LECTURE NOTES

ON

THEORY OF MACHINE (TH1)

For

4TH SEM MECHANICAL ENGG

(SCTE&VT SYLLABUS)

Prepared by

Dr Niharika Mohanta
Lecturer Mechanical Engg
OSME KEONJHAR
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Module 6 Vibration of Machine Parts Theory of machin(4th sem)

Introduction
The study of vibrations is concerned with the oscillatory motion of bodies and the forces
associated with them. All bodies possessing mass and elasticity are capable of vibrating. Thus
most engineering machines and structures experiences vibration to some degree and their
design generally requires consideration of their oscillatory behaviour. The oscillatory motion
of the system may be objectionable or necessary for performing a task.

The objective of the designer is to control the vibration when it is objectionable and to
enhance the vibration when it is useful. Objectionable or undesirable vibration in machine
may cause the loosening of parts, its malfunctioning or its failure. The useful vibration helps
in the design of shaker in foundries, vibrators in testing machines etc. Sometimes vibrations
are bad and other times they are good.

1.1. Causes of vibration: - The main causes of vibration are:-

1) Unbalanced forces in the machine. These forces are produced from within the machine
itself because of non-uniform material distribution in a rotating machine element.

2) Dry friction between the two mating surfaces: This is what known as self-exited
vibration.

3) External excitations. These excitations may be periodic, random or of the nature of an

impact produced external to the vibrating system.

4) Elastic nature of the system

5) Earth quakes. These are responsible for the failure of many buildings, dams etc.

6) Winds. These may cause the vibrations of transmission and telephone lines under certain
conditions.

The effect of vibrations is excessive stresses, undesirable noise, looseness of parts

and partial or complete failure of parts. Inspite of these harmful effects the vibration
phenomenon does have, some uses also e.g. in musical instruments, vibrating screens,
shakers, stress relieving.etc.

1.2. Methods to reduce vibrations

Elimination or reduction of the undesirable vibrations can be obtained by one or
more of the following methods

1. Removing the cause of vibrations

2. Putting in screens if noise is the only objection
3. Resting the machinery in proper type of isolators
4. Shock absorbers.
5. Dynamic vibration absorbers
Prepared by Dr Niharika Mohanta
1 Lecturer Mechanical Engg ,OSME Keonjhar
Module 6 Vibration of Machine Parts Theory of machin(4th sem)

Vibration terminology:
1) Periodic motion: A motion which repeats itself after equal intervals of time is known
as periodic motion. Any periodic motion can be represented by function x (t) in the
period T. the function x(t) is called periodic function
2) Time period: - Time taken to complete one cycle is called time period.
3) Frequency: - The number of cycles per unit time is known as frequency.
4) Natural frequency: - When no external force acts on the system after giving it an
initial displacement, the body vibrates. These vibrations are called free vibrations and
their frequency as natural frequency. It is expressed in c/s or hertz
5) Amplitude: - The max displacement of a vibrating body from its equilibrium position
is called amplitude.
6) Fundamental mode of vibration: - The fundamental mode of vibration of a system
is the mode having the lowest natural frequency.
7) Resonance: - When the frequency of external exitation is equal to the natural
frequency of a vibrating body, the amplitude of vibration becomes excessively large.
This concept is known as resonance.
8) Mechanical systems: - The systems consisting of mass shiftness and damping are
known as mechanical systems.
9) Continuous and discrete systems: - Most of mechanical systems include elastic
members which have infinite number of degree of freedom. Such systems are called
continuous systems. Continuous systems are also known as distributed systems. Ex.
Cantilever, Simply supported beam etc. Systems with finite number of degrees of
freedom are called discrete or lumped systems.
10) Degree of freedom: - The minimum no of independent co-ordinates required
specifying the motion of a system at any instant is known as degree of freedom of the
system. Thus a free particle undergoing general motion in space will have three
degree of freedom, while a rigid body will have six degree of freedom i.e. three
components of position and three angles defining its orientation. Furthermore a
continuous body will require an infinite number of co-ordinates to describe its motion;
hence its degree of freedom must be infinite.
11) Simple harmonic motion (SHM) A periodic motion of a particle whose acceleration
is always directed towards the mean position and is proportional to its distance from
the mean position is known as SHM. It may also be defined as the motion of a
projection of a particle moving round a circle with uniform angular velocity, on a
diameter.
12) Phase difference It is the angle between two rotating vectors representing simple
harmonic motion of the same frequency

Prepared by Dr Niharika Mohanta

2 Lecturer Mechanical Engg ,OSME Keonjhar
Module 6 Vibration of Machine Parts Theory of machin(4th sem)

2.2.2 Classification of vibrations Mechanical vibrations may broadly be classified the

following types

1) Free and forced vibration

2) Linear and nonlinear vibration
3) Damped and un damped vibration
4) Deterministic and random vibration
5) Longitudinal, transverse and torsional vibration
6) Transient vibration

1. Free and Forced vibration

Free vibration takes place when system oscillates under the action of forces inherent in the
system itself and when external impressed forces are absent. The system under free vibration
will vibrate at one or more of its natural frequencies. Vibration that takes place under the
exitation of external forces is called forced vibration. When the exitation is oscillating the
Prepared by Dr Niharika Mohanta
3 Lecturer Mechanical Engg ,OSME Keonjhar
Module 6 Vibration of Machine Parts Theory of machin(4th sem)

system is forced to vibrate at the exitation frequency. If the frequency of excitation coincides
with one of the natural frequency of the system, a condition of resonance is encountered, and
dangerously large oscillations may result.

2) Linear and Non-linear vibration If in a vibrating system mass, spring and damper
behave in a linear manner, the vibrations caused are known as linear in nature. Linear
vibrations are governed by linear differential equations. They follow law of superposition. On
the other hand, if any of the basic components of a vibrating system behaves non-linearly, the
vibration is called non-linear. Linear vibration becomes non-linear for very large amplitude
of vibration. It does not follow the law of super- positions.

3) Damped and Undamped vibration If the vibrating system has a damper, the motion of
the system will be opposed by it and the energy of the system will be dissipated in friction.
This type of vibration is called damped vibration. The system having no damper is known as
undamped vibration

4) Deterministic and Random vibration If in the vibrating system the amount of external
excitation is known in magnitude, it causes deterministic vibration. Contrary to it the non-
deterministic vibrations are known as random vibrations.

5) Longitudinal, Transverse and Torsional vibration Fig represents a body of mass ‘m’
carried on one end of a weightless spindle, the other end being fixed. If the mass moves up
and down parallel to the spindle and it is said to execute longitudinal vibrations as shown in
fig (1).

When the particles of the body or spindle move approximately perpendicular to the axis of
the spindle as shown in fig (2) the vibrations so caused are known as transverse vibrations if
the spindle gets alternately twisted and untwisted on account of vibrating motion of the
suspended disc, it is said to be undergoing torsional vibrations as shown in fig(3).

6) Transient Vibration In ideal system the free vibrations continue indefinitely as there is no
damping. The amplitude of vibration decays continuously because of damping (in a real
system) and vanishes ultimately. Such vibration in a real system is called transient vibration

Prepared by Dr Niharika Mohanta

4 Lecturer Mechanical Engg ,OSME Keonjhar
Module 6 Vibration of Machine Parts Theory of machin(4th sem)

ILLUSTRATIONS

1. What do you by vibration? Explain the causes of Vibration.

Ans) Vibration is a mechanical phenomenon whereby oscillations occur about an

equilibrium point. The oscillations may be periodic such as the motion of a pendulum or
random such as the movement of a tire on a gravel road.

Causes of vibration: - The main causes of vibration are:-

Unbalanced forces in the machine. These forces are produced from within the machine
itself because of non-uniform material distribution in a rotating machine element.

Dry friction between the two mating surfaces: This is what known as self-exited
vibration. External excitations. These excitations may be periodic, random or of the
nature of an impact produced external to the vibrating system.

Earth quakes. These are responsible for the failure of many buildings, dams etc.

Winds. These may cause the vibrations of transmission and telephone lines under certain
conditions.

The effect of vibrations is excessive stresses, undesirable noise, looseness of parts

and partial or complete failure of parts. Inspite of these harmful effects the vibration
phenomenon does have, some uses also e.g. in musical instruments, vibrating screens,
shakers, stress relieving.etc

2.Define the following:

a) Periodic Motion b) Time Period c) Frequency d) Amplitude

ans) Periodic motion: A motion which repeats itself after equal intervals of time is known as
periodic motion. Any periodic motion can be represented by function x (t) in the period T. the
function x(t) is called periodic function.

Time period: - Time taken to complete one cycle is called time period.

Frequency: - The number of cycles per unit time is known as frequency.

Amplitude: - The max displacement of a vibrating body from its equilibrium position is
called amplitude

4. Explain any five types of vibrations, with examples.

Ans) 1. Free and Forced vibration

Free vibration takes place when system oscillates under the action of forces inherent in the
system itself and when external impressed forces are absent. The system under free vibration
will vibrate at one or more of its natural frequencies. Vibration that takes place under the
Prepared by Dr Niharika Mohanta
5 Lecturer Mechanical Engg ,OSME Keonjhar
Module 6 Vibration of Machine Parts Theory of machin(4th sem)

excitation of external forces is called forced vibration. When the excitation is oscillating the
system is forced to vibrate at the exitation frequency. If the frequency of excitation coincides
with one of the natural frequency of the system, a condition of resonance is encountered, and
dangerously large oscillations may result.

2) Linear and Non-linear vibration If in a vibrating system mass, spring and damper
behave in a linear manner, the vibrations caused are known as linear in nature. Linear
vibrations are governed by linear differential equations. They follow law of superposition. On
the other hand, if any of the basic components of a vibrating system behaves non-linearly, the
vibration is called non-linear. Linear vibration becomes non-linear for very large amplitude
of vibration. It does not follow the law of super- positions.

3) Damped and Undamped vibration If the vibrating system has a damper, the motion of
the system will be opposed by it and the energy of the system will be dissipated in friction.
This type of vibration is called damped vibration. The system having no damper is known as
undamped vibration

4) Deterministic and Random vibration If in the vibrating system the amount of external
excitation is known in magnitude, it causes deterministic vibration. Contrary to it the non-
deterministic vibrations are known as random vibrations.

5) Longitudinal, Transverse and Torsional vibration Fig represents a body of mass ‘m’
carried on one end of a weightless spindle, the other end being fixed. If the mass moves up
and down parallel to the spindle and it is said to execute longitudinal vibrations as shown in
fig (1). When the particles of the body or spindle move approximately perpendicular to the
axis of the spindle as shown in fig (2) the vibrations so caused are known as transverse
vibrations if the spindle gets alternately twisted and untwisted on account of vibrating motion
of the suspended disc, it is said to be undergoing torsional vibrations as shown in fig(3)

Prepared by Dr Niharika Mohanta

6 Lecturer Mechanical Engg ,OSME Keonjhar
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 ASSIGNMENT QUESTION

OF

THEORY OF MACHINE(4th sem Mech Egg)

Module 1 Simple mechanism

1. Explain the term kinematic link.

2. Give the classification of kinematic link.
3. What is a machine? Giving example, differentiate between a machine and a structure.
4. What do you mean by kinematic pairs?
5. What do you mean by constrained motion?
6. Explain the terms: 1. Lower pair, 2. Higher pair, 3. Kinematic chain, and 4. Inversion
of mechanism
7. Explain different types of kinematic pairs.
8. Explain Grubler’s criterion for determining degree of freedom for mechanisms.
9. Sketch and describe the four bar chain mechanism and inversion of four bar chain
mechanism.
10. Sketch and explain the various inversions of a slider crank chain
11. Sketch slider crank chain and its various inversions,
12. Sketch and describe the working of two different types of quick return mechanisms.
Derive an expression for the ratio of times taken in forward and return stroke for one
of these mechanisms.

Module 2 Friction

1. Explain the following:

i) Limiting friction, (ii) Angle of friction, and
iii) Coefficient of friction iv) Angle of Repose
2. Distinguish between brakes and dynamometers.
3. Describe the construction and operation of a prony brake or rope brake absorption
dynamometer.
4. Derive an expression for the effort required to raise a load with a screw jack taking
friction into consideration.
5. Neglecting collar friction, derive an expression for mechanical advantage of a square
threaded screw moving in a nut, in terms of helix angle of the screw and friction angle
6. Deduce an expression for the friction torque on flat pivot bearing, assuming uniform
pressure and wear.
7. Derive an expression for the friction torque for a flat collar bearing. Assume uniform
intensity of pressure.
8. Derive from first principles an expression for the friction torque of a conical pivot
assuming (i) Uniform pressure, and (ii) Uniform wear.
9. Describe with a neat sketch the working of a single plate friction clutch.
10. A vertical shaft 150 mm in diameter rotating at 100 r.p.m. rests on a flat end footstep
bearing. The shaft carries a vertical load of 20 kN. Assuming uniform pressure
distribution and coefficient of friction equal to 0.05, estimate power lost in friction

11. A conical pivot supports a load of 20 kN, the cone angle is 120º and the intensity of
normal pressure is not to exceed 0.3 N/mm2. The external diameter is twice the
internal diameter. Find the outer and inner radii of the bearing surface. If the shaft
rotates at 200 r.p.m. and the coefficient of friction is 0.1, find the power absorbed in
friction. Assume uniform pressure.
12. A thrust shaft of a ship has 6 collars of 600 mm external diameter and 300 mm
internal diameter. The total thrust from the propeller is 100 kN. If the coefficient of
friction is 0.12 and speed of the engine 90 r.p.m., find the power absorbed in friction
at the thrust block, assuming l. uniform pressure; and 2. Uniform wear.
13. A single plate clutch, with both sides effective, has outer and inner diameters 300 mm
and 200 mm respectively. The maximum intensity of pressure at any point in the
contact surface is not to exceed 0.1 N/mm2. If the coefficient of friction is 0.3,
determine the power transmitted by a clutch at a speed 2500 r.p.m.

Module 3 Power Transmission

1. What is velocity ratio of a belt drive?

2. Explain the phenomena of ‘slip’ and ‘creep’ in a belt drive
3. What is centrifugal tension in a belt
4. Obtain an expression for the length of a belt in 1. an open belt drive ; and 2. a cross
belt drive.
5. For a flat belt, prove that 1
T1/T2= eµθ
Where
T1= Tension in the tight side of the belt,
T2= Tension in the slack side of the belt
µ = Coefficient of friction between the belt and the pulley, and
θ = Angle of contact between the belt and the pulley (in radians.)
6. Derive the condition for transmitting the maximum power in a flat belt drive.
7. Derive the centrifugal tension in a flat belt.
8. Two pulleys, one 450 mm diameter and the other 200 mm diameter are on parallel
shafts 1.95 m apart and are connected by a crossed belt. Find the length of the belt
required and the angle of contact between the belt and each pulley. What power can
be transmitted by the belt when the larger pulley rotates at 200 rev/min, if the
maximum permissible tension in the belt is 1 kN, and the coefficient of friction
between the belt and pulley is 0.25?
9. A leather belt is required to transmit 7.5 kW from a pulley 1.2 m in diameter, running
at 250 r.p.m. The angle embraced is 165° and the coefficient of friction between the
belt and the pulley is 0.3. If the safe working stress for the leather belt is 1.5 MPa,
 density of leather 1 Mg/m3 and thickness of belt 10 mm, determine the width of the
belt taking centrifugal tension into account.
10. Explain the terms : (i) Module, (ii) Pressure angle, and (iii) Addendum
11. Explain briefly simple, compound, and reverted gear trains
12. Explain with neat sketch epicyclic gear trains.
13. How the velocity ratio of epicyclic gear train is obtained by tabular method?
14. In an epicyclic gear train, an arm carries two gears A and B having 36 and 45 teeth
respectively. If the arm rotates at 150 r.p.m. in the anticlockwise direction about the
centre of the gear A which is fixed, determine the speed of gear B. If the gear A
instead of being fixed, makes 300 r.p.m. in the clockwise direction, what will be the
speed of gear B?

Module 4 Governors and Flywheel

1. What is the function of a governor?

2. How does governor differ from that of a flywheel?
3. State the different types of governors. What is the difference between centrifugal and
inertia type governors?
4. Define and explain the following terms relating to governors :
5. Stability, 2. Sensitiveness, 3. Isochronism and 4. Hunting.
6. Define ‘effort’ and ‘power’ of a Porter governor.
7. Explain the term height of the governor. Derive an expression for the height in the
case of a Watt governor.
8. Define the terms ‘coefficient of fluctuation of speed
9. What is the function of a flywheel? How does it differ from that of a governor
10. Prove that the max fluctuation of energy
∆E=2 E Cs
Where E = Mean kinetic energy of the flywheel, and C S = Coefficient of
fluctuation of speed.
11. A Porter governor has equal arms each 250 mm long and pivoted on the axis of
rotation. Each ball has a mass of 5 kg and the mass of the central load on the sleeve is
25 kg. The radius of rotation of the ball is 150 mm when the governor begins to lift
and 200 mm when the governor is at maximum speed. Find the minimum and
maximum speeds and range of speed of the governor
12. A Porter governor has all four arms 250 mm long. The upper arms are attached on the
axis of rotation and the lower arms are attached to the sleeve at a distance of 30 mm
from the axis. The mass of each ball is 5 kg and the sleeve has a mass of 50 kg. The
extreme radii of rotation are 150 mm and 200 mm. Determine the range of speed of
the governor
13. A Proell governor has equal arms of length 300 mm. The upper and lower ends of the
arms are pivoted on the axis of the governor. The extension arms of the lower links
are each 80 mm long and parallel to the axis when the radii of rotation of the balls are
 150 mm and 200 mm. The mass of each ball is 10 kg and the mass of the central load
is 100 kg. Determine the range of speed of the governor
14. A Hartnell governor having a central sleeve spring and two right-angled bell crank
levers moves between 290 r.p.m. and 310 r.p.m. for a sleeve lift of 15 mm. The sleeve
arms and the ball arms are 80 mm and 120 mm respectively. The levers are pivoted at
120 mm from the governor axis and mass of each ball is 2.5 kg. The ball arms are
parallel to the governor axis at the lowest equilibrium speed. Determine : 1. loads on
the spring at the lowest and the highest equilibrium speeds, and 2. stiffness of the
spring

Module 5 Balancing of Machine

1. Define the terms ‘static balancing’ and ‘dynamic balancing’.

2. Four masses m1, m2, m3 and m4 are 200 kg, 300 kg, 240 kg and 260 kg respectively.
The corresponding radii of rotation are 0.2 m, 0.15 m, 0.25 m and 0.3 m respectively.
and the angles between successive masses are 45°, 75° and 135°. Find the position
and magnitude of the balance mass required, if its radius of rotation is 0.2 m.

3. A shaft carries four masses A, B, C and D of magnitude 200 kg, 300 kg, 400 kg and
200 kg respectively and revolving at radii 80 mm, 70 mm, 60 mm and 80 mm in
planes measured from A at 300 mm, 400 mm and 700 mm. The angles between the
cranks measured anticlockwise are A to B 45°, B to C 70° and C to D 120°. The
balancing masses are to be placed in planes X and Y. The distance between the planes
A and X is 100 mm, between X and Y is 400 mm and between Y and D is 200 mm. If
the balancing masses revolve at a radius of 100 mm, find their magnitudes and
angular positions.

Module 6 Vibration of machine parts

1. What are the causes and effects of vibrations?
2. Define, in short, free vibrations, forced vibrations and damped vibrations.
3. What are longitudinal, transverse and torsional free vibrations?