Theory questions and answers

Q.1.Define Statics, Dynamics, Kinetics and kinematics.

Ans:
Statics :- It is the branch of engineering which deals with study of forces and its effect on bodies at rest.
Dynamics :- It is the branch of engineering which deals with the study of forces and its effect on bodies in
motion.
Kinetics :- It is the branch of dynamics which deals with study of forces and their effect on bodies in motion
considering mass of the body.
Kinematics :- It is the branch of dynamics which deals with the study of forces and their effect on bodies in
motion without considering mass.

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Q.2.Define Kinematic link,Kin. pair, Kin. chain,Mechanism & inversion
a ] Kinematic link ( or element ) :
It is defined as a resistant body which has relative motion with some other element. e.g. crank,
Piston, cylinder, frame
b] Kinematic pair :
When two links are connected in such a manner that relative motion between them take place in a
definite way then it is called kinematic pair.
c] Kinematic chain :
When two or more kinematic pairs are joined together, they form kinematic chain.
d] Mechanism :
If one link of a kinematic chain is fixed it is called mechanism.
e] Inversion :
When different links of a kinematic chain are fixed we get different mechanisms, these mechanisms are
called inversions of that kinematic chain. The number of inversions of a kinematic chain are equal to
number of links in that chain.
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Q.3. Classify kinematic link. Or What are the types of links.?
Ans. Types of links
1.Rigid link – e.g. connecting rod, lever.
2.Flexible link – e.g. chain , belt, rope etc.
3.Fluid link – e.g. oil in hydraulic system,air in pneumatic system
4.Types of links based on attachment.
a] Binary link - Having
two connection
b] Ternary link - Having
three connections
c] Quaternary link -
Having four connection
Q.4.Differentiate Between Structure and Machine
Structure Machine
1. A structure is a skeleton build to bear the load, A machine converts the available energy into some
mainly compressive load. useful work.
2.No relative motion exists between its members. 2.Links are meant to transmit motion and forces
which are dynamic.
3. Structure serves to modify and transmit forces 3. Machine serves to modify and transmit
only. mechanical work.
4.Roof trusses,bridges,buildings,machine frames etc. 4. Shaping machine, lathe machine,screw jack etc

Q.5.Differentiate Between Machine and Mechanism

Mechanism Machine
1. A mechanism is formed when a link of kinematic A machine converts the available energy into some
chain is fixed. useful work.
2.Primary function of mechanism is to transmit or 2.Machines are meant for doing some useful work.
modify motion.
3. A mechanism consists of several links joined 3. A machine may contain several mechanism and
together. other elements.
4.Oscillating cylinder mechanism, Scotch yoke 4. Shaping machine, lathe machine,screw jack.etc
mechanism.

Q.6.State Different types of pairs and explain with sketch.

Ans :

KINEMATIC PAIRS

|__ Spherical Pair

A) Kinematic pairs according to the relative motion
Sliding pair: “When relative motion between two
elements of a pair takes place in the form of PURE SLIDING,
then the pair is called sliding pair.”

Example, a rectangular bar in a rectangular hole, the piston and

cylinder of an engine, the cross-head and guides of a steam
engine, the ram and its guides of a steam engine, the ram and its
guides in a shaper, the tail-stock on the lathe bed etc.

Turning pair: “When relative motion between two

elements of a pair takes place in the form of PURE
TURNING only, then the pair is called turning pair.”
Example, a shaft with a collar at both ends revolving
in a circular hole. The collars prevent the sliding motion of
the shaft in the bearing.

Rolling pairs: “When two elements are so connected that

one is constrained to roll on another element which is fixed,
they from a rolling pair. “

Example Ball and roller bearings, a wheel rolling on a flat

surface etc. are examples of rolling pairs.

Screw (or helical) pair: “When one element turns

about the other element by means of threads, they form a
screw pair.” The motion in this case is a
combination of sliding and turning.
Example the lead screw of a lathe with a nut, a bolt with
a nut, Screw and nut of screw jack are some examples of
screw pairs.

Spherical pair: “When one element in the form of sphere turns

about the other element which is fixed they form a spherical
pair.”

Example-the ball and socket joint, a pen stand, the mirror

attachment of vehicles etc, are some examples of spherical pairs.
B) Kinematic pairs according to the type of contact.
Lower pair: “When the two elements of a pair have surface(area) contact while in motion the pair is called
a lower pair.”
All sliding pairs, turning pairs and screw pairs form lower pair. for example, a nut turning on a screw, a
shaft rotating in a bearing, an universal joint, all pairs of a slider crank mechanism, a pantograph etc.
Higher pair: “When the two elements have point or line contact while in
motion then the pair is known as higher pair.”
Belt, rope and chain drives, gears, the cam and follower ball and roller bearings, a wheel rolling on a surface
etc all etc. All form higher pairs.
C) Kinematic pairs according to the type of mechanical constraint

Closed pair: When the two elements of pair are

held together mechanically
in such a manner the only the required type of
relative motion occurs, they are
called a close pair. All lower pairs and some
higher pairs
(for example, the enclosed cam and follower) are
closed pairs.
Open pair: When the two elements of a pair are
not held mechanically
and are held in contact by the action of external forces, the pair is called an
unclosed pair. for example, the can and spring loaded follower pair.
Q.7. What do you mean by constrained motion ? What are types of
constrained motion.
Ans: 1) Incompletely constrained motion:
When the motion between a pair can take place in more than
direction, it is said to be incompletely constrained motion. For
example, a circular shaft revolving in a circular hole.

2) Completely constrained motion:

When the motion between a pair can take place
in one and only one way , it is said to be completely constrained motion For
example, a rectangular shaft revolving in a rectangular hole.

3) Partially (or successfully) constrained motions:

When the constrained motion between a pair is not completed by
itself but by some other means, it is said to be partially constrained
motion. The motion of shaft in a footstep bearing is successfully a
constrained motion when compressive load is applied to the shaft.
Q.8. What are different types of Kinematic Chains ?
Ans: The various type of kinematic chain are
1. Four bar chain or quadric cycle chain
2. Single slider crank chain
3. Double slider crank chain

1.2 : Inversions of Kinematic chains

Q.1.Enlist various Inversion of three types of Kinematic chains?

Single
Inversions of Four bar chain
Q.1.Explain the coupled wheels of locomotive mechanism.
Ans.

Links -
link AD frame (Fixed)
link AB (Crank)
link BC (Coupling Rod)
link CD (Crank)
Pairs -
Turning Pair = AD (Frame) & AB (Crank)
Turning Pair = AD (Frame) & CD (Crank)
Turning Pair = AB (Crank) & BC (Connecting Rod)
Turning Pair = CD (Crank) & BC (Connecting Rod)
Construction:
This mechanism is an inversion four bar kinematic chain . This has four turning pairs.
It is consists of frame AD which is fixed, on which two cranks AC & BD are fitted on it .The cranks are
free to rotate about points A and D. Both the cranks have same lengths. Two cranks are connected to each
other by means of coupling rod, which connects the other ends B and C of both cranks. At the connections
B and C there is turning pair.
Working –
When link AB starts rotating about fixed point A. The rotary motion of wheel is transmitted to next wheel by
means of coupling rod BC. As a result the other wheel also starts rotating in same direction and same speed,
because both cranks have same radius of rotation.
Application –
The mechanism is used to connect driving & driven shaft of locomotive. Here both driving & driven wheels
always rotate in same direction.
Q.2. Explain with sketch Beam engine
Ans.

links -
Link 4 OC (frame)
Link 1 OA (Crank)
Link 2 AB (connecting Rod)
Link 3 BCD (lever)
Pairs -
Turning Pair = Frame OC & Crank OA
Turning Pair = Crank OA & Connecting Rod AB
Turning Pair = Connecting Rod AB & lever BCD
Turning Pair = Frame OC & lever BCD

Construction –
This mechanism is an inversion of four bar chain . It has four turning pair. It consists of frame OC
which is fixed and on which all other elements are fitted. The Crank is fixed at pt. 'O' at frame. The crank is
free rotates about pt.'O' . Other end of crank is connected to connectin rod AB. Other end of connecting rod
AB is linked to one end of lever. The lever is pivoted at pt 'C' other end of lever 'D' is attached to piston
-cylinder mechanism as shown.

Working –
As the crank starts rotating this motion is transmitted to lever by connection rod. As crank continues
to rotate the lever starts to oscillate about pt. 'C', this oscillatory motion is transmitted to piston & cylinder.

Application – The mechanism converts rotary motion to reciprocating motion. This is used in machine tools
& pumps. It is used for extracting oil from oil wells, the equipment is called Pump-jack.
Q.3.Explain with Sketch Pantograph

Links
Link AB - End A is fixed
link BC
link DE
link DF
Pairs -
Turning Pair - AB & BC
Turning Pair – AB & DE
Turning Pair – BC & DF
Turning Pair – ED & DF
Construction –
This mechanism is an inversion of four bar chain . It has four turning pairs. One link is fixed to the table. The
stylus is attached to the junction of link DE and DF and the pen is attached to the end C of the link BC. The
lengths of all links are adjustable through the holes provided on the links.
Working –
As the operator traces the "Drawing" with the stylus, the same drawing is reproduced by the pen either in
enlarged or reduced scale depending upon the links lengths. The links have holes for the adjustment of
magnitude of enlargement or reduction.
Application – The mechanism is used for
1. Reducing large drawing.
2.Used in copy machining such as copying lathe using hydraulic system.3.Used in electric train supply
system on top of train, which supplies current to electric train from cables on top.
Inversions of Single slider crank chain
Q.1. Draw the basic single slider crank chain and explain how different
inversions are obtained by fixing different links.

Ans: Basic structure of single slide crank chain is shown below

FIXED LINK Applications of inversion

Frame fixed Basic single slider mechanism
Crank Fixed Gnome engine
Whit-worths Quick return mechanism

Connecting rod Fixed Oscillating cylinder mechanism

Crank and slotted lever quick return
mechanism

Slider fixed Pendulum pump

Q.2.Explain with Sketch Oscillating Cylinder Mechanism.

links -
Connecting rod (link 3) - Fixed
Crank (Link 2)
Piston and rod ( link 1)
Cylinder (link 4)
Pairs -
Turning – Crank and Connecting rod
Turning – Crank & piston rod
Sliding – Piston rod & Cylinder.
Turning – Cylinder and connecting rod

Construction –
This mechanism is an inversion of Single slider crank chain , which is obtained by fixing connecting
rod. It has three turning pairs & one Sliding pair. As shown in figure. both rod & piston form one link .
There is no relative motion between rod & Piston . The cylinder is pivoted to frame, due to which whole
cylinder is free to oscillate about the frame.
Working –
When crank starts rotating, it causes the piston to reciprocate inside the cylinder. A piston while
reciprocating causes the cylinder oscillate about pt.'O' ,because there is no relative motion between
connecting rod and piston.
Application –
The mechanism is used where rotary transmitted into oscillating motion. It is used in printing press m/c.
Q.3.State and explain Bull engine mechanism {Pendulum Pump}

Links -
Crank
Cylinder
Piston & Piston Rod
Connecting Rod.
Pairs-
Turning – Piston & Piston Rod & Connecting Rod
Turning – Connected Rod & Crank
Sliding – Piston - Piston Rod & Cylinder.
Turning – Crank & Cylinder.

Construction –
This mechanism is an inversion of Single slider crank chain it is obtained by fixing the slider of the
basic chain .It has three turning pairs & one Sliding pair. As shown in figure the first link is piston and
piston rod, second is connecting rod which is extended beyond its connection to crank. the third link is crank
and fourth link is cylinder which is placed vertically and is fixed.
Working –
When the upward motion is given to connected Rod it causes downward motion of piston & vice versa.

Application –
The mechanism is used in duplex pump in boilers, and also in manual hand pumps fitted on bore well.
Q.4. Explain with sketch Gnome Engine or Rotary Engine

Links -
1.Crank (fixed )
2.Piston
3.Connecting Rod
4.Cylinder & Frame

Pairs-
Crank & Connecting Rod – turning
Connected Rod & Frame – turning
Crank & Frame – turning
Piston & cylinder - Sliding

Construction –
This mechanism is an inversion of Single slider crank chain, obtained by fixing the crank .It has
three turning pairs & one Sliding pair.As shown in diagram it has 5 or 7 cylinders and connecting rods of all
pistons are connected to one point which is another end of crank. In this mechanism crank itself is fixed.
Working –
As pistons start reciprocating inside cylinders, whole frame starts rotating about fixed pt 'O' the crank
remains at its place. The rotation of frame causes suction, comp,expansion & exhaust strokes in different
cylinders at same time.
Application –
It was used in airplane engines in past, now a days it is not used.
Q.5. Explain with sketch Crank and Slotted lever quick mechanism
used in shaping machine.
Ans:

Links -
1.Slider
2. Crank
3.Frame
4.Slotted Lever
Pairs-
Frame & Slotted lever – turning
Frame & Crank – turning
Crank & Slider – turning
Slider & Slotted lever - Sliding
Construction –
This mechanism is inversion of Single slider crank chain, which is obtained by fixing connecting rod of basic
chain.It has three turning pair & one Sliding pair.
Crank is fitted to frame at pt.'A' & slotted lever is fitted to frame at pt.'B'. The crank & slotted lever are
connected to each other through slider. The slider is free to slide in side slotted lever. The upper end of
slotted lever is attached to the ram of shaping machine through a linkage {The ram and lever connecting to
ram are not part of the basic inversion}
Working –
As the crank starts rotating about pt.'A', it also transmits motion to slider. As the slider is fitted inside the
slotted lever, the slotted lever starts oscillating about pt.'B'.
As shown in second fig. The forward stroke is making an angle of Whereas the return stroke covers
and angle of From the figure it is clear that angle hence forward stroke is takes more time than return
stroke . Hence this mechanism is called as quick Return mechanism.
Application –
The mechanism is used in shaping machine.
Q.6. Explain with sketch Whitworth’s quick return Mechanism?
Ans:

Links: Crank BC
Slotted lever EAD
Slider
Frame AB (FIXED)
{Link Es is not part of basic mechanism}
Pairs: Crank BC and frame AB : Turning Pair
Slotted lever EAD and frame AB : Turning Pair
Crank Bc and slider : Turning Pair
Slider and Slotted lever EAD : Sliding pair
Construction : This mechanism is an inversion of single slider crank chain, obtained by fixing the crank of
the connecting rod. It has three turning pairs and one sliding pair.
It has crank BC turning about point B. Other end of crank carries a slider, connected with turning
pair. The slide fits inside the slotted lever EAD. The slider is free to slide inside the slotted lever. The lever is
pivoted at point A. The lever rotates about the point A. End E of this lever is connected to the Ram of the
shaper machine.
Working: As the crank starts rotating about the point B. It transmits the motion to the Lever EAD through
the slider . As a result the lever EAD starts rotating about the point A. As shown in figure the forward stroke
of the ram is slower and return stroke is faster ( Angle theta is greater than angle beta). Hence this
mechanism is called quick return mechanism.
Application : This mechanism is used in Shaping machine.
Inversions of Double slider crank chain
Q.1. Draw Basic double slider crank chain and explain how different
inversions are obtained from it?
Ans:Basic Double slider crank chain is shown below, It has two truning and two sliding pairs
Q.2. Explain with sketch Scotch Yoke Mechanism?
Ans:

Links: 1.Frame (fixed )

2.Crank
3.Slider
4. Yoke

Pairs -
1.Frame & Crank – turning
2.Crank & Slider – turning
3.Yoke & Slider – Sliding
4.Frame & Yoke - Sliding
Construction –
This mechanism is inversion of Single slider Crank Chain .It has two turning pair & two Sliding pair.
As shown in fig. The crank is fitted to frame at pt 'O' .A slider is attack to other end of crank at pt 'B'. The
slider fits inside Yoke. A Yoke is free to slide inside frame.
Working –
As the crank starts rotating about pt.'O' it causes the slider to slide inside Yoke. As the crank changes it's
position it pulls or pushes the Yoke . Thus Rotary motion of crank is converted into Reciprocating motion of
Yoke.
Application –
This mechanism is used to convert Rotary motion into reciprocating motion.
Q.3. Explain with sketch Oldham’s Coupling
Ans:

Links: Frame (fixed) :1

Shaft & Flange on left hand :2
Shaft & Flange on right hand :4
Intermediate piece : 3

Pairs: Frame & Shaft LH – turning pair

Frame & Shaft RH – turning pair
Flange LH & Intermediate piece – Sliding pair
Flange RH & Intermediate piece - Sliding pair

Construction : This mechanism is inversion of Double slider Crank Chain .It has two turning & two
Sliding pair.
Two flanges with respective shafts are free to rotates with respect to frame both flanges have rectangular
slots . An intermediate piece has two rectangular projections on both sides, both projections are perpendicular
to each other , each projection fits inside the slot of flange.

Working: When one shaft is given rotary motion,it is transmitted to another shaft the intermediate piece.
The intermediate piece slides & adjusts itself, to keep both shafts runnings. The centre of the intermediate
piece traces the path of a circle with radius equal to offset between shafts.

Application : This coupling is used to connect two shaft having some eccentricity (offset).
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Q.4. Explain with sketch Elliptical Trammel Mechanism?
Ans:

Links: 1. Frame
2.PB
3.Slider 1
4.Slider 2

Pairs: 1.Slider 1 & Frame – Sliding

2. Slider 2 & Frame – Sliding
3.Slider 1 & link PB – turning
4.Slider 2 & link PB - turning

Construction : This mechanism is an inversion of Double slider crank Chain .It has two sliding & two
turning pairs. As shown in figure it has rectangular frame with vertical and horizontal slots. Two sliders are
free to slide inside both slots. A link PB connects two sliders.

Working: When one of the slider is given reciprocating motion it is transmitted to another slider through the
link PB . It is observed that while the two sliders slide into respective slots the pt.'P' traces the path of an
ellipse.

Application : This mechanism is used for drawing ellipse of required size..

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