower based on the follower movement?
i)
Reciprocating (or) translating follower.
ii)
Oscillating (or) rotating follower.
23. Define Pitch curve.
The locus of the tracing point is known as the pitch curve. For the purpose of laying out
the cam profiles, it is assumed that the cam is fixed and the follower rotates around it.
24. What are the classifications of the follower based on the path of motion of the follower?
a) Radial follower.
b) Offset follower.
25. What are the classifications of cam base on the constraint of the follower?
a) Pre-loaded spring cams.
b) Positive drive cams.
c) Gravity cams.

UNIT 5 HIGHER PAIRS, GEAR TRAINS

ASSIGNMENT
2 Marks Questions:
1. State law of Gearing.
The law of gearing states that for obtaining a constant velocity ratio, at any instant of
teeth the common normal at each point of contact should always pass through a pitch
point, situated on the line joining the centre of rotation of the pair of mating gears.

2. Define normal and axial pitch in helical gears.

Normal pitch is the distance between similar face of adjacent teeth, along a helix on the
pitch cylinder normal to the teeth.
Axial pitch is the distance measured parallel to the axis between similar faces of a
adjacent teeth.
3. What is the maximum efficiency in worm and worm gear?

max =

1-sin/1+sin

4. What are the advantages and limitations of gear drive? Write any two.
Advantages:
1. Since there is no slip, so exact velocity ratio is obtained.
2. It is more efficient and effective means of power transmission.
Limitations:
1. Manufacture of gear is complicated.
2. The error in cutting teeth may cause vibration and noise during operation.
5. Define interference.
The phenomenon when the tip of tooth undercuts the roots on its mating gear is known
as interference.
6. Define cycloidal tooth profile and involute tooth profile.
A cycloid is the curve traced by a point on the circumference of a circle which rolls
without slipping on a fixed straight line.
Involute profile is defined as the locus of a point on a straight line which rolls without
slipping on the circumference of a circle.
7. Define circular pitch and diametral pitch in spur gears.

Circular pitch (pc) : It is the distance measured along the circumference of the pitch circle
from a point on one teeth to the corresponding point on the adjacent tooth.

pc=D/T
Diametral pitch (pD) : It is the ratio of number of teeth to the pitch circle diameter.

PD=T/D=/pc
8. Define Backslash.
It is the difference between the tooth space and the tooth thickness along the pitch
circle.
Backslash = Tooth space Tooth thickness
9. What is gear train of train of wheels?
Two or more gears re made to mesh with each other to transmit power from one shaft to
another. Such a combination is called a gear train or train of wheels.
10. Write velocity ratio in compound train of wheels?
Speed of last follower - Product of teeth on drivers
Speed of first driver Product of teeth on followers.
11. Define simple gear train.
When there is only one gear on each shaft, it is known as simple gear train.
12. What is reverted gear train?
When the axes of the first and last wheels are co-axial, the train is known as reverted
gear train.
13. Where the epicyclic gear trains are used?
The epicyclic gear trains are used in the back gear of lathe, differential gears of the
automobiles, pulley blocks, wrist watches, etc.
14. Write down the difference between involute and cycloidal tooth profile.

S.No

Involute Tooth Profile

1.

Variation in centre distance does not affect the

Cycloidal Tooth Profile

The centre distance should not vary.

velocity ratio.
2.

Pressure angle remains constant throughout

the teeth.

Pressure angle varies. It is zero at the pitch point and

maximum at the start and end of
engagement.

3.

Interference occurs.

No interference occurs.

4.

Weaker teeth.

Stronger teeth.

15. Define Contact Ratio.

It is the ratio of the length of arc contact to the circular pitch is known as contact ratio.
The value gives the number of pairs of teeth in contact.
16. What is an angle of obliquity in gears?
It is the angle between the common normal to two gear teeth at the point of contact and
the common tangent at the pitch point. It is called as pressure angle.
17. What is bevel gearing? Mention its types.
When the non-parallel (or) intersecting but coplanar shafts connected by gears, they are
called bevel gears and the arrangement is bevel gearing. It is of two types namely skew
bevel gearing and spiral gearing.
18. What are the methods to avoid interference?
1. The height of the teeth may be reduced.
2. The pressure angle may be increased.
3. The radial flank of the pinion may be cut back (undercutting).
19. What is the advantage when arc of recess is equal to arc of approach in meshing gears?
When arc of recess equal to arc of approach, the work wasted by friction is minimum
and efficiency of drive is maximum.
20. What do you know about tumbler gear?
Tumbler gears are those which are used in lathes for reversing the direction of rotation of
driven gears.
21. What you meant by non-standard gear teeth?
The gear tooth obtained by modifying the standard proportions of gear teeth parameters
is known as non- standard gear teeth.
22. What is meant by compound gear train?
When there are more than one gear on shaft, it is called a compound gear train.
23. What is the advantage of a compound gear train over a simple gear train?
The advantage of a compound gear train over a simple gear train is that a much larger
speed reduction from the first shaft to the last shaft can be obtained with small gears.
24. State the methods to find the velocity ratio of epicyclic gear train.
Two methods are:
1) Tabulation method.

2) Algebraic method.
25. What is the externally applied torques used to keep the gear train in equilibrium?
1) Impart torque on the driving member.
2) Resisting or holding torque on the driven member.
3) Holding or braking torque on the fixed member.