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Syllabus
Outline of This Presentation • INTRODUCTION (10 Hours)
Forces, couples, conditions of static equilibrium, free body diagrams, analysis of
mechanisms, spur gears, worm gears.
• Syllabus
• Recommended Books • DYNAMIC FORCE ANALYSIS (12 Hours)
Inertia forces, analysis of a floating link, rotation, method of virtual work. Dynamic
• Pre-requisite courses & knowledge analysis of Four-link mechanism, combined static and inertia force analysis of different
mechanisms, turning – moment diagrams, fluctuation of energy, flywheels.
• Audience pre-survey
• Importance & scope of the course • BALANCING (10 Hours)
Introduction, static balancing, dynamic balancing of several masses in different planes.
• Applications Balancing of inline engines, V-engines, radial engines, balancing machines.

• Basic concepts & definitions. • GOVERNORS (08 Hours)

Introduction, types of governors, sensitiveness of a governor, hunting, isochronisms,
stability, effort and power of a governor, controlling force.

• GYROSCOPE (05 Hours)

Angular velocity, angular acceleration, gyroscopic couple, gyroscopic effect on naval
ships, stability of an automobile, stability of a two wheel vehicle.

Recommended Books Pre-requisite courses &

1. Thomas Bevan, “Theory of Machines”, CBS Publishers, New prior knowledge
Delhi, 1984. Courses:
1) Engineering Mechanics
2. Rattan S.S., “Theory of Machines”, Tata McGraw Hill, 2005.
2) Mechanics of Solids

3. Rao J. S. and Dukkipati R.V., “Mechanism and Machine
Theory”, Wiley Eastern, 1992.
4. Shigley J. E. and Uicker J.J. , “Theory of Machines and
Mechanisms”, McGraw Hill, 1995.
5. Ballaney P. L., “Theory of Machines”, Khanna Publishers, 1999.
3) Theory of Machines (Kinematics of Machines)
Prior knowledge:
System of Units, Newton’s laws of motion, Force and
Moments of Forces, Couples, Elements of Kinematics – links,
inversion and mainly slider crank mechanism, Velocity &
acceleration diagrams of mechanisms.

6. Singh V. P., “Theory of Machines”, Dhanpat Rai & Sons, 2001.

Audience Pre-survey Importance this course

• Answer following questions:- • Previous course of Theory of Machines (TOM) includes discussion
about motion of links of mechanisms/machines BUT does not
1) What is the difference between ‘Machine’ & ‘Structure’ ?
include discussion about forces which results into that that
2) What do you mean by motion.

a) a ‘Kinematic Link’ ?
• In TOM you have dealt with – length/displacement of the links (L),
b) a ‘Kinematic Pair’ ? time (T) AND also Velocity (LT-1) & Acceleration (LT-2 ) however not
dealt with Force (MLT-2 - which also involves mass - M).
c) a ‘Kinematic Chain’ ?

d) a ‘Kinematic Inversion’ ?
• Difference between Design of Machine Elements (Machine
Design) AND Dynamics of Machinery
3) State applications of Slider crank mechanism.
• Important products:-
4) What is Instantaneous centre ?
– All mechanisms/machines (Not only the that magical one -
5) What is the purpose of Gears in Machinery/Automobiles ? Slider crank mechanism)

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Scope of this course List of Applications

What you would know after learning this course ?
• IC Engines
1) Understand the conditions of the static equilibrium and free body
• Compressors
diagrams and analyse different types of governors.
• Crank Press
2) Apply the knowledge of static and dynamic force analysis in
• Gears
existing mechanisms .
• Rotors of Turbine
3) Apply the concept of balancing for rotating and reciprocating
unbalanced masses .
• Aircrafts
• Ships
4) Analyze the stability of automobile, naval ship and other related
devices considering gyroscopic effect.
• Vehicles
• Any type of Mechanism/Machine
5) Design and analysis of the flywheel considering turning moment
diagram.

Types of Forces Rectangular Components of Force Vector

• Applied (External) forces: When two or more bodies are connected to form
a group or system, the forces acting on this system from outside are called
applied (or external) forces.
• Characteristics of a Force-
• Constraint (Internal) forces: The action and reaction forces between any – Point of Application
two of the connected bodies are called constraint (or internal) forces. – Magnitude
– Direction
– constrain the connected bodies to behave in a specific manner defined by
• a line along which the force
the nature of the connection.
acts
– no net force effect on the system of bodies being considered.
• sense
– usually not considered further when both the action and the reaction Components of Force Vector
forces act on bodies of the system being considered.
– However, considering a body, or a system of bodies, to be isolated from its
surroundings, only one of each pair of constraint forces acts on the system
being considered at a point of contact on the separation boundary. The
other constraint force, the reaction, is left acting on the surroundings.

Couple Couple – Important Characteristics

• Two equal and opposite forces along • In vector form, the moment, M is the
two parallel but noncollinear straight cross-product of the position-difference
lines in a body cannot be combined to vector RBA and the force vector F,
produce a single (null) resultant force
on the body. M= RBA × F (1)
• Any two such forces acting on the body
constitute a couple. • Consider along side figure.
For two forces F and F’ shown in figure : – F and F’ are two equal-sized,
opposite, and parallel forces.
– Choose any point on each line of The moment of the couple is the sum
• h is the arm of the couple is the perpendicular distance between their lines of
action and of the moments of the two forces and
action,
– the positions of these points can be is
defined by vectors RA and RB M= RA ×F’ + RB × F (3)
• M is the moment of the couple formed by F and F’. M is the free vector. This
– The “relative” position, or position-
vector is directed normal to the plane of the couple, and the sense is in But F’ =−F, and, therefore, using Eq.
difference vector is defined as
accordance with the right-hand rule. (2), Eq. (3) can be re-written as

•The magnitude of the moment is the product of the arm (h) and the magnitude RBA=RB−RA (2) M= (RB − RA)×F = RBA × F (4)
of one of the forces (F). The plane of the couple is the plane containing the two
lines of action. That is M = hF.

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Couple – Important Characteristics (2)

Couple – Important Characteristics (3)
1. Since RA and RB define any choices of points on
the lines of action of the two forces, vector RBA is 2. The value of the moment of the couple is independent of the choice of the
not restricted to perpendicularity with F and F’. reference point about which the moments are taken, since vector RBA is the same for
all positions of the origin.
This demonstrates that the value of the moment
is independent of how RBA is chosen. The 3.The moment vector M is independent of any particular origin or line of application
magnitude of the moment can be obtained as and is thus a free vector.
follows: Resolve RBA into two components RnBA
and RtBA perpendicular and parallel to F,
respectively. 4. The forces of a couple can be rotated together within their plane, keeping their
magnitudes and the distance between their lines of action constant, or they can be
M= (RnBA + RtBA)×F.
translated to any parallel plane, without changing the magnitude, direction, or
But RnBA is the perpendicular between the two lines of action, and RtBA is parallel to F. sense of the moment vector.

Therefore, RtBA ×F = 0, and M= RnBA × F is the moment of the couple. Eq.(5) 5. Two couples are equal if they have the same moment vectors, regardless of the
forces or moment arms. This means that it is the vector product of the two that is
Since RnBA = RBA sin θ, where θ is the angle between RBA and F, the magnitude of the significant and not the individual values.
moment is

M = (RBA sin θ )F = hF Eq. (6 )

Free Body Diagrams Advantages of using Free Body Diagrams

• Body - an entire machine, several
connected parts of a machine, a group
of parts, a single part, or a portion of a
machine part.
• A free-body diagram is a sketch or
drawing of a body or bodies, isolated
from the rest of the machine and its
surroundings, upon which the forces
and moments are shown in action.
The diagram is called “free,” since the machine part, or parts, or portion of the system
has been freed (or isolated) from the remaining machine elements, and their effects
have been replaced by forces and moments.
1. They make it easier to translate words, thoughts, and ideas
Body Features shown in Free Body
Diagram into physical models.
Machine the forces shown on it are the 2. They assist in seeing and understanding all facets of a
part or applied (external) forces and problem.
system moments exerted by adjacent or
of parts connecting parts that are not part 3. They show the constraint forces and moments acting on the
of the diagram system.
Portion the forces and moments shown 4. They help in planning an approach to a problem.
of a part acting on the cut (separation) 5. They make mathematical relations easier to see or formulate.
surface are constraint (internal)
6. Their use makes it easy to keep track of progress and helps in
forces and moments.
making simplifying assumptions.
7. They are useful for storing methods of solution for future
reference.
8. They assist our memory and make it easier to present and
explain our work to others.

Illustrations & Conventions Illustrations & Conventions – (2)

• Point to be noted:
1) There is no component of a
constraint force or moment
transmitted along an axis
where motion is possible (that
is along with the direction of a
joint variable this is consistent
with the assumption of no
friction.
2) If one of these pair elements
were disposed to transmit a
force, or a moment, to its
mating element in the
direction of the joint variable,
in the absence of friction, the
tendency would result in
motion of the joint variable
rather than in the transmission
of a force or moment.
3) In the case of higher pairs,
the constraint forces are
always normal to the
contacting surfaces in the
absence of friction.
4) The force that link i exerts on
to link j is denoted Fij
whereas the reaction to this
force is denoted Fji and is
the force from link j acting
back onto link i.
Fig. the constraint forces acting between the elements of
Fig. the constraint forces acting between the
lower pairs – (a) revolute turning pair & (b) prism or
prismatic pair when all friction forces are assumed to be
elements of lower pairs – (c) screw of helical pair &
(d) cylinder or cylindrical pair when all friction forces
zero.
are assumed to be zero.

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Illustrations & Conventions – (3) Illustrations & Conventions – (4)

5) When the sense of a force 6) When the orientation is also unknown
or moment is unknown,
the diagram showing this
force or moment is drawn
with arrowheads at both (a) the diagram either shows a broken (zig-zag)
line for the shaft of the arrow.
ends

OR

Fig. the constraint forces acting between (b) it shows multiple components for the force
the elements of lower pairs – (c) sphere or or moment.
globular pair & (d) flat or planar pair when
all friction forces are assumed to be zero.

Conditions of Equilibrium
Conditions of Equilibrium
• A body or group of bodies is said to be in equilibrium if all the
forces exerted on the system are in balance (As per Newton’s Mathematically, these two statements of conditions of equilibrium can be written as
laws, no acceleration results).

• Static equilibrium :
• No motion takes place (Acceleration is zero)), meaning that all velocities
are zero.

• Dynamic equilibrium: For problems involving forces acting only in one single plane (xy plane):
• No acceleration may imply that velocities do exist but remain constant.

• In any case, system of bodies is in equilibrium if and only if:

– 1. The vector sum of all forces acting upon it is zero.
– 2. The vector sum of the moments of all forces acting Where it implies that Z is the direction of Moment vector M as all forces are
about an arbitrary axis is zero. acting only in xy plane

Condition of Equilibrium – (2) Three force member

Condition of Equilibrium – (1) Two force member
• A member - a rigid body subjected
only to forces (no applied moment)
• For a two force member (For a
body under the action of 2 forces
only) the two forces must the
equal opposite and collinear.
• The forces must be acting along
the line joining A &B.
• Mathematically,
FA= - FB (for equilibrium)
• Three force member (A body with
three active forces and no applied
moments- three forces, FA, FB , FC
are assumed coplanar)
• For equilibrium, these 3 forces
must be concurrent and the force
polygon will be a triangle.
Fig. (c) three-force member is not in
equilibrium; (d) three-force member
Figure (a) Two-force member is not in is in equilibrium.
equilibrium; (b) two-force member is in
equilibrium;

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Condition of Equilibrium – (3)

a body acted upon by 2 forces and a torque
• For equilibrium, the two forces
must form a counter couple. T
F
• Therefore the forces must be
h
equal, opposite and parallel and
their senses must be so as to
F
oppose the couple acting on the
Body.