UNIVERSITY INSTITUTE OF

ENGINEERING
DEPARTMENT MECHANICAL
Bachelor of Engineering (MECHANICAL ENGINEERING)
THEORY OF MACHINES MET -202

MACHINES AND MECHANISMS DISCOVER . LEARN . EMPOWER

 Machines and
Mechanisms
Course Outcome
CO Title Level
Number

CO1 To understand the fundamental concept of Kinematics of Remember

Will be covered in this
Machines lecture
To understand the concept of mechanism and their
inversion of kinematic chain
CO2 Able to understand the concept of turning moment Understand
diagram of various engine
CO3 Explain the types of electrical equipment, machines and Understand
its applications.
To understand the fundamental of engine dynamic &
correlation to other machine
CO4 Able to understand the undesirable effect of unbalancing Understand
in rotor and engine
To impart knowledge of basics of gears & different
types of Gears
CO5 Able to calculate the velocities of gear trains Understand 2
Able to understand the principle of governor
Introduction to
kinematics and
Dynamics

Introduction to Kinematics & Dynamics

Mechanisms & Machines
Kinematics links, joints, pair ,chain & type of
motion.
Four link Plainer mechanisms and their
inversion

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 1.1 Introduction to Kinematics and Dynamics
• Kinematics of mechanisms is concerned with the motion of the parts without
considering how the influencing factors (force and mass) affect the motion.
Therefore, kinematics deals with the fundamental concepts of space and time and the
quantities velocity and acceleration derived there from.
• Kinetics deals with action of forces on bodies. This is where the the effects of gravity
come into play.
• Dynamics is the combination of kinematics and kinetics.
• Dynamics of mechanisms concerns the forces that act on the parts -- both balanced
and unbalanced forces, taking into account the masses and accelerations of the parts
as well as the external forces.

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 1.2 Mechanisms and Machines
• Machine: an assemblage of parts that transmit forces, motion and energy in a
predetermined manner.
• Simple Machine: any of various elementary mechanisms having the elements of
which all machines are composed.
• In kinematics, a mechanism is a means of transmitting, controlling, or constraining
relative movement.
• Movements which are electrically, magnetically, pneumatically operated are
excluded from the concept of mechanism.
• A machine is a combination of rigid or resistant bodies, formed and connected so
that they move with definite relative motions and transmit force from the source of
power to the resistance to be overcome.
• A machine has two functions: transmitting definite relative motion and transmitting
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force. These functions require strength and rigidity to transmit the forces.
 1.3 Kinematic Links
Each part of a machine, which moves relative to some other part, is known as a kinematic link
(or simply link) or element.
A link may consist of several parts, which are rigidly fastened together, so that they do not
move relative to one another.

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 1.3.1 Types of Link
Rigid link.
A rigid link is one which does not undergo any deformation while transmitting motion. Strictly
speaking, rigid links do not exist.
However, as the deformation of a connecting rod, crank etc. of a reciprocating steam engine is not
appreciable, they can be considered as rigid links.
Flexible link.
A flexible link is one which is partly deformed in a manner not to affect the transmission of
motion. For example, belts, ropes, chains and wires are flexible links and transmit tensile forces
only.
Fluid link.
A fluid link is one which is formed by having a fluid in a receptacle and the motion is transmitted
through the fluid by pressure or compression only, as in the case of hydraulic presses, jacks and
brakes.
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 1.3.2KINEMATIC PAIR
The two links or elements of a machine, when in contact with
each other, are said to form a pair. If the relative motion
between them is completely or successfully constrained (i.e.
in a definite direction), the pair is known as kinematic pair.
TYPES OF KINEMATIC PAIR
1. Lower pair

When the two elements of a pair have a surface contact when relative motion takes place and the
surface of one element slides over the surface of the other, the pair formed is known as lower pair.
It will be seen that sliding pairs, turning pairs and screw pairs form lower pairs. 8
2. Higher pair
When the two elements of a pair have a line or point contact when relative motion takes place and the
motion between the two elements is partly turning and partly sliding, then the pair is known as higher
pair.
A pair of friction discs, toothed gearing, belt and rope drives, ball and roller bearings and cam and
follower are the examples of higher pairs.

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1.3.3Kinematic Chain
When the kinematic pairs are coupled in such a way that the last link is joined to the first link to
transmit definite motion (i.e. completely or successfully constrained motion), it is called a
kinematic chain.
In other words, a kinematic chain may be defined as a combination of kinematic pairs, joined in
such a way that each link forms a part of two pairs and the relative motion between the links or
elements is completely or successfully constrained.

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 1.3.4 Kinematic Joint
A joint is a connection between two or more links (at their nodes),
which allows some motion, or potential motion, between the
connected links.
•By the type of contact between the elements, line, point, or
surface.
•By the number of degrees of freedom allowed at the joint.
•By the type of physical closure of the joint: either force or form
closed.
•By the number of links joined (order of the joint). 11
 1.3.5 Types of Motion
• A rigid body free to move within a reference frame will, in the
general case, have complex motion, which is a simultaneous
combination of rotation and translation.
• we will limit our present discussions to the case of planar (2-D)
kinematic systems.
• In three-dimensional space, there may be rotation about any axis
and also simultaneous translation which can be resolved into
components along three axes. In a plane, or two-dimensional
space, complex motion becomes a combination of simultaneous
rotation about one axis (perpendicular to the plane) and also
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translation resolved into components along two axes in the plane.
• Pure rotation
The body possesses one point (center of rotation) which has no motion with
respect to the "stationary" frame of reference. All other points on the body
describe arcs about that center. A reference line drawn on the body through the
center changes only its angular orientation.
• Pure translation
all points on the body describe parallel (curvilinear or rectilinear) paths. A
reference line drawn on the body changes its linear position but does not change
its angular orientation.
• Complex motion
a simultaneous combination of rotation and translation. Any reference line
drawn on the body will change both its linear position and its angular
orientation. Points on the body will travel nonparallel paths, and there will be, at 13

every instant, a center of rotation, which will continuously change location.

1.4 Kinematic Inversions
Process of choosing different link of kinematic chain for the frame is known
as kinematic inversion. The relative motion between the various links are not
altered but their absolute may be changed drastically. By fixing different links
three different types of four-bar mechanism are derived from the original four-
bar mechanism. These are crank-rocker, double crank. The crank is the link
which can rotate 360 degrees.
•As there are four links, fixing each link in turn, four inversions can be obtained.
•In the first inversion, where the link with one revolute pair and one prismatic pair is fixed.
Example:
1) I.C. Engine mechanism, in which the fourth link piston is the input and the crank is output.
2) In air compressor, in which the second link crank is the input and the piston is the output.
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 1.4.1 Inversions of Four Bar Chain
Though there are many inversions of the four bar chain, yet the following are important from the
subject point of view :

Beam engine (crank and lever mechanism).

A part of the mechanism of a beam engine (also known as crank and lever
mechanism) which consists of four links, is shown in. In this mechanism,
when the crank rotates about the fixed center A, the lever oscillates about a
fixed center D. The end E of the lever CDE is connected to a piston rod
which reciprocates due to the rotation of the crank. In other words, the
purpose of this mechanism is to convert rotary motion into reciprocating
motion.

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16
1.5 Grashof’s Criterion
•Frequently, a designer would like to predict that a rotating input to
a four-bar can rotate continuously.
•The Grashof Criterion is applied to four-bar kinematic-chains that
are joined with Pin-Joints.
•A Grashof mechanism has at least one part that rotates
continuously. A simple Crank-Rocker is the best known Grashof
Mechanism.

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1.6 Instantaneous Center
The instantaneous center of velocity (IC) is a unique reference point which momentarily has a
velocity of zero. Thus, as far as velocities are concerned, the body seems to rotate about the
instantaneous center, that is, the velocity of any point on the rigid body is simply the angular
velocity of the rigid body times the distance to the IC

Instantaneous Centre of rotation, also called instantaneous Centre and instant Centre, is the point in a
body undergoing planar movement that has zero velocity at a particular instant of time. At this
instant the velocity vectors of the trajectories of other points in the body generate a circular field
around this point, which is identical to what is generated by a pure rotation.

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 I

A A1

B1

B
• Instantaneous Centre is obtained by joining the perpendicular bisectors of the chord AA1 and
BB1

• Simply we can say instantaneous Centre or virtual Centre is a point about which body has
pure rolling motion

The instantaneous center is a point in the body which may be considered fixed at any particular
moment. The locus of the instantaneous Centre in space during a definite motion of the body is
called the space centroid and the locus of the instantaneous Centre relative to the body itself is
called the body centroid.
Velocity Determination by instantaneous Centre In a mechanism
I VA = ω . IA VB = ω . IB

Vc = ω . IC
VB

VC

VA
A
 Types of instantaneous Centre

Primary Instantaneous
1. Fixed Instantaneous centre centre
2. Permanent Instantaneous Centre
3. Neither Fixed nor Permanent Instantaneous Centre
Secondary Instantaneous centre
Location of instantaneous Centre
The Aronhold Kennedy’s theorem states that if three bodies move relatively to each
other,
they have three instantaneous center's and lie on a straight line.
Problem

Given : Crank AB rotates at 100

rpm
Find Instantaneous centre and angular
velocity of BC

NAB= 100, so wAB = 2∏N/60 =10.47 rad/s

vB = ωAB × AB = 10.47 × 0.3 = 3.141 m/s
 I13

3
I34
B

I23
4

I12 1 I14
I24
D
A
vB = ωAB × AB = 10.47 × 0.3 = 3.141 m/s
crank rotates clockwise with an angular velocity of 10
rad/s

vOB = vB = ωOB × OB = 10 × 0.1 = 1 m/s

 I13

I14 at∞

I24

I23

I34 I12
 FAQ
• Differentiate between Static and Dynamics
• Differentiate Kinematics and Kinetics
• What is D’ Alembert’s Principle
• What is Principle of Super position
• Dynamic Analysis in Reciprocating Engines-Gas Forces
• Forces acting on the connecting rod
• Importance of Inertia Force
• Methods of Force analysis

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 FAQ
•What are Links, Joints, and Kinematic chains

•What is Degrees of Freedom and its importance

•How to Determining Degree of Freedom

•Degree of Freedom in Planar Mechanisms

•Different Types of Motion

•Mechanisms and Structures

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 References
o Theory of Machine by S.S Rattan Published by Tata McGraw-Hill Education

o Theory Of Machines & Mechanisms By Pl Ballaney Published By Khanna Publishers

o Kinematics of machinery: outlines of a theory of machines, F Reuleaux, ES Ferguson - 2012 - books.google.com

• Research Papers
o Degrees of freedom. HM Walker - Journal of Educational Psychology, 1940 - psycnet.apa.org

o A theory of degrees of freedom for mechanisms JS Zhao, K Zhou, ZJ Feng - Mechanism and Machine Theory, 2004 – Elsevier

o The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator C Gosselin, J Angeles - … Mechanisms,
…, 1988 - … .asmedigitalcollection.asme.org