Professional Documents
Culture Documents
Joshua Ampofo
Course Outline
1. Rotary Balancing
(a) Analytical method
(b) Graphical Method
2. Mechanisms-Definitions & terminology, design & simulation of planer mechanisms
(four-and six-link mechanisms)
3. Displacement and Velocity Analysis
(a) Analytical method using vectors
(b) Graphical
(i) Instantaneous centre method
(ii) Relative velocity method
4. Transmission of rotational motion
(a) Gear trains ( including epicyclic trains/planetary gear),
(b) Belt and rope drives
(c) Chain drives
5. One-degree-of-freedom Vibration
(a) Undamped Forced vibrations
(b) Damped free Vibration
(c) Damped Forced vibrations
6. Introduction to torsional vibration
7. Mechanical Design (Up to Six Bar) Using graphical Method (Optional)
8. Cams (Optional)
1.1 Introduction
The combined centre of mass of a shaft carrying components such as blades and pulleys
may not lie on the axis of rotation. The shaft and the components may remain in any position that
they are placed. However, when the shaft rotates, centrifugal forces and couples due to the out-
of-balance masses act upon the shaft if the system is dynamically unbalanced. For a complete
dynamic balance of a rotating shaft, the resultant force and couple acting upon the shaft must be
zero.
m1
r1
m2
r2 θ2
θ1
Reference Line
θn
rn
mn
All the masses have the same angular velocity (ω) because they are rigidly attached to the same
shaft. Hence, Equation 1-1 becomes
(m1 r1 + m2 r2 + .....mn rn )ω 2 =0 Equation 1-2
The above equation may written as
ω 2 ∑ mr = 0 , Equation 1-3
∑ mr = 0 , Equation 1-4
The above equation is a condition for static balance. It may be resolved into horizontal and
vertical components as
l2 m2
l1 m1
r1 r2
ln rn
mn
Reference plane
Figure 1-2: Out-of-Balance Masses rigidly attached to a Shaft at Various Axial Locations
For dynamic balance, the sum of moment about any plane along the axis of rotation must be
zero. Taking moments about the reference plane gives
(m1 r1l1 + m1 r1l 2 + .....mn rn l n )ω 2 = 0 Equation 1-7
Dividing through by ω2, Equation 5 becomes
Equations 1-4 and 1-8 are the conditions for dynamic balance. Equation 1-8 may be resolved into
horizontal and vertical components as
Example 1-1
Four discs, A, B, C and D, are rigidly attached to a rotating shaft at radii 4 mm, 3 mm, 4
mm and 5.5 mm, respectively, from the axis of rotation. The axial distances along the shaft are
AB = 0.5 m, AC = 1.2 m and AD =1.5 m. The masses of A and C are 7 kg and 8 kg, respectively,
and A and C are 135o to one another. For a complete balance, determine
(a) the masses of B and D,
(b) the angular position of B with respect to A
(c) the angle between B and D
Solution 1-1
Analytical Method
With the plane B as the reference plane (Figure E1) and using the given data, Tables E
1(a) and E 1(b) are compiled.
θB A
0.5 m 0.7 m 0.3 m θD
(a) (b)
Figure 1-3: (a) Axial position (b) Angular positions of out-of-balance masses
Table 1-1
Disc Mass. Radius, mr Angular Axial Dist. mr.cos θ mr.sin θ mrl mrl.cos θ mrl.sin θ
m r (kg.mm) Position (from B), l (kg.mm.m) (kg.mm.m) (kg.mm.m)
(kg) (mm) (from A) (m)
A 7 4 28 0 -0.5 28 0 -14 -14 0
B mB 3 3mB θB 0 3mB. cos θB 3mB. sin θB 3mB 0 0
C 8 4 32 135o 0.7 -22.627 22.627 22.4 -15.839 15.839
D mD 5.5 5.5mD θD 1.0 5.5mD.cos θD 5.5mD.sin θD 5.5mD 5.5mDcos θD 5.5mDsin θD
Using Equations 1-9 and 1-10 together with Table 1-1, we have
29.839
⇒ m D cos θ D = = 5.42527 (a)
5.5
15.839
⇒ 5.5m D sin θ D = − = −2.8798 (b)
5.5
Squaring equations (a) and (b) and adding the results gives
Dividing equation (b) by equation ( a) gives tan θD. Since the sine part of Equation (b) is
negative, a plot of Equation (b) on the vertical axis against Equation (a) on the horizontal axis
shows that D lies in the third quadrant, as illustrated Figure 1-4. From the figure,
θD
5.42527
α x
-2.8798
− 2.262
θ B = 180 o + tan −1
θ B = 190.91o
− 11.737
(Hint: B lies in the 3rd quadrant)
Graphical Method
Table 1-2
Disc Mass r mr l mrl
(kg) (mm) (kg.mm) (m) (kg.mm.m)
A 7 4 28 -0.5 -14
B mB 3 3mB 0 0
C 8 4 32 0.7 22.4
D mD 5.5 5.5mD 1.0 5.5mD
θ D = 332 o
(b) Using the mr column in the table, the force polygon Figure 1-6 is constructed. The closing
side, db, has length of 35.84, from which,
3m D = 33.83 m B = 11.947 kg
θ B = 191o
(c) Angle between discs B and D is = θD – θB = 332o -191o = 141o
Table 1-3
Pulley Mass (kg) Displacement of Centre of mass from the axis of rotation
A 500 7.5 mm
B 750 6.0 mm at 30o to A
C 750 6.0 mm at 90o to A
D 500 4.5 mm at 150o to A
Solution 1-2
Using the given data, Figure 1-7 is drawn and Table 1-4 is compiled. To eliminate one of
the unknown reactions, plane E is chosen as the reference plane.
(a) (b)
Figure 1-7: (a) Axial and (b) angular positions of the pulleys
Table 1-4
Plane Mass r mr l Mrl
(kg) (mm) (kg.m) (m) (kg.m.m)
A 500 7.5 3.75 -0.3 -1.125
E - - Re 0 0
B 750 6.0 4.5 0.3 1.35
C 750 6.0 4.5 0.6 2.7
F - - Rf 0.9 0.9Rf
D 500 4.5 2.25 1.2 2.7
∑ mrl cosθ = 0 : − 1.125 cos 0 + 0 + 1.35 cos 30 + 2.7 cos 90 + 0.9 R f cos θ f + 2.7 cos 150 = 0
2.29413
⇒ R f cos θ f = = 2.549 (a)
0.9
∑ mrl sin θ = 0 : − 1.125 sin 0 + 0 + 1.35 sin 30 + 2.7 sin 90 + 0.9 R f sin θ f + 2.7 sin 150 = 0
− 4.725
⇒ R f sin θ f = = −5.25 (b)
0.9
Solving equations (a) and (b) simultaneously gives
R f = 5.836 kg.m and θ f = 295.9 o
The force due to the out-of-balance masses on bearing F is
2π
2
F f = R f ω = 5.836 300. = 5,759.9 N
2
60
The bearing reaction is equal and opposite to the force acting on the bearing. Therefore, the
reaction of bearing F is
RF = 5.76 kN
At 295.9o-180o = 115.9o to mass A.
Using Equations 1-4 and 1-5 together with Table 1-4, we have
∑ mr cosθ = 0 :
3.75 cos 0 + Re cos θ e + 4.5 cos 30 + 4.5 cos 90 + 5.836 cos 295.9 + 2.25 cos 150 = 0
∑ mr sin θ = 0 :
3.75 sin 0 + Re sin θ e + 4.5 sin 30 + 4.5 sin 90 + 5.836 sin 295.9 + 2.25 sin 150 = 0
− 2.6252
θ e = 180 o + tan −1 = 197.66 o
− 8 .2477
60
Therefore, the reaction of bearing E is
RE = 8.54 kN at 17.66o to mass A.
Graphical Method
The mrl column is used to construct the couple polygon shown in Figure 1-8(b) and Rf is
determined from the closing side, df, of the polygon. The determined Rf is input into the table
and the force polygon shown in Figure 1-8(b) is constructed based on the mr column . Then, Re
is determined from the closing side, de, of the polygon.
(a) (b)
Figure 1-8: (a) Couple and (b) Force Polygons
The closing side of the couple polygon has length of 5.252 kg.m.m and at 296o to A.
0.9 R f = 5.252 kg.m.m R f = 5.836 kg.m
2π
2
F f = R f ω = 5.836 300. = 5,759.9 N
2
60
The bearing reaction is equal and opposite to the force acting on the bearing. Hence, the reaction
of bearing F is
RF = 5.76 kN at 116o to mass A.
From the force polygon, the length of the closing side is 8.66 kg.m and it is at 198o to A.
2π
2
Fe = Reω = 8.66 300. = 8,547.1 N
2
60
Therefore, the reaction of bearing E is
RE = 8.54 kN
At 198o -180o = 18o to mass A.
MECHANISMS
2.1 Introduction
Mechanisms are basic units of machines. Machines play a major part in our everyday
lives. Sample machines include cranes, wrapping machines, block-making machines, car jacks,
bottling machines, agricultural machines, optical drives, artificial limbs, sewing machines,
timing mechanisms, standing fans, etc.
Machines consist of simple to complicated mechanisms. In practice, selecting a
mechanism to perform a function in a machine is very challenging. Mechanism design and
analysis require experience and good background in mathematics and dynamics. Kinematics, on
the hand, is the study of the relationship between time, position, velocity and the acceleration of
interacting rigid bodies.
∆x
∆θ
(a) Revolute/Pin Joint (Form Closed) (b) Sliding Joint (Form Closed)
1 dof 1 dof
∆θ ∆θ
∆x
∆x
(c) Link Against Plane (Forced Closed) (b) Pin in Slot (Form Closed)
2 dof 2 dof
∆θ2
∆θ
∆x
∆θ1
(c) Pin Joined to Three Links (b) May roll, slide, or roll-slide depending
(n-1) dof, n = number of links on friction (1 or 2 dof)
Figure 2-1: Types Planer Joints
2.2.5 Link
It is a rigid body that possesses at least two nodes that are points for attachment to other
links. Figure 2-2 shows different types of links in which the classification is based on the number
of nodes. A rigid body is an idealised model of an object that does not deform or change in
shape. Thus, the distance between any two points on a rigid body remains constant. Machine
components that do not fit this rigid assumption such as springs in either tension or compression
and, belt or rope under compressive load are not links. However, belts, chains and ropes have
Node
Binary Link
Ternary Link Quaternary Link
.
Figure 2-2: Types of Links
Figure 2-4 shows a slider mechanism chain with a one-dof (or j1) joint at the contact between
the slider and the sliding surface. The mechanism has an overall mobility of m = 1.
Figure 2-5 shows mechanism chains with multiple joints. At joint C of both mechanisms, three
links are joined by a single pin. If one of the links is fixed, then there are two independent joints
at the nodes. Hence, the joints at C are counted as two j1 joints. It may be generalised that the
number of j1 (or 1 dof) joints at a node connecting n links is
j1 = n − 1 , n≥ 2 Equation 2-2
(a) (b)
Figure 2-5: Mechanism chain with multiple Joints
(a) (b)
n = 3, j1 = 3, j2 = 0
m=0
(c)
Figure 2-7: Linkages having different Mobility from Predicted by Gruebler Equation
2-2. Figure P2.2 is a schematic of a front-loader construction machinery. Determine the degree
of freedom of the mechanism. Ans: 2
2-3. In Figure P2.3, how many actuator(s) are required to control position (a) A on the boom,
and (b) B on the bucket. Ans: (a) 1, (b) 2
2-4. Find the mobility of the mechanism shown in Figure P2.4. Ans. 2
Example 3-1
Find the number of instant centres of a
(a) four-link mechanism, and
1 1
2 2
4 4
3 3
(a) (b)
The tracking chart also indicates the centres that may be connected in order to locate an
instant centre. An instant centre is only obtainable if the two links connected to the centre form
two independent path triangles on the tracking chart. In Figure 3-4, the marks 1, 2 and 3 form a
triangle, while 1, 4 and 3 form another triangle. This implies that the centre (1, 3) is at the point
of intersection of lines through (1, 2) and (2, 3), and through (1, 4) and (3, 4). Similarly, the
instant centre (2, 4) is at the point of intersection of the lines through (1, 4 and (1, 2), and through
(3, 4) and (2, 3).
Example 3-2
Determine the location of all the instant centres for the six-bar link mechanism shown in Figure
3-6.
Figure 3-6
Solution 3-2
The mechanism has six links and therefore the number of instant centres is, by equation 3-1
n(n − 1) 6(6 − 1)
N= = = 15
2 2
1 1
6 2 6 2
5 5
3
4 4
(a) (b)
Figure 3-7: (a) Initial, and (b) Almost Completed Tracking Chart
Solution 3-3
The velocities of both points A and B are parallel to their respective surfaces since the
ladder is sliding. The two lines are perpendicular to the motions of points A and B. In addition,
the two lines pass through the points A and B and intercept at point IC, as shown in Figure 3-9.
y
IC
vA
A
G
2.5 m
65o
x
vB
B
v B = ω B − IC (a)
v A = ω A − IC (b)
From Figure 3-10, the velocity ratio in Equation 3-2 is negative when the instant centre (2, 3) lies
between the instant centres (1,2) and (1,3). The ratio is positive when the instant centre (2, 3) lies
between the instant centres (1, 2) and (1, 3). Equation 3-2 may be generalised as
ωn
=±
(1, m − n, m) , Equation 3-3
ωm (1, n − n, m )
where n and m are numbers of interested links.
3
ω3)
ω2 ω3) 3 ω2
2 2
B (2, 3)
(2, 3) B (1, 3) (1, 3) C
(1, 2) C (2, 3) (1, 2) A
A
1 1
VB
VB
(a) (b)
Figure 3-10: Graphical Displacement Analysis
Example 3-4
If the bar AB in Figure 3-11 rotates at 12 rad/s in the anti-clockwise direction, determine
the instantaneous angular velocity of bar BC and CD.
Solution 3-4
Using the Kennedy’s theorem, the instant centres relating to links BC and CD are located,
as shown in Figure 3-12. Using Equation 3-3
ω 3 (1,2 − 2,3)
= =−
2
ω3 = −
2
(12) = −4 rad/s ω BC = −4 rad/s
ω 2 (1,3 − 2,3) 6 6
(Hint: Note (2, 3) lies between (1, 2) and (1, 3)
Similarly,
ω 4 (1,2 − 2,4 ) 3
ω 3 = (12 ) = 4 rad/s
3
= = ω CD = 4 rad/s
ω 2 (1,4 − 2,4 ) 9 9
(Hint: Note (2, 4) outside of (1, 2) and (1, 4)
v ac = ωx AC Equation 3-4
where vab is the velocity of point C relative A and ω is angular velocity of the link AC. The
direction of vac is perpendicular to the line connecting points A and C because it is due to
rotation. The velocity of point B, which is located on the line from A to C, is also perpendicular
the line AC. The velocity of point B relative to point A is shown in Figure 3-13(b) is
v ab = ω AB Equation 3-5
The relative velocity of point B is located on the line ac of the velocity diagram using
proportionality relationship given by Equation 3-6. Note that lower case letters are used for
points on relative velocity diagrams.
Figure 3-13 (a) Link in Rotating Motion, and (b) its Relative Velocity Diagram
Example 3-5
If the bar AB in Figure 3-14 rotates at 10 rad/s in the anti-clockwise angular direction,
determine the instantaneous angular velocity of bar CD.
2m
10 rad/s
D
A
3m 2m
Figure 3-14
Solution 3-5
The fixed (or zero-velocity) points are A and D, and are indicated with lower cases a and
d, respectively. Using Equation 3-4, the velocity of point B is
v ab = ω AB = 10 x 2 = 20 m/s .
Since AB is rotating in the anti-clockwise direction, vector ab points to the left and is
perpendicular to AB. The velocity of C relative B is perpendicular to BC and the velocity of C
relative D is perpendicular to CD. Hence, the intersection of lines through b and d, perpendicular
to BC and DC respectively, yields the point c, as shown in Figure 3-15. Note that the points A
and D are on the ground link and have zero velocities. Therefore, the two points have the same
relative velocity diagram.
From the relative velocity diagram, velocity of point C relative d is 28.24 m/s. The velocity of
point C is
vC 28.28
vC = wCD x rC / D = wCD x CD ⇒ ω CD = = = 10 rad/s
CD (2 2
+ 22 )
B
A C
A a,c b
(a) (b)
Figure 3-16 (a) Rigid Body in Sliding Planar Motion, and (b) Corresponding Relative
Velocity Diagram
Example 3-6
In Figure 3-17, the angle θ = 45o and the link AB has a constant anti-clockwise angular
velocity of 5 rad/s. Determine the sliding velocity of C.
Figure 3-17
Solution 3-6
The velocity of point B is, using Equation 3-4
v ab = ω AB = 5 x0.2 = 1.0 m/s .
The line ab is perpendicular to AB with length equivalent to 1.0 m/s. The velocity of C relative
to D is parallel to the sliding direction, which is given by line dc. To locate point c, a line
through b and perpendicular to BC is construction and the intersection of bc and dc is c. Figure
v A = ω OA
/ .
A'
va a
A
o
ω a'
O
(a) (b)
Figure 3-19 (a) Rigid Body Sliding and Rotating, and (b) Corresponding Relative Velocity
Diagram
Figure 3-20
Solution 3-7
The equivalent mechanism and velocity diagram are shown in Figure 3-21. In the figure,
point B' is an imaginary point on the link BB'. First, the velocity of B' relative to B is drawn
perpendicular to the line B- B’ and on the left side of point (a, b) on the velocity diagram. The
point b’ on the relative velocity is on the left-hand side of b because as the actuator BC expands,
BB' turns in the anti-clockwise direction. The velocity of C relative to A is drawn perpendicular
to AC and on the left-hand side of C because AC also turns in the anti-clockwise direction.
Along the direction of BC, the velocity of C relative B' is drawn through b to say point c' with
dotted or construction lines. The length of b'c has an equivalent magnitude of 0.2 m/s. A line
through c and parallel to bc' is draw to meet line ac. The point where the line through c' meets
line ac is point c. From the diagram, the velocity of point C is, which is the length of ac, is
vC = 0.3104 m/s.
v 0.3104
ω AD = C = = 0.1035 rad/s
AC 3
Example 3-8
Link AB of the mechanism shown in Figure 3-22 is rotating at 20 rad/s in the anti-
clockwise direction. Using the relative velocity method, determine the angular velocity of ADE
and vertical sliding velocity of node E.
Figure 3-22
Solution 3-8
constructed perpendicular to link AB, through point a, d and points in the downward direction.
The constructed relative velocity diagram is shown in Figure 3-23. In the figure, the point c is at
intersection of lines perpendicular to BC and through b and through point a, d and perpendicular
to link DC. Two points are coinciding at point E. Let E and E’ be points on link BCE and slider
E. Relative to point B, points C and E have the same angular velocities. Point e is located the line
through b and c and be is computed using Line bc using Equation 3-6.
BE 251.66
be = bc = 0.554 be = 0.92946 m/s
BC 150
Point E’ slides on link BCE and therefore a line is constructed through point e and parallel to link
BCE. Since point E’ slides in the vertical direction through the ground, line is constructed
through point a,d and parallel to the vertical. The point of intersection of the two lines is point
e’. From the relative velocity diagram, the vertical velocity of the slider is ae’, which is 1.31 m/s.
Thus,
ve′ = 1.31 m/s
Figure 3-23
rB = rA + rB / A Equation 3-7
rB / A = xi + yj + zk
dx di dy dj dz dk
vB = v A + i + x + j+ y + k + z
dt dt dt dt dt dt
dx dy dz di dj dk
vB = v A + i + j + k+x + y + z Equation 3-7a
dt dt dt dt dt dt
Differentiating the unit vectors with respect to time gives
di dj dk
= wxi = wx j = wxk Equation 3-7b
dt dt dt
Substituting the above equations into Equation 3-7a, we have
dx dz
j + k + [x(ω x i ) + y (ω x j) + z (ω x k )]
dy
vB = v A + i +
dt dt dt
dx dy dz
where v B / A = i + j + k
dt dt dt
where vA and vB are respectively velocities of point A and B relative to the reference frame, and
vB / A is the sliding velocity of point B relative to point A.
Equation 3-11 is applicable to both 2D and 3D motions. For 2D motions in x-y plane, the angular
velocity ω is always in the z direction and, therefore, unit vector k is attached to planar angular
velocities.
Fixed Link
Figure 3-26
Solution 3-9
First, we determine the velocity of point B from that of A since the point A is stationary
and angular velocity of AB is known. Imposing horizontal motion on the point C (or slider),
velocity of the slider can computed.
Using Equation 3-10,
v B = v A + w x rB / A
i j k
v B = v A + wk x rB / A = 0 + 0 0 15
0.2 0.3 0
i j k
vC i = (− 4.5i + 3.0 j ) + 0 0 ω BC
0.6 − 0.2 0
where VC is the magnitude of sliding velocity of C. Equating the i and j components of equation
(2) yields
vC = 0.2ω BC − 4.5
0 = 0.6ω BC + 3.0
Solving the above equations simultaneously gives
ω BC = −5.0 rad / s
vC = −5.5 m/s
Example 3-10
The crank AB in Figure 3-27 rotates 200 rpm in the clockwise direction. Determine the
angular velocity of the link CD in rpm and the vertical velocity VE of the rack-and-pinion gear if
average diameter of the pinion is 0.6 m.
Figure 3-27
Solution 3-10
The Equation 3-10 is applied between points A and B. From Figure 3-27
2π
ω AB = 200 x = 20.94 rad / s
60
The velocity of point B is
v B = v A + w AB k x rB / A = 0 − 29.94k x (0.3i + 0.6 j )
ω CD = −12.12 rad/s
ω BC = 2.204 rad/s
Example 3-11
Slider C of the mechanism shown in Figure 3-28 is moving horizontally at 10 m/s
towards the left-hand side. Determine the angular velocities of crank AB and connecting rod BC.
Figure 3-28
Solution 3-11
Using Equation 3-10 between points A and B, the velocity of point A is
v B = v A + w AB k x rB / A = 0 + ω AB k x (0.5i + 1.0 j )
v B = −ω AB i + 0.5ω AB j
Also
vC = v B + wBC x rC / B = (− ω AB i + 0.5ω AB j ) + ω BC k x (1.7i - 2.2j)
Example 3-12
For the mechanism shown in Figure 3-30, determine the angular velocity of bar BC and
the magnitude of the sliding velocity of the pin at B if crank AB rotates at 4 rad/s in the
anticlockwise direction.
Figure 3-29
Solution 3-12
Using Equation 3-10 between points A and B, we have
v B = v A + w x rB / A vA = 0 ω = 4 k (rad/s) r B A = −0.5i + 1.2 j (m)
v B = 0 + 4k (− 0.5i + 1.2 j )
v B = −4.8i − 2 j (1)
Using Equation 3-8 between points C and B, we have
v B = vC + v B C + w CB x r B / C
where v B C is the sliding velocity and ω CB is the angular velocity of the link CB
Let V be the magnitude of the sliding velocity of the pin at B. Using Equation 3-11,
v B C = V (cos θi + sin θj ) (3)
where θ is the angle the sliding direction makes with the horizontal. The angle may be calculated
from Figure 3-31 as
1.2
θ = 180 − tan −1 = 149.04
o
2
Figure 3-30
2 = 2ω CB − 0.5145V (7)
Solving the equations (6) and (7) simultaneously gives
ω CB = 1.79 rad/s
V = 3.09 m/s
Example 3-13
Solve Example 3-7 using the vector analytical method.
Solution 3-13
Using Equation 3-10 between points A and C, we have
vC = v A + w AC x rC / A
where v A = 0 and ( )
r B A = 3 cos 35 o i + sin 35 o i = 2.457i + 1.721 j
The slider velocity vC B = 0.2 m/s needs to be resolved into the i and j components.
Figure 3-31
Also vB = 0 (4)
By definition, the mechanical advantage (MA) is the ratio of the magnitude of output force, Fout ,
to the magnitude of input force, Fin . Thus,
Tout
Fout rout
MA = =
Fin Tin
r
in
T r
MA = out in Equation 3-14
Tin rout
ω r
MA = in in Equation 3-15
ω out rout
Consider the mechanism shown in Figure 3-32 and using Equation 3-3, the angular velocity ratio
of the input link to that of the output link is
ω 2 (1,4 − 2,4 )
=
ω 4 (1,2 − 2,2 )
Substituting the above equation into Equation 3-15, the mechanical advantage of the mechanism
shown in Figure 3-33 is
MA =
(1,4 − 2,4) rin
(1,2 − 2,2) rout
Figure P3-1
3-2. Find the angular velocity and angular acceleration of the mechanism shown in Figure P3-2
if slider B is moving towards the right at a constant velocity V= 10 m/s and θ = 60o.
3-3. Link AB of the mechanism shown in Figure P3-3 is rotating at 20 rad/s in the anti-
clockwise direction. Using the vector analytical method, determine the sliding velocity.
3-4. At the instant shown of Figure P3-3, find the angular velocity and magnitude of sliding
velocity of link velocity V= 12 m/s and θ = 60o.
3-5. The collar at A in Figure 4 slides along the circular bar, causing the pin A to move at a
constant speed 5 m/s in a circular path of radius R. Bar AC slides in the collar at B, and the
collar is pinned to ground at B. At the instant shown, determine the velocity of bar AC
relative to pin B and angular velocity of bar AC.
3-6. In Figure P3-5, gear 2 rotates at 100 rmp in the anti-clockwise direction and arm AB rotates
at 120 rmp clockwise. If the pitch radius of the gears are r2 = 80 mm and r4 = 100 mm, find
the angular velocity of gear 4.
3-7. The gear train in Figure 3-6 is to be used in food mixer where gear 2 is stationary. Find the
ratio of pitch radius of gear 2 to the pitch radius of gear 4 if when arm AB turns 1 rev, gear
4 turns 4 rev.
3-8. The planetary gear system shown in Figure P3-7, the radius of gear 2 is r2 and radius of
gear 4 is r4. If the angular velocity gear 5 is ω5 and angular velocity of gear 2 is ω2, find the
angular velocities of the planet gear 4 and the arm in terms of the given parameters.
Acceleration Analysis
The term 2ω x v B/A is called Coriolis acceleration, named after the French Engineer G. C.
Coriolis, who was the first to determine it. Equation 4-1 is applicable to both planar (2D) and
spatial (3D) motions. For planar motions, Equation 4-1 may written as
aB = a A . Equation 4-3
The term α x rB/A in Equation 4-4 is the tangential component of the acceleration and
Example 4-1
In Figure 4-2, link AB has an anticlockwise angular velocity of 12 rad/s and a clockwise
angular acceleration of 250 rad/s2. Determine the angular accelerations of links BC and CD.
2m 3m
B C
12 rad/s 2m
250 rad/s2
A D
Figure 4-2
Solution 4-1
Since the angular acceleration formula has angular velocity component, first the
velocities of the links BC and CD are determined. Then, the determined velocities are used to
determine accelerations of the links. The velocity of point B
1
Let ω BC and ω CD be the angular velocities of links BC and CD, respectively. The velocity of
point C in terms of the velocity of point B is
vC = v B + ω BC x rC/B
( )
a B = 0 − 250 k x (2i + 2j) − 12 2 (2i + 2 j )
a B = 212i − 788 j (m/s).
Let α BC and α CD be the angular accelerations of links BC and CD, respectively. The
acceleration of point C in terms of that of point B is
aC = a B + α BC x rC/B − ω BC
2
rC/B
aC = 0 + α CD k x 2j − (12) (2 j )
2
Example 4-2
Solve Problem 3-11 if slider C is moving horizontally at 10 m/s and 5 m/s2 towards the
left-hand side.
Solution 4-2
From Solution 4-2,
ω AB = −6.071 rad/s and ω BC = 1.786 rad/s
The acceleration of point B in terms of that of point A is
a B = a A + α AB x rB/A − ω AB rB / A
2
Example 4-3
For the mechanism shown in Figure 4-3, determine the angular acceleration of bar AC
and acceleration of pin A relative to the slot in bar AB if bar AB has an anticlockwise velocity of
2 rad/s and a clockwise angular acceleration of 10 rad/s2.
1.2
where θ = tan −1 = 42.709 , which is the angle between the sliding direction and the
o
1 .3
horizontal axis. Substituting (2) into (1) gives
v A = (0.7384 v A / B − 2.4 )i + (0.6783 v A / B + 2.6 ) j (3)
Let ω CA and α CA be the angular velocity and angular acceleration of link CA. The velocity of
point A in terms of that C is
v A = vC + ω CA x rA / C
i j k
vA = 0 + 0 0 ω CA
0.5 1.2 0
v A = − 1 . 2 ω CA i + 0 . 5 ω CA j (4)
Equating the two velocities of A gives
− 1.2ω CA i + 0.5ω CA j = (0.7384v Arel − 2.4)i + (0.6783v Arel + 2.6 )
Equating the i and j components yields
− 1.2ω CA = (0.7384v Arel − 2.4) (5)
i j k
aA = 0 + 0 0 α CA − 2 2 (0.5i + 1.2j)
0.5 1.2 0
ω3
=±
(1,2 − 2,3)
ω2 (1,3 − 2,3)
ω3 r
=± 2 Equation 5-1
ω2 r3
3
ω3)
ω2 ω3) 3 ω2
2 2
B (2, 3)
(2, 3) B (1, 3) (1, 3) C
(1, 2) C (2, 3) (1, 2) A
A
1 1
VB
VB
Figure 5-4: Two Circular Discs in Rolling Contact (Same as Figure 3-10)
Equation 5-1 is negative when point (2, 3) lies between points (1, 2) and (1, 3). Therefore, the
two rollers/gears rotate in opposite directions. Equation 5-1 is positive when point (2, 3) lies
outside of points (1, 2) and (1, 3), hence two rollers/gears rotate in the same direction. Since the
number of teeth of a gear is directly proportional to its radius, the angular velocity ratio ω 2 ω 3 is
ω2 r d c N
=± 3 =± 3 =± 3 =± 3 Equation 5-2
ω3 r2 d2 c2 N2
Example 5-1
Find the velocity ratio ω8 ω 2 of the gear trains shown in Figure 5-5.
3 6
2 5 8
4 7
N7
ω8 = ω 6 − (2)
N8
Using equation (5-2),
N5
ω 6 = ω5 − (3)
N6
Substituting equation (3) into (1) yields
N5 N 7
ω8 = ω 5 − − (4)
N6 N 8
Similarly,
Replacing ω 5 in equation (5) with equation (5), and dividing through by ω 2 gives
ω8 N 2 N 4 N 5 N 7
= − − − − (6)
ω 2 N 3 N 5 N 6 N 8
ω8 N 2 N 4 N 5 N 7
or = (− 1)4 (7)
ω 2 N 3 N 5 N 6 N 8
where n is number of external gear engagements. In Equation 5-4, the negative sign that accounts
for direction of rotation is omitted in the equation, but it must be accounted for when using it.
Equation 5-3 is applicable to all types of gears, belt drives, chain drives and rollers. In belt and
chain drives, the number of teeth (N) is replaced with the diameter of pulley and number of
sprockets, respectively. Equation 5-3 should be used with care when analysis belt and worm gear
drives.
In equation (6), N5’s cancels out but the negative sign remains. Hence, the presence of
gear 5 does not affect the magnitude of the angular velocity ratio, but it changes direction of
rotation. Gear 5 is known as idler.
Example 5-2
Determine the angular velocity ratio ω 4 ω1 of the gear train shown in Figure 5-6 .
Figure 5-6
Solution 5-2
Using equation (3.2)
ω 4 N 1 N 3 20 15 1
= − − = =
ω1 N 2 N 4 80 60 16
Example 5-3
Figure 5-7 shows a gear train that consists of miter (same-size bevel) gears having 16
teeth each, a 4-tooth right hand worm and 40-tooth worm gear. If the input bevel gear 2 rotates at
150 rpm in the anti-clockwise direction, what is the speed of the worm gear 5.
ω2
16 T
2 10 T
16 T
3 4
x
5
z
45 T
Figure 5-7
2
ω5 = − ω 2 = −
2
(150) = −33.33 rpm
9 9
Example 5-4
In the train shown in Figure 5-8, the inlet gear 1 rotates at 1200 rpm in the anti-clockwise
direction as viewed from the left. The angular velocity of the outlet shaft is 300 rpm and the gear
contact between gear 1 and gear 2 reduces the speed ratio by 5:3. Find the number of teeth of
gear 2 and the diameter of pulley 3.
Solution 5-4
ω 2 N1 3
(a) = − = −
ω1 N 2 5
N 1 = (30) = 50
5 5
N2 =
3 3
30 T D = 60 cm
4
In Out
1
Figure 5-8
(b)
ω 4 N1 D3
= −
ω1 N 2 D4
3 D
− 300 = − 3 1200
5 60
Ring gear
Planet gear
where rB/A = r2 + r4 .
2 C
A B
3
1
4
ω 2 N 2 = ω 3 (N 2 + N 4 ) − ω 4 N 4 Equation 5-6
ω4 N 2
= +1
ω3 N 4
Example 5-5
If the arm 4 in Figure 5-11 has an anti-clockwise angular velocity of 4 rad/s, determine
the angular velocity of gear 3.
Figure 5-11
Solution 5-5
Using Equation 5-8, we have
N 40
ω 4 = 2 + 1ω 3 ω4 = + 14 ω 4 = 10.4 rad/s
N4 25
Example 5-6
In Figure 5-12, arm AB is carrying planet gear B and rotating at 10 rad/s in the anti-
clockwise direction. Determine the angular velocity of bar DE.
0.3 m 1m 0.4 m
12 T
D
B
C
0.8 m
0.6 m 36 T
10 rad/s
E
A
Figure P 5-1
Let the angular velocity of bar CD and DE be ω CD and ω DE , respectively. The velocity of point D
from point C is
v D = vC + ω CD x rD / C v D = (− 8i + 9 j ) + ω CD k x 1.0i
v D = −8i + (9 + ω CD ) j
Similarly, the velocity of point D from point E is
v D = v E + ω DE x rD / E v D = 0 + ω DE k x (− 0.4i + 0.8 j )
v D = −0.8ω DE i − 0.4ω DE j
Equating the i and j components of the two velocities of point D gives
For i: − 0.8ω DE = −8 ω DE = 10 rad/s
− 0.4ω DE = 9 + ω CD ω CD = −13 rad/s
(ω 4 − ω 3 ) N 2
=−
(ω 2 − ω 3 ) N 4
Equation 5-8 is applicable to all gear types where the first and the last gears mesh with each
other directly or through intermediate gears that are carried by the arm.
Consider that a planetary gear train shown in Figure 5-13. From the figure, the diameter
Dr = D s + 2 D p
As the diameter of a gear is proportional to its number of teeth, it may be deduced that
N r = N s + 2N p Equation 5-9
Equation 5-9 is applicable to planet gears that mesh directly to both ring and sun gears.
Figure 5-12: Planetary Gear Train sun, planet and ring gears
Example 5-7
Shown in Figure 5-13 is planetary gear train with sun gear 2 and arm 6 as inputs.
Determine the angular velocity of sun gear 5 if sun gear 2 rotates at 50 rad/s and arm 6 rotates at
Solution 5-7
Considering sun gear 2 as first (driver) and sun gear 5 as last (driven) gear and using
Figure 5-13
Example 5-8
The gear train shown in 5-14 has two inputs: sun gear 2 rotates at 400 rmp and ring gear
6 rotates at 600 rmp, both in anti-clockwise as viewed from the right. Find the resulting angular
velocity of arm 7.
Figure 5-14
Solution 5-8
Considering sun gear 2 as first (driver) and ring gear 6 as last (driven) gear and using
ω 67 ω 6 − ω 7 N 2 N 3 N 5 N 2 N 5
= = − − =
ω 27 ω 2 − ω 7 N 3 N 4 N 6 N 4 N 6
Example 5-9
Find the angular velocity of sun gear 2 in Figure 5-15 if ring gear 6 rotates at 600 rmp in
anti-clockwise as viewed from the right.
Figure 5-15
Solution 5-9
Ring gear 6 becomes the first (driver) gear and ring gear 8 and sun gear 2 are the last
gears. First, we determine the velocity of arm 7 by starting from gear 6 and ending at gear 8.
Since gear 8 is fixed, its velocity is zero. Using equation (3.6), we have
N 8 = N 2 + 2( N 3 + N 4 ) = 35 + 2(18 + 22 ) = 115
ω 7 = −1955 rpm
Using Equation 5-8 and taking the path from gear 6 to gear 2, we have
ω 27 ω 2 − ω 7 N 6 N 4 N 3 N 6 N 4
= = − − =
ω 67 ω 6 − ω 7 N 5 N 3 N 2 N 5 N 2
ω 2 = 4469 rpm
(2) Motion relative to arm: Fixed the arm and rotate the rest of the gears back so that
the total rotation (step 2 + step 3) of one or more of the gears matches their given
rotations.
Example 5-10
Solve Example 5-5 using the Tabular method.
Figure 5-16
Solution 5-10
In the “Motion with arm” row, the absolute velocity of the arm is input for all cells. Gear
2 is selected as the starting gear and 3 as end gear. Since gear 2 is fixed, its angular velocity
N
3 relative to the arm is ω 34 = ω 24 2 , and Table 5-1 is tabulated.
N3
Table 5-1
Gear 2 Gear 3 Arm 4
N2
= 4 + 4 = 10.4 rad/s
40
ω 3 = 4 + 4
N3 25
Example 5-11
Solve Example 5-7 using the tabular method.
Solution 5-11
From Figure 5-13 and starting from the left, gear 2 drives gear 3 and gear 4 drives gear 5
and gears 3 and 4 have the same angular velocity because they are rigidly attached to the same
shaft. Considering sun gear 2 as first (driver) and sun gear 5 as last (driven) gear, Table 5-2 is
compiled.
Table 5-2
Work Direction
N2 N 4 20 30
ω 5 = 75 − 25 ω 5 = 75 − 25 ω 5 = 12.5 rad/s
N3 N 5 16 15
Example 5-12
Solve Example 5-8 using the tabular method.
Solution 5-12
Let the absolute angular velocity of arm be x. We start from gear 2 and end at gear 6, and
the complete table is listed in Table 3.2. Starting from gear 6 and ending at gear 2 will not affect
the results.
Table 5-3
Work Direction
(-N3/N4) (N5/N6)
N N N
x + (400 − x ) − 2 − 3 5 = 600
N 3 N 4 N 6
35 18 30
x + (400 − x ) − − = 600
18 22 120
x = 732 rpm
Example 5-13
Solve Example 5-9 using the tabular method.
Here, two tables are created for paths from gear 6 to gear 8 and from gear 6 to gear 2. The
first table will be used to determine the angular velocity of the arm, and the second table for
calculating the angular velocity of the gear 2. Since gear 8 is fixed, its velocity is zero. Let the
absolute angular velocity of the arm 6 be x. We start from gear 2 and end at gear 6, and the
complete table is listed in Table 3.3. Starting from gear 6 and ending at gear 2 will not affect the
results.
Table 5-4
Work Direction
N N 4
x + (600 − x ) 6 = 0 x = −1955 rmp
N5 N 8
Table 5-5
Work Direction
6 7
Motion relative to arm 2555(N6/N5) (-N4/N3) (-N3/N2) 2555(N6/N5) (-N4/N3) 2555(N6/N5) 2555(N6/N5) 2555 0
N3/N2)
ω 2 = 4469 rmp
V None Limited
The following geometric relationships are applicable to both belt and chain drives.
D−d
β = sin −1 (3.9)
2C
θ L = π + 2β (3.10)
θ S = π − 2β (3.11)
ω3 D2 ω3 D
= =− 2
ω2 D3 ω2 D3
Figure 5-20 (a) Reversing open belt drive, and (b) Quarter-Twist belt drive