Force Analysis - PPSX

MECH308
MACHINE DYNAMICS
(Force Analysis)
Assoc. Prof. Dr. Seluk ERKAYA
E-mail: serkaya@erciyes.edu.tr
Web:
http://aves.erciyes.edu.tr/ENG/SorguKimlikBilgileri.aspx?Sorgu=2535
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Basic Concept: Mechanism and Machine?

A machine may be defined as a combination of resistant
bodies so arranged that by their means the mechanical
forces of nature can be compelled to do work accompanied
by certain determinate motion.
Notice that in the above definition we are only concerned
with the mechanical machines. The definition does not
include electrical or heat machines (eg. a computer or a
heat pump is not included as a machine with the above
definition).
The main characteristics of a mechanical machine is that
there is force (or torque) accompanied with motion, Some
exceptions to this characteristics are mechanical
calculating machines, mechanical watches, indicating
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instruments,
etc.
In these types there is no actual work2
A mechanism may be defined as a group of rigid bodies connected to

each other by rigid kinematic pairs (joints) to transmit force and
motion.
A machine structure is constructed to perform a particular task, such
as a packaging machine.
A mechanism is considered to be more general. It is an isolated group
of rigid bodies through the study of which we can understand the basic
structure of any machine and can design machines that are not in
existence.
A machine may also involve a number of mechanisms and certain
elements that are not rigid (although resistant). For example, in a
machine we may have hydraulic drives, springs, dashpots, flexible
elements, etc. which are not considered as bodies that can be included
in a mechanism (although we shall see how we can include these
elements into the mechanism).
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In the analysis stage, we have to consider the mechanisms. Because,

different machines can comprise same mechanisms. For example;
Internal combustion engine
Air Compressor
Slider-crank mechanism
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Principles of Dynamics
Fundamental principles of dynamics are Newton's Laws of
motion which are;
1)
A body at rest tends to remain at rest and a body in motion at

constant velocity will tend r
to maintain that velocity unless
F 0
acted upon by an external force.
2)
The time rate of change of momentum of a body is equal to

the magnitude of rthedapplied
force and acts
r
r in rthe direction of
the force.
F dt mV
F ma
3)
r is anrequal and opposite reaction

For every action force there
Fij F ji
force.
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Force can be defined in terms of Newton's first law as an action that tends to change the motion of
a body. The concept of a force can be made quantitative by defining it as a quantity that produces
a unit acceleration of a standard body.
Mass of a body can be defined by using Newton's second law as the ratio of the force acting on
the body to the resulting acceleration.
Time is a concept for ordering the flow of events.
We shall be using SI systems of units. A list of units relevant to the course is given below
SI System of units
Quantity Name Symbol
Length Meter m
Mass Kilogram kg
Force NewtonN
Time Second s
Work and energy Joule J
Power WattW
Frequency Hertz Hz
The following important relationships are effective in working with SI units:
N =1 kg m/s2 J = 1 N m W =1 J/s
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We can differentiate between two subclasses of dynamics

problems depending upon which quantities are known and
which are to be found.
The "forward dynamics problem" is the one in which we
know everything about the external loads (forces and/or
torques) being exerted on the system, and we wish to
determine the accelerations, velocities, and displacements
which result from the application of those forces and torques.
This subclass is typical of the problems you probably
encountered in an introductory dynamics course, such as
determining the acceleration of a block sliding down a plane,
acted upon by gravity.
Given F and m, solve for a.
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The second subclass of dynamics problem, called the "inverse

dynamics problem" is one in which we know the (desired)
accelerations, velocities, and displacements to be imposed upon
our system and wish to solve for the magnitudes and directions of
the forces and torques which are necessary to provide the desired
motions and which result from them.
This inverse dynamics case is sometimes also called
kinetostatics, which is based on the DAlembert Principles
Given a and m, solve for F.
Whichever subclass of problem is addressed, it is important to
realize that they are both dynamics problems.
Each merely solves F = ma for a different variable. To do so we
must first review some fundamental geometric and mass
properties
which are
needed
forERKAYA
the calculations.
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Assoc.
Prof. Dr. Seluk
8
FORCE ANALYSIS IN MACHINERY

Mechanisms, which have been designed to meet certain
kinematic specifications, may not function properly when
used as a part of a machine.
It may jam due to friction, the forces acting on the links
may be too high or, in case of high speeds, intolerable
inertia forces may result. Except the transmission angle,
these force effects are neglected in the kinematics of
mechanisms.
A mechanism is specifically designed to transmit force and
motion. After the determination of motion in a mechanism,
one is involved with the physical shapes of each link and of
each joint. The designs of these machine elements are
mainly governed by the forces acting on them. The forces
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acting
on the links
and on the joints must be determined9
High forces acting on the links will result with large link
size and weight. Heavy links will in turn create large inertia
forces. Thus, during this phase of the design, a mechanism
that has perfect motion characteristics may be completely
disregarded due to intolerable forces.
Machines also consist of elastic members, such as springs,
within their structure. Furthermore, due to the motion of
the links, the forces acting on the members do not have
constant magnitude and direction. These forces, coupled
with the elasticity of the members, will result with an
oscillatory motion.
The assumption of rigidity will still be used in the force
analysis for the bodies involved. However, we shall include
specific elastic members, such as springs within the
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machine
structure,
particularly in mechanical vibration. 10
FORCES and COUPLES

Force is a vectorial quantity that has magnitude, direction and point of
application. It can be treated as any other vector quantity. If the
equilibrium of the rigid body is our only concern, the point of application
of a force is not important. Note that this will not be correct when the
internal stress of a rigid body is considered or when the body under
consideration is not rigid.
A force in space can be represented by using unit vectors directed along
the co-ordinate axes of an arbitrary rectangular reference frame. A unit
vector in the direction and sense of the force can also represent it.
r
r
r
r
F Fx i Fy j Fz k
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r
r
F Fu
r
r
r
r
u ux i u y j uz k
r
u 1
11
Different forms of representing a planar force are shown below :
r
r
r
F Fx i Fy j
r
F Fei
r
F F cos i sin
r
F Fx iFy
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r
r
F Fu
r
r
r
u uxi u y j ,
r
u 1
r
F F
12
Addition and subtraction of concurrent forces (forces whose lines of

action intersect at one point) obey the parallelogram law of
addition that is schematically shown below.
The addition can be carried out graphically by placing the force
vectors one after the other in head-to-tail fashion, in which case
half of the parallelogram is drawn.
r
r
r
F F1 F2
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For a system of concurrent forces, the parallelogram law of

addition can be applied for the forces in pairs.
Alternatively the resultant of the system of forces can be
determined using a force polygon . If all the forces lie in a plane,
then the resulting force polygon is also plane; otherwise a spatial
force polygon will result. The parallelogram law of addition results
with the addition of the components of the forces along the axes:
r
r
F Fi
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If there are two equal and opposite forces whose lines of action are parallel
to each other, the resultant of these two forces is known as a couple
The arm of a couple is defined as the perpendicular distance, h, between

the two lines of action. The moment of the couple is another vector M
that is normal to the plane of the couple and is in accordance with the
right-hand rule. The magnitude of the moment is given by the product:
M=hF. The moment vector can be determined by the vectorial product:
(M=rxF) Where r is the position vector from a point on the line of action
of F to another point on the line of action of F. Note that:
a) The moment vector does not have a point of application. Hence, it is a
free vector.
b) The relative position vector, r, is in between any two points on the lines
of action of the forces forming the couple.
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15
c) The force couple that creates a moment M is not unique, e.g. there are
We also define the moment of a force about an arbitrary point

with the vectorial product:
MA = r x F
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16
In case of non concurrent force systems, the system of forces can

be reduced to a force acting at an arbitrary point and a moment.
The resultant force and moment are given by the equations
r
r
F Fi
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n
r
r
r
M ri Fi
i 1
17
The resultant, F, is as if the forces were concurrent at a point. However,

there is also a moment M acting at the particular point considered. The
system of forces can further be reduced to a single force, R, provided
that the moment of this force about an arbitrary point is equal to the
moment of the system of forces, e.g., where r and ri are the position
vectors of the resultant and the forces from an arbitrary point A
The magnitude and direction of R can be determined from the force
polygon as if all of the forces were concurrent.
r
r
R Fi
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n
r
r
r
r
r
M r R ri Fi
i 1
18
FORCES IN MACHINE SYSTEMS

A machine system is considered to be a system of an arbitrary
group of bodies (links), which will be considered rigid. We are
involved with different types of forces in such systems. Note that
when the word "force" is discussed it will refer to a
"generalised force" which will also include moments.
A) Reaction Forces are commonly called the joint forces in
machine systems since the action and reaction between the
bodies involved will be through the contacting kinematic
elements of the links that form a joint. The joint forces are
along the direction for which the degree-of-freedom is
restricted. e.g. in constrained motion direction.
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For example, consider a revolute joint in a planar mechanism. In

such a joint there is a rotational freedom and any moment along
the axis of the revolute joint will not be transmitted from one link
to the other, but there will be a force transmission in any general
direction which will be determined by the forces acting on the
links.
In case of a prismatic joint in a planar mechanism there will be no

reaction force component along the axis of the slide but a force
perpendicular to the slider axis and a couple along the z-axis will
be transmitted between the links joined.
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20
In the joint forces, due to action and reaction, there are two links
that are involved. As a convention we denote the joint force Fij (Mij
for the couple) as that force acting on link j due to the reaction of
link i. hence, from Newton's third law: Fij = -Fij
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21
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22
B) Physical Forces : As the physical forces acting on a rigid body we shall

include external forces applied on the rigid body, the weight of the rigid
body, driving force, or forces that are transmitted by bodies that are not
rigid such as springs or strings attached to the rigid body. In case of
springs, the magnitude and the direction of the force acting will depend on
the geometry of the mechanism at the instant considered. In case of a
string, when the string is tight, the force will be in the direction of the
string and its sense must be such that it keeps the string in tension;
otherwise the string force will be zero.
In machine systems, if the force distribution within the rigid body

considered is not our concern, the weight of the rigid body can be
considered to be equivalent to a force applied at the center of gravity of
the rigid body, in the sense and direction of the gravity field.
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23
C) Friction or Resisting Force: In general the resisting forces are

those that result due to motion and which resist the motion.
Since the rigid body assumption is made, one can neglect the internal
friction forces that will exist within the body. In such a case friction
forces are at the joints in the direction of the relative motion but in
opposite sense or in the members that are specially designed to create
the friction force (dampers).
D) Inertial Forces: Are the forces due to the inertia of the rigid
bodies involved. These forces will be discussed in the coming sections.
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Free-Body Diagram
In machine systems there are several rigid bodies. A free-body
diagram is a sketch of a rigid body or a group of rigid bodies in
which all the forces and moments acting on the rigid body are
shown.
Note that a free-body may involve one link, several parts of a
machine or the whole machine. In the free-body diagram both
the known forces and the unknown forces are sketched.
This diagram need not be in a certain scale, but neatness in
such diagrams is essential for a clear understanding.
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25
Note that the Fki is the force

exerted on link i from link k.
Its direction is the normal
direction of the link k
As an example, consider a rigid body, i, as shown. It is connected to other rigid
bodies. In the free-body diagram of link i, this body is isolated from other rigid
bodies and all the forces (reaction forces, F ki, Fji, Mji; external forces Fli, Fli) are
shown. If the magnitude and/or the direction of a force is known, it is indicated.
r
F1i
Joint
s
r
F1i
Link
s
r
F1i
r
Fki
r
F1i
r
r M ji
F ji
Please remember that for a solution, a correct free-body diagram is

essential. Using this free-body diagram one can easily determine the
necessary mathematical approach for the solution. The known values
and unknown values in the problem can easily be identified.
In performing the static and dynamic force analysis of machinery, almost
always the free-body diagram of each rigid body is drawn and the known
forces are identified. One has to solve for the remaining unknown.
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26
Generally, the first, and one of the most important, steps in a successful force analysis
is the identification of the free bodies to be used. Following figures show examples of
various free bodies that might be considered in the analysis of the four-bar linkage
F0
A four-bar linkage.
3 the three
Free-body diagram of
moving links
Free-body diagram of a
single link
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F0
Free-body diagram3 of
two connected links
Free body diagram of part

of a link.
27
STATIC EQUILIBRIUM
From Newton's First Law, a body is in static equilibrium if the resultant of
all the forces (excluding the inertia forces) acting on a rigid body is zero.
This condition results in two vector equations:
r
r
F 0,
M 0
In space, these two vector equations yield six scalar equations:
r
Frx 0,
M x 0,
r
Fry 0,
M y 0,
r
Frz 0
Mz 0
In case of coplanar force systems, there are three scalar equations:

r
r
r
Fx 0,
Fy 0,
Mz 0
Usually the subscript z in Mz is dropped in coplanar force systems and M
implies the moment perpendicular to the plane of the forces.
Static equilibrium equations in space will permit the determination of six
unknowns in spatial systems and three unknowns in planar systems.
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28
Graphical Force Analysis

Graphical force analysis employs scaled free-body diagrams and vector
graphics in the determination of unknown machine forces. The graphical
approach is best suited for planar force systems.
Since forces are normally not constant during machine motion. analyses may
be required for a number of mechanism positions; however, in many cases,
critical maximum-force positions can be identified and graphical analyses
performed for these positions only ( For example: in press systems, contacting time between
workpiece and press piston ).
An important advantage of the graphical approach is that it provides useful
insight as to the nature of the forces in the physical system.
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29
This approach suffers from disadvantages related to accuracy and

time. As is true of any graphical procedure, the results are susceptible
to drawing and measurement errors. Further, a great amount of
graphics time and effort can be expended in the iterative design of a
machine mechanism for which fairly thorough knowledge of force-time
relationships is required.
In recent years, the physical insight of the graphics approach and the
speed and accuracy inherent in the computer-based analytical
approach have been brought together through computer graphics
systems, which have proven to be very effective engineering design
tools.
There are a few special types of member loadings that are repeatedly
encountered in the force analysis of mechanisms, These include a
member subjected to two forces, a member subjected to three forces,
and a member subjected to two forces and a couple. These special
cases will be considered in the following paragraphs, before proceeding
to the graphical analysis of complete mechanisms.
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a) Two-force member: A member subjected to two forces is in

equilibrium if and only if the two forces (1) have the same magnitude, (2)
act along the same line, and (3) are opposite in sense. Thus, if the load
application points for a two-force member are known, the line of action of
the forces is defined, and the magnitude and sense of one of the forces are
known, then the other force can immediately be determined. Such a
member will either be in tension or compression.r
Fr 0
M 0
r
r
FA FB 0
A two-force member. The resultant force

and the resultant moment both equal
r
Zero. r
F1 F2 0
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r
r
FA FB
Force summation for a twoforce member
r
r
F1 F2
31
b) Three-force member: A rigid body acted on by three forces is in

equilibrium only if the forces are concurrent (intersect at one point). Let the
force FA be completely specified. And the line of action of F B and the point of
application of FC be known (In plane there are three equilibrium equations and
one must have three unknowns to be able to solve the equilibrium equations).
When the moment equilibrium equation is written for the sum of moments
about the point of intersection of the line of action of F A and FB (point O), since
MO=0, the moment of FC about O must be zero, or the line of action of the
force FC must pass through point O. The magnitudes of the forces can then be
determined from the force and moment equilibrium equations.
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The force equilibrium condition states that

r
F 0,
r
M 0
The three forces intersect at the same

point P, called the concurrency
point, and the net moment is zero.
r
F 0
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The three forces on the member do

not intersect at a common point and
there is a nonzero resultant moment.
r
r
r
F1 F2 F3 0
33
Solution follows from the fact that the three forces must form a
closed vector loop, called a force polygon.
Concurrency point
P
Line of action of
F3
Line of action F2
Graphical force analysis
of a three- force
member.
Force polygon for the

three forces member.
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An equivalent force
polygon for the three force
member
34
Superposition principle
The principle of superposition of forces is an extremely useful concept,
particularly in graphical force analysis. Basically, the principle states
that, for linear systems, the net effect of multiple loads on a system is
equal to the superposition (i.e., vector summation) of the effects of the
individual loads considered one at a time.
Physically, linearity refers to a direct proportionality between input force
and output force. Its mathematical characteristics will be discussed in
the section on analytical force analysis. Generally, in the absence of
Coulomb or dry friction, most mechanisms are linear for force analysis
purposes, despite the fact that many of these mechanisms exhibit very
nonlinear motions.
Total problem
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Sub problem
I
Sub problem
II
35
Graphical Force Analysis of the Slider

Crank Mechanism:
The slider crank mechanism finds extensive application in
reciprocating compressors, piston engines, presses, and other
machines where force characteristics are important.
The force analysis of this mechanism employs most of the
principles described in previous sections, as demonstrated by
the following example.
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36
EXAMPLE-1
Static-force analysis of a slider crank mechanism is discussed.
Consider the slider crank linkage shown in figure, representing a
compressor, which is operating at so low a speed that inertia effects
are negligible. It is also assumed that gravity forces are small
compared with other forces and that all forces lie in the same plane.
The dimensions are OB = 30 mm and BC= 70 mm, we wish to find
the required crankshaft torque T and the bearing forces for a total
gas
pressure
force
P
=
40N
at
the instant when the crank angle =45 degree.
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37
SOLUTION
First, consider connecting rod. (So, unknown force direction can be
determined )
In the absence of gravity and inertia forces, this link is acted on by

two forces only, at pins B and C. These pins are assumed to be
frictionless and, therefore, transmit no torque. Thus, link 2 is a twoforce member loaded at each end as shown. The forces F12 and F32
lie along the link, producing zero net moment, and must be equal
and opposite for equilibrium of the link. At this point, the
magnitude and sense of these forces are unknown.
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38
Next, examine piston 3, which is a three-force member. The pressure force P is

completely known and is assumed to act through the center of the piston (i.e.,
the pressure distribution on the piston face is assumed to be symmetric). (In
this stape, it has to be defined a force scale factor such as 1 cm = 40 N)
F03
F23
P
From Newton's third law, which states that for every action there is an equal
and opposite reaction, it follows that F 23=-F32, and the direction of F23 is
therefore known. In the absence of friction, the force of the cylinder on the
piston, F03, is perpendicular to the cylinder wall, and it also must pass through
the concurrency point, which is the piston pin C. Now, knowing the force
directions, we can construct the force polygon for member 3.
Scaling from this diagram, the contact force between the cylinder and piston is
F03=12,70 N, acting upward, and the magnitude of the bearing force at C is is
F23= F32=42,0 N. This is also the bearing force at crankpin B, because F12=-F32.
Further,
the connecting
rod shown in the figure 39
are
5/25/16 the force directions
Assoc. Prof.for
Dr. Seluk
ERKAYA
Finally, crank 1 is subjected to two forces and a couple T (the shaft torque T
is assumed to be a couple). The force at B is F12=-F21 and is now known. For
force equilibrium, F01=-F21 as shown on the free-body diagram of link 1.
T1
2
However these forces are not collinear, and for equilibrium, the moment of
this couple must be balanced by torque T. Thus, the required torque is
clockwise and has magnitude
T12= F21h=(42 N)(26,6 mm)=1120 N mm=1,120 N m

It should be emphasized that this is the torque required for static
equilibrium in the position shown in proposed example. If torque information
is needed for a complete compression cycle;
T21=-T21
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40
EXAMPLE-2
Static-force analysis of a four-bar mechanism is discussed. Consider the fourbar linkage shown in figure, which is operating at so low a speed that inertia
effects are negligible. It is also assumed that gravity forces are small
compared with other force (Fc=60 N) and that all forces lie in the same plane.
The dimensions are AoA=200 mm, AB= 450 mm, BoB=300 mm and
AoBo=600 mm we wish to find the required crankshaft momet M 12 for static
equilibrium at the given position of link 2 ( 21=95 Degree)? (Figure scale
factor ks=1/10, that is 1 mm in figure equals to 10 mm in reality)
ks
figure value
real value
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41
Concurrent
point
1 Free body diagram of link 4:

Static equilibrium under three forces should
be implemented
A force scale factor has to be

defined for force polygon
kf
//F34
//AB
FC real
If we select the figure value of force as 10

mm;
//F14
kf
r
Fr 0
M 0
r
r
r
F14 F34 FC 0
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FC figure
10 mm 1 mm

60 N
6 N
After arranging the Fc as scaled values,

one can draw the polygon
42
Free body diagram of link 3:

Static equilibrium under two forces should be
implemented
//F43
//F23
r
F43
r
F23
r
F
0,
r
M
0
r
r
F23 F43 0
From the Newtons third
law; r
r
F43 F34
r
r
F23 F43
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43

Static equilibrium under force couple should be
investigated
r
F 0
r
F32

F12 F32 0
h
From the Newtons Third Law
F23 F32 0
r
F12
h is measured from figure; h= 15 mm (that is figure

value). In reality; this value has to be evaluated by
using Figure scale factor (ks=1/10)
ks
1 h figure
10 hreal
hreal 10 h figure
F12 F32
F23 F32
From free body diagram of ling 2, F32=12

mm
By using force scale factor (kf=1/6)
kf
hreal 10 15 mm 150 mm
1
12
,
6 F32Re al
F32 Re al 72 N
For real moment

value;
M 12 hF23 150 72 10800 Nmm 10,8 Nm

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44
EXAMPLE-3
Static-force
analysis
of
a
cam-follower
mechanism is discussed. Consider the camfollower mechanism shown in figure, which is
operating at so low a speed that inertia effects
are negligible. It is also assumed that gravity
forces are small compared with other force
(FB=100 N) and that all forces lie in the same
plane.
We wish to find the required momet M 12 for
static equilibrium at the given position?
(Figure scale factor ks=1/5, that is 1 mm in
figure equals to 5 mm in reality)
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45
1
be implemented
A force scale factor should be

defined
r
FB
kf
//F14
FB figure
FB real
If we select the figure value of force

as 10 mm;
kf
After arranging the Fc as scaled

values, one can draw the polygon
//F34
r
Fr 0
M 0
r
r
r
F14 F34 FB 0
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10 mm 1 mm
100 N 10 N
F14
FB
F34
46

implemented
//F43
r
F 0,
r
M 0
r
r
F43 F23 0
//F23
r
r
F23 F43
From the third law of Newton
r
r
F43 F34
r
r
F23 F34
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F43
F23
47
Free body diagram of link 2;

investigated
r
F32
r
F 0
r
r
F32 F12 0
r
r
F32 F12

law; r
r
F32 F23
h
r
F12
1 h
k s figure
5 hreal
From free body diagram of link 2,

F32=8 mm
By using force scale factor (ks=1/10)
hreal 5 h figure
hreal 5 10 mm 50 mm
kf
For real moment
value;
M 12 hF23 50 80 4000 Nmm 4 Nm

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1
8
10 F32 Re al
F32 Re al 80 N
r
r
M 12 4k Nm
48
EXAMPLE-4
Static-force analysis of a mechanism is discussed. Consider the related
mechanism shown in figure, which is operating at so low a speed that inertia
effects are negligible. It is also assumed that gravity forces are small compared
with other force (P=4450 N) and that all forces lie in the same plane.
Find the required force Q, that is applied to piston along the horizontal
direction for static equilibrium at the given position of mechanism? (Figure
scale factor ks=1/5 and Force scale kf=1/2966 (cm/N))
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49
2
Static equilibrium under two
forces should be implemented

Static equilibrium under three
r
// F23
r
// F32
r
F43
r
// F43
From the third law of Newton, we know

that
r
// F12
r
r
F 0,
M 0
r
r
r
F12 F32 P 0
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r
F23
F23 F32 0
F23 F32
r
F 0,
r
r
F23 F43 0
r
M 0r
r
F43 F23
50
3
r
// F54
r
F34
r
// F34
r
Fr 0,
M 0
r
r
r
F34 F14 F54 0
r
// F14
From the third law of Newton we know

that
r
r
F34 F43 0
5/25/16
r
r
F34 F43
51

r
F45

r
// F56
r
F65

that
r
r
F54 F45 0
r
F 0,
r
r
F65 F45 0
r
// Q
r
// F16
D
E
r
// F65
r
r
F45 F54
r
M 0r
r
F65 F45

r
r
that
r
r
F56 F65 0
F56 F65
r
r
F 0,
M 0
r
r
r
F56 F16 Q 0
In force polygon, Q=1 cm. By using force

scale factor (ks=1/2966)
kf
5/25/16
r
F56
1
1
,
2966 QR e al
QRe al 2966 N
52
It is a chance to improve your skills for force analysis

Static-force analysis of a mechanism is discussed. Consider the related
mechanism shown in figure, which is operating at so low a speed that inertia
with other force (FD = 200 1800 N) and that all forces lie in the same plane.
Find the required equilibrium moment, that is applied to link 2 for static
equilibrium at the given position of mechanism? (Figure scale factor ks=1/3 and
Force scale kf=1/200 (cm/N))
5/25/16
53
5/25/16
54
EXAMPLE-5 (Superposition principle)

Static-force analysis of a four-bar mechanism is discussed. Consider the fourbar linkage shown in figure, which is operating at so low a speed that inertia
with other forces, (FC=60 N and FD=80 N). All forces lie in the same plane.
The dimensions are AoA=100 mm, AB= 450 mm, BoB=300 mm and AoBo=600
mm we wish to find the required crankshaft momet M 12 for static equilibrium at
the given position of link 2? (Figure scale factor ks=1/10)
C
r
FD
5/25/16
r
FC
55
Superposition principle says that;
Analysis under
force Fc
C
r
FD
r
FC
Analysis under
force FD
D
3
r
FD
5/25/16
56
Analysis under
force Fc

be implemented
A force scale factor has to be

defined for forces
Note that the

superscript I is
used for force Fc
//FI34
//F 14
I
r
FC
rI
rI
F 0,
M 0
r
r
r
F14I F34I FC 0
5/25/16
kf
FC figure
FC real
If we select the figure value of Fc force as

10 mm;
kf
10 mm 1 mm

60 N
6 N
After arranging the Fc as scaled values,

one can draw the polygon
rI
F34
r
FC
rI
F14
57

implemented
I
//F 43
//FI23
rI
F43
rI
F23
rI
F
0,
rI
M
0
rI
rI
F23 F43 0
law; r
r
F43I F34I
rI
rI
F23 F43
5/25/16
58
3
investigated
rI
F32
r
F 0
rI rI
F12 F32 0
rI
F12
rI
rI
F32 F12
rI
rI
F32 F23
5/25/16
59
Analysis under
force FD
3
D
r
FD

be implemented
r
FD
Note that the

superscript II is
used for force FD
r II
r II
F 0,
M 0
r II r II r
F43 F23 FD 0
//FII43
Force polygon
//FII23
r
FD
5/25/16
r II
F23
r II
F43
60
r II
F32

investigated
r
F 0
r II r II
F12 F32 0
r II
F12
r II
r II
F32 F23
r II
F12
5/25/16
r II
r II
F32 F12
r II
F32
61
r
F32
Free body diagram of link 2 for Moment
r II
F32
rI
F32
r
rI
r II
F32 F32 F32
From free body diagram of ling 2, F32=15 mm
By using force scale factor (ks=1/6)
kf
1
15
,
6 F32Re al

1 h figure
ks
10 hreal
hreal 10 15 mm 150 mm
5/25/16
hreal 10 h figure
F32 Re al 90 N
r
r
F23 F32
For real moment value;
M 12 hF23 150 90 13500 Nmm 13,5 Nm

r
r
M 12 13,5k Nm
62
Graphical Force Analysis of Spur Gears

In designing a gear, it is important to analyze the magnitude and
direction of the forces acting upon the gear teeth, shafts, bearings, etc.
In analyzing these forces, an idealized assumption is made that the
tooth forces are acting upon the central part of the tooth flank.
The Spur Gear's transmission force Fn , which is normal to the tooth
surface , as in Figure, can be resolved into a tangential component, Ft ,
and a radial component, Fr .
Ft Fn cos , Fr Fn sin
Forces acting on a spur gear mesh

5/25/16
63
There will be no axial force, Fx . The direction of the forces acting on the
gears are shown in figure. The tangential component of the drive gear, Ft1
is equal to the driven gear's tangential component, Ft2, but the directions
are opposite. Similarly, the same is true of the radial components.
5/25/16
64
Tangential components are important for analyzing the force, moment etc. Radial
components are the forces that are transmitted to the main bearings of the system.
So, these forces gives useful information about mechanical design of system.
5/25/16
65
Gear Free Body Diagrams are outlined in following figures. Note that
gear 2 is pinion (driver), that is, an input torque is applied from this
gear to the system. Also, gear 3 is the driven gear.
Bo
3
B
o
r
T31
r
F32
r
F23
Ao
r
T12
Ao
2
5/25/16
66
Resolve applied force into radial and tangential directions for gear 2 is given
as;
rr
F12
r
F12
rt
F12
5/25/16
r
T12
67
Transmitted force;
rt
W F23
t
Applied torque;
d rt d
T12 W
F23
2
2
t
where d=gear diameter

Power;
d 2 n
P T12 W V F
2 60
t
t
23
hp
n= rotation speed of gear (rpm), d; meter, Wt = Ft23 =Newton,
5/25/16
68
Force Analysis Helical Gears

n = normal pressure angle
t = tangential pressure angle

= helix angle
tan n = tan t cos

t
Wr = W sin n
Wt = W cos n cos
Wa
Wt
Wa = W cos n sin
Where
Wr
W = total force
Wr = radial component
Wt = tangential component (transmitted load)
Wa = axial component (thrust load)
Wr = Wt tan t
t = pressure angle (20o or 25o)
Wa = Wt tan
= helix angle (10, 20, 30, or 40o)
5/25/16
69
Example for Gear force analysis

Static-force analysis of a slider crank mechanism with gear system is discussed.
Consider the slider crank linkage shown in figure, representing a compressor, which
is operating at so low a speed that inertia effects are negligible. It is also assumed
that gravity forces are small compared with other forces and that all forces lie in the
same plane. We wish to find the required torque T in gear 2 for static equilibrium of
the system. Gas pressure force P = 100N at the given position of mechanism.
Figure scale is 1/5 and force scale is 1/10 (mm/N)
3
Bo 1
Ao
r
F32
1
2
5/25/16
70

Static equilibrium under three forces
should be implemented
By using force scale factor, P can be defined

as;
1 Pfigure
kf
,
10 100
Pfigure 10 mm
r
// F23 r
F34
//F15
//BC
//F45
r
r
F
0,
M
0
r
r
r
F15 F45 P 0
By using force polygon;
r
F15
5/25/16
r
F45
r
P

Static equilibrium under two forces
r
F
0,
r
F54
r
M
0
r
// F54
r
r
F34 F54 0

law;
r
r
F54 F45
Therefore;
r
r
F34 F54
r
r
F34 F45
71

Static equilibrium under three forces should be implemented
r
F43
// F13
Pressure
angle
Concurrent
point
// BC
Bo
A
F43 F34
// F23
By using force polygon;
r
r
F 0,
M 0
r
r
r
F13 F23 F43 0
5/25/16

law;
r
r
r
F13
r
F43
r
F23
72

Static equilibrium under two forces should be implemented
r
F32
r
T12
// F32
T12 F23 d
d is measured from figure; d= 15 mm (that is figure

value). In reality; this value has to be evaluated by using
Figure scale factor (ks=1/5)
1 d figure
ks
5 d real
Ao
r
F12
Required Torque for static equilibrium is

T12t ;
d real 5 15 mm 75 mm
r
F 0,
r
r
F12 F32 0
r
M 0
F32 F23
5/25/16
In figure, F32=11 mm, by using force scale factor

(kf=1/10)
kf
1
11
,
10 F32Re al
F32Re al 110 N
F3t F32 cos

r law; r
r
r Therefore;
F12 F32
d real 5 d figure
r
r
F12 F23
F32t 110 cos 20 103, 36 N

law;
F23t F32t
T12 103, 36 75 7752 Nmm
73
Analytical Force Analysis

For an analytical solution formulation one must draw the free-body
diagram of each rigid body and must identify the unknown forces.
Next, one must write the static force equilibrium equations for each
link. If a correct formulation is performed, the resulting equations will
be equal to the number of unknown force components and these
equations will be linear in terms of the unknowns.
Let us illustrate this by a simple four-bar example shown below:
r
P
a3
M21
C
a2
5/25/16
a4
a1
BoC=r4
74
The system is in equilibrium under the action of the external force P

and M12. The magnitude and direction () of the force P are known.
We are to determine M12 and the forces
r acting at the joints. In freeF43 y
body diagrams of the moving links are shown.
a3
r
F23 y
r
F23x
r
F32 y
r
M 21
r
F12 y
r
F34 y
r
F34 x
r
P
r
F32 x
a2
C
r
F14 y
r
F12 x
5/25/16
r
F43x
a4
r
F14 x
75
On the free-body diagrams the unknown joint force components (F ijx and
Fijy) are all shown acting in the positive x and y directions. A negative
value is obtained in the result, it means that force component is in the
opposite direction. In the example shown the equilibrium equations and
the equalities due to Newton's third law (F ijx = -Fjix ) result with 13 scalar
equations in 13 unknowns (M12, F32x, F32y, F23x, F23y, F43x, F43y, F34x, F34y, F12x,
F12y , F14x, F14y).
r
Fx 0
For link 2;
r
F32 y
r
Fy 0
r
M 21
r
F12 y
r
F12 x
5/25/16
r
F32 x
a2
r
r
F12 x F32 x 0
r
r
F12 y F32 y 0
(1)
(2)
r
M
Ao 0
r r
r r
r
r
r
a2 cos 12 i F32 y j a2 sin 12 j F32 x i M 21 0
r r
r
r
r
F32 y a2 cos 12 k F32 x a2 sin 12 k M 21 0
(3)
76
For link 3;
r
F43 y
a3
r
F23 y
r
F23x
r
F
x 0
r
Fy 0
r
F43 x
r
r
F23 x F43 x 0
(4)
r
r
F23 y F43 y 0
(5)
r
MA 0
r r
r r
r
r
a3 cos 13i F43 y j a3 sin 13 j F43 x i 0
r r
r
r
F43 y a3 cos 13 k F43 x a3 sin 13 k 0
5/25/16
(6)
77
For link 4;
r
F34 y
r
F34 x
r
F
x 0
r
r
r
F14 x F34 x P cos 0 (7)
r
r
r
F14 y F34 y P sin 0
a4
r
Fy 0
r
P
r
F14 y
r4
r
F14 x
r
M Bo 0
r r
r r
r
r
a4 cos 14 i F34 y j a4 sin 14 j F34 x i ...
r
r
r
r
r
r
..... r4 cos 14 i P sin j r4 sin 14 j P cos i 0
r r
r
r
F34 y a4 cos 14 k F34 x a4 sin 14 k ...
r r
r
r
..... P sin r4 cos 14 k P cos r4 sin 14 k 0
5/25/16
(9)
78
(8
)
From the third law of Newton;
5/25/16
r
r
F23 x F32 x
(10)
r
r
F23 y F32 y
(11)
r
r
F34 x F43 x
(12)
r
r
F34 y F43 y
(13)
79
If the displacement analysis is performed beforehand, e.g. if 13, 14 values are determined
for different 12 values, the above equations can be used for every position of the
mechanism. Another important point is that this formulation is very general. It can be used
for mechanisms where there are several external forces acting on the same or different links
r
r
r
r
F12 x F32 x 0
F23 x F32 x
r
r
r
r
F12 y F32 y 0
F23 y F32 y
r r
r
r
r
r
F32 y a2 cos 12 k F32 x a2 sin 12 k 0
F34 x F43 x
r
r
r
r
F23 x F43 x 0
F34 y F43 y
r
r
F23 y F43 y 0
r r
r
r
F43 y a3 cos 13 k F43 x a3 sin 13 k 0
r
r
r
F23 x F43 x F14 cos 0
r
r
r
F23 y F43 y F14 sin 0
r r
r r
r r
r
r
F34 y a4 cos 14 k F34 x a4 sin 14 k F14 sin r4 cos 14 k F14 cos r4 sin 14 k 0
These linear equations can be solved simultaneously by using a computer program.
5/25/16
80
Dynamic Force Analysis

D'Alembert's Principle and Inertia Forces: An important principle,
known as D'Alembert's principle, can be derived from Newton's second law.
r
r

F
Note that;
maG 0 (I)
aG; linear acceleration
and
IG; Mass moment of inertia about
r
r

(II)
point G
M G I G 0
; Angular acceleration
Now the term -maG has the magnitude of a force. Equation I is a vector
equation which states that the vector sum of all the external forces plus
the fictitious (nonexistant) force of magnitude and direction -maG are zero.
The fictitious force -maG is known as the inertia force which will be
denoted by Fi:
r
F i maG
Fi has the same line of action of aG but is in opposite direction.

5/25/16
81
Similarly, the term -IGG has the magnitude of a moment and equation II is a
vector equation which states that the vector sum of all the external moments
about the center of gravity plus a fictitious moment of magnitude and direction
IGG are zero. This fictitious moment is known as the inertia torque and it will be
denoted by Ti :
ri
r
T I G
Ti is in opposite sense of the angular acceleration .
r ri
F F 0
r
ri
M T 0
Where the summation includes both the external and inertia forces and moments.
This concept is known as D'Alambert's principle which can be stated as follows:
D'Alambert's Principle
In a body moving with a known angular acceleration and a linear

acceleration of the center of gravity, the vector sum of all the external
forces and inertia forces and the vector sum of all the external moments
and inertia torque are both separately equal to zero.
5/25/16
82
D'Alambert's principle is very useful in the dynamic force analysis of

machinery.
In great many problems we know the acceleration characteristics of the
members in the machine structure and we can determine the inertia
forces and torques. These inertia forces and torques can be treated as
if they are external forces and the procedure of static force analysis can
be carried out for this dynamic case (Kinetostatic Analysis).
However one must never think the inertia forces and moments as real
forces. They are fictitious forces and they never exist. Acceleration is a
result of the external forces.
In graphical solutions it is convenient to replace the inertia force and
torque by an equivalent resultant inertia force.
5/25/16
83
Consider a rigid body with aG as the acceleration of its center of gravity and
as its angular acceleration (Figure.a). The inertia force and torque will be as
shown in Figure b. The inertia force and torque can be combined into a single
ri
ri
ri
resultant, Ri (Figure c) , if:r i
rR T
R F
where r is a position vector from the center of gravity to a point on the line of
action of Ri. In such a case the resultant Ri has the magnitude and direction of
the inertia force Fi and is displacedI
from the center of gravity by a
G
h
perpendicular distance hG such that:G ma

G
This fictitious force Ri will then replace the effect of the inertia force and
torque
5/25/16
84
Dynamic force analysis of slider-crank

mechanism (Graphical analysis)
Dynamic-force analysis of a
slider
crank
mechanism
is
discussed. Consider the slider
crank linkage shown in figure. It
is assumed that gravity forces
are small compared with other
forces and that all forces lie in
the same plane. We wish to find
the required crankshaft torque T
and the bearing forces for a total
gas pressure force N at
the given position of mechanism.
Also,
accelerations
of
mechanisms links are outlined.
(Figure scale is 1/3,75 and Force
scale is 10/2500 (mm/N))
5/25/16
m 4 0,907 kg
aB 2756 2700 m/s 2
m 3 1,36 kg
a S3 4020 210 0 m/s 2
3 11900 k rd/s 2
I S3 0,0102 kgm 2
85
By using superposition principle; Force analysis

under FB. Free body diagram of link 4:
Solution
1 Representation of force and accelerations

FB figure
10
2500 6280
FB figure 25, 2 mm
kf
ri
r r
F4 m4 aB F
B
r
aB
ri
r
T3 I s 3 3
r
as 3

forces
r
FB
rI
// F14
rI
// F34
rI
rI
F
0,
M
0
rI
rI
r
F14 F34 FB 0
ri
r
F3 m3as 3
r
FB
rI
F34
rI
F14
5/25/16
86
Free body diagram of link

3:
forces
rI
be implemented
//should
F43
rI
F43

law;
rI
rI
F43 F34
Therefore;
rI
rI
F23 F43
A
rI
F23
rI
F 0,
rI
// F23
rI
M 0
rI
rI
F23 F34
rI
F43
rI
F23
rI
rI
F43 F23 0
5/25/16
87
Force analysis under (-m4aB)

forces
m4 aB 0, 907 2756 2500 N
r II
// F43
Free body diagram of link

3:
forces
r II
r II
r II should be
implemented
F
0,
M
0
F
43
m4 aB figure
10
kf
,
2500
2500
m4 aB figure 10 mm
r
m4 aB
A
r II
F23
r II
// F34
r II
ri
r II
ri
F
0,
M
4
4 0
r
r
r
F14II F34II m4 aB 0
From force
polygon
5/25/16
r II
r II
F43 F23 0

law;
r II
// F14
r
aB
r
m4 aB
r II
F14
r II
F34
r II
r II
F43 F34
r II
// F23
Therefore;
r II
F23
r II
r II
r II
r II
F23 F43 F23 F34
r II
F43
88
Force analysis under (-m3as3) and (Free body diagram

Is33) of link 3:
Static equilibrium under three forces should be implemented

Note that, link 3 must be plotted in figure
scale
Note that, this direction is performed
r
by using pistons equilibrium
// F43III
kf
Concurrent
point
ri
r
T3 I s 3 3
r
as 3
ri
r
F3 m3as 3
h3 figure
r III
// F23
m3as 3 figure
10
2500
5467, 2
m3as3 figure 21,86 mm

h3
In order to copmrise the inertia moment,

the inertia force (-m3as3) must be moved
r IIIas the
r i distance h r III
ri
3 M
F
0,
3
3 0
r III
r III
r
F43 F23 m3 as 3 0
5/25/16
m3 as 3 1, 36 4020 5467, 2 N
0, 0102 11900
I s 3 3
m3 as 3
1, 36 4020
h3 0, 0222 m 22, 2 mm
Note that, by using figure scale, h3
must be transferred to link 3
ks
h
1
3 figure ,
3, 75 22, 2
h3 figure 5,92 mm
From force polygon
r
m3 as 3
r III
// F43
r III
// F23
89

Superposition of each force gives the total force on point A
r
F12
r
F32
F32 F23
r III
r III
F32 F23
r II
r II
F32 F23
r II
F32
rI
F32
Ao

rI
rI
law;
r III
F32
From figure;
r ri
ri
F
0,
F
2
2 0
r
ri
ri
M
0,
T
2
2 0
r
r
F12 F32 0
h figure
1
3,75 hreal
hreal 3,75 h figure
hreal 3,75 13 mm 48,75 mm

5/25/16
In figure, F32=17 mm, by using force scale factor;
kf
r
r
F12 F32
h is measured from figure; h=

13
ks
r
rI
r II
r III
F32 F32 F32 F32 ,
10
17
,
2500 F32 real
F32 real 4250 N

law;
F23 F32
M 12 4250 48, 75 207187, 5 Nmm
90
Analytical Force Analysis (Dynamic Analysis)
For an analytical solution formulation one must draw the free-body diagram of each
rigid body and must identify the unknown forces. Next, one must write the dynamic
force equilibrium equations for each link. If a correct formulation is performed, the
resulting equations will be equal to the number of unknown force components and
these equations will be linear in terms of the unknowns.
5/25/16
91
Referring to the figure, the equations for the position, velocity and acceleration
analysis of the four-bar mechanism are defined by using the Kinematic
analysis of the mechanism;
Position Analysis
14
13 14
Note that rcosf and rsinf terms must be solved for r and f simultaneously and
the correct quadrant must be ensured.
Velocity Analysis:
5/25/16
92
Acceleration Analysis:
The above equations can be written in different forms.
Acceleration of the centers of gravity
5/25/16
93
For dynamic force analysis in addition of the inertia forces, we shall assume known
external forces F13 and F14 acting on links 3 and 4 and an unknown torque, T12 acting
on link 2 as shown in Figure. The system is in dynamic equilibrium under the action
of these forces. We would like to determine the input Torque and the joint forces.
Note that:
5/25/16
94
The free body diagram of link 4 can be drawn and the equilibrium equations can be written:
Note that;
q14 14
f 4 4
r
ri
F
F
r r4 0,
M T4i 0
5/25/16
g4 4
b4 4
95
r
ri
Fr Fr3 0,
M T3i 0
5/25/16
96
r
ri
F
F
r r4 0,
M T4i 0
5/25/16
97
Hence, we obtain nine linear equations in nine unknowns (Gl4x, Gl4y, F34x, F34y, F23x, F23y,
Gl2x, Gl2y and T12). If a computer subroutine for the matrix solution is available, these
equations can be solved directly for the unknowns. However, it is much simpler to solve
equations (3) and (6) simultaneously for F34y and F34x and then solve for each unknown from
the remaining equations.
The solution is:
5/25/16
98
Analytical Force Analysis (Dynamic Analysis)
For an analytical solution formulation one must draw the free-body diagram of each
rigid body and must identify the unknown forces. Next, one must write the dynamic
force equilibrium equations for each link. If a correct formulation is performed, the
resulting equations will be equal to the number of unknown force components and
these equations will be linear in terms of the unknowns.
Let us illustrate this by a simple slider-crank example shown below:
5/25/16
99
Referring to the figure, the equations for the position, velocity and acceleration
analysis of the slider-crank mechanism are defined by using the kinematic
analysis of the mechanism (Remember that Lesson Mechanisms );
The free body diagram of each moving link can be drawn and the equilibrium
equations can be written:
5/25/16
100
Equilibrium equations for link 2 can be written:

From the second law of Newton;
5/25/16
r ri
Fr F2 r 0
x&
Fx m2 &
G2,
r
r
y&
Fy m2 &
G2
r
i
M
2 0,
r
r
M G 2 I G 2&&
2
101

r ri
Fr F3 r 0
x&
Fx m3 &
G3 ,
r
M T2i 0,
5/25/16
r
r
y&
Fy m3 &
G3
r
r
&
M G 3 I G 3&
3
102

r ri
Fr F4 r 0
x&
Fx m4 &
G4,
r
r
y&
Fy m4 &
G4
r
F14y -F43y =m 4 &
y&
G4
r
i
M
2 0,
Piston angular
therefore;
r
r
M G 4 I G 4&&
4
acceleration
is
zero,
r
r
M G 4 I G 4&&
4 0
5/25/16
103
Position vectors in moment equations and angels can be defined by using the
mechanisms geometry;
5/25/16
104
Hence, we obtain eight linear equations in eight unknowns. If a computer subroutine for
the matrix solution is available, these equations can be solved directly for the unknowns.
The solution is:
5/25/16
105
From the linear algebra;
B A1C
All joint forces and input torque are obtained.
5/25/16
106
5/25/16
107

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Force Analysis - PPSX

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MECH308

Assoc. Prof. Dr. Seluk ERKAYA

Basic Concept: Mechanism and Machine?

A mechanism may be defined as a group of rigid bodies connected to

Assoc. Prof. Dr. Seluk ERKAYA

In the analysis stage, we have to consider the mechanisms. Because,

Internal combustion engine

Assoc. Prof. Dr. Seluk ERKAYA

A body at rest tends to remain at rest and a body in motion at

The time rate of change of momentum of a body is equal to

r is anrequal and opposite reaction

Assoc. Prof. Dr. Seluk ERKAYA

Assoc. Prof. Dr. Seluk ERKAYA

We can differentiate between two subclasses of dynamics

Assoc. Prof. Dr. Seluk ERKAYA

The second subclass of dynamics problem, called the "inverse

FORCE ANALYSIS IN MACHINERY

FORCES and COUPLES

Assoc. Prof. Dr. Seluk ERKAYA

Different forms of representing a planar force are shown below :

Assoc. Prof. Dr. Seluk ERKAYA

Addition and subtraction of concurrent forces (forces whose lines of

Assoc. Prof. Dr. Seluk ERKAYA

For a system of concurrent forces, the parallelogram law of

Assoc. Prof. Dr. Seluk ERKAYA

The arm of a couple is defined as the perpendicular distance, h, between

We also define the moment of a force about an arbitrary point

Assoc. Prof. Dr. Seluk ERKAYA

In case of non concurrent force systems, the system of forces can

The resultant force and moment are given by the equations

Assoc. Prof. Dr. Seluk ERKAYA

The resultant, F, is as if the forces were concurrent at a point. However,

Assoc. Prof. Dr. Seluk ERKAYA

FORCES IN MACHINE SYSTEMS

Assoc. Prof. Dr. Seluk ERKAYA

For example, consider a revolute joint in a planar mechanism. In

In case of a prismatic joint in a planar mechanism there will be no

Assoc. Prof. Dr. Seluk ERKAYA

Assoc. Prof. Dr. Seluk ERKAYA

Assoc. Prof. Dr. Seluk ERKAYA

B) Physical Forces : As the physical forces acting on a rigid body we shall

In machine systems, if the force distribution within the rigid body

Assoc. Prof. Dr. Seluk ERKAYA

C) Friction or Resisting Force: In general the resisting forces are

Assoc. Prof. Dr. Seluk ERKAYA

Assoc. Prof. Dr. Seluk ERKAYA

Note that the Fki is the force

Please remember that for a solution, a correct free-body diagram is

Assoc. Prof. Dr. Seluk ERKAYA

Assoc. Prof. Dr. Seluk ERKAYA

Free body diagram of part

In case of coplanar force systems, there are three scalar equations:

Assoc. Prof. Dr. Seluk ERKAYA

Graphical Force Analysis

Assoc. Prof. Dr. Seluk ERKAYA

This approach suffers from disadvantages related to accuracy and

Assoc. Prof. Dr. Seluk ERKAYA

a) Two-force member: A member subjected to two forces is in

A two-force member. The resultant force

Force summation for a twoforce member

Assoc. Prof. Dr. Seluk ERKAYA

b) Three-force member: A rigid body acted on by three forces is in