Theory of Machines Department of Mechanical Engineering Kathmandu University

Chapter 2 Cams

A cam is an irregular-shaped machine member which serves as a driving link and which imparts
motion to a driven link called the follower, which either rolls or slides on the driver. Cams are
very important mechanisms because they provide the simplest means of achieving almost any
desired follower motion.

1.1 Types of Cams

Some of the most common types of cam are as following:

1. Disk Cams
2. Translation Cams and
3. Cylindrical Cams

(a) Disk Cams (b) Translation Cams (c) Cylindrical Cams

Figure 1: Types of Cams

1.2 Types of Followers

Some of the most common types of cam followers based on shape of followers are as follows:

1. Knife-edge follower
2. Roller follower
3. Flat-faced follower

(a) Knife-edge follower (b) Roller follower (c) Flat-faced follower

Figure 2: Types of cam follower

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Some of the most common types of cam followers based on motion of followers are as
follows:

1. Translating follower
2. Oscillating follower

(a) Translating follower (b) Oscillating follower

Figure 3:Types of cam follower

1.3 Cam Profiles

The surface of cam which comes into contact with follower is known as cam profile. The
fundamental basis for drawing the cam profile is that the cam is assumed to be stationary and
the follower is moving around the cam to develop the cam profile. This is called the principle of
kinematic inversion.

The selection of the type of motion to be used for a cam follower depends on the speed of the
cam, the noise and vibration permissible, and life expectancy. When operating speed is low,
selection of the motion (i.e. section 1.4, 1.5 and 1.6) is not critical.

Figure 3: Radial cam and roller follower

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Base Circle: The smallest circle drawn from the center of rotation of cam forming the part of
cam profile is known as base circle. The radius of his circle is called the least radius of the cam.
In figure 3, OA = r1 is the least radius of cam on which the size of cam depends.

Trace Point: It is a reference point on the follower to make pitch curve. In case of knife edge
follower it is located at knife edge itself and in case of roller follower it is located at the roller
center.

Cam Angle: It is the angle of rotation of the cam for a definite displacement of the follower.

Pitch Curve: It is the path of trace point assuming that the cam is fixed and the follower moves
around it.

Prime Circle: It is the smallest circle that can be drawn from the cam center and tangent to the
pitch curve. For a knife-edge and a flat face follower, the prime circle and the base circle are
identical. For a roller follower, the prime circle is larger than the base circle by the radius of the
roller.

Pressure Angle: It is the angle between the normal to the pitch curve and line of motion of the
follower. This angle is very important in the design of cam. Its maximum value is about 30°. It is
denoted by symbol ɸ. If the value of ɸ exceeds 30°, a reciprocating type of follower will jam in
the bearings. It depends upon angle of ascent, lift of follower, follower motion, offset, etc.

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Lift of Follower: It is the maximum displacement of the follower from the base circle of the cam.
It is also called the stroke of the follower.

Angle of Ascent, Dwell, Descent and Action:

Figure 4: Cam profile

Refer to figure 4, the angle of rotation of cam from the position when the follower begins to rise
till it reaches its highest position, is known as angle of ascent. It is represented by θa here. In the
figure AOB is the angle of ascent. It is also known as out stoke. Follower starts lifting upwards
from point A to point B.

Though cam rotates from B to C but there is no change in the position of follower as can be
seen in figure 4. This is known as dwell.

From C to D cam rotates and the follower comes downwards. This is known as angle of descent
(θd) or return stroke. In this position, follower falls from the highest position to the lowest
position. This total angle covered by the cam during its rotation is known as angle of action of
cam. Again from D to E rotation of cam there is dwell.

1.4 Graphical Methods for SHM (Cosine acceleration motion curve)

Thus it is very important when choosing a displacement curve to ensure that the velocity and
acceleration curves are continuous at all times.

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Since the acceleration is positive during the first half of

the rise and negative during the second half of the rise,
a cosine curve between 0 to π can be used as the
acceleration curve in the rise, as shown in figure 5. The
velocity curve and the displacement curve can be
created by integration of the acceleration curve. We can
see that although the motion curve avoids the sudden
reverse of acceleration at the middle-point of the travel,
the acceleration will still change abruptly at the
beginning and end points. That would produce soft
impulse. So this motion curve can be used only for low
and intermediate speed cams. Figure 5: SHM motion

1.5 Cycloid Motion Curve (Sine acceleration motion curve)

Since the acceleration is positive during the
first half of the rise and negative during the
second half of the rise, a sine curve between 0
to 2π can be used as the acceleration curve in
the rise as shown in figure 6.

Figure 6: Cycloid motion curve

Q. Explain with the help of velocity and acceleration diagrams why cycloidal profile is
preferred over S.H.M. profile for cams used in high speed applications?

Velocity and acceleration diagrams for cycloidal and S.H.M. profiles are shown in figure 5 and 6.

1.6 Graphical Methods for Uniform Acceleration and Retardation

In this type of motion curve, the follower is given a constant acceleration during the first half of
the rise and a constant deceleration during the second half of the rise. The velocity curve and
displacement curve can be created by integration of the acceleration curve as shown in figure 7.

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At the beginning of the rise, acceleration changes from zero to

a constant positive value in zero time. There are two more
abrupt changes in the acceleration of the follower, at the
midpoint and the end of the rise. An abrupt change in the
acceleration causes an abrupt change in the inertia force.
Since every link in a cam mechanism has elasticity, an abrupt
change in the magnitude and/or direction of inertia force would
initiate undesired vibration, which is called a soft impulse.
Therefore this motion curve is not satisfactory for high speed
operation. However, because of the lower maximum
acceleration compared with other motion curves, this motion Figure 7: Uniform acceleration
curve can be used for low and intermediate speed cams. and retardation

1.7 Pressure angle (ɸ)

Shown in figure 8, is a plate cam with translating roller
follower. Ignoring friction, the force F exerted by the cam on
the follower is along the common normal. The acute angle
between the line of travel of the follower and the normal to
the pitch curve at the roller center is the pressure angle ɸ of
the mechanism at this position. The larger the value of the
pressure angle the larger the side-thrust. If the side-thrust is
too large, the follower may jam in the guide way.
The pressure angle (ɸ) is the angle between the direction of
motion (v) of the follower and the direction of the axis of
transmission.
It is important to note that, FSin(ɸ) gives the side force and
FCos(ɸ) contributes on the translation motion of the follower
in figure 8. If the side force is large, then it has high
probability to jam the motion of the follower.

Figure 8: Cam pressure angle

Allowable pressure angle (ɸ) for cam mechanism

Return in form-closed cam Return in force-closed cam
mechanism or rise mechanism
Translating follower 25° – 35°
70° – 80°
Oscillating follower 35° – 45°

Q. Why does the oscillating follower works more smoothly than the translating follower?

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1.8 Radius of Curvature

Another important factor
affecting cam size and
performance is cam
curvature. The figure 9
shows the cam counter.
For the radius of curvature
in figure 9(a) shows good
cam contour. While cam
contour in figure 9(b) and
9(c) causes high stresses.

Figure 9: Cam counter

1.9 Graphical method of cam design

Displacement, Velocity and Acceleration Diagrams when the Follower
Moves with Uniform Velocity
Q. A cam is to give the following motion to a knife-edged follower: 1. Outstroke during
60° of cam rotation; 2. Dwell for the next 30° of cam rotation; 3. Return stroke during next
60° of cam rotation, and 4. 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. Draw
the profile of the cam when (a) the axis of the follower passes through the axis of the
cam shaft, and (b) the axis of the follower is offset by 20 mm from the axis of the cam
shaft.

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Figure 10: Cam design

First of all, the displacement diagram, as shown in Fig. 10, is drawn as discussed in the
following steps:

1. Draw a horizontal line AX = 360° to some suitable scale. On this line, mark AS = 60° to
represent outstroke of the follower, ST = 30° to represent dwell, TP = 60° to represent return
stroke and PX = 210° to represent dwell.

2. Draw vertical line AY equal to the stroke of the follower (i.e. 40 mm) and complete the
rectangle as shown in Fig. 10.

3. Divide the angular displacement during outstroke and return stroke into any equal number of
even parts (say six) and draw vertical lines through each point.

4. Since the follower moves with uniform velocity during outstroke and return stroke, therefore
the displacement diagram consists of straight lines. Join AG and HP

5. The complete displacement diagram is shown by AGHPX in Fig. 10.

(a) Profile of the cam when the axis of follower passes through the axis of cam shaft

The profile of the cam when the axis of the follower passes through the axis of the cam shaft, as
shown in Fig. 11, is drawn as discussed in the following steps:

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Figure 11: Cam profile inline follower

1. Draw a base circle with radius equal to the minimum radius of the cam (i.e. 50 mm) with O as
center.

2. Since the axis of the follower passes through the axis of the cam shaft, therefore mark trace
point A, as shown in Fig. 11.

3. From OA, mark angle AOS = 60° to represent outstroke, angle SOT = 30° to represent dwell
and angle TOP = 60° to represent return stroke.

4. Divide the angular displacements during outstroke and return stroke (i.e. angle AOS and
angle TOP) into the same number of equal even parts as in displacement diagram.

5. Join the points 1, 2, 3 ...etc. and 0′ ,1′ , 2′ , 3′ , ... etc. with center O and produce beyond the
base circle as shown in Fig. 11.

6. Now set off 1B, 2C, 3D ... etc. and 0′ H,1′ J ... etc. from the displacement diagram.

7. Join the points A, B, C,... M, N, P with a smooth curve. The curve AGHPA is the complete
profile of the cam.

Notes: The points B, C, D .... L, M, N may also be obtained as follows:

1. Mark AY = 40 mm on the axis of the follower, and set of Ab, Ac, Ad... etc. equal to the
distances 1B, 2C, 3D... etc. as in displacement diagram.

2. From the center of the cam O, draw arcs with radii Ob, Oc, Od etc. The arcs intersect the
produced lines O1, O2... etc. at B, C, D ... L, M, N.

(b) Profile of the cam when the axis of the follower is offset by 20 mm from the axis of the
cam shaft

The profile of the cam when the axis of the follower is offset from the axis of the cam shaft, as
shown in Fig. 12, is drawn as discussed in the following steps:

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Figure 12: Cam profile offset follower

1. Draw a base circle with radius equal to the minimum radius of the cam (i.e. 50 mm) with O as
center.

2. Draw the axis of the follower at a distance of 20 mm from the axis of the cam, which
intersects the base circle at A.

3. Join AO and draw an offset circle of radius 20 mm with center O.

4. From OA, mark angle AOS = 60° to represent outstroke, angle SOT = 30° to represent dwell
and angle TOP = 60° to represent return stroke.

5. Divide the angular displacement during outstroke and return stroke (i.e. angle AOS and angle
TOP) into the same number of equal even parts as in displacement diagram.

6. Now from the points 1, 2, 3 ... etc. and 0′,1′, 2′,3′ ... etc. on the base circle, draw tangents to
the offset circle and produce these tangents beyond the base circle as shown in Fig. 12.

7. Now set off 1B, 2C, 3D ... etc. and 0′ H,1′ J ... etc. from the displacement diagram.

8. Join the points A, B, C ...M, N, P with a smooth curve. The curve AGHPA is the complete
profile of the cam.

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Displacement, Velocity and Acceleration Diagrams when the

Follower Moves with Uniform Acceleration and Retardation
The displacement diagram when the follower moves with uniform acceleration and retardation
are shown in Figure below. We see that the displacement diagram consists of a parabolic curve
and may be drawn as discussed below:

1. Divide the angular displacement of the cam during outstroke (θ0 ) into any even number
of equal parts (say eight) and draw vertical lines through these points as shown in
Figure.
2. Divide the stroke of the follower (S) into the same number of equal even parts.
3. Join Aa to intersect the vertical line through point 1 at B. Similarly, obtain the other points
C, D etc. as shown in Fig. 20.8 (a). Now join these points to obtain the parabolic curve
for the out stroke of the follower.
4. In the similar way as discussed above, the displacement diagram for the follower during
return stroke may be drawn.

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Displacement, Velocity and Acceleration Diagrams when the

Follower Moves with Simple harmonic motion
The displacement, velocity and acceleration diagrams when the follower moves with simple
harmonic motion are shown in figure below. The displacement diagram is drawn as follows:

1. Draw a semi-circle on the follower stroke as diameter.

2. Divide the semi-circle into any number of even equal parts (say eight).
3. Divide the angular displacements of the cam during out stroke and return stroke into the
same number of equal parts.
4. The displacement diagram is obtained by projecting the points as shown in figure below.

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Displacement, Velocity and Acceleration Diagrams when the

Follower Moves with Cycloidal Motion

Q. Draw the profile of the cam when the roller follower moves with cycloidal motion
during out stroke and return stroke, as given below:
1. Out stroke with maximum displacement of 31.4 mm during 180° of cam rotation
2. Return stroke for the next 150° of cam rotation,
3. Dwell for the remaining 30° of cam rotation.
The minimum radius of the cam is 15 mm and the roller diameter of the follower is 10
mm. The axis of the roller follower is offset by 10 mm towards right from the axis of cam
shaft.

First of all, the displacement diagram, as shown in Fig. 13, is drawn as discussed in the
following steps:

Figure 13: Cam displacement flower

1. Draw horizontal line ASP such that AS = 180° to represent the out stroke, SN = 150° to
represent the return stroke and NP = 30° to represent the dwell period.

2. Divide AS and SN into any number of even equal parts (say six).

3. From the points 1, 2, 3 . . . etc. draw vertical lines and set-off equal to the stroke of the
follower.

4. From a point G draw a generating circle of radius,

Stroke 31.4
r= = =5 mm
2π 2π

5. Divide the generating circle into six equal parts and from these points draw horizontal lines to
meet the vertical diameter at a′ , G and b′ .

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6. Join AG and GN. From point a′ , draw lines parallel to AG and GN to intersect the vertical
lines drawn through 1, 2, 4′ and 5′ at B, C, L and M respectively. Similarly draw parallel lines
from b′ intersecting the vertical lines through 4, 5, 1′ and 2′ at E, F, H and J respectively.

Figure 14: Cam with offset roller follower

7. Join the points A, B, C . . . L, M, N with a smooth curve.

8. The curve A B C . . . L M N is the required displacement diagram.

Now the profile of the cam is shown in Fig. 14. The profile can be drawn in similar fashion to that
of figure 12.

1.10 References
1. Kinematics and Dynamics of Machines – George H. Martin
2. Theory of Machines – 5th Edition, V.P. Singh
3. Theory of Machines - R.S. Khurmi
4. Mechanisms and Machine Theory – Ye Zhonghe, Lan Zhaohui and M.R. Smith

1.11 Practice Problems

a. A disc cam is to give uniform motion to a knife edge follower during out stroke of 50 mm
during the first half of the cam revolution. The follower again returns to its original position
with uniform motion during the next half of the revolution. The minimum radius of the cam is
50 mm and the diameter of the cam shaft is 35 mm. Draw the profile of the cam when

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(i) The axis of follower passes through the axis of cam shaft, and
(ii) The axis of follower is offset by 20 mm from the axis of the cam shaft.

b. A disc cam rotating in a clockwise direction is used to move a reciprocating roller with simple
harmonic motion in a radial path, as given below :
(i) Outstroke with maximum displacement of 25 mm during 120° of cam rotation,
(ii) Dwell for 60° of cam rotation,
(iii) Return stroke with maximum displacement of 25 mm during 90° of cam rotation, and
(iv) Dwell during remaining 90° of cam rotation
The line of reciprocation of follower passes through the camshaft axis. The maximum radius
of cam is 20 mm. If the cam rotates at a uniform speed of 300 r.p.m. find the maximum
velocity and acceleration during outstroke and return stroke. The roller diameter is 8 mm.
Draw the profile of the cam when the line of reciprocation of the follower is offset by 20 mm
towards right from the cam shaft axis.

c. A cam with 30 mm as minimum diameter is rotating clockwise at a uniform speed of 1200

r.p.m. and has to give the following motion to a roller follower 10 mm in diameter:
(i) Follower to complete outward stroke of 25 mm during 120° of cam rotation with equal
uniform acceleration and retardation;
(ii) Follower to dwell for 60° of cam rotation;
(iii) Follower to return to its initial position during 90° of cam rotation with equal uniform
acceleration and retardation;
(iv) Follower to dwell for the remaining 90° of cam rotation.
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 outstroke and return stroke and
also the uniform acceleration of the follower on the out stroke and the return stoke.

d. A cam rotating clockwise at a uniform speed of 200 r.p.m. is required to move an offset roller
follower with a uniform and equal acceleration and retardation on both the outward and
return strokes. The angle of ascent, the angle of dwell (between ascent and descent) and
the angle of descent is 120°, 60° and 90° respectively. The follower dwells for the rest of
cam rotation. The least radius of the cam is 50 mm, the lift of the follower is 25 mm and the
diameter of the roller is 10 mm. The line of stroke of the follower is offset by 20 mm from the
axis of the cam. Draw the cam profile and find the maximum velocity and acceleration of the
follower during the outstroke.

1.12 Theory Questions

a. Compare the advantages and the disadvantages of cam mechanisms and linkage mechanisms.
b. Why a roller follower is preferred to that of a knife-edged follower?
c.

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