Theory of Machines – I

Question Bank (Numericals)

Velocity and Acceleration Analysis of Mechanisms: Graphical Methods-II

Q. The mechanism of a wrapping machine, as shown in Fig. 6.18, has the following
dimensions: O1A = 100 mm; AC = 700 mm; BC = 200 mm; O3C = 200 mm; O2E = 400
mm; O2D = 200 mm and BD = 150 mm. The crank O1A rotates at a uniform speed of 100
rad/s. Find the velocity of the point E of the bell crank lever by instantaneous centre method.

Given : ωO1A = 100 rad/s ;

O1 A = 100 mm = 0.1 m
We know that the linear velocity of crank O1 A,
vO1A = vA = ωO1A × O1 A
= 100 × 0.1
= 10 m/s
Now let us locate the required instantaneous centres
Since the mechanism consists of six links (i.e. n = 6),
therefore number of instantaneous centres,

Since the mechanism has 15 instantaneous centres,

1) Locating the fixing and the permanent instantaneous centres by inspection. These
centres are I12, I23, I34, I35, I14, I56 and I16.
 Locating the remaining neither fixed nor permanent instantaneous centres by Aronhold Kennedy’s theorem.

By measurement, we find that

I13 A = 910 mm = 0.91 m ; I13 B = 820 mm = 0.82 m ; I15 B = 130 mm = 0.13 m ;
I15 D = 50 mm = 0.05 m ; I16 D = 200 mm = 0.2 m ; I16 E = 400 mm = 0.4 m
Velocity of point E on the bell crank lever
Let vE = Velocity of point E on the bell crank lever,
vB = Velocity of point B, and
vD = Velocity of point D.

Q. The crank and connecting rod of a reciprocating engine are 200 mm and 700 mm
respectively. The crank is rotating in clockwise direction at 120 rad/s. Find with the help of
Klein’s construction: 1. Velocity and acceleration of the piston, 2. Velocity and acceleration
of the mid point of the connecting rod, and 3. Angular velocity and angular acceleration of
the connecting rod, at the instant when the crank is at 30° to I.D.C. (inner dead centre).

Answer-
Given:
OC = 200 mm = 0.2 m ;
PC = 700 mm = 0.7 m ;
ω= 120 rad/s
OM = 127mm = 0.127 m ;
CM = 173 mm = 0.173 m ;
QN = 93 mm = 0.093 m ;
NO = 200 mm = 0.2 m

1. Velocity and acceleration of the piston

We know that the velocity of the piston P,
vP = ω× OM = 120 × 0.127 = 15.24 m/s Ans.
and acceleration of the piston P,
aP = ω 2 × NO = (120)2 × 0.2 = 2880 m/s2 Ans.

2. Velocity and acceleration of the mid-point of the connecting rod.

CD1 = D1M. Join OD1. By measurement,
OD1 = 140 mm = 0.14 m
Velocity of D, vD = × OD1 = 120 × 0.14 = 16.8 m/s Ans.
OD2 = 193 mm = 0.193 m
Acceleration of D,
aD = ω2 × OD2 = (120)2 × 0.193 = 2779.2 m/s2 Ans.

3. Angular velocity and angular acceleration of the connecting rod

We know that the velocity of the connecting rod PC (i.e. velocity of P with respect to C),
vPC = ω× CM = 120 × 0.173 = 20.76 m/s.

Angular acceleration of the connecting rod PC,

We know that the tangential component of the acceleration of P with respect to C,

PC at ω2QN (120)2 0.093 1339.2 m/s
Angular acceleration of the connecting rod PC,

Velocity and Acceleration Analysis of Simple Mechanisms: Graphical Methods-I

Q.Find out the acceleration of the slider D and the angular acceleration of link CD for the
engine mechanism shown in FigThe crank OA rotates uniformly at 180 r.p.m. in clockwise
direction. The various lengths are: OA = 150 mm ; AB = 450 mm; PB = 240 mm ; BC = 210
mm ; CD = 660 mm.
Given: NAO = 180 r.p.m.,
ωAO = 2ω× 180/60 = 18.85 rad/s ;

OA = 150 mm = 0.15 m ;
AB = 450 mm = 0.45 m ;
PB = 240 mm = 0.24 m ;
CD = 660 mm = 0.66 m
We know that velocity of A with respect to O or velocity of A,

vAO = vA = ωAO × OA

= 18.85 × 0.15 = 2.83 m/s ...(Perpendicular to OA)

vector oa = vAO = vA = 2.83 m/s

By measurement, we find that velocity of the slider D,

vD = vector od = 2.36 m/s
Velocity of D with respect to C,
vDC = vector cd = 1.2 m/s

Velocity of B with respect to A,

vBA = vector ab = 1.8 m/s

and velocity of B with respect to P,

vBP = vector pb = 1.5 m/s

Angular acceleration of CD
From acceleration diagram, we find that tangential component of the acceleration of D with
respect to C,
at zdDC vector 17.4 m/s2 ...(By measurement)

We know that angular acceleration of CD,

Q. In a Whitworth quick return motion, as shown in Fig. OA is a crank rotating at 30 r.p.m.

in a clockwise direction. The dimensions of various links are: OA = 150 mm; OC = 100 mm;
CD = 125 mm; and DR = 500 mm. Determine the acceleration of the sliding block R and the
angular acceleration of the slotted lever CA.
Given : NAO = 30 r.p.m.
ωAO = 2ω× 30/60 = 3.142 rad/s ;
OA = 150 mm = 0.15 m;
OC = 100 mm = 0.1 m ;
CD = 125 mm = 0.125 m ;
DR = 500 mm = 0.5 m

We know that velocity of A with respect to O or velocity of A,

vAO = vA = ωAO × OA = 3.142 × 0.15 = 0.47 m/s ...(Perpendicular to OA)
Kinematic Analysis of Mechanisms: Analytical Method

Q. The crank and connecting rod of a steam engine are 0.3 m and 1.5 m in length. The crank
rotates at 180 r.p.m. clockwise. Determine the velocity and acceleration of the piston when
the crank is at 40 degrees from the inner dead centre position. Also determine the position of
the crank for zero acceleration of the piston.

Answer-
Given : r = 0.3; l = 1.5 m ;
N = 180 r.p.m.
ω= ω× 180/60 = 18.85 rad/s;
= 40°

Velocity of the piston

We know that ratio of lengths of the connecting rod and crank,
n = l/r = 1.5/0.3 = 5
Velocity of the piston,
Q.Universal or Hooke’s Joint

A Hooke’s joint is used to connect two shafts, which are intersecting at a small angle,
as shown in Fig The end of each shaft is forked to U-type and each fork provides two
bearings

Universal or Hooke’s joint.

for the arms of a cross. The arms of the cross are perpendicular to each other. The motion is
transmitted from the driving shaft to driven shaft through a cross.
The inclination of the two shafts may be constant, but in actual practice it varies,
when the motion is transmitted.
The main application of the Universal or Hooke’s joint is found,
The transmission from the gear box to the differential or back axle of the automobiles.
It is also used for transmission of power to different spindles of multiple drilling
machine.
It is also used as a knee joint in milling machines.

Ratio of the Shafts Velocities

Maximum and Minimum Speeds of Driven Shaft
 Polar diagram-salient features of driven shaft speed.

Condition for Equal Speeds of the Driving and Driven Shafts

Q. Two shafts with an included angle of 160° are connected by a Hooke’s joint. The driving
shaft runs at a uniform speed of 1500 r.p.m. The driven shaft carries a flywheel of mass12 kg
and 100 mm radius of gyration. Find the maximum angular acceleration of the driven shaft
and the maximum torque required.
Answer

Given :
= 180° – 160° = 20°;
N = 1500 r.p.m.; m = 12 kg ;
k = 100 mm = 0.1 m

We know that angular speed of the driving shaft,

ω= 2 ω× 1500 / 60 = 157 rad/s

and mass moment of inertia of the driven shaft,

I = m.k2 = 12 (0.1)2 = 0.12 kg - m2

Maximum angular acceleration of the driven shaft

Let dω1 / dt = Maximum angular acceleration of the driven shaft, and
= Angle through which the driving shaft turns.
We know that, for maximum angular acceleration of the driven shaft,

2= 82.9° or = 41.45°

Maximum torque required
We know that maximum torque required
= I × dω1/ dt = 0.12 × 3090 = 371 N-m

Friction Clutches, Brakes and Dynamometer

Q.A single dry plate clutch transmits 7.5 kW at 900 r.p.m. The axial pressure is limited to
0.07 N/mm2. If the coefficient of friction is 0.25, find 1. Mean radius and face width of the
friction lining assuming the ratio of the mean radius to the face width as 4, and 2. Outer and
inner radii of the clutch plate.

Solution.
Given :
P = 7.5 kW = 7.5 × 103 W ;
N = 900 r.p.m or
ω= 2 ω× 900/60 = 94.26 rad/s ;
p = 0.07 N/mm2 ; 
µ= 0.25

1. Mean radius and face width of the friction lining

Let R = Mean radius of the friction lining in mm, and
w = Face width of the friction lining in mm,

Ratio of mean radius to the face width,

R/w = 4 ...(Given)

We know that the area of friction faces,

A = 2 R.w
Normal or the axial force acting on the friction faces,
W = A × p = 2 R.w.p
We know that torque transmitted (considering uniform wear),
T n.µ.W.R n.µ(2R.w.p)R
We also know that power transmitted (P),

7.5 × 103 = T.ω= T × 94.26

T = 7.5 × 103/94.26 = 79.56 N-m = 79.56 × 103 N-mm ...(ii)

From equations (i) and (ii),

R3 = 79.56 × 103/0.055 = 1446.5 × 103 or R = 113 mm Ans.

and w = R/4 = 113/4 = 28.25mm Ans.

2. Outer and inner radii of the clutch plate

Let r1 and r2 = Outer and inner radii of the clutch plate respectively. Since the width of the
clutch plate is equal to the difference of the outer and inner radii, therefore

w = r1 – r2 = 28.25 mm ...(iii)

Also for uniform wear, the mean radius of the clutch plate,

iv)

From equations (iii) and (iv),

r1 = 127.125 mm ; and r2 = 98.875 Ans.

Q.A centrifugal clutch is to transmit 15 kW at 900 r.p.m. The shoes are four in number. The
speed at which the engagement begins is 3/4th of the running speed. The inside radius of the
pulley rim is 150 mm and the centre of gravity of the shoe lies at 120 mm from the centre of
the spider. The shoes are lined with Ferrodo for which the coefficient of friction may be taken
as 0.25. Determine : 1. Mass of the shoes, and 2. Size of the shoes, if angle subtended by the
shoes at the centre of the spider is 60º and the pressure exerted on the shoes is 0.1 N/mm2.
Q. The essential features of a transmission dynamometer are shown in Fig. A is the driving
pulley which runs at 600 r.p.m. B and C are jockey pulleys mounted on a horizontal beam
pivoted at D, about which point the complete beam is balanced when at rest. E is the driven
pulley and all portions of the belt between the pulleys are vertical. A, B and C are each 300
mm diameter and the thickness and weight of the belt are neglected. The length DF is 750
mm. Find : 1. the value of the weight W to maintain the beam in a horizontal position when
4.5 kW is being transmitted, and 2. the value of W, when the belt just begins to slip on pulley
A. The coefficient of friction being 0.2 and maximum tension in the belt 1.5 kN.

Answer
 All dimensions in mm.

Given :
NA = 600 r.p.m. :
DA = DB = DC = 300 mm = 0.3 m

1. Value of the weight W to maintain the beam in a horizontal position

Given :
Power transmitted (P) = 4.5 kW = 4500 W
Let T1 = Tension in the tight side of the belt on pulley A, and
T2 = Tension in the slack side of the belt on pulley A.
Force acting upwards on the pulley C = 2T1
and force acting upwards on the pulley B = 2T2
Now taking moments about the pivot D,

W × 750 = 2T1 × 300 – 2T2 × 300 = 600 (T1 – T2)

T1 – T2 = W × 750 / 600 = 1.25 W N

We know that the power transmitted (P),

W = 4500 / 11.78 = 382 N

W × 750 = 2T1 × 300 – 2T2 × 300
= 2 × 1500 × 300 – 2 × 800 × 300
= 420 × 103

W = 420 × 103/ 750 = 560 N