Cam & Follower:

A cam is a common precision rotating machine element having single

degree of freedom that accept an input motion and imparts a very
distinct reciprocating or oscillating motion to a mating component
known as follower. (1)

 e.g. the valve train of an automotive engine,

in which a linear reciprocating motion of a valve
stem is achieved by the rocker arm that is dragged
on a cam of a camshaft which is, in turn, driven by
the engine. This cam mechanism controls the
opening and closing of the exhaust pathway during
the combustion cycle.
Uses:
• Cams are used when timing & distinct displacements
are precisely sequenced.
• In fact, cams can be used to obtain unusual or irregular
motion that would be difficult to obtain from other
 Linkages.
• They are often used in factory automation equipment, as they can
sequence displacements in a cost efficient way.
• Paper cutting machines, spinning and weaving machineries, etc.
Types of Cams:
Majority of cams are generally categorized into three different types as:
 Plate, also called Disk or Radial cam
• The simplest & most common type of cam that is
formed on a disk or plate cam.
• The radial distance from the center of the disk
around the circumference of the disk is varied which
gives the follower a prescribed radial motion.
 Cylindrical or Drum Cam
• This type of cam is formed, when a groove is cut
into the surface of cylinder, with a varying location
along the axis of rotation.
• By riding in the groove, the follower move along
the axis of rotation.
 Linear Cam
• This type of cam is formed, when a groove
is cut into the translated block with a distance
that varies from the plane of translation.
• By riding in the groove, the follower move
perpendicular to the plane of translation.
Types of Followers:
Followers are classified according to their motion, shape, and position.
 Follower Motion
• Translating Follower: their motion is constrained
to straight line.
• Swinging Arm or Pivoted Follower: their motion
is constrained to rotational motion.
 Follower Position
• The follower position relative to the center of cam
rotation is influenced by any spacing requirements of
the machine.
• In-line Follower: It exhibits straight line motion,
 such that the line of translation extends through the
center of rotation of the cam.
• Offset Follower: It exhibits straight line motion,
such that the line of the motion is offset from the
center of rotation of the cam.

 Follower Shape
• Knife-edge Follower: It’s the simplest form of cam
formed to a point and drags on the edge of the cam.
-- High contact stresses are produced due to its sharp
edge and hence wears rapidly. So, this type of follower
is rarely used.
• Roller Follower: The most commonly used cam
which is pinned to the follower stem and rolls on the
cam surface as the cam rotates. The friction and contact
stresses are much less than those for the knife-edge
follower.
-- However, a roller follower can possibly jam during
steep cam displacements.
 o Flat-face Follower:
• It’s formed with a large flat surface available to contact the cam.
• It can be used with a steep cam motion, so does not jam.
• Used where quick motions are required.
• The frictional forces are greater than those of the roller follower
because of the intense sliding contact between the cam and follower.
o Spherical-face or Curved-shoe Follower:
• It’s formed with a radius face that contact the cam.
• Similar to the flat-face follower, it can also be used with a steep cam
motion without jamming.
• Like the flat-face follower, the frictional forces are greater than those
of the roller follower.

Displacement Diagrams:

During the rotation of a cam through one cycle, the follower executes a
series of events as demonstrated in graphic form. This form is known as
follower displacement diagram as shown in Fig. which is a plot of follower
displacement versus time, or cam angular displacement.
• It is extremely useful in determining cam shape. (2)
This diagram is indispensable in that the follower motion and kinematics can
be explored without regard to the shape of the cam itself.
• The x-axis represents one cycle of the input, Θ (usually, one revolution of
the cam) measured in degrees or time in seconds.
• The y-axis represents the follower travel Y in inches or millimeters, and for
a reciprocating follower, is usually drawn at full scale to help in the layout of
the cam.
• In rise, the displacement of the follower is away from the cam center and
the total rise is called the lift.
• In return, the displacement of follower is toward the cam center.
• Portions of the cycle during which the follower is at rest are referred to as
dwells. (3)

 Y = Y (Θ)
 For kinematic analysis, the follower displacement Vs. time curve is
preferred while for designing a cam shape, the follower displacement
versus cam angle curve is desired.
 Relating cam rotation & time is straightforward as:
∆𝜃
𝜔𝑐𝑎𝑚 = Eq. (a) (5)
∆𝑡

☞ For cam rotating at a constant velocity, time can be related to angular

displacement and vice versa.
 If cam rotation during an interval of follower motion is typically
expressed by 𝛽, the time consumed during an interval is designated as
T. The amount of follower rise (or fall) during an interval is designated
as H; then, Eq. (a) can be written for an arbitrary interval 𝑖 as:
𝛽𝑖 = (𝜔𝑐𝑎𝑚 )(𝑇𝑖 ) Eq. (b)
Eq. (b) can also be used to determine the required speed of the cam,
by observing the time consumed during one cycle.
1 𝑟𝑒𝑣
𝜔𝑐𝑎𝑚 = Eq. (c) (6)
𝑇𝑖
where
𝑇𝑖 = the total time for all motion intervals that comprise one cycle.

Sample Problem L4_1:

A cam is to be used for a platform that will
repeatedly lift boxes from a lower conveyor to an
upper conveyor. This machine is shown in the Fig.
Plot (freehand) a displacement diagram and
determine the required speed of the cam when the
follower motion sequence is as follows:
1. Rise 2" in 1.2 s 2. Dwell for 0.3 s
3. Fall 1" in 0.9 s 4. Dwell 0.6 s
5. Fall 1" in 0.9 s
 • Calculate the Required Rotational Speed of the Cam:
1 𝑟𝑒𝑣 1 60 𝑠
𝜔𝑐𝑎𝑚 = = = 0.256 𝑟𝑒𝑣 𝑠 = 15.38 𝑟𝑝𝑚
𝑇𝑖 3.9 1 𝑚𝑖𝑛.
(8)

• Determine the Cam Rotation for Each Follower Motion Interval:

The angular increment of the cam consumed by each follower motion
sequence is determined by

Similarly for other intervals:

 • Plot the Displacement Diagram:
The resulting displacement diagram with both cam angle and time displayed
on the horizontal axis is shown in the following plot (not to scale).
Quiz No. 1