Ebookdjj5113 Mechanics of Machines Watermark

MECHANICAL ENGINEERING DEPARTMENT
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Razali bakri
Azhar rostani
Wan siti fatimah
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MECHANICS OF MACHINES
simple note and examples
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Published by Politeknik Port Dickson, Km. 14 Jalan Pantai, 71050 Si Rusa, Port Dickson, Negeri Sembilan
Darul Khusus, Malaysia. Copyright © 2018 by Politeknik Port Dickson. All right reserved. No part of this book
may be reproduced or transmitted in any form or by any means, electronic or mechanical, including
photocopying, recording, or by any information storage and retrieval system, without written permission
from the publisher.
Preface
PREFACE
This book is for students who are take Mechanics of Machines course in the Mechanical Engineering
Program, Polytechnic Malaysia, Ministry of Higher Education. The book is published based on the
curriculum for Course of Mechanics of Machines issued by the Curriculum Division, Department of
Polytechnic Education (DPE), Ministry of Higher Education of Malaysia.
Each chapter consists simple and conscise explanation, more easier for beginner engineering student
to understand and get some information. Hopefully student can get some benefit about the theory
of mechanic of machine and they can used as a basic knowledge when they involve in mechanical
industries. The information ini this book suitable with real situation in mechanical engineering field.
In study of engineering mechanics, student should learn how to construct and solve the problem by
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using fundamental theory and mathematical method. The content of this book covers a whole range
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of topics learned by the students. With the completion of the accompanying examples and exercises
that include the answers. The examples contain from simple and introductory to intermediates
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problems to help the students gain the confidence and understanding for each chapter. Last
semester examinations questions also included in this book. Hopefully students get the picture to
solve the problem during final examination at the end of semester.
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With the publication of this book, students will be able to use it as one of their alternatives
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references. Furthermore, this book is written based on the courses taken by the students. Therefore
easier for students to adapt the information contained in this book based on the teaching and
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learning process in the classroom.
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Acknowledgement
ACKNOWLEDGEMENT
In the name of Allah, all praise and thanks to Allah due to time and good health during preparing this
book. Peace and blessing to Prophet Muhammad SAW.
Thanks to all those involved in the process of preparing this book. Hopefully the publication of this
book will get benefit to all parties especially polytechnic student.
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Team of Writers
Lead Editor : Razali Bin Bakri (PPD)

Chapter 1 & 2 : Azhar Bin Rostani (PPD)
Chapter 3, 4 & 5 : Razali Bin Bakri (PPD)
Chapter 6 : Wan Siti Fatimah Binti Wan Ab Rahman (PKS)
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Table of Content
TABLE OF CONTENT
Preface i
Acknowledgement ii
List of Symbols v
List of Formula vi
Synopsis of Syllabus xiv
General Introduction xv
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CHAPTER 1 : HOIST
Introduction 1
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Typical Cases for Hoisting System 2
Load Balancing System 19
Exercise D 40
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CHAPTER 2 : SIMPLE HARMONIC MOTION

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Introduction 44
Displacement 45
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Velocity 45
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Acceleration 46
Amplitude 47
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Periodic Time 47
Frequency 47
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Linear Elastic Oscillation : Mass-Spring 57

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Simple Pendulum 60
Law of Simple Pendulum 62
Compound Pendulum 63
Exercise 80
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Table of Content
CHAPTER 3 : VELOCITY AND ACCELERATION DIAGRAM
Introduction 69
Velocity Diagram 71
Tangential Velocity 71
Radial Velocity 76
Crank, Connecting Rod and Piston 77
Acceleration Diagram 91
Acceleration of links – Radial/Centripetal Acceleration 91
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Acceleration of links - Tangential Acceleration 92
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Exercise 112
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CHAPTER 4 : FRICTION
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Introduction 116
Limiting Friction D 117
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Laws of Static Friction 117
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Laws of Dynamic Friction or Kinetic Friction 118

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Laws of Solid Friction 118

Laws of Fluid Friction 118
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Coefficient of Friction 118

Angle of Friction 119
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Minimum Force on Horizontal Plane 128

Movement on An Inclined Plane 130
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Efficiency 137
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Exercise 155
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CHAPTER 5 : BALANCING
Introduction 157
Balancing of Several Masses Rotating in One Plane/Same Plane 157
Balancing of Several Masses Rotating in Different Plane 168
Exercise 189
iv
Table of Content
CHAPTER 6 : BELT DRIVES

Introduction 194
Open Belt Drives 196
Crossed Belt Drive 197
Length of An Open Belt drive 198
Length of An Crossed Belt drive 200
Velocity Ratio of Belt Drive 204
Power Transmitted by a Belt 206
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Ratio of Driving Tensions for Flat Belt Drive 207
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Centrifugal Tension 211
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Exercise 229
References
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List of Symbols
LIST OF SYMBOLS
a - Acceleration, m/s2
IG - Moment of Inertia, kg/m2
r - Radius, m
α (alpha) - Angular Acceleration, rad/s2
M (m) - mass, kg
T - Torque, Nm
T - Tension, N
P - Force, N
ω (omega) - Angular Velocity, rad/s
g - Gravitational acceleration, m/s2
µ - Coefficient of Friction
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β (beta) - Angle, degree (0)
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φ (phi) - Angle, degree (0)
π (pi) - -
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θ (theta) - Angle, degree (0)
ς (sigma) - Stress, N/m2
ρ (rho) - density, kg/m3
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d - Diameter, m
L (l) - Length, m
F
Fr
-
-
Force, N
Frictional Force, N D
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p (P) - Power, watt, Pressure, Pa, bar
t - Time, s
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v - Velocity, m/s
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tp - Periodic Time, s
n - Frequency, Hz
W - Weight, N
k - Stiffness of Spring, N/m
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δ (delta) - Displacement,elongation, m
η (eta) - Efficiency, %
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kG - Radius of Gyration about an Axis Through of Gravity, m

RN - Normal Reaction
C - Constant
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d - Distance, m
G - Center of Gravity
h - Height, m
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t - Thickness, m
A - Area, m2
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List of Formula
LIST OF FORMULA
CHAPTER 1 : HOIST
1.1 Velocity , v  u  at
1.2 Displacement , s 
1
u  v  t
2
1
1.3 Diplacemen t , s  ut  at
2
1.4 Velocity , v 2  u 2  2as
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1.5 Angular velocity, 2  1  t
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1
1.6 Angular displacement,   (1   2 )t
2
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1
1.7 Angular displacement,   1t  t 2
2
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Angular velocity,  2  1  2
2 2
1.8
1.9 Velocity, v  r
a
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1.10 Angular acceleration,  
r
R
Work
1.11 Power 
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Time
1.12 Power  F  v
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1.13 Power  T  
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output
1.14 Efficeincy,    100%
input
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1.15 Inertia Force  ma

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1.16 Inertia Couple  I

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1.17 Moment of Inertia, I  mk

2
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List of Formula
2.1 Displacement, x  rcosθ
2.2 Displacement, x  rcost
2.3 Velocity , v   r 2  x 2
2.4 Max velocity , vmax  r
2.5 Accelerati on, a   2 x
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Max accelerati on, amax   2 r
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2.6
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2
2.7 Time Period , t p 

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x
2.8 Time Period , t p  2
a
2.9 Time Period for angular motion, t p  2


 D
T
1
2.10 Frequency , n 
R
tp
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
2
1 a
2
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x
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2.13 Max Force  mamax
2.14 Spring force in static condition , k  mg

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2.15 Total Spring Force  k  kx

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m
2.16 Time Period for mass - spring , t p  2
k
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
2.17 Time Period for mass - spring, t p  2
g
1 k
2.18 Frequency for mass - spring, n 
2 m
1 g
2.19 Frequency for mass - spring, n 
2 
2.20 Amplitude , A  L sin 
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List of Formula
L
2.21 Time Period for Simple Pendulum , t p  2
g
1 g
2.22 Frequency for Simple Pendulum , n 
2 L
2.23 Angular Velocity for Simple Pendulum,     2   2
2.24 Max Angular Velocity for Simple Pendulum,  max  
2.25 Angular Acceleration for Simple Pendulum,    

2
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2.26 Max Angular Acceleration for Simple Pendulum,  max   2
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(k G  h 2
2
2.27 Time Period for Compound Pendulum, t p  2
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gh
1 gh
2.28 Oscillation for Compound Pendulum, n 
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2 (k G  h 2 )
2
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List of Formula
CHAPTER 3 : VELOCITY AND ACCELERATION DIAGRAM
3.1 Linear Velocity of Linkage AB, vba   (AB )
vba
3.2 Angular Velocity of Linkage AB,  ba 
AB
bp BP
3.3 Corresponding Point,p on Linkage BC, 
bc BC
Radial Acceleration for Linkage AB, (a R ) ab   ab ( AB )

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3.4
2
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v ab
3.5 Radial Acceleration for Linkage AB, (a R ) ab 
AB
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3.6 Tangential Acceleration, (aT ) ab   ab ( AB )
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List of Formula
4.1 Friction Force, Fr  RN
4.2 Angle of Friction, Tan  
4.3 Minimum Force, Pmin  mg sin(   )
4.4 Newton’s Second Law, F  ma
required force without friction

4.5 Efficiency,    100%
reqiured force with friction
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List of Formula
5.1 Static Balance for One Plane,  mr  0
Dynamic Balance for Different Plane,  mr  0

2
5.2
5.3 Static Balance for Different Plane,  mrl  0
Dynamic Balance for Different Plane,  mrl  0

2
5.4
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List of Formula
r1  r2
6.1 Pulley Angle – Open Belt Drives, kos 1 
L
6.2 Pulley Angle – Open Belt Drives, 1   2
6.3 Angle of Lap for Driver Pulley – Open Belt Drives, 1  2(  1 )
6.4 Angle of Lap for Driven Pulley – Open Belt Drives,  2  2 2
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6.5 Length Of Belt – Open Belt Drives, Length of Belt  r11  r2 2  2L sin 1
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r1  r2
6.6 Pulley Angle – Cross Belt Drives, kos 1 
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L
6.7 Angle of Lap for Pulley – Cross Belt Drives,  1   2  2  2 1
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6.8 Length Of Belt – Cross Belt Drives, Length of Belt  r1θ1  r2 θ 2  2Lsinα1
N 2 r1

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6.9 Velocity Ratio,
N 1 r2
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T1  T2
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6.10 Initial Tension, T0 

2
6.11 Velocity of Pulley, v  r

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2Nr
6.12 Velocity of Pulley, v 
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6.13 Torque  (T1  T2 )r

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6.14 Power  (T1  T2 )v

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2NT
6.15 Power 
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T1
6.16 Ratio of Tension for Flat Belt,  e
T2
 1 
6.17 Power Transmitted by Flat Belt, Power  T1 1  v
 e 

T1
6.18 Ratio of Tension for “V” Belt,  e sin 
T2
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List of Formula
 
Power Transmitted by “V” Belt, Power  T1 1  v
1
6.19
 
sin 

 e 
6.20 Centrifugal Tension, Tc  mv 2
T1  Tc
6.21 Ratio of Tension for Flat Belt with Centrifugal Tension,  e
T2  Tc
T1  Tc 
6.22 Ratio of Tension for “V” Belt with Centrifugal Tension,  e sin 
T2  Tc
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 1 
6.23 Power Transmitted by Flat Belt with Centrifugal Tension, Power  (T1  Tc )1  v
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 e 
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 
Power Transmitted by “V” Belt with Centrifugal Tension, Power  (T1  Tc )1  v
1
6.24
 
sin 

 
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e
1
6.25 Centrifugal Tension when Power is Maximum, Tc  T1
6.26 Velocity when Power is Maximum, v 

T1
3
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Synopsis of Syllabus
SYNOPSIS OF SYLLABUS
MECHANICS OF MACHINES exposes the students with knowledge on basic techniques and concepts
of mechanics of machines. This course also gives knowledge on how to create and use simple
methods to solve problem in relation to hoists, friction, simple harmonic motion, velocity and
acceleration diagram, friction and belt drives.
PROGRAM LEARNING OUTCOMES (PLO)
Upon completion of the programme, graduates should be able to:
1. Apply knowledge of mathematics, science and engineering fundamentals to well-defined
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mechanical engineering procedures and practice.
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2. Analyse well-defined mechanical engineering with respect to operation & maintenance,
including troubleshooting.
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3. Conduct investigations & assist in the design of solutions for mechanical engineering system.
4. Apply appropriate techniques, resources, & engineering tools to well-defined mechanical
engineering activities, with an awareness of the limitations.
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5. Demonstrate awareness and consideration for societal, health, safety, legal and cultural issues
and their consequent responsibilities.
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6. Communicate effectively with the engineering community & society at large.
7. Function effectively as an individual & as a member in diverse technical teams.
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8. Demonstrate an understanding of professional ethics, responsibilities and norms of engineering
practices.
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9. Demonstrate an awareness of management, business practices & entrepreneurship.

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10. Demonstrate an understanding of the impact of engineering practices, taking into account the
needs for sustainable development.
11. Recognize the needs for professional development & to engage in independent & lifelong
learning.
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COURSE LEARNING OUTCOMES (CLO)
Upon completion of this course, students should be able to:-

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1. Analyze problems related to the mechanics of machines and data from the experiments in
relation to the theoretical aspects.
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2. Organize appropriately experiments in groups according to the Standard Operating Procedures.

3. Demonstrate ability to work in team to complete assigned tasks during practical work sessions.
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General Introduction
GENERAL INTRODUCTION
Mechanics can be defined as an area of science concerned with the behaviour of physical bodies
when subjected to forces or displacements, and the subsequent effects of the bodies on their
environment. During the early modern period, scientists such as Galileo, Kepler, and Newton laid the
foundation for what is now known as classical mechanics. It is a branch of classical physics that deals
with particles that are either at rest or are moving with velocities significantly less than the speed of
light. It can also be defined as a branch of science which deals with the motion of and forces on
objects. Mechanics always divided into three parts which are mechanics of rigid bodies, mechanics of
deformable bodies and mechanics of fluids.
The mechanics of rigid bodies is divided into statics and dynamics. It is dealing with bodies at rest and
then with bodies in motion. The basic concepts used in mechanics are space, time, mass and force.
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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
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knowledge of this subject is very essential for an engineer in designing the various parts of a
machine. It is a device which receives energy in some available form and utilises it to do some
particular type of work.
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Machines employ power to achieve desired forces and movement (motion). A machine has a power
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source and actuators that generate forces and movement, and a system of mechanisms that shape
the actuator input to achieve a specific application of output forces and movement. Modern
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machines often include computers and sensors that monitor performance and plan movement, and
are called mechanical systems.
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Theory of Machines may be sub-divided into the following four branches :
i. Kinematics
Deals with the relative motion between the various parts of the machines.
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ii. Dynamics
Deals with the forces and their effects, while acting upon the machine parts in motion.
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iii. Kinetics
Deals with the inertia forces which arise from the combined effect of the mass and motion of
the machine parts.
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iv. Statics
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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Mechanics of Machines always used Newton’s Three Fundametal Laws to solve the problem. These
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law can be stated as follows :

First Law. If the resultant force acting on a particle is zero, the particle will remain at rest (if originally
at rest) or will move with constant speed in a straight line (if originally in motion)
Second Law. If the resultant force acting on a particle is not zero, the particle will have an
acceleration proportional to the magnitude of the resultant and in the direction of this resultant
force. This law can be stated as F=ma
Third law. The forces of action and reaction between bodies in contact have the same magnitude,
same line of action and opposite sense.
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Fundamental Quantity and Units
The measurement of physical quantities is one of the most important operations in engineering.
Every quantity is measured in terms of some arbitrary, but internationally accepted units, called
fundamental units. International System of Units (SI Units) is the units used in this book. The base
unit of length, mass and time and are called respectively meter (m), kilogram (kg) and the second (s).
Length is the distance between two points or place, time is interval between the two events and
mass is the quantity of matter contained by a body. All physical quantities, met within this subject,
are expressed in terms of the following three fundamental quantities is shown in Table 1.
Fundamental Quantities Fundamental Units
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Length (L) Meter (m)
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Time (t) Second (s)
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Mass (m) Kilogram (kg)
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Table 1 : Fundamental Quantity and Units
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Another fundamental quantity and unit such as Temperature (C/K), Current (A), light intensity (cd)
and amount of material (mol) is not discussed in this book.
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Derived Quantity and Units
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The derivative unit for derived quantity is derived from the relationship between the fundamental
quantities. Table 2 shows the derived quantity and units.
Derived Quantity Derived Units

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Area (A) m2
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Volume (V) m3
Weight (W) Newton
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Density (ρ) kg/m3

Velocity (v) m/s
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Acceleration (a) m/s2

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Force (F) Newton

Work (w) Joule
Energy (E) Joule
Power (P) Watt
Pressure (P) Pascal
Angle rad
Angular Acceleration rad/s2
Angular Velocity rad/s
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Frequency Hz
Impulse Ns
Moment of Inertia Kgm2
Spring constant N/m
Table 2 : Derived Quantity and Units
Dimensions
Dimensions is the definition or terms that used to describe the fundamental units. Symbol for
quantity is : [quantity]. Table 3 shows the quantity and dimension used in engineering.
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Quantity Dimension
Length L
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Time T
Mass M
Temperature K
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Table 3 : Dimensions
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All physical relations must be dimensionally homogenous, which mean the dimensions of all
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terms in an equation must be the same. Example of dimension application in equation :
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i. Area  Length  Width

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 L L
 L2
Therefore :
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Dimension for Area, [Area] = L2

Unit for area = m2
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Displacement
ii. Velocity 
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Time
L

T
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 LT 1
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Therefore :
Dimension for velocity, [velocity] = LT-1
Unit for velocity = ms-1
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mass
iii. Density 
volume
M

L3
 ML3
Therefore :
Dimension for density, [density] = ML3
Unit for density = kgm-3
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Multification Factor in SI Units
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Multiplication
Prefix Symbol
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Factor
terra T 1012
109
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giga G
mega M 106
kilo k
D 103
102
T
hecto h
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deka da 10
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deci d 10-1
centi c 10-2
milli m 10-3
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micro  10-6
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nano n 10-9
pico p 10-12
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femto f 10-15
ato a 10-18
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Table 4 : Multification Factor

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Imperial and SI Unit
In engineering field both unit is used during the calculation. So that engineering personnel,
technicians and engineer need to convert from Imperial unit to SI units or vice versa. Table 5 Show
the conversion factor for both units.
Imperial Conversion Factor

Quantity SI Unit
Unit Imperial - SI SI - Imperial
Length inches milimeter 1 in = 25.4 mm 1 m = 0.039 in

foots centimeter 1 in = 2.54 cm 1 cm = 0.394 in
miles meter 1 foots = 0.305 m 1 m = 3.28 foot
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kilometer 1 miles = 1.61 km 1 km = 0.621 miles
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Mass ounce gram 1 aun = 28.3 g 1 g = 0.0353 aun
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tael gram 1 tael = 37.8 g 1 g = 0.0265 tael
pound kilogram 1 lb = 0.605 kg 1 kg = 1.65 lb
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ton ton 1 ton = 1.02 t 1 t = 0.984 ton
Area inches2 cm2 D
1 in2 = 6.45 cm2 1 cm2 = 0.155 in2
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foots2 m2 1 ft2 = 0.0929 m2 1 m2 = 10.76 ft2
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miles2 km2 1 mil2 = 2.59 km2 1 km2 = 0.386 mil2

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Table 5 : Imperial and SI Unit
Some example is shown below how to convert from imperial unit to SI Unit.
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Example 1
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Convert 80 km/h to m/s

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Solution :
1 km = 1000 m
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1 hour = 3600 second

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km 1000m 1h
80km/h  80  
h 1km 3600s
= 22.22 m/s
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Example 2
Convert 0.282 Ib/in3 to kg/m3
Solution :
1 ib = 0.4536 kg
1 in = 25.4 mm = 0.0254 m
1 in3 = (0.0254)3 m3
ib 1 in 3 0.4536 kg
0.282 ib/in 3  0.282 3
 3 3

in (0.0254) m 1 ib
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= 7809.86 kg/m3
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xxi
HOIST
CHAPTER 1 : HOISTING
Introduction
 Simple hoisting machine

 Linear and angular motion
 Action force in hoisting motion :
a) Inertia force (ma)
b) Inertia couple (Iα)
c) Torque drive (T)
d) Torque brake (Tb)
e) Friction couple (Tf)
f) Torque couple (Pr)
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Inertia force (ma)
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 Action force from mass and acceleration
 Act at linear motion
 Opposite direction of linear acceleration
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Inertia couple (Iα)
 D
Action force from moment of inertia and angular acceleration
T
 Act at angular motion

R
Opposite direction of angular acceleration
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Torque drive (T)
 To drive pulley
 Power transmitted from motor
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 Same direction with pulley motion

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Torque brake (Tb)
 Opposite direction of Torque

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 Act when brake is apply
Friction couple (Tf)

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
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Friction between cable and pulley

 Opposite direction of pulley motion
Torque couple (Pr)
 Torque that produced by the action of force from cable that rotate the pulley
 Same direction with cable tension
 Torque Couple = Force (P) x radius (r)
1
HOIST
TYPICAL CASES FOR HOISTING SYSTEM
1. Load upward with acceleration

I
T
r 
Tf Angular
Motion
N
P
O
Linear
a Motion
KS
ma
IC
mg
W here:
a  Linear acceleration m / s 2
D
T
ma  Inertia Force N
R
  Angular Acceleration rad / s 2

I  Inertia Couple Nm
PO
T  Torque ( produceby pulley) Nm

T f  FrictionCouple Nm
P  Tension in cable N
IK
mg  W eightof mass N
Pr  Torque Couple Nm
KN
P
Linear motion:
TE
F y  0
P  ma  mg  0
LI
P  ma  mg
ma
P  m( a  g )
PO
mg
Iα
Angular motion:
T
r Fcw  Fccw
Tf Iα  Pr  T f  T
Pr
2
HOIST
2. Load upward with constant velocity (a=0)
T
r Angular
Tf motion
N
O
KS
Linear
IC
Motion
mg
P D
T
Linear motion:
R
F y  0
PO
P  mg  0
P  mg
IK
mg
KN
T Angular motion:
r
TE
Fcw  Fccw
Tf Pr  T f  T
LI
PO
Pr
3
HOIST
3. Load upward and stopped by torque brake and friction couple
I(-α)
Tb
r -α Angular
Motion
Tf
N
Linear
O
-a Motion
KS
m(-a)
IC
mg
P
Linear motion:
D
T
F y  0
R
P  [m( a )]  mg  0
PO
P  ma  mg  0
m(-a)
P  mg  ma
P  m( g  a )
IK
mg
KN
I(-α) Angular motion:

TE
Tb Fcw  Fccw
r Tb  Pr  T f  [ I ( )]  0
Tf
Tb  Pr  T f  I  0
LI
Tb  Iα  Pr  T f
PO
Pr
4
HOIST
4. Load downward with acceleration
Iα
T α
r Angular
Tf Motion
N
O
Linear
a
Motion
KS
ma
IC
mg
P D
T
Linear motion:
R
F y  0
P  ma  mg  0
PO
ma P  mg  ma
P  m( g  a )
IK
mg
KN
I Angular motion:
TE
T ΣFcw  ΣFccw
r Pr  T  Iα  T f
Tf
LI
T  Iα  T f  Pr
PO
Pr
5
HOIST
5. Load downward stopped by torque brake and friction couple
I(-)
Tb
r -
Angular
Tf
Motion
N
O
m(-a)
KS
-a
Linear
IC
Motion
mg
P
D
T
Linear motion:
R
F y  0
PO
P  [m(a )]  mg  0
m(-a) P  ma  mg  0
P  mg  ma
IK
P  m( g  a )
mg
KN
I(-α)
Angular motion:
TE
r
Tf Pr  Tb  T f  [ I ( )]
LI
Pr  Tb  T f  I
Tb  Pr  Iα  T f
PO
Pr
6
HOIST
6. Load freely fall (T = 0)
I
r α
Tf Angular
Motion
P
r
N
a
O
KS
Linear
ma
Motion
IC
mg
D
T
P Linear motion:
R
F y  0
PO
P  ma  mg  0
P  mg  ma
ma P  m( g  a )
IK
mg
KN
TE
Iα
Angular motion:
LI
Tb Pr  Iα  T f
PO
Pr
7
HOIST
Example 1.1 : Final Examination Session June 2013
A hoisting system with a drum diameter of 0.65 m has a moment of inertia of 75 kgm2. A hoist was
used to raise 1.2 tonnes lift with acceleration 1.2m/s2. Calculate the :
i) Drum driven torque
ii) Power output after the lift accelerated for 5 seconds from rest
iii) Power required, if the lift moving upward with a uniform velocity in (ii), after it accelerates for 5
seconds from rest
Solution Example 1.1
i) Driven Torque
N
O
Free Body Diagram :
Iα
KS
T
r 
  0.65m
IC
Angular
I  75kgm2 Motion
D
T
P
R
a  1.2m/s 2
PO
m  1200kg
ma Linear
IK
mg Motion
KN
a
α
r
1.2
α  3.69 rad/s 2
TE
0.325
LI
P ΣFy  0
PO
P  ma  mg  0
P  ma  mg
ma P  m(a  g)
P  1200(1.2 9.81)
mg P  13212N
8
HOIST
I
ΣFcw  ΣFccw
T Iα  Pr  T
r
T  (75  3.69) (13212 0.325)
T  4570.65Nm
Pr
ii) Power
Given, a  1.2 m/s 2 , u  0 m/s, t  5 s
N
 v  u  at
v  0  (1.2)(5)
O
v  6 m/s
KS
v 6
   18.46 rad/s
IC
r 0.325
Power  Tω
Power  4570. 65  18.46
D
T
Power  84374.2 Watt
R
PO
iii) Power required for moving upward with uniform velocity

IK
T
r Angular
Motion
KN
TE
P
LI
m  1200kg
PO
Linear
Motion
mg
P
ΣFy  0
P  mg  0
P  mg
P  (1200)(9.81)
P  11772 N
mg
9
HOIST
T ΣFcw  ΣFccw
r
Pr  T
T  11772 0.325
T  3825.9 Nm
Pr
Given, v  6 m/s, ω  18.46 rad/s 2
Power  Tω
Power  3825.9  18.46
N
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
10
HOIST
Example 1.2
Simple hoisting machine is used to lift up 5 ton of mass with 1.2 m/s2 acceleration. The pulley mass is
1.5 ton, diameter 1.8 m and radius of gyration is 630 mm. Find the torque to lift up the mass if the
friction couple between cable and pulley is 1.9 kNm. What is the power to move the mass from rest
until 5 second.
Free Body Diagram :
I
N
T
O
r α
Angular
  1.8m Tf
KS
Motion
m p  1500kg
k  0.63m
IC
P
r
D
T
a
R
PO
ma
Linear
Motion
mg
IK
I  mk 2
I  (1500)(0.63 2 )
KN
I  595.35kgm 2
TE
a
α
r
1.2
LI
α
0.9
PO
α  1.333 rad/s 2
P
ΣFy  0
P  ma  mg  0
P  ma  mg
ma P  m(a  g)
P  5000(1.2 9.81)
mg P  55050 N
11
HOIST
Iα
ΣFcw  ΣFccw
T Iα  Pr  T f  T
r
Tf T  (595.35 1.333) (55050 0.9)  1900
T  52239 Nm
Pr
Given; a  1.2 m/s 2 , u  0 m/s, t  5 s

 v  u  at
v  0  (1.2)(5)
v  6 m/s
N
O
v 6
ω   6.667 rad/s
KS
r 0.9
Power  Tω
IC
 52239  6.667
 348260 Watt
D
T
R
PO
IK
KN
TE
LI
PO
12
HOIST
Example 1.3
The mass pulley of hoisting machine is 950 kg and the diameter is 0.8 m. One mass with 3.7 ton is
release from rest and it take 2 second to move along 4 m. The friction couple between cable and
pulley is 3.2 kNm. Find the radius of gyration for this pulley.
Free Body Diagram :

I
N
O
r α
Tf Angular
Motion
KS
IC
P
r
a D
T
R
Linear
ma
PO
Motion
Given : mg
mpulley = 950 kg
φpulley = 0.8 m
IK
m = 3.7 ton
t =2s
KN
s =4m
Tf = 3.2 kNm
U = 0 m/s
TE
Find a :
LI
1 2
s  ut  at
PO
2
1
4  (0  2)  a(2)2
2
a  2 m/s2
a
α
r
2
α
0.4
α  5 rad/s2
13
HOIST
P
ΣFy  0
P  ma  mg  0
P  mg  ma
P  m (g  a)
ma
P  3700(9.81 2)
P  28897 N
mg
Iα ΣFcw  ΣFccw
Pr  Iα  T f
N
r
Tb Pr  T f
I
O
α
(28897 0.4)  3200
KS
I
5
I  1672 kgm2
Pr
IC
I  mk 2
k
I D
T
m
R
1672
k  1.33 m
950
PO
IK
KN
TE
LI
PO
14
HOIST
Example 1.4
A pulley of mass 550 kg of hoisting machine is used to lowered a mass of 200 kg with acceleration of
0.8 m/s2. The diameter of pulley is 950 mm and a radius of gyration of 450 mm. The friction couple
during the operation is 1.8 kNm. Calculate,
a) The cable tension
b) The driven torque
c) The power required when the load has velocity of 1.5 m/s.
Free Body Diagram
N
Iα
O
T α
KS
r Angular
Tf Motion
IC
D
T
Linear
R
a
Motion
PO
ma
IK
mg
Given :
KN
mpulley = 550 kg
φpulley = 0.95 m, r = 0.475 m
k = 0.45 m
TE
m = 200 kg
a = 0.8 m/s2
Tf = 1800 Nm
LI
PO
a
α
r
0.8
α  1.684 rad/s 2
0.475
I  mk 2
I  550  0.45 2
I  111.375 kgm2
15
HOIST
a) Cable Tension
P ΣF y  0
P  ma  mg  0
P  mg  ma
P  m(g  a)
ma
P  200(9.81  0.475)
P  1867 N
mg
b) Driven Torque
N
I
O
T ΣFcw  ΣFccw
r
KS
Tf T  Pr  T f  Iα
T  T f  Iα  Pr
IC
T  1800  (111.375  1.684)  (1867  0.475)
T  1100.731 Nm
Pr
D
T
c) Power
R
PO
Given, v  1.5 m/s
v

IK
r
1.5
KN
  0.713 rad/s
0.475
TE
Power  Tω
 1100.731  0.713
LI
 784.821 Watt
PO
16
HOIST
Example 1.5
A hoist drum has a moment of inertia of 115 kgm2 and is used to stop a mass of 100 kg that move
downward with deceleration of 0.2 m/s2 by mean of light cable. If the drum diameter is 950 mm and
neglect the friction torque, calculate the torque brake required to stop the mass.
Free Body Diagram

I(-)
Tb -
N
r Angular
O
Motion
KS
IC
m(-a)
D
T
-a
R
Linear
Motion
PO
Given : mg
φpulley = 0.95 m; r = 0.475 m
I =115 kgm2
m = 100 kg
IK
a = -0.2 m/s
KN
a
α
r
TE
 0.2
α  0.421 rad/s 2
0.475
LI
PO
P Linear motion :
ΣFy  0
P  [m( a)]  mg  0
P  (100  0.2)  (100  9.81)  0
m(-a)
P  20  981  0
P  1001 N
mg
17
HOIST
I(-α) Angular motion :

Tb ΣFcw  ΣFccw
r
Pr  Tb  [I( α)]
Tb  Pr  (I( α)]
Tb  (1001  0.475)  (115  0.421)
Tb  475.475  ( 48.415)
Pr
Tb  523.89 Nm
N
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
18
HOIST
LOAD BALANCING SYSTEM
 In this hoisting system there is a balance mass used to balance the hoisting machine during the
operation.
 Balance mass is connected to a load with a cable and the acceleration both of it is the same
TYPICAL CASES FOR HOISTING SYSTEM WITH BALANCING LOAD
1. Load upward with acceleration

I
T
 Angular
N
r
Tf Motion
O
KS
P2 P1
IC
a
m2 m1
a
D
T
m2a m1a
R
Linear Linear
m2g m1g
PO
Motion Motion
P1
IK
Linear motion:
F y  0
KN
P1  m1 a  m1 g  0
m1a P1  m1 a  m1 g
P1  m1 (a  g )
TE
m1g
P2 Linear motion:
LI
F y  0
PO
P2  m 2 a  m 2 g  0
m2a P2  m 2 g  m 2 a
P2  m 2 ( g  a )
m2g
Iα
Angular motion:
T
r ΣFcw  ΣFccw
Tf
Iα  P1 r  T f  T  P2 r
T  Iα  P1 r  T f  P2 r
P2r P1r
19
HOIST
2. Load upward with constant velocity (a=0)
T
r Angular
Tf
Motion
P2 P1
Linear
N
Linear
Motion Motion
O
m2 m1
KS
m2g m1g
IC
P1
Linear motion: D
T
F y  0
R
P1  m1 g  0
PO
P1  m1 g
m1g
IK
P2
KN
Linear motion:
F y  0
TE
P2  m 2 g  0
P2  m 2 g
LI
PO
m2g
T
r Angular motion:
Tf ΣFcw  ΣFccw
P1 r  T f  T  P2 r
P2r P1r T  P1 r  T f  P2 r
20
HOIST
3. Load upward and stopped by torque brake and friction couple
I(-)
Tb - Angular
r
Tf Motion
P2 P1
N
-a -a
O
m2 m1
KS
m2(-a) m1(-a)
Linear Linear
Motion m2g m1g Motion
IC
P1 Linear motion:
D
T
F y  0
R
P1  [m1 (a )]  m1 g  0
PO
m1(-a) P1  m1 a  m1 g  0
P1  m1 g  m1 a
m1g P1  m1 ( g  a )
IK
KN
P2 Linear motion:
F y  0
P2  [m 2 (a )]  m 2 g  0
TE
m2(-a) P2  m 2 a  m 2 g  0
P2  m 2 g  m 2 a
LI
m2g P2  m 2 ( g  a )
PO

r Tb  [ I ( )]  P1 r  T f  P2 r
Tf
Tb  I  P1 r  T f  P2 r
Tb  P2 r  Iα  P1 r  T f
P2r P1r
21
HOIST
4. Load downward with acceleration
I
T  Angular
r
Tf Motion
P2 P1
N
O
a a
m2 m1
KS
m2a m1a
Linear
Linear
IC
P1 Linear motion:
D
T
F y  0
R
P1  m1 a  m1 g  0
PO
m1a P1  m1 g  m1 a
P1  m1 ( g  a )
m1g
IK
P2 Linear m otion:
KN
 Fy  0
P2  m2 a  m2 g  0
TE
m2a P2  m2 g  m2 a
P2  m2 ( g  a )
LI
m2g
PO
Iα Angular motion:
T ΣFcw  ΣFccw
r
Tf P1r  T  Iα  T f  P2 r
T  Iα  T f  P2 r  P1r
P2r P1r
22
HOIST
5. Load downward stopped by torque brake and friction couple
I(-)
Tb
r - Angular
Tf Motion
P2 P1
N
-a
O
-a
m2 m1
KS
m2(-a) m1(-a)
Linear Linear
IC
P1 Linear motion: D
T
F y  0
R
P1  [m1 (a )]  m1 g  0
P1  m1 a  m1 g  0
PO
m1(-a)
P1  m1 g  m1 a
m1g P1  m1 ( g  a )
IK
P2
Linear motion:
KN
F y  0
P2  [m 2 (a )]  m 2 g  0
TE
m2(-a) P2  m 2 a  m 2 g  0
P2  m 2 g  m 2 a
m2g P2  m 2 ( g  a )
LI
PO
I(-α)
Angular motion:
r
Tf P1 r  Tb  T f  P2 r  [ I(- )]
P1 r  Tb  T f  P2 r  I
Tb  P1 r  Iα  T f  P2 r
P2r P1r
23
HOIST
6. Load freely fall (T = 0)
I
r  Angular
Tf Motion
P2 P1
N
a a
O
m2 m1
KS
m2a m1a
Linear
Linear
IC
P1
Linear motion:
 Fy  0
D
T
P1  m1a  m1 g  0
R
m1a P1  m1 g  m1a
PO
P1  m1 ( g  a )
m1g
IK
P2
Linear motion:
 Fy  0
KN
P2  m2 a  m2 g  0
m2a P2  m2 g  m2 a
TE
P2  m2 ( g  a )
m2g
LI
Iα
PO
Angular motion:
Tf P1r  Iα  T f  P2 r
P2r P1r
24
HOIST
Example 1.6
A hoist drum has a moment of inertia of 65 kgm2 and is used to elevate a lift of mass 800 kg with an
upward acceleration of 1.5 m/s2 by mean of light cable. The cable is wound onto the drum with
diameter of 600 mm and the other end is fixed with a balance mass of 200 kg to form a balance mass
hoisting machine. If the friction force is neglected, calculate the driving torque required to move the
lift upward.
Free Body Diagram

I
N
T
O
r  Angular
KS
Motion
IC
P2 P1
a
D
T
a
m2 m1
R
m2a m1a
PO
Linear Linear
IK
Given :
KN
I = 65 kgm2
m1 = 800 kg (load)
TE
m2 = 200 kg (balance mass)

a = 1.5 m/s2
φdrum = 0.6 m, r = 0.3 m
LI
a
PO
α
r
1.5
α
0.3
α  5 rad/s 2
25
HOIST
P1 ΣFy  0
P1  m1 a  m1 g  0
P1  m1 a  m1 g
m1a P1  m1 (a  g)
P1  800(1.5  9.81)
m1g P1  9048 N
P2 ΣF y  0
P2  m2 a  m2 g  0
N
P2  m2 g  m2 a
O
m2a P2  m2 (g  a)
KS
P2  200(9.81  1.5)
m2g
P2  1662 N
IC
T
Iα Angular motion :
ΣFcw  ΣFccw
D
T
r
Tf Iα  P1 r  T  P2 r
R
T  Iα  P1 r  P2 r
PO
P1r T  (65  5)  (9048  0.3)  (1662  0.3)

P2r
T  2540.8 Nm
IK
KN
TE
LI
PO
26
HOIST
Example 1.7 : Final Examination June 2012
A hoisting machine system is used to lift a load of 400 kg with an acceleration of 1.4 m/s2. The load is
connected to a 170 kg counter weight. The drum has a diameter of 800 mm, 50 kg mass and 370 mm
radius of gyration. If the friction torque is measured as 18 kNm, determine :
a) Rope tension
b) Driving torque and the power of the torque if the velocity of the load is 1.2 m/s
c) Its new acceleration if the system is released freely and friction is negligible
Free Body Diagram
N
I
O
KS
T  Angular
r
Tf Motion
IC
P2 P1
D
T
R
a a
m1
PO
m2
m2a m1a
Linear Linear
m2g m1g
IK
Motion Motion
KN
Given :
m1 = 400 kg (load)
m2 = 170 kg (counter weight)
TE
a = 1.4 m/s2
φdrum = 800 mm
mdrum = 50 kg
LI
k = 370 mm
Tf = 18 kNm
PO
a
α
r
1.4
α
0.4
α  3.5 rad/s2
I  mk 2
I  (50)(0.372 )
I  6.845 kgm2
27
HOIST
a) Rope Tension
P1 ΣFy  0
P1  m1 a  m1 g  0
P1  m1 a  m1 g
m1a P1  m1 (a  g)
P1  400(1.4 9.81)
m1g P1  4484 N
P2 ΣFy  0
P2  m 2 a  m 2 g  0
N
P2  m 2 g  m 2 a
O
m2a P2  m 2 (g  a)
KS
P2  170(9.81 1.4)
m2g P2  1430 N
IC
b) Driving Torque and Power
Iα Angular motion: D
T
T ΣFcw  ΣFccw
r
R
Tf Iα  P1r  T f  T  P2 r
T  Iα  P1r  T f  P2 r
PO
T  (6.845 3.5)  (4484 0.4)  18000 (1430 0.4)

P2r P1r
T  19245.56Nm
IK
Given; v  1.2 m/s, ω  ?

KN
v
ω
r
TE
1.2
ω  3 rad/s
0.4
LI
Power  Tω
PO
Power  19245.56  3
28
HOIST
c) New acceleration if system freely fall
Free Body Diagram :
I
r  Angular
Tf Motion
P2 P1
N
O
a a
KS
m2 m1
m2a m1a
IC
Linear
Linear
α
a D
T
r
R
a
α
0.4
PO
I  m k2
I  (50)(0.372 )
IK
I  6.845 kgm2
KN
P1 ΣFy  0
P1  m1a  m1 g  0
TE
P1  m1 g  m1a
m1a P1  m1 (g  a)
LI
P1  400(9.81 a)
P1  3924  400a
PO
m1g
P2 ΣFy  0
P2  m 2 a  m 2 g  0
P2  m 2 g  m 2 a
m2a P2  m 2 (g  a)
P2  170(9.81 a)
m2g P2  1667.7  170a
29
HOIST
Iα Angular m otion:
ΣFcw  ΣFccw
r
Tf P1r  P2 r  Iα
 a 
(3924  400a)(0.4) (1667.7 170a)(0.4) (6.845) 
 0.4 
P2r P1r 1569.6  160a  667.08 68a  17.11a
1569.6  667.08  68a  17.11a 160a
902.52  245.11a
a  3.68 m /s2
N
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
30
HOIST
Example 1.8
A hoist machine system is used to move downward (to be lowered) a load of 28 kg with initial
velocity of 0.98 m/s. The load is connected to balance mass of 35 kg. The drive torque used to move
hoist drum is 120 Nm. Then the load is stopped by torque brake when the load is moved 400 mm
from the initial position. The hoist drum has a diameter of 50 mm, 52 kg of mass and 30 mm of radius
of gyration. Calculate :
a) Linear acceleration of the load when the brake was applied
b) Tension in the cables
c) Torque brake
d) Power produced by a hoist machine at the velocity of 0.98 m/s
N
O
Free Body Diagram
I(-)
KS
Tb
r - Angular
IC
Motion
P2 P1
D
T
R
PO
-a -a
m2 m1
m2(-a) m1(-a)
IK
Linear Linear
KN
Given :
m1 = 28 kg (load)
TE
u = 0.98 m/s
v = 0 m/s (mass was stopped)
LI
TDrive = 120 Nm
s = 400 mm
PO
φDrum = 50 mm
mDrum = 52 kg
k = 30 mm
a) Deceleration
v 2  u 2  2as
0  0.982  2(a)(0.4)
a   1.2 m/s2
31
HOIST
a
α
r
 1.2
α
0.025
α  48 rad/s2
I  mk 2
I  52  0.03 2
I  0.0468 kgm2
b) Tension
N
P1 Linear motion:
O
F y  0
P1  [m1 (a )]  m1 g  0
KS
m1(-a) P1  m1 g  [m1 ( a )]
P1  (28  9.81) (28  1.2)
IC
m1g P1  308.28N
P2 Linear motion: D
T
F y  0
R
P2  [m 2 ( a )]  m 2 g  0
P2  [m 2 ( a )]  m 2 g
PO
m2(-a)
P2  (35  1.2)  (35  9.81)
m2g P2  301.35N
IK
c) Torque Brake
KN

Fcw  Fccw
Tb
TE
r P1 r  Tb  P2 r  [ I(- )]
Tb  P1 r  [ I (α)]  P2 r
LI
Tb  (308.28 0.025) (0.0468 48)  (301.35 0.025)

P2r P1r Tb  2.42Nm
PO
d) Power produced at velocity of 0.98 m/s

v
ω
r
0.98
ω  39.2 rad/s
0.025
Power  Tω
Power  120  39.2
Power  4704 Watt
32
HOIST
Example 1.9
A hoist drum has a moment of inertia of 80 kgm2 and is used to stop a mass of 200 kg that move
upward with deceleration of 1.2 m/s2. The mass is connected to counter balance of 450 kg. If the
drum diameter is 750 mm and the friction torque is 1.2 kNm, calculate the torque brake required to
stop the mass.
Free Body Diagram

I(-)
N
Tb - Angular
r
O
Tf Motion
KS
IC
P2 P1
-a D
-a
T
m2 m1
R
m2(-a) m1(-a)
Linear
PO
Linear
m2g m1g
Motion Motion
IK
Given :
m1 = 200 kg (load)
KN
m2 = 450 kg (counter balance)

a = - 1.2 m.s2
I = 80 kgm2
TE
φDrum = 0.75 m, r = 0.375 m

Tf = 1200 Nm
LI
a
α
PO
r
 1.2
α
0.375
α   3.2 rad/s 2
33
HOIST
P1 Linear motion :
ΣFy  0
P1  [m 1 ( a)]  m1 g  0
m1(-a)
P1  (200  1.2)  (200  9.81)  0
m1g P1  240  1962  0
P1  1722 N
P2 Linear motion :
ΣFy  0
N
P2  [m 2 ( a)]  m2 g  0
O
m2(-a) P2  (450  1.2)  (450  9.81)  0
P2  540  4414.5  0
KS
m2g
P2  4954.5 N
IC
I(-α)
Angular motion :
Tf
Tb
r ΣFcw  ΣFccw
D
Tb  [ I( α)]  P1 r  T f  P2 r
T
Tb  (80  3.2)  (1722  0.375)  1200  (4954.5  0.375)
R
P2r P1r Tb  256  645.75  1200  1857.938

PO
Tb  268.188 Nm
IK
KN
TE
LI
PO
34
HOIST
Example 1.10 : Final Examination December 2012
A load of mass 150 kg is lifted by means of a rope which wound several times round a drum and
which then supports a balance mass of 80 kg. As the load rises, the balance mass falls. The drum has
a diameter of 1.2 m, a radius of gyration of 480 mm, and its mass is 70 kg. Calculate the driven
torque, and also the power required, at an instant when the load has an upward velocity of 2.5 m/s
and upward acceleration of 1.2 m/s2.
Free Body Diagram
N
I
O
T
r  Angular
KS
Motion
IC
P2 P1
D
T
a a
R
m2 m1
PO
m2a m1a
Linear Linear
IK
Given :
KN
m1 = 150 kg (load)
φdrum = 1.2 m
TE
mdrum = 70 kg
k = 480 mm
a = 1.2 m/s2
LI
v = 2.5 m/s
PO
a
α
r
1.2
α
0.6
α  2 rad/s2
I  mk 2
I  (70)(0.482 )
I  16.13kgm2
35
HOIST
P1
ΣFy  0
P1  m1a  m1 g  0
P1  m1a  m1 g
m1a P1  m1 (a  g)
P1  150(1.2 9.81)
m1g
P1  1651.5 N
P2 ΣFy  0
P2  m2 a  m2 g  0
P2  m2 g  m2 a
N
m2a P2  m2 (g  a)
O
P2  80(9.81 1.2)
P1  941.76 N
KS
m2g
IC
T ΣFcw  ΣFccw
r
Iα  P1 r  T  P2 r
T  Iα  P1 r  P2 r
D
T
T  (16.13  2)  (1651.5  0.6)  (941.76  0.6)
R
P2r P1r
T  1588.22 Nm
PO
Given; v  2.5 m/s, ω  ?

IK
v
ω
r
KN
2.5
ω  4.17 rad/s
0.6
TE
Power  Tω
Power  1588.22  4.17
LI

PO
36
HOIST
Example 1.11
A drum of hoisting machine is used to downward a mass of 250 kg that connected to balance mass of
400 kg. The diameter of drum is 1.2 m and moment of inertia is 190 kgm 2. Time taken to move the
mass as far as 1 m is 3 second from rest position. Neglect the friction couple during the operation,
calculate :
a) Torque drive to downward the mass
b) Power required at velocity of 0.8 m/s
c) Torque drive when the mass move downward at constant velocity
a) Torque drive
N
O
Free Body Diagram
I
KS
T 
r Angular
IC
Motion
D
T
P2 P1
R
PO
a a
m2 m1
m2a m1a
IK
Linear
Linear
KN
Given :
TE
m1 = 250 kg (load)
φdrum = 1.2 m, r = 0.6 m
LI
I = 190 kgm2
u = 0 m/s
PO
s = 1m
t = 3s
1 2
s  ut  at
2
1
1  0  a(3) 2
2
a  0.22 m/s
37
HOIST
0.22
α
0.6
0.22
α
0.6
α  0.367 rad/s 2
P1 ΣF y  0
P1  m1 a  m1 g  0
P1  m1 g  m1 a
m1a P1  m1 (g  a)
N
P1  250(9.81  0.22)
O
m1g
P1  539.55 N
KS
P2 ΣF y  0
IC
P2  m 2 a  m 2 g  0
P2  m 2 a  m 2 g
m2a P2  m 2 (a  g)
P2  400(0.22  9.81)
D
T
m2g
P2  4012 N
R
PO
T ΣFcw  ΣFccw
r
IK
T  P1 r  Iα  P2 r
T  Iα  P2 r  P1 r
KN
T  (190  0.22)  (4012  0.6)  (539.55  0.6)

P2r P1r
T  2125.27 Nm
TE
b) Power required at velocity of 0.8 m/s

LI
Given; v  0.8 m/s, ω  ?

PO
v
ω
r
0.8
ω  1.333 rad/s
0.6
Power  Tω
Power  2125.27  1.333
38
HOIST
c) Torque drive when the mass move downward at constant velocity
Free Body Diagram
Constant velocity, a = 0 m/s2
T
r Angular
Motion
N
P2 P1
O
KS
m2 m1
IC
Linear Linear
Motion Motion
m2g m1g
D
T
ΣF y  0
R
P1
P1  m1 g  0
PO
P1  m1 g
P1  250  9.81
P1  2452.5 N
IK
m1g
KN
P2 ΣF y  0
TE
P2  m 2 g  0
P2  m 2 g
P2  400  9.81
LI
P2  3924 N
PO
m2g
Angular motion :
T
r ΣFcw  ΣFccw
T  P1 r  P2 r
T  P2 r  P1 r
P2r P1r T  (3924  0.6)  (2452.5  0.6)
T  882.9 Nm
39
HOIST
Exersice 1.1
A cable of hoisting machine was used to move downward a load of mass, m kg with deceleration of
3.19 m/s2. Find the value of mass, m kg if the maximum tension of cable to pull the load is 180 kN. If
the diameter of hoisting machine pulley is 2 m and the mass is 1.3 ton with radius of gyration is
0.8 m. Find the torque brake and time so that the pulley can be stopped at the distance of 15 m.
(m = 13846 kg, Tb = 182654.1 Nm, t = 3.1 s)
Exersice 1.2
A cable which is not expandable wrapped around a hoisting which is consists of a pulley with 450 kg
of mass, 1.2 m of diameter and the radius of gyration is 0.7 m. At the end of this cable was attached a
load with mass 1200 kg. The friction at the pulley is 1.5 kNm. Calculate the torque to pull upward the
N
load with 0.4 m/s2 acceleration. Find the linear velocity when the load is pulled upward with 0.4 m/s2
O
and the power used is 5 kW.
(v = 0.34 m/s)
KS
Exercise 1.3
A hoist drum has a moment of inertia of 65 kgm2 and is used to rise a lift of mass 800 kg with an
IC
upward acceleration of 1.5 m/s2 by mean of light cable (rope). The drum diameter is 600 mm.
Calculate driving torque required to rise the lift if the friction torque is negligible.
D (T=3039.4 Nm)
T
Exercise 1.4
R
A hoist drum is used to move downward a mass of 50 kg and connected to balance mass of 65 kg
with acceleration of 0.8 m/s2 by mean of light cable. The hoist drum has a diameter 680 mm, 80 kg of
PO
mass and radius of gyration of the drum is 350 mm, calculate power required to move the mass
downward if the velocity is 5 m/s.
(Power = 1535.283 Watt)
IK
Exercise 1.5
KN
A hoisting was used to move upward a load with a mass 500 kg. It was moved from rest to 50 m in 20
seconds. The load was connected to balancing mass 180 kg with a light cable and not stretchable.
TE
The hoist drum has a diameter 680 mm and 48 kg of mass. Meanwhile the radius of gyration of the
drum is 350 mm. Find,
a) Tension in the cables
LI
b) Torque required on the drum

c) The power required at an instant when the load has an upward velocity 1.8 m/s
PO
(P1 = 5030 N, P2 = 1720.8 N, Td = 1129.45 Nm, Power = 5974.8 Watt)
Exercise 1.6
A cable which is light and not stretchable was wrapped around on a drum of hoisting machine with
200 kg of mass, 2.5 m of diameter and a radius of gyration of 0.65 m. At the end of this cable was
attached with a mass of 1300 kg. Friction couple between cable and drum is 1.3 kN. Calculate the
torque required to drive the load upward with an acceleration of 0.9 m/s2. At a time when the load
is upward with an acceleration of 0.9 m/s2, the power required by the drum is 20 kW. Find the linear
velocity of the load at this point.
(v = 1.333 m/s)
40
HOIST
Exercise 1.7
A steel drum of lifting machine has a mass of 35 kg, 2.5 m diameter and 0.884 m radius of gyration. A
mass of 170 kg is tied at one end of the rope and another end with 30 kg. Determine:
a) The torque to lift up the mass of 170 kg with 2.5 m/s2
b) The linear velocity of mass when the power produce is 1.7 kW.
(T = 2396.45 Nm, v = 0.8867 m/s)
Exercise 1.8
A steel drum of lifting machine has a mass of 35 kg, 2.5 m diameter and 0.884 m radius of gyration. A
mass of 170 kg is tied at end of the rope. The mass is freely falls. If the friction at the drum is
N
1.8 kNm, determine the acceleration of the mass.
O
(a = 1.214 m/s2)
KS
Exercise 1.9
A hoisting system is used to lift up the load of 60 kg with an acceleration of 2.1 m/s2. The pulley has
IC
400 mm diameter, radius of gyration of 35 cm and mass of 20 kg. A balancer of 45 kg is attached to
the other end of the string. Ignore the friction between rope and pulley.
a) Calculate the tension for each string
b) Find the torque to operate the system D
T
c) Calculate the power when speed at 3 m/s
(P1 = 714.6 N, P2 = 346.95 N, Td = 99.255 Nm, Power = 1488.825 Watt)
R
PO
Exercise 1.10
A hoisting machine system is used to move downward (lowered) a load of 450 kg with an
acceleration of 1.5 m/s2.The load was connected to balance mass of 100 kg. The drum of hoisting
IK
machine has a diameter of 800 mm, 50 kg of mass and 380 mm of radius of gyration. If the friction
couple is measured as 20 kNm, determine :
KN
a) Cable tensions
b) Driving torque
c) Power required to move the load downward at velocity of 1.2 m/s
TE
(P1 = 3739.5 N, P2 = 1131 N, Td = 18983.68 Nm, Power = 56951.04 Watt)

LI
Exercise 1.11
PO
A hoist machine was used to lift up a load by using a light and not stretchable cable with acceleration
of 0.5 m/s2. Tension in the cable during lift the load is 50 N. Then the load was stopped by a torque
brake in distance of 300 mm. The mass of hoist drum is 80 kg, the diameter is 600 mm and a radius of
gyration is 350 mm. Calculate :
a) Mass of the load
b) Torque brake
c) Time taken to stop the load
(m = 4.85 kg, Tb = 31.38 Nm, t = 1.1 s)
41
HOIST
Exercise 1.12
A hoisting system is used to stop the lift of 350 kg that move downward. The lift is connected to the
balancer with a mass of 200 kg. Time taken to stop the lift is 5 second with initial velocity of 0.85 m/s.
The mass, diameter and radius of gyration of hoisting drum is 150 kg, 800 mm and 300 mm
respectively. Find the torque brake to stop the lift if the friction couple between bearing and drum is
negligible.
(Tb = 631.74 Nm)
Exercise 1.13 (Final Examination December 2012)
A drum of mass 400 kg and 1.5 m in diameter and a radius of gyration of 550 mm is used to raise a lift
of mass of 1050 kg with an acceleration of 2.3 m/s2. Calculate :
N
a) The string tension
O
b) The driven torque
c) The power required at an instant when the load has an upward velocity of 1.8 m/s and an
KS
upward acceleration of 2.3 m/s2.
(P = 12715.5 N, T = 9908.1 Nm, Power = 23779.44 Watt)
IC
D
A hoisting machine is used to lift up the mass of 995 kg and it is balanced by a 250 kg of mass. These
two masses are connected by a rope which is wound to a 120 kg drum with a diameter of 1.5 m and
T
the radius of gyration is 0.45 m. If the friction torque on the drum is 1 kNm with an acceleration of
1.2 m/s2.
R
a) Draw a free body diagram of the hoisting system

PO
b) Calculate the tension of the ropes

c) Calculate the torque required to drive the drum
d) Calculate linear velocity of the mass if power output is 15 kW
(P1 = 10606.7 N, P2 = 2240 N, T = 7302.48 Nm, v = 1.54 m/s)
IK
Exercise 1.15 (Final Examination June 2014)

KN
A steel drum of lifting machine has a mass of 26 kg, 2.5 m in diameter and 0.21 m gyration radius. A
mass of 80 kg is tied to one end of the rope and the other end is tied with a weight of 30 kg.
TE
a) Draw the free body diagram for the system

b) Calculate the driver torque to lift-up the mass of 80 kg with an acceleration of 2.5 m/s2
c) Calculate the linear velocity when the mass is up-lift whereby the power produced from the
LI
drum is 18 kW
d) Calculate the acceleration system when the drum is freely released
PO
(P1 = 984.8 N, P2 = 219.3 N, T = 959.18 Nm, v = 2.35 m/s, a = 4.43 m/s2)
A lift machine is being used to raise up the 5 tons load and with 1.0 m/s2 acceleration. The hoist drum
mass is 1.2 tons and 1.5 m diameter with radius gyration 600 mm.
a) Draw the free body diagram for the system
b) Calculate the rope tension
c) Calculate torque at hoist drum to raise up the load with torque friction 1.6 kNm
d) Calculate power after the load move with 6 m/s velocity
(P = 54050 N, T = 42713.36 Nm, Power = 341706.88 Watt)
42
HOIST
Exercise 1.17 (Final Examination Short Semester 2016)
A cage with a mass of 3500 kg is raised to 2 m/s2 acceleration using a 1.8 m diameter hoist drum. The
weight of the hoist drum is 900 kg with a 550 mm radius of gyration and 2.7 kNm bearing friction.
Calculate :
a) The required power needed for the cage to reach the velocity of 4 m/s
b) The required power needed, if the cage is moving with a uniform velocity of 4 m/s
(Power = 179.85 kW, Power = 149 kW)
A steel drum of a lifting machine has a mass of 26 kg, 2.5 m in diameter and 0.21 m radius of
gyration. A mass of 80 kg is tied to one end of the rope and the other end is tied with a weight of 30
N
kg.
O
a) Draw the free body diagram of the hoisting system
b) Calculate the driver torque to lift up the mass of 80 kg with the acceleration of 2.5 m/s2
KS
c) Calculate the linear velocity when the mass is lifted if power output of the system is 1.8 kW
d) If the drum is freely released, determine the acceleration of the system
(T = 959.169 Nm, v = 2.35 m/s, a = 4.43 m/s2)
IC
a) D
List FIVE (5) principles of hoisting system according to direction of force acting on the hoisting
T
machine
R
i) Torque drive is same direction with motion

PO
ii) Inertia force is opposite direction with linear acceleration

iii) Inertia couple is opposite direction with angular acceleration
iv) Friction couple is opposite direction with motion
v) Torque brake is opposite direction with motion
IK
b) A steel drum of a lifting machine has a mass of 50 kg, 1.5 m diameter and 760 mm radius of
KN
gyration. A mass of 42 kg is suspended to the end of the rope and it would like to upward with
2 m/s2, calculate the torque drum. the other end is tied with a weight of 30 kg.
(T = 449 Nm)
TE
c) A hoisting drum wound with a rope in which both ends tied up to the load of 900 kg and 300 kg
respectively. Hoisting drum has a mass of 125 kg, diameter of 2 m and a radius of gyration of
LI
0.44 m. Calculate :
i) Tension of the rope to raise the load of 900 kg with an acceleration of 0.7 m/s2
PO
ii) The torque on the drum to raise the load of 900 kg with the friction torque of 1.3 kNm
iii) The output power of the drum at a velocity of 1.9 m/s
(P1 = 9459 N, P2 = 2733 N, T = 8042.94 Nm, Power = 15.28 kW)
43
SIMPLE HARMONIC MOTION
Introduction
 When a body moves away from its rest position, the internal forces tend to move the body back
to its rest position.
 The movement is repeated until the body back to rest position
 Free vibration and force vibration
 Pendulum, spring, piston
 Consider a particle moving around the

circumference of a circle with constant angular
N
velocity
O
 P is the position of the particle and N be the
KS
projection of P
 When P move round the circumference of the circle,
IC
N will move in linear direction
D
Figure 2.1 : Simple Harmonic Motion
T
R
 P moves from X to Y, N moves from X to 0

PO
 P moves from X’ to Y’ , N moves from X’ to 0

 P moves from Y to X’, N moves from 0 to X’
 P moves from Y’ to X, N moves from 0 to X
 When P completes one revolution, the point N completes one vibration about point 0
IK
KN
Particles moves in Simple Hormonic Motion
 Consider a particle P moving round the circumference of a circle with radius, r and with uniform
TE
angular velocity, ω.
 P at any position after t seconds and θ be the angle turned by particle P in t seconds
LI
PO
Figure 2.2 : Wave of Simple Harmonic Motion
44
Displacement, x
Figure 2.3 : Triangle of Force for Displacement
N
 From equation,
O
  t
KS
 From Figure 2, then the displacement of N (which is x) from its mean position, 0 is
IC
x  r cos 
 x  r cos t
D
T
Velocity, v
R
 Velocity of N is the component of the velocity of P parallel to XX’

PO
IK
KN
Figure 2.4 : Triangle of Force for Velocity

TE
LI
vN  vsinθ Equation 1
PO
 Figure 2.4 show the triangle of velocity act during the movement of particle
45
 From equation,
v  r and NP  rsinθ  r 2  x 2
 Equation 1 become,
v N   .rsinθ
vN   r 2  x 2
 Consideration for velocity
When x=0, vN is maximum
N
O
vN   r 2  x 2
KS
vmax  r
IC
When x=r, vN is minimum
vN   r 2  r 2
vmin  0
D
T
R
Acceleration, a
PO
The acceleration of P is the centripetal acceleration whose magnitude is  r

2

 The acceleration of N is the component of the acceleration of P parallel to XX’ and is directed
IK
towards the center 0

KN
TE
LI
PO
Figure 2.5 : Triangle of Force for Acceleration
a N   2  r cos 
 x  r cos 
 aN   2 x
 Acceleration is maximum when x = r i.e. when P is at X or X’
amax   2 r
46
Amplitude, A
 It is the maximum displacement of a body from its mean position

 The amplitude is always equal to the radius of the circle
Periodic Time, Tp
 It is the time taken for one complete revolution of the particle
2
Tp 

N
 From equation,
O
a  2x
KS
a
2 
x
IC
a


x
D
T
Therefore,
R
a
T p  2
PO
Frequency, n
IK
 It is the number of cycles per second and is the reciprocal of time period
KN
1
n
tp
TE

n
2
LI
PO
1 a
n
2 x
47
 When the particles moves with angular SHM,

t p  2

1 
n
2 
Where :
θ  Angular displaceme nt
N
α  Angular accelerati on
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
48
Example 2.1
The piston of a steam engine moves with SHM. The crank rotates at 120 rpm with a stroke of 2
metres. Find the velocity and acceleration of the piston when it is at a distance of 0.75 meter from
the center.
Given : N = 120 rpm; Total stroke = 2 m i.e. r = 1 m; x = 0.75 m
2N

60
N
2 (120)
  12.57 rad/s
O
60
KS
v  r 2  x2
v  12.57 (12 )  (0.75 2 )  8.43 m/s
IC
a  2 x D
T
a  (12.57 2 )(0.75)  118.5 m/s
R
PO
IK
KN
TE
LI
PO
49
Example 2.2
A point moves with SHM. When this point is 0.75 meter from the mid path, its velocity is 11 m/s and
when 2 meters from the center of its path its velocity is 3 m/s. Find its angular velocity, periodic time
and its maximum acceleration
Given : x = 0.75 m, v = 11 m/s; x = 2 m, v = 3 m/s
v  r 2  x2
N
At x = 0.75 m, v = 11 m/s,
O
KS
11   r 2  (0.752 ) Equation 1
At x = 0.20 m, v = 3 m/s,
IC
3   r 2  (2 2 ) Equation 2
D
T
Dividing equation (1) by equation (2)
R
PO
11  r  0.75 r 2  0.5625
2 2
 
3  r 2  22 r2  4
IK
Squaring both sides,

KN
121 r 2  0.5625

9 r2  4
TE
121(r 2  4)  9(r 2  0.5625)

121r 2  484  9r 2  5.063
LI
121r 2  9r 2   5.063  484

PO
119r 2  478.94
r  2.07 m
Substitute r = 2.07 m into equation (1),
11   2.07 2  (0.752 )
11  1.93
  5.7 rad / s
50
2
tp 

2
tp   1.1 s
5.7
a  2r
a  5.7 2 (2.07)  67.25 m/s 2
N
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
51
Example 2.3
In one mechanism at a packaging machine, the piston moves in a straight drive platform with SHM.
At a distance of 125 mm and 200 mm from its mean position, the velocity is 6 m/s and 3 m/s
respectively. Calculate :
a) Amplitude of motion
b) Angular velocity
c) Maximum velocity
d) Periodic time
e) If the piston mass is 0.2 kg, calculate the maximum inertia force
N
O
Given : x = 0.125 m, v = 6 m/s; x = 0.2 m, v = 3 m/s
KS
a) Amplitude
IC
v  r 2  x2
At x = 0.125 m, v = 6 m/s, D
T
6   r 2  (0.1252 ) Equation 1
R
PO
At x = 0.20 m, v = 3 m/s,
3   r 2  (0.22 ) Equation 2
IK
KN
Dividing equation (1) by equation (2)
6  r  0.125 r 2  0.0156
2 2
TE
 
3  r 2  0.2 2 r 2  0.04
LI
Squaring both sides :

PO
36 r 2  0.0156
 2
9 r  0.04
36(r 2  0.04)  9(r 2  0.0156)
36r 2 1.44  9r 2  0.1404
36r 2  9r 2   0.1404  1.44
27r 2 1.2996
r  0.219 m
52
b) Angular Velocity
Substitute r = 0.219 m into equation (1)
6   0.219 2  (0.1252 )
6  0.1798
  33.37 rad / s
c) Maximum Velocity
vmax  r
N
vmax  (0.219)(33.37)
O
vmax  7.31 m / s
KS
d) Periodic Time
IC
2
tp 

tp 
2
33.37
 0.19 s D
T
e) Maximum Inertia Force
R
PO
Fmax  mamax
Where :
IK
amax   2 r
KN
amax  33.37 2 (0.219)  243.87 m / s 2
Fmax  (0.2)(243.87)
TE
Fmax  48.77 N
LI
PO
53
Example 2.4
A body rotates with Simple Harmonic Motion with 25 oscillations per minute. When the distance of
the body is 100 mm from its static equilibrium position, the velocity is 2/5 from maximum velocity.
Determine :
a) The amplitude of the oscillation
b) The maximum acceleration of the body
c) The velocity when it is 55 mm from its static equilibrium position
Given : osc = 25 osc per minute; x = 0.1 m; v = 2/5 vmax
N
2 (25)
O
  2.62 rad / s
60
KS
60
tp   2.4 sec
25
IC
25
n  0.42 Hz
60
D
T
a) Amplitude, A
R
v   A2  x 2 ; vmax  A
PO
2
vmax   A2  x 2
5
2
A   A 2  x 2
IK
5
2
KN
A  A2  0.12
5
2
2 
 A   A  0 .1
2 2
TE
5 
0.16A 2  A 2  0.01
LI
A 2  0.16A 2  0.01
PO
0.01
A  0.109 m
0.84
54
b) amax
a max   2 A  (2.62 2 )(0.109)

a max  0.748 m/s 2
c) v when x = 0.055 m
v   A2  x 2
v  2.62 0.109 2  0.055 2
v  0.247 m/s
N
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
55
Example 2.5
A part of a machine of mass 4.54 kg has a reciprocating motion which is simple harmonic in
character. It makes 200 complete oscillations in 1 minute. If it total stroke is 225 mm, find :
a) the accelerating force upon it and its velocity when it is 75 mm from midstroke
b) the maximum accelerating force
c) the maximum velocity
Given : m = 4.54 kg; osc = 200 osc in 1 min; r = 0.225/2 = 0.1125 m
N
2N 2 (200)
   20.94 rad / s
O
60 60
KS
a) F and v when x = 0.075 m
IC
F  ma
Where; D
T
R
a   2 x  (20.94 2 )(0.075)  32.89 m/s 2
PO
F  (4.54)(32.89)  149.32 N
IK
v ω r 2  x2
v  (20.94) 0.1125 2  0.075 2
KN
v  1.76 m/s
TE
b) Fmax
Fmax  mamax
LI
PO
Where;
a max   2 r  (20.94 2 )(0.1125)  49.33 m/s 2
F  (4.54)(49.33)  223.96 N
c) vmax
vmax  r  (20.94)(0.1125)
vmax  2.36 m / s
56
Linear Elastic Oscillation : Mass-Spring
 For simple un-damped spring-mass system, we assumed to move only along the vertical /
horizontal direction
 It has one degree of freedom because its motion is described by a single coordinate (x or y)
 Consider a closed-coiled helical spring, whose upper end is fixed, as shown in figure below
N
O
KS
IC
Figure 2.6 : Mass-Spring
Let :
m = mass of the body in kg
w = weight of the body in Newtons D
T
δ = displacement in equilibrium/static condition, m
x = displacement of the load in dynamic condition, meter
R
k = stiffness of the spring in N/m (restoring force)

PO
a = acceleration of the body in m/s2
 Let AA be the equilibrium position of the spring, after the mass is attached
IK
 If the spring is stretched up to BB and then released, the mass will move up and down with SHM
 The spring force equal to weight of mass in static condition (equilibrium), therefore,
KN
s  mg In equilibrium / static condition

TE
 When the mass is pull downwards to x meter from its equilibrium position (static condition) and
release, therefore,
LI
mg  ma  total force of spring

mg  ma  s  sx
PO
In dynamic condition
Where :
mg = weight
ma = inertia force
Total force of spring = sδ + sx
57
 From equation, mg  s
 Therefore,
mg  ma  s  sx
s  ma  s  sx
ma  sx
s a s
a   x or   Equation 1
m x m
 From equation,
a  2x
a
N
2  Equation 2
x
O
 From Equation 1
KS
a s
 
x m
IC
 Equation 2 become
2 
s
m D
T
s
R
 Equation 3
m
PO
 Equation of Periodic Time become,

2
tp 
IK

2
tp 
KN
s
m
TE
m
t p  2
s
LI
 From equation in equalibrium condition

PO
mg  s
m 

s g
 So equation periodic time can be written as,

t p  2
g
58
 Frequency, n
1
n
tp
1 s
n
2 m
1 g
n
2 
N
 Spring Parallel,
O
s'  s1  s2 if there are two spring
KS
 Spring Series,
IC
1 1 1
  if there are two spring
s' s1 s2
D
T
Note 1 :
R
 The periodic time and frequency of oscillation of a mass-spring depend on the stiffness
PO
(restoring force) and gravity.
Note 2 :
IK
KN
TE
LI
PO
59
Simple Pendulum
 Simple pendulum consists of heavy bob suspended at the end of a light inextensible and flexible
string/cord.
 The other end of string is fixed at 0.
 Figure below show the simple pendulum
N
O
KS
IC
Figure 2.7 : Simple Pendulum
Let :
L = length of string
m = mass of the bob in kg
mg = weight of bob
D
T
θ = angle through which the string is displaced (displacement)
 = oscillation amplitude
R
PO
 If the bob is brought to C and released, it will start oscillating between position C and B
 Position A is the mean position
 When the bob at position A, the pendulum is in equilibrium position

IK
If the angle, θ is very small (less than 40), the bob will have SHM.
 The couple tending to restore the bob to the equilibrium position or restoring torque, therefore,
KN
T  mg sin  L
 Since angle θ is very small, therefore sinθ = θ (in radian)
TE
T  mg  L
LI
 From equation,
PO
T
I  mL2 and α
I
 Therefore,
mgL
α
mL2
gθ
α
L
 g  L
 or 
 L  g
60
 From periodic time equation,
  L
t p  2 and 
  g
• Periodic Time equation become,
L
t p  2
g
 Frequency of oscillation,
N
O
1
n
tp
KS
1 g
n
2 L
IC
 Angular Velocity of pendulum,
    2  2 D
T
 max  
R
PO
 Angular Acceleration of pendulum,
   2
  max   2
IK
KN
Note :
 The periodic time and frequency of oscillation of a simple pendulum depend only upon its
TE
L and g. The mass of bob has no effect on it.

 The motion of the bob from one extremity to the other (from B to C or from C to B) is known as
beat or swing
LI
1
PO
one beat  oscillatio n

2
L
t p for one beat  
g
61
 To find linear amplitude, A or r
r
sin 
L
r  Lsin
N
 Amplitude also can be calculate by using following equation :
O
r  L Where  in radian
KS
 To find x :
IC
D
T
R
x
sin 
PO
L
x  Lsin
 Also can be calculate by using following equation,

IK
x  L Where  in radian
KN
Law of Simple Pendulum

TE
1) Law of isochronism
It states, time period of a simple pendulum does not depend upon its amplitude or vibration and
LI
remains the same, provided the angular amplitude does not exceed 40.
PO
2) Law of mass
The time period of a simple pendulum does not depend upon the mass of the body suspended
at the free end of the string.
3) Law of length
Time period of a simple pendulum is directly proportional to L , where L is the length of the
string.
4) Law of gravity
Time period of a simple pendulum is inversely proportional to g , where g is the acceleration
due to gravity
62
Compound Pendulum
 It consists of uniform slender bar (rigid body) of total mass, m and length, L
 Figure below show a slender bar suspended at points O, along the bar with the aid of a sliding
pivot situated at any distance, h from the center of gravity of the pendulum
 Its oscillates with a small amplitude under the action of the force of gravity
N
O
KS
IC
D
Figure 2.8 : Compound Pendulum
T
 When a rigid body swing about point O, it act as a compound pendulum
R
 Figure below show the force act on a rigid body when it is swing
PO
IK
KN
TE
LI
PO
Figure 2.9 : Force Acting on Compound Pendulum
Let :
m = mass of the pendulum in kg
w = weight of the pendulum in Newtons
kG = radius of gyration about an axis the center of gravity, G in meter
h = distance of point of suspension point O from the center of gravity
63
 If the pendulum given a small displacement θ, then the couple tending to restore the pendulum
to equilibrium position OA,
T  mg sin  h
T  mgh sin
 Since θ is very small, therefore sinθ = θ (in radians), equation above become,
T  mgh 
 Moment of inertia about O,
I  I G  mh 2
N
Where,
O
I G  mkG
2
KS
 I  mkG  mh 2
2
 I  m( k G  h 2 )
2
IC
 Angular acceleration of pendulum

T D
T
I
R
mgh

m(kG2  h 2 )
PO
gh

(k G  h 2 )
2
IK
 Note that the angular acceleration is directly proportional to angular displacement, therefore
KN
the pendulum executes SHM

 gh

 (k G  h 2 )
TE
 (k G  h 2 )
2

LI
 gh
PO
 From Periodic Time equation,
Displacement
t p  2
Accelerati on

t p  2

(k G  h 2 )
2
t p  2
gh
64
 Frequency of oscillation,
1
n
tp
1 gh
n
2 (k G  h 2 )
2
Note :
N
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
65
a) A simple pendulum with a cord length of 480 mm has the same periodic time with a spring that
have 7.9 kg of mass. Determine the spring stiffness and the periodic time.
b) A body oscillated with SHM with an amplitude of 730 mm. If the frequency of oscillation is
0.5 Hz, find the maximum linear velocity and acceleration
a) Spring Stiffness and Periodic Time
N
Given : L = 0.48 m, tp simple pendulum = tp spring mass, mass spring = 7.9 kg
O
KS
L
t p pendulum  2
g
IC
0.48
t p  2π
9.81
t p  1.39 s
D
T
Therefore,
R
tp spring mass = 1.39 s

PO
To find spring stiffness

IK
m
t p  2
k
KN
2
 tp  m
  
 2  k
TE
m
k 2
 tp 
 
LI
 2π 
PO
7.9
k 2
 1.39 
 
 2π 
k  161.42 N/m
66
c) vmax and amax
Given : A = 0.73 m, n = 0.5 Hz
v max  A
Where :

n
2
  n(2 )  (0.5)(2 )  3.142 rad / s
N
O
 v max  (3.142)(0.73)  2.294 m / s
KS
a max   2 A
a max  (3.142) 2 (0.73)  7.207 m / s 2
IC
D
T
R
PO
IK
KN
TE
LI
PO
67
A simple pendulum amplitude is 100 and the oscillation is 33 within 49.5 second. Calculate :
a) The periodic time and the pendulum length
b) The maximum linear velocity and the maximum linear acceleration
c) The maximum angular speed and the maximum angular acceleration
Given :
 100 ; osc  33 osc in 49.5 sec
2N 2 (33)
N
   4.189 rad/s
49.5 49.5
O
KS
a) tp and L
49.5 2 2
tp   1.5 s or tp    1.5 s
IC
33  4.189
To find L,
D
T
L
t p  2
g
R
2
 tp 
2
  g  
1.5 
PO
L     9.81  0.559 m
 2   2 
IK
Note :
KN
Angular velocity also can be calculated by using another equation
g 9.81
   4.189 rad/s
TE
L 0.559
LI
b) vmax and amax

PO
vmax  r
Where;
r  L sin   (0.559)(sin 10 0 )  0.097 m
 vmax  (4.189)(0.097)  0.406 m / s
a max   2 r
a max  (4.189 2 )(0.097)  1.702 m/s 2
68
c) Ωmax and αmax
 max  
Where ;

  10 0   0.1745 rad
180
  max  4.189  0.1745  0.731 rad/s
  max   2
N
  max  4.189 2  0.1745  3.064 rad/s 2
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
69
Example 2.8
Amplitude of a simple pendulum is 80 and its periodic time is 1.9 seconds. Calculate :
a) The maximum linear velocity of the pendulum
b) The maximum angular velocity of the pendulum
c) The maximum linear acceleration of the pendulum
d) The maximum angular acceleration of the pendulum
Given :
  80 ; t p 1.9 sec
N
2
tp 
O

2 2
KS
   3.31 rad/s
tp 1.9
IC
a) vmax
vmax  r D
T
Where; r  L sin 
R
PO
L
T p  2
g
2
 Tp 
2
  g  
1.9 
L     9.81  0.897 m
IK
 2   2π 
KN
 r  L sin   (0.897)(sin8 0 )  0.125 m

TE
 vmax  (3.31)(0.125)  0.414 m/s

LI
b) Ωmax
PO
 max  
Where ;
π
  80   0.1396 rad
180
  max  3.31  0.1396  0.462 rad/s
70
c) amax
a max   2 r
a max  (3.312 )(0.125)  1.37 m/s 2
d) αmax
 max   2
 max  (3.312 )(0.1396)  0.191 rad/s 2
N
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
71
Example 2.9
A body of 6 kg suspended from a helix spring produces 47 mm static deflection. The body is pushed
35.6 mm from its static equilibrium position and oscillates. Calculate :
a) The frequency
b) The velocity and acceleration when the body is 22 mm from static equilibrium position
c) The maximum force in the spring
Given :
m  6 kg; δ  0.047 m; A  0.0356 m
N
O
a) Frequency, n
KS
1 g
n
2π δ
IC
1 9.81
n  2.3 Hz
2π 0.047
b) v and a when distance, x = 0.022 m D

T
v   A2  x 2
R
Where :
PO

n
2
  (n)(2 )
IK
  (2.3)(2 )  14.45 rad/s

KN
v  14.45 0.0356 2  0.022 2  0.404 m/s

TE
 a  2 x
 a  (14.45 2 )(0.022)  4.59 m/s 2
LI
PO
c) Fmax
Fmax  s  sA
Where :
sδ  mg
mg (6)(9.81)
s   1252.34 N/m
δ 0.047
Fmax  s(δ  A)
 (1252.34)(0.047  0.0356)
 103.44 N
72
Example 2.10
A small flywheel having mass 90 kg is suspended in a vertical plane as a compound pendulum. The
distance of centre of gravity from the knife edge support is 250 mm and the flywheel makes
50 oscillations in 64 seconds. Find the moment of inertia of the flywheel about an axis through the
centre of gravity.
Given :
m  90 kg; h  0.25 m; osc  50 osc in 64 sec
N
I  mkG
2
O
Where k G  ?
KS
kG  h 2
2
T p  2
IC
gh
Tp
2

kG  h 2
gh
2
D
T
2
 Tp 
R
   gh  k G 2  h 2
 2 
PO
 T p  2 
 k G     gh   h 2
2
 2  
IK
 1.28  2 
 kG     (9.81)(0.25)  0.25
2 2
KN
 2π  
k G  0.0393  0.2 m
TE
LI
 I  mkG
2
I  (90)(0.2 2 )  3.6 kgm2

PO
73
Example 2.11
A helical spring of negligible mass is required to support a mass of 50 kg. The stiffness of the spring is
60 kN/m. The spring and the mass system is displaced vertically by 20 mm below the equilibrium
position and then released. Find :
a) the frequency of natural vibration of the system
b) the velocity and acceleration of the mass when it is 10 mm below the rest position
Given :
m  50 kg; s  60000 N/m; A  0.02 m
N
O
a) Frequency, n
KS
1 s
n
2π m
IC
1 60000
n  5.5 Hz
2π 50
D
T
ii) v and a when distance, x = 0.01 m
R
v   A2  x 2
PO
Where :

n
IK
2
  (n)(2 )  (5.5)(2 )  34.56 rad/s
KN
v  34.56 0.02 2  0.012  0.6 m/s

TE
 a  ω2 x
LI
 a  (34.56 2 )(0.01)  11.94 m/s 2

PO
74
It is known that a load with a mass of 200 g will stretch a spring 10 cm. The spring is then stretched
an additional 5.0 cm and released. Calculate:
a) The spring stiffness
b) The periodic time and frequency
c) The maximum acceleration
d) The maximum velocity through equilibrium positions
Given :
N
m  0.2kg, δ  0.1m, A  0.05m
O
a) Stiffness, s
KS
s  mg
mg (0.2)(9.81)
s 
IC
 0.1
s 19.62 N / m
D
T
b) tp and n
R
m 1
t p  2π n
PO
k Tp
0.2 1
t p  2π  0.634 s n  1.577 Hz
19.62 0.634
IK
KN
c) amax
amax   2 A
TE
where   ?
2
LI
tp  ;

PO
2 2
   9.91 rad / s
tp 0.634
 amax  (9.91)2 (0.05)  4.911 m/s 2
d) vmax
vmax  A
vmax  (9.91)(0.05)  0.496 m/s
75
Example 2.13 : Final Examination December 2013
A body is vibrating with Simple Harmonic Motion (SHM) of amplitude 15 cm and frequency 4 Hz.
Calculate :
a) The maximum value of the linear acceleration and the linear velocity of the body
b) The acceleration and velocity of the body when the position is 9 cm from equilibrium
c) The time required by the body to move when it is 12 cm from equilibrium
Given : r = A = 0.15 m; n = 4 Hz
N
a) amax and vmax
O
amax   2 A
KS
where   ?

IC
n
2
  2 n  2 (4)  25.13 rad/s
D
T
 amax  (25.13)2 (0.15)  94.7 m/s 2
R
 vmax  ωA
PO
 vmax  (25.13)(0.15)  3.77 m/s

IK
b) a and v, when x = 0.09 m

KN
a  2 x
a  (25.13) 2 (0.09)  56.83 m / s 2
TE
v  r 2  x2
LI
v  (25.13) 0.152  0.09 2

PO
v  3.02 m / s
76
c) tp when x = 0.12 m
2π
tp 
ω
2π
tp   0.25 sec
25.13
Another equation;
x
t p  2
a
N
Where;
O
a  ω2 x
KS
a  (25.13)2 (0.12)  75.794 m/s 2
IC
0.12
 t p  2π  0.25 sec
75.794
D
T
R
PO
IK
KN
TE
LI
PO
77
A mass of 65 kg is suspended vertically from 2 parallel springs with the same coefficient. Static
deflection caused by the mass is 52 mm. The mass is pulled downward to 65 mm and then released.
Calculate :
a) The spring constant for each spring
b) The initial acceleration of the mass
c) The periodic time of oscillation
d) The maximum force of the spring
e) The velocity when the mass is at 25 mm from its origin
N
Given :
O
m  65kg, δ  0.052 m, A  0.065m
KS
a) spring constant, s
IC
sδ  mg
s
mg (65)(9.81)
δ

0.052 D
T
s  12262.5 N/m  for both spring
R
For each spring;

PO
s'  s1  s 2 but s1  s 2
 s'  2s
s' 12262.5
IK
s   6131.25 N/m

2 2
KN
b) acceleration, a
TE
a  ω2 x
where ω  ?
LI
s
PO
ω
m
12262.5
  13.74 rad/s
65
 a  (13.74 2 )(0.065)  12.27 rad/s 2
78
c) Periodic Time, tp
2π
tp 
ω
2π
tp   0.46 s
13.74
d) Maximum Force, Fmax
Fmax  sδ  sx
Fmax  s(δ  x)
Fmax  12262.5(0.052  0.065)
N
Fmax  1434.71 N/m
O
KS
e) V when x = 0.025 m
IC
v ω r 2  x2
v  13.74 0.065 2  0.025 2
v  0.82 m/s D
T
R
PO
IK
KN
TE
LI
PO
79
Exercise 2.1
A frictionless system has a 2 kg mass that attached to a spring in horizontal axis. The mass was pulled
with a distance 200 mm and then released. If the stiffness of spring is 400 N/m, find the frequency of
the motion.
(n=2.25 Hz)
Exercise 2.2
A brass ball is used to make a simple pendulum and it oscillates with periodic time 5.5 seconds.
Calculate the length of the cable of this simple pendulum.
(L=7.52 m)
N
Exercise 2.3
O
A simple pendulum perform 50 oscillation in 100 second and the amplitude is 40. Find the maximum
KS
linear velocity and the maximum linear acceleration for the pendulum.
(vmax=0.217 m/s, amax=0.681 m/s2)
IC
Exercise 2.4
D
A helical spring, of negligible mass, and which is found to extend 0.25 mm under a mass of 1.5 kg, is
made to support a mass of 60 kg. The spring and the mass system is displaced vertically through
T
12.5 mm and released. Determine
a) The frequency of the system
R
b) The velocity of the mass, when it is 5 mm below its rest position

PO
(n=4.98 Hz, v=0.36 m/s)
Exercise 2.5
IK
A particle moving with simple harmonic motion performs 10 complete oscillations per minute and its
speed when at a distance of 80 mm from the centre of oscillation is 3/5 of the maximum speed.
KN
Calculate,
a) The amplitude
b) The maximum acceleration
TE
c) The velocity of the particle, when it is 60 mm from the centre of the oscillation.
(A=0.1 m, amax=0.11 m/s2, v=0.08 m/s)
LI
Exercise 2.6
PO
A body of mass 1.5 kg moves with SHM was heading to one end of the swing. At a time when it was
in position A, the distance is 760 mm from the center of the swing, velocity and acceleration is 9 m/s
and 110 m/s respectively. Find:
a) The frequency and amplitude of the oscillation
b) The maximum acceleration and inertial forces of the body when it is at the end of the swing
c) The time taken by the body for it to go and back to position A
(n=1.91 Hz, A=1.065 m, amax=154.89 m/s2, Fmax=232.34 N, tp=1.04 s)
80
Exercise 2.7
A particle moves with SHM had a 0.4 s periodic time and from between two points is 1.22 m.
Determine:
a) The frequency and amplitude of the oscillation
b) The velocity and acceleration of the particle when it is 400 mm from the center of the swing
c) Maximum velocity and acceleration of movement
(n=2.5 Hz, A=1.75 m, v=26.76 m/s, a=98.72 m/s, vmax=27.49 m/s, amax=431.91 m/s2)
Exercise 2.8
A mass of 10 kg was suspended from a helical spring and produces 50 mm static deflection. The mass
then was pulled, so that the spring stretched with an additional of 75 mm and then release. The
N
mass-spring system then was vibrated with simple harmonic motion. Calculate :
O
a) The spring stiffness, k
b) The frequency of the vibration
KS
c) The maximum velocity
d) The maximum acceleration
(k=1962 N/m, n = 2.23, vmax = 1.05 m.s, amax = 14.72 m/s2)
IC
Exercise 2.9
D
Amplitude of a simple pendulum is 100 and its periodic time is 2.5 seconds. Calculate :
T
a) The maximum linear velocity of the pendulum
b) The maximum angular velocity of the pendulum
R
c) The maximum linear acceleration of the pendulum

PO
d) The maximum angular acceleration of the pendulum

(vmax = 0.68 m/s, Ωmax = 0.44 rad/s, amax = 1.69 m/s2, αmax = 1.09 rad/s2)
Exercise 2.10
IK
A load is suspended vertically from a spring and the static deflection is 18.3mm. If the weight of the
KN
mass is 30 kg and the amplitude is 13 mm, calculate the following:

a) The number of oscillations in one second
b) The velocity when the spring is displaced 10 mm from the equilibrium position
TE
c) The acceleration when the spring is displaced 10 mm from the equilibrium position
(n=3.685 Hz, v=2.65 m/s, a=5.361 m/s2)
LI
Exercise 2.11
PO
The piston of an engine moves with Simple Harmonic Motion. Its moves with amplitude of 200 mm
and frequency of 5 Hz. Calculate :
a) The maximum linear acceleration and maximum linear velocity of the piston
b) The acceleration and velocity when the pistons at the position of 120 mm from mean position
c) Periodic time of the piston at the position of 150 mm from mean position
(amax=197.393 m/s2, vmax=6.283 m/s, a=118.436 m/s2, v=5.027 m/s, tp=0.199 s)
81
Exercise 2.12
A vertical helical spring having a stiffness of 1540 N/m is clamped at its upper end and carries a mass
of 20 kg attached to the lower end. The mass is displaced vertically through a distance of 120 mm
and released. Find :
a) Frequency of oscillation
b) Maximum velocity reached
c) Maximum acceleration
d) Maximum value of the inertia force on the mass
(1.396 Hz, 1.053 m/s, 9.24 m/s2, 184.8 N)
Exercise 2.13
N
A connecting rod of mass 40 kg is suspended vertically as a compound pendulum. The distance
O
between the bearing centers is 800 mm. The time for 60 oscillation to be 92.5 seconds when the axis
of oscillation coincides with the small end center and 88.4 seconds when it is coincides with the big
KS
end center. Find the distance of the center of gravity from the small end center, and the moment of
inertia of the rod about an axis through the center of gravity.
(0.442 m, 2.6 kg/m2)
IC
Exercise 2.14 (Final Examination JJ311 December 2016)
a) D
A mass is suspended vertically from one spring that has a static deflection of 20.5 mm. The
T
weight of the mass is 2.2 kg and the amplitude is 12 mm.
i) Calculate the time period and frequency
R
ii) Calculate the linear velocity and linear acceleration when it displaced at 10 mm from the
PO
rest position
iii) Calculate the maximum force of the spring
(tp=0.287 s, n=3.48 Hz, v=0.214 m/s, a=4.79 m/s2, Fmax=32.11 N)
IK
b) A simple pendulum was observed to perform 25 oscillation in 65 second and the amplitude
of 40. Calculate the frequency and the length of pendulum.
KN
(n=0.385 Hz, L=1.68m)

TE
A mass is suspended vertically from one spring and a static deflection is 20.5 mm. If the weight of the
mass is 58 kg and the amplitude is 25 mm.
LI
a) Determine the periodic time for the SHM, the number of oscillation can be achieved in one
second
PO
b) Calculate the velocity and acceleration of the spring when it is displaced 20 mm from its
balanced position
c) Calculate the maximum velocity and the maximum acceleration through the spring’s equilibrium
positions
(tp=0.287 s, n=3.48 Hz, v=0.328 m/s, a=9.571 m/s2, vmax=0.547 m/s, amax=11.963 m/s2)
82
Exercise 2.16 (Final Examination JJ311 December 2012)
a) A body moving with SHM has a periodic time of 0.4 s and of mass 14 kg is suspended straightly
from one end of the spring which attached to a rigid support. The body produces a static
deflection of 25 mm. Then, it was pulled down 23 mm and then released. Calculate :
i) The acceleration of the body
ii) Maximum force of the spring
iii) The velocity and acceleration of the body when it in 12 mm from equilibrium position
(a=9.03 m/s2, Fmax=263.7 N, v=0.389 m/s, a=4.709 m/s2)
b) A spring of stiffness 2450 N/m is suspended vertically and two equal masses of 6.5 kg each are
attached to the lower end. One of these masses is suddenly removed and the system oscillates.
Calculate :
N
i) Maximum displacement of the spring
O
ii) The amplitude and frequency of the vibration
iii) The velocity and acceleration of the mass when passing through the half amplitude position
KS
(xmax=0.052 m, A=0.026 m, n=3.086 Hz, v=0.437 m/s, a=4.89m/s2)
IC
A body that is vibrating in Simple Harmonic Motion (SHM) has amplitude of 15 cm and a frequency of
D
4 Hz. Determine the maximum values of the linear velocity and the linear acceleration of the body.
(vmax=3.77 m/s, amax=94.7 m/s2)
T
R
PO
A mass is suspended vertically from one spring has a static deflection of 20 mm. The weight of the
mass is 2.5 kg and the amplitude is 15 mm.
a) Calculate the time period and frequency
b) Calculate the linear velocity and linear acceleration when it is displaced at 12 mm from
IK
equilibrium position
c) Calculate the maximum force of the spring
KN
(tp=0.284 s, n=3.52 Hz, v=0.199 m/s, a=5.886 m/s2, Fmax=42.93 N)

TE
LI
PO
83
VELOCITY AND ACCELERATION DIAGRAM
CHAPTER 3 – VELOCITY AND ACCELERATION DIAGRAM
Introduction
 Velocity and acceleration of points in a mechanism can be obtain from the diagram
 The diagram can give the velocity and acceleration of any point relative to any other point for
one particular position of the mechanism.
 A mechanism is used to produce mechanical transformation in a machine such as
a) Convert one speed to another speed
b) Convert one force to another force
c) Convert one torque to another torque
d) Convert force into torque
N
e) Convert one angular motion to another angular motion
f) Convert angular motion into linear motion
O
g) Convert linear motion into angular motion
 Figure 3.1 show and example of mechanical transformations in a machine is a crank, connecting
KS
rod and piston
IC
D
T
R
PO
Figure 3.1 : Crank and Connecting Rod

IK
If the crank turned, angular motion is converted into linear motion of the piston and input
torque is transformed into force on the piston

KN
If the piston is forced to move, linear motion is converted into rotary motion and the force into
torque
 Velocity and acceleration of the mechanism can be calculated by graphical method or analytical
TE
method
 To find velocity and acceleration of mechanism by graphical method :
a) Draw Space Diagram
LI
b) Draw velocity diagram

c) Draw acceleration diagram
PO
 All diagram must be draw with appropriate scale

 Velocity and acceleration of mechanism is relative from two point and represent by a vector
diagram
 Example of scaling
a) Space diagram
Actual length : 1500 mm

Scale : 1 cm : 50 mm
To draw the length in space diagram (scale)
1 cm
1500 mm   30 cm
50 mm
69
To find the length from space diagram to actual length

50 mm
30 cm   1500 mm
1 cm
b) Velocity diagram
Actual velocity : 15 m/s

Scale : 1 cm : 2 m/s
To draw the length of velocity in the diagram (scale)
1 cm
15 m / s   7.5 cm
2 m/ s
N
To find the velocity from velocity diagram
O
2 m/ s
7.5 cm   15 m / s
KS
1 cm
c) Acceleration diagram
IC
Actual acceleration : 50 m/s2
Scale : 1 cm : 10 m/s2
To draw the length of acceleration in the diagram (scale) D
T
1 cm
50 m / s 2   5 cm
R
10 m / s 2
PO
To find the acceleration from acceleration diagram
10 m / s 2
5 cm   50 m / s 2
1 cm
IK
KN
TE
LI
PO
70
TIP :
Velocity diagrams are drawn perpendicular to the link but for piston it will draw based on direction of
the piston ....whereas acceleration diagrams are drawn by knowing the values 2 components radial
or centripetal component and tangential component.......the radial component moves parallel to the
link and perpendicular to the velocity diagram.....but the tangential component moves perpendicular
to the link and parallel to the velocity diagram.
(Hint : We can calculate acceleration either from space diagram or velocity diagram)
Velocity Diagram
 The construction of velocity diagrams needs to be done accurately and to a suitable scale.
N
 There are two types of velocity :
O
a) Absolute velocity – velocity of a point measured from a fixed point (normally the ground or
anything rigidly attached to the ground and not moving)
KS
b) Relative velocity – velocity of a point measured relative to another that may itself be
moving
 Due to movement of mechanism, the velocity need to be draw is relative velocity (any point
IC
relative to any point)
 Velocity can be measured – Tangential (for links), Radial (for piston)
D
T
Tangential Velocity
R
 Tangential velocity is measured for the velocity that act at the rigid link
PO
 Velocity of a rigid link is the velocity of one point on a link relative to another and must be
perpendicular (900) to the axis of the link
 Consider a link AB pinned at A and revolving about A at angular velocity (ω) as shown in Figure
3.2 below
IK
KN
TE
Figure 3.2 : Link

LI
PO
 Point B moves relative to point A but its velocity always tangential to the link.
 The denoting (VB)A is the velocity of B relative to A
 Vector ab will represent the velocity in the velocity diagram
71
 Figure below shows how the velocity is drawn in the diagram
Vector ab
Point b relative to point a
a
Figure 3.3 : Vector
 To find the velocity of (v)
N
vba   (AB)
O
KS
Tips :
Point b relative to point a arrow draw from point a to point b
IC
 For several of link that connect to each other, we need to draw each velocity for each link.


The velocity diagram must be drawn started at fix point
D
Figure below shows four-bar mechanism and the angular velocity of link AB is given
T
C
P
R
B
PO
A D
IK
Figure 3.4 : 4-bar Chain

KN
 The velocity of D relative to A is zero since AD is fixed and hence A and D are represented by a
single point

TE
The velocity of B relative to A is given by equation (ω.AB) and is perpendicular to link AB

 The velocity of C relative to B is perpendicular to link BC and passes through b
 The velocity of C relative to D is perpendicular to link CD and passes through d
LI
 Thus the intersection of last two vectors gives point c.

 For a point on the mechanism such as P, the corresponding point on velocity diagram is obtain
PO
by proportion :
bp BP

bc BC
 The velocity of P to the fixed points A and D is given by the vector ap

 The angular velocities of BC and CD are given by
vbc vcd
bc  and cd 
BC CD
 Draw the diagram with appropriate scale and then determine the velocity for each link as shown
in figure below.
72
Figure 3.5 : Space Diagram
 All of this velocity will be drawn in velocity diagram with as shown in figure 3.6
N
O
KS
IC
D
T
Figure 3.6 : Velocity Diagram
R
PO
Tip :
 Draw fixed point a and d
 Draw vab perpendicular to link AB
 Draw vbc perpendicular to link BC
 Draw vdc perpendicular to link CD
IK
 Point c identify by intersection of line vbc and line vdc

 Using equation to determine point p
KN
TE
LI
PO
73
Example 3.1
Diagram below shows a 4 bar-chain mechanism with A and D are the fixed points. The crank AB
rotates at a constant speed of 480 rad/s in a clockwise direction. For the diagram shown :
i) draw the space diagram (1 cm : 25 mm)
ii) draw the velocity diagram (1 cm : 5 m/s)
iii) find the velocity for link BC
iv) find the angular velocity for link CD
N
O
KS
IC
Solution Example 1
D
T
i) Space Diagram : 1 cm : 25 mm
R
1cm
160 mm   6.4 cm
PO
25mm
1cm
200 mm   8.0 cm
25mm
1cm
80 mm   3.2 cm
IK
25mm
vbc
KN
vdc
200 550
TE
C 0
5.4cm
LI
vab
0
6.4 cm 30
PO
B
3.2 cm
700 600
D A
8.0 cm
74
ii) Velocity Diagram : 1 cm : 5 m/s
vab  ab  AB
vab  480 0.08
vab  38.4 m / s
Scaling for vab :

1cm
38.4 m / s 
5m / s
vab  7.68 cm  7.7 cm
First assumption
N
0
b 55
O
vab
KS
First assumption
20
0 0
30
vbc
d,a
IC
vdc
c
From Velocity Diagram :
D
T
ab = 7.7 cm
bc = 6.1 cm
R
dc = 3.4 cm
PO
iii) velocity for link BC

IK
vbc  Length bc  scale

5m / s
vbc  6.1 cm 
KN
1cm
vbc  30.5 m / s
TE
iv) angular velocity for link CD

LI
v dc
 dc 
DC
PO
Where :
5m/s
v dc  3.4 cm 
1cm
v dc  17 m/s
17
  dc 
0.16
  dc  106.25 rad/s
75
Radial Velocity
 Radial velocity is measured for the velocity that acts at the piston.
 Consider a piston C that can be move by the action of link AB as shown on figure below.
N
Figure 3.5 : Velocity of Piston
O
 If the link AB rotates about A at the same time then piston C will have radial velocities
 The velocities of piston C are denoted as vc
KS
 Figure below shows how the velocity of piston is drawn in the diagram
vc
IC
c a
D
Figure 3.6 : Vector vor velocity
T
 Velocity for piston always draw / measure from starting point (fixed point)
R
Note :
PO
 Radial velocity and tangential velocity are measured for the velocity that act at the slider
 Consider a slider C that can slide on link AB as shown on figure
IK
KN
B
TE
LI
Figure 3.7 : Slider

PO
Note :
Tangential and radial velocities are denoted the same so that the tags radial and tangential are
added
76
 If the link AB rotates about A at the same time then slider C will have radial and tangential
velocities
 The velocities of slider C are denoted as (Vc)A Tangential and (Vc)A Radial
 Figure below shows how the velocity of slider C is drawn in the diagram
c1 radial velocity c2
tangential
velocity velocity of slider
C relative to A
N
a
O
KS
 Tangential velocity is represent by vector ac1 and radial velocity is represent by vector c1c2
 The velocity of slider C relative to A is represent by vector ac2
IC
Crank, Connecting Rod and Piston : (combination velocity of link, crank and piston)

D
Consider diagram below that consists of crank, connecting rod and piston A
T
A
R

PO
C
B O
IK
Figure 3.8 : Crank, Connecting Rod and Piston

KN
 From figure velocity of crank OA, velocity of connecting rod AB and velocity of piston C can be
draw
 Space diagram can be draw to find the related velocity (crank OA, connecting rod AB and piston
TE
C).
vab A
LI

PO
voa
vc C
B O
Figure 3.9 : Space Diagram
77
 Step to draw the velocity diagram :

a) Draw from fix point (in this case, point O).
b) Draw the velocity for crank which is (VA)O. Since ω is given, calculate the value of velocity
(VA)O by using equation (ω.OA). Then convert the velocity to cm with appropriate scale
c) Draw the velocity of connecting rod (VB)A. Value of (VB)A cannot be calculate by equation
because ω is not given. Just draw the velocity from point a
d) Draw the velocity for piston (vc) from point O because velocity of piston is relative to point O.
Value of (vc) cannot be calculate by equation because ω is not given. Just draw the velocity
from point O.
e) Then find the velocity (VB)A and velocity (vc) from intersection at one point (Point b)
N
b vc
O
O
KS
vab
voa
IC
a
Figure 3.10 : Velocity DiagramD

T
R
PO
IK
KN
TE
LI
PO
78
Example 3.2
The mechanism shown has a crank 50 mm radius which rotates at 2000 rev/min. Determine the
velocity of the piston for the position shown. Also determine the angular velocity of link AB about A.
Scale :
Space diagram : 1 cm : 10 mm
Velocity diagram : 1 cm : 1 m/s
N
O
KS
Solution Example 2
IC
Space Diagram : 1 cm : 10 mm
OA  50 mm 
1cm
10mm
 5.0 cm D
T
1cm
AB  90 mm   9.0 cm
R
10mm
PO
vab
A
600 
IK
0
106
vb 300
KN
B voa O
TE
Velocity Diagram : 1 cm : 1 m/s
2N
LI

60
PO
2 (2000)
  209.44 rad / s
60
v oa   oa  OA
v oa  209.44  0.05
v oa  10.472 m / s
79
ob = 7.9 cm
ab = 9.5 cm
oa = 10.5 cm
Velocity piston B
vb  Length ob  scale
N
1m / s
vb  7.9 cm 
O
1cm
vb  7.9 m / s
KS
Angular velocity link AB
IC
vab 1m / s
ab  Where : vab  9.5 cm 
AB
vab  9.5 m / s
1cm
D
T
9.5
ab 
R
0.09
ab  105.56 rad / s
PO
IK
KN
TE
LI
PO
80
Example 3.3
In the mechanism, as shown above, the crank OA rotates at 20 r.p.m. anticlockwise and gives motion
to the sliding blocks B and D. The dimensions of the various links are OA = 300 mm; AB = 1200 mm;
BC = 450 mm and CD = 450 mm. For the given configuration:
a) Space diagram with scale 1 cm : 100 mm

b) Velocity diagram with scale 1 cm : 0.1 m/s
N
O
KS
IC
Solution Example 3
D
T
R

PO
1cm 1cm
OA  300 mm   3.0 cm 1050mm  10.5 cm
100mm 100mm
1cm
AB  1200 mm   12.0 cm
IK
100mm
1cm
BC  CD  450 mm   4.5 cm
KN
100mm
TE
LI
PO
81
Velocity Diagram : 1 cm : 0.1 m/s
2N

60
2 (20)
  2.09 rad/s
60
voa  ωoa  OA
voa  2.09 0.3
voa  0.63m/s
N
Scaling for voa :
O
1cm
0.63m /s 
KS
0.1m /s
voa  6.3 cm
IC
ob = 3.8 cm
ba = 5.5 cm
oa = 6.3 cm D
T
od = 2.6 cm
R
cd = 3.6 cm
PO
bc BC

IK
ba BA
BC
bc   ba
KN
BA
450mm
bc   5.5cm
1200mm
TE
bc  2.06cm  2.1cm
LI
Velocity link AB
v ab  Length ab  scale
PO
0.1m/s
v ab  5.5 cm 
1cm
v ab  0.55 m/s
82

vcd 0.1m/s
ωcd  Where : vcd  3.6 cm 
CD 1cm
vcd  0.36 m/s
0.36
ωcd 
0.45
ωcd  0.8 rad/s
Velocity of piston D
N
v d  Length od  scale
O
0.1m/s
v d  2.6 cm 
1cm
KS
v d  0.26 m/s
IC
D
T
R
PO
IK
KN
TE
LI
PO
83
Example 3.4
The crank OA revolves clockwise at 300 rev/min as shown in diagram below. Find the velocity of
piston B and angular velocity of link AB.
Given : Space diagram with scale 1cm : 20mm
Velocity diagram with scale 1cm : 0.3m/s
N
O
Solution Example 4
KS
IC
1cm
OA  50 mm   2.5 cm
20mm
AB  200mm 
1cm
20mm
 10 cm D
T
R
PO
IK
KN
TE
2N

LI
60
2 (300)
PO
  31.42 rad / s
60
voa  oa  OA
voa  31.42 0.05
voa 1.571m / s
84
Scaling for voa :

1cm
voa  1.571m / s 
0.3m / s
voa  5.24 cm  5.2 cm

ob = 3.7 cm
oa = 5.2 cm
ab = 3.7 cm
N
O
KS
Velocity piston B
IC
0.3m / s
vb  3.7 cm 
vb  1.11m / s
1cm
D
T
R

PO
vab 0.3m / s
AB 1cm
vab  1.11 m / s
IK
1.11
ab 
KN
0.2
ab  5.55 rad / s
TE
LI
PO
85
Example 3.5
The crank OA rotates at 200 rev/min clockwise at as shown in diagram below. Find the velocity of
piston Band angular velocity of link AB.
Given : Space diagram with scale 1cm:20mm
Velocity diagram with scale 1cm:0.1m/s
N
O
KS
IC
Solution Example 5
Space Diagram : 1 cm : 20 mm D
T
1cm
R
OA  40 mm   2 cm
20mm
PO
1cm
AB  140mm   7 cm
20mm
IK
KN
TE
LI
PO

2N

60
2 (200)
  20.94 rad / s
60
86
voa  20.94 0.04
voa  0.838m / s
Scaling for voa :

1cm
voa  0.838m / s 
0.1m / s
voa  8.38cm  8.4 cm
N
O
ob = 4.9 cm
oa = 8.4 cm
KS
ab = 9.7 cm
IC
D
T
Velocity piston B
R
PO
0.1m / s
vb  4.9 cm 
1cm
vb  0.49 m / s
IK

KN
vab 0.1m / s
AB 1cm
vab  0.97 m / s
TE
0.97
ab 
0.14
ab  6.93rad / s
LI
PO
87
Example 3.6
Figure below shows a link mechanism with crank OA rotating clockwise at a constant speed of 500
rpm. Slider B is connected to OA by link AB and it is sliding reciprocally along horizontal OX. Angle
BOA is 1350. Piston D can only slide reciprocally along EF. Given that OA = 80 mm, AB = 210 mm, AC =
100 mm, and OF = 40 mm. For this configuration,
i) Draw the space diagram by using a scale of 1 cm : 20 mm
ii) draw the velocity diagram by using a scale of 1 cm : 0.5 m/s
iii) determine the sliding velocity of piston B along OX
iv) determine the velocity of piston D
v) find the angular velocity of CD
vi) determine the direction of rotation of CD and state the reason
N
80 mm
O
KS
IC
90 mm
D
T
R
PO
Solution Example 6
IK
i) Space Diagram : 1 cm : 20 mm
KN
1cm 1cm
OA  80 mm   4 cm OF  40mm   2 cm
20mm 20mm
1cm 1cm
AB  210mm   10.5 cm 90mm   4.5 cm
TE
20mm 20mm
1cm
AC  100mm   5 cm
LI
20mm
PO
88
ii) Velocity Diagram : 1 cm : 0.5 m/s
2N
oa 
60
2 (500)
oa   52.36 rad / s
60
voa  52.36 0.08
voa  4.2 m / s
Scaling for voa :
N
1cm
4.2 m /s 
O
0.5m /s
voa  8.4 cm
KS
ac AC

IC
ab AB
AC
ac   ab
ac 
AB
100mm
 6.2cm
D
T
210mm
R
ac  3cm
PO

ob = 4.1 cm
IK
oa = 8.4 cm
od = 5.5 cm
KN
ab = 6.2 cm
cd = 3.5 cm
TE
LI
iii) Velocity of slider B (as piston)

PO
0.5m / s
vb  4.1 cm 
1cm
vb  2.05 m / s
89
iv) Velocity of piston D
vd  Length od  scale
0.5m / s
vd  5.5 cm 
1cm
vd  2.75 m / s
v) Angular velocity link CD

vcd
cd 
CD
0.5m / s
N
Where : vcd  3.5 cm 
1cm
O
vcd  1.75 m / s
KS
20mm
Length of CD  3.6cm   72mm  0.072m
1cm
IC
1.75
 cd 
0.072
cd  24.31rad / s
D
T
vi) Direction of rotation of link CD is CCW because the velocity of link CD going to the right
R
PO
IK
KN
TE
LI
PO
90
Acceleration Diagram
 It is important to determine the acceleration of links because acceleration produces inertia force
in the link which stress the component parts of the mechanism.
 Accelerations may be relative or absolute (same way as described for velocity)
 Acceleration of one point on a link relative to another has two components :
a) Radial component due to the angular velocity of the link. Centripetal acceleration is an
example of radial component
b) Tangential component due to the angular acceleration of the link
Acceleration of links – Radial/Centripetal Acceleration
N
 When a link rotate about a center at radius r, it has a tangential velocity, v and angular
O
velocity, ω and it is continually accelerating towards the center of the link (radial/centripetal
acceleration).
KS
 Diagram below shown a link that rotate about point A.
IC
D
T
R
PO
IK
Figure 3.11 : Radial Acceleration

KN
 The velocity of B relative to A is tangential (VB)A (rotate ccw)

 It shows that the direction of centripetal acceleration of link AB is towards point A
TE
 So that the radial/centripetal acceleration is of link AB is B relative to A

 It is calculated using equation
LI
2
v ab
(aR ) ab  ab ( AB) (aR ) ab 
2
or
AB
PO
 The construction of vector for radial/centripetal acceleration is from a to b1.
91
Acceleration of links - Tangential Acceleration
 Tangential acceleration only occurs if the link has an angular acceleration, α rad /s
 Consider a link AB with an angular acceleration about A
N
O
KS
Figure 3.12 : Tangential Acceleration
IC
 It shows that tangential acceleration of link AB is perpendicular to the link and act at point B
 It is calculated using equation
D
T
(aT ) ab   ab ( AB)
R
 From previous diagram point B have both radial/centripetal acceleration and tangential
PO
acceleration relative to point A

 The construction of vector for tangential acceleration is from b1 to b
 This will require an extra point. Use b1 and b as notation to construct the vector diagram
 Diagram below shows that point B will have both centripetal acceleration and tangential
IK
acceleration
KN
TE
LI
PO
Figure 3.13 : Radial and Tangential Acceleration
 Draw this both acceleration from point A (because B relative to A)

 Firstly, draw the centripetal acceleration and the represented vector is ab1
 Then at the point b1, draw the tangential acceleration perpendicular to vector ab1 and the
represented vector is b1b
92
 The resultant acceleration of B relative to A being given by vector ab
N
 For several of link that connected to each other, draw each acceleration for each link.
O
 The acceleration diagram must be started at fix point
 Figure below shows four-bar mechanism and the angular velocity and angular acceleration of
KS
link AB is given
IC
D
T
R
PO
 Draw the diagram with appropriate scale and then determine the acceleration for each link.
IK
KN
TE
LI
PO
 A and D are represented by a single point, since there is no relative motion between
them (same like in velocity diagram).
 The centripetal and tangential acceleration of B relative to A are given by vector ab1 and b1b
respectively.
 The centripetal and tangential acceleration of C relative to B are given by vector bc1 and c1c
respectively.
 The centripetal and tangential acceleration of C relative to D are given by vector dc2 and c2c
respectively.
93
 Steps to draw the acceleration diagrams :
a) Start drawing from fix point (in this case, a and d).
b) Firstly draw the acceleration of link AB because ω and α had been given. So that the equation
can be used to find the centripetal and tangential acceleration. Draw the centripetal
acceleration, ab1 and then draw the tangential acceleration, b1b
c) Draw the acceleration of link BC. The centripetal acceleration, bc1 can be calculate by
equation
d) Draw the acceleration of link BC. The centripetal acceleration, bc1 can be calculate by
equation,
2
vbc
BC
N
and is directed towards B. The value of vcb is obtained from the velocity diagram. Meanwhile
O
the tangential acceleration, c1c is unknown in magnitude but its direction is perpendicular to
bc1
KS
e) Draw the acceleration of link CD. The centripetal acceleration, dc1 can be calculate by
equation,
IC
2
vcd
CD
D
and is directed towards D. The value of vcd is obtained from the velocity diagram. Meanwhile
the tangential acceleration, c2c is unknown in magnitude but its direction is perpendicular to
T
dc2
R
f) The intersection of the lines through c1 and c2 then give the point c
PO
 Figure below show the acceleration diagram of 4-bar chain

IK
KN
TE
LI
PO
Figure : Acceleration Diagram 4-bar Chain
94
Example 3.7
A piston, connecting rod and crank mechanism is shown in the diagram. The crank rotates at a
constant velocity of 300 rad/s. Calculate :
a) The acceleration of the piston
b) The angular acceleration of link BC.
Scale :
Acceleration Diagram 1 cm : 500 m/s2
N
O
KS
IC
Solution Example 7
Space Diagram : 1 cm : 20 mm D
T
R
1cm
AB  50 mm   2.5 cm
20mm
PO
1cm
BC  170mm   8.5 cm
20mm
IK
KN
TE
LI
PO
95
vab  ab  AB
vab  300 0.05
vab 15 m / s
Scaling for v ab :
1cm
v ab  15 m /s 
2m /s
v ab  7.5 cm
N
O
ac = 7.6 cm
ab = 7.5 cm
KS
cb = 3.9 cm
IC
vbc  3.9 cm 
2m / s D
T
1cm
vbc  7.8 m / s
R
PO
v c  Length ac  scale
2m/s
v c  7.6 cm 
1cm
IK
v c  15.2 m/s
KN
TE
LI
PO
96
2
v ab
(aR )ab 
AB
15 2
(aR )ab   4500 m/s2
0.05
2
vbc
(aR )bc 
BC
7.8 2
(aR )bc   357.9 m/s2
0.17
N
Acceleration Diagram : 1 cm : 500 m/s2
O
Scaling for (a R )ab :
KS
1cm
(a R )ab  4500 m/s2 
500m/s2
IC
(a R )ab  9 cm
Scaling for (a R )bc : D

T
1cm
(a R )bc  357.9m/s2 
500m/s2
R
(a R )bc  0.7 cm
PO
From Acceleration Diagram :

IK
ac = 3.1 cm
ab = 9.0 cm
KN
cc’ = 8.0 cm
bc’= 0.7 cm
TE
LI
PO
Acceleration of piston, a c
a c  Length of ac  scale
1500m/s2
a c  3.1cm 
1cm
a c  1550 m/s 2
97
Angular Acceleration of link BC, α bc
(aT )bc  α bc  BC Where :

α bc 
(aT )bc (aT )bc  Length of c' c  scale
BC 500m/s2
(aT )bc  8cm 
1cm
(aT )bc  4000 m/s2
4000
 α bc 
N
0.17
 α bc  23529.41rad/s 2
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
98
Example 3.8
Figure below shows a link mechanism with crank AB rotating clockwise at a constant speed of 600
rpm. Piston C is connected to AB by link BC and it is sliding reciprocally along vertical AY. Angle BAC is
1550. Given that AB = 80 mm, BC = 210 mm. For this configuration,
a) Draw the space diagram using a scale 1 cm : 20 mm
b) Draw the velocity diagram using a scale of 1 cm : 0.5 m/s
c) Draw the acceleration diagram using a scale 1 cm : 50 m/s2
d) Determine the sliding acceleration of piston along AY
e) Find the angular acceleration of BC
f) Determine the direction of rotating of BC
N
O
KS
IC
D
T
R
PO
Solution Example 8
a) Space Diagram : 1 cm : 20 mm
IK
1cm
AB  80 mm   4 cm
20mm
KN
1cm
BC  210 mm   10.5cm
20mm
TE
LI
PO
99
b) Velocity Diagram : 1 cm : 0.5 m/s
vab   ab  AB
2 (600)
vab   0.08
60
vab  5.03 m / s
Scaling for v ab :
1cm
v ab  5.03m /s 
0.5m /s
v ab  10.06 cm  10.1cm
N
O
KS
ac = 2.8 cm
ab = 10.1 cm
cb = 9.2 cm
IC
D
T
0.5m/s
R
vbc  9.2 cm 
1cm
PO
vbc  4.6 m/s
v c  Length ac  scale
IK
0.5m/s
v c  2.8 cm 
1cm
KN
v c  1.4 m/s
TE
LI
PO
100
2
v ab
(a R )ab 
AB
5.032
(a R )ab   316.26 m/s2
0.08
2
v
(a R )bc  bc
BC
4.6 2
(a R )bc   100.76 m/s2
0.21
N
O
KS
IC
D
T
R
PO
IK
KN
c) Acceleration Diagram : 1 cm : 50 m/s2

TE
1cm
(a R )ab  316.26m/s2 
50m/s2
LI
(a R )ab  6.3 cm
PO
Scaling for (a R ) bc :
1cm
(a R ) bc  100.76 m/s 2 
50m/s 2
(a R ) bc  2 cm
101

ac = 4.1 cm
ab = 6.3 cm
cc’ = 2.4 cm
bc’= 2.0 cm
N
O
KS
d) Acceleration of piston along AY
IC
a c  Length of ac  scale
a c  4.1cm 
50m/s2
1cm
D
T
a c  205 m/s2
R
PO
e) Find the angular acceleration of BC
(aT )bc  α bc  BC Where :

IK
(aT )bc (aT )bc  Length of c' c  scale

α bc 
50m/s2
KN
BC
(aT )bc  2.4cm
1cm
(aT )bc  120 m/s2
TE
120
 α bc 
0.21
 α bc  571.43rad/s 2
LI
PO
f) From velocity diagram; vbc is toward the right. Hence link BC rotating clockwise
102
Example 3.9 : Final Examination Session Jun 2013
A piston, connecting rod and crank mechanism is shown in Figure Q3 below. The crank OB with a
radius of 60 mm rotates clockwise at a constant velocity of 50 rad/s.
N
a) Draw a space diagram with a scale of 1 cm : 20 mm
O
b) Draw a velocity diagram with a scale of 1 cm : 0.5 m/s
c) Draw an acceleration diagram with a scale of 1 cm : 15 m/s2
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d) Determine the velocity and the acceleration of the piston
IC
Solution Example 9
D
T
1cm
OB  60 mm   3 cm
20mm
R
1cm
BP  200 mm   10 cm
PO
20mm
IK
KN
TE
LI
PO
103
v ob  ωob  OB
v ob  50  0.06
v ob  3 m/s
Scaling for v ob :
1cm
v ob  3 m /s 
0.5m /s
v ob  6 cm
N
O
ob = 6.0 cm
op = 3.9 cm
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bp = 5.4 cm
IC
D
T
vbp  Length bp  scale
R
0.5m/s
PO
vbp  5.4 cm 
1cm
vbp  2.7 m/s
IK
KN
TE
LI
PO
104
2
vob
(a R ) ob 
OB
32
(a R ) ab   150 m/s 2
0.06
2
vbp
(a R ) bp 
BP
2.7 2
(a R ) bc   36.45 m/s 2
N
0.2
O
KS
IC
D
T
R
PO
Scaling for (a R ) ob :
IK
1cm
(a R ) ob  150m/s 2 
15m/s 2
KN
(a R ) ob 10 cm
TE
Scaling for (a R ) bp :
1cm
(a R ) bp  36.45 m/s 2 
LI
15m/s 2
(a R ) bp  2.4 cm
PO
105

ob = 10.0 cm
op = 10.4 cm
pp’ = 4.7 cm
bp’= 2.4 cm
N
d) Acceleration of the piston
O
a p  Length of op  scale
KS
15m/s2
a p  10.4 cm 
1cm
IC
a p  156 m/s2
Velocity of piston D
T
v p  Length op  scale
R
0.5m/s
PO
v p  3.9 cm 
1cm
v p  1.95 m/s
IK
KN
TE
LI
PO
106
Example 3.10
The dimensions of the various links of a mechanism, as shown in figure below, are as follows :
OA = 80 mm; AC = CB = CD = 120 mm. If the crank OA rotates with constant speed at 150 rpm in the
anti-clockwise direction and link CD perpendicular with link AB, find for the given configuration :
a) draw the space diagram by using a scale of 1cm : 20 mm
b) draw the velocity diagram by using a scale of 1 cm : 0.2 m/s
c) draw the accelerating diagram by using a scale of 1 cm : 3 m/s2
d) velocity and acceleration of piston B and piston D
e) angular acceleration of the links AB and CD
N
O
KS
IC
D
T
R
1cm
OA  80 mm   4 cm
PO
20mm
1cm
AC  CB  CD  120mm   6 cm
20mm
IK
KN
TE
LI
PO
107

v oa   oa  OA
2 (150)
v oa   0.08
60
v oa  1.26 m/s
Scaling for voa :

1cm
voa  1.26 m/s 
0.2m/s
voa  6.3 cm
N
O
ac AC

ab AB
KS
AC
ac   ab
AB
IC
120mm
ac   5.8cm
240mm
ac  2.9cm
D
T
R
oa = 6.3 cm
ob = 5.1 cm
PO
od = 1.2 cm
ab = 5.8 cm
cd = 4.4 cm
IK
KN
v ab  Length ab  scale
TE
0.2m/s
v ab  5.8 cm 
1cm
LI
v ab  1.16 m/s
PO
v cd  Length cd  scale
0.2m/s
v cd  4.4 cm 
1cm
v cd  0.88 m/s
108
2
voa
(a R ) oa 
OA
1.262
(a R ) oa   19.85 m/s 2
0.08
2
vab
(a R ) ab 
AB
1.162
(a R ) ab   5.61 m/s 2
0.24
N
2
vcd
O
(a R ) cd 
CD
KS
0.882
(a R ) cd   6.45 m/s 2
0.12
IC
D
T
R
PO
IK

KN
Scaling for (a R )oa :

1cm
(a R )oa  19.85m/s2 
TE
3m/s2
(a R )oa  6.6 cm
LI

1cm
PO
(a R )ab  5.61m /s2 

3m /s2
(a R )ab  1.87 cm  1.9 cm
Scaling for (a R )cd :

1cm
(a R )cd  6.45 m /s2 
3m /s2
(a R )cd  2.15 cm  2.2 cm
109
ac AC

ab AB
AC
ac   ab
AB
120mm
ac   3.4cm
240mm
ac  1.7cm

ob = 6.5 cm
od = 6.0 cm
N
oa = 6.6 cm
ab’ = 1.9 cm
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cd’= 2.2 cm
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bb’= 2.9 cm
dd’= 7.2 cm
IC
D
T
d) Velocity and acceleration of piston B and D
R
vb  Length ob  scale Acceleration of piston, a b

PO
0.2m/s a b  Length of ob  scale

vb  5.1 cm 
1cm 3m/s2
vb  1.02 m/s a b  6.5 cm 
1cm
a b  19.5 m/s2
IK
KN
v d  Length od  scale Acceleration of piston, a d

0.2m/s a d  Length of od  scale
v d  1.2 cm 
TE
1cm 3m/s2
a d  6 cm 
v d  0.24 m/s 1cm
a d  18 m/s2
LI
PO
e) Angular acceleration of link AB and CD
Angular acceleration of link AB, α ab Where :

(aT )ab  α ab  AB (aT )ab  Length of b' b  scale
(aT )ab 3m/s2
 α ab  (aT )ab  2.9cm
AB 1cm
(aT )ab  8.7 m/s2
8.7
 α ab 
0.24
 α ab  36.25 rad/s 2
110
Angular acceleration of link CD, α cd

(aT )cd  α cd  CD
(aT )cd
 α cd 
CD
Where :
(aT )cd  Length of d' d  scale
3m/s 2
(aT )cd  7.2cm 
N
1cm
(aT )cd  21.6 m/s 2
O
KS
21.6
 α cd 
0.12
 α cd  180 rad/s 2
IC
D
T
R
PO
IK
KN
TE
LI
PO
111
Exercise 3.1
An engine mechanism is shown in Figure below. The crank OA = 100 mm and the connecting rod
AB = 300 mm. In the position shown, the crankshaft has a constant angular velocity of 75 rad/s.
a) Draw a space diagram with scale 1 cm : 40 mm
b) Draw a velocity diagram with scale 1 cm : 1 m/s
c) Find the velocity of piston B and angular velocity of AB
d) Draw an acceleration diagram with scale 1 cm : 50 m/s2
e) Find the acceleration of piston B
ω = 75 rad/s
N
300 mm
0
ω
O
120 100 mm
B
KS
O
(vpiston = 5.2 m/s, ωab = 13.33 rad/s, apiston = 385 m/s2)
IC
Exercise 3.2
D
Figure below shows a mechanism that have crank AB that rotates uniformly at 180 rpm and gives
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motion to piston D. Piston D slide reciprocally along XX axis . Given that AB = 0.45 m, BD = 1.5 m.
R
a) Draw the space diagram with scale 1 cm : 0.2 m
b) Draw the velocity diagram with scale 1 cm : 1 m/s
PO
c) Find the velocity of the piston D

d) Angular velocity of BD
IK
KN
TE
(vpiston D=9.4 m/s, ωbd=1.73 rad/s)

LI
PO
112
Exercise 3.3
Figure below shows a mechanism that have crank AB that rotates uniformly at 180 rpm and gives
motion to piston D and E. Piston D slide reciprocally along XX axis meanwhile piston E slide
reciprocally along vertical YY. Given that AB = 0.45 m, BD = 1.5 m, BC = CE = 0.9 m.
a) Draw the space diagram with scale 1 cm : 0.2 m
b) Draw the velocity diagram with scale 1 cm : 1 m/s
c) Find the velocity of the piston D and E
d) Angular velocity of BD
e) Angular velocity of CE
N
O
KS
X Y
IC
Y
D
(vpiston D=9.4 m/s, vpiston E=1.6 m/s, ωbd=1.73 rad/s, ωce=9.11 rad/s)
T
R
Exercise 3.4
PO
One mechanism as shown in figure below has a link OA that rotate with constant velocity,
  8 rad/s and gives motion to piston B. Piston B slide reciprocally along horizontal axis. Length
OA = 60 mm and AB = 200 mm. Determine,
IK
a) The space diagram with scale 1 cm : 20 mm

b) The velocity diagram with scale 1 cm : 0.1 m/s
KN
c) The acceleration diagram with scale 1 cm : 0.5 m/s2

d) The velocity of piston B
e) The angular velocity of link AB
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f) The acceleration of piston B

LI
PO
(vpiston B=0.36 m/s, ωab=3 rad/s, apiston B=1.5 rad/s2)
113
Exercise 3.5
Figure below shows the piston C is moving to the right with a velocity of 1 m/s and an acceleration of
2.5 m/s2. The dimensions of various links are AB = 3 m inclined at 450 with the vertical and BC = 1.5 m
inclined at 450 with the horizontal. Determine
a) The velocity of point B
b) The angular acceleration of the links AB and BC
Scale :
Space Diagram 1 cm : 0.5 m
Velocity Diagram 1 cm : 0.1 m/s
Acceleration Diagram 1 cm : 0.2 m/s2
N
O
KS
IC
D
T
R
PO
(vcb=0.7 m/s, αab=0.47 rad/s2, αbc=1.36 rad/s2)
Exercise 3.6
IK
A toggle mechanism in which piston D is constained to move in horizontal direction. Rank OA rotates
at 60 rpm in anticlockwise direction. For the given configuration, calculate
KN
a) Velocity of piston D
b) Angular velocity of link AB, BC and BD
TE
LI
PO
(vpiston=0.9 m/s, ωab=0.0016 rad/s ccw, ωbc=0.0075 rad/s ccw, ωbd=0.0044 rad/s ccw)
114
OA in a Slider Crank Chain rotates at contant speed of 300 rpm with counterclockwise direction as
shown in figure below. Link OA = 20 cm and link AB = 80 cm. By using given data,
a) Draw the space diagram (scale 1cm=10cm)
b) Draw the velocity diagram (scale 1cm=1m/s
c) Draw the acceleration diagram (scale 1cm=20m/s2)
d) Calculate the acceleration of piston B
A
0
B
100
N
O
O
(apiston B=91 m/s2)
KS
IC
A horizontal single cylinder reciprocating engine has a crank, OC with a radius of 40 mm and a
D
connecting rod, PC 140 mm as shown in figure below. The crank rotates 3000 rev/min clockwise.
Calculate the velocity and acceleration of piston for given configuration.
T
C
R
140 mm 40 mm
PO
0
P 45
O
IK
(vpiston P=11 m/s, apiston P=2839 m/s2)

KN
The crank OA rotates clockwise with angular velocity ω = 10 rad/s and angular acceleration, α = 30
TE
rad/s2 as shown in figure below. Calculate the velocity and acceleration of piston B.
A
LI
0
90 0
PO
ω 45
O α
(vpiston B=13.05 m/s, apiston B=2.3 m/s2)
115
FRICTION
Introduction
 Surface of the bodies are never perfectly smooth

 It is found to have roughness and irregularities when viewed under microscope
 If a block be placed over a surface, a certain degree of interlocking of the minutely projecting
particles take place
 Does not involve any force, as long as the block does not move or tend to move
 Whenever the block moves or tends to move, the interlocking property of the projecting
particles opposes the motion
 This opposing force, which acts in the opposite direction of the movement of the block is called
N
the friction force

O
At every joint in a machine, force of friction arises due to the relative motion between two parts
and hence some energy is wasted in overcoming the friction
KS
 Though the friction considered undesirable, actually it is plays as important role both in nature
and in engineering. For instant, walking on a road, motion of locomotive on rails, transmission of
power by belts, gears etc.
IC
Types of Friction
D
T
 Two types of friction
 Static Friction - experienced by a body when at rest
R
 Dynamic Friction / Kinetic Friction - experienced by a body when in motion. It is less than the
PO
static friction.
 Three types of dynamic friction
a) Sliding friction – the friction experienced by a body when it is slides over another body
b) Rolling friction – the friction experienced between the surfaces which has balls or rollers
IK
interposed between them

c) Pivot friction – the friction experienced by a body due to the motion of rotation as in case in
KN
foot step bearings

 Friction also classified as friction between unlubricated surfaces and friction between lubricated
surfaces
TE
Friction between unlubricated surfaces

LI
 Friction between unlubricated surface is the friction that between two dry and unlubricated
PO
surfaces in contact.
 Also known as dry or solid friction
 It is due to the surface roughness
 Includes the sliding friction and rolling friction
 When lubricant (i.e. oil or grease) is applied between two surfaces in contact
 Classified into two types depending upon the thickness of layer of a lubricant
 Boundary friction – it is the friction experienced between the rubbing surfaces, when the
surfaces have very thin layer of the lubricant
 Fluid friction – it is the friction experienced between the rubbing surfaces, when the surfaces
have a thick layer of the lubricant
116
FRICTION
Limiting Friction
• Consider a body A of weight W is lying on a rough surface, B as shown in figure below
N
O
Figure 4.1 : Limiting Friction
KS
 In this position, the body is in equilibrium under the action of its own weight, W and the normal
reaction, RN. At this situation
IC
W  RN

D
Small horizontal force P1 (diagram b) is applied to the body. But the body does not move
because of frictional force which prevents the motion. This shows that the applied force, P1 is
T
exactly balanced by the friction force, F1 acting opposite direction

R
In figure C, applied force was increased to P2 but the body still in equilibrium position. This
means the friction force has also increased to F2. Where P2 = F2
PO
 Thus every time the applied force is increased, friction force also increases, become exactly
equal to the applied force.
 However, friction force have a limitation in which the friction force cannot increase
 After this, any increase in the applied force will not lead to any further increase in friction force.
IK
Thus, the body A begins to move in the direction of the applied force.
 The maximum friction force in static condition is known as limiting force of friction.
KN
 So that when the applied force is less than the limiting friction, the body remain at rest and the
is called static friction
TE
Laws of Static Friction

LI
 Force of friction always acts in the direction, opposite to that in which the body tends to move
PO
 The magnitude of the force of friction is exactly equal to the applied force
 The magnitude of the limiting friction, Fr bears / support a constant ratio to the normal reaction,
RN;
Fr  RN
Fr
 constants
RN
 Friction force is independent of the area of contact between the two surfaces
 Friction force depend upon the roughness of the surfaces
117
FRICTION
Laws of Dynamic Friction or Kinetic Friction
 Friction force act opposite of direction of the body movement

 The magnitude of the kinetic friction, Fr bears a constant ratio to the normal reaction, RN. But
the ratio is slightly less than in case of limiting friction
 For moderate speeds, the friction force remains constant. But it decrease slightly with the
increase of speed
Laws of Solid Friction
 The force of friction is directly proportional to the normal load between the surfaces;
N
Fr  RN
O
 The force of friction is independent of the area of the contact surface for a given normal load

KS
The force of friction depends upon the material of which the contact surfaces are made
 The force of friction is independent of the velocity of sliding of one body relative to the other
body
IC
Laws of Fluid Friction
 The force of friction is almost independent of the load

D
T
 The force of friction reduces with the increase of the temperature of the lubricant
R
 The force of friction is independent of the substances of the bearing surfaces


PO
The force of friction is different for different lubricants
Coefficient of Friction
IK
 Coefficient of friction defined as the ratio of the limiting friction, Fr to the normal reaction, RN
KN
between the two bodies

 It is denoted by µ
Fr
 therefore : Fr  R N
TE
RN
LI
Where :
PO
  coefficien t of friction
Fr  friction force
R N  normal reaction
118
FRICTION
 An example for coefficient of friction for certain material
μ (Dry Condition)
Contact Surface
Static Dynamic
Aluminium on Mild Steel 0.61 0.47
Aluminium on Aluminimum 1.05 - 1.35 1.40
Mild Steel on Brass 0.51 0.44
Mild Steel on Mild Steel 0.74 0.57
Copper on Cast Iron 1.05 0.29
Copper on Mild Steel 0.53 0.36
N
Glass on Glass 0.9 - 1.0 0.40
Glass on Nickel 0.78 0.56
O
Table 4.1 : Coefficient of Friction of Surfaces
KS
Angle of Friction
IC
 Laws of solid friction stated that friction force is directly proportional to the normal load
between the surfaces
D
T
R
PO
IK
Figure 4.2 : Friction Force and Normal Force

Where :
KN
T = Resultant of RN and F
RN = Normal Reaction
TE
Fr = Friction force
 = Angle of friction
µ = Coefficient of friction
LI
 From Figure 4.2 :

PO
T 2  R N  Fr
2 2
Fr
tan  but we know that : Fr  R N
RN
Therefore :
μR N
tan  
RN
tan   μ
119
FRICTION
Example 4.1
Find µ from diagram below.
N
FBD
O
KS
IC
D
T
R
W  mg
PO
W  (50)(9.81)  490.5 N
ΣF y  0 ΣFx  0
IK
RN  W  0 P  Fr  0
RN  W P  Fr
KN
R N  490.5N P  200N
TE
Fr  μR N
Fr
μ
LI
RN
PO
200
μ
490.5
μ  0.41
120
FRICTION
Example 4.2
A force P with an angle 300 from the horizontal plane pull a body with a mass of 10 kg. This action
causes the body moving steadily on a horizontal plane. Coefficient of friction between the mass and
surface is 0.2. Calculate the frictional force acting on the surface.
N
O
FBD
KS
IC
D
T
R
W  mg
PO
W  (10)(9.81)  98.1N
ΣF y  0
IK
R N  Psin30 0  W  0
KN
R N  W  Psin30 0
R N  98.1  0.5P Eq. 1
TE
ΣFx  0
LI
Pcos30 0  Fr  0
Fr  Pcos30 0
PO
Fr  0.866P Eq. 2
Fr  μRN Eq. 3
Substitute Eq. 1 into Eq.3

Fr  μ(98.1  0.5P)
Fr  0.2(98.1  0.5P)
Fr  19.62  0.1P Eq.4
121
FRICTION

19.62  0.1P  0.866P
0.866P  0.1P  19.62
P  20.3N
Substitute P  2.03N into Eq.2

Fr  0.866P
Fr  0.866(20.3)
Fr  17.6N
N
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
122
FRICTION
Example 4.3
Calculate the force P acting on the body as shown on figure below. Given that the mass of a body is
98 kg and the coefficient of friction is 0.35.
N
FBD
O
KS
IC
D
T
W  mg
R
W  (98)(9.81)  961.38N
PO
ΣF y  0
R N  Psin20 0  W  0
IK
R N  Psin20 0  W
KN
R N  0.342P  961.38 Eq. 1
ΣFx  0
TE
Fr  Pcos20 0  0
Fr  Pcos20 0
LI
Fr  0.9397P Eq. 2
PO
Fr  RN Eq. 3

Fr  μ(0.342P  961.38)
Fr  0.35(0.342P  961.38)
Fr  0.1197P  336.48 Eq.4
123
FRICTION

0.1197P  336.48  0.9397P
336.48  0.9397P  0.1197P
P  410.34N
Substitute P  410.34 N into Eq.2

Fr  0.9397P
Fr  0.9397(410.34)
Fr  385.6N
N
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
124
FRICTION
Example 4.4 (Final Examination Session June 2012)
Figure below shows the motion of two carts, 1 kg and 3 kg respectively under the effect of a 30 N
force. The cart are linked by a rope. The kinetic coefficient, µ k is 0.4
a) Calculate the acceleration of the carts
b) Calculate the rope tension
N
O
FBD
KS
IC
D
T
R
PO
W1  m1 g
W1  (3)(9.81)  29.43 N
IK
W2  m2 g
KN
W2  (1)(9.81)  9.81 N
TE
FBD Cart 1
LI
PO
ΣF y  0
R N  Psin30 0  W1  0
R N  29.43  30sin30 0
R N  14.43
125
FRICTION
ΣFx  ma
Pcos30 0  Fr  T  ma
T  Pcos30 0  Fr  ma
T  30cos30 0  Fr  3a
T  25.98  Fr  3a Eq. 1
Fr  μR N
Fr  0.4(14.43)
Fr  5.772
N
Substitute Fr  5.772 N into Eq.1
O
T  25.98  5.772  3a
KS
T  20.21  3a Eq. 2
IC
FBD Cart 2
D
T
R
PO
IK
Fy  0
RN  W2  0
KN
RN  9.81 N
TE
Fx  ma
T  Fr  ma
LI
T  ma  Fr Eq. 3
PO
Fr  RN
Fr  0.4(9.81)
Fr  3.924
126
FRICTION

T  a  3.924 Eq. 4
Eq. 2  Eq. 4
20.21  3a  a  3.924
4a  16.29
a  4.07 m/s 2
Substitute a  4.07 m/s 2 into Eq.2
N
T  20.24  3a
O
T  20.24  3(4.07)
KS
T 8 N
IC
D
T
R
PO
IK
KN
TE
LI
PO
127
FRICTION
Minimum Force on Horizontal Plane
 Consider a body is resting on a horizontal plane as shown in figure 4.3
N
Figure 4.3 : Minimum force
O
Fy  0
KS
R N  Psin  W  0
R N  W  Psin Equation 1
IC
ΣFx  0
Pcos   Fr  0
Pcos   Fr
D
T
Equation 2
R
Fr  μR N Equation 3
PO
Substitute Eq 3 into Eq 2
Pcos   μR N Equation 4
IK
Substitute Eq 1 into Eq 4
KN
Pcos    (W  Psin  ) Where : tan   

TE
Pcos   tan  (W  Psin  )

sin
Pcos   (W  Psin  )
LI
cos
Pcos  .cos  sin (W  Psin )
PO
Pcos .cos  Wsin  Psin .sin

Pcos .cos  Psin .sin  Wsin Where : cos .cos  sin .sin  cos(    )
Pcos(    )  Wsin
Wsin
P
cos(    )
For P to be minimum, cos(    ) should be maximum

cos(    )  1 or     00 or  
128
FRICTION
 In other word, the effort P will be minimum, if the inclination with the horizontal is equal to the
angle of friction
Therefore,
Pmin  Wsin(    )
Note :
N
Angle of force = Angle of friction
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
129
FRICTION
MOVEMENT ON AN INCLINED PLANE
Applied Force Parallel to Inclined Plane
a) Upward Motion
N
O
KS
Figure 4.4 : Upward Motion
Note :
IC
Resolve weight to y-axis and x-axis
Calculate all forces
Use equation Fr = µRN
D
T
ΣF y  0
R
R N  Wcosθ  0
R N  Wcosθ
PO
ΣFx  0
P  Fr  Wsinθ  0
IK
Fr  P  Wsinθ
KN
From Equation,
TE
Fr  μR N
LI
Therefore :
PO
P  Wsin  μ(Wcosθ)
130
FRICTION
b) Downward Motion
Figure 4.5 : Downward Motion
N
ΣF y  0
O
KS
R N  Wcosθ
ΣFx  0
IC
Fr  P  Wsinθ  0
Fr  P  Wsinθ
D
T
From Equation,
R
Fr  μR N
PO
Therefore :
P  Wsin  μ(Wcosθ)
IK
Note :
KN
P will act upward if :

TE
Wsin  Wcos
Because equation become –ve (opposite direction from initial consideration)

LI
Therefore when tanθ > tanφ, body will move downward by its own weight
PO
Wsin  Wcos
sin sin
 we know that :  tan and tan  
cos cos
tan  tan
131
FRICTION
Conclusion :
a) Body will move downward without applied force if θ > 

b) Body in equilibrium if θ = 
c) Body will not move downward if θ <  unless there is applied force act to the body
c) Body downward by its own weight
N
O
KS
IC
Figure 4.6 : Downward Motion by Own Weight
Note : D
T
No Applied Force, (P=0)
R
PO
ΣF y  0
R N  Wcosθ
IK
ΣFx  0
KN
Wsin  Fr  0
Fr  Wsinθ
TE
From equation
Fr  R N
LI
PO
Therefore :
F
  r
RN
Wsin
 
Wcos
  tan or tan   tan 
132
FRICTION
Applied force inclined/angle to the inclined plane
a) Upward Motion
N
Figure 4.7 : Upward Motion
O
Fy  0
KS
R N  Psin  Wcos  0
R N  Wcos  Psin
IC
Fx  0
Pcos   Fr  Wsinθ  0
D
T
Pcos   Fr  Wsinθ
R
Fr  Pcos  Wsinθ
PO
From equation ,
Fr  R N
IK
KN
Therefore :
Pcos  Wsin   (Wcos  Psin  )
TE
LI
PO
133
FRICTION
Applied force parallel to the horizontal plane
a) Upward Motion
N
O
Figure 4.8 : Upward Motion with Parallel Force
KS
ΣF y  0
R N  Psinθ  Wcosθ  0
IC
R N  Wcosθ  Psinθ
ΣFx  0
Pcosθ  Fr  Wsinθ  0 D
T
Pcosθ  Fr  Wsinθ
R
Fr  Pcosθ  Wsinθ
PO
From equation,
Fr  μR N
IK
KN
Therefore :
Pcosθ  Wsin  μ(Wcosθ  Psin  )
TE
The equation can be simplified :

LI
Pcosθ  μWcosθ  μPsinθ  Wsinθ

PO
Pcosθ  μPsinθ  μWcosθ  Wsinθ divide this equation with cosθ

P  μPtanθ  μW  Wtanθ
P (1  μtanθ)  W(μ  tan θ)
W (   tan  )
P from equation :   tan 
(1  tan )
W (tan   tan  ) tan A  tan B
P from equation : tan(A  B) 
(1  tan tan ) 1  tanA tanB
 Phorizontal  Wtan(    )
134
FRICTION
b) Downward Motion – (case :    )
N
Figure 4.9 : Downward Motion with Parallel Force and by Own Weight
O
ΣFy  0
KS
R N  Psinθ  Wcosθ  0
R N  Wcosθ  Psinθ
IC
ΣFx  0
Pcosθ  Fr  Wsinθ  0
Pcosθ  Wsinθ  Fr D
T
R
From equation ,
PO
Fr  μR N
Therefore :
IK
Pcosθ  Wsinθ  μ(Wcosθ  Psinθ )

KN
The equation can be simplified to,

TE
P  Wtan(    )
LI
PO
135
FRICTION
c) Downward Motion – (case :    )
N
O
Figure 4.10 : Downward Motion with Parallel Force
KS
ΣFy  0
IC
RN  Psinθ  Wcosθ  0
RN  Wcosθ  Psinθ
ΣFx  0
D
T
Pcosθ  Wsinθ  Fr  0
R
Pcosθ  Fr  Wsinθ
PO
From equation,
Fr  μR N
IK
KN
Therefore :
Pcosθ  μ(Wcosθ  Psinθs  Wsinθ
TE
The equation can be simplified to,

LI
P  Wtan(    )
PO
136
FRICTION
Efficiency
 Efficiency is the ratio of the required force (neglect the friction force) to required force
(considering the friction force)

  100%
required force with friction
 The maximum efficiency used to move a body on inclined plane
1  sin
 maximum   100%
1  sin
N
O
Where;
KS
  Angle of friction
IC
D
T
R
PO
IK
KN
TE
LI
PO
137
FRICTION
Example 4.5
A block of mass 35 kg is pulled upward on a inclined plane with an angle 300 to the horizontal plane.
The coefficient of friction between the block and the inclined plane is 0.12. Calculate:
a) A force parallel to inclined plane that used to pull the block upward
b) Angle of friction
FBD
N
O
KS
IC
a) Force, P
ΣFy  0 D
T
R N  Wcos30 0  0
R
R N  (35)(9.81)cos30 0
PO
R N  297.35 N
ΣFx  0
P  Fr  Wsin30 0  0
IK
P  Fr  (35)(9.81)sin30 0
KN
P  Fr  171.68 Eq. 1
Fr  μR N
TE
Fr  0.12(297.35)
Fr  35.68 N
LI
PO
P  35.68  171.68
P  207.36 N
b) Angle of Friction
tan  
  tan -1 0.12
  6.84 0
138
FRICTION
Example 4.6
A mass of 350 kg was pulled upward by a force that act 200 to incline plane. The ratio of incline plane
is 3 in 5. The coefficient of friction between the mass and incline plane is 0.38. Calculate
a) The force to pull the mass upward
b) The friction force
FBD
N
O
KS
3
sinθ 
IC
5
θ  36.87 0
a) Force, P
D
T
R
Fy  0
PO
R N  Psin 20 0  Wcos36.87 0  0
R N  Wcos36.87 0  Psin 20 0
R N  (350  9.81)cos36.87 0  Psin 20 0
IK
R N  2746.8  0.342P Eq.1

KN
Fx  0
Pcos20 0  Fr  Wsin36.87 0  0
TE
Pcos20 0  Fr  Wsin36.87 0
0.9397P  Fr  (350  9.81)sin36.87 0
LI
0.9397P  Fr  2060.1 Eq. 2

PO
Fr  R N
Fr  0.38(2746.8  0.342P)
Fr  1043.78  0.13P Eq.3

0.9397P  1043.78  0.13P  2060.1
0.9397P  0.13P  3103.88
P  2901.64 N
139
FRICTION
b) Friction force, Fr
Substitute P  2901.64 N into Eq.3
Fr  1043.78  0.13(2901.64)
Fr  666.57 N
N
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
140
FRICTION
Example 4.7
A metal block of mass 50 kg lies on a plane at an angle 250 to the horizontal plane. A force P is
parallel to the inclined plane and worth 96 N is used to stop the block from sliding down. Find the
coefficient of friction and the angle of friction.
Then this block was pulled upward by a force P that acting at 100 from the inclined plane. Calculate
a) The force, P
b) The efficiency
c) The minimum force to pull the metal block upward
N
FBD
O
KS
IC
D
T
R
ΣFy  0
PO
R N  Wcos25 0  0
R N  Wcos25 0
R N  (50  9.81)cos25 0
IK
R N  444.54 N
KN
ΣFx  0
P  Fr  Wsin25 0  0
TE
Fr  Wsin25 0  P
Fr  (50  9.81)sin25 0  96
LI
Fr  111.29 N
PO
Fr  μR N
Fr
μ
RN
111.29
μ  0.25
444.54
tan  
  tan -1 0.25
  14.04 0
141
FRICTION
a) Force, P
FBD
N
O
ΣFy  0
KS
R N  Psin10 0  Wcos25 0  0
R N  Wcos25 0  Psin10 0
IC
R N  (50  9.81)cos25 0  Psin10 0
R N  444.54  0.174P Eq.1
ΣFx  0
D
T
Pcos10 0  Fr  Wsin25 0  0
R
Pcos10 0  Fr  Wsin25 0
PO
0.9397P  Fr  (50  9.81)sin25 0

0.985P  Fr  207.29 Eq. 2
IK
Fr  μR N
KN
Fr  0.25(444.54  0.174P)
Fr  111.14  0.0435P Eq.3
TE

0.985P  111.14  0.0435P  207.29
LI
0.985P  0.0435P  318.43

PO
P  309.61 N
142
FRICTION
b) Efficiency

  100%
ΣFx  0
Pcos10 0  Wsin25 0  0
Wsin25 0
P
cos10 0
(50  9.81)sin25 0
P
N
cos10 0
P  210.49 N
O
KS
210.49
   100%
309.61
   68%
IC
c) Minimum Force, Pmin
Pmin  Wsin(   )
D
T
Pmin  (50  9.81)sin(25  14.04)
R
Pmin  308.95 N
PO
IK
KN
TE
LI
PO
143
FRICTION
Example 4.8
Find the acceleration of an inclined Atwoods machine with a hanging mass of m1 = 1 kg and a mass of
m2 = 5 kg sitting on an inclined plane which is inclined at 300 from the horizontal. The coefficient of
kinetic friction between this mass and the plane is 0.25.
N
O
KS
FBD 1
IC
D
T
R
PO
IK
Fy  0
KN
RN  Wcos30 0  0
RN  Wcos30 0
TE
RN  (5  9.81)cos30 0
RN  42.48 N
LI
ΣFx  ma
PO
Wsin30 0  Fr  T  ma
T  Wsin30 0  Fr  ma
T  (5  9.81)sin30 0  Fr  5a
T  24.5  Fr  5a Eq. 2
Fr  R N
Fr  0.25(42.48)
Fr  10.62 N
144
FRICTION

T  24.5  10.62  5a
T  13.88  5a Eq.3
FBD 2
N
O
KS
ΣFy  ma
T  W  ma
IC
T  ma  W
T  1a  (1  9.81)
T  a  9.81 Eq. 4 D
T
R
Fx  0
PO
( No force act at X - axis)
Eq.3  Eq.4
13.88  5a  a  9.81
IK
a  5a  13.88  9.81
KN
a  0.68 m/s 2
TE
LI
PO
145
FRICTION
A box with mass of 150 kg is placed on an inclined plane at 250 from the horizontal surface. The box is
pulled along the slope by a force, P = 1000 N acting 150 from the inclined plane. If the box’s
acceleration is 2 m/s2, determine :
a) The normal reaction force
b) The friction force
c) The coefficient of friction between box and slope surface
d) The minimum force to raise the box
e) The horizontal force to raise the box to the inclined plane
N
FBD
O
KS
IC
D
T
R
a) Normal reaction force, RN

PO
Fy  0
RN  Psin15 0  Wcos250  0
IK
RN  Wcos250  Psin15 0
RN  (150  9.81)cos250  1000sin150
KN
RN  1074.81 N
TE
b) Friction force, Fr
Fx  ma
LI
Pcos15 0  Fr  Wsin250  ma
PO
Fr  Pcos15 0  Wsin250  ma
Fr  1000cos150  (150  9.81)sin250  (150  2)
Fr  44.05 N
c) Coefficient of friction, µ
Fr  R N
Fr

RN
44.05
  0.04
1074.81
146
FRICTION
d) Minimum Force, Pmin
Where;
tan   
  tan -1 
  tan -1 0.04  2.29 0
 Pmin  (150  9.81)sin(25 0  2.29 0 )
N
 Pmin  674.68 N
O
KS
d) Horizontal Force, Phorizontal
FBD
IC
ΣFy  0
R N  Psin25 0  Wcos25 0  0
D
T
R N  Psin25 0  Wcos25 0
R
R N  0.423P  (150  9.81)cos25 0

PO
R N  0.423P  1333.63 Eq.1
ΣFx  ma
IK
Pcos25 0  Fr  Wsin25 0  ma
KN
Pcos25 0  (150  2)  Fr  Wsin25 0

0.906P  300  Fr  (150  9.81)sin25 0
TE
0.906P  Fr  921.88 Eq.2

LI
Fr  μR N
PO
Fr  0.04(0.423P  1333.63)
Fr  0.017P  53.35 Eq.3
Substitute Eq.3 into Eq.2

0.906P  0.017P  53.35  921.88
0.906P  0.017P  975.23
P  1097 N
147
FRICTION
A body of 200 kg is being pulled on an inclined plane 450 horizontal. Given the coefficient of friction,
μ = 0.23. Determine the force, P if it acted at :-
a) Parallel with inclined plane
b) Parallel with horizontal
a) Parallel Force, P
FBD
N
O
KS
IC
ΣFy  0 D
T
R N  Wcos45 0  0
R
R N  Wcos45 0
PO
R N  (200  9.81)cos45 0
R N  1387.34 N
IK
ΣFx  0
P  Fr  Wsin45 0  0
KN
P  Fr  Wsin45 0
P  Fr  (200  9.81)sin45 0
TE
P  Fr  1387.34 Eq. 1
LI
Fr  μRN
PO
Fr  0.23(1387.34)
Fr  319.09 N
P  319.09  1387.34
P  1706.43 N
148
FRICTION
b) Horizontal Force, Phorizontal
FBD
N
Fy  0
O
RN  Psin45 0  Wcos450  0
KS
RN  Psin45 0  Wcos450
RN  0.707P  (200  9.81)cos450
IC
RN  0.707P  1387.34 Eq.1
Fx  0
Pcos45 0  Fr  Wsin450  0
D
T
Pcos45 0  Fr  Wsin450
R
0.707P  Fr  (200  9.81)sin450

PO
0.707P  Fr  1387.34 Eq.2
Fr  μR N
IK
Fr  0.23(0.707P  1387.34)
Fr  0.163P  319.09
KN
Eq.3
Substitute Eq.3 into Eq.2

TE
0.707P  0.163P  319.09  1387.34

0.707P  0.163P  1706.43
LI
P  3136.82 N
PO
Simply using equation :

Phorizontal  Wtan (   ) Where;
tan  
  tan -1 0.23  12.95 0
Phorizontal  (200  9.81)tan(45  12.95)
Phorizontal  3133.78 N
149
FRICTION
Example 4.11 (Final Examination Session Dis 2012)
A block of mass 62 kg is hold from sliding down on incline plane 350 by a force 100 N. The force acting
incline parallel to the plane. Calculate coefficient and angle of friction. Then the block was pulled up
by a force, P which is acting 150 to the plane surface. Calculate
a) The force, P
b) Operational efficiency
c) P minimum
FBD
N
O
KS
IC
Fy  0 D
T
RN  Wcos350  0
R
RN  Wcos350
PO
RN  (62  9.81)cos350
RN  498.22 N
IK
Fx  0
P  Fr  W sin 350  0
KN
Fr  W sin 350  P
Fr  (62  9.81)sin350  100
TE
Fr  248.86 N
Fr  μRN
LI
Fr
PO
μ
RN
248.86
μ  0.5
498.22
tan  
  tan -1 0.5
  26.57 0
150
FRICTION
a) Force, P
FBD
N
O
Fy  0
KS
RN  Psin15 0  Wcos350  0
RN  Wcos350  Psin15 0
IC
RN  (62  9.81)cos350  Psin15 0
RN  498.22  0.259P Eq.1
D
T
Fx  0
R
Pcos15 0  Fr  Wsin35 0  0
PO
0.966P  Fr  (62  9.81)sin35 0
0.966P  Fr  348.86 Eq. 2
IK
KN
Fr  μR N
Fr  0.5(498.22  0.259P)
Fr  249.11  0.13P
TE
Eq.3
LI

0.966P  249.11  0.13P  348.86
PO
0.966P  0.13P  597.97

P  545.59 N
151
FRICTION
b) Operational efficiency, η

  100%
Fx  0
Pcos15 0  Wsin350  0
Wsin350
P
N
cos150
(62  9.81)sin350
O
P
cos150
KS
P  361.17 N
IC
361.17
   100%
545.59
   66.2%
D
T
c) Minimum Force, Pmin
R
PO
Pmin  (62  9.81)sin(35  26.57)

Pmin  534.87 N
IK
KN
TE
LI
PO
152
FRICTION
Example 4.12 (Final Examination Session Dis 2013)
A block with a mass of 100 kg positioned on a 300 incline. The block is pulled by a force acting on the
100 to the incline. The coefficient of static friction between the incline and block is 0.25
a) Draw a free-body diagram of the forces in both x and y-directions
b) Calculate the value of force while moving up the incline
c) Calculate the operational efficiency
a) FBD
N
O
KS
IC
D
T
b) Force, P
R
Fy  0
PO
RN  Psin10 0  Wcos30 0  0
RN  Wcos30 0  Psin10 0
RN  (100  9.81)cos30 0  Psin10 0
IK
RN  849.57  0.174P Eq.1

KN
Fx  0
Pcos10 0  Fr  Wsin30 0  0
TE
0.985P  Fr  (100  9.81)sin30 0
LI
0.985P  Fr  490.5 Eq. 2

PO
Fr  μR N
Fr  0.25(849.57  0.174P)
Fr  212.39  0.044P Eq.3

0.985P  212.39  0.044P  490.5
0.985P  0.044P  702.89
P  683.1 N
153
FRICTION
c) Operational efficiency, η

  100%
Fx  0
Pcos10 0  Wsin30 0  0
Wsin30 0
P
cos10 0
(100  9.81)sin30 0
P
N
cos10 0
O
P  498.07 N
KS
498.07
   100%
683.1
IC
   72.91%
D
T
R
PO
IK
KN
TE
LI
PO
154
FRICTION
Exercise 4.1
A mass 13 kg move downward by its own weight on a plane that inclined 210 to the horizontal plane.
Determine :
a) The coefficient of friction
b) The force that can drag the mass upward with acceleration 2.7 m/s2. The action of the force is
100 to the inclined plane
(µ=0.38, P=119.95 N)
Exercise 4.2
A block 80 kg is positioned on the 40° inclined plane. The block is released and then it moves
N
downward freely by its own weight. Calculate the coefficient of friction between the block surface
and the inclined plane.
O
Then the block is pulled up by a force acting 15° from the inclined plane. Determine,
a) Draw a free body diagram showing all forces acted on the block.
KS
b) The value of force needed to pull the block upwards.
c) The operational efficiency.
(µ=0.84, P=853 N, η=62.23%)
IC
Exercise 4.3
D
A block with a mass of 56 kg was on a plane inclined at 250. This block is prevented from sliding down
T
by a force of 85 N. This force acts upward and parallel to the inclined plane. Find the coefficient of
R
friction between the block and the plane.
Then if the block was pulled upward by a force, calculate the force if it acts:
PO
a) 200 to an inclined plane

b) Minimum force required to pull this box on an inclined plane
c) Horizontal
(µ=0.296, P=364.6 N, Pmin=363.9 N, Phorizontal=485.9 N)
IK
Exercise 4.4
KN
The inclination of the hill is 220. If the mass of a car is 1500 kg and the coefficient of friction between
wheel and surface is 0.35, calculate the force that can drag the car going upward the hill and its
TE
action is parallel to the plane.

(P=10287.57 N)
LI

PO
A body resting on a rough horizontal plane required a pull of 180 N inclined at 300 to the plane just to
move it. It was found that a push of 220 N inclined at 300 to the plane just moved the body. Find :
a) Draw the free body diagram for this system
b) Calculate weight of the body
c) Calculate coefficient of friction
(W=990.9 N, µ=0.173)
155
FRICTION
A metal box weight 3 kg is pulled by a horizontal force of 11.77 N and move with a uniform velocity
on a flat surface. Find the coefficient of friction and angle of friction.
(µ=0.39, φ=21.30)
A box with a mass of 315.6 kg is positioned with an angle of 300 from the axis. The box is kept hold
from sliding down by 84 N of force. The force is acted upward and parallel to the axis.
a) Calculate the coefficient of friction between the box and the axis
b) If the box is pulled along the same plane, calculate the efficiency of the operation (assume the
N
coefficient of friction is 0.39)
(µ=0.55, η=59.6%)
O
KS
A block with a mass of 70 kg was positioned on a 200 inclined plane. The block is pulled by force
acting at 100 to the inclined plane. Given the coefficient of friction between the inclined plane and
IC
the block is 0.21.
a) Calculate the value of applied force used to pull the block
b) Determine the operational efficiency
D (P=362.651N, η=65.76%)
T
R
PO
A 100 kg block is pulled up on 350 inclined slope from the horizontal by a force. The coefficient of
friction between two surfaces in contact is 0.3.
a) Draw the free body diagram
b) Calculate the force required to initiate motion up the block
IK
c) Calculate the minimum force to pull up the block

(P=803.754 N, Pmin=769.86 N)
KN
Exercise 4.10 (Final Examination Jun 2017)

TE
A block of mass 60 kg was pulled on horizontal plane by a force, P that act 150 to the plane. The
coefficient of friction between the block and the surface is 0.4.
a) Draw the friction diagram
LI
b) Calculate the force required to pull the body with acceleration 2.7 m/s2
(P=374.45 N)
PO
156
BALANCING
Introduction
 The balancing of rotating bodies is important to avoid vibrations

 Heavy industrial machines such as steam turbines and electric generators, vibration could cause
catastrophic failure
 Vibration are noisy and uncomfortable
 For a body to be completely balanced it must have two things :
a) Static Balance – occurs when there is no resultant centrifugal force and the center of gravity
is on the axis of rotation
b) Dynamic Balance – occurs when there is no resulting turning moment along the axis

N
The magnitude and position of the balancing mass may be found out analytically or graphically
 By using graphical method, need to draw the polygon
O
 If the system not in complete balance, the polygon is opened
 If the system is in complete balance, the polygon is closed
KS
Balancing of Several Masses Rotating in One Plane/Same Plane
IC
 Consider any number of masses of magnitude m1, m2 and m3 at distances of r1, r2 and r3 from the
axis of the rotating shaft.
D
T
R
PO
IK
KN
Figure 5.2 : Balancing of a single rotating mass in the same plane

TE
 Let θ1, θ2 and θ3 be the angles of these masses with the horizontal line OX as shown in figure
below
LI
PO
Figure 5.3 : Rotating Mass
157
BALANCING
 If the shaft in static condition (didn’t rotate), the balancing is in static balance
 So that the center of gravity of the system is on the axis of shaft which is O
N
Figure 5.4 : Opened Polygon
O
 If the system is in complete balance, polygon mr is closed
KS
Σmr  0
 Figure 5.4 shows that polygon is opened, so that one mass with radius (m4r4) need to be add on
IC
the system to closed the polygon
 After the system is in balanced condition, the system become as figure below
D
T
R
PO
IK
KN
Figure 5.5 : Static Balanced on One Plane

TE
 If the shaft is rotate, the balancing is in dynamic balance

 Centrifugal force occur at each masses
LI
PO
Figure 5.6 : Dynamic Balance
158
BALANCING
 If the system is in complete balance, polygon mr is closed

 mr 2  0
• Figure 5.6 shows that polygon is opened, so that one mass with radius (m4r4) need to be add on
the system to closed the polygon
• After the system is in balanced condition, the system become as figure below
N
O
KS
IC
Figure 5.7 : Dynamic Balanced on One Plane
D
T
Note :
R
Step to balance the rotating mass on one plane

PO
a) Draw the space diagram with positions of several masses

b) Prepare the mr table – can obtained the centrifugal force (or mr value)
c) The centrifugal force will represent by the vector diagram
IK
d) Draw the vector diagram with appropriate scale. This several vector diagrams will construct the
polygon
KN
e) If the polygon closed, the system is in balanced condition

f) If the polygon opened, the system is in unbalanced condition. Need to draw the balancing force.
So that the polygon become closed. The direction of balancing force in opposite direction
TE
g) Find out the magnitude of the balancing mass

h) For static balanced – magnitude of balancing force or unbalanced force
 mr  0
LI
i) For dynamic balanced – magnitude of balancing force or unbalanced force

PO
 mr 2  0
159
BALANCING
Example 5.1
Four masses rotates at the same plane was attached on the shaft as shown on figure below. Mass A =
34 kg and the radius = 250 mm; Mass B = 23 kg and the radius = 300 mm; Mass C = 10 kg and the
radius = 350 mm; Mass D = 15 kg and the radius = 170 mm. Calculate :
a) Unbalanced force act on the shaft when the system rotates at 18 rotation per second
b) Magnitude of balancing mass that located at radius 400 mm and the angle relative to mass A
N
O
KS
IC
mr table :
D
T
Scale :
Mass m(kg) r(m) mr(kgm)
R
1cm:1kgm
PO
A 34 0.25 8.50 8.50 cm
B 23 0.30 6.90 6.90 cm

IK
C 10 0.35 3.50 3.50 cm
D 15 0.17 2.55 2.55 cm

KN
x mx 0.40 0.4mx
TE
LI
0
Polygon mr 200
PO
2.5cm
c 3.5cm 0
d 150
9.5cm
b
6.9cm
0
60
o 8.5cm a
160
BALANCING
od  line represent for unbalance force

 line represent for balance mass
1kgm
od  9.5cm   9.5 kgm
1cm
By referring to mr table;
x is the balance mass
 mr for mass x  9.5 kgm
a) Unbalanced force
N
Unbalance force  mr 2
O
KS
Where;   2N  2 (18)  113.1 rad/s
IC
Unbalance force  (9.5)(113.1) 2  121514.57 N
b) Balance mass, mx D
T
0.4m x  9.5
R
m x  23.75 kg 133 0 cw from A

PO
IK
KN
TE
LI
PO
161
BALANCING
Example 5.2
Three mass A, B and C are placed on a balanced disc as shown at radii of 120 mm, 100 mm and
80 mm respectively. The masses are 1 kg, 0.5 kg and 0.7 kg respectively. Finf the fourth mass which
should added at a radius of 60 mm in order to statically balance the system.
B
C 1000
300 A
N
O
KS
IC
mr table

D Scale :
1cm:0.02kgm
T
A 1 0.12 0.12 6cm
R
B 0.5 0.10 0.05 2.5cm

PO
C 0.7 0.08 0.056 2.8cm
x mx 0.06 0.06mx
IK
KN
Polygon mr
c
TE
2.8cm
0
LI
7.2cm 130
b
PO
0
2.5cm
30
o 6cm a
162
BALANCING
oc  line represent for balance mass

0.02kgm
oc  7.2cm   0.144 kgm
1cm
Balance mass,m x
0.06m x  0.144
N
m x  2.4 kg 208 0 ccw from A
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
163
BALANCING
Example 5.3
Four masses of P, Q, R and S in pairs on a shaft and rotating in the same plane. The position angle Q,
R and S in measuring clockwise from P is 700 ,1300 and 2100 respectively. The magnitude of the mass
and distance from the axis of rotation for the P, Q, R and S respectively are as follows; P : 16 kg, 500
mm; Q : 20 kg, 300 mm; R : 12 kg, 150 mm and S : 35 kg, 400 mm. Find the magnitude and angular
position of a balance mass that has a radius of rotation at 520 mm.
FBD
S
N
P
O
0 O
80 0
KS
70
0
60
IC
R
Q
D
T
Scale :
R
1cm:1kgm
PO
P 16 0.50 8.0 8cm

Q 20 0.30 6.0 6cm
IK
R 12 0.15 1.8 1.8cm

KN
S 36 0.40 14.0 14cm
x mx 0.52 0.52mx
TE
Polygon mr
LI
s 3.2cm x,o 8cm p

PO
0
70
6cm
14cm
q
0
1.8cm 130
r
0
210
164
BALANCING
os  line represent for balance mass

1kgm
os  3.2cm   3.2 kgm
1cm
Balance mass,m x
0.52m x  3.2
m x  6.15 kg 180 0 cw from P
N
O
KS
Balancing System :
S
IC
P
X 0
80
O
0
70
D
T
0
60
R
PO
R
Q
IK
KN
TE
LI
PO
165
BALANCING
Example 5.4
A, B, C and D are four rotating masses in the same plane on an axis O. The position angle of the mass
are as follows: Angle AOB = 450, angle BOC = 450 and angle COD = 1000. The mass and radius of
rotation; A : 3 kg, 700mm; B : 9 kg, 300mm; C : 4 kg, 1100 mm and D : 8 kg, 900 mm. Find :
a) An unbalanced power system when it is speed at 500 rpm
b) The radius of rotation and the angular position of a balance mass at 7.5 kg
FBD
C
N
B
O
0
45
KS
0 0
100 45 A
IC
D O
D
T
Scale :
1cm:1kgm
R
A 3 0.7 2.1 2.1cm

PO
B 9 0.3 2.7 2.7cm
C 4 1.1 4.4 4.4cm

IK
D 8 0.9 7.2 7.2cm

KN
x 7.5 mx 7.5rx
TE
Polygon mr 0
190
LI
c
7.2cm
PO
d
0
60
4.4cm
5.9cm
b
2.7cm
0
45
x,o 2.1cm a
166
BALANCING
od  line represent for unbalance force

 line represent for balance mass
1kgm
od  5.9cm   5.9 kgm
1cm
a) Unbalanced force
N
O
Unbalance force  mr 2
KS
2 (500)
Where;    52.36 rad/s
60
IC
Unbalance force  (5.9)(52.36) 2  16175.26 N
D
T
b) Radius of rotation of balance mass, rx
R
7.5rx  5.9
PO
rx  0.8 m 120 0 ccw from A

IK
Balancing System
X C
KN
B
TE
0
45
0 0
LI
100 45 A
D O
PO
167
BALANCING
Balancing of Several Masses Rotating in Different Plane
 When several masses revolve in different planes, it can be transferred to a Reference Plane (RP)
N
O
Figure 5.8 : Masses Rotating in Different Plane
KS
 In order to have a complete balance of the several revolving masses in different planes, the
following two conditions must be satisfied :
IC
a) The forces in the reference plane must zero, i.e the resultant force must zero
b) The couples about the reference plane must balance, i.e. the resultant couple must be zero

 Figure below shows the masses attached along the shaft D
The system must in static balanced before dynamic balance can be achieved
T
R
PO
IK
KN
TE
LI
PO
Figure 5.9 : Balancing Rotating Masses in Different Plane
 For static balance, unbalanced force

 mrl  0
 For dynamic balance, unbalanced couple
 mrl 2  0
 All of these unbalanced force and unbalanced couple must be eliminated in order to balance the
system
168
BALANCING
Note :
Step to balance the rotating mass in different plane
a) Draw the space diagram with positions of several masses

b) Take one of the planes as the reference plane (unknown value)
c) All of distance (mass) will be measure from this reference plane
d) Prepare the mrl table – can obtained the unbalanced couple
e) The couple can be represented by the vector diagram
f) Draw the vector diagram with appropriate scale. This several vector diagram will construct the
polygon.
g) If the polygon closed, the system is in balanced condition
h) If the polygon opened, the system is in unbalanced condition. Need to draw the balancing force.
N
So that the polygon become closed. The direction of balancing force in opposite direction
O
i) Find out the magnitude of the balancing mass
j) For static balanced – magnitude of balancing force or unbalanced force
KS
 mrl  0
k) For dynamic balanced – magnitude of balancing force or unbalanced force
IC
 mrl 2  0
D
T
R
PO
IK
KN
TE
LI
PO
169
BALANCING
Example 5.5
Figure below shows three masses attached to a shaft. The shaft is supported by bearings at both
ends. The system is in static equilibrium.
mA = 7 kg radius = 0.20 m
mB = 12 kg radius = 0.18 m
mC = 15 kg radius = 0.15 m
N
O
By using the data given :
KS
a) Complete the mrl table
b) Draw the space diagram, the mr and mrl polygon
c) Determine the unbalance couple for the shaft when it rotates at 180 rpm
IC
mrl table : D
T
R
Scale : mr Scale : mrl
Plane m(kg) r(m) mr(kgm) l (m) Mrl(kgm2 )
1cm:0.5kgm 1cm:1kgm2
PO
x - - Rx 0 0
A 7 0.2 1.4 2 2.8 2.8cm 2.8cm

IK
B 12 0.18 2.16 2.5 5.4 4.3cm 5.4cm

KN
C 15 0.15 2.25 3 6.75 4.5cm 6.8cm
y - - Ry 4.5 4.5Ry
TE
* Plane x is the Reference Plane

LI
PO
170
BALANCING
Polygon mr
Scale : 1cm : 0.5kgm
* Polygon mr must be closed because the

system in static equilibriu m
N
O
KS
From polygon mr, can obtain
IC
the angle for each mass
D
T
R
PO
IK
KN
Polygon mrl
Scale : 1cm : 1kgm
TE
LI
PO
171
BALANCING
By referring to mrl table;
oc  line represent for unbalance couple

1kgm2
oc  mrl  1.5cm   1.5 kgm2
1cm
Unbalance couple  mrl 2

2N 2 (180)
Where;     18.85 rad/s
60 60
N
Unbalance force  (1.5)(18.85)2  532.98 Nm
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
172
BALANCING
Example 5.6
Find the mass and the angle at which it should be positioned in planes A and D at a radius of 60 mm
in order to produce complete balance of the system shown
N
O
Radius B is 75 mm
Radius C is 50 mm
KS
Mass of B is 5 kg
Mass of C is 2 kg
IC
mrl table :
D
T
Plane m(kg) r(m) mr(kgm) l (m) Mrl(kgm2)
R
1cm:0.05kgm 1cm:0.01kgm2
PO
3.8cm
0.06mA
A mA 0.060 0 0 (obtain from 0
(0.19)
polygon mr)
IK
B 5 0.075 0.375 0.2 0.075 7.5cm 7.5cm

KN
C 2 0.050 0.1 0.3 0.03 2cm 3cm
9.4cm
0.06mD 0.0225mD
D mD 0.060 0.375 5cm (obtain from
TE
(0.251) (0.094)
polygon mrl)
LI
*Plane A is the Reference Plane

*Firstly draw polygon mrl, after that draw polygon mr
PO
173
BALANCING
Polygon mrl
N
O
KS
IC
co  line represent for balance mass D D

T
co  mrl for mass D
R
0.01kgm2
co  9.4cm   0.094 kgm2
PO
1cm
Balance mass,m D
0.0225mD  0.094
IK
m D  4.18 kg 163 0 ccw from B

KN
Calculation mr for mass D

TE
0.06(4.18)  0.251 kgm

LI
After obtain mr value, polygon mr can be drawn

Polygon mr must be closed because system in complete balance
PO
174
BALANCING
Polygon mr
N
O
KS
IC
do  line represent for balance mass A D

T
do  mr for mass A
R
0.05kgm
do  3.8cm   0.19 kgm
1cm
PO
Balance mass,m A
0.06m A  0.19
IK
m A  3.17 kg 173 0 ccw from B

KN
Angle/posi tion for each mass :

TE
LI
PO
175
BALANCING
Example 5.7
A shaft has 4 discs A, B, C and D along its length 100 mm apart. A mass of 0.8 kg is placed on B at a
radius of 20 mm. A mass of 2 kg is placed on C at a radius of 30 mm and rotated 1200 from the mass
on B. Find the masses to be placed on A and D at a radius of 25 mm that will produce total balance.
FBD
N
O
KS
IC
mrl table : D
T
R
Plane m(kg) r(m) mr(kgm) l (m) Mrl(kgm2 )
1cm:0.005kgm 1cm:0.001kgm2
PO
3.3cm
0.025mA
(0.0165)
polygon mr)
IK
B 0.8 0.02 0.016 0.1 0.0016 3.2cm 1.6cm

KN
C 2 0.03 0.060 0.2 0.0120 12cm 12cm

TE
11.8cm
0.025mD 0.0075mD
D mD 0.025 0.3 7.8cm (obtain from
(0.039) (0.0118)
polygon mrl)
LI
PO

176
BALANCING
Polygon mrl
N
O
KS
IC
co  line represent for balance mass D
0.001kgm2
D
T
co  11.8cm   0.0118 kgm2
1cm
R
PO
Balance mass,m D
0.0075mD  0.0118
m D  1.57 kg 292 0 ccw from B
IK
KN

0.025(1.57)  0.039 kgm
TE

Polygon mr must be closed because system in total balance
LI
PO
177
BALANCING
Polygon mr
N
O
KS
IC
do  line represent for balance mass A

do  mr for mass A D
T
0.005kgm
do  3.3cm   0.0165 kgm
R
1cm
PO
Balance mass,m A
0.025m A  0.0165
m A  0.66 kg 262 0 ccw from B
IK
KN

TE
LI
PO
178
BALANCING
Example 5.8
A shaft carries four masses in parallel planes A, B, C and D in this order along its length. The masses
at B and C are 18 kg and 12.5 kg respectively, and each has an eccentricity of 60 mm. The masses at A
and D have an eccentricity of 80 mm. The angle between the masses at B and C is 100 0 and that
between the masses at B and A is 1900, both being measured in the same direction. The axial
distance between the planes A and B is 100 mm and that between B and C is 200 mm. If the shaft is
in complete dynamic balance, determine :
a) The magnitude of the masses at A and D
b) The distance between planes A and D
c) The angular position of the mass D
N
O
FBD
KS
IC
D
T
R
PO
mrl table :
IK

KN
Plane m(kg) r(m) mr(kgm) l (m) Mrl(kgm2)

1cm:0.2kgm 1cm:0.02kgm2
3.9cm
0.08mA
TE

(0.78)
polygon mr)
LI
B 18 0.06 1.08 0.1 0.108 5.4cm 5.4cm

PO
C 12.5 0.06 0.75 0.3 0.225 3.8cm 11.3cm
11.7cm
0.08mD 0.08mDx
D mD 0.08 x 3.2cm (obtain from
(0.64) (0.234)
polygon mrl)

179
BALANCING
Polygon mrl
Scale : 1cm : 0.02kgm2
N
O
KS
IC
co  11.7cm 
0.02kgm2
 0.234 kgm2
D
T
1cm
R
Balance mass,mD
PO
0.08mD x  0.234
IK
KN
TE
LI
PO
180
BALANCING
Polygon mr
N
O
KS
0.2kgm
do  3.9cm   0.78 kg
IC
1cm
Balance mass,m A
0.08m A  0.78
m A  9.75 kg 110 0 ccw from B
D
T
R
cd  line represent for balance mass D

PO
cd  mr for mass D
0.2kgm
cd  3.2cm   0.64 kgm
1cm
IK
Balance mass,m D
KN
0.08m D  0.64
m D  8 kg 252 0 ccw from B
TE
 0.08mD x  0.234
0.08(8)(x)  0.234
LI
x  0.366 m
PO
181
BALANCING
Example 5.9
The diagram below shows masses on two rotors in planes B and C. Determine the masses to be
added on the rotors in Planes A and D at radius 40 mm which will produce static and dynamic
balance.
N
O
KS
mrl table :
IC
D
2
Plane m(kg) r(m) mr(kgm) l (m) Mrl(kgm ) 2
1cm:0.2kgm 1cm:0.002kgm
T
0.04mA 3.9cm
R
(0.078) polygon mr)
PO
B 5 0.02 0.1 0.08 0.008 5cm 4cm
C 3 0.05 0.15 0.15 0.0225 7.5cm 11.3cm

IK
0.04mD 0.01mD 11cm

KN
D mD 0.04 0.25 4.4cm (obtain from

(0.088) polygon mrl)
TE

LI
PO
182
BALANCING
Polygon mrl
Scale : 1cm : 0.002kgm2
N
O
KS
IC
0.002kgm2
co  11cm   0.022 kgm2
1cm
Balance ma ss, mD
D
T
0.01m D  0.022
R
m D  2.2 kg 410 cw from horizontal plane

PO

0.04(2.2)  0.088 kgm
IK
KN

Polygon mr must be closed because system in static and dynamic balance
TE
LI
PO
183
BALANCING
Polygon mr
N
O
KS
IC
0.02kgm
do  3.9cm   0.078 kgm
1cm
Balance mass,m A
0.04m A  0.078
D
T
m A  1.95 kg 2 0 cw from horizontal plane
R
PO

IK
KN
TE
LI
PO
184
BALANCING
Example 5.10
A shaft carries four masses A, B, C and D of magnitude 200 kg, 300 kg, 400 kg and 200 kg respectively
and revolving at radii 80 mm, 70 mm, 60 mm and 80 mm in planes measured from A at 300 mm,
400 mm and 700 mm. The angles between the cranks measured anticlockwise are A to B is 450, B to C
is 700 and C to D is 1200. The balancing masses are to be placed in planes X and Y. The distance
between the planes A and X is 100 mm, between X and Y is 400 mm and between Y and D is 200 mm.
If the balancing masses revolve at a radius of 100 mm, find their magnitudes and angular positions.
FBD
RP
N
-ve +ve
O
A X B C Y D
KS
IC
0.1m
0.3m
D
T
0.4m
R
0.5m
PO
0.7m
mA=200 kg, rA=0.08 m

IK
mB=300 kg, rB=0.07 m

mC=400 kg, rC=0.06 m
KN
mD=200 kg, rA=0.08 m

mX=mx kg, rx=0.1 m
mY=mY kg, rY=0.1 m
TE
C
B
LI
0
70
PO
0
0 45 A
120
O
185
BALANCING
mrl table :
2 Scale : mr Scale : mrl

Plane m(kg) r(m) mr(kgm) l(m) Mrl(kgm ) 2
1cm:2kgm 1cm:1kgm
A 200 0.08 16 - 0.1 -1.6 8 -1.6
mX 0.1mX 17.8cm
X 0.10 0 0 (obtain from 0
(356) (35.6) polygon mr)
B 300 0.07 21 0.2 4.2 10.5 4.2
N
O
C 400 0.06 24 0.3 7.2 12 7.2
KS
mY 0.1mY 7.3cm
Y 0.10 0.4 0.04mY 9.1 (obtain from
(182.5) (18.25) polygon mrl)
IC
D 200 0.08 16 0.6 9.6 8 9.6
D
T
*Plane X is the Reference Plane
R
PO
Polygon mrl
0
135
IK
c
KN
TE
9.6cm 7.2cm
LI
0
115
PO
d 0 b
12
4.2cm
7.3cm
0
45
a
-1.6cm y,o
186
BALANCING
do  line represent for balance mass Y

do  mrl for mass Y
1kgm 2
do  7.3cm   7.3 kgm 2
1cm
Balance ma ss, mY
0.04mY  7.3
mY  182.5 kg 12 0 cw from A
N
0.1(182.5)  18.25 kgm
O
KS
Polygon mr must be closed because system in static and dynamic balance
IC
Polygon mr
D
T
0
R
135
PO
8cm
IK
0 12cm
KN
348 d
9.1cm
y
TE
0
115
b
LI
17.8cm
PO
10.5cm
0 0
35 a 45
x,o
8cm
187
BALANCING
yo  line represent for balance mass X

yo  mr for mass X
2kgm
yo  17.8cm   35.6 kgm
1cm
Balance mass,m X
0.1m X  35.6
m X  356 kg 145 0 cw from A
N
O
C
KS
B
IC
0
70
0
A
0
120
O
45
D
T
Y
R
X
PO
D
IK
KN
TE
LI
PO
188
BALANCING
Exercise 5.1
Four masses m1, m2, m3 and m4 are 200 kg, 300 kg, 240 kg and 260 kg respectively rotates at the
same plane. The corresponding radius of rotation are 0.2 m, 0.15 m, 0.25 m and 0.3 m respectively
and the angles between successive masses are 450, 750 and 1350 measured from m1. Find the
position and magnitude of the balance mass required, if it radius of rotation is 0.2 m.
(115 kg 2010 ccw from m1)
Exercise 5.2
Four masses A, B, C and D as shown in table below are to be completely balanced.
A B C D
N
O
Mass (kg)
mA 30 50 40
Radius
KS
180 240 120 150
(mm)
IC
The planes containing masses B and C are 300 mm apart. The angle between planes containing B and
C is 900. B and C make angle of 2100 and 1200 respectively with D in the same sense. Calculate the
magnitude and angular position of mass A.
D(mA=20 kg 2360 ccw from mass B)
T
Exercise 5.3
R
PO
Figure below shows a rotating shaft has three masses of A = 15 kg and radius = 150 mm; B = 25 kg
and radius = 200 mm; and C = 8 kg and radius = 90 mm. The angles between the cranks measured
anticlockwise are A to B is 1600 and A to C is 2400. Two masses of X and Y with radius of 120 mm are
placed at the end of the shaft so that the system is in dynamic balance. Determine :
IK
a) Masses X and Y
b) Position of X and Y from A
KN
mB
TE
mA
Plane X mC Plane Y
B
LI
0
160
A
2400
PO
120 mm 500 mm 250 mm 70 mm

C
(my=27.27 kg 3500 ccw from A, mx=5 kg 2240 ccw from A)
189
BALANCING
Exercise 5.4
A shaft carried 4 wheels A, B, C and D. The distance of those wheels from shaft axis are rA=200 mm,
rB =150 mm, rC =120 mm and rD =200 mm, while weight for the wheels are 10 kg for A and 15 kg for
D. Distance and angle between the wheels is shown on figure below. Determine the mass and the
relative angle of B and C referring to A.
A
A B C D
0.5 m 1.0 m 0.5 m 100°
N
D
O
(mc=39.6 kg 247 ccw from A, mD=47.3 kg 2660 ccw from A)
0
KS
Exercise 5.5
Three masses A = 14 kg, B = 11 kg and C = 21 kg are attached to a shaft with the centre of gravity of
IC
275 mm, 400 mm and 150 mm respectively from the shaft axis. The angular position of B and C are
600 and 1350, both measured counter clockwise from A. The distance between plane A and B is 1.35
D
m, plane A and C is 3.6 m. Plane B is located between A and C. Two balance masses are to be fitted
between plane AB and BC and the centre of gravity of each mass is 225 mm from the shaft axis.
T
Determine:
a) The magnitude of balance masses
R
b) The position of balance masses relative to A

PO
(m1=35.56 kg 1890 ccw from A, m2=28.3 kg 3100 ccw from A)
Exercise 5.6
IK
The shaft shown in figure below is to be balanced by subtracting a bearings in the two correction
plane, E and F. Details of the masses and radius of the masses A, B, C, and D are :
KN
mA = 0.5 kg, rA = 75 mm
mB = 0.75 kg, rB = 60 mm
mC = 0.75 kg, rC = 60 mm
TE
Determine,
a) The magnitude of masses of bearing E and F, if the bearings are rotating at radius of 40mm
LI
b) Position of bearing E and F

PO
B
E A B C F C
0
130
300 A
0.3 m 0.3 m 0.6 m 0.3 m
(mF=0.6 kg 630cw from A, mE=1.18 kg 1600cw from A)
190
BALANCING
Exercise 5.7
A shaft was mounted with 3 masses A, B and C of weight 8 kg, 10 kg and 14 kg respectively. The radii
of rotation are, rA = 7 cm, rB = 6 cm, rc = 9 cm. Angle of plane A to B is 250 and from plane A to C is
1400. To balance the system, two masses L and R will be added. Mass R is 12 kg and both masses L
and R rotate at a radius of 8 cm. The distance plane L and A is 20 cm, plane A and B is 50 cm and
plane B and C is 30 cm. Determine:
a) The angle position masses L and R
b) Length C and R
c) The balance mass L
(AOL=1980, AOR=2980, Length C and R=0.14m, mL=8.75 kg)
Exercise 5.8
N
O
A, B, C and D are four masses carried by a rotating shaft at radii 100, 125, 200 and 150 mm
respectively. The planes in which the masses revolve are spaced 600 mm apart and the mass of B, C
KS
and D are 10 kg, 5 kg, and 4 kg respectively. Find the required mass A and the relative angular that
measured counter clockwise from plane B that can setting the system in complete balance.
(mA=7.4 kg 2020 ccw from B)
IC
Exercise 5.9
D
A shaft carries four masses in parallel planes A, B, C and D in this order along its length. The masses
at B and C are 18 kg and 12.5 kg respectively, and each has an eccentricity of 60 mm. The masses at A
T
and D have eccentricity of 80 mm. The angle between the masses at B and C is 100 0 and that
R
between the masses at B and A is 1900, both being measured in the same direction. The axial
PO
distance between the planes A and B is 100 mm and that between B and C is 200 mm. If the shaft is
in complete dynamic balance, determine :
a) The magnitude of the masses at A and D
b) The distance between planes A and D
IK
c) The angular position of the mass at D

(mA=9.5 kg, mD=8.25 kg 2520 from B, distance=0.35m)
KN
Exercise 5.10
TE
Four masses A, B, C, D are attached to a shaft and revolve in the same plane. The masses are 12 kg,
10 kg, 18 kg and 15 kg respectively and their radius of rotations are 40 mm, 50 mm, 60 mm and
30 mm. The angular position of the masses B, C and D are 600, 1350 and 2700 from the mass A. Find
LI
the magnitude and position of the balancing mass at a radius of 100 mm

(m=7.4 kg 2720 ccw from A)
PO
Exercise 5.11
A rotating shaft carries four unbalanced masses 18 kg, 14 kg, 16 kg and 12 kg at radius of 50 mm,
60 mm, 70 mm and 60 mm respectively. The 2nd, 3rd and 4th masses revolve in planes 80 mm, 160 mm
and 280 mm respectively measured from the plane of the first mass and are angularly located at 60 0,
1350 and 2700 respectively measured clockwise from the first mass looking from this mass end of the
shaft. The shaft is dynamically balanced by two masses, both located at 50 mm radius and revolving
in planes mid-way between those 1st and 2nd masses and midway between those of 3rd and 4th
masses. Determine, graphically the magnitudes of the masses and their respectively angular position.
(13.3 kg 2500 ccw from mass A, 10.4 kg 2750 ccw from mass A)
191
BALANCING
A shaft carries three masses A, B and C of magnitude 200 kg, 300 kg and 400 kg respectively and
revolving at radius 80 mm, 70 mm and 60 mm. The distance from A for B and C is 300 mm and 400
mm respectively. The angles between the cranks measured anticlockwise for A to B is 450, B to C is
700. The balancing masses are to be placed in planes X and Y at the end of shaft respectively. The
distance between the planes X and A is 100 mm and between C and Y is 200 mm. If the balancing
masses revolve at a radius of 100 mm, find :
a) Construct balancing table
b) Balancing mass and angular position of Y
c) Balancing mass and angular position of X
Use :
N
mrl table scale 1 cm : 1 kgm2
O
mr polygon scale 1 cm : 2 kgm
(mY=242.86kg ccw from A, mX=250kg 2180 ccw from A)
KS
IC
A rotating shaft has three masses of A=15 kg, B=6 kg and C=3 kg with radius of 200 mm. Angle
AOB=angle BOC=1200. The position of the planes along the shaft is as the following figure. Two
D
masses with the same radius are placed on the X and Y so that the mass is in complete dynamic
balance.
T
B
R
X A C Y
B
PO
1200
A
O
IK
120 mm 600 mm 300 mm 50 mm 0

120
KN
C
a) Sketch the mr and mrl table
TE
b) Calculate the masses of X and Y

c) Determine position of X and Y from A
(my=2.1kg 330 ccw from A, mX=12.25kg 1730 ccw from A)
LI

PO
Six masses m1, m2, m3, m4, m5 and m6 are 300 kg, 280 kg, 240 kg, 320 kg, 310 kg and 290 kg rotated at
2000 rpm. The corresponding radius of rotation is 0.22 m, 0.18 m, 0.28 m, 0.16 m, 0.20 m and 0.3 m
respectively and the angle between masses measure from positive x axis are 350, 850, 1100, 250, 400
and 500. Find the position and magnitude of the balancing mass nedd to be added if the radius of
rotation is 0.19 m.
192
BALANCING
A rotating shaft as shown in figure below carries three masses P= 15 kg, Q=29 kg and R=8 kg which
has a radius of rotation of 270 mm, 200 mm and 280 mm from the axis of the shaft. To balance the
system, two balancing masses S and T with the same radius of rotation 400 mm, mounted at the
midpoint between P and Q, and Q and R.
P
P Q R
0 Q
50
1.6 m 4.2 m
1300
N
O
S T R
KS
a) Draw the complete mr and mrl table
b) Determine the magnitude and angle of mass T relative to P using mrl polygon with the scale of
IC
1 cm : 1 kgm2
c) Draw mr polygon and find the magnitude and angle of mass S relative to P by using the scale of
1 cm : 1 kgm
D
(mT=12.86 kg 600 ccw from P, 22.38 kg 1690 ccw from P)
T
R
PO
IK
KN
TE
LI
PO
193
BELT DRIVES
Introduction
 Belt drives are widely used in many industries for power transmission since they are cheap and
easy to maintain
 However they are often a source of vibration due to misalignments, belt resonance and belt
wear
 The main purpose of belt drives is to transfer power between machines such as motor and fan
 Belts are friction drives, which mean they depend on friction depend on friction between the
belt and pulley/sheave to transmit power
 The belts are used to transmit power from one shaft to another by means of pulleys which
N
rotates at the same speed or at different speed
 The amount or power transmitted depends upon the velocity of the belt, the tension under
O
which the belt is placed on the pulleys, the arc of contact between the belt and the smaller
pulley and the conditions under which the belt is used
KS
 Selection of a belt drive depend upon the following factors
a) Speed of the driving and driven shafts
b) Speed reduction ratio
IC
c) Power to be transmitted
d) Center distance between the shafts
e) Positive drive requirements
f) Shafts layout D
T
g) Space available
R
h) Service condition
 The most common types of belt include
PO
a) Flat belts
Mostly used in the factories or workshops, where a moderate amount of power is to be
transmitted, from one pulley to another not more than 8 meters apart
b) V belts
IK
The most widely used in industry. Where a moderate or high amount of power is to be
transmitted, from one pulley to another, when the two pulleys are very near to each other.
KN
Have a V shaped cross section, which rests against the side of V pulley under tension. The V
shaped cross-section is to prevent belt from slipping off.
c) Round belts
TE
This type of belt is generally used for light loads, such as sewing machine or a vacuum
cleaner
d) Timing / toothed belts
LI
Timing belts are toothed belts that use their teeth for power transmission, as opposed to
friction. This configuration results in no slippage, and therefore, the driving and driven
PO
shafts remain synchronized. Its more expensive to manufacture due to complexity of the
belt and pulley shapes
194
BELT DRIVES
 Figure below show some example of belt
Figure 6.1 : Types of Belt
 The power from one pulley to another may be transmitted by any of the following types of belt
drives
a) Open belt drive
N
b) Crossed/closed or twist belt drive
c) Quarter turn belt drive
O
d) Belt drive with idler pulleys
KS
e) Compound belt drive
f) Stepped or cone pulley drive
g) Fast and loose pulley drive
IC
 Example of belt apply onto the pulley
D
T
R
PO
IK
KN
TE
Figure 6.2 : Application of Belt on Pulley

LI
PO
195
BELT DRIVES
Open Belt Drives
 Open belt drive is used with shafts arranged parallel and rotating in the same direction.
 From figure as shown below the driver A pulls the belt from one side (i.e. lower side RQ) and
delivers it to the other side (i.e. upper side LM).
 Thus the tension in the lower side belt will be more than that in the upper side belt.
 The lower side belt (because of more tension) is known as TIGHT SIDE whereas the upper side
belt (because of less tension) is known as SLACK SIDE
N
O
KS
IC
Figure 6.3 : Open Belt Drives
D
T
• Example application of open belt drive in industry
R
PO
IK
KN
Figure 6.4 : Application of Open Belt Drives

TE
LI
PO
196
BELT DRIVES
Crossed Belt Drive
 Crossed belt drive is used with shaft arranged parallel and rotating in the opposite directions.
 Figure below shows that the driver pulls the belt from one side (i.e. RQ) and delivers it to other
side (i.e. LM).
 Thus the tension in the belt RQ will be more than that in the belt LM.
 The belt RQ (because of more tension) is known as TIGHT SIDE, whereas the belt LM (because of
less tension) is known as SLACK SIDE
N
O
KS
IC
Figure 6.5 : Crossed Belt Drive
 Example application of crossed belt drive in industry

D
T
R
PO
IK
KN
Figure 6.6 : Application of Crossed Belt Drives

TE
LI
PO
197
BELT DRIVES
Length of An Open Belt drive
 Figure below shows an open belt drive
N
O
Figure 6.7 : Length of an Open Belt Drives
KS
Where :
A = Center of larger pulley
IC
D = Center of smaller pulley
θ1 = Angle of lap/wrap for larger pulley
θ2
r1
= Angle of lap/wrap for smaller pulley
= Radius of larger pulley D
T
r2 = Radius of smaller pulley
L = Distance between the centers of two pulley (i.e. AD)
R
PO
 From Figure 6.7,

θ1  2π  2α1
θ1  2(π  α1 )
IK
1   2 and  2  2 2
KN
 From figure 6.7, AGD is a triangle

TE
G
LI
1
A D
L
PO
AG
kos 1 
AD
Where :
AG  r1  r2
AD  L
r1  r2
 kos 1 
L
198
BELT DRIVES
Note :
All unit for angle is in radian

For open belt drive  calculated at the small pulley
 To find length of belt using
Length of belt  Arc BHF  FE  Arc EIC  CB
Where :
Arc BHF  r11
Arc EIC  r2 2
N
FE  CB  GD
O
• From triangle AGD,
KS
GD
 sin 1
AD
IC
GD  ADsin 1
GD  Lsin 1
D
 Length of the belt  r11  L sin 1  r2 2  L sin 1
T
 Length of the belt  r11  r2 2  2L sin 1
R
PO
IK
KN
TE
LI
PO
199
BELT DRIVES
Length of An Crossed Belt drive
 Figure below shows a cross belt drive
N
O
KS
Figure 6.8 : Length of an Crossed Belt Drive
Where :
IC
A = Center of larger pulley
D
θ1
= Center of smaller pulley
= Angle of lap/wrap for larger pulley D
T
θ2 = Angle of lap/wrap for smaller pulley
r1 = Radius of larger pulley
R
r2 = Radius of smaller pulley

PO
L = Distance between the centers of two pulley (i.e. AD)
 From Figure 6.8,

IK
1   2  2  21
KN
 From figure 6.8, AGD is a triangle

G
TE
LI
1
A D
L
PO
AG
kos 1 
AD
Where :
AG  r1  r2
AD  L
r1  r2
 kos 1 
L
200
BELT DRIVES
 To find length of belt using
Length of belt  Arc BHF  FE  Arc EIC  CB
Where :
Arc BHF  r11
Arc EIC  r2 2
FE  CB  GD
• From triangle AGD,
GD
 sin 1
N
AD
O
GD  ADsin 1
GD  Lsin 1
KS
 Length of the belt  r11  L sin 1  r2 2  L sin 1
IC
 Length of the belt  r11  r2 2  2L sin 1
D
T
R
PO
IK
KN
TE
LI
PO
201
BELT DRIVES
Example 6.1
Calculate the length of the belt for open belt drive. Diameter of the driving pulley is 1750 mm and
for driven pulley the diameter is 500 mm. The distance between the center of both pulley is 6 m
apart.
Given :
Diameter of Driver, d1 = 1750 mm = 1.75 m

r1 = 0.875 m
N
Diameter of Driven, d2 = 500 mm = 0.5 m
O
r2 = 0.25 m
KS
Distance of both pulley, L = 6 m
IC
Length of belt  r11  r2 2  2Lsin1
For open belt drives ;

r r
D
T
cos 1  1 2
R
L
0.875  0.25
cos 1 
PO
6
 1  84.02 0
IK
Convert to radian :
π
 1  84.02 0 
KN
180 0
 1  1.47 radian
TE
1  2  2 1
1  2  2(1.47)
LI
1  3.34 radian
PO
 2  2 1
 2  2(1.47)
 2  2.94 radian
 Length of belt  (0.875  3.34)  (0.25  2.94)  (2  6  sin 84.02 0 )

 Length of belt  15.59 m
202
BELT DRIVES
Example 6.2
Calculate the length of the belt for cross belt drive. Driving pulley have a diameter 2 m and for driven
pulley the diameter is 0.75 m. The distance between both pulley is 3 m apart.
Given :
Diameter of Driver, d1 = 2 m
r1 = 1 m
Diameter of Driven, d2 = 0.75 m
N
r2 = 0.375 m
O
Distance of both pulley, L = 3 m
KS
IC
For crossed belt drives;
r r
cos 1  1 2
D
T
L
R
1  0.375
cos 1 
PO
3
 1  62.72 0
Convert to radian :
IK
π
 1  62.72 0 
KN
180 0
 1  1.09 radian
TE
1  2  2 1
1  2  2(1.09)
LI
1  4.1 radian
PO
1   2  4.1 radian
 Length of belt  (1  4.1)  (0.375  4.1)  (2  3  sin 62.72 0 )

 Length of belt  10.97 m
203
BELT DRIVES
Velocity Ratio of Belt Drive
 It is the ratio between the velocities of the driver and the follower/driven
Let :
d1 = Diameter of the driver

d2 = Diameter of the follower/driven
N1 = Speed of the driver in rpm
N2 = Speed of the follower/driven in rpm
 Length of the belt that passes over the driver, in one minute
N
d1 N1 or 2r1 N1
O
 Similarly, length of the belt that passes over the follower/driven, in one minute
KS
d 2 N 2 or 2r2 N 2
IC
 If there is no slippage between the belt and pulleys, the length of belt that passes over the
driver in one minute equal to the length of belt that passes over the follower in one minute,
therefore
d1 N1  d 2 N 2 2r1 N1  2r2 N 2

D
T
or
R
N 2 d1
Velocity ratio  
PO
or
N1 d 2
N 2 r1
Velocity ratio  
IK
N1 r2
KN
 When thickness of belt (t) is considered, then velocity ratio
N 2 d1  t N 2 r1  t
TE
 or 
N1 d 2  t N1 r2  t
LI
PO
204
BELT DRIVES
 The velocity ratio also can be obtain as follow
From equation,
2N
v  r and 
60
2Nr
 v
60
Where :
2N 1 r1 2N 2 r2
v1  and v2 
60 60
N
 If there is no slip, then velocity at drive pulley equal to velocity at driven pulley
O
v1  v2
KS
2N1r1 2N 2 r2

IC
60 60
Therefore velocity ratio :

N 2 r1

D
T
N 1 r2
R
 Another method to find velocity ratio as follow,

PO
Peripheral velocity of the belt on the drive pulley,

d1 N1
v1 
IK
60
KN
and peripheral velocity of the belt on the driven pulley,

d 2 N 2
v2 
TE
60
LI
If there is no slip, then velocity at drive pulley equal to velocity at driven pulley
v1  v2
PO
d1 N1 d 2 N 2

60 60
Therefore velocity ratio :

N 2 d1

N1 d 2
205
BELT DRIVES
Power Transmitted by a Belt
 Figure below shows the pulleys in static condition and when its rotates.
T0
A B
T0
Static Rotate
s
N
Figure 6.9 : Pulleys in Static and Rotates
O
Where :
T0 = Initial Tension
KS
T1 = Tension in the tight side
T2 = Tension in the slack side
IC
 During the rotation, the driving pulley pulls the belt from one side and delivers the same to the
other side.

 D
It is thus obvious that the tension on the tight side will be greater than the slack side.
Thus at the tight side the tension will increase from T0 to T1
T
 Meanwhile at the slack side the tension decrease from T0 to T2

R
So that the tension ratio :
T1  T0  T0  T2
PO
T1  T2  2T0
T1  T2
 T0 
IK
2
 The effective turning (drive) force at the circumference of the follower is the different between
KN
the two tensions,

T1  T2
TE
 Therefore :
Torque  (T1  T2 )r
LI
 From equation :
PO
Power  Torque  Angular Velocity

2N
Power  (T1  T2 )r 
60
2Nr
Power  (T1  T2 ) 
60
 Power  (T1  T2 )v
 Power also can be written as :

2NT
Power 
60
206
BELT DRIVES
Ratio of Driving Tensions for Flat Belt Drive
 Consider a driven pulley rotating in the clockwise direction as shown below
N
Figure 6.10 : Flat Belt Driving Tension
O
Let :
KS
T1 = Tension in the belt on tight side
T2 = Tension in the belt on slack side
θ = Angle of contact/lap in radians
IC
 Consider a small portion of the belt PQ, subtending at angle,  at the center of the pulley.
 The belt PQ is in equilibrium under the following forces :
a) Tension T in the belt at P
b) Tension, (T  T ) in the belt at Q
D
T
c) Normal Reaction RN
R
d) Frictional force, F  RN

PO
 Resolving all forces vertically and equating the same,

d d
(T  dT ) kos  T kos  R Equation 1
IK
2 2
 Since the angle  is very small, therefore it can be neglect
KN
dθ
0
2
TE
So that :

kos  kos0  1
LI
2
 Equation 1 become :
PO
T  T  T  R
T  R Equation 2
 Resolving the forces horizontally,

T 
R  (T  T ) sin  T sin Equation 3
2 2
d
is very small
2
207
BELT DRIVES
Therefore :
d d dT .d
sin  and 0
2 2 2
 From equation 3,
T 
R  (T  T ) sin  T sin
2 2
     
R  T    T    T Equation 4
 2   2 
N
 From equation 1 and equation 4 :
O
T   (T . )
KS
T
 
T
IC

T
T1
T    
T2
log 10T TT

0
   0

D
T
1
2
R
log 10T1 log 10T2   (  0)

PO
T 
log 10  1   
 T2 
 T1 
IK

 e
 T2 
KN
Where :
TE
θ = Angle of contact/lap
e = Constant (2.718)
 = Coefficient of friction between belt and pulley
LI
PO
 Consider the ratio of driving tension for flat belt drive

 T1  
 e
 2
T
Therefore,
T1
T2 
e 
 From equation,
Power  (T1  T2 )v
208
BELT DRIVES
 Power transmitted for flat belt :
 1 
Power   T1    v
 e 
 1 
Power  T1 1    v
 e 
Note :
Determination of angle of contact :

When the two pulleys of different diameters are connected by means of an open belt, then the angle
N
of contact or lap (θ) at the smaller pulley must be taken into consideration.
O
When the two pulleys are connected by means of a crossed belt, then the angle of contact or lap (θ)
on both the pulleys is same.
KS
Open belt drives :
 2  2 1
IC
Crossed belt drives :
1   2  2  2 1 D
T
R
Ratio of Driving Tensions for V Belt Drive

PO
 Consider figure below :

IK
KN
TE
LI
PO
Figure 6.11 : V-Belt

Where :
 = Half of angle of pulley

R
= Normal Reaction at V pulley
2
209
BELT DRIVES
 For V pulley, normal force between V belt and pulley will increase because the radial component
of the force must be equal with normal reaction
1 1
RN  R1sin  R1sin
2 2
R N  R1sin
1  1 
Total Friction Force    R1     R1 
2  2 
Total Friction Force  R1
 R 
N
Total Friction Force    N 
 sin 
O
  
KS
Total Friction Force  RN  
 sin 
IC
 From equation,
Friction force, Fr  RN

D
T
R
 For V belt, friction force increase with ratio

PO
1
1:
sin
IK
 So that ratio of driving tension for V belt :

KN

T1
 e sin
T2
TE
 Power transmitted for V belt :

LI
 
Power  T1 1    v
1
 
PO
 e sin 
210
BELT DRIVES
Centrifugal Tension
 Since the belt continuously runs over the pulleys, therefore, some centrifugal force caused,
whose effect is to increase the tension on both tight side and slack side.
 The tension caused by centrifugal force is called centrifugal tension.
 At lower belt speeds (less than 10 m/s), the centrifugal tension is very small, but at higher belt
speeds (more than 10 m/s), its effect is considerable and thus should be taken into calculation.
 Consider a small portion PQ of the belt subtending an angle  the center of the pulley as
shown in figure below
R
N
O
KS
r
IC
D
Figure 6.12 : Centrifugal Force
T
Let :
R
m = mass of the belt per unit length in kg

PO
V = linear velocity of the belt in m/s

r = radius of the pulley in meters
Tc = centrifugal tension acting tangentially
at P and Q in Newtons
IK
 From figure 6.12, hatching area is one of the element of the belt mass
KN
Mass of element  m(r. ) and

v2
Centrifuga l Tension of element  (mr. ) 
TE
r
Centrifuga l Tension of element  mv2 .
LI
 Resolving all centrifugal forces vertically,

 
PO
R  Tc sin  Tc sin
2 2

R  2Tc sin
2

R  2Tc
2
R  Tc .
d d
Since  very small, therefore sin 
2 2
211
BELT DRIVES
 Therefore,
Tc .  mv2 .

 Tc  mv2
 By consider the ratio of driving tension for flat belt,
T1  Tc
 e 
T2  Tc
 The equation of power for flat belt,

 1 
Power  (T1  Tc )1    v
N
 e 
O
 By consider the ratio of driving tension for V belt,
KS
T1  Tc 
 e sin
T2  Tc
IC
 The equation of power for V belt,

Power  (T1  Tc )1   
1 
v D
T
 
 e sin 
R
 For maximum power transmitted,

PO
1
Tc  T1
3
 Velocity to transmit maximum power,
IK
T1
v
KN
3m
TE
LI
PO
212
BELT DRIVES
Example 6.3
Find the power transmitted by a belt running over a pulley of 600 mm diameter at 200 rpm. The
coefficient of friction between the belt and the pulley is 0.25, angle of lap 1600 and maximum tension
in the belt is 2500 N
Given :
d = 0.6 m, r = 0.3 m; N=200 rpm; μ=0.25; θ=1600; T1=2500 N
N
 1 
Power  T1 1    v
O
 e 
KS
π
θ  160 0 
180
IC
θ  2.79 radian
v
2Nr
60 D
T
2 (200)(0.3)
v  6.28 m/s
R
60
PO
 1 
 Power  2500 1  (0.25)(2.79) 6.28
 e 
 7884.09 watt
IK
KN
Power also can be calculated by this equation :

TE
Power  (T1  T2 )v
T1
T2 
LI
e μθ
PO
2500
T2  (0.25)(2.79)  1244.57 N
e
Power  (2500  1244.57)6.28

Power  7884.1 watt
213
BELT DRIVES
Example 6.4
Two pulleys, one 450 mm and the other 200 mm diameter are on parallel shafts 1.95 m apart and are
connected by a crossed belt. Find the length of the belt required and the angle of contact between
the belt and each pulley.
What power can be transmitted by the belt when the larger pulley rotates at 200 rev/min, if the
maximum permissible tension in the belt is 1 kN, and the coefficient of friction between the belt and
pulley is 0.25
Given :
N
d1=0.45 m, r1=0.225 m; d2=0.2 m, r2=0.1 m; L=1.95 m
O
N=200 rpm; μ=0.25; T1=1000 N
KS
IC
For cross belt drives :
r  r2
cosα1  1
L
0.225  0.1
D
T
cosα1 
R
1.95
α1  80.410
PO
Convert to radian :
π
IK
80.410 
180 0
KN
α1  1.4 radian
θ1  θ 2  2π  2α1
TE
θ1  θ 2  2(π  1.4)
θ1  θ 2  3.48 radian
LI
PO
 Length of belt  (0.225)(3.48)  (0.1)(3.48)  (2)(1.95)sin80.410

 4.98 m
To find angle of lap for each pulley :

180
1   2  3.48 radian 

 199.39 0
214
BELT DRIVES
 1 
Power  T1 1    v
 e 
2Nr
v
60
2 (200)(0.225)
v  4.74 m/s
60
 1 
 Power  1000 1  (0.25)(3.48) 4.74
 e 
 2754.17 watt
N
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
215
BELT DRIVES
Example 6.5
Two pulleys mounted by a flat belt have a diameter 800 mm and 1200 mm stretched as far as 2 m
apart. The maximum tension in the belt is 17 N/mm. Find the minimum width of the belt for open
belt drive to allow transmit power of 9.4 kW. Coefficient of friction between the belt and pulley is 0.3
and the velocity is 9 m/s. Also calculate the initial tension of the belt.
Given :
Diameter driver pulley, d1 = 1.2 m; r1=0.6 m
N
Diameter driven pulley, d2 = 0.8 m; r1=0.4 m
O
Length, L = 2 m
Maximum Tension, T1=17 N/mm
KS
Power = 9400 watt
Coefficient of friction, µ = 0.3
Velocity, v = 9 m/s
IC
For open belt drives :
r  r2
cosα1  1 D
T
L
0.6  0.4
R
cosα1 
2
PO
α1  84.26 0
Convert to radian :
IK
π
84.26 0 
180 0
KN
α1  1.47 radian
TE
θ 2  2α1
θ 2  2(1.47)
LI
θ 2  2.94 radian
PO
 1 
Power  T1 1    v
 e 
 1 
9400  T1  1  (0.32.94) 9
 e 
9400  T1 (0.586)(9)
T1  1782.19 N
216
BELT DRIVES
1mm
Width of belt  1782.19 N 
17 N
Width of belt  104.83 mm
T1  T2
T0 
2
Where ;
T1
N
 e μθ
T2
O
1782.19
 e (0.32.94)
KS
T2
1782.19
 2.4158
IC
T2
T2  737.72 N
1782.19  737.72
D
T
 T0 
2
R
 T0  1259.96 N
PO
IK
KN
TE
LI
PO
217
BELT DRIVES
Example 6.6
Two pulleys, 1.2 m and 0.6 m diameter are on parallel shafts was stretched 3 m apart and are
connected by a open belt drives. The mass of the belt is 0.56 kg/m and the maximum tension is
1.5 kN. The driving pulley rotate at 300 rpm. The coefficient of friction between the belt and pulley is
0.3. Calculate :
a) The initial tension of the belt
b) Power transmitted
c) Maximum power transmitted by the belt
Given :
N
O
Diameter of driver pulley, d1 = 1.2 m; r1=0.6 m
Diameter of driven pulley, d2 = 0.6 m; r2=0.3 m
KS
Length, L = 3 m
Mass, m = 0.56 kg/m
Maximum Tension, T1=1500 N
IC
Number of rotation, N = 300 rpm
For open belt drives : D

T
r  r2
cosα1  1
R
L
PO
0.6  0.3
cosα1 
3
α1  84.26 0
IK
Convert to radian :
π
KN
84.26 0 
180 0
α1  1.47 radian
TE
θ 2  2α1
θ 2  2(1.47)
LI
θ 2  2.94 radian
PO
2N

60
2 (300)

60
ω  31.42 rad/s
218
BELT DRIVES
v  rω
v  0.3  31.42
v  9.426 m/s
Tc  mv 2
Tc  0.56(9.426) 2
Tc  49.76 N
T1  T2
a) T0 
2
N
Where ;
O
T1  Tc
 e μθ
KS
T2  Tc
1500  49.76
 e (0.32.94)
IC
T2  49.76
1450.24
 2.4158
T2  49.76 D
T
1450.24
T2   49.76
R
2.4158
T2  650.07 N
PO
1500  650.07
 T0 
2
 T0  1075.04 N
IK
KN
 1 
b) Power  (T1  Tc ) 1  μθ v
 e 
TE
 1 
Power  (1500  49.76 ) 1  (0.32.94) 9.426
 e 
Power  8011.22 watt
LI
PO
 1 
c) Max Power  (T1  Tc ) 1  μθ v
 e 
Where ;
1
Tc  T1
3
1
Tc  (1500)
3
Tc  500 N
219
BELT DRIVES
T1
v max 
3m
1500
v max 
3(0.56)
v max  29.88 m/s
 1 
 Max Power  (1500  500) 1  (0.32.94) 29.88
 e 
 Max Power  (1500)(0.568)(29.88)
 Max Power  17509.68 watt
N
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
220
BELT DRIVES
Example 6.7
The angle of lap for V belt is 1600 and the cross section of area is 780 mm2. The V belt was mounted
on the pulley with an angle 600. The mass of the belt is 0.85 kg/m and maximum stress allowed is
5.1 MN/m2. Diameter of driving pulley is 450 mm and rotate at 450 rpm. If the coefficient of friction
is 0.27, calculate :
a) The initial tension of the belt
c) The velocity of pulley at the maximum power
N
Given :
O
Angle of lap,  = 1600
KS
Area, A = 780 mm2
1m 1m
IC
= 780 mm2  
1000 mm 1000 mm
= 7.8 x 10-4 m2
Angle of Pulley = 600
D
T
  = 300
R
mass of belt, m = 0.85 kg/m

PO
Maximum Stress,  = 5.1 x 106 N/m2

Diameter of driver pulley, d = 0.45 m; r = 0.225 m
IK
Number of rotation, N = 450 psm

Coefficient of friction,  = 0.27
KN
TE
Convert to radian :
π
θ  160
180
LI
θ  2.79 radian
PO
2N

60
2 (300)

60
ω  31.42 rad/s
221
BELT DRIVES
v  r
v  ( 0.225 )( 47.12 )
v  10.6 m / s
Tc  mv 2
Tc  ( 0.85 )( 10.6 2 )
Tc  95.51 N
T1  T2
N
a) T0 
2
O
Where :
KS
Tmak
σ mak 
A
IC
Tmak  σ mak  A
Tmak  (5.1  10 6 )(7.8  10 4 )
Tmak  3978 N
Tmax  T1
D
T
R
PO
T1  Tc μθ
 e sinβ
T2  Tc
3978  95.51 (0.27)(2.79)
e sin30
IK
T2  95.51
3882.48
 4.53
KN
T2  95.51
3882.48  4.53(T2  95.51)
T2  952.57 N
TE
LI
3978  952.57
 T0 
2
PO
 T0  2465.29 N
222
BELT DRIVES
b) Power  (T1  T2 )v
Power  (3978  952.57)10.6
T1
c) v
3m
3978
v
3(0.85)
v  39.5 m/s
N
O
KS
IC
D
T
R
PO
IK
KN
TE
LI
PO
223
BELT DRIVES
Example 6.8
An open driving flat belt is used to connect two pulley diameter of 0.88 m and 0.46 m. The distance
between the two pulleys is 2.5 m. The belt mass is 0.6 kg/m and the maximum tension is 1.7 kN.
Coefficient of friction of belt and pulley is 0.25. Large pulley rotating at 310 rpm and it is the driving
pulley, meanwhile the small pulley rotates at 500 rpm. Calculate
a) The tension of belt at slack side
b) Torque at both pulleys
c) Power transmitted at both pulleys
d) The efficiency of the drive
N
O
Given :
KS
Length, L = 2.5 m
IC
Mass, m = 0.6 kg/m
Maximum Tension, T1=1700 N
Number of rotation of driver pulley, N1 = 310 rpm
Number of rotation of driven pulley, N2 = 500 rpm D
T
R
2N
PO
1 
60
2 (310)
1 
IK
60
1  32.46 rad/s
KN
2N
2 
TE
60
2 (500)
2 
LI
60
 2  52.36 rad/s
PO
For open belt drives :

r  r2
kos 1  1
L
0.44  0.23
kos 1 
2.5
 1  85.18 0
224
BELT DRIVES
Convert to radian :

 1  85.18 
180
 1  1.49 radian
 2  2 1
θ 2  2(1.49)
θ 2  2.973 radian
N
v  r
v  (0.44)(32.46)
O
v  14.28 m/s
KS
Tc  mv 2
IC
Tc  (0.6)(14.28 2 )
Tc  122.35 N
D
T
R
a) T2 = ?
PO
T1  Tc
 e μθ
IK
T2  Tc
1700  122.35
KN
 2.718 (0.25)(2.973)
T2  122.35
1577.65
 2.1028
TE
T2  122.35
1577.65  2.1028(T2  122.35)
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T2  872.6 N
PO
b) Torque at both pulley :
Torquedriver pulley  (T1  T2 )r

Torquedriver pulley  (1700  872.6)0.44
Torquedriver pulley  364.1 Nm
225
BELT DRIVES
Torkdriven pulley  (T1  T2 )r

Torkdriven pulley  (1700  872.6)0.23
Torkdriven pulley  190.3 Nm
c) Power Transmitted at both pulley
2NT
Powerdriver pulley 
60
2 (310)(364.1)
Powerdriver pulley 
N
60
Powerdriver pulley  11819.8 Watt
O
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2NT
Powerdriven pulley 
60
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2 (500)(190.3)
Powerdriven pulley 
60
Powerdriven pulley  9964.08 Watt
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d) Efficiency
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Power of driven pulley

η  100%
Power of driver pulley
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9964.08
η  100%
11819.8
KN
η  84.3%
TE
LI
PO
226
BELT DRIVES
Example 6.9 (Final Session June 2012)
A pulley system uses a flat belt of close section area 500 mm2 and density 1300 kg/m3. The angle of
lap is 1650 on the smaller wheel. The coefficient of friction is 0.35. The maximum force allowed in the
belt is 600 N. Solve the power transmitted when the belt runs at 10 m/s if
a) Centrifugal force is not included
b) Centrifugal force is included
Given :
Area = 500 mm2
N
ρ = 1300 kg/m3
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θ = 1650
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T1=600 N
v=10 m/s
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
θ  1650 
180
θ  2.88 radian
D
T
1m 1m
Area, A  500mm 2    500  10 6 m 2
R
1000mm 1000mm
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Tc  ρAv 2
Tc  1300  (500  10 6 )  10 2
Tc  65N
IK
KN
a) Power when Tc=0

1
Power  T1 (1  )v
e μθ
TE
1
Power  600(1  0.352.88 )10
e
Power  3810.31 N
LI
PO
b) Power when Tc is included
1
Power  (T1  Tc )(1  )v
e μθ
1
Power  (600  65)(1  0.352.88 )10
e
Power  3397 N
227
BELT DRIVES
Example 6.10 (Final Session June 2012)
A close belt drive connects two pulleys 400 mm and 250 mm. The distance between the two pulleys
is 3 m. The larger pulley runs at 200 rev/min and the maximum tension in it does not exceed 1.5 kN.
The coefficient of friction between the belt and the pulley is 0.25. Calculate
a) The angle of contact between the belt and each pulley
b) The length of the belt
Given :

Length, L = 3 m
N
N1=200 rpm
O
T1=1500 N
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For cross belt drives :
r  r2
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cosα1  1
L
cosα1 
0.2  0.125
3 D
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α1  83.8 0
R
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Convert to radian :
π
 1  83.8 0 
180 0
α1  1.46 radian
IK
KN
a) Angle of contact for each pulley
θ1  θ 2  2π  2α1
TE
θ1  θ 2  2(π  1.46)
θ1  θ 2  3.36 radian
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180
θ1  θ 2  3.36   192.510

PO
b) Length of belt
Length of belt  r11  r2 2  2Lsin 1

Length of belt  (0.2  3.36)  (0.125  3.36)  (2  3)sin83.78 0
Length of belt  7.06 m
228
BELT DRIVES
Exercise 6.1
A flat belt drive a pulley with diameter of 750 mm and speed 420 rpm. Contact angle between flat
belt and pulley is 1200, the coefficient of friction is 0.29. The maximum belt tension allowed is 530 N.
Find the power delivered by this driving.
(Power=3972.19 Watt)
Exercise 6.2
A large pulley with diameter of 0.8 m rotates at a speed of 200 rpm and is at a distance of 1 m from a
small pulley with a diameter of 2/3 of a large pulley. The maximum tension of the belt is 1.5 kN and
the coefficient of friction between the belt and the pulley is 0.25. Calculate the power that can be
transmitted if the belt is connected by a cross belt drive system.
(8592.18 watt)
N
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Exercise 6.3
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A cross belt drive connects two pulleys with diameter of 0.9 m and 0.4 m. The distance between the
two pulleys is 3.5 m. The larger pulley, which is the driver, rotates at 400 rpm and the maximum
tension is not exceeding 3000 N. If the coefficient of friction between pulley and belt is 0.25 and the
IC
mass of the belt is 0.8 kg/m length, calculate the power transmitted by the driver pulley.
Exercise 6.4 D
T
Two pulleys mounted by a “V” belt have a diameter 600 mm and 400 mm was stretched 1.2 m apart.
R
The angle of the pulley is 600 and rotates at 250 rpm. Calculate the initial tension and power
PO
delivered by a larger pulley if the maximum belt tension allowed is 530 N. Meanwhile the coefficient
of friction between belt and pulley is 0.29.
(T0=304.1 N, Power=3546.87 Watt)
IK
Exercise 6.5
KN
An open belt drive with “V” belt has a mass of 0.8 kg/m connected a pulley with diameter of 1.5 m.
The pulley is rotating at a speed of 200 rpm and that rotates another pulley with the speed of
450 rpm. Meanwhile the contact angle is 1650. The coefficient of friction is 0.23 and pulley angle is
TE
600. If power can be delivered is 8.5 kW, calculate:

a) The tension of belt for both sides
b) The size for second pulley
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c) The maximum power that can be delivered

(934.65 N, 393.51 N, 0.67 m, 9025 Watt)
PO
Exercise 6.6
An open belt drive was mounted with “V” belt on the pulley with an angle 600 connects two pulleys
with diameter of 0.9 m and 0.4 m. The distance between the two pulleys is 3.5 m. The larger pulley,
which is the driver, rotates at 400 rpm and the maximum tension is not exceeding 3000 N. If the
coefficient of friction between pulley and belt is 0.25 and the mass of the belt is 0.8 kg/m length,
calculate the power transmitted by the driver pulley.
229
BELT DRIVES
Exercise 6.7
A flat belt with a 10 mm thickness and 120 mm width transmits power between two pulley with
speeds of 1800 m/min. The belt has a mass of 0.8 kg/m . The angle of lap of the small pulley is 1700
and the coefficient of friction between the belt and the pulley is 0.32. If the maximum stress allowed
on the belt is 3 MN /m2, calculate:
a) Power transmit
b) Initial tension
c) Maximum velocity
(53002.24 watt, 2716.63 N, 38.73 m/s)
N
An open belt drive of flat belt connects with two pulleys and transmits power of 4.3 kW. Diameter of
O
smaller pulley is 350 mm, angle of contact 1500, the linear speed of belt is 4.5 m/s and coefficient of
friction between belt and pulley is 0.3. Calculate :
KS
a) Initial tension of belt
b) The power transmitted when an initial tension up to 10%
(T0=1278.75 N, Power=4729.99 Watt)
IC
D
A pulley with a groove angle of 300 is used to transmit power of 40 kW at 180 rpm. The pulley
diameter is 1.5 m and the contact angle of the belt is 1700. Calculate number of the belt if µ=0.23 and
T
the maximum tension of belt is 860 N.
R
(N=4)
PO
An open belt drive connects to two pulleys with diameter of 1.5 m and 0.75 m, on a parallel shaft
IK
with a length of 3.84 m. The belt weight at 0.7 kg/m and has maximum tensions not exceeding
1650 N. The larger pulley, which is the driver runs at 250 rev/min. Due to the belt slippage on one of
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the two pulleys, the velocity of the driven shaft is only 480 rev/min. If the coefficient of friction
between the belt and the pulley is 0.3, calculate,
a) Centrifugal tension
TE
b) Tension in the slack side

c) Torque on each of the pulleys
d) Power transmitted
LI
e) Power losses due to belt slippage

(Tc=248.76 N, T2=828.74 N, T1=615.95 Nm, T2=307.97 Nm, Power=15480.75 Watt, Power
PO
losses=29723.04 Watt)
The maximum tension of the V-belt drive is 2300 N. Angle of contact = 2.618 radian, friction
coefficient = 0.3 and cosec β = 3.864 radian. Calculate the belt tension in the slack side.
(T2=110.6 N)
230
BELT DRIVES
Two pulley each with diameter of 0.9 m and 0.5 m is connected at distance of 3.5 m by a belt
weighing 0.86 kg/m. Pulley A rotates at 250 rpm. It is known that coefficient of friction is 0.3 and
maximum permissible load of the belt system is 1.35 kN. Calculate :
a) Initial Tension
c) Calculate the maximum power able to transmitted in the system
(T0=982.79 N, Power = 8652.37 Watt, Powermax=12284.58 Watt)
An open belt drive connects two pulleys with diameter of 900 mm and 400 mm on a parallel shaft
N
with 2.75 apart. The belt has a coefficient of friction of 0.3. The driver pulley is the smaller pulley
O
which runs at 450 rpm :
a) Determine the angle of lap for each pulley, θ
KS
b) Calculate the length of belt required for the system, L
c) If the maximum tension of the belt does not exceed 2000 N, determine the power transmitted in
the belt drive system
IC
(θ1=191.550, θ2=168.440, L=7.56 m, Power = 24861.69 Watt)

D
T
A close belt drives connects two pulleys, with the diameter of 600 mm and 350 mm. The distance
between the two pulleys is 4 m. The larger pulley runs at 220 rev/min. The coefficient of friction
R
between the belt and the pulley is 0.3.

PO
a) Calculate the angle of contact between the belt and each pulley, θ
b) Determine the length of the belt required, L
c) If the maximum tension of the belt does not exceed 1.8 kN, determine the power transmitted in
the belt drive system
IK
(θ1=θ2=193.660, L=9.55 m, Power = 7927.65 Watt)

KN
Determine the necessary length of belt to drive a pulley of 500 cm diameter running parallel at a
TE
distance of 10 m from the driving pulley of diameter 70 cm. This system is close belt drive.
(Length of belt = 29.77 m)
LI

PO
An open belt drive connect two pulleys 2.4 m and 1 m diameter, on parallel distance 4 m apart. The
mass of the belt is 0.9 kg/m and the maximum tension is not to exceed 2500 N. The coefficient of
friction is 0.3. The small pulley, which is the driver runs at 400 rpm. Calculate :
a) Centrifugal tension
b) The power transmitted
c) The torque on each pulleys
(TC=394.64 N, Power=24990.83 Watt, Torquelarger=1432.14 Nm, Torquesmaller=596.73 N)
231
REFERENCES
1) Theory of Machines (2006), R.S. Khurmi, J.K. Gupta, S.Chand & Company Limited
2) Mechanics of Machines (2014), William L.Cleghorn, Nikolai Dechev, Oxford University Press
3) Engineering Mechanics Third Edition (1993), J.L. Meriam and L.G. Kraige, John Wiley & Sons Inc.
4) Mechanics of Machines, Elementary Theory and Examples (Fouth Edition) (1984), John Hannah
& R.C. Stephens, Arnold International Students’ Edition.
5) Vector Mechanics for Engineers : Statics (1990), Ferdinand P. Beer and E. Russell Johnston Jr,
McGraw-Hill Book Co.
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6) Applied Mechanics Level 3 (1984), W. Madill, Longman Inc., New York : Longman Group Limited.
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7) Mekanik Mesin : Teori Asas dan Contoh (Edisi ke 4) (1988), J. Hannah dan R.C. Stephens,
Translated by Yaacob Abdul Rahman, BIROTEKS Publication.
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8) Mekanik Mesin (Teori, Contoh Penyelesaian dan Masalah) (1995), Roslan Bin Abdul Rahman and
Che Abas Che Ismail, UTM.
9) D
Module J3010 (Mechanic of Machines 1) (2002), Zainol Hashim & Harisa Mohd. Saad (POLIMAS)
T
10) Applied Mechanics (1979), S.B. Mathur, Delhi : Khanna Publishers.
R
PO
11) Fizik : Mekanik dan Haba (1988), Poh Liong Yong, Pelangi Sdn. Bhd Publication.
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Mechanics Of machines
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Copyrighted 2018 *Port Dickson Polytechnic Mechanical Department * All Right Reserved
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Unauthorized copying, sharing or distribution of this copyrighted material is strictly prohibited.

If you are interested to purchase this e-Book, please write to : razali.b@polipd.edu.my
Besterfield: Quality Control, 8th ed.. © 2009 Pearson Education, Upper Saddle
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MECHANICAL ENGINEERING DEPARTMENT

Lead Editor : Razali Bin Bakri (PPD)

CHAPTER 2 : SIMPLE HARMONIC MOTION

Linear Elastic Oscillation : Mass-Spring 57

CHAPTER 3 : VELOCITY AND ACCELERATION DIAGRAM

Laws of Dynamic Friction or Kinetic Friction 118

Laws of Solid Friction 118

Coefficient of Friction 118

Minimum Force on Horizontal Plane 128

CHAPTER 6 : BELT DRIVES

kG - Radius of Gyration about an Axis Through of Gravity, m

1.15 Inertia Force  ma

1.16 Inertia Couple  I

1.17 Moment of Inertia, I  mk

CHAPTER 2 : SIMPLE HARMONIC MOTION

2.1 Displacement, x  rcosθ

2.2 Displacement, x  rcost

2.4 Max velocity , vmax  r

2.5 Accelerati on, a   2 x

2.9 Time Period for angular motion, t p  2

2.13 Max Force  mamax

2.14 Spring force in static condition , k  mg

2.15 Total Spring Force  k  kx

2.20 Amplitude , A  L sin 

2.23 Angular Velocity for Simple Pendulum,     2   2

2.24 Max Angular Velocity for Simple Pendulum,  max  

2.25 Angular Acceleration for Simple Pendulum,    

2.27 Time Period for Compound Pendulum, t p  2

CHAPTER 3 : VELOCITY AND ACCELERATION DIAGRAM

3.1 Linear Velocity of Linkage AB, vba   (AB )

Radial Acceleration for Linkage AB, (a R ) ab   ab ( AB )

4.1 Friction Force, Fr  RN

4.2 Angle of Friction, Tan  

4.3 Minimum Force, Pmin  mg sin(   )

4.4 Newton’s Second Law, F  ma

required force without friction

5.1 Static Balance for One Plane,  mr  0

Dynamic Balance for Different Plane,  mr  0

5.3 Static Balance for Different Plane,  mrl  0

Dynamic Balance for Different Plane,  mrl  0

CHAPTER 6 : BELT DRIVES

6.2 Pulley Angle – Open Belt Drives, 1   2

6.4 Angle of Lap for Driven Pulley – Open Belt Drives,  2  2 2

6.10 Initial Tension, T0 

6.11 Velocity of Pulley, v  r

6.13 Torque  (T1  T2 )r

6.14 Power  (T1  T2 )v

6.26 Velocity when Power is Maximum, v 

PROGRAM LEARNING OUTCOMES (PLO)

Upon completion of the programme, graduates should be able to:

1. Apply knowledge of mathematics, science and engineering fundamentals to well-defined

9. Demonstrate an awareness of management, business practices & entrepreneurship.

COURSE LEARNING OUTCOMES (CLO)

Upon completion of this course, students should be able to:-

2. Organize appropriately experiments in groups according to the Standard Operating Procedures.

Theory of Machines may be sub-divided into the following four branches :

law can be stated as follows :

Fundamental Quantity and Units

Fundamental Quantities Fundamental Units

Derived Quantity Derived Units

Density (ρ) kg/m3

Acceleration (a) m/s2

Force (F) Newton

Table 2 : Derived Quantity and Units