Tutorial -1

Dynamics of Machines (M-502A)

Q 1. Briefly explain the following :

(a) Balancing of rotating masses
(b) Static and dynamic balancing
Q 2. What is the need for balancing of rotating masses?
Q 3. What are the conditions for a body to be completely balanced?
Q 4. Derive an expression for static balancing of the forces that are unbalanced on a single plane.
Q 5. Four masses m1, m2, m3 and m4 are 200kg, 300kg, 240kg and 260kg respectively. The
corresponding radii of rotation are 0.2m, 0.15m, 0.25m and 0.3m respectively and angles
between masses 45, 75 and 135. Find the position and magnitude of the balance mass required if
its radius of rotation is 0.2m. Use both analytical and graphical method to solve this problem.
Q 6. What is meant by transferring of force of one plane to another?
Q 7. A shaft carries four masses A,B,C and D of magnitude 200kg, 300kg, 400kg and 200kg
respectively and revolving at radii 80mm, 70mm, 60mm and 80mm in planes measured from A
to B at 300mm, 400mm and 700mm. the angles between the cranks measured anticlockwise are
A to B 45, B to C 70, and C to D 120. The balancing masses are to be placed in planes X and Y.
the distance between planes A and X is 100mm, between X and Y is 400mm and between Y and
D is 200mm. if the balancing masses revolve at a radius of 100mm find their magnitudes and
angular positions.

Tutorial -2
Dynamics of Machines (M-502A)

Q 1. Briefly explain the following :

(a)
(b)
(c)
(d)
(e)
(f)

Primary unbalanced force

Secondary unbalanced force
Hammer blow
Swaying couple
Variation of tractive forces
In-line engines

Q 2. Why is the secondary unbalanced force neglected for low and medium speed engines?
Explain.
Q 2. Derive the following expressions, for an uncoupled two cylinder locomotive engine
a) Variation in tractive forces
b) Swaying couple
c) Hammer blow
Q.3) Explain the direct and reverse crank method for determining unbalanced forces in radial
engines.
Q 4. A single cylinder reciprocating engine has a reciprocating mass of 60kg. the crank rotates at
60rpm and the stroke is 320mm. the mass of the revolving part at 160 mm radius is 40kg. if twothird of reciprocating parts and the whole of the revolving parts are to be balanced, determine the
i.
ii.

Balance mass required at a radius of 350 mm

Unbalanced force when the crank has turned 50 from top dead centre
(Sol- 36.57kg, 209.9 N)

Q 5. The following data refer to a four coupled wheel locomotive with two inside cylinders:
pitch of cylinder = 600mm
Reciprocating mass/cylinder = 315kg, Revolving mass/cylinder = 260 kg
Distance between driving wheel = 1.6m, Distance between coupling rod = 2m
Diameter of driving wheels = 1.9m, revolving part for each coupling rod = 130kg
Engine crank radius = 300mm, Coupling rod crank radius = 240mm
Distance of centre of balance of mass in planes of Driving wheels from axle centre = 750mm
Angle between engine crank = 90 , Angle b/w coupling rod crank with adjacent crank = 180

The balance mass required for the reciprocating parts is equally divided b/w each pair of coupled
wheels. Determine the
i.
ii.

Magnitude & position of the balance mass required to balance 2/3rd of reciprocating and
whole of rotating parts
Hammer blow & maximum variation of tractive force when locomotive speed is
80km/h.
[ sol.- 73.85kg( 226.5 ), 25.63kg( 314.4 ), HB= 13015N ]

Q 6. The three cylinders of an air compressor have their axes 120 to one another, & their
connecting rods are coupled to a single crank. The stroke is 100mm and the length of each
connecting rod is 150mm. the mass of the reciprocating parts per cylinder is 1.5 kg. find the
maximum primary and secondary forces acting on the frame of the compressor when running at
3000 rpm. Describe clearly a method by which such forces may be balanced.
[sol.11.106KN, 3702N]

Tutorial 3
Dynamics of Machines (M-502A)

Q 1. Define the terms :

(i)
(ii)
(iii)
(iv)

precession
spinning
active and reactive gyroscopic couple
plane of precession and axis of precession

Q 2. Derive an expression for the total angular acceleration of a disc spinning with a speed and
having angular velocity of precession p.
Q 3. An aeroplane runs at 600 Km/h. The rotor of the engine weighs 4000 N with radius of
gyration of 1 meter. The speed of the rotor is 3000 rpm in anticlockwise direction when seen
from the rear side of the plane.
If the plane takes a loop upwards in a curve of 100 meters radius, find : (i) gyroscopic couple
developed and (ii) effect of reaction gyroscopic couple on the body of the plane.

Q 4. Derive an expression for maximum gyroscopic couple applied to a ship pitching with a time
period of tp (sec). take I : moment of inertia of rotating parts (Kg-m 2) and : angular velocity of
rotor (rad/s).

Q 5. Derive expressions for vertical reaction at each of the inner and outer wheels of a four
wheel drive moving on a curved path. Use usual symbols for various parameters involved.

Tutorial 4
Dynamics of Machines (M-502A)

Q 1. Derive an expression for the value of the angle of heel for a two wheeler to avoid skidding
while taking a turn.

Q 2. A 2.2 tonne racing car has a wheel base of 2.4 m and a track of 1.4 m. The centre of mass of
the car lies at 0.6 m above the ground and 1.4 m from the rear axle. The equivalent mass of
engine parts is 140 Kg with a radius of gyration of 150 mm. The back axle ratio is 5. The engine
shaft and flywheel rotate clockwise when viewed from the front. Each wheel has a diameter of
0.8 m and a moment of inertia of 0.7 Kg-m 2. Determine the load distribution on the wheels when
the car is rounding a curve of 100 m radius at a speed of 72 Km/h to the (i) left, and (ii) right.

Q 3. Each wheel of a motorcycle is of 600 mm diameter and has a moment of inertia of 1.2 Kgm2. The total mass of the motorcycle and the rider is 180 Kg and the combined centre of mass is
580 mm above the ground level. The moment of inertia of the rotating parts of the engine is 0.2
Kg-m2. The engine speed is 5 times the speed of the wheels and is in the same sense. Determine
the angle of heel necessary when the motorcycle takes a turn of 35 m radius at a speed of 54
Km/h.

Tutorial 5
Dynamics of Machines (M-502A)

Q 1. Describe the types of governors with complete classification of centrifugal governors.

Q 2. Explain the following terms used in governors :

Height of governor
Equilibrium speed
Mean equilibrium speed
Maximum and minimum equilibrium speeds
Sleeve lift

Q 3. Derive an expression for the equilibrium speed of a Proell governor in terms of governor
height and other relevant parameters.

Q 4. Derive expressions for a Hartnell governor for spring force on the sleeve at the lowest and
the highest equilibrium speeds and for the stiffness of the spring.

Q 5. All the arms of a Porter governor are 178 mm long and are hinged at a distance of 38 mm
from the axis of rotation. The mass of each ball is 1.15 Kg and mass of the sleeve is 20 Kg. The
governor sleeve begins to rise at 280 rpm when the links are at an angle of 30 0 to the vertical.
Assuming the friction force to be constant, determine the minimum and maximum speeds of
rotation when the inclination of the arms to the vertical is 450.

Tutorial 6
Dynamics of Machines (M-502A)

Q 1. A Proell governor has all four arms of length 305 mm. The upper arms are pivoted at the
axis of rotation and the lower arms are attached to a sleeve at a distance of 38 mm from the axis.
The mass of each ball is 4.8 Kg and the balls are attached to the extensions of the lower arms
which are 102 mm long. The mass of the sleeve is 54 Kg. The minimum and the maximum radii
of the governor are 165 mm and 216 mm. Assuming that the extensions of the lower arms are
parallel to the governor axis at the minimum radius, find the corresponding equilibrium speeds.

Q 2. In a Hartnell governor the mass of each ball is 1 Kg, length of the vertical arm of the bell
crank lever is 100 mm and that of the horizontal arm is 50 mm. The distance of fulcrum of each
bell crank lever is 80 mm from the axis of rotation. The extreme radii of rotation of the balls are
75 mm and 112.5 mm. The maximum equilibrium speed is 5% greater than the minimum
equilibrium speed which is 360 rpm. Find, neglecting obliquity of arms, initial compression of
the spring and equilibrium speed corresponding to the radius of rotation of 100 mm.

Q 3. Describe, with suitable sketches, the construction and functioning of an Inertia governor.

Q 4. Briefly explain the following phenomena in a governor :

sensitiveness
hunting
Isochronism
Stability

Tutorial 7
Dynamics of Machines (M-502A)

Q 1. Explain the applied and constraint forces on a system of body?

Q 2. What are the conditions for a body to be in equilibrium under the action of:
I.
two force
II.
Three force
III.
Two force and torque.
Q 3. Define and explain the superposition theorem as applicable to a system of forces
acting on mechanism.
Q 4. What is the principle of virtual work?
Q 5. A four link mechanism with the following dimensions is acted upon by a force of 50 N
on the link DC at the point E (Fig),
AD = 300mm, AB = 400mm, BC = 600mm, DC = 640mm, DE = 840mm,
Determine the input torque T on the link AB for static equilibrium of the mechanism.

Q 6. Find the minimum value of the force F5 to be applied for the static equilibrium of the
followers. If the friction is also considered of the sliding bearing at B and C. Assume the
coefficient of friction as 0.15. Ignore the thickness of followers.

Tutorial 8
Dynamics of Machines (M-502A)

Q 1. Explain the difference between static and dynamic force analysis.

Q 2. State and explain DAlemberts principle.

Q 3. Explain the dynamic analysis of slider crank mechanism?

Q 4. A horizontal gas engine running at 210 rpm has a bore of 220mm and a stroke of 440mm
. The connecting rod is 924 mm long and the reciprocating parts weigh 20 kg . When the
crank has turned through a angle of 30 0 from the inner dead centre, the gas pressure on the
covers and the crank sides are 500kN/m 2 and 60 kN/m2 respectively. Diameter of the piston
rod is 40mm. Determine:
I.
II.
III.

Turning moment of the crank shaft

Thrust on the bearing
Acceleration of the flywheel which has a mass of 8 kg and radius of gyration of
600mm while the power of the engine is 22kW.

Tutorial 9
Dynamics of Machines (M-502A)

Q 1. What do you mean by equivalent offset inertia force?

Q 2. What are the turning- moment diagrams? Why are they drawn?

Q 3. The dimensions of the four link mechanism are

AB = 500 mm, BC = 660 mm, CD = 560 mm, and AD = 1000 mm.
The link AB has an angular velocity of 1.5 rad/ s 2 at the instant when it makes an angle of 60 0
with AD, the fixed link. The mass of the link BC and CD is 4.2kg/m length. The link AB has a
mass of 3.54 kg, the centre of which lies at 200mm from A and moment of inertia of 88500 kgmm2