Machine Mechanics Guide

KM20203 – MEKANIK MESIN
Md. Mizanur Rahman

Phone : 0198418741
Email: m92504@gmail.com
https://sites.google.com/site/mdmizanurrahman1974
MECHANICS OF MACHINE
The subject theory of machine may be defined as that branch
of engineering science, which deals with the study of relative
motion between various parts of machine, and forces which
act on them.
Machine:
A machine is a device which receives energy in some
available form and utilizes it to do some particular type of
work.
Sub-division of Theory of Machine:

1. Kinematic, 2. Dynamics, 3. Kinetics, and 4. Statics
Kinematics:
• Relative motion between the various parts of the
machine.
Source : Internet
Dynamics:
• Deals with the forces and their effects, while acting
upon the machine parts in motion.
Source : Internet
Kinetics:
• Deals with the inertia forces which arise from the
combined effect of the mass and motion of the machine
parts.
Source : Internet
Statics:
• Deals with the forces and their effects, while the
machine parts are at rest.
Source : Internet
Resultant Force:
• The process of finding out the resultant force of the
given component forces, is known as composition of
forces.
1. Parallelogram law of forces:

2. Triangle law of forces
3. Polygon law for forces
1. Polygon law for forces

KINEMATIC OF MOTION
Mechanism:
• A Mechanism is a device which transforms
motion to some desirable pattern and
typically develops very low forces and
transmits little power.
• It can be define as “ A system of elements
arrange to transmit motion in a particular
fashion.”
KINEMATIC OF MOTION
• Velocities and acceleration

• Static and dynamic forces.
KINEMATICS OF MOTION:
Plane Motion Motion of a body is confined to only

one plane
Rectilinear Motion Motion is along a straight line path. It
is also known as translatory motion
Curvilinear Motion Motion along a curved path
KINEMATIC OF MOTION
Particulars Linear Motion Angular Motion
Initial Velocity u ω0
Final Velocity v ω
Acceleration a α
Distance Travel s θ
𝑣=𝑢+𝑎𝑡
𝜔=𝜔0 +𝛼𝑡
Final Velocity
12 12
Distance Traveled 𝑠=𝑢𝑡 + 𝑎𝑡 𝜃=𝜔0𝑡+ 𝛼𝑡
2 2
Final Velocity
𝑣2 =𝑢2 +2𝑎𝑠 𝜔2 =𝜔02 +2𝛼𝜃
KINEMATIC OF MOTION
NEWTON’S LAW OF MOTION
“Everybody continues in its state of rest or of uniform

motion in a straight line, unless acted upon by some
eternal force”
“The rate of change of momentum is directly

proportional to the impressed force and takes place in
the same direction in which the force acts”
“To every action, there is always an equal and opposite

reaction”
KINEMATIC OF MOTION
Mass:
• Amount of matter contained in a given body
Weight:
• Amount of pull, which earth exerts upon a given body.
Note: The confusion in the units of mass and weight is

eliminated to a great extend, in SI units. In this system, the
mass is taken in kg and force in Newton. The relation
between the mass and weight of the body is
KINEMATIC OF MOTION
MOMENTUM

Total motion possessed by the body.

Mathematically, Momentum
Initial momentum
Final momentum
Change of momentum
Rate of change of momentum
KINEMATIC OF MOTION
FORCE

According to the Newton’s Second law of motion “Force

directly proportional to the rate of change of momentum”
Where, k is a constant of proportionality
1 N = 1 kg x 1 m/s2 = 1 kg – m/s2
Note: A force equal in magnitude but opposite in direction

and collinear with the impressed force producing the
acceleration in known as inertia force ( = - m a)
KINEMATIC OF MOTION
Absolute and Gravitational Unit of Force:
When the same body is moving with an acceleration
of 9.81 ms-2, the force acting on the body is 9.81 N.
But 1 kg of mass, attached towards the earth with an
acceleration 9.81 ms-2 as 1 kg-force
• The kgf is called gravitational force or engineer’s

unit of force, whereas N is the absolute or
Scientific or SI unit force.
KINEMATIC OF MOTION
F
Moment of Force

O A
Moment of force l
Where, F is the force acting on the body and l is the

perpendicular distance of the point and line of
action of the force.
Couple:
F
A
O
x
F
KINEMATIC OF MOTION
Torque

It may be defined as the product of force and the

perpendicular distance of its line of action from the
given point or axis.
The torque is directly proportional to the rate of

change of angular momentum.
Unit N-m when I kg – m2 and α is rad/s2.

KINEMATIC OF MOTION
KINEMATICS FUNDAMENTAL / SIMPLE MECHANISM

Each part of a machine, which moves relative to some other part, is
known as kinematics link or simple link or element
Types of links
(a) Rigid link: The link does not go undergo any deformation while
transmitting motion. (connecting rod, crank etc.)
(b) Flexible Link: The link is partly deformed in a manner not to

affect the transmission of motion. (Belt, rope, chain and wire)
(c) Fluid Link: The link is formed by having a fluid in a receptacle

and the motion is transmitted through the fluid by pressure or
compression only. (Jack, Brakes)
KINEMATIC OF MOTION
KINEMATIC OF MOTION
STRUCTURE
Assemblage of a number of resistance bodies having no relative
motion between them and meant for carrying loads having
straining action. A railway bridge, a roof truss, machine frame etc.
DIFFERENCE BETWEEN MACHINE AND STRUCTURE

MECHANISM STRUCTURE
The parts of a machine move Don’t move
relative to one another
Transform its available energy No energy transformed in useful
into some useful works work
Links transmit both power and Transmits force only
motion
KINEMATIC OF MOTION
Binary joint, Ternary joint & Quaternary joint
Binary Joint One with two nodes

Ternary Joint One with three nodes
Quaternary Joint One with four nodes
KINEMATIC OF MOTION
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 the pair is known as kinematic pair.
KINEMATIC OF MOTION
Binary joint, Ternary joint & Quaternary joint
Binary Joint One with two nodes

Ternary Joint One with three nodes
Quaternary Joint One with four nodes
KINEMATIC OF MOTION
Sliding Pair
One elements can only slide relative to the other, the pair is
known as sliding pair.
KINEMATIC OF MOTION
Turning Pair
One elements can only turn or revolve about a fixed axis of
another link, the pair is known as turning pair.
KINEMATIC OF MOTION
Rolling Pair
Two elements of a pair are connected such a way that one
rolls over another fixed link.
KINEMATIC OF MOTION
Screw Pair
can turn about the other by screw thread.
KINEMATIC OF MOTION
Spherical Pair
can turn or swivels about the other fixed element.
KINEMATIC OF MOTION
CLASSIFICATION OF PAIRS
According to the type of contact between the elements
Lower pair and higher pair
Lower Pair: Two elements of a pair have a surface contact

when relative motion take place and surface of one element
slides over the surface of the other
Higher Pair: Two elements of a pair have a line or point

contact when relative motion take place and the motion
between the two elements is partially turning and partially
sliding.
KINEMATIC OF MOTION
KINEMATIC OF MOTION
CLASSIFICATION OF PAIRS
According to the type of closure
Self Closure Pair and Force Closure Pair
Self Closure Pair : Two elements of a pair are connected

together mechanically in such a way that only required kind
of relative motion occurs.
Force Closure Pair: Two elements of pair are not

connected mechanically but are kept in contact by the
action of external forces.
KINEMATIC OF MOTION
KINEMATIC OF MOTION
KINEMATIC OF MOTION
KINEMATIC CHAIN
It is combination of kinematic pairs,
joined in such a way that each link
forms a part of two pairs and the
relative motion between the links or
element is completely constrained.
KINEMATIC OF MOTION
KINEMATIC OF MOTION
KINEMATIC OF MOTION
KINEMATIC CHAIN

Relation for forming the kinematic chain

• The number of pairs (p) and links (l)
• The number of Links (l) and joints (j)
• Both equation are applicable only to kinematic chains in

which lower pairs are used.
• These equations may also be applied to kinematic chains
in which higher pairs are used. In that case each higher
pair may be taken as equivalent to two lower pairs with
and additional elements or link.
KINEMATIC OF MOTION
Problem 1: Consider the arrangement of three links AB,

BC and CA with pin joint at A, B and C As shown
in the Figure below. Determine either it is a
kinematic chain or locked chain.
B
Li n
3
nk
k2
Li
A C
Link 1
Figure: Arrangement of Three Links
KINEMATIC OF MOTION
Number of Links l = 3
Number of pair p =3
B
Number of joints j = 3
From equation (i) and (ii)
LHS > RHS
Since the arrangement of three
link does not satisfy the equations A C
(i) and (ii), therefore it is not a Link 1
kinematic chain. Figure: Arrangement of Three Links
Hence no relative motion is possible . This type of chain

is called locked chain and forms rigid frame or structure,
which is used bridge or trussess.
KINEMATIC OF MOTION
Problem 2: Consider the arrangement of four links AB,

BC, CD and DA with pin joint at A, B, C and D
As shown in the Figure below. Determine either it
is a kinematic chain or locked chain.
B C
A D
KINEMATIC OF MOTION
Number of pair p = 4
LHS = RHS
Since the arrangement of four link satisfy the equations
(i) and (ii), therefore it is a kinematic chain one degree of
free dom.
A chin in which a single link (example AD) is sufficient to
define the position of all other link is called a kinematic
chain one degree of free dom.
KINEMATIC OF MOTION
D D’ C C’
A B
Keeping the link AB fixed, the resulting displacements of

the remaining two links BC and CD are also perfectly
definite. So in the four bar chain, the relative motion is
completely constrained. It may be called constrained
kinematic chain.
KINEMATIC OF MOTION
Problem 3: Consider the arrangement of five links AB, BC, CD, DE
and EA with pin joint at A, B, C, D and E As shown in the Figure
below. Determine either it is a kinematic chain or locked chain.
Number of joints j = 5 C
From equation (i) and (ii) B
LHS < RHS
Since the arrangement of five links does
not satisfy the equations (i) and (ii), D
therefore it is not a kinematic chain.
A
This type of chain is called unconstrained

chain. E
KINEMATIC OF MOTION
Problem 4: Consider the arrangement of six as shown in

the Figure below. Determine either it is a kinematic chain
or locked chain.
F
C
D G
A B E
KINEMATIC OF MOTION
LHS = RHS
Since the arrangement of four link satisfy the equations
(i) and (ii), therefore it is a kinematic chain
A chain having more than four links are usually known

as compound kinematic chain.
KINEMATIC OF MOTION
TYPES OF JOINTS IN A CHAIN
Binary Joint : Two links are joined at the same connection.

Example: the figure below has four links and four binary joint.
C
3
D
4 2
A 1 B
To determine the nature of the binary joint chain the following

relation may be used
𝑗 + ℎൗ=2 3ൗ𝑙2 − 2 Where, h = number of higher pair

TYPES KINEMATIC OF MOTION
OF JOINTS IN A CHAIN
When h=0 the equation can be rewrite as
Applying this to the four bar chain where l = 4, and j = 4
LHS = RHS
Since the left hand side and right hand side are equal therefore
the chain is a kinematic chain.
KINEMATIC OF MOTION
Ternary Joint : Three links are joined at the same connection.
Example: the figure below has six links with three binary joint
and two ternary joint.
D
4 3
5
E C
6 2
A 1 B
Thereforethe equivalent binary joints in a chain . Since the
LHS and RHS of the equation (a) is equal so the chain is a
kinematic chain.
KINEMATIC OF MOTION

Quaternary Joint : Four links are joined at the same connection.
It is equivalent to three binary joint. In general, when l number of
links are joined at the same connection, the joint is equivalent to
(l-1) binary joint.
D D
E F E
F
G G
C
C
B A B
A
(a) (b)
Figure A has one binary joint, four ternary joints and two quaternary joints
KINEMATIC OF MOTION
Since one quaternary joint is equivalent to three binary joints and one
ternary joint is equal to two binary joint So in Figure (a) has 15 joints
and Figure (b) has 13 joints.
Now determine the chain is a kinematic chain or not
(a) l=11 and j=15
We know that
Since the left hand side is greater than the right hand side so the chain
is not a kinematic chain.
(b) l=10 and j = 13

Since the left hand side is equal to the right hand side so the chain is a
kinematic chain
SIMPLE MECHANISM
MECHANISM
When one of the link in the kinematic B
C
chain is fixed, the chain is known as
mechanism.
Simple Mechanism A D
When a mechanism has four link, is
known as simple mechanism
C
Compound Mechanism D
B
When a mechanism has more than four
link, is known as compound
mechanism E
A
SIMPLE MECHANISM
Difference between Machine and Mechanism
Machine Mechanism
The machine modifies mechanical The mechanism modifies and
work transmits
A machine may have many A mechanism is the outline of the
mechanisms for transmitting machine to produce definite motion
mechanical work or power between different link.
Degree of Freedom
Number of degree of freedom (movability) is define as the number of input
parameters which must be independently control in order to bring the
mechanism into a useful purpose.
Degrees of Freedom (DOF) of a rigid body is defined as the number of
independent movements it has. To determine the DOF of this body, must
consider the number of distinct ways the bar can be moved. The bar can be
translated along the x axis, translated along the y axis, and rotated about its
centroid.
SIMPLE MECHANISM
Degree of Freedom
DOF of a rigid body in a plane A planar revolute pair (R-pair) A planar prismatic pair (P-pair)
A spherical pair (S-pair)

SIMPLE MECHANISM
Degree of Freedom
C D Lin
3
Link k
n k4 3
D Li
Link
C
E
4
2
k
θ1
Lin
Link
θ2
k
Lin
θ
A B A B
Link 1
Link 1
In the four bar chain the variable θ determine the relative positions of all the links.
Therefore the number of degree of freedom of a four bar chain is one. On the other hand the
five bar chain two variable θ1, θ2 are needed to define completely the relative position of all
the links so the number of degree of freedom is two.
SIMPLE MECHANISM
Degree of Freedom
The number of degree of freedom of a mechanism
is given by
n = 3 ( l – 1) – 2 j – h
This equation is called kutzbach criterion for the
movability of a mechanism having plan motion
If there is no higher pair in the mechanism then,
n = 3 ( l – 1) – 2 j
SIMPLE MECHANISM
Degree of Freedom C
3 D
C 3
4 C
D 2 E
3 2 2
4 5
A B A B
A B
1 1 1
(a) (b) (c)
C C
3 3
D D 2
2 5
5 6
4 4
B A B
A
1 1
(d) 0 (e)
SIMPLE MECHANISM
Degree of Freedom
Note:
When n = 0, then the mechanism forms a structure and no relative
motion between the links
When n = 1, then the mechanism can be driven by a single input

motion
When n = 2, two separate input motion is necessary to produce

constrained motion
When n = -1, then the redundant constraints in the chain and it

forms a statically indeterminate structure.
SIMPLE MECHANISM
Degree of Freedom
Mechanism with higher Pair
The application of Kutzbach’s criterion applied to mechanism with a
higher pair or two degree of freedom joints.
2 2 3
3 4
1 1
This
figure has three link, two binary This
figure has four links, three binary joints and
joint and one higher pair. one higher pair
SIMPLE MECHANISM
Degree of Freedom
Grubler’s Criterion for Plan Mechanism
It
can apply only single degree freedom joint where movability of the
mechanism is unity. Substituting n = 1 and h = 0 in the Kutzbach
equation
This equation is known as the Grubler’s criterion for plan mechanism

with constrained motion.
• Note that a plan mechanism with a movability 1 and only single
degree of freedom joints can not have odd number of links. The
simplest possible mechanism of this type are a four bar mechanism
and a slider crank mechanism in which l=4 and j = 4.
Tutorial - 1
Problem 1: Determine the following chain is kinematic chair or not? Justify
your answer.
E
F
G
A B
Thanks a lot

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KM20203 – MEKANIK MESIN

Md. Mizanur Rahman

Sub-division of Theory of Machine:

1. Parallelogram law of forces:

1. Polygon law for forces

• Velocities and acceleration

Plane Motion Motion of a body is confined to only

Particulars Linear Motion Angular Motion

NEWTON’S LAW OF MOTION

“Everybody continues in its state of rest or of uniform

“The rate of change of momentum is directly

“To every action, there is always an equal and opposite

• Amount of matter contained in a given body

Note: The confusion in the units of mass and weight is

Total motion possessed by the body.

According to the Newton’s Second law of motion “Force

Where, k is a constant of proportionality

Note: A force equal in magnitude but opposite in direction

• The kgf is called gravitational force or engineer’s

Where, F is the force acting on the body and l is the

It may be defined as the product of force and the

The torque is directly proportional to the rate of

Unit N-m when I kg – m2 and α is rad/s2.

KINEMATICS FUNDAMENTAL / SIMPLE MECHANISM

(b) Flexible Link: The link is partly deformed in a manner not to

(c) Fluid Link: The link is formed by having a fluid in a receptacle

DIFFERENCE BETWEEN MACHINE AND STRUCTURE

Binary Joint One with two nodes

Binary Joint One with two nodes

Lower Pair: Two elements of a pair have a surface contact

Higher Pair: Two elements of a pair have a line or point

Self Closure Pair : Two elements of a pair are connected

Force Closure Pair: Two elements of pair are not

Relation for forming the kinematic chain

• The number of Links (l) and joints (j)

• Both equation are applicable only to kinematic chains in

Problem 1: Consider the arrangement of three links AB,

Hence no relative motion is possible . This type of chain

Problem 2: Consider the arrangement of four links AB,

Keeping the link AB fixed, the resulting displacements of

This type of chain is called unconstrained

Problem 4: Consider the arrangement of six as shown in

A chain having more than four links are usually known

Binary Joint : Two links are joined at the same connection.

To determine the nature of the binary joint chain the following

𝑗 + ℎൗ=2 3ൗ𝑙2 − 2 Where, h = number of higher pair

Applying this to the four bar chain where l = 4, and j = 4

TYPES OF JOINTS IN A CHAIN

(b) l=10 and j = 13

A spherical pair (S-pair)

If there is no higher pair in the mechanism then,

When n = 1, then the mechanism can be driven by a single input

When n = 2, two separate input motion is necessary to produce

When n = -1, then the redundant constraints in the chain and it

This equation is known as the Grubler’s criterion for plan mechanism

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