UNIT 1 - BASICS OF MECHANISMS

1. What is Kinematics?

Kinematics is the study of motion (position, velocity, acceleration). A

major goal of Understanding kinematics is to develop the ability to design a system
that will satisfy Specified motion requirements. This will be the emphasis of this
class.

2. What is Kinetics?

Kinetics is the study of effect of forces on moving bodies. Good kinematic

design should produce good kinetics.

3. Define Link. Explain the term kinematic link? Give the classification of
kinematic link.

A link is defined as a member or a combination of members of a

mechanism connecting other members and having relative motion between them.
The link may consist of one or more resistant bodies. A link may be called as
kinematic link or element. Eg: Reciprocating steam engine. the classification of
kinematic link are 1. Rigid link. 2. Flexible link. 3. Fluid link.

4. Define Kinematic Pair.

Kinematic pair is a joint of two links having relative motion between them.
The types of kinematic pair are classified according to

 Nature of contact (lower pair, higher pair)

 Nature of mechanical contact (Closed pair, unclosed pair)

 Nature of relative motion (Sliding pair, turning pair, rolling pair, screw pair,
spherical pair)

5. Define Kinematic Chain.

When the kinematic pairs are coupled in such a way that the last link is joined to
the first link to transmit definite motion it is called a kinematic chain.

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6. Define Degrees of Freedom.

It is defined as the number of input parameters which must be

independently controlled in order to bring the mechanism in to useful engineering
purposes. It is also defined as the number of independent relative motions, both
translational and rotational, a pair can have.

7. Define Pantograph.

Pantograph is used to copy the curves in reduced or enlarged scales.

Hence this mechanism finds its use in copying devices such as engraving or
profiling machines.

8. What is meant by spatial mechanism?

Spatial mechanism have a geometric characteristics in that all revolute

axes are parallel and perpendicular to the plane of motion and all prism lie in the
plane of motion.

9. Classify the Constrained motion?

Constrained motions are classified into three types

1. Completely constrained motion.

2. Incompletely constrained motion.
3. Successfully constrained motion.
10. What is Toggle position?

It is the position of a mechanism at which the mechanical advantage is

infinite and the sine of angle between the coupler and driving link is zero.

11. What are the important applications of a single slider crank

mechanism?

1. Rotary or Gnome engine.

2. Crank and slotted lever mechanism.
3. Oscillating cylinder engine.

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4. Bull engine and
5. Hand pump.
12. Give some examples for kinematic pairs.
1. Crank and connecting rod,
2. Connecting rod and piston rod, and
3. Piston and engine cylinder.
13. What is meant by transmission angle? What is the worst values of
transmission angle?

In a four bar chain mechanism, the angle between the coupler and the
follower (driven) link is called as the transmission angle. The transmission angle is
zero and the mechanism would lock or jam.

14. What are the applications of inversion of double slider crank chain
mechanism?

It consists of two sliding pairs and two turning pairs. There are three
important inversions of double slider crank chain. 1) Elliptical trammel. 2) Scotch
yoke mechanism. 3) Oldham’s coupling. Give some examples for kinematic pairs.

15. Write down the Grashof’s law for a four bar mechanism?

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

16. Define Inversion of Mechanism.

This method of obtaining different mechanisms by fixing different links in

a kinematic chain is known as inversion of the mechanism.

17. What is the condition for correct steering of an automobile?

1. When the vehicle moves straight.

2. When the vehicles moves at a correct angle to the right, and
3. When the vehicles moves at a correct angle to the left.
18. What is meant by indexing mechanism? Where do we use it?

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 An indexing mechanism serves the purpose of dividing the periphery of a
circular piece into a number of equal parts. Indexing is generally done on gear
cutting or milling machines.

19. Explain the term (a) lower pair (b) higher pair.(Nov/Dec 11)

(a) Lower pair. When 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, the pair formed is known as lower pair.

(b) Higher pair. When the two elements of a pair have a line or point
contact when relative motion takes place and the motion between the two elements
is partly turning and partly sliding, then the pair is known as higher pair.

20. What is mean by kinematic link?

Each part of a machine, which moves relative to some other part, is

known as a kinematic link.

21.What are the two characteristics of link?

1. It should have relative motion, and

2. It must be a resistant body.
22. What are the types of links?
Rigid link, Flexible link and Fluid link.

23.What is mean by rigid link?

A rigid link is one which does not undergo any deformation while
transmitting motion.

24. What is mean by flexible link?

A flexible link is one which is partly deformed in a manner not to affect

the transmission of motion.

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25. What is mean by 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.

26. What is mean by structure?

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.

27. Write the Difference Between a Machine and a Structure.

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.
28. Define Kinematic Pair?
The two links or elements of a machine, when in contact with each other,
are said to form a pair. If the relative motion between them is completely or
successfully constrained (i.e. in a definite direction), the pair is known as kinematic
pair.

29. Write the types of Types of Constrained Motions.

1. Completely constrained motion.

2. Incompletely constrained motion.
3. Successfully constrained motion.
30. What is mean by completely constrained motion?
When the motion between a pair is limited to a definite direction
irrespective of the direction of force applied, then the motion is said to be a
completely constrained motion.

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31. What is mean by incompletely constrained motion?

When the motion between a pair can take place in more than one
direction, then the motion is called an incompletely constrained motion.

32. What is mean by successfully constrained motion?

When the motion between the elements, forming a pair, is such that the
constrained motion is not completed by itself, but by some other means, then the
motion is said to be successfully constrained motion.

33. Write the Classification of Kinematic Pairs.

1. According to the type of relative motion between the elements.

Sliding pair, turning pair, Rolling pair, Screw pair, Spherical pair.
2. According to the type of contact between the elements.
Lower pair and higher pair.
3. According to the type of closure.
Self closed pair and Force - closed pair.
34. Define Kinematic Chain.
When the kinematic pairs are coupled in such a way that the last link is
joined to the first link to transmit definite motion (i.e. completely or successfully
constrained motion), it is called a kinematic chain.

35. What is mean by compound kinematic chain?

A chain having more than four links is known as compound kinematic

chain.

36. What are the types of joints in a chain?

Binary joint, Ternary joint, Quaternary joint.

37 .Define binary joint.

When two links are joined at the same connection, the joint is known as
binary joint.

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38. Define ternary joint.

When three links are joined at the same connection, the joint is known as
ternary joint.

39. Define quaternary joint.

When four links are joined at the same connection, the joint is called a
quaternary joint.

40. Define Mechanism.

When one of the links of a kinematic chain is fixed, the chain is known as
mechanism.

41. Define simple mechanism.

A mechanism with four links is known as simple mechanism.

42. Define compound mechanism.

A mechanism with more than four links is known as compound

mechanism.

43. Define Grubler’s Criterion.

The Grubler’s criterion applies to mechanisms with only single degree of

freedom joints where the overall movability of the mechanism is unity.

44. What is mean by inversion of the mechanism?

The method of obtaining different mechanisms by fixing different links in

a kinematic chain, is known as inversion of the mechanism.

45. Write the types of Kinematic Chains.

1. Four bar chain or quadric cyclic chain,

2. Single slider crank chain, and
3. Double slider crank chain.
46. Writ the Grashof ’s law for a four bar mechanism.

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 The sum of the shortest and longest link lengths should not be greater
than the sum of the remaining two link lengths if there is to be continuous relative
motion between the two links.

47. Write the applications based on Inversions of Four Bar Chain.

1. Beam engine (crank and lever mechanism).

2. Coupling rod of a locomotive (Double crank mechanism).
3. Watt’s indicator mechanism (Double lever mechanism).

48. Write the applications based on Single Slider Crank Chain.

1. Pendulum pump or Bull engine.

2. Oscillating cylinder engine.
3. Rotary internal combustion engine or Gnome engine.
4. Crank and slotted lever quick return motion mechanism.
5. Whitworth quick return motion mechanism.
49. Write the applications based on Double Slider Crank Chain.
1. Elliptical trammels.
2. Scotch yoke mechanism.
3. Oldham’s coupling.
50. In a reciprocating steam engine, which of the following forms a
kinematic link?
Crank shaft and flywheel.

51. Write the example of motion of a piston in the cylinder of a steam

engine.

The motion of a piston in the cylinder of a steam engine is an example of

completely constrained motion.

52. What type of motion transmitted between the teeth of gears in mesh?

The motion transmitted between the teeth of gears in mesh is partly

sliding and partly rolling.

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53. What is the form of a ball and a socket joint?

A ball and a socket joint forms a spherical pair.

54. What is the form of lead screw of a lathe with nut?

The lead screw of a lathe with nut forms a screw pair.

55. The relation between the number of pairs ( p ) forming a kinematic

chain and the number of links (l) is l = 2p – 4

56. The Grubler’s criterion for determining the degrees of freedom (n) of a
mechanism having plane motion is n = 3 (l – 1) – 2j

57. What is meant by spatial mechanism?

Spatial mechanism have special geometric characteristics in that all revolute axes
are parallel and perpendicular to the plane of motion and all prism axes lie in the plane
of motion.

58. Classify the constrained motion.

There are three types.

1. Completely constrained motion (eg. Square bar moving in a square hole)

2. In completely constrained motion ( eg. Circular shaft in a hole)
3. Successfully constrained motion (eg. Piston and cylinder)
59. What is meant by number synthesis?

Expressing mobility or degree of freedom of a mechanism in terms of the number

of links and the number of pair connections of a given type is known as number
synthesis.

60. What are the some important inversions of four chain mechanism?

1) Crank-rocker mechanism.
2) Crank-crank mechanism.

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 3) Rocker-rocker mechanism.
61. What is toggle position?

It is the position of a mechanism at which the mechanical advantage is infinite

and the sine of angle between the coupler and driving link is zero.

62. What are the applications of single slider crank mechanism?

1) Rotary or Grome engines.

2) Crank and slotted lever mechanism.
3) Oscillating cylinder engine.
4) Bull engine
5) Hand pump.
63. Give some examples for kinematics pairs.

1) Crank and connecting rod

2) Connecting and piston rod
3) Piston and engine cylinder.

64. Discuss Elliptical trammel

Elliptical trammel is an instrument used for drawing ellipses. It is the best example for
first inversion of double slider crank chain.

65. What is movability?

It includes the 6 degree of freedom of the device as a whole, as though the

ground link was not fixed, and this applies to a kinematic chain.

66. What is mobility?

It neglects these and considers only the internal relative motions, thus applying a
mechanism.

67. What is meant by transmission angle?

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 In a four bar chain mechanism the angle between the coupler and the follower
link is called as the transmission angle.

68. What is meant by Ackermann steering?

Ackermann steering is the one of the mechanism used in vehicles. It is obtained

by inversion of four bar chain.

69. Write down the Grashof’s Law for a four bar mechanism?

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

70. Explain the working principle of bicycle bells.

Bicycle bells are working on the principle of snap action mechanism or toggle
mechanism or flip flop mechanism.

71. What is meant by motion adjustment mechanism?

The mechanism used to adjust or modify the motion of the link are known as
motion adjustment mechanism. Motion adjustment is obtained by wedges, levers and
rack and pinion.

72. Whether a cycle chain is kinematic chain or not?

A cycle chain is a combination of several links with turning pair. Hence it is not a
kinematic chain.

73. Define instantaneous centre.

Instantaneous centre of a moving body may be defined as that centre which goes
on changing from one instant to another.

74. What is instantaneous axis?

Instantaneous axis is a line drawn through an instantaneous centre and

perpendicular to the plane of motion.

75. What is resistant body?

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 A body is said to be resistant if it is capable of transmitting the required force
with negligible deformation. A link need not necessarily be a rigid body, but it must be a
resistant body.

76. What is link?

A link or an element is defined as that part of a machine which has motion

relative to some other part. A link needs not to be a single unit, but it may consist of
several parts which are manufactured as separate units.

77. What is meant by spatial mechanism?

Spatial mechanism have special geometric characteristics in that all revolute axes
are parallel and perpendicular to the plane of motion and all prism axes lie in the plane
of motion.

78. What is the use of oldham’s coupling?

It is used for transmitting motion between two shafts which are parallel but not
coaxial.

79. Define Dynamics.

The forces and their effects, while acting upon the machine parts in motion.

80. Define statics.

The forces and their effects while the ma- chine parts are at rest. The mass of the
parts is assumed to be negligible.

81. Define fundamental units.

The measurement of physical quantities is one of the most important operations

in engineering. Every quantity is measured in terms of some arbitrary, but
internationally accepted units, called fundamental units .

82. Write the Grubler’s criterion for determining the degrees of freedom of a
mechanism having plane motion.

n=3(l-1)-2j

h-Higher pair joint l-Number of links

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j-Lower pair joint

83. Define degree of freedom, what is meant by mobility.

The mobility of a mechanism is defined as the number of input parameters which

must be independently controlled in order to bring the device into a particular position.

84. Write the Kutzbach’s relation. (Ap/May-2008)

Kutzbach’s criterion for determining the number of degrees of freedom or

movabilityof a plane mechanism is n=3(l-1)-2j-h n-Degree of freedom.

85. Define Grashoff’s law and state its significance. (Ap/May-2008)

It states that in a planar four bar mechanism, the sum of shortest link length and
Longest link length is not greater than the sum of remaining two links length, if there is
to be continuous relative motion between two members.
Significance:
Grashoff’s law specifies the order in which the links are connected in a kinematic chain.
Grashoff’s law specifies which link of the four-bar chain is fixed.(s+1)=(p+q) should be

satisfied, if not, no link will make a complete revolution relative to another.

86. Define Inversion of mechanism.

The method of obtaining different mechanism by fixing different links in a

kinematic chain is known as inversion of mechanism.

87. What is meant by Mechanical advantage of mechanism?

It is defined as the ratio of output torque to the input torque also defined as the
ratio of load to effort.
88. Define Transmission angle.
The acute angle between follower and coupler is known as transmission angle.

89. Define Toggle position.

If the driver and coupler lie in the same straight line at this point mechanical
advantage is maximum. Under this condition the mechanism is known as toggle
position.

90. List out few types of rocking mechanism.

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 Pendulum motion is called rocking mechanism.

1. Quick return motion mechanism.

2. Crank and rocker mechanism.
3. Cam and follower mechanism.
91. Name the application of crank and slotted lever quick return motion mechanism.

1. Shaping machines.
2. Slotting mechanism.
3. Rotary internal combustion engine.
92 . Define equivalent mechanism; and spatial mechanism.

Equivalent mechanism: The mechanism, that obtained has the same number of
the degree of freedom, as the original mechanism called equivalent mechanism.
93. Define spatial mechanism
Spatial mechanism have special geometric characteristics in that all revolute axes
are parallel and perpendicular to the plane of motion and all prism axes lie in the plane
of motion.

94. Give any two example of Snap action mechanism.

It is used in calling bells, bicycle bells etc.

95. What is meant by motion adjustment mechanism?

The mechanism used to adjust or modify any one of the links in a mechanism is
known a motion adjustment mechanism. Differential screw used in bench vice, pipe
wrench, Lathe chuck and screw jack are some of the examples of motion adjustment
mechanism.

96. What is meant by Scott Russel mechanism?

This is one of the mechanisms to produce straight line motion mechanism.
The mechanism in which the straight line is copied from a existing straight line constrain
is known as Scott Russel mechanism.
97. Define element.
Each part of machine, which moves relative to some other parts, is known as a
simple link.

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98. Compare Movability and Mobility.
Movability includes the six degrees of freedom of the device as a whole, as
though the ground link was not fixed and thus applies to a kinematic chain.
Mobility neglects these and considers only the internal relative motions, thus applying
to a mechanism.
99. What is meant by number synthesis?

Expressing mobility or degree of freedom of a mechanism in terms of the number

of links and the number of pair connections of a given type is known as number
synthesis.

100. What is higher pair?

When the two elements of the pair have a line or point contact when relative
motion takes place and the motion between the two elements is partly turning and
partly sliding, then the pair is known as higher pair. Ex: pair of friction discs, toothed
gearing, belt and rope drives, ball and roller bearings, cam and follower.

101. Explain the coriolis component of acceleration. (Ap/May-2008)

When a point on one link is sliding along another rotating link,such as in quick
return motion mechanism, then the coriolis component of acceleration must be
calculated.
102. The unit of linear acceleration_________________.
ANS: m/s2.
103. Define simple link.
Each part of machine, which moves relative to some other parts, is known as a
simple link.
104. In an reciprocating steam engine, _____________forms a kinematic link.
ANS: Crank shaft and flywheel.

105. When the elements of the pair are kept in contact by the action of external
forces, the pair is said to be a __________________.
ANS: Force closed pair.

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106. Define D-Alembert’s principle.
D-Alembert’s principle states that the resultant force acting on a body together
with the reversed effective force are in equilibrium.

107. Write the examples of rigid link.

 Connecting rod
 Crank.

108. Write the examples of flexible link.

 Belts,
 Ropes,
 Chain and wires.

109. Write the examples of fluid link.

 Hydraulic press,
 Hydraulic jack
 Brakes.

110. Write the examples of structure.

 Railway Bridge,
 A roof truss
 Machine frame.

111. Write the examples of sliding pair.

 The piston and cylinder.
 Cross-head and guides of a reciprocating steam engine.
 Ram and its guide in shaper.

112. Write the examples of turning pair.

 A shaft with collar at the both ends fitted into a circular hole.
 The crank shaft in a journal bearing in engine.
 Lathe spindle supported in head stock.

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113. Write the difference between lower and higher pair.
s.n Lower pair Higher pair
o
1 Two elements of a pair have a Two elements of a pair have a line or point
surface contact. contact.
2 Surface of one element slides over Motion between the two elements is partly
the surface of other element. turning and partly sliding.
3 Exp: bolt with nut, tail stock on the Pair of friction disc, belt and rope drives.
lathe bed.

114. Write the applications of Kutzbach criterion to plane mechanism.

 Three bar mechanism.
 Four bar mechanism.
 Five bar mechanism.
 Six bar mechanism.
115. Pulley in belt drive acts as___________.
ANS: Rolling pair.

116. Write the examples of driver and follower in steam engine.

In reciprocating steam engine, the piston is driver and flywheel is a follower.

117. What is the use of Oldham’s coupling?

An Oldham’s coupling is used for connecting two parallel shaft whose axes are at
a small distance apart.

118. How many number of degree of freedom present in structure?

Number of degree of freedom in structure is zero.

119. A kinematic chain is known as a mechanism when_______________.

ANS: one of the links is fixed.

120. Define angular velocity ratio theorem.

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 The angular velocity of driver and follower are inversely proportional to the
intercepts made on line joining the centers of their rotation by the normal at the point
of contact of the links.

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