DEFINITIONS

Dynamics of Machinery
Analyses the forces and couples on the members of the machine due to external
forces (static force analysis), also analyses the forces and couples due to accelerations
of machine members ( Dynamic force analysis)

Rigid Body
Deflections of the machine members are neglected in general by treating machine
members as rigid bodies (also called rigid body dynamics). In other words the link must
be properly designed to withstand the forces without undue deformation to facilitate
proper functioning of the system.

In order to design the parts of a machine or mechanism for strength, it is necessary to

determine the forces and torques acting on individual links. Each component however
small, should be carefully analysed for its role in transmitting force.

The forces associated with the principal function of the machine are usually known or
assumed.
FORCES IN MACHINE SYSTEMS

A machine system is considered to be a system of an arbitrary group of bodies (links),

which will be considered rigid. We are involved with different types of forces in such
systems. Note that when the word "force" is discussed it will refer to a "generalised force"
which will also include moments.

a) Joint (Reaction) Forces: are commonly called the joint forces in machine systems since
the action and reaction between the bodies involved will be through the contacting
kinematic elements of the links that form a joint. The joint forces are along the direction
for which the degree-of-freedom is restricted. e.g. in constrained motion direction. For
example, consider a revolute joint in a planar mechanism. In such a joint there is a
rotational freedom and any moment along the axis of the revolute joint will not be
transmitted from one link to the other, but there will be a force transmission in any general
direction which will be determined by the forces acting on the links. If the revolute joint is
in a spatial mechanism, there will be moment reaction components perpendicular to the
revolute joint axis and a force reaction in a general direction (e.g. there will be three force
components and two moment components). In case of a prismatic joint in a planar
mechanism there will be no reaction force component along the axis of the slide but a
force perpendicular to the slider axis and a couple along the z-axis will be transmitted
between the links joined.
 b) Physical Forces : As the physical forces acting on a rigid body we shall include
external forces applied on the rigid body, the weight of the rigid body, driving force,
or forces that are transmitted by bodies that are not rigid such as springs or strings
attached to the rigid body. In case of springs, the magnitude and the direction of the
force acting will depend on the geometry of the mechanism at the instant
considered. In case of a string, when the string is tight, the force will be in the
direction of the string and its sense must be such that it keeps the string in tension;
otherwise the string force will be zero.
In machine systems, if the force distribution within the rigid body considered is not
our concern, the weight of the rigid body can be considered to be equivalent to a
force applied at the center of gravity of the rigid body, in the sense and direction of
the gravity field.

c) Friction or Resisting Force: In general the resisting forces are those that result due to
motion and which resist the motion. Since the rigid body assumption is made, one can
neglect the internal friction forces that will exist within the body. In such a case friction
forces are at the joints in the direction of the relative motion but in opposite sense or in
the members that are specially designed to create the friction force (dampers). Friction
forces will be discussed in more detail in coming section .
d) Inertial Forces. Are the forces due to the inertia of the rigid bodies involved. These
forces will be discussed in the coming sections.
 FORCE ANALYSIS

Apart from static forces, mechanism also experiences inertia forces when subjected to
acceleration, called dynamic forces.

Static forces are predominant at lower speeds and

dynamic forces are predominant at higher speeds.

Here, the analysis is aimed at determining the forces transmitted from one point to another,
essentially from input point to output point. This would be the starting point for strength
design of a component/ system, basically to decide the dimensions of the components

Force analysis is essential to avoid either overestimation or under estimation of forces on

machine member.

Underestimation: leads to design of insufficient strength and to early failure.

Overestimation: machine component would have more strength than required.

Over design leads to heavier machines, costlier and becomes not competitive
 General Principle of force analysis:

A machine / mechanism is a three dimensional object, with forces acting in three

dimensions.

For a complete force analysis, all the forces are projected on to three mutually
perpendicular planes. Then, for each reference plane, it is necessary that, the vector
sum of the applied forces in zero and that, the moment of the forces about any axis
perpendicular to the reference plane or about any point in the plane is zero for
equilibrium.
TWO FORCE MEMBER
Equilibrium of a Two-Force Body
• Consider a plate subjected to two forces F1 and F2

• For static equilibrium, the sum of moments about A

must be zero. The moment of F2 must be zero. It
follows that the line of action of F2 must pass
through A.

• Similarly, the line of action of F1 must pass through

B for the sum of moments about B to be zero.

• Requiring that the sum of forces in any direction be

zero leads to the conclusion that F1 and F2 must
have equal magnitude but opposite sense.

4-9
Equilibrium of a Three-Force Body
• Consider a rigid body subjected to forces acting at
only 3 points.
• Assuming that their lines of action intersect, the
moment of F1 and F2 about the point of intersection
represented by D is zero.

• Since the rigid body is in equilibrium, the sum of the

moments of F1, F2, and F3 about any axis must be
zero. It follows that the moment of F3 about D must
be zero as well and that the line of action of F3 must
pass through D.
• The lines of action of the three forces must be
concurrent or parallel.

4 - 11
THREE FORCE MEMBER
TWO FORCE and ONE MOMENT (TORQUE) MEMBER

F1 = F2 =F and T= F x h
FORCES BETWEEN MEMBERS
The all Gravity forces (mg) were neglected compared to the Joint forces.
-
One can reduce the number of equations to be solved if the free-body diagrams are analysed
to some detail. One need not write the forces in terms of its x and y components if the
direction is known and one can identify the forces that are of equal magnitude before
attempting for a solution. The free-body diagrams of the links in the four-bar mechanism are
redrawn below.
In this case to simplify the calculations we note that Fij = -Fji for the joint forces. Furthermore,
since link 3 is a two-force member, F23 and F43 are equal, opposite and their line of action is
along AB. Hence F23 =F23 <q13, and q13 is known from the kinematic analysis. Also link 2 is a
two-force plus a moment member. Therefore: F13 = - G12
Hence:
F 43= -F32 =-F34= -G12= -F23
Now, one can solve for the unknown forces if we write the 3 equilibrium equations for link 4 and
one moment equilibrium equation for link 2, which are

There are four equations with four unknowns (F34, T12, G14,F14 or F34, T12, G14x, G14y). If the
magnitudes come out negative, the direction of the force or torque is opposite to that
indicated on the free-body diagram.
 VECTORAL CALCULATION OF MOMENT

 
u v
C

Where;
F is the magnitude of F and v is a unit vector in the direction of the force F.
r is the distance from point C to a point on the line of action of F and u is a unit vector
in the direction of r.
r must be directed from the point that moment will be taken according to this
point,toward a point at which force is applied.
 Example
Figure shows a slider crank mechanism in which the resultant gas pressure 8 x 10 4
N/m2 acts on the piston of cross sectional area 0.1 m 2 . The system is kept in
equilibrium as a result of the couple applied to the crank 2, through the shaft at O 2.
Determine forces acting on all the links (including the pins) and the couple on 2.
Example
 Example

Since link 3 is acted upon by only two forces, F43 and F23 are collinear, equal in
magnitude and opposite in direction
Example
 Example
Determine the torque T2 required to keep the given mechanism in equilibrium.
 THE FREE BODY DIAGRAMS O2A AB 40 150
      110
Sin Sin45 0
Sin Sin45 0
F23y
FC=1000N
A F23x A 390

F12y 3
2 F23y F34y
T2   11 0
B
45 0
F34x
B 4
F12x O2
F34y F14y

F41y
 A F23y
F23x
FC=1000N
F12y 2 F23x A 390
F23y F34y
T2
3
450 F34x
  110 4
F12x O2 B
F34x
F14y
For the Connecting Rod (The member 3) B
 0 F34y
 x
F  0  F23 x  FC xCos (39 0
)  F34 x  0  F23 x  777.14 N
F41y

  Fy  0  F34 y  FC xSin(39
0
)  F23 y  0  F34 y  1000 xSin(390 )  F23 y  0
For the piston (The member 4)
 F34 y  F23 y  629.32...................(2)


 M A  0; F34 y AB Cos110  FC Cos39 0 AC sin 110  FC Sin39 0 AC Cos110  0   Fx  0  F34 x  0


  Fy  0  F14 y  F34 y  0  F14 y  F34 y ........(1)
F34 y x150 xCos110  1000 xCos39 0 x70 xSin110  1000 xSin39 0 x 70 xCos110  0

F34 y 
53623
 F34 y  364.19 N From the eqn.(2) 364.19  F23 y  629.32  F23 y  265.13N must be   
147.24
For the Crank (The member 2)


F x  0  F12 x  F23 x  0  F12 x  777.14  0  F12 x  777.14 N


  Fy  0  F23 y  F12 y  0  265.13  F12 y  0  F12 y  265.13N must be   

  M O2  0; F23x O2 A Sin450  F23 y O2 A xCos  T2  0
 M O2  0; 777.14 x40 xSin450  (265.13) x40 xCos450  T2  0  T2  14481.8Nmm  14.482 Nm
The another way (Vectoral method) to calculate the moment for the Connecting Rod (The member 3)
F23y
FC=1000N
F23x A 390

3 F34y
  110

B
To show the best, how to calculate the moment by vectorial method; the forces, position vectors ,and their unit vectors are drawn
separately as shown below

3490 2190 3490
v
A A
390
FC=1000N
C F34y
 
3
v  u 900
  11 0
u   110
B
B
M A  AB xF34 y xSin (900  3490 )

M A  AC xFC xSin ( 2190  3490 )

53623
M A  150.F34 y Sin(900  3490 )  70 x1000Sin(2190  3490 )  0 F34 y 
147.24
 F34 y  364.19 N
 The Second way for solution

Three force member

Two force and one moment member

 Example
O 2 A  30mm; AB  30mm; O 4 B  30mm; O 2O 4  60mm. AD  15mm; O 4C  10mm
 Example
Free Body Diagrams
 For the member 4
Px  200 xCos (43.80 )  144.35 N ; Py  200 xSin(43.80 )  138.43N


  Fx  0  F14 x  F34 x  Px  0  F14 x  F34 x  144.35  0  F14 x  F34 x  144.35.............( 1)

  Fy  0  F14 y  F34 y  PxSin(43.8
0
)  0  F14 y  F34 y  200 xSin( 43.80 )  0  F14 y  F34 y  138.43........(2)

 M B  0;  Py x BC Cos 76.20  Px x BC Sin76.20  F14 y x O4 B Cos 76.20  F14 x x O4 B Sin76.20  0

 144.35 x 20 xSin76.20  138.43x 20 xCos76.20  F14 y x30 xCos 76.20  F14 x x30 xSin76.20  0
7.15 xF14 y  29.13xF14 x  3464  F14 y  484.5  4 F14 x .........(3)

We have 4 unknowns and 3 equations, we can not find them still.

 F34y 3600  76.20  283.80

600 B
F34x B 76.20

3600  136.20
 223.80
C
76.20
0
60
P=200N 4 

  76.2 0 u
  76.2 0 u

 F14x O4
v O4
F14y
The Calculation of the moment by vector method
M B  30 xF14 y xSin(900  283.80 )  30 xF14 x xSin (00  283.80 )  20 x 200 xSin (223.80  283.80 )  0

7.15 xF14 y  29.13xF14 x  3464  0  F14 y  484.5  4 F14 x

It gave the same result

 For the member 3
S x  500 xCos(26.20 )  448.63N   ; S y  500 xSin(26.20 )  220.75 N   


  Fx  0  F23 x  F34 x  S x  0  F23 x  F34 x  448.63  0  F23 x  F34 x  448.63................(4)

  Fy  0  F23 y  S y  F34 y  0  F23 y  220.75  F34 y  0  F23 y  F34 y  220.75..........(5)


 M B  0;  F23 x x AB xSin18.80  F23 y x AB xCos18.80  S x x BD xSin18.80  S y x BD xCos18.80  0

 F23 x x30 xSin18.80  F23 y x30 xCos18.80  448.63x15 xSin18.80  220.75 x15 xCos18.80  0
9.67 F23 x  28.4 F23 y  5303.26  F23 x  548.42  2.94 F23 y ..........(6)

The Calculation of the moment by vector method

 M B  30 xF23 y xSin(900  18.80 )  30 xF23 x xSin(00  18.80 )  15 x500 xSin(153.80  18.80 )  0
 9.67 F23 x  28.4 F23 y  5303.26  0  F23 x  548.42  2.94 F23 y

It gave the same result

The number of the unknowns are 6: F14 x , F14 y , F23 x , F23 y , F34 x , F34 y The number of the equations are 6

Since the member 2 is two force and one Moment member F12 x  F23 x , F12 y  F23 y
 For the member 3

 F34y 18.80  1800

v  198.80

S=500N F34x
18.80  1350 B
 153.80 3
450

u
F23x 18.80
A
F23y

 M B  0;  F23x x AB xSin18.80  F23 y x AB xCos18.80  S x x BD xSin18.80  S y x BD xCos18.80  0

 F23x x30xSin18.80  F23 y x30xCos18.80  448.63x15xSin18.80  220.75x15xCos18.80  0

9.67F23x  28.4 F23 y  5303.26  F23x  548.42  2.94F23 y ..........(6)

The Calculation of the moment by vector method

M B  30 xF23 y xSin (900  198.80 )  30 xF23 x xSin (00  198.80 )  15 x500 xSin(153.80  198.80 )  0

9.67 F23 x  28.4 F23 y  5303.26  0  F23 x  548.42  2.94 F23 y

It gave the same result

The number of the unknowns are 6: F14 x , F14 y , F23x , F23 y , F34 x , F34 y The number of the equations are 6

Since the member 2 is two force and one Moment member F12 x  F23x , F12 y  F23 y
 F14 x  F34 x  144.35.............( 1) F14 y  F34 y  138.43........(2)
 F23 x  F34 x  448.63................(4)  F23 y  F34 y  220.75..........(5)

F14 x  F23 x  592.98.............( 7) F14 y  F23 y  82.32........(8)

 F14 x  F23 x  592.98 (eqn.7 multiplied by - 1)

 F23 x  2.94 F23 y  548.42..........(6) F14 y  4 F14 x  484.5...........(3)
 4 F14 x  11 .76 F23 y  4565.6.............( 10) (eqn.9 multiplied by - 4)
F14 x  2.94 F23 y  1141 .4.............( 9) 
F14 y  11 .76 F23 y  5050.1...........(11)
 F14 y  F23 y  82.32........(12) (eqn.8 multiplied by - 1)
 F14 y  11.76F23 y  5050.1...........(11)

 12.76 F23 y  5132.42...........(12) F23 y  402.22 N must be   

From the eqn (8) F14 y  (402.22)  82.32  F14 y  320 N

From the eqn (2) 320  F34 y  138.43  F34 y  181.57 N must be   
From the eqn (3) 320  4 F14 x  484.5  F14 x  41.125 N must be  

From the eqn (1) 41.125  F34 x  144.35  F34 x  103.225 N must be  
From the eqn (4) F23 x  103.225  448.63  F23 x  551.85 N must be  
 A
F23x
F12y 2 F23y
T2
For the Crank (The member 2)
450
F12x O2 F23 y  402.22 N  F12 y

F23 x  551.85 N  F12 x


 MO 2
 0; F23 x O2 A Sin450  F23 y O2 A xCos 450  T2  0

551.85 x30 xSin450  ( 402.22) x30 xCos 450  T2  0

551.85 x30 xSin450  (402.22) x30 xCos 450  T2  0

T2  20238.881Nmm  20.238881Nm
 Example
A four link mechanism is acted upon by forces as shown in the figure. Determine
the torque T2 to be applied on link 2 to keep the mechanism in equilibrium.

AD=50mm, AB=40mm, BC=100mm, Dc=75mm, DE= 35mm,

 Example
Free Body Diagrams
 Example
Free Body Diagrams
 Example
Free Body Diagrams
 Example
Free Body Diagrams
 Example
Free Body Diagrams
Example: Figure shows a two-dof
articulated robot having the same link
dimensions. The robot is interacting with
the environment surface in a horizontal
plane. Obtain the joint torques 1,2 for
pushing the surface with an endpoint force
of F=(Fx,Fy). Assume no friction.

It had been taken from

http://www.deu.edu.tr/userweb/zeki.kiral/MEC5004/hafta3_2012(1).ppt
  2 θ2
L2

L1 Fx
y Link 2

1 Link 1
θ1 Fy
x

Link 0
 FREE BODY DIAGRAM Fy
Fx
F x 0 A  Fx

2 Link 2 F y 0 B  Fy
L2

A 2 M A  0 2  Fx L 2 sin 2  Fy L 2 cos 2  0

A M B 0
1  A L1 sin 1  B L1 cos 1  0
1 L1
Link 1

B 1  Fx L1 sin 1  Fy L1 cos 1  0
A' 1
1  L1 sin 1Fx  L1 cos 1Fy
 2  L 2 sin  2 Fx  L 2 cos  2 Fy
B'
 1   L1 sin 1  L1 cos 1  Fx  The sign of the torques is reverse
    since they are reaction torques.
 2  L 2 sin  2  L 2 cos  2  Fy 