Derivatives of follower motion

There are two kinds of derivatives of follower motion:

(i). Kinematic (with respect to θ, which relate to the geometry of the cam system)

(ii). Physical (with respect to time, which relate to the motion of follower)

Kinematic derivatives:
Displacement diagram: Displacement of follower (s) Vs Cam angle (θ)

If s = s(θ)
𝑑𝑠
s(θ) = 𝑑𝜃

(It is the slope in a displacement curve at each position of cam angle θ. High value of slope in a
different curve, indicates a steep rise or fall of follower which hampers smooth running of the
cam.)

𝑑2𝑠
s(θ) = 𝑑𝜃 2

(It is inverse of the radius of curvature of the cam at different points along the cam profile. When
the value of second derivatives becomes infinity, i.e. the radius of curvature of cam profile is
small and hence the profile becomes pointed. This avoids smooth movement of follower over
cam and also causes higher stresses between cam and follower surfaces.)

Physical derivatives:
Displacement of follower s = s(θ), and

Angular rotation of cam θ = θ(t)

𝑑𝑠 𝑑𝑠 𝑑𝜃 𝑑𝑠
Velocity of follower s = 𝑑𝑡 = 𝑑𝜃 . = ω𝑑𝜃
𝑑𝑡

𝑑2𝑠 𝑑2𝑠
Acceleration of follower s = 𝑑𝑡 2 = 𝜔2 𝑑𝜃 2

(A higher value of acceleration means a higher inertia force.)

𝑑3𝑠 𝑑3𝑠
Jerk s = 𝑑𝑡 3 = 𝜔3 𝑑𝜃 3
High speed cams:
Inertia force of the follower is dependent upon the follower mass and acceleration of the follower.
This inertia force has direct effect at the point of contact of cam-follower and at the bearings.

Acceleration curve with abrupt changes leads to

-Higher stresses on the cam surfaces and the bearings

-Higher stresses leads to more surface wear and noise

-Finally it causes an early failure of the cam system

Hence it is important to consider the velocity and acceleration curves, which should not have any
step changes.

For low speed applications, the discontinuities in acceleration curves do not cause any adverse
effect.

But at higher speeds, the discontinuities in acceleration curves cause adverse effect as discussed
above. Hence it is necessary to have smooth acceleration curves at higher speed of cams.

At higher speeds, jerk should be also continuous.