TOM

Theory of Machies
Practical Manuel
Ph. No. : +919099573650
II Prepared by II
Vimal Patel
Mechanical Engineering Department, SVNIT, Surat 395007
E-mail : - vimalpatel.svnit@gmail.com
Page 1 of 4
Theory of Machies
Sheet No :1
Types of CAMS
Types of CAMS
1
[A] Types of cams according to Shape
1. Wedge and Flat cams
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Page 2 of 4
Theory of Machies
Sheet No :1
Types of CAMS
2. Radial or Disc Cams
3. Spiral Cams
4. Cylindrical Cam
5. Conjugate Cams
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Page 3 of 4
Theory of Machies
Sheet No :1
Types of CAMS
6. Globoidal Cams
[B]
7. Spherical Cam
According to follower Movement

1. R-R-R
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2. D-R-R-D
3. D-R-D-R-D
4. D-R-D
Page 4 of 4
Theory of Machies
Sheet No :1
Types of CAMS
Terminology of Cam mechanisms:
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Page 1 of 4
Theory of Machies
Sheet No :2
Machines And Mechanisms
Machine and Mechanism
2
[A] Types of Constrained Motions
1. Completely constrained motion
Fig. Square bar in a square hole.

2. Incompletely constrained motion
Fig. Shaft in a circular hole.
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Fig. Shaft with collars in a circular hole.
Fig. Shaft in a foot step bearing.
Page 2 of 4
Theory of Machies
Sheet No :2
[B]
Inversions of Four Bar Chain
Fig. Beam engine.

[C] Single Slider Crank Chain
Fig. Coupling rod of a locomotive.
Fig. Pendulum pump.
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Page 3 of 4
Theory of Machies
Sheet No :2
Fig. Oscillating cylinder engine.
Fig. Rotary internal combustion engine.
Fig. Crank and slotted lever quick return motion mechanism.
Fig. Whitworth quick return motion mechanism
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Page 4 of 4
Theory of Machies
Sheet No :2
[C]
Inversions of Double Slider Crank Chain
Fig. Double slider crank Chain
Fig. Scotch yoke mechanism.
Fig. Oldhams coupling.
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Page 1 of 2
Theory of Machies
Sheet No :3
Velocity Analysis [Relative velocity Approach]
Velocity Analysis
Ex.1
[Relative velocity Approach]
In a four link mechanism shown in fig.1, the dimensions of the links are as under:
AB = 50 mm
BC = 66 mm
CD = 56 mm
AD = 100 mm
At the instant when angle DAB = 60, the link AB has an angular velocity of 10.5 rad/s in the counter clockwise
direction. Determine,
i. Velocity of the point C.
ii. Velocity of the point E on the link BC when BE=40mm.
iii. Angular velocities of the links BC and CD.
iv. Velocity of an offset point F on the link BC if BF = 45 mm, CF = 30 mm and BCF is read clockwise.
v. Velocity of an offset point G on the link CD if CG = 24 mm, DG = 44 mm and DCG is read clockwise.
vi. Velocity of rubbing at pins A, B,C and D when the radii of the pins are 30, 40, 25 and 35 mm respectively.
Answers:
[i] Vc 0.39 m / s
[v] Vg 0.306 m / s
[ii] Ve 0.415 m / s
[vi] VrB 0.626 m / s
cb 5.15 rad / s
VrC 0.303 m / s
[iii]
cd 6.96 rad / s
VrA 0.315 m / s
[iv] V f 0.495 m / s
V 0.244 m / s
rD
Figure 1
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Velocity diagram
Page 2 of 2
Theory of Machies
Sheet No :3
Ex.2
Velocity Analysis [Relative velocity Approach]
An engine crankshaft drives a reciprocating pump through a mechanism as shown in figure 2. The crank rotates in the
clockwise direction at 160rpm. The diameter of the pump piston at F is 200 mm. Dimensions of the various links are
CD = 170 mm
AB = 660 mm
OA = 170 mm (Crank)
BC = 510 mm
DE = 830 mm
For the position of the crank shown in the diagram, determine the,
i. Velocity of cross head E.
ii. Velocity of rubbing at pins A, B, C and D, the diameters being 40, 30, 30 and 50 mm respectively.
iii. Torque required at shaft O to overcome a pressure of 300 kN/m2 at the pump piston at F.
Answers:
[i] Ve 0.54 m / s
[ii] VrA 0.26 m / s
VrB 0.107 m / s
VrC 0.05 m / s
VrD 0.079 m / s
[iii] T 303.66 Nm
Figure. 2
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Velocity Diagram
Page 1 of 2
Theory of Machies
Sheet No :4
Velocity Analysis [Instantaneous Centre Method]
Ex.1
Velocity Analysis
[Instantaneous Centre Method]
Figure 1 shows a six link mechanism. The dimensions of the links are OA = 100 mm, AB = 580 mm, BC = 300 mm, QC = 100
mm and CD = 350 mm. The crank OA rotates in clockwise at 150 RPM. For the position when crank OA makes an angle of
30 with the horizontal, determine:
i. Linear velocities of the pivot points B, C and D.
ii. Angular velocities of the links AB, BC and CD.
Solution
Figure 1
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Answers:
[i] Vb 2.66 m / s
Vc 1.33 m / s
Vd 0.788 m / s
[ii] ab 5.88 rad / s
bc 13.3 rad / s
cd 2.66 rad / s
Instantaneous centers
Page 2 of 2
Theory of Machies
Sheet No :4
Ex.2
Velocity Analysis [Instantaneous Centre Method]
Figure 2 shows a sewing needle bar mechanismO1ABO2CD wherein the different dimensions are as follows:
Crank O1A = 16 mm; = 45; Vertical distance between O1 and O2 = 40 mm; Horizontal distance between O1 and O2 = 13
mm; O2B = 23 mm; AB = 35 mm; O2BC = 90; BC = 16 mm; CD = 40 mm. D lies vertically below O1.
Find the velocity of needle at D for the given configuration.
The crank O1A rotates at 400 r.p.m.
Solution
Instantaneous centers
Figure 2
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Page 1 of 2
Theory of Machies
Sheet No :5
Acceleration Analysis
Ex.1
Figure shows the configuration diagram of a four link mechanism along with the lengths of the links in mm. The link AB
has an instantaneous angular velocity of 10.5 rad/s and a retardation of 26 rad/s2 in counterclockwise direction. Find:
i. The angular accelerations of the links BC and CD.
ii. The linear accelerations of the points E, F and G.
[i] BC 34.09 rad / s 2

CD 79.11 rad / s 2
[ii] f e 5.15 m / s 2
f f 4.42 m / s 2
f g 3.9 m / s 2
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Page 2 of 2
Theory of Machies
Sheet No :5
Ex.2
In toggle mechanism shown in figure, the crank OA rotates at 120 rpm counter clockwise increasing at the rate of 60
rad/s2. For the given configuration, determine,
i. Velocity of slider D and the angular velocity of link BD.
ii. Acceleration of slider D and the angular acceleration of link BD.
[i] VD 2.54 m / s , BD 6.32 rad / s

[ii] f D 16.4 m / s 2 , BD 109.2 rad / s 2
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Page 1 of 2
Theory of Machies
Sheet No :6
Ex.1
Figure shows a link mechanism of a quick return mechanism of the slotted lever type, the various dimensions of
which are
OA=400 mm
OP = 200 mm
AR = 700 mm
RS = 300 mm
For the given configuration shown, determine the acceleration of the cutting tool at S and the angular acceleration of
the link RS. The crank OP rotates at 210 rpm.
[i] f s 32.8m / s 2 , RS 52.3 rad / s 2 (CW )
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Page 2 of 2
Theory of Machies
Sheet No :6
Ex.2
In the swiveling joint mechanism shown in fig, AB is the driving crank rotating at 300 RPM clockwise. The lengths of
the various links are,
AD = 650 mm AB = 100 mm
BC = 800 mm
DC = 250 mm BE=CE, EF = 400mm OF = 240mm FS=400mm
For the given configuration of the mechanism, determine the acceleration of sliding of the link EF in the trunnion.
[i] f 4.86 m / s 2 in trunioun
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Page 1 of 1
Theory of Machies
Sheet No :7
Cam Profile [Constant Velocity]
Cam Profile
Ex.1
[Constant Velocity]
Cam with 100 mm as minimum diameter is rotating clockwise at a uniform speed of 1200 rpm and has to give the
motion to knife edge follower as defined below:
i.
ii.
iii.
iv.
Follower to complete outward stroke of 40 mm during 600 of cam rotation with uniform velocity.
Follower to dwell for 300 cam rotation.
Follower to return to its initial position during 800 of cam rotation with uniform velocity.
Follower to dwell for the remaining 1900 cam profile.
Layout the cam profile when:
[a] The follower axis passes through the axis of cam
[b] The follower axis is offset to the right by 20mm
Determine the uniform velocity of follower on the outstroke and the return stroke. Also draw displacement, velocity and
acceleration diagrams.
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Page 1 of 1
Theory of Machies
Sheet No :8
Cam Profile [Constant Acceleration and Retardation]
Ex.1
Cam Profile
[Constant Acceleration and Retardation]
Cam with 70 mm as minimum diameter is rotating clockwise at a uniform speed of 1200 rpm and has to give the motion
to the roller follower of 20 mm diameter as defined below:
i. Follower to complete outward stroke of 40 mm during 1200 of cam rotation with equal uniform acceleration and
retardation.
ii. Follower to dwell for 600 cam rotation.
iii. Follower to return to its initial position during 900 of cam rotation with equal uniform acceleration and
retardation..
iv. Follower to dwell for the remaining 900 cam profile.
Layout the cam profile when:
Determine:
i. The uniform acceleration and retardation of follower on out stroke and return stroke.
ii. Maximum velocity of follower during outstroke and return stroke
iii. Acceleration / deceleration of follower after 300 of cam rotation after starting of accent period.
iv. Draw displacement, velocity and acceleration diagrams.
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Page 1 of 1
Theory of Machies
Sheet No :9
Cam Profile [Simple Harmonic Motion]
Cam Profile
Ex.1
[Simple Harmonic Motion]
Cam with 80 mm as minimum diameter is rotating clockwise at a uniform speed of 240 rpm and has to give the motion
to the flat faced follower as defined below:
i. Follower to complete outward stroke of 36 mm during 1200 of cam rotation with Simple Harmonic Motion of
Follower.
ii. Follower to dwell for 300 cam rotation.
iii. Follower to return to its initial position during 1000 of cam rotation with Simple Harmonic Motion.
iv. Follower to dwell for the remaining 1100 cam profile.
Layout the cam profile when;
Determine:
i. The maximum velocity and acceleration of follower during out stroke and return stroke.
ii. Acceleration / deceleration of follower after 300 of cam rotation after starting of accent period.
iii. Draw displacement, velocity and acceleration diagrams.
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Page 1 of 1
Theory of Machies
Sheet No :10
Cam Profile [Cycloidal Motion]
10
Ex.1
Cam Profile
[Cycloidal Motion
Draw the profile of a cam to give the following motion to the oscillating roller follower.
i. Follower to move outwards by an angular displacement of 300 during 1200 of cam rotation with cycloidal motion.
ii. Follower to dwell for 300 of cam rotation at end of out stroke.
iii. Follower to return to its initial position during 1200 of cam rotation with constant acceleration during first half (up
to midway) and with constant velocity during second half (up to end).
iv. Follower to dwell during the next 900 of cam rotation.
The distance between oscillating follower pivot center and cam axis = 115 mm.
The distance between pivot and oscillating roller follower center or length of the follower = 100 mm
Minimum radius of the cam = 50 mm
Follower roller radius = 10 mm
Speed of the cam = 500 rpm in anticlockwise direction.
Determine;
i. Maximum linier velocity and acceleration during accent.
ii. Constant acceleration and velocity during return.
iii. Draw graph of linier displacement, velocity and acceleration with reference to cam rotation angle to the scale.
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Theory of Machies

Ph. No. : +919099573650

Vimal Patel : +919099573650

Mechanical Engineering Department, SVNIT, Surat 395007

2. Radial or Disc Cams

Vimal Patel : +919099573650

Mechanical Engineering Department, SVNIT, Surat 395007

According to follower Movement

Vimal Patel : +919099573650

Mechanical Engineering Department, SVNIT, Surat 395007

Vimal Patel : +919099573650

Mechanical Engineering Department, SVNIT, Surat 395007

Machines And Mechanisms

Machine and Mechanism

Fig. Square bar in a square hole.

Fig. Shaft in a circular hole.

Vimal Patel : +919099573650

Fig. Shaft with collars in a circular hole.

Fig. Shaft in a foot step bearing.

Mechanical Engineering Department, SVNIT, Surat 395007

Machines And Mechanisms

Inversions of Four Bar Chain

Fig. Beam engine.

Fig. Coupling rod of a locomotive.

Fig. Pendulum pump.

Vimal Patel : +919099573650

Mechanical Engineering Department, SVNIT, Surat 395007

Machines And Mechanisms

Fig. Oscillating cylinder engine.

Fig. Rotary internal combustion engine.

Fig. Crank and slotted lever quick return motion mechanism.

Fig. Whitworth quick return motion mechanism

Vimal Patel : +919099573650

Mechanical Engineering Department, SVNIT, Surat 395007

Machines And Mechanisms

Inversions of Double Slider Crank Chain

Fig. Double slider crank Chain

Fig. Scotch yoke mechanism.

Fig. Oldhams coupling.

Vimal Patel : +919099573650

Mechanical Engineering Department, SVNIT, Surat 395007

Velocity Analysis [Relative velocity Approach]

[Relative velocity Approach]

Vimal Patel : +919099573650

Mechanical Engineering Department, SVNIT, Surat 395007

Velocity Analysis [Relative velocity Approach]

Vimal Patel : +919099573650

Mechanical Engineering Department, SVNIT, Surat 395007

Velocity Analysis [Instantaneous Centre Method]

Vimal Patel : +919099573650

Mechanical Engineering Department, SVNIT, Surat 395007

Velocity Analysis [Instantaneous Centre Method]

Vimal Patel : +919099573650

Mechanical Engineering Department, SVNIT, Surat 395007

[i] BC 34.09 rad / s 2

Vimal Patel : +919099573650

Mechanical Engineering Department, SVNIT, Surat 395007

[i] VD 2.54 m / s , BD 6.32 rad / s

Vimal Patel : +919099573650

Mechanical Engineering Department, SVNIT, Surat 395007

[i] f s 32.8m / s 2 , RS 52.3 rad / s 2 (CW )

Vimal Patel : +919099573650

Mechanical Engineering Department, SVNIT, Surat 395007

[i] f 4.86 m / s 2 in trunioun