KINEMATICS AND THEORY OF

MACHINES

STUDY MATERIAL
Kinematics and Theory of Machines (PCCME402)
Module – I

Basics of Mechanisms

Module I only contains the introduction and basic fundamentals of mechanisms

and machines. Therefore, it does not have scope of questions corresponding to
BL4, BL5 or BL6.

Module - II

Kinematic Analysis of Simple Mechanisms

1. Evaluate the linear velocity of the slider in a slider-crank mechanism with the
following parameters: crank length 12 cm, connecting rod length 24 cm,
distance between slider and crank center 10 cm, and crank angular velocity 4
rad/s (counterclockwise). The crank starts at the top dead center (TDC) position
and rotates 60 degrees counterclockwise. Use mathematical analysis to
determine the slider's velocity at this specific angle. [BL: 5 (Evaluate) – 10M]
2. Analyze the motion of a slider-crank mechanism with the following
specifications: crank radius 6 cm, connecting rod length 15 cm and crank
angular velocity 30 rad/s (counter-clockwise). The slider movement is
considered to be horizontal. Employ analytical or graphical method to
determine the connecting rod's angular velocity for any given crank position
and explain the underlying kinematic principles involved. [BL: 4 (Analyze) –
10M]
3. Create a design for a 4-bar robotic arm mechanism with specific movement
requirements and task specifications. Given the lengths of three bars (AB = 15
cm, BC = 20 cm, CD = 25 cm) and the starting angle of bar AB (30 degrees),
calculate the optimal length of the fourth bar (AD) to achieve the desired range
of motion. Additionally, determine the arm's maximum and minimum reach
angles. [BL: 6 (Create) – 10M]
4. Analyze a double slider mechanism used in a mechanical system. The
mechanism consists of two sliders, A and B, connected to each other with four
links: AB, BC, CD, and DA. The lengths of the links are as follows: AB = 6
cm, BC = 8 cm, CD = 8 cm, and DA = 10 cm. The mechanism is driven by the
motion of slider A, which moves horizontally along the x-axis. . [BL: 4
(Analyze) – 5M]

Module – III

Cams and Followers

1. A cam is to give the following motion to a knife-edged follower:

i. Outstroke during 60° of cam rotation;
ii. Dwell for the next 30° of cam rotation;
iii. Return stroke during the next 60° of cam rotation, and
iv. Dwell for the remaining 210° of cam rotation.
The stroke of the follower is 40 mm and the minimum radius of the cam is 50 mm.
The follower moves with uniform velocity during both the outstroke and return
strokes.
Design the profile of the cam when
i. the axis of the follower passes through the axis of the cam-shaft
ii. the axis of the follower is offset by 20 mm from the axis of the cam-shaft.
[BL: 6 (Create) – 10M]

2. Construct the profile of a cam to suit the following specifications:

Cam shaft diameter = 40 mm;
Least radius of cam = 25 mm;
Diameter of roller = 25 mm;
Angle of lift = 120°
Angle of fall = 150°
Lift of the follower = 40 mm
Number of pauses are two of equal interval between motions. During the lift,
the motion is S.H.M. During the fall, the motion is uniform acceleration and
deceleration. The speed of the cam-shaft is uniform. The line of stroke of the
follower is off-set 12.5 mm from the centre of the cam. [BL: 6 (Create) – 10M]
3. Design a radial cam with 30 mm minimum radius, which is rotating clockwise
at 1200 rpm to give the follower motion to a roller follower of 20 mm diameter
as given below.
i. Lift= 25 mm.
ii. Follower rises during 120 degree cam rotation with simple harmonic
motion.
iii. Follower to dwell for 60 degree cam rotation.
iv. Follower to return during 90 degree cam rotation with simple harmonic
motion.
v. Follower to dwell for remaining time period.
Also determine the maximum velocity and acceleration during rise and return
stroke. [BL: 6 (Create) – 10M]

4. Design and draw the profile of a cam operating a spherical follower having a
lift of 60 mm. The cam raises the follower with SHM for 250° of the rotation
followed by a period of dwell for 60°. The follower descends for the next 90°
rotation of the cam with uniform velocity, again followed by a dwell period.
The cam rotates at a uniform velocity of 250 rpm and has a least radius of 20
mm. What will be the maximum velocity and acceleration of the follower
during the lift and the return? [BL: 6 (Create) – 10M]

Module – IV

Gear & Gear train

1. Design a gear train for a complicated machinery system. The goal is to achieve
a specific output speed and torque from a given input speed and torque using a
combination of gears. Following are the details:
Input Speed: 500 RPM
Input Torque: 100 Nm
Desired Output Speed: 200 RPM
The available gears are with the following numbers of teeth:
Gear A: 20 teeth, Gear B: 30 teeth, Gear C: 40 teeth, Gear D: 50 teeth. Design
the train to achieve the desired output speed and torque while maintaining
smooth and efficient operation. [BL: 6 (Create) – 10M]
2. Consider a gear train consisting of two gears, i.e. Gear A and Gear B. Gear A
has 20 teeth, and Gear B has 40 teeth. Gear A is the driving gear, and Gear B is
the driven gear. The input speed (ωA) of Gear A is 200 RPM in the clockwise
direction. Evaluate the following:
i. Output speed (ωB) of Gear B in RPM.
ii. Gear Ratio (GR) of the gear train.
iii. Direction of rotation of Gear B (clockwise or counterclockwise). [BL: 5
(Evaluate) – 5M]

Module – V

Balancing of Rotating and Reciprocating Masses

1. A shaft is supported in bearings 1.8 m apart, with each end projecting 0.45 m
beyond the bearings. The shaft carries three pulleys: one at each end and one at
the middle of its length. The end pulleys have masses of 48 kg and 20 kg, with
their centres of gravity at 15 mm and 12.5 mm, respectively, from the shaft
axis. The centre pulley has a mass of 56 kg, with its centre of gravity at 15 mm
from the shaft axis. The pulleys are arranged for static balance. Evaluate the
followings:
i. Relative angular positions of the pulleys.
ii. Dynamic forces produced on the bearings when the shaft rotates at 300
RPM. [BL: 5 (Evaluate) – 5M]

Module – VI
Flywheel and Gyroscope

1. A single cylinder 4 stroke gas engine develops 18.4 KW at 300 rpm with work
done by the gases during the expansion being 3 times the work done on the
gases during compression. The work done during the suction & exhaust strokes
is negligible. The total fluctuation of speed is 2% of the mean. The turning
moment diagram may be assumed to be triangular in shape. Analyze the system
to find the mass moment of inertia of the flywheel. [BL: 4 (Analyze) – 5M]
2. A multi cylinder engine is to run at a speed of 600 rpm. On drawing the turning
moment diagram to a scale of 1mm = 250 Nm & 1 mm = 30 Nm, the areas
above & below the mean torque line are +160, -172, +168, -191, +197, -162
mm2 respectively. The speed is to be kept within ±1% of the mean speed.
Density of Cast iron flywheel=7250 kg/mm 3 and hoop stress is 6 MPa.
Assuming that the rim contributes to 92% of the flywheel effect, evaluate the
dimensions of the rectangular cross section of the rim assuming width to be
twice the thickness. [BL: 5 (Evaluate) – 10M]
3. The rotor of the turbine of a ship has a mass of 2500 kg and rotates at a speed of
3200 rpm counter-clockwise when viewed from stem. The rotor has radius of
gyration of 0.4 m. Evaluate the gyroscopic couple and its effect when:
i. the ship steers to the left in a curve of 80-m radius at a speed of 15 knots
(1 knot = 1860 m/h)
ii. the ship pitches 5 degrees above and 5 degrees below the normal position
and the bow is descending with its maximum velocity—the pitching
motion is simple harmonic with a periodic time of 40 seconds
iii. the ship rolls and at the instant, its angular velocity is 0.4 rad/s clockwise
when viewed from stern
Also, find the maximum angular acceleration during pitching. [BL: 5
(Evaluate) – 10M]

Module – VII
Mechanical Vibration

1. Consider a simple pendulum with a length (L) of 1.5 meters and a mass (m) of
0.5 kg. The pendulum is displaced by an angle (θ) of 10 degrees from the
vertical equilibrium position and then released from rest. Evaluate the following
using the energy method:
i. Total mechanical energy of the pendulum at the initial position (θ = 10
degrees).
ii. Maximum angular velocity (ωmax) of the pendulum during its motion.
iii. The total mechanical energy of the pendulum at the maximum angular
velocity. [BL: 5 (Evaluate) – 10M]
2. A single-degree-of-freedom (SDOF) system comprising a mass m = 2 kg, a
spring with stiffness k = 100 N/m, and a damper with damping coefficient c = 5
Ns/m is subjected to a harmonic external force F(t) = F_0 sin(ωt), where F_0 =
10 N and ω = 8 rad/s. The mass is initially at rest at its equilibrium position
(x(0) = 0) and has an initial velocity of v(0) = 0.
i. Derive the equation of motion (differential equation) governing the
system's response x(t).
ii. Analyze the dimensions and units of all terms in the equation.
iii. Determine the steady-state response x_ss(t) of the system, including its
amplitude and phase lag relative to the forcing function.
iv. Explain the physical significance of the amplitude and phase lag.
v. Discuss the factors that influence the amplitude and phase lag of the
response, focusing on how they change with the system's parameters (m,
k, c, F_0, ω). [BL: 4 (Analyze) – 10M]