Answer key for ME6401-Kinematics of Machinery April/May 2015

Part-A 3. Write the relation between the numbers of instantaneous number of links
1. Determine the number of freedom of the mechanism shown in the figure in a mechanism.
below:
n n 1
Number of instantaneous centre N
2
Where n = number of links.
4. Depict all the directions of Coriolis component of acceleration that arise in
a completed cycle of quick return motion of the crank mechanism.

Degrees of freedom F = 3 (N - 1) - 2Pl

Number of binary links Nb = 7 (By counting)
Number of ternary links Nt = 2 (By counting)
Number of quaternary links Nq = 1 (By counting)
Total no.of links N =Nb+Nt+Nq =10

2Pl = 2Nb+3Nt+4Nq = 2(7)+3(2)+4(1) =24

Degrees of freedom F = 3 (N - 1) - 2Pl = 3(10-1)-24 =3

2. Write a short note on complete and incomplete constraints in lower and 5. Draw the displacement, velocity and acceleration diagrams for a follower
higher pairs; depict your answer with neat sketches. when it moves with simple harmonic motion.

Completely constrained motion: When the motion between a pair is limited to

a definite direction irrespective of the direction of force applied, then the motion is
said to be a completely constrained motion.
(E.g.) Square bar in a square hole

Incompletely constrained motion: When the motion between a pair can take
place in more than one direction, then the motion is called an incompletely
constrained motion.
(E.g)Circular shaft in a circular hole

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Answer key for ME6401-Kinematics of Machinery April/May 2015

6. Why a roller follower is preferred to that of a knife-edged follower? Part-B

A roller follower consists of a cylindrical roller which rolls on the cam
surface. The rate of wear is considerably reduced as compared to knife edge
follower.
7. What do you understand by the term 'interference' as applied to gears?
When the tip of tooth of the one gear undercuts the root on its mating gear is
known as interference
11. (a) What do you understand by inversion of a kinematic chain? Describe
the mechanisms obtained by inversion of the four-bar chain. (16)
Inversion of kinematic chain:
Method of obtaining different mechanism by fixing different link in a
kinematic chain is known as Inversion of mechanism or Inversion of kinematic
chain.
Four bar chain:

8. What are the special advantages of epicyclic gear trains?

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

9. What is centrifugal tension in a belt? How does it affect the power

transmitted? A four-bar chain is the most fundamental of the plane kinematic chains.
While in motion, as a belt passes over a pulley, the force due to its own weight
Basically, it consists of four rigid links which are connected by four pin-
tends to lift the belt from the pulley. This is centrifugal tension in a belt.
Owing to symmetry, the centrifugal force produces equal tensions on the two joints.
sides of the belt, i.e. on the tight side as well as on the slack side. Therefore, the A link that acts as frame is called fixed link.
power transmitted not affected. A link that makes complete revolution is called the crank.
The link opposite to the fixed link, the coupler and
10. Distinguish between brakes and dynamometers The fourth link, a lever or rocker if oscillates (another crank, if rotates)
A brake is an appliance used to apply frictional resistance to a moving body to Inversion of Four bar chain:
stop or retard it by absorbing its kinetic energy. (i) Beam Engine Mechanism
A dynamometer is a brake incorporating a device to measure the frictional (ii) Coupling rod of locomotive
resistance applied. This is used to determine the power developed by the machine, (iii) Watt Indicators Mechanism
while maintaining its speed at the rated value. (i) Beam Engine Mechanism:

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Answer key for ME6401-Kinematics of Machinery
A part of the mechanism of a beam engine which consist of four links, is
shown is figure.
Adjacent link to the shortest link is fixed. Therefore, the mechanism also
known as Crank-Lever Mechanism.
In this mechanism, when the crank rotates about the fixed centre A, the
lever oscillates about a fixed centre D.
The end E of the lever CDE is connected to a piston rod which
reciprocates due to the rotation of the crank.
In other words, the purpose of this mechanism is to convert rotary motion
into reciprocating motion.
(ii) Coupling rod of a locomotive:
The mechanism of a coupling rod of a locomotive which consist of four
link as shown in figure.
The mechanism also known as double crank mechanism.
In this mechanism, the links AD and BC having equal length.
AD and BC are act as crank and connected to the respective wheels.
The link CD acts as a coupling rod and the link AB is fixed in order to
maintain a constant centre to centre distance between them.
This mechanism is mean for transmitting rotary motion from one wheel
to the other wheel.
Watts indicator mechanism:
K.Naveen, AP/Mech, Dept.of Mech,AAMEC
April/May 2015
A Watts indicator mechanism also known as watts straight line
mechanism or double lever mechanism.
It consists of four links is shown in figure.
The four links are :
Fixed link A
Link AC
Link CE
Link BFD.
It may be noted that BF and FD form on link because these two parts
have no relative motion between them.
The links CE and BFD act as levers. The displacement of the link BFD is
directly proportional to the pressure of gas or stream which acts on the
indicator plunger.
On any small displacement of the mechanism, the tracing point E at the
end of the link CE trances out approximately a straight line.
The initial position of the mechanism is shown in figure by full lines
whereas the dotted lines show the position of the mechanism when the
gas or stream pressure acts on the indicator plunger.
(Or)
(b) Sketch and describe the working of two different types of quick return
mechanisms. Give examples of their applications. Derive an expression for
the ratio of times taken in forward and return stroke for one of these
mechanisms. (16)
Types of quick return mechanism:
(i) Crank and slotted lever quick return motion mechanism
(ii) Whitworth quick return motion mechanism.
(i). Crank and slotted lever quick return motion mechanism:
This mechanism is mostly used in shaping machines, slotting machines and
in rotary internal combustion engines.
In this mechanism, the link AC (i.e. link 3) forming the turning pair is fixed,
as shown in Figure.
The link 3 corresponds to the connecting rod of a reciprocating steam engine
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Answer key for ME6401-Kinematics of Machinery April/May 2015

2 AP1 sin 90 2 AP cos ..... (AP1 = AP)
2 2
CB1 CB1
2 AP . cos
AC 2 AC
CB
2 AP ..... (CB1 =CB)
AC
The angle made by the forward or cutting stroke is greater than the angle
described by the return stroke. Since the crank rotates with uniform angular speed,
therefore the return stroke is completed within shorter time. Thus it is called
quick return motion mechanism.

(ii) Whitworth quick return motion mechanism:

. This mechanism is mostly used in shaping and slotting machines.
The driving crank CB revolves with uniform angular speed about the fixed In this mechanism, the link CD (link 2) forming the turning pair is fixed, as
centre C. A sliding block attached to the crank pin at B slides along the slotted bar shown in Figure.
AP and thus causes AP to oscillate about the pivoted point A. The link 2 corresponds to a crank in a reciprocating steam engine. The driving
A short link PR transmits the motion from AP to the ram which carries the tool crank CA (link 3) rotates at a uniform angular speed. The slider (link 4) attached to
and reciprocates along the line of stroke R1R2. The line of stroke of the ram (i.e. the crank pin at A slides along the slotted bar PA (link 1) which oscillates at a
R1R2) is perpendicular to AC produced. pivoted point D.
In the extreme positions, AP1 and AP2 are tangential to the circle and the The connecting rod PR carries the ram at R to which a cutting tool is fixed. The
cutting tool is at the end of the stroke. The forward or cutting stroke occurs when motion of the tool is constrained along the line RD produced, i.e. along a line
the crank rotates from the position CB1 to CB2 (or through an angle ) in the passing through D and perpendicular to CD.
clockwise direction.
The return stroke occurs when the crank rotates from the position CB2 to CB1
(or through angle ) in the clockwise direction. Since the crank has uniform
angular speed,
Therefore,
Time of cutting stroke 360
(or )
Time of return stroke 360

Since the tool travels a distance of R1 R2 during cutting and return stroke,
therefore travel of the tool or length of stroke
= R1R2 = P1P2 = 2P1Q 2 AP1 sin P1 AQ

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Answer key for ME6401-Kinematics of Machinery April/May 2015

When the driving crank CA moves from the position CA1 to CA2 (or the link Solution:
DP from the position DP1 to DP2) through an angle in the clockwise direction,
the tool moves from the left hand end of its stroke to the right hand end through a n n 1 6 6 1
distance 2 PD. Number of instantaneous centre N 15
2 2
Now when the driving crank moves from the position CA2 to CA1 (or the link
DP from DP2 to DP1 ) through an angle in the clockwise direction, the tool Instantaneous centres:
moves back from right hand end of its stroke to the left hand end. 12, 13, 14, 15, 16
Time taken during the left to right movement of the ram (i.e. during forward or 23, 24, 25, 26
cutting stroke) will be equal to the time taken by the driving crank to move 34, 35, 36
from CA1 to CA2. 45, 46
Similarly, the time taken during the right to left movement of the ram (or 56
during the idle or return stroke) will be equal to the time taken by the driving
crank to move from CA2 to CA1.
Since the crank link CA rotates at uniform angular velocity therefore time
taken during the cutting stroke (or forward stroke) is more than the time taken
during the return stroke. In other words, the mean speed of the ram during cutting
stroke is less than the mean speed during the return stroke.
The ratio between the time taken during the cutting and return strokes is given
by
Time of cutting stroke 360
(or )
Time of return stroke 360

12. a) Locate all the instantaneous centres of the mechanism as shown in Fig.
shown below. The lengths of various links are: AB = 150 mm ; BC = 300 mm;
CD = 225 mm ; and CE = 500 mm. When the crank AB rotates in the
anticlockwise direction at a uniform speed of 240 r.p.m Find:
(i)Velocity of the slider E, and
(ii) Angular velocity of the links BC and CE. (16)

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Answer key for ME6401-Kinematics of Machinery April/May 2015

2N AB 2 240
AB 25.12 rad/s
60 60 (Or)
v AB AB AB 25.12 0.15 3.768 m/s (b) A single cylinder rotary engine is shown below. OA is the fixed link,
(i)Velocity of slider E: 200mm long. OB is the connecting rod and is 520 mm long. The line of stroke
v E AB I 12 I 26 is along AD and at the instant is inclined at 30 to the vertical. The body of
the engine consisting of cylinders rotates at a uniform speed of 400 rpm about
By measuring from the velocity diagram fixed centre A. Determine the acceleration of slider B and angular
I12I26= 64 mm acceleration of connecting rod. (16)
v E AB I12 I 26 25.12 64 10 3 1.6 m/s

(ii) Angular velocity of BC:

vE
BC
I12 I13
By measuring from the velocity diagram
I12I13= 660 mm

vE 1.6 Solution:
BC 2.4 m./s Configuration Diagram:
I12 I13 0.66
(ii) Angular velocity of CE:
v CE
CE
CE
v CE AB I15 I 56
By measuring from the velocity diagram
I15I56= 131mm
v CE AB I15 I 56 25.12 0.131 3.3 m/s
Velocity Diagram Acceleration Diagram
v 3.3
CE CE 6.6 m/s
CE 0.5

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Answer key for ME6401-Kinematics of Machinery April/May 2015

(i)Acceleration of the slider inside the cylinder a sbc or b c b1 390 m/s 2

(ii) Angular acceleration of the connecting rod,
t
a bo or b o b1 150
ob 288.5rad/s 2 counter clockwise
OB 0.52

Let C be a point on AD beneath the point B.

2 2 400 13.(a) The following particulars relate to a symmetrical circular cam

v ca CA 0.68 28.5 m/s
60 60 operating a flat faced follower:
Least radius = 16 mm, nose radius= 3.2 mm. distance between cam shaft
S.No Vector Magnitude (m/s2) Direction Sense centre and nose centre = 25 mm, angle of action of cam = 150, and cam shaft
speed = 600 rpm.
1 aca or a1c1 ac 2

28.5 2 AC
1194
A
Assuming that there is no dwell between ascent and descent, determine the
AC 0.68 lift of the valve, the flank radius and the acceleration and retardation of the
follower at a point where circular nose merges into Circular flank. (16)
2 a cr v ca AC -
bc or c1 b c
2 da vbc 2 cb
CA Given:
r1 = 16 mm,
28.5 r2 = 3.2 mm,
2 5.8 OP = d = 25mm
0.68
= 486 2 = 1500
,
= 750
3 a sbc or b c b1 - AC - N = 600 rpm
Solution:
4 a cbo or o1 b o ob 2
29.3 2 OP
1651
o
OB 0.52

5 t
a bo or b o b1 - OP -

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Answer key for ME6401-Kinematics of Machinery April/May 2015

sin 180 75 25
sin
52.82 3.2
29.6 0
(iv) Acceleration at the end of the contract with flank, when = = 29.60
a 2 R r1 cos
2
2 600
52.82 16 cos 29.6
60
2

=129.39 m/s

(v) Retardation at the beginning of contact with nose

2
(i)Lift = - d cos
2
Lift= BT = OT- OB 2 600
25 10 3 cos 29.6
= OP+PT OT 60
= d + r2 - r1 =85.81 m/s2
= 25 + 3.2 -16
Lift =x = 12.2 mm

(ii) Flank radius, R,

r12 r22 d 2 2r1d cos (Or)
R (b) A cam with 30 mm as minimum diameter is rotating clockwise at a
2 r1 r2 d cos uniform speed of 1200 rpm and has to give the following motion to a roller
follower 10 mm in diameter:
16 2 3.2 2 25 2 2 16 25 cos 75 (i) Follower to complete outward stroke of 25 mm during 120 of cam
R rotation with equal uniform acceleration and retardation;
216 3.2 25 cos 75 (ii) Follower to dwell for 60 of cam rotation;
(iii) Follower to return to its initial position during 90 of cam rotation with
R=52.82 mm equal uniform acceleration and retardation
(iv)Follower to dwell for the remaining 900 of cam rotation
(iii) Flank angle, Draw the cam profile if the axis of the roller follower passes through the axis
of the cam. Determine the maximum velocity of the follower during the
We have, from triangle OQP, outstroke and return stroke and also the uniform acceleration of the follower
PO PQ on the out stroke and the return stoke. (16)

sin sin 180

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Answer key for ME6401-Kinematics of Machinery April/May 2015

Given:
Minimum diameter of the cam = 30 mm
Speed of the cam =1200 rpm
Roller diameter = 10 mm
Stroke length S = 25mm
Angle of Outstroke 0= 1200 = 2.094 rad
Angle of first dwell =600 = 1.047 rad
Angle of Outstroke R= 900 = 1.571 rad
Angle of first dwell =900 = 1.571 rad

Displacement diagram:

2 S 2S
Maximum velocity of the follower during the outstroke v0
to O
Cam profile: 2N 2 1200
125.66 rad/s
60 60
2S 2 125.66 25 10 3
v0 3m/s
O 2.094
2 S 2S
Maximum velocity of the follower during the return stroke vR
tR R
2 2 125.66 25 10 3
vR 4 m/s
R 1.571

14. (a) Calculate

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Answer key for ME6401-Kinematics of Machinery April/May 2015

(i)Length of path of contact PL 100 2 92 2 cos 2 20 92sin20

(ii) Arc of contact and
(iii) The contact ratio when a pinion having 23 teeth drives a gear having
PL 18.79 mm
teeth 57. The profile of the gears is involute with pressure angle 20, module
8mm and addendum equal to one module. (16)
Length of path of contact KL = KP + PL = 20.97 + 18.79 = 39.76mm
Given:
Module m= 8mm (ii) Arc of contact
Pressure angle = 200 Length of path of contact
Length of arc of contact
No. of teeth on gear T = 57 cos
No. of teeth on pinion t =23
Addendum A = module m = 8mm 39.76
Length of arc of contact 42.31 mm
To find: cos20
(i)Length of path of contact
(ii) Arc of contact and (iii) Contact ratio:
(iii) The contact ratio
Solution: Length of arc of ontact
(i)Length of path of contact (KL) Contact ratio
pc
Length of path of contact (KL) = Length of path Length of path Circular pitch pc = m= 8 =25.13mm
of approach (KP) + of recess (PL)
Length of arc of ontact 42.31
Contact ratio 1.68
Length of path of approach (KP) pc 25.13
KP R A 2 R 2 cos 2 - Rsin
(Or)
mT 8 57 14.(b) In an epicyclic gear train a gear C is keyed to the driving shaft A which
R 228 mm
2 2 rotates at 900 rpm. Gears D and E are fixed together and rotate freely on a
RA = R +Addendum (A) = 228 + 8 =236 mm pin carried by the arm M which is keyed to the driven shaft B. Gear D is in
KP 236 2 228 2 cos 2 20 - 228sin20 mesh with gear C while the gear E is in mesh with a fixed annular wheel F.
KP 20.97 mm The annular wheel is concentric with the driven shaft B. if the shafts A and B
are collinear and number of teeth on gears C, D, E and F are respectively 21,
28, 14 and 84. Determine the speed and sense of rotation of the driven shaft
Length of path of recess (PL) B. (16)
PL rA2 r 2 cos 2 rsin
mt 8 23
r 92 mm
2 2 Given:
rA = r +Addendum (A) = 92+ 8 =100 mm No. of teeth on gear C, TC = 21

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Answer key for ME6401-Kinematics of Machinery April/May 2015

No. of teeth on gear D, TD = 28 The gear E and F are in mesh internally. Hence the direction of rotation of F
No. of teeth on gear E, TE = 14 will be same as that of E. Hence
No. of teeth on gear F, TF = 84
Speed of the driving shaft A = 900 rpm N F TE

Solution: N E TF
As gear C is keyed to the driving shaft. The speed of gear C will be equal to the TE T T T T
speed of driving shaft. NF N E E C C E
NC= 900 rpm TF TF TD TD TF
The annular wheel F is fixed. Hence speed of F is zero or NF = 0
Find speed of driven shaft and its sense of rotation. S.No Steps of Revolution of elements
Now prepare the table of motion, Let us find the no. of revolution of each element motion Arm M Wheel C Wheel D- Wheel F
for one revolution of gear C, keeping arm M fixed E
1 Arm is fixed 0 +1 T TC TE
Gears C and D are in mesh externally, hence the direction of D will be opposite to and rotate C

that of gear C, Hence, wheel C TD TD TF
N D TC through +1
or revolution (i.e.
N C TD
in the
T T T anticlockwise
N D C N C C 1 C
TD TD TD direction)
2 Multiply by x 0 +x TC TC TE
to all x x
The speed of the gear E is same as that of gear D. TD TD TF
TC 3 Add y +y x+y T T T
ND x C yx C E y
TD revolution to
all TD TD TF

In the problem it is given that speed (or revolution) of F is zero. But from the
TC TE
table the revolution of wheel F is x y
TD TF
21 14
x y0
28 84
x
y0
8
x 8y

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Answer key for ME6401-Kinematics of Machinery April/May 2015

Tmax Max.stress Cross sectional area

The speed of gear C is given as 900 rpm. But from the table the speed of C is x+y
x+y = 900 Cross sectional area= Width Thickness
8y+y=900 = 8100
9y=900 = 800 mm2
y = 100 = 80010-6 m2
(i) Speed of driven shaft Tmax = 2 10680010-6 =1600 N
The arm M is keyed to the driven shaft. Hence speed of driven shaft will be 1600
2
equal to the speed of the arm M.But speed (or revolution) of the arm M from the Tc mv 2 0.9 640 N
table is +y 60
1

Speed of the driven shaft = Speed of arm M = +y T = 1600 640 = 960 N

= + 100 rpm T1 960
In sense of rotation is anti-clockwise or same as the sense of rotation of T2 0.33.88 404.64 N
driving shaft. e e
P = (T1-T2) v =(640-404.64)26.67 =14809 N=14.809kN
15. (a) A flat belt, 8 mm thick and 100 mm wide transmits power between two
pulleys, running at 1600 m/min. The mass of the belt is 0.9 kg/m length. The (ii) Initial Tension (T0):
angle of lap in the smaller pulley is 165 0 and the coefficient of friction
between the belt and pulley is 0.3. If the maximum permissible stress in the T1 T2 960 404.64
belt is 2MN/m2, Find: T0 Tc 640
2 2
(i) Maximum power transmitted and
T0 = 1322.32N
(ii) Initial tension in the belt
(Or)
(b) The spindle of a screw jack has single start square threads with an outside
Given:
diameter of 45 mm and a pitch of 10 mm. The spindle moves in a fixed nut.
Thickness of belt t = 8mm
The load is carried on a swivel head but is not free to rotate. The bearing
Width of belt = 100mm
surface of the swivel head has a mean diameter of 60 mm. The coefficient of
Velocity of belt v = 1600 m/min = 26.67 m/s
friction between the nut and screw is 0.12 and that between the swivel head
Mass of the belt m = 0.9kg/m
and the spindle is 0.10. Calculate the load which can be raised by efforts of
Angle of lap = 1650 = 3.88 rad
100 N each applied at the end of two levers each of effective length of 350mm.
Coefficient of friction = 0.3
Also determine the velocity ratio and the efficiency of the lifting
Maximum permissible stress = 2MN/m2
arrangement. (16)
To find:
(i) Maximum power transmitted and
(ii) Initial tension in the belt Given:
Solution: Outside diameter do = 45 mm
(i) Maximum power transmitted P = (T1-T2) v Pitch p = 10 mm.
_
1 max c Mean diameter of Swivel head D =60 mm
T =T T

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Answer key for ME6401-Kinematics of Machinery April/May 2015

Coefficient of friction between the nut and screw = 0.12 tan tan d
Coefficient of friction between the swivel head and spindle 1= 0.1 W
1 tan tan 2 1 WR 2 P1 l
Effort P1 = 100 N

0.0796 0.1 40 10 -3

Effective length l = 350 mm
W 0.1 W 30 10 -3 2 100 350 10 3
To find:
(i) Load (W) raised by the effort 100 N 1 0.0796 0.1 2
(ii) Velocity ratio (VR) W = 9943 N
(iii) Efficiency ()
(ii)Velocity Ratio (VR):
Solution:
(i) Load (W) raised by the effort 100 N Distance moved by the effort(P1 ) in one revolution 2l
VR
Distance moved by load W p
d
Torque P 1 WR 2 P1 l 2 350 10 -3
2 VR 218.7
10 10 -3
tan tan (iii)Efficiency :
P W
1 tan tan tan

tan
tan tan d
W
1 tan tan 2 1 WR 2 P1 l tan 0.0796

p tan 1 0.0796 4.5511
tan
d
tan
p 10
d d o 45 40mm tan 1 0.12 6.843
2 2
p 10 10 3
tan 0.0796 tan tan 4.5511
d 40 10 3 (%) 100 100 39.5%
tan tan( 4.5511 6.843)
tan 1 0.1
D 60
R 30mm 30 10 3 m
2 2

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Answer key for ME6401-Kinematics of Machinery April/May 2015

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