See ribed reo CTT Pea Pe Cm Cur rs 1p U of i aL Drei Machines AAA ey MeV |3010 Od87F. Prescribed Reference Book By VTU for V Semester Mechanical /IP/AU/IM /MA r Dynamics of | Machines As per the New Syllabus of VTU MISTE,, Professor (Visiting), Department of Mechanical Engineering, Sambhram Institute offechnology, Bangalore - 560 097 3rd Main Road, Gandhinagar, Bangalore - §60 009 Ph: 40114455Dynamics of Machines - For V Semester B.E. Students by J.B.K. Das & PLL. Srinivasa Murthy and published by Sapna Book House (P) Ltd., R.O. #11, 3° Main Road, Gandhinagar, Bangalore-560009 Ph: 080-40114455 (Engg. - 144] ISBN : 978-81-280-09 11-2 © Authors No part ofthis publication which is material protected by this copyright notice may be reproduced or transmitted or utilized or stored in any form or by any means now known or hereinafter invented, electronic, digital or mechanical including photocopying, scanning, recording or by any information storage or retrieval system, without prior written permission from the publisher”. “Copying of the book and selling it after photocopying or reselling it a second hand book i illegal and is not allowed. under the copyright act” This book is sold subject to the condition that it shall not, by way of trade or otherwise, be lent, hired out, or otherwise circulated without the publisher’s prior written consent. First Edition : Aug., 2008 IRevised & Enlarged Edition : Aug., 2009 Ii Revised & Enlarged Edition : July., 2010 Reprint : Sept., 2010 III Revised & Enlarged Edition : July., 2011 Pages : vili + 541 No. Of Copies : 1000 : Paper Used : 11.2 Kg (58 gsm) Deluxe Maplitho ee Book Size 1/4" Crown US Plo Darou Li. eral SS esse, szzog03 2. Jaico Book House, Bangalcr. GN Pn: 20067016, 22257088 9. Palas Sahipe, ange L.BiARY \ Ph 2225080, 22871080 4. Si Ba Sots and Stet, OY) Pa: azzozs, srazzin 2 scar ao oa noSlQO2BE) Sa 6. Vaya genie, Hak SRA ame No, men) Of a ee ee one momma) ee 8 School Book Co,, Mangalore. Ab Ph: 2496908 2 Si Sexanpsware Baek Dope Guba Jo in seen, 22000 Ao evaktie scr Stover ‘+ KORAMANGALA, 208 Bed, 7 Bc, sgaoes "NE mh: ectosco {INDANAGAR, Op. CrnmayaKrsia Tenpl, B2AG1. Ph atin + JAYANAGAR, 4” Block., Bangalore. Ph. : (080) 41307322 4 SADASHIVNAGAR, Note Bhstyam Cie, Bangalore. Ph 0) 204644 145 4 SORE, Navayen Shanty Ree, Devrale otal Ph ee anos IR LAST PAGES ‘Typesetting and Cover Design by @araunk Bangalore [email protected] Printed at : Poornima Printers, Bangalore.DEDICATED To our beloved Founder Chairman G.E.F. Late Sri M.S. Ramaiah To our beloved Former Professor and Head of the Department of Mechanical Engg. Late. Sri N. Krishna Reddy & Dearest Students Authors J.B.K.Das PLSnT) eS) <= Le Li x a8 In spite of many good books available on the subject Theory of Machines in general, authors have made an attempt to bring out a book titled“Dyanamics of Machines” exclusively for the fifth semester B.E. Mechanical of Visveswaraiah Technological University forthe benefit of the students of this University in particular. ‘Any way this book can also be used by Students of other Universities, Autonomous institutions, AMIE, ete, as the syllabus covered is almost same. With the encouragement and support we received from the students and staff members of V.T.U in particular and other Universities in general for our books Kinematics of Machines and Design of Machine Elements - |, we are pleased to bring out this book Dynamics of Machines by making all the necessary and ‘modifications in our previous book titled Theory of Machines - II to suit the revised syllabus. This book can also be used by all Universities and Autonomous Institutions as the syllabus prescribed is almost same. We sincerely thank Dr. M.R. Jayaram, Chairman, Gokula Education Trust, Sri M.R. Seetharam, Vice Chairman, Gokula Education Trust and Director of MSRIT, Sri M.R. Ramaiah, Secretary, Gokula Education Trust, Sri. R. Venkatesh B.E., M..E, Founder and Chairman, Sambhram Group of Institutions, Sri. V. Nagaraj B.E., Vice-Chairman, Sambhram Group of Institutions for having provided conducive and best working facilities in the institution. We express our sincere thanks to Dr. K. Rajanandam, Principal, MSRIT, Dr. P. Shivananda, Principal, SalT, Dr. M.K. Muralidhara, Prof. and HOD of Mechanical Engineering, MSRIT, Prof. M.N. Shankar, HOD of Mechanical Engineering, SalT, Dr. B.S. Reddappa, Professor, Department of Mechanical Engineering, MSRIT, along with our departmental colleagues (both teaching and non teaching) who have extended their excellent support, continuous ‘encouragement and valuable suggestions while writing this book. We are really happy to be associated with Sri Nitin. S. Shah and Sri Deepak S. Shah of Ws Sapna Book House, sole publishers of all our books without compromising in quality and encouraging us all the time to bringing out the best in us. Hence we express our heartfelt thanks to them and to their family members. Without the splendid work by M/s Data Link, we could not have achieved the quality, clarity and quantity of this book, hence we express our sincere thanks to them. We will be failing in our duties if we don't thank our family members, Mrs. Sudha Das M.Sc., Reader, M.S. Ramaiah Arts and Science College, Prashant B., Mrs. Linda Prashant, Jeyanth B.K., Nishit. B., Smt. B.N.Sarada Srinivasa Murthy M.Tech, Sr. Lecturer, Mech Dept. BMSCE, Abhigna.S, Vishal Venkata Achuth S.. for their continuous support, lots of patience and everlasting encouragement in bringing out this book. Finally we would like to thank God Almighty for giving us the strength, courage and determination to complete this work successfull. Das & P.L.S.DYNAMICS OF MACHINES Sub Code : O6MES3 IA Marks: 25 Hrs/Week : 04 Exam Hours : 03 Total Lecture Hrs. : 52 Exam Marks : 100 PART-A 1. Static Force Analysis : Static force analysis: Introduction: Static equilibrium, Equilibrium of two and three force members. Members with two forces and torque, Free body diagrams, principle of virtual work. Static force analysis of four bar mechanism and slider - crank mechanism with and without friction. 06 Hrs v Dynamic Force Analysis : D'Alembert's principle, Inertia force, inertia torque, Dynamic force analysis of four - bar mechanism and slider crank mechanism. Dynamically equivalent systems, Turning moment diagrams and Flywheels, Fluctuation of Energy. Determination of size of flywheels. 06 Hrs 3. Friction and Belt Drives : Definitions : Types of friction: laws of friction, Friction in pivot and collar bearings. Belt drives: Flat belt drives, ratio of belt tensions, centrifugal tension power transmitted. 08 Hrs 4. Balancing of Rotating Masses : Static and dynamic balancing, Balancing of single rotating mass by balancing masses in same plane and in different planes. Balancing of several rotating masses by balancing masses in same plane and in different planes. 06 Hrs PART -B 5. Balancing of Reciprocating Masses: Inertia effects of crank and connecting rod, single cylinder engine, balancing in multi cylinder-inline engine (Primary and Secondary forces), V - type engine; Radial engine - Direct and reverse crank method. Balancing of rigid and flexible rotors. 08 Hrs 6. Governors : Types of governors; force analysis of Portor and Hamell governors. Controlling force, stability, sensitiveness; isochronism, effort and power 06 Hrs 7. Gyroscope : Vectorial representation of angular motion, basic definitions, Gyroscopic couple. Effect of gyroscopic couple on ship, plane disc, aeroplane, stability of two wheelers and four wheelers 06 Hrs 8. Analysis of CAMS : Analytical methods for Tangent cam with roller follower and Circular are cam operating flat faced and roller followers. Undercutting in Cams. 06 Hrs.CONTENTS 1. Static Force Analysis 1.1 Introduction, 1.2 Reaction between members dis-regarding friction, 1.3 Transmission of forces, 1.4 Analysis of Engine Mechanism, 15 Analysis of Four - bar Mechanism, 1.6 Principle of Virtual work 2. Dynamic Force Analysis 41-143 2.1 Dynamic Force Analysis, 2.2 Motion and Inertia :, 2.3D' Alembert's Principle, 2.4 Inertia force and Inertia torque, 2.5 Inertia forces on a four-bar Mechanism, 2.6 Inertia forces on a engine Mechanism (slider crank mechanism), 2.7 Engine Force Analysis, 2.8 Kinetically Equivalent System or Dynamically Equivalent System, 2.9 Introduction, 2:10 Turning Moment Diagram [TMD], 2.11 Types of Flywheel, 2.12 Size of Flywheel or Hoop stress developed in a flywheel., 2.13 Important Definitions, 2.14 Relation between £, e,.,. and K, or K, Relationship between ¢,,. K,and J, 2.15 Show that 3 =2 for a flywheel where K, = coefficient of fluctuation of energy and K, = coefficient of fluctuation of speed, 2.16 Neglecting the effect of arms, show that the minimum mass ‘M’ of flywheel required may be expressed in the form., 2.17 Prove that the maximum fluctuations of energy ‘C’ is given by C = 0.02 q E for a flywheel where E = Mean K.E. of flywheel and q = Total percentage fluctuations of speed, 2.18 Flywheel in punch press, 3. Friction & Belt Drives 144-215 3.1 Friction, 3.2 Types of friction, 3.3 Laws of Solid Friction, 3.4 Coefficient of friction, 3.5 Friction Between Sliding Pair, 3.6 Friction between turning pairs, 3.7 Friction in Collarand Pivot [Thrust bearing], 3.8 Belt Drives, 3.9 Initial Tension in the Belt, 3.10 Gravity Roller or Idler Pulley or Jockey pulley, 3.11 Length of open belt drive, 3.12 Length of belt for cross belt drive, 3.13 Angle of contact or Angle of wrap, 3.14 Ratio of belt tensions, 3.15 Effect of Centrifugaltension, 3.16 Power transmitted by belt drive, 3.17 Maximum Power Condition, 3.18 Effect of Initial Tension on Power Transmission, 3.19 V-belts (Triangular belts), 3.20 Rope Drives (Circular belts) 4. Balancing of Rotating Masses 216 - 266 4.1 Why balancing is necessary ?, 4.2 Static and dynamic balancing, 4.2.1 Balancing of single revolving mass in the same plane, 4.2.2 Balancing of single revolving mass in two different planes, 4.2.3 Balancing of several masses in the same plane, 4.2.4 Balancing of Several masses in different planes 5. Balancing of Reciprocating Masses 267 - 332 5.1 Balancing of Reciprocating parts, 5.2 Partial Primary Balancing, 5.3 In-Line Engine, 5.3 In-Line Engine, 5.4 Balancing of V. Engine, 5.5 Direct and Reverse Crank Method of Balancing, 5.6 Balancing Machines 6. Governors 333 - 405 6.1 Introduction, 6.2 Comparison between Functions of Flywheel and Governor, 6.3 Classification of Governors, 6.4 Working Principle of a simple centrifugal Governor, 6.5 Definitions, 6.6 Controlling Force Diagram for Hartnell Governor or Condition For Stability of Spring Controlled Governor, 6.7 Porter Governor, 6.8 Spring Loaded Governors, 6.9 Hartnell Governor 7. Gyroscope 406 - 475 7.1 Introduction, 7.2 Gyroscopic Couple, 7.3 Gyroscopic Effect on Aeroplane, 7.4 Gyroscopic effect on ship, 7.5 Stability of a Two - wheel vehicle, 7.6 Stability of a four wheel drive (automobile) moving in acurved path, 7.7 Stability of a four wheel drive moving in a curved Path [Combined Gyroscopic effect], 8. Analysis of Cams 476-512 8.1 Cams with specified contours, 8.2 Tangent cam with roller follower, 8.3 Circular arc cam with flat faced follower, 8.4 Cam size, 8.5 Undercutting in cams, Additional VTU Problems 513-524 Latest VTU Question Papers 525 - 541I 2 CHAPTER Static Force Analysis 1.1 Introduction Forces in machines arise from various sources. There are forces due to weights of parts, forces of assembly, forces from applied loads and forces from energy transmitted. There are also frictional forces, inertia forces, spring forces, impact forces and forces due to change in temperature. All these forces must be considered in the final design of a machine. In the analysis of static forces acting on machine members, inertia forces are neglected. If the inertia forces are also taken into account, the analysis is called a dynamic force analysis. More often the weights of the parts are small compared to other static forces which are present and hence they are neglected in the static force analysis. Forces in machines are transmitted through various pairs and links. The force transmitted from one link to another is normal to the surfaces in contact if friction is not considered. If the lubrication is proper the friction forces are small and hence neglected. 1.2 Reaction between members dis-regarding friction IVTU, June/July 2009, Dec.09/Jan.10, Dec.2010, June/July 2010] 1.2.1 Equilibrium A body is in static equilibrium if it remains in its state of rest or motion. For static equilibrium, ) DF =0 ii) ZC = 0 ice., sum of all moments of forces about any arbitrary point must be equal to zero 1.2.2 Equilibrium of two-force members ‘A member under the action of any two forces will be in equilibrium if the forces same line, equal in magnitude but opposite in direction as-shown in Fig : 1.1 1.2.3 Equilibrium of three-force members A member under the action of three forces will be in equilibrium if (i) the resultant force is zero and (ii) the lines of action of the forces intersect at a point known as point of concurrancy. A member acted upon by three forces F', F, and F, shown in Fig : 1.2 is in equilibrium as the lines of action of forces intersect at a point 0 and their resultant is zero. sum of all forces a ing on the body must be equal to zero. ct along the2 Dynamics of Machines F, Fig: 12 Fig: 13 In Fig. 1.3 shows the vector diagram of the forces. It is in equilibrium as it is closed. The same three forces acted on the member shown in Fig. 1.4 is not in equilibrium, as the line of action of forces do not intersect at one point Fig. 1:4 1.2.4 Member with two forces and a torque A member under the action of an applied torque and two forces will be in equilibrium if (i) the forces are equal in magnitude but parallel and opposite in direction ii) The couple formed by the equal and opposite forces is in the opposite direction of the applied couple (Torque) and equal in magnitudeStatic Force Analysis 3 1.2.5 Four - force system: Consider a system of four non-parallel forces acting on a body as shown in Fig. 1.5. P is the point of intersection of forces F, and F,, Similarly Q is the point of intersection of forces F, & F,, Now join P to Q The resultant of forces, and F, and the resultant of forces F, and F, must be parallel toPQ F, FB Fig: 15 Assume F, is fully known in magnitude and direction and F,, F, and F, are known in direction with unknown magnitudes. To draw the force polygon, first draw a line ‘oa’ parallel to the line of action of force F, and equal to the given magnitude. From ‘a’ draw a line parallel to the direction of force F, and from 0 draw a line parallel to PQ, to intersect the line of action of F, at'b’. Join 0 to b as shown in Fig : 1.6 Then ab = F, Now from ‘b’ draw a line parallel to the line of action of F, and from o draw a line parallel to line of action of force F,. The intersection of these two lines will give the point ‘c’. Now oc =F, and be = F, Force Polygon Fig: 1.6 1.3 Transmission of forces Consider a pin joint shown in Fig : 1.7. The forces on the pin act normal to its surface and thus their resultant force 'F' passes through the centre of piri. In the piston or slider shown in Fig : 1.8, P and Q are applied forces. Then the resultant force 'F acting normal to the contact surface on the lower surface of the slider must pass through the point of intersection of forces P and Q.a Dynamics of Machines (or) Pp Fig: 1,3.1 Force convention Force applied by link 1 on link 2is denoted by F,,, similarly force applied by link 2 on link 1 is, denoted by F,, and so on. 1.3.2 Free body diagrams ‘The term body used here may be an entire machine or several connected parts of a machine ora single part or a portion of a part. A free body diagram is a sketch or diagram of a part isolated from the mechanism in order to determine the nature of forces acting on it. 1.4 Analysis of Engine Mechanism Fig. : 1.9 shows a slider Crank Mechanism BStatic Force Analysis, 5 A force'P' is applied to the piston and may be assumed to be the resultant of gas pressure. To keep the system in equilibrium a couple or Torque T, is applied on the link 2 through the shaft ata’ Our aim is to find the forces on various links including the couple on link 2. To find these forces and the couple first draw the free body diagrams of each link as shown in Fig: 1.10 Fig: 1.10 Link : 4 Link 4 which has only two unknowns is analysed first. There are three forces acting on link 4. They are (i) Force P which is known in magnitude and direction (ii) F,,is the force, link 3 exerts on 4and it is along BC but unknown in magnitude and (iii) F,,, is the force link 1 exerts on link 4. Itis directed normal to the surface of contact and is unknown in magnitude. The line of action of F,, and P intersect at O. Since the link 4 is in equilibrium, the line of action of F,, must pass through the point 0. The force polygon shown in Fig. 1.11 can be drawn as follows. First draw a line oa equal to 'P’ in the same direction. Now from 'a' draw a line parallel to the line of action of F,,, (i.e., parallel to link BC) and from o draw a line parallel to line of action of F,, (ie., perpendicular to the contact surface) to intersect the line of action of F,, at b. Fig: LU Now ab = F,, and ob = If Pis drawn with a convenient scale, then the magnitudes of F,,and F,, can be scaled from the polygon.6 Dynamics of Machines Link :3 Link 3 is a two force member’ti., F,, and F,,). For equilibrium these two forces must be equal in magnitude but opposite in direction. Fy =F, since F,, is equal and opposite to F,,, Fy = Fy Forces F,, and F,, are equal and opposite Fy, = Fy = Fy, = Fy ‘The forces on Link 3 is as shown in Fig. 1.12 Fig : 1.12 Thus F,, acts downward to the right. Link : 2 Force F,, must be equal and opposite to F,, to balance the forces on link 2 F, n= F. cs However, the two equal, opposite and parallel forces produce a couple which can be balanced only by another couple. ‘Therefore the balancing couple 7, is equal to F,, h, itis clockwise and is the torque which the shaft exerts on crank 2. It is shown in Figure : 1.13Static Force Analysis 7 Example 1.1 : slider crank mechanism is shown in Fig. 1.14 The force applied to the piston is 1000 N when the crank is at 60° from IDC. Calculate the driving torque T,. B AB = 100 mm, BC = 300 mm OOON. Solution : B c Lili A OOUN 1 ES Scale 1:5 AB = 100mm, BC=300mm Fig: 115 P=1000N Fig: L168 Dynamics of Machines ag P=1000N we ° Fig: 117 ForcePolygon scale, lem = 100 N Fy ab x scale = 10.5 x 100 = 1050.N x scale = 3x 100 = 300N Fy Fy F,, = 1050N Fig? 119 . Couple or Torque = T, = F,,xh Step: 1 = 1050 x 95 = 99750 Nmm Draw the given figure to scale 1 : 5 as shown in Fig : 1.15. = 99.75 Nm Step :2 To find the forces and couple, draw the free body diagram of each link as shown in Figure : 1.16 Step :3 Consider link 4. Three forces are acting on it to keep it in equlibrium. They are i) Force P, Parallel to AC with known direction and magnitude. ii) Force F,,, perpendicular to the contact surface Force F,, : Parallel to BC (i., along BC) Step :4 Draw the force polygon with scale, 1 cm = 100 N as shown in Fig : 1.17 i.e., First draw a line oa equal to 1000 N (P) in the same direction. From ‘a’ draw a line parallel to BC and from ‘o' draw a line perpendicular to contact surface to intersect at 'b' Now, F,, = abxscale = 10.5 x 100 = 1050N o F,, = ob x scale = 3 x 100 = 300N Step :5 Consider link : 3 i) F,,and F,, are equal and opposite, ii) F,,and F,, are equal and opposite to keep the link 3 in equilibrium since itis a two force member i.e., Fyand Fy iii) F,, and F,, are equal and opposite Fa = Fy Fy, = 1050 N. Itis shown in Fig. 1.18Static Force Analysis 9 Step:6 Consider link : 2 ‘The crank is acted upon by two forces F,, and F,, and a torque T,. Force F,, must be equal and opposite to F,, to balance the forces on link 2. -. F,, ‘opposite and parallel forces produce a couple in the counter clockwi mn, which can only be balanced by another couple (7;) in the clockwise direction, Since F,, and F,, are equal and opposite F,, = F,, = 1050N. Couple 7, = F, ph (are c. F,, = Fy, The two equal, . = 1050N [his perpendicular distance between the two forces F,, & F,,] = 1050 x95 = 99750. N.mm 99.75 Nm (cw) Itis shown in Figure. 1.19 Example 1.2 Determine the various forces on the links and couple T, shown in the Fig. 1.20 Solution : Step:1 Draw the given Fig. to scale | : 10. Itis shown in Fig. 1.20 Step :2 Draw the free body diagram of link 4 and link 3 as shown in Fig : 1.20 (a) and Fig 1.20 (b) respectively. First consider link 3. Link 3 isa three force member i.e., F,,,Q and F,, Therefore F,,, is not acting along BC. F,, have two components, one along BC and the other perpendicular toBC. Let these components be denoted by F,," and F,," (ie., Normal and tangential) respectively as shown in Fig. 1.20 b. Now find the F,," by the equation of moments ie,Qx = F,'xBC x= 165x10 . 800x165 = F,7x600 = 165mm +. Ft = 220 (upward direction) Step :3 Consider Link 4 Link 4 is in equilibrium under the action of forces F,,’, F,,7, F,,and P. Force F,," is equal and opposite tothat of F,,”. + F,=220 Nice., known in magnitude of direction Force P= 2000 N, known in magnitude and direction F,,Nis along BC ic., direction known F,,"is perpendicular to the contact surface ‘Therefore draw the force polygon as shown in Fig. 1.21 toascale of lem =200N 2000 N in the same direction. ¥ = 220N, perpendicular to BC, downward direction as F7,, is opposite to ice., First draw oa = From ‘a’ draw a line ab =. that of F7,,10 Dynamics of Machines BR Q=800N Fig: 1.20 Scale 1:10 Cua k, Figs 1.20(a) Fig: 1.21 Scale, 1em=200N ig: 1.22 Scale, 1 em=200N Seale 1:10 Fig: 1.24Static Force Analysis " Now from 'b’ draw a Jine parallel to BC and from o draw a line perpendicular to contact surface t6 imersect at'c’ Now, F," = be x scale = 11.2 200 = 2240N F,, = oc xscale = 5x 200 = 1000N F,, = acxscale = 11.25 x 200 = 2250N Step:4 . Again consider link 3. Link 3 is a three force member, They are F,,, Qand F,, F,, and direction as F,, is equal and apposite to that of F,, F,, = F,, = 2250N. For force Q both magnitude and direction are given. Therefore draw the force polygon as shown in Fig. 1.22t0ascale of 1 em =200N. First draw oa parallel to ca but in opposite direction of F,, and equal to 2250 N. From ‘a’ draw ‘ab = 800 N parallel to force Q in the same direction. Now join b too, Force F,, = boxscale. = 13.4200 ‘The three forces on link 3 are shown in Fig : 1.23 known in magnitude 1680. N Step :5 Consider link : 2 ‘The crank is in equilibrium under the action of two forees F,,. F,, and a torque T,, F,, and F,, are equal and opposite - 2680 N F,, and F,, are equal and opposite ”. F,, = 2680 N. The perpendicular distance between those two forces from Fig. 1.24 ish ie. = 2.5 x 10 = 25 cm=0.25 m. ‘The two equal and opposite parallel forces produce a couple in the counter clockwise direction, which can be balanced by another couple (7) in the clockwise direction. ©. Couple, Fy h = 2680 x 0.25 670 Nm (ew) Example 1.3 Determine the various forces and couple T, shown in Fig : 1.25. S= 1000 N12 Dynamics of Machines AB BD 300mm, BC = 600mm 200 mm, AE = 200mm 0 Solution : Steps 1, 2, 3, and 4 are similar to the previous problem (i. step 4) repeat previous problem solution upto o. Fal = 220N, F," = 2240N, F,, = 1000N P,, = 2250N=F,,, F,, = 2680N = F,, Step : 5 The force $= 1000 N is applied to the link : 2 Now link 2 is in equilibrium under the action of forces Fy, Rand torque T,. Force R is the resultant of F,, and S and that can be found out from the force polygon, shown in Fig. 1.26. First draw a line oa = 2680N in the direction of F,. Scale, | cm = 200 N S= 1000N Fig: 1.26 Fig: 1.27Static Force Analysis 13 = 1000 N in the same direction of 'S' Now join ob, which is equal to the resultant force 'R’ R = obxscale = 13.1 x 200 = 2620N ‘The resultant R- must pass through the intersection of forces F,, and $ ie., at 'x’ as shown in Fig. 1.27, From "A" draw a line parallel to R but opposite in direction which is equal to F,, <. F,,=2620 N Perpendicular distance between Rand F,, = h = 2.05 x 10 = 20.5 cm=0. 205m Couple, T, = F,, xh = 2620x0. 205 = 537.1 Nm (cw) From’a' draw ab Example 1.4 For the static equilibrium of the quick return mechanism shown in Fig. 1.28, find the required input torque T, for a force of 300 N on the slider D. Angle @ = 105°. Coefficient of friction t= 0.15 for each sliding pair. The impending motion of the slider is to the left. (VTU Feb : 2002) Given: AB= 200mm OC = 800mm, CD = 300mm Solution : Friction angle = @ Step 1 8.53 tar! w= tan O15 Redraw the given figure to a scale of 1 : 10 as shown in Fig. 1.28 Scale 1:10 | D { Milli’ t > 300N i c wR i ® i 1 ! © Consider tink 6 i 3 Since the slider 6 moves towards left, the friction at @ B force acts towards right as shown in the Fig. 1.29 and the slider is in equilibrium under the action of fs the forces F,F,, and F,, i i soo] | /@ i ' { i { all 0 Fig: 1.28 Fig: 1.29ue Dynamics of Machines Step : 3 Draw the force polygon for the link (6) as shown in Fig. 1.30, First draw oa = 300N in the given direction to a scale 1 cm = 50.N. Then froma’ draw a line parallel to DC and from ‘o' draw a line parallel to F,,. Intersection of these two lines will give the point 'b’ Fy = abx scale =6.4 x50 = 320N F,, = 0b x scale = 1.1 x50 = 55N Step: 4 Consider the link 5 Since link 5 is a two force member, F,, and F,, are equal and opposite for equilibrium as shown in Fig. 1.31. But F,, and F,, are equal and opposite Py WF, &F, 320 N Step: 5 Consider link 4 Slider 4 is a two force member F,, and F,, as shown in Fig. 1.32. For equilibrium these two forces are equal and opposite“. F,, =F, Step : 6 Fig : 1.32 Consider link : 3 Link 3, is in equilibrium under the action of forces F,,, F,, and F,,. F,, is equal and opposite to that of F,, and F,, is equal and opposite to that of F,,. Fig. 1.33 shows the line of action of F,,. For that from C draw a line parallel to CD (i.e., L.O.A. of F,,) and from B draw a line parallel to F,, (i.e., Line of action of L.O.A F,,)Static Force Analysis 3 pC Butera m4 ¥s By t \ \ ° Scale al Fo lom=50N et ai oh a 1 F, \ / Scale 1:10 O Fig: 133 Fig: 1.34 Now, L.O.A F,, (line of action of F,,) and L.O.A F,, intersect at E, Join O to E. OE is the L.O.A of F,, Draw the force polygon for link 3 as shown in Fig. 1.34. First draw oa parallel to L.O.A of F,, and equal to 320 N. From ‘a’ draw a line parallel to L.O.A of F,,and from o draw a line parallel to L.O.A F,, F, Intersection of these two lines will give point b. Now " = obx scale = 8.75 x 50=437.5N, F,, Step :7 = abx scale = 6.35 x 50 = 317.5 N, Fy = Fy, =320N Consider link : 2 opposite, and the torque produced by these two forces must be equal and opposite to the applied torque T, Moreover F,, and F,, are equal and opposite. Link 2, is two force member F,,, F,, and a torque T, Now for equilibrium F,, and F,, must be equal and F,= Fy = F,, = 437.5N Now the torque 7, is obtained as shown in Fig. 1.35 Perpendicular distance between F,, and 146 x10 = 14.6cm = 146mm = 0.146m h it 0.146 m =Fyh Scale 1:10 B 437.5 x 0.146 r: * "= 63.875 Nm (cow) P - Note If friction is not given, then the direction of F,, is perpendicular to the contact surface. Similarly respectivley Fig: 1.35 direction of F,,and F,, are also perpendicular to the link 4 as shown in the following Fig. 1.36, and Fig. 1.37 All other procedure remains same (i.e,. similar to the previous Example) Link : 6 Fu 300N Fy Link 3 Fig: 13716 Dynamics of Machines Example 1.5 For the static equilibrium of the mechanism shown in Fig. 1.38 find the required input torque. The dimensions are AB = 150 mm, BC = AD = 500mm, DC = 300mm, CE = 100 mmand EF = 450 mm (B.U, Aug, 1995, Feb 1996) Solution : Step : 1 Draw the given figure to scale 1 : 5, as shown in Fig, 1.38 Step : 2 Consider link : 6 Draw the free body diagram of link : 6 i.e., slider and mark the forces. Link 6 is in equilibrium under the action of forces P= 250 N, F,, along EF and F,, Perpendicular to the contact surface (upward direction). as shown in Fig. 1.39 Step : 3 Draw the force polygon for the link : 6 as shown in Fig. 1.40 First draw oa = P = 250 N in the given direction with a scale 1cm = 50 N. Then froma! draw a line perpendicular to the contact surface of link 6 and from ‘o' draw a line parallel to EF. These two lines will intersect at 'b’ Step :4 Consider link Draw the free body diagram of link 5 as shown in Fig. 1.41. Since link 5 is a two force member, F,, and F,, are equal and opposite for equilibrium. But F,, and F,, are equal and opposite. Fi, = 280N Fy = Fy = Step : 5 Consider link 4 Link 4 is in equilibrium under the action of forces, F,,, F,, and F,, F,, is known in magnitude and direction [since F,, is equal and opposite to that of F,,, F,, = 280, direction is along the axis of link 5] F,,, direction is along the axis of link 3, and magnitude unknown Fy both direction and magnitudes are unknown. To find the direction of F,,, use the three force principle, Extend the L.O.A of F,, and F,, which meet at a point O. Join D to O to obtain the direction of F,,. This is shown in Fig. 1.42 Step: Draw the force polygon diagram for link 4 as shown in Fig. 1.43 First draw oa, parallel to EF and magnitude = 280 N. Then from ‘a’ draw a line parallel to DO L.O.A of F,,) and from ‘o' draw a line parallel to BC (i.e., L.O.A of F,,) to intesect the first line at 'b’. Now F,, = obxscale = 7.25 x50 = 362.5N F,, = abx scale = 5.1 x50 = 255NStatic Force Analysis 7 AB = 150mm, BC DC = 300mm, CE = 1D = 500mm e Scale, 1:5 BA (chs SW Bs Ste an de Fig: 1.38 Force Polygon of r, Links 2 P=250N Fig: 1.40. Scale, 1 em=50N = Fig: 143 X= 2ggy, Seale, Lem=50N8 Dynamics of Machines Step :7 Consider Link : 3 “ Link 3 is a two force member F,, and F,, as shown in Fig. 1.44 For equilibrium F,, and F,, must be equal and opposite and along the axis of link 3. F,, and F,, are equal and opposite F,, = F,,= F,, = 3625N Step :8 Consider link : 2 Link 2 is a two force member F,, and F,, and a torque T, For equilibrium F,, and F,, must be equal and opposite and the torque produced by these two forces must be equal and opposite to the applied torque T,, as shown in Fig. 1.45 Moreover F,, and F,, are equal and opposite Fy, = Fy = 3625N ‘Torque, T, = F,,. h where h is the perpendicular distance between F,, and F,, Ah = 2.555 = 12.75 cm = 127.5 mm T, = 362.5 x 127.5 = 46218.75 Nmm 46.22 Nm (cw) 1.5 Analysis of Four - bar Mechanism Consider a four bar mechanism as shown in Fig. 1.46 with a known force F acting on the link 4 cr, oc B Fn oO i J Fig: 146 Fig: 147 ‘Our aim is to find the forces on various links including the Torque 'T,’ on link 2 To find these forees and the couple, first draw the free body diagram of each link as shown in Fig. 1.47. Link : 4 First consider link 4. There are three forces acting on link 4. They are F, F,, and F,,. F is known in ‘magnitude and direction. Since link 3 is a two force member (ie. F,, and F,,), for equilibrium these two forces must be equal and opposite and acts along the axis of BC. But since F,, and F,, are equal and opposite, F,, must act along the axis of BC. For the link 4 to be in equilibrium, F,, must pass through thie intersection of F and F,, Therefore the direction of F,, is obtained as shown in Fig. 1.48. i.e., From'C’ draw a line parallel to BC (L.O.A F,,) It intersects the extension of 'F’ line at O. Join Do . Now DO is the line of action (L.O.A) of F,, ‘Then draw the force polygon for link 4 as shown in Fig. 1.49. i.e. draw oa parallel to force 'F and ‘magnitude equal to F. From ‘a’ draw a line parallel to L..A of F,, and from o draw a line parallel to L.O.A of F,,, These two lines will intersect at 'b’. Now ab = F,, and ob = F,,. If the force polygon is drawn to scale, then multiply the corresponding values with the scale.Static Force Analysis 19 Fig : 1.48 Fig: 1.49 Link 3: Itis atwo force member ic., F,, and F,, For equilibrium these two forces must be equal, opposite and along the axis of BC. But since F,, and F,, are equal and opposite F,, = F,, = F,, as shown in Fig. 1.50 Fr, Fig: 1.50 Link. Itis a two force member F,, and F,, and a torque T,. For equilibrium these two forces must be equal and opposite and the torque produced by these two forces must be equal and opposite to the applied torque 1, But F,, and F,, are equal and opposite, its direction is parallel to BC as shown in Fig. 1.51 Fy =F, ‘he = perpendicular distance between F,, and F,, 4 Torque, T, = Fy.h( forque, T, = F,,.h (ew) Parallel to BC > Parallel to Fy, Fig: LSI20 Dynamics of Machines Example 1.6 In the Fig. 1.52 a four bar mechanism is shown. Calculate the required value of T, and various forces on links for the equilibrium of the system, [B.U, Mar/A pril. 2000, VTU, June/July 2011] Solution : Step:1 Draw the given figure to scale 1 : 5. It is shown in Fig. 1.52 Step:2 To find the forces and couple, draw the free body diagram of each link as shown in Fig: 1.53 Step:3 Consider link : 4 Itisa three force member. They are F=2000N, F,, and, F is known in magnitude and direction, for F,, direction known and magnitude is unknown. The direction of F,, is found as shown in Fig : 1.54 [For explanation refer analysis of 4 bar mechanism] Step :4 Draw the force polygon for link 4 as shown in Fig. 1.55 [For explanation refer analysis of 4 bar mechanism] From force polygon abx scale = 2.4500 = 1200N obx scale = 1.8 x 500 = 900N = 0 u Step:5 Consider link : 3 Itisatwo force member ie., F,,and F,, For equilibrium these two forces are equal and opposite and acts along the axis of BC. But since F,, and F,,, are equal and opposite. F,,= F,,=F,,= 1200N 1.56. It is shown in Fi Step:6 Consider link : 2 Itis a two force member F,, and F,, and a torque T,.. F,, and F,, are equal and opposite Also for equilibrium F,, and F,, are equal and opposite as shown in Fig. 1.57 [For explanation refer analysis of 4-bar mechanism] £0 Fy = {Ry Fy\=-1200N Now, Torque, T, = F,,h, where h = 3.96 x 5 = 19.8 cm = 198 mm 1200 x 198 = 237600 N mm = 237.6 Nm (cw)Static Force Analysis F=2000N AD=215mm AB=200 mm 370 mm DC= 350mm CE= 100 mm Force Polygon Scale, 1 cm = 500.N 2422 Dynamics of Machines Example 1.7 _ A four bar mechanism under the action of two external forces is shown in Fig. 1.58. Determine the torque to be applied on the link AB for static equilibrium. The dimensions of the links are AB = 50 mm, BC = 66mm, CD = SSmm, CE = 25mm, CF = 30mm, BAD = 6"and AD = 100mm [VT.U. Mar. 2001, June/July 2009] Solution : Step: 1 Draw the given figure to scale | : | as shown in Fig: 1.58 Step:2 To find the forces and couple, draw the free body diagram of each link as shown in Fig : 1.59 Step:3 Consider link 3 and link 4 as shown in Fig. 1.60 F,, is resolved into two components F,," and F,,, which are parallel and perpendicular respectively to link CD. The magnitude of F,," is found by taking moments about 'D’ ie, F..CD = Pxa & FT x55 = 500x21 2 Ff = 190.9N On link 3 the reactions at C are equal and opposite to those at C on link 4. If we examine link 3, we notice that there are three unknowns. Magnitude and direction of F,, and magnitude of F,,. The magnitude of F,,* can be found by taking moments about B F,)xd = F,'xe+Qb F," x 66 = 190.9x35+600%31.5 F," = 2965N +2 F,,Tis equal and opposite to that of F,". :. F, = 190.9N (Assumed F,," direction is towards left downward and F,,* direction is upward. Since F,,% is pos (ie., + 269.5 N), the assumed directions are correct.] Scale, 1:1Static Force Analysis 23 Q=600N c Fy P=SO0N Je Fig: 159 Fig: 1.60 e= Perpendicular distance between B and F,." Q=600N EX F,, = 550 a Be aon) a ig: Fig: 1.63 Fig: 1.62 ns « Scale 1 em=200N Scale 1 em=100N24 Dynamics of Machines Step:4 Draw the force polygon for link 3 as shown in Fig. 1.61 First draw oa parallel to Q and equal to 600N with scale Lem = 100 N in the same direction. From’a draw the line ab perpendicular to CD and equal to 190.9 N to the same scale. From 'b' draw be parallel to CD and equal 10 296.5 N to the same scale. Now join co. Since link 3 is in equilibrium under the action of forces F,,,Q. F,," and F,.%, co x scale = F,, 5.5.x 100 = S5ON. Stey Consider link 2 En must be equal and opposite of F,,.F,, must be equal and opposite to F, since link 2 is a two force member 2 = Fi, = 550.N It is shown in Fig. 1.62 Now, Torque, T, = Fuh = 550X215 = 11825 Nmm 11,825 Nm (cw) Step :6 F, ,is obtained from the force polygon for bodies 2, 3 and 4, taken as whole system as shown in fig : 1.63 To draw the polygon, first draw oa parallel to force P and equal to 500 N with scale Lem =200N, from ‘a’ draw ab = 600N to the same scale and parallel to force Q. From b draw be =F, = 550N to the same scale and parallel to force F,, (Fig : 1.62). Join 0 toc. Now, oc x scale =F, Fy, = 335x200=670N Example 1.8 Inafour bar mechanism shown in Fig : 1.64, torque T, and T, have magnitudes of 3000 Nm and 2000 Nm respectively. Take AD =800 mm, AB = 300mm BC =700 mm and CD = 400 mm, For static equlibrium of mechanism, find the required input torque on the crank. [B.U. Aug. 1996, VTU, Dec.08/Jan.09] Solutio ‘The input torge can be obtained by considering the effects of torques T, and T,, separately. According to the principal of superposition, the effects can be analysed separately and then summed up to get the actual value of torque and force. Step :1 Draw the given figure to scale I : 10 as is shown in Fig. 1.64 Step : 2 Neglect, torque T,, and find the value of Torque T, ‘Torque T, on link 4 is balanced by a couple having equal, parallel and opposite forces at C and D as shown in Fig. 1.65 (a) Neglecting Torque T,, link 3 is a two force member i.e., F,, and F,,. For equlibrium these two forces must be equal, opposite and along the axis of link CB as shown in Fig. 1.65 (b) But since F,, and F,, are equal and opposite, F,, is parallel to CB and F,, and F,, are equal and opposite, therefore F,, is also parallel to BC.Static Force Analysis _, 25 7, (unknown) 2, Figs LO4 A © Scale 1:10 A Fig : 1.65 (c) Scale 1:10 Fig: 1.66 (a) 1.66 (b) Fig : 1.66 (c) Scale 1:10 Scale 1:1026 Dynamics of Machines ‘Now, for the equilibrium of link (4), Fp h,, = T, whereh,, =3.85 x 10= 38.5 em=0.385m F,,x0.385 = 2000 F,, = S1948N to, Fy = Py = Fy = Fy = Py = 5194.8 N. (~ F,, and F,, are equal and opposite and F,, and F,, are equal and opposite) Now, from Fig : 1.65 (c) 4, " m q F,,xh,, whereh,,=2.7 x 10=27 cm=0.27m 5194.8 x0.27 = 1402.6 Nm(cew) Step:3 Neglecting torque T,, find the value of 7, Neglecting T,, link 4 is a two force member ic.,F,,and F,,. Therefore for equilibrium these two forces must be equal, opposite and along the axis of link CD as shown in Fig. 1.66 (a) ‘Torque T, on link 3 is balanced by a couple having equal, parallel and opposite forces at C and B. ‘a and F,,). Since F,, is equal and opposite to that of F,,, F,, is parallel to CD and so F,, is as shown in + 1,66 (b) T, = F,xhy, From Fig 1.66 (b) 3000 = F,, x 0.67 hy, = 6.7 x 10= 67cm =0.67 m F, = 44776 Fy = Fy aR = Fs = 4477.6 N. (+ F,, and F,, are equal and opposite and so F,, and F,,) Now from Fig 1.66 (c) From Fig. 1.66 (c) 1, = F.xh, hy, = 0.48 x 10 = 4.8m = 0.048m 4477.6 x0.048 214.9Nm (cow) T,,+T, = 1402.6+214.9 = 1617.5 Nm (cew) Example 1.9 A four link mechanism is subjected to following external forces shown in Fig. 1.67 Link Length Force ‘Magnitude Point of application of force AB(2) 500mm gz 80273.5" N 325mm from A BCG) 660mm Fe 144258" N 297mm from B cD@) 560mm R 60242" N 373mm from D AD() 1000mm Fixed link (V-T.U. August. 2001) Determine the shaft torque T, on the input link AB for static equilibrium of the mechanism‘Static Force Analysis 27 Solution The input torque T,, can be determined by considering the effects F,, F, and F, separately. According to the principal of super position the effects can be analysed separately and then summed up to get the actual value of torque (or force) Step :1 Draw the given figure to a scale of 1 : 10 as shown in Fig. 1.67 Step : Neglect forces F,, F, and consider only the force F, Neglecting forces F, and F,, links 3 and 4 are two-force members. -. For equilibrium F,, can be along BC and F,, along DC. But since F,, and F,, are equal and opposite, both must be zero. From this it is concluded, link 2 is in equluibrium under the action of two forces F,,F,, and torque T,, T,, = F,xh,, = 80%0.075 | From Fig 1.68 (a) 6Nm (cw) h,,= 0.75 x 10 = 7.5¢m .075 m ‘These are shown in Fig. 1.68 (a), Fig. 1.68 (b) and Fig. 1.68 (c) Step :3 Neglect forces F, and F, and consider only the force F,, Link 4 is atwo force member F, , and F, ,. For equilibrium F,, and F,, must be equal and opposite and acts along link CD. This is shown in Fig. 1.69 (a) Link 3is a three force member F,,, F, and F,,. F, isknown both in magnitude and direction. Fis parallel to link CD and F,, is fully unknown The line of action (L.O.A) of F, and F,, intersect at O-as shown in Fig. 1.69 (b) Join B to O, Now BO is the L.O.A of F,,. Then draw the force polygon of link (3) as shown in Fig. 1.70. Draw a line ‘pq’ parallel to F, in the same direction and magnitude equal to 144 N to a scale of lem = 20N. From ‘q' draw a line parallel to L.O.A of F,, and from 'p' draw a line parallel to L.O.A of F,,, Both these lines will intersect at‘. Now, F, grxscale = 2.35 x20 Fy, = prxscale = 5.65 x20 Link 2 is subjected to forces F,, and F,, and a torqueT,, Since F,, and F,, are equal and opposite and F,, and F,, are equal and opposite for the equilibrium of Tink 2. 47N 113.N Fy = Fy = Fy, = 1I3N It is shown in Fig. 1.71 From Fig. 1.71 fe Ty = Fy X hy y= 1.6 10 = 16cm = 0.16m " 113 x 0.16 = 18.08 Nm (ccw)28 Dynamics of Machines Step:4 Neglect forces F, and F, aitél consider only F,. Link 3 isa two force member F, and F,,. For equilibrium F,, and F,, must be equal and opposite and acts along link BC. This is shown in Fig. 1.72 (a). Link 4 is a three force member F,,,F,and F,, F is fully known in magnitude and direction F,, is parallel to link BC since it is equal and opposite to that of Fy. F, is fully unknown The L.O.A (line of action) of F, and F,, intersect at 'O' as shown in fig. 1.72 (b) Join D100. Now DO is the L.O.A of F,, Now draw the force polygon for link (4) as shown in Fig. 1.73. Draw a line ‘oa’ parallel to F, and magnitude equal to 60 N to a scale of | cm = 10N from’‘o’ draw a line parallel to L.O.A F,, and from ‘a’ draw line parallel to L.O.A of F,, These two lines will intersect at 't Now, F,, = abx scale = 3.45 x 10 F,, = obxscale = 3.5 10 a =F, =F = 35N Link 2 is subjected to two forces F,, and F,, and a torque T,, Since F,, and F,, are equal and opposite and F,, and F,, are equal and apposite for the equilibrium of link 2. m a = 35N Itis shown in Fig. 1. 74 1, = F,Xxh, From Fig. 1.74 = 35x 0.38 hy =3.8x 10 =38em = 0.38m 13.3 Nm (cow) Net crank shaft torque T, = T,,+ T,,+T, 6 18.08 ~ 13.3 = 25.38 Nm 25.38 Nm (cow) 1 Scale 1:10 1 Fig: 1.67Sisto bore analysis 29 BN Ts. r= B Fa : | F, . \ Prallel to link CD we Fig: 1.68 (a) . a \LOA.Fo F,, ; c \ B Fy. B 4 Fe Ta r D Fy Fig : 1.69 (a) Force Polygon Scale, 1om=20N Seale, 1:10 Fig: 1.70 Fig: 1.7130 Dynamics of Machines Parallel to link BC Fy es F,, direction B Fig: 1.72(a) afer getting the direction of F,, from the force polygon Force Polygon ’b Scale, lem = 10N Fig : 1.74 Scale, 1:10 Example 1.10 Fig 1.75 shows a quaternary link ABCD under the action of forces F,, F,, F, and F, acting at A, B, Cand D respectively. The link is in static equilibrium, Determine the magnitude of forces F, and F, and the direction of F, (VTU, DEC '07/JAN' 08)Static Force Analysi 3t Solution : @=145° F AD 5 Scale 2:1 Fig: 1.76 Scale lem = SON Fig: 1.77 Draw the given mechanism to a scale 2:1 as shown in Fig. 1.76. ‘To draw the force polygon, first draw a line oa parallel to the line of action of force F, (ie., 30°) and equal 10.200 Ntoa scale, 1 cm = SON. From a’ draw a line ab parallel to the line of action of force F, (ie., 30°) and equal 10300 wascale, 1 em=50 Nas shown in Fig. 1.77. Joino to b. ob is the resultant of forces F, and F, InFig 1.76, point P is the intersection of forces F, and F,. From P draw a line parallel toob. Now in Fig. 1.76, point @ is the intersection of this line and force F,, since the resultant of forces F, and F,, and the resultant of forces F, and F, (ie.,0b) rust be parallel to PQ. Join Q toCas shown in Fig. 1.76. Itis the direction of force F,. *.0, = 14.5° from link CB. ‘To continue the force polygon, from 'o' draw a line parallel to the line of action of F, (ie., parallel toQB) and from 'b' draw a line parallel to the line of action of F, (ie., parallel to QC) as shown is Fig 1.77. These two lines will intersect at 'c’. Thus the force polygon is completed. 80.N Now, F, =0c x scale = 7.6 x 50 F,=bexscale=5.7 x50=285N Line of action of force F, makes an angle of 14.5° with CB as shown in Fig. 1.76. 1.6 Principle of tual work IVTU, May/June 2010, Dec.2010) Another approach to force - analysis is based on the principle of virtual (imaginary) work. This method is based on an energy balance of the system, which requires that the net change32 Dynamics of Machines internal energy of a system during small displacement must be equal to the difference between the work input to the system and the work output including the work done against friction, if any. Therefore if a system which is in equilibrium under the action of different forces, is given a small displacement from equilibrium, thérf the net change in the internal energy will be equal to the work done on the system, In short the principle of virtual work can be stated as "the work done during virtual displacement from the equilibrium is equal to zero". Fig 1.78 shows a slider crank mechanism. The mechanism is acted upon by external piston force P, external crank shaft torque T, and the forces on the bearing. If the crank turns through a small angular displacement 88, then the corresponding linear displacement of the piston is 8x ‘Thus the various work done performed by the mechanism are, i) Bearing forces at B and C are equal and opposite and hence no work is done. Bearing reaction at A produces no work, iii) Force of cylinder on piston performes no work. : iv) Work done by force P = PSx v) Work done by torque Fig : 1.78 By the principle of virtual work W = 7,80 + Por=0 (i) Work done is positive if the displacement is in the same direction of the applied force and negative if the displacement is in the opposite direction of the Applied force. As the interval of time 51 is same for the virtual displacement, 50 ox tae ie., T,0,+ Pv = 0 ft Yh= 2 o Gi) where vis the linear velocity of the piston and, is the angular velocity of the crank. Negative sign indicates that the torque , must be applied in the opposite direction of the angular displacement as shown in Fig. 1.78 for the equilibrium.Static Force Analysis 33 Problem 1.11: a ; Determine the couple T,, (shaft torque) on the input link AB for static equilibrium of the mechanism shown in Fig. 1.79 by virtual work method. Solution : oon Q=800N 60 P= 2000N AB = 300 mm ; BC = 600 mm BD = 200 mm; AE = 200 mm S=1000N Q=800N we Fig : 1.80 Draw the given mechanism toa scale 1:10 as shown in Fig. 1.80. Assume link AB has an angular velocity of wradisec (cew) «. v, = (@) (AB) = (@) (0.30) = 0.3w m/sec Draw the velocity diagram of the given mechanism. as shown in Fig. 1.81 to a suitable scale. Locate the points d and ¢ on the velocity diagram and locate the velocity vectors for the same. AE ae 200 ae es es en 5B 7 ap 399 739) 4 =20mm BD _ bd 200 _ bd Similatly 30 = pe} G0 = Ga *. bd=7.3 mm34 Dynamics of Machines Now draw the velocity vector components, parallel! and perpendicular to the direction of forces Sand Q from e and d respectively. Velocity vector component parallel to $= xe = v, = 0.145 @ m/sec Velocity vector component parallel to Q=yd= vy) =0.115 o m/sec Velocity vector component parallel to P = ac = y, = 0.295 w misec Applying the principle of virtual work and assuming 7, is in the cow direction T, x @ + 0.295 « x 2000 + 0.115 w x 800 0.145 w x 1000 = 0 . T, =~ 537 Nm — ve sign indicates that the direction of T, is opposite to that of the assumed direction, + Couple or Shaft torque T, NB: For the force S, the displacement ie, the velocity vector component parallel S (xe) is in the opposite direction of S. Therefore the work done due to this force (ie., 0.145 « x 1000) is negative Problem 1.12: A four bar mechanism under the action of two external forces is shown in Fig. 1.82. Determine the torque to be applied on the link AB for static equilibrium by virtual work method. AB = 50 mm; BC = 66 mm CD =55 mm; CE = 25 mm Q = 600N CF = 30mm; AD= 100 mm BAD = 60° 5i/P = SOON Solution : Draw the given mechanism 60" c toa scale 1:1 as shown in Fig 1.83 21.83Static Force Analysis 35 ‘Assume link AB has an angular velocity of « rad/sec (ccw) ¥y=(@) (AB)=(@) (0.05) =0.05 9 See Draw the velocity diagram of the given mechanism as shown in Fig. 1.84 to a suitable scale. Locate the points e and f on the velocity diagram and locate the velocity vectors for the same tS = 17.95 mm=18mm of 30 cb} 6 Now draw the velocity vector components, parallel and perpendicular to the direction of forces P and Q from e and frespectively. 1 of = 14.77 mm= 14.8mm cr Similarly Gy Velocity vector component parallel to P=. 0.015 m/sec Velocity vector component parallel toQ=af'= v, = 0.008 misec Applying the principal of vitrual work and assuming 7,, is in the cew direction T, x @ +0.015 @ x 500 + 0.008 w x 600 = 0 2 T,=-12.3Nm ~ ve sign indicates that the direction of T, is opposite to that of the assumed direction + Torque T, =12.3 Nm (co)36 Dynamics of Machines EXERCISE 1. Determine the required input torque on the crank of a slider-crank mechanism for the static equilibrium when the applied piston load is 1500 N. The lengths of the crank and the connecting rod are 40 mm and 100 mm respectively and the crank has turned through 45° from the inner-dead centre. (85) 2. For the mechanism shown in Fig. 1.85 find the required input torque for the static equilibrium. The lengths OA and AB are 250 mm and 650 mm respectively. F = 500 N. (67.5 N.m clockwise) Fig. 1.85 3. A two-cylinder engine shown in Fig. 1.86 in static equilibrium. The dimensions are OA = OB =5) mm, AC = BD = 250 mm, ZAOB = 90°. Determine the torque on the crank OAB. (01.5 Nam clockwise)Static Force Analysis 37 4, 2) Draw the free Body diagram of a slider crank mechanism subjected to gas pressure P on the piston of area of cross section A. (5 Marks) b)A four bar mechanism shown in Fig. 1.87 is acted by a force F = 2000N. Calculate the forces on the links and the required torque on link AB (T;) for equilibrium of the mechanism, (15 Marks) 200mm 370mm DC = 250mm AD = 215mm CE = 100mm BD DAB = 110° B CEF = 45° Fig. 1.87 (VTU, Jan. 2005) 5. a) With help of an engine mechanism as an example, explain the usefulness of freebody diagrams in the static force analysis of machinery. (6 Marks) b)For the mechanism shown in Fig. 1.88, find the required input torque for the static equilibrium. The lengths OA and AB are 250 mm and 650 mm respectively. F = 500 N. (14 Marks) (VTU, July. 2005)38 Dynamics of Machines 6. a) What is a free body diagram? List any two advantages of free body diagram. (4 Marks) b) State the conditions for a link to be in equilibrium i) When two forces act ii) When three forces act iii) When two forces and a torque acts (6 Marks) ¢) Ina four bar mechanism shown in fig. 1.89, torque T; and T,, have magnitudes 30N.m and 20N.m respectively. Link lengths are MN = 800mm, NA = 300mm, AB = 700mm and MB 400mm, Determine the input torque T, for the static equilibrium of the mechanism. (10 Marks) Fig. 1.89 (VTU, Jan. 2006) 7. a) Ina four bar mechanism shown in Fig. 1,90, torques T, and T, have magnitudes of 3000 Nm and 2000 Nm respectively. Take AD = 800 mm, AB = 300 mm, BC = 700 mm and CD = 400 mm. For static equilibrium of mechanism, find the input torque on the crank. (VTU, July. 2006)Static Force Analysis 39 8. a) What are the conditions for a body to be in equilibrium under the action of two forces, three forces, and two forces and a torque ? b) For the static equilibrium of the mechanism shown in fig. 1.91, find the required input torque. Given: AB = 150 mm, BC = AD = 500 mm, DC = 300 mm, CE = 100 mm and EF = 450 mm. (14 Marks) Fig. 1.91 (VTU, Jan. 2007) 9. A four mechanism is subjected to external forces F, and F, as shown in fig. 1.92. Determine the torque to be applied on the link PQ for static equilibrium. Given PQ = 50 mm, QR = 66 mm, RS = $5 mm, RA = 25 mm, RB = 30 mm, PS = 100 mm and ZQPS = 60° (20 Marks) F, = 600N Fig. 1.92 (VTU, July. 2007)40 Dynamics of Machines 10. a) Figure 1.93 shows a quaternely link ABCD under the action of forces F,, F,, F,,andF, acting at A, B, C and D respectively. The link is in the static equilibrium. Determine the magnitude of forces F, and F, and the direction of Fy. (12 Marks) 30mm Fig. 1.93 (VTU, Jan, 2008) 11. a) Discuss the static equilibrium of i) Two force ii) Three force mechanisms. (05 Marks) 'b) What are the laws of friction ? c) Refer fig. 1.94, the driving moment applied on link 2 is as shown, Determine the force on link 4 that is necessary to be applied for equilibrium of the linkage. Also determine the state of loading on the connecting rod. O,P = 100 mm PQ = 320mm. —_(12 Marks) (VTU, July 2008)CHAPTER Dynamic Force Analysis 2.1 Dynamic Force Analysis Forces induced because of acceleration are called inertia forces or dynamic forces. To analyse inertia forces, the knowledge of acceleration is essential. In general, the links of a mechanism are subjected to both static force and inertia forces. In high speed machines the acceleration and resulting inertia forces are very large when compared to the static forces. For example, in a reciprocating engine such as an automobile engine, at high speeds the inertia forces can be greater than the force produced on the piston due to gas pressure. In such cases the inertia forces must be considered in the design of machine. In slow-speed engines the inertia forces are negligible. 2.2 Motion and Inertia : The acceleration, angular velocity « and angular acceleration ‘a! of a point in a body are known then the acceleration of any other point in the body can be determined. For example in Fig: 2.1, if the acceleration of point A is known, then the acceleration of point 'B' is A, =A, + Ag! +A, where A,," = Normal acc. of point B w.rt. point A = @. BA A,,' = Tangential ace. of point B wart. point A = BA. Fig: 2.142 Dynamics of Machines It follows that the acceleration of a body can be considered as linear acceleration of some point in the body plus an angular acceleration of the body about this point. It is convenient to take the centre of gravity at this point. Consider a body shown in Fig. 2.2 Let 'G’ be the centre of gravity of the body and ‘A, the acceleration of this point. If the angular acceleration ‘a’ is known in magnitude and direction, then our aim is to find what force or torque or force and torque that will produce the acceleration ‘A,,’ and ‘a! We know, that if a force ‘F' is applied at ‘G' and acting in the direction of A,, then this will produce this linear acceleration i.e., F=M. A, where M = Mass of the body. Similarly to produce the angular acceleration ‘a’, a torque 'T’ must be applied to the body in the same sense as a. ie, T=Jowhere I = Mass moment of inertia of the body. This is shown in Fig. 2.3 In general, a body having plane motion may be subjected to more than a single force and a single torque. Then in Fig. 2.3, F is the resultant of all forces acting, and ‘is the resultant of all the torques acting on the body. «. 'F' is the resultant force and '7’ is the resultant torque. An important principle of mechanics is that a force and a couple can be replaced by a single force. This is shown in Fig 2.4 The three forces shown here are equal in magnitude. The force shown in dotted line upward to the right fills the purpose of Force ‘F’. The dotted line downward force to the left along with the force F shown in thick line form a couple F.h, which must be equal to Tin both magnitude and direction. Fh =T=10. Fig: 2.4 Mka. MAG k " radius of gyration of the body, The two equal and opposite forces shown in dotted line at ‘G' nullify and hence the sin force 'F' at a distance ‘h' from the centre of gravity replaces the force ‘F’ and the couple 7.Dynamic Force Analysis “43 2.3 D' Alembert's Principle [VTU, Dec.08/Jan.09, May/June 2010] Consider a rigid body acted upon by a system of forces. The system may be reduced to a single resultant force acting on the body whose magnitude is given by the product of the mass of the body and the linear acceleration of the centre of mass of the body. According to Newton's second law of motion P= mf Where P = Resultant force acting on the body m = Mass of the body f = Linear acceleration of the centre of mass of the body. The equation (1) may also be written as P-mf =0 (2) Allttle consideration will show, that if the quantity '-mf" be treated as a force, equal, opposite and with the same line of action as the resultant force P and include this with system of forces of which ‘P's the resultant, then the complete system of forces will be in equilibrium. This principle isknown as D' Alembert's principle. The equal and opposite force ‘-mf' is known as reversed effective force or inertia force (F,). ‘The equation (2) can be written as P+ F, = 0 ‘Thus D' Alemberts Principle states that the resultant force acting on a body together with the reversed effective force [inertia force] are in equilibrium. This principle is used to reduce a dynamic problem into an equivalent static problem. 2.4 Inertia force and Inertia torque [V.T.U. Feb. 2002] When a body is acted upon by a system of forces, the acceleration of the centre of gravity is given by the equation, ay P = mf where P = Resultant force acting on the body m = Mass of the body f = Linear acceleration of the centre of mass of the body. Also when a body is acted upon by a system of torques, the angular acceleration of the body isgiven by the equation, : T where, T = resultant torque. = angular Acceleration. 1 = Mass moment of Inertia of the body. __ The inertia force is defined as the reversed resultant force and inertia torque is defined as the Teversed resultant torque. Thus by adding the inertia force and inertia torque to.a body which is acted upon by a resultant force and a resultant torque, the body can be brought to equilibrium. This is known as D’ Alembert’s principe. To44 Dynamics of Me 2.5 Inertia forces on a four-bar Mechanism Consider a four bar mechanism as shown in Fig : 2.5 where the magnitude of is known: constant. Centre of gravity of links 2, 3 and 4 are points, G,,G, and G, respectively. Our aims determine the torque on link AB ©, = constant Draw the velocity and acceleration polygon to find the linear accelerations of points G, 6, and G, as shown in Fig : 2.6 (a) and 2.6 (b). inf Velocity polygon Fig : 2.6 (a) fy Acceleration polygon Fig : 2.6 (6) From acceleration polygon, Acyl = Ogg CB = 0. CB Ag = a. CD = a,.CD a, = a, = 6 sand ct, can be found from the acc. polygon and mark their sense in the Fig : 2.5 as shown, Both ct, and ct, are in counter clockwise direction.Force Analysis 45 —$—__—~<- Link 2 is shown in Fig : 2.7, where AG, the acceleration of centre of gravity. The it force F,, equal to M.A... (where M, is the mass of the link 2) has the same sense ‘and line of action as A... The inertia force, is ‘equal and opposite to F,. Link : 3 is shown in Fig : 2.8 A, is the acceleration of the centre of ‘gravity G,, Now resultant force, F,= M,. Ag, (where M, is the mass of link : 3), has the same sense and line of action as A, The inertia force _ffisequal and opposite to F,. To produce ‘ct,’ “there must be a resultant torque 7,’ equal to J,0, having the same sense as ct, where /, = ML of link 3. Now ‘,'is the inertia torque which is equal and opposite to that of T,. Replace the inertia torque ‘t,’ and inertia force f by a single force ‘f,’ as shown in Fig: 29. The magnitude, direction and sense off, must be the same as that of Fig : 2.8 but the line of action is displaced from G, by an ‘amount equal to h,. , sasfably ie, hy To locate f,, with G, as centre draw a circle of radius h, and f, is drawn tangent to the left side, since it must produce a torque about G, in the same sense of t,. Link 4 is shown in Fig : 2.10, where F, isthe resultant force equal to M,. A, and in the sense of A,,.f, is the inertia force equal and opposite to that of F,. T, is the resultant torque equal to 1, , and in the same sense of 4, The inertia torque f, is equal and opposite ‘tpthat of 7, fy Ms-Ags Fig: 2.8 Fig :2.946 Dynamics of Machines Fig: 2.10 Fig : 2.11 Now replace f, and 1, by a single force f, as shown in Fig : 2.11. The magnitude and sense of J, is same, but the line of action is displaced from G, by an amount h, So hy = [y.0tg My Acs To locate, f,, with G, as centre draw a circle of radius hand then, is drawn tangent to the left side, since it must produce a torque about G, in the same sense of t,. To find the forces at each point and the torque on link T,,, first draw the free body diagrams of link 2, 3 and 4 as shown in Fig : 2.12 (a), (b) and (c) @) ©) Fig : 2.12 The inertia forces are treated as external forces and each link is in equilibrium under the action of the inertia forces and the unknown reactions. Similar to static force analysis, the reactions can be found. *(Refer Static Force Analysis.) Considering link 4 and by takingForce Analysis 47 ts about D, determine F,,". Then ea link 3, F,,'and F,,7 are equal and ofa ite. For equilibrium of link 3, the sum ‘moments about B equal to zero. From this ecan get the value of F,,". Now draw the polygon of link 3 as shown in 2.13 From the force polygon, we can find 7 value of F.,. Fig:213,«F® Now consider link 2 F,, is equal and opposite to F,,, F,, is equal and opposite tof, + F,, as, in Fig: 2.14 From Fig: 2.14, T, = F,,xa = (f, » F,,).a. (cow) Fy Fig : 2.14 Fis obtained from the force polygon by considering bodies 2, 3 and 4 as a whole system, as shown in Fig : 2.15. Shaking force is defined as the resultant of all the forces acting on the frame of a mechanism due to Inertia forces only. It is obtained from the force polygon as shown in Fig : 2.16 he shaking force 0 Fig: 2.1648 Dynamics of Machines 2.6 Inertia forces on a engine Mechanism (slider crank mechanism) Consider a slider crank mechanism as shown in Fig : 2.17. Let 'P’ be the known force on the piston due to gas pressure and (, is constant and the magnitude and direction of which is known points G,, G, and G, are the centre of gravity of links 2, 3 and 4. Our aim is to find the torque T, on link 2. Draw the velocity and acceleration Polygon to find the linear accelerations of points G,, G, and G, as shown in Fig. 2.18 (a) and (b) “ Ag G, Ace ya (@) Velocity polygon (b) Acceleration polygon Fig : 2.18 Draw the combined free body diagram of link 3 and link 4 as shown in Fig, 2.19 The inertia force f,, its moment arm relative to G,, inertia force f, are determined as explained in the four-bar mechanism.Force Analysis 49 Now by taking rHloments about ‘B’ F,a+f,b+f,d—- Pd =0 P.d= fyb ~ fod 4 iz a Fa f+Fn Fig : 2.20 Fig : 2.21 Now consider link : 2, The free body diagram of link. 2 is shown in Fig : 2.21. F,,is equal and toF,, F,, is equal and opposite to f, + F,, as shown in Fig : 2.21 Now, T, = F,, ¢ [c.w] As explained in four bar mechanism determine the shaking force F,. Engine Force Analysis ‘The Fig : 2.22 shows a slider crank mechanism in which crank OA rotates in the clockwise Fig : 2.2250 Dynamics of Machines The following are the important forces acting on the reciprocating parts of an engine. Piston effort-F, Force acting along the connecting rod - F, Thrust on the sides of cylinder walls -F, | Crank pin effort - F, | ‘Thrust on the crank shaft bearing - F, | Crank effort or Turning moment or Torque on the crank shaft - T Piston effort (F,) Itis the net force acting on the piston or cross head pin along the line of stroke. ray eee Let W, = weight of reciprocating parts e.g. piston, gudgeon pin etc M, = Mass of the reciprocating parts. = Area of cross - section at the cover end » = Area of cross - section at the piston end A A P, = Pressure on the cover end P. 1 », = Pressure on the piston end a = Cross-sectional area of the piston rod Net load on the position) F,=P,A,~ Py A, due to gas pressure « = PA,- P,(A,-@) ( A,=A,-a) Inertia force of the reciprocating parts F,= M,. f. cost) n Me. r{cos0+ =) g n Myo’ cos0-+ wheré f= Acceleration of reciprocating parts = © ooo 22) | ni n= 4 1 = Length of connecting rod, r = Length of crank R, = Frictional forces. } Neglecting frictional forces, Piston effort for horizontal engine F, = F, + F, ~ ve sign is used when the piston is accelerated, +-ve sign is used when the piston is retarded. Considering frictional forces. |mic Force Analysis For vertical engine, F, = F,+F,+W,-R, For downward stroke weight of reciprocating parts (W,) assists the piston effort and upward weight of reciprocating parts opposes. 2, Force acting along the connecting rod : (F,) F, = Tore. where cos @ 13. Thrust on the sides of the cylinder walls (F,,) Fy = Fy sing = sin cos! cose 4 y = Fp tan 6 Crank pin effort and thrust on crank shaft bearings. The force acting on the connecting rod F, may be resolved into two components, one lar to the crank and the other along the crank. The component of F,, perpendicular to the 4s known as crank pin effort and the component of F, along the crank produces a thrust on crank shaft bearing. Crank pin effort F, = Thrust on crank-shaft bearing. From the geometry of Figure 2.22 F, = Fy sin +9) = Tq sin(0+9) Fp F, = Fa cos 0+ = TG cos(0+0) $, Crank effort or Turning moment or Torque on the crank shaft ‘The product of crank pin effort and crank radius is known as crank effort or turning moment forque. If’ is the radius of the crank (i.e., length of crank), Then, Crank effort = F,.r Fz sin(0+9) cos} Fr(sinOcos+ cosOsing) cosh& Dynamics of Machines = Fy(sin0+ cos tand)r we know, Tsin @ = rsin® pa nk ons a, sin® L ie, sing = 7sin® = ~~ [vans cos 6 = J-sin?9 = | /- sing sin® Now, tan 6 = cose = aa cos®.sin® Crank effort T = fino 7 n? sin? Sin? 8 is very small compared to 'n' Crank effort T = s[sino+ 020), Example 2.1 When the crank is 45° from the inner dead centre on the down stroke, the effective steam pressure on the piston of a vertical steam engine is 2.5 bar. The diameter of the cylinder 75 m, stroke of the piston )50 m and length of connecting rod = 1 m. Determine the torque on the crank shaft, ifthe engine runs ‘at 350 rp.m. and the mass of reciprocating parts is 200 kg. Data : © = 45°, vertical steam engine p = 2Sbar = 2.x 10°N/m? d= 075m stroke 0.5 = 025m Solution : Effective load on the piston F, = 25%10° x7 x079? = 11046.6NDynamic Force Analysis 53 =z 2) ston = cosO+ Accelerating force on the piston mor( 7 200%: (ay x02 cos 4542022 Tt We ie F, = 47495 N. . Piston effort F,, ~ F, since itis accelerating force + W, since it is a vertical steam engine, with down stroke = 110446.6-47495 +200 x9.81 = 64913.6N Fp. (sino 8822), 2n = 64913. sings + 2220 2x4 Torque T (025) = 13503.76 Nm. Example 2.2 A four bar mechanism is shown in Fig : 2.23 The crank AB rotates at an uniform speed of 200 rpm in the clockwise sense, from the data given below, determine the inertia forces of each of the links in respect, of their magnitude and direction. Indicate them on the mechanism. (V-T.U. Mar. 2001) Length of links : AB BC Mass of links AB Mass moment of inertia of links AB = 0.001 kgan? BC = 0.025 kg.m? CD = 0.012 kg.m’* Solution : Step: 1 Draw the given configuration diagram ABCD to scale of 1 : 5 shown in Fig : 2.23 Step :2 Draw the velocity polygon as shown in Fig : 2.24 Vo = Vat Veo54 Dynamics of Machines 2nNp ) = x AB xAB ( 60 = 1.5708 m/sec ‘To draw the velocity polygon, draw ab = 1.57 m/sec perpendicular to link AB in the clockwise direction by taking a suitable scale (lem = Im/sec) From’ draw a line perpendicular to link BC and From ‘d draw a line perpendicular to link CD. These two lines intersect at c. This polygon is known as velocity polygon. Now from velocity polygon, x 0.075 22200) Vo v, Step :3 Draw the Acceleration polygon. as shown in Fig : 2.25 Ac b+ Ace ie, ASAE = AS +Al +A" + Ag! since constant angular velocity of link (2) * 15708? = 32.9 m/sec 0.075 = 13.07 msec. CD” als To draw the acceleration polygon, draw ab = 32.9 m/sec by taking a and its direction is B to A (i.e., Parallel to link BA and downwards). From ‘b' draw the line, bx (scale 1.em = Sm/sec) and parallel to link CB, Its direction is C towards B (i.c., from b towards left), From x draw a ine perpendicular to bx. Now from (or) 'a’ draw the line dy = 13.07 m/sec (scale, 1 m= Sm/sec*) and parallel to link CD. Its direction is C towards D (ie., from d downwards). From y draw a line perpendicular to dy. ‘The two perpendiculars from x and y intersect at c. Join d to ¢ that represents A. Join b to c that represents A A, = dexscale = 3.7 x5=18.5 m/sec Ac, = bexscale = 3x5=15 m'/sec By proportion method fix the points g,", g," and g," on the acceleration polygon. Agr _ 482" ab 25 _ 4g." "eo 75 = 658° = 22 Bas _ bas" BC ~ be 100 _ bg," He 300 ~ 3“ Dynamic Force Analysis 55 5 ‘Acceleration polygon Velocity Polygon Scale lem =Inv/sec Scale 1cm= Smvsec” Ay b Aco Similarly, Gee, Be cD ed 0 ats F502 AT IB Now, from acceleration polygon Ag, = ag," =2.2x5 = 11 msec 2(,)315° Ag, = 98," = .65.x 5 = 28.25 m/sec 2(8 ;)316° Ag, = ag," = 247x5 = 12.35 m/sec 2(8,)324.5” Step:4 Now find the inertia forces on the links, These act through their respective centres of mass in the direction opposite to that of acceleration.56 Dynamics of Machines o£ = MyAg, = 2.511 = 275NZ135" 315-180= 135° 2 fy = MyAg, = 5x28.25 = 14125N2136° 316-180= 136° . f, = M,Ag, = 8% 12.35 = 98.8N2144,5° — 32415- 180= 144.5" Step:5 To find the inertia couples, angular accelerations of the links are to be found from acceleration polygon, Ag = xcxscale=2.95 x5 = 14.75 mi/see 1x5 = 13.5 mi/see A, x5 = 15 m/sec Ag = dexscale=3.7 x5 = 18.5 m/sec Since link 2 rotates with constant angular velocity ‘ce = g 0 ° = 49.2 rad/sec? (ecw) = 90 rad/sec* (cw) .. inertia torque on link 3 = t, = [,0., = 0.025x49.2 = 1.23 Nm(cw) direction is opposite to that of c,) Inertia torque on link 4 = 1, = I,0t, = 0.01290 = 1.08Nm (cew) direction is opposite to that of c) ¢ Step :6 ‘Now replace this inertia force and inertia torque to a single offset inertia force. To find the offset, = 87x 10°m = 8.7mm Also, ne ‘The direction of the single inertia force is same as that of inertia torque of opposite to that of the angular acceleration, Since the offset circle radii h, and h, are very small, r, and r, are calculated Now, and/, are as shown in Fig :2.23. Example 2.3 ‘The four bar mechanism is shown in Fig : 2.26 the centre of gravity of each link is at its mid. point. Length of inks :Dynamic Force Analysis 57 0, 0, = 500mm, 0, A = 250mm 0, B = 300mm, AB = 300mm Mass of the links 0,A = LS2kg, AB = 3.06kg 0B = 5.09 kg Mass moment of Inertia of Links : 0,A = 0.012kg-m*, AB = 0.036 kgm’, 0,B = 0.02 kgm? Find the inertia forces on each link. (V.T.U, Aug, 2001) Solution : Step :1 Draw the given configuration to a scale of 1 : Sas shown in Fig : 2.26 Step:2 Draw the velocity polygon to a scale of 1 em = Im/sec as shown in Fig : 2.27 Vv, = Vi+Vy "= 140 m/sec? (given) Also, Ay = Wess ie tae ats V, = 5.92 m/sec. OA 0.25 ‘To draw the velocity polygon, draw a line o,a = 5.92 and it direction is perpendicular to link O,A in the same sense as that of «, i.e., ccw. From ‘a’ draw a line perpendicular to link AB and from o, draw a line perpendicular to link O, B. These two perpendiculars will intersect at b. Now, b = 23 mbsec. Step : 3 Draw the acceleration polygon as shown in Fig : 2.8 Ay = Ag+ Ay ie, As +Ag = AP HAS FASS Ay! Ay’ = 140 m/sec? (given) Aj = 60 m/sec? (given) 2, 2 Ay = ad a = 81.675 m/sec? La 3? Ay’ = — = 17.63 misec ” * OB ~ 03 ‘To draw the acceleration polygon, draw o,x = 140 m/sec? (scale 1 em = 20 nvsec*) parallel to ink O/A. Its direction is A towards O, (i.e., downward). From x'draw the line 'xa'= 6Onvsec* perpendicular too, inthe same direction of e, (.e., ew). Now from ‘a’ draw ‘ay’= 81.675 m/sec® parallel to link BA and its direction is ‘B’ towards ‘A’ (i.c., towards left) From ‘y’ draw a line perpendicular to ‘ay’, Again from ‘0,’ draw 0g = 17.63 m/see*, parallel to link BO, and its direction isB towards O, (i.e., downward). From'z’ draw a line icular to 0, z, These two perpendicular lines will intersect at Now, A, = oxseale = 9.5220 = 190.4 m/sec? A,, = abxscale = 8.15x20 = 163 m/sec?58 Dynamics of Machines oh " 0,ax scale = 7.720 = 154 m/sec? ybx-scale = 7.1 x20 = 142 m/sec? 60 m/sec* A Fig : 2.26 Velocity polygon a Fig :2.28 lo“ Dynamic Force Analysis 59 Aji = zbxscale = 9.5.x 20= 190, m/sec? Also, A,t = a@,xBA 473.33 rad/sec? (cow) 633.33 (ccw) Ah _ 60 dehy % = Da = Gag 7 240 rad sec* (ow) Since the centre of gravity of each link is at its mid point, mark the mid point of 0,a, ab and 0,bon the Acceleration polygon. These points will indicate g,", g,” and g," respectively. Now acceleration of these points are, Ag,, Ag, and Ag, respectively. From the acceleration polygon Ag, = 3.85%20 = 77 m/sec? Ag, = 7.6520 = 153 misec* Ag, = 4.07520 = 81.5 m/sec? Step:4 Determine the inertia forces acting on each link as follows. he MA, = 1.5777 = 117N [In the opposite direction of Ag,} Sf, = M,A,, =3.06x 153 = 468.2N [In the opposite direction of Ag,] Sf, = MA,, =5.09x81.5= 414.8N [In the opposite direction of Ag,] Step:5 Inertia torques on each link can be calculated as follows. 1, = 1,0, = 0.012240 0.036 473.33 0.02 633.3 88 Nm [in the opposite direction of c,] 17.04Nm [In the opposite direction of ,} 2,67 Nm {In the opposite direction ofc.) 1a, 1,0, Step:6 The inertia force and inertia torques can be replaced by an equivalent offset inertia forces of F, and F, and F, on links 2, 3 and 4 respectively Bcorpggennic offset hy = p= Faq = 0.0246m = 24.6mm ts _ 1704 = J6q2 = 10364m = 364mm 1267 = 4g 7 9.0305m = 305mm60 Dynamics of Machines To show the inertia forces first dfaw circles with g,, g, and g, as centres and radius equal to h,,h, and |h, respectively then draw F,, F, and F, tangent to the corresponding circles. F, Parallel to Ag, but opposite direction. (e., cow) F, parallel to Ag, but opposite direction (i.e, ew). Similarly F, parallel to Ag, but opposite direction (i.e., cw) (For detail explanation refer inertia forces on four bar mechanism) 2.8 Kinetically Equivalent System or Dynamically Equivalent System A kinetically equivalent system is defined as a group of bodies considered rigidly connected together, which will be given the same accelerations as the actual link or rigid body, when acted upon by the same forces. In order to determine the motion of a rigid body under the action of external forces, it is usually convenient to replace the rigid body by two masses placed at a fixed distance apart in such a way that, i) The sum of their masses is equal to the total mass of the body. ii) The e.g of the two masses coincides with that of the body. }) The sum of mass moment of inertia of the masses about their c.g is equal to the mass moment of inertia of the body. When these three conditions are satisfied, then it is said to be an equivalent dynamic system or kinetically equivalent system. Consider a rigid body having the centre of gravity ‘cg’ as shown in Fig 2.29 Fig :2.29 Let, M = Mass of the body k = Radius of gyration about its c.g. M,,M, = Twomasses which form a dynamically equivalent system 1, = Distance of mass M, from c.g. 1, = Distance of mass M, from c.g. L = Total distance between the masses M, and M,. Thus for the two masses to be dynamically equivalent. M,+M, @ MI, ) M1? + M1? cr) From (ii) M,“ Dynamic Force Analysis 61 substituting in equation (i) " = W = =M From(ii) M, = ™ L 7 Substituting in equation (i) M2 4M, 2M Substituting M, and M, in equation (iii) Mh 2, Mb 2 1 Bos eh bth ee (uth) UL ne eh) = LL =P Example 2.4 A connecting rod has.a mass of 1.2 kg and the length between centres is250 mm. The distance of eg from the small end centre (gudgeon pin) is 170 mm and the radius of gyration about an axis through c.gis, 108mm, Find the equivalent dynamic system if one of the masses coincide in position with small end centre, Data : M = 12kg, k= 108mm = 0.108 m M, =? M,=?62 Dynamics of Machines Solution : e Small end (Piston end) Crank end Bs Fig :2.30 L.L=k ATV, = 0.108" 1, = 0.06861 m Ml; (12% 0.06861 Mi = Tel, = 017+0.06861 = 9349 *8 Ml) __12x0170_ _ y gesy. 1 +l = 017+006861 ~ °*°? FLY WHEEL 2.9 Introduction Flywheel is a rotating mass used as energy reservoir i.e., when the speed is more it absorbs the energy and when the speed is less it releases the same, thus maintaining the fluctuation of speed within the prescribed limits. There are mainly two types of machines in which the flywheels are used. In the first type where the operation is intermittent, the flywheel absorbs energy from a power source during the major portion of the cycle and releases a large amount of stored energy as useful ‘workin a very small portion of the cycle. This type includes punching machines, Riveting machines, shearing machines, crushers etc. In the second type the flywheel smoothout the speed fluctuations caused due to non-uniform flow of power from the piston during each working cycle. This type includes IC Engines, Reciprocating Engines, compressors and pumps.Dynamic Force Analysis 63 2.10 Turning Momént Diagram [TMD] The T.M.D is the graphical representation of turning moment or crank effort or torque verses crank angle for various positions of the crank. The T.M is plotted on the y-axis, and the crank angle on the x-axis as shown in Fig. 2.31 Uses 1) As the work done (WD) is the product of the turning moment (TM) and the angle turned, the area under the TMD will represent the WD/rev p44 or WD/cycle. From this power can be calculated. 2) From the TMD the fluctuation of energy is obtained. Using this the mass of the flywheel eS can be calculated. Fig. 2.31 2.10.1 TMD for single cylinder double acting Steam Engine ‘The TMD for a single cylinder double acting steam engine is shown in the Fig. 2.32 Fig : 2.32 A little consideration will show that the T.M is zero when crank angle is zero. It rises to a maximum value when crank angle reaches 90° and is again zero when crank angle is 180° this is shown by the curve “abe” and it represents the T.M.D. for outward stoke. Curve ‘ede’ represent the T:M.D for inward stroke. Since WD is the product of TM and crank angle at the instant considered, area under T.M.D will give the WD/rev. From this power can be calculated. ‘AF’ - represents the “Mean resisting Torque” area above AF represents the fluctuation of energy or excess energy. Using the excess energy the mass of fly wheel can be calculated, WDjeycle Mean Torque, Tress = Crank angle/cycle64 Dynamics of Machines WDjrev. = Crank angle/rev WD/Stroke ~ Crank angle/Stroke 2.10.2 TMD for 4-Stroke or IC engine ‘The TMD for an IC engine is as shown in the Fig. 2.33. As the pressure inside the cylinder is less than atmospheric pressure during the suction stroke, a negative loop is formed as shown in Fig. 2.33. During compression and exhaust stroke, work is done on the gases and hence a negative loop is formed. During expansion stroke, the fuel burns and the gases expand and therefore a large positive loop is obtained. In this stroke, the work is done by the gases. WD is the product of TM and angle turned, area of TMD represents WD/Cycle. From this power can be calculated. AF-represents mean resisting torque. Area above this line is excess energy, using excess energy mass of the flywheel can be calculated, Fig 2.10.3 TMD for multi cylinder engine The TMD for a multi cylinder engine is as shown in the fig. 2.34 a Equivalent TMD TMD of olfAnalysis 65 area above the mean line represents the positive work and below the line represents the work. the WD is the product of TM and angle turned the area of the TMD represents or WD/cycle. Using this power can be calculated. ‘TMD the excess energy can be obtained using the excess energy mass of the flywheel calculated. E, = Maximum energy of flywheel in a cycle. E, = Minimum energy of flywheel in a cycle. , = Maximum angular velocity of flywheel in a cycle. ), = Minimum angular velocity of flywheel in a cycle. q = Coefficient of fluctuation of Speed. C, = Total fluctuation of speed. K, = Coefficient of fluctuation of energy. = Maximum fluctuation of energy. = Moment of inertia of flywheel in kg.m*. M = Mass of the flywheel in kg. k = Radius of gyration of flywheel in m. W, = WDleycle. ‘Types of Flywheel Rim Arms or Spokes Fig : 2.35 Fig : 2.36 Dise or Solid type Rim type d d ko k=5 ni M= (2a )xvxp M = (nd)Axp where A = b x rand p = Density of the rim material66 Dynamics of Machines Note : ~ For single acting single cylinder engine (steam engine) WDicycle = WD/rev = WD/stroke For Double acting engine (steam engine) WDicycle = WD/rev = 2 x WDistroke For 2- stroke engine (petrol and diesel engine) WDicycle = WD/rev = 2 x Avg WD/stroke For 4-stroke engine (petrol and diesel engine) WDicycle = 2 x WD/rev = 4 x Avg WD/stroke. WD/ rev x speed inrpm 2nnT z AW ot Power a Woot 5 2.12 Size of Flywheel or Hoop stress developed in a flywheel. Consider a rim type flywheel, Let D = Mean dia of flywheel. p = Density of rim material. R = Mean radius of flywheel. A_ = Area of cross-section of rim = b x t. b= Width of rim. t= Thickness of rim. foro = Hoop stress or allowable stress. P= Resisting force. Linear speed of flywheel. = Angular speed of flywheel. Fig : 2.37 Consider an elemental portion of the rim as shown in the Fig. 2.37 Let d0 be the angle subtended by this portion. Length of elemental portion = R. dO Volume of elemental portion = A.R.d0 Mass of elemental portion = Volume x density = A.R dO x p 2 Centrifugal force on elemental portion dF = (A.R.d0 p) x = = Apvdd Vertical component of this force = dF sin @ = Apv’ sin® d0. :. Total vertical component along diameter or bursting Force 19 - fav? sin0d0 ° Apv?(-cos6))”“a Dynamic Force Analysis 87 = Apv?{-[cos 180 - cos 0]} = Apv’[-(-1-1)] = 2 Apv. Resisting force along diameter = 2P = 2xfxA Now for equilibrium Total bursting Force = Total resisting force 2fAa pv? = Hoop stress = JF ip msec. DN 60 60 D= Tay = Mean dia of fly wheel. (nD) Ap aM ~ (nD)p Area of c/s = bxt Width of rim = Thickness of rim = " where ~ o> D> " 2.13 Important Definitions Maximum fluctuation of speed is the difference between the maximum and minimum speeds in a cycle. Maximum fluctuations of speed = 7», i) Coefficient of Fluctuation of Speed ; q Itis the ratio of, maximum fluctuation of speed to mean speed. It is normally denoted by ‘q” erefore, g = 21-2 ii) Total fluctuation of speed (K,) Itis the percentage value of coefficient of fluctuation of speed. It is usually denoted by K,, C, orC,. K, = 22x 100 o ili) Coefficient of fluctuation of energy (K,) Itis the ratio of maximum fluctuation of energy to the mean energy (or) workdone per cycle. Itis usually denoted by K,68 Dynamics of Machine © max & E> Elorw, where E = Mean energy W, = Workdone/cycle Max fluctuation of energy. mu iv) Coefficient of steadiness Itis the reciprocal of coefficient of fluctuation of speed. i.e., itis the ratio of mean speed to maximum fluctuation of speed. 1 Coefficient of steadiness = 7 2.14 Relation between E, e,,,, and K, or Relationship between e,,,,, K, and! Let E, = Maximum kinetic energy of flywheel. E, = Minimum kinetic energy of flywheel (©, = Maximum angular speed of flywheel. @, = Minimum angular speed of flywheel. © = Mean angular speed of flywheel. q = Coefficient of fluctuation of Speed. K, = Total fluctuation of speed. K, = Coefficient of fluctuation of energy. xq: Maximum fluctuation of energy. 1 = Moment of inertia of flywheel. M_ = Mass of flywheel. k= Radius of gyration of flywheel. W, = WDicycle. Jenggepul sy weknow ¢,., = E,~E,= 510} -5 103 = > 1(w; 0?) 1 3M@1+ 020, - 02) ggg = 10(0,- 02). weknow K, Multiplying and dividing by loDynamic Force Analysis 69 4 Jo (1282), 109 Io o es K,1w? ma 100 Multiplying & dividing by 2 2.10? 2EK, &max = 2x 100-5 100 2.15 Show that 2 for a flywheel where K, = coefficient of fluctuation of energy and K, = coefficient of fluctuation of speed (BU, August 1995) Solution : 2EK, = BK, =2 Hence proved of K; 2.16 Neglecting the effect of arms, show that the minimum mass ‘M’ of flywheel required may be expressed in the form. K,and K, are coefficient of fluctuation of energy and speed, p = density of rim material, f=Hoop stress and E = Avg. WD/eycle (BU, August 1994, VTU, July 2006) Solution : KE K.pE py Kf = K,pv" [-r=0r"] Emax os K, = Sma = “BE ls K, al Kv? K, la? 5 a K,lo"] B = [- 10? = mr] vi =M Hence Proved70 Dynamics of Machines 2.17Prove that the maximum fluctuations of energy ‘C’ Is given by C = 0.02 q E for a flywheel where E = Mean K.E. of flywheel and q = Total percentage fluctuations of speed Solution : q Multiplying and dividing by Ja (BU, August 1996) E,-E, 1g? 4 2 = Jo? -o? jlei- 510} = 5 !i -03) gla? 100 ? Iw? = 2E 1 Slo 2 Pak 100 0.02qE Hence proved TYPE -I Example 2.5 A vertical double acting steam engine develops 73.6 kilo-watts at 250 rpm. The maximum fluctuation of energy is 30% of WD/stroke. The maximum and minimum speeds are not to vary more than 1% on either side of mean speed, find the mass of flywheel required, if the radius of gyration is 0.6m Data: x 100 StrokeDynamic Force Analysis al Fluctuation ofspeed = + 1% k = 0.6m Solution : WD rev p= WDemin _ “rev ~ min 0 = 6 WD _ Px60 _ 736% 1000x60 ce = Trev = 350 9 27664. Nm min For double acting steam engine wo wo WD Lx rev Stroke WD WD/rev 17664 = WOtrey _ 1708 _ 9832 N. Stroke 2 Baa eet 30, WD _ 30 me = "7100 Stroke ~ 100 K,.10? 2nN _ 2250 a 60 6 = 26.17 rev/sec x 8832 = 2649.6Nm. Emax-100 i K,.a? 250+ x 250 = 252.5 rpu N, +a50* 252.5 rpm 2649.6 100 I = 3x67? 250-795 %250 = 247.5 rpm 193.438 kg. m* N,-N. a Seat i 2.100 193.438 = Mx(0.6? 2525-2475 Mass of flywheel M= 537.33 kg = so eaten Example 2.6 ei EA A double acting steam engine develops 350 kW at 120 rpm. It is fitted with a flywheel of radius of gyration = 2.5m. The co-efficient of fluctuation of energy = 0.1. The speed of flywheel is not to deviate more than 0.5% from the mean speed. Find the mass of fly wheel. Data : P = 350 kW = 350 x 1000 Watts. N = 120rpm. k = 25m. K = 01 M=? Fluctuation of speed = 40.5 %72 Dynamics of Machines Solution : a WD, rev p = ev min 60 Px60 WD _ P60 _—330%1000X60 _ 11.519 Ny rev ~ rev/min 720 For double acting steam Engine WD _ wD cycle ~ Fey wo Sete = 175000 Nm. K, ol Ones K,= 1% 2nw _ 20120 1 @ = Te = Ep = 12.566 revimin, 17500 100 = 7.2566) = 1082.65. kg. my l= Mk 1108265 = Mx (2.5 Mass of flywheel M = 1773.25 kg Example 2.7 A gas engine working on otto cycle develops 22.08 kW at 300 rpm. The co-efficient of fluctuation of energy is 1.85. The fly wheel mass is 1,000 kg and its radius of gyration is 0.9 m. What is the cyclic speed variation from the mean, Data : P = 22.08 kW = 22.08 x 1000 Watts N = 300rpm K, = 1.85 M = 1000 kg k = 09m. Fluctuation of speed = ?Dynamic Force Analysis 73 ~ ‘Solution WD rev ee et p = rev min 60 WD _ _Px60 _ 2208x10° x60 DS BBS KO ig rev ~ rev/min 300 1oNm WD WD = 2x 22 =24416=8832Nm (.. 4-stroke (otto)) cyele rev — mex K. = W/eycle ae = 31.42 rev/min. 16339.2.100 to? = 810x(3142" = 2® = Total function of speed Fluctuation of speed = £1% 1 = 300+ x 300 = . N, 500 303 rpm. 1 = 300-—_x 300 = N, "af 297 rpm. Cyclic speed variations = +3rpm. Example 2.8 Assingle cylinder double acting engine delivers 184 kW at 100 rpm. The maximum energy variation perrev. is 10% of mean energy and the speed variation is limited to 2% above or below the mean. Diameter ofthe cast iron rim is 2.4 m, Assuming that the hub spoke and shaft contribute 5% of fly wheel effect and that the density of C.1 is 7.2 gm/cc, determine the mass of rim and its C.S. area. Data : P = 184 kW =184 x 1000 Watts, N = 100rpm _ 10 WD e, te ath sa mm 100. eyele Fluctuation of speed = + 2% d= 24m74 Solution : 95 = gp 11040 = 10488. Nm 2nN _ 20100 60 60 o= = 10.47 revisec. _ 10488100 4x (10.47) 2391.87 kg. m? Also I = Me Forrim type 2391.89 = Mx(12? p= $24 Liam Mass of rim of fly wheel M = 161.027 kg. Forrim type M = (ndAxp) 1661.027 = mx2.4xAx7.2 10° Area of c/s of rim = 0.030597 m* Example 2.9 A gas engine working on 4-stroke engine develops 11.04kW at 250 rpm. Assuming that the resistance isuniform and that the speed isnot to vary more than 1% above or below the mean speed calculate the mas of flywheel required if the mean diameter is Im and the fluctuation of energy is equal to 0.3 times the WD! cycle.Dynamic Force Analysis “~ 75 Data P = 11,04 kW = 11.04 x 1000 W N = 250rpm. Fluctuation of speed = + 1% d= Im M=? Crux = 0.3x WDieycle Solution WD rev wD eae p= rev_min 60 WD _ 108% 1000%60 _ 649 6, rev ~ 250 a WD WD yell = alee = 2x 2649.6 = 5299,2 Nm(- 4 stroke engine) e,, = 03x. (given) ~ oycle = 03%5299.2 = 1589.76Nm _ K-10? = TAN _ XIK250 15 Op an) &mae = 100 a oo. ee 2 = ReMi” wemvy | K = 2% 100 100 1589.76 100 Kav? = 2x(309? = 4646ke Example 2.10 Acengine develops 36.8 kW at 300 rpm. The maximum variation of energy per rev. has been found to be 0% of mean energy and the otal speed variation is 1 %. Determine the mass of rim and the dimension ofthe square section for a mean speed of 900 m/min, assuming that 90% of the flywheel! effect is provided bythe rim, Assume that the density of C.1 =7.08 gm/cc. Data : P = 36.8kW = 368 x 1000 W N= Coa = K= < u76 Solution : 100 90 90 natin = Jog * emer = 2208% 9 = 1987.2 Nm Kit nat of = 19 _ Ixdx(3142)?? 2nN _ 2xnx 300 1987.2 = = @ = 1987.2% 100 5 1 =~ Gpgayt 7201.34 kg. =3142 rad/s. may ro) ts = 2X4 300 ditatyy 0 15x60 4 = Spxq = 09589 = 0.955m Forrim type ee ¢ oe =0.477m T= MR 20134 = Mx(0.477? . M = 883.176kg Forrim type M = (nxd)xAxpwhereA=bxt=1x1=PDynamic Force Analysis 7 883.176 = (x 0.955) xP x 7.08 10° “ 1 = 02044m . 6 = 0.2044m TYPE - Il Example 2.11 ‘The TMD for a four stroke gas engine may be assumed for simplicity to be represented by 4 triangles the areas of which from the line of zero pressure are as follows. Expansion = 35.5 em? Suction = 3.5m? Exhaust = Sem? Compression = 14 cm? Each sq.cm represents 295 Nm of work. Assuming the resisting moment to be uniform, find the mass of the rim of the flywheel required to keep the mean speed 200 rpm within 2% of the mean speed. Radius of the rim may be taken as 75 em, [VTU, May/June 2010] Toy = 305.18 Nm Suction | | Compression Expansion Fig : 2.3878 Dynamics of Machines ~ Solution : a Suction work ‘Compression work = Expansion work = Exhaust work = WDiCycle = From TMD [Fig. 2.38)» Expansion work 104725 ee Excess energy ‘A® ABCand aBb are similar Area of A aBb Area of M* ABC Area of * aBb 10472.5 Area of AY aBb Also, I 543.47 +. Mass of the rim of the flywheel M = 966.16 kg, 3.5x295 = 1032.5Nm. 14x295 =4130Nm 35.5 x295 = 10472.5Nm 5%295 = 1475 Nm Suction work + Comp.work + Expansion work + Exhaust work. — 1032.5 -4130 + 10472.5- 1475 = 3835 Nm WD/eycle 3835 = OE = 305.181 Crankangle/cycle 4m ae Area of A® ABC Lax Tae 2 6667Nm_ Area of AY aBb (& 30: iy 6667 9535.69 Nm = e,,, K, lo? 100 mar: 100 Ko” 9535.69 x.100 , “gx(2099)? = 54347 kent Me Mx (0.75? 75cmDynamic Force Analysis 79 3 Example 2.12 A single cylinder single acting 4 stroke gas engine develops 18.4 kW at 300 rpm with WD by the gases during the expansion stroke is 3 times the WD on the gases during compression stroke. The WD during suction and exhaust being negligible and the total fluctuation is 2% of mean. The TMD during expansion is assumed to be triangular in shape. Find the moment of inertia of the flywheel. [VTU, July 2006} Solution : WD/rey = 3680 Nm WDicycle = 2x WD/rev =2.x 3680 = 7360Nm (‘ 4 stroke) WD/cycle 7360 Tam = Crankangle/eyele = ~4q = 589:7Nm WDicycle = Suction work +Comp.work + Expansion work + Exhaust work eswe-0 (We =3Wee. we= He) 1 2 = We-—+1] = = = w{-4+1) = 2 we We = 11040 Nm = Expansion work 7360 T., = 7028.28 Nm B Ty = 585.7 Nm Suction Expansion ed Fig : 2.39