Theory of Machines Vibrations GATE 2020

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MECHANICAL
ENGINEERING
Theory of Machines & Vibrations
Text Book : Theory with worked out Examples
and Practice Questions
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Theory of Machines & Vibrations
Solutions for Text Book Practice Questions
Chapter
04. Ans: (d)
Analysis of Planar Mechanisms Sol: The two extreme positions of crank rocker
1
mechanisms are shown below figure.
01. Ans: (a, c) D
40
Sol: B
20 60
 The pair shown has two degree of 4e1
A D
freedom one is translational (motion along 50
axis of bar and the rotation (rotation about
axis). Both motions are independent.  502  60 2  60 2 
4 e1  cos 1    65.37 0
Therefore the pair has incomplete  2  50  60 
C
constraint.
20 60
A
 Kinematic pair is a joint of two links 4e2
20
having relative motion between them. The 50 D
B
pair shown form a kinematic pair.
 602  502  202 
4 e 2  cos 1    18.19o
02. Ans: (c)  2  60  50 
Sol: R
Q
3 05. Ans: (a)
2 2.5 Sol: C
40

P 2.7 S B
60
The given dimensions of the linkage 20
satisfies Grashof’s condition to get double
A D
rocker. We need to fix the link opposite to 50
the shortest link. So by fixing link ‘RS’ we Where,  = Transmission angle
get double rocker.
BD = 20 2  50 2  53.85 cm
03. Ans: (d) By cosine rule
Sol: At toggle position velocity ratio is ‘zero’ so BC 2  CD 2  BD 2

cos =
mechanical advantage is ‘’. 2BC  CD
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2 GATE Text Book Solutions
40 2  60 2  53.85 2 08. Ans: (c)

=  0.479
2  40  60 Sol:
O 
 = 61.37
900
A
06. Ans: (c)

Sol: Two extreme positions are as shown in
figure below. O1
Let r = radius of crank = 20 cm OO1 = 40 cm , OA = 20 cm
l = length of connecting rod = 40 cm O A 20 1
sin    
h = 10 cm O O1 40 2
   30 0
40
2 180  2 180  60
20  10 QRR = 
1 180  2 180  60
20
 QRR = 2
S2 S1
09. Ans: (c)
Stroke = S1 – S2 Sol: O 4 O 2 P  180o sketch the position diagram

for the given input angle and identify the
S1 =   r 2  h 2  60 2  10 2  59.16cm
Instantaneous Centers.
S2    r  2
 h  20  10  17.32cm
2 2 2
Q
Stroke = S1 – S2 = 59.16 – 17.32 = 41.84 cm

O2P=O2O4=a
P
07. Ans: (b) PQ=O4Q= 2a
 h  1  10 
Sol: 1  sin 1    sin    9.55 2 rad /sec
O2
O4
r  60 
 h  1  10 
2  sin 1    sin    30
r  20  Q I34
 = 2 1 = 20.41 4
3
Quick return ratio I14.I13
P I12
QRR   180    1.2558 I23
2
180   O2 1 O4
3 Theory of Machines & Vibrations
I13 is obtained by joining I12 I23 and I14 I3 OC = r

3 I12 I 23 a Velocity of slider VS = (12 – 24) 2
 
 2 I13 I 23 2a = x 2
3 1 x r
 
2 2 sin (  ) sin (90  )
3 = 1 rad /sec r sin (  )
x
Alternate Method: sin (90  )
The position diagram is isosceles right VS = r 2 sin ( + )  sec  
angle triangle and the velocity triangle is = VC sin ( + )  sec
similar to the position diagram.
 lr PQ o2, o4 11. Ans: (a)

2a o
45 Sol: lr to CD
q 45 o
p a,d,c
2a
lr O4 Q lr to BC
b
Velocity (Diagram)
Velocity diagram
Vqp = 3 l3  2a  3  2a VC = 0 = dc  CD
3 = 1  CD = 0
Vq = l4 4  2a  2a  4 Note: If input and coupler links are collinear,
 4 = 1rad/sec then output angular velocity will be zero.
12. Ans: (c)

10. Ans: (b)
Sol: In a four bar mechanism when input link and
Sol:
(2,4) (I centre) output links are parallel then coupler
)
velocity(3) is zero.
90 C
+  l2 2 = l4 4
x 3
2 l4 = 2l2 (Given )
90  4 = 2 / 2 = 2/2 = 1 rad/s
12  
4
2, 4 = angular velocity of input and output
O link respectively.
1 Fixed links have zero velocity.
At joint 1, relative velocity between fixed  Slider velocity = DE  4

link and input link = 2–0 = 2 = 50  2
Rubbing velocity at joint 1 = Relative = 100 cm/sec (upward)
velocity  radius of pin = 210 = 20 cm/s
At joint 2, rubbing velocity = (2+3)  r 14. Ans: (a)
= (2+0)10 = 20 cm/s Sol: Here as angular velocity of the connecting
+ve sign means 2 and 3 are moving in rod is zero so crank is perpendicular to the
opposite directions. line of stroke.
At joint 3, rubbing velocity = (4+3)r Vs = velocity of slider = r2
= (1+0)  10 = 10 cm/s 2 = 1  2  2 = 2 rad/sec
At joint 4, rubbing velocity
15. Ans: (d)
= (4 – 0)  r a
Sol:
= (1 – 0)  10 = 10 cm/s
l3 3 900 r 2
13. Ans: (a)  90o-
b o
Sol: Vs
B C
75 Here the crank is perpendicular to
50
connecting rod
A E Velocity of rubbing = (2 + 3) r
D
50 Where, r = radius of crank pin
From the velocity diagram VAB = ab = ?
75
oa = 2  r = 10  0.3 = 3 m/sec
F
oab is right angle .
oa 40
tan      = 53.13
Considering the four bar mechanism ab 30
ABCD, l2|| l4 r2
tan  
50  3 3
  2 2   4 4  4   2 rad / sec
75 
where, n 
CDE being a ternary link angular velocity r
of DE is same as that of the link DC ( 4 ). 2 10 90
3  2
 2
  5.625CW 
For the slider crank mechanism DEF, crank n 4 16
 
is perpendicular to the axis of the slider. 3
Vrb = (2 + 3)  r 20. Ans: (a)

= (10+ 5.625)  2.5 = 39 cm/s Sol: For rigid thin disc rolling on plane without
slip. The ‘I’ centre lies on the point of
16. Ans: (d) contact.
Sol: As for the given dimensions the mechanism
is in a right angle triangle configuration and 21. Ans: (a)
the crank AB is perpendicular to the lever Sol:
CD. The velocity of B is along CD only P
R 300 VP V
which is purely sliding component A
 Velocity of the slider

 AB   AB  10  250  2.5 m / sec O
Here ‘O’ is the instantaneous centre

17. Ans: (a)
VP =   OP
180  2 2
Sol: QRR      30 o VA = R
180  2 1
R 2  R 2  OP 2
OS OP In  OAP , cos 120 =
sin    OS   250mm 2R  R
OP 2
2R 2  OP 2
– 0.5 =
18. Ans: (b) 2R 2
Sol: Maximum speed during forward stroke OP = 3R
occurs when PQ is perpendicular to the line VP = 3R    3V
of stroke of the tool i. e. PQ, OS & OQ are
in straight line or VO = V
o
 V  250  2  750   PQ 120o
60o
2 VPO
  PQ  VP = 3V
3
   
19. Ans: (d) VP  VO  VPO  V  OP  
VP
Sol:  V 2  V 2  2V 2 cos 60  3 V
VQ = VP + VPQ VPQ VQ
22. Ans: (d) 1

IA  OB  cos   1  cos 60 0  m
Sol: 2
1 2 N
L 3
IB  OA  sin   1  sin 60 0  m
2
3
Va    IA
90 4 M Va 1
   2 rad / sec
IA V2
1
By considering the links 1, 2 and 4 as for 24. Ans: (a)
three centers in line theorem, I12, I14 and I24 Sol: C
lies on a straight line I12 is at infinity along 

the horizontal direction while I14 is at 50 40
infinity along vertical direction hence I24 2 rad/sec

B
must be at infinity A D
20
30
23. Ans: (a)
Sol: (Position Diagram)
A
 BC  AB
I
1m/s
1m b
600 l33
O B l22
  DC
Va = 1 m/s a,d l44 c

(Velocity Diagram)
Va = Velocity along vertical direction
Vb = Velocity along horizontal direction
Let the angle between BC & CD is . Same
So instantaneous center of link AB will be
will be the angle between their
perpendicular to A and B respectively i.e at
perpendiculars.
I
 2 2
From Velocity Diagram, = tan 
 4 4
30 27. Ans: (d)

From Position diagram, tan  =
40 Sol: Refer the figure shown below, By knowing
4 40 30 the velocity directions instantaneous centre
 2 =  4   tan   2   = 3
2 20 40 can be located as shown. By knowing
2 = 3 rad/sec velocity (magnitude) of Q we can get the
angular velocity of the link, from this we
Note: DC is the rocker (Output link) and can get the velocity of ‘P using sine rule.
AB is the crank (Input link).
I
25. Ans: (c)
45
Sol:
E,I13 900
VQ=1m/sec
B C
I23 I34 36
27 Q 45 65
I41 20
I12 70
D
A 50 20
VP P
I13 = Instantaneous center of link 3 with ‘I’ is the instantaneous centre.

respect to link 1 From sine rule
As AED is a right angle triangle and the PQ IQ IP
 
sides are being integers so AE = 30 cm and sin 45 sin 70 sin 65
DE = 40 cm IP sin 65

IQ sin 70
BE = 3 cm and CE = 4 cm
By ‘I’ center velocity method, VQ  I Q    1
V23= 2(AB) = 3(BE) VQ

 
1 27 IQ
3   9 rad / s
3 IP sin 65
VP  IP     VQ  1
IQ sin 70
26. Ans: (a)
= 0.9645
Sol: Similarly, V34= 3(EC) = 4(CD)
94
4   1 rad / s
36
28. Ans: (c) Note:

Sol: Consider the three bodies the bigger spool (i) If two links are rotating in same directions
(Radius 20), smaller spool (Radius 10) and then their Instantaneous centre will never lie
the frame. They together have three I in between them. The ‘I’ center will always
centers, I centre of big spool with respect to close to that link which is having high
the frame is at its centre A. that of the small velocity.
spool with respect to the frame is at its (ii) If two links are rotating in different
centre H. The I centre for the two spools P directions, their ‘I’ centre will lie in between
is to be located. the line joining the centres of the links.
H 29. Ans: (b)

P
A Sol: I23 should be in the line joining I12 and I13.
Similarly the link 3 is rolling on link 2.
C F
Locus of I23
D E
B
As for the three centers in line theorem all
the three centers should lie on a straight line
A D C
implies on the line joining of A and H.
I13 I23
More over as both the spools are rotating in I12
45 5 Locus of I23
the same direction, P should lie on the same
side of A and H. Also it should be close to So the I – Center I23 will be on the line
the spool running at higher angular velocity. perpendicular to the link – 2. (I23 lies
Implies close to H and it is to be on the right common normal passing through the contact
of H. Whether P belongs to bigger spool or point)
smaller spool its velocity must be same. As So the point C is the intersection of these
for the radii of the spools and noting that the two loci which is the center of the disc.
velocity of the tape is same on both the So  2 I12 , I 23   3 I13 , I 23 
spools
  2  50  1 5
H = 2A
  2  0.1 rad / sec
AP.  A  HP  H and
AP  AH  HP  HP  AH
30. Ans: 1 (range 0.95 to 1.05) As the link is rotating and sliding so coriolis
Sol: Locate the I-centre for the link AB as component of acceleration acts
shown in fig. M is the mid point of AB fco = 2V = 2  0.2  1 = 0.4 m/s2
Given, VA = 2 m/sec To get the direction of coriolis acceleration,
rotate the velocity vector by 900 in the
VA QB direction of .
A
Resultant acceleration
30o I
QA
M 30o = 0.6 2  0.12  0.608 m / sec 2
60o 60o B
 0.6 
Q VB
  tan 1    80.5
 0.1 
Angle of Resultant vector with reference to
VA
VA  IA.    OX = 30 +  = 30 + 80.5 = 110.530
IA
VA IM
VM  IM.  IM  .VA
IA IA 33. Ans: (d)
1 Sol:
 sin 30 o.VA  .2  1m / sec A aTA = r
2
aTO = r an
31. Ans: (a) & 32. Ans: (b)
O
Sol: fco = 0.4
Acceleration at point ‘O’

a o  a   
0
TO  a TA  a n
fr 30
X
fl = 0.5 O
c
f = 0.4 a 
TO and a TA are linear accelerations
ft = 0.2 with same magnitude and opposite in

direction.
Centripetal acceleration,
V2
c 2 2
f = r = 0.4 m/s acts towards the centre  aO  a n   r 2
r
Tangential acceleration, ft = r = 0.2 m/s2
r
o
acts perpendicular to the link in the
r2
direction of angular acceleration. Linear fR
a
deceleration = 0.5 m/s2 acts opposite to r
(Acceleration diagram)
velocity of slider
Resultant acceleration, fR = r 2
34. Ans: (c) From Acceleration Diagram,

Sol: VB Z l44 = l22
 25  4 = 50  0.1
VA  4 = 0.2 rad/sec2
O 37. Ans: (d)

Sol:
C O1
VB = OB   D
VA = OA   90 90 2rad/sec

VBA = VB – VA = (OB – OA)   50
50
90 90
100
=  (rB – rA) A
B
and direction of motion point ‘B’.
1 50 2
O3 O2
35. Ans: (d)
Sol: As uniform angular velocity is given, As links O1A and O2B are parallel then
Tangential acceleration,  = 0 VA = VB
Centripetal acceleration,  50  2 = 50  2
fBA = (rB2 – rA2)   from Z to ‘O’.  2 = 2 rad/sec
As a O2 C and O3D are parallel links then
36. Ans: (a) VC = VD
Sol: BC aʹ
 100  2 = 100  1
 1 = 2 rad/sec
VD = r1
b AB
= 100  2 = 200 mm/sec
a c ba bʹ
DC
 = 0 (given), so tangential acceleration at
= r = 0
cd cʹ
Centripetal acceleration, fc = r12
Velocity Diagram Acceleration Diagram
= 100  (2)2 = 400 mm/sec2
From velocity Diagram, VC = VB
l44 = l22
25  4 = 50  0.2
 4 = 0.4 rad/sec
38. 39. Ans: (d)

Sol: Sol: Angular acceleration of connecting rod is
y P given by
Vrel = 0.5 m/s 
a  2 sin 
n 2  1 
   n 2  sin 2  
3/ 2
 =  0.732 rad/s2
 = 1 rad/s(ccw)
 = 300 1m when n = 1, a = 0
x
40. Ans: (b) & 41. Ans: (a)

Sol:
O =30 A
f C = r2 r l



f resultant O B
f t = r
f cor = 2V l–r r

Acceleration diagram
l
Radial relative acceleration, flinear = 0

FP = 2 kN
Centripetal acceleration, fc = r2
l = 80 cm = 0.8 m
= 112 = 1 m/s2 (acts towards the center)
r = 20 cm = 0.2m
Tangential acceleration, f t = r
From the triangle
= 10.732 = 0.732 m/sec2 OAB
cor
Coriolis acceleration, f = 2V
2  2  r 2
cos  
= 2  0.5  1 = 1 m/sec2 2 2
Resultant acceleration, 2  80 2  20 2
    14.36
f r = 12  1  0.732  = 2 m/sec2 2  80 2
2
 1.732  20 2  80 2  80 2
 = tan  1
  60 cos      82.82
2  20  80
 1 
Thrust connecting rod
reference = 30 + 180 + 60 =2700
FP 2
FT    2.065 kN
cos  cos14.36
Turning moment, 100

tan      22.62o
FP 240
T = FT  r  sin(  )   r As centre of mass falls at O2
cos 
2 mr2  0 r  0
  sin(14.36  82.82)  0.2
cos14.36  = 0 (Given)
= 0.409 kN-m Inertia torque = 0
Since torque on link O2A is zero, the
42. Ans: (b)
resultant force at point A must be along
Sol: Calculate AB that will be equal to 260 mm
O2A.
L = 260 mm, P = 160 mm
 Fsin22.62 = 30
S = 60 mm, Q = 240 mm
30
L + S = 320  F  78 N
sin 22.62
P + Q = 400
The magnitude of the joint reaction at
 L+S < P+Q
O2 = F = 78 N
It is a Grashof’s chain
Link adjacent to the shortest link is fixed 45. Ans: (d)
 Crank – Rocker Mechanism. d 2
Sol: I  T  f sin , cos 
dt 2
43. Ans: (b)
Where ‘T’ is applied torque, f is inertia
Sol: O2A || O4B
torque which is function of sin & cos
Then linear velocity is same at A and B.
d T
 2 O2A =  4  O 4 B  t  f sin , cos   c1
dt I
 8  60   4  160 T 2
 t  c1 t  f sin , cos 
 4 = 3 rad/sec I
 is fluctuating on parabola
44. Ans: (c) and @ t = 0 ,  = 0 ,  slope  0 (because it
Sol: B
starts from rest)
A  = 22.62
30 N  Parabola
Fsin 160 mm

F Fcos Fluctuation
because of inertia
T 90o
90o
O2 O4
240 mm t
46. Ans: 1 (range 0.9 to 1.1) O2A

sin 30 
Sol: O1 O 2

Ft
Frod 1 O2A
   O2 A = 25 cm
2 50
0.8m
0.2m
 l2 = 25 cm
 5kN
At the position given above (O1 O2 B) the
tool post attains the maximum velocity.
Given Fp = 5kN
Fp
Frod  , Ft  Frod cos  At that given instant
cos 
 Ft = 5 kN l2 2 = l4 4 & velocity of slider is zero.
Turning moment = Ft.r = 50.2 = 1 kN-m l4 = O1B = l1 + l2 = 50 + 25 = 75 cm

 25  4 = 75  4
47. Ans: (a) 100 4
4    4.19 rad / s
Sol: 75 3
B
4 = angular velocity of slotted lever.
O2
A

O1
N = 120 rpm ,
2N
2   4 rad / s
60
 l1 = O1 O2 = 50 cm
1
QRR = 1: 2 =
2
1 180  2
  180 + 2 = 360 – 4
2 180  2
 6 = 180
  = 30
03. Ans: (a)

Sol: When addendum of both gear and pinion
Chapter
Gear and Gear Trains are same then interference occurs between
2
tip of the gear tooth and pinion.
01. Ans (a) 04. Ans: Decreases, Increases

Sol: Profile between base and root circles is not
involute. If tip of a tooth of a mating gear 05. Ans: (b)
digs into this non-involute portion Sol: For same addendum interference is most
interference will occur. likely to occur between tip of the gear tooth
and pinion i.e., at the beginning of the
02. Ans: (d) contact.
Sol: Angle made by 32 teeth + 32 tooth space
= 360. 06. Ans: (b)
a
D Pitch circle Sol: For two gears are to be meshed, they should
b m C have same module and same pressure angle.
A B
E
07. Ans: (b)
Sol: P
2
R = 64
O Centre
distance
360 Q
2 =  5.625
64 R
  2.8125
S
mT 4  32
R=   64mm
2 2
a = R sin  2 Given Tp = 20, TQ = 40, TR = 15, TS = 20
= 64×sin(2.81)×2 = 6.28 Dia of Q = 2  Dia of R
OE = Rcos = 64×cos(2.8125) = 63.9 mm mQ.TQ = 2mR.TR
b = addendum+ CE = module +(OC – OE) Given, module of R = mR = 2mm
= 4 + (64 – 63.9) = 4.1 TR 15
 mQ = 2 mR  2  2  1.5 mm
TQ 40
mP = mQ = 2mm 10. Ans: (b)

mS = mR = 1.5 mm Sol: Centre distance
No. of teeth m12 m
Radius = module  =  Z1  Z2   34  Z3  Z4 
2 2 2
Centre distance between P and S is given by 4
  15  45  120mm
RP RQ RR RT 2
TP TQ T T
= mP  mQ  m R R  mS S 11. Ans: 5 rpm (CCW)
2 2 2 2
Sol: 1
 40  20  15  20 
 1.5  2
 2   2 
= 45 + 35 = 80 mm 2
3
08. Ans: (c)
N 2 N3N5 N6 N3 N6
Sol:  
N6 N 2 N4 N5 N 2 N 4
T1 = 104 , N1 = 0,
Wheel 5 is the only Idler gear as the number
T2 = 96 , Na = 60 rpm (CW+ve), N2 = ?
of teeth on wheel ‘5’ does not appear in the
N2  Na T 104
velocity ratio.  1
N1  N a T2 96
N 2  60 104
09. Ans: (a) =
0  60 96
Sol: 4
1  60  8
 104 
N2 = 60 1   = = 5 rpm CW
 96  96
= 5 rpm in CCW
2 3
12. Ans: (a)

Z1 = 16 , Z3 = 15 , Z2 = ? , Z4 = ?
Sol: By Analytical Approach
First stage gear ratio, G1 = 4 ,
Second stage gear ratio, G2 = 3 , 1  5  T2  T4 45 40
   
 4  5 T1 T3 15 20
m12 = 3, m34 = 4
Z2 = 16  4 = 64 1  5
6
 4  5
Z4 = 15  3 = 45
13. Ans: (d) No. of dof = 3(L – 1) – 2J1 – J2 = 2

Sol: Data given:
1= 60 rpm (CW, +ve) 17. Ans: (a)
4 = –120 rpm [2 times speed of gear -1] Sol: rb = base circle radius,
1  5 rd = dedendum radius
We have, 6
4  5 r = pitch circle radius.
60  5 For the complete profile to be invoulte,
  6 , simplifying
 120  5 r b = rd
60 – 5 = –720 – 65 rd = r – 1 module
5 = –156 rpm CW mT 16  5
r=  = 40 mm
2 2
 5 = 156 rpm CCW
rb = rd = 40 – 1 5 = 35 mm
14. Ans: (c) rb = r cos   ≃ 29o
Sol: 2 = 100 rad/sec(CW+ve),

arm = 80 rad/s (CCW) = –80 rad/sec 18. Ans: – 3.33 N-m
5  a  T2 T4 s   a  Z p
  Sol: 
2  a T3 T5  p  a Zs
5  (80)  20 32 1 0  10  20
    
100  (80) 24 80 3 p  10 40
 5 = 140 CW = 140 CCW  p = 30 rad/sec

By assuming no losses in power transmission
15. Ans (c) Tp  p + Ts s +Ta a = 0
Sol: It also rotates one revolution but in opposite  Tp  30 + Ts 0 +5 10 = 0
direction because of differential gear system  50
 Tp = = – 1.67 N-m, Tp +Ts + Ta = 0
30
16. Ans: (c)  –1.67 + Ts + 5 = 0
Sol: No .of Links, L = 4
 Ts = –3.33 N-m
No. of class 1 pairs J1=3
No. of class 2 pairs J2 =1 (Between gears)
19. Ans: (a)

Chapter
Sol: Train value = speed ratio
3 Flywheels
20. Ans: (d)

01.
Sol: TS + 2 TP = TA -----(1) Sol: Given
N A  N a TP P = 80 kW = 80103 W = 80,000W
 ------(2)
N P  N a TA
E  0.9 Per cycle
N P  NS T N  300 rpm
and   S ------(3)
NS  N G TP C S  0.02
From (2) and (3) 2N 2  30
   31.41rad / s
NA  Na T 60 60
 B
NS  N a TA  = 7500 kg/m3
300  180 80  c  6 MN / m 2
 
0  180 TA  c  V 2  R 2  2
 TA = 120 C 6  10 6
R 
80 + 2 TP = 120  2 7500  31.412
 TP = 20 R = 0.9 m
D = 2R = 1.8m
N  300rpm  5rps  0.2 Sec/rev
1 cycle = 2 revolution 4 stroke engine 
 0.4 sec
Energy developed per cycle
= 0.4  80  32 kJ
E  E per cycle  0.9
 32  10 3  0.9 = 28800 J
E  I 2 C S
E
I
2 CS
I  1459.58 kg-m2
02. Area of the triangle (expansion)

Sol: 1
=   H  9
T 2
H = 18 /
9 cm2 Area above the mean torque line
18 h
H 1

b E   b  h
Tmean 2
1 .5
 B  4 From the similar triangles ,
0 2 3
b h 16.5
2 2 2  b 
0.5 cm 1.7 cm 0.8 cm B H 18
1 16.5
Given: 1 cm2 = 1400 J E   b 
2 
Assume on x-axis 1 cm = 1 radian and on y- 1 16.5 16.5
axis 1 cm = 1400 N-m    = 7.56 cm2
2 18 
a1 = –0.5 cm2 E = 7.56 1400 = 10587 N-m
a2 = –1.7 cm2 N1 = 102 rpm, N2 = 98 rpm,
2
a3 = 9 cm 2N 1
a4 = –0.8 cm 2 1   10.68 rad / s
60
Work done per cycle = –a1– a2 + a3 – a4 2N 2
= – 0.5 –1.7 + 9 – 0.8 2   10.26 rad / s
60
= 6 cm2 1
E   I  (12   22 )
Workdone per cycle 2
Mean torque Tm =
4 2  E 2  10587
I 
6 1.5 (1   2 ) 10.68 2  10.26 2
2 2
  cm
4 
I = 2405.6 kg-m2
03.
Sol: Power
15.725
17
 8.52639

= 22431Nm
b
1.275 1.52639

8.5 sec 10 sec
 Time
Given:
d = 40 mm, t = 30 mm We know that maximum fluctuation of

2
E1 = 7 N-m/mm , S = 100 mm energy (E)
V = 25 m/s, V1  V2 = 3%V, CS = 0.03 22431 = m V2 CS = m (25)2 (0.03)
A = dt =   40  30 m = 1196 kg
= 3769.9 = 3770 mm2
04. Ans: 4.27
Since the energy required to punch the hole Sol: I = mk2 = 200 0.42 = 32 kg-m2
is 7 Nm/mm2 of sheared area, therefore the 2  400
1   41.86 rad / s
Total energy required for punching one hole 60
= 7  dt = 26390 N-m 2  280
2   26.16 rad / s
60
Also the time required to punch a hole is
10 sec, therefore power of the motor Energy released 
1
2
 
I 12  22 = 17086.6 J
26390 60
required =  2639 Watt Total machining time   12 sec
10 5
The stroke of the punch is 100 mm and it 17086.6
punches one hole in every 10 seconds. Power of motor   4.27 kW
12  8
Total punch travel = 200 mm
(up stroke + down stroke) 05. Ans: (d)
Velocity of punch = (200/10) = 20 mm/s Sol: Work done = 0.5+12+250.8+0.5
Actual punching time = 30/20 = 1.5 sec
= 23.2 cm2
Energy supplied by the motor in 1.5 sec is
Work done per cycle = 23.2100 = 2320
E2 = 2639  1.5 = 3958.5 = 3959 N-m
1cm 2
 100 N  m 
Energy to be supplied by the flywheel
W .D per cycle
during punching or the maximum Tmean 
4
fluctuation of energy
2320 580
  Nm
E = E1  E2 4 
= 26390  3959 = 22431 N-m Suction = 0 to ,
Coefficient of fluctuation of speed
Compression =  to 2
V  V2
CS  1  0.03 Expansion = 2 to 3,
V
Exhaust =3  to 4
06. Ans: (c) 09. Ans: (a)

Sol: Sol: Let the cycle time = t
Actual punching time = t/4
60 80 60
W = energy developed per cycle
A B 40 C D E F 60 G
100
Energy required in actual punching
= 3W/4
4
During 3t/4 time, energy consumed = W/4
3W E
EA = E E max  , E min 
4 4
EB = E + 60 E
E = Emax – Emin =
EC = E + 60 – 40 = E + 20 2
ED = E + 20 + 80 = E + 100 = Emax E
 0.5
EE = E + 100 – 100 = E E
EF = E + 60
EG = E + 60 – 60 = Emin 10. Ans: (c)
R>P>Q>S Sol: Motor shaft
Flywheel
07. Ans: (b) 4
 Punching
mr 2 Machine
Sol: I disk  Gear box
2
2
mr Cs = 0.032
I1  1 , Cs1 = 0.04
2
Gear ratio = 4
I2 = 4 mr12 = 4I1
I2  Cs = I2 Cs
I1
Cs2   C s1  0.01  1% reduce 
2
C s  2 C s
I2 
Cs  Cs    
   16 2 16
08. Ans: (b) = 0.0032 / 16= 0.002
Sol: For same E and  (by taking moment of Inertia, I = constant).
Cs  I Thus, if the flywheel is shifted from
CS1 I 2 2I machine shaft to motor shaft when the
 
CS 2 I1 I fluctuation of energy (E) is same, then
CS1 0.04 coefficient of fluctuation of speed decreases
CS2   = 0.02
2 2 by 0.2% times.
11. Ans: 0.5625

m Chapter
Sol: The flywheel is considered as two parts
2 4 Governor
m
as rim type with Radius R and as disk
2
01. Ans: (a)
R
type with Radius Sol: As the governor runs at constant speed, net
2
force on the sleeve is zero.
m
I Rim  R2,
2
2 02. Ans: (d)
1 m R mR 2
I disk      Sol: At equilibrium speed, friction at the sleeve
2 2 2 16
is zero.
mR 2 mR 2
I 
2 16
03. Ans: (a)
9
 mR 2 r Mg1  k  
16 Sol: mr2   mg  
h 2 
= 0.5625 mR2
k =1
  = 0.5625
9.8
2  10  2
2  0.2
12. Ans: 104.71
 = 17.15 rad/sec
Sol: N = 100 rpm
1 
 0
Tmean  Td 04. Ans: (a)
1
1  Sol: mr2 a =  200    a
  10000  1000 sin 2  1200 cos 2d 2
 0
1 1 20 2  0.25  2
 10000  500 cos 2  600 sin 20 =

 200
= 10000 Nm = 0.5  2 = 1 cm
2NT
Power =
60 05. Ans: (a)
2    100  10000 F 
 = 104719.75 W Sol: mr2  a =  s   a
60 2
P = 104.719 kW Fs = 2mr2
= 2 1  0.4  (20)2 = 320 N
06. Ans: (c) 09. Ans: (d)

Sol: A governor is used to limit the change in Sol: By increasing the dead weight in a porter
speed of engine between minimum to full governor it becomes more sensitive to speed
load conditions, the sensitiveness of a change.
governor is defined as the ratio of difference
between maximum and minimum speed to 10. Ans: (d)
unstable
mean equilibrium speed, thus, Sol:
F Isochronous
stable
 
Range of speed  N1  N 2 
sensitivenss   
mean speed  N1  N 2 
 
 2 
N1  N 2 r
Where, mean speed, N =
2 11. Ans: (a)
N1 = maximum speed corresponding to no- Sol: (3)
load conditions.
N2 = minimum speed corresponding to full Force
(2)
load conditions. (1)
C.F=mr2
07. Ans: (b) 10 20 40 Radius
-1000
08. Ans: (a) -2000
Sol: r1 = 50 cm , F1 = 600 N
F = a + rb Unstable At radius, r1 = F1 < F2 < F3
Isochronous  As Controlling force is less suitable 1 is
600 = a + 50 b
700 = a + 60 b for low speed and 2 for high speed ad 3 is
Stable
for still high speed.
Force
10 b = 100
b = 10 N/cm (1) is active after 40 cm
a = 100 N (2) is active after 20 cm
Radius (3) is active after 10 cm
F = 100 + 10 r
At given radius above 20
This is unstable governor. It can be F3 > F2
isochronous if its initial compression is mr32 > mr22
reduced by 100 N. 3 > 2
12. Ans: (b) The vertical intercept gh signifies that

Sol: ar+b (unstable) between the speeds corresponding to gh, the
Controlling radius of the ball does not change while
force ar – b (stable) direction of movement of sleeve does.
Between speeds N1 and N2, the governor is
insensitive.
Radius
15. Ans: (b)
Sol: A governor is stable if radius of rotation of
To make the governor stable spring stiffness ball is increases as the speed increases.
should be decreased. Centripetal force, F = mr2
F
13. Ans: (c)   m2
r
Sol: A governor is said to be sensitive if for a
Slope of the centripetal force represents
given fractional change in speed,
speed. Higher the slope, higher will be the
displacement of sleeve is high.
speed.
14. Ans: (c) when r = 2 cm; F = 14 N
Sol: If friction is taken into account, two or more F 14
  7
controlling force are obtained as show in r 2
figure. when r = 6 cm; F = 38 N

F 38
N1   6.33
r 6
Controlling force
g
F1 As the radius increases slope of the
N2
centripetal force curve decreases and
F2 h therefore speed of the governor decreases.
r Thus the governor is unstable.
Radius
In all, three curves of controlling force are

obtained as follows. 38 N
(a) for steady run ( neglecting friction) 14 N

(b) while sleeve moves up ( f positive)
(c) while sleeve moves down ( f negative) 2 cm 6 cm
16. Ans:
Sol: Given, m = 8 kg Chapter
F1 = 1500 N at r1 = 0.2 m and 5 Balancing

F2 = 887.5 N at r2 = 0.13 m,
01. Ans: (c)
For spring controlled governor, controlling
Sol: unbalanced force (Fun)  mr2
force is given by
Unbalance force is directly proportional to
F=ar+b
square of speed. At high speed this force is
1500 = a  0.2 + b
very high. Hence, dynamic balancing
887.5 = a  0.13 + b
becomes necessary at high speeds.
 a = 8750 , b = –250
F = 8750 r – 250 02. Ans: (a)
At r = 0.15 m, W
Sol: Dynamic force = e 2
F = 87500.15 – 250 = 1062.5 N g
So, controlling force, F = 1062.5 m W
Couple = e 2 a
F = mr2 g
W 2a
1062.5 = 8  0.15 2 Reaction on each bearing =  e
g l
  = 29.72 rad/s
Total reaction on bearing
60 
N  284 rpm W a W 2 a
2 =  e 2    e 0
For isochronous speed  g l   g l 
F = a r = 8750  0.15 = 1312.5 N
03. Ans: (b)
F = mr2
Sol: Since total dynamic reaction is zero the
1312.5 = 8  0.5  2
system is in static balance.
  = 33.07 rad/s
60 04. Ans: (a)
N  316 rpm
2
The increase in tension is 250 N to make the 05. Ans: (b)
ma
governor isochronous. Sol:
ma = 5 kg, ra = 20 cm
225
mb = 6 kg, rb = 20 cm
mc = ? , rc = 20 cm
md = ?, c = ? , d = ? mb
Take reference plane as ‘C’ mc cosc +mdcosd – 3 2  0

For complete balancing
 mccosc + 10.91 cos 54.31 – 3 2 = 0
 mr = 0 &  mrl = 0
mccosc = –2.122
2mdcos d – 9 2 =0
mc sinc +mdsind – 3 2  5  0
 mdcosd = 9 2
mc sinc + 10.91 sin54.31 –3 2  5  0
2mdsind –5 –9 2 =0 mcsinc = – 9.618
mdsind = 
1
2

59 2  mc   2.122    9.618
2 2
 9.85kg
2 2 9.618
tan  c 
 9  1
md  


   2 5  9 2  = 10.91kg
 2  
 2.122
c = 257.56 or 257.56 – 90 w.r.t ‘A’
1 
 
59 2   = 167.56
 d  tan 1  2   54.31
0
 9 
 2 
= 90 – 54.31 = 35.68 w.r.t ‘A’
S.No m (r20)cm (l20)cm  mrcos mrsin mrlcos mrlsin

A 5 1 –1 90 0 5 0 –5
B 6 1 3 225 –3 2 –3 2 –9 2 –9 2
C mc 1 0 c mccosc mcsinc 0 0
D md 1 2 d mdcosd mdsind 2mdcosd 2mdsind
Common data Q. 06 & 07

m1 10 kg
06. Ans: (a) 10 cm

Sol: m1 = kg , m2 = 5kg , r1 = 10cm
r2 = 20cm, md = ?, rd = 10cm
30
m1r1 = 100 kg cm m2
20 cm
m2r2 = 100kg cm 5 kg
08. Ans: (a)

100kg-cm Sol: m2
mr = 100kg-cm 1 2
Resultant force m1

30
20cm 25cm e
30
mdrd
r1 = 10 cm, r2 = 10 cm, m1 = 52 kg
100kg-cm
m2 = 75 kg, 1 = 0 (Reference)
2 = 90, m = 2000kg , e = ?,  = ?
Keep the balancing mass md at exactly me cos = m1r1 = 520
opposite to the resultant force me sin = m2r2 = 750
mdrd = 100kg-cm
 m1r1    m 2 r2 
2 2
me   5202  7502
 md10 = 100 kg-cm
 913 kg  cm
md = 10kg cm
d = 180 + 30 = 210  913 
e   0.456cm
 2000 
07. Ans: (d) m r   75 
  tan 1  2 2   tan 1    55.260
Sol: mr2  m1r1   52 
= 180 + 55.26 = 235.26
0.2m w.r.t mass ‘1’.
2
mdrd
mr = 100kg-cm = 1kgm
2 N
N = 600 rpm   =  20 rad / s
60
Couple ‘C’ = mr2  0.2 = 1(20)20.2
= 789.56 Nm
Reaction on the bearing
couple

dis tan ce between bearing
789.56
  1973.92N
0.4
09. Ans: (a)

Sol:
Plane m r (m) L (m) (reference  Fx Fy Cx Cy
(kg) Plane A) (mrcos) (mrsin) (mrlcos) (mrlsin)
D 2 kg.m 0.3 0 2 0 0.6 0
A -ma 0.5m 0 a –0.5macosa –0.5masina 0 0
B -mb 0.5m 0.5 b –0.5mbcosb –0.5mbsinb mb mb
 cos b  sin b
4 4
m b cos  b Fy
Cx = 0   0.6  m 2 r2 sin  2 = 2520 sin135
4 2
m sin b
Cy = 0  b 0 = 353.553 gm-cm
4
2 2
 mb = 2.4kg , b = 0 m b rb  Fx  Fy
Fx = 0 2
Fx  Fy
2
 2 – 0.5 ma cosa – 0.5 mb cosb = 0  mb 

rb
ma
 cos  a  0.8  53.552  353.5532
2  = 17.88 gm
m 20
Fy = 0  a sin a  0
2 Fy  353.553 
b  tan 1  tan 1   = 98.7
 a = 0 , ma = 1.6 kg Fx   53.55 
(Note: mass is to be removed so that is taken as –ve).
11. Ans: 30 N
10. Ans: (a) Sol: r
Sol: Y Crank radius
30
= stroke/2 = 0.1 m,
r
 = 10 rad/sec
m2  mb = 6 kg
r2 X
r1 m
1
Unbalanced force along perpendicular to the
Fx line of stroke = mbr2 sin 30
 m1r1  m 2 r2 cos 
2
= 6 × (0.1) × (10)2 sin 30
= 20  15 + 25  20 cos135
= 30 N
= –53.55 gm-cm
12. Ans: (b) 16. Ans: (a)

Sol: Sol: m1
C.G
 Primary unbalanced force = mr2cos L1 m2
At  = 0 and 180, Primary force attains L2
maximum.
mL 2 100  60
mr2 m1    60kg
Secondary force = cos 2 where n is L1  L 2 100
n
obliquity ratio. As n > 1, primary force is mL1 100  40
m2    40kg
L1  L 2 100
greater than secondary force.
 Unbalanced force due to reciprocating mass I  m1L21  m 2 L22
varies in magnitude. It is always along the = 60  402 + 40 602
line of stroke. = 240000 kg cm2
= 24 kg m2
13. Ans: (b)
Sol: In balancing of single-cylinder engine, the
rotating balance is completely made zero
and the reciprocating unbalance is partially
reduced.
14. Ans: (b)

Sol: m = 10 kg, r = 0.15 m ,
c = 0.6 ,  = 60 ,  = 4 rad/sec
Residual unbalance along the line of stroke
= (1 – c) m r2 cos
= (1 – 0.6)10 0.15 42cos60
= 4.8 N
15. Ans: 2
Sol: By symmetric two system is in dynamic
balance when
mea = m1e1a1
e a 50 2
m1  m .  1  2kg
e1 a 1 20 2.5
04. Ans: (b)

Chapter Sol: L = 4 cm ,  = 90o = /2 radian ,
6 Cams 2
 = 2 rad/sec ,   90  60
3
01. Ans: (d)  2

Sol: Pressure angle is given by  3
dy L  
e s(t) = 1  cos 
tan   d  2  
y   rp   e 
2 2
 21  cos 120   3cm

where,  is pressure angle ,
L    
 is angle of rotation of cam V(t)      sin  
2    
e is eccentricity
4
rp is pitch circle radius   2  2 sin 120  7cm / s
2
y is follower displacement 2
L   
a t      2  cos 
2    
02. Ans: (d)
4 2 2
Sol: Cycloidal motion   2  2  cos120  16cm / sec 2
2
h  2  2  
y   sin    

2     
05. Ans: (b)
2h Sol:
y max  ------(1) normal

tangent
Radial line
Simple harmonic motion :
16.10
  h 
y max    ------(2)
2  
Uniform velocity : 43.897 60 30
150
120
h
y  ------(3)
 x = 15cos ,
From (1), (2) and (3) we observe that y = 10 + 5sin
Vcyclodial > VSHM > VUV dy dy 5 cos 
tan =  
dx d  15 sin 
03. Ans: (b)  dx 
 
 d 
at  = 30 , 06. Ans: (a)

3 Sol: tangent
5
tan   2   1   = 150
1 3 normal
 15  Radial line
2 x 26.52
6.3
y 10  5sin  10  5sin 30
tan     96.3
y
x 15cos  15cos 30 26.52 83.7 6.3
 = 43.897 x
Pressure angle is angle between normal and

Let  be the angle made by the normal to
radial line = 16.10 .
the curve
or x = 15 cos ,  dy 
  9
y = 10 + 5 sin at  = 30o  dx  4, 2 
2 2 dy
 x   y  10  tan   = 4x – 7
    1 dx
 15   5 
At x = 4 & y =2 ,
15 3
x= , y = 125  = tan-1(9) = 83.7
2
The normal makes an angle
2 x 2( y  10) dy
 . 0  1
152 52 dx  tan 1    6.3 with x axis
 9 
dy x  15 3 1
   2
dx ( y  10)9 3 3   tan 1    26.52
2  9
2 4
1 Pressure angle is angle between normal and
tan =
3 radial line = 26.52 + 6.3 = 32.82
Then normal makes with x-axis
07. Ans: (b)
tan1 ( 3 ) = 60o
Sol: For the highest position the distance
y 10  5sin  10  5sin 30
tan     between the cam center and follower
x 15cos  15cos 30
= (r + 5) mm
 = 43.897
For the lowest position it is (r – 5) mm
With follower axis angle made by normal
So the distance between the two positions
(pressure angle) = 6043.897 = 16.10o
= (r + 5) – (r – 5) = 10 mm
08. Ans: (a)

Sol: p Chapter
p
7 Gyroscope
p p r

o
 e 180 – 
c 01. Ans: (c)
c o
r  Sol: Due to Gyroscopic couple effect and
c e c
centrifugal force effect the inner wheels
When ‘c’ move about ‘o’ through ‘’, point tend to leave the ground.
‘p’ moves to p. ‘’ is angle between normal
02. Ans: (d)
drawn at point of contact which always
Sol: Pitching is angular motion of ship about
passes through centre of circle and follower
transverse axis.
axis. So this is pressure angle.
z
gyroscopic
From le poc couple
r e

sin (  ) sin 
y
e precession
sin   sin  axis spin axis
r
 is maximum  = 90 x
e Due to pitching gyroscopic couple acts
sin  
r about vertical axis.
Pressure angle s maximum at pitch point
e 03.
  sin 1   = 30
r Sol: m = 1000 kg, rk = 200 mm
z
k̂
precession
axis
spin axis
y
ĵ
gyroscopic
x couple
î
I = 1000  (0.2)2 = 40 kg-m2 Total bearing reaction at A

N = 5000 rpm (CCW) looking from stern = RA + RA
2  5000 = 5886 – 448 = 5438 N
 = 523.33 rpm
60 Total bearing reaction at B

  523.33 ĵ = RB + RB
Precession velocity = 3924 + 448 = 4372 N
V 25  0.514 Bow falls and stern rises.
p   = 0.032125 rad/s
r 400
 04.
p  0.0312 k̂
Sol: z
Gyroscopic couple = I  p 
 
gyroscopic

G  40  523.33 ĵ  0.032125 k̂  couple

= –672 î N-m
y
Now,
p
R1 x
k = 220 mm, m = 210 kg

R2
I = 210  (0.22) = 10.164 kg-m2
2
M 672
R 1  R 2    448 N 2  1800
L 1.5  = 1884.95 rad/s
60
R1 = 448 N (Acting downwards)
5
R2 = 448 N (Acting upwards) 1200 
p  18  0.0877 rad / s
3800
Now reaction due to weight
M = I  p
W = 9810 N
= 10.164  0.0877  1884.95
= 1681 N-m
R1 R2
600 mm 900 mm
05. Ans: 200
9810  900
R 1   5886 N (upwards) Sol: R = 100 m, v = 20 m/sec,
1500
V rad
9810  600 p   0.2 s  100rad / sec
R 2   3924 N (upwards) R sec
1500
I = 10 kg-m2
Gyroscopic moment
= Is  p = 100.2100N-m Chapter
8 Mechanical Vibrations
= 200N-m
06. Ans: 01. Ans: (b)
Sol: L L
Sol: T  2  0 .5  2  
(i) g 9.81
 L = 62.12 mm
02. Ans: (d)


The gyroscopic couple is = IΩ Sol:
 
    

IΩ T
O 
mg mg mg
 ∑Mo = 0 Let the system is displaced by  from the

2a.T sin  + IΩ = mg × a equilibrium position. It’s position will be as
shown in figure.
2a.T.b mr 2
   mg  a By considering moment equilibrium about
4a 2  b 2 2
the axis of rotation (Hinge)
4a 2  b 2  mr 2 
T  mga    
2ab  2  I   m g  sin     m g  sin     0
For clockwise rotation of precession I  m 2  m   2m 2

(ii) ∑Mo = 0 After simplification
2a.T sin  – IΩ = mg × a 2m 2   2mg cos  sin   0
  2
 
1
1 2 For small oscillations (  is small) sin  = 
 mga  mr   b  4a
2 2
2 
T 2 m  2   2 m g  cos  .  0
2ab
2 m g  cos  g cos 
n  2

2m 
03. Ans: (c) 05. Ans: (c)

Sol: Let, Vo is the initial velocity, Sol: l
K 
‘m’ is the mass 2
Equating Impulse = momentum
mVo = 5kN  10 4 sec 
..
 5  103 10 4  0.5 sec I l
K =300N/m
0.5
V0   0.5 m / sec
m
By energy method
K 10000
n    100 rad / sec 1 2 1
m 1 E= I  Kx 2 = constant
2 2
When the free vibrations are initiate with 2
1 1  
initial velocity, E = I 2  K      cons tan t
2 2 2 
The amplitude
Differentiating w.r.t ‘t’
V0
X= (Initial displacement ) dE   K  2
n = I     2  0
dt 2 4
V0 0.5  103
 X   5 mm m 2
n 100 I
12
m 2  K 2
04. Ans: (a)  0
12 4
Sol: Note:  n depends on mass of the system
3K
   0
not on gravity m
1
 n  3K
m  n   30 rad / sec
m
g mg
If  n = , 
 K 06. Ans: (a)
g K Sol:
 n = 
 mg  m
 
 K  K M
  n is constant every where.

O 
a A
L
Assume that in equilibrium position mass M 08.

is vertically above ‘A’. Consider the Sol:
displaced position of the system at any
instant as shown above figure. K K
If st is the static extension of the spring in a
equilibrium position, its total extension in
O
the displaced position is (st + a). r 
From the Newton’s second law, we have

A
I 0   Mg (L  b)  k ( st  a)a...(1)
But in the equilibrium position
MgL=kst a 1 22 1 2
KE  mr   I
Substituting the value in equation (1), we 2 2

have I 0   (Mgb  ka 2 ) 1 22 1 22
 mr   mr 

2 4
 I 0   (ka 2  Mgb)  0 3 22
 mr 
ka 2  Mgb 4
n 
I0 1 1
PE  Kx 2  Kx 2  Kx 2
2 2
I0
  2 x = (r + a)
ka  Mgb
2
The time period becomes an imaginary  PE = K{(r + a)}2

quantity if ka2 < Mgb. This makes the d d
KE  PE  0
system unstable. Thus the system to vibrate dt dt
the limitation is Substituting in the above equation
ka 2  Mgb 3
m r 2   2K r  a   = 0
2
ka 2 2
b
Mg Natural frequency
Where W = Mg 1 4K r  a 
2
fn 
2 3mr 2
07. Ans: (a)
So fn = 47.74 Hz.
OR mL2   L KL2 
I A     mg    = 0 (∵sin ≈ )
9  6 9 
K K L KL2
mg  
6 9  = 3g K
a n = n 
mL2 2L m
O 9
r 
10. Ans: (d)

A
Sol: X0 = 10 cm, n = 5 rad/sec
Taking the moment about the instantaneous
2
centre ‘A’. v 
X= x   0
2
0

IA  + 2K (r+a)  (r+a) = 0  n 
mr 2 3 If v0 = 0 then X = x0
IA   mr 2  mr 2
2 2  X = x0 = 10cm
3 2
mr   2k r  a    0
2
2 11. Ans: (c) & 12. Ans: (c)

k eq 2k r  a 
2
4k r  a 
2 Sol: mg sin
n   
m eq 3 2 3mr 2 I mg
mr
2

L
09. Ans: (b)
Sol: L Kt 
K 
3
L
O 6
 I = mL2
The equation of motion is
mg mL2   k  mgL   0
t
Inertia torque = mL2

By considering the equilibrium about the Restoring torque = kt – mgL sin
pivot ‘O’ = (kt – mgL)
L L L
IO  + mg sin   K   = 0
6 3 3
13. Ans: 0.0658 N.m2 By taking the moment about ‘O’, mo = 0
3EI (m 2a  2a )  (ka  a )  0
Sol: For a Cantilever beam stiffness, K 
3
 4a2 m  +ka2 = 0
K 3EI Where, meq = 4a2m, keq = ka2
Natural frequency,  n  
m m 3
k eq
Given fn = 100 Hz Natural frequency, n 
m eq
 n = 2fn= 200 
3EI ka 2 k rad
200   =
m 3 4a 2 m 4m sec
Flexural Rigidity [ n  2f ]
EI 
200. .m 3
2
= 0.0658 N.m2 f 
n

1

k
Hz
3 2 2 4m
14. Ans: (d) 16. Ans: (a)

Sol: Free body diagram Sol: Moment equilibrium above instantaneous
centre (contact point)
kr m2r 
 k (a  d).a  d   I c 


Moment equilibrium about hinge K(a+d)

m 2r.2r  k.r  0
4mr 2  kr 2   0

2
kr k 400
n  2
  C
4mr 4m 4
3
Ic  Ma 2 ,
15. Ans: (a) 2
k a  d 
2
Sol:
ka a 
3
Ma 2
2
O 
m2a  2k (a  d ) 2
n 
3Ma 2
17. Ans: 10 (range 9.9 to 10.1) Damped frequency natural frequency,

1 1 d  1   2   n
Sol: KE  mx 2  I 2
2 2
x  20  1   2  25  0.6  60%
m = 5 kg, 
r
20  r 2 20. Ans: (a)
I  10r 2
2 Sol: K1, K2 = 16 MN/m
1 2 1 x 1 2 K3, K4 = 32 MN/m
KE  5x  10r 2 . 2  15x 2
2 2 r 2 Keq = K1 + K2 + K3 + K4
 m eq  15 m = 240 kg
1 2 Ke
PE  kx n =
2 m
 k eq  k  1500 N / m Keq = 16  2  32  2  106  96  106 N/m
Natural frequency 96  10 6
n =  632.455 rad/sec
k eq 1500 240
n    10rad / sec
meq 15 n  60
N=  6040 rpm
2
18. Ans: (b)

21. Ans: (a)
Sol: In damped free vibrations the oscillatory
Sol: 
motion becomes non-oscillatory at critical C2lI 
damping.
Hence critical damping is the smallest
 O
damping at which no oscillation occurs in
Io
free vibration kl
2
19. Ans: (a)  x3 
For slender rod, I o   
5  3  
Sol:  n = 50 rad/sec =
 93
m

3

 83  3 
3
 33  m 2
If mass increases by 4 times
k 1 k 50 Where,  = m/3l
 n1      25 rad / sec
4m 2 m 2 Considering the equilibrium at hinge ‘O’.
Io  + c2l   2l + kl l = 0 24. Ans: (a)

 ml2  + 4l2c  + kl2 = 0  c 2 
 
Iequivalent = ml2, Ceq = 4l2c, keq = kl2 c eq  4 
Sol:   
2 k eq m eq 2 (k 2  mg)  5m 2
22. Ans: (b) 400  12
c c eq 4
Sol: Damping ratio,      0.316
c c 2 k eq m eq 2 (400  1  10  9.81  1)  5  10  12
2
4 2c
 25. Ans: (a)
2  k 2  m 2
Sol: KL
2
4 c 2c 
  Ca 
2  mk 4
km
K 
23. Ans: (a) 
Sol: I a 
I
 L

c 
 m
2 By moment equilibrium
k  m
I  Ca 2  KL2  K   0 
 mg
  Ca 2   KL2  K    0
mL2  
mgcos mgsin = mg 3

mg
K eq KL2  K 
2
I = m(2l) + ml = 5ml 2 2 n  
m eq mL2 / 3
The equation motion is
1500
  n   42.26 rad / sec
2
c 
m  2  m  
2 2
  k 2   mg  0 0.833
4
2
c 
= 5m 2     k 2   mg  0 26. Ans: (c)
4
Sol: Refer to the above equilibrium equation
k eq k 2  mg
n   Ceq = Ca2
m eq 5m 2
N  m  sec
= 500  0.4 2  80
400 rad
  3.162 rad / s
5  10  C = 80 Nms/rad
Note: For angular co-ordinate 29. Ans: (d)

Nm 
Unit of Equivalent inertia =  kg  m 2 Sol: x = 10 cm at  1;
rad / s 2
n
Nm   0.1
Unit of equivalent damping coefficient =
rad / s
x0
Unit of equivalent stiffness = N-m/rad At resonance x   10 cm
2
 x0 = 2  0.1  10 = 2 cm
27. Ans: (a)
x0 = static deflection
Sol: Given length of cantilever beam,

l = 1000 mm = 1m, m = 20 kg At  0.5 ,
n
m x0
25 x
l = 1m 2
25    
2
  
2
1      2 
Cross section of beam = square    n    n 
W = mg 2
x  2.64 cm
EI x
1  0.5   2  0.1 0.5
2 2 2
l

30. Ans: (a)
Moment of inertia of the shaft, Sol: m x  Kx  F cos t
1 3 25  (25) 3 m=?
I= bd  = 3.25 10–8 m4
12 12 K = 3000 N/m,
9
Esteel = 200  10 Pa X = 50 mm = 0.05 m
Mass, M = 20kg F = 100 N,
3EI   100 rad / sec
Stiffness, K
3
F
Critical damping coefficient, X
K  m2
C C  2 Km  1250 Ns / m
K F
m   0.1 kg
 2
X 2
28. Ans: (c)
31. Ans: (a) 34. Ans: (c)

x  Sol: M = 100 kg, m = 20 kg, e = 0.5 mm
Sol:   ln 1   ln 2  0.693
 x2  K = 85 kN/m, C = 0 or  = 0
  = 20 rad/sec

4 2   2 Dynamic amplitude
20  5  10 4  20 
2
0.693 me 2

4 2  0.693 2
 0.109 X=

 k  M 2
=
 
 8500  100  20 
2

c  2 k m  2  0.109  100  1 = 1.2710-4 m
= 2.19 N-sec/m
35. Ans:
Sol:
32. Ans: (b) x(t) = Xsin(t - )
m=50kg
Sol: xstatic = 3mm,  = 20 rad/sec
As  > n k
So, the phase is 180 . y(t) = 0.2sin(200t)mm
x static
x
2
   2   2
1       2    = 200 rad/sec, –X = 0.01 mm
  n    n  Y = 0.2 mm
 
X k
3 
x= Y k  m2
  20  2   2
1       2  0.109  20   0.01 k
  10    10   
  k  50  200
2
0.2
= 1 mm opposite to F.  k = 939.96 kN/m
33. Ans: (c) 36. Ans: (b)

1 Sol: m = 5 kg, c = 20 ,
Sol: At resonance, magnification factor =
2
k = 80, F= 8, =4
1 F
 20  x
2
k  m   c
2 2
1
   0.025 8
40   0 .1
80  5  4   20  4
2 2
x  = n or K  m 2n
Magnification factor =
x static
F F
X  C
F 8 C X
x static    0.1
k 80 10 N  sec
 3
 10
0.1 40  10  25 m
Magnification factor = 1
0.1
39. Ans: (b)
37. Ans: (c) Sol: Transmissibility (T) reduces with increase
Sol: Given, m = 250 kg in damping up to the frequency ratio of 2.
K = 100, 000 N/m
Beyond 2 , T increases with increase in
N = 3600 rpm
damping
 = 0.15
K 40. Ans: (c).
n = = 20 rad /sec
m Sol: Because f = 144 Hz execution frequency.
2  N f Rn (Natural frequency) is 128.
 =  377 rad/sec
60  f 144
   1.125
  
2  R n f R n 128
1   2 
 n  It is close to 1, which ever sample for which
TR= = 0.0162
 2
2
   
2 
1  2    2  close to 1 will have more response, so
n
 n   n 
sample R will show most perceptible to
vibration
38. Ans: 10 N.sec/m
Sol: Given systems represented by
41. Ans: (b)
mx  cx  kx  F cos t
Sol: Given Problem of the type
F mx  cx  kx  F cos t
For which, X 
K  m   C 2 2 2
for which, X 
F
Given, K = 6250 N/m, m = 10 kg, F = 10 N k  m   c
2 2 2
 = 25 rad/sec, X = 40×10–3 F/ K
or X 2
K    
2
  
n   25 rad / sec 1       2  
m   n    n 
 
t = 25t   = 25 rad/sec
Given F = 10, n  10 a = g tan = 9.81 tan(9.81)

 1 = 1.69 m/s2
k  150 N / m or   0.1
n 10
  0.2 44. Ans: (a)
10 / 150
X 45. Ans: (b)
1  0.1  2  0.2  0.12
2
Sol: e = 2mm = 210-3m,

 0.0669 ≃ 0.07 n = 10 rad/s,
N = 300 rpm
42. Ans: 6767.7 N/m
2N
Sol: Given f = 60 Hz, m = 1 kg =  10 rad / sec
60
  2f  120 rad / sec
me2 e2 e2
Transmissibility ratio, TR = 0.05 X  
k  m2  k 2 n2  2
  
2
Damping is negligible, C = 0 , K =?
m
K
We know TR  when C = 0  
2

2
K  m2 e    10 
2  10  
3

 n   10 
As TR is less than 1   / n  2 X =
 
2
  10  2 
1     1   
TR is negative   10  
 n   
K
  0.05  = 2.25 103 m = 2.25 mm
K  m2
Solving we get K = 6767.7 N/m
46. Ans: (a)
43. Ans: (c) Sol: Number of nodes observed at a frequency of
Sol: 1800 rpm is 2
 
ma T
mg
n=1
Where, a = acceleration of train
T cos  = mg
T sin = ma n=3
ma n-mode number
tan =
mg
The whirling frequency of shaft, 47. Ans: (b)

 gEI Sol: Critical or whirling speed
f   n2
2 WL4 K g
c = n =  rad / sec
 gEI m 
For 1st mode frequency, f 1  
2 WL4 If NC is the critical or whirling speed in rpm
fn = n2 f1 2N C g
then 
As there are two nodes present in 3 mode, rd
60 
f 3  32 f1  1800 rpm 2N C 9.81m / s 2
 
1800 60 1.8  10 3 m
f 1   200 rpm
9  NC = 705.32 rpm  705 rpm
The first critical speed of the shaft = 200 rpm

Theory of Machines Vibrations GATE 2020

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GATE | PSUs

HYDERABAD | AHMEDABAD | DELHI | BHOPAL | PUNE | BHUBANESWAR | BANGALORE | LUCKNOW

03. Ans: (d) By cosine rule

Sol: At toggle position velocity ratio is ‘zero’ so BC 2  CD 2  BD 2

40 2  60 2  53.85 2 08. Ans: (c)

09. Ans: (c)

Stroke = S1 – S2 Sol: O 4 O 2 P  180o sketch the position diagram

Stroke = S1 – S2 = 59.16 – 17.32 = 41.84 cm

I13 is obtained by joining I12 I23 and I14 I3 OC = r

 lr PQ o2, o4 11. Ans: (a)

 4 = 1rad/sec then output angular velocity will be zero.

12. Ans: (c)

At joint 1, relative velocity between fixed  Slider velocity = DE  4

Vrb = (2 + 3)  r 20. Ans: (a)

 Velocity of the slider

Here ‘O’ is the instantaneous centre

22. Ans: (d) 1

lies on a straight line I12 is at infinity along 

infinity along vertical direction hence I24 2 rad/sec

Va = 1 m/s a,d l44 c

30 27. Ans: (d)

I13 = Instantaneous center of link 3 with ‘I’ is the instantaneous centre.

V23= 2(AB) = 3(BE) VQ

28. Ans: (c) Note:

H 29. Ans: (b)

ft = 0.2 with same magnitude and opposite in

34. Ans: (c) From Acceleration Diagram,

O 37. Ans: (d)

VA = OA   90 90 2rad/sec

38. 39. Ans: (d)

40. Ans: (b) & 41. Ans: (a)

f cor = 2V l–r r

Radial relative acceleration, flinear = 0

Turning moment, 100

46. Ans: 1 (range 0.9 to 1.1) O2A

Turning moment = Ft.r = 50.2 = 1 kN-m l4 = O1B = l1 + l2 = 50 + 25 = 75 cm

03. Ans: (a)

01. Ans (a) 04. Ans: Decreases, Increases

mP = mQ = 2mm 10. Ans: (b)

12. Ans: (a)

13. Ans: (d) No. of dof = 3(L – 1) – 2J1 – J2 = 2

60 – 5 = –720 – 65 rd = r – 1 module

14. Ans: (c) rb = r cos   ≃ 29o

Sol: 2 = 100 rad/sec(CW+ve),

 5 = 140 CW = 140 CCW  p = 30 rad/sec

19. Ans: (a)

20. Ans: (d)

02. Area of the triangle (expansion)

d = 40 mm, t = 30 mm We know that maximum fluctuation of

06. Ans: (c) 09. Ans: (a)

11. Ans: 0.5625

06. Ans: (c) 09. Ans: (d)

07. Ans: (b) 10 20 40 Radius

12. Ans: (b) The vertical intercept gh signifies that

figure. when r = 6 cm; F = 38 N

In all, three curves of controlling force are

(a) for steady run ( neglecting friction) 14 N

F1 = 1500 N at r1 = 0.2 m and 5 Balancing

Take reference plane as ‘C’ mc cosc +mdcosd – 3 2  0

S.No m (r20)cm (l20)cm  mrcos mrsin mrlcos mrlsin

Common data Q. 06 & 07

06. Ans: (a) 10 cm

08. Ans: (a)

09. Ans: (a)