Dr. P.

Manimaran
Professor / Mechanical
Kamaraj College of Engineering and Technology.

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 Introduction
The subject Theory of Machines may be
defined as that branch of Engineering science,
which deals with the study of relative motion
between the various parts of a machine, and
forces which act on them.
The knowledge of this subject is very
essential for an engineer in designing the
various parts of a machine.

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 Sub-divisions of Theory of
Machines
The Theory of Machines may be sub-
divided into the following four branches :
1. Kinematics
2. Dynamics
3. Kinetics
4. Statics

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 Sub-divisions of Theory of
Machines
1. Kinematics
It is that branch of Theory of Machines
which deals with the relative motion between
the various parts of the machines.
2. Dynamics
It is that branch of Theory of Machines
which deals with the forces and their effects,
while acting upon the machine parts in motion.

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 Sub-divisions of Theory of
Machines
3. Kinetics
It is that branch of Theory of Machines
which deals with the inertia forces which arise
from the combined effect of the mass and
motion of the machine parts.

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 Sub-divisions of Theory of
Machines
4. Statics
It is that branch of Theory of Machines
which deals with the forces and their effects
while the machine parts are at rest. The mass
of the parts is assumed to be negligible.

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 Fundamental Concepts
Space: Is a region which extends in all directions
and contains everything in it. The position of a
body in space is determined w.r.t. a reference
system
Time: to define the succession of events, it is not
sufficient to indicate their position. The time of
events is required, So time is as measure of the
succession of events.
Matter: Any substance, which occupies space. It is
made up of atoms and molecules
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Body: Any matter that is bounded by a closed
surface
Rigid body: Is that which does not change its shape
or size when subjected to external forces
Deformable body: is that which changes its shape
or size when subjected to external forces
Mass: Quantity of matter it contains. It does not
vary with the location and orientation of the body
Particle: Body of negligible dimension . It occupies
no space. i.e. no size, but has a definite mass
concentrated at a point

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Inertia: Resistance offered by a matter to any
change of its state of motion
Solid: A substance possessing a definite shape and a
definite volume
Force: It is a pull or push which acting on a body
changes or tends to change, the state of rest or
uniform motion of the body.
It is completely characterized by its point of
application, its magnitude and direction.
Forced System or system of forces: When a
number of forces act on a body

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Weight: Weight of a body is the force with which
the earth attracts the body towards its centre.
W = m.g
Equilibrium: A body acted upon by a system of
forces is said to be in equilibrium, if it either
remains in a state of rest or continues to move in a
straight line with uniform velocity.
Motion: A body is said to be in motion, when it
changes its position w.r.t. other bodies. Thus the
relative change in position is called motion.
Motion involves both space and time.

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 NEWTON’S LAW OF MOTION
I Law: Every body continues in its state of rest or
uniform motion in a straight line unless an
external resultant forces acts on it.
II Law: The rate of change of momentum of a body
is directly proportional to the force acting on it
and takes place in the direction of force.
III Law: To every action there is an equal and
opposite reaction

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DYNAMICS OF MACHINES

Unit I
FORCE ANALYSIS

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Static force analysis: When the inertia effect
due to the mass of the machine components are
neglected in the analysis of the mechanism

Dynamic force analysis: When the inertia

forces are considered in the analysis of the
mechanism

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 Inertia force
A force equal in magnitude but opposite in
direction and collinear with the impressed
force producing the acceleration, is known as
inertia force.
Inertia force = – m x a

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 Inertia torque
The inertia torque is an imaginary torque,
which when applied upon the rigid body,
brings it in equilibrium position. It is equal to
the accelerating couple in magnitude but
opposite in direction.
Inertia Torque = -I x α

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 D-Alembert’s principle
D-Alembert’s principle states that the
resultant force acting on a body together with
the reversed effective force (or inertia force),
are in equilibrium.
٤F = 0

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Dynamic Analysis in reciprocating
engines
The velocity and acceleration of the reciprocating
parts of the steam engine or internal combustion
engine may be determined by graphical method or
analytical method.
The velocity and acceleration, by graphical
method, may be determined by one of the following
constructions:
1. Klien’s construction,
2. Ritterhaus’s construction, and
3. Bennett’s construction.
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Dynamic Analysis in reciprocating
engines - Analytical Method
Consider the motion of a crank and connecting rod of
a reciprocating steam engine as shown in Figure.

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Dynamic Analysis in reciprocating
engines - Analytical Method
Let OC be the crank and PC the connecting rod. Let
the crank rotates with angular velocity of rad/s and
the crank turns through an angle θ from the inner
dead centre (briefly written as I.D.C).
Let x be the displacement of a reciprocating body P
from I.D.C. after time t seconds, during which the
crank has turned through an angle θ.

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 Dynamic Analysis in reciprocating
engines - Analytical Method
Let
l = Length of connecting rod between the centres,
r = Radius of crank or crank pin circle,
θ = Inclination of crank to the line of stroke PO
n = Ratio of length of connecting rod to the radius of crank
= l/r.

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 Dynamic Analysis in reciprocating
engines - Analytical Method
Velocity of the piston

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Dynamic Analysis in reciprocating
engines - Analytical Method

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Dynamic Analysis in reciprocating
engines - Analytical Method

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Dynamic Analysis in reciprocating
engines - Analytical Method

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Dynamic Analysis in reciprocating
engines - Analytical Method

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Forces on the Reciprocating Parts of an
Engine
1. Piston effort
It is the net force acting on the piston or
crosshead pin, along the line of stroke. It is
denoted by FP.

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Horizontal engine

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Forces on the Reciprocating Parts of an
Engine
2. Force acting along the connecting rod, FQ

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Forces on the Reciprocating Parts of an
Engine
3.Thrust on the sides of the cylinder walls (or)
normal reaction on the guide bars, FN

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Forces on the Reciprocating Parts of an
Engine
4. Crank-pin effort, FT

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Forces on the Reciprocating Parts of an
Engine
5. Thrust on crank shaft bearings, FB

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Forces on the Reciprocating Parts of an
Engine
6. Crank effort or turning moment or torque on
the crank shaft.
The product of the crankpin effort (FT) and
the crank pin radius (r) is known as crank
effort or turning moment or torque on the
crank shaft.
T=F×r

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 Turning moment diagram
The turning moment diagram (also known
as crank effort diagram) is the graphical
representation of the turning moment or crank-
effort for various positions of the crank. It is
plotted on cartesian co-ordinates, in which the
turning moment is taken as the ordinate and
crank angle as abscissa.

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Turning moment diagram – Single
cylinder engine

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Turning moment diagram – Multi
cylinder engine

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Turning moment diagram – IC engine

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 Fluctuation of Energy
The variations of energy above and below the
mean resisting torque line are called fluctuations of
energy.
The difference between the maximum and the
minimum energies is known as maximum fluctuation
of energy.
Maximum fluctuation of energy, E =
Maximum energy – Minimum energy

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Coefficient of Fluctuation of Energy
It may be defined as the ratio of the
maximum fluctuation of energy to the work
done per cycle.
CE= Maximum fluctuation of energy /
Work done per cycle

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 Work done per cycle
The work done per cycle (in N-m or joules)
may be obtained by using the following two
relations :

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Work done per cycle

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 Flywheel
A flywheel used in machines serves as a
reservoir, which stores energy during the
period when the supply of energy is more than
the requirement, and releases it during the
period when the requirement of energy is more
than the supply.

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Coefficient of Fluctuation of Speed
The difference between the maximum and
minimum speeds during a cycle is called the
maximum fluctuation of speed. The ratio of the
maximum fluctuation of speed to the mean speed is
called the coefficient of fluctuation of speed.

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 Energy Stored in a Flywheel
Energy stored, E = mk2ω2CS = mv2CS
m = Mass of the flywheel in kg,
k = Radius of gyration of the flywheel in metres
ω = angular speed in rad/s2
Cs = Coefficient of Fluctuation of Speed
v = Mean linear velocity

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 Dimensions of the Flywheel Rim
Tensile stress or hoop stress,σ = ρR2ω2 = ρv2
ρ = Density of rim material in kg/m3,
N = Speed of the flywheel in r.p.m.,
ω = Angular velocity of the flywheel in rad/s,
v = Linear velocity at the mean radius in m/s
= ω R = DN/60

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 Dimensions of the Flywheel Rim
Mass of the rim, m = Volume × density = ρ DA
If the cross-section of the rim is a
rectangular, then
A=b×t
where b = Width of the rim, and
t = Thickness of the rim.

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 Flywheel in Punching Press
The function of a flywheel in an engine is to
reduce thefluctuations of speed, when the load on the
crankshaft is constant and the input torque varies
during the cycle. The flywheel can also be used to
perform the same function when the torque is
constant and the load varies during the cycle. Such an
application is found in punching press or in a riveting
machine.

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Dynamics of Cam follower mechanism
Cam Dynamics
Cam dynamics is the study of cam follower
systems with considering the dynamic forces and
torques developed in it.
Types of cam systems
1. Rigid body cam systems
2. Elastic body cam systems

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Dynamics of Cam follower mechanism
Rigid cam system
If the members of the cam system are fairly rigid
and their speed is moderate, then the analysis of such
a cam system is known as analysis of rigid cam
system.
Elastic cam system
If the members of the cam system are elastic and
their speed is very high, then the analysis of such a
cam system is known as analysis of elastic cam
system
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