 Machine

 Mechanism
 Joint
Module 1  Kinematic Link
Basics of Mechanisms  Types of Kinematic Link
 Kinematic Pair
Introduction- Terminologies, Degree of  Types of Constrained Motion
Freedom – Study of planar mechanisms  Kinematic Chain
and their inversions  Degree of Freedom
 Kutzbach Criteria
 Inverse Mechanism

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

Machine
Machine is a device which receives energy Example : Dynamo used in a bicycle
(It converts mechanical energy into electrical energy. It
and transforms it into some useful work powers the head lamp of the bicycle.)

Example : A chain saw is a familiar machine that directs
forces to the chain with the objective of cutting wood.
Mechanism takes power from a small engine and delivers it
to the cutting edge of the chain
Example: Machine tools in work shop such as lathe,
shaper, planar .
(They convert electrical energy into useful work, i.e.
Turning a rod,cutting threads, turning tapers etc.)

Example : Wind Shield

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

 Joint
Mechanisms
A mechanism is a combination of rigid or A joint is a connection
restraining bodies so shaped and connected between two or more links
(at their nodes) which allow
that they move upon each other with a
some motion, or potential
definite relative motion. A simple example of motion between the
this is the slider crank mechanism used in connected links
an internal combustion or reciprocating air
compressor.

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

Kinematic Link or Element

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

A body is said to be a resistant body if it is capable of

transmitting the required forces with negligible deformation.
Thus a link should have the following two characteristics:
1. It should have relative motion, and 2. It must be a resistant
body

Link 1 : Piston, piston rod and crosshead constitute Theoretically, a true rigid body does not change shape during
Link 2 : connecting rod with big and small end bearings motion. Although a true rigid body does not exist, mechanism
Link 3 : crank, crank shaft and flywheel links are designed to minimally deform and are considered
Link 4 : cylinder, engineBasics
frame and main bearings
of Mechanisms Module 1 Basics of Mechanisms Module 1
rigid
A link, (as shown in Figure) is an (assumed) rigid
body that possesses at least two nodes that are points
for attachment to other links.

Binary link -one with two nodes.

Ternary link -one with three nodes.
Quaternary link -one with four nodes

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

Types of Kinematic Links

Cont.
1. Rigid Link 2. Flexible Link
Do not undergo any change A flexible link is a resistant
kinematic link that undergoes
of shape when transmitting partial deformation when
motion (or when subjected transmitting motion.
to external forces). Its deformation does not hinder its
In reality, no rigid links effectiveness of transmission.
exist. 3. Fluid Link
Example : Crankshafts, A fluid link makes use of a fluid (liquid or gas) to transmit
connecting rods and cam motion, by means of pressure.
followers. Fluid links always undergo deformation
Example : pneumatic punching presses, hydraulic jacks and
Basics of Mechanisms Module 1
hydraulic brakes Basics of Mechanisms Module 1
Structure Kinematic Pair
 Assemble of a number of resistance bodies
 No relative motion between them The two links or elements of a machine, when
Example : Railway bridge, a roof truss , in contact with each other, are said to form a
machine frame etc.,
S.No Structure
pair.
Machine
1 No relative motion exists Relative motion exists between
between its members its parts The relative motion between them is
2 It does not convert It transforms available energy completely or successfully constrained (i.e. in
available energy into work into useful work.
3 Members of a structure Links are meant to transmit
a definite direction), the pair is known as
transmit forces only motion and forces. kinematic pair.
4 Ex: Roof trusses, bridges Ex: Lathe, Shaper, Car, Scooter
etc. Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

Classification of Kinematic Pair

Turning Pair
The two elements of a pair are connected in such a
1. Based on the type of relative motion between the elements way that one can only turn or revolve about a fixed
2. Based on the type of contact between the elements axis of another link
3. Based on the type of closure Ex : Crankshaft in a journal bearing in an engine
lathe spindle supported in head stock
1. Relative Motion Between the Elements
Sliding Pair Screw Pair
Rolling Pair
When the two elements of a pair are connected in such a One element can turn
One rolls over another fixed link
way that one can only slide relative to the other. about the other by
Ex : Ball and roller bearings
Ex : screw threads, the pair
The piston and cylinder, is known as screw pair
Ram and its guides in shaper
Tail stock on the lathe bed etc.

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

Spherical Pair
When the two elements of a pair are connected in such 2. Based on the type of contact between the elements
a way that one element (with spherical shape) turns or
swivels about the other fixed element, the pair formed Lower Pair
is called a spherical pair. The two elements of a pair have a surface
contact when relative motion takes place and
the surface of one element slides over the
surface of the other.
Example :
sliding pairs
turning pairs
screw pairs

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

3. Based on the type of closure

Higher Pair Self Closed Pair
The two elements of a pair have a line or point The two elements of a
contact when relative motion takes place and pair are connected
the motion between the two elements is partly together mechanically
turning and partly in such a way that only
required kind of Forced - Closed Pair
Example : relative motion occurs The two elements of a
Friction Disc pair are not connected
Toothed Gearing mechanically but are
Cam and Follower kept in contact by the
action of external
Basics of Mechanisms Module 1 force
Basics of Mechanisms Module 1
 Types of Constrained Motions
https://www.youtube.com/watch?v=eoJxvp0GQ8o

Constrain
1. Completely constrained motion

compel or force (someone) to follow a particular course The motion between a pair is limited to a definite
of action. direction irrespective of the direction of force applied
children are constrained to work in the way the book
dictates Example : Piston & Cyclinder

severely restrict the scope, extent, or activity of

agricultural development is considerably constrained by
climate

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

2. Incompletely constrained motion 3.Successfully constrained motion

The motion between the elements, forming a pair, is such
The motion between a pair can take place in more than
that the constrained motion is not completed by itself, but
one direction, then the motion is called an incompletely
by some other means, then the motion is said to be
constrained motion
successfully constrained motion

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

 Kinematic Chain To determine the assemblage of link
forms the kinematic chain or not
When the kinematic pairs are coupled in such a way that
the last link is joined to the first link to transmit definite 𝑙 = 2𝑝 − 4 −− −(1) l = number of links
motion (i.e. completely or successfully constrained p = number of pairs
3
𝐽= 𝑙 − 2 −− −(2) J = number of joints
motion), it is called a kinematic chain. 2
For Example If the equation are satisfied, then the assemblage of links form
1. Crankshaft of an engine forms a kinematic chain
kinematic pair with the bearings. (i) LHS = RHS the chain is called Constrained
2. Connecting rod with the crank
kinematic chain
forms a second kinematic pair.
3. Piston with the connecting rod
(ii) LHS > RHS the chain is called locked chain or
forms a third pair structure
4. Piston with the cylinder forms a Sum of 1 + 2 + 3 + 4 = (iii) LHS < RHS the chain is called unconstrained
fourth pair Basics of Mechanisms
Kinematic chain Module 1 kinematic chain Basics of Mechanisms Module 1

Arrangement of Three Links Arrangement of Four Links

𝑙 = 2𝑝 − 4 −−− −(1) l= 4 p=4J= 4

3
𝐽= 𝑙 − 2 −− −(2) 4 = 2(4) − 4 −− −(1)
2 4= 4 LHS = RHS
l = number of links = 3 3
𝐽= 𝑙 − 2 −− −(2)
2
p = number of pairs = 3 4 = 3/2(4) -2
J = number of joints = 3 From Equ. (1) LHS > RHS 4 = 4 LHS = RHS
From Equ. (2) LHS > RHS
 not satisfy the equations (i) and (ii) satisfy the equations (i) and (ii), therefore it is a kinematic chain
 not a kinematic chain and hence no relative motion is possible
 type of chain is called locked chain
 forms a rigid frame or structure which is used in bridges and
trusses
Basics of Mechanisms Module 1 Basics of Mechanisms Module 1
 Arrangement of Five Links
Mechanism
l= 5 p=5J= 5  One of the links of a kinematic chain is fixed,
5 = 2(5) − 4 −− −(1) the chain is known as mechanism.
5= 6 LHS < RHS  It may be used for transmitting or transforming
3
𝐽= 𝑙 − 2 −− −(2) motion.
2
5 = 3/2(5) -2  A mechanism with four links is known as
5 = 5.5 LHS < RHS simple mechanism, and the mechanism with
more than four links is known as compound
 not satisfy the equations (i) and (ii) mechanism
 left hand side is less than right hand side, therefore it is not a
kinematic
 When a mechanism is required to transmit
 type of chain is called unconstrained chain power or to do some particular type of work, it
then becomes a machine
Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

Degree of Freedom Number of Degrees of Freedom for Plane Mechanisms

Degrees of Freedom of a Rigid Body in a Plane
The degrees of freedom (DOF) of a rigid body is
defined as the number of independent
movements it has.
Figure shows a rigid body in a plane.
To determine the DOF of this body we must
consider how many distinct ways the bar can be
moved.
In a two dimensional plane such as this
computer screen, there are 3 DOF.
The bar can be translated along the x axis,
translated along the y axis, and rotated about its
centroid.
Basics of Mechanisms
In the design or analysis of a mechanism, one of the most
important concern is the number of degrees of freedom (also
called movability) of the mechanism.
It is defined as the number of input parameters (usually pair
variables) which must be independently controlled in order to
In Space bring the mechanism into a useful engineering purpose.
It is possible to determine the number of degrees of freedom of a
mechanism directly from the number of links and the number
and types of joints
3 Translating &
Rotary Motion
Module 1 Basics of Mechanisms Module 1
For a four bar chain only one variable such as θ is needed
to define the relative positions of all the links, So DOF = 1

Consider two links AB and CD in figure. The position of point P

on the moving link CD can be completely specified by the three
variables, i.e. the x and y coordinates of point P and the
inclination θ of the link CD with x-axis or link AB. So each link
has 3 DOFs before it is connected to any other link.

For a five bar chain two variable such as θ1 and θ2 is But when the link CD is connected to the link AB by a turning
needed to define the relative positions of all the links, So pair at A, as shown in Fig. (b), the position of link CD is now
determined by a single variable θ and thus has one degree of
DOF = 2
freedom
Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

Application of Kutzbach Criterion to Plane

Kutzbach Criterion for the movability of mechanism Mechanisms
having plane motion
Let us consider a plane mechanism with l number of links Mechanisms with Lower pairs
a. Three bar mechanism
In a mechanism one of the link is to be fixed so,
No. of Movable link = ( l -1) n = 3(l-1)-2j
Total no. of DoF before connected to any other = 3( l -1)
l = 3 links, j =3 binary joints
No. of binary joint or lower pair =J
n = 3X(3-1) - 2X3 = 0
(Single degree of freedom)
n = 0 means,
No. of Higher pairs =h
the three bar mechanism forms a
(Two degree of freedom)
structure.
No relative motion between the link
No. of DoF n = 3(l-1)-2j-h
occurs
If no two degree of freedom h=0 then equ. n = 3(l-1)-2j
Basics of Mechanisms Module 1 Basics of Mechanisms Module 1
l = 4 links , j = 4 binary joints
n = 3X(4-1) - 2X4 = 1
Case 2:
n = 1 means,
l = 5 links ,
the mechanism can be driven by a
j = 2X1 + (2X2) (2 binary joints and 2 ternary joints)
single input motion
n = 3X(5-1) - 2X6 = 0
n = 0 means, it forms a structure

Note : If two links are joined at the same joint, it is

Case 1:
called binary joint. If three links are joined at the same
l = 5 links , j = 5 binary joints
n = 3X(5-1) - 2X5 = 2
joint, it is called a ternary joint. Ternary joint is
n=2 equivalent to two binary joints.
means the mechanism can Fig. (d), has five links and six equivalent binary joints
be driven by a two separate input (because there are two binary joints at B and D, and two
motion ternary joints at A and C), i.e. l = 5 and j = 6.

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

Mechanisms with Higher pairs

The mechanism, as shown in Fig. (e), has six

links and eight equivalent binary joints n = 3(l-1)-2j-h
(because there are four ternary joints at A, B,
C and D), i.e. l = 6 and j = 8.
∴ n = 3 (6 – 1) – 2 × 8 = – 1

In Fig. 5.17 (a), there are three links, two binary

joints and one higher pair, i.e. l = 3, j = 2 and h = 1.
When n = – 1 or less, then there are redundant constraints ∴ n = 3 (3 – 1) – 2 × 2 – 1 = 1
in the chain and it forms a statically indeterminate
In Fig. 5.17 (b), there are four links, three binary
structure ( insufficient for determining )
joints and one higher pair, i.e. l = 4, j = 3 and h = 1
∴ n = 3 (4 – 1) – 2 × 3 – 1 = 2

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

 Kinematic Pair Make up a Machine

Mechanism Kinematic Pair

When Connected as per

Kutzbach’s Criterion

Kinematic Chain

When one link is fixed

Mechanism

When forces and couples are transmitted Machine

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

Inversion of Mechanism
S.No Mechanism
 One of links is fixed in a kinematic chain, it is called a mechanism When one of links is
1
 we can obtain as many mechanisms as the number of links fixed in a kinematic
in a kinematic chain by fixing, in turn, different links in a chain, it is called a
kinematic chain. mechanism
 Different mechanisms by fixing different links in a
kinematic chain, is known as inversion of the mechanism. A Mechanism is the
2
skeleton outline of the
machine to produce
definite motion between
various links
Machine
A machine is an
arrangement of parts for
doing work. It is a device
for applying power or
changing its direction
Machine may have many
mechanisms for
transmitting power or
mechanical work

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

 Types of Kinematic chains Four Bar Chains

Kinematic Chain

Slider crank chain Double slider crank chain

Four bar chain
(Three Turning and one (Two Turning and two
(All four turning pair)
Sliding Pair) Sliding Pair)

1. Crank (or) Driver : A link makes complete revolution

2. Coupler : The opposite to the fixed link
3. Lever (or) Rocker (or) Follower : Link which make a
partial rotation or oscilation
4. Frame : The fixed link
Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

Grashof’s Law Inversions of Four Bar Chain

Beam engine (crank and lever mechanism). First
Grashof’s Law states that the sum of the shortest and longest links Inversion
cannot be greater than the sum of the remaining two links, if there
is to be continuous relative between two members  Consists of four links
 The crank rotates about the
fixed centre A, the lever
oscillates about a fixed
centre D.
 The end E of the lever CDE
is connected to a piston rod
which reciprocates due to
the rotation of the crank
S+l≤p+q  Mechanism is to convert
rotary motion into
If not satisfied, no link will make a complete revolution
reciprocating motion.
relative to other Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

Coupling rod of a locomotive
(Double crank mechanism) Second Inversion
 Consists of four links
 The links AD and BC (having equal length) act as cranks
and are connected to the respective wheels
 The link CD acts as a coupling rod and the link AB is
fixed in order to maintain a constant centre to centre
distance between them
 Transmitting rotary motion from one wheel to the other
wheel Basics of Mechanisms
Watt’s indicator mechanism (Double lever
mechanism (Watt's straight line mechanism )
Third Inversion
 Consists of four links
 fixed link at A, link AC, link CE
and link BFD.
 BF and FD form one link because
these two parts have no relative
motion between them
 The displacement of the link BFD
is directly proportional to the
pressure of gas or steam which
acts on the indicator plunger
 On any small displacement of the
mechanism, the tracing point E at
the end of the link CE traces out
Module 1 approximately a straight lineBasics of Mechanisms Module 1

Single Slider Crank Chain

 Modification of the basic four bar chain
 One Sliding Pair and Three Turning Pair
Single Slider Crank Chain  Convert Rotary into Reciprocating Motion Vice Versa

Link 1 &2 , 2&3 and

3&4 Turning Pair
Link 4 & 1 Sliding
Pair

crank rotates, the cross-head reciprocates in the guides and

thus the piston reciprocates in the cylinder
Basics of Mechanisms Module 1 Basics of Mechanisms Module 1
 Reciprocating Engine and
Reciprocating Compressor
First Inversion

Link 1 Fixed
Link 2 & 4 Crank & Slider

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

Second Inversion
Whitworh Quick return mechanism
Link 2 Fixed
Link 3 along with the slider at the end link
4 become crank
Link 1 to rotate about O along with slider
which also reciprocate
Application : Shaping and slotting machine
 The link CD (link 2) forming the turning pair is fixed
α = Time of Cutting Stroke  The slider (link 4) attached to the crank pin at A slides along the
Β = Time of return stroke slotted bar PA (link 1) which oscillates at a pivoted point D
∝  The connecting rod PR carries the ram at R to which a cutting
Time take during cutting and return stroke =
𝛽 tool is fixed.

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

 α = Time of Cutting Stroke
Β = Time of return stroke
∝
Time take during cutting and return stroke =
𝛽

Driving crank CA moves from the position CA1 to CA2

through an angle α in the clockwise direction, the tool moves
from the left hand end of its stroke to the right hand end.

The driving crank moves from the position CA2 to CA1

through an angle β in the clockwise direction, the tool moves
back from right hand end of its stroke to the left hand end.
Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

Third Inversion Crank and slotted lever quick return motion mechanism
Rotary internal combustion engine or Gnome
engine

when the connecting rod (link 4) rotates, the piston

(link 3) reciprocates inside the cylinders forming linkModule
Basics of Mechanisms
1 1 Basics of Mechanisms Module 1
 α + β = 360o
c
From ∆ B1CA

Cos θ = Adj / Hyp

Since the tool travels a distance of R1 R2
during cutting and return stroke, therefore
Cos α /2 = CB1 / AC
travel of the tool or length of stroke.
= R1R2 = P1P2 = 2P1Q--------[1]
Length of stroke = 2 AP (CB1/AC)
From ∆P1AQ
Sin (90 – α / 2) = P1Q / P1A Sin = Opp / Hyp 𝐶𝐵
Length of Stroke = 2 X AP X
𝐴𝐶
P1Q = Sin (90 – α / 2) P1A
Sin (90 – α / 2) = Cos α / 2
Apply Equ. 1 Length of the stroke = 2 AP1COS α / 2
=2P1Q
2Sin (90 – α / 2) P1A

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

Problem on Quick return Mechanism

In a crank and slotted lever quick return motion mechanism, the distance
between the fixed centres is 250 mm and the length of the driving crank is
100 mm.
(i) Find the inclination of the slotted bar with the vertical in the extreme
position
(ii) time ratio of cutting stroke to the return stroke.
(iii) If the length of the slotted bar is 450 mm, find the length of the stroke
if the line of stroke passes through the extreme positions of the free end of
the lever

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

 Pendulum pump or Bull engine
Fourth Inversion
The inversion is obtained by
fixing the cylinder or link 4
(i.e. sliding pair)
Double slider crank chain
The crank (link 2) rotates, the (Two Turning and two Sliding Pair)
connecting rod (link 3)
oscillates about a pin pivoted
to the fixed link 4 at A and the
piston attached to the piston
rod (link 1) reciprocates

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

Elliptical trammels Scotch yoke mechanism

 It is an instrument used for
drawing ellipses
 Inversion is obtained by
fixing the slotted plate (link
4)
 The link 1 and link 3, are
known as sliders and form
sliding pairs with link 4. Parametric Equation of Ellipse Mechanism is used for converting rotary motion into a reciprocating
x = AP cos θ; and y = PR = BP sin θ
 links 1 and 3 slide along motion
their respective grooves, Link 1 & 4 is fixed
any point on the link 2 such The link 2 (which corresponds to crank) rotates about B as centre,
as P traces out an ellipse on the link 4 (which corresponds to a frame) reciprocates.
the surface of link

Basics of Mechanisms Module 1 Basics of Mechanisms Module 1

 Oldham’s coupling Grashof’s Law

Grashof’s Law states that the sum of the shortest and longest links
cannot be greater than the sum of the remaining two links, if there
is to be continuous relative between two members

S+l≤p+q
If not satisfied, no link will make a complete revolution
Basics of Mechanisms Module 1 relative to other Basics of Mechanisms Module 1

Crank – Rocker or Crank Lever or Rotary

Module 2
Oscillating Converter (Class-I four bar linkage) Velocity and accelerations in planar
mechanisms, Coriolis component of
Fig (a) and (b) acceleration.
Double rocker or Double lever

Fig. (c) (Class II four bar linkage)

Basics of Mechanisms Module 1

 Velocity in Mechanisms
(Relative Velocity Method)
Velocity
Relative Velocity of Two Bodies Moving in Straight Lines

Velocity may be defined as the rate of change

of displacement of a body with respect to
time.
The relative velocity of A with respect to B,
Acceleration

The rate of change of velocity with respect to The relative velocity of B with respect to A,
time is known as acceleration

Velocity of a Point on a Link by

Motion of a Link Relative Velocity Method
velocity of any point on a link with respect
to another point on the same link is always
perpendicular to the line joining these
points on the configuration (or space)
diagram

Consider two points A and B on a rigid link A B, Let one of the

extremities (B) of the link move relative to A, in a clockwise
direction.
Consider two points A and B on a link.
Since the distance from A to B remains the same, therefore there
Let the absolute velocity of the point A i.e. vA is known in magnitude and direction
can be no relative motion between A and B, along the line A B.
the absolute velocity of the point B i.e. vB is known in direction only.
It is thus obvious, that the relative motion of B with respect to A
must be perpendicular to A B. Then the velocity of B may be determined by drawing the velocity diagram
 In a four bar chain ABCD, AD is fixed and is 150
mm long. The crank AB is 40 mm long and rotates at
1. Take some convenient point o, known as the pole. 120 r.p.m. clockwise, while the link CD = 80 mm
2. Through o, draw oa parallel and equal to vA, to some suitable oscillates about D. BC and AD are of equal length.
scale. Find the angular velocity of link CD when angle
3. Through a, draw a line perpendicular to A B This line will BAD = 60°.
represent the velocity of B with respect to A, i.e. vBA.
4. Through o, draw a line parallel to vB intersecting the line of
vBA at b.
5. Measure ob, which gives the required velocity of point B ( vB),
to the scale

In Fig. 7.9, the angular velocity of the crank OA is

600 r.p.m. Determine the linear velocity of the slider
D and the angular velocity of the link BD, when the
crank is inclined at an angle of 75° to the vertical.
The dimensions of various links are : OA = 28 mm ;
AB = 44 mm ; BC 49 mm ; and BD = 46 mm. The
centre distance between the centres of rotation O
and C is 65 mm. The path of travel of the slider is
11 mm below the fixed point C. The slider moves
along a horizontal path and OC is vertical
 In a mechanism as shown in Fig. 7.15, the various dimensions are : OC =
125 mm ; CP = 500 mm ; PA = 125 mm ; AQ = 250 mm and QE = 125 mm

The slider P translates along an axis which is 25

mm vertically below point O. The crank OC
rotates uniformly at 120 r.p.m. in the anti-
clockwise direction. The bell crank lever AQE
rocks about fixed centre Q.
Draw the velocity diagram and calculate the
absolute velocity of point E of the lever

Velocity in Mechanisms
(Relative Velocity Method)
1. From any point o, draw vector ob parallel to the direction of vB (or
perpendicular to OB) such that ob = vB = ω.r, to some suitable scale.

2. Since AB is a rigid link, therefore the velocity of A relative to B is

perpendicular to AB. Now draw vector ba perpendicular to AB to represent
the velocity of A with respect to B i.e. vAB.

3. From point o, draw vector oa parallel to the path of motion of the slider A
(which is along AO only). The vectors ba and oa intersect at a. Now oa
 A slider crank mechanism is shown in Figure. The slider A is attached to
represents the velocity of the slider A i.e. vA, to the scale.
the connecting rod AB. The radius of crank OB be r and it rotates in a
The angular velocity of the connecting rod AB (ωAB) may be determined as
clockwise direction, about the point O with uniform angular velocity ω
follow
rad/s.
 Therefore, the velocity of B i.e. vB is known in magnitude and direction.
 The slider reciprocates along the line of stroke AO.
 The velocity of the slider A (i.e. vA) may be determined by relative
velocity method
Acceleration in Mechanisms
Acceleration of a particle whose velocity changes both in
magnitude and direction at any instant

1. The centripetal or radial component, which is perpendicular

to the velocity of the particle at the given instant.
Problems
2. The tangential component, which is parallel to the velocity of
the particle at the given instant

The crank of a slider crank mechanism rotates clockwise at

a constant speed of 300 r.p.m. The crank is 150 mm and the
connecting rod is 600 mm long.
Determine : 1. linear velocity and acceleration of the
midpoint of the connecting rod, and 2. angular velocity and
angular acceleration of the connecting rod, at a crank angle
Linear velocity of the midpoint of the connecting rod
of 45° from inner dead centre position
In order to find the velocity of the midpoint D
vector ob = vBO = vB = 4.713 m/s bd / ba = BD/BA
Given : NBO = 300 r.p.m. or ωBO = 2 π × 300/60 = 31.42 rad/s; OB By measurement, we find that velocity
vD = vector od = 4.1 m/s
= 150 mm = 0.15 m ; BA = 600 mm = 0.6 m of A with respect to B,
We know that linear velocity of B with respect to O or velocity of B, AB= vector ba= 3.4 m/ s
and Velocity of A = vector oa = 4 m/ s
vBO = vB = ωBO × OB = 31.42 × 0.15 = 4.713 m/s
Acceleration of the midpoint of the connecting rod

PQRS is a four bar chain with link PS fixed. The lengths of the
links are PQ = 62.5 mm ; QR = 175 mm ; RS = 112.5 mm ; and
PS = 200 mm. The crank PQ rotates at 10 rad/s clockwise. Draw
the velocity and acceleration diagram when angle QPS = 60° and
Q and R lie on the same side of PS. Find the angular velocity and
angular acceleration of links QR and RS.
 Forces Acting in a Mechanism

In the mechanism, as shown in Fig. 8.12, 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.
Let force FA newton is acting at the joint A in the direction of
the velocity of A (vAm/s) which is perpendicular to the link
DA.
Suppose a force FB newton is transmitted to the joint B in the
direction of the velocity of B (i.e. vB m/s) which is
perpendicular to the link CB.
If we neglect the effect of friction and the change of kinetic
energy of the link (i.e.), assuming the efficiency of
transmission as 100%)
Mechanical Advantage

It is defined as the ratio of the load to the effort. In a four bar

mechanism the link DA is called the driving link and the link CB as
the driven link.
The force FAacting at A is the effort and the force F B at B will be
the load or the resistance to overcome.

A four bar mechanism has the following dimensions :

DA = 300 mm ; CB = AB = 360 mm ; DC = 600 mm. The link DC is
fixed and the angle ADC is 60°. The driving link DA rotates
uniformly at a speed of 100 r.p.m. clockwise and the constant driving
torque has the magnitude of 50 N-m. Determine the velocity of the
point B and angular velocity of the driven link CB. Also find the
actual mechanical advantage and the resisting torque if the
efficiency of the mechanism is 70 per cent
 Grashof’s Law

Grashof’s Law states that the sum of the shortest and longest links
cannot be greater than the sum of the remaining two links, if there
is to be continuous relative between two members

S+l≤p+q
If not satisfied, no link will make a complete revolution
relative to other Basics of Mechanisms Module 1

Transmission Angle
The angle µ between output link and coupler is known as
Transmission angle

AB is the Input link

DC is the Output Link
Crank – Rocker or Crank Lever or Rotary
Oscillating Converter (Class-I four bar linkage) The value of force transmitted through BC coupler

Fig (a) and (b) The particular value of force in the coupler rod the transmission
torque transmitted angle µ is 90o
Double rocker or Double lever If the BC and DC become coincident, the transmission angle is zero
and the mechanism would be jam
Fig. (c) (Class II four bar linkage)
If µ is deviates from 90o the torque in the output link is decreases
Basics of Mechanisms Module 1
µ is between 45 to 90o
A crank-rocker mechanism has a 70 mm fixed link, 20 mm crank, a
50 mm coupler and a 70 mm rocker. Draw the mechanism and
determine the maximum and minimum values of the transmission
angle.
a. Locate the two toggle positions and find the corresponding
crank angles
b. Calculate the transmission angles
Velocity in Mechanisms
(Instantaneous Centre Method)

Combined effort of rotation and

translation

 The figure shows the rigid link AB, which moves from its initial
position AB to A1B1
 It is showing that the link neither has wholly a motion of
translation nor wholly rotational, but the combination of two
motion
 The combined motion of rotation and translation of the link
assumed to be a motion of pure rotation about some centre I,
known as Instantaneous centre of rotation (also called centro or
virtual centre)
Coriolis Component of Acceleration
When a point on one link is sliding along another
rotating link, such as in quick return motion
mechanism, then the coriolis component of the
acceleration must be calculated
A mechanism of a crank and slotted lever quick return motion is
shown in Fig. 8.28. If the crank rotates counter clockwise at 120
r.p.m., determine for the configuration shown, the velocity and
acceleration of the ram D. Also determine the angular acceleration of
the slotted lever. Crank, AB = 150 mm ; Slotted arm, OC = 700 mm
and link CD = 200 mm.
Instantaneous centre method
From the points A and B of the link has moved
to A1 and B1 respectively under the motion of
rotation (as assumed above), therefore the
position of the centre of rotation must lie on the
intersection of the right bisectors of chords A A1
and B B1.
Let these bisectors intersect at I as shown in
Figure which is the instantaneous centre of
rotation or virtual centre of the link AB.
AB goes on changing, therefore the centre about which the motion is
assumed to take place (i.e. the instantaneous centre of rotation) also goes
on changing.
Instantaneous centre of a moving body may be defined as
that centre which goes on changing from one instant to another. The
locus of all such instantaneous centres is known as centrode. A line
drawn through an instantaneous centre and perpendicular to the plane
of motion is called instantaneous axis. The locus of this axis is known
as axode.
Number of Instantaneous Centres in a
Mechanism
The number of instantaneous centres in a constrained
kinematic chain is equal to the number of possible
combinations of two links.
The number of pairs of links or the number of
instantaneous centres is the number of combinations of n
links taken two at a time
Methods for Determining the Velocity of a Point
on a Link
1. Instantaneous centre method and
2. Relative velocity method
The instantaneous centre method is convenient and easy
to apply in simple mechanisms,
The relative velocity method may be used to any
configuration diagram
Types of Instantaneous Centres
1. Fixed instantaneous centres,
2. Permanent instantaneous centres, and
3. Neither fixed nor permanent instantaneous
centres
The first two types i.e. fixed and permanent
instantaneous centres are together known as
primary instantaneous centres and the third
type is known as secondary instantaneous
centres
Consider a four bar mechanism ABCD as shown in Figure. The
number of instantaneous centres (N) in a four bar mechanism

The instantaneous centres I12 and I14 are
called the fixed instantaneous centres as
they remain in the same place for all
configurations of the mechanism.
The instantaneous centres I23 and I34
are the permanent instantaneous centres
as they move when the mechanism moves,
but the joints are of permanent nature.
The instantaneous centres I13 and I24 are
neither fixed nor permanent
instantaneous centres as they vary with the
configuration of the mechanism.
When the link 2 (slider) moves on fixed link
1 having straight surface. The instantaneous
centre lies at infinity and each point on the
slider have the same velocity
When the link 2 (slider) moves on fixed link 1
having curved surface The instantaneous
centre lies on the centre of curvature of the
curvilinear path in the configuration at that
instant
When the link 2 (slider) moves on fixed link 1
having constant radius of curvature. The
instantaneous centre lies at the centre of
curvature i.e. the centre of the circle, for all
configuration of the links.
Location of Instantaneous Centres
When the two links are connected by a pin joint (or pivot
joint), the instantaneous centre lies on the centre of the pin
as shown in Figure. Such a instantaneous centre is of
permanent nature.
But if one of the links is fixed, the instantaneous centre
will be of fixed type.
When the two links have a pure rolling contact (i.e.
link 2 rolls without slipping upon the fixed link 1
which may be straight or curved), the instantaneous
centre lies on their point of contact
Aronhold Kennedy (or Three Centres in Line)
Theorem
The Aronhold Kennedy’s theorem states that
if three bodies move relatively to each other,
they have three instantaneous centres and
lie on a straight line.
The two instantaneous centres at the pin joints of B with A,
and C with A (i.e. Iab and Iac) are the permanent
instantaneous centres. According to Aronhold Kennedy’s
theorem, the third instantaneous centre Ibc must lie on the
line joining Iab and Iac
Method of Locating Instantaneous Centres in a
Mechanism
2. Make a list of all the instantaneous centres in a mechanism.
Since for a four bar mechanism, there are six instantaneous centres,
1. Determine the number of instantaneous centres (N) by
therefore these centres are listed as shown in the following table
using the relation
(known as book-keeping table).

3. Locate the fixed and permanent instantaneous centres by

inspection. In Figure I12 and I14 are fixed instantaneous
centres and I23 and I34 are permanent instantaneous centres.

Problems on Instantaneous Centre

4. Locate the remaining neither fixed nor permanent
instantaneous centres (or secondary centres) by Kennedy’s
Method
theorem. This is done by circle diagram
5. Join the points by solid lines to show that these centres are In a pin jointed four bar mechanism as shown in the figure 1
already found. In the circle diagram these lines are 12, 23, 34 AB = 300mm, BC = CD = 360mm and AD = 600 mm. The
and 14 to indicate the centres I12, I23, I34 and I14. angle BAD = 600 . The crank AB rotates uniformly at 100
r.p.m. locates all the instantaneous centres and find the
6. In order to find the other two instantaneous centres, join two such points
angular velocity of the link BC.
that the line joining them forms two adjacent triangles in the circle diagram.
The line which is responsible for completing two triangles, should be a
common side to the two triangles. In Fig join 1 and 3 to form the triangles 123
and 341 and the instantaneous centre* I13 will lie on the intersection of I12
I23 and I14 I34, produced if necessary, on the mechanism. Thus the
instantaneous centre I13 is located. Join 1 and 3 by a dotted line on the circle
diagram and mark number 5 on it. Similarly the instantaneous centre I24 will
lie on the intersection of I12 I14 and I23 I34, produced if necessary, on the
mechanism. Thus I24 is located. Join 2 and 4 by a dotted line on the circle
diagram and mark 6 on it. Hence all the six instantaneous centres are located
Problems on Instantaneous Centre
Method
Locate all the instantaneous centres of the slider crank
mechanism shown inn figure 2. The length of crank OB and
the connecting rod AB are 100mm and 400 mm respectively.
If the crank rotates clockwise with an angular velocity of 10
rad/sec , find 1. The velocity of slider 2. Angular velocity of
the connecting rod AB
Module 2
Velocity and accelerations in planar
mechanisms, Coriolis component of
acceleration.
Problems on Instantaneous Centre
Method
Locate the instantaneous centres for the crossed four bar mechanism
shown in fig 3. The dimensions of various links are : CD = 65 mm
CA = 60 mm DB = 80 mm and AB = 55 mm. Find the angular
velocities of the links AB and DB, if crank CA rotates at 100 r.p.m
in anti-clockwise direction.
Velocity
Velocity may be defined as the rate of change
of displacement of a body with respect to
time.
Acceleration
The rate of change of velocity with respect to
time is known as acceleration
 From the points A and B of the link has moved
to A1 and B1 respectively under the motion of
Velocity in Mechanisms rotation (as assumed above), therefore the
(Instantaneous Centre Method) position of the centre of rotation must lie on the
intersection of the right bisectors of chords A A1
Combined effort of rotation and and B B1.
translation
Let these bisectors intersect at I as shown in
Figure which is the instantaneous centre of
 The figure shows the rigid link AB, which moves from its initial rotation or virtual centre of the link AB.
position AB to A1B1 AB goes on changing, therefore the centre about which the motion is
 It is showing that the link neither has wholly a motion of assumed to take place (i.e. the instantaneous centre of rotation) also goes
on changing.
translation nor wholly rotational, but the combination of two
Instantaneous centre of a moving body may be defined as
motion that centre which goes on changing from one instant to another. The
 The combined motion of rotation and translation of the link locus of all such instantaneous centres is known as centrode. A line
assumed to be a motion of pure rotation about some centre I, drawn through an instantaneous centre and perpendicular to the plane
known as Instantaneous centre of rotation (also called centro or of motion is called instantaneous axis. The locus of this axis is known
virtual centre) as axode.

Methods for Determining the Velocity of a Point Number of Instantaneous Centres in a

on a Link Mechanism

The number of instantaneous centres in a constrained

1. Instantaneous centre method and kinematic chain is equal to the number of possible
2. Relative velocity method combinations of two links.

The instantaneous centre method is convenient and easy
to apply in simple mechanisms,
The relative velocity method may be used to any
configuration diagram
The number of pairs of links or the number of
instantaneous centres is the number of combinations of n
links taken two at a time
Types of Instantaneous Centres
1. Fixed instantaneous centres,
2. Permanent instantaneous centres, and
3. Neither fixed nor permanent instantaneous
centres
The first two types i.e. fixed and permanent
instantaneous centres are together known as
primary instantaneous centres and the third
type is known as secondary instantaneous
centres
Consider a four bar mechanism ABCD as shown in Figure. The
number of instantaneous centres (N) in a four bar mechanism
Location of Instantaneous Centres
When the two links are connected by a pin joint (or pivot
joint), the instantaneous centre lies on the centre of the pin
as shown in Figure. Such a instantaneous centre is of
permanent nature.
But if one of the links is fixed, the instantaneous centre
will be of fixed type.
When the two links have a pure rolling contact (i.e.
link 2 rolls without slipping upon the fixed link 1
which may be straight or curved), the instantaneous
centre lies on their point of contact
The instantaneous centres I12 and I14 are
called the fixed instantaneous centres as
they remain in the same place for all
configurations of the mechanism.
The instantaneous centres I23 and I34
are the permanent instantaneous centres
as they move when the mechanism moves,
but the joints are of permanent nature.
The instantaneous centres I13 and I24 are
neither fixed nor permanent
instantaneous centres as they vary with the
configuration of the mechanism.
When the link 2 (slider) moves on fixed link
1 having straight surface. The instantaneous
centre lies at infinity and each point on the
slider have the same velocity
When the link 2 (slider) moves on fixed link 1
having curved surface The instantaneous
centre lies on the centre of curvature of the
curvilinear path in the configuration at that
instant
When the link 2 (slider) moves on fixed link 1
having constant radius of curvature. The
instantaneous centre lies at the centre of
curvature i.e. the centre of the circle, for all
configuration of the links.
Aronhold Kennedy (or Three Centres in Line)
Theorem
The Aronhold Kennedy’s theorem states that
if three bodies move relatively to each other,
they have three instantaneous centres and
lie on a straight line.
The two instantaneous centres at the pin joints of B with A,
and C with A (i.e. Iab and Iac) are the permanent
instantaneous centres. According to Aronhold Kennedy’s
theorem, the third instantaneous centre Ibc must lie on the
line joining Iab and Iac
2. Make a list of all the instantaneous centres in a mechanism.
Since for a four bar mechanism, there are six instantaneous centres,
therefore these centres are listed as shown in the following table
(known as book-keeping table).
3. Locate the fixed and permanent instantaneous centres by
inspection. In Figure I12 and I14 are fixed instantaneous
centres and I23 and I34 are permanent instantaneous centres.
Method of Locating Instantaneous Centres in a
Mechanism
1. Determine the number of instantaneous centres (N) by
using the relation
4. Locate the remaining neither fixed nor permanent
instantaneous centres (or secondary centres) by Kennedy’s
theorem. This is done by circle diagram
5. Join the points by solid lines to show that these centres are
already found. In the circle diagram these lines are 12, 23, 34
and 14 to indicate the centres I12, I23, I34 and I14.
6. In order to find the other two instantaneous centres, join two such points
that the line joining them forms two adjacent triangles in the circle diagram.
The line which is responsible for completing two triangles, should be a
common side to the two triangles. In Fig join 1 and 3 to form the triangles 123
and 341 and the instantaneous centre* I13 will lie on the intersection of I12
I23 and I14 I34, produced if necessary, on the mechanism. Thus the
instantaneous centre I13 is located. Join 1 and 3 by a dotted line on the circle
diagram and mark number 5 on it. Similarly the instantaneous centre I24 will
lie on the intersection of I12 I14 and I23 I34, produced if necessary, on the
mechanism. Thus I24 is located. Join 2 and 4 by a dotted line on the circle
diagram and mark 6 on it. Hence all the six instantaneous centres are located
 Problems on Instantaneous Centre
Method
In a pin jointed four bar mechanism as shown in the figure 1
AB = 300mm, BC = CD = 360mm and AD = 600 mm. The
angle BAD = 600 . The crank AB rotates uniformly at 100
r.p.m. locates all the instantaneous centres and find the
angular velocity of the link BC.
Problems on Instantaneous Centre
Method
Locate the instantaneous centres for the crossed four bar mechanism
shown in fig 3. The dimensions of various links are : CD = 65 mm
CA = 60 mm DB = 80 mm and AB = 55 mm. Find the angular
velocities of the links AB and DB, if crank CA rotates at 100 r.p.m
in anti-clockwise direction.
Problems on Instantaneous Centre
Method
Locate all the instantaneous centres of the slider crank
mechanism shown inn figure 2. The length of crank OB and
the connecting rod AB are 100mm and 400 mm respectively.
If the crank rotates clockwise with an angular velocity of 10
rad/sec , find 1. The velocity of slider 2. Angular velocity of
the connecting rod AB
Velocity in Mechanisms
(Relative Velocity Method)
 A slider crank mechanism is shown in Figure. The slider A is attached to
the connecting rod AB. The radius of crank OB be r and it rotates in a
clockwise direction, about the point O with uniform angular velocity ω
rad/s.
 Therefore, the velocity of B i.e. vB is known in magnitude and direction.
 The slider reciprocates along the line of stroke AO.
 The velocity of the slider A (i.e. vA) may be determined by relative
velocity method
 Acceleration in Mechanisms
1. From any point o, draw vector ob parallel to the direction of vB (or
perpendicular to OB) such that ob = vB = ω.r, to some suitable scale.
Acceleration of a particle whose velocity changes both in
magnitude and direction at any instant
2. Since AB is a rigid link, therefore the velocity of A relative to B is
perpendicular to AB. Now draw vector ba perpendicular to AB to represent 1. The centripetal or radial component, which is perpendicular
the velocity of A with respect to B i.e. vAB.
to the velocity of the particle at the given instant.
3. From point o, draw vector oa parallel to the path of motion of the slider A
(which is along AO only). The vectors ba and oa intersect at a. Now oa
represents the velocity of the slider A i.e. vA, to the scale.
The angular velocity of the connecting rod AB (ωAB) may be determined as 2. The tangential component, which is parallel to the velocity of
follow the particle at the given instant

The crank of a slider crank mechanism rotates clockwise at

a constant speed of 300 r.p.m. The crank is 150 mm and the
connecting rod is 600 mm long.
Determine : 1. linear velocity and acceleration of the
Problems midpoint of the connecting rod, and 2. angular velocity and
angular acceleration of the connecting rod, at a crank angle
of 45° from inner dead centre position

Given : NBO = 300 r.p.m. or ωBO = 2 π × 300/60 = 31.42 rad/s; OB

= 150 mm = 0.15 m ; BA = 600 mm = 0.6 m
We know that linear velocity of B with respect to O or velocity of B,

vBO = vB = ωBO × OB = 31.42 × 0.15 = 4.713 m/s

Linear velocity of the midpoint of the connecting rod
In order to find the velocity of the midpoint D
vector ob = vBO = vB = 4.713 m/s bd / ba = BD/BA
By measurement, we find that velocity vD = vector od = 4.1 m/s
of A with respect to B,
AB= vector ba= 3.4 m/ s
and Velocity of A = vector oa = 4 m/ s

Acceleration of the midpoint of the connecting rod

PQRS is a four bar chain with link PS fixed. The lengths of the
links are PQ = 62.5 mm ; QR = 175 mm ; RS = 112.5 mm ; and
PS = 200 mm. The crank PQ rotates at 10 rad/s clockwise. Draw
the velocity and acceleration diagram when angle QPS = 60° and
Q and R lie on the same side of PS. Find the angular velocity and
angular acceleration of links QR and RS.
In the mechanism, as shown in Fig. 8.12, 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.

 A cam is a rotating machine element which gives reciprocating or

oscillating motion to another element known as follower.
 The cam and the follower have a line contact and constitute a
Module 3 higher pair.
 The cams are usually rotated at uniform speed by a shaft, but the
Kinematics of Cams follower motion is predetermined and will be according to the
Cams with different Follower Motion shape of the cam.

 The cam and follower is one of the simplest as well as one of the
most important mechanisms found in modern machinery today.

 The cams are widely used for operating the inlet and exhaust
valves of internal combustion engines, automatic attachment of
machineries, paper cutting machines, spinning and weaving
textile machineries, feed mechanism of automatic lathes etc.
 Classification of CAMS
According to Cam Shape
(a)Wedge or flat cams
(b) Radial or Disc cams (c) Sprial Cams
(d) Cylindrical Cams (e) Conjugate cams
(f) Globoidal Cams (g) Spherical cams
According to the follower movement
(a)Rise – Return – Rise (R-R-R) cams
(b)Dwell – Rise – Return – Dwell (D-R-R-D) cams
(c) Dwell – Rise – Dwell – Dwell (D-R-D-R-D)
(d)Dwell – Rise – Dwell (D-R-D) cams
According to the manner of constraint of the follower
(a)Pre-loaded spring cam
(b) Positive drive cam
(c) Gravity cam
Roller follower.
 When the contacting end of the follower is
a roller, it is called a roller Follower
 Since the rolling motion takes place
between the contacting surfaces (i.e. the
roller and the cam), therefore the rate of
wear is greatly reduced.
 In roller followers also the side thrust exists
between the follower and the guide.
 The roller followers are extensively used
where more space is available such as in
stationary gas and oil engines and aircraft
engines.
Classification of Followers
According to the surface in contact
Knife edge follower
When the contacting end of the follower has a
sharp knife edge, it is called a knife edge
follower
The sliding motion takes place between the
contacting surfaces (i.e. the knife edge and the
cam surface).
It is seldom used in practice because the small
area of contacting surface results in excessive
wear.
In knife edge followers, a considerable side
thrust exists between the follower and the
guide.
Flat faced or mushroom follower.
The contacting end of the follower is a
perfectly flat face, it is called a flat-faced
follower.
It may be noted that the side thrust between
the follower and the guide is much reduced
The only side thrust is due to friction
between the contact surfaces of the follower
and the cam.
The relative motion between these surfaces
is largely of sliding nature but wear may be
reduced by off-setting the axis of the
follower
The flat faced followers are generally used
where space is limited such as in cams which
operate the valves of automobile engines
Spherical faced follower.
The contacting end of the follower is of
spherical shape
It may be noted that when a flat-faced
follower is used in automobile engines, high
surface stresses are produced.
In order to minimise these stresses, the flat
end of the follower is machined to a
spherical shape.
According to the motion of the follower
(a) Reciprocating or translating follower.
The follower reciprocates in guides as the cam rotates
uniformly, it is known as reciprocating or translating follower.
(b) Oscillating or rotating follower.
The uniform rotary motion of the cam is converted into
predetermined oscillatory motion of the follower, it is called
oscillating or rotating follower.

3. According to the path of motion of the follower. Terms Used in Radial Cams
Radial follower.
The motion of the follower is along an axis passing through the
centre of the cam, it is known as radial follower.

Off-set follower.
The motion of the follower is along an axis away from the axis
of the cam centre, it is called off-set follower.
Terms Used in Radial Cams
1. Base circle. It is the smallest circle that can be drawn to the cam
profile.
2. Trace point. It is a reference point on the follower and is used to
generate the pitch curve.
In case of knife edge follower, the knife edge represents the trace
point and the pitch curve corresponds to the cam profile. In a roller
follower, the centre of the roller represents the trace point.
3. Pressure angle. It is the angle between the direction of the
follower motion and a normal to the pitch curve. This angle is very
important in designing a cam profile. If the pressure angle is
too large, a reciprocating follower will jam in its bearings.
4. Pitch point. It is a point on the pitch curve having the maximum
pressure angle
5. Pitch circle. It is a circle drawn from the centre of the cam
through the pitch points.
6. Pitch curve. It is the curve generated by the trace point as the
follower moves relative to the cam. For a knife edge follower, the
pitch curve and the cam profile are same whereas for a roller
follower, they are separated by the radius of the roller.
7. Prime circle. It is the smallest circle that can be drawn from the
centre of the cam and tangent to the pitch curve. For a knife edge
and a flat face follower, the prime circle and the base circle are
identical. For a roller follower, the prime circle is larger than the
base circle by the radius of the roller.
8. Lift or stroke. It is the maximum travel of the follower from its
lowest position to the
topmost position.

Displacement, Velocity and Acceleration

Diagrams when the Follower Moves with
Uniform Velocity
Motion of the Follower
The follower, during its travel, may have one
of the following motions.
1.Uniform velocity,
2.Simple harmonic motion,
3.Uniform acceleration and retardation, and
4.Cycloidal motion.
Displacement, Velocity and Acceleration Maximum velocity of the follower on the outstroke
Diagrams when the Follower Moves with
Simple Harmonic Motion

Maximum velocity of the follower on the return stroke

Maximum acceleration of the follower on the outstroke

Maximum acceleration of the follower on the return stroke,

Displacement, Velocity and Acceleration Diagrams when the

Follower Moves with Uniform Acceleration and Retardation Maximum velocity of the follower on the outstroke

Maximum velocity of the follower on the return stroke

Maximum acceleration of the follower on the outstroke

Maximum acceleration of the follower on the return stroke,

Displacement, Velocity and Acceleration
Diagrams when the Follower Moves with
Cycloidal Motion

Problems

A cam is to give the following motion to a knife-edged follower :

1. Outstroke during 60° of cam rotation ;
2. Dwell for the next 30° of cam rotation ;
3. Return stroke during next 60° of cam rotation, and
4. Dwell for the remaining 210° of cam rotation.

The stroke of the follower is 40 mm and the minimum radius of the

cam is 50 mm. The follower moves with uniform velocity during both
the outstroke and return strokes.
Draw the profile of the cam when
(a) the axis of the follower passes through the axis of the cam shaft,
and
(b) the axis of the follower is offset by 20 mm from the axis of the
cam shaft.
A cam is to be designed for a knife edge follower with the
following data :
(1). Cam lift = 40 mm during 90° of cam rotation with simple
harmonic motion.
(2). Dwell for the next 30°. (3). During the next 60° of cam
rotation, the follower returns to its original position with simple
harmonic motion. (4). Dwell during the remaining 180°.Draw the
profile of the cam when
(a) the line of stroke of the follower passes through the axis of the
cam shaft, and
(b) the line of stroke is offset 20 mm from the axis of the cam shaft.
The radius of the base circle of the cam is 40 mm. Determine the
maximum velocity and acceleration of the follower during its
ascent and descent, if the cam rotates at 240 r.p.m.

Design a cam for operating the exhaust valve of an oil engine. It is

required to give equal uniform acceleration and retardation during
opening and closing of the valve each of which corresponds to 60° of
cam rotation. The valve must remain in the fully open position for
20° of cam rotation.
The lift of the valve is 37.5 mm and the least radius of the cam is 40
mm. The follower is provided with a roller of radius 20 mm and its
line of stroke passes through the axis of the cam.
A cam rotating clockwise at a uniform speed of 1000 r.p.m. is
required to give a roller follower the motion defined below :
1. Follower to move outwards through 50 mm during 120° of cam
rotation, 2. Follower to dwell for next 60° of cam rotation,
3. Follower to return to its starting position during next 90° of
cam rotation, 4. Follower to dwell for the rest of the cam rotation.

The minimum radius of the cam is 50 mm and the diameter of

roller is 10 mm. The line of stroke of the follower is off-set by 20
mm from the axis of the cam shaft. If the displacement of the
follower takes place with uniform and equal acceleration and
retardation on both the outward and return strokes, draw profile
of the cam and find the maximum velocity and acceleration during
out stroke and return stroke.
 Design a cam to raise a valve with S.H.M. through 50
mm in 1/3 of a revolution, keep it fully raised through
1/12 revolution and lower it with harmonic motion in 1/6
revolution. The valve remains closed during rest of
revolution. The diameter of roller is 20 mm and
minimum radius of cam is 25 mm. The diameter of
camshaft is 25 mm. The axis of the valve rod passes
through the axis of cam shaft. If the cam shaft rotates at
uniform speed of 100 rpm, find the maximum velocity
and acceleration of a valve during raising and lowering.
A flat faced reciprocating follower has the following motion :
(a) The follower moves out for 80° of cam rotation with uniform
acceleration and retardation, the
acceleration being twice the retardation.
(b) The follower dwells for the next 80° of cam rotation.
(c) It moves in for the next 120° of cam rotation with uniform
acceleration and retardation, the
retardation being twice the acceleration.
(d) The follower dwells for the remaining period.
The base circle diameter of the cam is 60 mm and the stroke of the
follower is 20 mm. The line of movement of the follower passes
through the cam centre. Draw the cam profile.
The following data relate to a cam profile in which the
follower moves with uniform acceleration and
deceleration during ascent and descent.
Minimum radius of cam = 25 mm
Roller diameter = 7.5 mm
Lift = 28 mm
Offset of follower axis = 12 mm towards right
Angle of ascent = 60o
Angle of descent = 90o
Angle of dwell between ascent and descent = 45o
Speed of cam = 200 rpm
Draw the profile of cam and determine the maximum
velocity and the uniform acceleration of the follower
during the outstroke and the return stroke
Draw the profile of cam operating a roller follower having a lift
of 35 mm. The line of stroke of the follower passes through the
axis of the cam shaft. The radius of the roller is 10 mm and the
minimum radius of the cam is 40 mm. The cam rotates at 630 rpm
counterclockwise. The follower is raised with SHM for 90o of the
cam rotation, dwells for next 60o and then lowers with uniform
acceleration and deceleration for the next 150o. The follower
dwells for the rest of the cam rotation.
Calculate the maximum velocity and maximum acceleration
during ascent and descent.

Module 3
Kinematics of Gears and Gear trains
Gear terminologies- Law of gearing-
Interference and undercutting- Epicyclic gear
train
The wheel B will be rotated (by the wheel A) so long as the
tangential force exerted by the wheel A does not exceed the
maximum frictional resistance between the two wheels. But
when the tangential force (P) exceeds the *frictional resistance
(F), slipping will take place between the two wheels
Introduction
Slipping of a belt or rope is a common phenomenon, in the
transmission of motion or power between two shafts.
The effect of slipping is to reduce the velocity ratio of the system.
In precision machines definite velocity ratio is of importance (as
in watch mechanism), the only positive drive is by means of gears
or toothed wheels.
A gear drive is provided, when the distance between the driver
and the follower is very small.
Advantages and Disadvantages of Gear Drive
The following are the advantages and disadvantages of the gear
drive as compared to belt, rope and chain drives :
Advantages
1. It transmits exact velocity ratio.
2. It may be used to transmit large power.
3. It has high efficiency.
4. It has reliable service.
5. It has compact layout.
Disadvantages
1. The manufacture of gears require special tools and
equipment.
2. The error in cutting teeth may cause vibrations and noise
during operation
Classification of Toothed Wheels
1. According to the position of axes of the shafts.
The axes of the two shafts between which the motion is to be
transmitted, may be
(a) Parallel Shaft Types of
Ex: Spur, Helical, Rack and Pinion, Herringbone and Internal Gears
Gear
http://mechan
(b) Intersecting
Ex : Bevel and spiral Gear icalmania.blo
gspot.in/2011/
(b) Non-intersecting and non-parallel. 07/types-of-
Ex: Worm, Hypoid and spiral gear gear.html

2. According to the peripheral velocity of the Terms Used in Gears

gears

(i) Low Velocity gears - V<3m/s

(ii) Medium Velocity - V = 3 to 15 m / s
(iii) High Velocity - V > 15 m /s

3. According to the type of gearing.

The gears, according to the type of gearing may be classified as

(a) External gearing, (b) Internal gearing, and (c) Rack and
pinion.
4. According to position of teeth on the gear surface.
The teeth on the gear surface may be
(a) straight, (b) inclined, and (c) curved.
 5. Pressure angle or angle of obliquity. It is the angle between the
1. Pitch circle. It is an imaginary circle which by pure rolling action,
common normal to two gear teeth at the point of contact and the
would give the same motion as the actual gear.
common tangent at the pitch point. It is usually denoted by φ.
2. Pitch circle diameter. It is the diameter of the pitch circle. The size of The standard pressure angles are 1
the gear is usually 2 14 ° and 20°.
specified by the pitch circle diameter. It is also known as pitch diameter. 6. Addendum. It is the radial distance of a tooth from the pitch circle to
3. Pitch point. It is a common point of contact between two pitch the top of the tooth.
circles. 7. Dedendum. It is the radial distance of a tooth from the pitch circle to
4. Pitch surface. It is the surface of the rolling discs which the meshing the bottom of the tooth.
gears have replaced at the pitch circle. 8. Addendum circle. It is the circle drawn through the top of the teeth
and is concentric with
the pitch circle.
9. Dedendum circle. It is the circle drawn through the bottom of the
teeth. It is also called
root circle

10. Circular pitch. It is the distance measured on the circumference of the 11. Diametral pitch. It is the ratio of number of teeth to the pitch circle
pitch circle from diameter in millimetres.
a point of one tooth to the corresponding point on the next tooth. It is denoted by pd . Mathematically
It is usually denoted by pc.
Circular pitch, pc = π D/T
where D = Diameter of the pitch circle, and
T = Number of teeth on the wheel.
Note : If D1 and D2 are the diameters of the two meshing
T = Number of teeth, and
gears having the teeth T1 and T2 respectively, then for
D = Pitch circle diameter
them to mesh correctly
 12. Module. It is the ratio of the pitch circle diameter in millimeters to
the number of teeth.
It is usually denoted by m.
Module, m = D /T
13. Clearance. It is the radial distance from the top of the tooth to the
bottom of the tooth, in a meshing gear. A circle passing through the top
of the meshing gear is known as clearance circle.
14. Total depth. It is the radial distance between the addendum and the
dedendum circles of a gear. It is equal to the sum of the addendum and
dedendum
20. Flank of tooth. It is the surface of the gear tooth below the pitch
surface.
21. Top land. It is the surface of the top of the tooth.
22. Face width. It is the width of the gear tooth measured parallel to its
axis.
23. Profile. It is the curve formed by the face and flank of the tooth.
24. Fillet radius. It is the radius that connects the root circle to the
profile of the tooth.
25. Path of contact. It is the path traced by the point of contact of two
teeth from the beginning to the end of engagement.
26. *Length of the path of contact. It is the length of the common
normal cut-off by the addendum circles of the wheel and pinion.
15. Working depth. It is the radial distance from the addendum circle to
the clearance circle. It is equal to the sum of the addendum of the two
meshing gears.
16. Tooth thickness. It is the width of the tooth measured along the pitch
circle.
17. Tooth space . It is the width of space between the two adjacent teeth
measured along the pitch circle.
18. Backlash. It is the difference between the tooth space and the tooth
thickness, as measured along the pitch circle. Theoretically, the backlash
should be zero, but in actual practice some backlash must be allowed to
prevent jamming of the teeth due to tooth errors and thermal expansion.
19. Face of tooth. It is the surface of the gear tooth above the pitch
surface
27. ** Arc of contact. It is the path traced by a point on the pitch circle
from the beginning to the end of engagement of a given pair of teeth.
The arc of contact consists of two parts, i.e.
(a) Arc of approach. It is the portion of the path of contact from the
beginning of the engagement to the pitch point.
(b) Arc of recess. It is the portion of the path of contact from the pitch
point to the end of the engagement of a pair of teeth.
Note : The ratio of the length of arc of contact to the circular pitch is
known as contact ratio i.e. number of pairs of teeth in contact.
 LAW OF GEARING

The law of gearing state that for obtaining

constant angular velocity ratio for all positions
of the wheels, the point P must be the fixed
point (called pitch point) for the two wheels. In
other words, the common normal at the point
of contact between a pair of teeth must always
pass through the pitch point.
This is the fundamental condition which must be
satisfied while designing the profiles for the
teeth of gear wheels. It is also known as law of
gearing

Velocity of Sliding of Teeth Forms of Teeth

1. Cycloidal teeth ; and 2. Involute teeth
The velocity of sliding is the velocity of one tooth relative to its
A cycloid is the curve traced by a point on the circumference of a
mating tooth along the common tangent at the point of contact
circle which rolls without slipping on a fixed straight line.

When a circle rolls without slipping on the outside of a fixed circle,

the curve traced by a point on the circumference of a circle is known
as epi-cycloid.
On the other hand, if a circle rolls without slipping on the inside of a
fixed circle, then the curve traced by a point
on the circumference of a circle is called hypo-cycloid.
Comparison Between Involute and Cycloidal Gears Comparison Between Involute and Cycloidal Gears

rA = O1L = Radius of addendum circle of pinion,

Length of Path of Contact RA = O2K = Radius of addendum circle of wheel,
r = O1P = Radius of pitch circle of pinion, and
R = O2P = Radius of pitch circle of wheel.

When the pinion rotates in clockwise direction, the contact between

a pair of involute teeth begins at K (on the flank near the base circle
of pinion or the outer end of the tooth face on the wheel) and* ends
at L (outer end of the tooth face on the pinion or on the flank near
the base circle of wheel). MN is the common normal at the point of
contacts and the common tangent to the base circles. The point K is
the intersection of the addendum circle of wheel and the common
tangent. The point L is the intersection of the addendum
circle of pinion and common tangent.
Contact Ratio (or Number of Pairs of Teeth in Contact)
The contact ratio or the number of pairs of teeth in contact is defined
as the ratio of the
length of the arc of contact to the circular pitch.
Mathematically,
Contact ratio or number of pairs of teeth in contact
= Length of the arc of contact / pc
Length of Arc of Contact
The arc of contact is the path traced by a point on the pitch circle
from the beginning to the end of engagement of a given pair of teeth.
In Fig. 12.11, the arc of contact is EPF or GPH. Considering the arc of
contact GPH, it is divided into two parts i.e. arc GP and arc
PH. The arc GP is known as arc of approach and the arc PH is called
arc of recess. The angles subtended by these arcs at O1 are called angle
of approach and angle of recess respectively

where pc = Circular pitch = πm, and

m = Module.

Two or more gears are made to mesh with each other to transmit power from one shaft to
another. Such a combination is called gear train or train of toothed wheels.

Types of Gear Trains

1. Simple gear train,

Gear Trains 2.
3.
4.
Compound gear train,
Reverted gear train, and
Epicyclic gear train.
Simple Gear Train The distance between the two gears is large.
 When there is only one gear on each shaft it is known as simple gear train. 1. By providing the large sized gear, or 2. By providing one or more intermediate gears.
 Distance between the two shafts is small, the two gears 1 and 2 are made to mesh with The speed ratio and the
each other to transmit motion from one shaft to the other. train value, in a simple
 the gear 1 drives the gear 2, therefore gear 1 is called the driver and the gear 2 is train of gears, is
called the driven or follower.
Speed ratio (or velocity ratio) of independent of the size
gear train is the ratio of the speed and number of
N1 = Speed of gear 1(or driver) in r.p.m., intermediate gears.
of the driver to the speed of the
N2 = Speed of gear 2 (or driven or follower) in r.p.m., These intermediate
driven or follower
T1 = Number of teeth on gear 1, and gears are called idle
T2 = Number of teeth on gear 2. gears, as they do not
effect the speed ratio
or train value of the
system

Compound Gear Train Reverted Gear Train When the axes of the first gear (i.e. first driver)
More than one gear on a shaft it is called a compound train of gear. and the last gear (i.e. last driven or follower) are co-axial,
then the gear train is known as reverted gear train
T1 = Number of teeth on gear 1,
r1 = Pitch circle radius of gear 1, and
N1 = Speed of gear 1 in r.p.m
Distance between the centres of the shafts of gears 1 and 2 as
well as gears 3 and 4 is same r1 + r2 = r3 + r4

The circular pitch or module of all the gears is assumed

to be same T1 + T2 = T3 + T4

The advantage of a compound train over a simple

gear train is that a much larger speed
reduction from the first shaft to the last shaft can
be obtained with small gears
 Epicyclic Gear Train Velocity Ratioz of Epicyclic Gear Train
In an epicyclic gear train, the axes of the shafts, over which the
gears are mounted, may move relative to a fixed axis. A simple
epicyclic gear train is shown in Figure. where a gear A and the
arm C have a common axis at O1 about which they can rotate.
The gear B meshes with gear A and has its axis on the arm at O2,
about which the gear B can rotate. If the arm is fixed, the gear
train is simple and gear A can drive gear B or vice- versa, but if
gear A is fixed and the arm is rotated about the axis of gear A
(i.e. O1), then the gear B is forced to rotate upon and around
gear A. Such a motion is called epicyclic and the gear trains
arranged in such a manner that one or more of their members
move upon and around anothermember are known as epicyclic
The epicyclic gear trains aregear trains
useful for transmitting high velocity ratios with gears of
moderate size in a comparatively lesser space. The epicyclic gear trains are used in the
back gear of lathe, differential gears of the automobiles, hoists, pulley blocks, wrist
watches etc.

In an epicyclic gear train, an arm carries two gears A and B having 36 and 45 teeth
respectively. If the arm rotates at 150 r.p.m. in the anticlockwise direction about the centre
of the gear A which is fixed, determine the speed of gear B. If the
gear A instead of being fixed, makes 300 r.p.m. in the clockwise direction, what will be the
speed of gear B ?
Solution. Given : T A = 36 ; TB = 45 ; NC = 150 r.p.m. (anticlockwise)
An epicyclic gear train consists of a sun wheel S, a stationary internal gear E and three
identical planet wheels P carried on a star- shaped planet carrier C. The size of different
toothed wheels are such that the planet carrier C rotates at 1/5th of the speed of the
sunwheel S. The minimum number of teeth on any wheel is 16. The driving torque on the sun
wheel is 100 N-m. Determine : 1. number of teeth on different wheels of the train, and 2.
torque necessary to keep the internal gear stationary
A pinion has 15 teeth, and is rigidly fixed to a motor shaft. The wheel P has 20 teeth and
gears with S and also with a fixed annulus wheel A. The pinion C has 15 teeth and fixed to the
wheel P. C gears with the annular wheel D, which is keyed to a machine shaft. P and C can rotate
together on a pin carried by an arm which rotates about the shaft on which S is fixed. Find the
speed of the machine shaft if the motor rotates at 1000 rpm. (Ans. 37.15 rpm in the same
direction as S)
An epicyclic gear train, as shown in Figure, is composed of a fixed annular wheel A
having 150 teeth. The wheel A is meshing with wheel B which drives wheel D through
an idle wheel C, D being concentric with A. The wheels B and C are carried on an arm
which revolves clockwise at 100 r.p.m. about the axis of A and D. If the wheels B and D
have 25 teeth and 40 teeth respectively, find the number of teeth on C and the speed
and sense of rotation of C. (Ans. 30 ; 600 r.p.m. clockwise)
Figure, shows an epicyclic gear train with the following details :
A has 40 teeth external (fixed gear) ; B has 80 teeth internal ; C - D is a compound wheel
having 20 and 50 teeth (external) respectively, E-F is a compound wheel having 20 and 40
teeth (external) respectively, and G has 90 teeth (external). The arm runs at 100 r.p.m. in
clockwise direction. Determine the speeds for gears C, E, and B. (Ans. 300 r.p.m. clockwise ;
400 r.p.m. anticlockwise ; 150 r.p.m. clockwise)
An epicyclic reduction gear, as shown in Figure, has a shaft A fixed to arm B. The arm B
has a pin fixed to its outer end and two gears C and E which are rigidly fixed, revolve on this
pin. Gear C meshes with annular wheel D and gear E with pinion F. G is the driver pulley
and D is kept stationary. The number of teeth are: D = 80 ; C = 10 ; E = 24 and F = 18. If the
pulley G runs at 200 r.p.m.; find the speed of shaft A.

Two or more gears are made to mesh with each other to transmit power from one shaft to
another. Such a combination is called gear train or train of toothed wheels.

Types of Gear Trains

1. Simple gear train,

Gear Trains 2.
3.
4.
Compound gear train,
Reverted gear train, and
Epicyclic gear train.
Simple Gear Train The distance between the two gears is large.
 When there is only one gear on each shaft it is known as simple gear train. 1. By providing the large sized gear, or 2. By providing one or more intermediate gears.
 Distance between the two shafts is small, the two gears 1 and 2 are made to mesh with The speed ratio and the
each other to transmit motion from one shaft to the other. train value, in a simple
 the gear 1 drives the gear 2, therefore gear 1 is called the driver and the gear 2 is train of gears, is
called the driven or follower. independent of the size
Speed ratio (or velocity ratio) of
gear train is the ratio of the speed of and number of
N1 = Speed of gear 1(or driver) in r.p.m., intermediate gears.
the driver to the speed of the driven
N2 = Speed of gear 2 (or driven or follower) in r.p.m., These intermediate gears
or follower
T1 = Number of teeth on gear 1, and are called idle gears, as
T2 = Number of teeth on gear 2. they do not effect the
speed ratio or train
value of the system

Compound Gear Train Reverted Gear Train When the axes of the first gear (i.e. first driver)
More than one gear on a shaft it is called a compound train of gear. and the last gear (i.e. last driven or follower) are co-axial,
then the gear train is known as reverted gear train
T1 = Number of teeth on gear 1,
r1 = Pitch circle radius of gear 1, and
N1 = Speed of gear 1 in r.p.m
Distance between the centres of the shafts of gears 1 and 2 as
well as gears 3 and 4 is same r1 + r2 = r3 + r4

The circular pitch or module of all the gears is assumed

to be same T1 + T2 = T3 + T4

The advantage of a compound train over a simple

gear train is that a much larger speed
reduction from the first shaft to the last shaft can
be obtained with small gears
 Epicyclic Gear Train Velocity Ratioz of Epicyclic Gear Train
In an epicyclic gear train, the axes of the shafts, over which the
gears are mounted, may move relative to a fixed axis. A simple
epicyclic gear train is shown in Figure. where a gear A and the
arm C have a common axis at O1 about which they can rotate.
The gear B meshes with gear A and has its axis on the arm at O2,
about which the gear B can rotate. If the arm is fixed, the gear
train is simple and gear A can drive gear B or vice- versa, but if
gear A is fixed and the arm is rotated about the axis of gear A (i.e.
O1), then the gear B is forced to rotate upon and around gear A.
Such a motion is called epicyclic and the gear trains arranged in
such a manner that one or more of their members move upon and
around anothermember are known as epicyclic gear trains
The epicyclic gear trains are useful for transmitting high velocity ratios with gears of
moderate size in a comparatively lesser space. The epicyclic gear trains are used in the
back gear of lathe, differential gears of the automobiles, hoists, pulley blocks, wrist
watches etc.

In an epicyclic gear train, an arm carries two gears A and B having 36 and 45 teeth
respectively. If the arm rotates at 150 r.p.m. in the anticlockwise direction about the centre
of the gear A which is fixed, determine the speed of gear B. If the
gear A instead of being fixed, makes 300 r.p.m. in the clockwise direction, what will be the
speed of gear B ?
Solution. Given : T A = 36 ; TB = 45 ; NC = 150 r.p.m. (anticlockwise)
An epicyclic gear train consists of a sun wheel S, a stationary internal gear E and three
identical planet wheels P carried on a star- shaped planet carrier C. The size of different
toothed wheels are such that the planet carrier C rotates at 1/5th of the speed of the sunwheel
S. The minimum number of teeth on any wheel is 16. The driving torque on the sun wheel is
100 N-m. Determine : 1. number of teeth on different wheels of the train, and 2. torque
necessary to keep the internal gear stationary
A pinion has 15 teeth, and is rigidly fixed to a motor shaft. The wheel P has 20 teeth and
gears with S and also with a fixed annulus wheel A. The pinion C has 15 teeth and fixed to the
wheel P. C gears with the annular wheel D, which is keyed to a machine shaft. P and C can rotate
together on a pin carried by an arm which rotates about the shaft on which S is fixed. Find the
speed of the machine shaft if the motor rotates at 1000 rpm. (Ans. 37.15 rpm in the same
direction as S)
An epicyclic gear train, as shown in Figure, is composed of a fixed annular wheel A
having 150 teeth. The wheel A is meshing with wheel B which drives wheel D through
an idle wheel C, D being concentric with A. The wheels B and C are carried on an arm
which revolves clockwise at 100 r.p.m. about the axis of A and D. If the wheels B and D
have 25 teeth and 40 teeth respectively, find the number of teeth on C and the speed and
sense of rotation of C. (Ans. 30 ; 600 r.p.m. clockwise)
Figure, shows an epicyclic gear train with the following details :
A has 40 teeth external (fixed gear) ; B has 80 teeth internal ; C - D is a compound wheel
having 20 and 50 teeth (external) respectively, E-F is a compound wheel having 20 and 40
teeth (external) respectively, and G has 90 teeth (external). The arm runs at 100 r.p.m. in
clockwise direction. Determine the speeds for gears C, E, and B. (Ans. 300 r.p.m. clockwise ;
400 r.p.m. anticlockwise ; 150 r.p.m. clockwise)
An epicyclic reduction gear, as shown in Figure, has a shaft A fixed to arm B. The arm B
has a pin fixed to its outer end and two gears C and E which are rigidly fixed, revolve on this
pin. Gear C meshes with annular wheel D and gear E with pinion F. G is the driver pulley and
D is kept stationary. The number of teeth are: D = 80 ; C = 10 ; E = 24 and F = 18. If the
pulley G runs at 200 r.p.m.; find the speed of shaft A.