MAHENDRA ENGINEERING COLLEGE

Mahendhirapuri, Mallasamudram, Namakkal DT -637 503.

DEPARTMENT OF MECHANICAL ENGINEERING

PRACTICAL WORKBOOK

ME13L52- KINEMATICS & DYNAMICS LABORATORY

NAME OF THE STUDENT : ……………………

REGISTER NO : ……………………
DEPARTMENT : ……………………
YEAR/SEMESTER : ……………………
BATCH : ……………………
 TABLE OF CONTENTS

1) Syllabus

2) General Instruction

3) List of Experiments / Index

2
 SYLLABUS

MAHENDRA ENGINEERING COLLEGE (AUTONOMOUS)

SYLLABUS -R 2013
SEMESTER - IV
Hours / Week Credit
Course Code Course Name
L T P C
KINEMATICS & DYNAMICS
LABORATORY 0 0 3 2

To supplement the principles learnt in kinematics and Dynamics of Machinery and to

Objectives understand how certain measuring devices are used for dynamic testing.
.
LIST OF EXPERIMENTS
1. Kinematics of Four Bar Mechanisms- Slider Crank and Crank Rocker Mechanism-Determination of velocity
and acceleration.
2. Kinematics of universal joints (single and double)-Determination of velocity and acceleration.
3. Kinematics of Gear trains-Simple, Compound, Epi-cyclic and Differential: Determination of velocity ratio
and Torque.
4. Governors-Determination of range sensitivity, effort etc., for any one of Governors - Proell Governor.
5. Motorized gyroscope-Verification of laws- Determination of gyroscopic couple.
6. Whirling of shafts – Determination of critical speeds of shafts with concentrated loads.
7. Balancing of rotating and reciprocating masses.
8. Determination of Mass moment of inertia by oscillation method for connecting rod.
9. Vibration system- Spring mass system- Determination of damping co-efficient of single degree of
freedom system.
10. Determination of torsional frequencies for compound pendulum and flywheel system with lumped
Moment of inertia.
11. Cam – Determination of jump speed and profile of the cam.
12. Vibrating Table – Vibration Measurement.

Quantity: One each. Total Number of Periods: 45

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 GENERAL INSTRUCTIONS

Lab Safety Do's and Don’ts for Students

Life threatening injuries can happen in the laboratory. For that reason, students need to be
informed of the correct way to act and things to do in the laboratory. The following is a safety
checklist that can be used as a handout to students to acquaint them with the safety do’s and
don’ts in the laboratory.

Don’ts

 Do not engage in practical jokes or boisterous conduct in the laboratory.

 Never run in the laboratory.
 The use of personal audio or video equipment is prohibited in the laboratory.
 The performance of unauthorized experiments is strictly forbidden.
 Never work in the laboratory without the supervision of a teacher.
 Never leave experiments while in progress.
 Never attempt to catch a falling object.
 Never fill a pipette using mouth suction. Always use a pipetting device.
 Do not remove any equipment from the laboratory.

Do’s

 Know emergency procedures.

 Always perform the experiments or work precisely as directed by the teacher.
 Immediately report any spills, accidents, or injuries to a teacher.
 Make sure no flammable solvents are in the surrounding area when lighting a flame.
 Coats, bags, and other personal items must be stored in designated areas, not on the
bench tops or in the aisle ways.
 Notify your teacher of any sensitivities that you may have to particular chemicals if
known.
 Keep the floor clear of all objects (e.g., ice, small objects, and spilled liquids).
 Wear shoes that adequately cover the whole foot; low-heeled shoes with non-slip soles
are preferable. Do not wear sandals, open-toed shoes

4
 INDEX

Marks Signature of
Ex.No Date Description
Awarded the Staff

5
 TABULATION:

Distance
Distance Angle Angular
Angular between
between between velocity of
Velocity velocity of Velocity crank &
crank to slider & connecting
Crank of slider connecting centre
S.No slider connecting of slider rod
angle (exp) rod slide
(exp) rod VP (Theo)
VP crank
ωc ωc (Theo)
x Ø
x
deg cm deg Cm/s rad/s Cm/s Rad/s cm

MODEL CALCULATION:

6
 KINEMATIC CHAIN OF FOUR BAR MECHANISM
Exp No:

Date:

Aim:
To determine the angular velocity ratio for various angular position as crank for the given link
size.

Apparatus required:
Experimental setup
Lens
Align key

Formula:

θ3 =tan-1{(r4sin θ4-r2sin θ2)/(r1-r2cos θ2+r4cos θ4)}

ω4/ω2=r2sin(θ3- θ2)/r4sin(θ3- θ4)

ω3/ω2= r2sin(θ4- θ2)/r4sin(θ3- θ4)

Where
θ3=coupler rod angle
θ2=crank angle
θ4=rocker arm angle
r2=length of crank
r3=length of coupler rod
r4=length of rocker arm
ω2= angular velocity of crank
ω3=angular velocity of coupler rod
ω4= angular velocity of rocker arm

Testing procedure:
l. Check the position of the grub screw in crank.
2. And also check the position of the coupler and Rocker.
3. Check the Angular position of crank and Rocker can be measured to
an accuracy of 0.1o.

Description:
The experimental set consists of a four bar mechanism model having the following features.
(1) Two links are fixed on to a board. The distance between the pivots are considered as length of
fixed link 1.
(2) Each moving link is telescopic type and its length can be varied by grub screw provided.
(3) Hinges are provided with ball bearings to reduce error due to clearance.
(4) Angular position of links 2 (crank) and 4 (rocker) can be measured to a resolution of 0.1o by
venire protractors.
(5) The links are in two planes so that complete rotation of crank is possible.

7
MODEL CALCULATION:

8
Experimental procedure
6.Links are numbered in anti clockwise starting with fixed link as 1. Ensure that
0z is zero when link 2 coincided with link 1.
7. Measure value of 0+ for various values of 02, 0, l0, 20 . . . 180 o
8. Also calculate above three terms (step 4, 5, 6) in graphical method (or any analytical method) and
compare with above actual value.

Graph

Angle b/w fixed to crank θ2 vs Velocity ratio of coupler to crank ω3/ω2

Angle b/w fixed to crank θ2 vs Velocity ratio of rocker to crank ω4/ω2

Result:

Thus the angular velocity ratios where calculated and compared with graphical method.
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 TABULATION:

Angle of Angle Angle Angular

inclination of turned by Angle of velocity Angular velocity
S.No of driver driver intermediate driven shaft dθ1 dθ2 dθ3 ratio(exp) ratio(theo)
(α) shaft shaft (θ3) (ω2/ω1)= (ω2/ω1)=
(θ1) (θ2) dθ2/ dθ1 cos α/(1-cos2 θ sin2α)

MODEL CALCULATION:

10
 KINEMATICS OF SLIDER CRANK MECHANISM
Exp No:

Date:

Aim:
To determine the following to the specification of the crank and connecting rod
1. Angular velocity of connecting rod.
2. Linear velocity of slider and comparing to experiment results with theoretical value by
analytical and graphical method.

Apparatus required:
Experimental setup
Scale
Align key

Formula:
Experimental Method:
ω =10 rad/sec
Linear velocity of slider VP=X ω / θ
Angular velocity of connecting rod ωc = ω ø / θ
Angle between slider & connecting rod Ø=sin-1(sin θ/n)

Theoretical value:
Linear velocity of slider VP= r ω [sin θ +sin2 θ/2n]
Angular velocity of connecting rod ωc = ω cos θ/лcos ø
Theoretical value of displacement x =[ rcos θ + lcos ø]

Where
n= l/r
θ=crank angle
r=radius of crank
Ø=connecting rod angle
l=length of coupler rod
n=ratio of length of coupler rod to radius of crank

Testing procedure:
This model consists of a slider crank mechanism with the following features.
(a) Crank length is adjustable.
(b) Connecting rod length is adjustable.
(c) Crank and connecting rod ends are hinged by ball bearings.
(d) Angular position of crank can be measured to an accuracy of 0.1o
(e) Slider position can be measured to accuracy of 1 mm.
To check it and correct if the correction is needed.

11
Experimental procedure

(1) Set length of crank( r ) and connecting rod ( I ).

(2) Ensure zero reading in crank angle for outer dead centre of crank.
(3) Measure value of position of slider 'x' for various values of crank angle '0', from0, 10, 20 --- 180o
(4) Also calculate above three terms (step 3in graphical method (or any analytical method) and
compare with above actual value.

MODEL CALCULATION:

Graph

Crank angle vs Angle between slider & connecting rod.

Crank angle vs Angular velocity of connecting rod.

Result:
Thus angular velocity is verified and this theoretical value is compared with its practical value.

12
 KINEMATICS OF UNIVERSAL JOINTS
Exp No:

Date:

Aim:

To determine the angular velocity ratio for single and double joints.

Apparatus required:

Experimental setup

Formula:

Angular velocity ratio(the)

(ω2/ω1)= cos α/(1-cos2 θ sin2α)
Angular velocity ratio(exp)
(ω2/ω1)= dθ2/ dθ1
Where

α = Angle of inclination of driver

θ1= Angle of driver shaft
θ2= Angle turned by intermediate shaft
θ3= Angle of driven shaft
ω2= angular velocity of driver shaft
ω1=angular velocity of driven shaft

Testing procedure:

Check the joints are perfectly

Check the marking scale is correctly or not
Check the initial corrections

Description:
Universal joint (or Hooke's joint) can transmit power between inclined axes. If u is the inclination
between the input and output shaft then, angular velocity of output shaft,

(ω2/ω1)= cos α/(1-cos2θ sin2α)

Where,
ω is the angular velocity of input shaft.
And α is the angle turned by input shaft.

13
It can be seen from the above equation, ω2/ω1 not constant and varies as a function of θ. This will
introduce angular acceleration and hence inertia torque and stresses due to that uniform velocity
ratio (or no angular acceleration) can be achieved by introduction of one more universal coupling in
the same sense to give angular velocity of output shaft, ω2 = ω1 for all values of θ.

Experimental procedure:

The setup consists of two numbers of universal joints joined by a spline shaft. The whole system is
mounted on three Plummer blocks.

Provision is made to measure angular position of input shaft, intermediate shaft and output shaft.
The inclination between shafts can be varied and measured.

MODEL CALCULATION:

14
Result:
Thus the angular velocity ratios where calculated and compared with theoretical values.

15
 TABULATION:

Time taken for 1

Fixed Speed Actual ratio of Theoretical ratio
revolution
position rpm sun gear of sun gear
sec

sun annular arm sun annular arm annular arm annular arm

MODEL CALCULATION:

16
 EPICYCLIC GEAR TRAIN
Exp No:

Date:

Aim:
To determine the speed for sun, annular and arm and compare with theoretical values.

Apparatus required:
Experimental setup
Stop watch

Formula:

1. Arm fixed:
Speed of the Sun Gear (NS) = 60/ time taken for 1 revolution of sun gear
Speed of the Annular Gear (NA) = 60/ time taken for 1 revolution of annular gear

2. Annular fixed:
Speed of the Sun Gear (NS) = 60/ time taken for 1 revolution of sun gear
Speed of the Arm Gear (Na) = 60/ time taken for 1 revolution of arm gear

3. Actual ratio of sun gear:

Arm fixed:
Annular=NA/NS
Annular fixed:
Arm=Na/NS

4. Theoretical Ratio Of Sun Gear

Arm fixed:
Annular=S/A
Annular fixed:
Arm=1/[(A/S)+1]

Where
S = No of tooth in sun wheel=33
A= No of tooth in annular wheel=63
a= No of tooth in arm wheel=15

Experimental procedure:

Fix the arm by using align screw in arm given power supply to fly wheel through motor and
measure the time taken tor revolution of sun and annular by stopwatch varying revolution in S/A
times of sun wheel.

Fix annular by aligning the screw in annular give power supply to the sun wheel through motor and
measure the time taken for n revolution of sun and annular and verify arm revolution.

Fix the sun and give the hand measure no by revolution by annular axis when there meet in same
position verify the annular revolution in n times of arm revolution.

17
MODEL CALCULATION:

Result:
Thus the sun, annular and arm speed are determined by experimental in epicyclic gear train and
compared with theoretical values.

18
PROELL GOVERNOR

19
 TABULATION:

Governor Deflection Radius of

Speed Angular Controlling force, F
S.No. Voltage Deflection rotation, r
N ( rpm ) initial scale velocity (N)
(mm)

MODEL CALCULATION:

20
 PROELL GOVERNOR
Exp. No. :

Date :

Aim : To determine the characteristic curves of the Proell Governor.

Apparatus Required:

1. Digital rpm indicator with sensor 3. Sleeve weights

2. Proell arm setup 4. Measuring tape.

Description of the setup:

The drive unit consists of a DC electric motor connected through belt and pulley
arrangement. Motor and test setup are mounted on a M.S. fabricated frame. The governor spindle is
driven by motor through V belt and is supported in a ball bearing.

The optional governor mechanisms can be mounted on spindle. Digital speed is controlled by the
electronic control unit. A rpm indicator with sensor to determine the speed. A graduated scale is
fixed to the sleeve and guided in vertical direction. Sleeve displacement is to be noted on the scale
provided.
The centre sleeve of the Porter and Proell governors incorporates a weight sleeve to which
weights may be added. The Hartnell governor provides means of varying spring rate and initial
compression level and mass of rotating weight. This enables the Hartnell governor to be operated as
a stable or unstable governor.
DC motor with drive: ½ HP motor and DC drive control for speed variation. Separate
linkages for governor arrangements (Porter, Proell and Hartnell) are provided using same motor and
base.

Procedure:

The governor mechanism under test is fitted with the chosen rotating weights and spring,
where applicable, and inserted into the drive unit. The following simple procedure may then be
followed:
The control unit is switched on and the speed control knob is slowly turned to increase
the governor speed until the centre sleeve rises off the lower stop and aligns with some divisions
on the graduated scale. The sleeve position and speed are then recorded. The governor speed is
then increased in steps to give suitable sleeve movements and readings are recorded at each
stage throughout the range of sleeve movement possible. The radius of rotation for
corresponding sleeve displacement is measured directly by switching off the electronic control
unit.
Precautions: 1) Take the sleeve displacement reading when the pointer remains
steady. 2) See that at higher speed the load on the sleeve does not hit the upper sleeve of the
governor. 3) While closing the test bring the pointer to zero position and then switch off the
motor.

21
Formula:

Radius of rotation=(a/b)δr

Deflection δ=scale reading –initial reading

Controlling Force, F = mω2 r

Where,
m = mass of each ball , kgf
ω = angular velocity
= ( 2πN ) / 60
(N = speed rpm)
r = radius of rotation

Graphs:

(i) Governor Speed vs. Radius of rotation

(ii) Governor Speed vs. Controlling force

22
MODEL CALCULATION:

Result:

Thus the characteristic curves of the proell governor are determined.

23
TABULATION:

Time Gyroscopic
Angle Per
Angular per 50 Torque=
S.no Speed Weight of session
Speed deg I.ω.ωp
rotation (dθ/dt)
rotation (N.M)

MODEL CALCULATION:

24
 MOTORIZED GYROSCOPIC VERIFICATION OF LAW

Exp No:

Date :

Aim:

To analysis the gyroscopic effect using the test setup and verify the gyroscopic rules
of
plane disc.

Apparatus Required:

1. Gyroscopic setup. 2. Weight 3. Tachometer

Technical Data:
1. Rotor diameter (d) = 30 cm.
2. Rotor thickness (t) = 8cm.
3. Distance of weight pan bolt centre to disc center (l) = 260 mm.
4. Weight of the rotor = 7kg.

Formula Used:
1. Mass moment of Inertia I = mv2/4 kgm3.
2. Angular velocity (ω) =2ЛN/60 rad/sec
3. Angular velocity of precision COP = dθ/dt rad/sec
4. Gyroscopic Couple = I.ω.ωp

Where,

m = mass of the rotor in kg.

R1 = Radius of rotor in cm.

N=spindle speed in rpm

dθ = Angular precision in rad

ω = Angular Velocity in rad

dt = Time required by precision

Procedure:

1. Switch on the supply.

2. Set the require speed of the regulator as constant.
3. Add the load as ½ kg, 1kg etc.
4. Angle of precision dθ i.e. measured.
5. Loose the lock screw, start the stop watch and note down.
6. Watch the particular interval and time.
7. Take the reading n different load.
8. Repeat the equipment maintaining load as constant and varying the speed.

25
9. Do the calculation.

26
MODEL CALCULATION:

Result:
Thus the Gyroscopic relation was verified.

27
WHIRLING SPEED OF SHAFTS

28
 TABULATION:

Speed of Whirling Speed

Diameter of Vibrating Natural
shaft
S.No. the shaft length frequency of
in ‘rpm’ Theoretical Experimental
material in ‘m’ in ‘m’ vibration in rpm in rpm

MODEL CALCULATION:

29
 WHIRLING SPEED OF SHAFTS

Exp. No:

Date :

Aim : To determine the whirling speed for various diameter shafts experimentally and
compare it with the theoretical values.

Apparatus Required:

1. Tachometer 3. Steel Rule

2. Vernier Calliper

Description of the setup:

The apparatus is used to study the whirling phenomenon of shafts. This consists
of a frame in which the driving motor and fixing blocks are fixed. A special design is provided
to clear out the effects of bearings of motor spindle from those of testing shafts.

Procedure:

1) The shaft is to be mounted with the end condition as simply supported.

2) The speed of rotation of the shaft is gradually increased.
3) When the shaft vibrates violent in fundamental mode (I mode), the speed is noted down.
4) The above procedure is repeated for the remaining shafts.

Observation:

Young’s modulus, E (for steel) = 2.06 x 1011 , N / m2

Young’s modulus, E (for copper) = 1.23 x 1011 , N / m2

Length of the shaft, L = ,m

Formulae:
Natural frequency, fn = K√¯(gEI/wl4) in
Hz Whirling speed, N = fn x 60 in rpm
Where,
K = 2.45 for fixed and hinged conduction of beam to
first made
g =acceleration due to gravity, 9.81m/s2
w =Weight of the shaft per circuit length in N
l = Length of the shaft, m
E =Young’s modulus for the shaft material, N/m2
I = Mass moment of inertia of the shaft
= (π / 64) d4, m4

30
MODEL CALCULATION:

Result:

The whirling speed for various diameter shafts are determined experimentally
and verified with the theoretical values.
31
 BALANCING OF ROTATING MASS
Exp No:

Date:

Aim:
To verify the balancing using the rotating machine element.

Apparatus required:
1. Balancing rotary system 2. Masses.

Procedure:

1. To order of the basic operation involved with respect to static balancing as

following
2. Then the mass should be fixed in one side of the stud and its angle to be
adjusted with the help of angular scale and its radil can be corrected with the help
of vernier caliper.
3. Angular displacement between the masses Is calculated by force diagram
through known value of mass and radil.
4. Fix the masses to the calculated angular displacement using angular scale.
5. Now switch on the motor.
6. By changing the sped of the motor, check it out for vibration for running
7. Add by changing the mass with different radil and find out the angular
displacement among the mass for balancing the system

Diagrams:

1 Plane of the masses

2. Angular position of the masses
3. Force polygon
4 Couple polygon

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TABULATION:

Distance Couple
Radius Centrifugal Angle from
Mass(m) from (m.r.l)
S.No (r) force(m.r)
reference
reference
kg kgm2
m Kg.m plane
plane(l)

MODEL CALCULATION:

Result:

Thus the Balancing Of Rotating Machine Was Verified.

33
 DETERMINATION OF MOMENT OF

INERTIA OF CONNECTING ROD BY

OSCILLATION METHOD
Exp No:

Date:
Aim:
To determine the moment of inertia by oscillation method.
Apparatus Required:
1. Vernier calliper
2. Scale
3. Stopwatch
4. Connecting rod.

Formula Used:
1.
Smaller end h = (r1+ (L-x)) in m
2.
Bigger end h = (r2 +m) in m
3.
K exp
2
= (T2exp.g.h)/4Л2h2
4.
Texp = t/n in sec
5.
Moment of inertia of connecting rod = mk2 in kgm2

Where,
r1 = Smaller end radius
r2 = Bigger end radius
L = length of connecting rod
X = distance of C.G. from small end
M = mass in kg
R = radius of gyration
N = no of oscillations

Procedure:
1. The connecting rod for which the moment of inertia is to be found is
fixed the inner diameter of the rod is measured by various points.
2. The mean diameter is taken as the diameter of the rod.
3. The rod is fixed at both at the top of the chuck and the flywheel
and the length between two points is measured then a small twist is
given to the flywheel and is released.
4. The time taken for the 5 oscillation is noted in the tabular column.
5. The same experiment is repeated for various lengths and at different
diameter the experiment is done by adding the weight of flywheel
and the reading are noted down.

34
 TABULATION:

Distance from
OG to Time for 10 Moment of
suspension oscillation in sec inertia
m Texp K2ex
Sl.No. Position
sec p m2
Avg
time Kg-m2
time
1 Smaller end

2 Bigger end

MODEL CALCULATION

35
Result:
Thus the moment of inertia of the given rod is calculated and tabulated.

36
TABULATION:

S.No Weight Force Deflection Natural Stiffness

added m N (mm) frequency k (N/m)
(kg) fn,
Hz

MODEL CALCULATION:

37
 LONGITUDINAL VIBRATION OF SPRING-MASS SYSTEM
Exp No:

Date:

Aim: To calculate the undamped natural frequency of a spring mass system

Apparatus required:
Weights
Spring setup
Digital indicator
Control panels

Description:
The setup is designed to study the free or forced vibration of a spring mass system either
damped or undamped condition.

It consists of a mild steel flat firmly fixed at one end through a trunnion and in the other
end suspended by a helical spring, the trunnion has got its bearings fixed to a side
member of the frame and allows the pivotal motion of the flat and hence the vertical
motion of a mass which can be mounted at any position along the longitudinal axes of
the flat.

The mass unit is also called the exciter, and its unbalanced mass can create an excitation
force during the study of forced vibration experiment. The experiment consists of two
freely rotating unbalanced discs. The magnitude of the mass of the exciter can be varied
by adding extra weight, which can be screwed at the end of the exciter.

Formula used
Stiffness, k = F/S N/mm
Natural frequency, =1/2Л√g/s in Hz
Where,
G – acceleration due to gravity 9.8 m/s
S – static deflection in mm
F – force in Newton

Procedure:
Determination of spring stiffness
1. Fix the top bracket at the side of the scale and Insert one end of the spring on the
hook.
2. At the bottom of the spring fix the other plat form.
3. Note down the reading corresponding to the plat form.
4. Add the weight and observe the change in deflection.
5. With this determine spring stiffness.

38
MODEL CALCULATION:

Graph:

Load vs Deflection
Load vs stiffness

Result:
Thus the natural frequency of the spring mass system is determined.

39
NATURAL FREQUENCY OF COMPOUND PENDULUM

40
TABULATION:

Time taken for 10

oscillations in Radius of Time Period Natural frequency,
‘sec’ gyration, K (sec) Hz
Length in OG in
Sl.No. ‘m’
‘m’
mean
t1 t2
t Kexp Kthe Texp Tthe Fexp Fthe
sec sec
sec

MODEL CALCULATION:

41
 NATURAL FREQUENCY OF COMPOUND PENDULUM

Exp. No. :

Date :

Aim : To determine moment of inertia by using compound pendulum and period and radius
of gyration of the given steel bar experimentally and compare it with the theoretical values.

Apparatus Required:

1) Stop Watch
2) Steel Tube
3) Compound Pendulum
4) Supporting Hanger

Description of the setup:

The compound pendulum consists of 100 cm length and 5 mm thick steel bar. The
bar is supported by the knife edge. It is possible to change the length of suspended pendulum
by supporting the bar in different holes.

Procedure:

1) Support the steel bar in any one of the holes.

2) Note the length of suspended pendulum to measure OG.
3) Allow the bar to oscillate and determine Texp by knowing the time taken for n = 10
oscillations.
4) Repeat the experiment with different length of suspension.

Formulae:
1)
Theoretical (Kth) = L/√¯3 in ‘m’

2)
Experimental (Texp) = t/n in ‘sec’

3)
Experimental(Kexp) = [ (Texp/2 π) 2 x g x (OG - OG2) ]½

4) Tth = 2 π [√¯ ( Kexp2 + ( OG )2 ) / ( g (OG)) ] }, sec

5)
Fexp = 1/ Texp in Hz

6)
Fth = 1/ Tth in Hz

Where,
Kth = Theoretical radius of gyration
42
 Kexp = Experimental radius of gyration

OG = distance of the C.G. of bar from support , cm

T exp = Experimental periodic time, in sec

T th = Theoretical periodic time, in sec

MODEL CALCULATION:

43
Result:

Thus the natural frequency of compound pendulum is determined.

44
44