4.

Gears and gearing

Topics

4.1 Simple and compounded gear trains

4.2 Simple and compounded epicyclic gear trains

Concepts

Speed (or gear) ratio

Condition for correct gearing
Involute tooth profile

Objectives

To be able to classify the different types of gears.

To be able to determine the speed ratios of
simple and compounded gear trains.

To be able to determine the speed ratios of

simple and compounded epicyclic gear trains.

Some online sites for reference

http://science.howstuffworks.com/gear.htm
http://www.sdp-si.com/index.asp

Introduction
Gears are a type of mechanical element that is
used to transmit motion and convert power between two machinery shafts.

What are gears used for?

What are gears used for?

to change the rate of rotation,

What are gears used for?

to change the rate of rotation,
For instance, an electric screwdriver requires a
large gear reduction.

This is because the motor produces low torque

when it is spinning at a high speed.

What are gears used for?

What are gears used for?

to change the direction of the axis of rotation.

What are gears used for?

to change the direction of the axis of rotation.
In a drivetrain, a gear
differential is used to
turn the power supplied by the engine

90 to apply it to the
wheels.

Classification of gear types

The classification of the gears is based on the orientation of the shafts axes.

Parallel shafts
Intersecting shafts
Skew (neither parallel nor intersecting) shafts

Features of gears

Operates without slip

Can have a large operating range (in speed
and torque)

Have a potentially long life

Parallel shafts

Spur gear
Helical gear

Spur gear
The teeth is parallel to the
shafts axes.
The larger gear is usually
called the wheel while the
smaller gear is known as the
pinion.
Does both gears rotate in the
same direction?

Rack and pinion

Converts rotary motion into
linear motion
The rack can be considered to
be a gear with an infinite radius.
Does the rack and pinion
move in the same direction?

Helical gear
Teeth lie along helices about
the shaft axis.
Meshing

occurs

gradually

across the tooth resulting in a

lower impact loading.

Advantages of helical gears over spur

gears

Quieter.
Able to handle large torques.
Have a longer life.

Intersecting shaft

The shafts axes intersect at right angles to each

other.

The gears for intersecting shafts are known as

bevel gears.

Straight bevel gear

The teeth are cut on
a cone instead of a
cylinder blank.

Spiral bevel gear

Similar to the helical
gear, the teeth here
are cut in helix form
on the surface of the
cone.

Skew shaft

Spiral wheel (rarely used as it has a low torque

range)

In contrast, the worm and wheel is more commonly used.

Worm & wheel gear

Diagram shows a gearbox being of a wheel gear
being driven by a worm. Notice how compact this
arrangement is, compared to spur gear types.
To reduce speed or
torque increase.

Self-locking feature
(owing to greater friction
required
worm).

to

turn

the

Motors have high speeds but low torques. Therefore, it is common to use worm and wheel gear in
order to increase their potential range of applications.

Before we look into the velocity ratio of two gears

in contact, lets first consider two smooth circular
disk that are rolling about each other.

Two smooth disks in contact

v = 1 r1 = 2 r2 ,
r2
1
= .

2
r1
The negative sign is added because the direction
of the rotation of the gears opposes each other.

In reality, we rarely use smooth disks to transmit

motion. Why?
This is because smooth disk tend to slip when
larger load transfer is required.
Therefore, instead of smooth disks, we usually
use gears.

Constant angular velocity ratio

For constant velocity motion transmission, the fundamental law of gearing must be satisfied.
For a pair of gears to transmit a constant angular velocity ratio, the shape of their contacting profiles must be such that the common
normal passes through a fixed point on the line
of centres

Procedure to demonstrate the fundamental law of gearing

Let V1 be the velocity of the upper gear at the point

of contact, C .

V1 = r

Let V2 be the velocity of the lower gear at the point

of contact, C .

V2 = R

For the gears to remain in contact, the

components of the velocity of each in the direction
of the normal must be the same in magnitude.

Velocity in the direction of the normal

V1 cos = V2 cos

Using v

= r formula, the expression becomes

as follow;

V1 cos = V2 cos ,
r cos = R cos

Draw two normals from the centres to the common

normal

Using similar triangles, we can find the angles of

incline of the two normals to the line joining the
centres

If we can relate the distance of the normal in terms

of the radius and angle of incline

O1 I1 = r cos ,
O2 I2 = R cos .

We can substitute the expression of the distances

into the equation for velocity

r cos = R cos ,
O1 I1 = O2 I2 .

We have derived the speed ratio as follow;

O2 I2
.
=

O1 I1

Lets introduce a point

p lying along the line

joining the two centers

Using similar triangles,

O2 P
O2 I2
=
.
O1 I1
O1 P
Therefore the speed ratio is

O2 P
=
.

O1 P

It is clear then that

p must be a fixed point in

order for the velocity ratio to be constant.

The speed ratio is

O2 P

=
.

O1 P
The point

p is known as

the pitch point.

More on the pitch point

The pitch point is a fixed point lying on on the line
joining the gears centres.

If the common normal line at the point of contact

pases through the pitch point, then the Law of Gearing is satisfied.

Recapping on what we have learnt

The speed ratio is

o2 p

=
.

o1 p
In order to obtain a constant
gear ratio,
the profile of the tooth must be such that the common normal passes through the pitch point, P .

 In order to get good gearing, the tooth profile

must obey the Law of Gearing.

With good gearing, the motion will be smooth,

quiet and free of vibration.

Tooth profile
The two tooth profiles that meet the condition of
correct gearing are the cycloidal and involute profiles.

The involute profile has advantages of

1. being easy to manufacture, and
2. does not require close tolerance between shaft
locations.

Definition of an involute

The path

AK generated as line M N rolls about

the circle (without slipping) is called an involute.

We can also create an involute by unwinding an

inextensible string around the circle.

Property of the involute

At any point on the involute, the normal will

always be tangential to the base circle

As such, it would always pass through a fixed

point on the line joining the centres of the two
gears.

Introducing the pressure angle

Since the gear ratio depends on the pitch point,
pitch circles are drawn through this point and become the basis for the calculation of gear ratios.

When the position of the various gears are fixed in

space, it is simple matter to calculate the overall
gear ratio.

For this course the gear ratio is defined as:

Gear ratio

Input speed
Output speed

The gear ratio in terms of pitch circle diameter, D ,

is as follow;
1
2

D2
D1

If two gears are to mesh, the teeth must be of the

same size on each gear.

Therefore, the number of teeth then must be proportional to the circumference (and hence the diameter too).

Three different methods are used to define tooth

size.

Module
Diametral Pitch
Circular Pitch
They are of course all related to each other.

Module
Module

Diameter
= Number
of teeth

D2
D1
=
.
N1
N2

Diametral pitch
Diametral pitch

of teeth
= Number
Diameter

N2
N1
=
.
D1
D2

Circular pitch
Circular pitch

Circumference
= Number
of teeth

There are some simple relationships between these

three ratios:
Module

Circular pitch

Diametral picth

1
Diametral pitch
Module,

Circular pitch

Simple gear trains

A gear train consists of two or more gears.

A simple gear train implies that there is only one

gear for every shaft.

Schematic of a simple gear train

Find the speed ratio.

Speed ratio

input speed
output speed

1
=
5

1
1 2 3 4
= ( )( )( )( )
5
2 3 4 5
D2
D3
D4
D5
= ( )( )( )( )
D1
D2
D3
D4

Since the module is identical for all the gears,

D2
D3
D4
D5
1
= ( )( )( )( )
5
D1
D2
D3
D4
N2
N3
N4
N5
N5
= ( )( )( )( ) =
N1
N2
N3
N4
N1

It is clear that the speed ratio depends on:

1. Number of teeth in the first and last gears only,
and
2. Number of gears in the train ( affects the sign)

Another example of a simple gear train

Find the gear ratio.

1
1 2 3 4
= ( )( )( )( )
5
2 3 4 5
N2
N3
N4
N5
N5
= ( )( )( )(+ ) =
N1
N2
N3
N4
N1

Compound gear trains

In contrast to a simple gear train, there may be
more that one gear per shaft in a compound gear
train.

Does this mean that the multiple gears would also

be rotating in the same direction, and have the
same magnitude?

An example of a compound gear train

Note that gears 2 and 3 are compounded, i.e., rigidly

connected together, and therefore they would rotate at the same speed.

To calculate the speed ratio, we first have to note

the path of motion, i.e.,
1234

1
Speed ratio =
,
4
1 2 3
=
2 3 4

1 2 3
,
Speed ratio =
2 3 4
N2
N4
= ( )(1)( )
N1
N3

1
N2 N4
Speed ratio =
=
4
N1 N3
Unlike the simple gear train, a compound gear train
involves each of the gears in the speed ratio.

Simple epicyclic gear trains

Epicyclic gear trains are characterised by the fact
that the centre line of some gears are not fixed in
space.

These gears are called planet gears.

The centre lines move in a circular path about the

central axis of the gear train.

Epicyclic gears have significant advantages over

fixed-axes gear trains;

The arrangement is compact, i.e., not bulky.

The gears are constantly in mesh.
The load is shared between several gears.

Reverse is available without the need for an additional shaft.

Load can be applied gradually.
Several gear ratios can be obtained.

Scope of this section

1. Understanding the configuration of the gears,
2. Calculating the number of teeth in the gears,
and
3. Calculating gear ratios using the relative velocity method

We would be solving some examples.

Side view of a simple epicyclic gear train (simplified)

Frontal view of a simple epicyclic gear train (simplified)

Similar to the ring, the

arm also rotates about
the central axis.

Note that there are three shafts that may act as

input or output for the gear train.

Shaft attached to the sun gear,

Shaft attached to the arm, and
Shaft attachd to the ring.

Since there are three shafts involved, it is necessary to define the motion of one of them in order to
calculate the ratio of the other two.

For example, the ring gear may be held stationary,

and therefore, the ratio of the speed of the sun to
the speed of the arm can be calculated.

Use geometry to establish the relations between

the gears in terms of size.

R S + DP = R R ,
RS + 2RP = RR .
Also note that the teeth must be of the same size
in order for the gears to mesh, i.e., the module is
identical for all the gears.

Subtituting the module equations into the geometrical relationship results in;

RS + 2RP = RR .
NP
NR
NS
=
=
.
DS
DP
DR
NS + 2NP = NR

Because the centre lines of the planets are not

fixed in space, the normal relationships for gear
ratios and teeth numbers do not apply. They only
apply when the centres are fixed in space.

There is no problem with the sun because the centre of the sun is fixed in space.

However, the centre of the planet is not fixed!

The simplest way to analyse epicyclic gear trains

involves the method of relative velocities.

Since it is the arm (or carrier) that is causing the

centre of the planet to move in space, it is a good
idea to write the angular velocities of the gears
relative to the arm.

Then the arm would appear to be stationary, while

the angular velocities of the various gears will
change and become those that are relative to the
arm.

The angular velocity of the gears (relative to the

ground)

The angular velocity of the gears (relative to the

arm)

The arm has become stationary.

If the arm now appears to be stationary, the angular velocities of the gears (written relative to the arm)
would follow the normal relationship with respect to the
number of teeth and the (relative) rotational speeds.

Thus, relative to the arm, (which now appears stationary) we write - (for example for external teeth);

1
2

arm

N2
N1

Note: each of the rotational speeds is written relative to the arm.

Let us apply the relative velocity method to a simple epicyclic gear train

We form the quotient of the angular speed of the

sun to the angular speed of the ring.
Both are measured relative to the arm.

Consider the path sun planet ring.

The gear ratio is as follow;

sun
ring

arm

sun
ring

arm

First consider the left hand side of the equation

The angular speed of the sun relative to the arm is

given as

sun arm ,
and the angular speed of the ring relative to the
arm is given as

ring arm

Therefore the left hand side of the equation becomes

sun arm
LHS =
ring arm
Now lets consider the right hand side of the equation

Since the arm appears to be stationary, the

right hand side becomes as follow

sun
ring

arm

S P
=
,
P R
NR
NP
)(+
)
= (
NS
NP

Note that the planet and ring rotate in the same

direction relative to the arm. The ring has internal
teeth.

Equating both sides of the equation produces

S A
R A

NR
NS

All simple epicyclic gear trains can be solved using

this equation!

It is a normal equation for a simple gear train, except that the gear speeds are now written relative
to the arm.

Lets solve some examples to gain a better

understanding.

Example

The sun in a simple epicyclic gear train has 40 teeth,

and the planet has 20 teeth. The ring gear is held stationary while the sun gear rotates at 100 rpm in the
clockwise direction. Find the speed of the arm.

First find the number of teeth present in all the

gears.

RR = RS + 2RP ,
NR = NS + 2NP ,
= 40 + 2(20),
= = 80 teeth.

Consider the path from sun planet ring

sun
ring

arm

sun arm
ring arm

sun planet
=
,
planet ring arm



Nplanet
Nring
,
=

+
Nsun
Nplanet


Nring
.
=
Nsun

Having found the number of teeth and the equation

for the gear ratio, we can determine its value.

S A
NR
=
,
R A
NS
80
100 A
= ,
0 A
40
A = 33.33 rpm.

The arm thus rotates in the same direction as the

sun, but at 1/3 the speed.

Example of simple epicyclic gear train

The sun in an epicyclic gear train
has 24 teeth, and the planet has
20 teeth. Find all of the gear ratios possible, if in turn one of the
input/output members is held stationary.
The input/output members could either be the
sun/ring/arm.

NS + 2NP = NR
S A
R A

NR
NS

NR = NS + 2NP
= 24 + 2(20)
= 64 teeth.

If the sun gear was stationary

NR
S A
=
,
R A
NS
0 A
64
= ,
R A
24
11
R
=

A
8

If the sun gear was stationary

Consider path of sun

planet,

S
( )ARM
P
S A
P A
0 A
P A
P

=
=
=
=

S
( )ARM ,
P
NP

,
NS
20
,
24
22
10

If the ring gear was stationary

NR
S A
=
,
R A
NS
S A
64
= ,
0 A
24
11
S
=

A
3

If the arm was stationary

S A
NR
=
,
R A
NS
64
S 0
= ,
R 0
24
8
S
=

R
3

We now move on from a simple epicyclic gear

train to a compound epicyclic gear train

Introduction to compound epicyclic gear

train
Compound epicyclic gear trains have two gears, or
perhaps more, (depending on the complexity of the
configuration) compounded.

Compared to a simple epicyclic gear train, a compound epicyclic gear train is able to provide a wider
range of gear ratios and options.

Our plan
We will consider a number of different compound
epicyclic gear trains, to illustrate the method of analysis.

The actual approach adopted will depend, in each

case, on the detail of the configuration.

It is important to understand the basic concepts

and adapt the analysis to suit a particular
configuration.

Analysis method
Similar to the simple epicyclic gear train, we will
first examine the relationships that allow us to calculate the number of teeth in the various gears

Next, we decide on the path of motion transfer and

apply the chain rule when determining the gear ratios.

Compound planet gears and two sun

gears

The planet gears are rigidly connected together

with a shaft. The planets and shaft are free to rotate in the housing connected to the arm.

Distance between the centre of the planet and the

centre of the sun gears is fixed.

RS1 + RP 1 = RS2 + RP 2

Since the gears have the same module, therefore,

we can find the relationship of the gears in terms
of the number of teeth

NS1 + NP 1 = NS2 + NP 2

The equations for calculating the gear ratios are

written as relative to the arm.

We may consider either path; (S1

S2 ) or (S2 P2 P1 S1 )

P1 P2

Gear ratio is input speed/output speed.

If we consider path (S1

P1 P2 S2 ), the

gear ratio is as follow;

S1
S2

arm

S1 P 1 P 2
P 1 P 2 S2

arm

S1 P 1 P 2
S1
=
,
S2 arm
P 1 P 2 S2 arm
S1 arm
NP 1
NS2
= (
)(1)(
)
S2 arm
NS1
NP 2

S1 arm
S2 arm

NP 1 NS2
( NS1 NP 2 )

Example 2; Compounded planets with sun

and ring

Use geometry to find the equation for the gears in

terms of the pitch circle diameter.

The vertical distance between the two centre lines

is fixed.

RS1 + RP 1 = RR2 RP 2

For teeth of the same module,

NS1 + NP 1 = NR2 NP 2

Lets consider the path S1

P1 P2 R2 .

The gear ratio is as follow;

S1
R2

arm

S1 P 1 P 2
P 1 P 2 R2

arm

S1
R2

arm

S1 P 1 P 2
=
,
P 1 P 2 R2 arm
NP 1
NR2
= (
)(1)(
).
NS1
NP 2

S1 arm
R2 arm

P 1 NR2
= N
NS1 NP 2

In the compound epicyclic gear train shown, all

teeth have the same module. The driving gear,
A, has 14 teeth, the ring gear, C, has 100 teeth,
and ring gear, E, has 98 teeth. Gear C rotates at
1 rpm anticlockwise while gear A rotates clockwise
at 100 rpm. What is the speed of E?

First find the number of teeth in gear B.

RA + 2RB = RC ,
NA + 2NB = NC ,
14 + 2NB = 100,

NB = 43 teeth.

Next find the number of teeth in gear D.

RA + RB = RE RD ,
NA + NB = NE ND .

14 + 43 = 98 ND ,
ND = 41 teeth.

We need to calculate the output speed (E), but

since our calculations will require the arm speed,
we have two unknowns and only one equation!

Therefore, we must first calculate the arm speed.

We consider path A B C (relative to the arm)

We know that the sun gear A rotates 100rpm clockwise, and the ring gear C rotates at 1 rpm anticlockwise.

A B
A
)arm ,
= (
C arm
B C
NC
NC
NB
A arm
)(+
)=
.
= (
C arm
NA
NB
NA

Assuming clockwise rotation to be negative,

NC
A arm
=
,
C arm
NA
100
100 arm
=
,
1 arm
14
arm = 11.4 rpm.
Thus, the arm turns clockwise at 11.40 rpm.

Now that we have found the arm speed, we can

next determine the speed of the planet gear B.

There are several possibilities! Perhaps path A

B (relative to the arm)?

Consider path A B,

NB
A arm
=
,
B arm
NA
100 (11.4)
43
= ,
B (11.4)
14
B = 17.44 rpm.
The planet gear B turns anti-clockwise at 17.44
rpm.

What if we have used path C B?

Would we still get the same answer as the previous

path of A B?

Consider path C B,

NB
C arm
=
,
B arm
NC
1 (11.4)
43
=
,
B (11.4)
100
B = 17.44 rpm.
The planet gear B is still turning anti-clockwise at
17.44 rpm.

The path doesnt matter!

To find the speed of the output, E, a possibility of

the path is A B D E (as usual, relative to
the arm)

A B D
A
=
,
E arm
B D E arm
A arm
NB
NE
= (
)(1)(+
).
E arm
NA
ND

A arm
NB
NE
= (
)(1)(+
),
E arm
NA
ND
100 (11.4)
43
98
= ( )(1)(+ ),
E (11.4)
14
41
E = 0.66 rpm.
Therefore the output gear, ring 2, rotates anticlockwise at 0.66 rpm.

In order to check our results, we can consider an

alternative path, i.e., E D (relative to the arm).

ND
E arm
=
D arm
NE

E arm
ND
=
,
D arm
NE
E (11.4)
41
=
,
17.44 (11.4)
98
E = 0.66 rpm.
The speed of
the path.

E is still the same irrespective of

Yet another path towards finding the output speed

is as follow; C B D E (relative to the arm)

C
E

arm

C B D
B D E

arm

C arm
NB
NE
= (
)(1)(
),
E arm
NC
ND
1 (11.4)
43
98
=
(1) ,
E (11.4)
100 41
E = 0.66 rpm.
It turns out the specific path taken is really not that
important in determining the speed of the gear.

You would have to apply some judgement.

One final example

A compound epicyclic gear train consists of two

P1 and P2 , a sun gear, S,

and two ring gears, R1 and R2 .
compounded planets,

The common carrier (arm) for the planets is free to

rotate on the input shaft. All gears have the same
module.

Gear

Teeth

10

P2

35

P1

34

R1

79

R2

80

As a first step, lets check the number of teeth in

the simple epicyclic train.

RS + 2RP 2 = RR2

The gears have the same module.

NS + 2NP 2 = NR2 ,
10 + 2(35) = 80

Next, we check the teeth number on the other side.

Parallel axes distance between the suns and the

planets centre lines must be fixed.

RR1 RP 1 = RS + RP 2

NR1 NP 1 = NS + NP 2 ,
NR1 NP 1 = 10 + 35 = 45,
NS + NP 2 = 79 34 = 45.

If we had considered only the simple epicyclic gear

train (S1 P2 R2 ), we would not be able to find the
required gear ratio (input/output).

Why?

This is because we do not know the speed of the

carrier (arm),
input shaft).

C1 (which is free to rotate on the

Before proceeding to derive the gear ratio, ask yourself these two questions.

Where should I start and finish?

What information is given regarding the speeds

of the various gears?

Lets consider the path S

P2 P1 R 1 .

As usual, the path must be relative to the carrier

(or arm)

S
R1

arm

S P2 P1
P2 P1 R1

arm

S arm
NP2
NR1
= (
)(1)(
)
R1 arm
NS
NP1

NR1
S arm
NP2
= (
)(1)(
),
R1 arm
NS
NP1
35
79
S arm
= ( )(1)( ),
0 arm
10
34
68
arm
=

.
S
621
Thus the arm rotates in the same direction as the
input and at about 11% of its speed.

Now that we have found the arm speed (sort of),

we can try to find the output speed.

Lets consider the path

S P2 R2 , all rela-

tive to the arm (as usual)

NR2
S arm
=
,
R2 arm
NS
80
= = 8.
10

Recall that earlier we have found the ratio of arm

speed to the sun speed as follow;

arm
68
=
.
S
621
We can substitute the above into the gear ratio for

S P2 R2 , i.e.,
68
S 721 S
68
R2 621 S

= 8

Therefore the gear ratio (after some manipulation)

is as follow;

S
= 552
R2
This is the required speed ratio.

For example, if the input rotates at 552 rpm, the

output would rotate at 1 rpm in the opposite direction.

Input and output rotates in opposite direction.

What would the speed of the arm (carrier) be?

arm

68
=
S = 60.44 rpm
621

What about the planets?

There are a couple of options for the path, i.e.,

S P2 or R2 P2 or R1 P1 .
They should all give the same result!

Lets try R1

P1 (relative to the arm)

R1 arm
NP1
= +
,
P1 arm
NR1
34
0 60.44
=
,
P1 60.44
79

 P1 = 80 rpm
Lets try a different path,
results.

S P2 to check our

Path S

P2 (relative to the arm)

S arm
NP2
=
,
P2 arm
NS
552 60.44
35
= ,
P2 60.44
10

 P2 = 80 rpm
Our results confirm that the speed of the planet is
correct.

Is it possible, for a given input, to rotate the ring

gear R1 at some particular speed, so that the output, R2 , is stationary?
Lets set the input speed at say 1000 rpm.

Since we know the rotational speeds of S and R2 ,

we can consider the path S

P2 R2 (relative

to the arm) in order to find the arm speed.

Path S

P2 R2 (relative to the arm)

S P2
S
=
,
P2 arm
P2 R2
80
1000 arm
= ,
0 arm
10

Path S

P2 R2 (relative to the arm)

arm

1000
rpm
=
9

Now that we have found the arm speed, we can

consider the speed of the ring gear R1 .
Lets use the following path,

R1 .

S P2 P1

S P2 P1
S
=
,
R1 arm
P2 P1 R1 arm
S arm
NP2
NR1
= (
)(1)(
),
R1 arm
NS
NP1

S arm
NP2
NR1
= (
)(1)(+
),
R1 arm
NS
NP1
1000
1000 9
35
79
= ( )(1)(+ ),
1000
10
34
R1 9

 R1 = 1.81 rpm
Thus if the ring gear

R1 is rotated at 1.81 rpm in

the same direction as that of the input gear, the

output gear would be stationary!

Solution strategies in analysing gear trains

The number of teeth in the gears always has
something to do with the geometry of the gear train,

The rotational speeds of the gears (in epicyclic

gear trains) are always written relative to the arm,

Observe how the gear train works to get an idea

on where to start the analysis,

 In particular, look to see where there is information given or required about rotational speeds,

Decide on a path that makes sense, and will

use the information about rotational speeds,

The path does not necessarily have to start at

the input and go to the output.

Well done!
You have successfully endured Chapters 1 to 4 of
this unit.

The final written examination

Two hours for working + ten minutes for reading.

Four questions of equal weight; all major sections are examined, (rotation about a fixed axis,
free vibrations, mechanisms, gears).

Non-examinable topics: forced vibrations and belt

drives.

You would not be expected to draw any acceleration diagrams.

In general, for engineering exams, marks are

geared towards the solution methodology

In other words, the approach matters more than

the final answer!

For ENG1040, about 80% of the total marks would

go towards the solution method.

Fixed-axis rotation questions

Can be linear, rotational or coupled systems.
Involves the application of Newtons 2nd law of
motion.

You can also use the work energy principle in

solving this type of questions.

Things to watch out for

Not knowing how to calculate the moment of inertia,

Using an inconsistent sign convention,

Incorrectly identifying the forces that are acting
ON a body,

Incorrectly identifying the torques that are acting

ON a body,

Using the wrong equation of motion; linear, or

rotational

Vibration questions
The question usually involves

deriving the equation of motion, and

solving the equation of motion to obtain the kinematic quantities such as displacement, velocity, acceleration etc.
As in the fixed axes rotation case, a free body
diagram would have to be drawn.

Things to look out for in vibration questions

Confusing series and parallel springs,

Forgetting the basic equations e.g. natural frequency, period, static deflection, etc,

Forgetting the equations for displacement, velocity and acceleration, and their amplitudes,

Not knowing how to calculate A and B from the

initial conditions, or from information about amplitude,

Confusing the units, e.g. rad/s or Hz,

Mechanisms questions
Solve for the velocity of some points in a relatively uncomplicated mechanism.

Usually involves identification of some instantaneous centres.

You are free to use either the IC method or the

Velocity diagram.

Things to look out for when using the IC method

By just drawings lines everywhere, (it feels good

to draw lines; lots of them!)

Forgetting the two basic methods for finding instantaneous centres; what are they?

By not systematically moving from one member

to the next; where is the common point?

By ignoring the scale of the diagram

By using incorrect units; rpm instead of rad/s
Forgetting the equations; v = r.

Things to look out for when using velocity diagram

The process by which the mechanism works is

not considered, consequently lots of lines are just
drawn everywhere (it feels good to draw lines),

The velocity diagram is not drawn systematically,

The velocity diagram is drawn to an inappropriate scale,

The velocity diagram and the mechanism diagram are confused.

Things to look out for in gearing questions

Choosing a path that does not have adequate

prior information,

Not taking the speed ratio of compounded gears

as unity,

Not taking the speed ratio as relative to the arm

for epicyclic gear trains,

Forgetting to adopt a sign convention.