MECH226:

Machine Dynamics
Lecturer/Subject Coordinator
Dr. Emre Sariyildiz
School of Mechanical, Materials, Mechatronic
and Biomedical Engineering,
Building 8, Room 116.
Phone: 02 4221 3319
E-mail: [email protected]
Consultation Times: Available in the SO.

1
Prepared by Dr. E. Sariyildiz
 MECH226: Machine Dynamics

Tasks Weighting Learning Outcomes Attained

Quizzes (Six-quizzes) 12% (Each Quiz 2%) SLO1, SLO3, SLO4, SLO5
Mid-Session Exam 28% SLO1, SLO3, SLO4, SLO5
Labs (Practicals) 25% SLO1, SLO2, SLO3, SLO4, SLO5
Final Examination 35% SLO1, SLO2, SLO3, SLO4, SLO5

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MECH226: Machine Dynamics
Outline
1st Week: Kinematics and Kinetics of a Particle
2nd Week: Planar Kinematics of a Rigid Body
3th Week: Planar Kinetics of a Rigid Body: Acceleration and Force; Work and Energy
4th Week: Introduction to Mechanisms: Mechanism Synthesis, Mobility, Gruebler’s
equation
12th Week: Velocity and Acceleration Analysis of Mechanisms
13th Week: Velocity and Acceleration Analysis of Mechanisms (Continued)
8th Week: Mid-session Quiz in Lecture Time 3
Prepared by Dr. E. Sariyildiz
 Machine Dynamics
MATH141: Foundations of Engineering MATH142: Essentials of Engineering ENGG100: Engineering Computing
Mathematics Mathematics and Analysis

Michael Faraday MECH226: Machine Dynamics James Clerk Maxwell

Mechanical Engineering Mechatronic Engineering Biomedical Engineering

MECH321: Dynamics of Engineering ECTE344: Control Theory BMEG302: Biomedical Sensors

Systems and Actuators
MECH326: Dynamics of Mechanisms ECTE471: Robotics and Flexible BMEG303: Biomechanical Basis
Automation of Human Movement
MECH326: Control of Machines and
Processes MECH215/311: Mechanical BMEG305: Mechanical Design
Engineering Design of Biomedical Systems
MECH215/311: Mechanical
ECTE344: Control Theory
Engineering Design 4
Prepared by Dr. E. Sariyildiz
 An Overview of Mechanics

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 An Overview of Mechanics

Mechanics: The study of how bodies

react to the forces acting on them.

Statics: The study of Dynamics:

bodies in equilibrium. 1. Kinematics – concerned with
the geometric aspects of motion
2. Kinetics - concerned with
the forces causing the motion
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 Rectilinear Kinematics:
Continuous Motion
A particle travels along a straight-line path
defined by the coordinate axis s.
The position of the particle at any instant,
relative to the origin, O, is defined by the
position vector r, or the scalar s. Scalar s
can be positive or negative. Typical units
for r and s are meters (m).
The displacement of the particle is
defined as its change in position.
Vector form:  r = r’ - r Scalar form:  s = s’ - s
The total distance traveled by the particle, sT, is a positive scalar
that represents the total length of the path over which the
particle travels.
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 Rectilinear Kinematics:
Continuous Motion
Velocity is a measure of the rate of change in the position of a particle.
It is a vector quantity (it has both magnitude and direction). The
magnitude of the velocity is called speed, with units of m/s.
The average velocity of a particle during a
time interval t is
vavg = r / t
The instantaneous velocity is the time-derivative of position.
v = dr / dt

Speed is the magnitude of velocity: v = ds / dt

Average speed is the total distance traveled divided by elapsed time:

Prepared by Dr. E. Sariyildiz
(vsp)avg = sT / t 8
 Rectilinear Kinematics:
Continuous Motion
Acceleration is the rate of change in the velocity of a particle. It is a
vector quantity. Typical units are m/s2.

The instantaneous acceleration is the time

derivative of velocity.

Vector form: a = dv / dt

Scalar form: a = dv / dt = d2s / dt2

Acceleration can be positive (speed

increasing) or negative (speed decreasing).

As the text shows, the derivative equations for velocity and

acceleration can be manipulated to get a ds = v dv 9
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 General Curvilinear Motion
A particle moving along a curved path undergoes curvilinear motion.
Since the motion is often three-dimensional, vectors are usually used
to describe the motion.

A particle moves along a curve

defined by the path function, s.

The position of the particle at any instant is designated by the vector

r = r(t). Both the magnitude and direction of r may vary with time.

If the particle moves a distance s along the

curve during time interval t, the
displacement is determined by vector
subtraction: r = r’ - r 10
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 General Curvilinear Motion
Velocity represents the rate of change in the position of a
particle.
The average velocity of the particle
during the time increment t is
vavg = r/t .
The instantaneous velocity is the
time-derivative of position
v = dr/dt .
The velocity vector, v, is always
tangent to the path of motion.
The magnitude of v is called the speed. Since the arc length s
approaches the magnitude of r as t→0, the speed can be
obtained by differentiating the path function (v = ds/dt). Note
11
Prepared by Dr. E. Sariyildiz that this is not a vector!
 General Curvilinear Motion
Acceleration represents the rate of change in the
velocity of a particle.

If a particle’s velocity changes from v to v’ over a

time increment t, the average acceleration during
that increment is:
aavg = v/t = (v - v’)/t
The instantaneous acceleration is the time-
derivative of velocity:
a = dv/dt = d2r/dt2

A plot of the locus of points defined by the arrowhead

of the velocity vector is called a hodograph. The
acceleration vector is tangent to the hodograph, but
not, in general, tangent to the path function.
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 General Curvilinear Motion:
Rectangular Components
It is often convenient to describe the motion of a particle in
terms of its x, y, z or rectangular components, relative to a fixed
frame of reference.
The position of the particle can be
defined at any instant by the
position vector
r=xi+yj+zk .
The x, y, z-components may all be
functions of time, i.e.,
x = x(t), y = y(t), and z = z(t) .

The magnitude of the position vector is: r = (x2 + y2 + z2)0.5

The direction of r is defined by the unit vector: ur = (1/r)r 13
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 General Curvilinear Motion:
Rectangular Components
The velocity vector is the time derivative of the position vector:
v = dr/dt = d(x i)/dt + d(y j)/dt + d(z k)/dt

Since the unit vectors i, j, k are constant in magnitude and

direction, this equation reduces to v = vx i + vy j + vz k
• • •
where vx = x = dx/dt, vy = y = dy/dt, vz = z = dz/dt

The magnitude of the velocity

vector is
v = [(vx)2 + (vy)2 + (vz)2]0.5

The direction of v is tangent

to the path of motion. 14
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 General Curvilinear Motion:
Rectangular Components
The acceleration vector is the time derivative of the velocity
vector (second derivative of the position vector).
a = dv/dt = d2r/dt2 = ax i + ay j + az k
• •• • ••
where ax = vx = x = dvx /dt, ay = vy = y = dvy /dt,
az = v• z = z•• = dvz /dt
The magnitude of the acceleration vector is
a = (ax )2 +(ay )2 +(az )2

The direction of a is usually

not tangent to the path of the
particle. 15
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 General Curvilinear Motion:
Normal and Tangential Components
When a particle moves along a curved path, it is sometimes convenient
to describe its motion using coordinates other than Cartesian. When the
path of motion is known, normal (n) and tangential (t) coordinates are
often used.

In the n-t coordinate system, the

origin is located on the particle
(thus the origin and coordinate
system move with the particle).

The t-axis is tangent to the path (curve) at the instant considered,

positive in the direction of the particle’s motion.
The n-axis is perpendicular to the t-axis with the positive direction
16
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 General Curvilinear Motion:
Normal and Tangential Components
The positive n and t directions are
defined by the unit vectors un and ut,
respectively.

The center of curvature, O’, always

lies on the concave side of the curve.
The radius of curvature, r, is defined
as the perpendicular distance from
the curve to the center of curvature at
that point.

The position of the particle at any

instant is defined by the distance, s, along the curve from a
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 General Curvilinear Motion:
Normal and Tangential Components
n-t coordinate system The velocity vector is always
tangent to the path of motion
(t-direction).

The magnitude is determined by taking the time derivative of

the path function, s(t). .
v = v ut where v = s = ds/dt

Here v defines the magnitude of the velocity (speed) and

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ut defines the direction of the velocity vector. 18
 General Curvilinear Motion:
Normal and Tangential Components
n-t coordinate system Acceleration is the time rate of change
. of
. velocity:
a = dv/dt = d(vut)/dt = vut + vut
.
Here v represents the change in
.
the magnitude of velocity and ut
represents the rate of change in
the direction of ut.

After mathematical manipulation,

the acceleration vector can be
expressed as:
.
a = v ut + (v2/r) un = at ut + an un. 19
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 General Curvilinear Motion:
Normal and Tangential Components
n-t coordinate system So, there are two components to the
acceleration vector:
a = at ut + an un

• The tangential component is tangent to the curve and in the

direction of. increasing or decreasing velocity.
at = v or at ds = v dv
• The normal or centripetal component is always directed
toward the center of curvature of the curve. an = v2/r
• The magnitude of the acceleration vector is
Prepared by Dr. E. Sariyildiz a = (an )2 +(at )2 20
 Kinetics of a Particle:
Force and Acceleration
Newton’s Laws of Motion
The motion of a particle is governed by Newton’s three laws of
motion.
First Law: A particle originally at rest, or moving in a straight
line at constant velocity, will remain in this state if the resultant
force acting on the particle is zero.

Second Law: If the resultant force on the particle is not zero, the
particle experiences an acceleration in the same direction as the
resultant force. This acceleration has a magnitude proportional to
the resultant force.
Third Law: Mutual forces of action and reaction between two
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particles are equal, opposite, and collinear. 21
 Kinetics of a Particle:
Force and Acceleration
Equation of Motion The motion of a particle is governed by Newton’s second law, relating
the unbalanced forces on a particle to its acceleration. If more than one
force acts on the particle, the equation of motion can be written
F = FR = ma
where FR is the resultant force, which is a vector summation of all the
forces.
To illustrate the equation, consider a
particle acted on by two forces.

First, draw the particle’s free-body

diagram, showing all forces acting
on the particle. Next, draw the
kinetic diagram, showing the
inertial force ma acting in the same
direction as the resultant force FR. 22
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 Kinetics of a Particle:
Force and Acceleration
Equation of Motion The equation of motion, F = ma, is best used when the problem
Rectangular Coordinates requires finding forces (especially forces perpendicular to the
path), accelerations, velocities, or mass. Remember, unbalanced
forces cause acceleration!

Three scalar equations can be written from this vector equation.

The equation of motion, being a vector equation, may be
expressed in terms of three components in the Cartesian
(rectangular) coordinate system as

F = ma or Fx i + Fy j + Fz k = m(ax i + ay j + az k)

or, as scalar equations, Fx = max, Fy = may, and Fz = maz.
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 Kinetics of a Particle:
Force and Acceleration
Equation of Motion
n-t Coordinates When a particle moves along a
curved path, it may be more
convenient to write the equation
of motion in terms of normal
and tangential coordinates.

The normal direction (n) always points toward the path’s center
of curvature. In a circle, the center of curvature is the center of
the circle.

The tangential direction (t) is tangent to the path, usually set as

positive in the direction of motion of the particle.
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 Kinetics of a Particle:
Force and Acceleration
Equation of Motion
n-t Coordinates Since the equation of motion is a vector
equation, F = ma,
it may be written in terms of the n & t
coordinates as
Ftut + Fnun+ Fbub = mat+man
Here Ft & Fn are the sums of the force components acting in
the t & n directions, respectively.
This vector equation will be satisfied provided the individual
components on each side of the equation are equal, resulting in
the two scalar equations: Ft = mat and Fn = man .
Since there is no motion in the binormal (b) direction, we can also write F
25 b
= 0.
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 Kinetics of a Particle:
Work and Energy
Another equation for working kinetics problems involving
particles can be derived by integrating the equation of motion
(F = ma) with respect to displacement.
By substituting at = v (dv/ds) into
Ft = mat, the result is integrated to
yield an equation known as the
principle of work and energy.

This principle is useful for solving problems that involve

force, velocity, and displacement. It can also be used to
explore the concept of power.
To use this principle, we must first understand how to calculate the work of a
force.
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 Kinetics of a Particle:
Work and Energy
Work of a Force A force does work on a particle when the particle undergoes a
displacement along the line of action of the force.

Work is defined as the product of force

and displacement components acting in
the same direction. So, if the angle
between the force and displacement
vector is q, the increment of work dU
done by the force is
dU = F ds cos q
By using the definition of the dot product r2
and integrating, the total work can be U =
written as
1-2  F • dr
27
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 Kinetics of a Particle:
Work and Energy
Work of a Force If F is a function of position (a common
case) this becomes
s2

U1-2 =
 F cos q ds
s1

If both F and q are constant (F = Fc), this equation further

simplifies to
U1-2 = Fc cos q (s2 - s1)

Work is positive if the force and the movement are in the

same direction. If they are opposing, then the work is
negative. If the force and the displacement directions are
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 Kinetics of a Particle:
Work and Energy
Work of a Weight The work done by the gravitational force acting on a particle
(or weight of an object) can be calculated by using

y2

U1-2 =  - W dy
y1
U1-2 = - W (y2 − y1) = - W y

The work of a weight is the product of the magnitude of

the particle’s weight and its vertical displacement. If y
is upward, the work is negative since the weight force
always acts downward. 29
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 Kinetics of a Particle:
Work and Energy
Work of a Spring Force When stretched, a linear elastic spring
develops a force of magnitude Fs = ks, where
k is the spring stiffness and s is the
displacement from the unstretched position.

The work of the spring force moving from position s1 to position

s2 is s2 s2
U1-2 = s F ds
s =  k s ds = 0.5 k (s2)2 – 0.5 k (s1)2
1 s1

If a particle is attached to the spring, the force Fs exerted on the

particle is opposite to that exerted on the spring. Thus, the work
done on the particle by the spring force will be negative or
Prepared by Dr. E. Sariyildiz U1-2 = – [ 0.5 k (s2)2 – 0.5 k (s1)2 ]. 30
 Kinetics of a Particle:
Work and Energy
Principles of By integrating the equation of motion,  Ft = mat = mv(dv/ds), the
Work and Energy principle of work and energy can be written as
 U1-2 = 0.5 m (v2)2 – 0.5 m (v1)2 or T1 +  U1-2 = T2

U1-2 is the work done by all the forces acting on the particle as it
moves from point 1 to point 2. Work can be either a positive or
negative scalar.
T1 and T2 are the kinetic energies of the particle at the initial and final
position, respectively. Thus, T1 = 0.5 m (v1)2 and T2 = 0.5 m (v2)2.
The kinetic energy is always a positive scalar (velocity is squared!).
So, the particle’s initial kinetic energy plus the work done by all the
forces acting on the particle as it moves from its initial to final position
is equal to the particle’s final kinetic energy. 31
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 Kinetics of a Particle:
Work and Energy
Principles of Note that the principle of work and energy (T1 +  U1-2 = T2) is
Work and Energy not a vector equation! Each term results in a scalar value.
Both kinetic energy and work have the same units, that of
energy! In the SI system, the unit for energy is called a joule (J),
where 1 J = 1 N·m. In the FPS system, units are ft·lb.

The principle of work and energy cannot be used, in general, to

determine forces directed normal to the path, since these forces
do no work.

The principle of work and energy can also be applied to a system

of particles by summing the kinetic energies of all particles in the
system and the work due to all forces acting on the system. 32
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 Kinetics of a Particle:
Work and Energy
Conservative Force
A force F is said to be conservative if the work done is
independent of the path followed by the force acting on a particle
as it moves from A to B. This also means that the work done by
the force F in a closed path (i.e., from A to B and then back to A)
is zero.
 F · dr = 0 z F
B

Thus, we say the work is conserved.

A
The work done by a conservative y
force depends only on the positions
of the particle, and is independent of x
its velocity or acceleration. 33
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 Kinetics of a Particle:
Work and Energy
Potential Energy
Potential energy is a measure of the amount of work a
conservative force will do when a body changes position.

In general, for any conservative force system, we can define

the potential function (V) as a function of position. The work
done by conservative forces as the particle moves equals the
change in the value of the potential function (e.g., the sum of
Vgravity and Vsprings).

It is important to become familiar with the two types of

potential energy and how to calculate their magnitudes.
34
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 Kinetics of a Particle:
Work and Energy
Potential Energy The potential function (formula) for a gravitational force, e.g.,
due to Gravity weight (W = mg), is the force multiplied by its elevation from a
datum. The datum can be defined at any convenient location.

Vg = ± W y

Vg is positive if y is above the

datum and negative if y is
below the datum. Remember,
YOU get to set the datum.

35
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 Kinetics of a Particle:
Work and Energy
Elastic Potential Recall that the force of an elastic spring is F = ks. It is
Energy important to realize that the potential energy of a spring, while
it looks similar, is a different formula.

Ve (where ‘e’ denotes an

elastic spring) has the distance
“s” raised to a power (the
result of an integration) or
1 2
Ve = k s
2
Notice that the potential
function Ve always yields
positive energy. 36
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 Kinetics of a Particle:
Work and Energy
Conservation of Energy When a particle is acted upon by a system of conservative
forces, the work done by these forces is conserved and the
sum of kinetic energy and potential energy remains
constant. In other words, as the particle moves, kinetic
energy is converted to potential energy and vice versa.
This principle is called the principle of conservation of
energy and is expressed as

T1 + V1 = T2 + V2 = Constant
T1 stands for the kinetic energy at state 1 and V1 is the
potential energy function for state 1. T2 and V2
represent these energy states at state 2. Recall, the
37
Prepared by Dr. E. Sariyildiz kinetic energy is defined as T = ½ mv2.
 Conclusion
Mechanics: a) Statics, b) Dynamics: Kinematics and Kinetics

Kinematics of a Particle:
Rectilinear Kinematics of a Particle: Continuous and Erratic Motions
Curvilinear Motion: Rectangular, Normal and Tangential, Cylindrical Components

Kinetics of a Particle:
Newton’s Law of Motion
Equation of Motion: Rectangular, n-t and Cylindrical coordinates
Principles of Work and Energy

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 End

Next Week: Planar Kinematics of a Rigid Body

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 MECH226:
Machine Dynamics
Lecturer/Subject Coordinator
Dr. Emre Sariyildiz
School of Mechanical, Materials, Mechatronic
and Biomedical Engineering,
Building 8, Room 116.
Phone: 02 4221 3319
E-mail: [email protected]
Consultation Times: Available in the SO.

1
Prepared by Dr. E. Sariyildiz
 Homework
y
Position: r = rcos ( ) i + rsin ( ) j = rrˆ
v j
dr ( )
Velocity: v= r ( )  (t ) −i
dt
r
v = − r sin ( ) i + r cos ( ) j = r vˆ
j
 x
O
i

2
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 ( r )
2
v2
an =−
r
=−
r Homework
y
Position: r = rcos ( ) i + rsin ( ) j = rrˆ
at j
dr ( )
Velocity: v= r ( )  (t ) −i
dt
r
v = − r sin ( ) i + r cos ( ) j = r vˆ
an −j

j
Acceleration: a = a t + a n  x
O
a t = − r sin ( ) i + r cos ( ) j
i

= r vˆ = r aˆ t
an = − r cos ( ) i − r sin ( ) j = −r rˆ
2 2 2
3
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MECH226: Machine Dynamics
Outline
1st Week: Kinematics and Kinetics of a Particle
2nd Week: Planar Kinematics of a Rigid Body
3th Week: Planar Kinetics of a Rigid Body: Acceleration and Force; Work and Energy
4th Week: Introduction to Mechanisms: Mechanism Synthesis, Mobility, Gruebler’s
equation
12th Week: Velocity and Acceleration Analysis of Mechanisms
13th Week: Velocity and Acceleration Analysis of Mechanisms (Continued)
8th Week: Mid-session Quiz in Lecture Time 4
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 Planar Kinematics of
a Rigid Body
Gears, pulleys and cams, which
rotate about fixed axes, are often
used in machinery to generate
motion and transmit forces. The
angular motion of these
components must be understood
to properly design the system.

To do this design, we need to relate the angular motions of

contacting bodies that rotate about different fixed axes. How is
this different than the analyses we did in earlier chapters? 5
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 Planar Kinematics of
a Rigid Body
Planar Rigid Body There are three types of planar rigid body motion.
Motion
I

II

III

6
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 Planar Kinematics of
a Rigid Body
Planar Rigid Body
Motion

Translation: Translation occurs if every line segment on

the body remains parallel to its original direction during the
motion. When all points move along straight lines, the
motion is called rectilinear translation. When the paths of
motion are curved lines, the motion is called curvilinear
translation.
7
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 Planar Kinematics of
a Rigid Body
Planar Rigid Body Rotation about a fixed axis: In this case, all
Motion the particles of the body, except those on
the axis of rotation, move along circular
paths in planes perpendicular to the axis of
rotation.

General plane motion: In this case, the

body undergoes both translation and
rotation. Translation occurs within a
plane and rotation occurs about an axis
perpendicular to this plane.
8
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 Planar Kinematics of
a Rigid Body
The positions of two points A and B
Planar Rigid Body Motion: on a translating body can be related by
Translation rB = rA + rB/A
where rA & rB are the absolute
position vectors defined from the
fixed x-y coordinate system, and rB/A
is the relative-position vector between
B and A.
The velocity at B is vB = vA+ drB/A/dt .
Now drB/A/dt = 0 since rB/A is constant. So, vB = vA, and by
following similar logic, aB = aA.

Note, all points in a rigid body subjected to translation move

9
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 Planar Kinematics of
a Rigid Body
Planar Rigid Body Motion: When a body rotates about a fixed axis, any
Rotation about a Fixed Axis point P in the body travels along a circular path.
The angular position of P is defined by .
The change in angular position, d, is called the
angular displacement, with units of either
radians or revolutions. They are related by
1 revolution = (2) radians
Angular velocity, , is obtained by taking the
time derivative of angular displacement:
 = d/dt (rad/s) +
Similarly, angular acceleration is
 = d2/dt2 = d/dt or  = (d/d) rad/s2 +
10
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 Planar Kinematics of
a Rigid Body
Planar Rigid Body Motion:
Rotation about a Fixed Axis If the angular acceleration of the body is
constant,  = C, the equations for angular
velocity and acceleration can be integrated
to yield the set of algebraic equations
below.
 = 0 + C t
 = 0 + 0 t + 0.5 C t2
2 = (0)2 + 2C ( – 0)
0 and 0 are the initial values of the body’s
angular position and angular velocity. Note
these equations are very similar to the
constant acceleration relations developed for
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the rectilinear motion of a particle. 11
 Planar Kinematics of
a Rigid Body
Planar Rigid Body Motion:
Rotation about a Fixed Axis The magnitude of the velocity of P is
Velocity of a Point equal to r (the text provides the
derivation). The velocity’s direction is
tangent to the circular path of P.

In the vector formulation, the magnitude

and direction of v can be determined
from the cross product of  and rp .
Here rp is a vector from any point on the
axis of rotation to P.
v =  × rp =  × r
The direction of v is determined by the
right-hand rule. 12
Prepared by Dr. E. Sariyildiz
 Vector/Cross Product
i ii=jj=kk=0
i  j = k, j  i = - k
k j j  k = i, k  j = - I
k  i = j, i  k = - j
Let R = Rx i + Ry j,  =  k
then
  R =  k  (Rx i + Ry j) = Rx j - Ry i
= - Ry i + Rx j
13
Prepared by Dr. E. Sariyildiz
 Planar Kinematics of
a Rigid Body
Planar Rigid Body Motion:
Rotation about a Fixed Axis
Acceleration of a Point The acceleration of P is expressed in terms of
its normal (an) and tangential (at) components.
In scalar form, these are at =  r and an = 2 r.

The tangential component, at, represents the

time rate of change in the velocity's
magnitude. It is directed tangent to the path
of motion.

The normal component, an, represents the time

rate of change in the velocity’s direction. It is
directed toward the center of the circular path.
14
Prepared by Dr. E. Sariyildiz
 Planar Kinematics of
a Rigid Body
Planar Rigid Body Motion:
Rotation about a Fixed Axis Using the vector formulation, the acceleration
Acceleration of a Point of P can also be defined by differentiating the
velocity.

a = dv/dt = d/dt × rP +  × drP/dt

=  × rP +  × ( × rP)

It can be shown that this equation reduces to

a =  × r – 2r = at + an

Prepared by Dr. E. Sariyildiz

The magnitude of the acceleration vector is a= (an )2 +(at )2 15
Discussion: Relative Motion

As the slider block A moves horizontally to the left with vA, it

causes the link CB to rotate counterclockwise. Thus vB is directed
tangent to its circular path.
Which link is undergoing general plane motion? Link AB or
link BC?
How can the angular velocity, , of link AB be found? 16
Prepared by Dr. E. Sariyildiz
 Planar Kinematics of
a Rigid Body
Relative Motion Analysis When a body is subjected to general plane motion, it undergoes a
combination of translation and rotation.

Point A is called the base point in this analysis. It generally has a

known motion. The x’- y’ frame translates with the body, but
does not rotate. The displacement of point B can be written:
Disp. due to translation
drB = drA + drB/A

17
Prepared by Dr. E. Sariyildiz Disp. due to translation and rotation Disp. due to rotation
 Planar Kinematics of
a Rigid Body
Relative Motion Analysis
Velocity

The velocity at B is given as : (drB/dt) = (drA/dt) + (drB/A/dt) or

vB = vA + vB/A

Since the body is taken as rotating about A,

vB/A = drB/A/dt =  × rB/A
Here  will only have a k component since the axis of rotation is perpendicular to
18
Prepared by Dr. E. Sariyildiz
the plane of translation.
 Planar Kinematics of
a Rigid Body
Relative Motion Analysis
Velocity vB = vA +  × rB/A

When using the relative velocity equation, points A and B

should generally be points on the body with a known motion.
Often these points are pin connections in linkages.
For example, point A on link AB must
move along a horizontal path, whereas
point B moves on a circular path.
The directions of vA and vB are known
since they are always tangent to their
19
Prepared by Dr. E. Sariyildiz paths of motion.
 Planar Kinematics of
a Rigid Body
Relative Motion Analysis The equation relating the accelerations of two points on the
Acceleration body is determined by differentiating the velocity equation
with respect to time.
dv dv dv
B = A + B /A
dt dt dt

These are absolute accelerations This term is the acceleration

of points A and B. They are of B with respect to A and
measured from a set of fixed includes both tangential and
x,y axes. normal components.

Prepared by Dr. E. Sariyildiz

The result is aB = aA + (aB/A)t + (aB/A)n 20
 Planar Kinematics of
a Rigid Body
Relative Motion Analysis
Acceleration Graphically: aB = aA + (aB/A)t + (aB/A)n

The relative tangential acceleration component (aB/A)t is ( ×rB/A)

and perpendicular to rB/A.
The relative normal acceleration component (aB/A)n is (−2 rB/A)
21
Prepared by Dr. E. Sariyildiz and the direction is always from B towards A.
 Planar Kinematics of
a Rigid Body
Relative Motion Analysis
Acceleration
Since the relative acceleration components can be expressed
as (aB/A)t =   rB/A and (aB/A)n = - 2 rB/A, the relative
acceleration equation becomes

aB = aA +   rB/A − 2 rB/A

Note that the last term in the relative acceleration equation is

not a cross product. It is the product of a scalar (square of
the magnitude of angular velocity, 2) and the relative
position vector, rB/A.

22
Prepared by Dr. E. Sariyildiz
 Planar Kinematics of
a Rigid Body
Relative Motion Analysis In applying the relative acceleration equation, the two points used in the
Acceleration analysis (A and B) should generally be selected as points which have a
known motion, such as pin connections with other bodies.

In this mechanism, point B is known to travel along a circular path, so

aB can be expressed in terms of its normal and tangential components.
Note that point B on link BC will have the same acceleration as point B
on link AB.
Point C, connecting link BC and the piston, moves along a straight-line
path. Hence, aC is directed horizontally. 23
Prepared by Dr. E. Sariyildiz
 Planar Kinematics of
a Rigid Body
Relative Motion Analysis
using Rotating Axis Position: A
rB / A = A rx i + A ry j
B/ A B/ A

B O
rB / A = O rx I + O ry J
B/ A B/ A

y O
rB / A = R OA A rB / A
j rB / A i
Y x
rB  cos ( ) − sin ( ) 
R =O

J A 
A
sin ( ) cos ( ) 

rA
O
rB = rA + rB / A
O O

O
I X O
rB = O rA + R OA A rB / A 24
Prepared by Dr. E. Sariyildiz
 Planar Kinematics of
a Rigid Body
Relative Motion Analysis
using Rotating Axis Position: rB = rA + rB / A

B
O
rB = O rA + R OA A rB / A

y rB / A d O d O d O
j i Velocity: rB = rA + rB / A
Y x dt dt dt
rB 
d O d O  d OA O d A
J A rB = rA +  R A  rB / A + R A rB / A
dt dt  dt  dt
rA
O X
O
vB = v A + Ω  R
O O O A
A r
B/ A +R O A
A vB/ A
Prepared by Dr. E. Sariyildiz
I 25
 Planar Kinematics of
a Rigid Body
Relative Motion Analysis
using Rotating Axis
Velocity:

B
O
v B = O v A + O Ω  R OA A rB / A + R OA A v B / A

y rB / A Acceleration:
j i
Y x
rB  O
aB = a A + Ω  R
O O O A
r +
J A B/ A

Ω  ( O Ω  R OA A rB / A ) + 2 O Ω  R OA A v B / A +
A
O
rA
O X R O A
aB/ A
I A
26
Prepared by Dr. E. Sariyildiz
 Conclusion
Mechanics: a) Statics, b) Dynamics: Kinematics and Kinetics

Kinematics of a Rigid Body:

Introduction to Planar Kinematics of a Rigid Body

Absolute Motion Analysis

Relative Motion Analysis: Velocity

Relative Motion Analysis: Acceleration

Translational and Rotational Rigid Body Motion

27
Prepared by Dr. E. Sariyildiz
 End

Next Week: Planar Kinetics of a Rigid Body: Acceleration and Force; Work and
Energy

28
Prepared by Dr. E. Sariyildiz
 MECH226:
Machine Dynamics
Lecturer/Subject Coordinator
Dr. Emre Sariyildiz
School of Mechanical, Materials, Mechatronic
and Biomedical Engineering,
Building 8, Room 116.
Phone: 02 4221 3319
E-mail: [email protected]
Consultation Times: Available in the SO.

1
Prepared by Dr. E. Sariyildiz
 Homework I & II
Relative Motion Analysis
using Rotating Axis Position: A
rB / A = A rx i + A ry j
B/ A B/ A

B O
rB / A = O rx I + O ry J
B/ A B/ A

y O
rB / A = R OA A rB / A
j rB / A i
Y x
rB  cos ( ) − sin ( ) 
R =O

J A 
A
sin ( ) cos ( ) 

rA
O
rB = rA + rB / A
O O

O
I X O
rB = O rA + R OA A rB / A 2
Prepared by Dr. E. Sariyildiz
 T
O
rB / A =  rx
O O
rx 
 B/ A B/ A 
A
rB / A =  rx
A
 B/ A
A
ry 
B/ A 
T
Homework I
O
rB = O rA + O rB / A d O d O d O
Position: Velocity: rB = rA + rB / A
dt dt dt
O
vB = v A + Ω  R
O O O A
A r
B/ A +R O A
A vB/ A
B

y
A
rB / A = A rx i + A ry j
rB / A B/ A B/ A
j i
Y x
rB  d A d A  d A  d d
J A rB / A =  rx i +  ry  j + rx B/ A i + ry B / A
A A
j
dt  dt B/ A   dt B/ A  dt dt
rA
O
I X d d d d
i= j j=− i 3
Prepared by Dr. E. Sariyildiz dt dt dt dt
 T
O
rB / A =  rx O O
rx 
 B/ A B/ A 
A
rB / A =  rxA
 B/ A
A
ry 
B/ A 
T
Homework I
Position:
O
rB = O rA + O rB / A O
rB = O rA + R OA A rB / A
d O
rB =
d O
rA +
d O d O d O  d OA O  d A 
Velocity: rB / A rB = rA +  R A  rB / A + R A  rB / A 
dt dt dt dt dt  dt   dt 

B cos ( ) − sin ( ) 
R =
O

 sin ( ) cos ( ) 
A
y rB / A
j i
Y x
rB 
− sin ( ) − cos ( ) 
J A
d O
RA =   
 cos ( ) − sin ( ) 
rA
O X
dt
I 4
Prepared by Dr. E. Sariyildiz
 T
A
rB / A =  rx A A
ry 
 B/ A B/ A 

d O
dt
− sin ( ) − cos ( ) 
RA =  
 cos ( ) − sin ( ) 

Homework I
− sin ( )
Velocity:  d R O  A r =  
− cos ( )   A
rx B/ A
  − sin ( ) A
rx B/ A − cos ( ) A
ry 
 A 

 A  =  B/ A

 cos ( ) − sin ( )   ry   cos ( ) rx − sin ( ) ry 
B/ A
 dt 
A A
 B/ A   B/ A B/ A 

 0  cos ( ) − sin ( ) 0  rx B/ A 
 A

 d OA  0    sin  A 

   ( ) cos ( )
 R A  rB/ A = O
Ω  R A rB / A
O A
0   ry  =
 dt 
1   1 
 B/ A

   0 0
 
B

j
y rB / A
i  − sin ( ) A rx − cos ( ) A ry 
Y

x
 B/ A B/ A

 cos ( ) rx B/ A − sin ( ) ry B / A 
rB
A A
J A
rA  
O
I X  0  5
Prepared by Dr. E. Sariyildiz
 Homework I
d O
rB =
d O
rA +
d O d O d O  d OA O  d A 
Velocity:
dt dt dt
rB / A rB = rA +  R A  rB / A + R A  rB / A 
dt dt  dt   dt 

 d OA O  d A 
O
v B = v A +  R A  rB / A + R A 
O
rB / A 
B  dt   dt 
y rB / A
j i
Y x
rB 
O
v B = O v A + O Ω  R OA A rB / A + R OA A v B / A
J A
rA
O X
I 6
Prepared by Dr. E. Sariyildiz
 Homework II
Velocity: O
v B = O v A + O Ω  R OA A rB / A + R OA A v B / A
Acceleration:
O
aB = a A + Ω  R
O O O A
A r
B/ A + Ω( Ω R r
O O O
A B/ A )+2 O
Ω R O A
A vB/ A + R O A
A aB/ A

d O
B
vB = O aB
y rB / A
dt
j i
Y x
rB  d O
J A vA = OaA
dt
rA
O X
I 7
Prepared by Dr. E. Sariyildiz
 Homework II
Velocity: O
v B = O v A + O Ω  R OA A rB / A + R OA A v B / A
Acceleration:
O
aB = a A + Ω  R
O O O A
A r
B/ A + Ω( Ω R r
O O O
A B/ A )+2 O
Ω R O A
A vB/ A + R O A
A aB/ A

d O   d OA O  d A 
d O
dt
( Ω  R A rB / A ) = 
O A

 dt
Ω   R A rB / A + Ω   R A  rB / A + Ω  R A 

O A O

 dt 
O

 dt
rB / A 


 d OA
d O 
 Ω   R O A
r = O
Ω  R A rB / A
O A O
Ω   R A  rB / A = O Ω  ( O Ω  R OA rB / A )
 dt 
A B/ A
 dt 
8
Prepared by Dr. E. Sariyildiz
 Homework II
Velocity: O
v B = O v A + O Ω  R OA A rB / A + R OA A v B / A
Acceleration:
O
aB = a A + Ω  R
O O O A
A r
B/ A + Ω( Ω R r
O O O
A B/ A )+2 O
Ω R O A
A vB/ A + R O A
A aB/ A

d O   d OA O  d A 
d O
dt
( Ω  R A rB / A ) = 
O A

 dt
Ω   R A rB / A + Ω   R A  rB / A + Ω  R A 

O A O

 dt 
O

 dt
rB / A 


d A  O
O
ΩR  O
A rB / A  = Ω  R OA A v B / A
 dt 
9
Prepared by Dr. E. Sariyildiz
 d 
O
Ω  R OA  A rB / A  = O Ω  R OA A v B / A
 dt 
Homework II
Velocity: O
v B = O v A + O Ω  R OA A rB / A + R OA A v B / A
Acceleration:
O
aB = a A + Ω  R
O O O A
A r
B/ A + Ω( Ω R r
O O O
A B/ A )+2 O
Ω R O A
A vB/ A + R O A
A aB/ A

d OA  d OA O  d A 
R A vB/ A =  R A  vB/ A + R A  vB/ A 
dt  dt   dt 

 d OA d A 
 R A  v B/ A = O
Ω  R A vB/ A
O A
R  O
v B / A  = R OA A a B / A
 dt  A
 dt 
10
Prepared by Dr. E. Sariyildiz
MECH226: Machine Dynamics
Outline
1st Week: Kinematics and Kinetics of a Particle
2nd Week: Planar Kinematics of a Rigid Body
3th Week: Planar Kinetics of a Rigid Body: Acceleration and Force; Work and Energy
4th Week: Introduction to Mechanisms: Mechanism Synthesis, Mobility, Gruebler’s
equation
12th Week: Velocity and Acceleration Analysis of Mechanisms
13th Week: Velocity and Acceleration Analysis of Mechanisms (Continued)
8th Week: Mid-session Quiz in Lecture Time 11
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body
Moment of Inertia

10 Kg
a1

F a2 >a1

1 Kg a2

12
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Force and Acceleration
Moment of Inertia
Consider a rigid body with a center of mass at G. It is free to
rotate about the z axis, which passes through G. Now, if we apply
a torque T about the z axis to the body, the body begins to rotate
with an angular acceleration of .

T and  are related by the equation T = I  . In this equation, I

is the mass moment of inertia (MMI) about the z axis.

The MMI of a body is a property that measures the resistance of the

body to angular acceleration. The MMI is often used when analyzing
rotational motion. 13
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Force and Acceleration
Moment of Inertia
Consider a rigid body and the arbitrary axis P shown in the
figure. The MMI about the P axis is defined as I = m r2 dm,
where r, the “moment arm,” is the perpendicular distance
from the axis to the arbitrary element dm.

The mass moment of inertia is always a positive

quantity and has a unit of kg ·m2.

14
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Force and Acceleration
Moment of Inertia The figures below show the mass moment of inertia formulations
for two shapes commonly used when working with three-
dimensional bodies. These shapes are often used as the differential
element being integrated over an entire body.

15
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Force and Acceleration
Moment of Inertia
Parallel Axis Theorem If the mass moment of inertia of a body about an axis passing
through the body’s mass center is known, then the moment of
inertia about any other parallel axis may be determined by
using the parallel axis theorem,
I = IG + md2
where IG = mass moment of inertia about the body’s mass
center
m = mass of the body
d = perpendicular distance between the parallel axes
16
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Force and Acceleration
Equation of Motion
• We will limit our study of planar kinetics to rigid bodies that
are symmetric with respect to a fixed reference plane.

• As discussed in 2nd week, when a body is subjected to

general plane motion, it undergoes a combination of
translation and rotation.
• First, a coordinate system with its origin at an arbitrary
point P is established.
The x-y axes should not rotate but can either be fixed or
translate with constant velocity. 17
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Force and Acceleration
Translational Motion

• If a body undergoes translational motion, the equation of motion is F = m aG .

This can also be written in scalar form as

 Fx = m(aG)x and  Fy = m(aG)y

In words: the sum of all the external forces

acting on the body is equal to the body’s mass
times the acceleration of it’s mass center.
18
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Force and Acceleration
Rotational Motion
The moment about point P can be written as:
 (ri  Fi) +  Mi = r  maG + IG and  Mp = (Mk)p

where r = x i + y j and  Mp is the resultant moment about P due to all the

external forces. The term (Mk)p is called the kinetic moment about point P.

19
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Force and Acceleration
Rotational Motion
If point P coincides with the mass center G, this equation reduces to the scalar
equation of MG = IG  .
In words: the resultant (summation) moment about the mass center due to all the
external forces is equal to the moment of inertia about G times the angular
acceleration of the body.
Thus, three independent scalar equations of  Fx = m(aG)x
motion may be used to describe the general
planar motion of a rigid body. These  Fy = m(aG)y
equations are: and  MG = IG or  Mp =  (Mk)p
20
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Force and Acceleration
Equation of Motion: When a rigid body undergoes only translation, all the particles
Translational Motion
of the body have the same acceleration so aG = a and  = 0.

 Fx = m(aG)x

 Fy = m(aG)y

 MG = 0

Note that, if it makes the problem easier, the moment equation can be applied about another
point instead of the mass center. For example, if point A is chosen,
Prepared by Dr. E. Sariyildiz M A = (m a G) d . 21
 Planar Kinetics of
a Rigid Body: Force and Acceleration
Equation of Motion: When a rigid body is subjected to curvilinear
Translational Motion translation, it is best to use an n-t coordinate system.
Then apply the equations of motion, as written
below, for n-t coordinates.

 Fn = m(aG)n
 Ft = m(aG)t
 MG = 0 or
 MB = e[m(aG)t] – h[m(aG)n]
22
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Force and Acceleration
Equation of Motion: When a rigid body rotates about a fixed axis
Rotational Motion perpendicular to the plane of the body at
point O, the body’s center of gravity G moves
in a circular path of radius rG. Thus, the
acceleration of point G can be represented by
a tangential component (aG)t = rG  and a
normal component (aG)n = rG w2.

Since the body experiences an angular acceleration, its inertia  Fn = m (aG)n = m rG w2

creates a moment of magnitude, Ig, equal to the moment of the  Ft = m (aG)t = m rG 
external forces about point G. Thus, the scalar equations of  MG = I G 
motion can be stated as:
23
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Force and Acceleration
Equation of Motion: Summing the moment about the center of rotation O yields
Rotational Motion
MO = IG + rG m (aG)t = [IG + m(rG)2] 

From the parallel axis theorem, IO = IG + m(rG)2,

therefore the term in parentheses represents IO.
Consequently, we can write the three equations of motion
for the body as:
Fn = m (aG)n = m rG w2
Ft = m (aG)t = m rG 
Prepared by Dr. E. Sariyildiz
MO = IO  24
 Planar Kinetics of
a Rigid Body: Force and Acceleration
Equation of Motion: When a rigid body is subjected to external forces and couple-
General Plane Motion moments, it undergoes both translational motion and
rotational motion. General plane motion.
Using an x-y inertial coordinate system, the
scalar equations of motions about the
center of mass, G, may be written as:

 Fx = m (aG)x
 Fy = m (aG)y
 MG = IG 
25
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Force and Acceleration
Equation of Motion: Sometimes, it may be convenient to write the moment equation
General Plane Motion
about a point P, rather than G. Then the equations of motion
are written as follows:
 Fx = m (aG)x
 Fy = m (aG)y
 MP =  (Mk )P

In this case,  (Mk )P represents the sum

of the moments of IG and maG about
point P.
26
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Work and Energy
Kinetic Energy
The kinetic energy of a rigid body can be expressed as the sum of its
translational and rotational kinetic energies. In equation form, a body
in general plane motion has kinetic energy given by:
T = 1/2 m (vG)2 + 1/2 IG w2

Several simplifications can occur.

1. Pure Translation: When a rigid body is subjected to
only curvilinear or rectilinear translation, the
rotational kinetic energy is zero (w = 0). Therefore,
T = 1/2 m (vG)2
27
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Work and Energy
Kinetic Energy 2. Pure Rotation: When a rigid body is rotating about a fixed axis
passing through point O, the body has both translational and rotational
kinetic energy. Thus,
T = 0.5 m (vG)2 + 0.5 IG w2
Since vG = rGw, we can express the kinetic energy of the body as:
T = 0.5 [ IG + m(rG)2 ] w2 = 0.5 IO w2

If the rotation occurs about the mass center, G, then what is the value of vG?

In this case, the velocity of the mass center is equal to zero.

So the kinetic energy equation reduces to:
T = 0.5 IG w2 28
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Work and Energy
The Work of a Force
Recall that the work done by
s a force can be written as:

UF =  F • dr =  (F cos  ) ds.

Work of a weight: As before, the work can be expressed

as Uw = -WDy. Remember, if the force and movement
are in the same direction, the work is positive.

Work of a spring force: For a linear spring, the work is:

Us = -0.5 k [(s2)2 – (s1)2] 29

Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Work and Energy
The Work of a Couple Moment
If the body rotates through an angular displacement d,
the work of the couple moment, M, is:
2

UM = M d
1
If the couple moment, M, is constant, then
UM = M (2 – 1)
The work is positive if M and (2 – 1) are in the same
direction.
30
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Work and Energy
Conservative Forces
A force F is conservative if the work done by the
force is independent of the path.

In this case, the work depends only on the initial

and final positions of the object with the path
between the positions of no consequence.
Typical conservative forces encountered in dynamics
are gravitational forces (i.e., weight) and elastic forces
(i.e., springs).
What is a common force that is not conservative? 31
Prepared by Dr. E. Sariyildiz
 Planar Kinetics of
a Rigid Body: Work and Energy
Conservation of Energy

When a rigid body is acted upon by a system of conservative forces, the work done
by these forces is conserved. Thus, the sum of kinetic energy and potential energy
remains constant.
This principle is called conservation of energy and is expressed as:

T1 + V1 = T2 + V2 = Constant

In other words, as a rigid body moves from one position to another when acted
upon by only conservative forces, kinetic energy is converted to potential energy
and vice versa.
32
Prepared by Dr. E. Sariyildiz
 Conclusion
Mechanics: a) Statics, b) Dynamics: Kinematics and Kinetics

Kinetics of a Rigid Body:

Moment of Inertia

Equation of Motion of a Rigid Body

Translational, Rotational and General Planar Motions

Kinetic Energy

Principle of Work and Energy

33
Prepared by Dr. E. Sariyildiz
 End

Next Week: Introduction to Mechanisms: Mechanism Synthesis, Degrees of

Freedom / Mobility, Gruebler’s equation

34
Prepared by Dr. E. Sariyildiz
 Homework 1
Next Week: Derivatives of trigonometric functions; Chain rule
d
Product Rule: 1 2 = 1 2 + 1 2
dt
Chain Rule: Note: l is constant and  changes w.r.t time.
d d d
sin ( ) = sin ( )  =  cos ( )
d d d
cos ( ) = cos ( )  = − sin ( )
dt d dt dt d dt

d d
l cos ( ) = −l sin ( ) l sin ( ) = l cos ( )
dt dt
d d
l cos ( ) = l cos ( ) − l 2 sin ( ) l sin ( ) = l sin ( ) + l 2 cos ( )
dt dt 35
Prepared by Dr. E. Sariyildiz
 Homework 2

Next Week: Inverse of a 2x2 Matrix; Matrix multiplication

a b 
A= 
 c d 
 a11 a12   v1   a11 v1 + a12 v 2 
a    =
 21 a 22   v 2  a 21 v1 + a 22 v 2 
−1 1  d −b 
A =
ad − cb  −c a 
What is singularity or a singular matrix?
36
Prepared by Dr. E. Sariyildiz
 Homework 3

Next Week: MATLAB & SIMULINK

MATLAB (m file programs) MATLAB/Simulink

37
Prepared by Dr. E. Sariyildiz
 MECH226:
Machine Dynamics
Lecturer
Dr. Emre Sariyildiz
School of Mechanical, Materials, Mechatronic
and Biomedical Engineering,
Building 8, Room 116.
Phone: 02 4221 3319
E-mail: [email protected]
Consultation Times: Available in SO.

1
Prepared by Dr. E. Sariyildiz
MECH226: Machine Dynamics
Outline (First 7 weeks)
1st Week: Kinematics and Kinetics of a Particle
2nd Week: Planar Kinematics of a Rigid Body
3th Week: Planar Kinetics of a Rigid Body: Acceleration and Force; Work and Energy
4th Week: Introduction to Mechanisms: Mechanism Synthesis, Mobility, Gruebler’s
equation
5th Week: Velocity and Acceleration Analysis of Mechanisms
6th Week: Velocity and Acceleration Analysis of Mechanisms (Continued)
8th Week: Mid-session Quiz in Lecture Time 2
Prepared by Dr. E. Sariyildiz
 Introduction to Mechanisms
Links that are connected by kinematic pairs will form a chain. It is called Kinematic Chain

NODES/ JOINTS

Binary link
Quaternary link
Ternary link

If one of the links in a Kinematic Chain is fixed, then the system thus obtained is called a
Mechanism.
A mechanism is a device designed to transform input forces and movement into a desired set of
output forces and the movement (Wikipedia).
3
Prepared by Dr. E. Sariyildiz
 Introduction to Mechanisms
Degrees of Freedom (DOF) or Mobility of a rigid body is defined as the number of independent
movements it has.
3-DOF
6-DOF
2-DOF Kinematic Chain
y

x
What is DOF of mechanisms?
z

What is DOF of the joint?

Revolute Pair
1-DOF
Revolute Joint

Revolute Pair
4
Prepared by Dr. E. Sariyildiz Mechanisms, Eres Soylemez, METU Revolute Joint
 Introduction to Mechanisms
Degrees of Freedom of a Mechanism
Open Chain Mechanisms

y
θ
x

Degrees-of-Freedom: 2 Degrees-of-Freedom: 3 Degrees-of-Freedom: 6

REDUNDANT 5
Prepared by Dr. E. Sariyildiz
 Introduction to Mechanisms
Degrees of Freedom of a Mechanism
Open Chain Mechanisms
10-DOF

34-DOF
limb1 16-DOF
y
limb2

x
z
6-DOF
limb3
limb4 6
Prepared by Dr. E. Sariyildiz
 Introduction to Mechanisms
Degrees of Freedom of a Mechanism j 4
General Formula: DOF =  ( l − j − 1) + f
i =1
i = 3( 4 − 4 − 1) + 1 = 1
i =1
 : Degrees − of − freedom of space
 = 3 for planar and spherical spaces
 = 6 for spatial spaces
l : Number of links including the fixed link
j : Number of joints in the mechanism
f i : Degrees − of − freedom of the i th joint
DOF = Degrees − of − freedom of the mechanism

Planar systems with 1-DOF joints

Gruebler’s Equation:

Prepared by Dr. E. Sariyildiz DOF = 3l − 2 j − 3 = 3 ( l − 1) − 2 j = 12 − 8 − 3 = 1 7

 Introduction to Mechanisms
Examples of Mechanisms Inverted Slider Crank Mechanism
Quick Return Mechanism
Four-Bar Mechanism

Slider Crank Mechanism

Scissor Lifting Mechanism

8
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism

9
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism
1. Analytic Method:
Position:
R 2 + R 3 = R1 + R 4
R3
3
Y R2 R4 l2 cos ( 2 ) + l3 cos (3 ) = l1 cos (1 ) + l4 cos ( 4 )
2  4 l2 sin ( 2 ) + l3 sin (3 ) = l1 sin (1 ) + l4 sin ( 4 )
X R1 O4
O2

10
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism
1. Analytic Method:

How can we find positions of the links and joints for a given angle of any joint?

R3 Freudenstein’s Equation
3
Y R2 R 4 K1 cos ( 4 ) − K 2 cos ( 2 ) + K3 = cos ( 4 −  2 )
= cos ( 2 ) cos ( 4 ) + sin ( 2 ) sin ( 4 )
2 4
X R1
K1 =
l1
K2 =
l1 l12 + l22 − l32 + l42
K3 =
l2 l4 2l2l4
11
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism
 − B  B 2
− 4 AC  A = − K1 − K 2 cos ( 2 ) + K 3 + cos ( 2 )
1. Analytic Method:  4 = 2 tan 
−1

 2A 
  B = −2sin ( 2 )

C = K1 − K 2 cos ( 2 ) + K 3 − cos ( 2 )
R3
Derive it in tutorial! l1 l1
3 K1 = K2 =
R2 l2 l4
Y R4
l12 + l22 − l32 + l42
2 4 K3 =
2l2l4
X R1
 l4 sin ( 4 ) − l2 sin ( 2 ) 
3 = tan 
−1

 l1 + l4 cos ( 4 ) − l2 cos ( 2 )  12
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism
1. Analytic Method: Position: R 2 + R 3 = R 1 + R 4
l1 + l4 cos ( 4 ) − l3 cos (3 ) = l2 cos ( 2 )

R3 l4 sin ( 4 ) − l3 sin (3 ) = l2 sin ( 2 )

3 Velocity:

Y R2 R4  4 l4 sin ( 4 ) − 3l3 sin (3 ) =  2 l2 sin ( 2 )

2 4  4 l4 cos ( 4 ) − 3l3 cos (3 ) =  2 l2 cos ( 2 )

X R1
 −l3 sin (3 ) l4 sin ( 4 )   3   sin ( 2 ) 
    =  2 l2  
−
 3l cos ( 3 ) 4 ( 4 )  4 
 l cos   13 ( 2 ) 
cos 
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism
1. Analytic Method:

Position: Velocity:
l1 + l4 cos ( 4 ) − l3 cos (3 ) = l2 cos ( 2 ) − 3l3 sin ( 3 ) +  4 l4 sin ( 4 ) =  2 l2 sin ( 2 )
l4 sin ( 4 ) − l3 sin (3 ) = l2 sin ( 2 ) − 3l3 cos (3 ) +  4 l4 cos ( 4 ) =  2 l2 cos ( 2 )

Acceleration:

− 3l3 sin ( 3 ) −  32 l3 cos ( 3 ) +  4 l4 sin ( 4 ) +  42 l4 cos ( 4 ) =  2 l2 sin ( 2 ) +  22 l2 cos ( 2 )

− 3l3 cos ( 3 ) +  32 l3 sin ( 3 ) +  4 l4 cos ( 4 ) −  42 l4 sin ( 4 ) =  2 l2 cos ( 2 ) −  22 l2 sin ( 2 )
14
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism
1. Analytic Method:
Acceleration:
− 3l3 sin ( 3 ) −  32 l3 cos ( 3 ) +  4 l4 sin ( 4 ) +  42 l4 cos ( 4 ) =  2 l2 sin ( 2 ) +  22 l2 cos ( 2 )
− 3l3 cos ( 3 ) +  32 l3 sin ( 3 ) +  4 l4 cos ( 4 ) −  42 l4 sin ( 4 ) =  2 l2 cos ( 2 ) −  22 l2 sin ( 2 )

 −l3 sin (3 ) l4 sin ( 4 )  3   2 l2 sin ( 2 ) +  22 l2 cos ( 2 ) + 32 l3 cos (3 ) −  42 l4 cos ( 4 ) 
   =  
 −l3 cos (3 ) l4 cos ( 4 )   4    2 l2 cos ( 2 ) −  2 l2 sin ( 2 ) −  3 l3 sin ( 3 ) +  4 l4 sin ( 4 ) 
2 2 2

15
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism
1. Analytic Method: Velocity:  −l3 sin ( 3 ) l4 sin ( 4 )   3   sin ( 2 ) 
    =  2 l2  
 −l3 cos (3 ) l4 cos ( 4 )   4  cos ( 2 ) 
−1
 3    −l3 sin ( 3 ) l4 sin ( 4 )    sin ( 2 ) 
  =  2 l2      
 4   3−l cos ( 3 ) 4 ( 4 )   ( 2 )
 l cos  cos 

  −l3 sin (3 ) l4 sin ( 4 )  

det   0 l3l4 ( cos (3 ) sin ( 4 ) − sin (3 ) cos ( 4 ) )  0
 −l3 cos ( 3 ) l4 cos ( 4 )  
 
cos (3 ) sin ( 4 ) − sin ( 3 ) cos ( 4 ) = sin ( 4 −  3 )
3   4 16
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism
1. Analytic Method: Acceleration:

 −l3 sin (3 ) l4 sin ( 4 )  3   2 l2 sin ( 2 ) +  22 l2 cos ( 2 ) + 32 l3 cos (3 ) −  42 l4 cos ( 4 ) 
   =  
 −l3 cos (3 ) l4 cos ( 4 )   4    2 l2 cos ( 2 ) −  2 l2 sin ( 2 ) −  3 l3 sin ( 3 ) +  4 l4 sin ( 4 ) 
2 2 2

−1
3    −l3 sin (3 ) l4 sin ( 4 )    2 l2 sin ( 2 ) +  22 l2 cos ( 2 ) + 32 l3 cos (3 ) −  42 l4 cos ( 4 ) 
  =      
−
 4    3l cos ( 3 ) 4 ( 4 )    2l2 cos ( 2 ) −  2 l2 sin ( 2 ) − 3 l3 sin (3 ) +  4 l4 sin ( 4 ) 
 l cos  2 2 2

  −l3 sin (3 ) l4 sin ( 4 )  

det     0
 −l3 cos ( 3 ) l4 cos ( 4 ) 
  3   4 17
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism
1. Analytic Method:
Motion of an arbitrary point : Position: R C = R 2 + R 2C
C xc = l2 cos ( 2 ) + lC cos (3 + C )
yc = l2 sin ( 2 ) + lC sin (3 + C )
R 2C
Velocity:
R C R3 B xc = −l2 2 sin ( 2 ) − lC3 sin (3 +  C )
A 3 yc = l2 2 cos ( 2 ) + lC3 cos (3 +  C )
Y R4 Acceleration:
R2
xc = −l2 2 sin ( 2 ) − l2 22 cos ( 2 ) −
2 4
lC3 sin (3 +  C ) − lC 32 cos ( 3 +  C )
O2 X R1 O4
yc = l2 2 cos ( 2 ) − l2 22 sin ( 2 ) +

Prepared by Dr. E. Sariyildiz

lC3 cos (3 +  C ) − lC 32 sin ( 3 +  C )18
 Four Bar Mechanism
Example:
Find  3 ,  4 ,  3 ,  4 ,  3 and  4
l3 = 350 mm
l2 = 100 mm 3
l4 = 200 mm
Y Y
w2 = 20 rad/s
 2 = 60o 4
 2 = −100 rad/s 2
X
O2 X l1 = 300 mm O4
Z

19
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism
l l1 l12 + l22 − l32 + l42
Solution: K1 = 1 = 3 K 2 = = 1.5 K3 = = 0.4375
l2 l4 2l2 l4

Calculate  3 and  4 by using Freduenstein’s Equation

 − B  B 2 − 4 AC 
 4 = 2 tan  −1
 = 1.1189 rad = 64.1101o

 2A 
 

A = − K1 − K 2 cos ( 2 ) + K 3 + cos ( 2 ) = -2.8125

 l4 sin ( 4 ) − l2 sin ( 2 ) 
B = −2sin ( 2 ) = -1.7321
3 = tan 
−1

 l1 + l4 cos ( 4 ) − l2 cos ( 2 ) 
C = K1 − K 2 cos ( 2 ) + K 3 − cos ( 2 ) = 2.1875
= 0.2699 rad =15.4645o

20
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism
Solution (Continued): Find  3 and  4 by using Matrix calculation

Velocity: Inverse of a Matrix!

a b 
 −l3 sin (3 ) l4 sin ( 4 )   3   sin ( 2 )  A= 
    =  2 l2    c d 
−
 3l cos ( 3 ) 4 ( 4 )  4 
 l cos   ( 2 )
cos 

−1 1  d −b 
A =  
 3 
−1
  −l3 sin ( 3 ) l4 sin ( 4 )    sin ( 2 )  ad − cb  − c a 
  =  2 l2      
 4    −l3 cos ( 3 ) l4 cos ( 4 )    cos ( 2 ) 
21
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism
Solution (Continued): Find  3 and  4 by using Matrix calculation
Inverse of a Matrix!

Velocity: a b 
M= 
 −l3 sin (3 ) l4 sin ( 4 )   3   sin ( 2 )   c d 
    =  2 l2  
 −l3 cos (3 ) l4 cos ( 4 )   4  cos ( 2 ) 
−1 1  d −b 
=
ad − cb  −c a 
3 = 0.2699 rad  4 = 1.1189 rad M

-0.0933 0.1799   3  1.7321

-0.3373 0.0873    = 1.0000 
   4   
−1 1 0.0873 -0.1799 
M =
-0.0933  0.0873- 0.1799  ( -0.3373) 0.3373 22-0.0933 
M
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism
Solution (Continued): Find  3 and  4 by using Matrix calculation

Velocity:  a11 a12   v1   a11 v1 + a12 v 2 

−1
a    =
3    −l3 sin (3 ) l4 sin ( 4 )    sin ( 2 )   21 a 22   v 2  a 21 v1 + a 22 v 2 
  =  2 l2      
 4   3−l cos ( 3 ) 4 ( 4 )   ( 2 )
 l cos  cos 

 3  1.6620 -3.4243 1.7321  -0.5456 

 =    =  rad/s
 4   6.4198 -1.7760  1.0000   9.3434 
M −1
23
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism
Solution (Continued): Find  3 and  4 by using Matrix calculation

Acceleration:
−1
3    −l3 sin (3 ) l4 sin ( 4 )    2 l2 sin ( 2 ) +  22 l2 cos ( 2 ) + 32 l3 cos (3 ) −  42 l4 cos ( 4 ) 
  =      
 4    −l3 cos (3 ) l4 cos ( 4 )     2 l2 cos ( 2 ) −  2 l2 sin ( 2 ) − 3 l3 sin (3 ) +  4 l4 sin ( 4 ) 
2 2 2

3 = 0.2699 rad  4 = 1.1189 rad 3 = -0.5456 rad/s  4 = 9.3434 rad/s

3  1.6620 -3.4243  3.8165  88.3929 

  = =
 -23.9613   rad/s 2


 4  6.4198 -1.7760    67.0587 
24
Prepared by Dr. E. Sariyildiz
 Four Bar Mechanism
Simulations via Matlab and Simulink:

25
Prepared by Dr. E. Sariyildiz
 Conclusion
Mechanics: a) Statics, b) Dynamics: Kinematics and Kinetics
Introduction to Mechanisms
Open and Closed Chain Mechanisms
Degrees-of-Freedom

Four-Bar Mechanism

Position, Velocity and Acceleration Kinematics

Forward and Inverse Kinematics

26
Prepared by Dr. E. Sariyildiz
 End

Next Lecture: Velocity and Acceleration Analysis of Mechanisms, Week 11

27
Prepared by Dr. E. Sariyildiz
 Homework

Next Week: Vector multiplication: cross product, dot product

 a1   b1 
  aT =  a1 a2 a3 
a =  a2  b = b2 
 a2 b3 − a3b2 
 a3  b3 
a  b =  a3b1 − a1b3 
 a1b2 − a2 b1 
a  b = aT b = a1b1 + a2 b2 + a3b3

28
Prepared by Dr. E. Sariyildiz
 Cam – Follower mechanisms (Plate Cam)
Kinematic Analysis and Design

Prof Buyung Kosasih

Ph: 02 4221 3109
Office: 8.121
Email: [email protected]

I am Prof Buyung Kosasih and you can just call me, Buyung.
In the last 4 weeks we have covered kinematics (position, velocity and acceleration) and
kinetics(force) of particles and rigid bodies as isolated object.
From this week onward we will study scenarios where multiple rigid bodies are integrated
to form mechanisms.
I will cover 6 weeks on the analysis and design of Cam and four-bar linkage mechanisms.
Mechanisms make machines work.
Moreover machines are generally designed with one or combination of different types of
mechanisms.
Common mechanisms that we need to understand are: Four-Bar Linkage mechanism, Cam
mechanism and Gear mechanism.
This week we will discuss cam-follower mechanisms.

1
 Goals of the lecture are to:
• Understand where cams are used

• Understand different types of followers

• Understand the mechanism and be able to design

simple plate cam-follower motion

• Understand and be able to size simple plate cam based

on pressure angle and minimum radius of curvature

• Read Chapter 8 Design of Machinery by Norton

Read Chapter 9 Machine Analysis with Computer
applications

©Buyung Kosasih 2

The goals of this lecture are to

- Understand where cams are used
- Understand different types of followers
- Understand how to design simple cam-follower motion
- Understand how to size simple cam based on pressure angle and minimum radius of
curvature of cam profile
- For further self-study, I strongly advise you to read chapter 8 of the book design of
machinery by Norton and Chapter 9 Machine Analysis with
computer. Both are available in the library.

2
 Cam‐follower is 4‐bar linkage
Cam-Follower mechanism Four-bar linkage mechanism

θ4

Source: Design of Machinery by Norton

©Buyung Kosasih 3

Major advantage of Cam mechanisms is its versatility. Basic rotational input can generate
various forms of complex follower motion.
On the left is a diagram of cam-follower mechanism and on the right is 4-bar linkage
mechanism where 4 links are shown.
This slide shows that cam-follower mechanism is indeed 4-bar linkage mechanism.

4-bar linkage consists of 4 links: link one, two, three and four.
Note that the ground is considered a link.
Cam-follower mechanisms are 4-bar linkage where the coupler is disguised.
The coupler in cam-follower system can be visualized as a line joining the instantaneous
centre of the cam and the roller centre.

One important difference between the coupler in 4 bar linkage and in cam-follower is the
coupler in cam-follower is flexible or variable in length.
This can be easily appreciated by imagining rotating cam.
As the cam rotates, the instantaneous centre of the cam also shift resulting in variable length
of the instantaneous coupler length.
Because of the flexible coupler this allow complex prescribed motion of the follower (θ4) i.e
angle of link 4 to vertical axis be achieved.

3
 Cams in Machinery
The valves opening and closing timing in
y
automobile IC engine
t

Source: Design of Machinery by Norton

©Buyung Kosasih 4

Plate/disc Cam-follower mechanism is commonly found in automotive IC engine to control

the valve opening and closing motion.
Other applications include exercise equipment, sewing machine, toys and material handling
and many more.
As the cam shaft rotates, the timings of the opening and closing of the valves are controlled
precisely by the follower motion within a revolution.
The figure on the right show the mechanism more clearly.
The follower oscillates between two extremes and the motion path in between the extremes
can be quite complex as depicted by the red curve.
By careful design of cam profile allows precise complex follower motion be achieved.
Such follower motion is required for precise control of the valve closing and opening and
the top and bottom dwells.
Dwell is holding the follower at stationary position over some period within the one period
of the cam rotation.
The profile (in red) on the top right corner illustrates the follower displacement for one
revolution of the cam.
It is clear that the required follower motion (or displacement) determines the shape of the
cam.
So typically design of the cam plate start with the design of the follower path or
displacement profile.

4
 Cams in Machinery
Manufacture line of consumer products:
Stair Climbing Mechanism
Two extreme
positions

https://www.youtube.com/watch?v=ESRsd1TeOSg

©Buyung Kosasih 5

This is another example of cam – follower mechanisms known as stair climbing mechanism
which is also commonly used production line.
Here multiple cams are used with one cam shaft.
The diagram shows schematically the simple plate cam-follower mechanism.

5
 Types of followers
1. Based on the follower motion
Rotating follower Equivalent 4-bar
linkage

Translating follower

Source: Design of Machinery by Norton ©Buyung Kosasih 6

CAM-follower types can be classified in several ways.

1 by the follower motion: rotating follower and translating follower

Definition simply reflect the achieved motion.
The achieved motion of the top mechanism is angular displacement of link four (the
follower) i.e. the follower oscillate angularly.
While the achieved motion of the bottom mechanism is translational displacement of the
follower i.e. oscillate horizontally.

6
 Types of Followers
2. Based on the type of the follower

Source: Design of Machinery by Norton

©Buyung Kosasih 7

Another classification is Based on the type of the followers. And there are three types:
Roller; mushroom; and flat-faced follower

The simplest and most economical follower type is the roller type due to the readily
available roller components
e.g. from roller bearing and hence easy and economical to replace. The follower is roller
bearing with customized mounting. Due to the rolling contact between the roller and the
cam, the roller followers are typically preferred in applications with higher speed because of
reduced wear and heat.
Roller has lower friction compared to mushroom and flat-faced follower. This is simply due
to rolling contact has lower friction than sliding contact.
One requirement is that smallest local radius of the cam must be greater than the follower
radius typically 3 times of the follower radius.
Because of this, cam with roller follower tend to be larger than the other types.

When space is small flat faced follower is used. Cam with flat faced follower is compact as
in engine valve.
But because of sliding contact it tends to wear quicker relative to roller contact. But there is
beneficial feature of flat faced follower, that is the contact always with zero pressure angle
i.e the normal of the contact plane is parallel to the direction of the follower motion.

7
Flat faced follower can cause issues when the cam profile contains steep changes. For such
situation although fairly rare, mushroom follower is used.
This follower is compact but because of point contact, the contact cause high contact pressure
and combines with sliding motion (scratching) increase wear. This is type of follower is rarely
used.

Notice that the follower must be constrained in some ways so that it remains in contact with
the cam by external force generated by pre-loaded spring as in the examples shown in this
slide.

7
 Form closed vs force closed

Form-closed Force-closed

Source: Machine Analysis with Computer applications ©Buyung Kosasih 8

As shown in the previous slide, for the cam-follower to work, the followers must always
remain in contact with the cam.
Contact between the cam and the follower can be maintained by different methods.
The follower is contrained by the geometry of the cam (on the left).
This is known as form-closed cam joint.

On the right the contact is maintained with the aid of external force i.e the preloaded
compression spring.
The use of external force to maintain joint closure is known as forced-closed cam joint.

8
 Types of Follower Motion
• Critical Extreme Position (CEP)
cam is designed to satisfy the start
and finish positions of the follower Extreme position
(i.e. extreme positions) but do not
specify any constraints on the path Extreme position
motion between the extreme position

• Critical Path Motion (CPM)

cam is designed to satisfy not only the positions
but also its derivatives over all or part of the
interval of motion

©Buyung Kosasih 9

Another type of classification is Based on the type of motion

Based on this classification, followers are either classified as Critical Extreme Position
cam or Critical Path Motion cam.

Critical Extreme Position (CEP)

The cams are designed such that the followers satisfy the extreme positions but are not specified
by constraints on the path motion between the extreme positions.

Critical Path Motion (CPM)

The cams are designed such that the followers satisfy not only the positions but
must also satisfy its derivatives (velocity and acceleration) over all or part of the interval of motion.
This is particularly critical for high-speed systems where acceleration can cause significant jerking,
large change of force.
For such high speed, cam-follower, the follower motion is designed with continuous
position, velocity and acceleration profiles over one revolution.
So high speed cam is always designed following critical path motion cam.

9
 Follower arrangements

In-line follower Offset follower

Source: Machine Analysis with Computer applications ©Buyung Kosasih 10

Followers are arranged in different arrangements in relation to the cam centre axis.

On the left, the follower line of motion passes through the axis of cam rotation,
such an arrangement is known as an in-line follower arrangement.

When the line of follower action does not pass through the axis of rotation,
but is instead offset by a distance, e, the arrangement is known as an offset arrangement.

10
 Cams Nomenclature
Take time to understand these key terms
follower

cam
Cam
shaft

©Buyung Kosasih 11

Let us now familiarize ourselves with the cam-follower terminologies.

The main components of cam-follower are the Cam plate, follower and cam shaft

The smallest curvature radius from the centre of the rotational axis is the radius of base
circle of the cam.
The different between the smallest and the largest curvature radius of the cam is the stroke,
which is the Cam maximum displacement

Note pressure angle is the angle between the common normal (perpendicular to the tangent
plane) with the direction of the follower motion.
Pressure angle is most likely non-zero. This means the contact force (normal to the local
surface) is not along the direction of the follower motion
Hence there will be horizontal component of the contact force which can cause bending and
jam of the follower.

Because of this in general pressure angle is limited 30o

11
 Common follower displacements

Double dwell

Single dwell

Source: Machine Analysis with Computer applications

©Buyung Kosasih 12

These are two common follower displacements: Double dwell and single dwell

Double dwell has four phases: follower rise, remain at the high dwell for a defined period of
time,
fall to the original position, and then remain in a low dwell.
All four phases occur in 360o of cam rotation.

Single dwell has three phases: follower rise to specific location, immediately fall back to the
starting position,
and then remain in a low dwell for a defined period.
All three phases occur in 260o of cam rotation.

12
 s v a j diagram: CEP
In selecting the motion of the follower, the main aims (in order of priority) are
that as the cam rotates:
s Displacement is continuous (ie. no step changes)
v Velocity is continuous
a Acceleration is continuous
j Jerk (or rate of change of acceleration) is finite
s

h, Two
extreme
positions
𝑑𝑠
𝑣 𝑡
𝑑𝑡

a 𝑡

 j 𝑡

Source: Machine Analysis with Computer applications ©Buyung Kosasih 13

CAM PROFILE is designed by first establishing the desired motion path of the follower,
then determine the cam profile that will give that motion
In selecting the path profile of the follower, the main aim is that as the cam rotates the follower
moves with
s Displacement is continuous i.e. no step changes
v Velocity is continuous
a Acceleration is continuous
j Jerk (or rate of change of acceleration) is finite

The displacement, velocity, acceleration and jerk are presented as one revolution plots / diagrams.
Note that the horizontal axis is angle NOT time.
s v a j diagrams are diagrams of follower displacement, velocity, acceleration and jerk over one cam
revolution.

Common motions are dwell that is stationary position, rise that is going from low position to the high
position,
and fall that is going from the high to the low position.
Cams are designed by combining these motions as can be seen in the diagrams on the right.

The first three graphs are obvious to us, the last is jerk profile.

13
Jerk is also referred as pulse, it is the time rate of change of acceleration.
It is known that acceleration is proportional to inertia force.
Inertia force is balanced by elastic deformation in the mechanism.
Jerk is a measure of the rate of at which elastic deformation occurs.
Energy available for vibration will increase as jerk increases.
Jerk should be kept small, particularly in high-speed application to minimize vibration.

13
 Jerk
Discontinuity in the acceleration is represented by JERK

s Discontinuity
in velocity
h, Two
extreme
positions
Discontinuity
in acceleration

Discontinuity
in Jerk is manifested
as change in force
 hence knocking

©Buyung Kosasih 14

A common mistake is to consider the displacement function/profile to be the primary

concern when designing a cam.
A poor choice of displacement function can lead to serious problems caused by infinite
accelerations or
discontinuities in the acceleration profile, which lead to infinite jerk (infinite energy for
vibration).

This is an example of poor linear displacement function.

A good cam designs should have finite jerk (and as low as possible) over the entire 360o.
A continuous acceleration ensures finite jerk.

14
 Simple harmonic motion
Mechanisms and Dynamics of Machinery by Mabie & Reinhol
• Family of harmonic
motions consist of few
variation but all with
max acceleration
always when velocity
is zero.
• Because at zero velocity
the acceleration is max,
this means simple
harmonic motion cannot
be coupled to a dwell
(motion with both zero
velocity and zero
acceleration) without
causing discontinuity in
acceleration. ©Buyung Kosasih 15

The simplest non-linear rise and fall motion are harmonic sinusoidal motion.
Family of harmonic motions consist of few variations.

The motion max acceleration always occur when velocity is zero

Because at zero velocity the acceleration is max, this means simple harmonic motion cannot
be coupled to
a dwell i.e. motion with both zero velocity and zero acceleration without causing
discontinuity in acceleration.

So, when harmonic sinusoidal motion is typically used?

They are used when rise – fall or fall –rise is coupled without dwell.
For rise – fall with no intermediate dwell H2 – H3 may be chosen.
For fall – rise with no intermediate dwell H4 – H1 may be chosen.

Simple harmonic motion is not ideal but will give moderate performance at slower speeds.

15
 Cycloidal motion
• Provides zero acceleration at
both ends of the segment.
Acceleration reduces to zero as
velocity goes to zero, hence
can be coupled to dwells

• For rise – fall or fall – rise with

no intermediate dwell follower
motion, although it is possible
with C-2 & C-3 OR C-4 & C1,
there is inefficiency due to the
acceleration drop to zero.

It is better to use harmonic

motions to couple rise – fall or
fall – rise without dwell.
©Buyung Kosasih 16

When rise/fall need coupling with dwell,

Another family of motion is cycloid motion which have zero accelerations
at both ends and suited for rise/fall to dwell transition.
This motion will enable rise and fall segments coupled to dwell segments.

There are few variants of this motion (see sketch)

Characteristics of this motion is zero accelerations at both ends of the segment

In general velocity is zero only at one end C1 to C4 so can only be coupled to dwell at one
end.

Velocity can be made zero at both ends by combining C-1 & C-2 (C-5) or C-3 & C-4 (C-6),
so they are suitable to connect to dwell at both ends
For rise – fall or fall – rise with no intermediate dwell follower motion, although it is
possible with C-2 & C-3 OR C-4 & C1,
although there is inefficiency due to the acceleration drop to zero.
It is better to use harmonic motions to couple rise – fall or fall – rise without dwell.

16
 s v a j diagram: simple harmonic
dwell rise dwell fall

H5 H6

s
L = h, Two
extreme
positions

There are
acceleration
discontinuities
which cause
 infinite jerks.

©Buyung Kosasih 17

Let us first eliminate the discontinuities in velocity by using H5 for rise and H6 for fall

The problem is that although velocity is continuous at the interval interface, there are
acceleration discontinuities which cause infinite jerks

17
 s v a j diagram: cycloid
dwell rise dwell fall

C5 C6

s
L = h, Two
extreme
positions

Both the velocity

and acceleration
are continuous
and hence finite

jerks.

©Buyung Kosasih 18

How about using cycloid motion C-5 for the rise and C-6 for the fall

Here both the velocity and acceleration are continuous at the interfaces and what is
remaining is finite jerk which is acceptable

18
 The Fundamental Law of Cam Design
Any cam designed for operation at
other than very low speeds must be
designed with the following
constraints:

THE CAM FUNCTION MUST BE

CONTINUOUS THROUGH THE
FIRST (VELOCITY) AND SECOND
(ACCELERATION) DERIVATIVES
OF DISPLACEMENT ACROSS
THE ENTIRE INTERVAL (360O)

Corollary
The jerk function must be finite
across the entire 360o
©Buyung Kosasih 19

Any cam designed for operation at other than very low speeds must be designed with the
following constraints:
THE CAM FUNCTION MUST BE CONTINUOUS THROUGH THE FIRST AND SECOND
DERIVATIVES OF DISPLACEMENT ACROSS THE ENTIRE INTERVAL (360O).

Corollary
The jerk function is allowed but must be finite across the entire interval.

Each function has its own unique advantages and disadvantages.

The simple harmonic function has low acceleration values but will have infinite jerk values
at the dwell locations.
The cycloidal function offers lower vibration and noise.
Zero acceleration at the ends also allows cycloidal functions to be used for dwells.

19
 Example
Design Cam profile for Critical Extreme
Positions application following
specification (DRDF)

dwell at zero displacement for

90 degrees (low dwell)

rise L = 25 mm in 90 degrees

dwell at 25 mm displacement
for 90 degrees (high dwell)

fall L = 25 mm in 90 degrees

cam  1 rev/s = 2 rad/s

©Buyung Kosasih 20

Let us now consider an example where each of the segments is over 90o
The rise and fall displacement is 25 mm
The cam rotational speed is 2pi rad / s or 60 RPM

This is double-dwell mechanisms.

Initial sketch of the displacement, velocity and acceleration diagrams are to ensure all are
continuous.
There are jerks in the motion but finite so it is tolerable

20
 Example

C5 C6

𝑠 ℎ 𝑠𝑖𝑛 2𝜋 ⁄
𝑣 ⁄
1 𝑐𝑜𝑠 2𝜋 ⁄

= 25 𝑠𝑖𝑛 2𝜋 𝑉 x= x 2𝜋 200

⁄ ⁄

𝑣 1 𝑐𝑜𝑠 2𝜋
= 1 𝑐𝑜𝑠 2𝜋
⁄ ⁄ 𝜋
25 200 𝑚𝑚
𝑎 2𝜋 𝜋 𝑠𝑖𝑛 2𝜋 𝜋 8
2 2 𝜋 𝑟𝑎𝑑

ℎ 𝜃 𝐴
200 𝑚𝑚
𝑥
200 𝑚𝑚
𝑥 2𝜋
𝑟𝑎𝑑
2.51
𝑚

𝑎 2𝜋 𝑠𝑖𝑛 2𝜋 𝜋 𝑟𝑎𝑑 𝜋 𝑟𝑎𝑑 𝑠 𝑠

𝛽 𝛽
= 2𝜋 𝑠𝑖𝑛 2𝜋
⁄ ⁄

ℎ 𝜃
𝑗 4𝜋 𝑐𝑜𝑠 2𝜋 𝑗 4𝜋
𝜋
25
𝑐𝑜𝑠 2𝜋 𝜋
0 800 𝑚𝑚
𝜋 𝑟𝑎𝑑
𝛽 𝛽 J
2
𝑥
2
𝑥 2𝜋 = 63.2

4𝜋 𝑐𝑜𝑠 2𝜋
⁄ ⁄
©Buyung Kosasih 21

The rise and fall segment the follower prescribed motion are C-5 and C-6.

Using the equations for cam displacement, velocity and acceleration combining with the
rpm,
the s,v,a and j at any cam instantaneous angle can be calculated.
The equations on the left are for the 2nd segment.

Note that h (or L) is the stroke height, beta is the interval period,
theta is the cam shaft angle measured from the beginning of the interval/segment.

Here the maximum velocity, acceleration and jerk have been calculated and shown.

This together with the mass to be driven allow engineer to estimate the required power to
drive the CAM.

21
 Pressure Angle
Fside
Pressure angle,  is the angle between the
Ftransmit Ffollower
direction of motion (velocity) of the follower and
the direction of the axis of transmission.

It can be seen when   0, most transmitted force

is used to drive the follower and none into slip.

Rule of thumb, pressure angle should be between

0 and +/-30o.

It can be shown (see section 8.6 Design of

Machinery) that

𝑣 𝜀
 𝑡𝑎𝑛
𝑠 𝑅 𝜀

©Buyung Kosasih 22

To determine the base prime circle radius, the maximum pressure angle as the cam
rotates must be considered.

Pressure angle,  is the angle between the direction of motion (velocity) of the follower and the
direction of the axis of transmission.

This is the common normal to the tangent at the point of contact

It can be seen when  = 0, all transmitted force is used to drive the follower and none into slip
(bending and jamming).

As  increases the horizontal component get larger and result in bending and jamming of the follower

Rule of thumb, pressure angle should be between 0 and +/- 30o.

It can be shown (see section 8.6 Design of Machinery) that Pressure angle depend on the
displacement, velocity, prime circle radius and eccentricity (the distance between the axis of the
follower motion and the centre of the cam).

So for given s v a j, less than 30o pressure angle can be satisfied by adjusting prime circle radius
and/or eccentricity.
The equation for the variation of pressure angle  is given in the slide. The derivation is given in the
next slide.

22
 Derivation of Pressure Angle
𝑏 𝑐 𝜀 

𝑐 𝑏 𝜀 𝑠 𝑑 tan 

𝑑𝑠 𝑑𝑠 𝑑𝜃
𝑏ω 𝑉
𝑑𝑡 𝑑𝜃 𝑑𝑡
𝑣ω
𝑣 𝜀
tan  𝑑 𝑅 𝜀
𝑠 𝑑

𝑣 𝜀
 𝑡𝑎𝑛
𝑠 𝑅 𝜀

©Buyung Kosasih 23

The derivation of the pressure angle for cam with roller follower (is detailed in the book) is given in
this diagram

From the diagram it can be seen that the pressure angle is arctan (c/(d+s))

We need to locate point B.

This is obtained by extending the axis of transmission until it intersect with the horizontal line.

We know than any point on the same axis of transmission move with the same velocity with the
follower hence point B moves with same velocity as the follower.

The follower velocity is given by ds/dt and is also given by b (velocity in unit displacement/unit
angular displacement) times the angular velocity of the cam.

Tan phi is then given by v – epsilon / ( s + d)

The substituting d result in the expression for the pressure angle.
Once the cam designer has prescribed the follower motion the s v a j, he/she has two parameters to
adjust to ensure the pressure angle is less than 30o over the entire revolution of the cam.

23
 Pressure Angle Consideration
𝑣 𝜀
 𝑡𝑎𝑛
𝑠 𝑅 𝜀  = 0
Lift = 10 mm
Rp = 2 x lift = 20 mm
Consider cam s v a j diagrams

= 0
Rp = 4 x lift = 40 mm

For the code used in this example, study the tutorial Q3

©Buyung Kosasih 24

Example

Consider cam motion given by s v a diagrams, the designer considers the prime radius 2 L and 4 L

It is seen that cam with prime(base) circle of radius 2 L is not acceptable as there is some period
when the pressure angle is greater than 30o

This is not acceptable, so the designer adjust the prime radius.

The prime radius need to be larger, now with Rp = 4 L the max pressure angle is below 30o over the
revolution so it is acceptable

24
 Machining of cam consideration
The machinist is given
the x,y coordinate data
of the pitch curve.

The cam is cut using

cutter with same radius
as design roller
follower, Rf.

When the minimum

pitch curve radius,  of
curvature is the same as /
𝑅 2 𝑣
the cutter radius sharp 𝜌
point (cusp) occur. 𝑅 2 2𝑣 𝑎 𝑅 𝑠
Cusp not run very well
𝜌 2 𝑜𝑟 3 𝑡𝑖𝑚𝑒𝑠 𝑅
for high speed cam
©Buyung Kosasih 25

Last essential consideration is to ensure that the follower able to follow the profile
accurately.

Cam is manufactured by milling using cutter of same radius as the roller follower.
The profile followed by the cutter is given by the x-y coordinate of the pitch curve.

It must be ensured the min pitch radius greater than follower radius (or cutter radius)
When the minimum pitch curve radius is equal to the roller follower, cusp or sharp point on
the cam profile occur.
Cam with cusp does not run well for high speed cam, so should be avoided.
When the min pitch curve radius is smaller than the roller radius, cam is undercut and cam
profile is not as designed.
It is normally required that the minimum pitch curve radius should 2 or 3 times of roller
follower radius.

The pitch radius of the cam is given by the equation on the slide.
So for a given s v a, minimum pitch radius at least 3 times of the roller follower radius can
be achieved by varying the prime circle radius.

25
 Cam profile
Once the s v a j diagrams have been constructed, the next the cam designer
establish is the cam profile (see section 8.6 Design of Machinery)

Steps (for the above D R D F motion) for tracing the pitch curve:
1) Start with displacement diagram (of the center of the roller
follower)
2) Draw the base circle and prime circle (the smallest circle)
3) divide the prime circle into intervals (stations)
4) Transfer the displacement to the corresponding interval
boundaries and locate the positions of the trace points
5) Join the points to form smooth pitch curve
6) To get the cam profile, draw the roller in its proper position
at each point. Construct the cam profile as smooth curve
tangent to all these roller positions

©Buyung Kosasih 26

Once the s v a j diagrams are constructed, the cam designer establish the cam profile (see section 8.6
Design of Machinery) that is tracing the pitch curve.

Steps (for the above D R D F motion):

1) Start with displacement diagram

2) Draw the base circle and prime circle (offset from the base circle by roller radius) with
reasonably chosen base radius
2) divide the prime circle into intervals (stations). Twelve stations in this example
3) Transfer the displacement to the corresponding interval boundaries and locate the positions of
the trace point
4) Join the points to form smooth pitch curve
5) To get the cam profile, draw the roller in its proper position at each point. Construct the cam
profile as smooth curve tangent to all these roller positions

For the designer the critical decision is the base radius.

We do not have to go through this manual process.
Using modern Solid Modelling program we could create the cam and produce for manufacturing.

26
 Cam profile in Inventor

©Buyung Kosasih 27

Using inventor cam with base radius 50 mm roller radius 10mm and the s v a j on slide 21,
this is the animated cam-follower mechanism.
The video of the step-by-step construction is given in the moodle site.

27
 Conclusion
• Construction of s v a j diagram is the first step in cam
design
• Other considerations are max pressure angle and min pitch
curve radius
• Cam analysis is essential skill for Mechanical engineer
• Cam design is kind of arts of Mechanical Engineering
Required self-study reading:

Chapter 8 of Norton “Design of

Machinery”

Chapter 9 of Machine Analysis

with Computer applications

©Buyung Kosasih 28

Conclusion

We have learned about designing follower motion specification using s v a j diagrams

Key parameter for cam size is prime radius which is determined by ensuring the maximum
pressure angle is
less than 30o over the revolution of the cam and that the min pitch curve radius is 2 or 3
times of the roller follower radius

Cam analysis is essential skill for engineers and it is also somewhat an art.

Exercise questions for this topic are available on MOODLE, please take a look at them and
give your selves a go.

Two questions are solved with the use of MATLAB code which help with the plotting of the
s v a j diagrams

This is the end of the lecture.

28
 4-bar linkage mechanism
Analysis & Synthesis

Prof Buyung Kosasih

Ph: 02 4221 3109
Office: 8.121
Email: [email protected]

Last week we discussed cam-follower mechanism which is a 4-bar linkage mechanism.

But we did not discuss in detail the 4-bar linkage mechanism.

4-bar linkage is a simple mechanism but is an important one and has applications in many
machinery.
We have seen that even cam-follower mechanism is also a 4-bar linkage mechanism.
As mechanical, mechatronic, biomedical engineers, in fact any engineer who design
machinery, they should be familiar with 3 mechanisms : Gear Mechanism, cam mechanism
and 4-bar linkage mechanism.

In this lecture we will study 4-bar linkage mechanism in detail.

1
 Goals

‐ Understand how (& be able) to

perform 4‐bar linkage Analysis:
Grashof & non‐Grashof conditions
(Read Design of Machinery by Norton Norton 2.0 – 2.13;
Read Chapter 5 Machine Analysis with Computer applications)

‐ Understand how (& be able) to

synthesize simple 4‐bar linkage
(Read Design of Machinery by Norton Norton Norton 3.0 – 3.5;
Read Chapter 5 Machine Analysis with Computer applications)

©Buyung Kosasih 2

In this lecture we aim to reach these goals:

1) Understand how (and be able) to analyse 4-bar-linkage. You will get acquainted with
Grashof condition.
This is powerful theory that enable us to predict the behaviour of 4-bar linkage

2) Understand how (and be able) to synthesize 4-bar linkage mechanism to achieve simple
tasks

The knowledge you will learn will help you synthesize more complex mechanism

2
 4‐bar linkage mechanism
dof (mobility) = 3 dof (mobility) = 1

“Design of Machine 5th Ed.” by R.L Norton

©Buyung Kosasih 3

4-bar linkage consists of 4 links 1,2 3 and 4

Link 1 is typically designated as ground link
Each link has two joints and hence binary links
Two possible configurations of planar 4-bar linkage:
1) Only one link is joint to ground (link). This results in open mechanism chain
2) When two links are joint to ground, we have closed mechanism chain

From Gruebler M = 3(L-1) – 2J1 – J2

For the open mechanism M = 3 (3) – 2(3) = 3 dof
Open mechanism has 3 dof that is 3 angles must be known to precisely the linkage
configuration
The 3 inputs required are angle of link 2 wrt to link 1, angle of link 3 wrt link 2 and angle of
link 4 wrt link 3

For the closed mechanism M = 3(3) -2(4) = 1 dof

The closed mechanism only need one angle hence 1 dof.
One angle is sufficient to precisely find the configuration
In this subject, we focus on closed planar 4-bar linkage with 1 dof, that is only one input

3
required.

3
 4‐bar linkage devices
Crimping tool

©Buyung Kosasih 4

Planar closed 4-bar linkage has many applications.

We will review some devices that function based on closed 4-bar linkage mechanism.
Crimping tool is one.
Yellow link is ground link, blue is link 2, green is link 3 and red is link 4
The blue link is the input link (when it makes full revolution in such case it is also called
crank).
The green link is the coupler.
The red is the rocker.

Unlike cam-follower, 4-bar linkage not only transmit motion but good force transmitter
(hence work).

4
 4‐bar linkage devices
Drum Brake

©Buyung Kosasih 5

This is another example of closed 4-bar linkage mechanism

The brake function is achieved by 4-bar linkage mechanism with two rockers.
The red solid link is the input link.
The orange links are rockers.
The couplers are the hollow red link
Can you see the ground link?

5
 4‐bar linkage devices
Front End Loader

©Buyung Kosasih 6

The front loader mechanism is closed 4-bar linkage mechanism.

Can you identify the 4 links.

Note that the bucket is attached to the coupler link.

6
 4‐bar linkage devices
Gas Pedal

©Buyung Kosasih 7

This is another example of closed 4-bar linkage mechanism.

The gas pedal is based on double 4-bar linkage mechanisms.

Can you see the two 4-bar linkage mechanisms

7
 4‐bar linkage devices
Oil Pump

©Buyung Kosasih 8

The old oil pump is based on closed 4-bar linkage mechanism with the input link a crank
(that is a link that makes full revolution) and output link 4 a rocker.

The driving link makes full revolution hence termed crank

The yellow link oscillate between two extreme positions hence it is a rocker

8
 Grashof Condition
- Applies to 4-bar linkage only

- Predicts motion of the linkage based only on

link lengths

- Is independent of the order of the inter-

connections of the links

- Is independent of the inversion (grounded link)

©Buyung Kosasih 9

Closed 4-bar linkages are designed (synthesized) for path generation and motion generation.
Typically linkage mechanisms are used for motion generation.
It is easy to see that key kinematic design parameters of a 4-bar linkages are the lengths of
each links.
As designer we are faced with questions such as:

What should be the lengths of the links?

In what sequence the links should be connected?
How do we ensure the output link make certain motion e.g. full revolution?
Could the input link make full revolution?
4-bar linkage can be easily analysed based on Grashof Condition.
What is this Grashof condition? Before we answer the question let us answer where it
applies and what it tells us
- Applies to 4-bar linkage only
- Predicts motions possible of the linkage based only on link lengths
- Is independent of the order of the inter-connections of the links
- Is independent of the inversion (which link is grounded)

9
 Grashof condition

Take any 4 links and let us label them:

S S – shortest
P L – longest
P – any other
Q Q – remaining one
L

©Buyung Kosasih 10

Let us make four model of links and label them

S for shortest

L for longest

P for any other

Q for the remaining one

10
 Grashof condition
If the Grashof inequality
S+L≤P+Q
is true, the linkage is a Grashof linkage.
It is Grashof no matter how the links are
assembled. If false, it is non‐Grashof
linkage.
S L This
combination is
P Q
Grashof
©Buyung Kosasih 11

Grashof condition is actually an inequality which states that if the sum of the shortest and
longest links is less than or equal to the sum of the other links lengths, the linkage is a
Grashof linkage.

No matter how the links are assembled.

On the other hand if the inequality is false it is non-Grashof.

4 bar linkage with 4 links of lengths shown is Grashof linkage.

But what is Grashof linkage?

11
 Grashof condition
Grashof’s law states that if
S+L≤P+Q
then:
• At least one link will make a complete
revolution
• Depending on which link is ground
(fixed), we will get one of 3 possibilities
‐ a “crank‐rocker”
‐ a “double crank”
‐ a “double rocker” – coupler make full
revolution
©Buyung Kosasih 12

Grashof linkage is a linkage with at least one link can make full revolution.

Depending on which link is grounded or fixed we may get one of these outcomes

‐ a “crank‐rocker” one link can make full revolution

‐ a “double crank” two links can make full revolution

‐ a “double rocker” – coupler make full revolution

12
 How many ways can the 4 links
be assembled?
3 ways (CW):
LSQP = LPQS
LQSP = LPSQ
LQPS = LSPQ

©Buyung Kosasih 13

Grashof condition applies regardless how the links are assembled into linkage.

For the 4 links, these are the three possible ways the links can be connected.

LSQP = LPQS

LQSP = LPSQ

LQPS = LSPQ

13
 Grashof: crank ‐ rocker
If we ground either links adjacent to the
shortest link (S), we get crank rocker.
coupler
rocker

crank
ground

©Buyung Kosasih 14

If we ground either links adjacent to the shortest link (S), we get crank rocker.

The two adjacent links are link L and Q.

If we ground either link L or Q, we will have crank rocker mechanism
With the shortest link (usually it is also the input link or the crank) makes full revolution
The output link oscillates between two positions

14
 Grashof: crank ‐ rocker
If we ground either links adjacent to the
shortest link (S), we get crank rocker, let us
proof this

80 mm
w = 10 mm

90 mm
©Buyung Kosasih 15

Let us demonstrate this.

‐ Using the model
‐ Using Autodesk Inventor

15
 Autodesk Inventor Simulation

Link 1 grounded
©Buyung Kosasih 16

Let us demonstrate this.

‐ Using the model
‐ Using Autodesk Inventor

Video of the model in inventor is given in the MOODLE site.

16
 Grashof: double crank
If we ground the shortest link (S), we get
double crack (drag link).

©Buyung Kosasih 17

If we ground the shortest link (S), we get double crack (drag link).

Let us see if this is the case.

‐ Demonstrate with model
‐ Demonstrate with Autodesk Inventor

17
 Autodesk Inventor Simulation

Link 2 grounded
©Buyung Kosasih 18

Let us demonstrate this.

‐ Using the model
‐ Using Autodesk Inventor

18
 Grashof: double rocker
If we ground the link opposite the shortest
link (S), we get double rocker.

In this case, the coupler

makes full revolution

©Buyung Kosasih 19

If we ground the link opposite the shortest link (S) link P, we get double rocker.

Let us see this

‐ Using model
‐ Using Autodesk inventor

Where is the link that make the full revolution, the coupler
Double rocker because link that make full revolution is not attached to ground and difficult
to provide the source of motion

19
 Autodesk Inventor Simulation

Link 4 grounded
©Buyung Kosasih 20

Let us demonstrate this.

‐ Using the model
‐ Using Autodesk Inventor

20
 Non‐Grashof
Grashof’s law states that if
S + L ≤ P + Q is false
then:
• no link will make a complete revolution
with respect to the other three
• All 4 inversions will be double rockers

Automobile
suspension

©Buyung Kosasih 21

We have been discussing Grashof.

How about non Grashof?

Non-Grashof linkage is linkage with No link makes a complete revolution

All inversion (i.e does not matter which link we ground) the input and output links (links 2
and 4) are rockers

An example is automobile suspension

21
 Special Grashof
S L
S+L=P+Q
S=P L=Q

still Grashof but with strange result. There

are indeterminate “change points” when all
4 links become co‐linear.

©Buyung Kosasih 22

Special Grashof is when S + L = P +Q

The classic example is the old steam engine wheels.

Special Grashof could result in unpredictable link 4 motion.
This occurs when all links are co-linear.
When all links are co-linear as shown, as link continues CCW rotation, link 4 could rotate
CCW or CW.
At the instance shown the linkage encounters change point.

So to ensure the output link rotates in the intended direction, the linkage is coupled with
out-of-phase linkage which carries it over the change point (as in steam engine).

22
 Synthesis
• So far we focus on the analysis of a given
mechanism. Next engineer need to know (be
able to do) is how to synthesize 4 bar linkage to
achieve certain motion and positions.

• We will demonstrate some simple syntheses of

4-bar mechanisms:
- two angular positions as rocker output
- link thru two positions as rocker output
- link thru two positions as coupler output

©Buyung Kosasih 23

So far we focus on the analysis of a given mechanism. As engineer we need also to know (be able to
do) is how to synthesize 4 bar linkage.

We will only consider some simple syntheses of 4-bar mechanisms:

two angular positions of rocker output

link thru two positions as rocker output
link thru two positions as coupler output

23
 Essential Drafting skill
Ability to construct a perpendicular bisector

©Buyung Kosasih 24

In the graphical method, a key skill is required.

It is how to bisec a line i.e. draw a perpendicular line to the connecting line at the middle.

24
 two angular positions of rocker output
Rocker output is the simplest two-position
synthesis.

Basically the rocker output is oscillatory output

between two angular positions

required range of motion

for output link

Link 4

©Buyung Kosasih 25

two angular positions of rocker output

Rocker output is the simplest two-position synthesis.

Basically the rocker output is oscillatory output between two angular positions

25
 Two angular positions of rocker output

Design goals: determine pivot points of link 2 and 4; lengths of

line 1, 2, 3 and 4.
The user is free to locate the pivot point of link 2 and link 4 . Pivot
link 2 can be anywhere along the dotted line, the choice dictates the
length of link 3 (remember Grashof condition)
Link 3 is also called the “coupler.”
©Buyung Kosasih 26

Design goals: determine pivot points of link 2 and 4; lengths of line 1, 2, 3 and 4.

Design engineer is free to locate the pivot point of link 2 and link 4 .
Pivot link 2 can be anywhere along the dotted line, the choice dictates the length of link 3
(remember it needs to satisfy Grashof condition for link 2 to be a crank)
Link 3 is also called the “coupler.”

26
 Link thru two positions as rocker output
Design goals:
determine pivot points
of link 2 and 4; lengths
of line 1, 2, 3 and 4.

©Buyung Kosasih 27

Link thru two positions as rocker output.

Design goals:
determine pivot points of link 2 and 4; lengths of line 1, 2, 3 and 4.

27
 Conclusions
The simple inequality S + L ≤ P + Q tells a
great deal about a closed 4‐bar linkage before
it is even assembled i.e.
• Whether any link can fully rotate
• Whether any “change points” exist
• What kind of motions will be possible i.e.
crank rocker, double crank & double rocker

The Grashof helps in the synthesis of the

mechanism i.e. in the determination of the
links lengths.
©Buyung Kosasih 28

28
 Velocity Analysis – Graphical

Prof Buyung Kosasih

Ph: 02 4221 3109
Office: 8.121
Email: [email protected]

Last week we have learned how to analyse 4-bar linkage and synthesize simple 4-bar
linkage mechanisms.

The objective of the synthesis is have mechanism where the output links are to go from one
defined position to another defined position.

In this lecture we will learn how to calculate the instantaneous velocities of the links.

The velocities are important quantities that are required when we calculate acceleration.

1
 Goal
Understand (be able to) carry out velocity analysis using the
graphical method
(Read Norton 6.0‐6.6;
Read Chapter 4 Machine Analysis with Computer applications)

‐ Relative velocity between two particles

‐ Relative velocity between two particles on same body

(link)

‐ Drawing scaled velocity polygon (or also known as

velocity diagram)

©Buyung Kosasih 2

After the lecture and practicing the exercise questions, you should have gained
understanding of and be able to carry out velocity analysis using the graphical method

This mean we have understood the concepts of

- Relative velocity
- Relative velocity between two particles on same rigid body

developed skill to
- Draw accurately scaled velocity diagram (or polygon) of 4-bar linkage
- Develop dynamic model of 4 bar linkage in AUTODESK INVENTOR

2
 Kinematic Analysis
Front End Loader

Instantaneous
velocity vectors

©Buyung Kosasih 3

We have seen this example of front end loader mechanism, which is a 4-bar linkage.

The method that we will learn enable us to calculate the velocities of the links given input
velocity of the driving link.

For example, given angular velocity of the driving link what are the velocity of the coupler?

3
 Kinematic Analysis
Oil Pump

©Buyung Kosasih 4

In this example, given the angular velocity of the crank what is the angular velocity of the
output link?

4
 Analytical Method (week 4)
l3  350 mm
l2  100 mm 3
l4  200 mm
Y
w2  20 rad/s
 2  60o 4 Y
 2  100 rad/s 2

O2 X l1  300 mm O4 X
Z

Find 3 ,  4 , 3 , 4 , 3 and 4

©Buyung Kosasih 5

5
 Relative velocity between particles
𝑽B = 𝑽A 𝑽BA

𝑽𝑨 𝑽BA
𝑽A 𝑽B

A B 𝑽B

To A, B moves right (east) with 𝑽𝑩𝑨

𝑽A and 𝑽B are absolute velocities i.e. wrt

to inertia frame of reference (the earth).
𝑽A = 𝑽B 𝑽AB

How about say velocity of B seen by 𝑽A 𝑽𝑨𝑩

(relative to) A OR A seen by B?
𝑽B

To B, A moves left (west) with 𝑽𝑨𝑩

©Buyung Kosasih 6

About Velocity, first we should realise that velocity is a relative measurement.

So it is important to understand this concept clearly.

Consider two particles A & B moving with absolute velocities A & B relative to the earth
(inertia frame of reference) in the same direction parallel and co-linear

Question How about say velocity of B seen by (relative to) A (moving frame) OR A seen by
B?

To particle A, B moves to the right with velocity V_BA. Vectorially the velocity of B is the
vector sum of Velocity of A and the relative velocity of B relative to A , which is V_B –
V_A

To B, A moves to the left with velocity V_AB, which is V_A – V_B

6
 Relative velocity between particles
𝑽B = 𝑽A 𝑽BA

𝑽B 𝑽𝑨 𝑽BA
𝑽B
B
𝑽A To A, B moves south-east with 𝑽𝑩𝑨

A
𝑽A = 𝑽B 𝑽AB

𝑽𝑨 𝑽𝐀𝐁
𝑽A and 𝑽B are absolute velocities i.e. wrt
to inertia frame of reference (the earth). 𝑽B

How about say velocity of B seen by A To B, A moves north-west with 𝑽𝑨𝑩

(moving frame) OR A seen by B?

©Buyung Kosasih 7

Now consider two particles A & B moving in different directions which are not co-linear
and not parallel

𝑽A and 𝑽B are absolute velocities i.e. with respect to the inertia frame of reference (the
earth).

How about say velocity of B seen by A (moving frame) OR A seen by B?

To A, B moves south-east with 𝑽𝑩𝑨 , V_B – V_A

To B, A moves north-west with 𝑽𝑨𝑩 , V_A – V_B

7
 Relative velocity between particles
on same (rigid) body (link)
𝑽A 𝑽B 𝑽𝑨 𝑽BA

A B
𝑽B

To A, B moves east with 𝑽𝑩𝑨

THIS IS NOT POSSIBLE
FOR RIGID BODY
𝑽A 𝑽B

𝑽A
A B
𝑽𝑩𝑨 = 0

𝑽B

Two particles on same rigid body moving co-linearly cannot have

different speed.

©Buyung Kosasih 8

Now consider two particles A & B move co-linearly, but this time they are on same rigid
body.

What is the relative velocity of B relative to A, V_BA.

Because the two points are on same rigid body, it is zero.

Non-zero V_BA is not possible for rigid body otherwise the rigid body experience
deformation with certain strain rate.

We can conclude just by this observation that Two particles on same rigid body moving
co-linearly cannot have different speed without straining.

In this course we consider non-deformed rigid body

8
 Relative velocity between particles
on same body (link)
𝑽𝑨 𝑽BA

𝑽B

B 𝑽B To A, B moves south-east with 𝑽𝑩𝑨

or to A, B rotates CW
𝑽A

A
𝑽𝑨 𝑽AB
Two points in the same body can
only have relative velocity 𝑽B
perpendicular to the line connecting To B, A moves north-west with 𝑽𝑨𝑩
the two points – velocity difference or to B, A rotates CW
i.e. from the example above 𝑽𝑩𝑨 and
𝑽𝑨𝑩 must be perpendicular to the 𝑉 𝑉 𝐿
dotted line

©Buyung Kosasih 9

Two particles on same rigid body whose velocities are not co-linear are seen rotating
relative to each other.

Consider particles A & B with velocities as shown.

Velocities can be decomposed into two components. One along the line connecting the two
points (co-linear components) and the other perpendicular to the line.

The velocities along the line connecting the two points are co linear so they must be equal.

So the relative velocities B relative to A and A relative to B must the difference of the
velocity components in the perpendicular direction.

To A, B moves south-east with 𝑽𝑩𝑨 or to A, B rotates CW

To B, A moves north-west with 𝑽𝑨𝑩 or to B, A rotates CW

V_BA & V_AB are same in magnitude but 180 to each other.

9
This means to A point B move in circular path CW

This means to B point A move in circular path CW

Conclusion:
Two points in the same body can only have relative velocity perpendicular to the line
connecting the two points.
And The body motion include both translation and rotation.

The relation of the angular velocity omega and V_BA is given by the relation: length of the
link times the angular velocity of the link

9
 Application of velocity difference
In the synthesis of mechanism, we first design that the linkage
is able to get to the positions (previous week). Next because
the velocity of the links and points (particles) in links are often
needed, they need to be calculated.

M = 1, we just need one information

𝑽B = ?
B

3
A 𝜔 ?
𝑽A = ?
4
2
𝜔

©Buyung Kosasih 10

In the synthesis of mechanism, we first design such that the linkage is able to get to the
positions (position required as discussed last week).
Next because the velocity of the links and points (particles) in links are often needed, we
now need to carry out kinematic analysis.

Consider a closed-loop 4-bar linkage mechanism.

M = 1, we just need one information i.e. input rotational velocity of link 2.

10
 Velocity analysis – graphical method
𝝎𝟒
𝑽B 𝑽B = 𝑽𝐀 + 𝑽𝐁𝐀 • Draw the diagram of
𝑳𝟒
the mechanism to
𝑽B measured
from the graph 𝑽BA
scale
𝑽BA
𝑂 measured 𝝎𝟑
from the 𝑳𝟑
𝑽𝐀
• Draw the velocity
graph
𝑽A = 𝑳𝟐 𝒙 𝝎𝟐
polygon to scale
𝑽B = ?
B
• Measure the unknown
3 velocities from the
polygon drawn
A
𝜔 ?
𝑽A = ?
4
2
𝜔

©Buyung Kosasih 11

In most application, the only known velocity is the angular velocity of the input link, omega
2

We want to find V_A, V_B and omega 3 and 4 at the given configuration of the linkage.

With the graphical method, we find these velocities from velocity diagram or velocity
polygon

Consider link 3 (the coupler link), there are two point particles (points A & B).

We start by drawing the known velocities i.e. velocity point A knowing the direction and the
magnitude

Then draw velocity point B knowing only the direction

Then velocity of point B relative to A can only be in the direction perpendicular to the line
connecting A & B

11
Now we can get angular velocity of link 4, omega 4, by measuring V_B from the polygon and
then divide by length of link 4

Similarly we could get angular velocity of link 3, omega 3, by measuring V_BA from the
polygon and divide by length of link 3

11
 Velocity analysis – graphical method

𝑽B = ?
B
3
A
𝜔 ? 4
𝑽A = ?
2
𝜔
θ2 = 70o

©Buyung Kosasih 12

The configuration of the linkage at the instance is given as shown.

12
 Velocity analysis – graphical method

𝑽B = ?
B

3
L1 = 140 mm

A 𝜔 ? L2 = 42 mm

4 L3 = 115 mm
𝑽A = ?
2 L4 = 85 mm
𝜔 θ2 = 70o
θ2 = 70o
2 = 1 rad/s
1

©Buyung Kosasih 13

Video of the hand-drawn graphical analysis is uploaded to the subject MOODLE site.

13
 Velocity analysis – graphical method

𝑽B = 30 mm/s
B

3
L1 = 140 mm

A 𝑟𝑎𝑑 L2 = 42 mm
𝜔 0.217 𝐶𝐶𝑊
𝑠
4 L3 = 115 mm
𝑽A = 42 mm/s
2 L4 = 85 mm
𝜔 θ2 = 70o
θ2 = 70o
2 = 1 rad/s
1 = 57.3 degree/s

©Buyung Kosasih 14

Video of the hand-drawn graphical analysis is uploaded to the subject MOODLE site.

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 Velocity analysis – Inventor

©Buyung Kosasih 15

Video of the INVENTOR velocity analysis is uploaded to the subject MOODLE site.

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 Velocity analysis – graphical method

𝑽B = 30 mm/s
B
L1 = 140 mm
3
Cg3 L2 = 42 mm
4
L3 = 115 mm
𝑽𝐜𝐠𝟑 = ?
A 𝑽𝐜𝐠𝟒 = ? L4 = 85 mm
Cg4

θ2 = 70o
𝑽A = 42 mm/s
2 = 1 rad/s
2
𝜔
θ2 = 70o

©Buyung Kosasih 16

Video of the hand-drawn graphical analysis is uploaded to the subject MOODLE site.

16
 Conclusions
• Relative velocity between particles can be
easily estimated using the velocity vectors
graph
• Particles on same body (link) have relative
velocities to any other particles (points) in
the body in the direction perpendicular to
the line joining those points
• Graphical method and today’s computer
aided simulation tool e.g. Autodesk
Inventor is powerful mechanism analysis
technique
©Buyung Kosasih 17

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