Kinematics of m/c : sub that deals with only geometric aspects of motion with out any consideration of forces

Theory of Machines deals with the motion and forces acting on the parts (or links) of a machine
The Theory of Machines may be sub-divided into the following four branches :
1. Kinematics. It is that branch of Theory of Machines which deals with the relative motion between the various
parts of the machines.
2. Dynamics. It is that branch of Theory of Machines which deals with the forces and their effects, while acting
upon the machine parts in motion.
3. Kinetics. It is that branch of Theory of Machines which deals with the inertia forces which arise from the ombined
effect of the mass and motion of the machine parts.
4. Statics. It is that branch of Theory of Machines which deals with the forces and their effects while the machine
parts are at rest. The mass of the parts is assumed to be negligible.
Angular Velocity
It may be defined as the rate of change of angular displacement with respect to time.
Angular Acceleration
It may be defined as the rate of change of angular velocity with respect to time.
Newton
1. Newtons First Law of Motion. It states, Every body continues in its state of rest or of uniform motion in a
straight line, unless acted upon by some external force. This is also known as Law of Inertia.
2. Newtons Second Law of Motion. It states, The rate of change of momentum is directly proportional to the
impressed force and takes place in the same direction in which the force acts.
3. Newtons Third Law of Motion. It states, To every action, there is always an equal and opposite reaction.
Momentum
It is the total motion possessed by a body. Mathematically,
Momentum = Mass Velocity
Force
It is an important factor in the field of Engineering-science, which may be defined as an
agent, which produces or tends to produce, destroy or tends to destroy motion
Centripetal force a force which acts on a body moving in a circular path and is directed towards the centre around
which the body is moving
According to Newton's Third Law of Motion, action and reaction are equal and opposite. Therefore, the particle
must exert a force radially outwards of equal magnitude. This force is known as centrifugal force

moment of inertia

1.

a quantity expressing a body's tendency to resist angular acceleration, which is the sum of the products of
the mass of each particle in the body with the square of its distance from the axis of rotation.
Inertia= obj resist any change in motion
Torque
a force that tends to cause rotation.
It may be defined as the product of force and the perpendicular distance of its line of action from the given point or
axis.

torque is directly proportional to the rate of change of angular momentum

Work done = Torque Angular displacement
Power =
Work done/Time taken
Efficiency, =
Power output/Power input
W = Weight of the body,
m = Mass of the body, and
h = Distance through which the body falls.
Then potential energy,
P.E. = W.h = m.g.h
Strain energy. It is the potential energy stored by an elastic body when deformed. A compressed spring possesses
this type of energy
Notes : 1. When a body of mass moment of inertia I (about a given axis) is rotated about that axis, with an angular
velocity , then it possesses some kinetic energy. In this case, Kinetic energy of rotation = Iw2
2. When a body has both linear and angular motions e.g. in the locomotive driving wheels and wheels of a moving
car, then the total kinetic energy of the body is equal to the sum of kinetic energies of translation and rotation.
Total kinetic energy = I 2+1/2mv2
only motion possible in piston and cylinder relative motion
Friction Clutches
A friction clutch has its principal application in the transmission of power of shafts and machines which must be
started and stopped frequently In automobiles, friction clutch is used to connect the engine to the driven shaft. In
operating such a clutch, care should be taken so that the friction surfaces engage easily and gradually brings the
driven shaft up to proper speed
The friction clutches of the following types are important from the subject point of view :
1. Disc or plate clutches (single disc or multiple disc clutch),
2. Cone clutches, and
3. Centrifugal clutches
1. Flat belt. The flat belt, as shown in Fig. 11.1 (a), is mostly used in the factories and workshops, where a moderate
amount of power is to be transmitted, from one pulley to another when the two pulleys are not more than 8 metres
apart.
2. V-belt. The V-belt, as shown in Fig. 11.1 (b), is mostly used in the factories and workshops, where a moderate
amount of power is to be transmitted, from one pulley to another, when the two pulleys are very near to each other.

3. Circular belt or rope. The circular belt or rope, as shown in Fig. 11.1 (c), is mostly used in the factories and
workshops, where a great amount of power is to be transmitted, from one pulley to another, when the two pulleys
are more than 8 meters apart.
Creep of Belt
When the belt passes from the slack side to the tight side, a certain portion of the belt extends and it contracts again
when the belt passes from the tight side to slack side. Due to these changes of length, there is a relative motion
between the belt and the pulley surfaces. This relative motion is termed as creep.
Slip of Belt
In the previous articles, we have discussed the motion of belts and shafts assuming a firm frictional grip between the
belts and the shafts. But sometimes, the frictional grip becomes insufficient. This may cause some forward motion of
the driver without carrying the belt with it. This may also cause some forward motion of the belt without carrying
the driven pulley with it. This is called slip of the belt and is generally expressed as a percentage.
Initial Tension in the Belt
When a belt is wound round the two pulleys (i.e. driver and follower), its two ends are joined together ; so that the
belt may continuously move over the pulleys, since the motion of the belt from the driver and the follower is
governed by a firm grip, due to friction between the belt and the pulleys.
In order to increase this grip, the belt is tightened up. At this stage, even when the pulleys are stationary, the belt is
subjected to some tension, called initial tension.
Rope Drive
The rope drives are widely used where a large amount of power is to be transmitted, from one pulley to another, over
a considerable distance. It may be noted that the use of flat belts is limited for the transmission of moderate power
from one pulley to another when the two pulleys are not more than 8 metres apart. If large amounts of power are to
be transmitted by the flat belt, then it would result in excessive belt cross-section. It may be noted that frictional grip
in case of rope drives is more than that in V-drive. One of the main advantage of rope drives is that a number of
separate drives may be taken from the one driving pulley. For example, in many spinning mills, the line shaft on
each floor is driven by ropes passing directly from the main engine pulley on the ground floor.
The rope drives use the following two types of ropes :
1. Fibre ropes, and 2. Wire ropes.
The fibre ropes operate successfully when the pulleys are about 60 metres apart, while the wire ropes are used when
the pulleys are upto 150 metres apart
Chain Drives
We have seen in belt and rope drives that slipping may occur. In order to avoid slipping, steel chains are used. The
chains are made up of rigid links which are hinged together in order to provide the necessary flexibility for warping
around the driving and driven wheels.
When the belt is stationary, it is subjected to some tension, known as initial tension. The value of this tension is
equal to the average tension of the tight side and slack side of the belt
Helical gear

Bevel gear

Terms Used in Gears

1. Pitch circle. It is an imaginary circle which by pure rolling action, would give the same motion as the actual gear.
* A straight line may also be defined as a wheel of infinite radius
6. Addendum. It is the radial distance of a tooth from the pitch circle to the top of the tooth.
7. Dedendum. It is the radial distance of a tooth from the pitch circle to the bottom of the tooth
Sometimes, two or more gears are made to mesh with each other to transmit power from one shaft to another. Such a
combination is called gear train
When there is only one gear on each shaft, as shown in Fig. 13.1, it is known as simple gear train

Compound Gear Train

When there are more than one gear on a shaft, as shown in Fig. 13.2, it is called a compound train of gear.
N1/N2=D2/D1=T2/T1
N1 = Speed of the driver,
T1 = Number of teeth on the driver,
d1 = Pitch circle diameter of the driver,
Reverted Gear Train
When the axes of the first gear (i.e. first driver) and the last gear
In a simple gear train, if the number of idle gears is odd, then the motion of driven gear will - be same as that of
driving gear
The train value of a gear train is -reciprocal of velocity ratio of a gear train
When the axes of first and last gear are co-axial, then gear train is known as reverted gear train
A differential gear in an automobile is a-epicyclic gear train
A differential gear in automobilies is used to - help in turning
Flywheel
A flywheel used in machines serves as a reservoir, which stores energy during the period when the supply of energy
is more than the requirement, and releases it during the period when the requirement of energy is more than the
supply.
In case of steam engines, internal combustion engines, reciprocating compressors and pumps, the energy is
developed during one stroke and the engine is to run for the whole cycle on the energy produced during this one
stroke.

Governors
The function of a governor is to regulate the mean speed of an engine, when there are variations in the load e.g.
when the load on an engine increases, its speed decreases, therefore it becomes necessary to increase the supply of
working fluid. On the other hand, when the load on the engine decreases, its speed increases and thus less working
fluid is required. The governor automatically controls the supply of working fluid to the engine with the varying
load conditions and keeps the mean speed within certain limits
Dynamometer
A dynamometer is a brake but in addition it has a device to measure the frictional resistance.
Knowing the frictional resistance, we may obtain the torque transmitted and hence the power of the engine.
Types of Dynamometers
Following are the two types of dynamometers, used for measuring the brake power of an engine.
1. Absorption dynamometers, and
2. Transmission dynamometers.
In the absorption dynamometers, the entire energy or power produced by the engine is absorbed by the friction
resistances of the brake and is transformed into heat, during the process of measurement. But in the transmission
dynamometers, the energy is not wasted in friction but is used for doing work. The energy or power produced by the
engine is transmitted through the dynamometer to some other machines where the power developed is suitably
measured.
CAMS:A cam is a rotating machine element which gives reciprocating or oscillating motion to another element
known as follower. The cam and the follower have a line contact and constitute a higher pair. The cams are usually
rotated at uniform speed by a shaft, but the follower motion is predetermined and will be according to the shape of
the cam.

1. Radial or disc cam. In radial cams, the follower reciprocates or oscillates in a direction perpendicular to the cam
axis. The cams as shown in Fig. 20.1 are all radial cams.
2. Cylindrical cam. In cylindrical cams, the follower reciprocates or oscillates in a direction parallel to the cam axis.
The follower rides in a groove at its cylindrical surface. A cylindrical grooved cam with a reciprocating and an
oscillating follower is shown in Fig. 20.2 (a) and (b) respectively.