KINEMATICS OF MACHINERY

II B.TECH -II Semester

UNIT WISE QUESTION & ANSWER MATERIAL

Prepared by
Mr. S.Faqruddin
Assistant Professor

For the Academic Year

2021-22

DEPARTMENT OF MECHANICAL ENGINEERING

CMR ENGINEERING COLEGE
(Approved by AICTE, New Delhi & Affiliated JNTU, Hyderabad)
Kandlakoya (V), Medchal Road, RR.Dist – 501401
 UNIT – I

MECHANISMS & MACHINES

1. Explain the different types of constrained motions of a kinematic pair with examples?
ANS: Types of Constrained Motions:
(i) Completely constrained motion: When the motion between a pair is limited to a definite
direction irrespective of the direction of force applied.
Example:

(ii) Incompletely constrained motion: When the motion between a pair can take place in
more than one direction.

(iii) Successfully / partially 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.

2. (a) Explain the term kinematic link? Give the classification of kinematic links?
(b) What is a kinematic pair? Explain different types of kinematic pairs?
ANS:
(a) Link / kinematic link/ element: Each part of a machine which moves relative to some other part
is called kinematic link.
 From the above Reciprocating steam engine (Slider crank mechanism) kinematic links are:
Link (1): Frame & guides, Link (2): Crank,
Link (3): Connecting rod, Link (4): Slider
Types of links:
(1)Rigid Link: It is one which does not undergo any deformation while transmitting motion.
Example: The deformation of a connecting rod, crank of a reciprocating steam engine is not
appreciable, they can be considered as rigid links.
(2)Flexible Link: It is one which is partly deformed in a manner not to affect the transmission of
motion.
Example: Belts, ropes, chain drives & wires are flexible links.
(3)Fluid Link: It is one which is formed by having a fluid & the motion is transmitted through the
fluid by pressure or compression only.
Example: Hydraulic presses, jacks and brakes.

(b) Kinematic Pair: The two links of a machine when in contact with each other are said to form a pair.
Classification of kinematic pairs:
(a) According to the nature of contact:
(i) Lower Pair: A pair of links having surface or area contact between the members.
Example: All pairs of Slider crank mechanism, nut turning on a screw, and shaft rotating in
bearing.
(ii) Higher Pair: When a pair has a point or line contact between the links.
Example: Wheel rolling on a surface, cam & follower, and tooth gears.

(b)According to the nature of mechanical constraint or type of closure:

(i) Closed pair / Self closed pair: When the elements of a pair are held together mechanically.
Example: All Lower pairs & some higher pairs.
 (ii) Unclosed / forced closed pairs: When two links of a pair are in contact either due to force of
gravity or some spring action. Example: Cam & Follower pairs.

(c) According to nature of relative motion :

(i) Sliding Pair: If two links have a sliding motion relative to each other.
Example: Rectangular rod in a rectangular hole.

(ii) Turning Pair / Revolving Pair: When one link has a revolving motion relative to the other.
Example: Circular shaft revolving in a bearing.

(iii) Rolling Pair: When the links of a pair have a rolling motion relative to each other.
Example: Ball & roller bearings, and a rolling wheel on a flat surface.

(iv) Screw Pair / Helical Pair: If two mating links have a turning as well as sliding motion
between them. Example: Lead Screw & the Nut of a Lathe.
 (v) Spherical Pair: When one link in the form of a sphere turns inside a fixed link.
Example: Ball & Socket Joint.

3. (a) Define Kinematic chain? Give the classification of joints in a chain?

(b) Define ‘Machine’, and ‘Mechanism’. How these are different from each other?
(c) Distinguish between structure and a machine?
(d) Define Inversion of mechanism? Give the types of Kinematic Chains?
ANS:
(a) Kinematic Chain: When the kinematic pairs are coupled in such a way that last link is
joined to the first link to transmit definite motion.
Types of joints in a chain: J = (3 /2) L - 2
(a) Binary Joint: If two links are joined at the same connection, it is called a binary joint.
Example: A joint with two binary joints named B as shown in the below figure.
(b) Ternary Joint: If three links are joined at a connection, it is known as a ternary joint. One ternary
joint is equal to two binary joints i.e. T = 2B
Example: Ternary links are named T as shown in the below figure.
(c) Quaternary Joint: If four links are joined at a connection, it is known as quaternary joint. One
quaternary joint is equal to three binary joints i.e. Q = 3B
Example: Quaternary links are named Q as shown in the below figure.

(b) Mechanism: When one of the links of a kinematic chain is fixed, then the chain is known as
mechanism.
Simple Mechanism: A mechanism with four links is known as simple mechanism.
Compound Mechanism: A mechanism with more than four links is known as compound mechanism.
Machine: It is a mechanism which receives energy and transforms it into some useful work.

 A mechanism transmits & modifies a motion but a machine transmit power & to do some
particular type of work.
 (c) Structure / Locked Chain: It is an assemblage of a no of resistant bodies having no relative
motion
between them. Example: Railway Bridge, roof truss, machine frame.
The differences between a machine and a structure are:

 The parts of a machine move relative to one another, whereas the members of a structure
do not move relative to one another.

 A machine transforms the available energy into some useful work, whereas in a structure
do not move relative to one another.

 The links of a machine may transmit both power and motion, while the members of a
structure transmit forces only.
(d) Inversion of Mechanism: This is the method of obtaining different mechanisms by fixing
different links in a kinematic chain.
Types of kinematic Chains:
(i) Four Bar Chain / Quadric Cycle Chain
(ii) Single Slider Crank Chain
(iii)Double Slider Crank Chain

4. (a) Explain about Kutzbach criterion for determining degree of freedom for a mechanism?
(c)Explain about Grubler’s Criterion for Plane Mechanisms?
ANS:
Degree of Freedom (D. O. F): The no of independent relative motions (movability) of a mechanism
is called D.O.F. It is also called movability of a mechanism.

Kutzbach criterion for determining degree of freedom for plane mechanisms:

Example:
 Grubler’s Criterion for Plane Mechanisms:
The Grubler’s Criterion applies to mechanisms with only single degree of freedom.

This equation is known as the Grubler’s criterion for plane mechanisms with constrained motion.
Example: Four Bar Mechanism and Slider Crank Mechanisms.

5. Sketch and describe the various inversions of a four bar chain mechanism?
ANS:
Four Bar Chain / Quadric Cycle Chain:

 It consists of four rigid links which are connected in the form of a quadrilateral by four pin-
joints.

 A link makes complete revolution is called Crank (4).

 The link which is fixed is called fixed link (1).
 The link opposite to the fixed link is called Coupler (3).
 The fourth link is called Lever or Rocker (2).
 It is impossible to have a four bar linkage, if the length of one of the links is greater than the sum
of the other three.

 Grashof’s Law: For a four bar mechanism, the sum of the shortest and longest link lengths
should not be greater than the sum of the remaining two link lengths.
Inversions of Four Bar Chain:
1. First Inversion (Crank & Lever Mechanism):

 If any of the adjacent links of link d, i.e., link a or c is fixed. The link d (crank) can have full
revolution and the link (b) opposite to it oscillates.
Application: Beam Engine (Crank & Lever Mechanism):

 When the crank rotates about the fixed centre A and the lever oscillates about a fixed centre D.
 The purpose of this mechanism is to convert rotary motion into reciprocating motion.

2. Second Inversion ( Double Crank mechanism ):

 If the shortest link (d) is fixed then the links a and c rotates full circle and link b also complete
one revolution relative to fixed link d.
 Application: Coupling Rod of a Locomotive (Double Crank Mechanism):

 It is meant for transmitting rotary motion from one wheel to the other wheel.
3. Third Inversion ( Double Lever Mechanism):

 If the link opposite to the shortest link. i.e., link b is fixed and the two links a and c would
oscillate.

Application: Watt’s indicator (Double Lever Mechanism):

 It consists of four links which are: Fixed link at A, link AC, link CE and link BFD. The links CE
and BFD act as lever.

 It is also called Watt’s straight line mechanism and the dotted line shows the position of the
mechanism.

6. Sketch and describe the various inversions of a Slider Crank Chain?

ANS:
Single Slider Crank Chain:

 When one of the turning pairs of a four bar chain is replaced by a sliding pair, it becomes a
single slider crank chain.
 It consists of one sliding pair and three turning pairs.
 In a single slider crank chain as shown in the above figure, the links 1&2, links 2&3, and links
3&4 form three turning pairs while the links 4&1 form a slider pair.
Inversions of Single Slider Crank Chain:
1. First Inversion :

 This inversion is obtained when link 1 is fixed and links 2 & 4 are made the crank & the slider
respectively.
Application:
1. Reciprocating Steam Engine: Link 4 (piston) is the driver.
2. Reciprocating Compressor. Link 2 (crank) is the driver.
2. Second Inversion:

 This inversion is obtained when link 2 is fixed; link 3 along with the slider
becomes crank and link 1 rotate about O along with the slider which also reciprocates on it.

 Application:
1. Whitworth quick-return mechanism:
 This mechanism used in shaping and slotting machines.

 In this mechanism the link CD (link 2) forming the turning pair is fixed; the driving crank CA (link
3) rotates at a uniform angular speed and the slider (link 4) attached to the crank pin at A slides
along the slotted bar PA (link 1) which oscillates at D.

 The connecting rod PR carries the ram at R to which a cutting tool is fixed and the motion of the tool
is constrained along the line RD produced.
 The length of effective stroke = 2 PD. And mark P1R1 = P2 R2 = PR.
 2. Rotary internal combustion engine / Gnome engine:
 This mechanism is used in aviation.
 It consists of seven cylinders in one plane and all revolves about fixed centre D.

 The crank 2 is fixed, connecting rod 4 rotates and the piston 3 reciprocates inside the cylinders
forming link 1.

3. Third Inversion:

 This inversion is obtained when the link 3 is fixed, the link 2 acts as a crank and link 4
oscillates.

 Application:
1. Oscillating cylinder engine:
 It is used to convert reciprocating motion into rotary motion.

 In this mechanism link 3 is fixed, the crank 2 rotates, piston rod 1 reciprocates and
cylinder 4 oscillates about A.
 2. Crank & slotted lever mechanism:

 This mechanism is used in shaping machines, slotting machines and in rotary internal
combustion engine.

 In this mechanism link AC(3) corresponding to the connecting rod is fixed, the
driving crank CB revolves about the fixed centre C and a sliding block attached to the crank
pin at B slides along the slotted bar AP.

 AP oscillates about A and a short link PR transmits motion from AP to the arm which
reciprocates along the line of stroke R1R2.

4. Fourth Inversion:

 This inversion is obtained when the link 4 is fixed, the link 3 oscillates about B
on the link 4 and the end A of the link 2 is oscillates about B and the end O reciprocates along
the fixed link 4.
 Application: Hand-Pump:
 The link 4 is made in the form of a cylinder and a plunger fixed to the link 1 reciprocates in it.
7. In a whitworth quick return motion mechanism, as shown in the below figure, the distance
between the fixed centers is 50mm and the length of the driving cranks is 75mm. the length of
the slotted lever is 150mm and the length of the connecting rod is 135mm. Find the ratio of the
time of cutting stroke to the time of return stroke and also the effective stroke.

ANS:
 UNIT - II

KINEMATICS

Relative Velocity of Two Bodies Moving in Straight Lines

Here we shall discuss the application of vectors for the relative velocity of two bodies moving along
parallel lines and inclined lines, as shown in Fig. (a) and (b) respectively.
Consider two bodies A and B moving along parallel lines in the same direction with absolute velocities v
A and vB such that vA > vB , as shown in Fig. The relative
velocity of A with respect to B,

From Fig(b), the relative velocity of A with respect to B (i.e. vAB) may be written in the vector form as
follows :

Similarly, the relative velocity of B with respect to A

Now consider the body B moving in an inclined direction as shown in Fig. (a). The relative velocity of
A with respect to B may be obtained by the law of parallelogram of velocities or triangle law of
velocities. Take any fixed point o and draw vector oa to present v A in magnitude and direction to some
suitable scale. Similarly, draw vector ob to represent v B in magnitude and direction to the same scale.
Then vector ba represents the relative velocity of A with respect to B as shown in Fig. (b). In the
similar way as discussed above, the relative velocity of A with respect to B,
vAB = Vector difference of vA and vB

Motion of a Link
Consider two points A and B on a rigid link AB, as shown in Fig. (a). Let one of the extremities (B) of
the link move relative to A, in a clockwise direction. Since the distance
from A to B remains the same, therefore there can be no relative motion between A and B, along the line
AB. It is thus obvious, that the relative motion of B with respect to A must be perpendicular to AB.
Hence velocity of any point on a link with respect to another point on the same link is always
perpendicular to the line joining these points on the configuration (or space) diagram.
The relative velocity of B with respect to A (i.e. v BA) is represented by the vector ab and is
perpendicular to the line AB as shown in Fig (b).
Let ω= Angular velocity of the link AB about A.
 We know that the velocity of the point B with respect to A,

Thus, we see from equation (iii), that the point c on the vector ab divides it in the same ratio as C
divides the link AB.
Note: The relative velocity of A with respect to B is represented by ba, although A may be a fixed point.
The motion between A and B is only relative. Moreover, it is immaterial whether the link moves about A
in a clockwise direction or about B in a clockwise direction.

Velocities in Slider Crank Mechanism

In the previous article, we have discused the relative velocity method for the velocity of any
point on a link, whose direction of motion and velocity of some other point on the same link is known.
The same method may also be applied for the velocities in a slider crank mechanism.
A slider crank mechanism is shown in Fig. (a). The slider A is attached to the connecting rod AB.
Let the radius of crank OB be r and let it rotates in a clockwise direction, about the point O with uniform
angular velocity rad/s. Therefore, the velocity of B i.e. vB is known in magnitude and direction. The
slider reciprocates along the line of stroke AO.
The velocity of the slider A (i.e. vA) may be determined by relative velocity method as
discussed below :
1. From any point o, draw vector ob parallel to the direction of vB (or perpendicular to OB) such
that ob = vB = ω.r, to some suitable scale, as shown in Fig. (b).

2. Since AB is a rigid link, therefore the velocity of A relative to B is perpendicular to AB.

Now draw vector ba perpendicular to AB to represent the velocity of A with respect to B i.e. vAB.
3. From point o, draw vector oa parallel to the path of motion of the slider A (which is along AO only).
The vectors ba and oa intersect at a. Now oa represents the velocity of the slider A i.e. vA, to the scale.
The angular velocity of the connecting rod AB (AB) may be determined as follows:

The direction of vector ab (or ba) determines the sense of AB which shows that it is anticlockwise.
Example .1. In a four bar chain ABCD, AD is fixed and is 150 mm long. The crank AB is 40 mm long
and rotates at 120 r.p.m. clockwise, while the link CD = 80 mm oscillates about D. BC and AD are of
equal length. Find the angular velocity of link CD when angle BAD = 60°.
Solution. Given : NBA = 120 r.p.m. or ωBA = 2 π× 120/60 = 12.568 rad/s
Since the length of crank AB = 40 mm = 0.04 m, therefore velocity of B with respect to A or velocity of
B, (because A is a fixed point),
vBA = vB = BA × AB = 12.568 × 0.04 = 0.503 m/s

First of all, draw the space diagram to some suitable scale, as shown in Fig. (a). Now the velocity
diagram, as shown in Fig. (b), is drawn as discussed below :
1. Since the link AD is fixed, therefore points a and d are taken as one point in the velocity
diagram. Draw vector ab perpendicular to BA, to some suitable scale, to represent the velocity of
B with respect to A or simply velocity of B (i.e. vBA or vB) such that
vector ab = vBA = vB = 0.503 m/s
2. Now from point b, draw vector bc perpendicular to CB to represent the velocity of C with respect to B
(i.e. vCB) and from point d, draw vector dc perpendicular to CD to represent the velocity of C with
respect to D or simply velocity of C (i.e. vCD or vC). The vectors bc and dc intersect at c.

By measurement, we find that

vCD = vC = vector dc = 0.385 m/s

We know that CD = 80 mm = 0.08 m
Angular velocity of link CD,

Example 2. The crank and connecting rod of a theoretical steam engine are 0.5 m and 2 m long
respectively. The crank makes 180 r.p.m. in the clockwise direction. When it has turned 45° from the
inner dead centre position, determine : 1. velocity of piston, 2. angular velocity of connecting rod, 3.
velocity of point E on the connecting rod 1.5 m from the gudgeon pin, 4. velocities of rubbing at the pins
of the crank shaft, crank and crosshead when the diameters of their pins are 50 mm, 60 mm and 30 mm
respectively, 5. position and linear velocity of any point G on the connecting rod which has the least
velocity relative to crank shaft.

1. Velocity of piston
First of all draw the space diagram, to some suitable scale, as shown in Fig. (a). Now the velocity
diagram, as shown in Fig. (b), is drawn as discussed below :
1. Draw vector ob perpendicular to BO, to some suitable scale, to represent the velocity of B with
respect to O or velocity of B such that

2. From point b, draw vector bp perpendicular to BP to represent velocity of P with respect to B

(i.e. v PB) and from point o, draw vector op parallel to PO to represent velocity of P with respect
to O (i.e. v PO or simply vP). The vectors bp and op intersect at point p.
By measurement, we find that velocity of piston P,v
 vP = vector op = 8.15 m/s Ans

2. Angular velocity of connecting rod

From the velocity diagram, we find that the velocity of P with respect to B,
vPB = vector bp = 6.8 m/s
Since the length of connecting rod PB is 2 m, therefore angular velocity of the connecting rod,

3. Velocity of point E on the connecting rod

The velocity of point E on the connecting rod 1.5 m from the gudgeon pin (i.e. PE = 1.5 m) is
determined by dividing the vector bp at e in the same ratio as E divides PB in Fig. (a). This is done in
the similar way as discussed in Art 7.6. Join oe. The vector oe represents the velocity of E. By
measurement, we find that velocity of point E,
vE = vector oe = 8.5 m/s
4. Velocity of rubbing
We know that diameter of crank-shaft pin at O,
dO = 50 mm = 0.05 m
Diameter of crank-pin at B,
dB = 60 mm = 0.06 m
and diameter of cross-head pin,
dC = 30 mm = 0.03 m
We know that velocity of rubbing at the pin of crank-shaft

5. Position and linear velocity of point G on the connecting rod which has the least velocity relative to
crank-shaft
The position of point G on the connecting rod which has the least velocity relative to crankshaft is
determined by drawing perpendicular from o to vector bp. Since the length of og will be the least,
therefore the point g represents the required position of G on the connecting rod.
By measurement, we find that
vector bg = 5 m/s
The position of point G on the connecting rod is obtained as follows:
Example 3. A four bar mechanism has the following dimensions : DA = 300 mm ; CB = AB = 360 mm ;
DC = 600 mm. The link DC is fixed and the angle ADC is 60°. The driving link DA rotates uniformly at
a speed of 100 r.p.m. clockwise and the constant driving torque has the magnitude of 50 N-m.
Determine the velocity of the point B and angular velocity of the driven link CB. Also find the actual
mechanical advantage and the resisting torque if the efficiency of the mechanism is 70 per cent.
Acceleration Diagram for a Link
Consider two points A and B on a rigid link as shown in Fig. (a). Let the point B moves with respect to
A, with an angular velocity of ωrad/s and let αrad/s2 be the angular acceleration of the link AB.

We have already discussed that acceleration of a particle whose velocity changes both in magnitude and
direction at any instant has the following two components :
1. The centripetal or radial component, which is perpendicular to the velocity of the
particle at the given instant.
2. The tangential component, which is parallel to the velocity of the particle at the given instant.
Thus for a link AB, the velocity of point B with respect to A (i.e. vBA) isperpendicular to the link AB as
shown in Fig. (a). Since the point B moves with respect to A with an angular velocity of ωrad/s,
therefore centripetal or radial component of the acceleration of B with respect to A,

This radial component of acceleration acts perpendicular to the velocity v

BA, In other words, it acts parallel to the link AB.
We know that tangential component of the acceleration of B with respect to A

This tangential component of acceleration acts parallel to the velocity vBA. In other words, it acts
perpendicular to the link AB.
In order to draw the acceleration diagram for a link AB, as shown in Fig. (b), from any point b', draw
vector b'x parallel to BA to represent the radial component of acceleration of B with respect to A
i.e.BAra and from point x draw vector xa' perpendicular to BA to represent the tangential component of
acceleration of B with respect to A i.e. BA . t a Join b' a'. The vector b' a' (known as acceleration image
of the link AB) represents the total acceleration of B with respect to A (i.e. aBA)and it is the vector sum
of radial component BA (αBA ) ra and tangential component BA (αBA ) ta of acceleration.

Acceleration in the Slider Crank Mechanism

A slider crank mechanism is shown in Fig. (a). Let the crank OB makes an angle with the inner dead
centre (I.D.C) and rotates in a clockwise direction about the fixed point O with uniform angular velocity
ωBO rad/s.
Velocity of B with respect to O or velocity of B (because O is a fixed point),

We know that centripetal or radial acceleration of B with respect to O or acceleration of B (because O is

a fixed point),

Note : A point at the end of a link which moves with constant angular velocity has no tangential
component of acceleration
The acceleration diagram, as shown in Fig. (b), may now be drawn as discussed below:
1. Draw vector o' b' parallel to BO and set off equal in magnitude of BO Bra a , to some suitable
scale.
2. From point b', draw vector b'x parallel to BA. The vector b'x represents the radial component of the
acceleration of A with respect to B whose magnitude is given by :

Since the point B moves with constant angular velocity, therefore there will be no tangential component
of the acceleration.
3. From point x, draw vector xa' perpendicular to b'x (or AB). The vector xa' represents the tangential
component of the acceleration of A with respect to B i.e.AB . ta
Note: When a point moves along a straight line, it has no centripetal or radial component of the
acceleration.
4. Since the point A reciprocates along AO, therefore the acceleration must be parallel to velocity.
Therefore from o', draw o' a' parallel to AO, intersecting the vector xa' at a'. Now the acceleration of the
piston or the slider A (a A) and ABta may be measured to the scale.
5. The vector b' a', which is the sum of the vectors b' x and x a', represents the total acceleration of A
with respect to B i.e. aAB. The vector b' a' represents the acceleration of the connecting rod AB.
6. The acceleration of any other point on AB such as E may be obtained by dividing the vector b' a' at e'
in the same ratio as E divides AB in Fig. (a). In other words
a' e' / a' b' = AE / AB
7. The angular acceleration of the connecting rod AB may be obtained by dividing the
tangential component of the acceleration of A with respect to B AB ta to the length of AB. In
other words, angular acceleration of AB,

Example 4. The crank of a slider crank mechanism rotates clockwise at a constant speed of 300 r.p.m.
The crank is 150 mm and the connecting rod is 600 mm long. Determine : 1. Linear velocity and
acceleration of the midpoint of the connecting rod, and 2. angular velocity and angular acceleration of
the connecting rod, at a crank angle of 45° from inner dead centre position.
Solution. Given : NBO = 300 r.p.m. or BO = 2 × 300/60 = 31.42 rad/s; OB = 150 mm = 0.15 m ;
BA = 600 mm = 0.6 m
We know that linear velocity of B with respect to O or velocity of B,

vBO = vB = ωBO × OB = 31.42 × 0.15 = 4.713 m/sec

1. Linear velocity of the midpoint of the connecting rod

First of all draw the space diagram, to some suitable scale; as shown in Fig.(a). Now the velocity
diagram, as shown in Fig. (b), is drawn as discussed below:
 1. Draw vector ob perpendicular to BO, to some suitable scale, to represent the velocity of B with
respect to O or simply velocity of B i.e. vBO or vB, such that
vector ob = vBO = vB = 4.713 m/s
2. From point b, draw vector ba perpendicular to BA to represent the velocity of A with
respect to B i.e. vAB , and from point o draw vector oa parallel to the motion of A (which is along AO)
to represent the velocity of A i.e. vA. The vectors ba and oa intersect at a.
By measurement, we find that velocity of A with respect to B,

3. In order to find the velocity of the midpoint D of the connecting rod AB, divide the
vector ba at d in the same ratio as D divides AB, in the space diagram. In other words,
bd / ba = BD/BA
Note: Since D is the midpoint of AB, therefore d is also midpoint of vector ba.
4. Join od. Now the vector od represents the velocity of the midpoint D of the connecting
rod i.e. vD
.By measurement, we find that
vD = vector od = 4.1 m/s Ans.

Acceleration of the midpoint of the connecting rod

We know that the radial component of the acceleration of B with respect to O or the
acceleration of B,

and the radial component of the acceleraiton of A with respect to B,

Now the acceleration diagram, as shown in Fig. (c) is drawn as discussed below:

1. Draw vector o' b' parallel to BO, to some suitable scale, to represent the radial component of the
acceleration of B with respect to O or simply acceleration of B i.e.arBO or aB such that

Note: Since the crank OB rotates at a constant speed, therefore there will be no tangential component of
the acceleration of B with respect to O.
2. The acceleration of A with respect to B has the following two components:
(a) The radial component of the acceleration of A with respect to B i.e.AB, ra and
(b) The tangential component of the acceleration of A with respect to B i.e.AB. ta These two
components are mutually perpendicular.

Therefore from point b', draw vector b' x parallel to AB to represent arAB=19.3 m/s ra and from
point x draw vector xa' perpendicular to vector b' x whose magnitude is yet unknown.
3. Now from o', draw vector o' a' parallel to the path of motion of A (which is along AO) to represent the
acceleration of A i.e. aA. The vectors xa' and o' a' intersect at a'. Join a' b'.
4. In order to find the acceleration of the midpoint D of the connecting rod AB, divide the
vector a' b' at d' in the same ratio as D divides AB. In other words
b´d´/ b´a´BD / BA
Note: Since D is the midpoint of AB, therefore d' is also midpoint of vector b' a'.
5. Join o' d'. The vector o' d' represents the acceleration of midpoint D of the connecting rod i.e. aD.
By measurement, we find that
aD = vector o' d' = 117 m/s2 Ans.

2. Angular velocity of the connecting rod

We know that angular velocity of the connecting rod AB,

Angular acceleration of the connecting rod

From the acceleration diagram, we find that

We know that angular acceleration of the connecting rod AB,

Example 5 PQRS is a four bar chain with link PS fixed. The lengths of the links are PQ = 62.5 mm ; QR
= 175 mm ; RS = 112.5 mm ; and PS = 200 mm. The crank PQ rotates at 10 rad/s clockwise. Draw the
velocity and acceleration diagram when angle QPS = 60° and Q and R lie on the same side of PS. Find
the angular velocity and angular acceleration of links QR and RS.
1.Explain about Coriolis Component of Acceleration?
Ans: When a point on one link is sliding along another rotating link, such as in quick return motion
mechanism, then the coriolis component of the acceleration must be calculated.
Consider a link OA and a slider B as shown in Fig. (a). The slider B moves along the link
OA. The point C is the coincident point on the link OA.
Let ω= Angular velocity of the link OA at time t seconds.
v = Velocity of the slider B along the link OA at time t seconds.
ωr = Velocity of the slider B with respect to O (perpendicular to the link OA) at time t
seconds, and
2. Explain about different Types of Instantaneous Centres?
ANS: The instantaneous centres for a mechanism are of the following three types:
1. Fixed instantaneous centres, 2. Permanent instantaneous centres, and 3. Neither fixed nor permanent
instantaneous centres.
The first two types i.e. fixed and permanent instantaneous centres are together known as primary
instantaneous centres and the third type is known as secondary instantaneous centres.
Consider a four bar mechanism ABCD as shown in Fig.The number of instantaneous centres (N)
in a four bar mechanism is given by

The instantaneous centres I12 and I14 are called the fixed instantaneous centres as they remain in the
same place for all configurations of the mechanism. The instantaneous centres I23 and I34are the
permanent instantaneous centres as they move when the mechanism moves, but the joints are of
permanent nature. The instantaneous centres I13 and I24 are neither fixed nor permanentinstantaneous
centres as they vary with the configuration of the mechanism.
Note: The instantaneous centre of two links such as link 1 and link 2 is usually denoted by I12 and so
on. It is read as I one two and not I twelve.

3. Explain about Aronhold Kennedy (or Three Centres in Line) Theorem?

ANS: The Aronhold Kennedy’s theorem states that if three bodies move relatively to each other, they
have three instantaneous centres and lie on a straight line.
Consider three kinematic links A, B and C having relative plane motion. The number of
instantaneous centres (N) is given by

Where n = Number of links = 3

The two instantaneous centres at the pin joints of B with A, and C with A (i.e. Iab and Iac) are the
permanent instantaneous centres. According to Aronhold Kennedy’s theorem, the third instantaneous
centre Ibc must lie on the line joining Iab and Iac. In order to prove this,
let us consider that the instantaneous centre Ibc lies outside the line joining Iab and Iac as shown in
Fig. . The point Ibc belongs to both the links B and C. Let us consider the point Ibc on the link B. Its
velocity vBC must be perpendicular to the line joining Iab and Ibc. Now consider the point Ibc on the
link C. Its velocity vBC must be perpendicular to the line joining Iac and Ibc.
We have already discussed in Art. 6.5, that the velocity of the instantaneous centre is same
whether it is regarded as a point on the first link or as a point on the second link. Therefore, the velocity
of the point Ibc cannot be perpendicular to both lines Iab Ibc and Iac Ibc unless the point Ibc lies on the
line joining the points Iab and Iac. Thus the three instantaneous centres (Iab, Iac and Ibc) must lie on
the same straight line. The exact location of Ibc on line Iab Iac depends upon the directions and
magnitudes of the angular velocities of B and C relative to A.

Method of Locating Instantaneous Centres in a Mechanism

Consider a pin jointed four bar mechanism as shown in Fig. (a). The following procedure is adopted for
locating instantaneous centres.
24 First of all, determine the number of instantaneous centres (N) by using the relation

2. Make a list of all the instantaneous centres in a mechanism. Since for a four bar mechanism,
there are six instantaneous centres, therefore these centres are listed as shown in the following
table (known as book-keeping table).

24 Locate the fixed and permanent instantaneous centres by inspection. In Fig. (a), I12 and I14
are fixed instantaneous centres and I23 and I34 are permanent instantaneous centres.
Note. The four bar mechanism has four turning pairs, therefore there are four primary (i.e. fixed and
permanent) instantaneous centres and are located at the centres of the pin joints

4. Locate the remaining neither fixed nor permanent instantaneous centres (or secondary centres) by
Kennedy’s theorem. This is done by circle diagram as shown in Fig.(b). Mark points on a circle equal to
the number of links in a mechanism. In the present case, mark 1, 2, 3, and 4 on the circle.
5. Join the points by solid lines to show that these centres are already found. In the circle diagram [Fig.
(b)] these lines are 12, 23, 34 and 14 to indicate the centres I12, I23, I34 and I14.
6. In order to find the other two instantaneous centres, join two such points that the line
joining them forms two adjacent triangles in the circle diagram. The line which is responsible
forcompleting two triangles, should be a common side to the two triangles. In Fig. (b), join 1 and 3 to
form the triangles 123 and 341 and the instantaneous centre* I13 will lie on the intersection of I12 I23
and I14 I34, produced if necessary, on the mechanism. Thus the instantaneous centre I13 is located. Join
1 and 3 by a dotted line on the circle diagram and mark number 5 on it. Similarly the instantaneous
centre I
24 will lie on the intersection of I12 I14 and I23 I34, produced if necessary, on the mechanism. Thus I24
is located. Join 2 and 4 by a dotted line on the circle diagram and mark 6 on it. Hence all the six
instantaneous centres are located.
Note: Since some of the neither fixed nor permanent instantaneous centres are not required in solving
problems,therefore they may be omitted.

Example 1. In a pin jointed four bar mechanism, as shown in Fig. , AB = 300 mm, BC = CD = 360 mm,
and AD = 600 mm. The angle BAD = 60°. The crank AB rotates uniformly at 100 r.p.m. Locate all the
instantaneous centres and find the angular velocity of the link BC.
Solution. Given : NAB = 100 r.p.m or ωAB = 2 π× 100/60 = 10.47 rad/s
Since the length of crank AB = 300 mm = 0.3 m,
therefore velocity of point B on link AB,
 UNIT-III
STRAIGHT LINE MOTION MECHANISMS

1. Sketch a pantograph, explain its working and show that it can be used to reproduce to an
enlarged scale a given figure?

PANTOGRAPH:
a. It is a four bar linkage used to produce paths exactly similar to the ones traced out by a point
on the linkage.
b. The paths so produced are usually on an enlarged or reduced scale and may be straight or
curved ones.

(e) It consists of a jointed parallelogram ABCD as shown in the figure.

(f) It is made up of bars connected by turning pairs.
(g) From similar triangles OAD and OBE,

(h) Let O be fixed and the points D and E move to some new positions D’ and E’. Then

(i) Therefore the point E traces out the same path as described by point D.
(j) A pantograph is mostly used for the reproduction of plane areas and figures such as maps,
plans …etc.
(k) A modified form of pantograph is used to collect electricity at the top of electric trains.

2. What are straight line mechanisms? Explain about Exact straight motion mechanisms made
up of turning pairs? (OR) Explain about Peaucellier mechanisms and Hart’s mechanisms?

Straight line mechanisms: It is a constraint mechanism is that it permits only relative motion of
an oscillatory nature along a straight line.
Exact straight line motion mechanisms made up of turning pairs:
Let O be a point on the circumference of a circle of diameter OP.
Let B is a point on OA (chord), such that

From similar triangles OAP and OBQ,

But OP and OQ are constant then OA X OB = Constant.

Hence the point B moves along a straight path BQ which is perpendicular to OP.
1. Peaucellier mechanism:

 It consists of 8 links i.e. a fixed link OO 1 and the straight links O1A, OC, OD, AD, DB, BC
and CA are connected by turning pairs.
 The pin at A is constrained to move along the circumference of a circle.
 AC = CB = BD = DA; OC = OD; and OO1 = O1A
 From the triangles ORC and BRC,

 Therefore the product OB X OA remains constant. Hence the point B traces a straight path
perpendicular to the diameter OP.
 2. Hart’s mechanism:

 It consists of six links i.e. a fixed link OO 1 and straight links O1A, FC, CD, DE and EF are
connected by turning pairs.
 The pin at A is constrained to move along the circumference of a circle.
 FC = DE; and CD = EF;
 The points O, A and B divide the links FC, CD and EF in the same ratio.

 Therefore the product OB X OA remains constant. Hence the point B traces a straight path
perpendicular to the diameter OP.

3. Explain about Exact straight line motion consisting of one sliding

pair? Scott-Russel’s mechnism:

3. It consists of a fixed member and moving member P of a sliding pair.

4. The straight link PAQ is connected by turning pairs to the link OA and the link P.
5. A is the middle point of PQ and OA = AP = AQ.
6. If OA makes one complete revolution, then P oscillate along the line OP through a distance
of 2 OA on each side of O, and Q oscillate along QOQ’ through the same distance
2 OA above and below O. Thus locus of Q is a copy of the locus of P.
4. Explain about approximate straight line motion mechanisms?

1. Watt’s mechanism:

 It is a crossed four bar chain mechanism and in steam engines it guides the piston rod to
have an approximate straight line motion.
 In the mean position of the mechanism, links OB and O 1A are parallel and the
coupling rod AB is perpendicular to O1A and OB.

3.
4. The tracing point P traces an approximate straight line over certain positions of its
movement.

2. Modified Scott-Russel mechanism:

1. In this mechanism AP is not equal to AQ and points P & Q are constrained to move in the
horizontal and vertical directions.
2. It forms an elliptical trammel, so that any point A on PQ traces an ellipse with semi major
axis AQ and semi minor axis AP.
2
3. OA = ((AP) ) / (AQ).
3. Grasshopper mechanism:
1. It is the modification of modified Scott-Russel’s mechanism with the difference that Point
P does not slide along straight line.
2. It is a four bar mechanism and all the pairs are turning pairs.
3. In this, O and O1 are fixed and link OA oscillates about O.
 2
4. OA = ((AP) ) / (AQ).

4. Tchebicheff’s mechanism:

1. It is a four bar mechanism in which crossed links OA and O1B are of equal length.
2. The point P, which is the mid-point of AB, traces out an approximately straight line
parallel to OO1.
3. AB : OO1 : OA = 1 : 2 : 2.5
5. Roberts mechanism:

1. It is a four bar mechanism, which, in its mean position, has the form of a trapezium.
2. The link OA and O1B are of equal length and OO1 is fixed.
3. The point Q trace out an approximately straight line.
 STEERING GEAR MECHANISM
1. What is condition for correct steering? Explain about fundamental equation for correct
steering when the vehicle takes a turn?
ANS:

3. The steering gear mechanism is used for changing the direction of two or more of
the wheel axles with reference to the chassis.

The condition for correct steering is that all the four wheels must turns about the same instantaneous
center of rotation I.
It prevents the excess wear of tyres.

This is the fundamental equation for correct steering. If this condition is satisfied, there will be no
skidding of the wheels, when the vehicle takes a turn.
2. Sketch and show the two main types of steering gears and discuss their relative advantages?
ANS:
Davi’s Steering Gear:
It is an exact steering gear mechanism and it has sliding pairs which means more friction and easy
wearing. The gear fulfils the fundamental equation of gearing in all the positions.
Ackerman Steering Gear:
 The whole mechanism of the Ackerman steering gear is on back of the front wheels where as in
Davi’s steering gear, it is in front of the wheels.
 It consists of turning pairs, whereas Davi’s steering gear consists of sliding members.

 When the vehicle moves along a straight path, the longer links AB and CD are parallel and shorter
links BC and AD are equally inclined to the longitudinal axis of the vehicle as shown in
the figure.
Three positions of correct gearing are:
When the vehicle moves straight.
When the vehicle moves a correct angle to the right.
When the vehicle moves a correct angle to the left.
In all other positions, pure rolling is not possible due to slipping of the wheel.
4. In a Davi’s steering gear, the distance between the pivots of the front axle is 1.2 m and the
wheel base is 2.7m. Find the inclination of the track arm to the longitudinal axis of the car,
when it is moving along a straight path?
ANS:

5. Explain about Hooke’s joint is used to transmit motion from the engine to the differential
of an automobile?
ANS:
1. Hooke’s joint is also called as a universal joint
2. It is used to connect two non-parallel and intersecting shafts.
3. It is also used for shafts with angular misalignment.
4. It is commonly used in automobiles to transmit power from the gear box to the rear axle.

 In this the driving shaft rotates at a uniform angular speed whereas the driven shaft rotates at a
continuously varying angular speed.
 The shafts 1 & 2 rotate in the bearings and each shaft has a fork at its ends.
 The four ends of the two forks are connected by a centre piece (cross).
 HOOK’S Joint

6. Derive an expression for the ratio of shafts velocities for Hooke’s joint and draw the polar
diagram?
ANS:
Hooke’s joint is also called as a universal joint
It is used to connect two non-parallel and intersecting shafts.
The four arms of the cross are right angles.
7. Explain about Double Hooke’s Joint?
ANS: We have seen in the previous articles, that the velocity of the driven shaft is not constant, but
varies from maximum to minimum values. In order to have a constant velocity ratio of the
driving and driven shafts, an intermediate shaft with a Hooke’s joint at each end as shown in
Fig. is used. This type of joint is known as double Hooke’s joint.
 UNIT – IV

CAMS & FOLLOWERS

1. Explain with sketches different types of cams and followers?
ANS:
CLASSIFICATION OF FOLLOWERS:
1. According to the surface in contact:
(a) Knife Edge Follower:
When the contacting end of the follower has a sharp knife edge, it is called knife edge
follower as shown in the figure (a). The sliding motion takes place between the contacting
surfaces i.e. the knife edge and the cam surface.
(b)Roller Follower:
When the contacting end of the follower is a roller, it is called a roller follower as shown in
the figure (b). The rolling motion takes place between the contacting surfaces i.e. the roller
and the cam.
(c) Flat Faced or Mushroom Follower:
When the contacting end of the follower is a perfectly flat face, it is called flat faced follower
as shown in the figure (c). When the flat faced follower is circular, it is called mushroom
follower.
(d)Spherical Faced Follower:
When the contacting end of the follower is of spherical shape, it is called a spherical faced
follower as shown in the figure (d). It is used to minimise the surface stresses.

2. According to the motion of the follower:

(a) Reciprocating or Translating Follower:
When the follower reciprocates in guides as the cam rotates uniformly, it is called
reciprocating or translating follower as shown in the figures (a) to (d).
 (b)Oscillating or Rotating Follower:
When the uniform rotary motion of the cam is converted into the predetermined oscillatory
motion of the follower, it is called oscillating or rotating follower as shown in the figure (e).
3. According to the path of motion of the follower:
a. Radial Follower:
When the motion of the follower is along an axis passing through the centre of the cam, it is
known as radial follower as shown in the figures (a) to (e).
b. Off – Set Follower:
When the motion of the follower is along an axis away from the axis of the cam centre, it is
called off-set follower as shown in the figure (f).

CLASSIFICATION OF CAMS:
(iii)Radial or Disc cam:
In this the follower reciprocates or oscillates in a direction perpendicular to the cam axis.
(iv)Cylindrical Cam:
In this the follower reciprocates or oscillates in a direction parallel to the cam axis.
 2. A cam is to give the following motion to a knife edged follower:
0 0
1. Outstroke during 60 of cam rotation; 2. Dwell for the next 30 of cam rotation; 3. Return
0 0
stroke during next 60 of cam rotation, and 4. Dwell for the remaining 210 of cam rotation.
The stroke of the follower is 40mm and the minimum radius of the cam is 50mm. The
follower moves with uniform velocity during both the outstroke and return stroke. Draw the
profile of the cam when (a) the axis of the follower passes through the axis of the cam, and (b)
the axis of the follower is offset by 20mm from the axis of the cam shaft.
ANS:
Construction Procedure of Displacement Diagram:

Procedure:
Procedure:
 3. A cam is to be designed for a knife edge follower with the following data:
a. Cam lift = 40mm during 900 of cam rotation with simple harmonic motion.
b. Dwell for the next 300.
c. During the next 600 of cam rotation, the follower returns to its original position with simple
harmonic motion.
d. Dwell during the remaining 1800.
Draw the profile of the cam when
a. The line of stroke of the follower passes through the axis of the cam shaft, and
b. The line of stroke is offset 20mm from the axis of the cam shaft.
The radius of the base circle of the cam is 40mm. Determine the maximum velocity and
acceleration of the follower during its ascent and descent, if the cam rotates at 240r.p.m.
ANS:
Construction Procedure of Displacement Diagram:
 4. A cam, with a minimum radius of 25mm, rotating clockwise at a uniform speed is to be
designed to give a roller follower, at the end of a valve rod, motion described below:
0
a. To raise the valve through 50mm during 120 rotation of the cam;
0
b. To keep the valve fully raised through next 30 ;
0
c. To lower the valve during next 60 ; and
0
d. To keep the valve closed during rest of the revolution i.e. 150 ;
The diameter of the roller is 20mm and the diameter of the cam shaft is 25mm. Draw the
profile of the cam when (a) the line of stroke of the valve rod passes through the axis of the cam
shaft, and (b) the line of the stroke is offset 15mm from the axis of the cam shaft.
The displacement of the valve, while being raised and lowered, is to take place with
simple harmonic motion. Determine the maximum acceleration of the valve rod when the cam
shaft rotates at 100 r.p.m. Draw the displacement, the velocity and the acceleration diagram for
one complete revolution of the cam.
ANS:

Construction of Displacement Diagram:

Procedure:
 5. A cam drives a flat reciprocating follower in the following manner:
0
During first 120 rotation of the cam, follower moves outwards through a distance of 20mm
0
with simple harmonic motion. The follower dwells during next 30 of the cam rotation. During
0
next 120 of cam rotation, the follower moves inwards with simple harmonic motion. The
0
follower dwells for next 90 of cam rotation. The minimum radius of the cam is 25mm. Draw
the profile of the cam?
ANS: Construction of Displacement Diagram:

The profile of the cam driving a flat reciprocating follower:

 6. In a Symmetrical tangent cam operating a roller follower, the least radius of the cam is 30mm
0
and roller radius is 17.5mm. The angle of ascent is 75 and the total lift is 17.5mm. The speed
of the cam shaft is 600 r.p.m. Calculate: 1. the principal dimensions of the cam; 2. the
accelerations of the follower at the beginning of the lift, where straight flank merges into the
circular nose and at the apex of the circular nose. Assume that there is no dwell between ascent
and descent.
ANS:
 UNIT – V
TOOTHED GEARING

1. Explain with sketches different types of toothed

wheels? ANS:
I. According to the position of axes of the shafts:
(a) Parallel
(b)Intersecting
(c) Non-Intersecting
The two parallel and co-planar shafts connected by the gears have teeth parallel to the axis
of the wheel is known as spur gearing. These gears are called spur gears as shown in below
figure.

The two parallel and co-planar shafts connected by the gears have teeth are inclined to the
axis of the wheel is known as helical gearing. These gears are called helical gears. The
single and double helical gears (herringbone gears) connecting parallel shafts are shown in
the below figure.
 The two non-parallel or intersecting, but coplanar shafts connected by gears are known as bevel
gearing. These gears are called bevel gears as shown in the below figure. Their teeth are inclined
to the face of the bevel are called helical bevel gears.

The two non-intersecting and non-parallel i.e. non-coplanar shaft connected by gears is called
skew bevel gearing or spiral gearing. These gears are called skew bevel gears or spiral gears as
shown in the below figure.

II According to the peripheral velocity of the gears:

Low Velocity gears: The gears having velocity less than 3m/s.
Medium Velocity gears: The gears having velocity between 3 and 15m/s.
High Velocity gears: The gears having velocity more than 15m/s.
III According to the type of gearing:
a. External Gearing: The gears of the two shafts mesh externally with each other as
shown in the below figure. The larger of these two wheels is called spur wheel and the
smaller wheel is called pinion.
 b. Internal Gearing: The gears of the two shafts mesh internally with each other as shown in
the below figure. The lager of these two wheels is called annular wheel and the smaller
wheel is called pinion.

c. Rack and Pinion: The gears of a shaft meshes externally and internally with the gears in a
straight line as shown in the below figure. The straight line gear is called rack and the
circular wheel is called pinion, we can convert linear motion into rotary motion and vice-
versa as shown in the below figure.

IV According to position of teeth on the gear surface:

1. Straight: Spur gears.
2. Inclined: Helical gears.
3. Curved: Spiral gears.
2. State and derive the law of gearing and velocity of sliding of teeth?

ANS:

 Consider the portion of the two teeth, one on the wheel 1 and the other on the wheel 2.
 Let two teeth come in contact at point Q.

 Let TT be the common tangent and MN be the common normal to the curves at the point
of contact Q.
 Let v1 and v2 be the velocities of the point Q on the wheels 1 and 2 respectively.
 The common normal at the point contact between a pair of teeth must always pass
through the pitch point. It is known as law of gearing.

 The velocity of sliding is the velocity of one tooth relative to its mating tooth along
the common tangent at the point of contact.

 Therefore the velocity of sliding is proportional to the distance of the point of contact
from the pitch point,
 3. A pinion having 30 teeth drives a gear having 80 teeth. The profile of the gear is involute
0
with 20 pressure angle, 12 mm module and 10 mm addendum. Find the length of path of
contact, arc of contact and the contact ratio.
ANS:

3. Determine the minimum number of teeth required on a pinion, in order to avoid interference
which is to gear with,
1. A wheel to give a gear ratio 3 to 1; and 2. An equal wheel.
0
The pressure angle is 20 and a standard addendum of 1 module for the wheel may be assumed.
ANS:
5. A pinion of 20 involute teeth 125 mm pitch circle diameter drives a rack. The addendum of
both pinion and rack is 6.25 mm. What is the least pressure angle which can be used to avoid
interference? With this pressure angle, find the length of the arc of contact and the minimum
number of teeth in contact at a time?
ANS:

6. Two gear wheels mesh externally and are to give a velocity ratio of 3 to 1. The teeth are of
0
involute form; module = 6mm, addendum = one module, pressure angle = 20 . The pinion
rotates at 90 r.p.m. Determine: 1. The number of teeth on the pinion to avoid interference on it
and the corresponding number of teeth on the wheel, 2. The length of path and arc of contact,
3. The number of pairs of teeth in contact, and 4. The maximum velocity of sliding.
ANS:
 GEAR TRAINS

1. Explain with sketches different types of train of toothed wheels or gear

trains? ANS:
Two or more gears are made to mesh with each other to transmit power from one shaft to
another this combination is called gear train or train of toothed wheels.
The nature of the train used depends upon the velocity ratio required and relative position of
the axes of shafts.

TYPES OF GEAR TRAINS:

1.Simple Gear Train, 2. Compound Gear Train,
3.Reverted Gear Train, 4. Epicyclic Gear Train.
1. Simple Gear Train:
When there is only one gear on each shaft.

The intermediate gears are called idle gears, as they do not effect the speed ratio or train
value.
The speed ratio (velocity ratio) of gear train is the ratio of the speed of the driver to the
speed of the driven or follower and ratio of speeds of any pair of gears in mesh is the
inverse of their
number of teeth.

Train value is the ratio of the speed of the driven to the speed of the driver.
 
The speed ratio of the gear train as shown in figure (b) is

.
2. Compound Gear Train:
When there are more than one gear on a shaft.

 The gear 1 is the driving gear mounted on shaft A, gear 2 and 3 are compound gears
which are mounted on shaft B, the gears 4 and 5 are also compound gears which are mounted
on shaft C
and the gear 6 is the driven gear mounted on shaft D as shown in the above figure.

In this gear train a larger speed reduction from the first shaft to the last shaft can be obtained
with small gears.
 3. Reverted Gear Train:
When the axes of the first gear and the last gear are co-axial. The reverted gear trains are
used in automotive transmissions, lathe back gears, industrial speed reducers, and in
clocks. The distance between the centres of the shafts of gears 1 and 2 as well as gears 3
and 4 is same.

Also, the circular pitch or module of all the gears is assumed to be same.

4. Epicyclic Gear Train:

The axes of the shafts, over which the gears are mounted, may move relative to a fixed
axis. The epicyclic gear trains are useful for transmitting high velocity ratios with gears
of moderate size in a comparatively lesser space. The epicyclic gear trains are used in the
back gear of lathe, differential gears of the automobiles, hoists, pulley blocks, wrist
watches etc.
Tabular Method: (Velocity ratio of Epicyclic Gear train)


Assuming the anticlockwise rotation as positive and clockwise as negative.

2. In a reverted epicyclic gear train, the arm A carries two gears B and C and a compound gear D-
E. The gear B meshes with gear E and the gear C meshes with gear D. The number of teeth on
gears B, C and D are 75, 30 and 90 respectively. Find the speed and direction of gear C when
gear B is fixed and the arm A makes 100 r.p.m. clockwise.
ANS:

3. An epicyclic gear consists of three gears A, B and C as shown in the below figure. The gear A
has 72 internal teeth and gear C has 32 external teeth. The gear B meshes with both A and C
and is carried on an arm EF which rotates about the centre of A at 18 r.p.m. If the gear A is
fixed, determine the speed of gears B and C.
ANS:
4. An epicyclic train of gears is arranged as shown in the below figure. How many revolutions does
the arm, to which the pinions B and C are attached, make:
1. When A makes one revolution clockwise and D makes half a revolution anticlockwise, and
2. When A makes one revolution clockwise and D is stationary?
The number of teeth on the gears A and D are 40 and 90 respectively.
ANS:
 5. Two shafts A and B are co-axial. A gear C (50 teeth) is rigidly mounted on shaft A. A
compound gear D-E gears with C and an internal gear G. D has 20 teeth and gears with C and
E has 35 teeth and gears and gears with an internal gear G. The gear G is fixed and is
concentric with the shaft axis. The compound gear D-E is mounted on a pin which projects
from an arm keyed to the shaft B. Sketch the arrangement and find the number of teeth on
internal gear G assuming that all gears have the same module. If the shaft A rotates at 110
r.p.m., find the speed of shaft B.
ANS:

Therefore the arrangement is:

 6. The below figure shows an epicyclic gear train known as Ferguson’s paradox. Gear A is fixed
to the frame and is, therefore stationary, The arm B and gears C and D are free to rotate on
the shaft S. gears A, C and D have 100, 101 and 99 teeth respectively. The planet gear has 20
teeth. The pitch circle diameters of all are the same so that the planet gear P meshes with all
of them.
Determine the revolutions of gears C and D for one revolution of arm B.
ANS:
 7. Two bevel gears A and B (having 40 teeth and 30 teeth) are rigidly mounted on two co-axial
shafts X and Y. A bevel gear C (having 50 teeth) meshes with A and B and rotates freely on
one end of an arm. At the other end of the arm is welded a sleeve and the sleeve is rigidly
freely loose on the axes of the shafts X and Y. Sketch the arrangement.
If the shaft X rotates at 100 r.p.m. clockwise and arm rotates at 100 r.p.m. anticlockwise,
find the speed of shaft Y.
ANS: