Department of Mechanical and Industrial Engineering

ME 3455: Dynamics and Vibrations (Spring 2017)

[Lab 1: Whitworth Quick Return Mechanism]

Submitted by
[Bocar Zilla-Ba]

Abstract
This experiment was conducted to view the relationship between angular
motion and linear motion. The apparatus used to express this was the
Whitworth Quick Return Mechanism. The specific purpose of the experiment
was to show the relationship between pin position on the mechanism and the
velocity and acceleration of the slider. To study this three test were run at
three different pin positions. Each test also was run at different RPMs, a
fast one and a slow one. In conclusion of this experiment it was found
that the greater the position of the pin, the greater the velocity and
acceleration would be.

Date Submitted: 2/21/17

Date Performed: 1/31/17
Lab Section: 03
Course Instructor: Srinath Chakravarthy

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 Lab TA: Chenye Yang
Introduction
In this experiment, the Whitworth Quick Return Mechanism was used to
evaluate the effect of different pin positions of linear velocity and
acceleration. The Whitworth Quick Return Mechanism was a device created
by Joseph Whitworth to drive a cutting tool on a metal-shaping machine. The
machine converts rotary motion into linear motion. The purpose of the
machine was to have a slow cutting motion to cut through metal, and a quick
return motion in order to save time.
In this experiment, the Go!Motion sensor was used to calculate the speed
and acceleration of the moving slider. The data was collected over a four
cycle span to unsure a good sample was obtained. The experiment was run
three times with different pin locations used for each iteration. For each
position data was collected for two different speeds, a fast speed and a
slow speed. The data was recorded and later converted to a Microsoft Excel
file.
Experimental Results
The first part of the experiment was calibrate the machine, this was done by
measuring out 2 inch segments and seeing the distance the sensor recorded.
Table 1: Calibration values
Measured value Sensor value
(in) (m)
-10 in -.253 m
-8 in -.202 m
-6 in -.151 m
-4 in -.101 m
-2 in -.051 m
0 in 0m
2 in .044 m
4 in .098 m
6 in .153 m
8 in .207 m
10 in .255 m
It was decided that differences in the values was negligible, and therefore
the position values taken by the sensor were correct, and did not have to be
accounted for.

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The next part of the experiment was to find certain values and
measurements associated with the apparatus.
Table 2: Needed Measurements
Number of Powered Gear teeth 18
Number of Main Gear teeth 36
Height from pivot to the slider .578
m
Height from pivot to the center of .12 m
Main Gear
Radius of Pin Position A .065
m
Radius of Pin Position B .046
m
Radius of Pin Position C .027
m
Next, the apparatus was run two different times for each Pin Position. One
with the motor set for a fast speed, and the other with the motor set at a
slow speed. The RPMs were measured for each test run, as well as the
velocity and acceleration were calculated.
Table 3: RPMs of each test
Test Name RPM
Pin A high 72.9
speed
Pin A low 22
speed
Pin B high 70.2
speed
Pin B low 19.7
speed
Pin C high 72.1
speed
Pin C low 20.1
speed

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 Pin A high speed
20
15
10
5
0
0 2 4 6 8 10 12
-5
-10
-15

Time (s)

Position (m) Velocity (m/s) Acceleration (m/s)

a)

Pin A low speed

5

0
0 5 10 15 20 25 30 35
-1

-2

-3

-4

Time (s)

Position (m) Velocity (m/s) Acceleration (m/s)

b)
Figure 1: a) Pin A high speed position, velocity, and acceleration. b)
Pin A low speed position, velocity, and acceleration.

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 Pin B high speed
8
6
4
2
0
0 2 4 6 8 10 12
-2
-4
-6
-8

Time (s)

Position (m) Velocity (m/s) Acceleration (m/s)

a)

Pin B low speed

2
1.5
1
0.5
0
0 5 10 15 20 25 30 35
-0.5
-1
-1.5
-2

Time (s)

Position (m) Velocity (m/s) Acceleration (m/s)

b)
Figure 2: a) Pin B high speed position, velocity, and acceleration. b)
Pin B low speed position, velocity, and acceleration.

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 Pin C high speed
3

0
0 2 4 6 8 10 12
-1

-2

-3

Time (s)

Position (m) Velocity (m/s) Acceleration (m/s)

a)

Pin C low speed

1.5

0.5

0
0 5 10 15 20 25 30 35
-0.5

-1

Time (s)

Position (m) Velocity (m/s) Acceleration (m/s)

b)
Figure 3: a) Pin C high speed position, velocity, and acceleration. b)
Pin C low speed position, velocity, and acceleration.
After finding the experimental values, the next step in the procedure was to
find the theoretical equations that relate the gear angle and angular velocity
to the linear velocity and acceleration of the slider. This was done using
geometrical connections.

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Figure 4: Relationship between slider and gear.
For position xb:
XB = btan 41
Since velocity is the time derivative of position,
2
hrcos ( 21t )

r21 [hcos ( 21t ) r ]
v xB = x B=b
Since acceleration is the time derivative of velocity,


( 21t )

( 21t)r
hcos

hr ( cos ) +2 r
h
br 212( sin 21t )
axB =v xB
Discussion of Results
As is shown with the data the peak positive velocities occur when the slider
is at the center mark moving from the negative to positive positions. The
peak negative velocities occur when the slider is at the center mark moving
from the positive to negative positions. The peak positive acceleration is
found directly before the peak positive velocity right before the slider is at

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the center mark moving from the negative to positive positions. The peak
negative acceleration is found directly after the peak positive velocity right
before the slider is at the center mark moving from the negative to positive
positions.
The three separate experiments run at different pin locations show a
relationship between pin location and velocity and acceleration. The data
shows that the larger the pin distance, the larger the velocity and
acceleration will be for the slider. This is shown, because the velocities and
accelerations increase as the pin position increases.
Speed of sound may vary day to day as it is dependent on the temperature
and air pressure of the environment. The effects would be very minor, but if
the speed of sound was slower, then the speed and acceleration would be
slightly higher. Vice versa if the speed of sound was faster, the speed and
acceleration of the slider would be slightly lower.
One error that is present in the experiment is the presence of friction and
clearances between the mechanical joints. These would affect the results,
and are a cause of differences between measurements cycle to cycle.
Another error would be human error during the calibration of the machine,
this is what allowed us to not have to account for slight variances in the
position.
Conclusions
Throughout this experiment the goal was to examine the effect of different
pin positions on velocity and acceleration. The apparatus used to examine
this was the Withworth Quick Return Mechanism. Through experimentation it
was discovered that the larger the pin position, the larger the linear velocity
and acceleration would be. This experiment was a success.

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