EME2056

THEORY OF MACHINES

CHAPTER 4
Cams
Learning Outcome

LO4

Analyze various types of cams

(cognitive - analyzing, level 4)

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Cams
1.1 Introduction to cams
1.2 Follower motions
1.3 Cam profiles

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 1.1 Introduction to Cams

Cams
• A cam is a machine element
that drives a mating
component called the follower
according to a predetermined
specified motion.
• A cam changes the input
motion, which is usually rotary
motion to a reciprocating
motion of the follower.

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 1.1 Introduction to Cams

• One of the most common cam application is the

valve train of an automotive engine.

Cam EME2056 THEORY OF MACHINES 5

 1.1 Introduction to Cams

Types of Cams
• Plate or disk cam
 Simplest and most common.
 The radial distance from the
center of the disk is varied
throughout the circumference
of the cam.
 Allowing a follower to ride on
this outer edge gives a radial
motion.
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 1.1 Introduction to Cams

Types of Cams
• Cylindrical or drum cam
 A groove is cut into the cylinder
which varies along the axis of
rotation.
 A follower that rides in the
groove gives the follower motion
along the axis of rotation.
 When the follower reaches the top, the cylinder
cam rotates in the opposite direction and
follower moves back down.
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 1.1 Introduction to Cams

Types of Cams
• End cam
 The follower makes contact at
the periphery of the cam.
 Motion of the follower depends
on the contour of the cam.

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 1.1 Introduction to Cams

Types of Cams
• Linear cam
 A groove is cut into the block with a distance
that varies from the plane of translation.
 Attaching the follower that rides in the groove
gives the follower motion perpendicular to the
plane of translation.

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 1.1 Introduction to Cams

Types of Followers – according to shape

• Knife edge follower
 Consists of a follower with
pointed sharp edge.
 The sharp edge produces
high contact stresses and
wears rapidly.

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 1.1 Introduction to Cams

Types of Followers – according to shape

• Roller follower
 Consists of a roller that is pinned to
the follower stem.
 As the cam rotates, the roller
maintains contact with the cam and
rolls on the cam surface.
 Lower friction and contact stresses.
 Possibility to jam during steep cam
displacement.
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 1.1 Introduction to Cams

Types of Followers – according to shape

• Flat face follower
 Consists of a follower formed
with a large, flat surface to
contact the cam.
 Can be used with a steep cam
motion and does not jam.
 Suitable for quick motion but
has higher friction contact.

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 1.1 Introduction to Cams

Types of Followers – according to shape

• Spherical face follower
 Consists of a follower formed with a
radius face that contacts the cam.
 Can be used with a steep cam
motion without jamming.
 Higher friction contact than roller
follower.

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 1.1 Introduction to Cams

Types of Followers – according to path of motion

• Radial follower
 The motion of the follower is along an axis
passing through the centre of the cam.

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 1.1 Introduction to Cams

Types of Followers – according to path of motion

• Offset follower
 The motion of the follower is along an axis
away from the axis of the centre of the cam.

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 1.1 Introduction to Cams

Cam Nomenclature

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 1.1 Introduction to Cams

Cam Nomenclature

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 1.1 Introduction to Cams

Cam Nomenclature

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1.2 Follower Motions

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1.2 Follower Motions

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1.2 Follower Motions

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Example 1

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Example 1

 60 s 
  15.38 rpm
 1min 

To check:

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 1.2 Follower Motions

Why dynamic characteristics of the follower are important?

• Large accelerations cause high forces and stresses.

• Rapid change in accelerations cause vibration / noise.

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1.2 Follower Motions

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 1.2 Follower Motions

Follower Performance Graph

• Uniform velocity A) Draw a rectangle with the
height equal to the total rise of the
cam follower, and divide it into
four equal parts.

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 1.2 Follower Motions

Follower Performance Graph

• Uniform velocity A) Draw a rectangle with the
height equal to the total rise of
the cam follower, and divide it
into four equal parts.
B) Mark the rise, fall and dwell.

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 1.2 Follower Motions

Follower Performance Graph

• Uniform velocity A) Draw a rectangle with the
height equal to the total rise of
the cam follower, and divide it
into four equal parts.
B) Mark the rise, fall and dwell.
C) Draw in the follower
performance graph.

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 1.2 Follower Motions

Follower Performance Graph

• Uniform velocity A) Draw a rectangle with the
height equal to the total rise of
the cam follower, and divide it
into four equal parts.
B) Mark the rise, fall and dwell.
C) Draw in the follower
performance graph.
D) Divide the rise and fall into four
equal parts with vertical lines.

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 1.2 Follower Motions

Follower Performance Graph

• Uniform velocity A) Draw a rectangle with the
height equal to the total rise of
the cam follower, and divide it
into four equal parts.
B) Mark the rise, fall and dwell.
C) Draw in the follower
performance graph.
D) Divide the rise and fall into four
equal parts with vertical lines.
E) Draw horizontal lines from the
points where the graphs
intersects with the vertical
lines to the cam profile.

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1.2 Follower Motions

Cam follower kinematics for constant velocity motion

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1.2 Follower Motions

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 1.2 Follower Motions

Constant velocity motion curves

Why is constant velocity motion is less suitable for high

speed application?

• Theoretically, instantaneous change in constant velocity

results in infinite acceleration. Due to mass involved in
machines, this causes infinite force.
• In practical case, instantaneous change in constant
velocity is impossible.

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1.2 Follower Motions

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 1.2 Follower Motions

Follower Performance Graph

• Uniform acceleration and retardation
A) Draw a rectangle with the
height equal to the total
displacement of the follower and
divide it into four equal parts.

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 1.2 Follower Motions

Follower Performance Graph

• Uniform acceleration and retardation
A) Draw a rectangle with the
height equal to the total
displacement of the follower
and divide it into four equal
parts.
B) Mark the rise, fall and dwell.

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 1.2 Follower Motions

Follower Performance Graph

• Uniform acceleration and retardation
A) Draw a rectangle with the
height equal to the total
displacement of the follower
and divide it into four equal
parts.
B) Mark the rise, fall and dwell.
C) Divide the rise and fall into six
equal divisions.

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 1.2 Follower Motions

Follower Performance Graph

• Uniform acceleration and retardation
D) Draw part ‘B’ as shown and
project the curve points across
to intersect the vertical lines.
(divide vertical line 3 into 6
divisions, construct straight
lines from the bottom left and
top right corners to the vertical
divisions.)

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 1.2 Follower Motions

Follower Performance Graph

• Uniform acceleration and retardation
D) Draw part ‘B’ as shown and
project the curve points across
to intersect the vertical lines.
(divide vertical line 3 into 6
divisions, construct straight
lines from the bottom left and
top right corners to the vertical
divisions.)
E) Draw the follower performance
graph.

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 1.2 Follower Motions

Follower Performance Graph

• Uniform acceleration and retardation
D) Draw part ‘B’ as shown and
project the curve points across
to intersect the vertical lines.
(divide vertical line 3 into 6
divisions, construct straight
lines from the bottom left and
top right corners to the vertical
divisions.)
E) Draw the follower performance
graph.
F) Project the lines from the
graph towards the cam profile.

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 1.2 Follower Motions

Cam follower kinematics for constant acceleration motion

EME2056 THEORY OF MACHINES 41

 1.2 Follower Motions

Constant acceleration motion curves

Why is constant acceleration less desirable for high speed

applications?

• It has sudden change of acceleration at transition points.

• Causes sudden change in inertial forces, leading to
vibrations.

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1.2 Follower Motions

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 1.2 Follower Motions

Follower Performance Graph

• Simple harmonic motion
A) Draw a rectangle with the
height equal to the total rise of the
follower and divide it into four
equal parts.

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 1.2 Follower Motions

Follower Performance Graph

• Simple harmonic motion
A) Draw a rectangle with the
height equal to the total rise of
the follower and divide it into
four equal parts.
B) Mark the rise, fall and dwell.

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 1.2 Follower Motions

Follower Performance Graph

• Simple harmonic motion
A) Draw a rectangle with the
height equal to the total rise of
the follower and divide it into
four equal parts.
B) Mark the rise, fall and dwell.
C) Divide the rise and fall into 6
equal sections.

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 1.2 Follower Motions

Follower Performance Graph

• Simple harmonic motion
A) Draw a rectangle with the
height equal to the total rise of
the follower and divide it into
four equal parts.
B) Mark the rise, fall and dwell.
C) Divide the rise and fall into 12
equal sections.
D) Draw a semi-circle equal to the
height of the rectangle and
divide it into 6. Project these
lines across to intersect the
vertical lines.

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 1.2 Follower Motions

Follower Performance Graph

• Simple harmonic motion
E) Draw the follower performance
graph.

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 1.2 Follower Motions

Follower Performance Graph

• Simple harmonic motion
E) Draw the follower performance
graph.
F) Project the horizontal lines
across to the cam profile.

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 1.2 Follower Motions

Cam follower kinematics for harmonic motion

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 1.2 Follower Motions

Harmonic motion curves

Harmonic motion has a smooth, continuous acceleration. Is

it suitable for higher speed applications?

• It has sudden change of acceleration at the end of

motions.

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1.2 Follower Motions

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 1.2 Follower Motions

Follower Performance Graph

• Cycloidal motion
A) Draw a rectangle with the
height equal to the total rise of the
follower and divide it into four
equal parts.

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 1.2 Follower Motions

Follower Performance Graph

• Cycloidal motion
A) Draw a rectangle with the
height equal to the total rise of
the follower and divide it into
four equal parts.
B) Mark the rise, fall and dwell.

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 1.2 Follower Motions

Follower Performance Graph

• Cycloidal motion
A) Draw a rectangle with the
height equal to the total rise of
the follower and divide it into
four equal parts.
B) Mark the rise, fall and dwell.
C) Divide the rise and fall into 6
equal sections.

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 1.2 Follower Motions

Follower Performance Graph

• Cycloidal motion
A) Draw a rectangle with the
height equal to the total rise of
the follower and divide it into
four equal parts.
B) Mark the rise, fall and dwell.
C) Divide the rise and fall into 6
equal sections.
D) Draw a circle of radius =
rise/2 with bottom left corner
as center.

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 1.2 Follower Motions

Follower Performance Graph

• Cycloidal motion
A) Draw a rectangle with the
height equal to the total rise of
the follower and divide it into
four equal parts.
B) Mark the rise, fall and dwell.
C) Divide the rise and fall into 6
equal sections.
D) Draw a circle of radius =
rise/2 with bottom left corner
as center.
E) Divide the circle into 6 equal
parts. Project these points
horizontally on the vertical
centerline of the circle.
EME2056 THEORY OF MACHINES 57
(refer to next slide)
 1.2 Follower Motions

Follower Performance Graph

• Cycloidal motion

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 1.2 Follower Motions

Follower Performance Graph

• Cycloidal motion F) Join the bottom left and top
right points with straight line,
followed by constructing 2
parallel lines from the
intersections of the horizontal
lines and the vertical center
line.

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 1.2 Follower Motions

Follower Performance Graph

• Cycloidal motion F) Join the bottom left and top
right points with straight line,
followed by constructing 2
parallel lines from the
intersections of the horizontal
lines and the vertical center
line.
G) Connect the intersection points
by using a smooth curve.
(refer to next slide)

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 1.2 Follower Motions

Follower Performance Graph

• Cycloidal motion

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 1.2 Follower Motions

Follower Performance Graph

• Cycloidal motion F) Join the bottom left and top
right points with straight line,
followed by constructing 2
parallel lines from the
intersections of the horizontal
lines and the vertical center
line.
G) Connect the intersection points
by using a smooth curve.
H) Repeat the same step for fall.

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 1.2 Follower Motions

Follower Performance Graph

• Cycloidal motion F) Join the bottom left and top
right points with straight line,
followed by constructing 2
parallel lines from the
intersections of the horizontal
lines and the vertical center
line.
G) Connect the intersection points
by using a smooth curve.
H) Repeat the same step for fall.
I) Project the lines from the
graph towards the cam profile.

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 1.2 Follower Motions

Cam follower kinematics for cycloidal motion

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 1.2 Follower Motions

Cycloidal motion curves

Is cycloidal motion suitable for higher speed applications?

• It has very smooth curves and no sudden change of

acceleration at the end of motions.
• Popular for high speed applications, due to low vibration,
wear and stress.

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END OF SUB-CHAPTER

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 REFERENCES

• D. H. Myszka, “Machines and Mechanisms: Applied Kinematic

Analysis”, 3rd ed., Prentice-Hall, 2005.

• C. E. Wilson and J. P. Sadler, "Kinematics and Dynamics of

Machinery", 3rd ed., Pearson Prentice-Hall, 2006.

• R. L. Norton, “Kinematics and Dynamics of Machinery”,

McGraw-Hill, 1st ed., 2009.

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