THEORY OF MACHINES

Dr.Amer A. Abdelhakeem

Dr.Amer A. Abdelhakeem
 FUNDAMENTALS OF KINEMATICS
MACHINES AND AND
MECHANISMS DYNAMICS OF MACHINES AND
APPLIED KINEMATIC ANALYSIS MECHANISMS
Fourth Edition OLEG VINOGRADOV
David H. Myszka

THEORY OF MACHINES, 14TH ED

KHURMI, R. ET AL.;

Dr.Amer A. Abdelhakeem
Week Topics
no.
Introduction" Kinematics of
1
mechanisms motion in machinery ".
2 Position and Displacement Analysis
3 Velocities analysis
4 Accelerations analysis
5 Accelerations analysis
6 Gear geometry
7 Gear trains
8 Midterm Exam
9 Cam systems
10 Cam systems
11 Static Force Analysis for mechanisms
12 Dynamic Force Analysis
13 Belt and chain drives
14 Discussion the Project Dr.Amer A. Abdelhakeem
ENGINEERING MECHANICS is divided into two areas of study, namely, statics and
dynamics. Statics is concerned with the equilibrium of a body that is either at rest or
moves with constant velocity. Here we will consider dynamics, which deals with the
accelerated motion of a body. The subject of dynamics will be presented in two
parts: kinematics, which treats only the geometric aspects of the motion, and
kinetics, which is the analysis of the forces causing the motion. To develop these
principles, the dynamics of a particle will be discussed first, followed by topics in
rigid-body dynamics in two and then three dimensions.
which treats only the
kinematics geometric aspects of
dynamics the motion

Engineering which is the analysis

kinetics of the forces causing
mechanics the motion
statics
Dr.Amer A. Abdelhakeem
 Theory of Machines

Note:A machine is a device which receives energy in some available form and utilises
it to do some particular type of work.
 Kinematics

Dynamics
Theory of
Machines
Kinetics

Statics
1.2. Sub-divisions of Theory of Machines
The Theory of Machines may be sub-divided into the following four branches :
1. Kinematics. It is that branch of Theory of Machines which deals with the relative motion
between the various parts of the machines.
2. Dynamics. It is that branch of Theory of Machines which deals with the forces and their
effects, while acting upon the machine parts in motion.
3. Kinetics. It is that branch of Theory of Machines which deals with the inertia forces which
arise from the combined effect of the mass and motion of the machine parts.
4. Statics. It is that branch of Theory of Machines which deals with the forces and their
effects while the machine parts are at rest. The mass of the parts is assumed to be negligible.

Dr.Amer A. Abdelhakeem
1.4. Derived Units
Some units are expressed in terms of fundamental units known as derived units, e.g., the units
of area, velocity, acceleration, pressure, etc.
1.5. Systems of Units
There are only four systems of units, which are commonly used and universally recognised.
These are known as :
1. C.G.S. units, 2. F.P.S. units, 3. M.K.S. units, and 4. S.I. units.
1.6. C.G.S. Units
In this system, the fundamental units of length, mass and time are centimetre, gram and
second respectively. The C.G.S. units are known as absolute units or physicist's units.
1.7. F.P.S. Units
In this system, the fundamental units of length, mass and time are foot, pound and second
respectively.
1.8. M.K.S. Units(1.9. International System of Units (S.I. Units)
In this system, the fundamental units of length, mass and time are metre, kilogram and
second respectively. The M.K.S. units are known as gravitational units or engineer's units.
Dr.Amer A. Abdelhakeem
1.16. Resultant Force
If a number of forces P,Q,R etc. are acting simultaneously on a particle, then a single force,
which will produce the same effect as that of all the given forces, is known as a resultant force.
The forces P,Q,R etc. are called component forces. The process of finding out the resultant force
of the given component forces, is known as composition of forces. A resultant force may be found
out analytically, graphically or by the following three laws:
1. Parallelogram law of forces. It states, “If two forces acting simultaneously on a particle be
represented in magnitude and direction by the two adjacent sides of a parallelogram taken in
order, their resultant may be represented in magnitude and direction by the diagonal of the
parallelogram passing through the point.”
2. Triangle law of forces. It states, “If two forces acting simultaneously on a particle be
represented in magnitude and direction by the two sides of a triangle taken in order, their resultant
may be represented in magnitude and direction by the third side of the triangle taken in opposite
order.”
3. Polygon law of forces. It states, “If a number of forces acting simultaneously on a particle
be represented in magnitude and direction by the sides of a polygon taken in order, their resultant
may be represented in magnitude and direction by the closing side of the polygon taken in
opposite order.” Dr.Amer A. Abdelhakeem
2. Vector quantities are those quantities which have magnitude as well as direction e.g.
velocity, acceleration, force etc.
3. Since the vector quantities have both magnitude and direction, therefore, while adding or
subtracting vector quantities, their directions are
Dr.Amer A. also taken into account.
Abdelhakeem
Dr.Amer A. Abdelhakeem
Dr.Amer A. Abdelhakeem
Kinematics of Motion
we shall first discuss the kinematics of motion i.e. the relative motion of bodies without
consideration of the forces causing the motion. In other words, kinematics deal with the
geometry of motion and concepts like displacement, velocity and acceleration considered as
functions of time.
1. Plane Motion
When the motion of a body is confined to only one plane, the motion is said to be plane
motion. The plane motion may be either rectilinear or curvilinear.
a- Rectilinear Motion
It is the simplest type of motion and is along a straight line path. Such a motion is also known
as translatory motion.
b- Curvilinear Motion
It is the motion along a curved path. Such a motion, when confined to one plane, is called
plane curvilinear motion.
Dr.Amer A. Abdelhakeem
When all the particles of a body travel in concentric circular paths of constant
radii (about the axis of rotation perpendicular to the plane of motion) such as a
pulley rotating about a fixed shaft or a shaft rotating about its own axis, then the
motion is said to be a plane rotational motion.
Note: The motion of a body, confined to one plane, may not be either completely
rectilinear nor completely rotational. Such a type of motion is called combined
rectilinear and rotational motion.

Dr.Amer A. Abdelhakeem
MECHANISM TERMINOLOGY Primary joints: (a) Pin and (b) Sliding.

Higher-order joints: (a) Cam joint and (b) Gear joint.

Dr.Amer A. Abdelhakeem
Types of Links
In order to transmit motion, the driver and the follower may be connected by the following
three types of links :
Types of links

Rigid Fluid
Flexible link
link link
1. Rigid link. A rigid link is one which does not deformation while transmitting Motion.

2. Flexible link. A flexible link is one which is partly deformed in a manner not to affect the
transmission of motion. For example, belts, ropes, chains and wires are flexible links and
transmit tensile forces only.

3. Fluid link. A fluid link is one which is formed by having a fluid in a receptacle and the
motion is transmitted through the fluid by pressure or compression only, as in the case
of hydraulic presses, jacks and brakes.
5.4. Structure
It is an assemblage of a number of resistant bodies (known as
members) having no relative motion between them and meant for
carrying loads having straining action. A railway bridge, a roof truss,
machine frames etc., are the examples of a structure.
5.5. Difference Between a Machine and a Structure
The following differences between a machine and a structure are
important from the subject point of view:

1.The parts of a machine move relative to one another, whereas the

members of a structure do not move relative to one another.

2. A machine transforms the available energy into some useful work,

whereas in a structure no energy is transformed into useful work.

3. The links of a machine may transmit both power and motion, while
the members of a structure transmit forces only.
Dr.Amer A. Abdelhakeem
Dr.Amer A. Abdelhakeem
Dr.Amer A. Abdelhakeem
2. Identify All Other Links
Careful observation reveals three other moving parts:
Link 2: Handle
Link 3: Cutting blade
Link 4: Bar that connects the cutter with the handle
3. Identify the Joints
Pin joints are used to connect link 1 to 2, link 2 to 3, and link 3 to 4. These joints
are lettered A through C. In
addition, the cutter slides up and down, along the base. This sliding joint
connects link 4 to 1, and is lettered D.
4. Identify Any Points of Interest
Finally, the motion of the end of the handle is desired. This is designated as
point of interest X.
5. Draw the Kinematic Diagram
The kinematic diagram is given in Figure 1.10.

Dr.Amer A. Abdelhakeem
Dr.Amer A. Abdelhakeem
KINEMATIC INVERSION
MOBILITY
An important property in mechanism analysis is the number of
degrees of freedom of the linkage. The degree of freedom is
the number of independent inputs required to precisely
position all links of the mechanism with respect to the ground.
The number of degrees of freedom of a mechanism
is also called the mobility, and it is given
the symbol M.

Gruebler’s Equation
Degrees of freedom for planar
linkages joined with common
joints can be calculated through
Gruebler’s equation:

Dr.Amer A. Abdelhakeem
Fig. shows a toggle clamp. Draw a kinematic diagram, using the clamping
jaw and the handle as points of interest. Also compute the degrees of
freedom for the clamp.

Dr.Amer A. Abdelhakeem
Fig. shows a beverage can crusher used to reduce the size of cans for
easier storage prior to recycling. Draw a kinematic diagram, using the
end of the handle as a point of interest. Also compute the degrees of
freedom for the device.

Dr.Amer A. Abdelhakeem
Fig. shows another device that can be used to shear material. Draw a kinematic diagram, using the end of
the handle and the cutting edge as points of interest. Also, compute the degrees of freedom for the shear
press.

Dr.Amer A. Abdelhakeem
Dr.Amer A. Abdelhakeem
Fig. shows an outrigger foot to stabilize a utility truck. Draw a kinematic diagram, using the
bottom of the stabilizing foot as a point of interest. Also compute the degrees of freedom.

Dr.Amer A. Abdelhakeem
COMMONLY USED LINKS AND JOINTS
1- Eccentric Crank

2 Pin-in-a-Slot Joint

3 Screw Joint

Dr.Amer A. Abdelhakeem
Fig. presents a lift table used to adjust the working height of different objects. Draw a kinematic
diagram and compute the degrees of freedom.

Dr.Amer A. Abdelhakeem
SPECIAL CASES OF THE MOBILITY
EQUATION
Mobility is an extremely important property of a
mechanism. Among other facets, it gives insight into
the number of actuators required to operate a
mechanism. However, to obtain correct results, special
care must be taken in using the Gruebler’s equation.
Some special conditions are presented next.

Dr.Amer A. Abdelhakeem
THE FOUR-BAR MECHANISM

Dr.Amer A. Abdelhakeem
COMPUTER SIMULATION OF MECHANISMS
Along with Working Model®, other dynamic analysis programs are available. These include
ADAMS® (Automatic Dynamic Analysis of Mechanical Systems), Dynamic Designer®, LMS
Virtual.Lab, and Analytix®. All these computer programs allow creation of a mechanism from
menus, or icons, of general components. The general components include those presented in
Chapter 1, such as simple links, complex links, pin joints, sliding joints, and gear joints. The
mechanism is operated by selecting actuator components, such as motors or cylinders, from
menus.

Dr.Amer A. Abdelhakeem
Dr.Amer A. Abdelhakeem
 Determine Length BC

Determine Length AC

Dr.Amer A. Abdelhakeem
Dr.Amer A. Abdelhakeem
Fig. shows the drive mechanism for an engine system. Use trigonometry to determine the
crank angle as shown in the figure.
SOLUTION: 1. Determine Angle BAC

Dr.Amer A. Abdelhakeem
Figure 4.11 shows a kinematic diagram of a mechanism that is driven by moving link 2. Graphically reposition
the links of the mechanism as link 2 is displaced 30° counterclockwise. Determine the resulting angular
displacement of link 4 and the linear displacement of point .

Dr.Amer A. Abdelhakeem
Dr.Amer A. Abdelhakeem