Presidency University, Bengaluru.

School of Engineering,

Department of Mechanical Engineering

MEC 202: Kinematics of Machines

Edhitch Passcode: MECHPB42020

Workbook Unit 1

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 Unit 1

1. Mechanisms and Machines

1.1 Mechanism:

 If a number of bodies are assembled in such a way that the motion of

one causes constrained and predictable motion to the others, it is
known as a mechanism.

eg. Slider crank mechanism

 A slider-crank mechanism converts the reciprocating motion of a slider into

rotary motion of the crank or vice-versa. A mechanism transmits and
modifies a motion.
 Kinematics: It deals with the relative motions of different parts of a
mechanism without taking into consideration the forces producing the
motions. Thus, it is the study, from a geometric point of view, to know
the displacement, velocity and acceleration of a part of a mechanism.

1.2 Machine:

 A machine is a mechanism or a combination of mechanisms which,

apart from imparting definite motions to the parts, also transmits and
modifies the available mechanical energy into some kind of desired
work.

eg. Reciprocating Engine

  When slider crank mechanism is used as an automobile engine by adding
valve mechanism, etc., it becomes a machine which converts the available
energy (force on the piston) into the desired energy (torque of the crank-
shaft).

2. Types of constrained motions

2.1 Completely constrained motion

 When the motion between two elements of a pair is in a definite direction

irrespective of the direction of the force applied, it is known as completely
constrained motion.

 The constrained motion may be linear or rotary. Fig a & b shows examples
of the completely constrained motion. In sliding pair, the inner prism can
only slide inside the hollow prism. In case of a turning pair, the inner shaft
can have only rotary motion due to collars at the ends. In each case the
force has to be applied in a particular direction for the required motion.

2.2 Incompletely constrained motion

 When the motion between two elements of a pair is possible in more than
one direction and depends upon the direction of the force applied, it is
known as incompletely constrained motion.

 For example, if the turning pair in fig does not have collars, the inner
shaft may have sliding or rotary motion depending upon the direction of
the force applied. Each motion is independent of the other.
 2.3 Successfully constrained motion
 When the motion between two elements of a pair is possible in more than
one direction but is made to have motion only in one direction by using
some external means, it is a successfully constrained motion.

 For example, a shaft in a footstep bearing may have vertical motion apart
from rotary motion. But due to load applied on the shaft it is constrained
to move in that direction and thus is a successfully constrained motion.
 Similarly, a piston in a cylinder of an internal combustion engine is made
to have only reciprocating motion and no rotary motion due to constrain
of the piston pin.

3. Kinematic links, pairs & joints

3.1 Kinematic link:

 A mechanism is made of a number of resistant bodies (which are rigid

for the purposes they have to serve) out of which some may have motions
relative to the others.
 A link is defined as a member or a combination of members of a
mechanism, connecting other members and having motion relative to
them. Thus, a link may consist of one or more resistant bodies.
 A slider-crank mechanism consists of four links: frame and guides, crank,
connecting- rod and slider.
 A link is also known as kinematic link or element.
 Links can be classified into binary, ternary and quaternary depending
upon their ends on which revolute or turning pairs can be placed (no
relative motion between the joints within the link).
3.2 Kinematic pair:

 A kinematic pair or simply a pair is a joint of two links having relative

motion between them.
 In a slider- crank mechanism, the link 2 rotates relative to the link 1 and
constitutes a revolute or turning pair. Similarly, links 2, 3 and 3, 4 constitute
turning pairs. Link 4 (slider) reciprocates relative to the link 1 and is a
sliding pair.

 Types of Kinematic Pairs:

1. According to Nature of Contact:

a) Lower Pair: A pair of links having surface or area contact between the
members is known as a lower pair.
eg. Nut turning on a screw, shaft rotating in a bearing etc.
b) Higher Pair: When a pair has a point or line contact between the links,
it is known as a higher pair.
eg. Wheel rolling on a surface, cam and follower pair etc.

2. According to Nature of Mechanical Constraint:

a) Closed Pair: When the elements of a pair are held together

mechanically, it is known as a closed pair. All the lower pairs and some
of the higher pairs are closed pairs. A cam and follower pair (higher
pair) shown in fig and a screw pair (lower pair) belong to the closed pair
category.
 b) Unclosed Pair: When two links of a pair are in contact either due
to force of gravity or some spring action, they constitute an
unclosed pair. In this, the links are not held together mechanically,
e.g., cam and follower pair

3. According to Nature of Relative Motion:

a) Sliding Pair: When two links have sliding motion relative to each other,
they form sliding pair.
b) Turning Pair: When one link has a turning or revolving motion relative
to the other, they constitute a turning or revolving pair
c) Rolling Pair: When the links of a pair have a rolling motion relative
to each other, they form a rolling pair, e.g., ball and roller bearings,
etc.
d) Screw Pair (Helical Pair): If two mating links have a turning as well
 as sliding motion between them, they from a screw pair.
e) Spherical Pair: When one link in the form of a sphere turns inside a
fixed link, it is a spherical pair. The ball and socket joint is a spherical
pair.

3.3 Types of joints:

 Binary Joint: If two links are joined at the same connection, it is called a
binary joint.
 Ternary Joint: If three links are joined at a connection, it is known as a ternary
joint. It is considered equivalent to two binary joints.
 Quaternary Joint: If four links are joined at a connection, it is known as a
quaternary joint. It is considered equivalent to three binary joints.
 In general, if n number of links are connected at a joint, it is equivalent to
(n - 1) binary joints.

4 Degrees of Freedom:
  An unconstrained rigid body moving in space can have:
 3 Translational motions along any three mutually perpendicular axes
x, y and z
 3 Rotational motions about these axes
Thus, a rigid body possesses six degrees of freedom.
 The connection of a link with another imposes certain constraints on
their relative motion. The number of restraints can never be zero (joint
is disconnected) or six (joint becomes solid).
 A particular relative motion between two links of a pair must be
independent of the other relative motions that the pair can have. A screw
and nut pair permits translational and rotational motions. However, as the
two motions cannot be accomplished independently, a screw and nut pair
is a kinematic pair of the fifth class and not of the fourth class.

5 Kinematic chain & Mechanism:

 A kinematic chain is an assembly of links in which the relative motions of

the links is possible and the motion of each relative to the other is definite.
 In case the motion of a link results in indefinite motions of other links, it
is a non-kinematic chain.
 A redundant chain does not allow any motion of a link relative to the
other.
 A linkage or Mechanism is obtained if one of the links of a kinematic
chain is fixed to the ground.

 If one of the links of a redundant chain is fixed, it is known as a structure

or a locked system.
 In some mechanisms, only one input is necessary that determines the
motions of other links and it is said to have one degree of freedom.
 In other mechanisms, two inputs may be necessary to get constrained
motions of the other links and they are said to have two degrees of
freedom, and so on.
  The degree of freedom of a structure or a locked system is zero.
 The degree of freedom of superstructure is negative.

6 Mobility of Mechanisms:

 Expressing the number of degrees of freedom of a linkage in terms of the

number of links and the number of pair connections of different types is
known as number synthesis.

N = total number of links in a mechanism (One link is fixed in

mechanism)
F = degrees of freedom
P 1 = number of pairs having one degree of freedom (eg. turning pair)
P2 = number of pairs having two degrees of freedom, and so on.
 Most of the mechanisms are two-dimensional such as a four-link or a
slider- crank mechanism in which displacement is possible along two
axes (one restraint) and rotation about only one axis (two restraints).
 Therefore, for plane mechanisms, the following relation may be used to find
the degrees of freedom

F = 3(N - 1) - 2P 1 - 1P2

This is known as Gruebler’s criterion for degrees of freedom.

 Thus, for linkages with a single degree of freedom only, P2 = 0

F = 3( N - 1) - 2P 1

This is known as Kutzback’s criterion for degrees of freedom.

 Most of the linkages are expected to have one degree of freedom so that
with one input to any of the links, a constrained motion of the others is
obtained.
Then,
1 = 3(N - 1) - 2P1
2P 1 = 3N - 4
 As P 1 and N are to be whole numbers, the relation can be satisfied only if
N is even.
Therefore for N=4, P1=4; for N=6, P1= 7 to get single degree of freedom.

N=4, P1=4, L= 1 N=6, P1= 7, L=2 N=6, P1= 7, L=2

L = number of loops

 Relations for provide the degree of freedom and the number of joints in a
linkage when the number of links and the number of loops in a kinematic
chain are known
F = N – (2L+1)
P1= N + (L-1)
Therefore for different number of loops in a linkage (L), the degrees of
freedom (F) and the number of pairs (P1) are as shown in table below
Q. 1. For the kinematic linkages shown in figure below, calculate the following:
 the number of binary links  the number of total links (N)
(Nb)  the number of loops (L)
 the number of ternary links  the number of joints or pairs
(Nt) (P1)
 the number of quaternary  the number of degrees of
links (Nq) freedom (F)

Q. 2. For the kinematic linkages shown in figure below, calculate the following:
 the number of binary links  the number of total links (N)
(Nb)  the number of loops (L)
 the number of ternary links  the number of joints or pairs
(Nt) (P1)
 the number of quaternary  the number of degrees of
links (Nq) freedom (F)
Q. 3. For the kinematic linkages shown in figure below, calculate the following:
 the number of binary links  the number of total links (N)
(Nb)  the number of loops (L)
 the number of ternary links  the number of joints or pairs
(Nt) (P1)
 the number of quaternary  the number of degrees of
links (Nq) freedom (F)
 Assignment 1
1. Distinguish between mechanism and machine.
2. Define: kinematic link, kinematic pair, and kinematic chain.
3. How are the kinematic pairs classified? Explain with examples.
4. What are usual types of joints in a mechanism?
5. What is Kutzback's criterion for degree of freedom of plane mechanisms? In
what way is Gruebler's criterion different from it?
6. For the kinematic linkages shown in figure below, calculate the following:
 the number of binary links (Nb)
 the number of ternary links (Nt)
 the number of quaternary links (Nq)
 the number of total links (N)
 the number of loops (L)
 the number of joints or pairs (P1)
 the number of degrees of freedom (F)
 Model Multiple Choice Questions for tutorial:

1) The minimum number of links in a single degree-of-freedom planar mechanism

with both higher and lower kinematic pairs is
(a) 2 (b) 3 (c) 4 (d) 5 [GATE-2002]

2) The number degrees of freedom of a planar linkage with 8 links and 9 simple
revolute joints is
(a)1 (b) 2 (c) 3 (d)4 [GATE-2005]

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3) When a cylinder is located in a Vee-block, then number of degrees of freedom
which are arrested is
(a) 2 (b) 4 (c) 7 (d) 8 [GATE-2003]

4) The number of degrees of freedom of a five link plane mechanism with five
revolute pairs as shown in the figure is
(a) 3 (b) 4 (c) 2 (d) 1 [GATE-1993]

5) Match the following with respect to spatial mechanisms.

[GATE-2004]
Type of Joint Degrees of
P. Revolute constraint
Q. Cylindrical 1. Three
R. Spherical 2. Five
3. Four
4. Two
5. Zero

(a) P-1 Q-3 R-3 (b) P-5 Q-4 R-3 (c) P-2 Q-3 R-1 (d) P-4 Q-5 R-3

6) A planar mechanism has 8 links and 10 rotary joints. The number of degrees of
freedom of the mechanism, using Grubler's criterion, is
(a) 0 (b) 1 (c) 2 (d) 3 [GATE-2008]

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7) Match List I with List II and select the correct answer [IES-2002]

List I (Kinematic pairs) List II (Practical example)

A.Sliding pair 1. A road roller rolling over the ground
B. Revolute pair 2. Crank shaft in a journal bearing in
C. Rolling pair an engine
D. Spherical pair 3. Ball and socket joint
4. Piston and cylinder
5. Nut and screw

A B C D A B C D
(a) 5 2 4 3 (b) 4 3 1 2
(c) 5 3 4 2 (d) 4 2 1 3

8) A round bar A, passes through the cylindrical hole in B as shown in the given figure.
Which one of the following statements is correct in this regard? [IES-1995]

(a) The two links shown form a kinematic pair.

(b) The pair is completely constrained.
(c) The pair has incomplete constraint.
(d) The pair is successfully constrained.

9) Consider the following statements [IES-2000]

1. A round bar in a round hole form a turning pair.
2. A square bar in a square hole forms a sliding pair.
3. A vertical shaft in a footstep bearing forms a successful constraint.
Of these statements
(a) 1 and 2 are correct (b) 1 and 3 are correct
(c) 2 and 3 are correct (d) 1, 2 and 3 are correct

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10) Match List-I with List-II and select the correct answer using the codes given
below the Lists: [IES-1999]
List-I List-II
A. 4 links, 4 turning pairs 1. Complete constraint
B. 3 links, 3 turning pairs 2. Successful constraint
C. 5 links, 5 turning pairs 3. Rigid frame
D. Footstep bearing 4. Incomplete constraint

A B C D A B C D
(a) 3 1 4 2 (b) 1 3 2 4
(c) 3 1 2 4 (d) 1 3 4 2

11) Consider the following pairs of parts: [IES-2000]

1. Pair of gear in mesh 2. Belt and pulley
3. Cylinder and piston 4. Cam and follower
Among these, the higher pairs are
(a) 1 and 4 (b) 2 and 4 (c) 1, 2 and 3 (d) 1, 2 and 4

12) Assertion (A): Hydraulic fluid is one form a link. [IES-1996]

Reason (R): A link need not necessarily be a rigid body but it must be a
resistant body.
(a) Both A and R are individually true and R is the correct explanation of A
(b) Both A and R are individually true but R is not the correct explanation of A
(c) A is true but R is false
(d) A is false but R is true

13) In a Kinematic chain, a quaternary joint is equivalent to: [IES-2005]

(a) One binary joint (b) Two binary joints (c) Three binary joints (d) Four binary
joints

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14) A linkage is shown below in the figure in which links ABC and DEF are ternary
links whereas AF, BE and CD are binary links.
The degrees of freedom of the linkage when link ABC is fixed are
(a) 0 (b) 1 (c) 2 (d) 3 [IES-2002]

15) Match List-I with List-II and select the correct answer using the codes given
below the lists:
List-I List-II
A. 6 d.o.f. system 1. Vibrating beam
B. 1 d.o.f. system 2. Vibration absorber
C. 2 d.o.f. system 3. A rigid body in space
D. Multi d.o.f. system 4. Pure rolling of a
cylinder

A B C D A B C D
(a) 1 2 4 3 (b) 1 4 2 3
(c) 3 2 4 1 (d) 3 4 2 1 [IES-2001]

Other resources
 Material uploaded on Edhitch
 https://nptel.ac.in/courses/112104121/1
 Chapter 1: Shigley, “Theory of Machines and Mechanisms”, Oxford University
Press.

End of Unit 1

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