Statics

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Moment and couple


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Free-body diagrams (FBD) and
constraint forces



Force exterted by link i onto
link j is denoted as Fij

a) Revolute or turning pair

b) Prism or prismatic pair
c) Screw or helical pair

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Forces



(d) Cylinder or cylindric pair

(e) Sphere or globular pair

(f) Flat or planar pair


Basically these forces
constrain the DOF available

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 Equilibrium



For a planar problem,


Two forces if acting must be colinear, three forces if acting must be concurrent or
parallel (anti-parallel). Amit Singh
Three-force members

A structure with exactly three points where external forces are applied


Either concurrent or parallel. Why?


Pick two forces: If their lines of action (LOA) intersect then the third force must
also pass through intersection point


If they are parallel then third force must also be parallel.

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Problem
 Find the constraint forces and the crank torque T12 to hold the linkage in static
equilibrium. First draw the FBDs of all links, start with link 3.

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Solution


Amit Singh
Problem
 Find the crank torque T12 to hold the linkage in static equilibrium. Block 4 is 8 in wide
and 3 in high with pin P centrally located.

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Solution



Analytical solution:

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Friction force models


When sliding does not happen:

When sliding happens:

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Forces on spur gears


Transmitted force:
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Forces on helical gears



Transverse pressure angle


Helix angle


Work with axial force
independently, and


Then work with other components
in the same manner as we worked
for the spur gears.
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Static force analysis of four bar


For the crank link

(moment about a0):

Amit Singh
Static force analysis of four bar
 For the coupler link (moment about a1):

 For the follower link (moment about b0):

Amit Singh
Static force analysis of four bar

This gives rise to following matrix equation:

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Problem
 When vector W1 of the planar four-bar stamping mechanism is rotated β=60 degree, a reaction force of
Fp2=(0,4500) N is applied due to the stamping event. Tables include the dimensions and mass properties of
the planar four-bar stamping mechanism in the initial position (Figure a). Calculate the static torque and
forces generated in the stamping mechanism in the stamping position (Figure b). Gravity is −9.81 m/s2.

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Dynamics

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Center of mass
 Suppose the accn of point Q is AQ, angular velocity is 𝜔 and angular accn is α, then
the accn of point P is


Now, define the center of mass:


Therefore, the force equation becomes:

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Center of mass

When mass is distributed at various positions over an area:


When mass is distributed continuously:


For some geometries:

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Mass moments and products of
inertia


Mass moments of inertia

Mass products of inertia

Inertia tensor


When the origin of the coordinate system (CS) is the center of mass of the body and
the CS is oriented in such a way that products of inertia are zeroes, then the axes are
called Principal axes and m.o.i. are called princial moments of inertia. About
principal axis, we can define radius of gyration k as Amit Singh
Parallel axis of theorem

About a parallel axis at a distance d from the principal axis:


Find the m.o.i about the z axis where body density is :

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Parallel axes theorem


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Forces


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Moments

About an arbitrary point D:


In terms of accn of point D:

Using parallel-axes theorem


D’Alembert’s principle: The vector sum of all external and inertia forces acting upon
a system of rigid bodies is zero.

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Problem


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Solution of problem

Kinematic analysis gives:


Calculate inertia forces and inertia moments:

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Solution of the problem

From FBD of link 3:


From FBD of link 4:


These moment equations become


Or,

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Solution

Next, force equation for link 4 gives:


Force equation for link 3:


For eqaution for link 2:

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Solution

Moments of all force on link 2 about O2

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Planar rotation about a fixed
center

Suppose the body rotates about O with angular velocity 𝜔 and acceleration α

 This means G has accelerations as noted in figure (a) and an external moment Igα
should exist to have this acceleration and therefore,

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Continued..


For a shock
load at P,
bearing
reaction at O is
zero except for
the normal
inertia reaction.


When angular velocity and acceleration are not zero, the resultant inertia forces and
the resultant external forces (making resultant inertia moment zero) have the same
line of action but it must through a point P, center of percussion, about which

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Equation of motion from power
equation

From 1st law of thermodynamics, we have


If P is the net power input to the mechanism:


Here Q is the genralized input force and is the generalized input velocity.


The kinetic energy of a link j is

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Power equation

In terms of first-order kinematic coefficients defined in terms of ψ, we have the
velocity of CG as


And the angular velocity of link j becomes


Then the kinetic energy can be written as


Its rate is


This means KE becomes:


For a mechanism with n links with 1st link fixed:
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Potential energy stored in link j

Gravity:


Rectilinear spring:


Viscous damper: The work done in overcoming the damping effect

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Potential energy stored in link j

Coulomb friction: The work done in overcoming friction is


The power equation then becomes:

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Power equation

Two cases: (i) Input rotation

IEQ: Eqivalent mass moment of inertia


(ii) Input translation

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Problem
 Determine the torque T2 that should be applied to input link 2.


Solution: Kinematic analysis gives

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Solution

For link 2:


For


For link 3:


For link 4 (same as link 2):


The vector loop:

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Solution

Another vector loop:


The equivalent mass moment of inertia:


The power equation:

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Moment of momentum for
particles

Moment of momentum H of a particle with mass m:


For a system of particles:


Also ,

 Here fi is internal force on particle i and Fi is the external force


For a moving coordiante system xyz rotating with angular velocity Ω, then

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 Moment of momentum of a rigid
body


About center of mass

About any other point O:

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Moment of momentum of a rigid
body


This was mentioned

earlier in slide 26.

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Products and moments of inertia
with respect to CG


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Moment of Inertia tensor



For rotation about the principal axes, the angular momentum and angular velocity
are in the same direction


To find the principal axes, we solve the eigenvalue problem:

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Moment of Inertia tensor


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General equation of motion


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Impulse and momentum

Linear Impulse and linear momentum:


Angular impulse and angular momentum:

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Problem

An offset flywheel on a turntable, which is a problem typical of situations occurring in
the design or analysis of machines in which gyroscopic forces must be considered. A
round plate designated body 2 rotates about its central axis with a constant angular
velocity 𝜔2 = 5 rad/s. Mounted on this revolving plate are two bearings A and B,
which retain a shaft and a mass, 3, rotating at an angular velocity with respect to the
rotating plate, 𝜔3/2 = 350 rad/s. Rotating body 3 has a mass of 4.5 kg, a radius of
gyration of 50 mm about its spin axis, and center of mass located at G . Calculate the
bearing reactions at A and B. Bearing B only supports radial load.

In these types of problems, think about

how linear and angular momentum are
changing with time.

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Problem


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Problem


Solving these equations:

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Problem


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Kinetic energy


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Problem

The center of mass of a rigid body of mass 50 lb sec2/ft has a velocity of magnitude 40 ft/sec. At a given
instant the moment of momentum of the body about the center of mass is Hc = 1500i + lOOOj + 1200k lb ft
sec. The inertia integrals about the same coordinate axes are given below. Find the angular velocity and KE
of the body.

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Four-bar mechanism: Dynamic
force analysis
 A force Fp1 is applied at coupler link point p1 , a torque Ta0 is applied at revolute joint
a0, and optionally Tb0 about the follower-link revolute joint b0

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Continued


 From FBD of link 1 (moment about CG1):

 From FBD of link 2 (moment about CG2):

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Continued
 From FBD of link 3 (moment about CG3):


Full matrix equation:

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Problem

Calculate the reaction forces Fa0x, Fa0y, Fb0x, and Fb0y over a complete crank rotation
range for the planar four-bar mechanism in Tables 1 and 2 below. For this mechanism
Fp1=(0,0) N, initial angular velocity of crank is =1 rad/s and angular acceleration =0
rad/s2. Also, Tb0=0 and gravity is −9.81 m/s2.

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Solution


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Static and dynamic
unbalance

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Static unbalance

Disk-shaft combination on rigid horizontal rails so that shaft can roll without friction


Roll gently and when the disk comes to rest, mark
the lowest point on periphery.


Do it several times. If the marks are scattered
evenly, the disk is in static balance


If the marks are clustered then the disk is
statically unbalanced, meaning c.o.m. of the disk
is not coinciding with the shaft axis.

Static unbalance experiment


Unbalancing can be removed by either cutting the
material where marks are clustered or by adding
mass 180 degree opposite to the clustered marks .

Balancing of rigid rotors


Shaft has negligible mass, rotor
has constant angular velocity.


Center of mass G of the disk does
not coincide with the shaft axis.

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Balancing of rigid rotors

From the FBD of shaft+disk, we can obtain


The net force on the frame (shaking force) will be


It will be in a direction which is rotating with angular speed 𝜔


This can be corrected by static unbalance test and counterweights can be attached to
make sure that e = 0.


Static unbalance is characterized by a net shaking force whereas the dynamic
unbalance is characterized by both shaking force as well as shaking couples.

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Dynamic unbalance
 Consider another case with two disks with mass m1 and m2 and eccentricities e1 and
e2:


If then shaking force is zero, however, equal and opposite individual
bearing forces will be present causing a shaking couple.

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Static balancing

In the following example, the rotor has constant angular velocities, all masses lie in a
single plane at the same axial location along the shaft direction (x-axis):


The net shaking force must be zero for static balancing:


In general,
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Static balancing



Rotors are often balanced through removal of mass, e.g., by drilling holes of mass -
mc at position -rc


Problem: Determine the amount and location of the counterweight required for static
balance for


Solution:

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Dynamic balancing

Eccentric masses at mutiple axial locations.


The net shaking force must be zero:


The net shaking moment must be zero (take moment about point P):

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Dynamic balance



Along x and y axes:


Solve to obtain


Then from earlier equation:


From the above analysis, 𝜔 does not matter. But severe vibration may occur at a critical speed.
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Reciprocating mchines balance

Reciprocating unbalance is caused by inertia forces associating with translating
mass. Evident in piston engines and compressors.


Force transmitted to the mechanism supports are (calculated by dynamic force
analysis of slider-crank mechanism):


The net effect is a shaking force and a shaking couple consisting of equal and
opposite forces Amit Singh
 Single-cylinder machines
(engines and compressors)

One approach to partially balance forces is to add a rotating counterwight to the
crank


This does not eliminate the shaking force entirely, but the maximum magnitude can
be decreased significantly.


Typically Consider,


Without counterwight, but now at 100
and 260 degrees. So around 47% reduction in maximum value. Amit Singh