0

TIKRIT University
College of Eng. Subject: Theory of machines
Mech. Eng. Dept. Syllabus
Class: 3rd Year
___________________________________________________

1. General introduction:
2. Velocity in mechanisms.
3. Acceleration in mechanisms.
4. Balance of rotating mass.
5. Balance of reciprocating.
6. Friction clutches.
7. Belts, ropes and chain drives.
8. Toothed gearing.
9. Gear trains.
10. Gyroscopic couple and Precession Motion.
11. Turning moment diagrams and flywheel.
12. Governors.
13. Cams.
14. Universal joints (Hooks)
Text Book: Mechanics of Machines. J Hannah & R C Stephens.,4th Edition.
Four tutorial sheets , Two for each Term.
Four Terms Exams., Two for each Term.

Marks Distribution: Laboratory: 15% , Quiz 5% , Terms Exams 30% , Final Exam 50%

Dr. Salim Y Kasim

 1

1. General Introduction:
The subject theory of Machine may be defined as that
branch of engineering science which deals with the
study of relative motion between the various parts of
a machine. And it can be sub-divided into the
following four branches:

It should be carefully noted that in the above

Kinematic and Kinetic will work on the assumption
that they deal with rigid bodies. A body is said to be a
rigid body “Resistant body” if it is capable of
transmitting the required force with negligible
deformation
 2

Terminology and Definitions:

Theory of Machines: Comprises the study of the
relative motion between the parts of a machine and
the study of force which act on those parts.
Link: Each part of a machine which has motion
relative to some other parts and it is consist of several
parts.
Machine: An apparatus for applying mechanical
power, consisting of a number of interrelated parts
(links) each having a definite function. [ machine =
receive energy and transforms it into useful work].
Structure: Is an assemblage of resistant bodies
which are not kinematic links because there is no
relative motion between the links. There is only
straining action due to forces acting on them for
example trusses roof.
x Every simple structure having three resistance
bodies 1,2, and 3 as shown below:
 3

Kinematic pair: A pair is a joint of two links that permits

relative motion.
Kinematic chine: Is a combination of kinematic pairs in
which each link forms part of two pair in which the
relative motion is completely constrained
Types of links:

From geometric point of view the links can be divided to

the following types:
 4

1. Binary link
2. Ternary link
3. Quaternary link
Examples:

Types of joint in a chine:

1. Binary joint.
 5

2. Ternary joint.
Which is equivalent to Two Binary joints.

3. Quaternary joint.
Which is equivalent to Three Binary joints.
 6

Kinematic Chain:
When several links are connected together by joints, they
are said to form a kinematic chine. In other word when
the kinematic pairs are coupled in such a way that the last
link is joined to the first link to transmit definite motion it
is called a kinematic chain. For example the crank shaft
of an engine forms a kinematic pair with bearing which
are fixed in a pair, the connecting rod with the crank
 7

forms a second kinematic pair , the piston with the

connecting rod forms a third pair , and the piston with the
cylinder forms the fourth pair . The total combination of
these links is a kinematic chain.
If each link is assumed to be form two pair with two
adjacent links, then the relation between the number of
pairs (p) forming a kinematic chain and the number of
links (l ) may be expressed in the form of the following
equation:
l= 2p – 4 ………….(1)
Another relation between the number of links and the
number of joints (j) is given by:

ଷ
݆ ൌ ݈ െ ʹ ………(2)
ଶ
Note that the kinematic chine must satisfy equations(1)
and (2). Where these equations are applicable to
kinematic chains only.

Ex: Determine wither each of the following cases is a

kinematic chain or not?
 8

1. The arrangement of three links shown with pin joint

as A, B, C
Solution:
l= 3 , p=3 , j=3
from kinematic equations

l=2p-4
3=2*3-4=2 → L.H.S > R.H .S
ଷ
݆ ൌ ݈ െ ʹ
ଶ
ଷ
3= ‫ ͵ כ‬െ ʹ ൌ ʹǤͷ→ L.H.S > R.H.S
ଶ
Since the arrangement of three links:
a- Does not satisfy the equations , then it is NOT a
kinematic chain .
b- The left hand side is greater than the right hand side
then no relative motion is possible. Such type of
chain is called locked chain which forms a rigid
frame or structure.

2.The arrangement of four link with pin joint

A,B,C,D as shown:
 9

Solution:
l= 4 , p=4 , j=4

l=2p-4
4=2*4-4=4 → L.H.S = R.H .S
ଷ
݆ ൌ ݈ െ ʹ
ଶ
ଷ
4= ‫ כ‬Ͷ െ ʹ ൌ Ͷ→ L.H.S= R.H.S
ଶ
Since the arrangement of four link satisfy the equations
therefore it is a kinematic chain.

3.The arrangement of five links with pin joint A, B, C,

D, and E as shown:
 10

Solution:
l= 5 , p=5 , j=5

l=2p-4
5=2*5-4=6 → L.H.S < R.H .S
ଷ
݆ ൌ ݈ െ ʹ
ଶ
ଷ
5= ‫ כ‬ͷ െ ʹ ൌ ͷǤͷ→ L.H.S<R.H.S
ଶ
a-Since the arrangement of five links does not satisfy the
equations therefore it is not a kinematic chain.

b-The left hand side is less than the right hand side then
relative motion is possible after modification. This can be
seen in the next case.
4.The arrangement of six links 1, 2, 2, 3, and 5, and 6 as
shown:
 11

Solution:
l= 6
It have three Binary joint and two ternary joint
So,
j=3 + 2*2 =7
ଷ
݆ ൌ ݈ െ ʹ
ଶ
ଷ
7= ‫ כ‬͸ െ ʹ ൌ ͹→ L.H.S=R.H.S
ଶ

Therefore it is a kinematic chain.

 12

Number of Degrees of freedom for plane Mechanisms:

In the design or analysis of mechanism , one of the most

important concern is the number of degree of freedom (
also called move-ability) of the mechanism. It is defined
as number of input parameters(pair) which must be
independently controlled in order to bring the mechanism
into a useful engineering purpose.
Each link of mechanism has three degrees of freedom
before it is connected to any other link, as shown in
figure below:

Figure (2) links Degree of freedom.

 13

From above we see that when a link is connected to a

fixed link by a turning pair two degree of freedom are
destroyed.
Generally the number of degree of freedom can be
calculated from ( Kutzbach criterion ) as:
n =3 (l-1)-2j-h …………...(3)
where:
n…..numbers of degree of freedom.
l…...numbers of links.
j……numbers of joint.
h…..numbers of higher pair.
If there is no higher pair (h=0) so, equation (3) can be
written as:
n =3 (l-1)-2j …………...(4)

Ex1: A number of degree of freedom (n) for some simple

mechanisms having no higher pair (h=0) can be shown
as following:
 14

Figure( 3) Plan Mechanism

a) l=3 , j=3
n=3(3-1)-2*3=0
This mechanism forms a structure.
b) l=4 , j=4
n=3(4-1)-2*4 = 1
It can be driven by single input motion.
c) l=5 , j=5
n=3(5-1)-2*5 = 2
Two independent input motion are necessary to
produce useful motion.
d) l=5 , j=6
n=3(5-1)-2*6 = 0
e) l=6 , j=8
n=3(6-1)-2*8 = -1
 15

It mean that the mechanism is redundant constraint

in the chain.
EX2: A number of degree of freedom for mechanism
with higher pair (h≠0).

Figure (4) Mechanism with higher pair.

a) l=3 , j=2 , h=1
n=3(l-1)-2j-h
n=3(3-1)-2*2-1= 1

b) l=4 , j=3 , h=1

n=3(l-1)-2j-h
n=3(4-1)-2*3-1= 2

Here the slipping is possible between the wheel

and the fixed link. And if there is a friction high
enough to prevent slipping in this case the
mechanism will be a one degree of freedom.
 16

2. Velocity in Mechanisms:

In this chapter we shall discuss the velocity diagram and

how it can be used to find such parameters.

2.1Relative velocity of two bodies moving in straight line.

 17

VAB=- VBA
Now consider that the body B move in inclined
direction as shown in fig(2a) , its relative velocity can
be shown in fig(2b)

2.2 Velocity diagram of point on link:

A cording to velocity method . (Velocity of any point on a
rigid link with respect to another point on the same link is
always perpendicular (༗) to the line joining these pointes on
the configuration (or space diagram)).
 18

To explain the method consider link (AB) in figure below,

the value of and direction of velocity of (B) is known, and
the direction of (A) is known only. so velocity diagram is
constructed as follows:

1. Locate the origin (o)(lower case letter), which

represents a fixed point. All vectors originating at (o)
represent absolute velocities [ choose a suitable scale
for velocity polygon].
2. The known absolute velocity (VB) is drawn from (o).
 19

3. The direction of absolute velocity (VA) is drawn

through (o).

4.The relative velocity VAB is drawn from (b) to be (༗)

to the line connecting A and B and intersect with VA
given point (a), as shown This establish the magnitudes
of VA and VAB.

5.The velocity of any point C on AB may be obtained

by
ܸ ൌ ߱‫ݎ‬
 20

௏ಳ಴ ஻஼Ǥఠ
= , any point on BA have the same (ω) rad/s.
௏ಳಲ ஻஺Ǥఠ

So,
௏ಳ಴ ஻஼ ஻஼
= , Hence VBC= ܸ஻஺ ݉Ȁ‫ܿ݁ݏ‬Ǥ
௏ಳಲ ஻஺ ஻஺

Application:
Four bar Mechanism:
1. Draw space diagram of mechanism with a suitable
scale with higher case letter.

2. Taking a suitable scale to draw velocity diagram (with

lower case letter) from
vA=o1A ω
3. Take o1,o2 the origin which represent a fixed point from
it absolute velocities are drawn.
 21

4.Draw the known absolute velocity vA ༗ O1A from

o1.

5.The direction of absolute velocity vB is known and can

be drawn through o2 where vB ༗ O2 B.

6. The relative velocity vAB is drawn from (a) to be ༗ to the

link (AB) and intersect with vB giving point (b). This
establish the magnitudes of vB , and vAB.
 22

Mechanism with plates:

As shown in figure a four bar mechanism

Space diagram
 23

To draw the velocity diagram the above steps from (1-6)

will take place.
7. From point (a) draw line ༗ AC

From point (b) draw line ༗ BC the intersect of these

two line gives point (c)
 24

Then vc can be obtained from o1c

And vD as shown.

Velocity diagram