Dynamic Force Analysis

Mechanisms are designed to carry out certain desired work, by producing the
specified motion of certain output member. It is usually required to find the
force or torque to be applied on an input member, when one or more forces act
on certain output member(s). The external force may be constant or varying
through the whole cycle of motion. Calculation of input force or torque over the
complete cycle will be needed to determine the power requirement.

So far dealt with the kinematics of mechanisms while temporarily ignoring the
forces present in those mechanisms. Now we will deal with the problem of
determining the forces present in moving mechanisms and machinery which is
called kinetics or dynamic force analysis.

We start with a brief review of some fundamentals needed for dynamic analysis
 Dynamic force analysis involves the application of Newton's three laws of motion
which are
1st Law
A body at rest tends to remain at rest and a body in motion at constant velocity
will tend to maintain that velocity unless acted upon by an external force.

2nd Law
The rate of change of momentum of a mass is equal to the force acting on it.

𝑑 2 𝑥(𝑡)
Ԧ 𝑑 𝑑𝑥Ԧ (𝑡)
Ԧ
𝐹 𝑡 =𝑚 , 𝐹(𝑡) = 𝑚
𝑑𝑡 2 𝑑𝑡 𝑑𝑡

𝐹Ԧ t = m𝑥Ԧሷ
3rd Law

For every action force there is an equal and opposite reaction force
 Dynamic Models
It is often convenient in dynamic analysis to create a simplified model of a
complicated part. These models are sometimes considered to be a collection of
point masses connected by massless rods. For a model of a rigid body to be
dynamically equivalent to the original body, three things must be true:

• The mass of the model must equal that of the original body.
• The centre of gravity must be in the same location as that of the original
body.
• The mass moment of inertia must equal that of the original body.

Mass moment of inertia

is resistance to acceleration is not same as second moment of

area
 Radius of gyration

Axis of rotation
Axis of rotation Mass, M
Point Mass,m
K
J
𝐽 = 𝑚𝑘 2
𝐽
𝑘=
𝑚

The point Mass, m where whole mass of body is Concentrated in such a way that
it is located at distance K from the centre of rotation and it rotates with a radius K
in such a way that its moment of inertia is equal to the moment of inertia of
original body of Mass, M. K is called radius of gyration of rigid body.

In short:
It is the perpendicular distance from the axis of rotation to a point mass (of
mass, m) that gives an equivalent inertia to the original object(s) (of mass, m).

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 Centre of percussion
The center of percussion is the point on an object where a perpendicular impact will
produce translational and rotational forces which perfectly cancel each other out at some
given pivot point, so that the pivot will not be moving momentarily after the impulse.
The same point is called the center of oscillation for the object suspended from the pivot as
a pendulum.

Applications
A hammer
– The impact force at the hammer head will not cause
any normal reaction at the handle
In a baseball bat,
– if on one hand the ball is made to strike at the
center of percussion while the center of rotation is
at the hands, no reaction perpendicular to the bat
will be experienced by the batter
In impact testing of materials,
– The deformation and bending of the pendulum can
be reduced if the center of percussion is located
near the striking edge. In this case, the pivot will be
free of any impulsive reaction.

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 Equivalent Systems

Spring Elements
A spring is a type of mechanical link, which in most applications is
assumed to have negligible mass and damping.

The spring force is proportional

to the amount of deformation

𝑭 = 𝑲𝒙

The work done in deforming a

spring is stored as strain or
potential energy in the spring
𝟏 𝟐
𝑼= 𝐊𝒙
𝟐

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 Spring in series

Spring are said to be in series when

• The deformation of the equivalent spring Ke is the sum of their deformation.
• The equivalent spring force is the same as the forces acting in the individual
springs
Thus, for the two-spring system shown
𝑥 = 𝑥1 + 𝑥2
𝐹 𝐹 𝐹
= +
𝐾𝑒 𝐾1 𝐾2
Therefore
1 1 1
= +
𝐾𝑒 𝐾1 𝐾2
𝑲𝟏 𝑲𝟐
𝑲𝒆 =
𝑲𝟏 + 𝑲𝟐
𝐼𝑛 𝑔𝑒𝑛𝑒𝑟𝑎𝑙, 𝑓𝑜𝑟 𝑛 𝑠𝑝𝑟𝑖𝑛𝑔𝑠 𝑖𝑛 𝑠𝑒𝑟𝑖𝑒𝑠
1 1 1 1
= + + ……….+
𝐾𝑒 𝐾1 𝐾2 𝐾𝑛
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 Equivalent Systems
Spring in parallel: same deformaion case
Springs are said to be in parallel when
• The equivalent spring force is the sum of individual forces
• The spring have the same deformation (true only for the ‘’same deformation
case’’ it is not generally true).
Thus, for the two-spring system shown

𝐹 = 𝐹1 + 𝐹2
𝐾𝑒 𝑥 = 𝐾1 𝑥1 + 𝐾2 𝑥2
But 𝑥1 = 𝑥2 = 𝑥
Therefore
𝐾𝑒 = 𝐾1 + 𝐾2
𝐼𝑛 𝑔𝑒𝑛𝑒𝑟𝑎𝑙, 𝑓𝑜𝑟 𝑛 𝑠𝑝𝑟𝑖𝑛𝑔𝑠 𝑖𝑛 𝑝𝑎𝑟𝑎𝑙𝑙𝑒𝑙 All springs have same displacements
𝑎𝑛𝑑 𝑜𝑓 𝑠𝑎𝑚𝑒 𝑑𝑒𝑓𝑜𝑟𝑚𝑎𝑡𝑖𝑜𝑛 but could have different restoring
𝐾𝑒 = 𝐾1 + 𝐾2 … … . +𝐾𝑛 forces
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 Damping Elements
In a vibratory system the damper is an element which is responsible for loss of energy in
the system. It converts energy into heat due to friction which may be either sliding friction
or viscous friction. A vibratory system stops vibration because of energy conversion by
damper.

• A damper is assumed to have neither mass nor elasticity,

• damping force exists only if there is relative velocity between the two ends of the
damper.
Damping is modelled as one or more of the following types

Viscous damping
is the most commonly used damping mechanism in vibration analysis. In viscous damping,
the damping force is proportional to the velocity of the vibrating body. Typical examples of
viscous damping include (1) fluid film between sliding surfaces, (2) fluid flow around a
piston in a cylinder, (3) fluid flow through an orifice, and (4) fluid film around a journal in a
bearing.
Fd ∝ relative velocity (v)
𝐹𝑑 = 𝑐𝑣 = 𝑐 𝑥ሶ
where
c is constant of proportionality and it is called coefficient of damping. The coefficient
of viscous damping is defined as the force in ‘N’ when velocity is 1 m/s.
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 Coulomb or Dry-Friction Damping
Here the damping force is constant in magnitude but opposite in direction to that of the
motion of the vibrating body. It is caused by friction between rubbing surfaces that
either are dry or have insufficient lubrication.

Combining Masses
In many practical applications, several masses appear in combination. For a simple analysis,
we can replace these masses by a single equivalent mass.

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Keff Ceff

Equivalent Systems
 Dynamic Force Analysis of Mechanism
In this section it is assumed that the motion of the machine parts are specified
beforehand, e.g. the position velocity and acceleration of each rigid body is known
or can be calculated by performing kinematic analysis. It is also assumed that the
mass and the moment of inertia of each machine member is known or can be
calculated from the given data.
Dynamic force analysis can be done by any of several methods. The one which
gives the most information about forces internal to the mechanism requires only
the use of Newton's law. These can be written as a summation of all forces and
torques in the system.

Newton’s Law:  F = ma G M G = I G

For two dimensional system it is also convenient to separately sum force

components in X and Y directions,

F x = max F y = ma y M G = I g
 Example 1: Single Link in Pure Rotation Consider the single link in pure
First the kinematics of the problem must be rotation
known. That is, the angular accelerations of
all rotating members and the linear
accelerations of the CGs of all moving
members . The mass of each member and
the mass moment of inertia Ig with respect External
force
to each member's CG must also be known.
In Freebody diagram, link 2 has a force F12
due to the mating link 1, the x and y Position
components of which are F12x and F12y. vector

There will have to be a torque available Position

on the link to drive it at the kinematically vector
defined accelerations. This is one (T12) of
the unknowns to be solved for. The other
two unknowns in this example are the
force components at the pin joint F12x and F12x Force of link 1 on 2 in the x direction
F12y. F12y Force of link 1 on 2 in the y direction
T12 Torque delivered from the ground 1
to the driver link 2
 From free body diagram:
F=FP+F12 = m2a
T=Ig=T12+(R12F12)+(RPFP)
Breaking down into components:
Fx=m2ax=FPx+F12x
Fy=m2ay=FPy+F12y
T=Ig= +(R12xF12y-R12yF12x) +(RPxFPy-RPyFPx)
Putting into a matrix format

 1 0 0  F12x   m2 aGx − FPx 

    
 0 1 0  F12 y  =  m2 aGy − FPy 
− R
 12 y
R12x
 
(
1  T12   I G − RPx FPy − RPy FPx )


[A] [B] [C]
  1 0 0  F12x   m2 aGx − FPx 
    
 0 1 0  F12 y  =  m2 aGy − FPy 
− R
 12 y
R12x
 
(
1  T12   I G − RPx FPy − RPy FPx )


[A] [B] [C]

Note that the A matrix contains all the geometric information and the C matrix
contains all the dynamic information about the system. The B matrix contains all the
unknown forces and torques.
 Example 2
The mass and moment of inertia for the links of this slider-crank are given. A
known force F acts on the slider block, and an unknown torque T acts on the
crank. In the depicted configuration, the angular velocity and acceleration of
the crank are given. The objective is to find the magnitude and the direction
of the unknown torque
A
T G3
B
G2
G4 F
O