1.

2. a. Types of Constrained Motions

Following are the three types of constrained motions:

a. Completely constrained motion. 

When the motion between a pair is limited to a definite direction irrespective of the
direction of force applied, then the motion is said to be a completely constrained motion. 
For example, the piston and cylinder (in a steam engine) form a pair and the motion of
the piston is limited to a definite direction (i.e. it will only reciprocate) relative to the cylinder
irrespective of the direction of motion of the crank. 
The motion of a square bar in a square hole, as shown in Fig. 2, and the motion of a
shaft with collars at each end in a circular hole, as shown in Fig. 3, are also examples of
completely constrained motion.

b. Incompletely constrained motion.

When the motion between a pair can take place in more than one direction, then the
motion is called an incompletely constrained motion. 
The change in the direction of impressed force may alter the direction of relative
motion between the pair. 
A circular bar or shaft in a circular hole, as shown in Fig. 4, is an example of an
incompletely constrained motion as it may either rotate or slide in a hole. These both motions
have no relationship with the other.

c. Successfully constrained motion

When the motion between the elements, forming a pair, is such that the constrained
motion is not completed by itself, but by some other means, then the motion is said to be
successfully constrained motion. 
Consider a shaft in a foot-step bearing as shown in Fig. 5. The shaft may rotate in a
bearing or it may move upwards. This is a case of incompletely constrained motion. But if the
load is placed on the shaft to prevent axial upward movement of the shaft, then the motion of
the pair is said to be successfully constrained motion.
 The motion of an I.C. engine valve and the piston reciprocating inside an engine
cylinder are also the examples of successfully constrained motion.

(2.b) (i) Kinematic Chain

When the kinematic pairs are coupled in such a way that the last link is joined to the first link
to transmit definite motion (i.e. completely or successfully constrained motion), it is called a
kinematic chain.
(ii) Degrees of freedom (DOF)

 It is the number of independent coordinates required to describe the position of a body in
space.

(iii) Inversion is the process of fixing different links in a kinematic chain (or assuming any
one of the links, other than the fixed link as fixed). It is a good method of generating some
new mechanisms and it is very often used for the synthesis and analysis of the mechanisms to
determine the relative motion between the links.

(iv) Lower pair: “When the two elements of a pair have surface(area) contact while in

motion the pair is called a lower pair.”

(v) Higher pair: “When the two elements have point or line contact while in motion then the
pair is known as higher pair.”

(vi) Link: Each part of a machine, which moves relative to some other part, is known as a
kinematic link (or simply link) or element. 

3 (a) Kinematic Link or Element

• Each part of a machine, which moves relative to some other part, is known as a
kinematic link (or simply link) or element.
• A link may consist of several parts, which are rigidly fastened together, so that
they do not move relative to one another.

Kinematic Pair
 The two links or elements of a machine, when in contact with each other, are said to form a
pair. If the relative motion between them is completely or successfully constrained (i.e. in a
definite direction), the pair is known as kinematic pair.
Kinematic Chain
When the kinematic pairs are coupled in such a way that the last link is joined to the first link
to transmit definite motion (i.e. completely or successfully constrained motion), it is called a
kinematic chain.
Mechanism: the fundamental physical or chemical processes involved in or responsible for
an action, reaction or other natural phenomenon.
 Machine: an assemblage of parts that transmit forces, motion and energy in a predetermined
manner.
Degrees of freedom (DOF)

 It is the number of independent coordinates required to describe the position of a body in
space.

Inversion is the process of fixing different links in a kinematic chain (or assuming any one of
the links, other than the fixed link as fixed). It is a good method of generating some new
mechanisms and it is very often used for the synthesis and analysis of the mechanisms to
determine the relative motion between the links.

Grubler’s criterion

The Grubler’s criterion applies to mechanisms with only single degree of freedom joints where the
overall movability of the mechanism is unity. Substituting n = 1 and h = 0 in Kutzbach equation,

n = 3 (l – 1) – 2 j – h

This equation is known as the Grubler's criterion for plane mechanisms with constrained motion.

Grashof ’s law for a four-bar mechanism, the sum of the shortest and longest link lengths should
not be greater than the sum of the remaining two link lengths if there is to be continuous relative
motion between the two links.

3.b)
TYPES OF JOINTS

The usual types of joints in a chain are

•          Binary joint
•          Ternary joint
•          Quaternary joint
Binary Joint: If two links are joined at the same connection; it is called a binary joint.
Ternary Joint: If three links are joined at a connection, it is known as a ternary joint. It is
considered equivalent to two binary joints since fixing of any one link constitutes two binary
joints with each of the other two links.
Quaternary Joint: If four links are joined at a connection, it is known as a quaternary joint. It is
considered equivalent to three binary joints since fixing of any one link constitutes three binary
joints.

4.a) Ackerman Steering Gear

The Ackerman steering gear mechanism is much simpler than Davis gear. The difference
between the Ackerman and Davis steering gears are:

1. The whole mechanism of the Ackerman steering gear is on back of the front wheels;
whereas in Davis steering gear, it is in front of the wheels.

2. The Ackerman steering gear consists of turning pairs, whereas Davis steering gear consists
of sliding members.

In Ackerman steering gear, the mechanism ABCD is a four-bar crank chain, as shown in
above Fig. The shorter links BC and AD are of equal length and are connected by hinge joints
with front wheel axles. The longer links A B and CD are of unequal length. The following are
the only three positions for correct steering.

1. When the vehicle moves along a straight path, the longer links A B and CD are parallel and
the shorter links BC and AD are equally inclined to the longitudinal axis of the vehicle, as
shown by firm lines in above Fig.
2. When the vehicle is steering to the left, the position of the gear is shown by dotted lines in
above Fig. In this position, the lines of the front wheel axle intersect on the back-wheel axle
at I, for correct steering Ackerman steering gear.

3. When the vehicle is steering to the right, the similar position may be obtained

4.b) Double Hooke’s Joint

In single hook joint that the velocity of the driven shaft is not constant, but varies from
maximum to minimum values. In order to have a constant velocity ratio of the driving and
driven shafts, an intermediate shaft with a Hooke’s joint at each end as shown in Fig below,
is used. This type of joint is known as double Hooke’s joint.

This shows that the speed of the driving and driven shaft is constant. In other words, this joint
gives a velocity ratio equal to unity, if
1. The axes of the driving and driven shafts are in the same plane, and
2. The driving and driven shafts make equal angles with the intermediate shaft

5.a) Condition for correct steering gear mechanism

The condition for correct steering is that all the four wheels must turn about the same instantaneous
centre. The axis of the inner wheel makes a larger turning angle θ than the angle φ subtended by the
axis of outer wheel.
5.b)

Maximum and minimum speed of the driven shaft We know that maximum speed of the driven
shaft, N1 (max) = N / cos α = 1200 / 0.94 = 1276 r.p.m. Ans.

and minimum speed of the driven shaft, N1 (min) = N cos α = 1200 × 0.94 = 1128 r.p.m. Ans
6.a)
Location of instantaneous centres
The instantaneous centres are located as discussed below:
1. Since the mechanism consists of four links (i.e. n = 4), therefore number of instantaneous
centres,

2. For a four-bar mechanism, the book keeping table may be drawn as discussed below.

3. Locate the fixed and permanent instantaneous centres by inspection. These centres are I12,
I23, I34 and I14.
4. Locate the remaining neither fixed nor permanent instantaneous centres by Aron hold
Kennedy’s theorem.
This is done by circle diagram as shown in Fig. below. Mark four points (equal to the number
of links in a mechanism) 1, 2, 3, and 4 on the circle.
5. Join points 1 to 2, 2 to 3, 3 to 4 and 4 to 1 to indicate the instantaneous centres already
located i.e. I 12, I 23, I34 and I 14.

6. Join 1 to 3 to form two triangles 1 2 3 and 3 4 1. The side 13, common to both triangles, is
responsible for completing the two triangles. Therefore, the instantaneous centre I13 lies on
the intersection of the lines joining the points I12 I23 and I34 I14 as shown in Fig. 6.10.
Thus, centre I13 is located. Mark number 5 (because four instantaneous centres have already
been located) on the dotted line 1 3.

7. Now join 2 to 4 to complete two triangles 2 3 4 and 1 2 4. The side 2 4, common to both
triangles, is responsible for completing the two triangles. Therefore, centre I24 lies on the
intersection of the lines joining the points I23 I34 and I12 I14 as shown in above Fig. Thus,
centre I24 is located. Mark number 6 on the dotted line 2 4. Thus, all the six instantaneous
centres are located.

(OR)
7.a)
8.a)
CYCLOIDAL TOOTH
Pressure angle varies from a maximum at the
beginning of the engagement, reduces to zero at
the pitch point, and again increases to a
maximum at the end of the engagement
resulting in the smooth running of gears.
It involves double curves for the teeth,
epicycloid, and hypocycloid. This complicates
the manufacturer.
It involves double curves for the teeth,
epicycloid, and hypocycloid. This complicates
the manufacturer.
Exact center distance is required to transmit a
constant velocity ratio.
The phenomenon of interference does not occur
at all.
Interference can occur if the condition of
minimum no. of teeth on a gear is not followed.
In this, a convex flank always has contact with
a concave face resulting in less wear.
8.b)
Figure:1 mark
Table: 3 marks
INVOLUTE TOOTH
The pressure angle is constant throughout the
engagement of teeth. This results in the smooth
running of the gears.
It involves double curves for the teeth,
epicycloid, and hypocycloid. This complicates
the manufacturer.
These are simple to manufacture and thus are
cheaper.
A little variation in a center distance does not
affect the velocity ratio.
Interference can occur if the condition of
minimum no. of teeth on a gear is not followed.
The teeth have radial flanks and thus are weaker
as compared to the Cycloidal form for the same
pitch.
Two convex surfaces are in contact and thus
there is more wear.
Equation solving answers: 1 mark

9.a)
Consider the portions of the two teeth, one on the wheel 1 (or pinion) and the other on the
wheel 2, as shown by thick line curves in Fig. 12.6. Let the two teeth come in contact at point
Q, and the wheels rotate in the directions as shown in the figure. Let T T be the common
tangent and M N be the common normal to the curves at the point of contact Q. From the
centres O1 and O2 , draw O1 M and O2N perpendicular to MN. A little consideration will
show that the point Q moves in the direction QC, when considered as a point on wheel 1, and
in the direction QD when considered as a point on wheel 2. Let v1 and v2 be the velocities of
the point Q on the wheels 1 and 2 respectively. If the teeth are to remain in contact, then the
components of these velocities along the common normal MN must be equal.
9.b)
Pressure angle (ꝋ)=200
G=T/t=3
Module=3
addendum=1.1 module=1.1*3=3.3 mm
Np=120 rpm (1 mark)
ω1 = 2π × 120 / 60 = 12.5 rad/s

Minimum number of teeth on each wheel=?

Contact ratio=?
Number of teeth on the pinion to avoid interference on it and the corresponding number of teeth on
the wheel (2 marks)

T\t=3

From that T will calculate.

Contact ratio (2 Marks)

10. a
A cam is a mechanical member used to impart desired motion. to a follower by direct
contact.-01 mark
Motions can be transmitted by Cam and follower
1.Simple harmonic motion
2.Uniform velocity 03 marks

3. Uniform Acceleration and Retardation

Elements in mechanism:

Cam and follower -01 mark

10.b

Given data: 1 mark

d1 = 120 mm or r1 = 60 mm; d2 = 48 mm or r2 = 24 mm; 2 α = 90° or α = 45°; r3 = 12 mm; N = 180

r.p.m. or ω = 2 π × 180/60 = 18.8 rad/s
First of all, let us find the *angle turned by the cam ( φ ) when the roller is just about to leave
the straight flank at G. The centre of roller at this position lies at D.
From the geometry of the figure,

r1-r3 = 60-12=48 mm

=48/84
= 300
1. Acceleration of the roller centre when roller is just about to leave the straight flank
We know that acceleration of the roller centre when the roller is just about to leave the
straight flank,

2. Acceleration of the roller centre when the roller is at the outer end of the lift

Submit r1,r2 and φ values in above equation we get acceleration values.

11.a
11.b
Circular Arc Cam with Flat-faced Follower
Circular Arc Cam with Flat-faced Follower When the flanks of the cam connecting the base
circle and nose are of convex circular arcs, then the cam is known as circular arc cam. A
symmetrical circular arc cam operating a flat-faced follower is shown in Fig. below, in which
O and Q are the centres of cam and nose respectively. EF and GH are two circular flanks
whose centres lie at P and P′ respectively. The centres * P and P′

We shall consider the following two cases: 1. When the flat face of the follower has contact on the
circular flank, and 2. When the flat face of the follower has contact on the nose. In deriving the
expressions for displacement, velocity and acceleration of the follower for the above two cases, it is
assumed that the cam is fixed and the follower rotates in the opposite sense to that of the cam. In
Fig. above, the cam is rotating in the clockwise direction and the follower rotates in the counter-
clockwise direction.