Index No. F-OAP-6.

2-RUP
TECHNOLOGICAL UNIVERSITY OF THE PHILIPPINES
Ayala Blvd., Ermita, Manila, 1000, Philippines Issue No. 00
Tel No. +632-301-3001 local 102 | Fax No. +632-521-4063 Revision No. 00
Email: [email protected] | Website: www.tup.edu.ph
Date 04242018
Page 1/1
VAA-OAP MT8-M KINEMATICS OF MACHINERY – LECTURE
QAC No. CC-07212017

LSPU Self-Paced Learning Module (SLM)

Course MT8-M KINEMATICS OF MACHINERY LECTURE
Sem/AY First Semester/2022-2023
Module No. 2 of 2
Lesson Title Position and Displacement - Vectors
Week
5
Duration
Date
This lesson introduces to the basic concept of machine kinematics, understanding the
Description mechanics and nature of rigid and deformable bodies, state the basic principle of
of the mechanisms, pairs, and linkages and described machine and mechanisms motion.
Lesson

Learning Outcomes
Targets/ At the end of the semester, students should be able to:
Objectives • Define position and displacement of a point.
• Graphically and analytically determine the position of all links in a mechanism
as the driver links are displaced.
• Graphically and analytically determine the limiting positions of a mechanism.
• Graphically and analytically determine the position of all links for an entire
cycle of mechanism
• motion.
• 5. Plot a displacement diagram for various points on a mechanism as a function
of the motion of other points on the mechanism.

Student Learning Strategies

Online Activities A. Online Discussion via MS Teams

(Synchronous/ You will be directed to attend in a one-and-a-half-hour class discussion
on Combustion Engineering. To have access to the online discussion,
Asynchronous) refer to this link: ____________________.

The online discussion will happen on September __________

LSPU SELF-PACED LEARNING MODULE: KINEMATICS OF MACHINERY

 Index No. F-OAP-6.2-RUP
TECHNOLOGICAL UNIVERSITY OF THE PHILIPPINES
Ayala Blvd., Ermita, Manila, 1000, Philippines Issue No. 00
Tel No. +632-301-3001 local 102 | Fax No. +632-521-4063 Revision No. 00
Email: [email protected] | Website: www.tup.edu.ph
Date 04242018
Page 2/1
VAA-OAP MT8-M KINEMATICS OF MACHINERY – LECTURE
QAC No. CC-07212017

(For further instructions, refer to your Google Classroom and see the
schedule of activities for this module)

Lecture Guide

For many mechanisms, the sole purpose of analysis is to determine the location
of all links as the driving link(s) of the mechanism is moved into another
position. Position analysis is commonly repeated at several intervals of
mechanism movement to determine the location of all links at various phases
of the operation cycle.

A. POSITION
Position refers to the location of an object. The position of a point on a
mechanism is the spatial location of that point. It can be defined with a position
vector, R, from a reference origin to the location of the point.

Offline Activities
(e-Learning/Self-
Paced)

A.1 Angular Position of a Link

The angular position of a link is also an important quantity. An angular position,
Theta, is defined as the angle a line between two points on that link forms with
a reference axis.
A.2 Position of a Mechanism
The primary purpose in analyzing a mechanism is to study its motion. Motion
occurs when the position of the links and the reference points that comprise
the mechanism are changed. As the position of the links is altered, the
mechanism is forced into a different configuration, and motion proceeds.

LSPU SELF-PACED LEARNING MODULE: KINEMATICS OF MACHINERY

 Index No. F-OAP-6.2-RUP
TECHNOLOGICAL UNIVERSITY OF THE PHILIPPINES
Ayala Blvd., Ermita, Manila, 1000, Philippines Issue No. 00
Tel No. +632-301-3001 local 102 | Fax No. +632-521-4063 Revision No. 00
Email: [email protected] | Website: www.tup.edu.ph
Date 04242018
Page 3/1
VAA-OAP MT8-M KINEMATICS OF MACHINERY – LECTURE
QAC No. CC-07212017

The position of all points and links in a mechanism is not arbitrary and
independent. The independent parameters are the positions of certain “driver”
links or “driver” points. The primary goal of position analysis is to determine
the resulting positions of the points on a mechanism as a function of the
position of these “driver” links or points.

B. Displacement
Displacement is the end product of motion. It is a vector that represents the distance
between the starting and ending positions of a point or link. There are two types of
displacements that will be considered: linear and angular.

B.1 Displacement
Linear displacement, is the straight-line distance between the starting and ending position
of a point during a time interval under consideration.

B.2 Angular Displacement

Angular displacement, is the angular distance between two configurations of a rotating

link. It is the difference between the starting and ending angular positions of a link.

LSPU SELF-PACED LEARNING MODULE: KINEMATICS OF MACHINERY

 Index No. F-OAP-6.2-RUP
TECHNOLOGICAL UNIVERSITY OF THE PHILIPPINES
Ayala Blvd., Ermita, Manila, 1000, Philippines Issue No. 00
Tel No. +632-301-3001 local 102 | Fax No. +632-521-4063 Revision No. 00
Email: [email protected] | Website: www.tup.edu.ph
Date 04242018
Page 4/1
VAA-OAP MT8-M KINEMATICS OF MACHINERY – LECTURE
QAC No. CC-07212017

DISPLACEMENT ANALYSIS: GRAPHICAL ANALYSIS

1. Displacement of a Single Driving Link

Simple links that rotate about fixed centers can be relocated by drawing arcs, centered
at the fixed pivot, through the moving pivot, at the specified angular displacement.

2. Displacement of the Remaining Slave Links

Once a driver link is repositioned, the position of all other links must be determined. To
accomplish this, the possible paths of all links that are connected to the frame should
be constructed. For links that are pinned to the frame, all points on the link can only
rotate relative to the frame. Thus, the possible paths of those points are circular arcs,
centered at the pin connecting the link to the frame.

LSPU SELF-PACED LEARNING MODULE: KINEMATICS OF MACHINERY

 Index No. F-OAP-6.2-RUP
TECHNOLOGICAL UNIVERSITY OF THE PHILIPPINES
Ayala Blvd., Ermita, Manila, 1000, Philippines Issue No. 00
Tel No. +632-301-3001 local 102 | Fax No. +632-521-4063 Revision No. 00
Email: [email protected] | Website: www.tup.edu.ph
Date 04242018
Page 5/1
VAA-OAP MT8-M KINEMATICS OF MACHINERY – LECTURE
QAC No. CC-07212017

DISPLACEMENT ANALYSIS: ANALYTICAL ANALYSIS

Generally speaking, analytical methods can be used in position analysis to yield results
with a high degree of accuracy. This accuracy comes with a price in that the methods
often become numerically intensive.

LSPU SELF-PACED LEARNING MODULE: KINEMATICS OF MACHINERY

 Index No. F-OAP-6.2-RUP
TECHNOLOGICAL UNIVERSITY OF THE PHILIPPINES
Ayala Blvd., Ermita, Manila, 1000, Philippines Issue No. 00
Tel No. +632-301-3001 local 102 | Fax No. +632-521-4063 Revision No. 00
Email: [email protected] | Website: www.tup.edu.ph
Date 04242018
Page 6/1
VAA-OAP MT8-M KINEMATICS OF MACHINERY – LECTURE
QAC No. CC-07212017

Engaging activity

1. Figure 4.11 shows a kinematic diagram of a mechanism that is driven by moving link
Graphically reposition the links of the mechanism as link 2 is displaced 30° counterclockwise.
Determine the resulting angular displacement of link 4 and the linear displacement of point.

2. Compound-lever snips, as shown in Figure 4.13, are often used in place of regular tinner snips
when large cutting forces are required. Using the top handle as the frame, graphically reposition
the components of the snips when the jaw is opened 15°. Determine the resulting displacement
of the lower handle.

3. Figure 4.15 shows a toggle clamp used to securely hold parts. Analytically determine the
displacement of the clamp surface as the handle rotates downward, 15°.

LSPU SELF-PACED LEARNING MODULE: KINEMATICS OF MACHINERY

 Index No. F-OAP-6.2-RUP
TECHNOLOGICAL UNIVERSITY OF THE PHILIPPINES
Ayala Blvd., Ermita, Manila, 1000, Philippines Issue No. 00
Tel No. +632-301-3001 local 102 | Fax No. +632-521-4063 Revision No. 00
Email: [email protected] | Website: www.tup.edu.ph
Date 04242018
Page 7/1
VAA-OAP MT8-M KINEMATICS OF MACHINERY – LECTURE
QAC No. CC-07212017

4. Figure 4.18 shows a concept for a hand pump used for increasing oil pressure in a hydraulic
line. Analytically determine the displacement of the piston as the handle rotates 15°
counterclockwise.

5. Figure 4.21 shows a toggle clamp used for securing a workpiece during a machining operation.
Analytically determine the angle that the handle must be displaced in order to lift the clamp arm
30° clockwise.

LSPU SELF-PACED LEARNING MODULE: KINEMATICS OF MACHINERY

 Index No. F-OAP-6.2-RUP
TECHNOLOGICAL UNIVERSITY OF THE PHILIPPINES
Ayala Blvd., Ermita, Manila, 1000, Philippines Issue No. 00
Tel No. +632-301-3001 local 102 | Fax No. +632-521-4063 Revision No. 00
Email: [email protected] | Website: www.tup.edu.ph
Date 04242018
Page 8/1
VAA-OAP MT8-M KINEMATICS OF MACHINERY – LECTURE
QAC No. CC-07212017

Performance Tasks

PROBLEM SET NO. 2 – KINDLY REFER TO

THE PROBLEM SET QUESTIONAIRE.

Learning Resources
1. Engineering Mechanics: Statics, third edition by Andrew Pytel and Jaan Kiusalaas
2. Vector Mechanics for Engineers by P.Beer.
3. Elementary Engineering Mechanics by Wiley.
4. Engineering Mechanics (Statics), 6th ed., 2003, by Merriam

Prepared by:

Engr. Dhenil T. Mangubat

CIT Faculty, MET Department

LSPU SELF-PACED LEARNING MODULE: KINEMATICS OF MACHINERY