THEORY OF MACHINES

&
MECHANISMS
(IN S.I UNITS)

[A TEXTBOOK FOR ENGINEERING STUDENTS]

Compiled and Edited by

SMT. PUSHPA BALLANEY

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 THEORY OF MACHINES
&
MECHANISMS
(In SI Units)

Prof. P.L. BALLANEY

B.E., (M & E) Hons.; M.S. (Mech.) U.S.A.
A.S.M.E. (U.S.A.); M.S.A.E. (U.S.A.); F.I.E. (INDIA)
MISME (INDIA) ; MISHRAE (INDIA)
Ex-professor and Head of Mechanical Engineering Department
Delhi College of Engineering, Delhi-110006
Ex-Dean, Faculty of Technology, Delhi University,
Engineering Services Consultant, New Delhi-110017

Technical Consultant : ZECO Aircon Industries Pvt. Ltd., Delhi

Compiled & Edited By

Smt. PUSHPA BALLANEY

KHANNA PUBLISHERS
Operational Office
B-35/9, G.T. Karnal Road, Industrial Area,
(Near Telephone Exchange), Delhi-110033
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email : contactus@khannapublishers.in

6
Published by :
Romesh Chander Khanna & Vineet Khanna
for KHANNA PUBLISHERS
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Delhi- 110 006 (India)

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© 1979 and onward

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ISBN No. 978-81-7409-122-X

First Edition : 1965

Twenty Fifth Edition
Tenth Reprint : 2018

7
 DEDICATION

Dedicated to the loving memory of my father, late LILARAM BALLANEY who

spent 40 years of his span of life in the teaching profession. He was known in SIND HI
community as UST AD SAHIB (The Revered Teacher). He said:
"Claim not perfection, pelfection is Divine;
Aim at pelfection to manifest in yourself Divine,
Have confidence in your work and faith in Divine:
Divine helps those who in themselves manifest Divine. "

Thus with sincerity of purpose and faith in Almighty.

I present this textbook to my beloved student community.
 Preface to the Twenty Fifth Edition
Keeping in view, the changing pattern of curriculum in various I.I.T.s, accredited
teaching universities, diploma and post-diploma institutions in the country and the Institution
of Engineers (India) as observed by the author in his effort of interaction with the curriculum
development processes in the country, for Four Decades particularly, the increasing emphasis
on analytical methods due to availability of sophisticated calculator and digital computer, it
is constant en devour of the author to update and revise the book thoroughly.
The entire contents of the book have been re-cast and almost all the chapters have been
substantially up-dated and enlarged. A new chapter on "Introduction to Computer Aided
Synthesis of Machines" has been added, with the Loop Closure Equations and Complex
Number methods, the solutions of mechanisms become very simple. Even the mechanisms
involving Coriolis component acceleration (Coriolis Law) have been solved with Loop Closure
Equation and Complex Numbers. Novel feature of this chapter is that the level of information
on complex numbers and Loop Closure Equation as required in the chapter is explained in the
beginning ofthe chapter itselfto make it self sufficient. However the emphasis on Analysis of
Mechanisms by graphical methods is still retained at this stage. Many new mechanisms have
been analysed like Geneva Mechanism, Slider Mechanism, Gear Mechanism, Six Bar Quick
Return Mechanism, etc. Apart from this Associated link concept, synthesis of Cam and Sliding
pivots and Crank Slider quick return and Graphical Synthesis-Motion Generation has been
added.
The chapter 23 on "Introduction to Kinematic Synthesis" has been enlarged, re-cast and
re-written to cover more topics to comprehend the subject better without complexity.
Looking to the trend for use of digital computer chapter 24 on "Introduction to Computer
Aided Analysis of Mechanisms" has been added. At this stage the Computer Programme in
C++ is added for Four-Bar-Mechanism and Slider Crank Mechanism only.
Also where-ever possible, the solutions of problems haJ{e been given by both analytical
and graphical methods.
The chapter on "Velocities in Mechanism Instantaneous Centre Method", has been
enlarged to elaborate the concept of transmission line, tr!!.flsmission angles, deviation angles
which are very important for comprehension of motion and force transmission in mechanisms.
The chapter on "Cams" has been enlarged to provide more useful information. Besides
graphical methods, analytical approach is strengthened.
Chapter on Toothed Gears and Gear Trains have been re-written to incorporate more
information and easier techniques to find solution.
Besides, there are additions, deletions and modification throughout the text book in
almost all chapters.
Once again, it may be emphasised that, chapters on :
Brakes and Braking, with detailed discussion on Relative Brake Effectiveness (RBE)
for Front wheel drive, rear wheel drive and four wheel drive, Clutches, gear, gear trains and
transmission, vehicle propulsion with detailed discussion on Relative Drive Effectiveness for
rear wheel drive, front wheel drive, four wheel drive, Vehicle streering gear geometry and
application and universal joints (Hook's joint), are so tailored that besides being useful for
Theory ofMachineslKinematics and dynamics of machines, courses, the student ofAutomotive
Engine~ring and Automotive mechanics can draw heavily from the text book.
 Unique feature of this Textbook is that all graphical solutions of numerous solved
numerical problems are reproduced to scales measurable from the book and such scales of
graphical solutions have been given in the book itself. It helps reader in checking the results
conveniently at stages.
Within the frame work ofthe main objectives ofthis work, the author and the compiler
will be glad to receive any suggestions for further improvement and additions from valued
collegues of teaching communuy, my beloved student community, and esteamed practicing
engineers.
BALLANEYS

Preface to the First Edition

There are scores of books written by master minds on the subject; yet this book is
perhaps the first book of its kind in so far as the following unique features of it are concerned.
(i) Major portion ofthe book incorporates the Nationalised Metric Units with as far as
possible LS.L recommended technical abbreviations and with ajudicious balance offoot-pound-
second units in the chapters on Gears, Inertia Analysis in Machines, Governor, Balancing,
Mechanical Vibrations. Gyroscopes which are prescribed for senior years and also for examina-
tions of the professional institutions where the change-over to Metric units at this stage is not
complete:
(ii) The long cherished hope of the student community has been fulfilled by not only
providing a profusion of schematic and free body diagrams drawn to generous scales with
enough information given on the diagram itself, but all the graphical solutions of numerous
solved numerical problems are reproduced to scales measurable from the book and such scales
of graphical solutions have been given in the book itself. Author and the Compiler consider
this feature as an added asset in view of the fact that it facilitates checking each step in the
graphical solutions, which otherwise is difficult.
The book comprehensively covers the syllabii of the Indian universities and technical
boards, and the professional examining bodies and competitive examinations in the country.
However, the engineer in the field may also find it quite useful in the design work due to
abundance of carefully chosen worked out problems of practical applications.
The author expresses his sense of gratitude to his teachers (Guru) Prof. G.V. Sapre, now
the Director, of Technical Education, Maharashtra State, at home, and Prof. R.T. Hinkle and
Prof. Morse of the Michigan State University, U.s.A. abroad who among many others, are
responsible for moulding his thinking on the subject.
The author is very grateful to Prof. J.R. Bimbhrahw, one of the master-minds in the
country on the Subject of Dynamics of Machinery for having gone-through the manuscript.
Credit to a great measure goes to Smt. Pushpa Ballaney who undertook the hard task
of Compilation, Supervision and critical Proof-reading. But for her immense help, the ideas
perhaps could not have been transformed into readable form and thi;;; book would not have
seen the light of the day.
In a venture of this type, a vast literature on the subject is required to be consulted. The
author and the compiler acknowledge with due courtesy the sources consulted to adapt some
of the information.
 The author and the compiler express appreciation and gratefulness for the most
co-operative and painstaking attitude of Shri Romesh Chander Khanna, throughout the
preparation and publication of the book.
They are also grateful to the artist Shri Uma Shanker who prepared all the drawings
for the blocks from the manuscript - indeed a very neat work done.
Lastly, the author and the compiler will be very grateful for constructive criticism and
suggestions to improve, and will welcome written discussion with the object to serve my beloved
student community and valued teaching community better.
BALLANEYS
15 August, 1965
(Independence Day of India)
 Contents
Chap. Pages

1. DEFINITIONS AND BASIC CONCEPT 1-58

1.1 S.1. Units; Fundamental Units or S.1. Base Units and
S.1. Supplementary Units-I 1
1.2 Machine 3
1.3 The Science of Mechanics 4
1.4 Kinematics of Machine 4
1.5 Kinematic Link or Element 4
1.6 Structure 5
1.7 Difference between a Machine and a Structure 5
1.8 Kinematic Pair 5
1.9 Types of Kinematic Pairs 5
1.10 Kinematic Chain 8
1.11 Mechanism 15
1.12 Difference between Machine and Mechanism 15
1.13 Skeleton Outline of a Machine or Kinematic
Representation of a Machine 16
1.14 Expansion of Pairs (Limit and Disguise of Revolute Pairs) 17
1.15 Inversions of Mechanism 18
1.16 Four-bar Chain or Quadratic Cycle Chain 18
1.17 (a) Application of Quadric Cycle Chain 19
1.17 Grashofs Law 20
1.18 Special Cases of Four Bar Chains 22
1.19 Tasks performed by Four Bar Chain 23
1.20 Slider Crank Mechanism 24
1.21 Inversions of Slider Crank Chain 25
1.22 Double Slider Crank Chain 27
1.23 Binary, Ternary, Quatenary Links 32
1.24 Compound Chain 33
1.24 (a) Linkage of more than Four Bars with Constraint 39
1.25 Six-Bar Chains 39
1.26 Degrees of Freedom or Criteria of Constraint 41
Test Your Comprehension 47
Test Questions 52
Practice Problems 52

2. MOTION AND INERTIA 59-103

2.1 Displacement 59
2.2 Velocity 59
2.3 Acceleration 59
2.4 Acceleration of a Particle Moving Along a Circular Path 60
2.5 Angular Displacement 61
2.6 Angular Velocity 61
2.7 Angular Acceleration 62
2.8 Force 63
2.9 Mass 63
2.10 Force 63
Chap. Pages
2.11 Centripetal Force 64
2.12 Centrifugal Force 64
2.13 Mass Moment of Inertia 65
2.14 Couple 66
2.15 Angular Momentum 66
2.16 Work, Power and Energy 66
2.17 Conservation of Energy and Conservation of Momentum 67
2.18 Impulse, Impact 68
2.19 Harmonic Motion 84
2.20 Simple Harmonic Motion 84
2.21 Compound Pendulum 87
2.22 Kinetically Equivalent System-Case I 89
2.23 Kinetically Equivalent System-Case II 91
2.24 D'Alembert's Principle 93
2.25 D'Alembert's Principle 94
2.26 Rolling without Slipping 96
2.27 Acceleration of Geared System 97
Test Your Comprehension 99
Test Questions 101
Practice Problems 101

3. VELOCITIES IN MECHANISM: INSTANTANEOUS CENTRE METHOD 104-139

3.1 The Relative Linear Velocities of Points in a Link 104
3.2 Methods of Transmitting Motion 104
3.3 (a) Line of Transmission 106
(b) Transmission Angle 106
(c) Deviation Angle 107
3.4 Angular Velocity Ratio Theorem 109
3.5 Instantaneous Centre of Rotation 116
3.6 Properties of Instantaneous Centre of Rotation 116
3.7 Mathematical Deduction 117
3.8 Special Cases of Instantaneous Centre of Rotation 118
3.9 Types of Instantaneous Centres of Mechanisms 119
3.10 The Three Centres in-line Theorem (Kennedy's Theorem) 120
3.11 Procedure to be Followed for Locating Instantaneous Centres 121
3.12 Important Suggestions 124
3.13 Space Centrode, Body Centrode 131
Test Questions 135
Test Your Comprehension 135
Practice Problems 136

4. VELOCITIES IN MECHANISMS: VELOCITY POLYGONS 140-200

4.1 Introduction 140
4.2 Relative Velocities of Points in Kinematic Link 140
4.3 Relative Angular Velocities of Two Kinematic Links or Rigid Bodies 141
4.4 Relative Velocities of Points on the Same Link 142
4.5 Relative Velocity of Coincident Points in Two Kinematic Links having
Plane Motion and Successful Constraint 143
4.6 Applications 143
4.7 Relative Angular Velocities of Links in Mechanism
and Rubbing Velocities on the Pin at the Pin Joints 148
4.8 Mechanical Advantage and Power Transmission in Mechanism 150
Chap. Pages
4.9 Kinematic Analysis of Complex Mechanism 172
4.10 Trial Solutions 188
Test Your Comprehension 190
Practice Problems 192

5. ACCELERATION IN MECHANISM-ACCELERATION POLYGON

METHOD 201-269
5.1 Acceleration Analysis 201
5.2 Acceleration diagram for a Link 201
5.3 The Acceleration Centre of a Link 203
5.4 Klein's Construction for Determining the Acceleration of the Piston 205
5.5 Special Cases of Klein's Construction 207
5.6 Ritterhau's Construction for Finding the Acceleration of Piston 209
5.7 Bennet's Construction for Finding the Acceleration of the Piston 210
5.8 Approximate Analytical Method of Finding the
Displacement, Velocity and Acceleration of the Piston 212
5.9 Acceleration Polygon for a Four-bar Chain Mechanism 215
5.10 Corioli's Law 232
5.11 Acceleration Analysis of Link Sliding in a Swivelling Pin 245
5.12 The Geneva Wheel or Maltese Cross 255
Test Your Comprehension 259
Practice Problems 262
6. MECHANISM WITH LOWER PAIRS: STRAIGHT LINE AND
COPYING DEVICES 270-296
6.1 Introduction 270
6.2 Pantograph 270
6.3 Straight Line Motions 272
6.4 Mathematically Exact Straight Line Mechanism; Paucellier's Mechanism 272
6.5 Paucellier-Lipkin Exact Straight Line Mechanism 274
6.6 Paucellier-Lipkin Exact Straight Line Mechanism (Alternative) 274
6.7 Hart's Straight Line Mechanism 276
6.8 Hart Exact Straight Line Mechanism (Alternate) 277
6.9 Hart Exact Straight Line Mechanism (Alternate) 277
6.10 Hart Exact Straight Line Mechanism (Alternate) 278
6.11 Kempe's Mechanism 278
6.12 Bricard Exact Straight Line Mechanism 279
6.13 Bricard Exact Straight Line Mechanism (Alternate) 279
6.14 Scott-Russel Mechanism, Straight Line
Mechanism with a Sliding Pair 280
6.15 (a) Straight Line Mechanism having a Link with Rectilinear Translation 280.
(b) Straight Line Mechanism having a Link with Rectilinear Translation 280
(c) Straight Line Mechanism with a Link having Rectilinear Translation
(Perrolotz Principle) 281
6.16 Approximate Straight line Mechanism: Watt-Straight Line Mechanism 281
6.17 Modified Scott-Russel Mechanism 282
6.18 Grass-Hopper Mechanism 283
6.19 The Tchebiehoff Straight Line Motion 283
6.20 The Robert's Straight Line Motion 284
6.21 Straight Line Mechanism of Engine indicator 284
6.22 Crosby Indicator Mechanism 286
6.23 Thomson IndicatQr Mechanism 287
6.24 Dobbie McInnes Indicator Mf'chani"m 287
Chap. Pages
Test Your Comprehension 288
Test Questions 290
Practice Problems 290

7. CAMS 297-384
7.1 Definition 297
7.2 Types of Followers 297
7.3 Types of Cams 299
7.4 Terminology 302
7.5 Types of Motion of the Follower 303
7.6 Analysis of the Motion of Follower 303
7.7 Analysis of the Motion of Follower for Cams with Specified Countours 304
7.8 Analysis of Motion of Follower: Simple Harmonic Motion 306
7.9 Analysis of Motion of Follower: Uniform Acceleration and Deceleration 312
7.10 Analysis of Motion of Follower: Cycloidal or Sine Acceleration Motion Curve 316
7.11 Analysis of the Motion of the Follower for Cams with Specified Contours 338
7.12 Cam with Concave Flank, Circular Nose and Roller Follower 345
7.13 Convex Circular Arc Cam with R-oller Follower 349
7.14 Circular Arc Cam with Flat-faced Mushroom Follower 352
7.15 Circular Arc Cam with Oscillating Roller Follower 351
7.16 Eccentric Circle Cam with Translating Flat Footed Follower 361
Test Your Comprehension 368
Test Questions 373
Practice Problems 374

8. GYROSCOPE 38~3:~

8.1 A Gyroscope ~~65

8.2 Principles of Gyroscope .585
8.3 Gyroscopic Couple 386
8.4 (a) Directions of Spin Vector, Precession Vector and Torque Vector with
Forced Precession 388
(b) Analysis of the Forces on Bearing ckle to the Forced Precessing of Rotating
Disc Mounted on Shafts 390
8.5 Effects of Gyroscopic Couples on the Stability of an Automobile
Negotiating a Curve 393
8.6 Gyroscopic Effects on Two Wheel Vehicle 404
8.7 Gyroscopic Stabilization 411
8.8 Stabilization of Sea Vessels 411
8.9 Analysis of Gyroscopic Effects on Sea Vessels 4,13
8.10 Gyroscopic Analysis for a Body Fixed to Rotating Shaft at Certain Angle 425
8.11 Gyroscopic Analysis of Grinding Mills 427
Test Your Comprehension 429
Test Questions 431
Practice Problems 431
9. FRICTION 434-520
9.1 Force of Friction 434
9.2 Types of Friction 434
9.3 Laws of Dry or Solid Friction 435
9.4 The Limiting Angle of Friction 436
9.5 Experimental Verification of the Limiting Angle of Friction 436
9.6 Minimum Force Required to Move a Body on Horizontal Plane 437
9.7 The Inclined Plane 439
9.8 Maximum Efficiency 442
Chap. Pages
9.9 The Inclined Plane with Guidt~ Friction 443
9.10 Wedge 445
9.11 Friction of Screw and Nut 447
9.12 Screw Jack 45:l
9.13 V-Threads 457
9.14 Pivot and Collar Friction 46::1
9.15 Flat Pivot 464
9.16 Flat Coller Pivot 465
9.17 Conical Pivot 467
9.18 Development of Clutches for Automobile::. 475
9.19 Single Plate Clutch 476
9.20 Multiple Plate Clutch 476
9.21 Theory of Plate Clutches 477
9.22 The COlle Clutch 492
9.23 Theory of Cone Clutch 49a
9.24 Centrifugal Clutch 499
9.25 Theory of Centrifugal Clutches 499
9.26 Friction in Turning Pair&-Friction Circle 502
9.27 Power Loss in Friction at a Bearing 503
9.28 Friction Axis of a Link 503
9.29 Friction in a Slider Crank Mechanism 504
9.30 Film Lubrication in Rotating Shafts 508
Test Your Comprehension 512
Test Questions 516
Practice Problems 517

10. BELT, ROPE AND CHAIN DRIVE 521-573

10.1 Belt, Rope and Chain Drives 521
10.2 Flat Belts 521
10.3 (a) Angular Velocity Ratio 521
lb) Effect of Belt Thickness on Velocity Ratio 522
10.4 Effect of Slip on Velocity Ratio 523
10.5 (a) Length of Flat Belts 524
(b) Angle of Contact 526
10.6 Law of Belting 527
10.7 Cone Pulleys 527
10.8 Graphical Method 530
10.9 Crowning of Pulleys 530
10.10 Ratio of Belt Tensions 531
10.11 Power Transmitted by Belt Drive 531
10.12 Effect of Centrifugal Tension on the Power Transmitted 532
10.13 Design of Belt Dimensions 533
10.14 Maximum Power Transmitted by Belt Drive 533
10.15 Phenomenon of Creep in Belts 534
10.16 Allowance for Creep of Belts 5:)4
10.17 (a) Initial Tension in Belts 535
(b) Effect of Initial Belt Tension on Maximum Power 536
10.18 V-Belts 5:36
10.19 Timing Belts 5:n
10.20 Ratio of Tension in a V-Belt and Rope Drive 5:37
10.21 Chain Drive 538
10.22 Kinematics of Chain Drive 538
10.23 Angular Velocity Ratio 539
10.24 Construction of Bush and Roller Chain [,40
Chap. Pages
10.25 Mean Velocity Ratio and the Length of the Chain 540
10.26 Power Transmitted by Chain 542
10.27 Impact Loading 542
10.28 Other Classified Chains 542
Test Your Comprehension 566
Test Questions 570
Practice Problems 571

11. BRAKES AND DYNAMOMETERS 574-668

11.1 Definition 574
11.2 (a) Types of Brakes 574
11.2 (b) External Shoe Brakes or Block Brakes 574
11.3 Block Brakes; Angle of lap> 45° 577
11.4 Double Shoe Block Brakes 580
11.5 Graphical solution of the Pivoted Shoe Brake 581
11.6 Heat Generated in Braking 581
11.7 (a) Band Brakes 595
11.7 Different Arrangement of Band Brakes 595
11.8 Simple Band Brakes 595
11.9 Differential Band Brakes 602
11.10 Two-Way Band Brakes 603
11.11 Band and Block Brake 612
11.12 Internal Expanding Shoe Brakes; Pin Anchored Shoe Brake 616
11.13 Vehicle Brakes 621
11.14 Vehicle Braking 622
11.15 Mechan~cal Brakes 622
11.16 Hydraulic Brakes 622
11.17 Force Multiplication Ratio 623
11.18 Brake Dive 624
11.19 Braking Effectiveness Relations 624
11.20 Internal Expanding Shoe Brakes (A Detailed Description on Different Types
of Internal Expanding Shoe Brakes) 637
11.21 (a) Pressure Distribution 638
(b) Torque equation about the brake centre 639
11.22 Force Multiplication Ratio !~n Cam to Drum 639
11.23 Articulated Link Anchored Brakes (Huck Brake) 643
11.24 Duo-Serve Brake (Bendix Type Brake) 645
11.25 Disc Brakes 646
11.26 Locomotive Train Brakes; Vacuum Braking System 648
11.27 Dynamometers 652
11.28 Absorption Dynamometers (Mechanical) 652
11.29 Transmission Dynamometers; Belt Transmission Type 654
11.30 Water Brake Dynamometers 654
11.31 Hydraulic Dynamometer (Froude's Dynamometers) 655
11.32 Epicyclic Train Dynamometer 658
11.33 Torsion Dynamometer 659
11.34 Devis-Gibson Flash Light Torsion Dynamometer 659
Test Your Comprehension 661
Test Questions 664
Practice Problems 665

12. TOOTHED GEARS 669-·-751

12.1 Introduction 669
12.2 Claseifi.cation of Gears 670
 Theory Of Machines And Mechanisms

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