QUESTION AND ANSWER

1. Define Machine.
A machine is a device which receives energy in some available form and
utilizes it to some particular type of work.

2. Define Theory of Machines.

Theory of Machines deals with the study of relative motion between the
various parts of a machine and the forces which act on them.

3. Define Kinematics of Machines.

It deals with the relative motion between the parts neglecting the forces
which are responsible for producing these motions.

4. Define Dynamics of Machines.

It deals with the study of forces acting on the parts of a machines.

5. Define statics.
It deals with the study of forces which act on the various parts of
machines provided the parts must be in the position of rest

6. Define kinetics.
It deals with the inertia forces due to mass mass and motion
considerations.

7. Define Rigid Body.

It may be defined as a body which can retain its shape and size, when
subjected to some external forces. In actual practice, no body is perfectly
rigid, but for simplicity we can take the solid bodies as rigid bodies.

8. Define Resistant bodies.

A resistant body is that which does not suffer appreciable distortion or
change in physical form by forces acting on it. Some flexible bodies like
belts, ropes and chains etc. may be treated as resistant bodies.

9. Define Kinematic Link.

Each part of machine which moves relative to other is called kinematic
link or element. A link or an element may consist of a number of parts
connected in such a way that they form one unit and have no relative
motion with each other. For example, piston, piston rod and cross-head of
steam engine constitute one unit and will be taken as one link or element.

10.Name different types of links

 1. Rigid link
2. Flexible link
3. Fluid link

11.Define Rigid link

A rigid link is one which does not undergo any deformation while
transmitting motion. In actual practice, no link is perfectly rigid, but as
deformation is negligible, they can be considered as rigid.

12.Define Flexible Link

A flexible link is that which, while transmitting motion, is partly deformed
in such a manner that transmission of motion is not affected. Such a link
transmits motion in one direction only (push or pull). Examples are belts,
ropes, springs, chains etc.

13.Define Fluid Link.

It is formed by having fluid in  a receptacle and motion is transmitted
through the fluid b pressure or compression. Examples are hydraulic jacks,
Hydraulic presses etc.

14.Define Structure.
It is an assembly of a number of resistant bodies having no relative motion
between them and meant to take up loads having straining action.
Examples are Roof trusses, bridges, buildings etc.

15.Define frame.
It is a structure which supports the moving parts of a machine.

16.Define Kinematic Pair.

A pair is formed when there is a contact between the two links of a
machine and there is relative motion between the two links. The relative
motion between the two links must be completely or successfully
constrained to make a required pair.

17.Define completely constrained motion.

When the motion between a pair is in a definite direction irrespective of
the direction of the applied force, such motion is known as completely
constrained motion. For example,  the motion of piston in a cylinder of an
internal combustion engine takes place in a definite direction and is
therefore a completely constrained motion.

18.Define incompletely constrained motion.

When the motion between a pair takes place is more than one direction,
such motion is known as incompletely constrained motion. Example a
circular bar moving in a circular hole.
19.Define partially constrained motion.
 When the constrained motion between a pair is not completed by itself,
but by some other means, such motion is known as partially of
successfully constrained motion. Example, the shaft in the footstep
bearing.

20.Define Lower Pair.

The kinematic pair which has surface contact between its links while
transmitting motion is known as lower pair. For example, a shaft revolving
in a bearing, piston reciprocating in the cylinder of an IC engine.

21.Define Higher Pair.

The kinematic pair which has point or line contact between its links while
transmitting motion is known as higher pair. For example cam and
follower pair, ball and roller bearings.

22.Define open pair.

When two links of a kinematic pair are not held together mechanically, but
remain in contact with each other under the action of  force of gravity or
some spring action, then such a pair is called an open pair. e.g., cam and
follower as shown in figure are in contact due to force of gravity and the
forces exerted by the spring.

23.Define closed pair.

When two links of a kinetic pair are held together mechanically, in such a
manner that only the required type of relative motion occurs, they are
called closed pair. All lower pairs and some higher pairs are closed pairs.
Example : enclosed cam and follower makes a closed pair.

24.Define sliding pair.

When two links of a kinematic pair are connected in a such a way that one
link slides relative to another, the pair is called a sliding pair. As a sliding
pair has surface contact between its links, so it is kind of lower pair. The
Rectangular rod in a rectangular hole as shown in figure can be said as
sliding pair if the two are having  sliding motion relative to each other

25.Define turning pair

 When two links of a kinematic pair are connected in such a way that one
link can only turn or revolve about the fixed axis of another link, the pair is
called a turning pair. e.g., a shaft revolving in a bearing with the collars at
both the ends as shown in the figure.

26.Define rolling pair

When two links of a kinetic pair are connected in such a way that one link
rolls on another link, the pair is called a rolling pair. e.g., balls rolling in the
bearing, wheel rolling on the surface of the earth,are the examples of the
rolling pair.

27.Define screw pair

When two links of a kinematic pair is connected in such a way that they
have turning as well as sliding motion relative to each other. One turns
about the another link by means of threads, the pair is called the screw
pair. e.g., lead screw of a lathe, another example of screw pair is shown in
the figure below.

28.Define spherical pair.

When two links of a kinematic pair are connected in such a way that one
link in the form of sphere turns or swivels about another fixed link, the pair
is called spherical pair. for this pair the degree of freedom is three which
allows independent relative rotations about the three separate concurrent
axis.  e.g., ball and socket joint.

29.Define kinematic chain

It is a combination of kinematic links in space which are so connected that
the relative motion between the links is completely or successfully
constrained and the last link is connected to the first link. Minimum
number of links to form a kinematic chain are three as shown in the figure
(a) given below. Since no relative motion is possible between these links,
 it forms a structure. So we require four links to form a simplest kinematic
chain as shown in the figure (b).

30.Define mechanism.
Mechanism is basically an assembly of resistant links which are connected
in such a way that they have completely or successfully constrained
relative motion between them. A mechanism can be obtained by fixing
one of the links of a kinematic chain. It can also be defined as the system
of bodies designed to covert the motion of, and the forces on, one or
several bodies into constrained motion of, and the forces on, the other
bodies. When we deal with the mechanism the specific task to which it is
assigned is not important, whether it is a shaping machine or internal
combustion engine. The emphasis is on the motion and force of the
system and they may be applicable on any machine in which the specific
mechanism can be employed.

31.Define equivalent mechanism.

In plane mechanisms, the turning pairs can be replaced by other types of
pairs like sliding pairs etc.
The new mechanism obtained by replacing one kinematic pair with the
other so that the degrees of freedom of the new mechanism are same as
that of original mechanism is called equivalent mechanism.

32.Define inversion of mechanism

A mechanism is obtained by fixing one of the links of a kinematic chain. If
any other link of the mechanism is fixed instead of the original one the
new mechanism so obtained is termed as inversion of the previous
mechanism.

33.Name different types of kinematic chains.

1. Four bar chain or Quadric cycle chain,
2. Single slider crank chain.
3. Double slider crank chain.

34.What is a four bar chain?

It is made up of four rigid links which are connected to form a
quadrilateral by four pin joints as shown in figure.
35.What is the use of crank and lever mechanism?
The mechanism is used for converting rotary motion into reciprocating
motion.
36.What is the use of double crank mechanism?
The mechanism is used to transmit rotary motion of one wheel to another
wheel.

37.What is double lever mechanism?

Figure shows a four bar chain in the form of a parallelogram. The link 1 is
fixed. This is used in pantograph which is a copying device. The exact
motion of any link in the enlarged or reduced scale can be obtained with
the help of this device.

38.What is slider crank chain?

It is a four bar chain having one sliding pair and three turning pairs. This
mechanism is used to convert reciprocating motion of piston into rotary
motion of crank in case of an internal combustion engine or rotary motion
of a crank into reciprocating motion of piston in case of a reciprocating
compressor.

39.Name different types of slider crank chain.

Pendulum pump, oscillating cylinder mechanism, crank and slotted lever
quick return motion mechanism, gnome engine.

40.What is double slide crank chain.

A four bar chain with two turning pairs and two sliding pairs is known as
double slider crank chain. Two die blocks slide along two slots at 90
degree in a frame and the pins P and Q on the die blocks are linked by the
link PQ. Each of the die block forms a turning pair with the link PQ and the
sliding pair with the frame.

41.Name the inversion of double slider crank chain.

1. Elliptical trammel,
2. Oldham’s coupling,
3. Scotch yoke mechanism.

42.What is elliptical trammel?

 An elliptical trammel is a simple mechanism which can race an exact
elliptical path. it is also known as ‘Elliptic Trammel’ or ‘Trammel of
Archimedes’. It consists of two shuttles which are confined (trammelled) to
perpendicular channels or rails, and a rod which is attached to the shuttles
by pivots at fixed positions along the rod.

43.What is Oldham’s coupling?

It is meant for transmission of power from one shaft to another shaft
parallel to each other when the distance between the two axes is small
and variable. The shafts are connected in such a way that if one rotates,
the other shafts rotates at the same speed and in the same direction.

44.Define Kinematic Pair.

Kinematic pair is a joint of two links having relative motion between them. The
types of kinematic pair are classified according to
 Nature of contact. (lower pair, higher pair)
 Nature of mechanical contact. (Closed pair, unclosed pair)
 Nature of relative motion. (Sliding pair, turning pair, rolling pair, screw
pair, spherical pair)

45.Define Kinematic Chain.

When the kinematic pairs are coupled in such a way that the last link is joined
to the first link to transmit definite motion it is called a kinematic chain.
Eq. The crank shaft of an engine forms a kinematic pair with the bearings
which are fixed in a pair, the connecting fod with the crank forms a second
kinematic pair, the piston with the connecting rod forms a third pair and the
piston with the cylinder forms the fourth pair. The total combination of these
links is a kinematic chain. Eq: Lawn mower.

46.What is Grashof law?

The Grashof's law states that for a four-bar linkage system, the sum of the
shortest and longest link of a planar quadrilateral linkage is less than or equal to
the sum of the remaining two links, then the shortest link can rotate fully with
respect to a neighboring link.

47.What is Kennedy theorem? (MI)

The answer is given by Kennedy's theorem. Kennedy's theorem identifies the
fundamental property of three rigid bodies in motion. The three instantaneous centers
 shared by three rigid bodies in relative motion to one another all lie on the same straight
line.

48.What is defect in Davis steering gear?

No any intended/original defect is present in this mechanism, but due to presence of
sliding pairs used for transmitting motion , the mechanism becomes defective/inaccurate
after sometime(sliding pair wears out much faster as compared to turning pairs).

49.Define Degrees of Freedom

It is defined as the number of input parameters which must be independetly controlled in
order to bring the mechanism in to useful engineering purposes.
It is also defined as the number of independent relative motions, both translational and
rotational, a pair can have

50.A particle moves in a straight line according to the relation x=t 3−4 t 2 +3 t Find the
acceleratiDon of the particle at displacement equal to zero.
Diketahui pada pertanyaan tersebut bahwa x=0 . Jadi t 3−4 t 2 +3 t=0 ⇒ t ( t−1 ) ( t−3 )=0. Jadi,
t=0 , 1 ,3 . Dengan demikian akselerasi,
x=t 3−4 t 2 +3 t
dx
=3 t 2−8t +3
dt
d2 x
=6 t−8
d t2
Jadi,
Pada t=0 , a0 =−8
Pada t=1 , a1=−2
Pada t=3 , a3=10

51.A body strats at initial velocity v 0 in a straight line with acceleration as shown
below in the graph. Find the maximum velocity reached
 Luasan bidang dibawah kurva merepresen-tasikan perubahan kecepatan, sehingga
1 1
v max−v 0=a t 0 +a t 0+ ( a t 0 ) + ( 2ax 2t 0 )
2 2
1 9
v max−v 0=2 a t 0+ ( a t 0 ) +2 a t 0= ( a t o )
2 2
9
v max=v 0 + ( a t o )
2

52.A particle moves in a straight line with acceleration described by equation given
v 20
below a=mx− . If the initial velocity and displacement are ( v 0 , 0 ) and at any
x0
time t 0 velocity and displacement are ( 0 , x 0 ) the value of constant m is

v 20
a=mx−
x0
dv dv dx dv
Now a= = =v
dt dx dt dx
2
dv v
v =mx− 0
dx x0
v 20
(
vdv= mx−
x0
dx )
0 x0
v 20
∫ vdv=∫ mx−
v0 0
( x0) dx

−v 20 m x 20 2
= −v0
2 2
¿
v 20
m= 2
x0

53.A boat moves with the stream of water from point A and B and it return back
with the same speed. Velocity of boat relative to water is η times the velocity of
the water. Velocity of the water is 1m/sec. Find out the average speed in the
whole iternary
 Ketika kapat bergerak dari A menuju B, kecepatan boat = η+1. Misalkan t 1 menjadi waktu yang
AB
dibutuhan, maka η+1= . Demikian pula ketika boat bergerak dari titik B ke A, kecepatan dari
t1
AB
boat = η−1. Misalkan t 2 merupakan waktu yang diperlkan, maka η−1= . Dengan demikian
t2
2 AB
kecepatan rata-rata = . Dengan memasukkan nilai diatas, maka kecepatan rata-rata =
t 1 +t 2
η2−1
54.A soccer player kicks a ball so that the ball leaves the ground at an angle of 35
degrees above the horizontal and lands on the ground 25 meters away.
Determine the speed at which the ball left the ground.
In this problem we have motion of projectile. It starts at the ground level and ends at the
ground level. To solve the problem we can use an expression for the distance traveled in
horizontal direction in terms of initial speed and launch angle (see figure)

v 2i sinθ
d=
g
We know distance, d=25 m,launch angle θ=35o, free fall acceleration, g=9,8 m/s 2. We
substitute these values in the above equation and obtain

v 2i sin 350
25=
9.8
From this expression we can find the initial speed

25∗9.8
vi =
√ sin 350
=20.7 m/ s

55.Brakes applied to a car produce a uniform retardation of 0.9 m/s 2. If the car was
travelling with a velocity of 27 m/s, what distance will it cover before coming to
rest?
In this physics problem we have motion with constant deceleration - constant negative
acceleration. The direction of acceleration is opposite to the direction of motion and the
car is slowing down. It is convenient to choose the coordinate system is a such way that
the initial position of the car is zero. Then the main equations which describe this motion
are the following.
 a t2
x ( t )=v initial .t +
2
v ( t )=v initial+ at

v 2 ( t )−v 2initial =2 ax (t)

We know the initial velocity of the car. It is vinitial =27 m/s . The acceleration of the car is
also given in the problem. But we need to be careful to use the correct sign for
acceleration. It is given in the problem that the acceleration is 0.9 m/s 2 and the car is
slowing down. It means that the acceleration is negative and in the above equations we
need to substitute the following value for acceleration

a=−0.9 m/s 2
With the known values for velocity and acceleration, we can rewrite the above equations
as

x ( t )=27 t−0.45t 2
v ( t )=27−0.9 t

v 2 ( t )−272=−1.8 x (t )
The final point is the point at which the car stops. It means that at the final point the
velocity of the car is zero. We substitute this value in the equations and obtain

x ( t )=27 t−0.45t 2
0=27−0.9 t

0−272=−1.8 x (t)
We can see that we can easily find distance travelled from the last equation
2
27
x ( t )= =405 m
1.8

56.A particle has velocity ⃗v =i⃗ + 2 ⃗j+ 3 ⃗k and its acceleration is a⃗ =i⃗ −2 ⃗j at that moment
of time. Find the rate of change of particle’s speed.

To solve this problem it is convenient to use the following relation

Which means that the dot product of particle’s velocity and the same particle’s velocity is
equal to the square of the particle’s speed (magnitude of the velocity). Now we calculate
the time derivative of both sides of this relation

Or
 ..................................................(1)
The time derivative of velocity is acceleration

Then equation (1) becomes

If we divide both sides of this relation by speed ( v ), we can find the rate of change of the
particle’s speed

With the know components of velocity and acceleration we can find the dot product of
velocity and acceleration and we can also find the speed of the particle:

Then the rate of change of particle’s speed is