1.

1 INTRODUCTION

Based on the flank,camsareclassified into two groups,

1. Circulararccam
2. Straightedgedcam or Tangentcam

Circulararc Cam:
When the flanks of thecam connecting the noseand base circles areof convexcirculararc,such
cams are referredascirculararc cams.

Fig.1
Tangentcam:
When the flanksbetweenthe noseand base circlesareofstraightandtangential to both
thecircles, then, thecams are called tangent cams.

Fig.2

These areusuallysymmetric about thecentrelineofthe cam. Generally, the

followingcombinations of cam andfollowerare used.
(a) Circulararccam with flat facedfollower
(b) Tangentcam with reciprocatingrollerfollower

1.1 CIRCULAR ARC CAMWITH FLAT FACED FOLLOWER

TheFig. 3 represents various main dimensions of circulararccam.

Fig.3
 (a) Expressionfordeterminingthedisplacement,velocityandaccelerationofthe
followerwhenflatface ofthe followerhascontacton thecircularflank

Fig.4
Let
r1=OB=Least base
circleradiusr2=Nosecircle
radius
R=QD= Flank circleradius
d=Distance between thecentres ofcamand nosecircles
α= Angleofascent
φ=Angleof contact on circularflank

Displacement:
X=BC = OC– OB = DE - r1
= (QD-QE)– r1
= (R -OQcosθ)–r1
= R-(R-r1) cosθ –r1

Velocity:
= x
= (R-r1)(sinθ)ω
 Fromthisequation,itisevidentthat,atthebeginningoftheascent,thevelocityiszero(whenθ=0)andit
increaseswithθ.Itwillbemaximumwhenthefollowerisjustshiftfromcircularflank to circularnose.

Vmax=ω (R-r1) sinφ

Acceleration:
a=

a= ω2( R-r1) cosθ

It is obvious from theabove equation that, at thebeginning ofthe ascentwhenθ=0,

acceleration is maximum and it goes on decreasingand is maximum whenθ=φ

(b)Expressionfordeterminingthedisplacement,velocityandaccelerationofthefollowerw
hen flatface of thefollowerhascontacton thenose

Fig.5
Let
r1=OB=Least base
circleradiusr2=Nosecircle radius
R=QD= Flank circleradius
d=Distance betweencenters ofcam and nose circles
α= Angleofascent
φ=Angleof contact on circularflank
Displacement:
x =BC =OC– OB =DE- r1
= (DP+PE) – r1
= r2+OPcos(α-θ)–r1

Velocity:
= x

Thevelocityis minimumwhen α=θ or(α-θ)=0.This happenswhen follower is at theapexof

circular noseand it ismaximum when (α -θ) is maximum and it is so when the
contactchangesfromcircularflank to circularnoseie.,(α-θ)=φ

Acceleration:
a=

a= -ωd cos(α-θ) ω

a= -ω2d cos (α-θ)

Negativesignindicatesretardation.Itismaximumwhen(α-
θ)=0i.e.,whenthefollowerisattheapexofthenoseandminimum(α-
θ)ismaximumi.e.,whenthefollowerchangescontactfromcircularflank to circularnose.

Itmaybenotedthat,asthecontactbetweencamandfollowerpassesthroughpointD,theaccelerationo
fthefollowersuddenlychangesfromω2(R-r1)cosφto-ω2dcosφi.e.,asuddenchange from positive
acceleration to negativeacceleration(retardation).
Note:Cosinerule

Fig. 6

Considerthe triangle POQ in Fig. 7,

OQ =R-r1, QP = R-r2,OP =d
and applycosinerule

Fig. 7

QP2= QO2+PO2-2QOxPOxCos
POQ(R-r2)2= (R-r1)2+d2-2(R-r1)(d)
cos(180-α)
= (R-r1)2+d2+2(R-r1) d cosα
2 2 2 2
R2-2Rr2+r2 =R+r1-2Rr1+d+2Rdcosα -2r1dcosα
2 2
2Rr1-2Rr2-2Rdcosα = r12-r2+d-2r1dcosα

Acceleration ofthefollowerat thebeginning of lift/flank, θ =0

Acceleration ofthefollowerat theend of contactwith flank,θ=φ

Acceleration ofthefollowerat thebeginning ofnose, (α-θ)=φ

Acceleration ofthefollowerat theapex of nose, (α-θ) =0

Example 1

A symmetrical circulararccamoperating aflatfacedfollowerhas the following

particulars.Leastradius ofcam = 30mm; lift =20 mm; Angleof lift =75o; Noseradius = 5 mm; speed
=600rpm
Find, (i)Theprincipal dimensions of cam
(ii) The acceleration ofthe followerat thebeginning oflift, at the end of contact with
thecircularflank,at thebeginning of contact with nose andat theapex of nose.
Solution,
r1= 15 mm, r2=5 mm , 2α= 150o,α= 75o,N =600 rpm

Fig. 8
We have,
Total lift +r1=PO +r220
+30=d – 5
d =45 mm

wehave,
 R =82.42 mm
PQ =R-r2= 82.41-5 =77.41 mmQO=
R-r1=82.41 – 30 =52.41 mm

To determine angleφ , consider triangle PQO,

xPO
= Sin 105x45/(84.42 – 5)
=34.2o
(i) At the beginning ofthe lift, when θ =0
Acceleration, a =ω2( R-r1) cosθ
= x cos0
=206.86 m/s2
(ii) At the end ofthe contractwith flank,whenθ =φ =24o.33’
Acceleration, a =ω2( R-r1) cosφ

=171.09 m/s2
(iii) At the beginning of contact with nose,
Acceleration, a=-ω2d cosφ

=-146.92 m/s2
(iv) At the apex of nose,
Acceleration, a =-ω2d

=-177.7 m/s2

Example.2

The following particulars relateto a symmetrical circularcam operating a flat facedfollower.

Leastradius=16mm;Noseradius=3.2mm;Distancebetweencamshaftcentreandnosecentre
=25 mm; Angle ofaction of cam = 150oand camshaftspeed=600 rpm.
Assumingthat,thereisnodwellbetweentheascentanddescent,determinetheliftofthevalve,theflankradius
andtheaccelerationandretardationofthefolloweratapointwherecircularnosemerges into circularflank.
Solution :
r1=16 mm, r2=3.2 mm , OP = d =25mm, 2α= 150o,α=75o, N =600 rpm
 Fig. 9

Weknow, (i)Lift =BT = OT-OB

=OP+PT – OT
=d + r2- r1
=25 +3.2 -16
Lift=x=12.2 mm
(ii) Flankradius, R,

(iii) Flank angle, ф

We have,from triangle OQP,

= 29o.6’
( iv) Accelerationat theend ofthe contract with flank, when θ = = 29o.6’
a=ω2( R-r1) cosφ

=129.39 m/s2

(v)Retardationat thebeginning of contact with nose,

Acceleration, a=-ω2dcosφ

=-85.81 m/s2
Example 3,
A symmetrical arc cam using flat facedfollower has the followingparticulars,
Total lift =25
mmLeastradius
=35mmA
ngleof lift =90o
Flank radius =105 mm
Speed =1200
rpmCalculate(i)main dimensions of thecam
(ii) Acceleration ofthefollowerat thebeginning ofthe lift, at the end ofcontactwith
flank,at thebeginning of contact with nose andat theapex ofnose.
Solution:
X=25mm,r1=35 mm,α=90o, R= 105 mm,N =1200 rpm

Fig. 10
Referring to Fig. 10, we have,

OQ=Flank radius–
LeastradiusOQ=R- r1=105 – 35
Also, =70 mm

OP = d =OR – RP =Leastradius +lift–noseradiusOP=

35+25- r2=60 - r2mm
PQ =Flank radius– nose radiusPQ
=105 -r2mm

From triangleOPQ,

PQ2= OP2+ OQ2– 2 OP x OQ x cos (180– a)

(105 - r2)2=(60 - r2)2+702– 2 (60-r2) x 70 cos (180– 90)
1052+r2 2 – 210 r2= 3600 -120r2+4900
+r2290 r2=2525
r2=28 mm

OP =d =(60– r2) =(60 – 28) =32 mm PQ

=105 - r2=105 – 28 =77 mm
From triangleOPQ,
 OP/ sin ф =PQ/ sin (180 – a)
sin ф = OP/PQsin (180– a)
=32.sin (180– 90)/77
=0.4156
ф=24º 33’

(i) At the beginning ofthe lift, when θ =0

Acceleration, a=ω2( R-r1) cosθ
= x cos0
2
=1105.44 m/s
(ii) At the end ofthe contractwith flank,whenθ =φ =24o.33’
Acceleration, a= ω2( R-r1) cosф

=1007.26 m/s2
(iii) At the beginning of contact with nose,
Acceleration, a=-ω2d cosф

=-460.44 m/s2
(iv) At the apex of nose,
Acceleration, a=-ω2d

=-505.32 m/s2

Example 4,
Asuctionvalveofa4strokepetrolengineisoperatedbyasymmetricalcircularcamwithflatfacedfollower.
Thedetails areas follows.
Lift=10mm;Leastradius=20mm;Noseradius=2.5mm;CrankanglewhensuctionvalveopensafterTDC=4o
;CrankanglewhensuctionvalvesclosesafterBDC=50o;Camshaftspeed=600rpm.
Determine maximum velocityof thevalve and itsmaximum acceleration and retardation.

Solution:
r1=20 mm, r2=2.5 mm ,Lift =x=10 mm, N = 600 rpm

Fig. 11Valve timing diagram

Angulardisplacement ofcamwhensuction valveis open =180–

4+50=226oForfourstrokeengine, the speed ofcam shaft is halfthe speedofcrank

shaft

Anglulardisplacementofcamshaft during opening ofthe valve = =2α

Sincethe cam is a symmetrical,angleofascent =angle ofdecent, α= =56.5o

Fig. 12
From the above diagram,
OP + r2=Lift+ r1
OP = 20+10-2.5 =27.5 mm = d

Flank radius,

R =116.87 mm

Flank angle,
From triangleOQP,

= 11o.45’

Velocityis maximum whenα= ,

Vmax=ω ( R – r1) sin

=
=1.22 m/s
Maximum accelerationofvalvewhen θ=0,
Acceleration, a= ω2( R-r1)

=382.42 m/s2
Retardation is maximum, whenα-θ=0,

a=-ω2d

=-108.57 m/s2

Example 5
Thefollowingparticularsrefers to a symmetricalcirculararccam used to operate suction
valvemechanism of afour stroke petrolengine

Total lift =10 mm

Leastradius =25mm
Noseradius =5 mm
Suctionvalveopens6o
afterTDCSuctionvalvecloses 40oafter
BDC
Engine Speed =2000
rpmFind (i) Maximum velocityof thevalve
(ii) Maximumaccelerationandretardation
(iii) Minimum force to be exertedbythe spring toovercome inertia of the valve parts ofmass
0.28kg.

Solution:
r1=25 mm, r2=5 mm,Lift =x=10 mm, N =2000 rpm
For fourstroke engine, the cam shaft speed is halfof enginecrank shaft
speedCamshaftspeed =½cEngine speed= ½ x2000=1000 rpm= N

Fig. 13Crankangle diagram

Angulardisplacement ofcamwhensuction valveis open =180–

6+40=214oForfourstrokeengine, the speed ofcam shaft is halfthe speedofcrank

shaft

Anglulardisplacementofcamshaft during opening ofthe valve

=2aSince
the cam is a symmetrical, angleofascent =angle ofdecent,
 Fig. 14
From the above diagram,
OP + r2=Lift+ r1
OP = 25+10- 5=30 mm =d

Flank radius,

R =140. 95 mm

Flank angle,
From triangleOQP,

=10o.22’

(i) Maximum Velocitywhenfollowerleaves the flankα= ,

Vmax=ω ( R – r1) sin

=2.15 m/s

(ii) Maximum acceleration of valve when θ =0,

Acceleration, a= ω2( R-r1)

=1271 m/s2
Retardation is maximum, whenα-θ=0,
 a=-ω2d

=-328.98 m/s2

(iii) Minimum force to be exertedbythe spring to overcome inertia of thevalve

parts,Minimum force =Mass x retardation

=0.28 x 328.98
=82.24 N

Example 6,
Aflatfacedvalveisoperatedby
asymmetricalcirculararccam.Thestraightlinepathofthetappetpassesthroughthecamaxis.Totalangleofac
tion=150o,lift=6mm,basecirclediameter=30mm,Periodofaccelerationishalftheperiodofretardationduri
ngthelift.Thecamrotatesat1250rpm.Determinetheflankandnoseradiiandmaximumaccelerationandretar
dationduringthelift.
Solution:
r1=15 mm, Lift=x= 6mm,N =1250 rpm,α=75o

Fig.15
Let,
Acceleration period angle= andRetardation period angle =b
Acceleration =½ Retardation
=½b
Considertriangle POQ,
β+ (180-a)+ =180
1.5β =75o
β=500
=25 0
We have, Lift +r1=d + r2
d =Lift + r1- r2d
=6 +15 - r2d
=21- r2

Again,consider trianglePOQ,
OQ/Sinb=OP/sinf= PQ/sin(180- a)
OQ/Sin50 = 21- r2/Sin25 =PQ/Sin (180-75)
OQ=(21-r2) Sin50/Sin25 =38 – 1.8 r2-----(1)
Also,
OQ= (PQ)Sin50 /Sin(180-75)
But, from aboveFig.,
PQ = (QO+OC’)-DP
=QO+r1–r2

OQ=(QO +r1– r2)Sin50 /Sin(180-

75)OQ=0.793 QO+11.9 – 0.793 r2

0.207 OQ=11.9 –0.793 r2
OQ=57.5– 0.793 r2---------(ii)

From equations (i)and

(ii)38 – 1.8 r2=57.5–

0.793r2
Threrefore, nose radius,r2=9.6 mm,

OQ=38 – 1.8 x 9.6 =20.7 mm

Distance betweencetresofnose and base circles,d=21- r2

d =21-9.6
d =11.4 mm

Flank radius,

R =35.7 mm
Maximum accelerationofvalve ,
a= ω2( R-r1)
a=447.55 m/s2

Maximum retardation ,
a=-ω2d
a=-195.33 m/s2

1.2 TANGENTCAM WITH ROLLERRECIPROCATINGFOLLOWER

Tangentcamsaremadewithstraightflanks.AtangentcamisshowninFig.16.TheflanksABandIHare
straightlinesandtangenttothebasecircleatAandIandtangenttonoseatBandI.Thecentreof
thecircularnoseis P. Thepath of the centreof rollerfollower isshown bydottedline.
 Fig.16

a.Expression fordetermination ofdisplacement,velocity andacceleration of

therollerfollowerwhenin contactonthe straightflank

Fig. 17
Let
r1=Least basecircleradiusr2=
Rollerradius
r3=Nosecircle radius
d=Distance between thecam and nose
circlesL=(r1+r3)
α= Angleofascent
φ=Angle ofcontactofcam with straightflank

Displacement:
x = OG -OB
=

=OB ( -1)

x = (r1+r3) ( -1)

Velocity:
= x
= (r1+r3) ( -0)x ω

v =ω (r1+r3) ( )

Fromthisequation,itisevidentthat,as increases, alsoincreaseswhereas

decreases.Withthat,thevelocityincreases.Velocitywillbemaximumwhen ismaximum.Ithappenswhen
point ofcontact is just leaving the straightflanki.e.,when .

vmax=ω (r1+r3) ( )
Acceleration:
a=

a= ω (r1+r3)

a= ω2(r1+r3)

a= ω2(r1+r3)

a= ω2(r1+r3)

Accelerationisminimumwhen isminimum.Thisispossiblewhen
isminimumand ismaximum.Itisso,whenθ=0ortherolleratthebeginningofitsliftalong
thestraightflank.Accelerationismaximumwhentherollershiftsfromflanktonosecirclei.e.,when .

amin=ω2(r1 +r3)

amax= ω2(r1+r3)

(b)Expressionfordeterminationofdisplacement,velocityandaccelerationofthe
rollerfollowerwhen in contactwithnose

Let
r1=Least basecircleradiusr2=
Rollerradius
r3=Nosecircle radius
d=Distance betweenthecam and nose
circlesL=(r1+r3)
α= Angleofascent
φ=Angle ofcontact of cam with straightflank

Fig. 18
Displacement:
x =OJ– OG
x =(OP+PJ)– ( OE+EG)
=( d+L)– (OP cosθ1+PG cosβ)
=( d+L)– (d cosθ1+Lcosβ)
=L+d– d cosθ1-Lcosβ -----(i)
From rightangledtriangles, OEP and GEP
EP = GP sinβ =OP sin θ1
=Lsinβ =d sin θ1
Squaring on both
sides,L2sin2β
=d2sin2θ1
L (1-cos2β) =d2sin2θ1
2

L2-L2cos2β =d2sin2θ1
L2cos2β =L2-d2sin2θ1
Lcos β = (L2-d2sin2θ1)1/2
Substituting the above value in equation(i)

X = L+d – dcosθ1- (L2- d2sin2θ1)1/2

Velocity:
v = x
=-d .-sinθ1. - (L2- d2sin2θ1) -1/2( -d22sinθ1.cos θ1)
= d sinθ1. - (L2- d2sin2θ1)-1/2( d2sin 2θ1)

v=ω d

Acceleration:
a=

Multiplynumeratoranddenominator by
Example 7
Inasymmetrical tangentcam operatingaroller follower, theleastradiusof cam is 30mm
androllerradiusis17.5mm.Theangleofascentis75o,liftis17.5mmandthespeedofcamis600rpm.Calculate,
1.Principaldimensions of cam
2.Theaccelerationofthefolloweratthebeginningoflift,wherestraightflankmergesintothecircularnoseand
attheapexofthecircularnose.Assumethat,thereisnodwellbetweenascentanddescent.
Solution:
r1=30mm, r3=17.5 mm,Lift=x= 17.5 mm, N =600 rpm,α=75o
w= 2p600/60 = 62.83 rad/s

From Fig. 17, OP +PT =OC +CT

OP = OC +CT-PTOP
=r1+x -r2
OP = 47.5-r2 -------------( i )

Fig. 19
From the above Fig. 19,
OQ+QA=OA
OQ=OA-QA
=r1-r2
OQ=30 -r2---------(ii)

Consider atriangleQOP,
Cos a= OQ/OP

Substitute OQ&OP from equations(i) and (ii)

Fig.20 Fig.21

Cos 75 =30 -r2/ 47.5 -r2

r2=23.8 mm
OP =d =30 +17.5-23.8=23.7 mm

From the triangles,GOBandPOQ,

tan =GB/OB =PQ/OB
=OP Sina/ OB
=d Sin 75/ r1+ r3
=23.7 Sin 75/30 +17.5
Φ =25.6

Acceleration ofthefollower,
(i) At the beginning ofthe lift, i.e.,when θ =0

a=ω2(r1+r3)
= (62.83)2(30 +17.5)(2-1)
=187.5 m/s2

(ii) At the end offlank, i.e., whenθ =Φ=25.6

a=ω2 (r1+ r3)

a= (62.83)2(30 +17.5) (2- cos225.6/ cos325.6)
 a=303.38 m/s2
(iii) Accelerationwhenincontactwith nose, when θ1=a-Φ=75 -25.6 =49.4

2
a= 57.6m/s

Example 8
Atangentcamwith70mmbasecirclediameteroperatesarollerfollowerof30mmdiameter.Theanglebetwee
nthetangentialfacesofthecamis90oandthesefacesarejoinedbyanosecircleof8mmradiusThespeedofthec
amis120rpm.Calculatetheaccelerationoftherollercentre,whenthe rollerleaves the straight flankandat
theapexof cam.

Solution:
r1= 35 mm, r3=15 mm,r2=8 mm N =120 rpm,w= 2p120/60 = 12.56 rad/s

a=180 -90-45 =45o

Fig. 22
From the above Fig.

OQ+QA=OA
OQ=OA-QA
=r1-r2
OQ=35 -8
 OQ=27 mm

Also , OP = d

Consider atriangleQOP,
Cos a=
OQ/OPCos
45=27/OP
OP = 38.18 mm = d

From the triangles,GOBandPOQ,

tan =GB/OB =PQ/OB
=OP Sina/ OB
=d Sin 75/ r1+ r3
=38.18 Sin 75/ 35 +15
Φ =28.37o

Acceleration oftherollerfollower
(i) At the end offlank, i.e., whenθ =Φ=28.37

a=ω2(r1 +r3)
a= (12.56)2(35 +15) (2-cos228.37/ cos328.37)
a=14.19 m/s2
(ii) Rollerat the apex,
a=-ω2r (1+1/n) where, n=r2+r1/d =0.602
= -16 m/s2

1.3 UnderCuttingofCam

Generally,primecircleofacam is proportionedto
giveasatisfactorypressureangle.However,sometimesthefollowermaynotbecompletingthedesiredmotio
n.Thishappensifthecurvatureofthepitchcurveistoosharp.Fig32(a)representsthepitchcurveofacam,while
(b)shows generation the curve byrollerfollower.

(a) Fig. 23 (b)

 Fig. 24

Fig.24represents,arollerfollowertryingtogeneratingpitchcurve.Itisseenthat,thecamprofileloopsoveritse
lfinordertorealizetheprofileofthepitchcurve.Sinceitisimpossibletoproducesuchacamprofile,theresultist
hat,thecamwillbeundercutandbecomeapointedcam.Nowwhentherollerfollowerwillbemadetomoveove
rthiscam,itwillnotbeproducingthedesiredmotion.

Itisseenthat,thecamwillbepointediftheradiusoftherollerisequalto
theradiusofcurvatureofthepitchcurve.Therefore,tohaveminimumradiusofcurvatureofthecamprofile,th
eradiusofcurvature of theprimecircle must always be greater than that of theradiusofthe roller.

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