Fall 2023-24

School of Mechanical Engineering

BMEE207L KINEMATICS AND DYNAMICS OF MACHINES

MODULE 5
Dynamic Force Analysis

By
Dr. T. CHRISTO MICHAEL
Outline
• D’ Alembert’s Principle
• Dynamic Analysis of Planar Mechanism
– 4-bar Mechanism
– Slider-crank mechanism
• Case Studies

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 D’ Alembert’s Principle

∑𝐹 = 𝑚𝐴𝐺 ∑𝑭 + (−𝒎𝑨𝐆 ) = 𝟎 𝐼𝐺 𝛼 𝑘2𝛼

ℎ= =
𝑚𝐴𝐺 𝐴𝐺
∑𝑀G = 𝐼𝐺 𝛼
∑𝑴𝐆 + (−𝑰𝐆 𝜶) = 𝟎
k - Radius of gyration
h – perpendicular distance of
the force from centre of mass
AG- Acceleration of centre of mass of the body
α - Angular acceleration of the body IG- Mass moment of inertia about CG 3
Force Analysis of a Link/Rigid Body

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Force Analysis of 4-bar Mechanism Problem 1
Find the forces at the joints and the driving torque needed to
maintain motion with the given acceleration for the position of the
linkage shown.

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Problem 1
GIVEN DATA:

L, mm θ, deg ω, rad/s α, rad/s2 aG, m/s2 m, kg IG, kg-m2

Link 2 127 60 25 -40 47.722 0.68 0.006
@ - 86.34°
Link 3 381 20.92 -5.877 120.609 92.609 3.493 0.011
@ 226.51°
Link 4 254 104.41 7.933 276.423 35.987 2.631 0.09
@207.24°

CG of Link 2 is at 76.2 mm @ 30° from the line of centers (LRCS)

CG of Link 3 is at 228.6 mm @ 45° off the line of centers (LRCS)
CG of Link 4 is at 127 mm @ 0° on the line of centers (LRCS)
External Force & Torque:
1. An external force of 355.84 N @ 330° acts on link 3 in the GCS,
applied at point P at 76.2 @ 100° from the CG of link 3 (LRCS)
2. There is an external torque on Link 4 of 13.558 N-m (GCS)
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Free Body Diagram
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 1 0 1 0 0 0 0 0 0 𝐹12 𝑥 2.073

0 -1 0 1 0 0 0 0 0 𝐹12 𝑦 -32.385

𝐹32 𝑥 -0.24
0.0762 0 -0.0338 0.0635 0 0 0 0 1

𝐹32 𝑦 -530.618
0 0 -1 0 1 0 0 0 0
x 𝐹43 𝑥 = -56.908
0 0 0 -1 0 1 0 0 0
𝐹43 𝑦 14.507
0 0 -0.2087 0.0933 0.0727 0.2626 0 0 0
𝐹14 𝑥 -84.16
0 0 0 0 -1 0 1 0 0
𝐹14 𝑦 -43.475
0 0 0 0 0.123 0.0318 0.123 0.0318 0
𝑇12 11.32

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ANS:

𝐹12 𝑥 -534.58

𝐹12 𝑦 -428.55

𝐹32 𝑥 536.65

𝐹32 𝑦 396.16
=
𝐹43 𝑥 6.03

𝐹43 𝑦 339.25

𝐹14 𝑥 -78.13

𝐹14 𝑦 295.78

𝑇12 33.47

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 Dynamic Analysis of Slider Crank Mechanism
Velocity and Acceleration of Piston

𝒍
𝒏=
𝒓

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Velocity of Piston

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Acceleration of Piston

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Engine Force Analysis

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Engine Force Analysis
(mass of connecting rod is not
considered)

Force analysis on piston

∑𝐹𝑦 = 0
∑𝐹𝑥 = 𝑚𝑎𝑥
𝐹𝑝 − 𝐹𝑐 cos 𝛽 = 𝑚𝑎𝑥 𝐹𝑛 − 𝐹𝑐 sin 𝛽 = 0

𝐹𝑝 − 𝐹𝑐 cos 𝛽 − 𝑚𝑎𝑥 = 0
𝐹𝑝 − 𝐹𝑐 cos 𝛽 − 𝐹𝑏 = 0 Friction NOT considered

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Piston Effort

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Force along the connecting rod

Thrust on the sides of cylinder

Crank effort

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Thrust on the bearings

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Turning Moment on Crankshaft
(mass of connecting rod is not considered)

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Problem 1
A horizontal gas engine running at 210 rpm has a bore of 220 mm
and a stroke of 440 mm. The connecting rod is 924 mm long and
the reciprocating parts weigh 20 kg. When the crank has turned
through an angle of 30° from the inner dead centre, the gas
pressure on the cover and the crank sides are 500 kN/m2 and 60
kN/m2 respectively. Diameter of the piston rod is 40 mm. Determine,
(i) Turning moment on the crank shaft
(ii) Thrust on the bearings
(iii) Acceleration of the flywheel which has a mass of 8 kg and
radius of gyration of 600 mm while the power of the engine is
22 kW

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Problem 2
The crank and connecting rod of a vertical petrol engine, running at
1800 rpm are 60 mm and 270 mm respectively. The diameter of the
piston is 100 mm and the mass of the reciprocating parts is 1.2 kg.
During the expansion stroke when the crank has turned 20° from
the top dead centre, the gas pressure is 650 kN/m2 . Determine the
(i) Net force on the piston
(ii) Net load on the gudgeon pin
(iii) Thrust on the cylinder walls

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Problem 3
In a vertical double-acting steam engine, the connecting rod is 4.5
times the crank. The weight of the reciprocating parts is 120 kg and
the stroke of the piston is 440 mm. The engine runs at 250 rpm. If
the net load on the piston due to the steam pressure is 25 kN when
the crank has turned through an angle of 120° from the top dead
centre, determine the
(i) Thrust in the connecting rod
(ii) Pressure on slide bars
(iii) Tangential force on the crank pin
(iv) Thrust on the bearings
(v) Turning moment on the crank shaft

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