Kinematics of machines

10ME44
QUESTION BANK
KINEMATICS OF MACHINES
UNIT-01
Introduction to KOM

1. a Differentiate between
i. Higher pair and lower pair

(Dec/Jan - 2014)
ii. Open pair and closed pair

iii. Machine and mechanism

1. b Define single slider cranks chain. Explain the inversions of single slider crank chain
1. c Sketch the mechanism used to transmit contact angular velocity ratio between two shafts
whose axes are separated a small distance.

(Dec/Jan - 2014)

1. d Use Grubler's criterion to determine the degrees of freedom of the following

Mechanism

2. a. Define: i) Machine and ii) Mechanism. State an example for each.

(Dec/Jan - 2014)

(June/July

- 2013)

2. b Five binary links of lengths 5 cm, 8 cm, 15 cm, 19 cm and 28 cm are available Constructing
crank-rocker mechanism. Select four links required for the construction of this mechanism.
Sketch the mechanism and clearly show the fixed link and crank and rocker (June/July - 2013)
2. c. Sketch a 'Double slider crank chain'. A mechanism is obtained from this by fixing a binary
link having two turning pairs. State an application for this mechanism and sketch the same.
(June/July - 2013)

3. a What do you mean by inversion? What is its importance?

(Dec/Jan - 2013)

3. b. Draw a neat sketch of slider-crank mechanism and identify various pairs in it

and explain them.

(Dec/Jan - 2013)

3. c. Describe with neat sketches two inversions of double slider-crank mechanism.

(Dec/Jan - 2013)

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Kinematics of machines
4. a Define the following:

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(June/July - 2012)

i) Kinematic chain ii) Mechanism

iii) Structure iv) Inversion
v) Degree of freedom
4. b. Differentiate between the following:

(June/July - 2012)

i) Higher pair and Lower pair ii) Machine and structure

4. c. Find the degree of freedom of four bar chain and slider crank chain

Department of Mechanical Engineering, SJBIT

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Kinematics of machines

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UNIT-02
Mechanisms

1. a Explain with neat sketch the working principle of crank slotted lever mechanism
(Dec/Jan - 2014)
1. b. Explain with a neat sketch the mechanism used to trace exact straight line (Dec/Jan - 2014)

2. a. The length of the fixed link of a crank and slotted-lever mechanism (quick return motion) is
250 mm and that of the crank is 100 mm. Determine: i). angle between extreme positions of
slotted lever, and ii) Ratio of the time of cutting stroke to that of return stroke (June/July - 2013)
2. b. Draw a neat proportionate Peaucellier Mechanism indicates the geometric relations among
the links and show the point tracing the straight line. Prove that the point traces a straight line
perpendicular to the fixed link.

(June/July - 2013)

3. a. What are quick return mechanisms? Where are they used? Sketch and explain the
functioning of any two of them.

(Dec/Jan - 2013)

3. b. Derive an expression for necessary condition of correct steering and explain

Ackermann steering gear with neat sketch.

(Dec/Jan - 2013)

4. a. Explain Whitworth quick return mechanism with a neat sketch

(June/July - 2012)

4. b.. Explain the pantograph mechanism with a neat sketch. State its applications.
(June/July - 2012)

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Kinematics of machines

10ME44
UNIT-03

Velocity & Acceleration Analysis of Mechanisms (Graphical method)

1. Fig. Q3 shows a four bar mechanism. Crank O2A rotates at 200 rpm and an. Angular
acceleration of 150 rad/ see at the instant when the crank makes an angle of 45 11 the
horizontal. Find the acceleration of points B and C and angular velocities and angular
acceleration of links 3 and 4.

(Dec/Jan - 2014)

2. In the slotted-lever quick-return mechanism shown in Fig. Q3, the crank 0zA rotates at a
constant speed of 30 rpm (CCW). For the position shown, determine the velocity and
Acceleration of the point C. Given O2A=12cm,O2O4=30cm, 4B= 60 cm and BC = 15 cm. The
line of movement of C is 30 cm above the point O2.
3. a. Explain the Corloli's acceleration component. How is it determined?

(June/July - 2013)
(Dec/Jan - 2013)

3. b. The Fig. 3(b) shows a four bar mechanism. The link AB rotates with an angular-velocity of
10.5 rad/s and retardation of 26 rad/s' in the direction shown. Find (i) the angular accelerations of
links BC and CD, and (ii) Linear acceleration. of points E, F and G.

Department of Mechanical Engineering, SJBIT

(Dec/Jan - 2013)

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Kinematics of machines

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4. For the mechanism shown in Fig.3, the crank OA rotates at 20 rpm anticlockwise and gives
motion to the sliding blocks Hand D. The dimensions of various links are OA = 300mm, AB =
1200mm, BC= 450mm and CD =450mm.
For the given configuration determine:
i) Velocity of sliding at Band D
ii) Angular velocity of CD and,
iii) Linear acceleration of D

Department of Mechanical Engineering, SJBIT

(June/July - 2012)

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Kinematics of machines

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UNIT-04

Velocity & Acceleration Analysis of Mechanisms (Instantaneous Method)

1. a. In a slider crank: mechanism shown in Fig.Q4 (a) the crank: OA = 300 mm and the
connecting rod AB = 1200 mm the crank: OA is turned 30 from the inner dead centre. Locate
all the instantaneous centers. H the crank: rotates at 15 rad/ sec clockwise,
Find: A
i) Velocity of slider B and
ii) Angular velocity of connecting rod AB.

(Dec/Jan - 2014)

1.b. Determine the velocity and acceleration of the piston by Kelvin's construction to the
following specification
Stroked 300 mm
Ratio of length of connecting rod to crank radius = 4
Speed of engine = 300 rpm
Position of crank = 45 with inner dead centre.

2. a.What is instantaneous centre of rotation? State Kennedy's theorem

(Dec/Jan - 2014)

(June/July - 2013)

2. b A binary link of a mechanism having two turning pairs at A and B is in the shape an
isosceles triangle as shown in Fig. Q4 (b) (complete mechanism is not shown) Velocity of A is
20 cm/s along AB in the direction shown in the Fig. Q4 Determine the instantaneous centre of
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Kinematics of machines

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the link if the- path of B at the instant along BC. Also determine the magnitude and direction of,
i) angular velocity of link ii) Velocity of C.

(June/July - 2013)

3.a State and prove Kennedy's-theorem

(Dec/Jan - 2013)

3. b. Explain the method of finding acceleration of various elements by Klein's construction.

(Dec/Jan - 2013)
4. In a slider crank: mechanism shown in Fig.Q4 (a) the crank: OA = 300 mm and the
connecting rod AB = 1200 mm the crank: OA is turned 30 from the inner dead centre. Locate
all the instantaneous centers. H the crank: rotates at 15 rad/ sec clockwise,
Find: A
i) Velocity of slider B and
ii) Angular velocity of connecting rod AB.

Department of Mechanical Engineering, SJBIT

(June/July - 2012)

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Kinematics of machines

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UNIT-05

Velocity & Acceleration Analysis of Mechanisms (Analytical Method)

1. In a four bar mechanism ABCD, link AB = 300 mm, BC = 360 mm, CD = 360 mm and the
fixed link AD is 600 mm. the angle BAD = 60 The link AB has an angular velocity of 10
rad/sec and angular acceleration of 30 rad/ see both clockwise. Determine the angular velocities
and angular acceleration of link BC and CD by using complex algebra method. (Dec/Jan - 2014)
2. In the 4-bar mechanism shown in Fig. Q5, link AB rotates uniformly at 2 radians per second in
clockwise sense. Using complex algebra write loop closure equation for this. Determine
magnitude and directions of angular velocity and angular acceleration of links BC and CD using
vector algebra. Also state whether the magnitudes of angular velocity of these links tend to
increase or decrease at the instant.

(June/July - 2013)

3. Using complex algebra derive expression for velocity and acceleration of the piston and
angular acceleration of connecting rod for a reciprocating engine mechanism. Use these
expressions to- find the above, if the crank length is 50mm, connecting rod is 200mm long, crank
angle is 30, the crank rotates at a constant speed of 3000 rpm.

(Dec/Jan - 2013)

4. For an offset slider crank: mechanism write the loop c1os~e equation and determine the'
expression for
i) Connecting rod angle and output displacement.
ii) Angular velocity of connecting rod.
iii) Angular acceleration of connecting rod

Department of Mechanical Engineering, SJBIT

(June/July - 2012)

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Kinematics of machines

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UNIT-06
Spur Gears

1. a Briefly discuss interference problems in gears. Deduce an expression for minimum number
of teeth on a gear to avoid interference.

(Dec/Jan - 2014)

1. b
The following data refers to two mating involute gears of 20 pressure angle. Number of teeth on
pinion is 20. Gear ratio =2, speed of pinion is 250 rpm, module= 12 mm. H the addendum on
each wheel is such that the path of approach and the path of reuse on each side are half of the
maximum permissible length. Find the maximum velocity of sliding during path of approach and
path of recess and the length of arc of contact.

2. a. State and prove law of gearing

(Dec/Jan - 2014)

(June/July - 2013)

2.b. Compare involute and cycloidal tooth profile of a gear with respect to,
i) Pressure angle ii) Interference

(June/July - 2013)

2. c. The number of teeth on each of the two equal spur gears in mesh is 40. The teeth have 200
involute profiles and tile module is 6 mm. If the length of arc of contact is 1.75 times the circular
pitch, find the addendum.

(June/July - 2013)

3. a. What is interference? Mention the methods to avoid it.

common tangent to the base circles at the points of tangency.

(Dec/Jan - 2013)

3. b Two gears in mesh have 28 teeth and 45 teeth respectively and standard addendum of one
module. The module and pressure angle are 6mm and 20 respectively.
Determine
i) Contact ratio
ii) Angle turned by pinion and gear when one pair is in contact
ill) The ratio of sliding to roiling motion when the tip of a tooth on the larger wheel is just
making contact, is just leaving contact with its mating tooth,
iv) is at the pitch point.

Department of Mechanical Engineering, SJBIT

(Dec/Jan - 2013)

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4. a. Derive the expression for length of path of contact and length of arc of contact for a pair of
involute gears in contact.

(June/July - 2012)

4. b. What is interference in involute gears? How it can be avoided?

(June/July - 2012)

4. c. A pinion having 30 teeth drives a gear having 80 teeth. The profile of gears is involute with
20 pressure angle, 12mm module and 10mm addendum. Find the length of path of contact and
length of arc of contact.

Department of Mechanical Engineering, SJBIT

(June/July - 2012)

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Kinematics of machines

10ME44
UNIT-07
Gear train

1. a. Beduce an expression for holding torque in epicyclical gear train.

(Dec/Jan - 2014)

1. b. An epicyclic gear train arrangement consists of three planet wheels of equal size and equi
spaced (1200 apart) carried by a spider (arm). The three planet wheels mesh externally with a
sun wheel and internally with an annular ring, which is stationary. The pitch circle diameter of
the ring is approximately 228 mm and module is 4 mm. The spider makes one revolution for
every five revolutions of the spindle carrying the sun wheel. Determine the number of teeth for
all the gears and the exact pitch circle diameter of the ring. H a torque of 30 N-m is applied to the
sun wheel, determine the torque required to hold the ring stationary.

(Dec/Jan - 2014)

2. An epicyclic gear train has a fixed annular wheel 'C' concentric with S11nwheel4 A'. A planet
wheel 'B' gears with 'A' and 'C' and can rotate freely on a pin carried by an arm 'D' which rotates
about an axis co-axial with that of 'A' and 'C' If Tl and T2 are the numbers of teeth on 'A' and 'C'
respectively, show that the ratio of speeds

3. a. Explain epicyclic gear train with neat figure

(June/July - 2013)

(Dec/Jan - 2013)

3. b. Figure shows an epicyclic gear train where the arm A, the driver and annular gear D is the
follower. The wheel D has 112 teeth and B has 48 teeth. B runs freely on pin P and D is
separately driven. The arm A runs at 100rpm and wheel bat 50 rpm in same direction. Find the
speed of wheels Band C.

4. a. Explain different types of gear trains with neat sketches.

(Dec/Jan - 2013)

(June/July - 2012)

4. b. An epicyclic gear train consists of three gears 1, 2, and 3 as shown in Fig. 7(b), the internal
gear 1 has 72 teeth and gear 3 has 32 teeth. The gear 2 meshes with both gears 1 and 3 and is

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carried on arm A which rotates about centre 02 at 20 rpm. If the gear 1 is fixed, determine the
speed of gears 2 and 3.

Department of Mechanical Engineering, SJBIT

(June/July - 2012)

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Kinematics of machines

10ME44
UNIT-08
Cams

1. Draw to full size the profile of cam which gives a lift of 38 mm to a follower carrying a roller
of 25 mm diameter. The axis of the follower is offset by 18 mm to the right of the axis m of cam,
Ascent of the follower takes place with SHM during 0.05 seconds followed by a period of rest
during 0.0125 seconds the follower then descends with UARM during 0.125 seconds, the
acceleration being 3/5 times the retardation the - follower remains at rest during the remaining
period of cam rotation. The cam rotates in clockwise direction at a constant speed of 240 rpm
and base circle radius is 50 mm. Also determine maximum velocity, uniform acceleration, and
uniform retardation of the follower during return stroke.

(Dec/Jan - 2014)

2. a Draw neat sketch for each of the following:

i) Plate or disc earn with a translating follower.
ii) Wedge cam with translating follower.
iii) Cylindrical earn with translating follower.

(June/July - 2013)

2.b Draw the profile of a earn operating a knife-edge follower having a lift of 30 mm. The earn
raises the follower with SHM for 150 of the rotation followed by a period of dwell for 60. The
follower descends for the next 100 rotation of the earn with uniform velocity, again followed by
a dwell period. The earn rotates in an anticlockwise sense at a uniform velocity of 120 rpm and
has a least radius of 25 mm. What will be the maximum velocity and acceleration of the follower
during the lift.

(June/July - 2013)

3. Draw the profile of a cam operating a roller follower and with following data:
Minimum radius of cam = 2Smm
Lift of follower = 30mm,
Roller diameter = 15mm.
Angle of descent with Uniform acceleration and deceleration = 1500,
Angle of ascent with SHM = 1200,
Dwell between ascent and descent = 300.
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Kinematics of machines

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If the cam rotates at uniform speed of 150 rpm, calculate the maximum velocity and acceleration
of the follower during the descent period.

(Dec/Jan - 2013)

4. Draw the profile of a cam operating a roller follower and with following data:
Minimum radius of cam = 25mm, lift = 30mm, roller diameter = 15.mm. The cam lifts the
follower for 120 with SlIM followed by a dwell period of 30.
Then the follower lowers during 150 of cam rotation with uniform acceleration and deceleration
followed by dwell period. If the cam rotates at uniform speed of 150 rpm, calculate the
maximum velocity and acceleration of the follower during the descent period. (June/July - 2012)

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Department of Mechanical Engineering, SJBIT

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