Dynamics of Machinery-17ME52

MODULE - 1
Static Force Analysis
CONTENTS

Introduction:
Static equilibrium.
Equilibrium of two and three force members.
Members with two forces and torque.
Free body diagrams.
Static force analysis of four bar and single slider mechanism
Slider-crank mechanism with and without friction.

Objectives
 To analyze static force analysis of four bar chain mechanism
 To analyze static force analysis of slider crank mechanism

Introduction:

Relation between motion and forces causing is a fascinating subject. This study is a generally
referred as dynamic. Modern Engineering aims at analysing and predicting dynamics behavior
of physical systems
Theory of Mechanisms & Machines is used to understand the relationships between the
geometry and motions of the parts of a machine or mechanism and forces which produce
motion.

TOM (M&M theory) is divided into two parts:-

Kinematics of Machinery: Study of motion of the components and basic geometry of
the mechanism and is not concerned with the forces which cause or affect motion. Study
includes the determination of velocity and acceleration of the machine members
Dynamics of Machinery: Analyses the forces and couples on the members of the
machine due to external forces (static force analysis) also analyses the forces andcouples due
to accelerations of machine members ( Dynamic force analysis)
Deflections of the machine members are neglected in general by treating machine
members as rigidbodies (also called rigid body dynamics). In other words the link must be
properly designed to withstand the forces without undue deformation to facilitate proper
functioning of the system.
In order to design the parts of a machine or mechanism for strength, it is necessary to
determine the forces and torques acting on individual links. Each component however small,
should be carefully analysed for its role in transmitting force.
The forces associated with the principal function of the machine are usually known or
assumed.
Ex:
a) Piston type of engine: gas force on the piston is known or assumed
b) QRM – Resistance of the cutting tool is assumed.

a & b are called static forces.

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Example of other static forces are:

i. Energy transmitted
ii. Forces due to assembly
iii. Forces due to applied loads
iv. Forces due to changes in temperature
v. Impact forces
vi. Spring forces
vii. Belt and pulley
viii. Weights of different parts

Apart from static forces, mechanism also experiences inertia forces when subjected to
acceleration, called dynamic forces.
Static forces are predominant at lower speeds and dynamic forces are predominant at
higher speeds.

Force analysis:
The analysis is aimed at determining the forces transmitted from one point to another,
essentially from input point to out put point. This would be the starting point for strength
design of a component/ system, basically to decide the dimensions of the components
Force analysis is essential to avoid either overestimation or under estimation of forces on
machine member.
Under estimation: leads to design of insufficient strength and to early failure.
Overestimation: machine component would have more strength than required. Over design
leads to heavier machines, costlier and becomes not competitive
Graphical analysis of machine forces will be used here because of the simplification it
offers to a problem, especially in cases of complex machines. Moreover, the graphical
analysis of forces is a direct application of the equations of equilibrium.
General Principle of force analysis:
A machine / mechanism is a three dimensional object, with forces acting in three
dimensions. For a complete force analysis, all the forces are projected on to three mutually
perpendicular planes. Then, for each reference plane, it is necessary that, the vector sum of the
applied forces in zero and that, the moment of the forces about any axis perpendicular to the
reference plane or about any point in the plane is zero for equilibrium.
That is ∑F = 0 & ∑M = 0 or
∑F x=0 &∑Fy=0 and ∑M=0
A force is a vector quantity and three in properties define a force completely;
Magnitude
Direction
Point of application

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Static equilibrium.

Equilibrium

For a rigid body to be in Equilibrium

i) Sum of all the forces must be zero
ii) Sum of all the moments of all the forces about any axis must be zero

i.e, (i) ∑ F = 0 (ii) ∑ M = 0

or ∑ Fx = 0 ∑TM = 0
∑ Fy = 0 ∑ My = 0

∑ Fz = 0 ∑Tz =0 (For a planar system represented by 2D vectors)

Fx, Fy, Fz force Components along X, Y & Z axis

Similarly moments

Equilibrium of two and three force members.

(i) Equilibrium of a body under the action of two forces only (no torque)

Line of action

FA FB
A B

For body to the in Equilibrium under the action of 2 forces (only), the two forces must the equal
opposite and collinear. The forces must be acting along the line joining A&B.

That is,
FA= - FB (for equilibrium)

h
If this body is to be under equilibrium ‗h‘ should tend to zero

(ii) Equilibrium of a body under the action of three forces only (no torque / couple)
FC
C
For equilibrium, the 3 forces must be concurrent
FA A
and the force polygon will be a triangle.

FB

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Members with two forces and torque.

(iii) Equilibrium of a body acted upon by 2 forces and a torque.

For equilibrium, the two forces must form a

T
counter couple. Therefore the forces must be
F
equal, opposite and parallel and their senses
h
must be so as to oppose the couple acting on the
F
body

Example:
F2
T
h = Perpendicular distance between
h
F1 & F2

F1

Free body diagram

The mass is separated from the system and all the forces acting on the mass are represented.

slider-crank mechanism with and without friction.

Problem No.1: Slider crank mechanism

Figure shows a slider crank mechanism in which the resultant gas pressure 8 x 104 Nm-2 acts on
the piston of cross sectional area 0.1 m2. The system is kept in equilibrium as a result of the
couple applied to the crank 2, through the shaft at O2. Determine forces acting on all the links
(including the pins) and the couple on 2.

P = (8 × 104 ) × (0.1)

= 8 × 103 N

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Free body diagrams.

Free body diagram

Force triangle for the forces acting on 4 is drawn to some suitable scale.
Magnitude and direction of P known and lines of action of F34 & F14 known.

Measure the lengths of vectors and multiply by the

scale factor to get the magnitudes of F14 & F34.
Directions are also fixed.

i.e, F23 = − F32

Since link 3 is acted upon by only two forces, F43 and F23 are collinear, equal in magnitude
and opposite in direction

i.e., F43 = − F23 = 8.8 × 103 N

Also, F23 = - F32 (equal in magnitude and opposite in direction).

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Link 2 is acted upon by 2 forces and a torque

(stated in the problem), for equilibrium the two
forces must be equal, parallel and opposite and
their sense must oppose T2.

There fore,
F32 = − F12 = 8.8 ×103 N

F32 & F12 form a counter clock wise couple of magnitude,

F23 × h= F12 × h = 8.8 × 103 × 0.125 = 1100Nm.

To keep 2 in equilibrium, T2 should act clockwise and magnitude is 1100

Nm. Important to note;
i) h is measured perpendicular to F32 & F12;
ii) always multiply back by scale factors.

Static force analysis of four bar and single slider mechanism

Problem No 2. Four link mechanism.

A four link mechanism is acted upon by forces as shown in the figure. Determine the torque T2
to be applied on link 2 to keep the mechanism in equilibrium.

AD=50mm, AB=40mm, BC=100mm, Dc=75mm, DE= 35mm,

Link 3 is acted upon by only two forces F23 & F43 and they must be collinear & along BC.
Link 4 is acted upon by three forces F14, F34 & F4 and they must be concurrent. LOA F34 is
known and FE completely given.

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F32 & F12 from a CCW couple which is equaled

by a clockwise couple T2

Problem No 3.
Determine T2 to keep the mechanism in equilibrium
AC=70mm,
AB=150mm,
O2A= 40mm

F32 and F12 form a CCW couple and hence T2 acts clock wise.

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Problem No 4.
Determine the torque T2 required to keep the given mechanism in equilibrium.
O2A= 30mm, = AB =O4B, O2O4 =60mm, A O 2 O4 = 60º, BC = 19mm, AD=15mm.

None of the links are acted upon by only 2 forces. Therefore links can‘t be analyzed individually.

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Problem No 5.
Determine the torque T2 required to overcome the force FE along the link 6.
AD=30mm, AB=90mm, O4 B=60mm, DE=80mm, O2 A=50mm, O2 O4 =70mm

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Problem No 6

For the static equilibrium of the quick return mechanism shown in fig. 12.11 (a), determine the
input torque T2 to be applied on link AB for a force of 300N on the slider D. The dimensions of
the various links are OA=400mm, AB=200mm, OC=800mm, CD=300mm

Than, torque on link 2,

T2 = F42x h = 403x120 = 48 360 N counter - clockwise

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Problem No 7. Determine T2 to keep the body in equilibrium. O2A =100MM, AB=250MM,

AE=50MM, A O 2 B = 300

The problem is solved as two

sub problems:
i) Considering only FB
ii) Considering only FE

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Force Analysis considering friction.

If friction is considered in the analysis, the resultant force on a pin doesn‘t pass through the
centre of the pin. Coefficient of friction is assumed to the known and is independent of load
and speed.

Friction in sliding member.

F = Frictional force

= coefficient of friction

µN
tan φ µ
N

Friction at pin points (bearings) & friction circle.

When a shaft revolves in a bearing, some power is lost due to friction between surfaces.

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While rotating, the point of contact shifts to B; Rn passes through B.

The resultant ‗R‘ is in a direction opposite to ω.
The circle drawn at O, with OC as radius is called ‗FRICTION CIRCLE‘
For the shaft to be in equilibrium; W = R
Frictional moment M = R x OC
= W x OC
= W x r sin φ
= W x r tan φ
(sin φ ≈ tan φ, for small
φ) i.e, M = w x r x µ
∴Radius of the friction circle (OC) = µr.
The friction circle is used to locate the line of action of the force between the shaft (pin) and the
bearing or a pin joint. The direction of the force is always be tangent to it (friction axis) Friction
axis: the new axis along which the thrust acts.

Problem No 8.

In a four bar mechanism ABCD, AB=350mm, BC=50mm, CD=400mm, AD=700mm,

DE=150mm, D A B = 600 , AD is fixed. Determine the force on link AB required at the mid
point, in the direction shown, for static equilibrium. µ=0.4 for each revolving pair. Assume
CCW impending motion of AB. Radius of each journal is 50mm.

Also find the torque on AB for its impending CW motion.

Analysis for CCW motion

Solve the problem neglecting

friction to know the
magnitudes and directions of
forces

Radius of the friction circle = µ x journal radius = 0.4 x 50 = 20

mm

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Analysis with Friction considered---

AB rotates CCW, DC rotates CCW
ABC decreasing, LBCD increasing

At C:
BCD increases & 3 rotates CW w.r.t 4
Therefore, F43 opposes the rotation of 4 by generating a CCW friction couple at C

At B:
BCD decreases & 3 rotates CW w.r.t 2
Therefore, F23 forms a CCW friction couple at B

(not to scale)

For CW rotation of AB

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OUT COMES

1) Students will able to analyze mechanism for a given force system by graphical
method.
2) Students will be able to analyze mechanism considering and not considering
friction.
3) Student will be able to analyze 4 bar and single slider mechanism for the given
static force.

Exercise
1. State D‘Alembert‘s principle.
2. Define static force analysis
3. What is free body diagram?
4. The lengths of crank and connecting rod of horizontal steam engine are 300 mm
and 1.2 m respectively. When the crank has moved 30° from the inner dead center,
the acceleration of piston is 35 m/s2 . The average frictional resistance to the
motion of piston is equivalent to a force of 550 N and net effective steam pressure
on piston is 500 kN/m2 . The diameter of piston is 0.3 m and mass of reciprocating
parts is 160 kg. Determine (i) Reaction on the cross-head guides; (ii) Thrust on the
crankshaft bearings; and (iii) Torque on the crank shaft.

FURTHER READING

1) Theory of machines and mechanisms by Dr.Jagadishlal, Metropolitain Book co. Pvt.

Ltd., New Delhi
2) Mechanisms and Dynamics of machinery by Hamitton H.Mabie and Fred W.Ocvirk,
John Wiley & sons, Newyork.
3) Machine Dynamics (DOM), Vol ii, G.Bapaiah, Mechanical Engineering, Monograph
Series, IIT, Madras.
4) Theory of Machines, by S.S Rathan, Tata McGraw-hill.
5) Mechanism & Machine Theory by Ashok G.Ambekar, Prentice Hall of India Pvt.
Limited, New Delhi – 110001, 2007.

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