SYLLABUS

MECHANICS & MOTION VIBRATION

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 THEORY OF MACHINES
Deals with relative motion between various parts of machine and the forces which act on them

RIGID BODY ME CH ANICS

STATICS DYNAMICS
Body in motion at Analysis
CONSTANT VELOCITY or ACCELERATING
of
1. Kinematics (Study of MOTION)
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2. Kinetics (Study of FORCES)
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ME 3101: Mechanics of Machinery

Prepared by
Muhammad Ifaz Shahriar
Chowdhury
Lecturer, MPE Dept
 MACHINES

• Something that facilitates human work

• Something that helps you using your energy more efficiently, e.g. calculator, laptop, zipper etc. Broader
Definition

• Device that converts all form of energy into mechanical energy or work, e.g. pump, fan, bi-cycle
Mechanical Perspective
• Device that provides mechanical advantage

Output:
Input:
Machine Mechanical Energy
All form of Energy
(K.E or P.E or Both)

Electricity 5
Fan Motor Rotation of Blades
 ENGINE

• A machine that converts heat energy (from combustion of fuel) into mechanical energy, e.g. IC (Internal
Combustion) engine, steam engine etc.

Input: Output: Engine is a

Heat energy from Engine Mechanical Energy special kind of
fuel combustion (K.E or P.E or Both) Machine !!!

Heat Generation
Fuel Combustion in Rotation of
IC Engine Crankshaft 6
SIMPLE MACHINES

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 MECHANISM

Mechanism is mechanical part of machine and a system of kinematic link or elements arranged and connected to
transmit motion and/or force from a power source to an output in a constrained and predetermined fashion

Constrained
Kinematic Motion
Link
Force

In mechanism, one of the parts is made as fixed, and the relative motion of other parts is determined with respect to
the fixed part
Slider Crank Mechanism

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Reciprocating Steam Engine
MECHANISM EXAMPLE

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 KINEMATIC LINK/ELEMENT

• Each part of a machine, which moves relative to some other part, is known as a kinematic link (or simply link) or
element

A link or element need not to be a rigid body, but it must be a resistant body. A body is said to be a resistant body if it is
capable of transmitting the required forces with negligible deformation.

General Rule:
To form a link in a kinematic chain:
1. Link must be a resistant body
2. It must possess two nodes
3. The links must be connected to each other
4. The same link must have the same type of motion (either rotational or translational) and no relative motion
between them
5. If the parts have different types of motion, they are considered separate links

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 KINEMATIC LINK/ELEMENT

Slider Crank Mechanism

Reciprocating Steam Engine

Link 1: Link 3:
cylinder, engine frame connecting rod with big and small end bearings

Link 2: Link 4:
piston, piston rod and crosshead crank, crank shaft and flywheel

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 TYPE OF LINK
1. Rigid link. 2. Flexible link.
• A flexible link is one which is partly deformed in a
• A rigid link is one which does not undergo any
manner not to affect the transmission of motion
deformation while transmitting motion
• For example, belts, ropes, chains and wires are flexible
• Strictly speaking, rigid links do not exist. However, as the links and transmit tensile forces only
deformation of a connecting rod, crank etc. of an internal
combustion engine is not appreciable, they can be
considered as rigid links

3. Fluid link.
• A fluid link is one which is formed by having a fluid in a receptacle
and the motion is transmitted through the fluid by pressure or
compression only, as in the case of hydraulic presses, jacks and
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brakes
 MACHINE VS STRUCTURE

• Structure
• It is an assemblage of a number of resistant bodies (known as members) having no relative motion between them and
meant for carrying loads having straining action
• A railway bridge, a roof truss, machine frames etc., are the examples of a structure

Jamuna Rail Bridge Astoria-Megler Bridge Milstein Hall, Cornell University Eiffel Tower
Difference Between a Machine and a Structure
1. The parts of a machine move relative to one another, whereas the members of a structure do not move relative to one
another
2. A machine transforms the available energy into some useful work, whereas in a structure no energy is transformed into
useful work
3. The links of a machine may transmit both power and motion, while the members of a structure transmit forces only 13
 MECHANISM VS MACHINE VS STRUCTURE

Mechanism

Machine

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Structure
 KINEMATIC PAIR

• 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 (i.e. in a definite direction), the pair is
known as kinematic pair

Types of Constrained Motions

1. Completely constrained motion.
• Motion between pair occurs only in a specific direction or path regardless of the force applied

• For example, the piston and cylinder (in a steam engine) form a pair and the motion of the piston is limited to a definite
direction (i.e. it will only reciprocate) relative to the cylinder irrespective of the direction of motion of the crank

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 TYPES OF CONSTRAINED MOTIONS

• The motion of a square bar in a square hole

• The motion of a shaft with collars at each end in a circular hole

Square bar in square hole Shaft with collars at each end in a circular hole
2. Incompletely constrained motion.
• Motion between pair can occur in multiple directions depending on the force applied
• A circular bar or shaft in a circular hole, it may either rotate or slide in a hole. These both motions have no relationship with
the other

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Circular bar in circular hole
 TYPES OF CONSTRAINED MOTIONS

3. Successfully constrained motion.

• Motion between pair is forced to follow a particular path by applying external constraints, even if it would naturally
occur in multiple ways
• Consider a shaft in a foot-step bearing as shown in Fig. The shaft may rotate in a bearing or it may move upwards. This
is a case of incompletely constrained motion. But if the load is placed on the shaft to prevent axial upward movement of
the shaft, then the motion of the pair is said to be successfully constrained motion

Shaft in a foot-step bearing

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 CLASSIFICATION OF KINEMATIC PAIRS

1. According to the type of relative motion between the elements.

• (a) Sliding/Prismatic 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
• Sliding pair has completely constrained motion
• 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
• (b) Turning/Revolute 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 turning pair also has a completely constrained motion
• 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 18
 CLASSIFICATION OF KINEMATIC PAIRS
(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
(d) Screw/Helical 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
(e) Spherical/Globular 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.
(f) Cylindrical pair.
• One links is constrained to have a combination of translation and
rotating motion relative to the other link
• Circular Shaft 19
CLASSIFICATION OF KINEMATIC PAIRS

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 CLASSIFICATION OF KINEMATIC PAIRS
2. According to the type of contact between the
elements.
• (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
• Sliding, turning, cylindrical, planar, spherical and
screw pairs form lower pairs
• (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
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follower are the examples of higher pairs
 CLASSIFICATION OF KINEMATIC PAIRS
3. According to the type of closure.
• (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

• (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.

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 KINEMATIC CHAIN

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.

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 KINEMATIC CHAIN
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.

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

j = (3/2)l – 2 … (𝒊𝒊)

 The above two equations 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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 KINEMATIC CHAIN

1. Arrangement of links AB, BC and CA with pin joints at A, B and C.

Number of links, l = 3; Number of pairs, p = 3; Number of joints, j = 3
From equation (i), l = 2p – 4
or 3=2×3–4=2
i.e. L.H.S. > R.H.S.
From equation (ii), j = (3/2)l – 2
or 3 = (3/2) × 3 – 2 = 2.5
i.e. L.H.S. > R.H.S.
The arrangement does not satisfy the equations (i) and (ii).
Decision: It is not a kinematic chain, no relative motion is possible
Note: Such type of chain is called locked chain and forms a rigid frame or structure which is used in bridges
and trusses
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 KINEMATIC CHAIN
2. Arrangement of four links AB, BC, CD and DA.
l = 4, p = 4, and j = 4
From equation (i), l = 2p – 4, or, 4 = 2 × 4 – 4 = 4
i.e. L.H.S. = R.H.S.
From equation (ii), j = (3/2)l – 2 or, 4 = (3/2) × 4 – 2 = 4
i.e. L.H.S. = R.H.S.
The arrangement of four links, satisfy the equations (i) and (ii)
Decision: It is a kinematic chain of one degree of freedom
Note: a. A chain in which a single link such as AD, is sufficient to define the position of all other links, it is then
called a kinematic chain of one degree of freedom
b. 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
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 KINEMATIC CHAIN

3. Arrangement of five links.

l = 5, p = 5, and j = 5
From equation (i), l = 2 p – 4 or, 5 = 2 × 5 – 4 = 6
i.e. L.H.S. < R.H.S.
From equation (ii), j = (3/2)l – 2 or, 5 = (3/2) × 5 – 2 = 5.5
i.e. L.H.S. < R.H.S.
The arrangement of five links, does not satisfy the equations
Decision: It is not a kinematic chain
Note:
a. Such a type of chain is called unconstrained chain i.e. the relative motion is not completely constrained
b. This type of chain is of little practical importance

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 KINEMATIC CHAIN

4. Arrangement of six links. This chain is formed by adding two more links in such a way that these two links
form a pair with the existing links as well as form themselves a pair.
In this case, l = 6, p = 5, and j = 7
From equation (i), l = 2 p – 4 or, 6 = 2 × 5 – 4 = 6
i.e. L.H.S. = R.H.S.
From equation (ii), j = (3/2)l – 2 or, 7 = (3/2) × 6 – 2 = 7
i.e. L.H.S. = R.H.S.
The arrangement of six links satisfies the equations
Decision: It is a kinematic chain
Note: A chain having more than four links is known as compound kinematic chain

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 TYPES OF JOINTS IN A CHAIN
1. Binary joint.
When two links are joined at the same connection
A chain shown in Fig, has four links and four binary joins at A, B, C and D.
In order to determine the nature of chain, i.e. whether the chain is a locked chain (or structure) or kinematic chain
or unconstrained chain, the following relation between the number of links and the number of binary joints, as
given by A.W. Klein, may be used :
j + (h/2)= (3/2)l – 2 … (𝒊)
Where,
j = Number of binary joints,
h = Number of higher pairs, and
l = Number of links
When h = 0, the equation (i), may be written as
j = (3/2)l – 2 … (𝒊𝒊)
Applying this equation to the chain, where l = 4 and j = 4, we have, 4 = (3/2) × 4 – 2 = 4

Decision: The chain is a kinematic chain or constrained chain.

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 TYPES OF JOINTS IN A CHAIN

2. Ternary joint.
• When three links are joined at the same connection, the joint is known as ternary joint.
• It is equivalent to two binary joints as one of the three links joined carry the pin for the other two links.
• For example, a chain, as shown in Fig, has six links. It has three binary joints at A, B and D and two ternary joints
at C and E. Since one ternary joint is equivalent to two binary joints, therefore equivalent binary joints in a chain,
as shown in Fig, are 3 + 2 × 2 = 7
• Here, l = 6 and j = 7, therefore from equation (ii),
• j = (3/2)l – 2 or, 7 = (3/2) × 6 – 2 = 7

Decision: a kinematic chain or constrained chain

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 TYPES OF JOINTS IN A CHAIN
3. Quaternary joint.
• When four links are joined at the same connection, the joint is called a quaternary joint. It is equivalent to three
binary joints.
• In general, when l number of links are joined at the same connection, the joint is equivalent to (l – 1) binary joints.
• For example, consider a chain having eleven links, as shown in Fig. (a). It has one binary joint at D, four ternary
joints at A, B, E and F, and two quaternary joints at C and G. Since one quaternary joint is equivalent to three
binary joints and one ternary joint is equal to two binary joints, therefore total number of binary joints in a chain,
as shown in Fig. (a), are 1 + 4 × 2 + 2 × 3 = 15
• Here, l = 11 and j = 15.
• We know that, j = (3/2)l – 2 or, 15 = (3/2) × 11 – 2 = 14.5
• i.e., L.H.S. > R.H.S.
• Decision: It is not a kinematic chain
• Note: The chain is locked chain and forms a rigid frame or structure

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 MECHANISM

• When one of the links of a kinematic chain is fixed, the chain is known as mechanism
• A mechanism with four links is known as simple mechanism
• A mechanism with more than four links is known as compound mechanism

Simple Mechanism Compound Mechanism

• When a mechanism is required to transmit power or to do some particular type of work, it then becomes a
machine
• A mechanism may be regarded as a machine in which each part is reduced to the simplest form to transmit
the required motion
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 DEGREES OF FREEDOM
• In mechanics, degrees of freedom (DOF) is the number of independent variables that define the possible
positions or motions of a mechanical system in space

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DEGREES OF FREEDOM

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 NUMBER OF DEGREES OF FREEDOM FOR PLANE MECHANISMS
• The number of degrees of freedom (also called movability) of mechanism is defined as the number of input
parameters (usually pair variables) which must be independently controlled in order to bring the mechanism into
a useful engineering purpose
• It is possible to determine the number of degrees of freedom of a mechanism directly from the number of links
and the number and types of joints which it includes

• In Fig. (a), only one variable such as θ is needed to define the relative positions of all the links. Number of DOF
of a four bar chain is 1
• In Fig. (b), two variables such as θ1 and θ2 are needed to define completely the relative positions of all the links.
Number of DOF is 2 35
 KUTZBACH CRITERION
• When a link is connected to a fixed link by a turning pair (i.e. lower pair), two DOF are destroyed
• In Fig., the resulting four bar mechanism has one degree of freedom (i.e. n = 1)

Consider a plane mechanism with l number of links. In a mechanism, one of the links is to be fixed
Number of movable links = (l – 1) and total number of DOF = 3(l – 1) before they are connected to any other link
In general, a mechanism with l number of links connected by j number of binary joints or lower pairs (i.e.
single degree of freedom pairs) and h number of higher pairs (i.e. two degree of freedom pairs), then the
number of degrees of freedom of a mechanism is given by n = 3 (l – 1) – 2 j – h ... (i)
Kutzbach criterion for the movability of a mechanism having plane motion

• If there are no two degree of freedom pairs (i.e. higher pairs), then h = 0.
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• Then we have, n = 3 (l – 1) – 2 j ... (ii)
 APPLIC ATION OF KUTZBACH CRITERION TO PLANE MECHANISMS

The number of degrees of freedom or movability (n) for some simple mechanisms having no
higher pair (i.e. h = 0), as shown in Fig, are determined as follows :
1. (a), has three links and three binary joints, i.e. l = 3 and j = 3. ∴ n = 3 (3 – 1) – 2 × 3 = 0
2. (b), has four links and four binary joints, i.e. l = 4 and j = 4. ∴ n = 3 (4 – 1) – 2 × 4 = 1
3. (c), has five links and five binary joints, i.e. l = 5, and j = 5. ∴ n = 3 (5 – 1) – 2 × 5 = 2
4. (d), has five links and six equivalent binary joints (because there are two binary joints at B
and D, and two ternary joints at A and C), i.e. l = 5 and j = 6. ∴ n = 3 (5 – 1) – 2 × 6 = 0
5. (e), has six links and eight equivalent binary joints (because there are four ternary joints at
A, B, C and D), i.e. l = 6 and j = 8. ∴ n = 3 (6 – 1) – 2 × 8 = – 1

Note:
(a) When n = 0, then the mechanism forms a structure and no relative motion between the links is possible, as shown in Fig. (a)
and (d)
(b) When n = 1, then the mechanism can be driven by a single input motion, as shown in Fig. (b)
(c) When n = 2, then two separate input motions are necessary to produce constrained motion for the mechanism, as shown in
Fig. (c)
(d) When n = – 1 or less, then there are redundant constraints in the chain and it forms a statically indeterminate structure, as
shown in Fig. (e)
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 APPLIC ATION OF KUTZBACH CRITERION TO PLANE MECHANISMS

The application of Kutzbach’s criterion applied to mechanisms with a higher pair or two DOF joints is shown in
Fig.

Mechanism with higher pair

In Fig. (a), there are three links, two binary joints and one higher pair, i.e. l = 3, j = 2 and h = 1.
∴ n = 3 (3 – 1) – 2 × 2 – 1 = 1
In Fig. (b), there are four links, three binary joints and one higher pair, i.e. l = 4, j = 3 and h = 1
∴ n = 3 (4 – 1) – 2 × 3 – 1 = 2

Note:
Here it has been assumed that the slipping is possible between the links (i.e. between the wheel and the fixed link).
However if the friction at the contact is high enough to prevent slipping, the joint will be counted as one degree of
freedom pair, because only one relative motion will be possible between the links 38
 GRUBLER’S CRITERION FOR PLANE MECHANISMS

 Applies to mechanisms with only single degree of freedom joints where the overall movability of the
mechanism is unity.
 Substituting n = 1 and h = 0 in Kutzbach equation, we have
1 = 3 (l – 1) – 2 j
or
3l – 2j – 4 = 0

Grubler's criterion for plane mechanisms with constrained motion

 A little consideration will show that a plane mechanism with a movability of 1 and only single degree of
freedom joints can not have odd number of links
 The simplest possible mechanisms of this type are a four bar mechanism and a slider-crank mechanism in
which l = 4 and j = 4

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 INVERSION OF MECHANISM
 We can obtain as many mechanisms as the number of links in a kinematic chain by fixing, in turn, different
links in a kinematic chain

 This method of obtaining different mechanisms by fixing different links in a kinematic chain, is known as
inversion of the mechanism

 It may be noted that the relative motions between the various links is not changed in any manner through the
process of inversion, but their absolute motions (those measured with respect to the fixed link) may be
changed drastically

 Note:
• The part of a mechanism which initially moves with respect to the frame or fixed link is called driver and
that part of the mechanism to which motion is transmitted is called follower
• Most of the mechanisms are reversible, so that same link can play the role of a driver and follower at
different times
• For example, in a reciprocating steam engine, the piston is the driver and flywheel is a follower while in a
reciprocating air compressor, the flywheel is a driver
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 TYPES OF KINEMATIC CHAINS
 The most important kinematic chains are those which consist of four lower pairs, each pair being a sliding pair or a
turning pair
 The following three types of kinematic chains with four lower pairs are important from the subject point of view :
1. Four bar chain or quadric cyclic chain
2. Single slider crank chain
3. Double slider crank chain
Four Bar Chain or Quadric Cycle Chain
• The simplest and the basic kinematic chain is a four bar chain or quadric cycle chain. It consists
of four links, each of them forms a turning pair at A, B, C and D
• The four links may be of different lengths. According to Grashof ’s law for a four bar mechanism, the sum of the shortest
and longest link lengths should not be greater than the sum of the remaining two link lengths if there is to be continuous
relative motion between the two links
• A very important consideration in designing a mechanism is to ensure that the input crank makes a complete revolution
relative to the other links. The mechanism in which no link makes a complete revolution will not be useful
• In a four bar chain, one of the links, in particular the shortest link, will make a complete revolution relative to the other
three links, if it satisfies the Grashof ’s law. Such a link is known as crank or driver. In Fig., AD (link 4) is a crank. The
link BC (link 2) which makes a partial rotation or oscillates is known as lever or rocker or follower and the link CD (link 3)
which connects the crank and lever is called connecting rod or coupler. The fixed link AB (link 1) is known as frame of the
mechanism
• When the crank (link 4) is the driver, the mechanism is transforming rotary motion into oscillating motion 41
 INVERSIONS OF FOUR BAR CHAIN

1. Beam engine (crank and lever mechanism).

2. Coupling rod of a locomotive (Double crank mechanism).

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 SINGLE SLIDER CRANK CHAIN

A single slider crank chain is a modification of the basic four bar chain. It consist of one sliding pair and three
turning pairs. It is, usually, found in reciprocating steam engine mechanism

This type of mechanism converts rotary motion into reciprocating motion and vice versa.

In a single slider crank chain, the links 1 and 2, links 2 and 3, and links 3 and 4 form three turning pairs while the
links 4 and 1 form a sliding pair

• The link 1 corresponds to the frame of the engine,

which is fixed
• The link 2 corresponds to the crank
• Link 3 corresponds to the connecting rod
• Link 4 corresponds to cross-head.

As the crank rotates, the cross-head reciprocates in the

guides and thus the piston reciprocates in the cylinder
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 INVERSIONS OF SINGLE SLIDER CRANK CHAIN

o Four inversions of a single slider crank chain are possible

1. Pendulum pump or Bull engine. 2. Oscillating cylinder engine

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 INVERSIONS OF SINGLE SLIDER CRANK CHAIN

3. Rotary internal combustion engine or Gnome engine

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 INVERSIONS OF SINGLE SLIDER CRANK CHAIN

4. Crank and slotted lever quick return motion mechanism.

• This mechanism is mostly used in shaping machines, slotting machines and in rotary internal combustion engines

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 QUICK RETURN MECHANISM

In the extreme positions, AP1 and AP2 are tangential to the circle and the cutting tool is at the end of the stroke. The forward
or cutting stroke occurs when the crank rotates from the position CB1 to CB2 (or through an angle β) in the clockwise
direction. The return stroke occurs when the crank rotates from the position CB2 to CB1 (or through angle α) in the clockwise
direction. Since the crank has uniform angular speed, therefore,

Note: From Fig., we see that the angle β made by the forward or cutting stroke is greater than the angle α described by the
return stroke. Since the crank rotates with uniform angular speed, therefore the return stroke is completed within shorter
time. Thus it is called quick return motion mechanism 47
 INVERSIONS OF SINGLE SLIDER CRANK CHAIN

5. Whitworth quick return motion mechanism.

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 DOUBLE SLIDER CRANK CHAIN & INVERSION
 A kinematic chain which consists of two turning pairs and two
sliding pairs is known as double slider crank chain The link 2
and link 1 form one turning pair and link 2 and link 3 form the
second turning pair. The link 3 and link 4 form one sliding pair
and link 1 and link 4 form the second sliding pair
Inversions of Double Slider Crank Chain
1. Elliptical trammels.

Double Slider Crank Chain

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 INVERSIONS OF DOUBLE SLIDER CRANK CHAIN
2. Scotch yoke mechanism.
o This mechanism is used for
converting rotary motion into a
reciprocating motion

3. Oldham’s coupling.

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