University of Engineering and Technology, Lahore

Department of Mechanical Enginnering

Mechanics of Machines Lab

Submitted by: 2018-ME-152

IRTAZA UMER LATIF
 Experiment No.1
Objective: To find the displacement, velocity and acceleration of Slider Crank
Mechanism.
Apparatus:
Slider Crank Mechanism

Theory
Mechanics: Mechanics is the branch of engineering sciences that deals with the bodies
that are in motion or in rest. It deals with the application of the forces that are involved in
motion or rest of bodies. Mechanics serve as the base of any mechanism. Understanding
the key concepts of mechanics define the correct engineering approach to comprehend or
design any mechanism. Mechanics is divided into two fields:
 Statics
 Dynamics
Statics is the branch of mechanics that involve the bodies at rest. It studies the effects of
forces on static bodies. In engineering dynamics we encounter the motion and forces that
causes the motion.
Engineering Dynamic is divided into following categories:
Kinetics:
Kinetics is the sub field of Engineering mechanics. It is concerned with the motion of
system, bodies, system of bodies by taking into account the causes of motion. It also
deals with forces and torques causing motion.
Kinematics:
Kinematics is the sub field of engineering mechanics. It is associated with the study of
motion of bodies or system of bodies, neglecting the causes and roots of motion. The
forces causing the motion are disregarded here. In Astro Physics, kinematics is involved
when we deal with Celestial bodies with considering the forces.
The common terms involved in dynamics are:
Displacement: It is the shortest path that is followed between two points. It is a vector
quantity.
Velocity: It is defined as the time rate change of displacement. It is also vector quantity.
Acceleration: It is defined as the rate of change of velocity with time. It is vector
quantity.
To understand the common divisions of Mechanics look at following fig:

Links:
The part or parts of machine which can move relative to some other part are called
element or kinematic link. A link may consist of several parts and they can be connected
to each other. For example, the steam engine has many links. The piston, piston road and
cross head together formulate one link. Similarly, the crank and crank shaft make one
link. The engine body, main frame and main bearing constitute another link. The link can
be a rigid body but it is not necessary for link to be a rigid body. However, it must be a
resistive body. Resistive Body is the body or part capable of transmission of applied
forces without undergoing deformation. So a link must have following features:
 It must be resistive body with negligible deformation
 It must have relative motion

Kinds of Links: There are three main types of links in which driver and follower should
be connected.
Rigid Link: Rigid link act as rigid body. It is a link that does not go any kind of
deformation. Strictly speaking, no such kind of link exists in real. But there are links that
undergo very negligible deformation and can be approximated as rigid link. For example,
the connecting rod of engine and crank shaft does not show significant or sensible
deformation, so they are approximated as rigid link.
Flexible Link: It is a link that undergo partial deformation while transmission of motion
during operation. For example, belts, chains, wires are partially deformed acting as link.
Fluid Link:
It is a type of link which deforms significantly because here fluid is involved as link. The
fluid is compressed or pressurized. For example, hydraulic brakes, hydraulic presses, e.t.c

Kinematic Pair:
When two elements or links are in contact with each other, they constitute a pair. Of there
is relative motion between them that is completely or successfully constrained then the
pair is said to a Kinematic Pair.

Some kinematic pairs are shown in fig. It has following types:

Lower Pair: when the two elements of kinematic pair are in surface contact so that
during their relative motion their surfaces slide on other, they constitute a lower pair. For
example, cam and follower etc
In lower pair we have following classifications:
 Sliding Pair:
 Two elemets of pair are connected in such a way that one can slide over other
element. For example, piston cylinder assembly.
 Turning pair:
 Two elements of pair are connected in such a way that one element can turn or
revolve around the fixed axis of the second link. Its example includes the rotation
of shafts in circular hole with collars at ends, rotation of crank shaft etc.
  Screw Pair:
 One element of pair rturns about the second element by means of screw threads.
For example, nut and bolts.
Higher Pair: when the two elements of kinematic pair are in point contact so that during
their relative motion they undergo partly turning and partly sliding motion. For example,
ball and roller bearing, toothed gears etc.

Kinematic Chain: When kinematic pairs are joined mechanically in such a

combination that last link is connected with the first one so a kinematic chain is formed to
transmit motion( completely or successfully constrained motion). This chain is
combination of pairs with each link being part of two pairs.
If p is number of pairs and l is links then relation between them is given by:
p=2 p−4

If j is number of joints, then relation between joints and links is:

3
j= l−2
2
Slider Crank Mechanism: Slider crank mechanism is a kind of kinematic chain. It is a
four bar kinematic chain mechanism. It is used to understand the reciprocating motion of
piston and rotary motion of crank. It provides us relation between these two motion. It is
an inversion of four bar chain mechnanism.

It is slider single crank mechanism. The link 1 corresponds to the frame of the engine,
which is fixed. The link 2 corresponds to the crank link 3 corresponds to the connecting
rod and link 4 corresponds to cross-head.

Procedure:
  Take the reference point zero degree on crank and zero as start of linear
displacement.
 Rotate the crank manually and observe the reciprocating motion of link.
 For every 20 degree of angular rotation of crank, note the displacement of
reciprocating link.
 Taking the values, draw a graph for displacement vs angular displacement.
 Find velocity, and then acceleration from slope of displacement and velocity
points respectively.
Observations and Calculations:
Angular Linear displacement Velocity Acceleration
Displacement θ (inches) (in/θ ¿ (in/θ2)

0 0 0 0
20 0.2 0.01 0.0005
40 0.75 0.0275 0.000875
60 1.45 0.035 0.000375
80 2.35 0.045 0.0005
100 3.25 0.045 0
120 3.95 0.035 -0.0005
140 4.55 0.03 -0.00025
160 4.9 0.0175 -0.000625
180 5 0.005 -0.000625
200 4.85 -0.0075 -0.000125
220 4.5 -0.0175 -0.0005
240 3.9 -0.03 -0.000625
260 3.15 -0.0375 -0.000375
280 2.3 -0.0425 -0.00025
300 1.35 -0.0475 -0.00025
320 0.65 -0.035 0.000625
340 0.15 -0.025 0.0005
360 0 -0.0075 0.000875

Displacement Linear
6
Displacement-
5 angular
displacement
4
Displacement

0
0 50 100 150 200 250 300 350 400
Angular displacement
 Velocity graph
0.06

0.04

0.02
Velocity-
Angular
velocity

0
0 50 100 150 200 250 300 350 400

-0.02

-0.04

-0.06
Angular displacement

Displacement

Acceleration- Angular Displacement Graph:

Y-Values
0

0
0 50 100 150 200 250 300 350 400
0

Comments: The apparatus gave a lot of error. The reason for it was poor working and
calibration of apparatus. There were errors due to mechanical friction losses. Smooth working of
apparatus was not possible. The manual forces applied by students while using apparatus caused
error also. Displacement is proportional to angle up to 180 degree and then it decreases.Velocity
graph is sinosidal and acceleration graph is of cosine function. Poor lubrication can cause error

Experiment NO. 2
Objective:
To draw the displacement, velocity and acceleration graphs for Scotch Yoke Mechanism.

Apparatus:
 Working Table
 Scotch Yoke Mechanism
THEORY
Scotch Yoke Mechanism:
Scotch yoke mechanism is an inversion of four bar chain mechanism. It is used for the
conversion of rotatory motion into oscillating or reciprocating motion. In the following
diagram, inversion is obtained when either link1 or link3 is fixed. Link 2 act as crank.
when it rotates, the link 4 also reciprocates. It has main four links:
 Oscillating link
 Fixed link
 Crank link
 Slider link

This mechanism is used in IC engines. It is used in the valve actuators mechanism. It

finds also its application in high pressure oil and gas pipes. It is used in Metal working
and shaping machines. It is also used in Bourke engine and steam engine. It is
reciprocating mechanism. Presence of quick return mechanism help in less time
consumption and more power by making reverse stroke faster.
Quick Return Mechanism:
It is a mechanism that is used in most of mechanical working machines. The arrangement
of links in quick return mechanism is in such a way that forward stroke of the machine is
slower than the time taken by reverse stroke. It is desirable that in shaping of metals, less
time and power is consumed. Keeping these points in mind, the quick return mechanism
is developed. The reverse stroke is quite faster than the forward stroke. The cutting speed
is dependent on the type and nature of material and the conditions in which the shaping
machine is being operated. The forward stroke in shaping machine is working stroke as it
removes the metal while the reverse stroke is idle stroke.
 For example a the reverse stroke is faster than the forward stroke and saves half second of
our time. If this machine do 10000 strokes daily then it means we can save our 5000
seconds daily and 83 minutes daily.
Moreover the quick return mechanism provide more power in a less time compared to
conditions when no such mechanism is used.

Other mechanism in shaper machine can be:

1. Crank and slotted link mechanism.

2. Automated table feed mechanism.
3. Hydraulic shaper mechanism.
4. Whitworth quick return mechanism.

In this mechanism as shown above, the link AC ( link 3) form the turning pair that is
fixed. The link 3 corresponds to the connecting rod as that in reciprocating steam engine.
CB serve as driving crank. which revolves with uniform angular speed about the fixed C.
A sliding block which is attached to the crank pin at point B slides in the the slotted bar
and causing it to oscillate. A short link represented by PR joins slotted bar with the
cutting tool and it transmits the motion from slotted bar to the ram and the tool which
reciprocates along R1R2.
Length of stroke

Inversion of 4 bar chains:

Bull engine:
In this inversion, the link4 which is cylinder in the above figure, is fixed. The link2 which is
driver act as crank. the link3 act as connecting rod. When the crank rotates the connecting rod
oscillates and due to which the piston in cylinder (link4) moves upward.

Oscillating Cylinder engine:

As shown in above figure, the link 2 act as driver or crank. it rotates arevolution and
piston rod moves back and forth. So the piston attach to piston rod oscillates in the
cylinder. One of the link is fixed.

Beam Engine:

In above mechanism, the link2 serve as crank and it rotates. The link 1 is fixed and it act
as frame. Link 4 turns partially as driven by crank rotation. It is called as lever. The link3
which joins lever and crank is called connecting rod.

Coupling rod of Locomotive:

 Displacement
3

2.5
Here,
Displacement 2 this

1.5

0.5

0
0 50 100 150 200 250 300 350 400
Angle

system is used in locomotive. The link BC of link2 rotates and act as crank. Link 1 is
fixed and called frame. Link3 act as the connecting rod. This mechanism is used in
transferring motion from one wheel rotation to other wheel

Observations:
Angular Linear Displacement Linear Velocity Linear acceleration
Displacement
0 0 0 0
30 0.157 0.00523 0.0001743
60 0.669 0.01706 0.0003943
90 1.377 0.0236 0.000218
120 1.968 0.0197 -0.00013
150 2.44 0.01573 -0.0001323
180 2.755 0.0105 -0.0001743
210 2.598 -0.00523 -0005243
240 2.047 -0.01836 -0.00043766
270 1.456 -0.0197 -0.0000446
300 0.708 -0.02493 -0.0001743
330 0.196 -0.01706 0.0002623
360 0 -0.00653 0.00035

Displacement- Angle Graph:

Velocity- Angle Graph:

 Velocity
0.03

0.02

0.01
Velocity

0
0 50 100 150 200 250 300 350 400

-0.01

-0.02

-0.03
Angle

Acceleration- Angle:

Y-Values
1000

0
0 50 100 150 200 250 300 350 400

-1000

-2000

-3000

-4000

-5000

-6000

Comments:
The apparatus gave a lot of error. The reason for it was poor working and calibration of
apparatus. There were errors due to mechanical friction losses. Smooth working of apparatus was
not possible. The manual forces applied by students while using apparatus caused error also.

Experiment No.3
Objective: To draw the displacement ,velocity and acceleration diagrams of shaping
machine.
 Apparatus:
 Shaping Machine Mechanism
 Working Table

Theory
Shaping machine:
A shaping machine is a machine that utilizes the linear relative movement between the
cutting tool and work piece to machine the workpiece. It is used for cutting and surface
finish purpose with a bundle of jobs.
A shaping machine has four links. It is a four link mechanism.
 Oscillating Link
 Fixed Link
 Slotted link
 Crank Link
Shaping machines use Quick return mechanism in them.
Quick Return Mechanism:
It is a mechanism that is used in most of mechanical working machines. The arrangement
of links in quick return mechanism is in such a way that forward stroke of the machine is
slower than the time taken by reverse stroke. It is desirable that in shaping of metals, less
time and power is consumed. Keeping these points in mind, the quick return mechanism
is developed. The reverse stroke is quite faster than the forward stroke. The cutting speed
is dependent on the type and nature of material and the conditions in which the shaping
machine is being operated. The forward stroke in shaping machine is working stroke as it
removes the metal while the reverse stroke is idle stroke.
For example a the reverse stroke is faster than the forward stroke and saves half second of
our time. If this machine do 10000 strokes daily then it means we can save our 5000
seconds daily and 83 minutes daily.
Moreover the quick return mechanism provide more power in a less time compared to
conditions when no such mechanism is used.

Other mechanism in shaper machine can be:

5. Crank and slotted link mechanism.

6. Automated table feed mechanism.
7. Hydraulic shaper mechanism.
8. Whitworth quick return mechanism.

Following is the diagram for shaping machine:

The quick return mechanism has detailed diagram as:

In this mechanism as shown above, the link AC ( link 3) form the turning pair that is
fixed. The link 3 corresponds to the connecting rod as that in reciprocating steam engine.
CB serve as driving crank. which revolves with uniform angular speed about the fixed C.
A sliding block which is attached to the crank pin at point B slides in the the slotted bar
and causing it to oscillate. A short link represented by PR joins slotted bar with the
cutting tool and it transmits the motion from slotted bar to the ram and the tool which
reciprocates along R1R2.

timeof forward stroke β 360−α

= =
time for reverse stroke α α

Length of stroke

4 bar chain mechanism:

The kinematic chain consist of four or more kinematic pair that are connected in such a
way that motion is successfully or completely connected. Therefore, the simplest
kinematic chain is four bar chain mechanism or quad bar chain mechanism. Consider
following figure that shows four bar chain mechanism:

Here it has four links. There will be turning around point A,B,C,D. their lengths may be
different from each other.

Grachoff Law: according to Grachoff Law, the summation of shortest and longest link in
4 bar chain mechanism must not be greater than the sum of remaining length of other two
links, if there is need to be of continuous relative motion between links

In the diagram above, the shortest link which is link AD in our case completes one
overall rotation. If it follows Grachoff law, then it is known as crank. The link BC which
is numbered 2 undergo partial rotation, it is known as rocker, follower or lever.

The link DC which is numbered 3 and serve as connection between link AB and BC is
known as connecting rod. The link1 or link AB which is fixed is called frame.

Mechanism and Inversion of mechanism:

When one of the kinematic link is fixed in the kinematic chain, then the kinematic chain
is known as Mechanism. So in this way we have many options of having different
mechanism by varying the fixed link in the kinematic chain. This method is called
inversion of mechanism.

Procedure:
Apparatus was set on the table.

Slotted link was used to move the tool link forward and backward.

For every 30 degree angular rotation, the forward and reverse stroke distance is taken

A graph is plotted between angular rotation and linear displacement of link

Taking slopes, velocity and acceleration graph for link undergoing reciprocating motion
is drawn.

Observations and calculations:

Angular Linear Velocity Acceleration
Displacement Displacement
0 0 0 0
30 0.866 0.02886 0.000962
60 1.653 0.02623 -0.00008766
90 2.126 0.015766 -0.0003488
120 2.087 -0.0013 -0.0005688
150 1.338 -0.02496 -0.0007886
180 0 -0.0446 -0.0006546
210 -1.378 -0.0159 -0.00004333
240 -2.126 -0.02493 0.000699
270 -2.1 0 0.000831
300 -1.653 0.01576 0.0005253
330 -0.866 0.02623 0.000349
360 0 0.02866 0.000081
 Displacement- Angle Graph
2.5
2
1.5

Linear Displacement
1
0.5
0
Velocity- Angular displacement graph
0 50 100 150 200 250 300 350 400
-0.5 0.04
-1 0.03
-1.5
0.02
-2
-2.5 0.01
Velocity

0
0 50Angular100
Displacement
150 200 250 300 350 400
-0.01
-0.02
-0.03
-0.04
-0.05
Angle

Displacement- Angle Graph:

Velocity- Angle Graph

Acceleration- Angle Graph:

 Acceleration Graph
0

0
Acceleration

0
0 50 100 150 200 250 300 350 400

0
Angle

References:
https://www.britannica.com/technology/slider-crank-mechanism
https://www.wikipedia.org/wiki/Scotch_yoke
https://www.slideshare.net/mandargadkari94/detail-ppt-on-scotch-yoke-mechanism
http://www.mechanicalwalkins.com/quick-return-mechanism-types/
https://www.geogebra.org/m/qxsTdpCv
https://en.wikipedia.org/wiki/Quick_return_mechanism