12154H42P DYNAMICS OF MACHINERY

AIM:
To impart the knowledge about the effect of forces on the machines and the methods
to control them
OBJECTIVE
To understand the force-motion relationship in components subjected to external forces.
To understand the force-motion analysis of standard mechanisms.
To understand the undesirable effects of unbalances resulting from prescribed motions in
mechanism.
To understand the effect of Dynamics of undesirable vibrations.
To understand the principles in mechanisms used for governing of machines.
UNIT I:
FORCE ANALYSIS IN MOVING PARTS
10
Rigid Body dynamics in general plane motion Equations of motion - Dynamic force analysis - Inertia force
and Inertia torque DAlemberts principle - - Dynamic Analysis in Reciprocating Engines Gas Forces Equivalent masses - Bearing loads - Crank shaft Torque - Turning moment diagrams - Fly wheels
UNIT II: BALANCING OF MOVING PARTS
9
Static and dynamic balancing - Balancing of rotating masses Balancing-single cylinder Multi-cylinder Partial balancing in locomotive Engines - Balancing linkages - balancing machines
UNIT III: FREE VIBRATIONS
10
Basic features of vibratory systems - idealized models - Basic elements and lumping of parameters - Degrees of
freedom - Single degree of freedom - Free vibration - Equations of motion - natural frequency - Types of
Damping - Damped vibration critical speeds of simple shaft - Torsional systems
UNIT IV: FORCED VIBRATIONS
6
Response to periodic forcing - Harmonic Forcing - Forcing caused by unbalance - Support motion Force
transmissibility and amplitude transmissibility Vibration - isolation.
UNIT V:
MECHANISMS FOR CONTROL
10
Governors - Types - Centrifugal governors - Gravity controlled and spring controlled centrifugal governors
Characteristics - Effect of friction - Controlling Force Gyroscopes - Gyroscopic forces and Torques - Gyroscopic stabilization - Gyroscopic effects in Automobiles,
ships and airplanes
TUTORIAL 15

TOTAL HOURS: 60

TEXT BOOKS:
1.
Rattan S.S., "Theory of Machines", Tata McGraw-Hill Publishing Company Ltd., New Delhi, 1994.
2.
Thomas Bevan, "Theory of Machines", CBS Publishers and Distributors, 1984.
REFERENCES:
1
Ghosh A. and Mallick A.K., "Theory of Mechanisms and Machines", Affiliated East-West Press Pvt.
Ltd., New Delhi, 1988.
2
Shigley J.E. and Uicker J.J., "Theory of Machines and Mechanisms", McGrawHill, Inc., 1995.
3.
Rao J.S. and Dukkipati R.V., "Mechanism and Machine Theory ", Wiley-Eastern Limited, New Delhi,
1992.
4
John Hannah and Stephens R.C., "Mechanics of Machines", Viva low-Priced Student Edition, 1999.
5
Sadhu Singh Theory of Machines Pearson Education, 2002.

UNIT I FORCE ANALYSIS IN MOVING PARTS

Part A
1. Define Static force analysis.
2. Define force and applied force.
3. Give any 3 advantages of free body diagram
4. What do you mean by inertia?
5. Define inertia force?
6. State D Alemberts principle?
7. Define: piston effort?
8. Explain the term maximum fluctuation of energy in flywheel?
9. What is meant by maximum fluctuation of speed?
10. List out few machines in which fly wheel is used?
PART B
1. The crank and connecting rod of a steam engine are 0.3 m and 1.5 m in length. The crank rotates at 180
r.p.m. clockwise. Determine the velocity and acceleration of the piston when the crank is at 40 degrees
from the inner dead centre position. Also determine the position of the crank for zero acceleration of
the piston
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 1. The crank angle at which the maximum velocity occurs and
occurs and 2. Maximum velocity of the piston
3. 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.
4. The crank-pin circle radius of a horizontal engine is 300mm.The mass of the reciprocating parts 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/mm 2. The connecting rod length between centres is 1.2 m and the cylinder bore is
0.5 m. If the engine runs at 250 r.p.m. 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.
5. 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 37.5 kg. When permitted to oscillate, the time period is found to be
1.87 seconds. Find the dynamical equivalent system constituted of two masses, one of which is located
at the small end centre.
6. The turning moment diagram for a multicylinder 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 the 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.

UNIT II BALANCING OF MOVING PARTS

Part A
1. Write the importance of balancing?
2. Why balancing of dynamic forces are necessary?
3. Write the different types of balancing.
4. Define static balancing.
5. State the condition for static balancing.
6. Dynamic balancing implies static balancing. Justify.
7. Write the condition for complete balancing.
8. Write the equation for balancing a single rotating mass by a single mass.
9. Define Dalbys method of balancing masses.
10. Write the phenomenon of transferring forces from one plane to another.

PART-B
1. A shaft carries four masses A, B, C and D of magnitude 200 kg, 300 kg,400 kg and 200 kg respectively
and revolving at radii 80 mm, 70 mm, 60 mm and 80 mm in planes measured from A at 300 mm, 400
mm and 700 mm. 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 the
planes A and X is 100 mm, between X and Y is 400 mm and between Y and D is 200 mm. If the
balancing masses revolve at a radius of 100 mm, find their magnitudes and angular positions.
2. Four masses A, B, C and D as shown below are to be completely balanced
A
B
C
D
Mass, Kg
--30
50
40
Radius ,mm
180
240
120
150
The planes containing masses B and C are 300 mm apart. The angle between planes containing B and C is 90.
B and C make angles of 210 and 120 respectively with D in the same sense. Find
(i) The magnitude and the angular position of mass A
(ii) The position of planes A and D.
3. A, B, C and D are four masses carried by a rotating shaft at radii 100, 125, 200 and 150 mm
respectively. The planes in which the masses revolve are spaced 600 mm apart and the mass of B, C
and D are 10 kg, 5 kg, and 4 kg respectively. Find the required mass A and the relative angular settings
of the four masses so that the shaft shall be in complete balance.
4. A two-cylinder uncoupled locomotive has inside cylinders 0.6m apart . The radius of each crank is 300
mm and are at right angles . the revolving mass per cylinder = is 250 kg and the reciprocating mass per
cylinder is 300 kg. The whole of the revolving and two-third of the reciprocating masses to be
balanced and the balancing masses are to be placed in the planes of rotation of the driving wheels a
radius of 0.8 m . the driving wheels are 2 m in diameter and 1.5 m apart. If the speed of the engine is
80 km/hr, determine
a) Hammer blow,
b) Maximum variation in tractive force
c) Maximum swaying couple.
5. The following particulars are related to an outside cylinder of an uncoupled locomotive:
Revolving mass per cylinder = 300 kg; Reciprocating mass per cylinder = 450 kg; Length of each
crank = 350 mm; Distance between wheels = 1.6 m; Distance between the cylinder centres =1.9 m;
Diameter of the driving wheels = 2m; Radius of balancing mass = 0.8m; Angle between the cranks =
90. If the whole of revolving and two-third of reciprocating masses are to be balanced in planes of the
driving wheels, determine:
(i)
Magnitude and angular positions of the balance mass
(ii)
Speed at which the wheel will lift off the rails when the load on each driving wheel is 35 kN, and
(iii)
Swaying couple at speed arrived in (ii) above.

6. The crank of a two cylinder uncoupled inside cylinder locomotive are at right angles and are 300 mm
long. The distance between centre lines is 650 mm. The wheel central lines are 1.6 m apart. The
reciprocating mass pair cylinder is 300 kg. The driving wheel diameter is 1.8 m. If the hammer blow is
not to exceed 45 kN at 100 km/hr. Determine
(i) The fraction of the reciprocating masses to be balanced
(ii) The variation in tractive effort
(iii) The maximum swaying couple
UNIT III FREE VIBRATIONS

Part A
1. What are the different types of vibrations?
2. State different methods of finding natural frequency of a system?
3. What is meant by free vibration and forced vibrations?
4. What do you mean by damping and damped vibration?
5. Define resonance?
6. What are the various types of damping?
7. What is the limit beyond which damping is detrimental and why?
8. What is meant by critical damping?
9. Define critical or whirling or whipping speed of a shaft?
10. What are the factors that affect the critical speed of a shaft?
PART B
1. A shaft of length 0.75 m, supported freely at the ends, is carrying a body of mass 90 kg at 0.25 m from
one end. Find the natural frequency of transverse vibration. Assume E = 200 GN/m 2 and shaft diameter
= 50 mm.
2. A shaft 50 mm diameter and 3 metres long is simply supported at the ends and carries three loads of
1000 N, 1500 N and 750 N at 1 m, 2 m and 2.5 m from the left support. The Young's modulus for shaft
material is 200 GN/m2. Find the frequency of transverse vibration
3. The following data are given for a vibratory system with viscous damping Mass = 2.5 kg ; spring
constant = 3 N/mm and the amplitude decreases to 0.25 of the initial value after five consecutive
cycles. Determine the damping coefficient of the damper in the system.
4. The measurements on a mechanical vibrating system show that it has a mass of 8 kg and that the
springs can be combined to give an equivalent spring of stiffness5.4 N/mm. If the vibrating system
have a dashpot attached which exerts a force of 40 N when the mass has a velocity of 1 m/s, find : (i)
critical damping coefficient, (ii) damping factor, (iii) logarithmic decrement, and (iv) ratio of two
consecutive amplitudes.
5. A machine of mass 75 kg is mounted on springs and is fitted with a dashpot to damp out vibrations.
There are three springs each of stiffness 10 N/mm and it is found that the amplitude of vibration
diminishes from 38.4 mm to 6.4 mm in two complete oscillations. Assuming that the damping force
varies as the velocity, determine: (i) the resistance of the dashpot at unit velocity ; (ii) the ratio of the
frequency of the damped vibration to the frequency of the undammed vibration ; and (iii) the periodic
time of the damped vibration.
6. The mass of a single degree damped vibrating system is 7.5 kg and makes 24 free oscillations in 14
seconds when disturbed from its equilibrium position. The amplitude of vibration reduces to 0.25 of its
initial value after five oscillations. Determine: (i) stiffness of the spring, (ii) logarithmic decrement, and
(iii) damping factor, i.e. the ratio of the system damping to critical damping.

UNIT IV FORCED VIBRATIONS

Part A
1. What is meant by transmissibility?
2. Briefly explain elastic suspension.
3. Specify any 2 industrial applications where the transmissibility effects of vibration are important.
4. Specify the importance of vibration isolation.
5. What are the methods of isolating the vibration?
6. Define forced vibration.
7. Give some examples of forced vibration.
8. What are the various types of external forces that cause vibration?
9. Define transient vibration.
10. What are the types isolation?

PART-B
1) A mass of 10 kg is suspended from one end of a helical spring, the other end being fixed. The stiffness
of the spring is 10 N/mm. The viscous damping causes the amplitude to decrease to one-tenth of the
initial value in four complete oscillations. If a periodic force of 150 cos 50t N is applied at the mass in
the vertical direction, find the amplitude of the forced vibrations. What is its value of resonance?
2) A shaft of 100 mm diameter and 1 metre long has one of its end fixed and the other end carries a disc of
mass 500 kg at a radius of gyration of 450 mm. The modulus of rigidity for the shaft material is 80
GN/m2. Determine the frequency of torsional vibrations.
3) The mass of an electric motor is 120 kg and it runs at 1500 r.p.m. The armature mass is 35 kg and its
C.G. lies 0.5 mm from the axis of rotation. The motor is mounted on five springs of negligible
damping so that the force transmitted is one-eleventh of the impressed force. Assume that the mass of
the motor is equally distributed among the five springs. Determine : (i) stiffness of each spring; (ii)
dynamic force transmitted to the base at the operating speed; and (iii) natural frequency of the system.
4) A shaft of 150 mm diameter and 1.5 metre long has one of its end fixed and the other end carries a disc
of mass 600 kg at a radius of gyration of 550 mm. The modulus of rigidity for the shaft material is 80
GN/m2. Determine the frequency of torsional vibrations.
5) A steel shaft 1.5 m long is 95 mm in diameter for the first 0.6 m of its length, 60 mm in
diameter for the next 0.5 m of the length and 50 mm in diameter for the remaining 0.4 m of its length.
The shaft carries two flywheels at two ends, the first having a mass of 900 kg and 0.85 m radius of
gyration located at the 95 mm diameter end and the second having a mass of 700 kg and 0.55 m radius
of gyration located at the other end. Determine the location of the node and the natural frequency of
free torsional vibration of the system. The modulus of rigidity of shaft material may be taken as 80
GN/m2.
6) A 4-cylinder engine and flywheel coupled to a propeller are approximated to a 3-rotor system in which
the engine is equivalent to a rotor of moment of inertia 800 kg-m2, the flywheel to a second rotor of
320 kg-m2 and the propeller to a third rotor of 20 kg-m2. The first and the second rotors being
connected by 50 mm diameter and 2 metre long shaft and the second and the third rotors being
connected by a 25 mm diameter and 2 metre long shaft. Neglecting the inertia of the shaft and
taking its modulus of rigidity as 80 GN/m2, determine: (i) Natural frequencies of torsional
oscillations, and (ii) The positions of the nodes.

UNIT V MECHANISMS FOR CONTROL

Part A
1. What is the function of Governor?
2. How governors are classified?
3. What do you mean by governor effort?
4. Define power of a governor?
5. What is meant by sensitiveness of a governor?
6. Define coefficient of sensitiveness?
7. What is meant by hunting?
8. Explain the term stability of governor?
9. What is meant by isochronous condition in governors?
10. Give the application of gyroscopic principle?
PART B
1. A Porter governor has equal arms each 250 mm long and pivoted on the axis of rotation. Each ball
has a mass of 5 kg and the mass of the central load on the sleeve is 25 kg. The radius of rotation of
the ball is 150 mm when the governor begins to lift and 200 mm when the governor is at maximum
speed. Find the minimum and maximum speeds and range of speed of the governor
2. The arms of a Porter governor are 300 mm long. The upper arms are pivoted on the axis of rotation.
The lower arms are attached to a sleeve at a distance of 40 mm from the axis of rotation. The mass
of the load on the sleeve is 70 kg and the mass of each ball is 10 kg. Determine the equilibrium
speed when the radius of rotation of the balls is 200 mm. If the friction is equivalent to a load of 20
N at the sleeve, what will be the range of speed for this position?
3. A Proell governor has equal arms of length 300 mm. The upper and lower ends of the arms are
pivoted on the axis of the governor. The extension arms of the lower links are each 80 mm long and
parallel to the axis when the radii of rotation of the balls are 150 mm and 200 mm. The mass of
each ball is 10 kg and the mass of the central load is 100 kg. Determine the range of speed of the
governor.
4. The turbine rotor of a ship has a mass of 8 tonnes and a radius of gyration 0.6 m. It rotates at 1800
r.p.m. clockwise, when looking from the stern. Determine the gyroscopic couple, if the ship travels
at 100 km/hr and steer to the left in a curve of 75 m radius
5. The mass of the turbine rotor of a ship is 20 tonnes and has a radius of gyration of 0.60 m. Its speed
is 2000 r.p.m. The ship pitches 6 above and 6 below the horizontal position. A complete
oscillation takes 30 seconds and the motion is simple harmonic. Determine the following (i)
Maximum gyroscopic couple, (ii) Maximum angular acceleration of the ship during pitching and
(iii) The direction in which the bow will tend to turn when rising, if the rotation of the rotor is
clockwise when looking from the left.
6. An aeroplane makes a complete half circle of 50 metres radius, towards left, When flying at 200 km
per hr. The rotary engine and the propeller of the plane has a mass of 400 kg and a radius of
gyration of 0.3 m. The engine rotates at 2400 r.p.m. clockwise when viewed from the rear. Find the
gyroscopic couple on the aircraft and state its effect on it.