Dynamics of Machinery

Unit I: Force Analysis

Unit-I
Force Analysis

Inertia force

The inertia force is an imaginary force, which when acts upon a

rigid body, brings it an equilibrium position.

It is equal to the accelerating force in magnitude, but opposite in

direction

Mathematically,
Inertia force = Accelerating force
D-Alemberts Principle
D-Alemberts principle states that the resultant force acting on a
body together with the reversed effective force (or inertia force), are in
equilibrium.

Dynamic Analysis of Slider crank mechanism:

(i)

Graphical method

(ii)

Analytical method

Graphical methods:
1. Kliens construction,
2. Ritterhauss construction, and
3. Bennetts construction.
Note:

Graphical methods given the accurate answer

Analytical methods given approximate solution

Dynamic analysis of slider-crank mechanism by analytical

method:

According to Newtons second law of motion,

F = m.a
Where
m = Mass of the body, and
a = Linear acceleration of the centre of gravity of the body
F m.a = 0

(1)

If the quantity m.a be treated as a force, equal, opposite.

After rotation of crank by angle

FI = m.a
Sub. FI in value in equation (1)
F + FI = 0
Application:
This principle is used to reduce a dynamic problem into an
equivalent static problem
Dept.of Mechanical Engg. AAMEC

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Dynamics of Machinery

Unit I: Force Analysis

l - Length of connecting rod between the centers,

r - Radius of crank or crank pin circle,
- Inclination of connecting rod to the line of stroke
n - l/r -Ratio of length of connecting rod to the radius of crank

sin = CQ / OC

To find:
Velocity of piston
Acceleration of piston
Angular Velocity of connecting rod
Angular Acceleration of connecting rod

CQ = l sin = r sin

CQ = OC sin
(3)

CQ = r sin
From equ (2) and (3)
l/r =sin / sin
Where n = l/r
n = sin /sin

(4)

sin = sin /n

Velocity of the piston

We know that

From the geometry

x = PP = OP OP = (PC + CO) (PQ + QO)

sin 2
cos 1
n2

x = (l + r) (l cos + r cos )

r (1 cos ) (1 - cos )
r

cos 1

1
2

1 sin 2

.......
2
n2

... (Neglecting higher terms)

(1)
1 cos

sin = CQ / PC

1
2

Expanding the above expression by binomial theorem, we get

r (1 cos ) l (1 - cos )

From triangles CPQ

(PQ =l cos ; QO= r cos )

r (1 cos ) n(1 - cos )

cos 1 sin 2

sin 2
2n 2

CQ = PC sin
CQ = l sin

(2)

Substituting the value of (1 cos ) in equation (1), we have

From triangles CQO

Dept.of Mechanical Engg. AAMEC

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Dynamics of Machinery

Unit I: Force Analysis

Since the acceleration is the rate of change of velocity, therefore
acceleration of the piston P,

sin 2
x r 1 cos n

2n 2

sin 2
r 1 cos

2n

ap

(5)

d dv p

dt
d

(8)

cos 2 2

r cos

d
2n

dv p

cos 2

r cos

d
n

dx
2 sin cos

r sin

d
2n

Substitute dvp/d value in equation (8) we have

(6)

2 sin cos

sin 2

Velocity of P with respect to O (or) velocity of the piston P

v PO v p

dv p

dv p

dx
2 sin cos

r sin

d
2n

sin 2
r sin
2n

dt

Differentiating equation (7) with respect to ,

Differentiating equation (5) with respect to

dv p

dx dx d

dt d dt

cos 2

a p r cos

n

cos 2

a p 2 r cos

Angular Velocity and Angular Acceleration of the Connecting Rod

Angular Velocity:

dx

(Ratio of change of angular velocity = =d / dt)

From the geometry of the figure,

Substituting the value of dx/d from equation (6), we have

CQ = l sin = r sin

sin 2

v PO v p r sin

2n

Acceleration of the piston:

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(9)

n = sin /sin
(7)

sin

sin
n

Differentiating both sides with respect to time t,

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Dynamics of Machinery
cos

Unit I: Force Analysis

d
cos d

dt
n
dt

We know that

d
cos

dt
n

cos

d ( PC ) d ( PC ) d

dt
d
dt

dt

d ( PC ) d ( PC )

dt
d

d
cos

dt
n
cos

PC

cos

n
cos
dt

PC

cos 1 sin 2

sin 2
cos 1
n2

PC

PC

sin

sin 2

1
2

cos

n 1 2
n sin 2
n

1
2

n 2 sin 2

sin cos 1 2 n 2

sin 2

sin 2

1
1
2

( 2 sin cos )

1
2

sin 2

sin n 2 sin 2

Angular acceleration of the connecting rod PC:

PC = Angular acceleration of P with respect to C

PC

cos

n sin

cos

sin 2

1 sin
2

Differentiate above equation w.r.t

cos

d ( PC ) d

dt
d

cos

sin

1
2

dt

We know that

We know that
1
2

d ( PC )

PC

Angular velocity of connecting rod

d ( PC )

dt

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n
sin

sin 2

sin 2

n 2 sin 2

sin 2

sin cos 2

cos 2

Page 4

Dynamics of Machinery

Unit I: Force Analysis

(Dividing and multiplying by (n2-sin2) 1/2)

n 2 sin 2 cos 2
sin
3

2
2
2
n

sin

n
n

sin
2

sin 2

sin
2

sin 2

PC

n sin
2

Angular Acceleration pc

cos 2

n 1

(sin2+cos2=1)

cos
n

2 sin n 2 1
n3

Also in above equation unity is small as compared to n2; hence the term
unity may be neglected

Therefore, Angular velocity PC

Angular Acceleration pc

2 sin
n

d PC
2 sin n 2 1

3
d
n 2 sin 2 2

The negative sign shows that the sense of the acceleration of the
connecting rod is such that it tends to reduce the angle
Notes:

PC

Angular velocity of connecting rod

Angular Acceleration of connecting

PC

cos
2

sin 2

d PC
2 sin n 2 1

3
d
n 2 sin 2 2

Since sin2 is small as compared to n2, therefore it may be neglected in

angular velocity equation and angular acceleration equations of the
connecting rod

Dept.of Mechanical Engg. AAMEC

1. In a slider crank mechanism, the length of the crank and connecting

rod are 150 mm and 600 mm respectively. The crank position is 60
from inner dead centre. The crank shaft speed is 450 r.p.m.
(clockwise). Using analytical method, determine:
i.
Velocity and acceleration of the slider, and
ii.
Angular velocity and angular acceleration of the connecting
rod
Given:
Crank radius r = 150 mm = 0.15 m;
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Dynamics of Machinery
Length of the connecting rod l = 600 mm = 0.6 m;
Crank position = 60;
Speed N = 450 r.p.m
To find:
1. Velocity and acceleration of the slider
2. Angular velocity and angular acceleration of the connecting rod
Solution:
= 2 450/60 = 47.13 rad/s
(i) Velocity and acceleration of the slider
Ratio of the length of connecting rod and crank n = l / r = 0.6 / 0.15
n=4
sin 2
sin 120

v p r sin
47.13 0.15 sin 60

2n
2 4

vp = 6.9 m/s
cos 2
cos 120

a p 2 r cos
47.13 2 0.15 cos 60

n
4

ap = 124.94 m/s2
(ii)Angular velocity and angular acceleration of the connecting rod:
cos
Angular velocity of the connecting rod PC
n
47.13 cos 60

5.9 rad/s
4

Dept.of Mechanical Engg. AAMEC

Unit I: Force Analysis

Angular acceleration of the connecting rod

pc

2 sin
47.13 2 sin 60

481 rad/s 2
n
4

2. If the crank and the connecting rod are 300 mm and 1 m long
respectively and the crank rotates at a constant speed of 200 rpm
determine :(i) The crank angle at which the maximum velocity occurs,
and (ii) Maximum velocity of the piston
Given:
Crank radius
r = 300 mm = 0.3 m;
Connecting rod l = 1 m;
Speed
N = 200 r.p.m.
To find:
1. Crank angle at which the maximum velocity occurs
2. Maximum velocity of the piston
Solution:
= 2 200/60 = 20.95 rad/s
For maximum velocity of the piston,
dv p
0
d
Velocity of the piston,
sin 2

v p r sin

2n

dv p
2 cos 2

r cos

d
2n

2 cos 2

r cos
2n

cos 2 2cos 1
2

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Dynamics of Machinery

Unit I: Force Analysis

n cos 2cos 2 1 0
2cos 2 3.33 cos 1 0
cos

3.33

3.33 2 4 2 1
2 2

cos =0.26
=750
Maximum velocity of the piston
Substituting the value of = 75 in velocity equation of the piston,

p max

p max

sin 2
sin 150

r sin
20.95 0.3 sin 75

2n
2 3.33

6.54 m/s

Forces on the Reciprocating Parts of an Engine:

(Neglecting the Weight of the Connecting Rod)

FP - Piston effort
FN - Thrust on the sides of the cylinder walls (or) normal reaction on the
guide bars
FQ - Force acting along the connecting rod
FT - Crank-pin effort and
FB-Thrust on crank shaft bearings
T- Crank effort or turning moment (or) torque on the crank shaft
WR - Weight of the reciprocating parts in newtons
WR = mR.g

1. Piston effort (Fp):

It is the net force acting on the piston or crosshead pin, along the
line of stroke.
Fp Net load on the piston Inertia force

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Page 7

Dynamics of Machinery

Unit I: Force Analysis

FL FI .......... (Neglecting frictional resistance)

FL FI - R F ......... (Considering frictional resistance)
RF Frictional resistance
ve sign is used when the piston is accelerated
+ve sign is used when the piston is retarded

FB FQ cos

sin2
T FP r sin

2 n 2 sin 2

FL = p1A1 p2 A2
= p1 A1 p2 (A1 a)
For vertical engines
Piston effort FP FL FI WR - R F ..
2. Force acting along the connecting rod (FQ):
F
FQ P
cos
3. Thrust on the sides of the cylinder walls (or) Normal reaction on the
guide bars :( FN)
FN = FQ sin

Fp
cos

sin

FP sin
r
cos

FP

FT FQ sin

Fp
cos

5. Thrust on crank shaft bearings (FB):

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FP sin cos tan r

We know that,
l sin r sin

sin

r
sin
l

sin

sin
n

cos 1 sin 2 1
tan

sin

Sin (A+B) = SinA.CosB + CosA .SinB

sin
r
sin cos
cos

FN Fp tan

4. Crank-pin effort (FT):

cos

cos

6. Crank effort (or) Turning moment (or) Torque on the crank shaft: (T)
Crank effort
FP sin
r
T = FT r
cos

FL = Pressure Area = p A
In a double acting reciprocating steam engine,
FL = p1A1 p2 A2
= p1 A1 p2 (A1 a)

Fp

sin sin

cos
n

sin 2
n2

n
n sin
2

1 2
n sin 2
n

sin
n sin 2
2

Substituting the value of tan

T FP sin

cos sin

n 2 sin 2

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Dynamics of Machinery

Unit I: Force Analysis

(2 cos sin sin 2 )

sin 2
T FP sin

2 n 2 sin 2

3. The crank-pin circle radius of a horizontal engine is 300 mm. The

mass of the reciprocating part is 250 kg. When the crank has travelled
60 from I.D.C., the difference between the driving and the back
pressures is 0.35 N/mm2. The connecting rod length between centers is
1.2 m and the cylinder bore is
0.5 m. If the engine runs at 250 rpm
and if the effect of piston rod diameter is neglected, Calculate:
i.
Pressure on slide bars,
ii.
Thrust in the connecting rod,
iii.
Tangential force on the crank-pin, and
iv.
Turning moment on the crank shaft.

nl r

r = 300 mm = 0.3 m;
mR = 250 kg;
= 60;
p1 p2 = 0.35 N/mm2;
l = 1.2 m;
D = 0.5 m = 500 mm;
N = 250 r.p.m.
Solution:
= 2 250/60 = 26.2 rad/s
Piston effort Fp =FL - FI (-ve sign for acceleration of the piston)

FL p 1 p 2 D 2 0.35 500 2 68730 N

4
4
Ratio of length of connecting rod and crank
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cos 120
cos2

2
FI m R 2 r cos

250 26.2 0.3 cos 60

4
n

FI = 19306 N
Fp = 68730 19306 = 49424 N = 49.424 kN
(i) Pressure on slide bars
FN Fp tan

sin 60
sin
0.2165

n
4
sin 1 0.2165 12.5

sin

FN 49424 tan12.5 10960 N 10.960 kN

(ii) Thrust in the connecting rod
FQ

Given:

1.2 0.3

Fp
cos

49424
50620 N 50.62 kN
cos12.5

(iii) Tangential force on the crank-pin

FT FQ sin 50.62 sin 60 12.5 = 48.28kN

(iv)Turning moment on the crank shaft

T = FT r = 48.280.3 = 14.484 kN
4. A vertical double acting steam engine has a cylinder 300 mm
diameter and 450 mm stroke and runs at 200 rpm. The reciprocating
part has a mass of 225 kg and the piston rod is 50 mm diameter. The
connecting rod is 1.2 m long. When the crank has turned through 125
from the top dead centre, the steam pressure above the piston is
30kN/m2 and below the piston is 1.5 kN/m 2. Calculate the effective
turning moment on the crank shaft.
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Dynamics of Machinery

Unit I: Force Analysis

Given:
D = 300 mm = 0.3 m;
L = 450 mm or
r = L/2 = 225 mm = 0.225 m;
N = 200 r.p.m. or
= 2 200/60 = 20.95 rad/s;
mR= 225 kg;
d = 50 mm = 0.05 m ;
l = 1.2 m;
= 125 ;
p1 = 30 kN/m2 = 30 103 N/m2 ;
p2 = 1.5 kN/m2 = 1.5 103 N/m2

cos250

2
225 20.95 0.225 cos125

5.33

= -14172 N
Vertical engine, net force on the piston or piston effort,
FP FL - FI m R g = 2018 (-14172) + (2259.81) = 18397 N

Solution:
Effective turning moment on the crank shaft T

Fp sin
cos

Vertical engine, net force on the piston or piston effort, FP FL - FI m R g

Force on the piston due to steam pressure, FP FL - FI m R g
FL= p1 A1 p2 (A1 a)

2
A1 D 2 0.3 0.0707 m 2
4
4
a

2
2
d 0.05 0.00196m 2
4
4

FL 30 10 3 0.0707 1.5 10 3 0.0707 0.00196 =2121 103 =

2018 N
Ratio of lengths of connecting rod and crank n = l/r = 1.2/0.225 = 5.33
cos2
2

Inertia force on the reciprocating parts FI m R r cos

n

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sin
sin125 0.8191

= 0.1537
n
5.33
5.33
sin-1 (0.1537) = 8.840

sin

FP sin
18397 sin 125 8.84
r
0.225 = 3021.6 N-m
cos
cos 8.84

5. The crank and connecting rod of a petrol engine, running at

1800rpm are 50 mm and 200 mm respectively. The diameter of the
piston is 80 mm and the mass of the reciprocating parts is 1 kg. At a
point during the power stroke, the pressure on the piston is 0.7 N/mm 2,
when it has moved 10 mm from the inner dead centre. Determine:
1. Net load on the gudgeon pin,
2. Thrust in the connecting rod,
3. Reaction between the piston and cylinder, and
4. The engine speed at which the above values become zero
Given:
N = 1800 r.p.m.
r = 50 mm = 0.05 m;
l = 200 mm;
D = 80 mm;
mR = 1 kg ;
p = 0.7 N/mm2 ;
x = 10 mm
Page 10

Dynamics of Machinery

Unit I: Force Analysis

Solution:
= 2 1800/60 = 188.52 rad/s;
1. Net load on the gudgeon pin
FP FL - FI

cos 2 8 cos 7.4 0

Solving the above quadratic equation

cos = 0.837
= cos-1(0.837) = 33.170
cos2

FI m R a R m R 2 r cos

2
D p 80 0.7 3520N
4
4
cos2

FI m R a R m R 2 r cos

FL

cos66

1 188.52 2 0.05 cos33

FI = 1671 N

FP FL - FI 3520 - 1671 =1849 N

2. Thrust in the connecting rod
F
FQ P
cos

sin 2
x r 1 cos

2n

sin

sin
sin 33
0.5446

0.1361
n
4
4

n = l/r = 200/50 = 4

sin 1 0.1361 7.82 0

sin 2
10 10 3 50 10 3 1 cos

2 4

FQ

sin 2
10 50 1 cos

81 cos sin 2

8
8

10 50

8 10 / 50 81 cos sin 2
1.6 8 8 cos sin 2
1.6 8 8 cos 1 cos 2

sin

1 cos 2

FP
1849

1866.3 N
cos
cos7.82

3. Reaction between the piston and cylinder

FN = FP tan =1849 tan7.820 = 254 N
4. Engine speed at which the above values will become zero
Fp = FL - FI
0 = FL - FI
When Fp = 0
FI = FL
cos2
2

m R 12 r cos
D p
n
4

9 8 cos cos 2 1.6 0

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Page 11

Dynamics of Machinery

Unit I: Force Analysis

cos66

2
1 12 0.05 cos33
80 0.7
4
4

0.04712 3520
12 3520 / 0.047 74894

1 273.6 rad/s

Corresponding speed in r.p.m

N 1 273.6 60 / 2 2612 rpm
Equivalent Dynamical System:
In order to determine the motion of a rigid body, under the action of
external forces, it is usually convenient to replace the rigid body by two
masses placed at a fixed distance apart, in such a way that,
1. The sum of their masses is equal to the total mass of the body
2. The centre of gravity of the two masses coincides with that of the
body and
3. The sum of mass moment of inertia of the masses about their centre
of gravity is equal to the mass moment of inertia of the body
When these three conditions are satisfied, then it is said to be an
equivalent dynamical system.
Consider a rigid body, having its centre of gravity at G, as shown in
Figure:

m = Mass of the body,

kG = Radius of gyration about its centre of gravity G,
m1 and m2 = Two masses which form a dynamical equivalent system,
l1 = Distance of mass m1 from G,
l2 = Distance of mass m2 from G,
L = Total distance between the masses m1 and m2.
Thus, for the two masses to be dynamically equivalent
m1 + m2 = m
(1)
m1l1 = m2l2
(2)
m1l12 + m2l22 = m kG2
(3)
From equations (1) and (2),
m l2
m1
l1 l 2

m2

m l1
l1 l 2

(4)
(5)

Substituting the value of m1 and m2 in equation (3)

m l2
l1 2 m l1 l 2 2 m k G 2
l1 l 2
l1 l 2

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Dynamics of Machinery

Unit I: Force Analysis

l1l 2 l1 l 2
kG 2
l1 l 2
l1l 2 k G

This equation gives the essential condition of placing the two masses,
so that the system becomes dynamical equivalent
Note:
When the radius of gyration kG is not known, then the position of the
second mass may be obtained by considering the body as a compound
pendulum.
Length of the simple pendulum which gives the same frequency as the
rigid body (i.e. compound pendulum) is

kG 2 h 2
k G 2 l12
l1

We know that
l1.l2 = (kG) 2

Given:
l = 300 mm;
m = 15 kg;
I = 7000 kg-mm2;
l1 = 200 mm
Solution:

Mass moment of inertia (I), I m k G 2

h
.. (Replacing h by l1)

6. The connecting rod of a gasoline engine is 300 mm long between its

centers. It has a mass of 15 kg and mass moment of inertia of
7000kgmm2. Its centre of gravity is at 200 mm from its small end centre.
Determine the dynamical equivalent two-mass system of the connecting
rod if one of the masses is located at the small end centre.

l1l 2 l12
l1 l 2
l1

This means that the second mass is situated at the centre of

oscillation or percussion of the body, which is at a distance of.
l2 = (kG) 2/l1

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7000 15 k G 2

k G 2 7000 / 15 466.7
k G 21.6mm
We know that
For a dynamical equivalent system,
l1.l2 = (kG) 2
l2 = (kG) 2/l1 = 466.7/200 = 2.33 mm
m1 = Mass placed at the small end centre, and
m2 = Mass placed at a distance l2 from the centre of gravity G.
m l2
2.33 15
m1
0.17 kg

l1 l 2 200 2.33

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Dynamics of Machinery

Unit I: Force Analysis

(kG) 2 = l1.l2

m l1
15 200
14.83kg

l1 l 2 200 2.33

m2

l2 = (kG) 2/l1 =0.1425/0.625= 0.228m

7. A connecting rod is suspended from a point 25 mm above the centre of

small end, and 650 mm above its centre of gravity, its mass being 37.5kg.
When permitted to oscillate, the time period is found to be 1.87seconds.
Find the dynamical equivalent system constituted of two masses, one of
which is located at the small end centre.
Given:
h = 650 mm = 0.65 m;
l1 = 650 25 = 625 mm = 0.625 m;
m = 37.5 kg;
tp = 1.87 s
Solution:
For a compound pendulum, time period of oscillation (tp),
t p 2

kG 2 h 2
gh

1.87 2

kG 2 h 2
gh

Squaring both sides

0.0885

kG

kG

k G 2 0.4225
6.38

0.0885 6.38 0.4225 =0.1425 m

0.1425 0.377 m

For a dynamically equivalent system

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m1

m l2
0.228 37.5
10kg

l1 l 2
0.625 0.228

m2

m l1
0.625 37.5
27.5kg

l1 l 2
0.625 0.228

8. The following data relate to a connecting rod of a reciprocating

engine:
Mass = 55 kg; Distance between bearing centers = 850 mm; Diameter of
small end bearing = 75 mm; Diameter of big end bearing = 100 mm;
Time of oscillation when the connecting rod is suspended from small
end = 1.83 s; Time of oscillation when the connecting rod is suspended
from big end = 1.68 s. Determine:
1. The radius of gyration of the rod about an axis passing through the
centre of gravity and perpendicular to the plane of oscillation;
2. The moment of inertia of the rod about the same axis; and
3. the dynamically equivalent system for the connecting rod, constituted
of two masses, one of which is situated at the small end centre.
Given:
m = 55 kg
l = 850 mm = 0.85 m
d1 = 75 mm = 0.075 m
d2 = 100 mm = 0.1 m
tp1 = 1.83 s
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Dynamics of Machinery

Unit I: Force Analysis

tp2 = 1.68 s

k G 2 h2 ( L 2 h 2 )

Solution:
First of all, let us find the lengths of the equivalent simple pendulum when
suspended
(a) From the top of small end bearing; and
(b) From the top of big end bearing
We know that for a simple pendulum

Also, from the geometry of the Fig.

t p1 2
2

t p1

L1
g

L
1
g

t p1

L1 g

1.83
9.81

1.68
9.81

h1 0.832 h1 (0.9375 h1 )(0.7 (0.9375 h1 ))

0.832h1 h1 0.223 1.175h1 h1

0.832m

h1 0.233 / 0.343 0.65m

0. 7 m

Equivalent length of simple pendulum L

k G 2 Lh h 2 h( L h)

Now from equation (i),

kG

h1 ( L1 h1 )

(i)

and when the rod is suspended from the top of big end bearing
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k G 2 0.65(0.832 0.65)
kG

0.1183

0.1183 0.343m

When the rod is suspended from the top of small end bearing,

kG

0.343h1 0.233

1. Radius of gyration of the rod about an axis passing through the centre
of gravity and perpendicular to the plane of oscillation:

0.075
0.1
0.85
2
2
h1+h2 =0.9375 m
h2 =0.9375 - h1
From equations (i) and (ii),

Substituting the value of h2 from equation (iii),

Similarly,
t p2

L2 g

d1
d
l 2
2
2

h1 L1 h1 h2 ( L2 h2 )

... (Squaring both sides)

2

h1 h2

(ii)

2. Moment of inertia of the rod

I m k G 2 55 0.343 2 6.51 kg - m 2
3. Dynamically equivalent system for the rod
Since one of the masses (m1) is situated at the centre of small end
bearing, therefore its distance from the centre of gravity, G, is
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Dynamics of Machinery

Unit I: Force Analysis

l1 h1 (0.075 / 2) 0.65 0.0375 0.6125m

m2 = Magnitude of the second mass, and
l2 = Distance of the second mass from the centre of gravity, G, towards big
end bearing

T ' T1 T m( k1 ) 2 m( k G ) 2 m ( k1 ) 2 ( k G ) 2 ------ (iv)

For a dynamically equivalent system

(kG) 2 = l1.l2
l2 = (kG) 2/l1 =0.1183/0.6125= 0.193m

m1

m l2
0.193 55
13.18kg

l1 l 2 0.6125 0.228

Correction Couple to be applied to make Two-Mass System

Dynamically Equivalent:
The torque required to accelerate the body
T I . m(k G ) 2

-------------- (i)

The difference of the torques T' is known as correction couple. This

couple must be applied, when the masses are placed arbitrarily to make
the system dynamical equivalent
(kG) 2 = l1.l2
(k1) 2 = l1.l3
Correction couple
T ' m(l1l 3 l1l 2 ) ml1 (l 3 l 2 )
l3 l 2 l L
T ' ml1 (l L)

Torque required to accelerate the two-mass system placed arbitrarily

T1 I 1 . m( k1 ) 2 ------------------ (ii)

Difference between the torques required accelerating the two-mass system

and the torque required to accelerate the rigid body
Dept.of Mechanical Engg. AAMEC

9. A connecting rod of an I.C. engine has a mass of 2 kg and the

distance between the centre of gudgeon pin and centre of crank pin is
250 mm. The C.G. falls at a point 100 mm from the gudgeon pin along
Page 16

Dynamics of Machinery
the line of centers. The radius of gyration about an axis through the
C.G. perpendicular to the plane of rotation is 110 mm. Find the
equivalent dynamical system if only one of the masses is located at
gudgeon pin.
If the connecting rod is replaced by two masses, one at the gudgeon
pin and the other at the crank pin and the angular acceleration of the
rod is 23 000 rad/s2 clockwise, determine the correction couple applied to
the system to reduce it to a dynamically equivalent system.
Given:
m = 2 kg;
l = 250 mm = 0.25 m;
l1 = 100 mm = 0.1m;
kG = 110 mm = 0.11 m ;
= 23 000 rad/s2
Solution:
Equivalent dynamical system
It is given that one of the masses is located at the gudgeon pin.
Let the other mass be located at a distance l2 from the centre of gravity.
For an equivalent dynamical system
(kG) 2 = l1.l2
l2 = (kG) 2/l1 =0.112/0.1= 0.121m

Unit I: Force Analysis

m1

m l2
2 0.121
1.1kg

l1 l 2
0.1 0.121

m2

m l1
2 0.1
0.9 kg

l1 l 2
0.1 0.121

Correction couple
Since the connecting rod is replaced by two masses located at the two
centers (i.e. one at the gudgeon pin and the other at the crank pin),
Therefore
l1= 0.1 m
l3 = l l1 = 0.25 0.1 =0.15m
k1 - New radius of gyration
(k1)2= l1.l3 =0.1 0.15= 0.015 m2
Correction couple

T ' m (k1 ) 2 (k G ) 2 2(0.015) 2 (0.11) 2 23000 =133.4N-m

m1 = Mass placed at the gudgeon pin,

m2 = Mass placed at a distance l2 from C.G.
Turning moment diagram and Flywheel

Dept.of Mechanical Engg. AAMEC

Page 17

Dynamics of Machinery

Unit I: Force Analysis

Turning moment diagram: The turning moment diagram (also known as

crank- effort diagram) is the graphical representation of the turning
moment or crank-effort for various positions of the crank.
Turning Moment Diagram for a Single Cylinder Double Acting Steam
Engine:

sin 2

2 n sin

Turning moment T FP sin

Turning Moment Diagram for a Four Stroke Cycle Internal

Combustion Engine:
Dept.of Mechanical Engg. AAMEC

Turning Moment Diagram for a Multi-cylinder Engine:

Page 18

Dynamics of Machinery

Unit I: Force Analysis

P 60
n
n= Number of working strokes per minute
n=N, in case of steam engines and two stroke internal combustion engines
n= N /2, in case of four stroke internal combustion engines
Workdone per cycle

Flywheel
A flywheel used in machines serves as a reservoir, which stores
energy during the period when the supply of energy is more than the
requirement, and releases it during the period when the requirement of
energy is more than the supply.
Function of Flywheel
A flywheel controls the speed variations caused by the fluctuation of
the engine turning moment during each cycle of operation.

Max.Fluctuation of Energy E=Maximum energy Minimum energy

Coefficient of Fluctuation of Energy
Ratio of the maximum fluctuation of energy to the work done per cycle
CE

Max.fluctuation of energy
Workdone per cycle

Work done per cycle =Tmean

P 60 P
Tmean

2N

The work done per cycle may also be obtained by using the following
relation:

Dept.of Mechanical Engg. AAMEC

Coefficient of Fluctuation of Speed

The difference between the maximum and minimum speeds during a
cycle is called the maximum fluctuation of speed. The ratio of the
maximum fluctuation of speed to the mean speed is called the coefficient
of fluctuation of speed.
N1 and N2 = Maximum and minimum speeds in r.p.m. during the cycle, and
N Mean speed in rpm

N1 N 2
2

Page 19

Dynamics of Machinery

Unit I: Force Analysis

Coefficient of fluctuation of speed C s

Cs

N1 N 2
N

1 2
(in terms of angular speed)

v1 v 2
(in terms of linear speed)
v

2 N1 N 2 2 1 2 2 v1 v 2

N1 N 2
1 2
v1 v 2

Note:
The reciprocal of the coefficient of fluctuation of speed is known as
coefficient of steadiness and is denoted by m.
1
N
m

C s N1 N 2
Energy Stored in a Flywheel
Mean kinetic energy of the flywheel, E

1
1
I 2 mk 2 2
2
2

Maximum fluctuation of energy E = Maximum K.E. Minimum K.E.

E

1
I 1 2 1 2
2

1 2

I 2

1 2

I 1 2

1 2

I 2

C s

I 2 C s

I mk

mk 2 2 C s
E = 2.E.CS

1 2

2

1
2
E 2 I

The radius of gyration (k) may be taken equal to the mean radius of
the rim (R), because the thickness of rim is very small as compared to the
diameter of rim. Therefore, substituting k = R
E mk 2 2 C s mR 2 2 C s
E mv 2 C s

v R

1
1
I12
I 22
2
2

1
I1 12 22
2

Dept.of Mechanical Engg. AAMEC

Page 20

Dynamics of Machinery

Unit I: Force Analysis

Note:
Since = 2 N/60, therefore equation may be written as

E I

2N 2N 1 2N 2

60 60
60

2
mk 2 N N 1 N 2
900

2
mk 2 N 2 C s
900

4 2
I N N1 N 2
3600

C s

N1 N 2

11. The mass of flywheel of an engine is 6.5 tonnes and the radius of
gyration is 1.8 metres. It is found from the turning moment diagram that
the fluctuation of energy is 56 kN-m. If the mean speed of the engine is
120 r.p.m., find the maximum and minimum speeds.
Given:
Mass m = 6.5 t = 6500 kg;
Radius of gyration k = 1.8 m;
Fluctuation of energy E = 56 kN-m = 56 103 N-m;
Speed N = 120 r.p.m.
Solution:
N1 and N2 = Maximum and minimum speeds respectively
Fluctuation of energy E

56 10 3

2
mk 2 N 2 C s
900

2
mk 2 N ( N 1 N 2 )
900

2
6000 1.8 2 120( N 1 N 2 )
900
56000 27715( N 1 N 2 )
(1)

Mean speed, N

120

N1 N 2
2

N1 N 2
2

N 1 N 2 120 2
N 1 N 2 240

(2)
Solving equations (1) and (2),
N1 = 121 rpm
N2= 119 rpm
Dept.of Mechanical Engg. AAMEC

Page 21

Dynamics of Machinery
12. The flywheel of a steam engine has a radius of gyration of 1 m and
mass 2500 kg. The starting torque of the steam engine is 1500 N-m and
may be assumed constant. Determine:
i.
The angular acceleration of the flywheel, and
ii.
The kinetic energy of the flywheel after 10
seconds from the start.
Given:
k = 1 m;
m = 2500 kg;
T = 1500 N-m
Solution:
1. Angular acceleration of the flywheel
= Angular acceleration of the flywheel
Mass moment of inertia of the flywheel
I = m.k2 = 2500 12 = 2500 kg-m2
Starting torque of the engine T = I.
1500 = I.
1500= 2500
= 1500 / 2500 =0.6 rad /s2
Kinetic energy of the flywheel:
Assuming uniform acceleration
1 = Angular speed at rest = 0
2 = Angular speed after 10 seconds,
t = Time in seconds
We know that
2 = 1 + t = 0 + 0.6 10= 6 rad /s
1
1
2
2
Kinetic energy of the flywheel I 2 2500 6
2
2
45000 N - m

Dept.of Mechanical Engg. AAMEC

Unit I: Force Analysis

13. A horizontal cross compound steam engine develops 300 kWat90

r.p.m. The coefficient of fluctuation of energy as found from the
turning moment diagram is to be 0.1 and the fluctuation of speed is to
be kept within 0.5% of the mean speed. Find the weight of the
flywheel required, if the radius of gyration is 2 metres.
Given :
P = 300 kW = 300 103 W;
N = 90 r.p.m.;
CE = 0.1;
k=2m
Solution:
Mean angular speed = 2 N/60 = 2 90/60 = 9.426 rad/s
1 and 2 - Maximum and minimum speeds respectively.
Since the fluctuation of speed is 0.5% of mean speed

Therefore total fluctuation of speed, 1 2 = 1%

1 2= 0.01

1 2
0.01

2
Coefficient of fluctuation of speed C s 1

2
Cs 1
0.01

Work done per cycle= P 60 / N = 300 103 60 / 90= 200 103 N-m
Page 22

Dynamics of Machinery
Maximum fluctuation of energy E = Work done per cycle CE
= 200 103 0.1 = 20 103 N-m
m = Mass of the flywheel
Maximum fluctuation of energy E =m.k2.2.CS
20 103 = m 22 (9.426)2 0.01
20000= 3.554 m
m =20 103/3.554 = 5630 kg
14. The turning moment diagram for a petrol engine is drawn to the
following scales: Turning moment, 1 mm= 5 N-m; crank angle, 1 mm=
1. The turning moment diagram repeats itself at every half revolution of
the engine and the areas above and below the mean turning moment line
taken in order are 295, 685, 40, 340, 960, 270 mm 2 The rotating parts
are equivalent to a mass of 36 kg at a radius of gyration of 150 mm.
Determine the coefficient of fluctuation of speed when the engine runs
at 1800 r.p.m
Given:
m = 36 kg;
k = 150 mm = 0.15 m;
N = 1800 r.p.m.
Solution
= 2 1800/60 = 188.52 rad /s

Dept.of Mechanical Engg. AAMEC

Unit I: Force Analysis

Since the
Turning moment scale is 1 mm = 5 N-m
Crank angle scale is 1 mm = 1 = /180 rad
Therefore,

N /m
1 mm2 on turning moment diagram 5
180 36
The total energy at A = E (referring to Fig.)
Energy at B
= E + 295
= E + 295 ... (Maximum energy)
Energy at C
= E + 295 685 = E 390
Energy at D
= E 390 + 40 = E 350
Energy at E
= E 350 340 = E 690 ... (Minimum energy)
Energy at F
= E 690 + 960 = E + 270
Energy at G
= E + 270 270 = E = Energy at A
Maximum fluctuation of energy
E = Maximum energy Minimum energy
= (E + 295) (E 690)
= 985 mm2
(1 mm2 = /36 N-m)
= 86 N-m
E 985
36
E = 86 J
CS = Coefficient of fluctuation of speed
Maximum fluctuation of energy
E =m.k2.2.CS
86 = 36 (0.15)2 (188.52)2 CS
= 28 787 CS
CS = 86 / 28 787 = 0.003
CS = 0.3%

Page 23

Dynamics of Machinery

15. The turning moment diagram for a multi cylinder engine has been
drawn to a scale 1 mm= 600 N-m vertically and 1 mm= 3 horizontally.
The intercepted areas between the output torque curve and the mean
resistance line, taken in order from one end, are as follows:
+ 52, 124, + 92, 140, + 85, 72 and + 107 mm2
When engine is running at a speed of 600 r.p.m. If the total fluctuation
of speed is not to exceed 1.5% of the mean, find the necessary mass of
the flywheel of radius 0.5 m.
Given:
N = 600 r.p.m.
R = 0.5 m
Fluctuation of speed = 1.5%
Solution:
= 2 600 / 60 = 62.84 rad / s
Since the total fluctuation of speed is not to exceed 1.5% of the mean
speed, Therefore
1 2 = 3% = 0.03

Cs

1 2
0.03

Dept.of Mechanical Engg. AAMEC

Unit I: Force Analysis

The turning moment diagram is shown in Fig

Since the
Turning moment scale is 1 mm = 600N-m
Crank angle scale is 1 mm = 3 = 3. ( /180) rad
= /60
Therefore,

31.42 N - m
1 mm2 on turning moment diagram 600
60
Total energy at A = E, (referring to Fig)
Energy at B
= E + 52
...(Max energy)
Energy at C
= E + 52 124 = E 72
Energy at D
= E 72 + 92 = E + 20
Energy at E
= E + 20 140 = E 120
...(Min energy)
Energy at F
= E 120 + 85 = E 35
Energy at G
= E 35 72 = E 107
Energy at H
= E 107 + 107 = E
= Energy at A
Maximum fluctuation of energy
E = Maximum energy Minimum energy
= (E + 52) (E 120) = 172mm2
= 172 31.42
= 5404 N-m
m = Mass of the flywheel in kg.
Maximum fluctuation of energy
E =m.k2.2.CS
5404 = m (0.5)2 (62.84)2 0.03
m = 5404 / 29.6 = 183 kg

Page 24

Dynamics of Machinery

Unit I: Force Analysis

16. A shaft fitted with a flywheel rotates at 250 r.p.m. and drives a
machine. The torque of machine varies in a cyclic manner over a period
of 3 revolutions. The torque rises from 750 N-m to 3000 N-m uniformly
during 1/2 revolution and remains constant for the following revolution.
It then falls uniformly to 750 N-m during the next 1/2 revolution and
remains constant for one revolution, the cycle being repeated thereafter.
Determine the power required driving the machine and percentage
fluctuation in speed, if the driving torque applied to the shaft is constant
and the mass of the flywheel is 500 kg with radius of gyration of 600 mm
Given:
N = 250 r.p.m.
m = 500 kg ;
k = 600 mm = 0.6 m
Solution:
= 2 250/60 = 26.2 rad/s
The turning moment diagram for the complete cycle is shown in Fig
Torque required for one complete cycle= Area of figure OABCDEF
= Area OAEF + Area ABG + Area BCHG + Area CDH
1

AG BG GH CH HD CH
2

OF OA

Dept.of Mechanical Engg. AAMEC

1
1
(3000 750) 2 (3000 750) (3000 750)
2
2
=11250 N-m -------- (i)
6 750

Tmean is the mean torque in N-m, then

Torque required for one complete cycle = Tmean 6 -m -------- (ii)
From equations (i) and (ii),
11 250 = Tmean 6 -m
Tmean = 11 250 / 6 = 1875 N-m
Power required driving the machine
P = Tmean = 1875 26.2= 49 125 W
Coefficient of fluctuation of speed
First of all, let us find the values of LM and NP.
From similar triangles ABG and BLM

Page 25

Dynamics of Machinery

Unit I: Force Analysis

LM
BM

AG
BG
LM 3000 1875

3000 750
LM = 0.5
From similar triangles CHD and CNP,
NP CN

HD CH
NP 3000 1875

3000 750
NP = 0.5
From Fig, BM = CN = 3000 1875 = 1125 N-m
Since the area above the mean torque line represents the maximum
fluctuation of energy
Therefore, maximum fluctuation of energy
E = Area LBCP = Area LBM + Area MBCN + Area PNC
1

LM BM MN BM NP CN
2
2

0.5 1125 2 1125 0.5 1125

2

8837 N - m
Maximum fluctuation of energy E =m.k2.2.CS
8837 = 500 0.62 26.22 CS
8837= 123 559 CS
Cs

8837
= 0.071
123559

17. During forward stroke of the piston of the double acting steam
engine, the turning moment has the maximum value of 2000 N-m when
the crank makes an angle of 80 with the inner dead centre. During the
backward stroke, the maximum turning moment is 1500 N-m. When the
crank makes an angle of 80with the outer dead centre. The turning
moment diagram for the engine may be assumed for simplicity to be
represented by two triangles.
If the crank makes 100 r.p.m. and the radius of gyration of the
flywheel is 1.75 m, find the coefficient of fluctuation of energy and the
mass of the flywheel to keep the speed within 0.75% of the mean speed.
Also determine the crank angle at which the speed has its minimum and
maximum values.
Given:
Max.Turing moment during forward stroke T1=2000 N-m
Crank angle for corresponding to T1,
1= 800 w.r.t IDC
Max.Turing moment during backward stroke T2=1500 N-m
Crank angle for corresponding to T2,
2= 800 w.r.t ODC
Total angle for one complete cycle
= 360 0 (one revolution)
N = 100 r.p.m. rad /s
k = 1.75 m
Solution:
Since the fluctuation of speed is 0.75% of mean speed, therefore total
fluctuation of speed,
1 2 = 1.5%

Cs

1 2
0.015

T = 2000N-m
1

= 80 w.r.t I.D.C
Dept.of Mechanical Engg. AAMEC

Page 26

Dynamics of Machinery

Unit I: Force Analysis

From equations (i) and (ii),
Tmean = 1750 / 2 = 875 N-m

T =1500 N-m

From similar triangles ACD and AOG

CD OG

AE
AB
OG
OG
CD
AE

( AB EB)
AB
AB
=1.764 rad

( 2000 875)
2000

Maximum fluctuation of energy E = Area of triangle ACD

1
1
CD ( AB EB) 1.764 ( 2000 875) = 992 N-m
2
2
Coefficient of fluctuation of energy C E
CE
2

= 80 w.r.t O.D.C =180+80 =260 w.r.t. IDC

1 80

13

rad / s; 2 260

rad / s
180
9
180
9

Work done per cycle = Area of triangle OAG + Area of triangle GLS
1
1

OG AB GS LM
2
2

1
1

2000 1500
2
2

=1750 N-m
------------ (i)
Work done per cycle = Tmean 2 N-m -------- (ii)

Dept.of Mechanical Engg. AAMEC

Max.fluctuation of energy
Workdone per cycle

992
0.18 18%
1750

Mass of the flywheel:

Maximum fluctuation of energy E =m.k2.2.CS
992 = m (1.75)2 (10.47)2 0.015
992 = 5.03 m
m = 992 / 5.03 = 197.2 kg
Crank angles for the minimum and maximum speeds:
The speed of the flywheel is minimum at point C and maximum at
point D
C and D = Crank angles from I.D.C., for the minimum and maximum
speeds
From similar triangles ACE and AOB,
CE
AE

OB AB
Page 27

Dynamics of Machinery

Unit I: Force Analysis

AE
AB EB
2000 875 4

OB
OB

rad
AB
AB
2000
9
4
4
7
7 180
C

rad

35 0
9
4
36
36

Again from similar triangles AED and ABG,

ED AE

BG
AB
AE
AB EB
ED
BG
(OG OB )
AB
AB
CE

2000 875
4

2000
9

2.8
ED
rad
9

4
2.8
6.8

rad
9
9
9

m = 12 kg;
k = 80 mm = 0.08 m

Solution:
Power developed = work done/cycle = Area of three triangles
1
3 90 424 N - m
2
Workdone/c ycle
424
Tmean

67.5 N - m
Crank angle/cycle
2
= 2 600/60 = 62.84 rad /s;
Power developed = Tmean = 67.5 62.84 = 4240 W = 4.24 kW

6.8 180 = 1360

18. A three cylinder single acting engine has its cranks set equally at
120 and it runs at 600 r.p.m. The torque-crank angle diagram for each
cycle is a triangle for the power stroke with a maximum torque of 90 Nm
at 60from dead centre of corresponding crank. The torque on the
return stroke is sensibly zero. Determine
i.
Power developed.
ii.
Coefficient of fluctuation of speed, if the mass of the flywheel is
12kg and has a radius of gyration of 80 mm,
iii.
Coefficient of fluctuation of energy, and
iv.
Maximum angular acceleration of the flywheel.
Given:
N = 600 r.p.m.
Tmax = 90 N-m;
Dept.of Mechanical Engg. AAMEC

Coefficient of fluctuation of speed

Maximum fluctuation of energy (E)a1=Area of triangle AaB
1
AB Aa
2
.. (AB = 300 =/6 rad)
Page 28

Dynamics of Machinery

Unit I: Force Analysis

a2=Area of triangle BbC

1
67.5 45 = 5.89 N-m =a7
2 6

1
BC bb '
2
..(BC = 600 =/3 rad )
1
90 67.5 11.78 N - m
2 3
a 3 a 4 a5 a6

Now, let the total energy at A = E, then referring to Fig

Energy at B = E 5.89
Energy at C = E 5.89 + 11.78 = E + 5.89
Energy at D = E + 5.89 11.78 = E 5.89
Energy at E = E 5.89 + 11.78 = E + 5.89
Energy at G = E + 5.89 11.78 = E 5.89
Energy at H = E 5.89 + 11.78 = E + 5.89
Energy at J = E + 5.89 5.89 = E = Energy at A
Maximum energy= E + 5.89
Minimum energy= E 5.89
Maximum fluctuation of energy
E = (E + 5.89) (E 5.89) = 11.78 N-m
Maximum fluctuation of energy E =m.k2.2.CS
11.78 = 12 (0.08)2 (62.84)2 CS
11.78= 303.3 CS
CS = 11.78 / 303.3 = 0.04 or 4%
Coefficient of fluctuation of energy C E

Max.fluctuation of energy
Workdone per cycle

11.78
=0.0278 = 2.78%
424
Maximum angular acceleration of the flywheel:
= Maximum angular acceleration of the flywheel.
CE

Dept.of Mechanical Engg. AAMEC

Tmax Tmean I
I = m.k2
Tmax Tmean mk 2
90 67.5 12 (0.08) 2

22.5 0.077
22.5 / 0.077 292 rad / s 2

19. A single cylinder, single acting, four stroke gas engine develops 20
kW at 300 r.p.m. The work done by the gases during the expansion
stroke is three times the work done on the gases during the
compression stroke, the work done during the suction and exhaust
strokes being negligible. If the total fluctuation of speed is not to
exceed 2 per cent of the mean speed and the turning moment
diagram during compression and expansion is assumed to be
triangular in shape, find the moment of inertia of the flywheel.
Given :
P = 20 kW = 20 103 W;
N = 300 r.p.m.
Solution:
Since the total fluctuation of speed ( 1 2) is not to exceed 2 per cent
of the mean speed (), therefore
1 2 = 4%
Coefficient of fluctuation of speed, C s

1 2
0.04

The turning moment-crank angle diagram for a four stroke engine is

shown in Fig.
It is assumed to be triangular during compression and expansion strokes,
neglecting the suction and exhaust strokes.
Page 29

Dynamics of Machinery
It is assumed to be triangular during compression and expansion strokes,
neglecting the suction and exhaust strokes.

Unit I: Force Analysis

12000 = AG
AG = Tmax = 12 000 2/ = 7638 N-m
Excess turning moment
Texcess = AF = AG FG = 7638 637= 7001 N-m
Now, from similar triangles ADE and ABC,
DE
AF

BC
AG
DE

AF
7001
BC
2.88 rad
AG
7638

Since the area above the mean turning moment line represents the
maximum fluctuation of energy, therefore maximum fluctuation of energy,
1
DE AF
E=Area
of
ADE
2
n = N/2 = 300 / 2 = 150
Work done/cycle =P 60 / n = 20 103 60 / 150 = 8000 N-m . (i)
Tmean

Workdone/c ycle
8000

637 N m
Crank angle/cycle
4

Since the work done during suction and exhaust strokes is negligible,
Therefore,
W
2
Net work done per cycle = W E WC W E E W E
3
3
(W E 3WC )
Equating equations (i) and (ii),
Work done during expansion stroke,
WE = 8000 3 / 2 = 12 000 N-m
Work done during expansion stroke (WE),
WE = Area of triangle ABC
12000 = BC AG
Dept.of Mechanical Engg. AAMEC

1
2.88 7001 10081 N - m
2
I = Moment of inertia of the flywheel in kg-m2
Maximum fluctuation of energy ( E)= I.2.CS
10 081 = I (31.42)2 0.04
10081= 39.5 I
I = 10081/ 39.5 =255.2 kg-m2
20. The turning moment diagram for a four stroke gas engine may be
assumed for simplicity to be represented by four triangles, the areas of
which from the line of zero pressure are as follows :
Suction stroke
= 0.45 103m2
Compression stroke = 1.7 103m2
Expansion stroke = 6.8 103m2
Exhaust stroke
= 0.65 103m2
Each m2of area represents 3 MN-m of energy.

Page 30

Dynamics of Machinery

Unit I: Force Analysis

Assuming the resisting torque to be uniform, find the mass of the rim
of a flywheel required to keep the speed between 202 and 198 r.p.m.
The mean radius of the rim is 1.2m.

Given :
Suction stroke a1
= 0.45 103 m2 ;
Compression stroke a2 = 1.7 103 m2 ;
Expansion stroke a3 = 6.8 103 m2;
Exhaust stroke a4
= 0.65 103 m2;
1 m2of area =3 MN-m
N1 = 202 r.p.m;
N2 = 198 r.p.m.;
R = 1.2 m
Solution:
The turning moment crank angle diagram for a four stroke engine is shown
in Figure
The areas below the zero line of pressure are taken as negative while the
areas above the zero line of pressure are taken as positive

Dept.of Mechanical Engg. AAMEC

Net area = a3 (a1+a2+a4)

6.8 10 3 0.45 10 3 1.7 10 3 0.65 10 3

= 410-3m2
Energy scale is 1 m2 = 3 MN-m= 3 106 N-m
Net work done per cycle = 4 103 3 106 = 12 103 N-m. . . (i)
Work done per cycle= Tmean 4 . . . (ii)
From equations (i) and (ii),
Tmean x 4 = 12 103
Tmean = 12 103/ 4 = 955 N-m
Work done during expansion stroke= a3 Energy scale
= 6.8 103 3 106
= 20.4 103 N-m ...(iii)
Work done during expansion stroke = Area of triangle ABC
= BC AG
= AG = 1.571 AG . . .
(iv)
From equations (iii) and (iv),
AG = 20.4 103/1.571 = 12 985 N-m

Page 31

Dynamics of Machinery
Excess torque,
Texcess = AF = AG FG = 12 985 955 = 12 030 N-m
Similar triangles ADE and ABC,
DE
AF

BC
AG
DE

AF
12030
BC
2.9 rad
AG
12985

Maximum fluctuation of energy

1
1
E =Area of ADE DE AF 2.9 12030 = 17 444 N2
2
m
Mass of the rim of a flywheel

Unit I: Force Analysis

Moment of inertia of flywheel in kg-m2, if the
total fluctuation of speed is not exceed 1% of mean speed which is
180 r.p.m; and
iii.
Angular acceleration of the flywheel when the
crank has turned through 45 from inner dead centre.
Given:
T= (20 000 + 9500 sin 2 5700 cos 2) N-m ;
N= 180 r.p.m. or
Solution:
= 2 180/60 = 18.85 rad/s
Since the total fluctuation of speed ( 1 2) is 1% of mean speed (),
therefore coefficient of fluctuation of speed,
ii.

1 2
1% 0.01

N N 2 202 198
=200 rpm

N 1
2
2

Cs

Maximum fluctuation of energy (E ),

E =m.k2.2.CS

1. Power developed by the engine

17444
17444

mR 2 N N 1 N 2
900

Work done per revolution

2
2
m 1.2 200 202 198
900

m 17444 / 12.36 1381 kg

21. The turning moment curve for an engine is represented by the

equation,
T = (20 000 + 9500 sin 2 5700 cos 2) N-m, where is the angle
moved by the crank from inner dead centre. If the resisting torque is
constant, find:
i.
Power developed by the engine;

Dept.of Mechanical Engg. AAMEC

T d
0

20000 9500sin2 - 5700cos2 d

0

9500cos2 5700sin2

20000

2
2

2
0

= 20 000 2 = 40 000 N-m

Mean resisting torque of the engine
Tmean

Work done per revolution

40000

20000 N - m
2
2

Power developed by the engine =Tmean = 20 000 18.85= 377 000 W

2. Moment of inertia of the flywheel
I = Moment of inertia of the flywheel in kg-m 2
Page 32

Dynamics of Machinery

Unit I: Force Analysis

The turning moment diagram for one stroke(i.e. Half revolution of the
crankshaft) is shown in Fig
Since at points Band D, the torque exerted on the crankshaft is equal to the
mean resisting torque on the flywheel
Therefore, T = Tmean
20 000 + 9500 sin 2 5700 cos 2 = 20 000
9500 sin 2 = 5700 cos 2
tan 2= sin 2/cos 2 = 5700/9500 = 0.6
2= 31 or
= 15.5
B= 15.5 and
D= 90 + 15.5 = 105.5

105.5

20000 9500sin2 - 5700cos2 - 20000 d

15.5

9500cos2 5700sin2

2
2

105.5

11078 N - m
15.5

Maximum fluctuation of energy

E =m.k2.2.CS
11078 = I (18.85)2 0.01
11078 = 3.55 I
I = 11078/3.55 = 3121 kg-m2
Angular acceleration of the flywheel
Let = Angular acceleration of the flywheel,
and
= Angle turned by the crank from inner
dead centre = 45 . . . (Given)
The angular acceleration in the flywheel is
produced by the excess torque over the mean torque
Excess torque at any instant Texcess T Tmean

20000 9500sin2 - 5700cos2 - 20000

9500sin2 - 5700cos2

Maximum fluctuation of energy, E

T - T

mean

Dept.of Mechanical Engg. AAMEC

Excess torque at 45
= 9500 sin 90 5700 cos 90 = 9500 N-m
Excess torque=I. = 3121 . . . (ii)
From equations (i)and (ii)
= 9500/3121 = 3.044 rad /s2
22. A certain machine requires a torque of (5000 + 500 sin ) N-m to
drive it, where is the angle of rotation of shaft measured from
certain datum. The machine is directly coupled to an engine which
produces a torque of (5000 + 600 sin 2)N-m. The flywheel and the
Page 33

Dynamics of Machinery
other rotating parts attached to the engine has a mass of 500 kg at a
radius of gyration of 0.4 m. If the mean speed is 150 r.p.m., find:
i.
The fluctuation of energy,
ii.
The total percentage fluctuation of speed, and
iii.
The maximum and minimum angular
acceleration of the flywheel and the corresponding shaft
position.
Given :
T1= ( 5000 + 500 sin ) N-m ;
T2= (5000 + 600 sin 2) N-m ;
m= 500 kg;
k= 0.4 m ;
N= 150 r.p.m. or
Solution:
= 2 150/60 = 15.71 rad/s
1. Fluctuation of energy
Change in torque = T2-T1
(5000 600sin2 ) - (5000 500sin )
600sin2 500sin )

Unit I: Force Analysis

1.2 sin 2= sin
(sin 2= 2 sin cos )
1.2 2 sin cos =sin
2.4 sin cos = sin
Either sin = 0 or cos = 1/2.4 = 0.4167
when sin =0, = 0, 180 and 360
i.e. A=0,
C= 180
when cos = 0.4167,
= 65.4 and 294.6
B= 65.4 and D= 294.6
The maximum fluctuation of energy lies between C and D (i.e. between
180 and 294.6), as shown shaded in Fig.
294.6

Maximum fluctuation of energy E

- T1 d

180
294.6

5000 600sin2 ) - (5000 500sin d

180

600 cos 2

500 cos
2

294.6
180

=1204 N-m
Total percentage fluctuation of speed E =m.k2.2.CS

1204 500 0.4 15.71 C s

2

C s 1204 / 19744 0.061 6.1%

This change is zero when

600 sin 2= 500 sin
Dept.of Mechanical Engg. AAMEC

Maximum and minimum angular acceleration of the flywheel and the

corresponding shaft positions
The change in torque must be maximum or minimum when acceleration is
maximum or minimum.
Change in torque T =T2-T1
= (5000+600sin2)-(5000+500sin ) =600sin2-500sin -----(i)
Page 34

Dynamics of Machinery

Unit I: Force Analysis

Differentiating this expression with respect to and equating to zero for

maximum or minimum values.
d
600 sin 2 500 sin 0

d
1200 cos 2 500 cos 0
12 cos 2 5 cos 0
..............(cos2=2cos2-1)
24 cos 2 5 cos 12 0

5 34.3
5 25 4 12 24

=0.8187 (or) -0.6104

48
2 24
= 35 or 127.6
Substituting = 35 in equation (i), we have maximum torque
Tmax = 600 sin 70 500 sin 35
Tmax = 277 N-m
Substituting =127.6 in equation (i) we have minimum torque
Tmin = 600 sin 255.2 500 sin 127.6 = 976 N-m
cos

Maximum acceleration max

T
Tmax
max2
I
mk

Work done per revolution

. . ( I = m.k )

500 0.4

3.46 rad/s

Minimum acceleration (or maximum retardation), min

1500cos3

5000

T
Tmin
min2
I
mk
. . ( I

= m.k2)

Dept.of Mechanical Engg. AAMEC

(5000 1500sin3 )d
0

277

12.2 rad/s 2

23.
The equation of the turning moment curve of a three crank
engine is (5000 + 1500 sin 3 ) N-m, where is the crank angle in
radians. The moment of inertia of the flywheel is 1000 kg-m 2 and the
mean speed is 300 r.p.m. Calculate:
i. Power of the engine, and
ii. The maximum fluctuation of the speed of the flywheel in
percentage when
(a) the resisting torque is constant, and
(b)the resisting torque is (5000 + 600 sin ) N-m
Given :
T = (5000 + 1500 sin 3 ) N-m ;
I = 1000 kg-m2 ;
N = 300 r.p.m. or
= 2 300/60 = 31.42 rad /s
Solution
1. Power of the engine

976

500 0.4

= 10 000 N-m
0

Workdone / rev 10000

=5000 N-m
2
2
Power of the engine P = Tmean . = 5000 31.42= 157 100 W= 157.1 kW
Maximum fluctuation of the speed of the flywheel
(i) When resisting torque is constant
The turning moment diagram is shown in Fig

Mean resisting torque Tmean

Page 35

Dynamics of Machinery

Unit I: Force Analysis

Since the resisting torque is constant, therefore the torque exerted on the
shaft is equal to the mean resisting torque on the flywheel

(ii) When resisting torque is (5000 + 600 sin ) N-m

The turning moment diagram is shown in Fig.,
Since at points B and C, the torque exerted on the shaft is equal to the
mean resisting torque on the flywheel

T = Tmean
5000 + 1500 sin 3 = 5000
1500 sin 3 = 0 or sin 3 = 0
3 = 0 or 180
= 0 or 60

Therefore
5000 + 1500 sin 3 = 5000 + 600 sin
2.5 sin 3 = sin
2.5 (3 sin 4 sin3 ) =sin
...( sin 3 = 3 sin 4 sin3)
3 4 sin2 = 0.4
...(Dividing by 2.5 sin )
3 0.4
sin 2
=0.65
4
Sin=0.8062
= 53.7 or 126.3
B = 53.7, and C = 126.3
Maximum fluctuation of energy,

60

Maximum fluctuation of energy, E

T - T

mean

60

5000 1500sin3 - 5000 d

0

1500cos3

60

1500sin3d
0

60
0

E=1000N-m
Maximum fluctuation of energy E =m.k2.2.CS
1000 = 1000 (31.42)2 CS
1000 = 987 216 CS
CS = 1000 / 987 216 = 0.001 or 0.1%
Dept.of Mechanical Engg. AAMEC

126.3

5000 1500sin3 - 5000 600sin d

53.7

Page 36

Dynamics of Machinery

Unit I: Force Analysis

126.3

1500sin3 600sin d

53.7

1500 cos 3

600 cos
3

126.3
53.7

= 1656 N-m
Maximum fluctuation of energy, E =m.k2.2.CS
1656 = 1000 (31.42)2 CS
1656= 987 216 CS
CS = 1656 / 987 216 = 0.00 168 or 0.168%
24. The turning moment diagram for a multi-cylinder engine has been
drawn to a scale of 1 mm to 500 N-m torque and 1 mm to 6 of crank
displacement. The intercepted areas between output torque curve and
mean resistance line taken in order from one end, in sq. mm are
30, + 410, 280, + 320, 330, + 250, 360, + 280, 260 sq.
mm, when the engine is running at 800 r.p.m.
The engine has a stroke of 300 mm and the fluctuation of
speed is not to exceed 2% of the mean speed. Determine a suitable
diameter and cross-section of the flywheel rim for a limiting value of
the safe centrifugal stress of 7 MPa. The material density may be
assumed as 7200 kg/m3. The width of the rim is to be 5 times the
thickness.
Given:
N = 800 r.p.m. rad/s;
Stroke = 300 mm ;
= 7 MPa = 7 106 N/m2 ;
= 7200 kg/m3
Solution.
= 2 800 / 60 = 83.8
Since the fluctuation of speed is 2% of mean speed, therefore total
fluctuation of speed
Dept.of Mechanical Engg. AAMEC

1 2 = 4% = 0.04
Coefficient of fluctuation of speed,

Cs

1 2
4% 0.04

Diameter of the flywheel rim

D = Diameter of the flywheel rim in meters,
v = Peripheral velocity of the flywheel rim in m/s.
Centrifugal stress = .v2
7 106 = 7200 v2
v2 = 7 106/7200
v2 = 972.2
v = 31.2 m/s
v = D.N/60
D = v 60 / N = 31.2 60/ 800 = 0.745 m
Cross-section of the flywheel rim
t = Thickness of the flywheel rim in m
b = Width of the flywheel rim in metres
=5t
Cross-sectional area of flywheel rim,
A = b.t = 5 t t = 5 t2
First of all, let us find the mass (m) of the flywheel rim. The turning
moment diagram is shown in Fig .

Page 37

Dynamics of Machinery

Turning moment scale is

1 mm = 500 N-m and
crank angle scale is
1 mm = 6= /30 rad
1 mm2 on the turning moment diagram
= 500 / 30 = 52.37 N-m
Energy at A = E, then referring to Fig
Energy at B = E 30 . . . (Minimum energy)
Energy at C = E 30 + 410 = E + 380
Energy at D = E + 380 280 = E + 100
Energy at E = E + 100 + 320 = E + 420 . . . (Maximum energy)
Energy at F = E + 420 330 = E + 90
Energy at G = E + 90 + 250 = E + 340
Energy at H = E + 340 360 = E 20
Energy at K = E 20 + 280 = E + 260
Energy at L = E + 260 260 = E = Energy at A
Maximum fluctuation of energy
E = Maximum energy Minimum energy
= (E + 420) (E 30) = 450 mm2
= 450 52.37= 23 566 N-m
Maximum fluctuation of energy (E)
E= m.v2.CS
23 566= m (31.2)2 0.04
23 566 = 39 m
m = 23566 / 39
m = 604 kg
mass of the flywheel rim (m),
mass = Volume density
Dept.of Mechanical Engg. AAMEC

Unit I: Force Analysis

= D.A.
604= 0.745 5t2 7200
t2 = 604 / 84 268
t = 0.085 m
t= 85 mm
b = 5t = 5 85= 425 mm
25. A single cylinder double acting steam engine develops 150 kW at a
mean speed of 80 r.p.m. The coefficient of fluctuation of energy is 0.1
and the fluctuation of speed is 2% of mean speed. If the mean
diameter of the flywheel rim is 2 metre and the hub and spokes
provide 5% of the rotational inertia of the flywheel, find the mass and
cross-sectional area of the flywheel rim. Assume the density of the
flywheel material (which is cast iron)as 7200 kg/m 3.
Given :
P = 150 kW = 150 103 W;
N = 80 r.p.m.
CE = 0.1;
D = 2 m or
R=1m;
= 7200 kg/m3
Solution:
= 2 80 /60 = 8.4 rad/s
Since the fluctuation of speed is 2% of mean speed, therefore total
fluctuation of speed,
1 2 = 4%
1 2 = 0.04
Coefficient of fluctuation of speed C s

1 2
4% 0.04

Mass of the flywheel rim

Work done per cycle = P 60/N = 150 103 60 / 80= 112.5 103 N-m
Page 38

Dynamics of Machinery
Maximum fluctuation of energy
E = Work done /cycle CE = 112.5 103 0.1 = 11 250 N-m
Maximum fluctuation of energy
E = I 2CS
11 250 = I (8.4)2 0.04
= 2.8224 I
I = 11 250 / 2.8224
I= 3986 kg-m2
Since the hub and spokes provide 5% of the rotational inertia of the
flywheel,
therefore, mass moment of inertia of the flywheel rim (Irim) will be 95% of
the flywheel
Irim = 0.95 I = 0.95 3986 = 3787 kg-m2
Irim = m.k2

I rim
k

3787
=3787 kg
12

Cross-sectional area of the flywheel rim

mass = Volume density
m=2RA
3787 = 2 1 A 7200
3787= 45 245 A
A = 3787/45 245 = 0.084 m2
26. A multi-cylinder engine is to run at a speed of 600 r.p.m. On drawing
the turning moment diagram to a scale of 1 mm = 250 N-m and 1 mm =
3, the areas above and below the mean torque line in mm2 are : + 160,
172, + 168, 191, + 197, 162.
The speed is to be kept within 1% of the mean speed of the engine.
Calculate the necessary moment of inertia of the flywheel. Determine
the suitable dimensions of a rectangular flywheel rim if the breadth is
twice its thickness. The density of the cast iron is 7250 kg/m 3 and its
Dept.of Mechanical Engg. AAMEC

Unit I: Force Analysis

hoop stress is 6 MPa. Assume that the rim contributes 92% of the
flywheel effect
Given :
N = 600 r.p.m. rad /s;
= 7250 kg/m3;
= 6 MPa = 6 106 N/m2
Solution:
= 2 600/60 = 62.84 rad/s
Fluctuation of speed is 1% of mean speed. Therefore, total fluctuation of
speed
1 2 = 2% = 0.02
Coefficient of fluctuation of speed

Cs

1 2
2% 0.02

Moment of inertia of the flywheel

The turning moment diagram is shown in Fig.
The turning moment scale is 1mm = 250N-m and
crank angle scale is
1 mm = 3 = /60 rad
Therefore,
1 mm2 of turning moment diagram= 250 /60 = 13.1 N-m
Total energy at A = E.
Page 39

Dynamics of Machinery
Energy at B = E + 160
Energy at C = E + 160 172 = E 12
Energy at D = E 12 + 168 = E + 156
Energy at E = E + 156 191 = E 35 . . . (Minimum energy)
Energy at F = E 35 + 197 = E + 162 . . . (Maximum energy)
Energy at G = E + 162 162 = E = Energy at A
Maximum fluctuation of energy,
E = Maximum energy Minimum energy
= (E + 162) (E 35) = 197 mm2
= 197 13.1 = 2581 N-m
Maximum fluctuation of energy
E = I 2CS
2581 = I (62.84)2 0.02
2581=79 I
I = 2581/79
I= 32.7 kg-m2
Dimensions of the flywheel rim
t = Thickness of the flywheel rim in m
b = Breadth of the flywheel rim in m
=2t.
D = Mean diameter of the flywheel in m
v = Peripheral velocity of the flywheel in m/s.
Hoop stress = .v2
6 106 = 7250 v2
v2 = 6 106/7250 = 827.6
v = 28.8 m/s
v = DN/60
D = v 60 / N = 28.8 60/ 600 = 0.92 m
The rim contributes 92% of the flywheel effect, therefore maximum
fluctuation of energy of rim,
Erim = 0.92 E = 0.92 2581= 2375 N-m
Dept.of Mechanical Engg. AAMEC

Unit I: Force Analysis

Maximum fluctuation of energy of rim
Erim = m.v2.CS
2375 = m (28.8)2 0.02
2375= 16.6 m
m = 2375/16.6 = 143 kg
m = Volume density
= D.A. = D.b.t.
(b = 2 t)
143 = 0.92 2 t t 7250
143= 41 914 t2
t2 = 143 / 41 914 = 0.0034 m2
t = 0.0584 m = 58.4 mm
b = 2 t = 116.8 mm
27. The turning moment diagram of a four stroke engine may be
assumed for the sake of simplicity to be represented by four triangles in
each stroke. The areas of these triangles are as follows:
Suction stroke =5105m2;
Compression stroke=21105m
Expansion stroke =85 105m2;
Exhaust stroke = 8 105m2.
All the areas excepting expression stroke are negative. Each
m2 of area represents 14 MN-m of work.
Assuming the resisting torque to be constant, determine the moment
of inertia of the flywheel to keep the speed between 98 r.p.m. and 102
r.p.m. Also find the size of a rim-type flywheel based on the minimum
material criterion, given that density of flywheel material is 8150 kg/m3;
the allowable tensile stress of the flywheel material is 7.5MPa. The rim
cross-section is rectangular; one side being four times the length of the
other.
Given:
a1 = 5 105 m2;
a2 = 21 105 m2;
a3 = 85 105 m2;
a4 = 8 105 m2;
Page 40

Dynamics of Machinery
N2 = 98 r.p.m.;
N1 = 102 r.p.m.;
= 8150 kg/m3;
= 7.5 MPa = 7.5 106 N/m2
Solution:
The turning moment-crank angle diagram for a four stroke engine is
shown in Fig.
The areas below the zero line of pressure are taken as negative while the
areas above the zero line of pressure are taken as positive
Net area = a3 (a1 + a2 + a4)
= 85 105 (5 105 + 21 105 + 8 105)
= 51 105 m2
1m2 = 14 MN-m= 14 106 N-m of work
Therefore
Net work done per cycle= 51 105 14 106 = 7140 N-m...(i)
Work done per cycle= Tmean 4 ...(ii)
From equation (i) and (ii),
Tmean = FG = 7140 / 4 = 568 N-m

Dept.of Mechanical Engg. AAMEC

Unit I: Force Analysis

Work done during expansion stroke = a3 Work scale

= 85 105 14 106 = 11 900 N-m...
(iii)
Work done during expansion stroke = BC AG
= AG = 1.571 AG ...
(iv)
From equations (iii) and (iv),
AG = 11 900/1.571 = 7575 N-m
Excess torque = AF = AG FG = 7575 568= 7007 N-m
From similar triangles ADE and ABC,
DE
AF

BC
AG
AF
7007
DE
BC

AG
7575
DE =2.9 rad
Maximum fluctuation of energy,
E = Area of ADE = DE AF = 2.9 7007 = 10 160 N-m
Moment of Inertia of the flywheel
N N 2 102 98

Mean speed during the cycle N 1

=100 rpm
2
2
Corresponding angular mean speed
= 2N / 60 = 2 100/60 = 10.47 rad/s
Coefficient of fluctuation of speed
Page 41

Dynamics of Machinery

Cs

Unit I: Force Analysis

N 1 N 2 102 98
= 0.04

2
2

Maximum fluctuation of energy (E)

E = I.2.CS
10 160 = I (10.47)2 0.04
10160 = 4.385 I
I = 10160 / 4.385 = 2317 kg-m2
Size of flywheel
Hoop stress = . v2
7.5 106 = 8150 v2
7.5 10 6
920
8150
v 30.3 m/s
v = DN/60
D = v 60/N = 30.3 60/ 100
D= 5.786 m
Maximum fluctuation of energy, E = m.v2 CS
10 160 = m (30.3)2 0.04
10160 = 36.72 m
m = 10 160/36.72 = 276.7 kg

D b t
m = Volume density D A
v2

276.7 5.786 4t t

power stroke must not exceed 0.5% of mean on either side. Find the
mean diameter of the flywheel and a suitable rim cross-section having
width four times the depth so that the hoop stress does not exceed 4
MPa. Assume that the flywheel stores 16/15 times the energy stored by
the rim and the work done during power stroke is 1.40 times the work
done during the cycle. Density of rim material is 7200 kg/m 3
Given :
P= 50 kW = 50 103W;
N= 150 r.p.m
n= 75;
= 4 MPa = 4 106N/m2
= 7200 kg/m3
Solution:
= 2 150/60 = 15.71 rad/s
First of all, let us find the mean torque (T mean) transmitted by the engine or
flywheel. We know that the power transmitted (P)
P = T mean
50 103 =Tmean 15.71
Tmean= 50 103/15.71= 3182.7 N-m

8 10 4
9.81

276.7 = 59.3104t2
t2 =276.7/ (59.3104) =4.6610-4
t=0.0216m=21.6mm
b = 4t = 4 21.6 = 86.4 mm
28. An Otto cycle engine develops 50 kW at 150 r.p.m. with 75 explosions
per minute. The change of speed from the commencement to the end of
Dept.of Mechanical Engg. AAMEC

Page 42

Dynamics of Machinery

Since the explosions per minute are equal to N/2, therefore, the engine is a
four stroke cycle engine.
Work done per cycle=Tmean = 3182.7 4= 40 000 N-m
Work done during power stroke= 1.4 work done per cycle
= 1.4 40 000 = 56 000 N-m...(i)
The work done during power stroke is shown by a triangle ABC in Fig
AC= radians
BF= Tmax
1
Work done during power stroke Tmax =1.571Tmax . . . (ii)
2
From equations (i) and (ii)
Tmax= 56 000/1.571 = 35 646 N-m
Excess torque, Texcess= BG = BF FG
=Tmax Tmean = 35 646 3182.7= 32 463.3 Nm
From similar triangles BDE and ABC,
DE BG

AC BF
DE

BG
32463.3
AC
0.9107
BF
35646

Maximum fluctuation of energy

E = Area of triangle BDE = DE BG = 0.9107 32 463.3
= 46 445N-m
Mean diameter of the flywheel
Hoop stress = .v2
4 106 = 7200 v2
Dept.of Mechanical Engg. AAMEC

Unit I: Force Analysis

v2 = 4 106/7200
v2 = 556
v = 23.58 m/s
v = DN/60
D = v 60/N = 23.58 60/ 150 = 3 m
Cross-sectional dimensions of the rim
A = b t = 4 t t = 4 t2
Fluctuation of speed is 0.5% of the mean speed on either side, therefore
total fluctuation of speed
N2 N1 = 1% of mean speed
= 0.01 N
Coefficient of fluctuation of speed

Cs

N1 N 2
0.01
N

Maximum fluctuation of energy ( E),

46 445 = E 2CS
46445 = E 2 0.01
46445 = 0.02 E
E = 46 445/ 0.02 = 2322 103 N-m
Since the energy stored by the flywheel is16/15 times the energy stored by
the rim,
Therefore, the energy of the rim,
15
15
E rim
E
2322 10 3 =2177 103 N-m
16
16
Energy of the rim (Erim ) ,
2177 103 = m v2
2177 103 = m (23.58)2
2177 103 = 278m
m = 2177 103 / 278 = 7831 kg
Mass of the flywheel rim (m),
Page 43

Dynamics of Machinery
7831 = D A
7831 = 3 4t2 7200
7831 = 271 469 t2
t 2 = 831/ 271 469 = 0.0288
t = 0.17m = 170 mm
b = 4 t = 4 170 = 680 mm
Flywheel in Punching Press:
29. Punching press is driven by a constant torque electric motor. The
press is punching press is driven by a constant torque electric motor. The
press is provided with a flywheel that rotates at maximum speed of 225
r.p.m. The radius of gyration of the flywheel is 0.5 m. The press punches
720 holes per hour; each punching operation takes 2 second and
requires 15 kN-m of energy. Find the power of the motor and the
minimum mass of the flywheel if speed of the same is not to fall below
200 r. p. m
Given:
N =225 r.p.m ;
k = 0.5 m ;
Hole punched = 720 per hr;
E= 15 kN-m= 15 103N-m ;
N=200 r.p.m.
Solution:
Power of the motor
Total energy required per second = Energy required / hole No. of holes /
s
=15 103 720/3600 = 3000 N-m/s
Power of the motor = 3000 W
Minimum mass of the flywheel
m = Minimum mass of the flywheel.
Since each punching operation takes 2 seconds, therefore energy supplied
by the motor in 2 seconds
Dept.of Mechanical Engg. AAMEC

Unit I: Force Analysis

Energy E2 =23000= 6000N -m
Energy to be supplied by the flywheel during punching or maximum
fluctuation of energy,
E =E1-E2 = 15103 - 6000 = 9000 N-m
Mean speed of the flywheel

N1 N 2 225 200
212.5 r.p.m

2
2

Maximum fluctuation of energy (E)

E

2
mk 2 N N 1 N 2
900

2
m 0.5 2 212.5 225 200
900
9000 14.565m

9000

m 9000 / 14.565 618kg

30. A machine punching 38 mm holes in 32 mm thick plate requires 7

Nm of energy per sq. mm of sheared area, and punches one hole in
every 10 seconds. Calculate the power of the motor required. The mean
speed of the flywheel is 25 metres per second. The punch has a stroke of
100 mm.
Find the mass of the flywheel required, if the total fluctuation of
speed is not to exceed 3% of the mean speed. Assume that the motor
supplies energy to the machine at uniform rate
Given:
d= 38 mm;
t= 32 mm;
E 1 =7N-m/mm2 of sheared area;
v= 25 m/s;
s= 100 mm;
v1-v2=3% =0.03v
Solution:
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Dynamics of Machinery
Power of the motor required
Sheared area, A = d t = 38 32 =3820 mm2
Since the energy required to punch a hole is 7 N-m/mm2 of sheared area,
therefore total energy required per hole,
E1 = 7 3820 = 26470 N-m
Also the time required to punch a hole is 10 second, therefore energy
required for punching work per second
= 26 740/10 = 2674 N-m/s
Power of the motor required = 2674 W = 2.674 kW
Mass of the flywheel required
m = Mass of the flywheel in kg.
Since the stroke of the punch is 100 mm and it punches one hole in every
10 seconds,
Therefore,
10
32
Time required punching a hole in a 32 mm thick plate
2 100
=1.6 sec
Energy supplied by the motor in 1.6 seconds
E2 = 2674 1.6 = 4278 N-m
Energy to be supplied by the flywheel during punching or the maximum
fluctuation of energy
E = E1 E2
E = E1 E2 = 26 740 4278 = 22 462 N-m
Coefficient of fluctuation of speed

v v2
Cs 1
0.03
v
Maximum fluctuation of energy (E)
E = m.v2 .CS
22462 = m (25)2 0.03
22462 = 18.75 m
Dept.of Mechanical Engg. AAMEC

Unit I: Force Analysis

m = 22 462 / 18.75 = 1198 kg
31. A riveting machine is driven by a constant torque 3 kW motor. The
moving parts including the flywheel are equivalent to 150 kg at 0.6 m
radius. One riveting operation takes1 second and absorbs 10 000 N-m of
energy. The speed of the flywheel is 300 r.p.m. before riveting. Find the
speed immediately after riveting. How many rivets can be closed per
minute?
Given :
P = 3 kW ;
m = 150 kg ;
k = 0.6 m ;
N1 = 300 r.p.m.
Solution
1 = 2 300/60 = 31.42 rad/s
Speed of the flywheel immediately after riveting
2= Angular speed of the flywheel immediately after riveting
Energy supplied by the motor, E2 = 3kW = 3000 W = 3000N-m/s
But energy absorbed during one riveting operation which takes 1 second,
E1 = 10 000 N-m
Energy to be supplied by the flywheel for each riveting operation per
second or the maximum fluctuation of energy
E = E1 E2 = 10 000 3000 = 7000 N-m
Maximum fluctuation of energy (E),
1
2
2
E mk 2 1 2
2
1
2
2
7000 150 0.6 2 31.42 2
2

7000 27 987.2 2

= 987.2 (7000/ 27) = 728

= 26.98 rad/s
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Dynamics of Machinery
Corresponding speed in r.p.m.
N2 = 26.98 60/ 2 = 257.6 r.p.m
Number of rivets that can be closed per minute
Since the energy absorbed by each riveting operation which takes 1
second is 10 000 N-m,
Therefore, number of rivets that can be closed per minute
E
2 60 3000 60 =18
E1
10000
32. A punching press is required to punch 40 mm diameter holes in a
plate of 15 mm thickness at the rate of 30 holes per minute. It requires 6
N-m of energy per mm2 of sheared area. If the punching takes 1/10 of a
second and the r.p.m. of the flywheel varies from 160 to 140, determine
the mass of the flywheel having radius of gyration of 1 metre.
Given:
d = 40 mm;
t = 15 mm;
No. of holes = 30 per min.;
Energy required = 6 N-m/mm2;
Time = 1/10 s = 0.1 s;
N1 = 160 r.p.m.;
N2 = 140 r.p.m.;
k = 1m
Solution:
Sheared area per hole = d .t = 40 15 = 1885 mm2
Energy required to punch a hole E1 = 6 1885 = 11 310 N-m
Energy required for punching work per second=Energy required per hole
No. of holes per second
= 11 310 30/60 = 5655 N-m/s
Since the punching takes 1/10 of a second,
Therefore, energy supplied by the motor in 1/10 second,
Dept.of Mechanical Engg. AAMEC

Unit I: Force Analysis

E2 = 5655 1/10 = 565.5 N-m
Energy to be supplied by the flywheel during punching a hole or maximum
fluctuation of energy of the flywheel
E = E1 E2 = 11 310 565.5 = 10 744.5 N-m
N N 2 160 140

Mean speed of the flywheel N 1

=150 rpm
2
2
Maximum fluctuation of energy (E)
E

2
mk 2 N N 1 N 2
900

2
m 12 150160 140
900
10 744.5 = 33m
m = 10744.5 / 33 = 327 kg
33. A punching machine makes 25 working strokes per minute and is
capable of punching 25 mm diameter holes in 18 mm thick steel plates
having ultimate shear strength 300 MPa. The punching operation takes
place during 1/10th of a revolution of the crankshaft.
Estimate the power needed for the driving motor, assuming a
mechanical efficiency of 95 percent. Determine suitable dimensions for
the rim cross-section of the flywheel, having width equal to twice
thickness. The flywheel is to revolve at 9 times the speed of the
crankshaft. The permissible coefficient of fluctuation of speed is 0.1.
The flywheel is to be made of cast iron having a working stress
(tensile) of 6 MPa and density of 7250 kg/m 3. The diameter of the
flywheel must not exceed 1.4 m owing to space restrictions. The hub and
the spokes may be assumed to provide 5% of the rotational inertia of the
wheel.
Given :
n = 25;
d1 = 25 mm = 0.025 m;
10744.5

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Dynamics of Machinery

Unit I: Force Analysis

t1 = 18 mm = 0.018 m ;
= 300 MPa= 300 106 N/m2 ;
= 95% = 0.95 ;
CS = 0.1;
= 6 MPa = 6 106 N/m2;
= 7250 kg/m3
D = 1.4 m or;
R = 0.7 m
Solution:
Power needed for the driving motor
Area of plate sheared, As = d1 t1 = 0.025 0.018 = 1414 106 m2
Maximum shearing force required for punching
Fs As u
= 1414 106 300 106 = 424 200N
Energy required per stroke= Average shear force Thickness of plate
1
1
Fs t1 424200 0.018
2
2
= 3817.8 N-m
Energy required per min=Energy/stroke No. of working strokes/min
= 3817.8 25 = 95 450 N-m
Energy required per min

60 m
Power needed for the driving motor

95450
60 0.95 = 1675 W= 1.675 kW

Dimensions for the rim cross-section

Cross-sectional area of rim, A = b t = 2t t = 2t2
Since the punching operation takes place
(i.e. ) energy is consumed) during 1/10th of a revolution of the crankshaft.
Therefore during 9/10th of the revolution of a crankshaft, the energy is
stored in the flywheel
Dept.of Mechanical Engg. AAMEC

Maximum fluctuation of energy, E

9
Energy / stroke
10

9
3817.8 = 3436 N-m
10
Since the hub and the spokes provide 5% of the rotational inertia of the
wheel,
Therefore,
Maximum fluctuation of energy provided by the flywheel by the rim will be
95%.
Maximum fluctuation of energy provided by the rim,
Erim = 0.95 E
= 0.95 3436 = 3264 N-m
Since the flywheel is to revolve at 9 times the speed of the crankshaft and
there are 25 working strokes per minute, therefore, mean speed of the
flywheel
N = 9 25 = 225 r.p.m
Mean angular speed,
= 2 225 / 60 =23.56 rad/s
Maximum fluctuation of energy
Erim =m.R2 .2.Cs
3264 = m (0.7)2 (23.56)2 0.1
3264=27.2m
m = 3264/27.2 = 120 kg
Mass of the flywheel, m = D A
120 = 1.4 2t2 7250
120= 63782 t2
t 2 = 120/ 63782 = 0.001 88
t = 0.044 m = 44 mm
b =2 t = 2 44 b= 88 mm

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Dynamics of Machinery

Dept.of Mechanical Engg. AAMEC

Unit I: Force Analysis

Page 48