Mechanisms of Machinery

(MEng 3071)
Chapter 5: Force analysis
of mechanism of machinery
By Haile Simachew

1 April 2013 E.c

01/27/2024
 Part I
static force
analysis
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 Session Plan
Course title:- Mechanism of machinery
Course code:- MEng3071
Lecturer:- Haile Simachew
No of students =50, Male =50: Female= 0
Up on the Completion of Static force analysis. The
student will able to;
 Define and identify a force.
 Calculate the moment of a force.
 Understand and apply Newton’s three laws of motion.
 Create a free-body diagram of a general machine component.
 Identify and use the special conditions for equilibrium of a two-
force member.
 Determine the forces acting throughout a mechanism.
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 1.1. Introduction
 The general function of any machine is to transmit motion and
forces from an actuator to the components that perform the
desired task.
 A critical task in the design of machines is to ensure that the
strength of the links and joints is sufficient to withstand the
forces imposed on them.
 Therefore, a full understanding of the forces in the various
components of a machine is vital.

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 This part deals with force analysis in mechanisms without
accelerations, or where the accelerations can be neglected. This
condition is termed static equilibrium.
 These include clamps, latches, support linkages, and many
hand-operated tools, such as pliers and cutters.

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 1.2. Forces
 A force, F, is a vector quantity that represents a pushing or pulling
action on a part.
 In the U.S. Customary System, the common unit for the
magnitude of a force is the avoirdupois pound or simply pound
(lb).
 In the International System, the primary unit used is the Newton
(N).
 One of the most common operations is the determination of the net
effect of several forces.
 Two or more forces that are applied to a part can be combined to

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determine the resulting effect of the forces. 01/27/2024
 1.3. Moment and torques
 A moment, or torque, is the twisting action produced by a force.
 Pushing on the handle of a wrench produces an action that tends
to rotate a nut on a bolt.

Thus, the force causes a twisting

action around the center of a bolt.

This resulting action is termed a  inch-pound (in. lb) or foot-pound

(lb-ft
moment or torque
 Newton-millimeters (N mm) or

7 Newton-meters (Nm) 01/27/2024

 The difference between a moment and a torque is subtle.
 A moment is any twisting action of a force.
 A torque is a specific type of a moment. In machine applications, a
torque is any moment where the point of reference is at the center
of a shaft or other pin-type by connection.

Example problem 1

A mechanism to automatically open a door exerts a 37-lb force on

the door, applied in a direction as shown in Figure below.
Determine the moment, relative to the pivot of the door, created by

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the force. 01/27/2024
 Method One

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 Method Two

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 1.4. Law of motions
Sir Isaac Newton developed three laws of motion that serve as the basis of all

analysis of forces acting on machines and components.

These laws are stated as follows:

FIRST LAW: Every object remains at rest, or moves with constant velocity, unless

an unbalanced force acts upon it.

SECOND LAW: A body that has an unbalanced force has

a. Acceleration that is proportional to the force,

b. Acceleration that is in the direction of the force, and

c. Acceleration that is inversely proportional to the mass of the object.

11 THIRD LAW: For every action, there is an equal and opposite reaction.
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 1.5. Drawing the free body diagram

 To fully understand the safety of a machine, all forces that act on

the links should be examined.
 It is widely accepted that the best way to track these forces is to
construct a free body diagram.
 A free-body diagram is a picture of the isolated part, as if it were
floating freely.
 The part appears to be floating because all the supports and
contacts with other parts have been removed.
 All these supports and contacts are then replaced with forces
that represent the action of the support .
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 The following steps can assist in systematically
drawing a free-body diagram:
I. Isolate the component that must be studied.
II. Draw the component as if it were floating freely in space by removing
all visible supports and physical contacts.
III. Replace the supports or physical contacts, with the appropriate force
and/or moments, which have the same effect as the supports.

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 1.6. Characterizing the contact forces
Establishing the supporting forces takes some care.
The types of reactions can be divided into three groups corresponding to the type
of physical contacts.

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 Direction of Reaction is Known: Components in this group include rollers, sliders, pins
in slots, and cables. Each of these supports can prevent motion in only one direction.
Reactions in this group involve only one unknown, namely the magnitude of the
reaction force.
Figure a illustrates this type of contact.
 Direction of Reaction is Unknown: Components in this group include frictionless pins,
hinges, and sliders on rough surfaces. Each of these supports can prevent translation in
both planar directions. Reactions in this group involve two unknowns, usually shown
as the x-and y-components of the reaction force.
Figure b illustrates this type of contact.
 Reaction Prohibits Rotation: Components in this group include fixed supports and pin
joints at an actuator (motor or engine). Each of these supports can prevent translation in
both planar directions and free rotation. Reactions in this group involve three
unknowns, usually shown as the x- and y-components of the reaction force and a

15 reaction moment. 01/27/2024

 Example problem 2
An engine hoist is shown in Figure below. The engine being raised
weighs 250 lb. Draw a free-body diagram of the entire hoist.

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 1.7. Static equilibrium
Newton’s first law applies to all links that are at rest or moving
at constant velocity; thus, the condition is referred to as static
equilibrium
For an object to be in static equilibrium, the following two necessary and sufficient
conditions must be met:
1) The combination, or resultant, of all external forces acting on the object is
equivalent to zero and does not cause it to translate.

2) The moment due to any external force is canceled by the moments of the other
forces acting on the object and do not cause it to rotate about any point.

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 Analysis of two force members
 Member that is subjected to only two forces is called Two force member.
 Many mechanism links, particularly couplers and connecting rods, are two-force
members.
 In order for a two-force member to be in equilibrium the two forces must:
 Have the same magnitude,
 Act along the same line, and
 Be opposite in sense

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 Analysis of a Three-Force Member:

A member subjected to three forces is in equilibrium if and only if

(1) The resultant of the three forces is zero, and
(2) The lines of action of the forces all intersect at the same point.
The first condition guarantees equilibrium of forces, while the
second condition guarantees equilibrium of moments.

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 Example problem 3

Calculate the torque required (assuming no friction in the bearing) for static

equilibrium of an in-line reciprocating engine in the position when crank

angle θ= 45deg (from inner dead center). The dimensions are crank length

r=30 mm, connecting rod length L= 70mm, and the piston force is P= 40 N.

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Example problem 4
Figure below shows a mechanism used to crush rocks. The 60-mm mechanism crank
is moving slowly, and inertial forces can be neglected. In the position shown,
determine the torque required to drive the 60-mm crank and crush the rocks.

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 Part II
Dynamic Analysis of
Mechanisms

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 Session Plan
Course title:- Mechanism of machinery
Course code:- MEng3071
Lecturer:- Haile Simachew
No of students =50, Male =50: Female= 0
Up on the Completion of Dynamic force analysis. The
student will able to;
 Understand the difference between mass and weight.
 Calculate the mass moment of inertia of an object either by
assuming a similarity to a basic shape or from the radius of
gyration.
 Calculate inertial forces and torques.
 Determine the forces, including inertia, acting
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throughout a mechanism.
 2.1. Mass and Weight
 Mass and weight are not identical.

 Mass, m, is a measure of the amount of material in an object.

 Mass can also be described as the resistance of an object to acceleration.

 It is more difficult to “speed up” an object with a large mass.

 The weight, W, of an object is a measure of the pull of gravity on it.

 Thus, weight is a force directed toward the center of the earth.

 The weight of an object will vary. Mass, however, is a quantity that does not

change with gravitational pull.

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 2.2. CENTER OF GRAVITY
 The center of gravity, cg, of an object is the balance point of that object.
 That is, it is the single point at which the object’s weight could be held and be
in balance in all directions.
 For parts made of homogeneous material, the cg is the three-dimensional,
geometric center of the object.

EXAMPLE PROBLEM 1

The part shown in Figure below is

made from steel (0.283 lb/in3).
Determine the coordinates of the
center of gravity.
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 SOLUTION:
1. Divide the Link into Basic Shapes
This part can be readily divided into two components. The lower plate will be designated
as component 1, and the upper shaft will be designated as component 2.
2. Calculate the Weight of the Basic Shapes
The weight of parts is determined by calculating the volume of the parts and multiplying
by the density of steel.

3. Calculate the Center of Gravity

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 2.3. MASS MOMENT OF
 The mass moment of inertia, I,INERTIA
of a part is a measure of the resistance of
that part to rotational acceleration.
 It is more difficult to “speed up” a spinning object with a large mass
moment of inertia.
 Mass moment of inertia, or simply moment of inertia, is dependent on the
mass of the object along with the shape and size of that object.
 In addition, inertia is a property that is stated relative to a reference point
(or axis when three dimensions are considered).
 This reference point is commonly the center of gravity of the part.

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 2.3.1. Mass Moment of Inertia of Basic Shapes

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 2.4. Radius of Gyration

 The radius of gyration is the distance from

the center of gravity to a point where the

entire mass could be concentrated and have

the same moment of inertia.

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 2.5. Dynamic forces

 Dynamic forces are associated with accelerating masses.

 As all machines have some accelerating parts, dynamic forces are always

present when the machines operate.

 For example in case of rotors which rotates at speeds more than 80000rpm,

even the slightest eccentricity of the center of mass from the axis of rotation

produce very high dynamic forces. This may lead vibrations, wear, noise or

even the machine failure.

 When the inertia forces are considered in the analysis of the mechanism, the

analysis is known as dynamic force analysis.

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 2.6. INERTIAL FORCE
The second law is critical for all parts that experience acceleration.
It is stated as SECOND LAW: A body that has an unbalanced force has
a. An acceleration that is proportional to the force,
b. An acceleration that is in the direction of the force, and
c. An acceleration that is inversely proportional to the mass of the object

For linear motion, this law can be stated in terms of the acceleration
of the link’s center of gravity, Ag; thus,

The second term in the above equation is referred to as the inertia of a body
This term is defined as an inertial force,

Notice that the subtraction symbol is used because

both force and acceleration are vectors.
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  The negative sign indicates that the inertial force opposes

acceleration (it acts in the opposite direction of the

acceleration).

 Inertia is a passive property and does not enable a body to

do anything except oppose acceleration.

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 2.7. INERTIAL TORQUE
 The concept of an inertial force, as described in equation below,
is an extension of Newton’s second law for linear motion.

 For rotational motion, the second law can be summarized in

terms of rotational acceleration and moment of inertia, relative
to an axis through the center of gravity

 The second term in equation is termed the angular inertia of a

body. This term is used to define an inertial torque,

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 2.8. D'Alembert's Principle
 An important principle, known as d'Alembert's principle, can be derived from
Newton's second law.
 In words, d'Alembert's principle states that the reverse-effective forces and
torques and the external forces and torques on a body together give dynamic
equilibrium.
 Using d’Alembert’s principle in force analysis is referred to as
the inertia–force and inertial torque method of dynamic
equilibrium.
 It allows for analysis of accelerating links, using the same
methods that are used in a static analysis.

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 Example Problem 2
The compressor mechanism shown in Figure below is driven clockwise by a
DC electric motor at a constant rate of 600 rpm. In the position shown, the
cylinder pressure is 45 psi. The piston weighs 0.5 lb, and the coefficient of
friction between the piston and the compressor cylinder is 0.1. The weight of all
other links is negligible. At the instant shown, determine the torque required
from the motor to operate the compressor.

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 Example Problem 3
The mechanism shown in Figure below is used to lower and retract the landing
gear on small airplanes. The wheel assembly link weighs 100 lb, with a center
of gravity as shown. The radius of gyration of the assembly, relative to the
center of gravity, has been experimentally determined as 1.2 ft. The motor link
is rotating counterclockwise at 3 rad/s and accelerating at 10 rad/s2. For mass
property estimation, the motor crank will weigh approximately 15 lb and will
be 2 ft long, 1 ft wide, and 0.25 ft thick. The connecting link is estimated to
weigh 20 lb and can be modeled as a 3.5-ft slender rod. Determine all forces
acting on the joints of all links and the torque required to drive the motor link.

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 THANK
YOU !!

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