MECHANICS OF MACHINES II STUDY GUIDE I MOM251ZEnica PO Box 392, UNISA, 0008, Copyright © Unisa 2005 In terms ofthe Copyright Act 98 of 1978 no part ofthis material may be reproduced, be stored in 2 etival system, be transmiled or used in any form or be published, redistributed oF screened by ‘any means (electronic, mechanical, photocopying, recording or otherwise) without the prior writen permission of Unisa However, permission fo use in these ways any material in this work thats ‘erived from other sources must be oblanes from the orginal sources Printed in South Atica by UnisMECHANICS OF MACHINES II STUDY GUIDE I MOM251ZE COMPILED BY: HJ Bothma MODERATED BY: J MoutonMECHANICS OF MACHINES IT MOM251ZE CONTENTS PAGE CHAPTER 1 MOMENTS OF INERTIA 1 CHAPTER 2 SIMPLE HARMINC MOTION 44 CHAPTER 3 VEHICLE DYNAMICS 9 CHAPTER 4 HOISTING AND HAULING MACHINES 123 CHAPTER 5 ROLLING OF BODIES 145 CHAPTER 6 BEARINGS AND CLUTCHES 160 CHAPTER7 BELT DRIVES AND BAND BRAKES 188 CHAPTER 8 BLOCK BRAKES 231 CHAPTER 9 PAST EXAMINATION PAPERS ON MECHANICS OF MACHINES I 267 MOM251ZE CONTENTS.PRESCRIBED BOOKS: MECHANICS OF MACHINES 11 STUDY PLAN 1 J Hannah and R C Stephens Edition 4 MECHANICS OF MACHINES Elementary Theory and Examples ISBN. 0-7131-3471-2 Edward Amold, JUTA'S METHOD OF EVALUATION: COMPULSORY ASSIGNMENTS At least three assignments should be done during the course EXAMINATION One three hour paper on all work done during the year The student has to achieve a subminimum of 40 per cent for this paper FINAL MARKS CALCULATION: SIG : YEARMARK = 2 ASSIGNMENTS oe aS (N= number of assignments) YEARMARK 2 40 per cent FINAL MARK _ YEARMARK + EXAM MARK 20 80 EXAMMARK — 240 per cent FINALMARK — > 50 per cent REQUIREMENTS: Scientific calculator Drawing instruments S, Mechanics expert MOM251ZE “ie STUDY PLANTHE AIM OF MECHANICS OF MACHINES 11 The aim of Mechanics of Machines 2 is to provide you the student, with a broad and sound foundation of knowledge regarding basic mathematical principles of machine dynamics and kinematics to be applied on more complex problems in advanced courses and in practice SYLLABUS GUIDE MOMENTS OF INERTIA 11 The position of the centroid and centre of gravity of a compound body 12 The definite integral 13 Definition of moment of inertia and radius of gyration 14 Standard formulae ( rectangle, square, round disc, annular disc ) 15 The theorem of Perpendicular Axes 16 The theorem of Parallel Axes 17 Calculation methods for compound bodies SIMPLE HARMONIC MOTION 21 Harmonic velocity, harmonic acceleration , amplitude, periodic time and frequency of oscillation 22 The simple pendulum 23 The compound pendulum DYNAMICS 3.1 REVISION 3 11 Torque, uniform acceleration, work and power 3.12 Combined translation and rotation 3 2 VEHICLE DYNAMICS 321 Normal reactions on front and rear wheels Acceleration and decelera- tion drives or brakes 322 Equivalent moment of inertia and equivalent mass MOM251ZE wile STUDY PLAN33 34 HOISTING AND HAULING MACHINES 331 Rope around shaft, pulley or winding drum (free motion) 332 Equivalent torque for hoisting devices (forced motion) ROLLING BODIES 341 The rolling wheel, cylinder or ball on inclined planes 4 POWER TRANSMISSION 41 BEARINGS AND CLUTCHES 42 43 411 Power and frictional torque with collar bearings, plate clutches and pedestal bearings 412 Power and frictional torque with cone clutches BELT DRIVES AND BAND BRAKES 421 Relation between the forces in the tight and slack sides of the belt 422 Flat belt and V-belts 423. The effect of centrifugal force 424 Belt length ( direct drives and crossed drives ) 425 Pulley systems 426 Band brakes 427 Belt with brake pads BLOCK BRAKES 431 The single block brake 4311 Hinged brake shoe 43.12 Fixed brake shoe 432 The dual block brake 4321 Free body diagrams MOM251ZE - iii - STUDY PLANTIME PLAN ABBREVIATIONS HE Hannah and Stephens Elementary MCAL Mechanics 1 CHAPTER 1: WEEKS 1 AND 2 WEEKS 1 AND 2 MOMENTS OF INERTIA Goals: Revision: MCAI Chapter 6 (Study guide) __Centroids and Centres of Gravity or Engineering Mechanics, VER, Chapter 8 Study: HE Chapter 1 (1 15, 116,117) Study guide Chapter 1 na Derivation: Standard formulae for Uniform rod Tog = ot mP 3 Rectangular plate Triangle Le= ae Solid dise Annular disc Examples: Study guide Chapter 1 (1-5) Exercises: Study guide Page 39 (1-7) MOM251ZE civ STUDY PLANCHAPTER 2: WEEKS 3 & 4 WEEKS 3 & 4 SIMPLE HARMONIC MOTI Goals: Study: Derivation: Examples HE Chapter 2 (2 1,22, 27,28) Formulae for the displacement, speed and acceleration of a body mov- ing with simple harmonic motion, (SHM), periodic time for a simple pendulum, periodic time for a compound pendulum HE (21,23,25,) HE Page 77 (1, 2, 15, 16, ) Study guide Page 75 (1-14) CHAPTER 3: WEEKS 5 & 6 WEEKS 5&6 = VEHICLE DYNAMICS Goals: Revision: MCA\ (Study guide) Chapters 11, 12, 13, 14 or Engineering Mechanics, VER, Chapters 13, 14, 15, 16 Study: HE Chapter 1 (1 18, 123, 124, 1.26, 1.27, 1.29, 130) Derivation: Equivalent moment of inertia I =ly tml, Txnxn Net driving force Seana R Examples: HE Chapter 1 (1 22, 123, 1 24, 1 25, 126, 1 27,128, 129, 130) Exercises: HE Page 56 (51-75) MOM251ZE PLAN sve STUDY PLANAssignment 1: 1 Study Guide Page 40 (4, 5, 6, 7) 2 HE Page 77 (1, 2, 15, 16) 3. HE Page 56 (56, 63, 70, 72) CHAPTER 4 WEEKS 7 & 8 WEEKS7&8 HOISTING AND HAULING MACHINES Goals: Stud: Study guide Chapter 4 (4 1, 42, 43) Total torque T=(y +1,0+G TxA) Examples: HE Chapter 1(1 16, 1,17, 119) Exercises: HE Page 47 (39-50) CHAPTER 5: WEEK 9 WEEK 9 ROLLING BODIES Goals: Study: Study guide Chapter 5 (5 1, 5 2, 53) Examples: Study guide Chapter 5 (1-6) HE Page29(1 14, 1 15) Exercises: Study guide Page 157 (1-14) MOM251ZE -vi- STUDY PLANGoals: Study: HE Chapter 9(9 1,92, 93) Derivations: New plate clutch Axial force Torque ff Used plate clutch Axial force = W = 2nc(r,-r,) Torque New cone clutch Axial force W= mp(r,?-1,) Torque Zum 13-1) cosecB Used cone clutch Axial force. W = 2ne(r,-1,) Torque T , = HWR coseof, Examples: HE Chapter 9(9 2,93, 94,95) Exercise: HE Page 209(1 -17) Assignment 2 1 HE Page 47 (40, 43, 49) 2 Study guide Page 157 (1, 5, 7, 10) 3. HE Page 209 (1,3, 10, 15) MOM251ZE ~vii- STUDY PLANWEEKS 11 & 12 BELT DRIVES AND BAND BRAKES Goals: Study: HE — Chapter 10 (10 1, 102, 102, 104, 108, 10 10) Derivation: Ratio of belt tensions between tight and slack sides of the belt Tr _ yo 7,” ° Examples: HE Chapter 10(10 1, 102, 103, 104, 108, ) Exercises: HE page 227 (1-17 and 22-26) CHAPTER 8: WEEKS 13 & 14 EKS 13 & 14 BLOCK BRAKES Goals: Study guide Chapter 8 Examples: Study guide Chapter 8 (1-9) Exercises: Study guide Page 259 (1-9) Assignment 3: 1 HE _ Page 227 (3, 8, 10, 23, 26) 2 Study guide Page 260 (2, 4, 5, 7, 9) Note: It is not necessary to do all the exercises. ‘Two thirds of the problems would be satisfactory MOM251ZB 7 = viii - STUDY PLAN1 LIST OF FORMULAE MECHANICS OF MACHINES 11 MOMENTS OF INERTIA si MOM251ZE -ix- STUDY PLAN= GR +372+h4) Vee Cons 2 Inde [regaare | we vsith + [ | xe : ee I-Jnr 1}nt vote? | r= kmh I=B@+e) V=cdl Perpendicular axis theorem: Za =Jae+ ly Parallel axis thearem: Io=lg+ mi? MOM251ZE “x: STUDY PLAN2 SIMPLE HARMONIC MOTION LINEAR MOTION x=acosy v=aasiny =o Va Vg = 40 fread cosy = ax fen ANGULAR MOTION Q= oo? -0? Omax = OO SIMPLE AND COMPOUND PENDULUM p= 2nfE 2 tp = 20 MOM251ZE -xi- STUDY PLAN3 DYNAMICS VEHICLE DYNAMICS p= 20ND 60 Txnxn R I, (at wheels) = J, + n°, m= om maaan T.=R.+R,+R, R=kAV* HOISTING AND HAULING MACHINES rapt \caxToxd T= (Tart Tra) = (Gq X TB xp) ROLLING BODIES Ex= Hoo? + haw? Ey =tm(1 +£) MOM251ZE = xii - STUDY PLAN7 12 al ee i gS sind - smv*\ 1 + ) giving vin terms of S 1 = tan | =— ae @ 4 POWER TRANSMISSION PLATE CLUTCHES Uniform pressure W=pa(t,-1) a Saunt? or )xn W=2ne(r,-1,) — ,e=pr T=pWRxn R CONE CLUTCHES Uniform pressure theory W = patr,” 1p 204 — 4) cosecB ra Uniform wear theory W=2ne(r, - 1.) c=pr T =pWReosecf. R MOM251ZE > xiii - STUDY PLANTHRUST BEARINGS Uniform pressure theory W= (7,-7,)xn Uniform wear theory W=20c(7,-7,)xn c=pxr ntr) T= WR R (net PEDESTAL BEARING Plate clutch formulae are applicable to this bearing BELT DRIVES AND BAND BRAKES Flat belt =e Tr P=(I,-T,)xv = 7(1 =") xv V-belt Di _ pudcoseci Tr pe(t,-T)xv=T) (1a) xv oe T.=T,+T, MOM251ZE - xiv - STUDY PLANBAND BRAKES Ts (sume)? To ~ ie ptand T= (1, -1)xr BLOCK BRAKES a sing =(R+R xx MOM251ZE -xv- STUDY PLANMOM 251ZE CHAPTER 1 MOMENTS OF INERTIA CONTENTS PAGE 11 OBJECTIVES 3 12 INTRODUCTION 3 13 THE DEFINITE INTEGRAL 5 14 SIMPLE CASE OF SECOND MOMENT OF AREA OF RECTANGLE 6 15 DEFINITION OF MOMENT OF INERTIA AND 8 RADIUS OF GYRATION 16 POLAR (AXIAL) MOMENT OF INERTIA OF A MASS. (THEOREM OF PERPENDICULAR AXES) 10 17 THE THEOREM OF PARALLEL AXES u 18 DERIVATION OF STANDARD FORMULAE B 181 Uniform rod B 182. Rectangular plate 1 183 Rectangular block 18 184 Triangular plate 19 185 Uniform solid disc 22 186 Moment of inertia of a sphere 24 187 Moment of inertia about a geometrical axis of MOM251ZE -1- CHAPTER 1a right circular cylinder 25 188 Moment of inertia of a right circular cylinder about the centroidal XX axis 26 189 Moment of inertia of a homogeneous hollow right circular cylinder with respect to its geometric axis 28 1810 Moment of inertia of a right circular cone 30 19 CALCULATION METHODS FOR COMPOUND BODIES 32 110 WORKED EXAMPLES 32 Lil EXERCISES 39 MOM251ZE =o" CHAPTER 1CHAPTER L MOMENTS OF INERTIA Ref HE chapter 1, page 8 Lt OBJECTIVES After you have studied this chapter, you should be able to Dejine moment of inertia and radius of gyration, * derive moments of inertia of standard bodies like rectangular plates, iriangles, rerct- angular blocks, solid discs, etc, * apply the theorem of perpendicular axes, apply the theorem of parallel axes, in calculations of moments of inertia of compound bodies 12 INTRODUCTION ‘The centroid of an area is the centre or mean position of all the elements of area making up the complete area When we are considering solids rather than areas, the elements of area become elements of mass, and the centroid is then the centre of gravity The position of an irregular figure with respect to the two axes OX and OY is shown in figure 11 The position of the centroid is indicated at G Let A = total area of the figure, 3A = area of the small element distance x from OY, and y from OX, X = distance of the centroid of figure from OY ( X is referred to as ‘bar x’ and is usually associated with distances to centroids), Y = distance of centroid of figure from OX. The moment of the area 5A about OY =x 5A. The moment of the area 8A about OX = y 5A. ‘Now the position of the centroid is such that the moment about any axis, such as OY, of the MOM251ZE, -3- CHAPTER 1L Figure 1.1 whole area concentrated at the centroid must be equal to the sum of the moments, about the same axis, of all the elements of area Moment adout OY of whole area concentrated at G = AX (D Sum of moments about OY, of elements given =Zx6A @Q) (The Greek letter © (capital sigma) is used as an abbreviation of 'the sum of If the value for area 5A. could be expressed in terms of the distance x, then the integration sign [ could be used in place of © ) Equating (1) and (2), we get XA= Lx therefore Similarly MOM25IZE 4 CHAPTER 1Important Special Case If the values of ¥ becomes equal to zero, it would mean that the chosen axis OY would actual ly pass through the centroid of the area, Fig 1 2 6 S | Ex6A=0 \ / Figure 1.2 But if X=0 then Zid 0 This can only mean that 5 x 64=0 Conversely, if in any calculation we can show that 1 XOA = 0, then we conclude that the axis about which the moments have been taken passes through the centroid of the areas NOTE: THE FIRST MOMENT OF AREA IS COMPLETELY DISCUSSED IN CHAPTER 6 OF YOUR STUDY GUIDE (MCA141ZE) 1.3 THE DEFINITE INTEGRAL In Jers, the value of a and b are called the limits of the integral If fieodx = FOS +C (C= constant of integration) then JPAa)dx = [FOO FODe-« MOM251ZE 5. CHAPTER 11.4 SIMPLE CASE OF SECOND MOMENT OF AREA OF RECTANGLE 1 About axis along its base, Fig 13 Let b = breadth of the rectangle, d= depth of rectangle Figure 1.3 Consider the small slice thickness 8x at distance x from XX> Area of this slice = b 3x First moment of area of this slice about XX = bx5.x. second moment of area of this slice about XX = bx’dx Total second moment of area of rectangle about XX. d, = Jone ae (the value of x varies from x = 0 to x= d) le - [we - 1 abd Therefore ie [ 3 lol's O|= 5 _ bd? ie Second moment of area about its base , Lee = -3— 2 Second moment of area, I, about axis through centroid of rectangle, Fig 14 The centroid of the rectangle is the geometrical centre of the area MOM251ZE, -6- CHAPTER 1Let b =breadth of rectangle d= depth of rectangle Figure 1.4 Consider the small slice thickness 5x at distance x from axis GG Area of this slice = b5x Second moment of area of this slice about GG +f = [lite ax a (In this case x varies from +d/2 above GG to - d/2 below GG) therefore MOM251ZE, -T+ CHAPTER 1aoe 462] - al 8 7 8 bd 1 ie Second moment of area of rectangle about axis through centroid, parallel to the base, 1.5 DEFINITION OF MOM! OF INERTIA AND RADIUS OF GYRATION Ref HE page 8, paragraph 1 15 Moment of inertia If the mass of every particle of a body is multiplied by the square of its distance from an axis, the summation of these quantities for the whole body is termed the moment of inertia of the body about the axis and is denoted by J ‘The momeat of inertia of a particle of mass dm, Fig 1 3, at a distance / from an axis through O perpendicular to the plane of the paper is dm/ Hence the moment of inertia of the whole body abouit O, T= fam? ay NO SS Figure 1.3 ‘MOM2SIZE 8. CHAPTER 1Kadius of gyration If the total mass of the body, Fig. 1 3, is m, this may be written I = mk’, k is termed the radius of gyration and is the radius at which the mass would have to be concentrated to give the same value of 1 Second Moment of Area If we multiply the area 5A by the distance x from the axis, we obtain the first moment of the area, x 8A, about the axis If we multiply that product by x again, we obtain the second moment of the area, x76A, about the axis The second moment of area is also denoted by the symbol I, to which are usually attached suffixes indicating the axis about which the second moment has been taken Referring to Fig 1 1, we have Ine = Dx28A = Lydd and I= DY Units of Second Moment of Area In general, the units of length with which we are concerned are metres This means that the units of the second moment of area will be in metres* It will be well to mention a point here which often causes confusion In problems of dynamics ‘we have to obtain the moment of inertia of solid bodies, the mathematical provesses used in finding this are identical to those which we have just used For example, the moment of inertia of a mass M at distance / from an axis is defined as MP about that axis In this case the units are kilogram metre? Due to the similarity in the type of expressions, there is often consider- able loose thinking in connection with the subject, we often hear of moment of inertia of a section’, and sometimes see ky 1? unily uieutioned when m* should be used A plane section having no mass cannot have any inertia, and consequently cannot have any moment of inertia Perhaps we might summarise the position as follows MOM251ZE, -9- CHAPTER 1Subject Name ‘moment of inertia IMechanics of Machines Statics | second moment of area _[bd'/12 } Strength of Materials ‘Table L IRDING TO THE ABOVE WE ARE GOING TO DEAL WITH MOMENTS OF INERTIA (DYNAMICS) 16 AXIAL MOMENT OF INERTIA OF A MASS (THEOREM OF PERPENDI- CULAR AXES) ‘The axial moment of inertia of a mass is the sum of the axial moments of al ts elements ‘Thus for a mass of which dm is one element with co-ordinates x, y and z the following definitions hold, Fig 1 4 (a) 1, =o" +2) dm 1,=]G@+2)dm 1,= Je +y)dm MOM251ZE -10- CHAPTER 1>) Lo Figure 14 where I,, ly, L, = axial moments of inertia (with respect to x, y and z axes respectively) For a thin plate essentially in the xy plane, the following relations hold, Fig 1 4(b) J,= fram = fox +) adm = a2 where Ix, cal axial moments of inertia about the x and y axes respectively, and J., ‘moment of inertia about the z axis, or, asit is also called, the polar moment of inertia 1.7 THEOREM OF PARALLEL AX! Ref HE page 9, paragraph 1 16 ‘The moment of inertia of a body about any axis is equal to the moment of inertia of the body about a parallel axis through the centre of mass together with the product of the mass and the square of the distance between the axes MOM251ZE -ll- CHAPTER 1e the moment of inertia of a body about an axis through the centre of mass G, Fig 1 5 It is required to find the moment of inertia about a parallel axis through O, which is a distance hfrom G Moment of inertia of particle abont © = dm P (according to definition) 7 ~ Figure 1. ie = dn (x2 + (bh 4y)} (Fig 15) = dm (x2 +h? + 2hy ty?) but (Fig 1 5) therefore ‘moment of inertia of particle about O = dm{r? +h? + 2hy} Therefore the moment of inertia of the body about O, Jam 2 + fam t? + 2nfdm y =, + mb? + 2h x (total moment of the mass about XX) Since XX passes through the centre of mass G, the total moment of the mass about XX is zero MOM251ZE -12- CHAPTER 1Hence (3) To find the radius of gyration about O, applying the parallel axes theorem 1, =mk’,, = mk’, ie mi, = mie, + mh’ therefore =’, =, + a4) 1.8 DERIVATION OF STANDARD FORMULAE 181° Uniform rod > Y G Figure 1.6 Consider a uniform rod with length / and mass m Solution 1 Ly of rod Length / of rod has a mass of m therefore length dx of rod has a mass of dm = mdxil According to definition dlyy = dm ag (ee 7 MOM251ZE -13- CHAPTER 1Therefore therefore yy = 7 as) MOM251ZE. -14- CHAPTER 12 therefore Tog = me a6 and radius of gyration about GG-axis therefore NOTE: APPLY THE THEOREM OF PARALLEL AXES ON THE ABOVE DERIVA- TION (CONSIDER I,, AS KNOWN) (From equation 1.3) me mi? ie Wy + me = “3° (Similar to the above result) (From equation 1.4) 2 : P (4) Pp 2 (Ly°le ine. Ka + 3 therefore k, —— v3 FROM THE ABOYE, IT IS CLEAR THAT WE CAN APPLY THE THEOREM OF PARALLEL AXES TO FIND THE INERTIA (AND RADIUS OF GYRATION) OF A BODY , ABOU AN AXIS PARALLEL TO ANOTHER AXIS 182. Rectangular plate Consider a uniform plate with breadth b, depth d and mass m, Fig 1 7 MOM251ZEFigure 1.7 Solution Consider a small slice thickness dy, at distance y from axis XX. Mass of plate with breadth b and depth d is m therefore a mdy mass of slice with breadth b and depth dy is —7~ = dim According to definition 2 mdy Elgg = yd = y? A d Therefore Ig, = fy oe with lower limit of y = 0 0 and upper limit of y= d a2 (hye (am and bare constants) ame yee af 2) Fle) ae) therefore Tye = ae an MOM251ZE CHAPTER 1Radius of gyration, ky therefore (mand d are constant) ie therefore Ing => (8) Radius of gyration k therefore ky 12 NOTE: 1 d IS ALWAYS THE SIDE PERPENDICULAR TO THE AXIS ABOUT WHICH THE INERTIA IS DETERMINED 2 DON'T LEARN THE RADII OF GYRATION FORMULAE. REMEMBER HOW TO FIND THE RADIUS OF GYRATION FROM PRINCIPLES. ‘We could also apply the theorem of parallel axes to find I.,, of the plate MOM251ZE -17- CHAPTER IAccording to the theorem of parallel axes + mh? (from equation 1 3) ie therefore I 183 Rectangular block Consider a block with depth d, breadth b and length /, Fig 18 — lz 4 LLL Zi Laz), a —x' > keh ao x | | | \ 2 (a) (b) XN Figurel.s Moment of inertia about a centroidal axis perpendicular to a face of a rectangular block (I,,) Solution ‘As can be seen in Fig 1 (a), the moment of inertia of the block about the Z axis is equal to the summation of a series of thin plates each of thickness dz, cross section b by d and mass dim First determine I,, for a thin plate with cross section b by d, thickness dz, and mass dim (see Fig 1 80) MOM251ZE -18- CHAPTER 1Since Ij, =Tyqc+ Ty, find I and I'yy to obtain the result However, I, is really the summation of the centroidal moments of a series of bars of mass dm’ and of negligible cross section (dx' by dz), Fig 1 8(b) and height d According to the above derivation, this may then be written Similar reasoning yields Limp? = Ly ew elds From this it follows that L,, for a thin plate of mass dim is equal to V+ Tyy ohne? +3 or Ly, = zydim(d? + b*) For the entire block it is seen that le Jame rb) but Length J of block has a mass of m ie length dz of block has a mass of, din = de Bene lee Therefore iz =Jo Ty Tet Dade Fylde) ag) 184 Triangular plate Consider a triangular plate with base b, height hand mass m, Fig 1 9 Consider a strip with thickness dx and length y, Fig 1 9 According to definition Gly =x? dm therefore Ty =2 dm (two triangles) where dm = y dx ch therefore yy = 2/gx?y dx a) MOM251ZE “2 19- : CHAPTER 1Figure 1.9 From Fig 19 y=mx+te (equation of straight line graph) b therefore y= 3p x Q Substitute (2) into (1) therefore yy = 2 i Ope dx a Al Gx3de (b and h are constants) ie I, (ep. # wT RL\4] |g 4h but therefore Typ according to the parallel axes theorem MOM251ZE =20- "CHAPTER 1therefore therefore To find Lyx. Ty =Igq + mb? gg = Tyy ~ mh 2 8mh? 18 _ mh Toa = "18 Consider a triangular plate with base b, height h and mass m, Fig 1 10 consider a strip with length x, thickness dy and mass dm According to where definition (119) 7 y=mxte Figure 1.10 MOM251ZE -21- CHAPTER 1(equation of straight line graph) ie 2h therefore x 2 now 2 Lg, of triangular plate =2 £ yixdy (two triangles) 39 2h 2 y ie 2 fo y? Ze 2 = te fo yedy (hand b are constants) or 4h y P bL4 Jo but mass 2 therefore lg = mee au 185 Inertia ofa solid uniform disc Consider a sold uniform circular disc with radius r and mass m, Fig 1 11, and determine 1 Inertia about the ZZ-axis 2 Inertia about XX- axis and YY-axis Solution Consider an element ring with radius x and thickness dx and mass dm MOM251ZE. -22- CHAPTER 1According to definition dj. =x°dm r ie Ty, (dise) Joe dm Figure LI Disc with area. nr has a mass m and element dise with area 2nxdx has a mass, dm = 2rd poe therefore em an px 2 xdx = i x3dx (mand rare constants) af el PL4 Jo ~$a(*-0) therefore (1) but According to the theorem of perpendicular axes Tah + Ty but (Inertia about a diameter) ie therefore (113) MOM251ZE -23- CHAPTER |a 5 qs"Pr Since the mass m= i P, we have = (4nr3 ) (2 2) therefore yy = mr? (114) and radius of gyration 187 Moment of inertia about a geometrical axis of a right circular cylinder Consider a cylinder with radius Rand mass m, Fig 1 14 Solution Consider the cylinder to be made of a series of thin disks of height dz as shown Fora thin disc Ly! Fema) R from equation 113 now cylinder with height h has a mass m therefore cylinder with height dz has a mass dm = mdz h MOM251ZE “CHAPTER 1Figure 1.13 According to definition 2 th therefore |gg= oi i dz (m, R and h are constants) therefore T,,= oe (11s) NOTE: THIS INERTIA IS EXACTLY THE SAME AS FOR A SOLID DISC, WHICH MEANS THAT THE INERTIA IN THE AXIAL DIRECTION OF A CYLINDER IS INDEPENDENT OF THE LENGTH OF THE CYLINDER 188 Moment of inertia for a right circular cylinder about the centroidal XX axis Consider a cylinder with radius R and mass m, Fig 11 15 Solution Consider the cylinder as made up of a series of thin discs of height dz and mass (mdz/n) MOM251ZE -26- CHAPTER 1186 Moment of inertia about a diameter of a sphere Consider a sphere with mass m and radius r, Fig 1 12 (og BO) \ Figure 1.12 Solution Choose a thin disc parallel to the xz plane as shown in Fig 112 Assume the density p ‘The moment of inertia of a thin disc of radius x about the y axis is Feoassy? To find Iyy for the entire sphere, add the individual moments just indicated Mass of thin disc, dim = p8V = p(ma¢dy) According to definition yy = dm ie tee [tan =f 1 onx2 2-1 +r Ady = *7 1 pn dy }x = frp fx dy But, from the equation of the cross section of the sphere in the xy plane (a circle), x°+ y Hence tae dnp ft (12 -y2) "ay “polit (4-2? ost) MOM2S1ZE -24- CHAPTER 1Solution . . mdz Consider the cylinder as made up ofa series of thin discs of height dz and mass ("T= ) , (ee the above derivation, finding the mass of the thin disc) ‘The inertia of the thin disc about its own diameter X'X", Fig 1 14, we Transfer to the XX axis by the parallel axis theorem To determine Tyg. for the entire cylinder, sum the Iya. for ell dises MOM251ZE -27- CHAPTER 14h * 3h 8 mR? mh? 4 12 therefore Ig 2 (3R2 + #) (1 16) 189 Moment of inertia of a homogeneous hollow right circular cylinder with respect to its geometric axis Consider a hollow cylinder with inner radius r, and outer radius 7, Density of material is p, height of cylinder h See Fig 115 r \ | A L | X Figure 1.15 MOM251ZE ~28- CHAPTER 1Solution NOTE: FOR CALCULATION PURPOSES, WE CONSIDER A CYLINDER WITH RADIUS r, AND THE HOLLOW SECTION ALSO AS A CYLINDER WITH RADIUS 7, Now For the outer oylinder, Gao do, from equation 1 15 where m,=nr,xhxp (volume x density) ie Gy) Sow xaxpyxe, For the inner cylinder, from equation 1 15 where m, = mr, x hx p ie (= fee, xhxp)xrj For the hollow cylinder, L2= Cay), - Oa), Hee, xhxp)xe,-} Gar xhxp)x?, = dap het,-“) CAA +R FD therefore L, = de h@,+h)0,-4) ape, A mF) (+8) expanding MOM251ZE =29- "CHAPTER 1ih be = (m,- mF, +) l= therefore 1, = 5m(P, +r) (116) sm ri 1810 Moment of inertia of circular cone Consider aright circular cone of mass m and dimensions shown in Fig 1 16 and find the inertia about the x and y axes | | | | @ © J a eee Figure 1.16 Solution To find I,., choose a thin lamina perpendicular to the X axis as shown in Fig 1 16(a) Assume density of material is p ‘The moment of inertia about the X axis of the lamina is dgg= am ¥ from equation 115 To find I, of the entire cone, add the individual moments just indicated, noting that the mass of the chosen lamina is, dm = p BV = p (ny*dx) a) From figure 1 16(b) fn = 5 (similar triangles) therefore Q) MOM251ZELh Now aS sf dmy2 pas ph x4de = oatty ae) But mass of the entire cone = volume x density = 4nR7h.p Thus we can write deh pdeGAR) therefore ain To find I,y, which equals I, it is necessary to apply the parallel axes theorem to obtain the moment of inertia for the lamina relative to the Y axis, dm y* : ie Alyy = ly, = + dmx? (theorem of perpendicular axes) theetore t= f( 2) ff (onta (22) dm = p BV = p (ny°dx) from equation (1) and from equation (2) now lt 4 ‘h By 4 lwo 1 Leo (E) x dx + Io xp ‘dx eke mer 2 7 ath mph? ae o* # LSJo~ 20 5 MOM25IZE a CHAPTER 1-TPR’h, this expression becomes np? + Sanh? Tye = 3g mR? + Sm 2 therefore Tyy a(& + #2) (118) 1.9 CALCULATION METHODS FOR COMPOUND BODIES If the moment of inertia of a compound body or mass about a given axis has to be calculated, the following steps are to be followed 1 Divide the compound figure into its components consisting of standard bodies and determine both the mass of each component and the total mass of the whole body 2 Use the different methods of calculation of the moment of inertia of each component, about the given axis 3 Material removed to create holes in the surface of a body, masses and moments of inertia are regarded to be negative in the calculations 4 Determine the algebraic sum of the moments of inertia of the various solid compo- nents and of the material removed, in order to obtain the total moment of inertia 5 If the radius of gyration, k, has to be calculated, equate Total I (about the given axis) = Total mass x k* 1.10 WORKED EXAMPLES Example! Find the moment of inertia of a steel rod $0 mm in diameter and 2 m long about 1 anaxis through the one end perpendicular to the rod, 2 anaxis through the centre of gravity, G, of the rod parallel to the above axis Also calculate the radius of gyration of the rod about G The steel weighs 7,5 Mg/m* MOM2SIZE -32- CHAPTER 1Solution Draw a sketch of the specified rod, Fig 1 17 (Og | Y | L=2m ce -—-— >| | diameter d= 50 mm | 'y G Figure 1.17 Mass of rod m= volume x density therefore = m ae xL xp xx 0,05? =AA TO * 2x 7.8% 103-1532 ke 1 moment of inertia about one end perpendicular to the rod 2 i mle from equation 11 15,32 x 2? therefore Ty = = 20,427 kg.m* 2 moment of inertia about the G axis 2 loo = ae from equation 1 2 15,32 x 22 therefore gg = "P= 5,107 or According the theorem of parallel axes Ty = oq mh? from equation 1 3 ‘MOM251ZE_ =33- CHAPTER 1ie 20,427 =Igg + 15,32 x1? therefore Lg = 20,427 - 15,32 = 5.107 kg.m* 3 Radius of gyration about the G axis Example 2 Find the moment of inertia of a brass cylindrical shaft 75 mm in diameter and 3 m long with respect to its geometric axis of rotation Use a density of 8 500 kg/m* Solution Draw a sketch of the specified rod, Fig 1 18 ( a | 3 diameter d= 75 mm = 0,075 m N Figure 1.18 Mass of rod, m= volume x density a 28E x Lx p= BABU 5 3x 8500-11265 kg \ | MOM25S1ZE -34- CHAPTER 1_ mR 2 112,65 x 0,0375 : therefore Ty, = = = 0.079 ka.’ Iz from equation 115 Example 3 As shown in Fig 1 19, a brass cone is mounted on the top of an aluminium cylinder Using the density of brass = 8 500 kg/m? and that of aluminium = 2 560 kg/m’, determine the moment of a aS 7 inertia of the system about the vertical geometric axis NX Figure 1.19 Solution ‘Mass of brass cone, M, = volume x density =tnR2hx p=tax 0,2? x 8500 x03 3 3 therefore M, = 106,81 kg, Mass of aluminium cylinder, M, = 2R?hx p = 1x 0,2? x 0,4 x2 560 therefore M, = 128,68 kg now ‘ _3 2 I,yieone) = 75 Mp from equation 117 MOM251ZE, -35- CHAPTER 1x 106,81x 0,2" therefore I,g(cone) = 1,2818 kg m? Tygc(cylinder) = $ from equation 1 15 = 1/2 x 128,68 x 0,27 therefore —_Iygc(eylinder) = 2,5736 kg m* ye(body) soe (Cylinder) + T(cone) = 2,5736 + 1,2818 = 3,86 kg.m* Example 4 An eccentric sheave is a solid disc 300 mm in diameter and 50 mm thick with a hole of 150 mm diameter whose centre is 50 mm from the centre of the disc The density of the material is 7 200 kg/m’ Calculate the moment of inertia and radius of gyration of the eccentric about a polar axis through the centre of the hole (Fig 1 20) Figure 1.20 Solution oe nd 3.x 0,37 x 0,05 x 7200 Mass of solid disc, My = "=X EX p= = = 25.45 kg nd? nx 0,15? Mass of hole, M, =" x £X Pp =——P— x 0,05 x7 2006.36 kg MOM251ZE -36- CHAPTER 1Mass of eccentric, M, = 25,45 - 6,36 = 19,09 kg According to the theorem of parallel axes Too (disc) = M, P+Myh therefore I,o(disc) = 4 25,45 x 0,15? + 25,45 x 0,05? = 0,35 kg m? and T,o(hole) = dye from equation 1 15 therefore I, (hole) -4 x 6,36 x 0,075?= 0,0179 kg m? therefore To, (eccentric) = Tyo(dise) - [,,(hole) = 0,35 - 0,0179 = 0,322 kgm? Radius of gyration 10322, MspaIS 09pm therefore k, = 0,132 m= 132 mm ‘MOM251ZE 37. CHAPTER 1Example $ ‘The flywheel shown in Fig 1 21, has a rim with a 750 mm outside diameter and 100 mm square in section The hub is a hollow cylinder of 200 mm outside diameter, 1000 mm bore and 150 mm long ‘The six arms, each of cross-section 30 cm?, are to be considered as thin rods ‘The wheel is made up of cast iron (density 7,2 x 10° kg/m’) Calculate the moment of inertia and radius of gyration of the wheel about its axis ( XR Solution Draw a sketch of the above specified flywheel, Fig 122 1 eZ Figure 1.21 ji0__| 8 3 1 ms Figure 1.21 MOM251ZE -38- CHAPTER 1Calculate the mass of all the different parts 1 Rim, M, = volume x density ~ 0,1 x 0,1 x 1x 0,65 x 7,2 x 10°= 147 kg 0,55 - 0,20 2 Arm, M, = volume x density = 6 x 30 x 107x 7 7,2 x10 = 22,7 kg NOTE: SIX ARMS, THEREFORE THE 6 x ABOVE. 3 Hub, M, = volume x density = a a} - @ | x Ix p : #.2)?-@ 1)? ]x 7,2 103=25.4kg Now calculate the moment of inertia of each section about the axis of the flywheel . ren 0,375? + 0,275? Loe(rim) = M, x | Sy = 147 Sy) 21S, kg mn Ix (arms) = M,, x £ +M, (gh? (theorem of parallel axes) 2 ~2a75( 242 + 0, 18752) =0,856 kg m? 247 2 2 b(t) My x(22) = 25,4 x (21 40.08") 0,16 kg m* 2 2 therefore Ipgc(flywheel) = Ia (rim) + Ixx (arms) +y(hub) = 15,9 + 0,865 +0,16 = 16,925 kg m? Radius of gyration of flywheel, k, ac - [16925 9 o95 ius of gyration of flywheel knc I97° = 795, = 295m 1.11 EXERCISES 1A thin rod 1,2 m long has a mass of 1,5 kg Calculate its moment of inertia and radius of gyration about axes at right angles to the axes of the rod (@) through its centre of gravity, (b) 0,3 m from the centre of gravity, (© atone end {0,18 kg m’, 0,346 m, 0,315 kg m’, 0,458 m, 0,72 kg m?, 0,692 m] MOM251ZE =39- CHAPTER 1@ () © @ @ (b) 4 (a) (o) A thin circular ring of 1,0 m diameter has a mass of 1,8 kg. Calculate its moment of inertia about a polar axis through its centre, a diameter, a polar axis through a point on its circumference, a tangent (0,45 kg m*, 0,225 kg m’, 0,9 kg m’, 0,675 kg m’] A circular ring of outside radius 20 cm and inside radius 10 cm has a mass of 15 kg Calculate its moment of inertia and radius of gyration about the polar axis through its centre, about a parallel axis 10 om away, ie touching the inner radius [0,375 kg m”, 0,525 kg m’] The solid cylinder shown in Fig 1 22 has a mass of 20 kg Calculate its moment of inertia about an axis through O, 100 mm from one end If the cylinder is pivoted at O, held with its axis horizontal as shown and then released, calculate the angular velocity at which it passes the vertical position [1,45 kg om?, 7,35 rad/s] r 600 am 200mm + —| 0. dF | | | | or | Figure 1.22 MOM251ZE -40- CHAPTER |5 A dumb-bell consists of two solid spheres of density 7,2 Mg/m’attached to a light rod as shown in Fig 1 23 Calculate the moment of inertia of the dumb-bell about a central axis through O [0 041 kg m?] Figure 1.22 6 Fig 123 shows a section of a flywheel made of material of density 8,5 x 10° kg/m? (@) Calculate its moment of inertia about the axis XX (b) Determine the torque necessary to accelerate it from rest to 20 r/s in 2008 [5,16 kg m?, 3,24.N mJ MOM251ZE -41- CHAPTER 1PP cscoocoueee 4 Figure 1.23 CHAPTER | MOM251ZE7 Figure 124 shows a rectangular lamina from which material is removed to form a triangular hole The moment of inertia of this lamira about the indicated XX axis is given to be 0,02124 kg m? and the density of the material is 1 kg/m? Calculate 1 the length x of the triangular hole, 2 the periodic time of the lamina ifit is given small oscillations about the XX axis [160,5 mm, 1,271 s} Figure 1.24 MOM251ZE -43- CHAPTER 1MOM 251ZE SIMPLE HARMONIC MOTION CONTENTS 21 22 23 OBIECTIVES INTRODUCTION SIMPLE HARMONIC MOTION 231 Harmonic velocity, 232 Harmonic acceleration, 233 Amplitude, 234° Periodic time CHAPTER 2 PAGE 45 45 48 53 54 37 59 61 18 24 ANGULAR SIMPLE HARMONIC MOTION 25 MOTION OF A SIMPLE PENDULUM 26 MOTION OF A COMPOUND PENDULUM 27 THE EQUIVALENT SIMPLE PENDULUM 28 WORKED EXAMPLES 29 EXERCISES ‘MOM251ZE -44- CHAPTER 2CHAPTER 2 SIMPLE HARMONIC MOTION Ref HE Chapter 2, page 62 2.1 OBJECTIVES After studying this chapter, you should be able to describe simple harmonic motion, derive formula for the harmonic velocity of a particle (body), derive formula for the harmonic acceleration of a particle (body) {find the periodic time and frequency of a body moving with simple harmonic motion the periodic time and frequency of a simple pendulum, the periodic time and frequency of a compound pendulum describe the relationship between a simple and compound pendulum 2.2 INTRODUCTION Huppin Muppin Ard | a Figure 2.1 Let us examine the strange performance of the 17 45 train which runs from Huppin to Ard via ‘Muppin The two terminii are 10 kilometres apart and no doubt you know that Muppin is exactly midway, ie 5 kilometres from either station The train is fitted with a speedometer MOM251ZE -45~ CHAPTER 2recording both speed and distance travelled, and also with a meter which records acceleration ‘The motion of the train is to be such that its acceleration is proportional to the distance moved fiom the mid-point of the railway (which you may remember is Muppim) Let us sit in front of the meters, and record the value of the acceleration of the train at the end of each kilometre travelled from Muppin Here is the result Distance from Muppin,km 1 2 3 4 5 Acceleration, m/s* 006 012 O18 024 030 As the distance increases, the acceleration increases in proportion You may think that the accelerations are very small compared with the more dignified Victoria Line accelerations of 0,9nvs?, nevertheless, our train travels the 5 kilometres in approximately 10 minutes, and arrives at the terminus, Ard, with a speed of nearly 60km/h ‘Now of course this is serious the train arrives at 60km/h, and shows no sign of slowing down In fact, its acceleration is higher now than at any point on the run, and the ferther the train travels from Muppin (which you remember is the midpoint of the railway line), then the greater becomes its acceleration The result of this alarming journey, in which the 17 45 rushes through Ard at 60kra/h, with both velocity and acceleration increasing, must surely be a tragic one (Ifyou study the matter carefully, you will find that 10 minutes later the train will be travelling at SO0knv/h, and will certainly never he seen again ) ‘Now let us make one very small but tremendously important change in the conditions under which the train travels from Huppin to Ard via Muppin ‘We shall still insist that the magnitude of the acceleration shall be proportional to the distance fiom the mid-point of the line, ie we shall get the same acceleration readings as before, but ‘we now stipulate that the direction of the acceleration must always be towards the mid-point of the line (which is Muppin) so that, while the train travels from one terminus towards the mid-point, the acceleration is in the same direction as the velocity, which therefore increases ‘On going beyond the midpoint, the direction of the acceleration is reversed, whilst the direc- tion of the velocity remains the same The train therefore begins to retard, until it comes to rest at the terminus But here the acceleration reaches its greatest value, and therefore the MOM251ZE, - 46 - CHAPTER 2train immediately begins its return journey, with its velocity increasing to a maximum whilst passing through the mid-point, and then decreasing to zero at the opposite terminus This oscillating, backward-and-forwards motion will be continued indefinitely under identical conditions The movement of the train is constrained between the two teminii The time taken to travel the total 10 kilometres is 15,5 minutes, and the train passes through the mid-point, Muppin, at 60knv/h (which is rather lamentable, since the usefulness of Muppin as a station is therefore negligible, although on further reflection it will be seen that since the train stops only for an instant at either terminus, making it extremely difficult for anyone to board the train, the problem of leaving it is practically eliminated) Now under these conditions, the train is said to be moving with simple harmonic motion It is a form of motion which is of immense importance It is the basis of all work on vibrations, a vast subject in the field of engineering It is essential that you get a very clear conception of the nature of simple harmonic motion, and that you are familiar with the various definitions associated with it We shall define simple harmonic motion along a straight line in the following words ‘A body which moves so that its acceleration is (a) Proportional to the distance moved from a fixed point in its path, and (b) always directed towards that point is said to move with simple harmonic motion There are many examples of simple harmonic motion (Fig 2 1) (The usual abbreviation for these words is S HM ) ‘The motion of the piston in a cylinder is approximately S HM In fact, if the connecting-rod were of infinite length, then the motion would actually be S HM ‘A follower operated by a circular cam whose axis of rotation is displaced from the geometri- cal centre of the cam will move with $ HM A mass hung from a spring will vibrate in a vertical direction, and will move with S HM MOM251ZE -47- CHAPTER 2The bob at the end of a swinging pendulum moves with § HM , provided that the pendulum does not swing through too great an angle / ii) ee) | Examples of simple harmonic motion Figure 2.2 Calculations in connection with ships rolling at sea are based on the assumption that the motion of the ship's roll is S HM 2.3 SIMPLE HARMONIC MOTION Ref HE Chapter 2, paragraph 2 1, page 62 Consider the motion of a point P (Fig 2 3) moving in a circular path of radius r with a constant angular velocity @ rad/s The radial line OP will have moved through angle at from the vertical int seconds M is the foot of a perpendicular drawn from P on to OX, the horizontal axis through O OM is equal to r sinot The centripetal acceleration of P is o*r, and the horizontal component of this is 0° sin ot, directed towards the axis OY Hence a plan view of the motion of P would indicate a point moving backwards and forwards along a straight line, so that at any instant its displacement from the mid-point is given by MOM251ZE - 48 - CHAPTER 2OM, or r sin ot, and whose acceleration is towards the same mid-point, and is of magnitude a” sin ot, or @*OM Since o* is a constant, the acceleration of M is proportional to OM, the displacement of M from the mid-point © Hence M, the projection of the point P, is moving with simple harmonic motion Now P makes aren, and it will be obvious that M must make the same number of complete ‘backward-and-forward’ motions or oscillations per second as P makes rev/s This number of oscillations per second is known as the frequency of the motion ‘The time taken for one oscillation is known as the periodic time If M makes oe oscillations per second, then the time taken for one oscillation will be 2B seconds ‘The unit of frequency is the hertz (Hz) A frequency of one hertz is equal to one oscillation or cycle per second Acceleration a? OM ___ The projection on to a straight line of a point F moving with uniform speed on a circular path is ar example of simple harmonic motion, | Figure 2.3 Figure 2 4 shows three basic types of motion In each case the point travels through the same MOM251ZE -49- CHAPTER 2distance It moves with uniform velocity in case a with uniform acceleration in case b and with simple harmonic motion in case ¢ By comparing the position of the points after equal intervals of time, you can obtain some idea of the nature of the motion in each case Figure 2.4 MATHEMATICAL APPROACH TO SIMPLE HARMONIC MOTION A body moves with simple harmonic motion if its acceleration is proportional to its displacement from a fixed point and is always directed towards that point Let the line OP, of length a, rotate about a fixed point O, with angular velocity @, Fig 25 Then, if time is mea- sured from the position OB, the angle tuned through by OP in time 1 is given by yrot _ Figure 2.5 MOM251ZE. - 50 - CHAPTER2If Qs the projection of P on the diameter AB, the displacement of Q from its mid-position is given by x= acos yw Q) ‘The maximum displacement, a, is termed the amplitude of the motion The velocity of Q is the component of the velocity of P parallel to AB, ie v=oa siny 2) but in triangle OPQ, Fig 2 5, PQ= (2 - 2) (Pythagoras theorem) therefore @ Substitute equation (1) into (2 2) ie therefore v=o (a2 - 2) (23) and Vga @2 = whenx=0 (24) Itis clear from equation (2 3), above that the maximum velocity of Q occurs when it passes through the centre O, or when =90° ‘The acceleration of Q is the component of the acceleration of P parallel to AB, @5) but from triangle OPQ, Fig 25, cosy =F @ MOM251ZE -51- CHAPTER 2substitute equation (2) into equation (2 5) ie f=o'axd therefore f=0'x 6) and f.,7 07a when x= a 26) Itis clear from equation (2.6), above that the maximum acceleration of Q occurs when it is at B, or when y = 0° therefore maximum retardation of Q is when y = 180° (when OP rotates anti-clock- wise, as shown in Fig 2 5) Thus the acceleration of Q is proportional to its displacement from the fixed point O and is, always directed towards O, so that the motion of Q is simple harmonic @ is called the circular frequency of the S HM These formulae give merely the numerical relationships between displacement, velocity and acceleration without regard to direction The periodic time is the time taken for one complete revolution of P, ie 1S Q7) but, from equation (2 5), Fe displacement therefore t,=2n [= =2n,J————— 5 (28) . f ‘acceleration ‘The unit of frequency is the herz (Ez) , which is one eycle per second @9 Thus frequency, n= i =5- MOM251ZE -52- CHAPTER 224 ANGULAR SIMPLE HARMONIC MOTION The equations of section 2 2 apply equally well in the case of angular simple harmonic motion Thus, if the amplitude of the motion is $, Fig 2 6, the angular velocity of the body at any angular displacement, 6, is given by Q-0 (¥? 2) (210) where o is the angular speed of the ine generating the S HM and Q,.= oh @i Figure 2.6 The angular acceleration is given by a=078 (212) and maximum angular acceleration occurs when 0 = 6 (at the extreme position of the swing) therefore (213) The periodic time, t, = 2x =2n aE (214) and frequency on (215) MOM251ZE -53- CHAPTER 225 MOTION OF A SIMPLE PENDULUM Ref HE paragraph 2 7, page 66 A simple pendulum is defined as a heavy concentrated mass suspended from a rigid support by inextensible cord The pendulum, with mass M, is shown in Fig 2 7 having moved through an angle 0 from the mid-position OA If the length of the pendulum is /, then the mass has moved through a distance Am equal to 0/, 0 being measured in radians There are two forces acting on the mass Restoring force Mg sin Directi Direction rection of motion Mgcos® of acceleration Direction of oscillation or swing Figure 2.7 There are two forecasting on the mass 1 its own weight, Mg, vertically downwards, and 2 the tension T in the cord Resolving the weight into two components, we have mgcos ®, represented by mp, and Mg: 6, represented by pn It will be seen that the tension, T, in the cord will be equal to MOM251ZE -54- CHAPTER 2Mg cos 0, so that we have a force Mg sin @ acting in the opposite direction to that in which the mass is moving It is, in fact, trying to restore the pendulum to its original vertical posi- tion For this reason this force is sometimes referred to as the restoring force The acceleration produced by this restoring force is given by force = mass x acceleration Mgsin =M x acceleration therefore acceleration = g sin 8 Now if the angle of swing is small, i e not greater than 14° either side of the mid-position, sin 0 has practically the same value as @ measured in radians We can write, therefore, acceleration = 20 provided that @ is not greater than approximately 14° ‘The displacement, Am, or x, = 0/ therefore 8 se thus Acceleration == x ~Io8 Since g and / are constant (at least for the place in which the pendulum is swinging), it fol- lows that the acceleration is proportional to the displacement x, and, since the force is direc- ted towards A, it also follows that the acceleration will be directed towards this mid-point A Hence the two conditions for simple harmonic motion are satisfied A pendulum therefore swings with simple harmonic motion provided that the angle of swing is small, ie not greater than approximately 14° Tn this case the constant @ in the frequency expression will be equal to, E , so that the frequency of the motion will be given by frequency, n= & or ome Oe Dey (216) MOM251ZE -55- CHAPTER 2and the periodic time is alee Frequency V8 ® @i7n Notice that the mass does not appear in these expressions, nor in fact does the angle through which the pendulum swings (although if this is not small, the motion ceases to be simple harmonic, and the frequency expression will no longer hold) You may remember that it is said of Galileo, watching the swinging bronze lamps in the cathedral at Pisa, that he noticed that the periodic time of their movement (as near as he could observe using his pulse as a means of measurement) was independent of the angle of swing It is, of course, safe to assume that this angle did not exceed the above-mentioned limit It will be seen from equation (2.17) that the frequency is determined by the length, J, of the cord Length metres Frequency and periodic time of pendulum. The frequency of vibration of a simple pendulum is dependent solely upon the length of the a, { 100, Jt NW | Frequency a, ff hertz | 2 80) 1 i 2 | Periodic time = ———— _ | é 1 frequency | a5 is g 8 60) 08 3 % 5 254 si 9 a — 40 20% £ x 18 | 20} roe | los a O5 10 +5 20 25 | Figure 2.8 MOM251ZE2.6 MOTION OF A COMPOUND PENDULUM, Ref HE page 66, paragraph 2 8 A compound pendulum, Fig 2 9, is a rigid body free to oscillate under the influence of gravity about a fixed horizontal axis Let m be the mass of the pendulum and h the distance of the centre of gravity from the point of suspension © ‘Then, for an angular displacement , the restoring torque is equal to mg xh sin @ If k= radius of gyration about the centre of gravity, from the parallel axis theorem (dealt with in chapter 1) the moment of inertia about the point of suspension Figure 29 I= mk, + mk? MOM251ZE -57- CHAPTER 2Now Torque = Angular acceleration x moment of inertia torque therefore Angular acceleration = Tr or inertia mghsin ® © mk +1) _ ghsin® “Bar ; displacement therefore Periodic time t, = 2m | ————__—— acceleration 8 Find 2 ew =2n a o, FE gh sind . eo _ If Oissmall Jy 4 Gog =1 as fora simple pendulum Zh? therefore gaan | @18) For a minimum value of t,, h must be equal to k, Kh? In equation 2 18, 7 and g are constants and —* Fy then must yield a minimum value 2 4 pe Therefore a( iF - ) =0 2 therefore a(l + A) 0 therefore 1-kh*=0 MOM251ZE -58- CHAPTER 2therefore therefore k= 2.7 ‘THE EQUIVALENT SIMPLE PENDULUM, For any compound pendulum the simple pendulum having the same period of oscillation is called the equivalent simple pendulum (Fig 2 10) If is its length t, = 27 E from equation (2 17) \ Figure 2.10 MOM251ZE -59- : CHAPTER 2For a point of suspension O, producing OG to P so that OP = /, the point P is called the centre of percussion because a blow at P produces no reaction at O Examples of this are to be found in the use tennis racquets, cricket bats, baseball bats and proofs as follows A force F applied at P is equivalent to an equal force F applied at G plus a couple (FxPG)=Fx(@-h) The force F at G produces an acceleration = to the whole pendulum towards the right The couple F x (/- h) produces an angular acceleration anticlockwise _Ex(l-h) ane ee keer Substituting “5 —— = 1 gives lar accelerati Fx (I-A) gular acceleration, = =U = angular acelerton, = ~S= Beant rx [ae 7 mie, E pixies mk, mh Hence the acceleration of O = 0.x h= jq towards the left. Since O has two equal ard opposite accelerations it remains at rest SOMETHING JUST FOR THE SAKE OF INTEREST Centre of percussion as applied to a billiard ball Consider the billiard ball in Fig 211 MOM251ZE =60- CHAPTER 2Figure 2.11 A billiard ball must be struck by a cue at its centre of percussion in order to receive a pure rolling motion Since it turns about O 2.8 WORKED EXAMPLES Example 1 A particle moves in simple harmonic motion with amplitude 75 mm and time 0,5 s Find its ‘maximum velocity and maximum acceleration Solution Period from equation 27 2n therefore O53 ~ 1257 rads Maximum velocity v,,., =a from equation 2 4 therefore Vinge = 12,57 x 0,075 = 0,943 m/s Maximum acceleration f,., = 0a from equation 2.6 therefore foe = 12,57 x 0,075 = 11,9 m/s” MOM251ZE. -61- CHAPTER 2Example 2 The piston of a pump moves with simple harmonic motion (S HM) The stroke is 200 mm and the speed is 240 r/min Find the piston velocity 1 atmid-stroke, 2 at quarter stroke Solution Amplitude a= stroke/2 2nN angular velocity @ =~ therefore on 725d rads 1 Velocity at mid-stroke Vue =O A from equation 2.4 =25,1x0,1= 2,51 m/s 2 Velocity at quarter stroke at quarter stroke x = 0,25 x 0,2=0,05 m now Velocity v=a ya —x2 from equation 23 v=25,1x 40, 12 052 =2,174 ms at quarter stroke y = 60° = /3 radians (See Fig 2 12) or a=0,1 0,05 cosy = 0,05/0,1 y=60° | | | KO Figure 2.12 and v=oasiny from equation 2 2 v=25,1x0,1 x sin60° = 2,174 m/s MOM251ZE -62- CHAPTER 2Example 3 A body of mass 2,25 kg moves in simple harmonic motion making 90 double strokes per minute each 390 mm long Calculate 1 the acceleration at the end of the stroke, 2 the maximum velocity and maximum kinetic energy of the mass, 3 the velocity and acceleration at one-third stroke Solution 90 double strokes per minute means 90 r/min Stroke = 2a = 390 mm therefore a= 195 mm=0,195 m Angular velocity @ = 25h = Pax 00 =9,42 rad/s 1 Acceleration at the end of the stroke from equation 2 6 therefore 13ms 2 Maximum velocity and maximum kinetic energy Vigo = 08 from equation 2.4 therefore Vag. 9,42 x 0,195 = 1,84 m/s Maximum kinetic energy, E, = Fi, =F x 2,25 x 1,84 = 3,8) 2 3 Velocity and acceleration at one-third stroke Velocity v=o from equation 23 therefore v= 9,420, 1952 — 0, 0652 = 1.73 mis Acceleration f= 08x from equation 2 6 therefore f= 9,42" x 0,065 = 5,78mis* MOM251ZE -63- : CHAPTER 2Example 4 A particle moves with simple harmonic motion (S HM ) between two points 1 m apart The frequency of the oscillation is 4 Hz Determine (a) the periodic time for the oscillation, (b) the maximum velocity and acceleration, and (©) the velocity and the acceleration of the particle when it is 300 mm from one end of the motion (Fig 2 13) Solution amplitude Va Nie \ a=0,5m 0.2m | (a) Periodic time 1 Periodic time t, = 55 cacy (}) — Maximum velocity and acceleration ‘Maximum velo from equation 2 4 Angular velocity o is given byfrequency n= oe Hz therefore ge Qn and © = 8rrad/s MOM251ZE -64- CHAPTER 2therefore V4, = 8 x 0,5 = 12,57 m/s Maximum acceleration, f,.. = 0a from equation 2 6 therefore £,. = Bn)'x 0,5 = 316 mi () Velocity and acceleration of the particle when it is 300 mm from one end of the motion ‘When the particle is 0,3 m from one end, itis 0,2 m from the mid-point of the stroke Hence the displacement, x, is equal to 0,2 m Velocity v=o ya2—x2 from equation 2 3 therefore v= 8 0,52 0,22 = 1152 m/s Acceleration f=o'x from equation 26 therefore £= (8n)*x 0,2 = 126,33m/s* NOW LET US APPROACH THIS SAME EXAMPLE FROM FIRST PRINCIPLES (@) Periodic time Periodic time 4,= -—L— = 1 frequency 4 0,25 s (6) Maximum velocity and acceleration Equation of motion x =a cosat from equation 2 1 where a is the amplitude = 1/2 = 0,5 m ais given by frequency n= ie therefore @=8n rad/s MOM251ZE -65- CHAPTER 2Equation of motion is x = 0,5 cos xt i) now differentiate (1) with respect to t velocity v = & 0,5 x 8msin 81 =- 4nsinsat Q) (negative sign indicates velocity towards the centre of motion The maximum velocity occurs when sin8nt is equal to 1, and equals 4x = 12,57 m/s This will occur at the mid-point of the stroke When differentiating (2) with respect to t we get acceleration f= & = -32ncos 8nt (negative sign indicates acceleration towards the centre of motion) The maximum value of this acceleration occurs when cos8at is equal to 1, and equals 32m? 01316 nv/s* This will occur at either end of the stroke () Velocity and acceleration of the particle when it is 300 mm from one end of the When the particle is 0,3 m from one end, itis 0,2 m from the mid-point of the stroke Hence the displacement, x is equal to 0,2 m therefore _0,2= 0,5 cost, using the displacement equation therefore cos8xt = 0,4 from identities cos*@ +sin*@ = 1 therefore sinnt = ¥ 1 — cos28nt = ql- 0,42 =0,917 Velocity at this instant is v= 4msin8nt = 4x x 0,917 = 11,52m/s Acceleration at this instant is f = -32n° cost therefore f= 32x 0,4 ‘The negative sign implies that the acceleration is in the opposite direction to that of the displacement MOM251ZE - 66 - CHAPTER 2Example $ ‘A mass of 20 kg moves with simple harmonic motion At a displacement of I m from the centre of oscillation, the velocity and acceleration of the body are 15 m/s and 200 m/s? respectively (Fig 2 14) Determine (a) the number of oscillations made per minute, (b) the amplitude of the motion, and (©) _ the force required to overcome the inertia of the body when at the extremities of the oscillation Figure 2.14 Solution (@ Number of oscillations per minute Equations of motion displacement x = acosot from equation 2 1 velocity v= awsinot from equation 22 acceleration f= - aa* cost from equation 25 REMEMBER: ANGLE ¥ = ot Substituting the values given, 1 = acosot a) 15 = aosinat Q) -200 = - an*cosat 8) Note that the direction of the acceleration will be opposite to that of the displacement, since the motion is simple harmonic MOM251ZE -67- CHAPTER 2Dividing (3) by (1), we have =aw*cos ot = 200=~Gcosat therefore 4200 frequency on Hz Qn 2n 4200 x 60 = 135 oscillations per minute 2n (&) Amplitude of motion Multiplying (1) by o and squaring, a =a a" cos’at Squaring (2) 225 = ao* sinfot Adding, a? + 225 = ata cos‘at + a?a* sin’ot = ao°(sin’at + cos’ot) = ao", since sin’at + cos’ot = 100 from (4), 200 + 225 = 200a* Substituting therefore a =1,46m ie amplitude of vibration is 1,46 m (©) Force to overcome inertia at extremity of motion @) Force to overcome inertia at extremity of motion, when displacement of body equals amplitude x=a= 1,46 But x= acosot hence cost must equal 1 MOM251ZE - 68 - CHAPTER 2Acceleration - an’ cosot therefore f= 1,46 x 200x1 = +292 m/s* Force to overcome inertia of body = mass x acceleration = 20 x 292 5.840N = 5,84 KN Example 6 ‘A body is moving ina straight line with simple harmonic motion of amplitude 0,6m Ata certain instant its displacement from mid-position is 0,3 m moving outwards One third of a second later it has the same displacement but is now moving inwards Calculate (a) the periodic time, (b) the maximum velocity, (© the maximum acceleration Solution Draw a sketch of the specified motion, Fig 2 15 See Figure 2.15 MOM251ZE -69- CHAPTER 2(@ Periodic time First find the angle tured through in one-third of a second 03 From figure cos = > 0,6 0,3 =60° 06 7 therefore angle OAB=2 x 60 = 120° therefore @= cos" For OA, to move through 120° takes a third of a second For OA, to move through 360° takes 1/3 x =1s therefore periodic time t, = 1s (}) Maximum velocity from equation 27 i 1-22 ie =2 therefore @ = 2nrad/s Jost =O 8 from equation 2 4 therefore Vine = 20K 0,6 = 3.77 m/s () Maximum acceleration oa from equation 2 6 = Qn)’ x 0,6 = 23,69m/s MOM251ZE -70- CHAPTER 2Example 7 A pendulum which was intended to beat seconds (ie have a period of 2 seconds) is found to Jose 4 seconds in 1 hour By how much must the pendulum be shortened in order that it may beat exact seconds? Solution Length of pendulum to beat seconds Periodic time t, a Jz from equation 2 17 a) 3600 In 1 hour the pendulum should have made or 1800 complete swings But it made only 1800 - (4/2) = 1798 swings, hence the periodic time was 3600/1798 s Let J, be the actual length of the pendulum, 3600 _ 5, fl then 1798 = rng from (1) 2500 a an fe dividing these two equations, we have 800 = 1798 4. (asad)? _ (179842)? ( 2 vs) =\i798) = 1+ 7708 @ Now Let us first consider the Binomial theorem According to the Binomial theorem fees Mo MOM251ZB. -1- CHAPTER 2aye! therefore (1 +x)* = 14~ 1 +2 Expand (2) according to the above ww ( therefore a 5 Bop * 0.9938 = 0,002 21 m ie the pendulum must be shortened by 2,21 mm in order to cause it to beat seconds accurately Example 8 Ref HE page 71, example 2 5 See question in text book Solution Draw a sketch of the specified compound pendulum Va = 40,05 m | | \ fh =0,55 m | 1,2m NS Figure 2.16 MOM251ZE -72- CHAPTER 2(a) _ time of swing of the rod if knife-edges are 50 mm from one end of the rod Ie +h t= 26 “ah from equation 2 18 now and h= 0,6 - 0,05 = 0,55 m ad E4055 a Lo sixoss bes (6) For the time of swing to be a minimum 1,27 k= h= = 0,12 m Bs 2x 0,12 =2n z =2n, 981 67s ‘Maximum angular velocity and maximum acceleration (in case a) 2n_ 2m @ = P= 776 ~ 3565 rad/s amplitude ) = 3 x x/180 = 0,0524 rad Maximum angular velocity Q=08 from equation 2 11 therefore = 3,565 x 0,0524 = 0.1867 rad/s Maximum angular acceleration o = 0° from equation 2 13 therefore a1 = 3,565" x 0,0524 = 0,666 radls* MOM251ZE -B- CHAPTER 2Example 8 A compound pendulum has a radius of gyration of 150 mm about an axis through its centre of gravity Calculate (a) _ its periodic time about an axis 300 mm from its centre of gravity, (b) the length of the equivalent simple pendulum Solution (a) Periodic time from equation 2 18 From the given data k,=0,15m and h=0,3m i = 2m, [015+ 0:3" _ 1 95 therefore = 2m Gy = Laks (6) Length of equivalent simple pendulum ke +h? 7 from equation 2.19 0,157+ 0,32 therefore I= Fs Example 9 A uniform slender rod 450 mm long is to be used as a compound pendulum At what distance from one end must the pivot be put so that its periodic time is 1,05 s Solution hw from equation 2 18 P _ 0,45? > where K T2127 0169 ae and t,= 1,05 MOM251ZE -14- CHAPTER 20169 + h? therefore 1,05 = 2 x Squaring 1 05? = 1,1025 = 4x” x 0,0169 + h? 9,81 xh therefore ih - 0,274h + 0,0169= 0 and h=0,1805 m_ or 0,0935 m =180,5mm or 93,5 mm therefore Distance from one end => — h = se ~ 180,5 = 44,5 mm or = 0 -93,5= 131.5 mm 2.9 EXERCISES 1 HE Page 77(1, 2, 15, 16) 2 A particle moves with $ H M Find the period of the motion if (a) the acceleration is 1,5 m/s’ at 0,75 m displacement, (b) the maximum acceleration is 2,1 m/s* and the amplitude is 0,6 m, (©) the maximum velocity is 2 m/s and the amplitude 550 mm [4,44 s, 3,36 s, 1,73 s} 3A body of mass 18 kg moves with S HM. When it is 300 mm from mid-position it has a velocity of 2,4 m/s and an acceleration of 4,5 m/s? Calculate (a) the periodic time, (b) the number of oscillations per minute, (© the amplitude , () the maximum acceleration , (©) the maximum accelerating force [1,62 s , 37,0, 0,69 m, 10,35 m/s", 186 N] MOM251ZE. -75- CHAPTER 2@ () 10 A particle moving with HM has a velocity of 3 m /s when passing mid-position, the period being 3 s Find the amplitude and the velocity when one metre from mid-position [1,43 m, 2,15 m/s] A particle moves with SH M and makes 75 oscillations per minute At 50 mm from mid-position its velocity is 0,6 m/s calculate the amplitude of the motion If A and B are two points 50 mm and 90 mm respectively from mid-position, find the least time taken to move from A to B [91,4 mm, 0,104 s] A horizontal shelf is moved vertically up and down with $ HM at 2 Hz Show that if the amplitude is 64 mm, a body on the shelf will leave it near the highest point of its travel [Maximum acceleration, 10,0 m/s*, slightly greater than g so body will leave the shelf] Determine the number of complete oscillations per minute which will be made by a pendulum whose length is 1,2m [27,3] A clock pendulum is required to make 4 beats per second Determine the length of the pendulum [62,1 mm (based on frequency = 2 Hz) What will be the length, in millimetres, of a simple pendulum which will make one complete oscillation in 2 seconds, ie a pendulum to beat seconds? [994 mm] A compound pendulum consists of a thin circular steel plate of mass 3 kg attached as shown in Fig 2.17 to one end ofa slender rod of mass 1,5 kg Determine the distance of the point of suspension from the upper end of the rod for the period of oscillation to be a minimum, and calculate the value of this period [1,065 m, 2,2 s] MOM251ZE -76 - CHAPTER 211 A uniform slender rod 950 mm long is to be used as a compound pendulum At what distance from the centre of gravity must the pivot be placed in order to make the periodic time a minimum? How many oscillations per minute will it then make ? [0,274 m, 40,3] Figure 2.17 12 A connecting rod is 1,8 m long between bearing centres The centre of gravity is 1,3m from the small end centre When pivoted at its small end centre the rod swings in unison with a simple pendulum 1,65 m long (a) Calculate its radius of gyration about a parallel axis through its centre of gravity (b) __If the rod is pivoted at its big end bearing centre, find the length of the simple pendulum with which it would swing in unison [0,666 m, 1,41 m] 13 A connecting rod is oscillated as a compound pendulum about two points A and B in turn When oscillated about A its periodic time is 0,86 s and when oscillated about B it is 0,77 s If the distance AB is 250 mm, calculate the radius of gyration of the rod about its centre of gravity which lies between A and B on the straight line joining them [70 mm] MOM251ZE, -11- CHAPTER 214 @ (b) © A small collar of mass 1,0 kg is attached to one end of a uniform rod of mass, 3,0 kg and length Im Calculate the distance of the centre of gravity of the combination from the other endof the rod, the radius of gyration about the centre of gravity, the period of oscillation as a compound pendulum, suspended from the other end of the rod [0,625 m, 0,33 m, 1,79 s] MOM251ZE -78- CHAPTER 2MOM 251ZE CHAPTER 3 VEHICLE DYNAMICS CONTENTS PAGE 31 OBJECTIVES 81 32 INTRODUCTION 81 33 TRACTIVE EFFORT AND TRACTIVE RESISTANCE 83 34 ROLLING RESISTANCE 84 35 GRADIENT RESISTANCE 84 36 AIR (OR WIND) RESISTANCE 85 37 POWER AVAILABLE, 85 38 POWER REQUIRED 86 39 POWER CURVES 87 310 TRACTIVE EFFORT AND ENGINE TORQUE 87 311 TORQUE AND ANGULAR ACCELERATION 88 312 WORK DONE BY A TORQUE 89 MOM251ZE, -79- CHAPTER 3313 314 315 316 317 319 3.20 321 ANGULAR KINETIC ENERGY EQUIVALENT MASS OF A ROTATING BODY ACCELERATION OF A GEARED SYSTEM EQUIVALENT DYNAMICAL SYSTEM MAXIMUM ACCELERATION OF A VEHICLE MAXIMUM RETARDATION OF A VEHICLE WORKED EXAMPLES EXERCISES ASSIGNMENT I 90 gt 97 7 122 122 MOM251ZE -80- CHAPTER 3CHAPTER 3 VEHICLE DYNAMICS Ref HE Chapter 1, page 10 31 OBJECTIVE After you have studied this chapter, you should be able to Describe tractive effort, tractive resistance, rolling resistance and gradient resistance on a vehicle Derive the equivalent moment of inertia at the wheels of a vehicle, ie Ip=Iy+ Wl, Derive the formula to find the net driving force at the wheels of a vehicle i e Txnxn =F * Calculate the equivalent inertia of all moving parts in a vehicle at the wheels and vice versa * Calculate the tractive effort at the wheels of a vehicle when a certain engine torque is given * — Caleulate the normal reactions at the rear and front wheels on a vehicle 3.2. INTRODUCTION A vehicle consists of a body of mass M and four wheels, each of mass m The centre of gravity of the entire vehicle is at a height h above the ground and at horizontal distances a and from the back and front axles respectively The radius of each wheel is r and the radius of gyration about its centre of gravity is k MOM251ZE -81- CHAPTER 3= a L _ J Figure 3.1 In discussing the motion of such a vehicle under external forces we could proceed by dividing the vehicle into three parts front-wheel pair, rear-wheel pair and body. Introducing the external forces and the reactions between these parts, we write down the equations for the motion of each part independently and solve these equations for the unknown forces and accelerations In dealing with the motion of a vehicle we therefore proceed in general as follows Consider the vehicle as a whole and write down the two equations for the motion of G and the equation for the moments about G These equations in general involve the unknown reactions and frictional forces at the road, so that they are not in themselves sufficient to solve the problem We therefore generally find it necessary to consider one of both wheel pairs separately Acting at the axles there are further unknown reactions due to the body To avoid introducing these further unknowns into the problem, we take moments about the axle as_we may do since the axle passes through the centre of gravity of each wheel pair In many cases the motion of the vehicle is produced by means of a torque applied to one or both of the axles by means of the engine or the brakes This torque is of the nature of an internal force system For example, if there is a braking couple applied to the wheels at the brake drums by the brake shoes, there is MOM251ZE, ~82- CHAPTER 3an equal and opposite couple applied by the wheels to the body Hence the internal torque does not appear while we are discussing the vehicle as a whole, but must be taken into account when we consider the individual wheel pairs In addition, we have the geometric relation connecting the angular motion of the wheels and the linear motion of the vehicle We assume that there is no slipping of the wheels on the ground, so that the linear and angular accelerations are related by the equation frra G1) 3.3 TRACTIVE EFFORT AND TRACTIVE RESISTANCE When a motor vehicle moves along a road at constant speed the only the only driving force or tractive effort (T,) needed to be applied to the wheels is that required to maintain the motion against the various opposing forces which would otherwise tend to decelerate the vehicle and bring it to rest The tractive effort at constant speed is therefore equal to the sum of all the forces opposing the motion of the vehicle These forces are all included in the term tractive resistance (T.) and can be divided into three groups namely 1 Rolling resistance (R,) 2 Gradient resistance (R,) 3 Air (or wind) resistance (R,) Hence, for constant speed, Tractice effort required = Sum of all the resistances ie T,=R,+R,+R, G2) For a vehicle moving along a level road at constant speed, eq (3 2) becomes T.=R+R 63) NOTE: f the vehicle is accelerated along the road, the tractive effort must exceed all the resistances and provide the accelerating force MOM251ZE -83- CHAPTER 33.4 ROLLING RESISTANCE The rolling resistance (R,) of a vehicle is due mainly to wheel bearing friction and to the deformation of tyres or road surface Its value depends upon the nature of the road surface, type and size of tyres used, and upon the normal load on the tyres Its value is also found to increase by too low an air pressure in the tyres The rolling resistance is generally assumed to be independent of the vehicle speed and is often expressed in Ntonne of total mass of vehicle 3.5 GRADIENT RESISTANCE When a vehicle is being propelled up an incline the tractive effort must also neutralise the effect of the component of the weight of the vehicle down the slope This is called the gradient resistance (R,) and depends entirely upon the steepness of the slope and upon the weight of the vehicle (Remember that the weight of the vehicle is the gravitational force exerted by the earth ‘on its mass) Consider a vehicle of mass m resting on an incline (Fig 3 2) whose gradient is 1 in G Let @ be the angle of the slope Then Component of weight W down the slope = Wsin0 = mgsind But Hence, : mg Gradient resistance, R= mgsind => G4) NOTE: When a gradient is specified as 1 in G, G actually refers to length AB, so that But since in most practical gradients @ is small, tan0 is approximately equal to sind MOM251ZE -84- CHAPTER 3Figure 3.2 3.6 AIR (OR WIND) RESISTANCE Air (or wind) resistance (R,) depends upon many factors, such as the shape and the frontal area of the vehicle as well as its speed relative to the air The air resistance, in Newtons, is generally given by the expression R,=kAV? @5) where k is a constant depending on the shape of the vehicle, A the projected frontal area (1m), and V the speed of the vehicle relative to the air (km/h) 3.7 POWER AVAILABLE ‘The power available at the driving wheels at any given instant is equal to the power developed at the crankshaft of the engine during that instant after, of course, making allowance for the transmission frictional losses Hence, if bp = brake power of the engine 115 transmission efficiency then, Power available at road wheels = b p x7 G6) Also, if T, = tractive effort, in N MOM251ZE =85- CHAPTER 3.v= vehicle speed, in m/s then, Power available at road wheels = Force x velocity P=T, xv watts G7) From equations (3 6) and (3 7), the power developed at the crankshaft of the engine at any given road speed can be determined by the following expression Texv bp of engine = (8) 3.8 POWER REQUIRED The power required at a given speed is that necessary to overcome the tractive resistance acting on the vehicle at that speed Hence, if 7, = tractive resistance, in N v= vehicle speed, in m/s then, Power required to overcome resistances =T,xv W. 6% MOM251ZE -86- CHAPTER 33.9 POWER CURVES Figure 3 3 shows the curves of the power available at the driving wheels and the power required to overcome the resistances on the level | sine pom | | Power (kW) load speed tken/h) Figure 3.3 3.10 TRACTIVE EFFORT AND ENGINE TORQUE ‘When a vehicle travels in top gear the rear-axle torque T,, in Newton metres, is given by T,=Txaxn G19) where, T= engine torque (Nm) n, = rear-axle ratio 11= transmission efficiency But the rear-axle torque T,, in newton metres, is also given by MOM251ZE -87- CHAPTER 3T,=T,xR Gl) where, T, = tractive effort exerted by the driving wheels (N) R= effective radius of driving wheels (m) Hence, by substituting the value of T,., from equation (3 11) into equation (3 10), we get T.xR=Txn, xy so that @ 12) NOTE: The engine torque T, in Newton metres, can be obtained from the b p formula 2nNT 60 where N is the engine speed in r/min Engine break power developed = Ww 3.11 TORQUE AND ANGULAR ACCELERATION Ref HE page 10, paragraph 1 18 Let the body shown in Fig 3 4 rotate about an axis through O and let the angular accelera- tion produced by a torque T be & Then acceleration of particle of mass dm at radius 1= a therefore force required to accelerate particle = dim cul therefore torque required to accelerate particle = dm oF therefore total torque to accelerate the body = [dm cu? ie T=ha 13) MOM251ZE -88- CHAPTER 3a) Figure 3.4 3.12 WORK DONE BY A TORQUE Ref HE page 11, paragraph 1 23 Ifa constant torque moves through an angle 8, Work done = T0 If the torque varies linearly from zero to a maximum value T, Work done = }10 In the general case where T =/(0), Work done = 6 A8)d0 The power developed by a torque T N m moving at @ rad/s is given by 2nNT 60 Power=To or Ww where N is the speed in r/min MOM251ZE -89- CHAPTER 33.13. ANGULAR KINETIC ENERGY Ref HE page 12, paragraph 1 25 Let a body rotate about O, 3 5, with an angular velocity @ Then E, of particle of mass dm = Me D2 therefore total angular E, of body = = Jam? 2 ( according to definition, dm P= I.) G14) but 1=1, +k (theorem of parallel axes) therefore B= Lig + mh?) o? ~ Yao? +h? (wh = G13) Figure 3.5 MOM251ZE -90- CHAPTER 33.14 EQUIVALENT MASS OF A ROTATING BODY Ref HE page 12, paragraph 1 26 Consider a body of mass m rotating about an axis through O, Fig 3 6, let the radius of gyration about this axis be & Ifa tangential force P , acting at radius r , produces an angular acceleration r, then the equation of angular motion of the body is Pxr=[a=mBk, but f Gt , where fis the linear acceleration at radius ie Pxr= mk, fir therefore P= mk Ay f G16) which is the equation of linear motion of the body, assumed concentrated at radius r The quantity m(Z.,/r) is the equivalent mass of the body, referred to the line of action of P Jn problems concerning both linear and angular accelerations, such as vehicle dynamics, this ‘equivalent mass may be added to the actual mass in order to obtain the total equivalent mass having linear acceleration only | tS P | | Figure 3.6 MOM251ZE -91- CHAPTER 33.15 ACCELERATION OF A GEARED SYSTEM Ref HE page 13, paragraph 1 27 Let two gear wheels A and B, having moments of inertia J, and J, respectively, mesh with a speed ratio «,/, = n, Fig 37 Ifa torque T is applied to wheel A to accelerate the system and a, and a, are the angular accelerations of A and B respectively, then torque required on B to accelerate B, Ts =Iq@y oy Ds but aa "= 7, Te therefore a, = na, ) and T=nT, @Q) and 1 Ay @) therefore torque required on B to accelerate B,T, =1,na, from equation (1) therefore torque required on A to accelerate B=1'J, @, from equation (2) Torque required on Ato accelerateA, — T, =, @, therefore total torque required on A to accelerate A and B= ,ai,+ 11,¢t, ie T=G,+7'l,) a, ey) ‘The quantity 1, + r7 J, may be regarded as the equivalent moment of inertia of the gears referred to wheel A This principle may be extended to any number of wheels geared together, the moment of inertia of each wheel in the train being multiplied by the square of its gear ratio relative to the reference wheel Thus, in problems on hoists, the moments of inertia of the various gears may be reduced to an equivalent moment of inertia of the motor shaft MOM251ZE -92- CHAPTER 3‘The above result can also be obtained from the general principle that the net energy supplied to a system in unit time is equal to the rate of change of its kinetic energy (see Section 3 13) Thus 2 djl 2,1 2 Tey, ~ a 3la04 +3105 | ; 2. “ala + Ip ]x4@4) =U, +71 x2 0,04 ie T=[I,+ W1,] a, (18) this torque is in addition to any torque required on A to overcome external resisting torques applied to A and/or B If Ps the tangential force between the teeth, then Lo0ty P= G19) or from equation (3 18) T-I,a, = n’I,a, = Torque on A to accelerate B and P x 7, = Torque on A therefore Px =T-La TH, therefore pas 7 where r, and 7, are the pitch circle radii of A and B respectively Va - CHAPTER 33.16 EQUIVALENT DYNAMICAL SYSTEM Ref HE page 14, paragraph 1 28 Itis required to replace a rigid body by a dynamically equivalent system of concentrated masses The necessary conditions are as follows (1) The total mass must be the same in each case (2) The position of the centre of gravity must be the same in each case (3) The moment of inertia about an axis through the centre of gravity must be the same in each case Figure 3.8 Thus, if a body of mass m and radius of gyration k about its centre of mass is to be replaced by an equivalent two-mass system, Fig 3 8, then m, +m, =m (3.20) m,a=m,b G21) m, a + m,B? = mk 22) From equation 3 21, QM and @ MOM251ZE -94- CHAPTER 3substitute (2) into (3 20) ie mmo therefore m, ee =m therefore ao G23) similarly G24) Substituting equations (3 23) and (3 24) into equation (3 22) gives the essential condition for the placing of the masses, ie ab = Either a or b can be chosen arbitrary and the other term is obtained from this relationship 3.17 MAXIMUM ACCELERATION OF A VEHICLE Ref HE page 14, paragraph 1 29 Assuming that sufficient power is available, the maximum possible acceleration of a vehicle is limited by the adhesion between the tyres and road The friction force available depends on whether the power is supplied to the rear, front or all wheels When a car is accelerating or hill-climbing, the rear wheel reaction is increased due to the inertia force and weight component down the slope and the front wheel reaction is comrespon- dingly decreased Thus, in these circumstances, the wheel grip is increased for rear wheel drives but reduced for front whee! drives, In the case of four wheel drives, slipping would only occur simultaneously at the rear and front wheels if the wheel reactions were equal but, since these will vary with the acceleration and gradient of slope, this situation is very unlikely to occur and the maximum friction force is governed by the limiting friction at the slipping wheels Consider a vehicle of mass m accelerating up a gradient which is inclined at an angle of @ to the horizontal, Fig 3.9 Let the tractive force be F’, irrespective of the type of drive, and the reactions at the rear and front wheels be N; and N, respectively MOM251ZE CHAPTER 3Resolving forces perpendicular and parallel to the incline, N,+N, =mg cos 625) and F=mg sind + mf 26) ‘Taking moments about the centre of mass, G, Fh=N,b-N,a 27) For rear wheel drives, F=uN, For front wheel drives, F=uN, In the case of four wheel drives the arrangement of the drive ensures that equal torques are applied to the rear and front wheels, so that the tractive force at the rear and front axles are equal From equations 3 20, 3 21 and 3 22 it is possible to determine which wheels will reach their limiting adhesion first If N,<.N, the front wheels will slip first, giving a limiting friction force of HN,and, since the same torque is applied to the rear wheels ,the total accelerating force is F=24uN, MOM251ZE -96- CHAPTER 3Similarly, if V,<.N,, the rear wheels will slip first in which case F=2uN, 3.18 MAXIMUM RETARDATION OF VEHICLES The analysis of the maximum retardation is identical with that for the maximum acceleration, except that is now the braking force instead of the accelerating force and, consequently, acts in the opposite direction The brakes are normally applied to all four wheels and, if they were arranged to apply equal braking torques at rear and front, the treatment would be the same as that for the four wheel drive considered in Section 3 16 If, however, the brakes are designed so that the rear and front wheels will slip simultaneously, the braking force can be increased to F= p(N,+N,)= amg cosd 3.19 WORKED EXAMPLES Example 1 A vehicle of mass 2 tonnes is being propelled along a level road by a constant tractive effort of 1,25 KN If the rolling resistance amounts 100 N/tonne of total mass, determine the acceleration of the vehicle Neglect air resistance Solution Convert different units to standard units Mass of vehicle, m = 2 tonnes = 2 000 kg Tractive effort, T, = 1,25 KN = 1250 N Rolling resistance, R, = 100 Nit = 109] | x 2[A =200N Draw a sketch of the specified vehicle MOM251ZE -97- CHAPTER 3Acceleration 2 —_—> 10ON/t co. 1250N Ww amg Figure 3.10 Now, since vehicle is accelerated on the level and air resistance is neglected, then Accelerating force F=T, -R, = 1250 - 200 =1050 N. But, according to Newton's second law, F= ma 1050 = 2000a therefore acceleration, a = 0,525 m/s? Example 2 A motor lorry has a mass of 4 Mg and is driven up a hill of gradient 1 in 20 at a constant speed of 36 knvh If the rolling resistance amounts 75 N/tonne, calculate the tractive effort exerted by the vehicle If the engine is switched off, how far will the vehicle travel before coming to rest? MOM251ZE 98 - CHAPTER 3Solution Draw a sketch of the motor lorry from the given data Figure 3.11 Tractive effort exerted by the lorry m: Gradient resistance, R, = ve from equation 3 4 _ 4x 1000 x 9,81 a 20 =1962N Rolling resistance, R, = 75 [2] x 4[4] [kg x nv/s*] =300N To maintain a constant speed of 36 knv/h up the hill (neglecting air resistance), Tractive effort, Te=R, +R, from equation 3 2 T, = 1962 +300 = 2262 N = 2,262 KN MOM251ZE -99- CHAPTER 3Distance travelled before coming to rest If engine is switched off, Retarding force, F = tractice resistance =2262N But, according to Newton's second law F=mf therefore 2262 = 4000f therefore retardation, f= Bee = 0,5655 mis? Now, Initial velocity, u = 36 x Final velocity, v = 0 acceleration, 0,5655 m/s*(retardation) Distance travelled, veu + 2fs 0= 10? + 2.x (-0,5655) xs therefore = 88,42 m NOTE: When a vehicle freewheels down an incline the accelerating force is the difference between the component of the weight down the slope and the tractive resistance Example 3 A motor vehicle stands on the top of a hill of gradient 1 in 15 and the hand-brake fails If the total mass of the vehicle is 1,2 t and the total resistance to motion amounts to 200 N, calculate (a) the acceleration of the vehicle down the slope, (©) the distance the vehicle will travel in 25 s, (©) the speed of the vehicle after 25 s MOM251ZE -100- “CHAPTER 3Solution Draw a sketch of the specified vehicle Figure 3.12 (@) The acceleration of the vehicle down the slope m Gradient resistance, R a from equation 3 4 _ 12x 1000 x 9,81 15 =785N ‘Accelerating force, F = Gradient resistance - Tractive resistance ie F=R,-T, = 785 - 200=585N But F=ma 585 [# mis? | therefore Acceleration, «= 75 = 775-7900] — hg 0,4875 m/s? (8) The distance the vehicle will travel in 25 8 Initial velocity, u = 0 Final velocity, v= ‘Acceleration, a = 0,4875 m/s MOM251ZE -101- CHAPTER 3Time taken, t= 25 s Distance travelled, Now, sour dar 2 0,4875 x 25? therefore sno+ (2852) x | s=1524m (©) The speed of the vehicle after 25 s yeu tat therefore v=0 + 0,4875 x 25 v= 12,19 m/s Example 4 A modem touring car has a mass of 850 kg unloaded and carries 150 kg of luggage The car is being propelled up a hill of gradient 1 in 25 against a constant frictional resistanc of 250 N, and increases its speed uniformly from 45 knv/h to 72 km/h in 12 s Find the tractive resistance of the car If the car now descends a second hill of gradient 1 in 15 with the engine switched off, what will its speed be 200 m downhill? ‘The resistance to motion may be assumed to be the same as on the first hill Tractive effort exerted by the car Total mass of car, m= 850 +150 = 1000 kg, Up first hill Initial velocity, u = 45 kmvh= 45 x 75 = 12,5 m/s Final velocity, v = 72 km/h = 72 x a = 20 m/s Time taken, t= 12's Acceleration, a=? MOM251ZE -102- CHAPTER 3Since veutat then acceleration, a= and Accelerating force up hill, F= ma = 1000 x 0,625 =625N m Gradient resistance, R, = a from equation 3 4 _ 1000 x 9,81 25 =392,4N Now, Tractive effort exerted by car up the bill, = ( Gradient resistance) + (Frictional resistance) + (Accelerating force) therefore = T.=R, +R, +F T, = 392,4 + 250 + 625 = 1267,4N Speed 200 m down second hill Since car freewheels down second hill, Accelerating force, F (Gradient resistance) - (Frictional resistance) therefore F=R,-R, _ 1000 x 9,81 Bb =410,7N But F=ma ie 410,7 = 1000a therefore, acceleration a = 0,4107 m/s? MOM251ZE 103 - CHAPTER 3Initial velocity, u = 72 ki/h = 72 x Final velocity, v =? Acceleration, a= 0,4107 m/s? Distance travelled, s = 200 m Now, ? +2as ie +2 0,4107 x 200 therefore v= 23,76 m/s Example 5 Calculate the tractive effort required to drive a vehicle up an incline of 1 in 8 at a constant speed of 50 km/h The mass of the vehicle is 1,25 Mg, the rolling resistance 160 Nit, and the air resistance, in N, is given by the expression 0,1V°, V being the vehicle speed in kmv/h Solution Draw a sketch of the vehicle from the given data ~12262:5N Figure 3.13 25 Mg = 1,25 t= 1250 kg ig = 1250 x 9,81 = 12262,5N Mass of vehicle, m= Weight of vehicle, W MOM251ZE -104- CHAPTER 3Rolling resistance, R,= al x 1,25[f] -200N mg | Gradient resistance, R, =“ from equation 3 4 12262,5 =a = 1532,6N Air resistance, R, = 0,1V?= 0,1 x 50 = 250 N For constant speed up the incline, Tractive effort, T,= R, +R, +R, from equation (3 2) therefore T, = 200 +1532,6 + 250 = 1982,6 N= 1.9826 KN Example 6 A car of total mass 1,5 Mg is driven up an incline of 1 in 50 at a constant speed of 72 km/h. while the engine is developing 16 kW Calculate the power required to overcome the road and wind resistances Neglect frictional losses of the transmission Solution Power required to overcome the road and wind resistance Speed of car at 72 kmh = 72x = 20 mis Engine power developed, b p = 16 KW= 1 600 W Neglecting frictional losses, bp =T, xv from equation (3 7) therefore _-Tractive effort, T, = soar s | ="20 from equation 3 4 500x981 545. 50 ’ At constant speed, Tractive effort, T,=R, +R, +R, from equation 3 2 ie 800 = 294,3 +(R, +R) therefore R, +R,= 800 - 294,3 = 545,7N Now, Power required to overcome the road and wind resistances =(R+R)xv = 45,7 [N] x 20 [m/s] = 10914 N m/s= 10914 W 10,914 kW Example 7 ‘Acar having a total mass of 1,2 t is propelled by an engine which develops a maximum power of 27 KW at the road wheels ‘The road and other resistances may be taken as constant at 70 Nit If the car starts from rest and ascends a gradient of 1 in 12, determine (a) the acceleration when moving at a speed of 18 km/h, () the maximum attainable speed Solution (@) The acceleration when moving at a speed of 18 km/h ‘Mass of car = 1,2t= 1200 kg Road speed = v = 18 km/h = xy =Sm/s Max power at road wheels = 27 kW = 27 000 W Road and other resistances, R, = 84 + 981 = 1065 N m, Gradient resistance, R, = a fiom equation (3 4) _ 1200 x 9,81 12 =981N MOM251ZE CHAPTER 3Total tractive resistance, T, =R, +R, ie T, = 84+ 981 = 1065 N Power at road wheels = T, xv from equation (3 7) Power at road wheels Tractive effort, T. v ie 270007 Nm) s’ 5 sm =5400N Accelerating force, F = Tractive effort - Total resistance ie, F= = 5400 - 1065 = 4335 N But F=ma therefore acceleration, a= 4335 i = Ty90 ~ 3.6L (®) Maximum speed attained ‘Maximum speed is attained when the tractive effort and the total resistance to motion are in balance Hence, If Vga, is the maximum speed, in mvs, then Power at road wheels = T, x Vy. ie 27 000 = 1065 x v,,,.. therefore Vac : 18 _ (25,35 mis = 25,35 x ==> = 101,3 km/h) MOM2SIZE -107- CHAPTER 3NOTE: 1 IN ALL THE ABOVE EXAMPLES, WE FIRST CONVERTED ALL THE DIFFERENT UNITS TO STANDARD UNITS. 2 AS FAR AS POSSIBLE WE TRIED TO DRAW A SKETCH OF THE SPECIFIED VEHICLE. THE ABOVE TWO STEPS ARE OF GREAT IMPORTANCE BEFORE DOING THE PROBLEM AS SUCH. Example 8 Ref HE page 48, example 1 12 See question in text book Solution (a) Time to reach full speed Mass, m= 25 t= 25 000 kg Wheel diameter, d= 750 mm = 0,75 m ie Wheel radius, r= 0,375 m gearing efficiency, 1 = 94 per cent Now rolling resistance, R, = 180 [¥] x 25[¢] =4500N eS SOT waa therefore Axle torque Engine torque x efficiency x gear ratio = 239 x 0,94 x 10= 2245 Nm Now, Tractive effort, T, = axle torque + wheel radius = 2245 + 0,375 = 5980 N but Tractive effort, T, =R, +F (ona horizontal track) therefore F=T, -R, = 5980 - 4500 = 1480 N and F=ma (Newton's second law) MOM251ZE. = 108 - CHAPTER 3.ie 1480 =25 x 1000xa ‘therefore a=0,0592 m/s? Nevsine Nowhoois therefore Neseas = Nugye/tt = 2400/10 = 240 r/min _ RDN yey _ 0,75 x 240 _ Final speed, v= Eat = 7 ——— = 9,43 mis and voutat 9,43 = 0 + 0,0592t therefore 8 (6) The gear ratio required gearing efficiency, 1 = 90 per cent acceleration, a= 0,15 m/s* gradient, 1 in 70 ie G=70 Draw a sketch of the specified vehicle (Fig 3 14) Ifthe required gear ratio is n, then Tractive effort, T, = from equation 3 12 239 xn, x 0,9 ie ee aaaaae Figure 3.14 MOM251ZE = 109- CHAPTER3mg Gradient resistance, R, => from equation (3 4) 25 x 1000 x 9,81 therefore = 73508 N 70 now, Tractive effort, T, =R, +R, +F (F =ma) ie 574n, = 4500 + 3503 +25 x (1000 x 0,15) therefore n, = 20,5 Example 9 Ref HE page 50, example 1 23 See question in text book Solution Acceleration of the car at a speed of 12 m/s Mass of car, m= 1000 kg, Wheel radius, R = 360 mm Moment of inertia of rotating engine parts, I, = 0,3 kg m* ‘Moment of inertia of four road wheels, I, ~ 3,6 kg m? Gear ratio, n,= 5,5 Resistance to motion, R, = (245 + 0,96v’) N where v is the car speed in m/s Engine torque available for propulsion, T = (88 - 0,044v’) Our first step now is to find the total equivalent mass, which has to be accelerated Equivalent moment of inertia at wheels, 1, =Iy + n°I, ie 1, = 3,6 + 5,5? x 0,3 = 12,675 kg m? therefore total equivalent mass to be accelerated, +1 /R = 1000+ ee =1097,7 kg 0,367 10°? Txnxn Tractive effort, T, = —— from equation (3 12) MOM251ZE -110- CHAPTER 3(88 - 0,044y?) x 5,5 x 1 : 0,36 therefore T, = 134,44 - 0,6722° but =R+F therefore F=T, -R, = 1344,44 - 0,6722v7 - (245 + 0,96v”) = 1099,44 - 1,632207 ‘The equation of motion of the car is therefore F=MS ie 1099,44- 1,632? = 1097, 7F therefore f= 1,002 - 0,001517 @ When v = 12 m/s, f= 1,002 - 0,0015 x 12° = 0,788 m/s” Time required to accelerate car Equation (1) may be written in the form dv dv Gp 12002 0,00157, because f= 7 dy 672,5dv or oT 002 - 0,015" ~ 25,97? 20 dv 1225,7 =» ® = oA In [¢ = Z| +C isa standard form of integration. Hence t = 672,5 NOT! j—@ Now integrate equation (2) according the above standard form. therefore t 6725 n[23 + “3x259 "| 25,9—v J1o = 12,98 In{{(25,9 + 20) = (25,9 - 20)] - [(25,9 + 12) +(25,9 -12)}} = 12,98 In [7,7797 - 2,7266] MOM251ZE -11- CHAPTER 3= 12,98 In $,0531 ie t= 21,035 Example 10 Ref HE page 51, example 1 24 See question in text book Solution Gear ratio that will give maximum acceleration Mass of vehicle, m = 1360 kg Wheel radius, r = 640/2 = 320 mm = 0,32 m Maximum engine torque, when running at uniform speed, T = 200 N m Transmission efficiency, n= 85 per cent Moment of inertia of road wheels and axles, I, = 7,6 kg m* Moment of inertia of engine, I,= 0,84 kg m? Slope is 1 in 8 Rolling resistance, R, = 270 N Let be the gear ratio and f the acceleration of the vehicle in m/s? Draw a sketch of the vehicle from given data Paes ie re Figure 3.15 Equivalent inertia at wheels, 1, =I, +771, therefore 1, = 7,6 +7 x 0,84 =7,6 + 0,847 @ MOM251ZE -112- CHAPTER 3therefore Total equivalent mass to be accelerated, M, =m + I,/R* sheref M, = 1360+ 200,840? erefore = naa Txnxy . Tractice effort, T, = ——p— from equation 3 12 theref vy, = 200% 2x 085 | os ® erefore: 0,32 7 [250 Gravitational resistance, R, Les from equation 3 4 G 1360 x 9,81 therefore — = 1667,7N Now, Tractive effort, T, =R, +R, +F (F=M/ . 7,6 + 0,84n?. ie $31,25n = 270 + 1667,7 + (1360 Ta ie $31,25m- 1937,7 = (1434,2188 + 8,203] ) f 531,25n - 1937,7 therefore, 4 (7934,2188 + 8,2031n") ® : g For maximum acceleration, dn 0 af Apply the quotient rule on equation (3) to find = ie (1434,2188 + 8,2031n?)x 531,25 - (531,25n - 1937,7) x1 <9 (1434,2188 + 8,2031n?)* therefore 761928,7375 - 4358,428 Ly + 31792,2314n = 0. -761928,7375 + 4358,42877 -31792,231n =0 or w ~ 7,2944n - 174,8173 == MOM251ZE -113- CHAPTER 3from which =b+JP—dae _ -(-7,2944) + 4(-7,2944)"— 4 x Ix (-17- a therefore n n 7,294 £ 27,4313 - 2 therefore =» = 17,36 = or =m =~ 10,07 therefore Gear ratio, n= 17.36 Example 11 Ref, HE page 53, example 1 26 Solution Speed of train after it has travelled 1500 m up the gradient Resistance to motion, R, = 35 + 0,1¥ Nit If the mass of the train is m tonnes = 1000m kg R,=m@Q5+0,1"7) N Gradient resistance, R, = "2 = x 1000 9.81 og im oN G 100 Draw-bar pull (Tractive effort), T,=225xm=225m = N Now, T,=R.+R,+F (condition of equilibrium) therefore Accelerating force, F = T, - (R, + R,) =225m - m(35 +0,1¥7) - 98,1m = m(91,9 -0,1”) N The equation of motion of the train is therefore m(91,9- 0,17) = mf Q) ‘We actually want an equation of displacement, s in terms of the velocity v, because we must find the speed of the train after a given distance travelled Proceed as follows If the displacement is s MOM251ZE 14 CHAPTER 3speed, therefore ae» & dy acceleration, f = a @ substitute equation (2) into equation (1) therefore (91,9 - 0,194) = mx 1000v ds therefore ds= SISEOae therefore met Convert the above integral into the form (av ie 1000. 2” ay 0,2 7 91,9-0,1"7 = - 5000 In (91,9 -0,1¥? +C v= 18 m/s, and so = - $000 In(91,9 - 0,1 x 187) + ie c= 20450 therefore, when s = 1500 m, 1500 = - $0001n(91,9 - 0,11) + 20 450 ie — - 18950 =- 5000In(91,9 - 0, 1¥’) from which 1,83 m/s MOM251ZE 115 - CHAPTER 3Example 12 Ref HE page 53, example 1 27 See question in text book Solution Draw a sketch of the car from the given specifications ‘Wheel base of motor car /=a+b= 4m and a=1m_ therefore b=1,4m Centre of mass above ground, h = 0,84 m Coefficient of friction between tyre and ground, jt = 0,5, { es QO Figure 3 16 Maximum accelerations when the vehicle is (a isdriven on all four wheels From section 3 16 1) @ @) If the rear wheels are assumed to slip first F=2pN,=2x0,5N,=N, Substituting in equation (3) gives ) M,= 0 = - 0,84N,+ 1,4 N,-N; MOM251ZE = 116 CHAPTER 3ie 0,56N, -N,=0 therefore 0,56N,=N, and, since N, 2.43 mis? (©) Forrear wheel drive, F=pN, =0,5N, a” substitute (7) into (3) ie IM, = 0=-0,5N, x0,84+N,x 1,4-Noxc 1 @) therefore N, = 0,98N, (8) substitute (8) into (1) therefore 0,98N, +N, = mg therefore 21,98 o substitute (9) into (7) ie F=0,5 x mg/1,9 therefore > 2.48m/¢ Example 13 Ref HE page 54, example 1 28 Work through this example very carefully and make sure about each step NOTE: THIS EXAMPLE IS SIMILAR TO EXAMPLE 12. Example 14 Ref HE page 55, example 1 29 See question in text book Solution Weight of car, W = mg = 10 kN = 10 000.'N Length between the front and rear axles, /= a+ = 3m Centre of mass above ground, h = 0,6 m Coefficient of friction between the wheels and road, t= 0,4 Speed of motor car, v= 56 km/h = 56x * = 15,556 m/s Draw a sketch of the specified motor car MOM251ZE - 118 - CHAPTER 3WONAENE, S Figure 3.17 Ratio of the breaking forces on the rear and front wheels Referring to Fig 38 b ; =~ x men 75 ms from equation 3 23 5 therefore a =3% 10 theref. eee erefore =p = 05 m and, a , mE- 7 Xm from equation 3.24 therefore 65=$ x 10 65%3_ 1, LO eeaamas therefore Now, consider motor car in figure 3 17 N, +N, =mg therefore —_N, +N, = 10.000 @ and ther @ CHAPTER 3Taking moments about G ie IM, =0= 0,4(N, +N,) x 0,6 +N, x 1,95 -N, x 1,05 @) Substitute (1) into (3) therefore 0 = 0,4 x 10 000 x 0,6+1,95N, - 1,0SN, @ but = 10000-N, from equation (1) therefore 0 = 0,4 x 10 000 x 0,6 + 1,95(10 000 - N,) - 1,05N, therefore 0= 2.400 + 19 500 - 1,95 N; - 1,05N, therefore 3N, =21 900 therefore N,= 7300N and N, = 10000 -7300=2700N . HN, _ 2700 Therefore ratio of breaking foros = A= 7399 = O37 Shortest distance in which the car can be brought to rest From equation (2) u(N, +N,)= mf Therefore 0,4mg = mf (N, +N; =mg) therefore retardation, f= 0,4 x 9,81 = 3,92 m/s Now, P+ of therefore 0 = 15,556*-2.x3,92x8 therefore s=30,9m NOTE: WORK THROUGH THE METHOD IN THE TEXT BOOK AND MAKE SURE ABOUT EACH STEP Example 14 Ref HE page 56, example 130 See question in text book MOM251ZE -120- CHAPTER 3Solution Length between the front and rear axles, /=a + 6 = 1,2 m, where a =0,36 m therefore b= 0,84 m Centre of mass above ground, =0,6m Coefficient of friction between the wheels and road, \1 = 0,7 Draw a sketch of the specified motor cycle Figure 3.18 Greatest acceleration with which the motor cycle can be driven up the incline N, +N,=mg cosi5° qQ F=yN, = mgsin1s°+mf @ and, IM, =0=-N,xh+N.xa-N,xb ie LIN, x 0,6 +N, x 0,36 - N, x 0,84 @) Ifa coefficient of friction of 0,7 is used, equation (3) becomes 0,7 x 0,6N, + 0,36N, - 0,84N, -121- CHAPTER 3therefore o 0,42N, + 0,36N - 0,84N, therefore _0,06N, = - 0,84N, which shows that N, = - 0,78N, ie Ny is negative therefore, the machine would tip before the rear wheel slips Thus no greater acceleration could be achieved by increasing the value of If the machine is not to tip up, the limiting value of N, = 0, Hence from equation (3), the greatest useful value of 1 is found to be 0,6 IN, = 0, N, = mgcos15° and so, from equation (2), 0,6mgcos15° = mgsin15° +m f therefore (0,6 x 9,81cos15°= 9,81sin +f from which f= 3,15m/s* This represents the greatest possible acceleration for all values of 1 in excess of 0,6 if the ‘machine is not to tip up 3.20 EXERCISES HE Page $6 (51-75) 3.21 ASSIGNMENT I 1 Study Guide Page 40 (4, 5, 6, 7) 2 HE Page 77 (1, 2, 15, 16) 3. HE Page 56 (56, 63, 70, 72) MOM2S1ZE -122- CHAPTER 3MOM 251ZE CHAPTER 4 HOISTING AND HAULING MACHINES CONTENTS PAGE 41 OBJECTIVES 124 42 HOISTS 124 421 LOAD RAISED, ACCELERATING UPWARDS. 125 422 LOAD FALLING AND ACCELERATING DOWNWARDS 126 423 LOAD FALLING AND BEING BROUGHT TO REST 127 424 LOAD RISING COMING TO REST UNDER FRICTION ONLY 128 425 HOISTING SYSTEM DRIVEN BY AN EXTERNAL MOTOR = 129 43 HAULAGES BI 44 WORKED EXAMPLES 133 45 EXERCISES 144 MOM251ZE - 123 -CHAPTER 4 HOISTING AND HAULING MACHINES 4.1 OBJECTIVES ‘After studying this chapter, you should be able to Derive the formula to find the total torque applied by a motor, through a gear box with a certain efficiency to hoist a cage * Find tensions in the cables of a hoist, Find the acceleration of a hoisting system Find the total torque applied on a system to give a certain acceleration Find the total power developed by a motor on the system 42 HOISTS Hoist and pulley problems on connected bodies were dealt with in Chapter 10, (Study giude, Mechanics 1) but no account was taken there of the rotational inertia of the drum or pulley We shall now study the effect of combining a hoist drum of moment of inertia / with a hang- ing mass M and weight 1” = Mg Four cases will be considered, according as the load is rising or falling, being accelerated, or brought to rest In every case two equations can be written down - 1 ‘the equation for the balance of couples at the hoist drum, 2 the equation for the balance of forces at the load Ifthe hoist drum radius r a third equation connecting the angular acceleration «of the drum and the linear acceleration f of the load can be written down, ie fror MOM251ZE -124- CHAPTER 4In every case we recall that the friction couple at the bearings or rope will oppose the rotation and the inertia couple will oppose the change of rotation 421 LOAD RAISED, ACCELERATING UPWARDS Consider the system shown in Fig 4 1 Corian tet (ean Motion. | }: v Mf | f ye | ACCELERATED \ Howr; Loap Ratsep Figure 4.1 1 Acceleration f is upwards, hence the inertia force is downwards 2 Angular acceleration @ is anticlockwise, hence the inertia couple is clockwise 3 Rotation of the drum is anticlockwise, hence the friction couple acts clockwise For rotation of the hoist drum the driving torque 7” must balance the friction couple 7,, the inertia couple Jar, and the torque P xr due to the tension P in the rope at the drum ‘Thus T=T,+ la+Pxr @) MOM251ZE -125- CHAPTER 4For linear motion of the load, the tension P in the rope at the load must balance both the dead weight and the inertia force Mf, thus P=W+Mf (42) 422 LOAD FALLING AND ACCELERATING DOWNWARDS ( NO DRIVING TORQUE ACTING) shown in Fig 42 | Runaway Horst; | Loap Accurzratina DowNwAnps | | NN Figure 4.2 The load is allowed to fall freely, resisted only by friction and inertia forces and couples For rotation of the hoist drum, the accelerating torque P x r due to rope tension must balance MOM251ZE : = 126 - CHAPTER 4both the friction couple 7,, and the inertia couple Jar, thus Pxr Ja 43) For linear motion of the load the accelerating force due to the weight must balance the upward tension P in the rope, and the inertia force Mf,, thus W=P+ Mf (44) 423 LOAD FALLING AND BEING BROUGHT TO REST Consider the system shown in Fig 43 Braxep Hoist; Loan Farina NO Figure 4.3 We now consider the braking of the hoist drum as the load falls The accelerations are therefore reversed as compared with the previous case For rotation of the drum the braking MOM251ZE -127- CHAPTER 4torque 7’ is assisted by the friction couple to balance the accelerating torque P xr due to the rope tension, and the inertia couple Ja, thus T+T,=Pr+la (44) For the load, the retarding force is the rope tension P_and this must balance both the weight and the inertia force, thus P=WsMf (45) 424 LOAD RISING COMING TO REST UNDER FRICTION ONLY Consi fo the system shown in Fi Motion <_< cs <_ | 1 ” | | Horst Coming | Le to Rust; Loap Risisa ) Figure 4.4 MOM251ZE - 128 - CHAPTER 4Consider the system shown in Fig 44 Since there is no breaking torque applied the drum is retarded by the torque P x r due to the rope tension and the friction couple 7, These two couples must balance the inertia couple of the drum, ie Pxr+T-la (46) For the load the retarding force is the weight IW” and this must balance the tension P and the inertia force, ie W=P+Mp 7) NOTE: It is not required to memorize the formulae for each of the four cases considered, indeed many other cases may be devised You are required however, to grasp firmly the follo- ‘wing rules already mentioned, but repeated here for clarity, by which such problems may be solved 1 The friction couple opposes the rotation 2 The inertia couple opposes the change of rotation’ 3 The inertia force opposes the change of linear motion It may be remarked also that in every case the direction of the rope tension P and the load weight Wis unaltered, although their effect may be to accelerate or to retard the load 425 HOISTING SYSTEM DRIVEN BY AN EXTERNAL MOTOR Consider a lift, mass m kg, suspended from a light cable, wound around a winding drum, B, with a mass M, kg, an effective diameter d , a radius of gyration k, A constant frictional torque occurs in the system The motor has a mass of M,, a radius of gyration k, The gear box ratio is n and the transmission efficiency is Consider the system with the above specifications in Fig 4 5 NOTI 1 acceleration fis upwards, hence the inertia force is downwards 2 angular acceleration cis anticlockwise,hence the inertia couple is clockwise Rotation of the drum is anticlockwise, hence the friction couple act clockwise MOM251ZE - 129- CHAPTER 4m Vine mr ) Figure 4.5 For rotation of the hoist drum the driving torque 7" must balance the friction couple T,,,, the inertia couple /a, and the torque P x r due to the tension P in the rope at the drum Thus Ty = Typ + Iq6t y+ PXry a For linear motion of the load, the tension P in the rope at the load must balance both the dead ‘weight and the inertia force mf,, thus P= mg + mf Q) Now consider the motor Txnxn ae from equation (3 12) ie T xr =Txnxn therefore 7, = T,x nx MOM251ZE -130- CHAPTER 4therefore 7, = x I'p x i (Torque on A to accelerate B) Now, Total torque on motor A, to accelerate A and B T= (Ty r+(4 x Tp x 1) (48) 43 HAULAGES In some cases of transporting coal, waste or ashes in industrial undertakings it may be conve- nient to use gravity or self-acting haulage, but in other cases it may be necessary to apply some mechanical means of hauling In any case, it will be necessary to exert some force to control the motion of the tubs, either in holding them back or pulling them forward When the grade is in the neighbourhood of 3° or 1 in 20 and always in the same direction, a single rope haulage may be used, so long as the grade is steep enough so that the train or trucks, in addition to running down themselves will pull the rope after them When the grade is flater than this or the grade is not always in the same direction, force has to be applied to pull the trucks in both directions Gravity plane haulage refers to the situation when the loaded cars decending pull up the emp- ties Engine plane haulage refers to the situation when cars descend by gravity whilst loaded cars are hauled up by an engine In the main and tail rope system the trucks are coupled together in a train, with the main rope attached in front and the tail rope behind A double drum hoist is used, with the main rope winding IN on the one drum and the tail rope paying OUT on the other The reverse procedure is followed for returning a train of empty cars to the loading place, ie the tail rope pulls the empties in, the latter pulling the main rope with them MOM251ZE -131- CHAPTER 4In the endless rope system the rope is continuous, its ends being spliced together Motion is imparted to it by a friction sheave around which the rope takes three or four turns To obtain a maximum life for the haulage rope, the speed and working time should be arranged with the trucks in motion so close together that the rope is supported by them clear of the ground to prevent dragging on the ground, even if track rollers are provided ‘Trucks are attached to the haulage rope by some form of "jockey" or "clip" For any of these jockeys to grip the rope it is essential that they be pivoted a distance to one side of the jaws so that they "swing" a litle, which action causes them to grip When an endless rope haulage passes round a curve the rope is taken care of by a deflection sheave which can move in a vertical plane, the peripheries of these sleaves being a few centimetres lower than that of the truck jockeys, the induced action being to thrust the rope further into the jockey rathe: than to pull it out To detach a truck automatically from a rope haulage, it is necessary to so arrange the track with a down grade for a short distance, so that the truck moves forward a little faster than the rope, while at the same time raising the rope with an overhead pulley A “clip" or clamp is sometimes used for attaching a train of trucks to a rope The Elswick clip is used for over tub haulage It is tightened by the rotation of one cam upon another and the lever of this cam is vertical in the holding position By placing a beam across the track at the necessary height to foul this lever and release the jaws itis possible to detach the train from the rope automatically For safety, appliances must be provided in case of mechanical failures One such device is the pivoted prop arranged in the track to engage the truck axle Another device commonly employed is the Dekon derailment device The rails are offset to the outside of the track by an amount of 5 or 6 em and a "hump" of about the same amount is also arranged in the rails ‘When travelling slowly at normal speed the trucks negotiate this device without diffeulty, but when a runway truck at a high speed encounters the device it is derailed and thrown clear off the track Tubs may be made entirely of iron and steel, and those fitted with plain pedestals are lubrica- ted as they pass across greasers set in the main haulage roads MOM251ZE -132- CHAPTER 444 WORKED EXAMPLES Example 1 Two masses, one of 2,5 kg and one of 1,5 kg, are connected by a light cord passing over a pulley of 150 mm diameter and mass 1 kg, which may be considered as a uniform disc (Fig 46) Calculate the acceleration of the masses and the tension in the cord when the system is released from rest J Figure 4.6 Solution Acceleration of the masses Draw free body diagrams and show the effective forces applied to the system, (Fig 47) Consider the different systems and write down the equations of motion System 1 P,-m,g=mf ie P, -1,5x9,81=1,5f therefore P, = 15f + 14,715 Qa) System 2 ie 2,5x9,81-P,=2,5f therefore 24,525 - 2,56 @ MOM251ZE - 133 - CHAPTER 42,5 kg Figure 4.7 System 3 @, -P,)xd=la 0,075? f ie @, -P,)x0,15=1x-Z— x F 0.075? dh 2x 0,15 * 0,075 therefore (P,P, )=1x therefore (P, - P, )= 0,25f @) NOTE 2 1 From Chapter 1, /=mi? and in the case of @ uniform disc k= > 2 Linear acceleration, f= or Subtract equation (1) from (2) (P, =P.) (24,525 - 2,58) - (1,5£+ 14,715) MOM251ZE -134- CHAPTER 4therefore (P, -P,)=9,81-4f (4) Now, equation (3) = equation (4) ie 0,25f=9,81 - 4f therefore 2,308 m/s* Tensions in the cord Substitute f= 2,038 into equation (1) ie P, =1,5x 2,038 + 14,715 therefore P, = 17.77 N Substitute f= 2,038 into equation (2) ie 24,525 - 2,5 x 2,038 therefore 43N Example 2 A load of mass 250 kg is lifted by means of a rope which is wound several times round a drum and which then supports a balance mass of 150 kg As the load rises the balance mass falls The drum has a diameter of 1,2 m and a radius of gyration of 500 mm and its mass is 80 kg The frictional resistance to movement of the load is 100 N and that to the movement of the balance mass 80 N The frictional torque on the drum shaft is 90 N m (Fig 48) Find the torque required on the drum and also the power required at an instant when the load hhas an upward velocity of 2 m/s and an upward acceleration of | m/s Solution Torque required on the drum Draw free body diagrams and show the effective forces applied to the system, (Fig 49) Consider the different systems and write down the equations of motion System 1 P, =mg+mf + F, ie P, =250x9,81+250x 1+ 100 therefore P, = 2802 N MOM251ZB -135- CHAPTER 4System 2 P,+F, +mf=mg f=1m/s » PR m, = 250 kg | 1, = 150 kg | Figure 4.8 ie P, + 80+ 150x1=150x 9,81 therefore P, = 1241,5N Now, Torque to accelerate loads = (P, - P, ) xr = (2802,5 - 1241,5) x 0,6 = 936,6 Nm L = mex E+ Torque to accelerate drum = Ja + [, = 80x 0,5? x 72 +90 0.6 = 123,33Nm Therefore Total torque required on drum = 936,6 + 123,33 = 1059.9 Nm Power required Power=Tx@=T x} = 1059,9x MOM251ZE =136- CHAPTER 4Figure 4.9 Alternative solution _ Mk . Equivalent mass of drum at rope M, = “> from equation (3 16) 80 x 0,5? therefore M,=—9 gz 55.56 ke Total mass to be accelerated, M, = M, + M= 55,56 + (250 + 150) = 455,56 kg Ty Total friction force to be overcome at rope, Fyy =F yy +F e+ therefore Fy = 100+ 80+ 22 = 350N a 0.6 Then equivalent tension in rope, Pz = Fy -m,g+m,g+M,f therefore P,, = 350 - 150 +250 + 455,6 x 1 = 1 766,56 N MOM251ZE = 137- CHAPTER 4therefore Torque on drum and, 1s X= 1766,56 x 0,6 Power = P, xv = 1766,56 x 533 kW Example 3 Ref HE page 40, example 1 16 ‘This example is similar to the above example Work through this example very carefully and make sure about each step Example 4 Ref HE page 41, example 117 See question in text book Solution Motor torque Draw a sketch of the system from the given data Figure 4.10 MOM251ZE -138- CHAPTER 4Total mass to be accelerated, M=M,,., + M,,,, = 1800 + 450 = 2250 kg Tension in the rope, P = Mg + Mf = 2250 +2250 x 0,9 = 24 125 N Torque on drum to produce this tension, Ty, = P x r= 24 125 x 0,6 = 14480 Nm. Equivalent moment of inertia of rotating system referred to drum, @ incermedtte gear pinion oe eee * (SR) erect gear + (GE) Fomon 1100 x 0,55 + 900 x 0,657 + 1, (340) * 4360 x 0,242 + (4a00) > 230 x 0,11 therefore I, = 2262 kg m* Angular acceleration of drum, a ng = 15 rad/s* Torque on drum to accelerate drum, gears and motor, T,,= I, @ = 2262 x1,5=3393Nm Therefore Total drum torque, Tay = T+ T, = 14480 + 3393 = 17873 Nm but, Tmotor _ Odum _ 1 (7a ® motor dun Therefore — Tyee = Doce X Tadrum Therefore Tyas = MOM251ZE = 139- CHAPTER 4Example 5 A lift of mass 1,1 Mg is suspended from a light cable that is wound around a winding drum with a mass of 162 kg, an effective diameter of 500 mm , a radius of gyration of 276 mm and a frictional torque of 120N m The winding drum is driven with a speed ratio of 4 to 1 and an efficiency of 84% by an electric motor of which the rotating parts have a mass of 31 kg, a radius of gyration of 132 mm and a frictional torque of 18 N m Determine 1 the torque exerted by the motor to give the lift an upward acceleration of 2,8 m/s? , 2 the maximum constant upward velocity of the lift if the motor developes a maximum power of 16 kW Solution 1 Torque exerted by the motor Draw a sketch of the system from the given data m NG er Figure 4.11 Convert all units to standard units Mass of lift, m = »1 Mg = 1100 kg MOM251ZE -140- CHAPTER 4Mass of winding drum, m, = 162 kg Radius of drum, r = 0,25 m Radius of gyration of winding drum, k, = 0,276 m Friction torque on hoisting drum, T,,,= 120 Nm Gear ratio, n= 4 Efficiency of electric motor, 1 = 84% Mass of motor, m, =31 kg Radius of gyration of motor, k, = 0,132 m Friction torque on motor, 7,,,= 18 Nm Tension in rope, P= mg + mf = 1100x 9,81 + 1100 x 2,8 therefore P=13 871N Torque on winding drum, T, = T,+ Ty, + e ie =(Pxr,) +(m,k’, x b +Te = (381 0.25) + (162x0,276x 7%) + 120 aU 0,25) + (162 x 0, * 025) therefore T, =3726Nm Now, Torque on motor, T, = (T.,+ Tal + tATp x h from equation (4 8) A 1 i =(mk,0)+ Tat lB x 7 a but, a aan fo therefore ot, = Noy = xR Q) Substitute (2) into (1) ie imgk’ xx) + Ta +( MOM251ZE -141- CHAPTER 4sorxonseae hy sre+(L x 3726 x ay) therefore 151 kN.m 2 Maximum constant upward velocity lift Power of motor, P, = 16 kW and acceleration f= 0 ‘Therefore Tension in cable, P = mg = 1100 x 9,81 = 10 791 N Now, Torque on hoist drum, T, = T,+Tys =PxntTys = 10 791 x 0,25 + 120 Therefore T,=2818Nm and, Torque on motor, T, = T,. + (175 x ~w+ (42818 xg) therefore T, = 856,7 Nm Now, Motor power, P,=T, x, os ut op va O,= 2x O,= nx therefore nxge 2 ie 16 000 = 856.7 x4x 953 therefore _v, = 1.167 mvs MOM251ZE -142- CHAPTER 4Example 6 Ref HE page 42, examplel 19 See question in text book Solution Draw a sketch of the specified system Convert all given units to standard units Mass of wagon, m= 14t= 14 000 kg Drum diameter, d= 1m Gear ratio, n= 401 Electric motor to drum) Rolling resistance of wagon, R, = 1,2 KN=1200N Efficiency of gear drive, 17 = 85.% Mass of rotating parts of drum, m, = 1,25t= 1250 kg Radius of gyration, k, = 450 mm = 0,45 m ‘Mass of rotating parts of armiture shaft, m,— 110 kg Radius of gyration, k, = 125 mm = 0,125 m 8 m/s ),1 m/s* Velocity of wagon, v= Acceleration of wagon, f, Figure 4.12 Tension in rope = component of weight down slope + inertia force + friction force P=R,+F4R, MOM251ZE =143- CHAPTER 4ie P=mg sind + mf +R, = 14.000 x 9,81 xe 000 x 0,1 + 1200 therefore P=9467N Torque on drum to accelerate load and drum, T, =I, Of, + Px = mp, x +P xr = 1250 x 0,45" x 0,1/0,5 + 9467 x 0,5 T, =4784,125Nm Total armiture torque, T, = (T,, + Ty, + (4 xTRx a) from equation (4 8) - 2 1 1 =(m ko, styy+(Lx Tp xt) (a) ta and Ga n therefore a1, = 7X Oty @ 1 1 ) 2 i therefore (110 x 0,125? x 40 x 0,1/0,5 + 0) + (4 x 4784, 125 x 085 therefore T,,= 13,75 + 140,7095 = 154,5 Nm Now, On _ Os = BY ie = 0, = Xz, 1, 0, 8 Therefore Power developed by motor = T,o,, = 154,5 x ( 3% 40) = 22,5 kW Note that the efficiency of the gearing does not affect the torque required to accelerate the motor armiture 4,5 EXERCISES HE Page 47 (39-50) MOM251ZE : -144- CHAPTER 4MOM 251ZE ROLLING OF BODIES CONTENTS 51 OBJECTIVES 52 COMBINED TRANSLATION AND ROTATION 53 54 55 ROLLING WITHOUT SLIDING ON AN INCLINED PLANE. WORKED EXAMPLES EXERCISES CHAPTER 5 PAGE 146 146 148 150 1387 MOM251ZB -145- CHAPTER 5CHAPTER 5 ROLLING BODIES Ref HE page 12, paragraphs 124 and 125 5.1 OBJECTIVES After studying this chapter, you should be able to * Find the total kinetic energy of a rolling body without slip at a certain speed, * Find the rate of change of kinetic energy of a rolling body, * Find the minimum coefficient of friction for a body to roll down a given incline without sliding $2 COMBINED TRANSLATION AND ROTATION Ifa body of mass m rotates about its centre of mass with angular velocity , its centre of mass is moving with a linear velocity v, the total kinetic energy of the body is the sum of the kinetic energies of translation and rotation, Fig 5 1 pes Se a. Figure 5.1 ‘Thus total kinetic ener; MOM251ZE -146- CHAPTER 5Note that for a rolling body the above follows without need of proof from the fact that the point of contact P of the rolling body with the ground must be at rest (or it would be skidding as well) Hence linear velocity v = x r, where r is the radius to the contact surface ‘If mi is the moment of inertia about 0, the moment of inertia about P is me +m? =m(2+?) (parallel axis theorem) Therefore Total kinetic energy, E, tmce +P )x@ Tenet = ymk a+am ra G1) It follows that the total kinetic energy of a rolling body can be written 2 Kinetic energy, E, = jm? + jonke @) (Since v = @r) . 12,1 2k ie B=amv? +5mv? x5 2 therefore jv? (i + £) (52) The above equation shows the relationship between linear and angular kinetic energy If the body rolls a distance S down a slope of angle 6, from rest, acquiring a velocity v , then Loss of potential energy, , = mgS sin @and 2 gain in kinetic energy, E, = jw? C + ¥) Since the loss in potential energy = gain in kinetic energy MOM251ZE -147- CHAPTER 52 Therefore mgSsin @ = jo? (a + £) giving v in terms of S (63) Ifthe acceleration is required, it can be found from the equation of motion v= +2058 5.3 ROLLING WITHOUT SLIDING ON AN INCLINED PLANE To find the coefficient of friction necessary for a body to roll down a given incline without sliding, the three conditions of equilibrium are used Figure 5. Iff is the acceleration of the body, the angular acceleration aS a Resolving forces normal to the plane N-mgcos =0 o Resolving forces parallel to the plane mgsin® - F = mf Q@) Law of motion for rotation Fxr= mba =m x5 @) MOM251ZE -148- CHAPTER 5Now rm Jet Therefore Substituting in (2) (=) mg sind - Mm z x f=mf 2 Therefore gsin8 - (4) xf=f a 2 therefore gsin 0 = f+ s(&) = Aa + £) r r 8 therefore rs Also from (2) Therefore MOM251ZE -149- 64) CHAPTER 5a ‘multiply above and below the fraction line by al 2 2 ie p= tan) |x > Fle 1 therefore = sand | = Sel 2 ‘Thus for a rolling ball having £ pP_s tan® pAr and minima = 5 Therefore Lb 2 tan6 5.4 WORKED EXAMPLES Example 1 A solid cylinder rolls 10 m from rest down an incline of 30° to the horizontal Find its final velocity Solution Final velocity of eylinder Draw a sketch of the specified cylinder, Fig 53 Let m be the mass and r the radius of the cylinder Gain in kinetic energy = loss in potential energy Therefore dw? + frnlo? = mgs sind Since v= or and B= 5 (for a uniform cylinder) div? + hinxex¥ i inv’ + 5m x > x5 = mgSsin® Therefore 3inv? = mx9, 81 x 10x sin30° Therefore v = 65,4 MOM251ZE -150- CHAPTER 5BD | \o— Figure 5.3 therefore v= 8.1m/s Example 2 Calculate the angle to the horizontal of an inclined plane on which a solid cylinder would roll straight down with an acceleration of 3,27 m/s” Solution Angle to the horizontal Let v = velocity after rolling a distance S from rest Then v= +2fS ie ¥= 0+2%3,27xS= 6,548 mis Now, Loss in potential energy = Gain in kinetic energy ie img xx sind = dmv? + Lk? 2 ing Hy? 12x (2) 2 x therefore gx Sxsind= V7 +5x Xj (# =F and 0 =F) 6,548 therefore «9,81 x Sx sin? oy x 6,545 + 1,98 2 2° 2 therefore sin 8 = therefore MOM251ZE -151-Example 3 A piece of timber of mass 25 kg and 6 m long rests on two cylindrical rollers P and Q, each roller being 300 mm in diameter and of mass 20 kg, on a slope of 1 in 10 Initially the timber rests with roller P under the roller Q and the roller under a point C, 3,5 m from A Use the principle of energy, to find the velocity of the timber when the end B comes over the roller Q Solution Velocity of the timber when end B comes over the roller Q Draw a sketch of the specified system, Fig 5.4 pie tain ee 6m 35m > ow Figure 5.4 When end B of the timber comes over the roller Q, the timber has moved 6 - 3,5 = 2,5 m, ie 2,5 mrelative to the other roller, while the roller moves 2,5 m relative to the track Hence the timber moves 2 x 2,5 = 5, 0 m relative to the track Let v ~ final velocity of the timber y 2 Loss in potential energy of timber and rollers = Gain in kinetic energy of timber and rollers Then final velocity of the rollers is 1 By B 16 Maer 8 Senter $08 + Mat Syston S108 = Manor sae * 74 Mrs rt * i 2 2 ™rollersk rollers” rollers y\2 ie@sex'9) + (2x 20¢% bx asxv? «| Lx2%20%(2) | +G x 2x20 xd? x 0?) oO MOM251ZE ~152- CHAPTER 5NOTE: IT IS (2 X 20) , BECAUSE THERE ARE TWO ROLLERS but 0,15? © = Fy = 0.0750 rads and & = => (uniform solid cylinder) therefore equation (1) becomes : 0,15? 2 12,5x9,81+10x9,81= 12,57 +5 + 20x 7X (0, 075¥) ie 122,62 +98,1= 17,5 + 0,00137 ie 220,72 = 17,5013" therefore v¥ = 12,6116 therefore v= 3,55 m/s Example 4 Two rectangular steel bars are perpendicularly attached to one another, spaced 40 mm apart, on an incline of 20° from the horizontal A solid steel ball, diameter 60 mm, rolls from rest for a distance of 1,2 mon these bars Calculate the terminal velocity of the ball Solution velocity of the ball Draw a sketch of the specified system orm, (t) | | / MOM251ZE - 153 - CHAPTER 5 Figure 5.5Iff is the acceleration of the body, the angular acceleration f car Resolving forces normal to the plane N-mgcos@ =0 N= mx 9,81 cos20"= 0 therefore N-9,2184m = 0 0) Resolving forces parallel to the plane mgsind - F,,= mf therefore mx9,81 x sin20° -F, = mf therefore 3,55m-F, = mf @ Law of motion for rotation F xh, =Ia and In Fig 5 5(b) h?, = 30°- 20°= 500 therefore h, 2,36 mm, Linear acceleration, f = ar x h, f f oe O= T= 902036 Therefore (3) becomes, 2, 2 f 5m x 0,03" x T9936 therefore F,=0,72 mf @ F,,x 0,02236 Substitute (4) into (2) ie 3,355m - 0,72mf = mf therefore f= 1,951 mis now, View +2fs ie ¥=0+2x1,951x1,2 MOM251ZE ~ 154- CHAPTER 5‘Therefore v= 2,164 m/s or Loss in potential energy = Gain in kinetic energy ie mg S sin tin? + Le? 2 2 2 Therefore mx9,81 x 1,2sin20°=Lny? +1 x 2yn x 0,032 x —H— 2 2°5 (0,02236) y2 2 therefore 4,026 => + 0,36v’ (m cancels) therefore v= 2,164 m/s Example 5 Ref HE page 29, example 114 See question in text book Solution Minimum coefficient of friction, 4s, between the spool and surface, for the spool to roll without slip Draw a sketch of the specified system, Fig 5 6 MOM251ZE, - 155 - CHAPTER 5L " J Figure 5.6 Assuming that the spool rolls without slip to the right, the linear acceleration f and the angu- lar acceleration cr are as shown in Fig 5 6 and the friction force is to the left Then for linear motion, P=mf therefore 200- F = 50f a and, for the angular motion, Fxr,-200x7,= a Fxr,-200x7r,= mk a therefore Fx 0,15 -200 x 0,1 = 50x 0,12 @ If the spool rolls without slip, a =f/0,15 and so equation (2) reduces to Fx 0,15 -200 x 0,1 = 50x 0,12? x f/ 0,15 ie F-- 133,333 = 32f @) (+@) 66,667 = 82 therefore = 0,813 mis? MOM251ZE - 156 - CHAPTER 5therefore F- 133,333 = 32 x 0,813 therefore F = 159,349N This is the minimum value of the friction force for no slipping, since F = js mg ,the minimum value of 1 is given by _F _ 159349 _ 94. Hm = 50x 9,81 ~ 2825 Calculate the acceleration of the centre of the spool and its angular acceleration, if 4 = 0,2 When 14= 0,2, the spool slips and a ce F= yg = 0,2 x 50x 9,81 = 98,1 N Substitute into equation (1) Hence 200 - 98,1 = 50f therefore f= 204m substitute F = 98,1 into equation (2) therefore 98,1 x 0,15 - 200 x 0,1 = 50 x 0,12? therefore Example 6 Ref HE page 30, example 1 15 Work through this example very carefully and make sure about each step 55 EXERCISES 1 The centre of solid wheel 500 mm diameter and mass 20 kg is moving at a certain instant at 3 m/s up a 20° plane How long will it take to reach the highest point of its travel? [Answer 1,35 seconds] 2 Anempty cylindrical drum of length twice its diameter rolls straight down an incline of 1 in 40 Assuming that the shell and end plates are of the same thickness, find the speed at which it is going after rolling 10 m from rest [Answer 1,64 m/s] ‘MOM251ZE -157- CHAPTER 53 Two solid wheels of 600 mm diameter and mass 50 kg each are keyed to an axle of 150 mm diameter and mass 25 kg. ‘The assembly rolls without slipping down an incline of 1 in 4 Find the velocity after rolling 16 m from rest [Answer 7,46 m/s] 4 Asteel ball 25 mm in diameter rolls down a 90° angle section if the angle is 2 m long and one end is 100 mm above the other, how long will the ball take to roll 1,5 m from rest? [Answer 3,32 s] 5 A solid ball of $0 mm diameter rolls down a sharp-edged grocve 30 mm wide inclined at 1 to 10 to the horizontal Find its speed after rolling 3 m from rest [Answer 1,9 m/s] 6 The radius of gyration of a thin-walled hollow sphere is given by P= 2p » where is the 2/2) and a hollow sphere of the same size and mass roll 5 down a slope of 1 in 8, how far will each go in 2 seconds starting from rest? [Answers 1,75 m, 1,47 m] radius Ifa solid sphere (7 7 A garden roller consists of a solid cylinder with a mass of 310 kg, a diameter of 1 m and a radius of gyration of 400 mm the frame and the loading platform has an additional mass of 190 kg Ignore the tractive resistance of the roller and calculate its velocity after it has moved, without slipping and from a position of rest, a distance of 10 m directly down a decline of 10° to the horizontal [Answer 4,94 m/s] 8 Ahollow cylinder, open at each end, has external and internal diameters of 500 mm and 400 mm respectively Determine the time this cylinder will take to roll, without slipping and from a position of rest, over a distance of 3 m directly down a decline of | in 20 [Answer 4,718 s] 9 The two solid cylindrical wheels and attached axle of a certain engine has a radius of gyration of 250 mm and the effective diameter of each wheel is 720 mm Calculate the angular velocity, in oi of the set, 3,5 seconds after it has started rolling, from rest and without slipping, on the wheels directly down rails that are declined at 12° to the horizontal [Answer 127,8 r/min] MOM251ZE - 158 - CHAPTER 510 ul 1B 14 @ () © The central point of a homogeneous ball has a velocity of 3,1 m/s when the ball starts rolling freely, without slipping, directly up a plane that is inclined at 20° to the horizontal Determine the distance that the ball will move up the inclined plane before it starts rolling back [Answer 2.005 m] A solid ball with a diameter of 48 mm starts rolling freely, from a position of rest and without slipping, along the inner edges of two parallel rectangular steel bars that are 30 ‘mm apart and are mounted directly downward on a decline of | in 3 Determine the velocity and the distance moved by the ball after 4 seconds of motion [Answers 7,898 m/s,, 15,8 m] An angle iron bar with a profile angle of 90° is mounted on its back and directly downwards on a plane that is declined at 25° to the horizontal A solid steel ball with a diameter of 40 mm rolls from rest and without slipping along the profile angle Calculate thedistance moved by the ball after 3 seconds [Answer 10,36m] A solid cylinder and a solid ball roll without slipping from a position of rest and from the same height directly down a decline of 30° to the horizontal Which of the two bodies will be the first to reach the bottom of the decline? {Ans After Im, v7,= 6,54, v= 7,007 (down first) or a, =3,27 m/s’, a, = 3,504 mv/s* (down first)]} A solid cylindrical flywheel has a diameter of 850 mm, a thickness of 120 mm and the density of the material is 7,169 Mg/m’ With the flywheel at rest, a constant torque of 132. N mis applied to it for a period of 20 seconds Ignore all frictional resistance and calculate the velocity, in r/min, of the flywheel at the end of the period of 20 seconds, [Answer 569,7 r/min} the number of revolutions made during acceleration, [Answer 94,95 revolutions] the gain in kinetic energy [Answer 78,76 kJ] MOM251ZE -159- CHAPTER 5MOM 251ZE, CHAPTER 6 BEARINGS AND CLUTCHES PAGE 61 OBJECTIVES 161 62 INTRODUCTION 161 63 PLATE CLUTCHES 162 631 UNIFORM PRESSURE THEORY 165 632 UNIFORM WEAR THEORY 166 64 CONE CLUTCHES AND BEARINGS 167 641 UNIFORM PRESSURE THEORY 168 642 UNIFORM WEAR THEORY 169 65 THRUST BEARINGS 170 66 PEDESTAL BEARINGS 172 67 WORKED EXAMPLES 173, 68 EXERCISES 187 69 ASSIGNMENT 2 187 MOM251ZE - 160 - CHAPTER 6CHAPTER 6 FRICTION CLUTCHES AND BEARINGS Ref HE Chapter 9, page 197 6.1 OBJECTIVES After studying this chapter, you should be able to derive the formulae for the transmission of torque and power through plate clutches conical clutches under uniform pressure and uniform wear conditions, do calculations on the above mentioned transmissions find power lost in friction at a pivot, footstep or collar bearing 62 INTRODUCTION In Chapters 3, 4 and 5 we dealt with the dynamics of vehicles, hoisting and hauling machines In this and the following chapters we will consider the power transmission of the different parts in the above systems A clutch is a device which is used to control the flow of mechanical power from one shaft to another It may be used to connect and disconnect at will a driving shaft from a driven shaft, in which case the driven shaft will either increase in speed until it is operating at the same speed as the driving shaft (providing no slipping occurs), or else it will slow down and eventually come toa stop, as the case may be It is different from a coupling in the sense that a coupling provides ‘a permanent or semi permanent connection between two shafts, and does not allow connection or disconnection of the shafts at will whilst they are rotating A brake is a device which is used to stop or slow down a moving part (or simply to prevent a part from moving, as in a hoist) by the conversion of kinetic or potential energy into heat energy Unlike a clutch which connects one moving part to another, a brake connec:s a moving MOM251ZE - 161 - CHAPTER 6part (or a part capable of motion) to a stationary part, and thus controls the flow of mechanical energy by either slowing down or stopping the moving part There are many different types of clutches and brakes, and it is true to say that mainly they are available to the engineer as commercial units However, there are situations where a standard clutch or brake of the type and size required is not readily available, or perhaps special factors require a particular design, under these circumstances it will be necessary to design such devices from first principles In any event, the engineer must exercise the ability to either select the appropriate unit from a manufacturers’ catalogue, or to design a suitable unit as an integral part of the overall design for himself It often happens that a rotating shaft is subjected to an axial thrust, e g the rotor of a steam turbine, and a bearing surface must be provided in order to take this thrust and to preserve the shaft in its correct axial position The surface or surfaces on which the thrust is carried are usually plane surfaces at right-angles to the axis of rotation, but occasionally conical surfaces in which the axis of the cone coincides with the axis of rotation may be used A clutch enables two co-axial shafts to be engaged or disengaged while at rest or in relative motion Friction clutches may be of plate, cone or centrifugal type in each case slipping will ‘occur until the two shafts are brought to the same speed this feature permits gradual engagement of the driven shaft, such as in a car drive, and also limits the torque demanded from the driving shaft 6.3 PLATE CLUTCHES Ref HE page 197, paragraph 9 2 Ina plate clutch, the torque is transmitted by friction between one or more pairs of co-axial annular faces maintained in contact by an axial thrust Both sides of each plate are normally effective, so that a single-plate clutch has two pairs of surfaces in contact. Figure 6 1 shows a simplified form of multi-plate clutch The inner plates are free to slide axially in grooves connected to the driving shaft and the outer plates are free to slide axially in grooves MOM251ZE -162- CHAPTER 6There is also considerable uncertainty as to the distribution of the axial load over the area of the contact surfaces If the fit between the two surfaces is assumed to be perfect then the normal intensity of pressure will be the same at all points on the bearing surface But the rate of wear must depend not only on the intensity of pressure but also on the velocity of rubbing , between the surfaces, ie rate of wear There is very little information available as to the exact relationship between rate of wear, intensity of pressure and rubbing speed Equations (1) and (2) will, therefore, be integrated on the assumptions that the coefficient of friction is the same at all points on the bearing surface and that either (a) the intensity of pressure is uniform or (6) the rate of wear is uniform, ie p xr = constant 631 UNIFORM PRESSURE THEORY Ifit is assumed that the pressure is uniform over the contact area, then p is a constant, so that Total axial force, W= p x 27 fr rdr from equation (1) 2 aqr therefore W px2al 5 | ' 2 Ip, vs paa(et-2) ey Torque transmitted, T = p X 2m f” dr from equation (2) 2 fe therefore T=px anp| = | ' rs therefore T=px 2au(r3 = 3) GB) or non ) (4 AoA Se Equations (3) and (4) give the maximum torque transmitted with one pair of contact surfaces. Therefore MOM2S1ZE - 165 ~ CHAPTER 6Figure 6.2 Nommal force on elementary ring = pressure x cross-sectional area of elementary ring ie N=px2ardr Therefore Total axial force, = any prdr qa 2 Friction force on ring, F,,= uN ie F,= px 2nr dr ‘Therefore moment of friction force about axis = friction force x radius = upx2ardexr= upx 2m dr r Therefore torque transmitted, 7’ = 2m fh predr (2) 2 Before equations (1) and (2) can be integrated , the way in which yz end p vary with the radius r must be either known or assumed Since there is uncertainty regarding the value of 1 which varies with the degrees of lubrication, the relative speed and the intensity of pressure between the surfaces, itis usual to assume in the absence of more exact information, that jis constant for all points on the bearing surfaces MOM251ZB - 164 - CHAPTER 6connected to the driven shaft The axial force exerted on the plates by the toggle mechanism is transmitted through each plate and so, in a clutch » pairs of surfaces in contact, the torque ‘transmitted is n times that for a single pair A car cluteh consists of a single plate, effective hoth sides. Driver Figure 6.1 For plane surfaces at right angles to the axis of rotation Consider two flat annular surfaces, Fig 6 2, maintained in contact by an axial thrust W” Let T= torque to be transmitted, ‘p= intensity of pressure between the surfaces, 1,7 and R be the outer, inner and mean radii of faces respectively MOM251ZE - 163 - CHAPTER 6Assuming n pairs of surfaces in contact, then 2 3 3 r= 2myp(r3 -) xn (2) or aon) (63. ae ey 632 UNIFORM WEAR THEORY Ifit is assumed that the wear is uniform over the contact area, then since wear a pressure x velocity oc pressure x radius ie pr =e (constant) r Therefore Total axial force, W= 2mc fr dr from equation (1) 2 therefore Total axial force, W=2nc[r] -3 therefore Total axial force, W=2me (r,-r2) (4) and 7 Total torque transmitted, T= 2mp1c fe rdr from equation (2) a py therefore T= 2npc| z Ty T= muc(r? - 4) ©) or P= mpe(ry —r2)(71 +72) therefore T= peer) HWR © Equations (5) and (6) give the maximum torque transmitted with one pair of contact surfaces. ‘Therefore MOM251ZE - 166 - CHAPTER 6Assuming 7 pairs of surfaces in contact, then r= mue(r -) xn (65) or T=pWRxn (66) It should be noted that, since the discs are free to slide axially under the spring pressure, each pair of contact surfaces is subjected to the full axial load W” The total torque transmitted from the driving to the driven shaft is equal to m times the torque transmitted by one pair, where 7 is the number of pairs of surfaces between which sliding can take place ‘To summarise For a new clutch the pressure will be approximately uniform, but for a worn clutch the uniform ‘wear theory is more appropriate Since the uniform pressure theory gives higher friction torque than the uniform theory, the latter theory should always be used, unless otherwise stated. Conversely, in calculating the power lost in friction at a pivot, footstep or collar bearing, the uniform pressure theory should be used 6.4 CONE CLUTCHES AND BEARINGS Ref HE page 199, paragraph 9 3 A cone clutch consists of one pair of friction faces only, the area of contact being a frustum of acone, Fig 63 An axial load JV is supported by a conical bearing surface with an apex angle 26 The extreme radii of the actual area of contact are r, and r, Consider a ring of bearing surface of radius r, radial width dr Let p be the normal intensity of pressure between the surfaces Normal force on elementary ring = p x 2zr dr coseeB ‘Axial component of this force = p x 2ar dr cosecf x sin 8 =2apr dr MOM251ZE - 167- CHAPTER 6NS Figure 6.3 therefore Total axial force, W= 20 J a prdr (a) 2 Friction force on ring = yp x 2arx dr x cosecf. therefore Moment of force about axis = pp x 2ar x dr x cosecBxr = Wp x2ar’ x dr x cosecB Tr 2 therefore Torque transmitted, 7= 2m. cos ecB Pr ‘dr 2) 2 641 UNIFORM PRESSURE THEORY If it is assumed that the pressure is uniform over the contact area, then p is a constant, so that . Total axial force W= 2p yn rdr from equation (1) 2 pqyn therefore Total axial force, W = 2p] oe " MOM251ZE - 168 - CHAPTER 6Therefore Total axial force, W= ap ("*, -r°) (67) Total torque transmitted, 7 = 2mpp cos ecB h rdr from equation (2) 2 pyn therefore Tp cos ecB| — 3dr 2 3_ 3 therefore ‘TELL | iG a 4) cosecB (8) or fiom equation(67) p=— n(ri - 72) ap n= therefore Ts Zan 4 2) cos ecB (69) 3 rah 642 UNIFORM WEAR THEORY Ifit is assumed that the wear is uniform over the contact area, then since ‘wear « pressure x velocity oc pressure x radius ie pr = c (constant) r Total axial force, W/= 2nc fn dr from equation (1) 2 therefore Total axial force, W= 2nc[r] 4B = 2ne(r1 -12) (610) 7 Total torque transmitted, 7= 2m1c cos ecB fa rdr from equation (2) 2 r therefore T=2myc cos ect | -_ muc(r? - 2) cosecB a but From equation 6 10) ¢ = 5575 a) Ww Therefore Total torque transmitted, 7 = (ry +rg)oosecB MOM251ZE - 169 - CHAPTER 6therefore T= uWReosecB @11) ‘The engaging force for engagement without slip , Fig 6 4, is w Figure 6.4 F,=W + pNeosp where Vis the normal force between the surfaces, but N= Weosecp therefore F,= W + uW cosecB cos therefore W (1+ pcot B) 12) For disengagement F, = uNeosp -W therefore. =F, = W(y cof ~ 1) (613) NOTE: THE ABOVE FORMULAE ARE ALSO APPLICABLE TO CONICAL BEARINGS 6.5 THRUST BEARINGS ‘The arrangement of a thrust bearing is shown in Fig 6 4 a number of collars C turned integrally with the shaft have between them as horse-shoe-shaped bearing pad B which is held in position by two or more lugs L MOM251ZE -170- CHAPTER 6Long-screwed bolts $ pass through the lugs and nuts N on either side of the lugs locate the bearing pads in axial direction When the pads are correctly adjusted, each one should carry an equal share of the total axial thrust 17 a | Figure 6.5 Tf mis the number of collars, then Axial thrust, W = mp(?, =?) x7 (Uniform pressure theory) (6 14) Friction torque for each collar is equal to (uniform pressure theory) (6 15) and Total friction torque for » collars is T 2un{h8) (6 16) Ps y. -7h or i Sup A- -73) xn (617) Consider uniform wear theory Here the intensity of bearing pressure, at radius r, is determined by the condition ¢ =p xr MOM251ZE CHAPTER 6Axial thrust on the bearing, W=2me (7, -r,)xn (6 18) . Total friction torque, T = WV eS =pWR a ee =R) 619) Thus the number of collars does not affect the friction torque, ‘The reason for providing a large number of collars is to reduce the intensity of pressure on the bearing surfaces so that they may be effectively lubricated NOTE: 1 THE PRESSURE IS CONSIDERED ON A NUMBER OF COLLARS SAY” 2, THE DERIVATION OF THE ABOVE FORMULAE IS SIMILAR TO THE DERIVATIONS FOR PLATE CLUTCHES. 3. TOTAL AXIAL THRUST, W IS THE THRUST PER COLLAR TIMES THE NUMBER OF COLLARS 6.6 PEDESTAL BEARINGS In these type of bearings we also consider the uniform pressure and uniform wear conditions ‘The derivations of the formulae are similar to the derivations in the case of a plate clutch Consider the pedestal bearing shown in Fig 6 6 Figure 6.6 The same formulae used in paragraph 6 3 are applicable to this bearing MOM251ZE -172- CHAPTER 6We also get a solid pedestal bearing , Fig 6 7 In this case r, 0 in the above formulae Figure 6.7 6.7 WORKED EXAMPLES Example 1 Ref HE page 202, example 9 2 See question in text book Solution Convert all given units to standard units External diameter = 240 mm =0,24 m therefore External radius, r, = 0,12 m Internal diameter = 120 mm = 0,12 m therefore Internal radius, r, mtr, 2 coefficient of friction = 0,3, Mean radius, R Power to be transmitted by clutch, P = 25 kW = 25 000 W at 1575 r/min Total spring force required 2nNT 60 Power, P= MOM251ZE -1B- CHAPTER 6therefore 7 = 2X 60 _ 25000 60 16) ory 2nN ~ 2x 1578 , 2 ple For uniform pressure, T= SU xn from equation (6 3) 3PM 0,12? - 0.06%) ie 151,63 x 0,3 1270.06 x4 Therefore W= 1355 Maximum power that can be transmitted, worn clutch, at a speed of 1575 thmin Total wear = number of surfaces x wear therefore Total wear = 8 x 1,25 mm = 10 mm = 0,01 m therefore Reduction in spring force = Spring. stiffness x deflection x number of springs Reduction in spring force = 13 000 x 0,01 x 6= 780 N now New axial force = Initial spring force - Reduction in spring force W, = 1355 -780=575N For uniform wear T= WR xn from equation (6 6) rite, therefore T=0,3 x $75 x0,09x4=62Nm aos T _ 2nx 1575 x62 _ therefore Maximum power, P = 2a 0,23 kW Example 2 A carc engine rated at 8,95 kW gives a maximum torque of 88 N m The clutch is of the single plate type, both sides of the plate being effective if the coefficient of friction is 0,3 the axial pressure is limited to 83 kPa and the external radius of the friction surface is 1,25 times the internal radius, find the dimensions of the clutch plate and the total axial pressure which must be exerted by the springs Assume uniform wear intensity of pressure Solution 1, =1,25r, (given) Power, P = 8,95 kW = 8950 W ‘MOM251ZE 174 CHAPTER 6Torque, 7=88 Nm Coefficient of friction, = 0,3 Axial pressure (matimum), p = 83 kPa = 83 000 Pa Dimensions of clutch plate Total axial force, W= 2nxex(r, -7,) from equation (6 4) where ¢=p 7r,= 83.0007, (maximum pressure occurs at minimum radius) therefore W=2x 2x 83 000r, x (1,257, -1r,) therefore W = 0,130376 x 10°7, qa Total friction torque, T= wR xn from equation (6 6) 25 rats ie 88=0,3xWx =. x2=03x2,25r,xW (2) Substitute equation (1) into (2) Therefore 88 = 0,3 x 2,25 r, x 0,1303756 x 10°, = 88 x 10° x 7°, therefore r,=0,1 m= 100mm and 1, = 1,25r = 1,25 x 100 = 125 mm Total axial load Total axial load, WY = 0,1303756 x 10°x (0,1)? 1303.76 N Example 3 A multi-plate friction clutch is required to transmit 75 kW at 3 600 r/min The plates are alternately steel and phosphor bronze and they run in oil The coefficient of friction is 0 07, the axial minimum pressure is 138 kPa and the internal radius of the friction surfaces is 0,8 of the external radius which is 127 mm Find the number of plates required Solution Number of plates required Power, P= 75 kW = 75 000 W Speed, N= 3600 r/min MOM251ZE -175- CHAPTER 6Coefficient of friction, 4 = 0,07 axial minimum pressure, p = 138 kPa = 138 000 Pa External radius 7, = 127 mm = 0,127 m Internal radius, r, = 0,87, = 0,8 x 127 = 102 mm = 0,102 m rit, _ 0,127+0,102 Mean radius, R= “5 = a 00,1145 m Powe, P= 2M Px 60 _ 138 000 x 60 = = a an = 98,9 N therefore Total friction torque, T=3—— Oy = “5 ae ON m but Total friction torque, T= wWRn from equation (6 6) therefore 198,9 = 0,07x Wx 0,1145 xn w Total axial force, W= 2m (r, -r;) from equation (6 4) where ¢=pr, (minimum pressure occurs at maximum radius) therefore = W= 2x m x 138 000.x 0,127 x (0,127 - 0,102) = 2753 N Substitute 17’ = 2753 into equation (1) therefore 198,9 = 0,07 x 2753 x 0,1145 xn 198.8 therefore "= 99-0653 7930096 Therefore Number of effective pairs, n = 9 Example 4 Ref HE page 205, example 9 5 See question in text book Solution Speed of drum when slip ceases and the duration of slipping Inner diameter of each ring, D, = 240 mm therefore ner radius, 7, = 120 mm = 0,12 m MOM251ZE - 176 - CHAPTER 6Outer diameter of each ring,, D, = 320 mm. therefore outer radius, 7, 160 mm = 0,16 m Coefficient of friction, 4 = 0,3 Axial pressure on disc, W="1,3 KN Engine torque 7, = 40 N m Mass of flywheel, m, =25 kg Radius of gyration of flywheel, k,= 300 mm = 0,3m Mass of drum, m,= 55 kg Radius of gyration of drum, k, = 400 mm = 0,4 m Torque required to overcome friction, 7,= 7 N m Assuming uniform wear, Friction torque, T= WRn from equation (6 6) 0,16 + 0,12 2 therefore 0,3 x 1300 H( ) x 2= 109,2Nm Consider engine Net retarding torque on engine, 7,~ T- T, = 109,2 - 40 = 69,2 Nm but T.=1,a,-m# a, (a, = retardation of engine) therefore 69,2 = 25 x0,3*x a, therefore a, = 30,75 rad/s? Now Consider drum Net accelerating torque on drum, 7, = T- 7,= 109,2 - 7 = 102,2 Nm. but T, =1,,=m,k,0, (a, = acceleration of drum) therefore 102,2 = $5 x 0,4°x a, therefore @, = 11,6 rad/s? If Nis the final steady speed in r/min when slipping ceases and is the time of duration of slipping, in seconds, _2n(Ni-N2) then 607 MOM251ZE ETT_2nx(500-N) therefore a wk qa) (NN and anh meV therefore 6= or = Cor Q From equations (1) and (2). N= 137 4/min and Example 5 (@) A soft-surface cone clutch must handle 210 N m of torque at 1 250 r/min The large diameter of the clutch is 350 mm, the cone angle is 12,5°, the face width is 64 mm and 2=0,2 Assuming uniform wear, determine (1) the axial force required to transmit the torque, (2) the axial force to engage the clutch, (B) the average normal pressure on the contact surfaces when the maximum torque is being transmitted (6) Consider the same clutch as in (a) above, but using uniform pressure Determine the axial force the torque given Solution (@) Uniform wear theory (1) the axial force required to transmit the torque Figure 6.8 MOM251ZB -178- CHAPTER 6Torque, T= 210 Nm Speed of clutch, N’= 1 250 r/min Outer diameter of clutch, D, = 350 mm therefore 7,= 175 mm=0,175 m Cone angle, 28 = 12,5° therefore B= 6,25° Face width, w = 64 mm Coefficient of friction, m= 0,2 Consider Fig 6 8 y = 64 sin6,25° = 7 mm Inner radius, r, =r, -y = 175 -7 = 168 mm = 0,168 m Mean radius, R om JBL 1SB 71,5 mm =0,1715 m Total friction torque, T= WR cosecB from equation (6 11) ila 210 fic hn = DI TT ee pen = O67N therefore W=" Reosecf ~ 0,2%0,1715 x cosecb,25° ~ S2N (2) Axial force to engage the clutch F,=W(1+ pct B) from equation (6 12) ie KF, = 667(1 +0,2 x co16,25°) = 1 885 N (3) The average normal pressure on the contact surfaces Axial force, W = 2me (1r,- 1) from equation (6 10) but For average normal pressure, ¢ = pR therefore W=2apR(r,-7,) ie 667 = 2x x0,1715 x (0,175 - 0,168) therefore p= 88 kPa () Uniform pressure theory Axial force required MOM251ZE -179- CHAPTER 63 Was 4) cosecB from equation (6 9) _2 0,175: 70, 168° ) 0 ie m0=2x0,2x wo outs 28 2G) cos 006, 25 Total friction torque, T = therefore W=728,5N Example 6 Ref HE page 202, example 93 See question in text book Solution Greatest power that can be transmitted Mean diameter of contact surface , D = 300 mm = 0,3 m ‘Therefore mean radius, R ~ 150 mm = 0,15 m Conical surface width, w = 65 mm = 0,065 m 3 Coefficient of friction, = Maximum intensity of pressure, p = 70 kPa = 70 000 Pa Half cone angle, # = 15° Speed, N= 1200 r/min From Fig 6 3, r=, =w sin ie r= r= 65 sin S? = 16,83 mm a) al Nth Lis s0 > = 150 mm therefore +r, = 300 Q (1) +@) 2r, = 316,83, therefore 58,4mm=0,1584m and 141,6 mm = 0,1416 m The greatest power that can be transmitted is given by the uniform pressure theory but this is only likely to be transmitted while the clutch is still new Hence, assuming uniform wear, the maximum pressure will occur at minimum radius, therefore ¢ =pr, = 70 000 x 0,1416 = 9912 therefore W=2nc(7,-1) from equation (6 10) W= 2x 9912 (0,1584 - 0,1416) = 1048 N and MOM251ZE = 180 - CHAPTER 6Torque, 7 =nWR cosec fiom equation (6 11) therefore T=0,3 x 1048 x 0,15 x cosec5° = 182,23 Nm Now QnNT _ 2m x 1200 x 182,3 _ 60 60 Power, P = Least axial force necessary to hold the clutch in engagement F,=W(1+ peotp) from equation (6 12) therefore = 1048(1 + 0,3 x cot 15°) =2225N Example 7 Ref HE page 203, example 9 4 See question in text book Solution Torque required to produce slipping of the clutch Effective diameter of cone clutch, D = 75 mm. therefore effective radius, R = 37,5 mm = 0,0375 m Semi angle of the cone, f= 15° Axial force applied, 1”= 180 N Motor speed, NV, = 1000 r/min Flywheel mass, m = 13,5 kg Radius of gyration of flywheel, # = 150 mm = 0,15 m Draw a sketch of the system from the giv | eae | FLYWHEEL Figure 6.8 MOM251ZE -181- CHAPTER 6Apply the uniform wear theory Friction torque, T=nWR cosecf from equation (6 11) therefore = 0,3 x 180 x 0,0375 x cosec 15° = 7,824 N.m Time required for the flywheel to attain full speed For the flywheel, T=1a= mk a (a= angular acceleration of flywheel) therefore 7,824 = 135x015? x @ therefore a= 25,16 rad/s? ‘Time taken for flywheel to reach maximum speed, @,=0,+ at therefore (2«1000) =0425,76 60 therefore time (= 4.065 § Energy lost in the slipping of the clutch Let 8, and 6, be the angles turned through by the motor and the flywheel respectively before slipping ceases Then (motor runs at constant sped) therefore 2nx 1000) x 4,065 = 425,7 rad Consider flywheel @, =, +200, 2 2nx 1000)? _ (25% 1000) =0 + 2x25, 760, therefore 0, = 212,85 rad =76, and — Work done by flywheel, W, 76, Work done by motor, W,, therefore Work lost in friction = 7(6m - 6,) = 7,824(425,7 - 212,85) = 1665 J MOM251ZE - 182- CHAPTER 6Alternatively, Work done by motor, W,,= 78, KE acquired by flywheel = 2 Vig? = 1 n2@?2 =1 2. ( 2nx1000 zo = yk = 7% 13,5x0,15 x( zo = 1665 J therefore Work lost in friction = 3330 - 1665 = 16653 Example 8 The total axial load on a multi-collared bearing is 200 KN and each collar has an intemal diameter of 320 mm and an extemal diameter of 420 mm The coefficient of friction in the bearing is 0,042, the constant pressure on each collar is 360 kPa and the shaft exerting the axial force, rotates at 108 r/min Calculate the power absorbed as a result of fiiction on the bearing, as well as the number of collars required if 1 the pressure remains constant on each collar, 2 the amount of wear is constant on each collar Solution Axial load, W’= 200 KN Internal diameter of collar, d, = 320 mm = Therefore Internal radius, r, = 0,16 m External diameter, d, = 420 mm = 0,42m therefore external radius, 7, = 0,21 m 32 m Constant pressure on each collar, p = 360 kPa Speed of shaft, N= 108 r/min Power absorbed and the number of collars required, if the pressure is uniform 22 ner Total friction torque, T= 2un{ 22) From equation (6 16) or 0.21°-0. 16) 2 4 0,042 «200 x 103( therefore T= 1,563 KNm ie MOM251ZE - 183 - CHAPTER 62nNT _ 2nx108x1563 COR 60 Axial force, W=p a’, -7,)xn from equation (6 14) ie 200x 10° =360.x 10°x #x (0,21?- 0,16) xn therefore n=9,559 say 10 collars Power, P= = 17,68 kW Power absorbed and the number of collars required, if the wear is uniform a Total friction torque, 7 = pn 222) from equation (6 19) 140,16 ie T= 0,042 x 200 x10° x} Ty therefore T=1,554kNm » 2mNT _ 2m 108.1554 _ Power, P= “Eq = 17,58 kW Axial force, W= 2m (r,-r,) xn from equation (6 18) nats) 2 therefore Axial foroe, W = 2nxpx (4) x(rp—rg)xn 140,16 O2160.16) (0,21 -0,16) xn consider the constant pressure on mean radius,ie c=px ( therefore 200 x 10°= 2.x wx 360x e( therefore 559 say 10 collars Example 9 Ina marine bearing as shown in Fig 6 9, four collars are pushing against the propeller shaft, cach being attached to the frame of the ship The outer diameter of each bearing is 820 mm and the bearings are adjustable for obtaining equal pressure on all bearings The diameter of the propeller shaft is 420 mm and the coefficient of friction, 1= 0,03 for all touching plates ‘When the shaft rotates at 120 r/min , it transmits 8,2 MW at the propeller while the ship moves at 21 km/h in still water Calculate (a) the propelling force exerted by the propeller if all friction (except bearing friction) is zer0, () the pressure on each bearing, MOM251ZE -184- CHAPTER 6(©) the total torque on the frame of the ship that results from friction in the bearing, (@)__ the power consumed by the bearing as a result of friction Figure 6.9 Solution (a) Propelling force exerted by the propeller Convert all given units to standard units Outer diameter of bearing, d, = 820 mm = 0 82 m therefore outer radius of bearing = 41m Diameter of the propeller shaft, d,= 420 mm = 0,42 m therefore radius of propeller shaft, r, = 0,21 m Coefficient of friction, = 0,03 Shaft speed, N= 120 r/min Ship speed, v = 21 km/h = 21 x 5/18 = 5,833 m/s Power transmitted, P = 8,2 MW = 8200 x10° W Power, P=Wxv ie 8200 x 10° = Wx 5,833 therefore W/=1,4058x10°N (On four bearings) Pressure on each bearing Axial force, W = pa(?, -?,)xn from equation (6 14) ie 1,4058 x10%=p x wx (0,417- 0,217) x4 MOM251ZE = 185 - CHAPTER 6therefore p= 902,1k Pa (On each bearing) (©) Total fiction torque on frame 23 ame Total friction torque on frame, T= 2u wh : 2) 3h" (A-n) from equation (6 16) (0,41°-0,21°) (41=-0,217) 20,3 x 1,4058 x 108 x = 135,275 kN.m or Total friction torque on frame, T= 2aup (4 = 8) xn from equation (617) ie 7-21 0,3 x 902, 1 x 103(0,413 - 0,213) x4 therefore 35,275 kKN.m (@) Power consumed by the bearing 2nNT _ 2xx120x135,275x10° Power, P= “Fp a 700 kW Example 10 A vertical shaft exerts an axial force of 48 KN on a pedestal bearing with external and internal diameters of 194 mm and 124 mm respectively and the coefficient of friction concerned is. 0,021 Determine the power absorbed by friction when the shaft rotates at 128 r/min and (a) the wear rate is directly proportional to the pressure and rubbing speed, () the pressure is uniformly distributed over the whole contact plane Solution Convert all given units to standard units Axial force, W= 48 KN = 48 000 N External diameter, d, = 194 mm = 0,194 m therefore external radius, r = 0,097 m MOM251ZE - 186 - CHAPTER 624 mm = 0,124 m therefore _ internal radius, r,= 0,062 m nif) _ (2.09720,062) 27> 2 Coefficient of friction, « = 0,021 Shaft speed, N = 128 r/min Mean radius R = ( 159 m (a) Power absorbed uniform wear theory 2 Total friction torque, T = 3HWRn from equation (6 6) ie 7~% x0, 021 x 48 000 x 0, 159 1 therefore T= 106,85Nm 2nNT _ 2m x 128x106,85 Power, P= = 60 60 432 kW (6) Power absorbed uniform pressure theory from equation (6 3) Total friction torque, T= Zu! 2 (0,097? _ Therefore T=3% 0,021 x 48 000 x (0.0977 =82,45Nm Power, p= 22NF _ 2mx128%82.45 _ | 9. 60 60 6.8 EXERCISES HE Page 209 (1-17) 69 ASSIGNMENT 2 1 HE Page 47 (40, 43, 49) 2 Study guide Page 157 (1, 5, 7, 10) 3. HE Page 209(1, 3, 10, 15) MOM251ZE - 187- CHAPTER 6MOM 251ZE CHAPTER7 BELT DRIVES AND BAND BRAKES PAGE 71 OBJECTIVES 190 72 INTRODUCTION 190 73 RATIO OF BELT TENSIONS 191 74 MODIFICATION FOR A V-GROOVED PULLEY 194 75 EFFECT OF CENTRIFUGAL TENSION 195 76 TRANSMISSION OF MAXIMUM POWER 197 77 INITIAL TENSION 197 78 BELT CREEP 198 79 ARC OF CONTACT 198 791 DERIVATION OF ARC OF CONTACT 199 710 LENGTH OF OPEN BELT 200 711 LENGTH OF CROSSED BELT 200 712 TAKE-UP PULLEYS AND BELT DRIVES 202 712.1 PURPOSE OF TAKE-UP PULLEYS 202 7122 NOTES 202 MOM251ZE -188- CHAPTER 7713 BAND BRAKES 203 714 WORKED EXAMPLES 208 715 EXERCISES 230 MOM251ZE -189- CHAPTER 7CHAPTER7 BELT DRIVES AND BAND BRAKES Ref HE, Chapter 10, page 213 7.1 OBJECTIVES After studying this chapter, you should be able to * find the ratios between the tight and slack sides of a flat and V-belt, * discuss the effect of centrifugal tension in a belt drive, * discuss the effect of ereep in a belt drive * find the initial tension in a belt drive, find the angle of contact on a belt drive * show the difference between an ordinary and differential band brake * find the power transmitted in a belt drive * calculate the power dissipated in a band brake due to friction 7.2. INTRODUCTION ‘When power has to be transmitted between two shafts which are a considerable distance apart, a flat belt drive is frequently used In such drives the power transmitted depends upon the friction between the belt or rope and the pulley rim Flat belt pulleys have a rim that is slightly crowned, since this is found to assist in maintaining the belt centrally on the rim In addition to leather, belts are frequently made of other materials for which special advanta- ges are claimed There are several types that consist of layers of woven camel hair or cotton, MOM251ZE -190- CHAPTER 7cemented together and impregnated with balata and other gums ‘These belts may be built up to any desired thickness by increasing the number of layers or plies of fabric They are preferable to leather in warm climates, in damp atmospheres and in exposed positions Rubber belts, consisting of layers of fabric impregnated with a rubber composition and having a thin layer of rubber on the faces, are very flexible, but are quickly destroyed if allowed to come into contact with oil or grease Thin steel belts have been in use in special cases for many years, the pulleys on which the steel belt runs being covered in cork ‘They have the advantages that there is no permanent stretch, and the centrifugal tension is much lower for a given speed than in the case of a leather belt Their disadvantages are that the shafts must he perfectly aligned and the pulley rims perfectly true 7.3 RATIO OF BELT TENSIONS Ref HE Chapter 10, page 213 If the tension at one end of the belt is 7, (slack side) and the tension 1, (tight side) at the other end is increased gradually, the belt will ultimately begin to slip bodily round the pulley the pulley in the direction shown, Fig 71 The value of 7, at which slip takes place is dependant to the value of 7, 8 (the angle of lap) and the coefficient of friction 1 between the belt and the pulley 7 Figure 7.1 MOM251ZE -191- CHAPTER 7If the tensions at the ends of an element subtending an angle d@ at the centre are T and (7+ dD) and the reaction between the belt and the pulley is R, then resolving forces radially, van io + 7B =R 2 but sin® x & therefore (T+dT) 2 + q =R ie 7h TER aT® +») 2 2 2 therefore Td0 -R qQ Resolving forces tangentially, (r+ aroos 2 = Teos ® =pR 2 2 a but cose G0 therefore (T+dT)-T= wR ie a= Td0 from equation (1) ie a =ydo T, aT _ (0 therefore 1, P= fo dd Ty 0 therefore InlT 7, = W919 therefore InT, -InT, = 10 therefore int =p0 2 MOM251ZE -192- CHAPTER 7therefore ayy If the belt is used to transmit power between two, pulleys, Fig 72, 7, and 7; are the tight and slack side tensions respectively If the pulleys are of unequal diameters, the belt will slip first on the pulley having the smaller angle of lap, ie on the smaller pulley Figure 7.2 Torque transmitted, 7 =(I, - 7) xr with r in metres (72) If vis the speed of the belt in m/s and 7, and 7, are in newtons then power transmitted P=(T,-T,)xv W (73) and Tt from equation (71) 7, = 3 Q substitute equation (1) into equations (7 2) and (73) 2 ie T= (1, - Gis) XP therefore (74) and therefore (75) MOM251ZB -193- CHAPTER 714 MODIFICATION FOR V-GROOVED PULLEY Ref HE page 214, paragraph 10 2 Let the belt in Fig 7 1 be in a groove at the perimeter of the pulley but with the vectors and symbols in the figure unaltered For a V-grooved pulley, the normal force, N, between the belt and the pulley is increased since the radial component of this force must equal R Thus if the semi-angle of the groove is , Fig 73, v=2cos ecB 2 therefore Frictional resistance = 22 N = wReosech The friction force is therefore increased in the ratio cosec 1, so that the V-grooved pulley is equivalent to a flat pulley having a coefficient of ftiction of cosecP, Hence a = ehOcosec 75) _/ J Figure 7.3 MOM251ZE -194- CHAPTER 7Tr therefore 1, = Gast @ Similarly Torque transmitted at radius 7, 7= 7,(1- wo) xr Nm (76) and 7 1 Power transmitted, P=T-yamg) xv W a) 7.5. EFFECT OF CENTRIFUGAL TENSION Ref HE page 215, paragraph 103 Consider a belt of mass m per unit length partly wound round a pulley of radius r, the speed of the belt being v The centrifugal force F acting on an element subtending an angle d0 is given by 2 F=mrdo x*z = mvidd If 7, is the tension in the belt due to this centrifugal force, then resolving forces on the element in a radial direction, Fig 74 XX therefore (78) MOM251ZE = 195 - CHAPTER 7In Fig 71 to the reaction R must now be added the centrifugal force F Resolving forces radially (T+dD@ 4B aR+F (oin®. ®. oe ie 7B TR ee me ao aTB 0) therefore Td = R+m* dO therefore R=(T-mv)\d0 = (I~ T.) d0 a Resolving forces tangentially (P+ df) -T="R Q) substitute equation (1) into equation (2) (1-1) 40 therefore (T+d1)-T therefore aT= (-1,)d0 therefore Integrating as before, or — e#9C08€CB (In the case ofa V-belt) (79) -T, and T, - T, ate the effective driving tensions and T, and T, are now the total tensions in the belt. If the diameters of the driving and driven pulleys are unequal, the belt will slip first on the pulley having the smaller angle of lap, ie on the smaller pulley The power transmitted, P= (7, -T,)xv W from equation (7 3) ie P -Te)- BT) x Ww (7 10) therefore MOM251ZE - 196 - CHAPTER 77.6 ‘TRANSMISSION OF MAXIMUM POWER For given values 7,, and @, the velocity at which the power transmitted is a maximum is A(n -Tc )| =0 given by therefore therefore (mm? =T,) therefore qu ‘The maximum power is then obtained by substituting this value of 7, and the corresponding value of v into the expression for the power transmitted 1 P>(I, -To) (a -a)y Centrifugal is always taken into account, excepting if the belt mass or velo negligible. 7.7 INITIAL TENSION Ref HE page 216, paragraph 10 4 The belt is assembled with an initial tension, 7,, When power is being transmitted, the tension in the tight side increases from to T, and on the slack side decreases from T,, to T, If the belt is assumed to obey Hooke's law and its length to remain constant, then the increase in length of the tight side is equal to the decrease in length of the slack side, ie T-T. Since the lengths and cross-sectional areas of the belt are the same on each side Hence T, +7, =2T, qu) If the torque applied to the driving pulley is increased until the belt begins to slip, the two tensions 7, and T, will then have their limiting ratio, and the actual values of T, and 7, may be calculated from the two equations MOM251ZE -197- CHAPTER 7r, T,+T,=2Ty and eno NOTE: Flat belts are generally installed with the slack side on top to improve angle of contact 7.8 BELT CREEP Due to the elasticity of the material, the belt will be longer per unit mass on the tight side than on the slack side, and therefore, since a constant mass of belt passes any section in a given time, the velocity is slightly higher on the tight side than on the slack side ‘The pheriphel velocity of the driver corresponds to the tight side velocity and that of the follower to the slack side velocity and in passing over each pulley, the change in velocity is accounted for by a slight movement of the belt relative to the pulley This is termed " the belt creep" 7.9 ARC OF CONTACT (0) The arc of contact of a belt is the angle subtended at the centre of the pulley by the arc of the circumference of the pulley between the extreme points in contact with the belt, Fig 75, ie 0 is the angle of lap (wrap) of the belt in contact with the pulley is in radians Figure 7.5 MOM251ZE - 198 - CHAPTER 7791 DERIVATION OF ARC OF CONTACT Since the angle of lap is a major consideration in belt drives, Fig. 7 6 shows that the pulley with the smaller @is the weakest part of the drive Thus all calculations are based on the smaller angle of lap (0). distance between centres Figure 7.6 Angle of lap on large pulley = 180 +2 a Angle of lap on smaller pulley = 180-2 @ NOTE: The maximum angle of lap for open belts is 2° radians (180°), ie. for pulleys of equal diameter. From the diagram sina. -& , but since AC =R-r and AB=L therefore sina. hence MOM251ZE = 199- CHAPTER 7therefore 2a = 2sin" therefore angle of lap, @ for small pulley in degrees = 180 - «—-1R- z) (2 sin therefore arcofcomac, 0 inradans= 7] 180 - (2sin-12=2) ] (712) 7.10 LENGTH OF OPEN BELT Consider Fig 77 Figure 7.7 Draw AJ parallel to CG therefore BJ=BG-JG But BG=R and JG=r therefore BJ=R-r therefore Belt length, 2= 2 [are CD + CG-+ are GH] -2[{2-a) +AJ+R(E+a) | = 5R+r)+0(R-1)+ Leosa.| MOM251ZE = 200 - CHAPTER 7or [= AR +7) =2 (Rr) +2L cosa (713) 7.11 LENGTH OF CROSSED BELT Consider figure 7 8 distance between centres Figure 7.8 Draw AJ parallel to CF therefore BJ=BF+ IF But BF=R and JF=r therefore BJ=Rt+r Length of crossed belt, = 2farcCD + CF + arc FH] =a Bea] says R(E+a) | =21FRtN+ aR n+l} = A(R +7) 2a (R+1) + 2L cosa therefore 1 (R+r) (a+ 2a) +2L cosa (714) MOM251ZE 201 - CHAPTER 7NOTE: THE ABOVE THREE FORMULAE WERE NOT DERIVED TO USE IN YOUR CALCULATIONS. IT WAS ONLY DONE TO SHOW YOU THE STEPS TO BE FOLLOWED IN CALCULATING THE ANGLE OF LAP AND THE LENGTH OF THE BELT. THUS IN DOING CALCULATIONS, WE MUST WORK FROM FIRST PRINCIPLES. 7.42 TAKE-UP PULLEYS AND BELT DRIVES 7121 PURPOSE OF TAKE- UP PULLEY (JOCKEY PULLEY) ‘When two pulleys in a belt drive system are close to one another, a jockey pulley can benefit, the drive as follows (a) It increases the contact angle (@) especially the smaller pulley and consequently (1) decrease slip, (2) allows increased power transmission capability through belt tensions 7, and 7, 7122 NOTES * The belt tensions in front of and behind the jockey pulley, Fig 7 9, are the same (7, =T) The reaction (R) of the belt on the jockey pulley always halves the contact angle on the jockey pulley The vector diagram of forces is always a closed triangle (‘The forces are in equili- brium) * To identify angles with greater ease, horizontal and vertical ( or parallel and perpendi- cular) lines are drawn through any central point to form rectangular triangles ‘When required, calculate moments about the central shaft of the arm or lever to which the jockey pulley is attached MOM251ZE =202- CHAPTER 7‘The jockey pulley is normally on the slack side of the belt The formulae on belt tensions and power calculations are also applicable here T Figure 7.9 713 BAND BRAKES A flexible band may be used to apply a braking torque to a rotating drum The flexible member may consist of a leather strap, one or more ropes, or a thin strip of steel lined with friction material In order to apply the brake the band is tightened round the drum and the friction between the band and the drum provides the tangential braking force The theory applicable to flat belt drives, without taking centrifugal force into account, applies to band brakes as well in order to find the tight side and slack side tensions ‘Thereafter application of moments to the brake lever provides a solution Thus we may use for band brakes 16 where jis the coefficient of friction and 0 the angle of lap in radians MOM251ZE = 203 - CHAPTER 7Referring to Fig 7 10, the tangential braking force on the drum is given by Q Figure 7.10 A modification of the band brake is shown in Fig 7 11 The flexible steel band has a number of ‘wood blocks fixed to the inside surface and the friction of the blocks on the drum provides the braking action The ratio of the tensions on the tight and slack sides of the band may be found as follows Let 20 be the angle subtended at the drum centre by each brake block, T,, the tension in the slack side of the band, 7, the tension in the band between the first and second blocks, 7; that between the second and third blocks, etc , 7, that in the tight side of the band, the number of blocks and 1 the coefficient of friction Then the first block will be in equilibrium under three forces, the tensions 77, and 7, on the two ends of the band and the reaction R of the drum on the block Since their is a limiting friction between the block and the drum, the line of action of R pass through the point of intersection of T, and 7, Its inclination to the radial line drawn through the point of intersection of 7, and T, may all practical purposes be assumed equal to MOM251ZE 204 - CHAPTER 7Figure 7.11 The triangle of forces oac may then be drawn From this triangle Ty _ sinaoc _ sin(90-0+}) _ cos(0-9) To sinaco sin(90-0-)) cos (8+0) _ cos Ocos $+sind sind ~ cos Ocos 6-sin0 sind (identities) In the above, divide each term by COS 8 cos > . sinO sind _ NOTE: sosOcosg = tan Otand ; litanOtang — 1+utand eee eee an tan OP tend =19 To 1-tanOtand 1-ytand The triangle of forces is obviously similar for each block, and therefore the ratio of the tensions in the band is the same for each hence the ratio of the tensions in the tight and slack sides is, given by Ty Te BED. (L)"_(uwme)’ ap To Tei Te Ty To \To? > \T-tan 712) MOM251ZE ~ 205 - CHAPTER 7The ends of the plain band or of the band with wood blocks are attached to a brake lever, so that movement of the brake lever tightens the band round the drum and provides the braking action Two possible arrangements are shown in Fig 7 12 7 a igure 7.12 In the arrangement shown at (a), one end of the band is attached to the fulcrum of the brake lever, while in that shown at (b) the two ends of the band are attached to the lever on opposite sides of the fulcrum and at different distances from the fulcrum Considering the first arrang it as applied to a plain band, the effort applied to the lever must act downwards in order to tighten the band round the drum The drum may revolve either clockwise or counter-clockwise If it revolves clockwise, the effort P determines the tension 7, in the slack side of the band, if counter-clockwise, P determines the tension 7, in the tight side In the former case the tension in the slack side of the band is determined as follows UMp =0=PxI-T)xa (moments about fulcrum) therefore Ty =Px i a But the ratio of the tensions = 7,/ T, =e and the tangential braking force on the drum O=1,-1, so that O=T,-T, MOM251ZE - 206 - CHAPTER 7(from T,/ from equation (1) (712) In the latter case (counter-clockwise motion), the tension in the tight side of the band is given by 7] = BL so that q Q T, and T. ) (from T,/T,=e") therefore therefore (713) Hence, when the brake is so arranged that the brake lever applies the tension to the slack side of the band the braking force Q is e”* as great as when it is so arranged that the brake lever applies the tension to the tight side of the band For the arrangement shown in Fig 7 12(b), the effort P must again act downwards, providing a> b For clockwise rotation of the drum, the end of the band attached to A is the stack end, while that attached to B is the tight end Hence for a plain band, Q =T, -T,=T,(e-1) @ But, for equilibrium of the brake lever, UMp=P1+T,b-T,a=0 therefore T,a= PI +T,b but V= Te therefore T,a = P 1+ Te" therefore Pl=T,a~ Tie b= or Pl=T,(a- eb) but, from equation (2) Ts = Gaqy MOM251ZB -207- CHAPTER 7therefore wpe 9) o_ and O= Put) (714) Similarly for counter-clockwise of the drum, we get (715) Since a> b and e® > 1, the denominator of (7 15) is always positive, but it is possible for the denominator of (7 14) to be positive, zero or negative The implication of a zero or negative value is that the brake is self-supporting (self-locking) Once the band has been tightened round the drum the effort P may be reduced to zero In practice a should always be greater than be”, otherwise gradual application of the brake will be impossible 7.14 WORKED EXAMPLES Example | A pulley 200 mm effective diameter running at 1 000 r/min drives a follower of 1 000 mm diameter, the two shafts being parallel 1,5 m apart, the free parts of the pulley being consider- ed straight The belt has a mass of 0,4 kg/m and the maximum tension is to be 800 N If the coeflicient of friction between belt and pulley is 0,4, estimate the maximum tension differen- ce, the speed of the driven pulley at the maximum condition and the power transmitted between the pulleys Solution Maximum tension difference Diameter of driving pulley, d, = 200 mm Radius of driving pulley, 7, ~ 100 mm = 0,1 m Diameter of follower, D; ~ 1000 mm Radius of follower, R, = 500 mm = 0,5 m Distance between centres, L = 1,5 m. MOM251ZE = 208 - CHAPTER 7Speed of driver, NV, = 1 000 t/min Belt mass, m = 0,4 kg/m Maximum tension, 7, = 800 N Draw a sketch of the system from the given data (Fig 7 13) Figure 7.13 First find the angle of lap on smaller pulley From triangle , Fig 7 13, @_ Retry _ 0,5-0,1 _ cosy Z Ts = 0,2667 8 ° therefore 574534 therefore @ = 149° = 149 x = 2,6 radians 180 therefore Angle of lap on smaller pulley = 2,6 radians 2nrpNp _ 2nx0,1x1000 Belt velocity, v= EO = = = 10,472 mis Centrifugal tension, 7, = mv from equation (7 8) therefore Ty = 0,4 x 10,472? = 43,865 N TTe _ 410 Now Tore =e from equation (79) 800-43,865 therefore 4x2,6 = 91,04 < > 909 T-43,865 therefore 756,135 = 2,829 x (7, -43,865) MOM251ZE - 209 - CHAPTER 7756,135 = 2,8287, - 124,09 therefore 1L15N Maximum tension difference, 7, - T, = 800 - 311,15 = 489,9 N Speed of the driven pulley For maximum power, if; from equation (7 11) therefore 3 x 800 = 266,6667 N therefore 66,6667 = mv" = 0,4 7 therefore v= 25,82 m/s oat _ nDNe " 60 60x25,82 therefore 1, — SORE = O09 BP _ 495 vin nD axl Power transmitted Power, P=(T,-T, )xv from equation (7 3) therefore P = 489,9x 10,472 = 5130,23W or S13. KW Example 2 Ref HE page 218, example 103 See question in text book Solution Torque on each of the two shafts Draw a sketch of the system from the given data (Fig 7 14) Convert all given units to standard units Diameter of follower, D, ~ 1,2 m Radius of follower, R, = 0,6 m Diameter of driver, dp = 0,5 m Radius of driver, r, = 0,25 m Distance between centres, L =3,6 m MOM251ZE CHAPTER 7Belt mass, m 0,9 kg/m length Maximum tension, 7, = 2kN = 2 000N Speed of driver, N,, = 200 r/min Speed of driven pulley, N,= 450 r/min Coefficient of friction, = 0,3 — L First find the angle of lap on smaller pulley Figure 7.14 From triangle, Fig 7 14, therefore therefore angle of lap on smaller pulley, @=2x 1,472 = 2,944 rad ‘The belt speed is that corresponding to the pheriphel speed of the larger (driving) pulley QnrN _ 2nx0,6x200 therefore y= S20 = Centrifugal tension, 7., = mv’ = 0,9 x 12,57’ = 142,3N = 12,57 m/s Now from equation (7 9) ie = 00,3%2,994 9 419 from which therefore )xDp MOM251ZE -211- CHAPTER 7ie (2000 - 910) x 0,6 = 645 N.m -T,)xd, ie T, = (2000 - 910) x 0,25 = 272.5 N. and — torque on follower Power transmitted and power loss due to friction Power of driver, P = (T, -T,) x v= ( 2000-910) x 12,57 = 1 3700 W = 13,7 kW. If there were no slip, speed of follower would be zDpNp _ rdeNe belt speed, v = AEP = A 12 . therefore “i 705% 200 = 480 r/min 450 therefore power transmitted to follower = 13,7 x 480 therefore power lost in friction = 13,7 - 12,85 = 0,85 kW Efficiency of drive, » 12,85 =F x 100 = “285 x 100 = 93.8 peccent Example 3 Ref HE page 219, example 10 4 See question in text book Solution Minimum required belt width Draw a sketch of the system from the given data (Fig 7 15) Convert all given units to standard units Power transmitted by belt, P= 110 kW= 110 x 10° W Belt speed, v= 25 m/s Diameter of driver, d, = 250 mm = 0,25 m MOM251ZE -212- CHAPTER 7Radius of driver, r,, = 0,125 m Diameter of follower D, = 400 mm = 0,4 m Radius of follower, R, = 0,2 m Distance between centres, L = 1 m The allowable belt stress, o = 8,5 MPa Density of belt material, p = 1100 kg/m? Coefiicient of friction between belt and pulley, = 0,3 0,10 cross action of belt () Figure 7.15 First find the angle of lap on smaller pulley From triangle , Fig 7 15, 125 cosy a = 0,075 8 5 =85,7 ie 7 785 angle of lap e=171,4°= LAX Tp = 99 rad and ee = 2,453 Ifthe width of the belt is w, and the thickness 0,1w (given) Cross-sectional area, a = w x 0,1w = 0,17 [Fig 7 15(b)] Maximum tension in the belt, 7, = stress x cross-sectional area therefore T,=6 xa=8,5 x 10° x 0,1w? =85 x 10*w? a) MOM251ZE +213 - CHAPTER 7Centrifugal tension, 7, from equation (7 8) ie T. =(p xa) = 1100 x 0,1w? x 25? = 6,875 x 10 w* (2) Power transmitted, P= (T, - T.) (i a st) xv from equation (7 10) ie 110x 10°=(85 x 10*w? - 6,875 x 10 w) x 25 from which w =0,0975m or —-97,5 mm Necessary installation force between pulley bearings Substitute w = 0,0975 into equations (1) and (2) therefore 5 x1 0*x 0,0975? = 8080 N and T= 6,875 x10" x 0,0975? = 653 N Now from equation (7 9) ie ee =2,453 from which T, =3681N But 1,+T,=2T, from equation (7 11) ie 8080 + 3681 =2 7, therefore 1, = 5880 Force between bearings when maximum power is transmitted If the inctination of the belt to the centre line of the drive is $, Fig 7 15, then, @_ 4 17L4° = 90°-5 = 90? Initial force between bearings, = 2 T,cosb = 2 x5880 x cos 4,3°= 11 727N Force between bearings when transmitting power = {(T, - T, (I, =T.) Joos = {(8080 - 653) + (3681 - 653) } cosd,3” =10425N MOM251ZE -214- CHAPTER 7Example 4 Ref HE page 216, example 10 1 See question in text book Solution Length of belt required and the angle of lap for each pulley Draw a sketch of the system from the given data (Fig 7 16) Convert all given units to standard units Diameter of larger pulley, D = 450 mm = 0,45 m 225 m = 200 mm = 0,2 m Radius of larger pulley, R Diameter of smaller pulley, Radius of smaller pulley, r= 0,1 m Distance between shafis, L = 1,95 m Speed of larger pulley, = 200 r/min Maximum belt tension 7, = 1 kN= 1 000'N Coefficient of friction between belt and pulley, j1 Figure 7.16 From triangle ABC, Fig 7 16 b_ Rer _ 0,22540,1 cosy 2 TL = 1951667 therefore = 80,4" Rie MOM251ZB -215- CHAPTER 7therefore angle of lap for each pulley = 360° - 2 x $ 360°- 2x 80,4" = 199,2° 5 ee = 199.2. x 7gG = 3.474 rad Length of belt = RO +70 +2xL-sin : = 0,225 x 3,474 + 0,1 x 3,474 + 2x 1 95 sin80,4° = 4,975 m Power transmitted by belt from equation (7 1) aur) 60 Power, P=(I,-T,)xv=(T, -1)x( 2nx0,225x201 ae therefore P= (1000 - 419,3) x ( 30 740W oor (2.74 kW Example 5 A leather belt 180 mm wide and 10 mm thick embraces one half of the circumference of the driving pulley Assuming that the leather has a density of 1 Mg/m’, that the coefficient of friction is 0,4 and that greatest permissible stress in the leather is 2 MPa, find the speed of the belt at which the power transmitted is a maximum, the maximum power and the stress in the slack side of the belt If at this speed the power transmitted is 16 kW and the stress in the slack side is 1,4 MPa, find the angle subtended at the centre of the driving wheel by the portion of the belt which creeps on it Solution Speed of the belt when maximum power is transmitted Convert all given units to standard units Width of belt , = 180 mm = 0,18 m Thickness of belt , f= 10 mm = 0,01 m MOM251ZE -216- CHAPTER 7Angle of lap, = 7 radians Density of leather, p= 1 Mg/m’ = 1 000 kg/m3 Greatest permissible stress in the leather, o = 2 MPa= 2x 10° Pa Coefficient of friction, 4 = 0,4 = mradians mass per unit length of belt, m = x a = 1 000 x (0,18 x 0,01) = 1,8 kgm Maximum belt tension, 7; = o x a= 2x 10° x (0,18 x 0,01) =3 600 N For maximum power transmission 7, = 1/3 1, from equation (7 11) therefore‘ T., = 3600/3 = 1 200N But 7, =m? from equation (7 8) ie 1200-18 and = 25,8 m/s Maximum power transmitted from equation (79) ie 20:4xX pase = 3 5135 therefore -2 400 = 3,51357, - 4216 2400+4216 therefore 3513371 883N therefore Maximum power, P= (T, - T,) xv ie P-=(3 600 - 1 883) x 25,8 = 44 300 W or = 44,3 kW Stress in slack side of belt s T Stress, o = Tension BL 1883 — 046 111 Pa = 1,046 MPa cross-sectional area 4 ~ 0,18x0,01 MOM251ZE -217- CHAPTER 7Angle subtended at the centre of the driving wheel Let 7, and 7’, be the tight and slack side tensions when transmitting 16 kW ‘Then T,, = stress x cross-sectional area = o x a= 1,4 x 10°x (0,18 x 0,01) = 2520 N and — Power transmitted, P= (7', - T',) xv. therefore 16 x 10° = (7’, - 2520) x 25,8 therefore T,=3140N Now fe 3140-1200 20-40 2520-1200 therefore 1,4697 =e therefore In 1,4697= 0,48 0,385 a therefore ts = 0,9626 rad = 0,9626 x 795, = 55.16" Example 6 Ref HE page 217, example 10 2 See question in text book Solution Power transmitted Convert all units to standard units Angle of the groove, 2 = 30° therefore B=1S8° Cross-sectional area of each belt , a= 750 mm? = 750 x10°m? Coefficient of friction, = 0,12 Density of belt material, p = 1,2 Mg/m? = 1,2 x10° kg/m* ‘Maximum safe stress in the material, o = 7MPa= 7 x10° Pa Pulley diameters, D = 300 mm = 0,3 m Pulley radii, r = 0,15 m Speed of pulleys, N= 1 500 r/min MOM251ZE -218- CHAPTER 7Draw a sketch of the system from the given data (CO | Angle of lap, 6 = radians 2nrN _ 2nx0,15%1500 _ Belt speed, v = 6 m/s = 23 60 60 ° Mass of belt per meter length, m = px a = 1,2 x 10° x 1x 750 x 10° 0,9 kg/m Centrifugal tension, 7, =m? from equation (7 8) =0,9x23,6=502N therefore Maximum tension in belt, 7, = o xa = 7x 10° x 750 x 10° = 5250N, grcont = 0.12 C08eC15° - 4294 c — gubcosech from equation (7 9) 5250-502 ie RO = 4,291 from which 7, = 1610N therefore Power, P=(T,-T,) xvx2 (2 because two belts) = (5250-1610) x 23,6x2=172000W or 172 KW Shaft speed at which power transmission would be a maximum For maximum power, MOM251ZE -219- CHAPTER 7+ 1, fiom equation (7 11) therefore dx 5250 = 1750 N but T.=mv therefore 1750 = 0,97 therefore v= 44,1 mis Now _2nrN _ 2nx0,15xN “60 60 therefore N= 2800 r/min Example 7 The arrangement of a belt drive with a jockey pulley exerting a force of 100 N is shown in Fig 7 18 The driving pulley is 350 mm in diameter ‘The driven pullley is 800 mm in diameter and rotates at 480 r/min The centre distance between pulleys is 1,2 m ‘The coeffici- cient of friction between belt and pulley is 0,28 Determine (a) the tension in the slack side of the belt, (b) the tension in the tight side of the belt, the power that can be transmitted Figure 7.18 MOM251ZE -220- CHAPTER 7Solution Tension in slack side of belt Convert all units to standard units Diameter of driven pulley, D 00 mm = 0,8 m Radius of driven pulley, R= 0,4 m Diameter of driver, d= 350 mm = 0,35 m Radius of driver, r = 0,175 m Coefficient of friction, z= 0,28 Distance between centres of pulleys, Z = 1,25 m Force exerted by jockey pulley = 100 N _2nRN _ 2nx0,4x480 _ Bek speed, v= “Eo = ——F5—— = 20,11 mis T \10® Triangle of forces ) Figure 7.19 From triangle of forces, Fig 7 18(b) T, sinl0° =50 therefore 7, = 287.94 Tension in the tight side of belt First find the angle of lap on smaller pulley From triangle , Fig 7 18 (a) cos 6/2 MOM251ZE -221- CHAPTER 7therefore @/2 = 79,63° he herefc = 159,26" = 159,26 | therefore 8 , 26 T95 8 rad Now Die eno 2 therefore T,=T, xe = 287,94 x e°** ** = 287,94 x 3,704 = 1066,8N from equation (7 1) Power transmitted Power, P=(T,-T,)xv therefore P= (1066,8 - 287,94) x 20,11 = 15662,9 W or 15,663 kW Example & Figure 7 20 shows a band brake which is partially wrapped round a 460 mm diameter drum, the ends of the band being connected to points B and C of a brake lever which is pivoted at A The coefficient of friction between the band and drum is 0,25 The centre of the drum is 305 mm from A, AB equals 229 mm and Ac= 76 mm Ifa force of 222N is applied to the lever 610 mm from A, determine the torque applied to the drum which is rotating clockwise Also, determine the magnitude and direction of the force acting on the pin at A 222N Figure 7.20 MOM251ZE -222- CHAPTER 7Torque applied to the drum Convert all given units to standard units Diameter of drum, D = 460 mm = 0,46 m Coefficient of friction between band and drum, y= 0,25 Consider triangle AOC 76 Tana = 35 = 0,2492 therefore a= 14 Cos p= 230 = —_230 52-0717 (B057+76) 314,33 therefore = 43° therefore @ +8 =43+14=57 Therefore Angle of lap, 6, = 180 +( 90 - 57) = 213°= 213 igo =3,7173 rad Now ae gO — 20,25%3,7_ For lever O=a+fB =57 DM 4=0=222 x 0,619 + 7, sinS7"x 0,076 - T, x 0,229 2,5305 @ Therefore 135,42 + 0,06374 x T, = But 2297, i; 53057, from equation (1) Therefore 135,42 + 0,06374 x 2,53057, = 0,229 T, Therefore 0,229 7, - 0,16145 7, = 135,42 Therefc 135,32 2001,8N erefore 90,0676 7 20018 and T, = 2,5305 x 2001,8 = 5065,6 N Now Torque applied to the drum = (7, - 7;) xr = ( 5065,6 - 2001,8) x 0,23 = 04,7 N.m MOM251ZE -223- CHAPTER 7Magnitude and direction of the force acting on the pin A =McO) = 222 x (610 + 76) - 2001,8 x (229 + 76) + 76R,,=0 therefore Ry, = 8033,54.N LRy1) = - 71,0080 = - 5065,6 coss7? Therefore R= - 2758,9N Therefore Force on pin at A= (8033, 54) + (2758, 9)? =8494N or = 8.494 KN Direction of force a | Ry = 8033,54 | | OY Ry =2758,9 Figure 7.21 From Fig 721 Tan = = 3033,54 8434 Therefore 8 = 18,95° Therefore Force on pin A is 8,494 KN with direction 18,95° S o E Example 9 Ref HE page 223, example 108 See question in text book Solution ‘The force P to give a braking torque of 400 N m if the drum is rotating MOM251ZE -224- CHAPTER 7(a) clockwise Torque on drum = (7, - 7,) x1 Therefore 4000= (7, - T,)x0,5 Therefore (7, - Z,) = 8000Nm a Also Tr _ ghO — o(0,3x225xn/180) =3,248 Therefore 7, = 3,248 T, Q Substitute (2) into (1) ie (3,248 T,- T,) = 8 000 therefore = 3558,7N and 3,248 x 3558,7 = 11 558,72 N The tight side tension 7, is on the side which is being pulled on to the pulley Clockwise rotation, Fig 7 22 Figure 7.22 Taking moments about F, UMp = 0=Px 625 + 7, x25 -T,x 100 ie O=P x 625 + 11558,72 x 25 - 3448,7 x100 Q NOTE: In equation (1) we multiplied each term by mm units, which will make no difference to the results. From equation (1) P= 89,44N MOM251ZE -225- CHAPTER 7Anticlockwise rotation, Fig 723 Px 625 + T,x25-T,x 100 ie O=P x 625 + 3448,7 x 25 - 11558,72 x 100 Therefore P= 1711,45N In case (a) the couple about the fulcrum due to belt friction is acting in the same direction as that due to P., whereas, in case (b) itis acting in the opposite direction X Figure 7.23 Example 10 The two ends of a brake belt that is partially wrapped around a winding drum, are fixed to a brake lever as shown in Figure 7 24 The brake is to absorb sufficient power to control the velocity of the descending mass, as well as that of the balance mass, to constant 1,5 m/s, while the clockwise angular velocity of the winding drum is 62,28 r/min Assume that the brake disc and the winding drum is a unit and calculate the minimum value of the coefficient of friction needed between the brake belt and the brake disc MOM251ZE -226- CHAPTER 7| | | 0kg Figure 7.24 Solution Minimum coefficient of friction between belt and pulley Draw sketches of the lever and winding drum separate, with the different forces actirg on each part (Fig 725) (240)(9,81) N (480)(9,81) N Figure 7.25 MOM251ZE -227- CHAPTER 7Firs find the angle of lap and the radius of the inner drum Therefore = 45° and B=90-5 therefore B= 90-45 = 45° Angle of lap, @ = 360 - (90 + B) = 360 - (90 + 45) = 225° = 225°x “EZ = 3,927 rad 180 spel v= or (282) xr ; se (2220228) . ie 15=( G97) xr therefore r= 0,23 m Consider lever DM 4=0=[102 x (1200 + 480)] - (F, cos45” x 480) Therefore F, = 505N Consider winding drum D Mo = 0= (F, x 0,48) + (480 x 9,81 x 0,23) - (240 x 9,81 x 0,23) - (F, x 0,48) ie 0=( 505 x 0,48) + (480 x 9,81 x 0,23) - (240 x 9,81 x 0,23) - (F, x 0,48) therefore F,= 1633 N NOTE: F, AND F, ABOVE ARE SIMILAR TO 7, AND T, IN THE PREVIOUS EXAMPLES Now <= eH® from equation (7 1) Example 11 ‘The brake in the diagram must absorb 72,8 kW while the brake drum rotates clockwise at 196 r/min The width of the gaps between the 10 pads is the same as the width of the blocks With = 0,28, determine the force required at the end of the horizontal lever MOM251ZE = 228 - CHAPTER 7Figure 7.26 Solution Force F at the end of the lever Convert all given units to standard units Power absorbed , P= 72,8 kW = 72,8 x 10° W Speed of drum N= 196 r/min Coefficient of friction between drum and pads, 1 = 0,28 Assume the angle subtended by each pad at the centre of the drum as 26 Now angle of lap 270° angle of lap _ eae number of gaps — 19 gaps — '4!05 Therefore = 7,1053° NOTE: 10 pads and 9 gaps give 19 gaps in total. Effective radius R — drum radius + 0,5 x thickness of pad Therefore R= 280 + 0,5 x 48 = 304 mm = 0,304 m 2nNT 60 Power, P= MOM251ZE -229- CHAPTER 72x1 96xT;, 60 Therefore 7T,=3547Nm ie 72,8x10= Ratio of tensions Tn (tetany a 7, = Gaatand from equation (7 12) _ (1+ 0,28 tan7,1053° 10 0 (Eesgan? sr) . F z (z 0.0348) 10 1- 0,0349. Therefore 2,0104 Therefore F, = 2,0104 F, a Braking torque, 7, = (F, -F, )xr ie 3547=(F, -F,)x 0,304 (2) Substitute equation (1) into (2) ie 3547=(2,0104F, - F,) therefore F, = 11,548 KN and F, = 2,0104 x 11,548 = 23,215 kN Now LD My =0=Fx (510 +24) + F,x24-F,x 100 ie 0 =F x 534+ 23,215 x 24 - 11,548 x 100 1,119 kN Therefore = F 7.18 EXERCISES HE Page 227 (1-17 and 22 - 26) MOM251ZE -230- CHAPTER 7MOM 251ZE BLOCK BRAKES CONTENTS 81 OBJECTIVES 82 INTRODUCTION 83 THE SINGLE BLOCK BRAKE 831 EXTERNAL SINGLE SHOE BRAKE 84 THE DUAL BLOCK BRAKE 841 EXTERNAL DOUBLE SHOE BRAKE 842 INTERNAL DOUBLE SHOE BRAKE 85 | WORKED EXAMPLES 86 EXERCISES 87 ASSIGNMENT 3 CHAPTER 8 PAGE 232 232 232 232 235 235 236 238 259 266 MOM251ZE -231- CHAPTER 8CHAPTER 8 BLOCK BRAKES 8.1 OBJECTIVES After studying this chapter, you should be able to * describe the function of a brake, * find the brake torque applied to the drum, find the magnitude and directions of the reactions at different pivots in the system, * calculate the power absorbed due to the braking torque, * describe and find the radius of the friction circle 8.2 INTRODUCTION The primary function of a brake is either to bring to rest a body which is in motion or to hold a body in a state of rest or of uniform motion against the action of external forces or couples In this chapter the principles of operation of representative types of brakes are discussed 83 THE SINGLE BLOCK OR SHOE BRAKE 831 EXTERNAL SINGLE SHOE BRAKE A simple arrangement for applying a retarding or braking force to the rim of a drum or wheel is shown in Figure 8 1 MOM251ZE -232- CHAPTER 8Figure 8.1 A block or shoe S of wood or metal, sometimes faced with a special friction material in order to give a high coefficient of friction, is forced into contact with the rim of the drum The shoe is pressed against the drum by a force P applied to one end of a lever generally called the brake hanger, to which the shoe is attached The other end of the hanger is pivoted on a fixed fulcrum O The shoe may be pivoted to the brake hanger as shown in Fig 8 1 (a) or rigidly attached to the hanger as shown in Fig 8 1 (b) (a) The reaction of the brake hanger on the shoe may be assumed to pass through the pin cen- ‘tre C The reaction of the drum on the shoe may be assumed to be tangential to the friction citcle of the drum Assuming clockwise rotation of the drum, the line of thrust between the shoe and drum, will take up a position shown by the full ine Similarly, when the drum rotates counter clockwise, the line of thrust will take up the position shown by the dotted line The friction torque on the drum = 7, = R x x, where x is the perpendicular distance of the line of thrust from the drum centre Q, ie the radius of the *friction circle of the drum is 7, sing ‘Also, for equilibrium of the brake hanger, P x = Rx a, where / and a are respectively the MOM251ZE -233- CHAPTER 8perpendicular distances of the lines of action of the effort P and the thrust R from the fulcrum O of the brake hanger Substituting for R, the friction torque on the drum is given by 7, fel xx ey In order that this torque shall be the same for both directions of rotation of the drum, the per- pendicular distance @ of the line of thrust from O must be the same for both directions of rotation, and the line joining the centres of the two pins, O and C, shall be perpendicular to the line joining the centre of pin C to the drum centre Q (b) If the brake shoe is rigidly attached to the hanger as shown in Fig 8 1 (b) and assuming that the line of thrust passes through the mid-point B of the contact surface of the shoe, argue as follows Since the line of thrust may also be assumed to be tangential to the friction circle of the drum, it follows that, for clockwise rotation of the drum it is in the position shown by the full line, and for counter-clockwise rotation in the position shown by the dotted line As before, the friction torque on the drum is given by equation (8 1), but this torque may differ for different directions of rotation depending upon the lengths of @ and a,, and the friction torque will clearly be greater when the drum rotates counter clockwise than when it rotates clockwise It is usual for this type of brake to be provided with two shoes on opposite sides of the drum, partly to reduce side thrust on the bearings of the drum shaft and partly to increase the brake torque “Friction Circle ‘The two members of a turning pair are shown in Fig 8 2 with the necessary mechanical clearance between the contact surfaces much exaggerated When the pin is at rest in the bearing and the contact surfaces are frictionless, the reaction of the bearing on the pin will lie along the radial line AO through the point of contact A But if the coefficient of friction is corresponding to a friction angle ¢, the direction of the reaction may lie anywhere between the ‘two extreme positions AR and AS, which are inclined to the radial line AO at the angle ¢ The limiting position of the reaction will be given by AR when the point of contact on the pin slides MOM251ZB -234- CHAPTER 8‘towards the right relative to the point of contact on the bearing, ie, when the pin turns in the counter-clockwise sense relative to the bearing Similarly, the li ing position of the reaction will be given by AS when the pin turns in the clockwise sense relative to the bearing From O drop perpendiculars on each of the lines AR and AS Then each of these perpendicu- lars will have a length, OA sing But is usually small, so that sing may be assumed to be equal to tan ¢ or without sensible error It follows that, if a circle is drawn with centre O and radiusya, the limiting positions AR and AS of the reaction of the bearing on the pin will be tangential to this circle The circle is known as the friction circle, and so long as the pin is rotating in the bearing the reaction of the bearing on the pin must aot along a line which is tangential to the friction circle ee | Figure 8.2 84 THE DUAL BLOCK BRAKE 841 EXTERNAL DOUBLE SHOE BRAKE Figure 8 3 shows the arrangement of a double shoe brake in which the two shoes are pivoted to the hangers and the brake is applied by means of a vertical force P which acts through the pin Kon the bell-crank lever HGK MOM251ZE -235- CHAPTER 8In this type of system are two reactions acting through the pivot points C and F tangential to the friction circle Thus, total friction torque on drum, 7, =(R,+R,)xx (x= friction circle radius) NOTE: WE WILL DISCUSS THIS TYPE OF BRAKE SYSTEM , IN FULL DETAIL, BY MEANS OF AN EXAMPLE 842 THE INTERNAL DOUBLE SHOE BRAKE, A type of shoe-brake which is often used on self-propelled vehicles is shown in Fig 8 4 MOM251ZE -236- CHAPTER 8Figure 8.4 Each shoe pivots at one end about a fixed fulcrum, while at the other end it rests against the face of a cam The outer surfaces of the shoes are lined with Ferodo or other friction material which has a high coefficient of friction and good wearing properties The shoes are normally held in the off position by a light spring S To apply the brakes the cam is rotated by means of the braking force P applied to an arm keyed to the cam spindle This forces the shoes into contact with the inside cylindrical surface of the brake drum, which is rigidly fastened to the road wheel Friction between the shoes and the drum then applies the braking torque or couple to the drum The force analysis of this brake may be made as follows Assume the material of the brake- shoe linings to obey Hooke's law in compression and find the line of action of the thrust on each shoe as already explained Let K and R, represent the two thrusts for counter-clock- wise rotation of the drum and a, a, the perpendicular distances of their lines of action from the respective shoe pivots Also, let Q, Q, be the forces exerted by the cam on the ends of the respective shoes, /, , the perpendicular distances of their lines of action from the shoe pivots, and d the perpendicular distance between Q and Q, Even if the clearances between the shoes and the drum are correctly adjusted, so that when the brake is applied each shoe makes contact with the drum at the same instant, the forces Q and Q, will not be equal This results from the fact that, for a given angular displacement of the MOM251ZE -237- CHAPTER 8cam, the angular displacement of the right-hand shoe is obviously slightly greater than the angular displacement of the left-hand shoe The compression of the right-hand shoe lining is therefore greater than that of the left-hand shoe lining and Q, is greater than Q In practice it is probably sufficiently accurate to assume that Q and Q, are equal Then, for equilibrium of the left-hand shoe, Q / = Ra, and, for equilibrium of the right-hand shoe, Q,/, But the torque on the drum, 7, = (RR, )xx and, substituting for R and R, I n-o(b+e For equilibrium of the cam, Qd = Pb or so that T= (#4) ¢ + &) x (82) and, since x is the radius of the friction circle of the drum, x=7, sing~ ur, where r, is the radius of the drum WORKED EXAMPLES Example 1 Figure 8 4 shows a cylindrical brake disk with a brake lever, a brake shoe, required dimensions and other particulars Calculate the brake torque to be applied to the brake disk while rotating clockwise MOM251ZE - 238 - CHAPTER 8Figure 8.5 Solution Brake torque Draw a sketch of the specified system from the given data ——_—_—, B SOON ) MOM251ZE -239- CHAPTER 8 Figure 8.6Consider a section of Fig. 8 6, Fig 8 6(a) Calculate all the required angles and distances first and then finally the brake torque Figure 8.6(a) 1 Radius of the friction circle, x= r,sing But = tang ie 0,3 =tang Therefore = tan''0,3 therefore $= 16,172° therefore x= 0,16 sin16,172° therefore Friction circle radius, x = 0,04465 m 2 Angle ¥ = 180° - $= 180° - 16,172° = 163,83° sing, _ sin a 7+0,03 rsin\Y _ 0.16sin 163,830 _ 740,03 (0,16+0,03) 4 therefore sinar therefore @ = 13,56" 4 B = 90° - a = 90° - 13,56" = 76,44" 5 Perpendicular distance / = CA sin = 0,152sin76,44° = 0,1478 m MOM251ZE 240 - CHAPTER 8‘Now find the reaction R 2 Mc =0=PxCB-Rxl=0 therefore 0 = 500 x 0,372 - Rx 0,1478 therefore R= 1258,46N Brake torque, 7, = R xx = 1258,46 x 0,04456 = 56,08 Nm Example 2 Figure 8 7 shows a cylindrical brake disk with a brake lever, a brake shoe, required dimensions and other particulars Calculate the brake torque to be applied to the brake drum when it 1 rotates clockwise, 2 rotates counter clockwise Figure 8.7 Solution 1 Brake torque for clockwise rotation Draw the system from the given data, the friction circle and the reactions R, and R, tangential to the friction circle MOM251ZE -241- CHAPTERSFigure 8.8 Consider a section of Fig 8 8, Fig 8 8(a) to calculate all the different requirements for completion of the problem Figure 8.8(a) 1 Radius of the friction circle, x =r,sing But y=tang ie 0,3 = tang Therefore = tan'0,3 MOM251ZE = 242 - CHAPTER 8therefore $= 16,172° therefore x= 0,16 sin16,172° therefore Friction circle radius, x = 0,04465 m 2 Angle a = 90 - 16,172 = 73,83° Ay 3 tang = 30 therefore tan16,172°= a therefore A, = 8,7 mm 4 she” C520) . oe therefore sin73,83' (15248,7) therefore =, = 154,31 mm (perpendicular distance) - sina = therefore —_sin73,83' °°" (152-8,7) therefore /, = 137,63 mm (perpendicular distance) Now 2 Mc =0=PxcCB-R, xl, therefore 0 = 500 x372- R, x 154,31 therefore R, = 1205,37N Brake torque, T, = XX = 120537 x 0,04456 = 3,7 Nm 2 Brake torque for counter clockwise rotation i Mc =0=PxBC-R,x1, ie 0 = 500 x 372 - R, x 137,63 therefore R, = 131,45 N Brake torque, 7, =, x x= 1351,45 x 0,04456 = 60,22 Nm MOM251ZE 243 - CHAPTER 8Example 3 Ref HE page 226, example 10 10 See question in text book Solution Braking torque The reaction, R, between the block and the drum passes through the point B, Fig 10 16 (text book), and at the point of intersection with the drum periphery, Q, itis inclined at the friction angle, ¢, to the radius at that point, OQ Coefficient of friction yz = tan ¢ therefore = tan” y= tan" 0,35 = 19,3° sin@ _ sin(180°-19,3°) _ sin 160,7° From triangle OQB, 5 375 a5 (sine rule) here ino ~ 300xsin 1607 therefore sin = 5 therefore 0=15,33" To find the reaction R, 2 M4=0=Rxx-Px825 but x ~ 375 cos® = 375 x cos 15,33° = 361,6572 mm therefore 0= Rx 361,6572 - 500 x 825 therefore R= 1140,5829N Braking torque, 7,=Rxx =Rxr, sing = 1140,5829 x 03 sin19,3° = 113,1 Nm Magnitude and direction of resultant force at hinge B R= 1140,583 N from above Inclination to horizontal, @= 15,33" Magnitude and direction of resultant force at hinge A Horizontal component of reaction at A, Thc H = Roos — P = 1140,583c0s15,33° - 500 = 600 N MOM251ZE -244- CHAPTER 8Vertical component of reaction at A, z ve(ty = V= Rsin = 140,583 sin15,33° = 301,55 N Therefore Resultant reaction at A, (1247) SI (6002 +301, 55?) = 671,52N E Inclination to horizontal, com Fig 10 16 (text book) therefore a=tan' ¥ tam® 20655 96 gg therefore ax=tan! ESS = 26,68 Example 4 Figure 8 9 shows a brake lever controlling the lowering of a 100 kg mass hanging from a solid cylindrical brake drum and winding drum The brake shoe hinges at B on the lever The coefficient of friction between brake shoe and drum is 0,3 The internal frictional torque (71 ) in the brake drum is 13 Nm Calculate the force F if the winding drum 1 rotates clockwise with a light rope wound clockwise around the drum, 2 rotates counter clockwise with a light rope wound counter clockwise around the drum Figure 8.9 MOM251ZE - 245 - CHAPTER 8Figure 8.9(a) Solution 1 Force F required 10 brake the system for clockwise rotation for the drum Draw the system from the given data, the friction circle and the reactions R, and R, tangential to the friction circle Also draw the required perpendicular distances [Fig 8 9(a)] 1 Radius of the friction circle, x= r,sing But =tang ie 0,3 =tang Therefore = tan''0,3 therefore g= 16,7 2 Angle ¥ = 180° - ¢ =180° - 16,7° = 163,3° MOM251ZE 246 - CHAPTERSsing _ sin 3 300 360 (sine rule) sina _ sin 163, re 200 ~~ 260 200xsin 163,3° therefore eerie 260 therefore a= 12,77 3 Angle @= 90°- a= 90°- 12,77°= 77,23" oie 4 Tang= 55 therefore = 60 x tanl6,7°= 18 mm Now, 5, = 240 -a, = 240-18 = 222 mm 5 Perpendicular distance, /, = b, sin@ = 222 x sin77,27° = 216,54 mm Net torque exerted on drum, Ty= Te (at constant speed) Therefore T= (mgxr)-T, ie Ty, = (100 x 9,81x 0,105) - 13 = 90 Nm 6 Reaction, R, Ty =R, xx ie 90=R, x57,47x10° therefore R, = 1566 ,12'N Now moments about A UMy4=0=R, xi, -F x09 ie 0 1566,12 x 0,21654 - Fx 0,9 therefore F = 376,81 N 2 Force F required to brake the system for counter clockwise rotation of the drum 1 = 18 mm Now, b, = 240 +a, = 240 + 18 = 258 mm 2 Perpendicular distance, /, = 5, sin@ ~ 258 x sin 77,27° = 251,66 mm Net torque exerted on drum, MOM251ZE -247- CHAPTER 8T= Tq-T, =F, xr-T, (at constant speed) Therefore T= (mgxr)-T, ie Tq = (100 x 9,81x 0,105) - 13 = 90 Nm 6 Reaction, R, Tey = Ry xX ie 90 = R, x 57,47 x10* therefore R, = 1566 ,12N Now moments about A DM y=0=R8,xh-F x09 ie 0=1566,12 x 251,66 x 10°- Fx 0,9 therefore F = 437,92N Example 5 Figure 8 10 shows the arrangement of a double shoe brake in which the two shoes are pivoted to the hangers and the brake is applied by means of a vertical force P which acts through the pin K on the bell-crank lever HGK If the coefficient of friction is 0,35 and the "braking" tor- que required on the drum is 678 N m, determine (a) the magnitude of F, (b) the force transmitted along DH (©) __ the reactions at each of the pins O, E and G Figure 8.10 MOM251ZE 248 - CHAPTER 8NOTE: PIS THE EFFORT ACTING THROUGH K VERTICAL DOWNWARDS Solution The configuration of the specified system must be drawn to scale! (Fig. 8.10) (@ The magnitude of F Radius of the friction circle, x= sing But y= tang ie 0,35=tand Therefore = tan''0,35 therefore = 19,29" therefore x=r,sing = 0,254 x sin 19,29° = 0,0835 m The total braking torque T,, on the drum is therefore (R+R,)xx Produce the line of action of the effort P to meet DH produced at L. Join L to G and produce to meet the line of action of R, at M Join M to E Then the bell crank lever HGK is in equilibrium under the action of three forces which are applied at the pins H, G and K Similarly the right-hand brake hanger is in equilibrium under the three forces which act through E, B and G But the lines of action of the forces through B and G intersect at M and therefore the reaction at the pin E must pass through M In the same way, the line of action of the reaction at pin O on the left hand hanger may be found by joining O to the point of intersection of the line of action of R and HD produced For the bell-crank lever, HGL is similar to the triangle of forces for this lever Hence it fol- lows that the horizontal component of the pull exerted by HD on pin D is equal in magnitude to the horizontal component of the push exerted by the bell-crank lever on pin G IfF is the magnitude of each of these horizontal components, taking moments about O and E For right-hand hanger F x EG=R, xa, and for left-hand hanger Fx OD = Rxa Butsincea=a, and ~EG=OD MOM251ZE -249- CHAPTER 8FxOD=Rxa=R,xaandR, =R qa) The braking torque on the drum, 7, = (R, +R) xx Therefore 7, = 2R xx Q) from equation (1) @) substitute (2) into (3) therefore But 7, = 678 Nm OD =0,610 m and x=0,0835m —_ whilst a scales 292 mm 678 x 0,292 Therefore F= 3, 0835x 0,61 1943,42 N For the bell-crank lever we have, with moments about G 2 Mg=0= PxGK-FxHG ie 0 =Px 0,305 - 1943,42 x 0,102 therefore P= 649,93 N (8) Force transmitted along DH From the triangle of forces HGL, Fig 8 10, the tension in the link HD=FGXP 0,310 Therefore Link tension = x 649,93 = 1975.27N 0,102 (©) Reaction at each of the pins O, E and G Reaction at pin G= oe xP (From triangle of forces HGL) MOM251ZE = 250- CHAPTER 8Similarly, from the triangle of forces Mab for the right-hand brake hanger, and the triangle of forces Ned for the left hand-brake hanger, the reactions at the pins O and £ are 2447 N and 2847 N respectively Example 6 Figure 8 11 shows a light brake system with two levers and two hinged brake shoes The coefficient friction between brake shoes and drum is 0,36 The system has to exert a torque of 685 N mon a cylindrical brake drum, rotating counter clockwise Calculate (a) the force in link DB, (b) the vertical force F, (c) the magnitude and direction of the reaction at pins C, G and H, respectively Figure 8.11 Solution (@ The force in link BD 1 Make a free hand sketch of an exploded view of each lever and link, Fig 8 11(a), and show the following (@) the required dimensions and angles, MOM251ZE -251- CHAPTER 8(®) the direction of the vertical and horizontal forces on each pin of each lever and link (not with the equal and opposite components) B A By Cy F Gy Figure 8.11(a) NOTE: (@ __B,,C, and D, = horizontal components B, , C, and D, = vertical components From © hc(—)=0: C,=B, =D, = DBcos0 From Lve(t) =0: C,=F+B,;D,=B, 2 Now, draw a free hand sketch of the system, Fig 8 11(b), showing the friction circle with a reasonably large radius "r” or "x" and then draw the levers and the tangential forces (at the perimeter) R, and R, through the pins J and E, respectively Substitute the vertical and horizontal components at the pins J and E for each of their forces respectively \ | Figure 8.11(b) MOM251ZE -252- CHAPTER 8The vectors show the forces or components applied to ( received at) each component but not the equal, opposite forces applied to the adjacent components In this way, link ABC Fig 8 11(@) receives an upward force C, from lever HJC in Fig 8 11(b) and lever HIC receives a downward force C, from link ABC 1 mo - 28 (Fig 8 11) therefore = 11,77° Consider Fig 8 11(b) 2 Radius of the friction circle, x= r,sing But y=tang ie 0,36 =tang Therefore = tan''0,36 therefore = 19,8" and x or r= 250sin19,8° = 84,685 mm 3 Angle ¥ = 180° - ¢ =180° - 19,8” = 160,2° sina, _ sin 160,2° 250286 therefore a= 17,22" The total braking torque 7, on the drum is therefore 4 (in rule) QR +R) xx ie 685 = (R, + Ry) x 0,084685, therefore (R, +R.) =8 088N ay 5 Take moments about pins G and H’ respectively and determine the forces R, , R, and DB [Fig8 11(b)] Mg =0 =-D, x G00 +280) +R, cose x300 ie 0 = - DBcos@ x(300 +280) + R, cosct x 300 therefore = - DBcos!1,77° x 580 + R, cos17,22°x 300 therefore DB = 0,5047 R, Q = My = 0=C,x G00 +280) - R, cosa x 300 ie 0 = 580 C, - R, cost7,22°x 300 MOM251ZE -253- CHAPTER 8But —C,=B,=D,=DBcos0 = DBcos!1,77 [Fig 8 11(a)] therefore 0 = $80 x DBeos!1,77° - R, cos7,22° x 300 therefore DB = 0,5047 R, @) Now (2)=@) therefore R= R, Therefore from equation (1) 2K, = 8 088 therefore R,= R, = 4.044N (4) Substitute (4) into (3) therefore DB = 0,5047 x 4 04: (&) The force F Take moments about [Fig 8 11(a)] UMc =0 =-Fx320+B, x 120 ie 0 =- F x320 + DBcos® x 120 therefore O=- Fx 320+ 2041cos11,77° x 120 therefore F=749,3N () Magnitude and direction of the reactions at pins C, G and H Reaction at pin C Lhe(-) =, = DBcos0 = 2041cos 11,77° = 1998,1 N Lve(t) =C,=F+B, =F +DBsind =~ (749,3 + 2041sin1 1,77) = - 1165,63 N 1998,1 | 165,63 | | | Reaction (R,) Figure 8.11(¢) MOM251ZE -254- CHAPTER 8Reaction at pin C, R, = ¥ 1998, 12 +1165, 632 From figure 8 11(c) therefore R, = 2314,24N 1998,1 1165,63 therefore @=59,74° Direction —_tan@ =1,7142 Reaction at pin C is 2314,24 N in a direction 59,74” W o N Reaction at pin G Thc(—>) =R, coso. ~ DBeos8 = 4044cos17,22° - 204 cos} 1,77" = 1864,64 N Lve(t) =R,sino. + DBsind = 4044sin17,22°+ 2041 sin} 1,77? = 1613,52N | 1613,52 Reaction (Re) | 1864,64 sure 8.11(4) From Fig 8 11(4) Reaction at pin G, R, = 1864, 642 + 1613, 522 = 2465.83 N $13,52 = 0,8653 364,64” therefore = 40,87° Reaction at pin G is 2465,83 N in a direction 40,87° S o W Direction tan Reaction at pin H Lhe) = Lve(h = , ~ R, cosez = DBcos6 -R, coset = 4044cos11,77° - 2041c0s17,22" 2009,46 N - R,sinot = -1165,63 - 2041sin17,22° = - 1769,85 N MOM251ZE -255 - CHAPTER 8therefore Ry = 2009, 462 +(-1769, 85)? =2677,74N [Fig 8 11(e) 2009,46 1769,85 therefore 8= 48,62 | 209,46 | Direction tan® 1769,85 Figure 8.11(¢) Reaction at pin H is 2677,74 N in a direction 48,62° W o N NOTE: 1. EXAMPLES 5 AND 6 ARE SIMILAR EXAMPLE 5 WAS DONE GRAPHICALLY AND EXAMPLE 6 BY CALCULATION 2 REMEMBER: IF THE QUESTION READS DETERMINE WE MAY USE ANY METHOD BUT IF IT READS CALCULATE, WE MUST DO IT BY CALCULATION Example 7 The light brake disk in Figure 8 12, liameter 420 mm, rotates clockwise at 582 r/min The two brake blocks are hinged at B and D on brake levers ABC and EDC respectively while the force ,34 at each block brake, on the blocks is controlled by a helical spring Assume that = Calculate (@) the friction circle radius, (b) the tension in the spring when 20 kW is absorbed by the brake system, () the reaction at the hinge point C MOM251ZE - 256 - CHAPTER 8Solution (@) Friction cirele radius Draw a free hand sketch of the system, Fig 8 12(a), showing the friction circle with a reasonably large radius "" or “x” and then draw the levers and the tangential forces (at the perimeter) R, and R, through the pins B and D, respectively Substitute the vertical and horizontal components at the pins B, C and E for each of the forces respectively Also indicate the required dimensions and angles Figure 8.12(a) MOM251ZE -257- CHAPTER 8Consider Fig 8 12(a) 1 Radius of the friction circle, x= r,sing But y= tang ie 0,34=tang Therefore — = tan"0,34 therefore = 18,78" and x or = 250 sin18,78° = 67,61 mm 2 Angle Y= 180° - ¢ = 180° - 18,78° = 161,22° sina _ sin‘ 210 = 360 (Sine rule) sin op = 210% sin 161,22 _ ie = G9 AO therefore a= 15,07 () Tension in the spring when 20 kW is absorbed by the system 2nNTs 60 Power, P= 60P _ 60x 20x 10% ie SAN a SED 7 282Nm But 7, =(R, +R,)xx ie 328,2=(R, +R,) x 0,06761 therefore (R, +R) = 4854N wo Now = MC(for ABC) = 0= F x (360 + 260) + (R, sinor x 260) - (R, cosa x 260) ie 0 = Fx 620+ R, x sinl5,07°x 260 - R, cosl5,07°x 260 Therefore R,=3,38F Q 2 MC(for EDC) = 0 = - Fx (360 +260) + (R, cosce x 260) + (R, sinot x 260) ie 0=-F x 620+ (R, cosl5,07° x 260) + (R, sin15,07° x 260) Therefore R= 1,9457F 8) Substitute (2) and (3) into (1) MOM251ZE -258- CHAPTER 8ie 3,38 F + 1,9457 F= 4854 Therefore © -F=911,4N Therefore R, =3,38x911,4=3081 Nand R, (©) The reaction at hinge point C Lhe() =F-F-R, cosa +R,cosa Therefore Lhe(—->) =~ 3081 x cosl5,07" + 1774 x cos15,07° = 1262 N and Lve(t=R, sina - R, since Therefore _L ve(T) = 3081 x sinl5,07°- 1774 x sin15,07” = 339,9N 7 | 946 x 911,4 = 1774 N 339,9 Reaction (Re) 1262 Figure 8.12(b) 1262? +339, 9? 8.7 EXERCISES Reaction, R, 307N=1,307KN [Fig 8 12 (b)] 1 Calculate the magnitude of the braking torque of the block brake as shown in Figure 8 13 (Ans 53,41 N m) MOM251ZE -259- CHAPTER 8Figure 8.13 2 In Figure 8 14 the brake lever is used to control the movement of the cylindrical brake drum (a) Calculate the braking torque exerted by the lever () The "fixed" brake shoe is then replaced by a "pivoted" brake shoe (pivoted at S), of the same material and dimensions Assume that the rest of the information remains the same and calculate the braking torque on the drum if (i) the drum rotates clockwise, and (ii) the drum rotates anti-clockwise (Ans 81,41 Nm, 67,9 Nm, 57,15 Nm) MOM251ZE = 260 - CHAPTER 8Figure 8.14 3 The cylindrical brake drum, shown in Figure 8 15 rotates at 180 r/min. The brake shoe is fixed to the brake lever and the coefficient of friction between the drum and the brake shoe is 032 (@ Calculate the power absorbed by the drum when rotating clockwise and the applied force F is 120N (®) Calculate the applied force F when the drum rotates anti-clockwise at the same speed and 1 kW of power is absorbed () Determine the force required at F to bring the drum, with a mass of 162 kg and a radius of gyration of 320 mm, from a rotational speed 180 r/min, with constant deceleration, toa standstill in 5 seconds (Ans 931,4N, 123,8N, 145,9N) Figure 8.15 MOM251ZE -261- CHAPTER 84 The diagram, Figure 8 16, shows a brake lever with a fixed brake block, pressed against a cylindrical brake disk A mass of m kg is suspended from alight inelastic rope, wound around the brake disk Calculate (a) the braking torque exerted on the drum, () the braking power absorbed, (©) the maximum mass suspended from the drum which can be controlled by the brake at constant speed, (©) the braking torque exerted on the drum if the fixed shoe brake is replaced by a pivoted shoe brake at A (Ans 123,4.N m, 1,292 kW, 69,88 kg, 106,6 N m) Figure 8.16 5 The diagram, Figure 8 17, shows a lever pressing a fixed brake shoe onto a brake drum, with a moment of inertia of 22 kg m? and thus causing the hanging mass of 13,8 kg, that is descending at 5 m/s, to stop within 2 seconds with uniform deceleration The frictional ‘torque in the bearings of the drum is 24 N m and the coefficient of friction between the brake shoe and drum is 0,36 Calculate the required force F (Ans 314,3 N) MOM251ZE -262- CHAPTER 8Figure 8.17 6 Calculate the force F that has to be applied at the lever DCF in Fig 8 18 in order for the brake system to absorb 18,38 kW if a cylindrical brake disk rotates counter clockwise at 32 at the brake Also determine the reaction at the hinge point E (Ans F=2,286 KN, R, = 4,149 kN) 7 ( | 100 r/min Each brake block is fixed to its lever and y= wowzontar 6G iS Figure 8.18 MOM251ZE = 263 - CHAPTER 87 The light dual block brake system with levers represented by Figure 8 19, has two brake blocks hinged at B and G, respectively The winding drum rotates clockwise at 285 r/min and 1 ~ 0,3 at each brake block Calculate (a) the radius of the friction circle, (2) the power absorbed by this brake system, () the reaction at the hinge point A (Ans 74,714 mm, P = 24,76 kW, Ry ,287 KN) XS Figure 8.19 8 The force Fon a lever FDC of a light dual brake system in Figure 8 20 is 1,3 KN The winding drum rotates clockwise and s1 = 0,33 at each of the two brake blocks, hinged at B and G respectively Calculate (@) the horizontal and vertical force , respectively, on pins D, C, E, F, Gand B, () the power absorbed by the brake system if the brake disk rotates at 189 r/min, (6) the reaction at support A (Ans D,=3,9 KN = C, = E,, D, = £,=829,7 N, C, = 2,13 KN, G, = 1,868 KN, G,= 7,357KN, B,= 9,18 kN, P= 307,9 kW, R= 5,284 KN) MOM251ZE -264- CHAPTER 8Figure 8.20 9 The dual block brake system in Figure 8 21 absorbs 50 kW of power when the brake disk rotates clockwise at 1600 r/min Each brake block is fixed to its lever and 1 = 0,29 between brake blocks and drum Calculate (@ the braking torque on the disk, (b) the mass suspended from point F on the lever FBA to temporarily sustain the above-mentioned power (©) the reaction at support point D (Ans 298,4N m, m= 39,64 kg, 3,556 kN) MOM251ZB 265 - CHAPTER 8Figure 8.20 8.7 ASSIGNMENT 3 1 -HE Page 227 (3, 8, 10, 23, 26) 2 Study guide Page 260 (2, 4, 5, 7, 9) MOM251ZE - 266 - CHAPTER 8MOM 251ZE CHAPTER 9 PAST EXAMINATION PAPERS ON MECHANICS OF MACHINES IL CONTENTS PAGE 91 OBJECTIVES 92 EXAM PAPER I 93 EXAM PAPER 2 MOM251ZE - 267 - CHAPTER 9CHAPTER 9 PAST EXAMINATION PAPERS ON MECHANICS OF MACHINES IL 9.1 OBJECTIVE After studying this chapter, you should be able to complete a question paper in the prescribed time, pass the subject above MOM251ZE = 268 -92 EXAM PAPER 1 FACULTY: ENGINEERING DEPARTMENT: MECHANICAL ENGINEERING NATIONAL DIPLOMA: ENGINEERING : MECHANICAL SUBJECT MECHANICS OF MACHINES II (MOM 251Z) 081903522 DATE: DURATION 3 HOURS EXAMINOR: MODERATOR: REQUIREMENTS Pocket calculators may be used INSTRUCTIONS 1 Marks given are percentages 100 Marks = 100% 2 Assume g= 9,81 m/s* (Gravitational acceleration) 3 All terms in all the simplefYing steps are to appear in the calculations No marks will be allocated for answers only 4 Clear systematical and neat exposition of the questions is important Marks will be deducted for unneat work S. Ifyou are of the opinion that insufficient information is supplied for you to solve the problem, make a realistic assumption, motivate it and then solve the problem ENGLISH QUESTION PAPER CONSISTS OF: 4 Typed pages Formula sheet DO NOT TURN THE PAGE BEFORE PERMISSION IS GRANTED MOM251ZE = 269 - CHAPTER 9QUESTION 1 A simple pendulum consists of a small mass of 100 g suspended from a light inelastic cord During oscillations with a small amplitude, this pendulum completes one oscillation every 1,7 seconds Calculate 11 the length of the cord, @ 12. the amplitude of the harmonic oscillation if the cord forms a maximum angle of 3° with the vertical, @ 13 the linear velocity and acceleration of the small mass when it is 25 mm from the midpoint of the oscillation, () 14 the maximum accelerating force to which the small mass will be subjected, (3) 15 the maximum tension in the cord (4) U3) (Ans /=718,1 mm, r= 37,58 mm, v,= 0,1037 mis, a, = 0,3415 mis’, F, 0,05134N, Fygq~0,9837) QUESTION 2 Figure I shows a rectangular lamina from which material is removed to form a triangular and a round hole The moment of inertia of this lamina around the indicated YY-axis is 0,02124 kg m? Calculate the height h of the triangular hole by assuming that p =| kg/m? (The measurements in Figure I are all in millimeters.) 4) (Ans h= 160,6 mm) QUESTION 3 Acar has a mass of 800 kg, the total moment of inertia of the wheels is 6,7 kg m? and that of ‘the engine parts is 0,2 kgm’ The effective diameter of the road wheels is 620 mm and the maximum engine torque is 65 N m at an engine speed of 2000 r/min If the tractive resistance in newton is given by F, = 135 + 0,09 v*, where v is the speed in knv/h, find the road speed and the acceleration of the car when the gear ratio is 13,5 to I and the engine is developing full torque at 2000 r/min The efficiency of the transmission is 88% 02) (Ans v= 17,31 km/h, a= 1,865 m/s’)QUESTION 4 41 42 A rope is wound around a winding drum a few times The winding drum has an effective diameter of 1,04 m On one end of the rope a lift of mass I Mg is suspended vertically and on the other end is a counter balance mass of 500 kg The rotating parts of the winding drum have a mass of 567 kg and a radius of inertia of 420 mm The winding drum is driven by an electric motor through a reduction gearbox of 24 to one with an efficiency of 92% Disregard frictional resistance and the moment of inertia of the reduction gear and determine the torque exerted by the motor to give the lift an upward acceleration of 2,8 m/s? a” ‘A wagon of mass 14 Mg is hauled up an incline of I in 20 by a rope which is parallel to the incline and is being wound round a 1m diameter drum The drum, in turn, is driven through a 40 to I reduction gear by an electric motor The tractive resistance of the ‘wagon is 1,2 KN, and the efficiency of the gear drive is 85% The bearing friction at the drum and motor shafts may be neglected The rotating parts of the drum have a mass of 1,25 Mg, with radius of inertia 450 mm, and the rotating parts, on the armature shaft have a mass of 110 kg with radius of inertia 125 mm. At a certain instant, the wagon is moving up the slope with a velocity of 1,8 m/s and an acceleration of 0,1 m/s* Calculate the motor torque and the power being developed ay ug} QUESTION 5 SI 52 A collar clutch with contact planes on both sides, must transmit 112 KW at 1650 r/min ‘The coefficient of friction is 0,42 and the effective outer diameter of the plate is 300 mm Assume a constant pressure of 160 kPa and calculate the axial compressive force and the internal diameter of the plate a A soft surface cone clutch must handle 210 N m of torque at 1250 r/min The large diameter of the clutch is 350 mm with a half cone angle of 12,5° The contact surface MOM251ZE -271- CHAPTER 9is 64 mm in width and the coefficient of friction between the contact surfaces is 0,2 Assume uniform wear and calculate a the axial force required to transmit the torque, © b the average normal pressure on the contact surfaces when the maximum torque is being transmitted 4) Us} QUESTION 6 Figure 2 refers ‘A mass of 442 kg hangs from a light inelastic rope that is wound around a winding drum having an effective diameter of 420 mm A brake pulley, with an effective diameter of 630 mm, is keyed to the same shaft as the drum A brake belt with its lever is mounted as shown in Figure 2 so that the angle of contact is 248° The coefficient of friction between the brake belt and the pulley is 0,28 Calculate the minimum force F required to limit the descent of the hanging mass to constant velocity 3] QUESTION 7 The diagram in Figure 3 shows a brake lever with a fixed brake block that is pressed against a cylindrical brake disk A mass of m kg is suspended on a light inelastic rope, that is wound around the brake disk Determine 71 the braking torque exerted on the drum, ) 72 the braking power absorbed, Q) 73 the maximum hanging mass that can be controlled by the brake at constant speed @) 4) TOTAL: 102 MOM251ZE -272- CHAPTER 9APPENDIX Figure 1 oe - Figure 3 ae MOM251ZE -273- CHAPTER 99.3 EXAM PAPER 11 FACULTY: ENGINEERING DEPARTMENT: MECHANICAL ENGINEERING NATIONAL DIPLOMA: ENGINEERING : MECHANICAL SUBJECT MECHANICS OF MACHINES I (MOM 251Z) 081903522 DATE: DURATION 3 HOURS EXAMINOR: MODERATOR: REQUIREMENTS Pocket calculators may be used INSTRUCTIONS 1 Marks given are percentages 100 Marks = 100% 2 Assume g= 9,81 m/s* (Gravitational acceleration) 3 All terms in all the simplefying steps are to appear in the calculations No marks will be allocated for answers only 4 Clear systematical and neat exposition of the questions is important Marks will be deducted for unneat work 5. Ifyou are of the opinion that insufficient information is supplied for you to solve the problem, make a realistic assumption, motivate it and then solve the problem ENGLISH QUESTION PAPER CONSISTS OF: 5 Typed pages, DO NOT TURN THE PAGE BEFORE PERMISSION IS GRANTED MOM251ZE -274- CHAPTER 9QUESTION 1 A cam follower in SHM completes 120 vertical oscillations per minute and the cam follower's velocity is 0,4 m/s at a displacement value of 180 mm Calculate 11 the amplitude of the motion in mm (4) 12 the maximum velocity and acceleration and show the respective positions of each on a representing circle diagram @) 13 the velocity and acceleration of the follower if a point on the representing circle moved 30° from the lowest position in a clockwise direction ©) 14 the angular distance, in degrees, a point on the representing circle moved from the highest position until the harmonic displacement is half the amplitude (2) oa) (Ans 182,2 mm, 2,298 m/s, 28,88 m/s’, 1,149 m/s, 25,01 m/s’, 8, =60°, 8, = 120°) QUESTION 2 ‘The body in Figure I is compiled of a rectangular-, a circular- and a triangular plate The density of each plate is 20 kg/m? 21 22 Calculate the moments of inertia of the body about the XX axis and YY axis respectively (13) Calculate the periodic time of the body ifit is given small oscillations about the XX axis ©) esr Y Figure 1 MOM2S1ZE -275- CHAPTER 9O14) (Ans 0,3212 kg m’, 0,0066 kg m?, 1,46 s) QUESTION 3 The rotating parts in the engine of a certian motor vehicle have a mass of 200 kg, a radius of inertia of 280 mm and the engine delivers a constant torque of 450 N m The total mass of vehicle and engine is 3,6 t and each of the four wheels has a mass of 28 kg, a radius of inertia of 260 mm and an effective diameter of 840 mm The efficiency of the drive is 85% and the velocity ratio from the engine to each wheel is 4,8 Calculate 31 the total kinetic energy of the vehicle at a velocity of 54 km/h q) 32 the acceleration of the vehicle on an incline of lin 12, despite a constant tractive resistance of 120 Nit of the total mass (3) (Ans 640,2 KJ, 0,175 mis? ts} QUESTION 4 A truck with a mass of 8,5 ton, must be pulled directly up an incline of 3° to the horizontal by means of a rope that is parallel to the incline, and a winding drum ‘The winding drum has an effective diameter of 720 mm, a mass of 1,25 ton and a radius of inertia of 400 mm The tractive resistance of the truck is 1,2 KN, the speed ratio of motor to winding drum is 32 to 1 and the efficiency of the driving mechanism is 90% The rotating parts of the motor and gearbox have a mass of 100 kg and a joint radius of inertia of 125 mm. The frictional torque in the winding drum and motor is 224 N m and 30 N m respectively The truck must be accelerated from 32,4 km/h to 50,4 kmv/h over a distance of 230 m Disregard the mass of the rope and determine 41 the force in the rope during acceleration (4) 42 the total torque required at the motor axle while the whole system is being accelerated (8) 43 the power required at the motor when the truck is pulled up the incline with a constant speed of 54 km/h (8) (Ans 7,689 KN, 173,5 Nm, 143,1 kW) (20) MOM251ZE - 276 - CHAPTER 9QUESTION 5 ‘A new cone clutch that has a half cone angle of 16° is to transmit a torque of 236 Nm The large and small diameters of the contact surface are 360 mm and 328 mm respectively The coefficient of friction is 0,27 Calculate 51 the width of the contact surface and the intensity of pressure needed (5) 52 the power the clutch will transmit at 210 r/min if the axial force is changed to 1,5 kN 6) (Ans 58,05 mm, 80,95 kPa, 5,561 kW) (10) QUESTION 6 In figure 2 the brake pulley B and the winding drum C are fixed together ‘The rope from which the mass of 22 kg is suspended is wound around the winding drum The brake belt supporting the hanging mass of 28 kg passes halfway around the brake pulley and is then fixed to the frame at A Determine the minimum value of the coefficient of friction between the brake pulley and the brake belt so that the mass of 22 kg will move downwards with constant velocity NX Figure 2 (Ans 0,1655) tm MOM251ZE -277- CHAPTER 9QUESTION 7, Figure 3 shows a brake lever controlling the lowering of a 100 kg mass hanging from a solid cylindrical brake drum and winding drum The brake shoe hinges at B on the lever, the coefficient of friction is 0,3 and the internal frictional torque in the brake drum is 13 N m Calculate the force F required if the winding drum rotates clockwise with a light rope wound clockwise around the drum Figure3 (Ans 376,5 N) u4) TOTAL: 100 NOTE: A FORMULA SHEET SIMILAR TO THE ONE IN YOUR STUDY GUIDE IS SUPPLIED WITH THE EXAM PAPER. MOM251ZE - 278 - CHAPTER 9