Mechanics of Machines

MCB3043

Lecture 18
Outline

 Inertial Force
 Dynamic Force Analysis
Inertial Force

F  ma
F  ma  0
Inertial force is defined as: Fi  ma
F  Fi  0 d’Alembert’s Principle

By considering inertial force as one of the forces in the

system, the system is considered to achieve dynamic
equilibrium.
Inertial Force

 Inertial force is not a real force (Same

concept as a centrifugal ‘force’)
 Inertial ‘force’ opposes acceleration
 Example:
 As a car is accelerated, the head of the
passenger appeared to be lurched
backward,
 As the car is braked, the head of the
passenger appeared to be lurched forward.
Topics for Self-Revision

 Mass & Weight

 Centre of Gravity
 Mass Moment of Inertia (inc radius of
gyration & parallel axis theorem)
Dynamic Force Analysis

 Dynamic force analysis should be

performed to determine the forces on
each link of a linkage as it is moving.
 Static force analysis should be done
prior to DFA
 Need info on the mass, centre of gravity,
mass moment of inertia of each link.
Example 1
 The compressor mechanism is driven clockwise by a dc electric
motor at a constant rate of 600 rpm.
 The piston weighs 3 N and the coefficient of friction between the
piston and the compressor cylinder is 0.1. The weight of all other
links is negligible.
 At the position shown, as the cylinder pressure is 300 kPa,
determine the torque required from the motor to operate the
compressor.

200 mm 40 mm

300 kPa

50 mm
Procedure For Solution`

Torque Force exerted by Force exerted by

required to link BC on link the piston on link
turn link AB AB at joint B BC at joint C

Fi =mCaC Inertial force Analyse forces by

drawing FBD and
Ff =μNC Frictional force
apply Eq of M to
FG =pGAC HP Gas force each link.

200 mm 40 mm
B

A C 300 kPa

50 mm
FBD of All Links

200 mm 40 mm

  300 kPa

50 mm  
F32
F34
F23 m Cg
F43
FG
F21X T21 Fi Ff

F21Y F41=NC
`Kinematic Diagram & Velocity
Analysis
vC = vB + vC/B
vB
ωAB= 600 rpm cw = 62.8 rad/s cw
vB = ωABrBA = 62.8 x 0.050 = 3.14 m/s

Measuring
ωBC = vC/B / rCB = 2080 / 200 = 10.4 rad/s cw
vC = 2.00 m/s 
aC = aBn + aC/Bn + aC/Bt
vC/B = 2.08 m/s 
aBn = ωAB2rAB= 62.82 X 0.05 = 197.2 m/s2
vB aC/Bn = ω22rBC=10.42 x 0.2 = 21.6 m/s2
B

A C
`Acceleration Analysis
aC = aBn + aC/Bn + aC/Bt
aBn = 197.2 m/s2  aC
aC/Bn = 21.6 m/s2
Measuring aC/Bt
aC = 135.2 m/s2 
aBn
aC/Bt = 147.2 m/s2 

B aC/Bn aC/Bn
aBn
A C
Force Analysis on the Piston
Note: d’Alembert’s
mCg ΣF=0 principle applies here.
F43 ΣM=0
FG Σ FX = F43cos θ - Fi - FG-Ff =0
Fi Ff
Σ FY = -F43sin θ - mCg +NC =0
NC
From the kinematic diagram,  = 11º
Ff =μNC = 0.1 NC 
FG =pGAC = (300 x 103) (π x ¼ x 0.042 ) = 377.0 N 
Fi = mC aC = 3/9.8 x 135.2 = 41.4 N 

F43cos 11º - 41.4 - 377-0.1 NC =0 F43 = 435.0 N

-F43sin 11º - 3 +NC =0
Force Analysis of the Crank and
Connecting Arm
F32 F34= -F43= 435 N 
F32= -F34= 435 N 
F34

11º F23 F23= -F32 = 435 N 

50º T21
F21X -T21 + F23 sin(50º-11º) x 0.050 = 0

F21Y T21 = 13.7 Nm cw

Inertial Torque
M  I
M  I  0
Inertial torque is defined as: Ti   I
M  Ti  0
By considering the inertial torque as one of the moments in
the system, the system is considered to achieve dynamic
equilibrium. The inertial torque direction is the opposite
direction to the angular acceleration, .
ΣM=0
Example 2
 The crank in Example 1 has a weight of 10 N. The centre of
gravity is 20 mm from the fixed pivot A. Recalculate the
torque required to operate the compressor if the crank has
an angular acceleration of 500 rad/s2 and has a speed of
600 rpm at the position shown.

200 mm 40 mm
B 
 A C 300 kPa
Ti
50 mm  
10 N
`Acceleration Analysis
aC = aBn + aBt + aC/Bn + aC/Bt
aBn = 197.2 m/s2  aC
aBt = rAB=500 x 0.05= 25 m/s2  aC/Bt
aC/Bn = 21.6 m/s2
Measuring
aBn
aC = 152 m/s2 
aC/Bn
t
aC/B = 130 m/s2 
aBt aBt
B aC/Bn
aBn
A C
Force Analysis on the Piston
mCg ΣF=0 ΣM=0
F43 Σ FX = F43cos θ - Fi - FG-Ff =0
FG Σ FY = -F43sin θ - mCg +NC =0
Fi Ff
From the kinematic diagram,  = 11º
NC
Ff = 0.1 NC 
FG = 377.0 N 
Fi = -mC aC = -3/9.8 x 152 = -46.5 N = 46.5 N 

F43cos 11º - 46.5 - 377-0.1 NC =0 F43 = 440.3 N

-F43sin 11º - 3 +NC =0
Force Analysis of the Crank and
Connecting Arm
F32 F34= -F43= 440.3 N 
F32= -F34= 440.3 N 
F34
F23= -F32 = 440.3 N 
Ti   I   121 ml 2   121 ( 910.8 )0.05 2500  0.106 Nm  0.106 Nm ccw
Σ M = Ti +m21g (rcg cos 50º) -T21 + F23 sin(50º-11º)r21= 0
11º F23 0.106+ 10(0.02cos 50º) -T21 +
T21
440.3 sin 39º(0.05)= 0
50º
Ti T21 = 14.1 Nm cw
F21X
F21Y
Example 3 (Q 14-16)
Weights of all links
F are negligible.
4 kg
 AB= 0.1 m
μ = 0.15 E BC = 0.4 m
CD = 0.3 m

T21 B  C
CE = 0.32 m

 30° DE = 0.6 m
A EF = 0.65 m

D FAY = 0.4 m
Determine the motor torque T21
required at the instant shown to turn 
ADY = 0.2 m

the crank AB at 120 rpm ccw. ADX = 0.37 m

Example 3: FBD of Box
FBD of the box
mg Fi =-maF
Fi Ff =μNC
Fbox
Ff Σ FY = NC - mg =0

NC Σ FX = Fi +Ff -Fbox = 0
NC = mg = 4 x 9.8 = 39.2 N
Ff =μNC = 0.15 x 39.2 = 5.9 N
-4aF +5.9 -Fbox = 0
To determine Fbox , need to determine aF first, by performing
acceleration analysis (and velocity analysis).
 Kinematic Analysis

vC = vB + vC/B
Get vC by graphical method
E ωCDE = vC / rCD
F vE = ωCDErDE
vF = vE + vF/E
Get vF by graphical method.
Calculate ω for all links and
B C
calculate the normal
A components of acceleration.
aCn +aCt = aBn + aC/Bn + aC/Bt
D αCDE = aCt / rCD
aEt = α CDErDE
aF = aEn+ aEt + aF/En+ aF/Et
Example 3

F
4 kg
1°

μ = 0.15 E
10°

3°

T21 B C
 30° 
A 66°
D

Measure the angular positions of the links from the kinematic
diagram. These angles are required in constructing free-body
diagrams of all links in analysis of the forces.
Example 3: FBD links 5 & 6

Fbox 
1°
F65 2-force
F56  member
F65 ≈ Fbox F54

F54 =F65
Example 3: FBD of Links 2,3 & 4
F45 =-F54
Σ MD = F45 rED cos (10-1)° + F43 rCD cos (90-66+3)° = 0
F32 =F43

C F34 F45
F32  E
1°
B
10° F43
B
F23  3°
T21  3°
C
F21X 30°
A
F41Y D 66°
F21Y  
F41X
Σ MA = T21 - F23 rAB cos (90-30+3)° = 0
Tutorial Week 13

 14-18
 11-12