Dynamic Force Analysis

Velocity and Acceleration of Piston in

Reciprocating Engine Mechanism

Dr. A. B. Andhare
 Velocity and Acceleration of Piston in
Reciprocating Engine Mechanism
A
l r l = length of connecting rod
B B1 y
β θ O r = Crank radius
IDC A1 ODC
x x = displacement of piston from inner dead center

𝑠𝑖𝑛2 𝜃
x = B1B = BO – B1O 𝑐𝑜𝑠β = 1 − 𝑠𝑖𝑛2 𝛽 𝑐𝑜𝑠𝛽 = 1−
𝑛2
= BO – (B1A1 + A1O) 𝑦2
𝑐𝑜𝑠𝛽 = 1− 2 1
= (l+r) – (l cosβ + r cosθ) 𝑙 𝑐𝑜𝑠𝛽 = 𝑛2 − 𝑠𝑖𝑛2 𝜃
𝑛
Let l/r = n, then l = n r
(𝑟𝑠𝑖𝑛𝜃)2 𝑥 = 𝑟[ 𝑛 + 1 − ( 𝑛2 − 𝑠𝑖𝑛2 𝜃 + 𝑐𝑜𝑠𝜃)]
x = (n r + r) – (n r cosβ + r cosθ) 𝑐𝑜𝑠𝛽 = 1−
𝑙2
= r [(n+1) – (n cosβ + cosθ)] 𝑥 = 𝑟[ 1 − 𝑐𝑜𝑠𝜃 + (𝑛 − 𝑛2 − 𝑠𝑖𝑛2 𝜃) ]

Theory of Machines - II: Dr. A. B. Andhare 2

 Velocity and Acceleration of Piston in
Reciprocating Engine Mechanism
A
𝑥 = 𝑟[ 1 − 𝑐𝑜𝑠𝜃 + (𝑛 − 𝑛2 − 𝑠𝑖𝑛2 𝜃) ]
l r
B B1 y
β θ O If connecting rod is very large as compared to
IDC A1 ODC
x crank i.e. l >> r, n2 = (l/r)2 is very large.
Also, maximum value of sin2θ = 1. Then,
𝑛2 − 𝑠𝑖𝑛2 𝜃 → 𝑛 n- 𝑛2 − 𝑠𝑖𝑛2 𝜃 →0
𝑥 = 𝑟 (1 − cos θ)

This is a SHM. Piston executes SHM when connecting rod is large

Velocity of piston:
𝑑𝑥 𝑑𝑥 𝑑𝜃 𝑑 𝑑𝜃
𝑣= = = 𝑟 1 − 𝑐𝑜𝑠𝜃 + 𝑛 − (𝑛2 −𝑠𝑖𝑛2 𝜃)1/2
𝑑𝑡 𝑑𝜃 𝑑𝑡 𝑑𝜃 𝑑𝑡
1
−
2 𝑠𝑖𝑛2𝜃
= 𝑟 (0 + 𝑠𝑖𝑛𝜃 + 0 − 1/2 𝑛2 − 𝑠𝑖𝑛2 𝜃 (−2𝑠𝑖𝑛θ𝑐𝑜𝑠θ)]ω 𝑣 = 𝑟𝜔 𝑠𝑖𝑛𝜃 +
2 𝑛2 − 𝑠𝑖𝑛2 𝜃
Theory of Machines - II: Dr. A. B. Andhare 3
 Velocity and Acceleration of Piston in
Reciprocating Engine Mechanism
𝑠𝑖𝑛2𝜃
𝑣 = 𝑟𝜔 𝑠𝑖𝑛𝜃 +
2 𝑛2 − 𝑠𝑖𝑛2 𝜃

If n2 is large compared to sin2θ,

𝑠𝑖𝑛2𝜃
𝑣 = 𝑟𝜔 𝑠𝑖𝑛𝜃 +
2𝑛

If (sin2θ/2n) can be neglected (as n is quite large)

𝑣 = 𝑟𝜔𝑠𝑖𝑛𝜃

Theory of Machines - II: Dr. A. B. Andhare 4

 Velocity and Acceleration of Piston in
Reciprocating Engine Mechanism
Acceleration of piston When, θ = 0°, i.e. at IDC,
1
𝑑𝑣 𝑑𝑣 𝑑𝜃 𝑑 𝑠𝑖𝑛2𝜃 𝑓 = 𝑟𝜔2 1 +
𝑓= = = 𝑟𝜔 𝑠𝑖𝑛𝜃 + ω 𝑛
𝑑𝑡 𝑑𝜃 𝑑𝑡 𝑑𝜃 2𝑛

When, θ = 180°, i.e. at ODC,

2𝑐𝑜𝑠2𝜃
𝑓 = 𝑟𝜔 𝑐𝑜𝑠𝜃 + 𝜔
2𝑛 1
𝑓 = 𝑟𝜔2 −1 +
𝑛
𝑐𝑜𝑠2𝜃
𝑓= 𝑟𝜔2 𝑐𝑜𝑠𝜃 + 1
𝑛 𝑓 = 𝑟𝜔2 1 − When direction of motion is
𝑛 reversed
If n is very very large
Note: Acceleration is obtained by differentiating the
approximate expression of velocity.
𝑓 = 𝑟𝜔2 𝑐𝑜𝑠𝜃 This is also SHM.
Results are satisfactory.

Theory of Machines - II: Dr. A. B. Andhare 5

 Angular Velocity and Acceleration of Connecting Rod
A Let αc = angular acceleration of connecting rod
l r
B B1 y 𝑑𝜔𝑐 𝑑𝜔 𝑑𝜃 𝑑
β θ O 𝛼𝑐 = = 𝑐 = 𝜔 [𝑐𝑜𝑠𝜃/ 𝑛2 − 𝑠𝑖𝑛2 𝜃 ] ω
IDC A1 ODC 𝑑𝑡 𝑑𝜃 𝑑𝑡 𝑑𝜃
x

𝑠𝑖𝑛𝜃 2
1 2 3
−2
As y = l sinβ = r sinθ 𝑠𝑖𝑛𝛽 = 𝛼𝑐 = 𝜔 −𝑐𝑜𝑠𝜃 𝑛 − 𝑠𝑖𝑛2 𝜃 −2𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜃 + 𝑛2 − 𝑠𝑖𝑛2 𝜃 −1/2
−𝑠𝑖𝑛𝜃
𝑛 2
Differentiating with time to get ωc, the 𝑐𝑜𝑠 2 𝜃 − (𝑛2 − 𝑠𝑖𝑛2 𝜃)
angular velocity of connecting rod 𝛼𝑐 = 𝜔2 𝑠𝑖𝑛𝜃
(𝑛2 −𝑠𝑖𝑛2 𝜃)3/2
𝑑𝛽 1 𝑑𝜃 𝑑𝛽 𝑐𝑜𝑠𝜃
2
𝑛2 − 1
𝑐𝑜𝑠𝛽 = 𝑐𝑜𝑠𝜃 𝑜𝑟 = 𝜔 𝛼𝑐 = −𝜔 𝑠𝑖𝑛𝜃
𝑑𝑡 𝑛 𝑑𝑡 𝑑𝑡 𝑛𝑐𝑜𝑠𝛽 𝑛2 − 𝑠𝑖𝑛2 𝜃 3/2

𝑐𝑜𝑠𝜃 𝑐𝑜𝑠𝜃 Negative sign indicates that the angular acceleration of the rod
𝜔𝑐 = 𝜔 =𝜔
1 𝑛2 − 𝑠𝑖𝑛2 θ tends to reduce the angle β.
𝑛 𝑛 𝑛2 − 𝑠𝑖𝑛2 θ
In the present case angular acceleration of the rod is clockwise.
Theory of Machines - II: Dr. A. B. Andhare 6
 Engine Force Analysis

Forces acting on engine:

• Weight of the reciprocating parts
• Weight of connecting rod
• Gas forces
• Friction forces
• Inertia forces due to acceleration and retardation of engine elements
• We analyze the forces neglecting effect of weight and inertia effect of connecting rod

Theory of Machines - II: Dr. A. B. Andhare 7

Engine Force Analysis
Piston Effort:
• Net or effective force applied on the piston.
• Reciprocating engines- the reciprocating masses accelerate during first half of the stroke –
inertia forces resist the same. Net force on piston is decreased.
• In second half of the stroke, the reciprocating masses decelerate – inertia forces oppose the
deceleration - acts in the direction of the applied gas pressure – increases the effective force on
piston.
• In vertical engines, the weight of reciprocating masses assists the piston during the down stroke
– increase the piston effort by an amount equal to weight of the piston.
• During up stroke, piston effort is decreased by the same amount.

Theory of Machines - II: Dr. A. B. Andhare 8

 Engine Force Analysis Piston Effort:

Let, A1 = Area of piston at the cover end

A2 = Area of the piston at rod end
P1 = Pressure on the cover end
P2 = Pressure on the rod end
m = mass of the reciprocating parts

Force on the piston due to gas pressure, Fp = P1 A1 – P2 A2

2
𝑐𝑜𝑠2𝜃 In opposite direction to the acceleration of piston.
Inertia force, 𝐹𝑏 = 𝑚𝑓 = 𝑚𝑟𝜔 𝑐𝑜𝑠𝜃 +
𝑛
• Net force on the piston, F = Fp – Fb
• If frictional force is taken into account, F = Fp – Fb - Ff
• For vertical engines, the weight of reciprocation parts also matter
• Then, F = Fp + mg – Fb - Ff

Theory of Machines - II: Dr. A. B. Andhare 9

 Engine Force Analysis Crank Effort (Ft)
Fr Ft
(θ+β) r sin (θ+β)
D The net effort applied at the crankpin perpendicular to
A
Fc
B the crank which gives the required turning moment on
r
β θ O the crankshaft.
F
Ft x r = Fc r sin (θ+β)
Ft = Fc sin (θ+β)
Fn 𝐹
𝐹𝑡 = sin(𝜃 + 𝛽)
Force (thrust) along the connecting rod (Fc) 𝑐𝑜𝑠𝛽
𝐹 Thrust on bearings (Fr)
Fc x cos β = F 𝐹𝑐 =
𝑐𝑜𝑠𝛽
The component of Fc along the crank, produces a
Thrust Force on the sides of the cylinder (Fn) thrust on the crankshaft bearings
Fr = Fc cos (θ+β) = 𝐹 cos(𝜃 + 𝛽)
Fn = Fc sin β = F tan β 𝑐𝑜𝑠𝛽

Theory of Machines - II: Dr. A. B. Andhare 10

 Turning Moment on the crankshaft
Fr Ft
(θ+β) r sin (θ+β)
A D 2𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜃
Fc 𝑇 = 𝐹𝑟 𝑠𝑖𝑛𝜃 +
B r 2 𝑛2 − 𝑠𝑖𝑛2 𝜃
β θ O
F
𝑠𝑖𝑛2𝜃
𝑇 = 𝐹𝑟 𝑠𝑖𝑛𝜃 +
2 𝑛2 − 𝑠𝑖𝑛2 𝜃

Fn Also, as r sin (θ+β) = OD cosβ

𝐹 𝐹𝑟
𝑇 = 𝐹𝑡 × 𝑟 = sin 𝜃 + 𝛽 × 𝑟 = 𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝛽 + 𝑐𝑜𝑠𝜃𝑠𝑖𝑛𝛽 𝐹
𝑐𝑜𝑠𝛽 𝑐𝑜𝑠𝛽 𝑇 = 𝐹𝑡 × 𝑟 = 𝑟 sin(𝜃 + 𝛽)
𝑐𝑜𝑠𝛽
1
= 𝐹𝑟 𝑠𝑖𝑛𝜃 + 𝑐𝑜𝑠𝜃𝑠𝑖𝑛𝛽 𝐹
𝑐𝑜𝑠𝛽 𝑇= 𝑂𝐷 𝑐𝑜𝑠𝛽 = F × OD
𝑐𝑜𝑠𝛽
𝑠𝑖𝑛𝜃 1
= 𝐹𝑟 𝑠𝑖𝑛𝜃 + 𝑐𝑜𝑠𝜃
𝑛 1 𝑛2 − 𝑠𝑖𝑛2 𝜃
𝑛

Theory of Machines - II: Dr. A. B. Andhare 11

 Numerical Examples
• A horizontal gas engine running at 210 rpm has a bore of 220 mm and stroke of 440 mm. The connecting rod
is 924 mm long and the reciprocating parts weigh 20 kg. When the crank has turned through an angle of 30°
from the inner dead center, the gas pressures on the cover and the crank sides are 500 kN/m2 and 60 kN/m2
respectively. Diameter of the piston rod is 40 mm. Determine,
I. Turning moment on the crank shaft.
II. Thrust on the bearings.
III. Acceleration of the flywheel which has a mass of 8 kg and radius of gyration of 600 mm while the power of
the engine is 22 kW.

r = 0.22 m, l = 0.924 mm, θ = 30, N = 210 rpm, m = 20 kg, n = l/r = 4.2

ω= 2 * п * N/60 = 2 * п * 210 / 60 = 22 rad/s
Sin β= sinθ / n = sin 30 / 4.2 = 0.119, Gives β= 6.837°
Fp = P1 A1 – P2 A2 = 500 * 1000 * п/4 * 0.222 – 60 * 1000 * п/4 * (0.222-0.042) = 16801 N
2 𝑐𝑜𝑠𝜃 +
𝑐𝑜𝑠2𝜃
Inertia force = 𝑏𝑓 = 𝑚 𝑟𝜔
𝑛
𝑐𝑜𝑠60
= 20 * 0.22 * (22)2 𝑐𝑜𝑠30 + 4.2
= 2098 N

Theory of Machines - II: Dr. A. B. Andhare 12

• Turning moment = T = (F/ cosβ) * sin (θ+β) * r = = 1953 N-m
• Thrust on bearing Fr = (F/ cosβ) * cos (θ+β) = 11852 N
• Accelerating torque = Turning moment – Resisting torque
• Find Resisting torque, Power P = T ω
• T = 1000 N-m
• Accelerating torque = 1953 – 1000 = 953 N-m
• I α = mk2 α = 953 = 8 * 0.62 * α
• α = 330.9 rad/s2

Theory of Machines - II: Dr. A. B. Andhare 13

 Simple Pendulum
Heavy bob, negligible dimension. Mass = m
Wire is inextensible and weightless. Length = L
Cord displacement angle = θ (small)
Mass moment of Inertia of the bob about an axis through the point of suspension, I = mL2
Restoring couple “T” to restore the bob to equilibrium,
T = W L sinθ; T = mg L sinθ
T = mg L θ ( as θ is small)
𝑇 𝑚𝑔𝐿𝜃 𝑔
Angular acceleration of the cord, 𝛼= ≈ ≈ 𝜃
𝐼 𝑚𝐿2 𝐿
𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝛼 𝑔
= ≈ = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝜃 𝐿

Motion is approximately SHM and hence frequency of oscillation, 1 𝑔

f=
𝐿 2𝜋 𝐿
Time period, 𝑇 = 2𝜋
𝑔
Theory of Machines - II: Dr. A. B. Andhare 14
 Compound or torsion pendulum
Rigid body suspended vertically is made to oscillate with small amplitude under the
action of gravity.
Mass moment of inertia about the axis of suspension, I = m (k2 + a2)
Restoring couple, T = mg a sinθ = mg a θ
Angular acceleration of the cord,
𝑇 𝑚𝑔 𝑎 𝜃 𝑔𝑎
𝛼= ≈ ≈ 𝜃
a 𝐼 𝑚(𝑘 2 + 𝑎2 ) (𝑘 2 +𝑎2 )

𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝛼 𝑔𝑎
mgmg
cosθ
sinθ mg sinθ
cosθ = ≈ = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝜃 (𝑘 2 +𝑎2 )
1 𝑔𝑎
Motion is approximately SHM and hence frequency of oscillation, f = ( 2 2)
2𝜋 𝑘 +𝑎
1 𝑔
For simple pendulum f =
2𝜋 𝐿
𝑘 2 + 𝑎2 𝑘 2
Equivalent length of simple pendulum which gives the same frequency, 𝐿= = +𝑎
𝑎 𝑎

Theory of Machines - II: Dr. A. B. Andhare 15

 Dynamically equivalent system
e • Mass of the connecting rod is significant.
F G
• Its inertia should be taken into account.
m
• Mass of connecting rod is not distributed evenly.
B D • Motion of connecting rod is not linear.
G
b d • Finding inertia of connecting rod is difficult.
m1 m2 • Dynamically equivalent system is used.
• Rigid link replaced by a link with two point masses such that –
• It has same motion as the rigid link under same force – i.e. the center of mass of equivalent link has the
same linear acceleration and the link has the same angular acceleration.
Mass of rigid body = m, center of mass = G, Force on the body = F , produces linear acceleration f of the
center of mass and angular acceleration of the body.
F = m f and F e = I α
𝐹 𝐹×𝑒 E = perpendicular distance of F from G
𝑓= 𝛼= I = moment of inertia of the body about perpendicular axis through G
𝑚 𝐼
Theory of Machines - II: Dr. A. B. Andhare 16
 Dynamically equivalent system
Let the rigid body be replaced by a massless link with two
e point masses m1 and m2.
F G
m Following conditions must be satisfied.
1) m1 + m2 = m
B G D 𝐹×𝑒
2) 𝛼 = , should remain the same
b d 𝐼
m1 m2 For the same force (F), eccentricity (e)should remain same.
Combined Center of mass coincides with that of the rod.
Therefore, m1 b = m2 d
3) To have same moment of inertia of two point masses
about the perpendicular axis through their combined
center of mass,
I = m1 b2 + m2 d2

Theory of Machines - II: Dr. A. B. Andhare 17

 Inertia of the connecting rod
l
B G
A

b a

B G D A
b d
mb md
m = Total mass of the connecting rod
l = Length of the connecting rod
Rod replaced by an equivalent massless link with two masses.
One mass is placed at the small end B and other mass is at D
mb + m d = m 𝑏+𝑑
mb * b = md * d 𝑚𝑏 =𝑚 mb = mass at B, md = mass at D
𝑑
𝑏
𝑚𝑏 + 𝑚 𝑏 =𝑚 𝑑 𝑏
𝑑 𝑚𝑏 = 𝑚 Similarly, 𝑚𝑑 = 𝑚
𝑏+𝑑 𝑏+𝑑
𝑏
𝑚𝑏 1 + =𝑚
𝑑 Theory of Machines - II: Dr. A. B. Andhare 18
 Inertia of the connecting rod
l
B G
A

b a

B G D A
b d
mb md
𝑑 𝑏
𝑚𝑏 = 𝑚 𝑚𝑑 = 𝑚
𝑏+𝑑 𝑏+𝑑

𝑑 𝑏 𝑏+𝑑
Also, I = mb b2 + md d2 𝐼=𝑚 𝑏2 + 𝑚 𝑑2 𝐼 = 𝑚𝑏𝑑 = 𝑚𝑏𝑑
𝑏+𝑑 𝑏+𝑑 𝑏+𝑑
Let k = radius of gyration of the connecting rod about an axis through G perpendicular to the plane of motion
mk2 = m b d or k2 = b d
𝑘2
Equivalent length of simple pendulum is 𝐿 = +𝑏 =𝑑+𝑏
𝑏
Theory of Machines - II: Dr. A. B. Andhare 19
 Inertia of the connecting rod
l
B G
A
B a
b

b B G D A
b d
G mb md
𝑑 𝑏
𝑚𝑏 = 𝑚 𝑚𝑑 = 𝑚
𝑏+𝑑 𝑏+𝑑
𝑘2
𝐼 = 𝑚𝑏𝑑 𝐿= +𝑏 =𝑑+𝑏
𝑏

b = distance of the point of suspension from the center of mass of the body
K = radius of gyration .
d+b = L is the equivalent length if the rod is suspended from the point B and D is the center of oscillation or percussion

Theory of Machines - II: Dr. A. B. Andhare 20

 Inertia of the connecting rod
l
B G
A

b a

B G D A
b d
mb md
𝑑 𝑏
𝑚𝑏 = 𝑚 𝑚𝑑 = 𝑚
𝑏+𝑑 𝑏+𝑑
For connecting rod, it is convenient to assume two point
masses at the center of the two bearings end A and B .
ma + mb = m 𝐼′ = 𝑚𝑎𝑏 Assuming a > d, 𝐼′ > 𝐼
𝑏 𝑏
𝑚𝑎 = 𝑚 =𝑚 Means – By considering two masses at A & B, instead of D & B, the inertia torque is
𝑎+𝑏 𝑙
increased from the actual value (T = I αc). This error is compensated by introducing a
𝑎 𝑎 correction couple.
𝑚𝑏 = 𝑚 =𝑚
𝑎+𝑏 𝑙
Theory of Machines - II: Dr. A. B. Andhare 21
 Inertia of the connecting rod
l
B G
A

b a
ma
B G D A
b d
mb md
L

𝐼′ = 𝑚𝑎𝑏 Assuming a > d, 𝐼′ > 𝐼 • Correction couple must be applied in the opposite direction to that
Correction couple of applied inertia torque.
• Direction of applied inertia torque is always opposite to the
∆𝑇 = 𝛼𝑐 𝑚𝑎𝑏 − 𝑚𝑑𝑏 = 𝑚𝑏𝛼𝑐 (𝑎 − 𝑑) direction of angular acceleration.
∆𝑇 = 𝑚𝑏𝛼𝑐 [ 𝑎 + 𝑏 − 𝑏 + 𝑑 ] • The direction of correction couple will be the same as the direction
of angular acceleration i.e. in the direction of decreasing angle β.
∆𝑇 = 𝑚𝑏𝛼𝑐 (𝑙 − 𝐿) Taking (b+ d) = L

Theory of Machines - II: Dr. A. B. Andhare 22

 Inertia of the connecting rod
l • Correction couple will be produced by two equal,
L A parallel and opposite forces (Fy) acting at the gudgen
ΔT D pin and crank pin ends, perpendicular to the line of
r
B stroke.
β G θ O
• The force at B is taken by the reaction of guides.
Fy Fy • Turning moment at the crankshaft due to force at A or
r cosθ the correction torque,
l cosβ

∆𝑇
𝑇𝑐 = 𝐹𝑦 𝑟 𝑐𝑜𝑠𝜃 = × 𝑟𝑐𝑜𝑠𝜃
𝑙𝑐𝑜𝑠𝛽
∆𝑇 𝑐𝑜𝑠𝜃 ∆𝑇 𝑐𝑜𝑠𝜃
𝑇𝑐 = 𝑇𝑐 =
𝑙 𝑐𝑜𝑠𝛽 1 𝑛2 − 𝑠𝑖𝑛2 θ
𝑟 𝑛 𝑛

∆𝑇𝑐𝑜𝑠𝜃
𝑇𝑐 = Correction torque is to be deducted from the inertia torque acting on the crankshaft,
𝑛2 − 𝑠𝑖𝑛2 θ
Theory of Machines - II: Dr. A. B. Andhare 23
 Inertia of the connecting rod ∆𝑇𝑐𝑜𝑠𝜃
𝑇𝑐 =
l 𝑛2 − 𝑠𝑖𝑛2 θ
L A Due to weight of the mass at A, a torque is exerted on the
ΔT D
r crankshaft, given as
B
β G θ O Ta = (ma g ) r cosθ
For vertical engines, a torque is also exerted on the
Fy Fy crankshaft due to weight of mass at B . It is given as,
l cosβ r cosθ 𝑠𝑖𝑛2𝜃
𝑇 = (𝑚𝑏 𝑔)𝑟 𝑠𝑖𝑛𝜃 +
2 𝑛2 − 𝑠𝑖𝑛2 𝜃
The net torque on the crankshaft will be the algebraic sum of,
• Turning moment due to the force of gas pressure (T)
• Inertia torque due to inertia force at the piston as a result of inertia of the reciprocating mass + the mass of part of
the connecting rod (Tb)
• Inertia torque due to weight of mass at the crank pin which the part of mass of the connecting rod taken at the crank
pin (Ta)
• Inertia torque due to the correction couple (Tc)
• Torque due to weight of the piston in case of vertical engines

Theory of Machines - II: Dr. A. B. Andhare 24

 Numerical Example
The following data refers to the connecting rod of a reciprocating engine
Mass = 50 kg
Distance between bearing centers = 900 mm
Diameter of big end bearing = 100 mm
Diameter of small end bearing = 80 mm
Time of oscillation when the connecting rod is suspended from
Big end = 1,7 s
Small end = 1.85 s
Determine,
I. The radius of gyration (k) of the rod about an axis through center of mass perpendicular to
the plane of oscillation
II. Moment of inertia of the rod about the same axis, and
III. Dynamically equivalent system of the connecting rod comprising two masses, one at the
small end bearing center.

Theory of Machines - II: Dr. A. B. Andhare 25

 Let, La = Length of equivalent simple pendulum
when suspended from the top of big end bearing
Lb = Length of equivalent simple pendulum when
suspended from the top of small end bearing
a = distance of the center of mass from G from the
top of big end bearing
b = distance of the center of mass from G from the
top of small end bearing

La = 0.7181 m

Lb= 0.8505 m

K2= 0.71811 a – a2 = 0.8505 b – b2

Theory of Machines - II: Dr. A. B. Andhare 26
 K2= 0.71811 a – a2 = 0.8505 b – b2

But, a + b = 900 + 100/2 + 80/2 = 990 mm

= 0.99mm

0.71811 (0.99-b) – (0.99-b)2 = 0.8505 b – b2

b = 0.654 m
a = 0.99 – 0.654 = 0.336
k2 = 0.8505 x 654 – (0.654)2 = 0.1286
k = 0.358 m
Moment of Inertia, I = mk2 = 50 x (0.358)2 = 6.4 kg-m2

The distance of center of mass of the connecting rod from the center of the small end bearing,
b’ = 654 – (80/2) = 614 mm
Let the second mass be at D, assume GD = d and md = mass at D

m’b = mass at small end bearing center = 50 – 37.3 = 12.7 kg

Theory of Machines - II: Dr. A. B. Andhare 27
 Turning Moment Diagram & Flywheel
Fr Ft Variation of torque on the crankshaft in reciprocating engine
𝑠𝑖𝑛2𝜃
A D 𝑇 = 𝐹𝑡 × 𝑟 = 𝐹𝑟 𝑠𝑖𝑛𝜃 +
Fc 2 𝑛2 − 𝑠𝑖𝑛2 𝜃
B r
β θ O
F

Fn
• F = net piston effort, Ft = crank effort
• Turning moment diagram: Plot of T vs. θ
• Inertia effect of connecting rod may be neglected
while plotting T-θ diagram
• Plot of Ft vs. θ (crank effort diagram) is same as T-θ
diagram

Theory of Machines - II: Dr. A. B. Andhare 28

 Turning Moment Diagrams
1. T-θ diagram of Single cylinder Double acting Steam Engine
abc – outstroke
cde – instroke
Similar diagram for instroke and outstroke.
Maximum Torque at θ = 90°, 270°
Zero torque at θ = 0, 180 or 360°
Area of T-θ diagram is proportional to work done per revolution
Mean torque against which engine is working is
𝐴𝑟𝑒𝑎(𝑎𝑏𝑐𝑑𝑒)
𝑇𝑚𝑒𝑎𝑛 = 𝑂𝐴 =
2𝜋
Rotation of crank from op to oq:
Work done by engine proportional to area pBbCq
Work done against resisting torque proportional to area pBCq
Area pBbCq > area pBCq. Engine performs more work than what is taken from it.
Excess work increases the engine speed and is stored in flywheel.
Theory of Machines - II: Dr. A. B. Andhare 29
 Turning Moment Diagrams
1. T-θ diagram of Single cylinder Double acting Steam Engine

Rotation of crank from oq to or:

Work done by engine proportional to area CcD
Work required against resisting torque proportional to area CqrD
Area CcD < area CqrD.
Engine produces less work than what is taken from it.
Excess work taken from engine flywheel and decreases the engine speed.

𝐴𝑟𝑒𝑎(𝑎𝑏𝑐𝑑𝑒)
𝑇𝑚𝑒𝑎𝑛 =
2𝜋

Engine speed high at points q and s.

Maximum speed may be at q or s, depends on the areas above the mean line
Engine speed low at points r or p.
Lowest speed may be at points r or p. Depends on areas below the mean line.

Theory of Machines - II: Dr. A. B. Andhare 30

 Turning Moment Diagrams
2. T-θ diagram of Single cylinder Four Stroke Internal Combustion Engine

Theory of Machines - II: Dr. A. B. Andhare 31

 Turning Moment Diagrams
3. T-θ diagram of Multi Cylinder Engine

Theory of Machines - II: Dr. A. B. Andhare 32

 Fluctuation of energy
Energies of flywheel corresponding to positions of the crank
Crank Flywheel energy
Position
A E
B E + a1
C E + a 1 – a2
D E + a 1 – a2 + a 3
E E + a 1 – a2 + a 3 – a4
Position G is same as position A
F E + a 1 – a2 + a 3 – a4 + a 5
a1 – a2 + a 3 – a4 + a 5 – a6 = 0
G E + a 1 – a2 + a 3 – a4 + a 5 – a6

The greatest of the energies is the maximum kinetic energy of flywheel.

Corresponding crank position – gives maximum speed.
The least of the energies is the lowest kinetic energy of flywheel.
Corresponding crank position – gives minimum speed.

Theory of Machines - II: Dr. A. B. Andhare 33

 Fluctuation of energy

Maximum fluctuation of energy (e) = Max. KE of flywheel – Minimum KE of

flywheel 𝑀𝑎𝑥𝑖𝑚𝑢𝑚 𝑓𝑙𝑢𝑐𝑡𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑒𝑛𝑒𝑟𝑔𝑦
𝐶𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 𝑜𝑓 𝑓𝑙𝑢𝑐𝑡𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑒𝑛𝑒𝑟𝑔𝑦 =
𝑊𝑜𝑟𝑘 𝑑𝑜𝑛𝑒 𝑝𝑒𝑟 𝑐𝑦𝑐𝑙𝑒

Maximum fluctuation of speed = Max. speed of flywheel – Minimum speed of flywheel

𝑀𝑎𝑥𝑖𝑚𝑢𝑚 𝑓𝑙𝑢𝑐𝑡𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑠𝑝𝑒𝑒𝑑

𝐶𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 𝑜𝑓 𝑓𝑙𝑢𝑐𝑡𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑠𝑝𝑒𝑒𝑑, 𝐾 =
𝑀𝑒𝑎𝑛 𝑠𝑝𝑒𝑒𝑑

Theory of Machines - II: Dr. A. B. Andhare 34

Flywheel

Theory of Machines - II: Dr. A. B. Andhare 35

 Flywheels
• To control variation in speed during each cycle of an engine
• High mass moment of inertia of flywheel
• Reservoir of energy
Let,
I = mass moment of inertia of the flywheel
ω1 = maximum speed of the flywheel
ω2 = minimum speed of the flywheel
ω = mean speed of the flywheel
E = Kinetic energy of the flywheel at mean speed
e = Maximum fluctuation of the energy of flywheel
K = coefficient of fluctuation of speed

Theory of Machines - II: Dr. A. B. Andhare 36

e = Maximum fluctuation of energy of the flywheel
K =coefficient of fluctuation of speed

Theory of Machines - II: Dr. A. B. Andhare 37

 Dimensions of flywheel rim
• Inertia of flywheel : Inertia of hub + Inertia of spokes + Inertia of rim
• Inertia of hub + Inertia of spokes << Inertia of rim; hence ignored
• Consider flywheel rim
ω = angular velocity of flywheel
r = mean radius of flywheel
t = thickness of rim Fc
ρ = density of rim material
t
• Consider an element of rim r
dθ
Centrifugal force on the element per unit length = [ρ (r dθ) t] r ω2 θ
• Total centrifugal force per unit length

σ σ
Theory of Machines - II: Dr. A. B. Andhare 38
σ = Circumferential stress
Total centrifugal force per unit length Fc

t
r
dθ
θ

Let σ = Circumferential or hoop stress induced in the rim

σ σ
σ (2t) 1 = 2 ρ r2 t ω2 = ρ r2 ω2 = ρ v2
The equation provides limiting tangential velocity at the mean radius of rim of the flywheel. Then, diameter of rim
(d) can be calculated as below.
v = π d N / 60
Also,
Mass = density X volume = density X circumference X cross sectional area of rim
M=ρπdbt
Thus, width (b) and thickness (t) of the rim can be calculated
Theory of Machines - II: Dr. A. B. Andhare 39
 Numerical on Flywheel
The torque delivered by a two stroke engine is represented as (T = 1000 + 300 sin 2θ – 500 cos 2θ) N-m where
θ is the crank angle from the IDC. The engine speed is 250 rpm, mass of the flywheel is 400 kg and radius of
gyration is 400 mm. Determine,
I. Power developed
II. Total percentage fluctuation of speed.
III. Angular acceleration of flywheel when the crank has rotated through an angle of 60° from the IDC.
IV. Maximum angular acceleration and retardation of the flywheel.

T = 1000 + 300 sin 2θ – 500 cos 2θ

300 sin 2𝜃 − 500 cos 2𝜃
T is a function of 2 θ
500 cos 2𝜃 The cycle is repeated at every 180° of crank rotation
𝜋
1
𝑇𝑚𝑒𝑎𝑛 = 𝑇𝑑𝜃
300 sin 2𝜃 𝜋 0
𝜋
1
𝑇𝑚𝑒𝑎𝑛 = (1000 + 300𝑠𝑖𝑛2𝜃 − 500 𝑐𝑜𝑠2𝜃)𝑑𝜃
𝜋 0
𝜋
1 300 500
𝑇𝑚𝑒𝑎𝑛 = 1000𝜃 − 𝑐𝑜𝑠2𝜃 − 𝑠𝑖𝑛2𝜃
𝜋 2 2 0

Theory of Machines - II: Dr. A. B. Andhare 40

 1
𝑇𝑚𝑒𝑎𝑛 = 1000𝜋 − 150 − 0 − (0 − 150 − 0) = 1000 𝑁 − 𝑚
𝜋

2𝜋 × 250
𝑃 = 𝑇𝜔 = 1000 × = 26180 𝑊 𝑜𝑟 26.18 𝑘𝑊
60

ii) At any instant, ΔT = T – Tmean = (1000 + 300 sin 2θ – 500 cos 2θ) -1000
= 300 sin 2θ – 500 cos 2θ

ΔT = 0, when 300 sin 2θ – 500 cos 2θ = 0

300 sin 2θ = 500 cos 2θ
tan 2θ = 5/3 i. e. 2θ = 59° or 239 °
θ = 29.5 ° or 119.5 °

119.5 119.5
𝑒𝑚𝑎𝑥 = ∆𝑇𝑑𝜃 = (300𝑠𝑖𝑛2𝜃 − 500𝑐𝑜𝑠2𝜃)𝑑𝜃 = −150𝑐𝑜𝑠2𝜃 − 250𝑠𝑖𝑛2𝜃 119.5
29.5 29.5 = 583.1 N-m
29.5

𝑒𝑚𝑎𝑥 = 583.1
𝐾= 2 = 0.01329 𝑜𝑟 1.329 %
𝑚𝑘 2 𝜔 2 2𝜋 × 250
400 × (0.4)2 ×
60
Theory of Machines - II: Dr. A. B. Andhare 41
 iii) Acceleration or retardation is produced by excess or less torque than the mean torque at any instant.
ΔT = 300 sin 2θ – 500 cos 2θ
When θ = 60°, ΔT = 259.8 – (-250) = 509.8 N-m
Or Iα = mk2 = 509.8
Or 400 x (0.4)2 x α = 509.8 ; hence α = 9.966 rad/s

iv) For ΔTmax and ΔTmin 𝑑(∆𝑇) 𝑑

= 300𝑠𝑖𝑛2𝜃 − 500𝑐𝑜𝑠2𝜃 = 0
𝑑𝜃 𝑑𝜃
2 × 300𝑐𝑜𝑠2𝜃 + 2 × 500𝑠𝑖𝑛2𝜃 = 0

2θ= 149.04° and 329.04° OR θ = 74.52° and 164.52°

When 2θ= 149.04° , T = 1583.1 N-m, ΔT = 583.1 N-m
When 2θ= 329.04° , T = 416.9 N-m, ΔT = - 583.1 N-m
As values of ΔT at maximum and minimum torque are same, maximum acceleration = maximum retardation

∆𝑇 = 𝑚𝑘 2 𝛼 = 583.1 400 × 0.42 𝛼 = 583.1 𝛼 = 9.11 𝑟𝑎𝑑/𝑠2

Theory of Machines - II: Dr. A. B. Andhare 42

 Numerical on Flywheel
• A three cylinder single acting engine has its cranks at 120°. The turning moment diagram for each cycle
is triangle for the power stroke with maximum torque of 60 N-m at 60° after the dead center of the
corresponding crank. There is no torque on the return stroke. The engine speed is 400 rpm. Find,
I. Power developed
II. Coefficient of fluctuation of speed if the mass of the flywheel is 10 kg and radius of gyration is 88 mm
III. Coefficient of fluctuation of energy
IV. Maximum angular acceleration of the flywheel
60 Nm
T
T 45 Nm
Cylinder1 Cylinder2 Cylinder3
60 Nm T-θ diagram
For each cylinder 30 Nm
Resultant

30 Nm

0° 60° 120° 180° 240° 300° 360°

0° 60° 120° 180° 240° 300° 360° Theory of Machines - II: Dr. A. B. Andhare 43
 Numerical on Flywheel
i. Work done / cycle = Area of three triangles = 3 x (60 x π/2) = 90 π
𝑊𝐷 𝑝𝑒𝑟 𝑐𝑦𝑐𝑙𝑒 90𝜋
𝑀𝑒𝑎𝑛 𝑡𝑜𝑟𝑞𝑢𝑒 = = = 45 𝑁. 𝑚
𝐴𝑛𝑔𝑙𝑒 𝑡𝑢𝑟𝑛𝑒𝑑 2𝜋 𝑒 𝑒
2𝜋 × 400 𝐾= 2=
𝑃𝑜𝑤𝑒𝑟, 𝑃 = 𝑡 × 𝜔 = 45 × = 1885 𝑊 = 1.885 𝑘𝑊 𝐼𝜔 𝑚𝑘 2 𝜔 2
60 𝐾=
2.5𝜋
= 0.0578 𝑜𝑟 5.78 %
60𝜋 1 2𝜋×400 2
10×0.0882 ×
𝑒𝑚𝑎𝑥 = × 60 − 45 × = 2.5𝜋 𝑁. 𝑚 60
180 2

60 Nm
T
T 45 Nm
Cylinder1 Cylinder2 Cylinder3
60 Nm T-θ diagram
For each cylinder 30 Nm
Resultant

30 Nm

0° 60° 120° 180° 240° 300° 360°

0° 60° 120° 180° 240° 300° 360° Theory of Machines - II: Dr. A. B. Andhare 44
 Numerical on Flywheel
𝑀𝑎𝑥𝑖𝑚𝑢𝑚 𝑓𝑙𝑢𝑐𝑡𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑒𝑛𝑒𝑟𝑔𝑦 2.5 𝜋
𝐾𝑒 = = = 𝟎. 𝟎𝟐𝟕𝟖
𝑤𝑜𝑟𝑘 𝑑𝑜𝑛𝑒 𝑝𝑒𝑟 𝑐𝑦𝑐𝑙𝑒 90𝜋
Maximum fluctuation of torque = 60 -45 = 15 N.m
ΔT = 15 N.m
or Iα = mk2 α = 15
10 x (0.088)2 x α = 15
α =193.7 rad/s2
60 Nm
T
T 45 Nm
Cylinder1 Cylinder2 Cylinder3
60 Nm T-θ diagram
For each cylinder 30 Nm
Resultant

30 Nm

0° 60° 120° 180° 240° 300° 360°

0° 60° 120° 180° 240° 300° 360° Theory of Machines - II: Dr. A. B. Andhare 45
 Numerical on Flywheel

A single cylinder four stroke petrol engine develops 20 kW at 600 rpm. The mechanical efficiency of
the engine is 80 % and the work done by gases during expansion stroke is three times the work
consumed in the compression stroke. If the total fluctuation of speed is not to exceed ±1.5 % of the
mean speed and turning moment diagram during the compression & expansion stroke is assumed
to be triangular.
Determine the mass of the flywheel if the diameter of it is 1 m. Also, determine the cross section of
the flywheel rim. The width to thickness ratio is 1.5 and mass density of the flywheel material is
7100 kg/m3.
Permissible speed variation = ±1.5 %, Therefore, Coefficient of fluctuation of speed, K = 0.03
2𝜋𝑁 2𝜋 × 600
𝜔= = = 62.83 𝑟𝑎𝑑/𝑠
60 60
𝑏𝑝 20
𝑖𝑝 = = = 25 𝑘𝑊 Indicated power
η𝑚𝑒𝑐ℎ 0.8

𝑖𝑝 = 𝑖𝑛𝑑𝑖𝑐𝑎𝑡𝑒𝑑 𝑤𝑜𝑟𝑘 𝑑𝑜𝑛𝑒 𝑝𝑒𝑟 𝑐𝑦𝑐𝑙𝑒 × 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑒𝑥𝑝𝑙𝑜𝑠𝑖𝑜𝑛𝑠 𝑝𝑒𝑟 𝑠𝑒𝑐𝑜𝑛𝑑

3
600
25 × 10 = 𝑊𝐷 × 𝑊𝐷 𝑝𝑒𝑟 𝑐𝑦𝑐𝑙𝑒 = 5000 𝑁 − 𝑚
2 × 60
Theory of Machines - II: Dr. A. B. Andhare 46
 1 2
𝑊𝐷 = 𝑊𝑒𝑥𝑝 −𝑊𝑐𝑜𝑚𝑝 𝑊𝐷 = 𝑊𝑒𝑥𝑝 − 𝑊𝑒𝑥𝑝 𝑊𝐷 = 5000 = 𝑊𝑒𝑥𝑝 𝑊𝑒𝑥𝑝 = 7500 𝑁 − 𝑚
3 3

𝑊𝑒𝑥𝑝 = 7500 𝑁 − 𝑚 = 𝐴𝑟𝑒𝑎 𝑜𝑓 Δ𝐴𝐷𝐹

A
1
𝑊𝑒𝑥𝑝 = × 𝐷𝐹 × 𝐴𝐸
Torque 2
T 2𝑊𝑒𝑥𝑝 2 × 7500
𝐴𝐸 = 𝑇𝑚𝑎𝑥 = = = 4774.6
Tmean B C 𝐷𝐹 𝜋
G 𝑊𝐷 𝑝𝑒𝑟 𝑐𝑦𝑐𝑙𝑒 5000
D F 𝑇𝑚𝑒𝑎𝑛 = = = 397.88 𝑁 − 𝑚
4𝜋 4𝜋
0 π 2π E 3π 4π
𝐸𝑥𝑐𝑒𝑠𝑠 𝑡𝑜𝑟𝑞𝑢𝑒, 𝐴𝐺 = 𝐴𝐸 − 𝐺𝐸 = 4774.6 − 397.88 = 4376.72 𝑁 − 𝑚
Crank angle θ
𝐵𝐶 𝐴𝐺 𝐴𝐺 4376.72
From similar triangles ABC and ADF, = 𝐵𝐶 = 𝐷𝐹 𝐵𝐶 = 𝜋 × = 0.9167𝜋
𝐷𝐹 𝐴𝐸 𝐴𝐸 4774.6
1
Fluctuation of energy: ΔE = Area of ΔABC ∆𝐸 = 0.9167𝜋 × 4376.72 = 6302.2 𝑁𝑚
2

Theory of Machines - II: Dr. A. B. Andhare 47

 ∆𝐸
Mass of flywheel: 𝑚= K = radius of gyration = radius of flywheel
𝑘2𝜔2𝐾
6302.2
𝑚= = 212.86 𝑘𝑔
0.52 𝑋62.832 𝑋0.03
Assuming that 90 % mass is contributed by rim and other 10% by hub, arms, etc.

0.9 𝑚= 𝜋𝑑 𝑏 𝑡 𝜌 0.9 × 212.86

𝑏×𝑡 = = 0.0086 𝑚2
𝜋 × 1.0 × 7100
1.5 𝑡 2 = 0.0086 𝑡 = 0.0757 𝑚 = 75.7 𝑚𝑚

𝑏 = 1.5 × 75.7 = 113.55 𝑚𝑚

Theory of Machines - II: Dr. A. B. Andhare 48

 Numerical on Punching Machine
• A punching machine punches 6 holes in one minute. Each hole is of 40 mm diameter in 35 mm
thick plate and requires 8 N-m of energy /mm2 of the sheared area. The punch has a stroke of 95
mm. find the motor power required if the mean speed of the flywheel is 20 m/s. If total
fluctuation of speed is not to exceed 3% of the mean speed, what will be the mass of the
flywheel?
• Punching Press

Theory of Machines - II: Dr. A. B. Andhare 49

Hole diameter, d = 40 mm, Coefficient of fluctuation of speed K = 0.03, Punch Stroke = 95 mm, Mean speed
of flywheel v = 20 m/s, 6 holes per min, plate thickness = 35 mm, 8 N-m of energy per sq. mm
6 Holes punched in one minute,
Time required to punch one hole = 10 s
Energy required per hole or energy supplied by motor in 10 seconds
= Area of hole x energy required per mm2 = π d t x 8 = 35186 N-m
Energy supplied by motor in one second = 35186/10 = 3518.6 N-m
Power of motor, P = 3518.6 W or 3.5186 kW
The punch travels a distance of 190 mm (upstroke + down stroke) in 10 seconds.
Actual time required to punch a hole in 35 mm thick plate = 10/190 x 35 = 1.842 s
(Assuming uniform velocity of punch throughout)
Energy supplied by the motor in 1.842 s = 3518.6 x 1.842 = 6481 N-m
Energy supplied by the flywheel, e = Energy required per hole – Energy supplied by the motor in 1.842 s
e = 35186 – 6481 = 28705 N-m
Or 2KE = 28705; or 2 x 0.03 x E = 28705; or E = 478 417 = ½ m v2 or ½ m (20)2 = 478417
m = 2392 kg

Theory of Machines - II: Dr. A. B. Andhare 50

 Numerical: Following data refers to an IC engine. A
G D r
B Fc
• Diameter of piston = 125 mm θ
Fb β
• Piston stroke = 220 mm O
Fy Ft
• Ratio of connecting rod length to crank length = 4.5
• Mass of connecting rod = 50 kg
Fn
• Mass of reciprocating parts (piston) = 30 kg
• Distance of center of mass of connecting rod from crankpin center = 170 mm
• Radius of gyration of connecting rod about an axis through the center of mass = 148 mm
• Engine speed = 320 rpm
• Crank angle = 140° from IDC
• Find : Magnitude and direction of inertia force and corresponding torque on the crank
shaft.
• r = 220/2 = 110 mm N = 320 rpm
• d = 125 mm l = 110 x 4.5 = 495 mm
Theory of Machines - II: Dr. A. B. Andhare 51
 Dividing mass of the connecting rod into two point masses. A
G D r
Mass at crank pin B Fc
β θ
Fb O
Fy Ft

Mass at gudgeon pin Fn

mb = 50 – 32.83 = 17.17 kg
Total mass of reciprocating parts = 30 + 17.17 = 47.17 kg
Acceleration of reciprocating parts,

As θ is more than 90°, acceleration is negative or towards the left and thus inertia force is
towards the right.

Theory of Machines - II: Dr. A. B. Andhare 52

 Magnitude of inertia force is,
A
G D r
B Fc
β θ
Fb O
Fy Ft

Fn

Inertia torque due to reciprocating parts is,

= -248 N-m (Clockwise as inertia force is towards right)

Theory of Machines - II: Dr. A. B. Andhare 53

 Correction couple due to assumed second mass of connecting rod at crank pin end A
ΔT = m αc b (l-L)
b = 495 – 170 = 325 mm A
G D r
l= 495 mm B Fc
β θ
Fb O
Fy Ft

Fn

ΔT = 50 x (-157.17) x 0.325 x (0.495-0.3924)=-262.04 N-m

The direction of the correction couple will be the same as that of the angular acceleration, i.e. in
the direction of decreasing angle β. Thus it is clockwise
Theory of Machines - II: Dr. A. B. Andhare 54
 A
G D r
B Fc
β θ
Fb O
Fy Ft

Fn
The correction torque is to be deducted from the inertia torque on the crankshaft OR as the force Fy due
to ΔT (which is clockwise) is towards right on the crankshaft , the correction torque is clockwise.
Torque due to weight of the mass at A
Ta = (mg g) r cosθ
= 32.83 x 9.81 x 0.11 x cos 140°= -27.14 N-m clockwise
Hence, total inertia torque on the crankshaft
Tb - Tc + Ta
= -248 – 45.07 – 27.14 = 320.2 clockwise

Theory of Machines - II: Dr. A. B. Andhare 55

 Summary
• Displacement, velocity and acceleration of piston
• Angular velocity and angular acceleration of connecting rod.
• Torque on crank
• Simple and compound pendulum
• Concept of equivalent dynamical system
• Turning moment (T-θ) diagram and flywheel
• (T-θ) diagram of various engines
• Relations for flywheels

Theory of Machines - II: Dr. A. B. Andhare 56

Bibliography

• S S Rattan, “Theory of Machines”, Fourth Edition, McGraw Hill Education, New

Delhi, 2014
• C S Sharma and Kamlesh Purohit, “Theory of Mechanisms and Machines”, PHI
Learning Pvt. Ltd. New Delhi, 2008

Theory of Machines - II: Dr. A. B. Andhare 57