TME 322: Mechanics of Machines

Units: 4
Lecture Hours: 60
Practical Hours: 45
Session: 2023/2024

Lecturer: Dr. R. Abu

COURSE CONTENTS
Elementary study of machine kinematics
and dynamics.
Velocity and acceleration diagrams of link
mechanisms;
Flyweels.
Balancing of reciprocating and rotating
masses.
Gears and gear trains.
Cams.
Gyroscopes.
Lecturer: Dr. R. Abu
RECOMMENDED TEXTBOOKS
1. Khurmi, R. et al. 2005. Theory of Machines, 14th
ed. New Dehli: S. Chand & Co. Ltd.

2. Bansal R.K. 2005. Theory of Machines. Laxmi

Publications.

3. Sadhu Singh. 2012. Theory of Machines:

Kinematics and Dynamics. 3rd ed. Delhi: Pearson.

4. Theory of Machines and Mechanisms by Joseph E.

Shigley and John J. Uicker Jr
Lecturer: Dr. R. Abu
Elementary study of machine
kinematics and dynamics

Lecturer: Dr. R. Abu

INTRODUCTION

Theory of machine is the branch of science

which deals with the study of relative
motion between the various parts of a
machine, and forces which act on them.

The theory of machine may be divided into:

 Kinematics
 Dynamics

Lecturer: Dr. R. Abu

 Kinematics is the branch of theory of
machine which deals with the study of
relative motion between the various parts of
the machines.

 Here the various forces involved in the

motion, are not considered.

 Thus kinematics is the study to know the

displacement, velocity and acceleration of a
part of the machine.
Lecturer: Dr. R. Abu
 Dynamics is the branch of theory of machine
which deals with the study of various forces
involved in the parts of the machines.

 The forces may be either static or dynamic.

 Dynamics is further divided into kinetics and

statics.

Lecturer: Dr. R. Abu

Kinetics is the branch of theory of machine
which deals with various forces when the
body is moving.

Statics is the branch of theory of machine

which deals with various forces when the
body is stationary.

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SUMMARY

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Fig. 1. Moving parts subjected to forces

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Mechanism is defined as a combination
of rigid or restraining bodies which are so
shaped and connected that they move
upon each other with definite relative
motion.

Fig. 2. Slider-crank mechanism

Lecturer: Dr. R. Abu
The slider-crank mechanism converts the
reciprocating motion of the slider into a rotary
motion of the crank or vice-versa.

A machine is a mechanism or a combination of

mechanisms which not only imparts definite
motions to the parts but also transmits and
modifies the available mechanical energy into
some kind of useful energy. This useful energy
may be in the form of some kind of desired
work.
Lecturer: Dr. R. Abu
For example, a slider-crank mechanism will
become a machine when it is used in an
automobile engine by adding valve
mechanism etc. In that case, it will convert
the available energy (force on the piston)
into the desired energy (i.e. torque on the
crank shaft). This torque will move the
vehicle.

Lecturer: Dr. R. Abu

A link is defined as a member or a
combination of members, connecting other
members and having motion relative to
them. A slider mechanism consists of the
following four links (Fig. 2):
i. Frame
ii. Crank
iii. Connecting rod and
iv. Slider

Lecturer: Dr. R. Abu

The slider (i,e. link 4) reciprocates in guide,
which is connected to frame. Hence guide
also becomes link 1 (i.e. frame).

Fig. 2. Slider-crank mechanism

Lecturer: Dr. R. Abu

A joint of two links having relative motion between
them is known as a kinematic pair.

In a slider-crank mechanism, link 2 rotates relative

to link 1 and hence links 1 and 2 is a kinematic pair.

Similarly, link 2 is having motion relative to link 3

and hence links 2 and 3 is also a kinematic pair. Link
3 is having motion relative to link 4.

Also link 4 is having motion relative to link 1. Hence

links 3, 4 and 1 constitute kinematic pair.

Lecturer: Dr. R. Abu

Classification of Kinematic Pairs
The kinematic pairs may be classified
according to the following considerations :

1. According to the type of relative

motion between the elements. The
kinematic pairs according to type of
relative motion between the elements
may be classified as discussed below:

Lecturer: Dr. R. Abu

(a ) Sliding pair: When the two elements of a pair
are connected in such a way that one can
only slide relative to the other, the pair is known as
a sliding pair.

The piston and cylinder, cross-head and guides of a

reciprocating steam engine, ram and its guides in
shaper, tail stock on the lathe bed etc. are the
examples of a sliding pair. A little consideration will
show, that a sliding pair has a completely
constrained motion.

Lecturer: Dr. R. Abu

(b) Turning pair: When the two elements of a
pair are connected in such a way that one can
only turn or revolve about a fixed axis of
another link, the pair is known as turning pair.

A shaft with collars at both ends fitted into a

circular hole, the crankshaft in a journal bearing
in an engine, lathe spindle supported in head
stock, cycle wheels turning over their axles etc.
are the examples of a turning pair. A turning
pair also has a completely constrained motion.

Lecturer: Dr. R. Abu

(c) Rolling pair: When the two elements of a pair
are connected in such a way that one rolls over
another fixed link, the pair is known as rolling pair.

Ball and roller bearings are examples of rolling

pair.

Lecturer: Dr. R. Abu

(d) Screw pair: When the two elements of a pair
are connected in such a way that one element can
turn about the other by screw threads, the pair is
known as screw pair.

The lead screw of a lathe with nut, and bolt with a

nut are examples of a screw pair

Lecturer: Dr. R. Abu

(e) Spherical pair: When the two elements of a
pair are connected in such a way that one element
(with spherical shape) turns or swivels about the
other fixed element, the pair formed is called a
spherical pair.

The ball and socket joint, attachment of a car

mirror, pen stand etc., are the examples of a
spherical pair.

Lecturer: Dr. R. Abu

2. According to the type of contact
between the elements. The kinematic
pairs according to the type of contact
between the elements may be classified
as discussed below :

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(a ) Lower pair: When the two elements of a
pair have a surface contact when relative
motion takes place and the surface of one
element slides over the surface of the other, the
pair formed is known as lower pair.

It will be seen that sliding pairs, turning pairs

and screw pairs form lower pairs.

Lecturer: Dr. R. Abu

(b) Higher pair: When the two elements of a pair
have a line or point contact when relative motion
takes place and the motion between the two
elements is partly turning and partly sliding, then
the pair is known as higher pair.

A pair of friction discs, toothed gearing, belt and

rope drives, ball and roller bearings and cam and
follower are the examples of higher pairs.

Lecturer: Dr. R. Abu

3. According to the type of closure.
The kinematic pairs according to the
type of closure between the elements
may be classified as discussed below:

Lecturer: Dr. R. Abu

(a ) Self closed pair: When the two elements
of a pair are connected together
mechanically in such a way that only
required kind of relative motion occurs, it is
then known as self closed pair.

The lower pairs are self closed pair.

Lecturer: Dr. R. Abu

(b) Force - closed pair: When the two elements
of a pair are not connected mechanically but are
kept in contact by the action of external forces,
the pair is said to be a force-closed pair.

The cam and follower is an example of force

closed pair, as it is kept in contact by the forces
exerted by spring and gravity.

Lecturer: Dr. R. Abu

Kinematic Chain
When the kinematic pairs are coupled in such a way
that the last link is joined to the first link to transmit
definite motion (i.e. completely or successfully
constrained motion), it is called a kinematic chain.

In other words, a kinematic chain may be defined

as a 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 elements
is completely or successfully constrained.

Lecturer: Dr. R. Abu

For example, the crankshaft of an engine forms a
kinematic pair with the bearings which are fixed
in a pair, the connecting rod with the crank forms
a second kinematic pair, the piston with the
connecting rod forms a third pair and the piston
with the cylinder forms a fourth pair. The total
combination of these links is a kinematic chain.

Lecturer: Dr. R. Abu

If each link is assumed to form two pairs with two
adjacent links, then the relation between the
number of pairs ( p ) forming a kinematic chain
and the number of links ( l ) may be expressed in
the form of an equation :
l = 2p – 4 (i)

Since in a kinematic chain each link forms a part

of two pairs, therefore there will be as many links
as the number of pairs.

Lecturer: Dr. R. Abu

Another relation between the number of links ( l )
and the number of joints ( j ) which constitute a
kinematic chain is given by the expression :
(ii)

The equations (i) and (ii) 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 an additional element or link.
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EXAMPLE 1
Use equations (i) and (ii) to determine whether
the link in Fig. Ex1 is a kinematic chain or not.

Fig. Ex1. Three-link mechanism

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Solution

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Now from equation (ii),

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Since the arrangement of three links, as shown
in Fig. Ex1, does not satisfy the equations (i) and
(ii) and the left hand side is greater than the
right hand side, therefore it is not a kinematic
chain and hence no relative motion is possible.
Such type of chain is called locked chain and
forms a rigid frame or structure which is used in
bridges and trusses.

Lecturer: Dr. R. Abu

EXAMPLE 2
Use equations (i) and (ii) to determine whether
the link in Fig. Ex2 is a kinematic chain or not.

Fig. Ex2. Four-link mechanism

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Solution

Lecturer: Dr. R. Abu

Since the arrangement of four links, as shown
in Fig. Ex2, satisfy the equations (i) and (ii),
therefore it is a kinematic chain of one degree
of freedom.

Note that a degree of freedom is defined as

number of independent motion (both translation
and rotational) a body can have.

Lecturer: Dr. R. Abu

A little consideration will show that in Fig. 5.7, if a
definite displacement (say θ) is given to the link AD,
keeping the link AB fixed, then the resulting
displacements of the remaining two links BC and CD
are also perfectly definite. Thus we see that in a four
bar chain, the relative motion is completely
constrained. Hence it may be called as a constrained
kinematic chain, and it is the basis of all machines.

Lecturer: Dr. R. Abu

EXAMPLE 3
Use equations (i) and (ii) to determine whether
the link in Fig. Ex3 is a kinematic chain or not.

Fig. Ex3. Five-link mechanism

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Solution

Lecturer: Dr. R. Abu

Since the arrangement of five links, as shown in
Fig. Ex3 does not satisfy the equations and left
hand side is less than right hand side, therefore it
is not a kinematic chain. Such a type of chain is
called unconstrained chain i.e. the relative motion
is not completely constrained. This type of chain
is of little practical importance.

Lecturer: Dr. R. Abu

EXAMPLE 4
Use equations (i) and (ii) to determine whether
the link in Fig. Ex4 is a kinematic chain or not.

Fig. Ex4. Six-link mechanism

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Solution
In this case
l= 6, p= 5, and j= 7

Lecturer: Dr. R. Abu

Since the arrangement of six links, as shown in
Fig. Ex4, satisfies the equations (i.e. left hand side
is equal to right hand side), therefore it is a
kinematic chain.

Note :A chain having more than four links is

known as compound kinematic chain.

Lecturer: Dr. R. Abu