Ain Shams University

Faculty of Engineering
Design & Production Engineering Department

MECHANICS OF MACHINES (1)

Dr. Hossam Doghiem
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Syllabus
1. Mechanisms
2. Velocity and Acceleration
3. Equilibrium of Machines & Turning Moment Diagram(Flywheel)
4. Cams
5. Gear(Geometry and Train)
6. Balancing

Mechanics of machines (1) Dr. Hossam Doghiem

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References
1. The theory of machines, T. Bevan
2. The theory of machines, P. L. Ballaney
3. The theory of machines, R. S. khurmi & J. K. Gupta
4. The theory of machines(worked example), Ryder
5. The theory of machines(solved example), Onvoner
6. The theory of machines, W. Grean
7. Mechanics of machine, Ham & Crane
8. Mechanics for engineering, Duncan & Macmillan
9. Mechanics of machine, Hannah & Stephens

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CHAPTER 1
MECHANISMS
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Definitions
Theory of machines
This branch of engineering- science is very essential for an
engineer in designing various parts of a machine .

Shaping Machine V-Engine

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Theory of machines

Kinematics Dynamics

Statics Kinetics
1. Kinematics
Study of the relative motion between the various parts of a machine
2. Dynamics
Study of the forces which acts on the machine parts
2.1. Statics
Deals with the forces assuming the machine parts to be massless
2.2. Kinetics
Deals with the inertia forces arising from the combined effect of the mass and
the motion of the parts

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Definitions
Example: Reciprocating engine
Rotary speed of the crank shaft relative to the reciprocating
speed of the piston form a kinematic problem

The thrust exerted by the steam or gas on the piston and force
produced on the connecting rod form a static problem
Connecting
Skeleton outline Crank
Piston rod

Cylinder

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Definitions
Link or element
A link may be defined as a resistant (rigid or non rigid) body fixed or in
motion which transmits force with negligible deformation
It has 2 or more pairing elements by which it may be connected to other
bodies for transmitting force or motion
movable rigid links

Pair
A

B
O
Pair

fixed rigid link

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Definitions
Examples of links which are resistant but not rigid:
A) Liquids
Resistant to compressive forces and used as links in hydraulic presses
B) Chains & Belts
which are resistant to tensile forces and transmitting motion and forces

Cylinder (fixed rigid link)

Belt (movable non rigid link)

Pulley (movable rigid link)

Hydraulic oil (movable non rigid link)

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Definitions
Kinematic pair
Two links which are connected together in such a way that their relative motion is
completely constrained
Complete constrain pair
The relative motion is limited to a definite direction
B
B
B A
A

A
Turning Pair Sliding Pair Screw Pair

There is a relation between the rotation of A and

the axial displacement of A relative to B

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Definitions
Incomplete pair
As an example of this pair
The relative motion may be slide- rotate- sliding and rotation
So there is nothing in connection A & B to determine which of
the motions take place
B

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Definitions
Pairs

Lower Higher
When relative motion takes place, there is The two links have line or point contact
a contact surface between the two links while they are in motion(Cams- Gears-
(turning pair- sliding pair- screw pair) Bearings)
The pair must be force-closed in order to
Lower Pair provide completely constrained motion
Lower Pair

Lower Pair
Lower Pair

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Definitions
Kinematic chain
when a number of links are connected by means of pairs the
resulting assemblage is called kinematic chain

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Definitions
Kinematic chain

Locked Constrained Unconstrained

n=0 n=1 n>1

θ φ

No relative motion is Definite relative motion the relative motion is

possible(Structure) is possible possible but not definite
The basis of all machine

Single input –single output

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Definitions
Mechanism
If one of the of the links of the kinematic chain is fixed, the chain
became mechanism(inversions different fixed links)

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Definitions
Machine
Is a mechanism which receive energy in some available form and
uses it to do some particular kind of work

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Definitions
Degrees of freedom n
The link have 3 degrees of freedom
Two links have 6 degrees of freedom
If two links jointed together by turning pair the degree of freedom become 4
i.e. one lower pair removes 2 degree of freedom from the system

y y

x θ θ
y

x x

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Definitions 3
n = 3L - 2Pl - 3 2
= 12 - 8 - 3 = 1 3
4
1
Where 4
2 L=4
n: is the degrees of freedom
Pl : number of lower pairs Pl = 4
1

n= 3L-2Pl+cPh-3 1 2
1
1=9-4+cPh-3
2 3
c=-1

n= 3L-2Pl-Ph-3 L=3
1 Pl = 2
Ph : number of higher pairs Ph = 1

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Inversions
Different mechanisms can be obtained by fixing in turn
different links in a kinematic chain

It is important to note that inverting a mechanism doesn’t

change the motions of its links relative to each other, but does
change their absolute motions

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Inversions
Example 1: original gear train, epicyclic gear train
1st inversion: Original Train 2nd inversion: Epicyclic Gear Train

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Inversions
Example 2: Inversions of slider crank chain 3T, 1S

1ST Inversion: the cylinder is fixed: reciprocating engine mechanism

C
P
Q
O

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Inversions
Example 2: Inversions of slider crank chain
2nd inversion: PC becomes fixed: oscillating cylinder engine

O
P 22

Q
C
Trunnion

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Inversions
Example 2: Inversions of slider crank chain
3rd Inversion: fixing the link OC: Whitworth or quick return motion mechanism
(slotting and shaping machines)

CP rotates at uniform speed

𝑡𝐶 180−𝜃
P
=
𝑡𝑅 𝜃

𝑑𝜃 C
𝜔= =k θ
𝑑𝑡
R
𝜃∝𝑡 P2 P1
Q1 O Q2

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Inversions
Example 2: Inversions of slider crank chain
4th inversion: fixing the piston: pendulum pump
CP will oscillate, QO will reciprocate

C
P
Q
O

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Inversions
Example 3: Inversions of double slider crank chain 2T, 2 S

1st inversion: If the slotted frame is fixed: ellipse trammels

𝑥 = 𝑎 𝑐𝑜𝑠𝜃 𝑦 = 𝑏 𝑠𝑖𝑛𝜃 a
b
𝑥 2 𝑦 2 C
( ) +( ) = 𝑐𝑜𝑠2𝜃 + 𝑠𝑖𝑛2𝜃 =1
𝑎 𝑏 A

𝑥2 𝑦2 B
i.e. 2 + =1 θ
𝑎 𝑏2

a=semi-minor axis, b= semi- major axis

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Inversions
Example 3: Inversions of double slider crank chain 2T, 2 S

1st inversion: If the slotted frame is fixed: ellipse trammels

C
A

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Inversions
Example 3: Inversions of double slider crank chain
2nd inversion: If one of the two blocks is fixed: scotch yoke
it is used for converting rotary into reciprocating motion

Scotch yoke mechanism

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Inversions
Example 3: Inversions of double slider crank chain
3rd inversion: Coupling link AB is fixed: Oldham’s coupling

If one block is turned through a definite angle, the frame and the other
block must turn through the same angle

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Inversions
Example 3: Inversions of double slider crank chain
3rd inversion: Coupling link AB is fixed: Oldham’s coupling
If the two shafts remain parallel the distance h may vary while the shafts are in
motion without affecting the transmission of uniform motion from one shaft to
the other
The centre of the disc will describe a circular path with h as a diameter

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Hooke’s joint (Universal Joint)

To transmit the motion between two intersecting shafts
Where a shaft drive has to be fitted to a flexible frame (tractors)
The centre of the cross must lies on the axis of each shaft

Semi circular
forks

Right angle cross

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Hooke’s joint (Universal Joint)

Gear box to back axel

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Mechanics of machines (1) Dr. Hossam Doghiem Chapter 1: Mechanisms

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C
Hooke’s joint A1
C1 C2

Relation between the angular velocities

𝑑𝜃 
𝜃: Angular displacement of the driver 𝜔= A B
𝑑𝑡 E O M F N
𝑑𝛽
𝛽: Angular displacement of the driven 𝜔1 =
𝑑𝑡
D1 B1
𝑂𝑁 𝑂𝑀 𝑂𝑀
tan 𝛽 = tan 𝜃 = =
𝑁𝐶2 𝑀𝐶1 𝑁𝐶2 D
Q
Driven
tan 𝛽 𝑂𝑁 1
= 𝑂𝑀 = shaft
tan 𝜃 𝑐𝑜𝑠𝛼
 1

P P
tan 𝜃= tan 𝛽 . cos α O M N


Driving shaft N
Q
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Hooke’s joint (Universal Joint)

tan 𝜃= tan 𝛽 . cos α
Differentiating this equation
2 𝑑𝜃 2 𝑑𝛽
𝑠𝑒𝑐 𝜃 = cos α .𝑠𝑒𝑐 𝛽.
𝑑𝑡 𝑑𝑡
𝜔 𝜔1
𝜔 2 2
= cos α .𝑐𝑜𝑠 𝜃 𝑠𝑒𝑐 𝛽
𝜔1
2 2
2 2 𝑡𝑎𝑛 𝜃 𝑠𝑖𝑛 𝜃
𝑠𝑒𝑐 𝛽= 1+ 𝑡𝑎𝑛 𝛽= 1 + 2 = 1+ 2 2
cos α 𝑐𝑜𝑠 𝜃.cos α
2 2 2 2 2 2 2 2
𝑐𝑜𝑠 𝜃.cos α+𝑠𝑖𝑛 𝜃 𝑐𝑜𝑠 𝜃.cos α+1−𝑐𝑜𝑠 𝜃 1−𝑐𝑜𝑠 𝜃(1−cos α)
= 2 2 = 2 2 = 2 2
𝑐𝑜𝑠 𝜃.cos α 𝑐𝑜𝑠 𝜃.cos α 𝑐𝑜𝑠 𝜃.cos α
2 2
1− 𝑐𝑜𝑠 𝜃.𝑠𝑖𝑛 α
= 2 2
𝑐𝑜𝑠 𝜃.cos α

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Hooke’s joint (Universal Joint)

Hence
𝜔 1−𝑐𝑜𝑠2𝜃.𝑠𝑖𝑛2α
=
𝜔1 cosα

𝜔
at cos 𝜃 = ±1 i.e. at 𝜃=0, 𝜋, 2𝜋.. etc.
𝜔1𝑚𝑎𝑥
𝜔 𝜔
= 𝑐𝑜𝑠α , 𝜔1𝑚𝑎𝑥=
𝜔1𝑚𝑎𝑥 𝑐𝑜𝑠α
𝜔
at cos 𝜃 = 0 𝜋 3𝜋 5𝜋
𝜔1𝑚𝑖𝑛 i.e. at 𝜃= , , .. etc.
2 2 2
𝜔 1
= , 𝜔1𝑚𝑖𝑛= 𝜔 𝑐𝑜𝑠α
𝜔1𝑚𝑖𝑛 𝑐𝑜𝑠α

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Hooke’s joint (Universal Joint)

𝜔
𝜔1𝑚𝑎𝑥= 𝜔1𝑚𝑖𝑛= 𝜔 𝑐𝑜𝑠α ∆𝜔1
𝑐𝑜𝑠α

∆𝜔1 1 1 − 𝑐𝑜𝑠2α
= - 𝑐𝑜𝑠α=
𝜔 𝑐𝑜𝑠α 𝑐𝑜𝑠α
2
𝑠𝑖𝑛 α 𝑠𝑖𝑛α 𝑠𝑖𝑛α = 𝑠𝑖𝑛α 𝑡𝑎𝑛α
= =
𝑐𝑜𝑠α 𝑐𝑜𝑠α

𝜋 α
∆𝜔1 ∝ α 2
2

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Hooke’s joint (Universal Joint)

Conditions of equal speeds 𝜔1
2 2
𝜔 1−𝑐𝑜𝑠 𝜃.𝑠𝑖𝑛 α 𝜔1𝑚𝑎𝑥
Put =1 , =1
𝜔1 cosα

1 − 𝑐𝑜𝑠2𝜃. 𝑠𝑖𝑛2α= cosα 𝜔

1 − cosα= 𝑐𝑜𝑠2𝜃. 𝑠𝑖𝑛2α
𝜔1𝑚𝑖𝑛
𝜋 𝜋 3𝜋 2𝜋
2 2 θ
2 1 − cosα 1−cosα 1−cosα 1
𝑐𝑜𝑠 𝜃 = = = =
2
𝑠𝑖𝑛 α 1−cos2α (1−cosα)(1+cosα)
(1 + cosα)
2 2 1 cosα
𝑠𝑖𝑛 𝜃=1- 𝑐𝑜𝑠 𝜃= 1- =
(1+cosα) (1 + cosα)
𝑠𝑖𝑛2𝜃 cosα
= . (1 + cosα)= cosα tan 𝜃=± cosα
𝑐𝑜𝑠2𝜃 (1+cosα)

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Hooke’s joint (Universal Joint)

Angular acceleration of the driven shaft
cosα
𝜔1 = 𝜔 = 𝜔 cosα(1 − 𝑐𝑜𝑠2𝜃. 𝑠𝑖𝑛2α)-1
1−𝑐𝑜𝑠2𝜃.𝑠𝑖𝑛2α
𝑑𝜔1 2 𝑐𝑜𝑠𝜃.𝑠𝑖𝑛𝜃 𝑑𝜃
= 𝜔 cosα [-(1 − 𝑐𝑜𝑠2𝜃. 𝑠𝑖𝑛2α)-2.(𝑠𝑖𝑛2α . ]
𝑑𝑡 𝑠𝑖𝑛2𝜃 𝑑𝑡
−𝜔2 cosα 𝑠𝑖𝑛2α 𝑠𝑖𝑛2𝜃
α1 =
( 1 − 𝑐𝑜𝑠2𝜃. 𝑠𝑖𝑛2α )2
α1 will increase by increasing α, in normal practice such α don’t exceed 10°
Maximum acceleration occur when
2 𝑠𝑖𝑛2α
𝑐𝑜𝑠2𝜃 ≅
2 − 𝑠𝑖𝑛2α
This relation is valid if α < 30°

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Hooke’s joint
If the driving and the driven shafts are equally inclined to the intermediate
shaft and the 2 forks on the intermediate shaft lie in the same plane, it is
evident that speeds of driving and driven shafts are identical and the
fluctuation of speed are confined to intermediate shaft, which may be made
short and light




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Hooke’s joint
If the forks of the intermediate shaft lie in planes perpendicular to each
other, the fluctuation of the driven shaft shall vary between 𝑐𝑜𝑠2𝛼 and
1
2
𝑐𝑜𝑠 𝛼




Mechanics of machines (1) Dr. Hossam Doghiem Chapter 1: Mechanisms