University of Technology Control & Computer Eng. Dept.

3th Year
Mechatronic Eng.

CCE-ME342 Theory of Machines & Vibration Theo: - 2 h/week

Tuto: - 1 h/week

No Description Hours
THEORY OF MACHIONES
1- Mechanisms 4
2- Velocity & Acceleration Analysis in Planar Mechanisms 6
3- Force Analysis in Planar Mechanisms 6
4- CAM Mechanisms 6
5- Gear Trains 6
6- Balancing of Rotating Masses 4
7- Gyroscope 4
V IBRATION
8- Single Degree of Freedom:
• Free Vibration.
• Forced Vibration. 10
• Damped &Un-damped Vibration
9- Vibration Measurement Instruments 2
10- Tow Degree of Freedom Systems 8
11- Vibration Obsorbations 4

References
1- Mechanies of Mechanies"Elementary "by J.Hana & R.c Stephens.
2- Mechanies and Mechanies"Advanced "by J.Hana & R.c Stephens.
3- Kinematics and dynamics of Machines by G.H. Martin.
4- Theory of Machines by J.Bessan.
5- Theory of Machines by J.E. Shigley.
1-THEORY OF MACHIONES
The theory of machines comprises the study of the relative motion between the parts
of machine and the study of the forces which act on those parts. The study of the
relative motion between the parts is known as kinematics, while the study of the
forces which act on the parts is known as dynamics.
Mechanism:-
When one element or link of kinematic chain is fixed, the arrangement may be used
for transmitting or transforming motion. It is then termed as mechanism.
Kinematic of machines:-
It deals with the various machines parts.
Dynamics of machines:-
It deals with the forces and their effects while acting on the machines parts in motion.
Machine: - A machine is a combination of resistant bodies with successfully
constrained relative motions, which is used for transmitting or transforming available
energy so as to do some particular kind of work.
Mechanisms:
1- Slider- Cranck Mechanism Shown in fig (1).
2- Four – Bar Mechanism Shown in fig (2).

fig (1)
fig (2)

2-1-Velocity Analysis in Planar Mechanisms:-

Relative velocity method (Velocity diagram) shown in fig.
V = ω *r ⎯⎯→V ⊥ r
VA = ω2 * OA
VA = ω2 * OC
Ex1:- Four-bar mechanism shown in fig; find VB;ω4; using velocity
diagram, take O2A=300mm,O1B=360mm,AB=360mm,O1O2=600mm;
ω2=10 rad/s.
Sol:-
VA = ω2 * O2 A = 10 * 300 = 3000rad / s →⊥ O2 A
VB = ω4 * O4 B
VB = ω3 * AB
V .S → Let VA = 5cm
V .S = 1 / 1000
VB = o2b * V .S
VB ab * V .S
ω4 = ; ω3 =
O4 B AB

Rubbing Velocity:-
Rubbing Velocity = (ω1±ω2)*r
r= is the radius of the pin of the joint.
(+) if ω1 and ω2 are in opposite direction.
(-) if ω1 and ω2 are in same direction.
2-2- Acceleration Analysis in Planar Mechanisms :- (a)

⎧ n V2
⎪a = ω * r =
2
// r
aA = aA ⎨ A r
O
⎪a t = α * r (⊥ r ); ⊥ a An
⎩ A
aA = (a ) + (a )
n 2
A
t 2
A

Velocity Diagram for a Block sliding on rotating link s:-

ω= is the angular velocity of link about (o).
Va= is the velocity of the block [known in magnitude and direction].
A-= is a point on the link coincident with the block.
Va-= the velocity of A- relative to O ⊥r- to the link (O A-).
Vaa-= velocity of sliding of (A to A-) is parallel to the link O A- .

Acceleration Diagram:-
Similar to velocity Diagrams.
Oa represents fa.
Ob represents fb.
Then ba, the accn of A relation to B (fab).
This relative accn has two components.
(a) Centripetal accn represented by

Vab2
ba1 = ω * AB =
2
(in the direction A to B)
AB
(b) A tangential accn represented by
−
a1a = α * AB (⊥ r to AB)
Normally only acceleration such as (fa) or (fb) will be known completely. The other in
direction only. Point (O) can then be found on the relative velocity diagram.
To find the accn of any point C. a pt c taken on ab such that.
ac : ab =AC:AB
The accn of (C) then represented by (OC).

Acceleration Diagram for a Block sliding on rotating link s:-

Coriolis Component of acceleration:-
Whenever a point in one body moves a long a path on a second body is rotating, then
the acceleration of the point in the first body relative to a coincident point in the
second body will have a Coriolis component.
P3= a point on slider (3) moving a long the path (of) in body (2).
P2= fixed point on path (of).
P3 & P2 = are two coincident points.
ω2 = angular velocity of body (2).
V P3/ P2 = is the relative velocity {known from velocity diagram} in time interval dt of
rotate dθ to position (of -).
of → of -
P2 → P2 -
P3 → P3 – {this displacement is the sum of P2P2 -+ P2B+ BP3 -}.
P2P2 – is with constant velocity.
P2 –B is with constant (V P3/ P2 = constant)
BP3 – is the results of acceleration in thus direction.

a c = 2 * ω2 * VP 3 m / s2
P2
3-Force Analysis:-
Static Force Analysis:-
Force in machines arises from various sources.
a- Weight of parts.
b- of assembly.
c- from applied loads.
d- from energy.
There are also forces of
1- Friction 2- Inertia 3- Spring 4- Impact 5- due to change in
temperature.
Transmission of force in machine:-
A machine in mechanism which transmits force. Force in machines are transmitted
through various Paris which connect link them selves. The force transmitted from one
link to another is normal to the surface in contact if friction is not considered.
A Turing pair :-( Journal bearing or pin joint)
The forces on the pin act normal to its surface and the resultant (F) are passing
through the center of the pin.

1- Slider – Crank mechanism:-

A force (P) is applied to the piston and may be assumed to be the result of gase
pressure. In order to mention equilibrium, a torque (T2) must be exerted on crank(2)
by the shaft(O2).

The procedure:-
1-Drawing free body diagram
→ Known in mag. & direction.
⎯ Known in direction.
… isn’t known in mag. & direction.

F14 force from 1 to 4

F34 force from 3 to 4
2- Four – bar mechanism

Inertia forces in machine:-

Inertia forces are the forces due to acceleration. In a reciprocating engine such as an
automobile engine. At high speed the inertia forces. Can be greater than the forces
produced due to gas pressure.
Equation of motion:-
G:-the mass center of the body.
aG:- the acceleration of G.
α:- is known in magnitude and sence find F&T applied to the body to produce aG &
α.The force F acting in the direction of aG will produce liner acceleration.
F = M * aG
M:- mass of the body.
To produce angular acceleration α at torque T must be applied to the body in the
same sense as α
T = I *α
I:- mass moment of the inertia of the body about axis passing through G⊥ to plane of
rotation (Newton's equation of angular motion).
T = I *α = F * h
I * α = M * aG * h
I *α
h=
M * aG
A single force F at a distance h from the center of mass replaces the force F and
Torque T.
Shaking Force:-
Is the resultant of all forces acting on the frame of a mechanism due to inertia forces
only. A consideration of this force is important because the frame must be strong
enough to with stand it, this force may setup vibrations in the frame.
4-Cams:-
Definition:- A cam is a reciprocating, oscillating or rotating body which imports
reciprocating or oscillation to a second body called the follower.
Type of cams:-
The shape of the cam depends upon its own motion, the motion which is to be
imparted to the follower, and the shape of the surface of the follower.
Cams may be classified according to the direction of the displacement of the follower
with respect to the axis of oscillation of rotation of the cam. The two most important
types are:-
1- Radial or disc cams:-
In which the working surface of the cam is so shaped that the follower reciprocates or
oscillates. In a plane at rt angles to the axis of the cam. (e.g.), (c, d, e, f).
2- Cylindrical cams:-
Follower reciprocates or oscillates in a plane parall to the axis of the cam. (e.g.), (g).
Type of follower:-
a- Knife – edge follower.
b- Roller follower.
c- Flat or (mushroom) follower.
Cycle of operation:-
1- Motion of follower in the diagram begins at A.
2- As the cam turns from A to B the cam accelerates follower velocity of follower
is max. at B.(Dwell follower is at rest).
3- From B to C the follower is retarded.
4- At C, max. retardation.
5- From C to B-, follower is accelerated down words by the effect of the spring,
max. velocity at B- .
6- From B- to A-, follower is retarded.
7- A- to A …………dwell.
8- Cycle begin at A.

Cam with straight flanks-roller ended follower:-

Roller in contact with flank AB
R= base circle radius.
r = Nose radius.
ro= follower radius.
d = Center distance.
x = ( R + ro )(secθ − 1)............................................(1)
v = ω * ( R + ro ) * secθ * tan θ ...............................(2)
a = ω 2 * ( R + ro )[2 * sec3 θ − secθ ]......................(3)

• The velocity increase from zero at (A) to max. at (B).

• The acceleration increase from min at (A) to max. at (B).
β = the angle turned through by the cam while the roller moves from (A) to (B).
d * sin α
tan β = ...............................................(4)
R + ro
δ = xmax........................................(5)
δ = d + r − R....................................(6)
Roller in contact with nose BC:-
r + ro
n
d
⎧ ⎫
x = d ⎪⎨cosφ + n 2 − sin 2 φ ⎪⎬ − ⎛⎜ ro + R ⎞⎟..............(7)
⎪⎩ ⎪⎭ ⎝ ⎠

⎧ ⎫
⎪⎪ sin 2φ ⎪⎪
v = −ω * d ⎨sin φ + ⎬....................(8)
⎪
⎪⎩ 2 n − sin φ ⎪⎪⎭
2 2
⎧ 4 φ + n 2 cos 2φ ⎫⎪
⎪
⎪ sin ⎪
a = −ω 2 * d ⎨cosφ + ⎬.........(9)
⎪
⎪⎩ (n − sin φ ) ⎪⎪⎭
2 2 3

• The velocity decreases from max. at (B) to zero at (C).

• The acceleration falls from max. at (B) to min. at (C).
• The acceleration (C) is (-ve).

1
ac = −ω 2 * d (1 + ) if (φ = 0) →x=xmax =δ
n
xmax = d *{1 + n} − R − ro = d + dn − R − ro
δ = d + r + ro − R − ro
δ = d + r − R...............................................................(10)

Cam with curved flanks, flat ended follower:-

ρ = flank radius.
Follower in contact with flank AB:-
x = ρ − ( ρ − R) * cosθ − R
x = ( ρ − R) * (1 − cosθ )..........................................................(11)
v = ω ( ρ − R) * sin θ ..............................................(12)
a = ω 2 ( ρ − R) * cosθ ...........................................(13)
R 2 − r 2 + d 2 − 2 R * d * cosα
ρ= ..........................(14)
2( R − r − d * cosα )
d * sin α
sinψ = ..................................................(15)
ρ −r

Follower in contact with nose BC:-

x = (r + d * cosφ ) − R....................................(16)
v = −ω * d * sin φ ..........................................(17)
a = −ω 2 * d * cosφ.......................................(18)
at C ⇒ φ = 0
ac = −ω 2 * d

Circular cam, flat ended follower:-

O = axis of rotation.
P = center of cam.
d = eccentricity.
x = d * (1 − cosθ )..............................(19)
v = ω * d * sin θ .................................(20)
a = ω 2 * d * cosθ ..............................(21)

• The follower moves with S.H.M; no periods of dwell.

• The velocity in creases from zero at (A) to Vmax at θ = 2/π and falls
again to zero at (B).
• The acceleration has its max (+ve) at (A) and max. (-ve) at (B) and a=0
at θ = 90o
Spring force:-
P = m * a ..........................................(22)
m = effective mass of the follower and the attached parts with it.
a = max. (-ve) acceleration (to words, the cam axis).
* In the cam, max. (-ve) acceleration is at (B) or (C).
* In curved flank cam and circular cam the max. (-ve) acceleration occurs at the
highest point of the follower travel.
If (S) spring stiffeners.
(y) Initial cam –pressin of the spring.
(x) Follower displacement.
Spring force = S*(x+y).
Total force on the spring F = m * a + S * ( x + y )
In the case of tangent cam, with roller ended followers:-
F * cosθ = m * a + S * ( x + y) .....................(23)
reaction Torque(T ) = F * h
T = F * ( R + ro ) * tanθ
T = {m * a + S * ( x + y)}* ( R + ro ) * secθ * tanθ
In this case of cam with curved flank flat ended follower:-
T = {m * a + S * ( x + y )}* ( ρ − R ) * sin θ ...............( 24)
* For circular cam is similar the preceding case except h=d*sinθ
T = {m * a + S * ( x + y)}* d * sin θ ...............(25)

5-BALANCING OF ROTATING MASSES:-

In the high speed engines the rotating and reciprocating parts should be completely
balanced. If these parts are not properly balanced, the dynamic force fugal forced) are
setup. these forces not only increase the loads on bearings and stresses in various
members, but also produce unpleasant and even dangerous vibrations for complete
dynamic balance:-
1- The resultant force acting upon the shaft must be zero.
2- The resultant couple acting upon the shaft must be zero.

a- Balancing of a single rotating mass by a single mass rotating in the

same plane:-
F = m * r *ω 2
c1 1 1
F = m * r *ω 2
c2 2 2
for balancing ∑F = 0
F =F
c1 c2
m *r = m *r
1 1 2 2
Balancing of masses rotating in the same plane:-

For dynamic balance

The vector sum of centrifugal force must be zero:
∑ mω 2 r = 0
ω2 is the same for each mass.
∑m*r = 0
The closing side of the force polygon represent the product of the balance mass (mB)
and its radius of rotation (rB).
b- The plane of disturbing mass may lie on the left or right of the two
planes containing the balancing mass:-
F = F +F
c1 c2 c
m * r *ω 2 = m * r *ω 2 + m * r *ω 2
1 1 2 2
m *r = m *r + m*r
1 1 2 2
∑M =0
p
l
m * r *l = m * r * l = m * r * 2
1 1 1 2 l
1
∑Ml = 0
l
m * r *l = m * r *l = m * r * 1
2 2 1 l
Balancing of masses rotating in different planes:-
If the out of balance masses m1, m2, m3 are situated at distance l1, l2, l3 from the
reference plan. The forces m1r1, m2r2, m3r3 may be transferred to the reference plane
by adding the couples of magnitude m1r1l1, m2r2l2, m3r3l3 acting in the planes
containing the respective forces and the shaft axis.

For balance, the resultant force in the reference plane must be zero ΣMr=0 and the
resultant couple in the reference must be zero Σmrl=0.

plane m r mr l mrl θ
1 M1 r1 m1 r1 l1 m1 r1 l1 θ1
2 m2 r2 m2 r2 l2 m2 r2 l2 θ2
3 M3 r3 m3 r3 l3 m3 r3 l3 θ3
A mA rA mA rA 0 0 θA
B mB rB mB rB x mB rB x θB

First draw the couple polygon which has only (4) rectors then draw the force
polygon.
The reference plane (R.P) is normally chosen to coincide with the plane of revolution
of one the unknown masses.
Dynamic forces at bearing:-
After getting mA rA & mB rB; these product multiplied by ω2 gives unbalance forces
on the bearings; being opposite in direction to those of the corresponding forces for
balance.
Where R.P in couple polygon divides the balance of masses, the R.H.S vector of R.P
is drawn radially out wards (have +ve sign). And those in L.H.S of R.P are drawn
radially in wards (have –ve sign)