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Chapter 22 : Combined Motion of Rotation and Translation 457

457
Contents
1. Introduction.
2. Motion of a Rigid Link.
3. Instantaneous centre.
4. Motion of a Connecting
Rod and Piston of a
Reciprocating pump.
5. Methods for the Velocity of
Piston of a Reciprocating
Pump.
6. Graphical Method for the
Velocity of Piston of a
Reciprocating Pump.
7. Analytical Method for the
Velocity of Piston of a
Reciprocating Pump.
8. Velocity Diagram Method
for the Velocity of Piston of
a Reciprocating Pump.
9. Motion of a Rolling Wheel
Without Slipping.
22
C H A P T E R C H A P T E R C H A P T E R C H A P T E R C H A P T E R
Combined Motion
of Rotation and
Translation
22.1. INTRODUCTION
We have already discussed in chapter 17 linear
motion or motion of translation. And we have also
discussed in the last chapter motion of rotation. But
sometimes a body has, simultaneously, a motion of
rotation as well as translation such as wheel of a car, a
sphere rolling (without slipping) on the ground etc. A
little consideration will show, that such a motion will
have the combined effect of rotation as well as
translation. Now in this chapter, we shall discuss the
combined motion of rotation and translation.
Contents
458 A Textbook of Engineering Mechanics
22.2. MOTION OF A RIGID LINK
Consider a rigid link AB, which moves from its initial position AB to its final position A
1
B
1
.
It will be interesting to know that the link neither has, wholly a motion of translation nor wholly
rotational, but a combination of the two. But the point B moves faster than the point A as shown in
Fig. 22.1. (a).
Fig. 22.1. Motion of a rigid link AB to A
1
B
1
.
If we split up the motion of the link AB, we shall find that the link has first motion of translation
from AB to A
1
B, and then the motion of rotation about A
1
, till it occupies the final position A
1
B
1
as
shown in Fig. 22.1. (b).
The motion of link AB may also be considered to be first motion of rotation from AB to AB
about A, and then motion of translation from AB to A
1
B
1
as shown in Fig. 22.1 (c)
Such a motion of AB to A
1
B
1
is an excellent example of combined motion of rotatiton and
translation ; it being immaterial, whether the motion of rotation takes place first, or the motion of
translation takes first.
22.3. INSTANTANEOUS CENTRE
We have discussed in the last article the motion of a
rigid link as an example of combined motion of rotation and
translation. Now consider the motion of link from AB to
A
1
B
1
as shown in fig. 22.2. In the last article, we had split up
such a motion for the sake of analysis into the following two
parts :
1. Motion of rotation, and
2. Motion of translation.
Both these motions were considered to take place one
after the other. But in actual practice the motion of link AB
is so gradual, that it is difficult to see the two separate
motions. But we see a smooth motion of the link, though
the point B moves faster than the point A.
This combined motion of rotation and translation, may
be assumed to be a motion of pure rotation about some centre.
As the position of link AB goes on changing, therefore the
centre, about which the motion of rotation is assumed to take
place, also goes on changing. Such a centre, which goes on
changing, from one instant to another, is known as
instantaneous centre. The locus of all such instantaneous
centres, is known as centrode. The position of instantaneous
centre may be located graphically as discussed below :
Fig. 22.2. Instantaneous centre.
Contents
Chapter 22 : Combined Motion of Rotation and Translation 459
1. First of all, draw the initial and final positions of the rigid link as AB and A
1
B
1
respectively.
2. Join AA
1
and BB
1
.
3. Draw PQ right bisector of AA
1
,and RS right bisector of BB
1
.
4. Extend the two right bisectors PQ and RS to meet at O, which is the required centre of
rotation or instantaneous centre as shown in Fig. 22.2.
Let = Angular velocity of the rod AB about A.
Linear velocity of point A.
v
A
= OA or
A
v
OA
=
...(i)
Similarly,
B
v
OB
=
...(ii)
Equating equations (i) and (ii),

B
A
v OB
v OA
=
The direction of v
A
and v
B
will be at right angles to OA and OB respectively as shown in
Fig. 22.2.
Note. Sometimes, three or more members are hinged together to form a triangle, a quadrilateral
etc., In such a case , each member will have its own instantaneous centre. The instantaneous centre for
each member may be found out by drawing perpendiculars at the directions of motions at the two
ends of the member as usual.
Example 22.1. A link AB is moving in a vertical plane. At a certain instant, when the link is
inclined at 60 to the horizontal, the point A is moving horizontally at 2 m/s, while B is moving in a
vertical direction. Find the velocity of B.
Solution. Given : Inclination of the link with horizontal = 60 and
velocity of point A in horizontal direction (v
A
) = 2 m/s
Let v
B
= Velocity of B in the vertical direction.
First of all, let us locate the position of instantaneous centre O, graphically,
as shown in Fig. 22.3 and as discussed below :
1. First of all draw the position of the link AB, such that it is inclined at
an angle of 60 with the horizontal.
2. Now draw the lines indicating the directions of motions of points A
(in horizontal direction) and B (in vertical direction).
3. Now draw perpendiculars at A and B on the directions of motion v
A
and v
B
.
4. Let these perpendiculars meet at O, which is the instantaneous centre of the link AB.
From the geometry of velocity of B, the triangle AOB, we find that
cot 60 0.577
OB
OA
= =
We know that

0.577
B
A
v OB
v OA
= =
v
B
= v
A
0.577 = 2 0.577 = 1.15 m/s Ans.
Fig. 22.3.
Contents
460 A Textbook of Engineering Mechanics
Example 22.2. Three links are hinged together to form a triangle ABC as shown in Fig. 22.4.
Fig. 22.4.
At a certain instant, the point A is moving towards the mid-point of BC with a velocity of 5 m/s,
and B is moving at a perpendicular direction to AC. Find the velocity of C.
Solution. Given : Velocity of A (v
A
) = 5 m/s
First of all, let us locate the position of instantaneous centre of the points A and B graphically
as shown in Fig. 22.5 and as discussed below :
1. Draw the triangle ABC with the given data.
2. Now draw the lines indicating the directions of
motions of points A (towards mid-point of BC) and
B (at right angles to AC).
3. Now draw perpendiculars at A and B on the
directions of motion of v
A
and v
B
.
4. Let these perpendiculars meet at O, which is the
instantaneous centre of the link AB and BC.
5. Now join OC and draw a line at right angle to OC
indicating the direction of motion of the point C.
Measuring the diagram to some scale, we find that OA = 2.6 cm and OC = 5.4 cm
We know that
5.4
2.08
2.6
C
A
v OC
v OA
= = =
Velocity of C,
v
C
= v
A
2.08 = 5 2.08 = 10.4 m/s Ans.
EXERCISE 22.1
1. The ends A and B of a link 1.5 m long are constrained to move in vertical and horizontal
guides as shown in Fig. 22.6.
At a given instant, when A is 0.9 m above C it was moving at 3 m/s upwards. Find the
velocity of B at this instant. (Ans. 2.25 m/s)
Fig. 22.6 Fig. 22.7
Fig. 22.5.
Contents
Chapter 22 : Combined Motion of Rotation and Translation 461
Piston, connecting rod and crank.
2. In a four-bar mechanism ABCD, the two points A and D are fixed while the links AB and
CD can rotate about the fixed points A and D as shown in Fig. 22.7
Find graphically, or otherwise, the velocity of B and angular velocity of the link AB, when
the link CD rotates at 240 r.p.m. in the clockwise direction. (Ans. 18.3 m/s ; 700 r.p.m.)
22.4. MOTION OF A CONNECTING ROD AND PISTON OF A
RECIPROCATING PUMP
Fig. 22.8. Motion of connecting rod and piston of a reciprocating pump.
In Fig.22.8 is shown the mechanism of a crank connecting rod and piston of a reciprocating
pump. The working of main parts of the pump mechanism is as follows ;
1. The crank AB, which rotates about its axis A with a uniform angular velocity of radians/sec,
such that
2
rad/s
60
N
=
where N = Revolutions of the crank in r.p.m.
2. The connecting rod BC, whose to and fro motion is governed by the crank B.
3. The piston C, whose to and fro motion is governed by the connecting rod BC.
22.5. METHODS FOR THE VELOCITY OF PISTON OF A RECIPROCATING PUMP
In the last article, we have discussed the working of the main parts of a reciprocating pump. In
most of the cases, we are required to find out the velocity of piston. This may be found out by any one
of the following two methods :
1. Graphical method, and 2. Analytical method.
Contents
462 A Textbook of Engineering Mechanics
22.6. GRAPHICAL METHOD FOR THE VELOCITY OF PISTON OF A
RECIPROCATING PUMP
Consider the mechanism of a reciprocating pump in which AB be the crank, BC the connecting
rod and C the piston. Now let us locate the position of instantaneous centre O as shown in Fig. 22.9
and as discussed below :
Fig. 22.9. Velocity of piston of a reciprocating pump.
1. First of all, select some suitable point A, and draw a circle with radius equal to AB (i.e.
crank length of the mechanism).
2. Through A, draw a horizontal line meeting the circle at D, which represents the inner dead
centre. Extend this line.
3. Now draw AB at an angle through which the crank has turned at the instant, the velocity
of piston is required to be found out.
4. Cut off BC equal to the length of the connecting rod.
5. Now extend the line AB and through C draw a line at right angles to AC meeting at O,
which represents the instantaneous centre of the connecting rod BC.
6. Measure the lengths OB and OC and use them in the usual relations of instantaneous
centre as discussed below :
Let
1
= Angular velocity of the crank AB in radians/sec.

2
= Angular velocity of connecting rod BC about O, in radians/sec,
r = Radius of the crank AB.
Velocity of B, v
B
=
2
OB ...(i)
We also know that the velocity of B,
v
B
=
1
AB ...(ii)
Equating equation, (i) and (ii),

2
OB =
1
AB or
1
2
AB
OB

=
...(iii)
Similarly, velocity of piston C,
v
C
=
2
OC
Now by substituting the value of
2
in the above equation,
1 1
C
AB OC r OC
v
OB OB

= = =
B
v OC
OB

...(Q AB = r)
Thus by measuring the lengths of OB and OC to the scale, we can find out the velocity of
piston (i.e.v
C
).
Contents
Chapter 22 : Combined Motion of Rotation and Translation 463
Example 22.3. In a reciprocating pump, the lengths of connecting rod and crank is 1125
mm and 250 mm respectively. The crank is rotating at 420 r.p.m. Find the velocity, with which the
piston will move, when the crank has turned through an angle of 40 from inner dead centre.
Solution. Given : Length of connecting rod (l) = 1125 mm = 1.125 m ; Length of crank
(r) = 250 mm = 0.25 m ; Angular rotation of crank (N) = 420 r.p.m and angle through which the
crank has turned () = 40.
We know that angular velocity of crank,
2 2 420
44 rad/s
60 60
N
= = =
and velocity of B (v
B
) = r = 44 0.25 = 11 m/s
Fig. 22.10.
Now let us locate position of the instantaneous centre of the rod BC as shown in Fig. 22.10
as discussed below :
1. Select a suitable point A, and draw a circle with A as centre and 0.25 m radius to some
suitable scale to represent crank of the pump.
2. Through A, draw a horizontal line meeting at D on the circumference of the crank,
representing the inner dead centre. Extend the line AD.
3. Draw a line AB, such that angle BAD is equal to 40.
4. With B cut off BC equal to 1.125 m to the scale on the horizontal line through A, representing
the connecting rod of the pump.
5. Extend the line AB, and through C draw a line at right angles to AC, meeting the extended
line AB at O, which is the instantaneous centre of the rod BC.
Contents
464 A Textbook of Engineering Mechanics
6. Measuring the diagram to scale, we find
OB = 1.45 m and OC = 1.1 m
We know that the velocity of C,
11 1.1
8.3 m/s
1.45
B
C
v OC
v
OB

= = = Ans.
22.7. ANALYTICAL METHOD FOR THE VELOCITY OF PISTON OF A
RECIPROCATING PUMP
Fig. 22.11 Veloctiy of a piston of reciprocating pump.
Consider the mechanism of a reciprocating pump, in which AB be the crank, BC the connecting
rod, and C the piston. Let O be the instantaneous centre of the connecting rod BC. Produce the line
CB to meet the vertical line through A at N as shown in Fig. 22.11. Now through B, draw BM
perpendicular to CA.
From the geometry of the triangle OCB and ABN, we find that these two triangles are similar.
Therefore
OC AN
OB AB
=
Let
1
= Angular velocity of the crank AB in rad/s.

2
= Angular velocity of the connecting rod BC about O, in rad/s.
l = Length of the connecting rod BC,
r = Radius of the crank AB,
= Angle traversed by the crank in degrees,
= Angle, which the connecting rod makes with CA (known as
obliquity of the connecting rod).
We know that velocity of piston or C,
v
C
=
2
OC ...(i)
and velocity of B, v
B
=
2
OB ...(ii)
Contents
Chapter 22 : Combined Motion of Rotation and Translation 465
We also know that velocity of B,
v
B
=
1
AB ...(iii)
Dividing equation (i) by (ii),
2
2
C
B
v OC OC AN
v OB OB AB

= = =

or
1 C B
AN AN
v v AB
AB AB
= =
1 1
AN
r AN
r
= = ...(iv)
Now from the geometry of the figure, we find that
CA = CM + MA = CB cos + AB cos = l cos + r cos
and AN = CA tan = (l cos + r cos ) tan
= l cos tan + r cos tan
= l sin + r cos tan
Substituting this value of AN in equation (iv) velocity of C,
v
C
=
1
(l sin + r cos tan )
Example 22.4. In a crank and connecting rod mechanism, the radius of crank and length of
the connecting rod are 300 mm and 1200 mm respectively. The crank is rotating at 180 r.p.m. Find
the velocity of the piston, when the crank is at an angle of 45, with the horizontal.
Solution. Given : Radius of the crank (r) = 300 mm = 0.3 m ; Length of connecting rod (l) = 1200
mm = 1.2 m ; Angular rotation of crank (N) = 180 r.p.m and angle traversed by the crank ( ) = 45
Fig. 22.12.
We know that Angular velocity of the crank,
1
2 180
6 rad/s
60

= =
From the geometry of the figure, we find that
sin 45 0.3 0.707
sin
1.2
BM AB
BC BC

= = =
= 0.1768 or = 10.18
We also know that velocity of the piston,
v
C
=
1
(l sin + r cos tan )
= 6 (1.2 sin 10.18 + 0.3 cos 45 tan 10.18) m/s
= 6 [(1.2 0.1768) + (0.3 0.707 0.1796)] m/s
= 4.72 m/s Ans.
Contents
466 A Textbook of Engineering Mechanics
22.8. VELOCITY DIAGRAM METHOD FOR THE VELOCITY OF PISTON OF A
RECIPROCATING PUMP
Fig. 22.13. Velocity diagram method.
Consider the mechanism of a reciprocating pump, in which AB be the crank, BC the connecting
rod and C the piston as shown in Fig. 22.13 (a). Now let us draw the velocity triangle as shown in Fig.
22.13 (b) and as discussed below :
1. First of all, take some suitable point a and draw a horizontal line ac representing the
direction of motion of the piston. (i.e. v
C
).;
2. Through a draw another line ab representing the direction of motion of B (i.e. v
B
). It is at
right angles to the crank AB.
3. Now cut off ab equal to the velocity v
B
to some suitable scale (such that v
B
= .r) where
is the angular velocity of the crank and r is the radius of the crank.
4. Through b draw a line bc perpendicular to the connecting rod BC of the space diagram.
5. Now ac of the velocity diagram gives the velocity of piston v
C
to the scale.
Note. The length bc to the scale gives the velocity of the connecting rod. The angular velocity
of the connecting rod may now be found out from the relation bc/BC, where BC is the length of the
connecting rod.
Example 22.5. In a reciprocating pump, the lengths of connecting rod and crank is 1125
mm and 250 mm respectively. The crank is rotating at 420 r.p.m. Find the velocity with which the
piston will move, when the crank has turned through an angle of 40 from the inner dead centre.
*Solution. Length of connecting rod (l) = 1125 mm = 1.125 m ; Length of crank (r) = 250
mm = 0.25 m ; Angular rotation of crank (N) = 420 r.p.m and angle traversed by the crank ( ) = 40
We know that angular velocity of crank,

2 2 420
44 rad/s
60 60
N
= = =
and velocity of B (v
B
) = r = 44 0.25 = 11 m/s
Fig. 22.14.
* We have already solved this example analytically as 22.3.
Contents
Chapter 22 : Combined Motion of Rotation and Translation 467
First of all, draw the space diagram for the reciprocating pump machanism as shown in Fig.
22.14 (a). Now draw the velocity diagram as shown in Fig. 22.14 (b) and as discussed below :
1. Take some suitable point a and draw a horizontal line representing the direction of motion
of the piston (i.e. v
C
).
2. Through a, draw another line ab representing the direction of motion of B (i.e. v
B
) which
is at 40 with the horizontal.
3. Now cut off ab equal to 11 m/s to some suitable scale.
4. Through b, draw bc perpendicular to the connecting rod BC of the space diagram.
5. Now ac gives the velocity of piston to the scale. By measurement, we find that velocity of
piston,
v
C
= ac = 8.3 m/s Ans.
Example 22.6. The crank AB in the mechanism shown in Fig. 22.15 rotates at 5 rev/s is
300 mm long.
Fig. 22.15.
The link CB is 600 mm long, and the piston C moves in horizontal guides. Find for the position
shown (i) velocity of piston C, (ii) angular velocity of the connecting rod BC and (iii) velocity of a
point D at the centre AB.
Solution. Given : Angular rotation of crank (N) = 5 rev/s ; Length of the crank (r) = 300
mm = 0.3 m and length of the link CB (l) = 600 mm = 0.6 m
We know that angular velocity of crank,
= 2N = 2 5 = 10 rad/s
and velocity of B, v
B
= r = 10 0.3 = 9.4 m/s
Fig. 22.16.
First of all, draw the space diagram for the mechanism as shown in Fig. 22.16 (a). Now draw
the velocity diagram as shown in Fig. 22.16 (b) and as discussed below :
1. Take some suitable point a, and draw a horizontal line representing the direction of motion
of the piston (i.e. v
C
).
2. Through a, draw a line ab representing the direction of motion B (i.e. v
B
) which is at 45
with the horizontal.
3. Now cut off ab equal to 9.4 m/s representing velocity of B to some suitable scale.
4. Through b, draw bc perpendicular to the connecting rod (which is vertical).
5. Now ac gives the velocity of piston to the scale.
By measurement, we find that the velocity of piston
v
C
= ac = 6.65 m/s Ans.
By measurement, we also find that bc = 6.65 m/s
Contents
468 A Textbook of Engineering Mechanics
Angular velocity of connecting rod,
6.65 11.1 60
11.1 rad/s = 106 r.p.m.
0.6 2
bc
BC
= = = =

Ans.
Now locate a point d at the centre of bc. Join ad. By measurement, we also find that velocity of D,
v
D
= ad = 7.43 m/s Ans.
22.9. MOTION OF A ROLLING WHEEL WITHOUT SLIPPING
Consider a wheel rolling along a straight path, in such a way that there is no slipping of the
wheel on its path. A little consideration will show, that the centre of the wheel O moves with some
linear velocity. And each particle on the periphery of the wheel rotates with some angular velocity.
Thus the motion of any particle on the periphery of the
wheel is a combination of linear and angular velocity as
shown in Fig. 22.17
Let v = Linear velocity of the centre of the
wheel
= Angular velocity of the wheel, and
r = Radius of the wheel
Now consider any particle P on the periphery of
the wheel making an angle with the vertical through the
centre of the wheel as shown in Fig. 22.17. We know that
particle (P) is subjected to the following two motions
simultaneously.
1. Linear velocity (v) acting in the horizontal direction.
2. Tangential velocity (equal to linear velocity, such that v = r) acting at right angles to OP.
From the geometry of the figure, we find that the angle between these two velocities is equal
to . The resultant of these velocities (R) will act along the bisector of the angle between the two
forces, such that

2 cos
2
R v

=


We know that angular velocity of P about A

P
v
AP
=
We know that from the triangle AOP,
2 2 cos
2
AP AC r

= =


Angular velocity of C about A
2 cos 2 cos
2 2
2 cos
2
v v
v
AP r
r



= = =



It is thus obvious, that any point on the wheel rotates about the lowest point A (which is in
touch with the ground) with the same angular velocity ( )
v
r
= .
Notes. 1. The particle A is subjected to the following two velocities :
(i) linear velocity (v) towards P, and
(ii) tangential velocity (v = r) towards Q
Fig. 22.17. Motion of a rolling wheel without
slipping.
Contents
Chapter 22 : Combined Motion of Rotation and Translation 469
Since these two velocities are equal, opposite and collinear, therefore their resultant is
zero. Or in other words, the particle A will be momentarily at rest.
2. Similarly, it can be proved the particle B (i.e. highest point of the wheel ) will be subjected
to a resultant velocity of 2v and acts perpendicular to OB.
3. The lowest point (A) is the instantaneous centre of the motion of the wheel.
EXERCISE 22.2
1. In a crank and connecting rod mechanism, the crank is 300 mm long and the connecting
rod 1500 mm long. If the crank rotates uniformly at 300 r.p.m., find the velocity of the
cross head when the crank is inclined at 30 with the inner dead centre. (Ans. 5.39 m/s)
2. The lengths of connecting rod and crank in a reciprocating engine are 1000 mm and 225
mm respectively. The crank is rotating at 360 r.p.m. Find the velocity of cross head, when
the crank has turned through 30 with the line joining the centres. (Ans. 5.19 m/s)
3. The crank and connecting rod of a steam engine are 0.5 m and 2 m respectively. The crank
makes 180 r.p.m. in the clockwise direction. When the crank has turned 45 from the inner
dead centre, determine (i) velocity of piston, and (ii) angular velocity of connecting rod.
(Ans. 8.15 m/s ; 32.5 r.p.m.)
QUESTIONS
1. Describe the phenomenon of combined motion of rotation and translation. Give few
examples.
2. Explain the term instantaneous centre.
3. How would you locate the instantaneous centre of a rigid link moving with combined
motion of rotation and translation ?
4. What are the various methods for finding out the velocity of piston of a reciprocating
pump ? Explain one of them.
5. Derive a relation for the velocity of piston in a crank and connecting rod mechanism.
OBJECTIVE TYPE QUESTIONS
1. In a combined motion of rotation and translation
(a) the motion of roation takes place before the motion of translation
(b) the motion of translation takes place before the motion of rotation
(c) both the motions take place simultaneously
2. The instantaneous centre is a point which is always fixed.
(a) yes (b) No
3. The velocity of piston in a reciprocating pump mechanism depends upon
(a) angular velocity of the crank (b) radius of the crank
(c) length of the connecting rod (d) both (a) and (b)
(e) all the above
4. The velocity of a piston in a reciprocating pump mechanism is maximum when the
obliquity is
(a) zero (b) maximum (c) average (d) minimum
ANSWERS
1. (c) 2. (b) 3. (e) 4. (b)
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