3

Module - 3
VELOCITY AND ACCELERATION
ANALYSIS OF MECHANISMS

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Syllabus

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3.1 Velocity Analysis of Mechanisms (mechanisms up to 6 links)
Velocity analysis by instantaneous centre of rotation method (Graphical approach), Velocity
analysis by relative velocity method (Graphical approach)

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3.2 Acceleration Analysis of Mechanisms (mechanisms up to 6 links)
Acceleration analysis by relative method including pairs involving Coriolis acceleration (Graphical
approach)
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3.7 Applications of the Relative Velocity Method
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Ex. 3.7.4 : For the mechanism shown in Fig. P. 3.7.4 Find the angular velocity of the follower link by relative velocity
method.
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Pu K
ch
Te

Fig. P. 3.7.4

Soln. :
Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in
Fig. P. 3.7.4
Step 2 : Calculate velocity of input link.

Velocity of link 2 is, V2 = VCA = 2  CA

 VCA = 15  72 = 1080 mm/sec = 1.08 m/sec

Step 3 : Draw the velocity diagram for a given mechanism by a relative velocity method.
 Kinematics of Machinery (MU) 3-2 Velocity and Acceleration Analysis of Mechanisms

Velocity diagram :

(1) Take any point in space and name it as a or e.


(2) Draw a line through point a perpendicular to AC having magnitude ac = 1.08 m/sec to represent VCA by some suitable
scale.
(3) Draw a line perpendicular to CD to represent VDC, magnitude is not known. Draw another line from point e to
represent VDE, magnitudes is not known. Intersection of both line will locate point d.

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Fig. P. 3.7.4(a) : Velocity diagram

Step 4 : Find out the velocity of various links by measurement of respective vectors from the velocity diagram.

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By measurement :

Velocity of follower link is, VDE = ed = 0.5 m/sec …Ans.
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VDE 0.5
Angular velocity of follower link is, DE = DE = 0.085 = 5.88 rad/s …Ans.

Ex. 3.7.7 : Fig. P. 3.7.7 shows a crank OA drives the reciprocating block B. The lever CD is pin jointed to the rod at C and
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to block at D. Similarly, rod of EF is pin jointed to CD at E and to the reciprocating block at F. If the crank
rotates in the counter clockwise direction at 20 rad/s, draw the velocity diagram of the mechanism and find out
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angular velocities of various links.

OA = 180 mm; AB = 720 mm; AC = CB; OM = 300 mm;
CD = 330 mm; DE = 140 mm; EF = 450 mm
Pu K
ch
Te

Fig. P. 3.7.7 : configuration diagram

Soln. :
Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in
Fig. P. 3.7.7.
 Kinematics of Machinery (MU) 3-3 Velocity and Acceleration Analysis of Mechanisms

Step 2 : Calculate velocity of input link.

Velocity of driving link OA is,  VAO = AO  OA = 20  180 = 3600 mm/sec.
Step 3 : Draw the velocity diagram for a given mechanism by a relative velocity method.
Velocity polygon :

(1) Take any point in space and name it as o. Through o, draw oa = 3600 mm/s perpendicular to OA in the downward
direction as OA is rotating in the anti-clockwise manner.

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(2) Through ‘a’, draw perpendicular to AB which contains ‘b’. As point B is on the slider B, through ‘o’, draw a line parallel
 

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to the path of slider at B. The two lines intersect at point ‘b’. Name ab as VBA. Locate c on ab into equal proportion as
follows :

ac AC
= AB

ab

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 AC 
 ac = AB  ab

(3) Through ‘c’, draw perpendicular to link CD, which contains point ‘d’. As D is also on the slider, draw a line parallel to
  
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the path of slider through point ‘o’. The two lines meet at ‘d’. Name od as VD and cd as VDC. Locate c on cd as,

ce CE
= CD

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ed
 CE 
 ce = CD  cd
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(4) Through ‘e’, draw a line perpendicular to EF which contains point ‘f’. Through ‘o’, draw a line parallel to the path of the
 
slider F. The two lines meet at f. Then of represents VF and ef represents VFE.
Pu K
ch
Te

Fig. P. 3.7.7(a) : Velocity diagram

Step 4 : Find out the velocity of various links by measurement of respective vectors from the velocity diagram.
By measurement :

Velocity of slider B is, VB = ob = 2150 mm/sec. …Ans.

Velocity of slider D is, VD = od = 1450 mm/sec …Ans.
 Kinematics of Machinery (MU) 3-4 Velocity and Acceleration Analysis of Mechanisms


Velocity of slider F is, VF = of = 3100 mm/sec …Ans.

VBA ab 3150
Angular velocity of the link AB is, BA = AB = AB = 720

 BA = 4.375 rad/s (clockwise about A) …Ans.


VDC cd 1350
Angular velocity of the link CD is, DC = CD = CD = 330

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 DC = 4.09 rad/s (anticlockwise about C) …Ans.


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VFE ef 2200
Angular velocity of the link FE is, EF = EF = EF = 450

 EF = 4.88 rad/s. (clockwise about F) …Ans.

Ex. 3.7.8 : The mechanism of a warping machine as shown in Fig. P. 3.7.8 has the dimensions as follows :

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O1A = 100 mm, AC = 700 mm, BC = 200 mm, BD = 150 mm, O2D = 200 mm, O2E = 400 mm, O3C = 200 mm.
The crank O1A rotates at a uniform speed of 100 rad/s. For the given configuration, determine the linear velocity
of point E.
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bl o n
Pu K

Fig. P. 3.7.8 : Configuration diagram

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Soln. :
Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in
Fig. P. 3.7.8
Step 2 : Calculate velocity of input link.
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Velocity of link AO1 is, VAO1 = AO1  OA

 VAO1 = 100  100

= 10,000 mm/sec = 10 m/s

Step 3 : Draw the velocity diagram for a given mechanism by a relative velocity method.

Velocity diagram :

(1) Take any point in space as o1 or o2 or o3.


(2) Draw perpendicular to O1A through o1 having magnitude oa = 10 m/s in downward direction to represent VAO.
 Kinematics of Machinery (MU) 3-5 Velocity and Acceleration Analysis of Mechanisms

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Fig. P. 3.7.8(a) : Velocity diagram

(3) Through ‘a’, draw perpendicular to link AC which contains point ‘c’. Through o3, draw perpendicular to the link O3C

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 
which also contains point ‘c’. The two lines intersect at ‘c’. Name ac as VCA and o3c which also contains point ‘c’. The
 
two lines intersect at ‘c’. Name ac as VCA and o3c VC.

 AB ab 
Locate point ‘b’ on ac in the proportion of AC = . Join c1 to be and name ob as VB.


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ac
(4) Through b, draw perpendicular to the link BD which contains point ‘d’. Through o3, draw perpendicular to the link O2D
 
which contains point ‘d’. The two lines intersect each other at point ‘d’. Name bd as VDB and o2d as VD. As DO2E is a bell-
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crank lever in which angle made by arm O2D with arm O2E is always 90, to locate point ‘e’ on the velocity diagram,
draw perpendicular to do2 and locate ‘e’ in such a way that,

bl o
o2 e O2E
= OD
 2
o2 d
n

Note : Care should be taken while locating point e so that the clockwise order DO2E must be maintained.

Step 4 : Find out the velocity of various links by measurement of respective vectors from the velocity diagram.
Pu K

By measurement :

Velocity of point E is, VE = o1e = 4.95 m/s …Ans.
ch

Ex. 3.7.14 : Fig. P. 3.7.14 shows whitworth quick return mechanism. The various dimensions are OA = 200 mm,
BC = 150 mm, AB = 400 mm, BD = 500 mm. Crank OA makes an angle 65 with the vertical. Determine the
velocity of the ram D i.e. the velocity of the cutting of the tool when the crank rotates at 120 r.p.m. Also find
angular velocities of AB and CD and the velocity of sliding of the block on the slotted lever.
Te

Fig. P. 3.7.14
 Kinematics of Machinery (MU) 3-6 Velocity and Acceleration Analysis of Mechanisms

Soln. :
Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in
Fig. P. 3.7.14
Step 2 : Calculate velocity of input link.
2   N 2   120
Angular velocity of the link OA is, OA = 60 = 60 = 4  rad/s.

Velocity of point A with respect to O is,

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VAO = OA  OA = 4   200 mm/sec = 2512 mm/sec.
Step 3 : Draw the velocity diagram for a given mechanism by a relative velocity method.

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Velocity diagram :

(1) Take any point ‘o’ or ‘c’ in space. Draw a line from pole ‘o’, perpendicular to link AO to represent linear velocity of AO
i.e. VAO = 2512 mm/sec by some suitable scale.
(2) Through ‘a’, draw a line parallel to BCE which contains point ‘e’, as E is on the slider sliding along the link BCE. Point E

at le

is also on the link CE, hence to represent ce , through ‘c’ or ‘o’ draw a line perpendicular to CE which contains point ‘e’.

The two lines containing ‘e’ intersect at point ‘e’. ae represents sliding velocity of the slider at E.
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(3) Expected ec to b in such a way that

ec EC
= CB

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cb
 CB 
 cb = EC  ec
n

150
= 250  9.2 cm = 5.52 cm
Pu K


Name vector ob as VBC or VB.
(4) Through point b, draw perpendicular to BD on both the sides of ‘b’. This contains point ‘d’. Point D also lies on the
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slider whose path is horizontal. Hence through a fixed point ‘o’ or ‘c’, draw a line parallel to path of the slider at D
 
which contains ‘d’. The two lines containing ‘d’ intersect at point ‘d’. Then bd represents VDB and od represents VD.
Step 4 : Find out the velocity of various links by measurement of respective vectors from the velocity diagram.

By measurement :
Te


Sliding velocity of slider E is, VE = ae = 850 mm/sec. …Ans.

Sliding velocity of the slider at D is, VD = od = 750 mm/sec …Ans.

VBD bd 975
Angular velocity of the link BD is, BD = BD = BD = 500

 BD = 1.95 rad/s. (clockwise about D) …Ans.


VBC cb 1350
Angular velocity of the link BCE is, BC = BC = BC = 150

 BC = 9.00 rad/s. (clockwise about C) ...Ans.

 Kinematics of Machinery (MU) 3-7 Velocity and Acceleration Analysis of Mechanisms

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Fig. P. 3.7.14(a) : Velocity diagram

Ex. 3.7.15 : Fig. P. 3.7.15 shows a mechanism having six links. Input link O2A (in the horizontal position) rotates at 10 rad/s
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anti-clockwise sense. Determine the velocity of slider D (link 6) using relative velocity method.
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Pu K
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Te

Fig. P. 3.7.15 : Configuration diagram

Soln. :
Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in
Fig. P. 3.7.15
Step 2 : Calculate velocity of input link.
Velocity of link AO2 is, VAO2 = AO2  AO2 = 10  25= 250 cm/s
 Kinematics of Machinery (MU) 3-8 Velocity and Acceleration Analysis of Mechanisms

Step 3 : Draw the velocity diagram for a given mechanism by a relative velocity method.
Velocity diagram :
1. Choose suitable scale, say 1 cm = 100 cm/s. Make o2 and o6 as zero velocity point.

2. Draw o2a to represent VAO2 in the direction perpendicular to O2A in direction of rotation in length equal to 250 cm/s as
per chosen scale.
 

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3. Draw lines to represent VBA = ab in direction perpendicular to BA from ‘a’ and a line VBO4 = o4b in direction
perpendicular to BO1. Intersection of lines will locate point ‘b’.

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 
4. Draw lines to represent VCB = bc perpendicular to BC from ‘b’ and VCA = ac perpendicular to AC from ‘a’. Intersection of
lines will locate the point ‘c’ on velocity polygon.

5. Draw lines to represent VDC = cd from point ‘c’ in direction perpendicular to link CD and another line in horizontal

direction from point ‘o2’ to represent VDO2 = o2d. Intersection of these two lines will locate point ‘d’ on velocity diagram.

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bl o n

Fig. P. 3.7.15(a) : Velocity diagram

Step 4 : Find out the velocity of various links by measurement of respective vectors from the velocity diagram.
By measurement :
Pu K


Velocity of slider D is, VD = VDO2 = o2d = 160 cm/s ...Ans.
ch

Ex. 3.7.16 : Fig. P. 3.7.16 shows a mechanism in which crank OA rotating clockwise at 20 rad/s. Find velocity of point B
using graphical method of velocity polygon. Also verify the answer using Analytical method. Link CDE is a
triangular link. At the instant shown, if slider D is to move vertically upwards at 500 mm/s and if point E on the
same link is to remain stationary, find out dimensions of link CDE. Also find instantaneous angular velocity of
link CDE.
Te

Fig. P. 3.7.16
 Kinematics of Machinery (MU) 3-9 Velocity and Acceleration Analysis of Mechanisms

Soln. :

(i) VAO = AO  AO

= 20  40

= 800 mm/sec

From velocity diagram, VB = 700 mm/sec

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sin 2 ⎤
Velocity of piston, VB =  r ⎡sin  +
⎣ 2n ⎦

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Fig. P. 3.7.16(a) : Velocity diagram
sin 100⎤ 120
VB = 20  40 ⎡sin 50 + …⎡··· n = 40 = 3⎤
⎣ 23 ⎦ ⎣ ⎦
VB = 744.14 mm/sec

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(ii) Since slider moves vertically upwards and point E remains stationary so point E is fix point. Therefore draw line
vertically of 500 mm/sec. Mark pint CDE on configuration diagram by drawing lines perpendicular to CDE and get
CD = 80 mm, CE = 60 mm and ED = 35 mm.
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Ex. 3.7.17 : In the toggle mechanism, shown in Fig. P. 3.7.17, the slider D is constrained to move on a horizontal path. The
crank OA is rotating at 180 rpm counter-clockwise. Various dimensions are : OA = 180 mm, CB = 240 mm,
AB = 360 mm, BD = 540 mm.
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For the given configuration, find :
(i) Velocity of slider D.
n

(ii) Angular velocity of links AB, CB and BD.

(iii) Velocity of rubbing at A,B and D. Take pin diameter 30 mm.
Pu K
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Te

Fig. P. 3.7.17
(All dimensions are in mm)
 Kinematics of Machinery (MU) 3-10 Velocity and Acceleration Analysis of Mechanisms

Soln. :

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Fig. P. 3.7.17(a) : Velocity Diagram

NOA = 180 rpm

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2   180
AO = 60 = 18.85 r/s

VAO = AO  OA = 18.85  180 = 3393 mm/s = 3.393 m/s

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1. Velocity of slider :

VD = od  scale = 4.1  0.5 = 2.05 m/s …Ans.

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2. Angular velocity of links AB, CB and BD.
VBA ab  scale 1.8  0.5
AB = AB = AB = 0.36 = 2.5 r/s …Ans.
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VBC 5.6  0.5

CB = CB = 0.24 = 11.6667 r/s …Ans.
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4.8  0.5
BD = 0.54 = 4.4444 r/s …Ans.

3. Velocity of rubbing :
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DA = DB = DD = 30 mm = 0.03 m

rA = rB = rD = 15 mm = 0.015 m

(i) Relative angular velocity at A,

Te

From Fig. P. 3.7.17(b) relative angular velocity at A is,

VA = (OA  BA)  rA Fig. P. 3.7.17(b)

 VA = (18.85  2.5)  0.015

 VA = 0.2452 m/s …Ans.

(ii) Relative angular velocity at B,

From Fig. P. 3.7.17(c) relative angular velocity at B is,

VB = [(CB  AB) + DB]  rB

 VB = [(11.6667  2.5) + 4.44]  0.015

 VB = 0.2042 m/s …Ans. Fig. P. 3.7.17(c)
 Kinematics of Machinery (MU) 3-11 Velocity and Acceleration Analysis of Mechanisms

(iii) Relative angular velocity at D,

From Fig. P. 3.7.17(d) relative angular velocity at D is,
VD = BD  rD

 VD = 4.44  0.015 Fig. P. 3.7.17(d)

 VD = 0.0667 m/s …Ans.

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Ex. 3.7.18 : Fig. P. 3.7.18 shows a mechanism in which crank OA is rotating anticlockwise at 20 rad/s. Link CD is in the
form of a rod sliding tangentially on an inverted and grounded semi-cylinder as shown. At the instant shown,
find out the linear velocity of slider E using graphical method of velocity polygon.

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bl o n
Pu K
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Fig. P. 3.7.18
Soln. :
Te

Fig. P. 3.7.18(a)
 Kinematics of Machinery (MU) 3-12 Velocity and Acceleration Analysis of Mechanisms

From Velocity Diagram :

Velocity of slider E = 320 mm/sec. …Ans.

Ex. 3.7.19 : Fig. P. 3.7.19 shows a toggle mechanism. The length of links are :
OA = 100 mm, AB = 250 mm, BC = 300 mm, BD = 350 mm
The crank OA rotates at a speed of 180 rpm in clockwise direction. Draw velocity diagram using velocity image
principle.

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Determine :
(i) Velocity of slider D (ii) Angular velocity of link BD.

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bl o

Fig. P. 3.7.19
n

Soln. :
100  2   180
Pu K

VOA = 60 = 1884 mm/sec.

ch
Te

Fig. P. 3.7.19(a)

From Velocity Diagram :


Velocity of slider D, VD = od = 450 mm/sec. …Ans.

VBD bd
Angular velocity of link BD = BD = BD = BD

750
= 350 = 2.14 rad/s. clockwise …Ans.
 Kinematics of Machinery (MU) 3-13 Velocity and Acceleration Analysis of Mechanisms

3.12 Freudenstein’s Theorem

Ex. 3.12.6 The length of various links of mechanism as shown in Fig. P. 3.12.6 are OA = 0.3 m, AB = 1 m, CD = 0.8 m and
AC = CB.
Determine for the given configuration
(i) Velocity of slider B.
(ii) Velocity of slider D.

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(iii) Angular velocity of CD.
(iv) Angular velocity of AB.

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If OA rotates at 60 rpm clockwise use instantaneous centre method.
Addition : Find absolute velocity of point C

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bl o n
Pu K

Fig. P. 3.12.6
ch

Soln. :
Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in
Fig. P. 3.12.6(a).
Step 2 : Calculate velocity of input link.
Te

Speed of Crank AO,

NAO = 60 rpm
 Angular velocity of crank AO is,
2  NAO
AO = 60
2   60
= 60 = 6.28 rad/s

Step 3 : Locate the required instantaneous centres

Steps to locate instantaneous centres :

1. The mechanism has 6 links, therefore the number of instantaneous centres are,
n (n  1) 6 (6  1)
N = 2 = 2 = 15
 Kinematics of Machinery (MU) 3-14 Velocity and Acceleration Analysis of Mechanisms

All possible instantaneous centres as,

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2. By inspection locate the fixed and permanent ICR’s.
(a) Fixed ICR’s : I12.
(b) Permanents ICR’s : I23, I34, I35, I46, I15, I16.

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3. In order to locate the remaining ICR’s. Which is neither fixed nor permanent type, we use Kennedy’s theorem and the
circle diagram as shown in Fig. P. 3.12.6(b). Join 2  5, 2  6, 2  4, 1  3, 3  6 and 1  4 by dotted line.
4. Locate I25, I36, I13, I26, I24 and I14 as follows :
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bl o n
Pu K
ch

Step 4: Find out the velocity of various links by measurement distance between various ICR’s
By measurement : I12 I25 = 0.266 m ; I12 I26 = 0.066 m
I12 I24 = 0.366 m ; I14 I24 = 1.166 m
I12 I23 = 0.3 m ; I13 I23 = 1.383 m
Te

Velocity of slider B is, VB = V5 = 2  (I12 I25) = 6.28  0.266 = 1.6713 m/sec …Ans.
Velocity of slider D is, VD = V6 = 2  (I12 I26) = 6.28  0.066 = 0.1719 m/sec …Ans.
4 I12 I24
Angular velocity ratio for link 4 and 2 is, =
2 I14 I24
4 0.366
 6.28 = 1.166
 4 = CD = 1.971 rad/s. …Ans.
 Angular velocity ratio for link 3 and 2 is,
3 I12 I23
= I I
2 13 23
 Kinematics of Machinery (MU) 3-15 Velocity and Acceleration Analysis of Mechanisms

3 0.3
 6.28 = 1.383

 3 = AB = 1.362 rad/s. …Ans.

Addition :
Consider point C on link 3 then, Vc = 3 (I13 C) Or

If consider point C on link 4 then, Vc = 4 (I14 C)

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= 1.971  0.9 = 1.77 m/sec …Ans.

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bl o n
Pu K
ch
Te

Fig. P. 3.12.6

Ex. 3.12.8 : In the mechanism shown in Fig. P. 3.12.8 the crank OA rotates uniformly at 150 rpm. When the crank makes an
angle of 30 with the horizontal, determine the velocity of plunger E, angular velocity of link DE and bell crank
lever BCD using instantaneous centre method. MU : May 09,12 Marks
 Kinematics of Machinery (MU) 3-16 Velocity and Acceleration Analysis of Mechanisms

ns e
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Fig. P. 3.12.8

Soln. :
Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in

at le
Fig. P. 3.12.8(a).
Step 2 : Calculate velocity of input link.
Speed of crank OA, NAO = 150 rpm
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2  NAO 2   150
 AO = 60 = 60 = 15.17 rad/s

Velocity of link AO is, VAO = AO  OA = V2 = 15.17  10  V2 = 157.1 cm/sec

bl o n
Pu K
ch
Te

Fig. P. 3.12.8
 Kinematics of Machinery (MU) 3-17 Velocity and Acceleration Analysis of Mechanisms

Step 3 : Locate the required instantaneous centres

Steps to locate instantaneous centres :

(1) The mechanism has 6 links. Therefore the number of instantaneous centres are,
n (n  1) 6 (6  1)
N = 2 = 2 = 15

All possible instantaneous centres are

ns e
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(2) By inspection, locate the fixed and permanent ICR’s.
(a) Fixed ICR’s : I12, I14
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(b) Permanents ICR’s : I23, I34, I45, I56, I16
(3) In order to locate the remaining ICR’s which are neither fixed nor permanent type, we use Kennedy’s theorem and the
circle diagram as shown in Fig. P. 3.12.8(b). Join 1  3 and 1  5 by dotted line.
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(4) Locate I13 and I15 as follows :
n
Pu K

Hence I13 lies on the intersection lines of I12 I23 and I34 I14. Similarly I15 lies on the intersection lines of I16 I56 and I14 I45.
Step 4 : Find out the velocity of various links by measurement distance between various ICR’s
By measurement, I13 I23 = 50 cm ; I14 I34 = 25 cm
ch

I13 I34 = 37.5 cm ; I15 I45 = 45 cm

I14 I45 = 15 cm ; I15 I56 = 45 cm
Velocity of link OA is,VAO = V2 = 3  (I13 I23)
 157.1 = 3  50 cm  3 = 3.142 rad/s …Ans.
Te

Angular velocity ratio for link 3 and 4 is,

3 I14 I34 3.142 25
= I I  = 37.5
4 13 34 4
 4 = 4.713 rad/s = BCD = 4.713 rad/s …Ans.
Angular velocity ratio for link 4 and 5 is,
4 I15 I45
= I I
5 14 45

4.713 45
= 15
5
 5 = 1.571 cm/sec = DE = 1.571 rad/s. …Ans.
Velocity of plunger E is, VE = V6 = 5  (I15 I56) = 1.571  45 = 70.69 cm/sec …Ans.
 Kinematics of Machinery (MU) 3-18 Velocity and Acceleration Analysis of Mechanisms

Ex. 3.12.9 : Fig. P. 3.12.9 shows a mechanism used in variable stroke feed pump. For the position shown slider D is 4 cm
away from the axis X-X passing through crank shaft centre O2. If the velocity of slider ‘D’ is 2 m/s (upwards) for
the configuration shown, determine angular velocity of links O2A, AB and CBD using instantaneous centre
method.

ns e
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bl o n

Fig. P. 3.12.9

Soln. :
Pu K
ch
Te

Fig. P. 3.12.9
 Kinematics of Machinery (MU) 3-19 Velocity and Acceleration Analysis of Mechanisms

Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in
Fig. P. 3.12.9(b).
Step 2 : Calculate velocity of input link.
Velocity of slider D is, VD = V5 = 2 m/sec
V5 = 200 cm/sec
Step 3 : Locate the required instantaneous centres

ns e
Steps to locate instantaneous centres :

(1) The mechanism has 6 links. Therefore the number of instantaneous centres are,

io dg
n (n  1) 6 (6  1)
N = 2 = 2 = 15

All possible instantaneous centres are

at le
ic w
bl o
(2) By inspection, locate the fixed and permanent ICR’s.
(i) Fixed ICR’s : I12
n

(ii) Permanent ICR’s : I23, I34, I46, I45, I15, I16

(3) In order to locate the remaining ICR’s which are neither fixed nor permanent type, we use Kennedy’s theorem and the
Pu K

circle diagram as shown in Fig. P. 3.12.9(b). Join 1  4 and 1  3 by dotted line.

(4) Locate I14 and I13 as follows :
ch

Hence I14 lies on the intersection lines of I15 I45 and I16 I46. Similarly I13 lies on the intersection lines of I12 I23 and I14 I34.
Step 4 : Find out the velocity of various links by measurement distance between various ICR’s
Te

By measurement :

I14 I45 = 14 cm

I14 I34 = 22.5 cm

I13 I34 = 26.5 cm

I13 I23 = 32 cm

I13 I23 = 4 cm
Velocity of slider D is, VD = V5 = 4  (I14 I45)

 200 = 4  14

 4 = 14.28 rad/s = CBD = 14.28 rad/s …Ans.

 Kinematics of Machinery (MU) 3-20 Velocity and Acceleration Analysis of Mechanisms

Angular velocity ratio for link 3 and 4 is,

3 I14 I34
= I I
4 13 34

3 22.5
 14.28 = 26.5

 3 = 12.12 rad/s
= AB = 12.12 rad/s …Ans.

ns e
2 I13 I23
Angular velocity ratio for link 2 and 3 is, = I I
3 12 23

io dg
2 32
 12.12 = 4
 2 = 20.12 rad/s
= AO2 = 20.12 rad/s. …Ans.

at le
Ex. 3.12.10 : Refer Fig. P. 3.12.10 The crank O1 A rotates at 50 rad/s in clockwise direction. When the crank has turned
through 60 from the horizontal, find the angular velocity of link O2 C and link CD, the velocity of point P1 and
velocity of slider D.
ic w
bl o n
Pu K
ch
Te

Fig. P. 3.12.10

Soln. :
Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in
Fig. P. 3.12.10(a).
 Kinematics of Machinery (MU) 3-21 Velocity and Acceleration Analysis of Mechanisms

Step 2 : Calculate velocity of input link.

Angular velocity of link OA is, AO1 = 50 rad/s

Step 3 : Locate the required instantaneous centres

ns e
io dg
at le
ic w
bl o n
Pu K

(a) (b)
ch

Fig. P. 3.12.10

Steps to locate instantaneous centres :

(1) The mechanism has 6 links. Therefore the number of instantaneous centres are,
Te

n (n  1) 6 (6  1)
N = 2 = 2 = 15

All possible instantaneous centres are

 Kinematics of Machinery (MU) 3-22 Velocity and Acceleration Analysis of Mechanisms

(2) By inspection, locate the fixed and permanent ICR’s.

(i) Fixed ICR’s : I12, I14
(ii) Permanents ICR’s : I23, I34, I45, I56, I16

(3) In order to locate the remaining ICR’s which are neither fixed nor permanent type, we use Kennedy’s theorem and the
circle diagram as shown in Fig. P. 3.12.10(b). Join 1  3 and 1  5 by dotted line.
(4) Locate I13 and I15 as follows :

ns e
io dg
Hence I13 lies on the intersection lines of I12 I23 and I34 I14. Similarly I15 lies on the intersection lines of I16 I56 and I14 I45.
Step 4 : Find out the velocity of various links by measurement distance between various ICR’s
By measurement, I12 I23 = 15.2 cm ;

at le
I12 I23 = 4 cm
I14 I34 = 8 cm ;

I13 I34 = 13.2 cm

ic w
I15 I45 = 35.2 cm ;
I14 I45 = 14 cm
bl o
I15 I56 = 24 cm ;

I13 P1 = 12.4 cm
n

Angular velocity ratio for link 2 and 3 is,

2 I13 I23
Pu K

= I I
3 12 23

50 15.2
 = 4
3
ch

 3 = 13.15 rad/s …Ans.

Angular velocity ratio for link 3 and 4 is,

3 I14 I34
= I I
4 13 34
Te

13.15 8
 = 13.2
4

 4 = 21.69 rad/s
= O2 C = 21.69 rad/s. …Ans.

Angular velocity ratio for link 4 and 5 is,

4 I15 I45
= I I
5 14 45

21.69 35.2
 = 14
5

 5 = 8.62 rad/s
 Kinematics of Machinery (MU) 3-23 Velocity and Acceleration Analysis of Mechanisms

= CD = 8.62 rad/s. …Ans.

Velocity of plunger P1 is, VP1 = 3 (I13 P1) = 13.15  12.4 = 163.06

Velocity of slider D is, VD = V6 = 5  (I15 I56)

= 8.62  24 = 206.88 cm/sec ...Ans.

Ex. 3.12.13 : For the mechanism shown in Fig. P. 3.12.13 the crank OA rotates at an angular speed of 10 rad/s anti-

ns e
clockwise. Find the velocity of slider D. Also, determine the angular velocity of links AB, BEC and CD.

io dg
at le
ic w
bl o n
Pu K
ch

Fig. P. 3.12.13
Te

Soln. :
Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in
Fig. P. 3.12.13(a).
Step 2 : Calculate velocity of input link.
Angular velocity of crank
OA = 2 = 10 rad/s
Step 3 : Locate the required instantaneous centres
 Kinematics of Machinery (MU) 3-24 Velocity and Acceleration Analysis of Mechanisms

ns e
io dg
at le
ic w
bl o n
Pu K
ch
Te

Fig. P. 3.12.13

Location of instantaneous centres :

(1) The mechanism has 6 links. Therefore the number of instantaneous centres are,
n (n  1) 6 (6  1)
N = 2 = 2 = 15
 Kinematics of Machinery (MU) 3-25 Velocity and Acceleration Analysis of Mechanisms

All possible instantaneous centres are

ns e
io dg
(2) By inspection, locate the fixed and permanent ICR’s.
(i) Fixed ICR’s : I12, I14
(ii) Permanents ICR’s : I23, I34, I45, I56, I16
(3) In order to locate the remaining ICR’s which are neither fixed nor permanent type, we use Kennedy’s theorem and the

at le
circle diagram as shown in Fig. P. 3.12.13(b). Join 1  3 and 1  5 by dotted line.
(4) Locate I13 and I15 as follows :
ic w
Hence I13 lies on the intersection lines of I12 I23 and I14 I34. Similarly I15 lies on the intersection lines of I16 I56 and I14 I45.
bl o
Step 4 : Find out the velocity of various links by measurement distance between various ICR’s
By measurement, I13 I23 = 12.2 cm
n

I12 I23 = 2 cm
I14 I34 = 4 cm
Pu K

I13 I34 = 11.1 cm

I15 I45 = 8 cm
I14 I45 = 2 cm
ch

I15 I56 = 6.2 cm

Angular velocity ratio for link 2 and 3 is,
2 I13 I23
= I I
3 12 23
Te

10 12.2
 = 2
3
 3 = 1.639 rad/s
 AB = 3 = 1.639 rad/s …Ans.
Angular velocity ratio for link 3 and 4 is,
3 I14 I34
= I I
4 13 34

1.639 4
 = 11.1
4
 4 = 4.549 rad/s
 BEC = 4 = 4.549 rad/s …Ans.
 Kinematics of Machinery (MU) 3-26 Velocity and Acceleration Analysis of Mechanisms

Angular velocity ratio for link 4 and 5 is,

4 I15 I45
= I I
5 14 45

4.549 8
 = 2
5
 5 = 1.137 rad/s
 CD = 5 = 1.137 rad/s …Ans.

ns e
Velocity of slider D is, VD = V6 = 5  (I15 I56)
= 1.137  6.2 = 7.04 cm/sec

io dg
...Ans.

Ex. 3.12.16 : Refer Fig. P. 3.12.16 the link with two perpendicular slots is the input link, rotating at 500 rpm in the
anticlockwise direction. P, Q and R are the three sliders, all of which have revolute pairing with the straight rod
PQR. Also, OP = 165 mm and PR = 600 mm. For the shown position of the mechanism determine the velocity
of slider R, using the method of instantaneous centres of rotation.

at le
ic w
bl o n
Pu K
ch

Fig. P. 3.12.16

Soln. :
Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in
Fig. P. 3.12.16(a).
Te

Step 2 : Calculate velocity of input link.

Speed of slotted link 2 is, N2 = 500 rpm
2  N2
 Angular velocity of slotted link 2 is, 2 = 60
2   500
= 60 = 52.36 rad/s

Step 3 : Locate the required instantaneous centres

Location of instantaneous centres :

1. The mechanism has 6 links, therefore the number of instantaneous centres are,
n (n  1) 6 (6  1)
N = 2 = 2 = 15
 Kinematics of Machinery (MU) 3-27 Velocity and Acceleration Analysis of Mechanisms

ns e
io dg
at le
ic w
bl o n
Pu K

Fig. P. 3.12.16

All possible instantaneous centres are

ch
Te

2. By inspection, locate the fixed and permanent ICR’s.

(i) Fixed ICR’s : I12.
(ii) Permanents ICR’s : I34, I35, I36, I16, I24, I25.

3. In order to locate the remaining ICR’s which is neither fixed nor permanent type, we use Kennedy’s theorem and circle
diagram shown in Fig. P. 3.12.16(b). Join 2  3, 2  6 by dotted line.
 Kinematics of Machinery (MU) 3-28 Velocity and Acceleration Analysis of Mechanisms

4. Locate I23, I26.

Step 4 : Find out the velocity of various links by measurement distance between various ICR’s

ns e
By measurement,

I12 I26 = 180 cm

io dg
Velocity of slider R is, VR = V6
 VR = 2  (I12 I26)

= 52.36  180 = 9424.8 mm/sec …Ans.

at le
Ex. 3.12.17 : Fig P. 3.12.17 shows a mechanism in which O and Q are fixed centres about which crank OA and slotted link
QD can rotate respectively. The slider C is pin-jointed to the curved link AB such that AC = CB. At the instant
shown, the centre of curvature of the curved link ACB coincides with Q. The roller pivoted at B rolls without
slipping with the uniform velocity 1 m/s in the direction shown in the figure. Find angular velocity of crank OA
ic w
and angular velocity of slotted link QD, using ICR method.
bl o n
Pu K
ch
Te

Fig. P. 3.12.17

Soln. :

Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in
Fig. P. 3.12.17(a).
 Kinematics of Machinery (MU) 3-29 Velocity and Acceleration Analysis of Mechanisms

ns e
io dg
at le
ic w
bl o n
Pu K
ch
Te

Fig. P. 3.12.17

Step 2 : Calculate velocity of input link.

Velocity of roller 6 is, V6 = 6  Radius of roller
 I = 6  0.125
 6 = 8 rad/s.
Step 3 : Locate the required instantaneous centre
Location of instantaneous centres :
The mechanism has 6 links, therefore the number of instantaneous centres are,
n (n  1) 6 (6  1)
N = 2 = 2 = 15
 Kinematics of Machinery (MU) 3-30 Velocity and Acceleration Analysis of Mechanisms

All possible instantaneous centres are

ns e
io dg
(1). By inspection, locate the fixed and permanent ICR’s.
(i) Fixed ICR’s : I12, I15.
(ii) Permanents ICR’s : I34, I16, I45, I23, I36.

at le
(2) In order to locate the remaining ICR’s which are neither fixed nor permanent type, we use Kennedy’s theorem and the
circle diagram shown in Fig. P. 3.12.17(b). Join 2  6, 1  3, 1  4, 2  4 and 2  5 by dotted line.
(3) Locate I26, I13, I35 and I56 as follows :
ic w
bl o n
Pu K
ch

Step 4 : Find out the velocity of various links by measurement distance between various ICR’s
By measurement,

I12 I26 = 1050 mm

Te

I16 I26 = 250 mm

I12 I25 = 260 mm

I15 I25 = 550 mm

Angular velocity ratio of link 2 and 6 is

6 I12 I26
= I I
2 16 26

8 1050
 = 250
2

 2 = OA = 1.90 rad/s …Ans.

 Kinematics of Machinery (MU) 3-31 Velocity and Acceleration Analysis of Mechanisms

Angular velocity ratio for link 2 and 5 is

5 I12 I25
= I I
2 15 25

5 260
 1.90 = 550

 5 = QD

ns e
= 0.89 rad/s …Ans.

io dg
Ex. 3.12.18 For the mechanism shown in the Fig. P. 3.12.18 locate necessary instantaneous centre of rotation and hence
find the velocities of slider C and E.

at le
ic w
bl o n
Pu K
ch

Fig. P. 3.12.18

Soln. :

Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in
Te

Fig. P. 3.12.18(a).

Step 2 : Calculate velocity of input link.

Speed of crank OA = 2000 rpm

2  2000
2 = 60

 AO = 209.47 rad/s

Draw configuration diagram as shown in Fig. P. 3.12.18(a) with suitable scale.

 Kinematics of Machinery (MU) 3-32 Velocity and Acceleration Analysis of Mechanisms

ns e
io dg
at le
ic w
bl o

Fig. P. 3.12.18
n

Step 3 : Locate the required instantaneous centres

Location of instantaneous centres :
Pu K

(1) The mechanism has 6 links. Therefore the number of instantaneous centres are,
n (n  1) 6 (6  1)
N = = = 15
ch

2 2
All possible instantaneous centres are
Te

(2) By inspection, locate the fixed and permanent ICR’s.

Fixed ICR’s : I12
Permanents ICR’s : I23, I34, I35, I56, I16, I14
(3) In order to locate the remaining ICR’s which is neither fixed nor permanent type, we use Kennedy’s theorem and the
circle diagram shown in Fig. P. 3.12.18(b). Join 2  4, 1  3, 3  6 and 2  6 by dotted line.
 Kinematics of Machinery (MU) 3-33 Velocity and Acceleration Analysis of Mechanisms

(4) Locate I24, I13, I36 and I26 as follows :

ns e
io dg
Step 4 : Find out the velocity of various links by measurement distance between various ICR’s
By measurement,

I12 I24 = 52 mm

at le
I12 I26 = 50 mm
Velocity of slider C is , VC = V4 = 2 (I12 I24) = 209.43  52

 VC = 10890.85 mm/sec = 10.89 m/sec …Ans.

ic w
Velocity of slider E is, VE = V6 = 2 (I12 I26)
V6 = 209.43  50
bl o
= 10471.97 mm/sec = 10.47 m/sec ...Ans.

Ex. 3.12.19 : Fig. P. 3.12.19 shows a mechanism in which crank OA is rotating clockwise at 250 rpm. Rod AC passes
n

through a trunnion at B and drives link DE via coupler CD. Slider F is driven by coupler FG attached to the link
DE as shown. At the instant shown find out the velocity of slider G as well as the angular velocity of trunnion
using ICR method.
Pu K
ch
Te

Fig. P. 3.12.19
 Kinematics of Machinery (MU) 3-34 Velocity and Acceleration Analysis of Mechanisms

Soln. :

ns e
io dg
at le
ic w
bl o n
Pu K
ch
Te

Fig. P. 3.12.19(a)

Angular velocity of crank OA is,

2  NAO
AO = 60
2   250
= 60 = 26.17 rad/s.

 2 = 26.17 rad/s.
 Kinematics of Machinery (MU) 3-35 Velocity and Acceleration Analysis of Mechanisms

Number of instantaneous centres are;

n (n  1) 8 (8  1)
N = 2 = 2 = 28

By measurement,
I12 I28 = 15.47 mm,
I12 I24 = 9.5 mm,
I14 I24 = 33.5 mm

ns e
Velocity of slider G is,

io dg
VG = V8 = 2 (I12 I28 )
 V8 = 26.17 (15.47)
 V8 = 405 mm/sec.
Angular velocity of trunnion is,
4 I12 I24

at le
= I I
2 14 24

9.5
 4 = 33.5  26.17
ic w
 4 = 7.42 rad/s. …Ans.

Ex. 3.12.20 : A slotted link labelled 2 shown in the following Fig. P. 3.12.20 rotates in anticlockwise direction at 1000 r.p.m.
bl o
Blocks 4 and 5 slide in the slots in link 2. The slots are at right angles. Block 6 slides in a fixed slot as indicated.
A straight rigid rod labelled 3 is pinned to the block at P.Q. and R. OP = 165 mm, PR = 600 m. Determine the
velocity of plate 6 using the theorem of three-centres in line.
n
Pu K
ch
Te

Fig. P. 3.12.20

Soln. :
Refer Figs P. 3.12.20(a) and P. 3.12.20(b).
Angular velocity of link 2,
25  1000
2 = 60 = 104.72 rad/s.,
 Kinematics of Machinery (MU) 3-36 Velocity and Acceleration Analysis of Mechanisms

Anticlockwise = 104.72 rad/s.

Procedure :

(1) To get number of instant centres

n = Number of instant centers

ns e
io dg
at le
ic w
(a) (b)
bl o
Fig. P. 3.12.20
n

N = Number of links = 6
n (n  1)
N = 2
Pu K

6 (6  1) 6  5
= 2 = 2 = 15
ch

(2) Listing of instant centres

Te

(3) By inspection, to find known instant centres

Fixed instant centres ⇒ I12, I16
Permanent instant centres ⇒ I24, I25, I34, I35
(4) Unknown, neither fixed nor permanent instant centres to be obtained by using Kennedy’s theorem and circle diagram
⇒ I13 I14 I15 I23 I26 I45 I46 I56
 Kinematics of Machinery (MU) 3-37 Velocity and Acceleration Analysis of Mechanisms

Now, to get velocity of link 6, we require to know the position of I26

And to get I26, we should know I23

Hence, velocity of link 6 is,

ns e
V6 = (I12 I26)  2

io dg
= 36  5  104.72

= 18849.6 mm/sec. …Ans.

Ex. 3.12.21 : Fig. P. 3.12.21 shows a mechanism in which crank OA is rotating clockwise at 10 rad/s. At the instant shown,
the coupler link AB is horizontal and in line with the line of reciprocation of piston E. (i.e. Line K). The piston E is

at le
driven by link DE which is pivoted to link BC at point D.
At the instant shown, locate all ICRs for the mechanism and using appropriate ICRs find out instantaneous
linear velocity of piston E as well as the instantaneous angular velocity of link BC.
ic w It is decided to extend this mechanism such that one more piston G is to reciprocate along the line L, parallel to
that of line K, 55 mm below it as shown in the Fig. P. 3.12.21 and is driven by link FG, pivoted to link DE at
point F, which is 30 mm away from point D, on link DE. Find out the length of link FG so that instantaneous
velocity of piston G is 200 mm/s towards right.
bl o n
Pu K
ch
Te

Fig. P. 3.12.21

Soln. :
n (n  1)
N = 2
6(6  1)
= 2 = 15
 Kinematics of Machinery (MU) 3-38 Velocity and Acceleration Analysis of Mechanisms

ns e
io dg
at le
ic w
bl o n
Pu K

Fig. P. 3.12.21(a)
ch

2 I13 I23 75
2 = 10 rad/s = I I = 45
3 12 23

3 I14 I34 140

 3 = 6 rad/s = I I = 75
4 13 34

BC = 4 = 3.21 rad/s

Te

…Ans.
4 I15 I45 140
= I I = 95 5 = 2.17 rad/s
5 14 45

VE = V6 = 5 (I15 I56) VE = V6 = 2.17  160

VE = 348 mm/sec …Ans.
VG = V8 = 2 (I12 I28) 200 = 10 (I12 I28)
 I12 I28 = 20
1. Mark I28 on line I18 at  and I12 at distance 20 from I12
2. Locate I58 on line I25 I28 and I15 I18
3. Draw line through I58 I57 which intersect line L at point G which is I78
 Link FG = 45 mm …Ans.
 Kinematics of Machinery (MU) 3-39 Velocity and Acceleration Analysis of Mechanisms

Ex. 3.12.22 : Using instantaneous centre method find velocity of D and angular velocity of link AB, for the mechanism shown
in Fig. P. 3.12.22. Various dimensions are :
OA = 200 mm, AB = 1500 mm, BC = 700 mm, CD = 500 mm, BE = 500 mm.
Assume crank OA rotates uniformly at 150 rpm clockwise.

ns e
io dg
Fig. P. 3.12.22
(All dimensions are in mm)
Soln. :

at le
ic w
bl o n
Pu K
ch
Te

Fig. P. 3.12.22(a)
 Kinematics of Machinery (MU) 3-40 Velocity and Acceleration Analysis of Mechanisms

2N
2 = 60
2   150
= 60 = 5  = 15.7080 r/s

3 I12 I23
Now = I I
2 13 23

200  15.7080
 AB = 3 = 1437.5514

ns e
= 2.1854 r/s …Ans.

io dg
VD = v6 = 5  (I15 I56)

VD = 0.6133  2251.6028

VD = 1380.9928 mm/s …Ans.

5 I12 I25

at le
= I I
2 15 25

106.6288  15.7080
5 = 2730.8370
ic w
 CD = 5 = 0.6133 rad/s …Ans.

Ex. 3.12.23 : Fig. P. 3.12.23 shows a mechanism in which crank OA is rotating anticlockwise at 10 rad/s. At this instant
locate all its ICRs and hence using ICR method find out instantaneous linear velocity of slider D as well as
bl o
angular velocity of link BC.
n
Pu K
ch
Te

Fig. P. 3.12.23
 Kinematics of Machinery (MU) 3-41 Velocity and Acceleration Analysis of Mechanisms

Soln. :

ns e
io dg
at le
ic w
bl o n
Pu K
ch

Fig. P. 3.12.23

n (n – 1)
Total ICR, N = 2
65
= 2 = 15
Te

Vslider = 550 mm/sec …Ans.

BC = 15 rad/s (clockwise) …Ans.

Ex. 3.12.24 : Fig. P. 3.12.24 shows a mechanism for a wrapping machine, in which pins O1, O2 and O3 are fixed. The crank
O1P is a driving crank rotating at uniform speed of 50 rad/s. The dimensions of the mechanism are :
O1 P = 80 mm, PR = 650 mm, QR = 200 mm,
O3 R = 180 mm, O2 T = 350 mm, O2 S = 175 mm and QS = 125 mm
Find the velocity of the point T on the Bell-Crank lever by ICR method.
 Kinematics of Machinery (MU) 3-42 Velocity and Acceleration Analysis of Mechanisms

ns e
io dg
Fig. P. 3.12.24

Soln. :

at le
ic w
bl o n
Pu K
ch
Te

Fig. P. 3.12.24

3 I12 I23
= I I
2 13 23

3 80
 50 = 680  3 = 5.88 rad/s.

4 I13 I34
Now, = I I
3 14 34
 Kinematics of Machinery (MU) 3-43 Velocity and Acceleration Analysis of Mechanisms

4 550
 5.88 = 80  4 = 40.42 rad/s.

5 I14 I45
Now, = I I
4 15 45

5 160
 40.42 = 320  5= 20.21 rad/s.

6 I15 I56

ns e
Now, = I I
5 16 56

6 180

io dg
 20.21 = 200  6= 18.18 rad/s.

Velocity of point T is VT = 6 (I16 T)

VT = 18.18 (350) = 6366.15 mm/sec. ... Ans.

Ex. 3.12.25 : Fig. P. 3.12.25 shows a mechanism in which crank OA is rotating clockwise at 10 rad/s. At this instant locate all

at le
its ICRs and hence using ICR method find out instantaneous linear velocity of slider E as well as angular
velocity of link BC. What should be the new length of link DE if at the instant shown, the required linearvelocity
of slider is 500 mm/s towards right. (Use ICR method to decide this length.
ic w
bl o n
Pu K

Fig. P. 3.12.25
ch

Soln. :
Te

Fig. P. 3.12.25
 Kinematics of Machinery (MU) 3-44 Velocity and Acceleration Analysis of Mechanisms

Part 1 :

1) Ve = V6 = 2 (I12 I26)

= 10  65 = 650 mm/sec …Ans.

4 I12 I24 75
2) = I I = 150
2 14 24

 4 = BC = 5 rad/s …Ans.

ns e
Part 2 :

New velocity of slider is,

io dg
Ve = 500 = 10  (I12 I26)

 I12 I26 = 50 mm
 New I26 will be at distance 50 mm from I12

at le
I16 I14
Locate (I46)new, (I46)new < I (I )
24 26 new

Join QD and extend upto line of stroke of slider E, we get point E i.e. (I56)new. The new length of link DE is DE = 95 mm.
ic w
Ex. 3.12.26 : Fig. P. 3.12.26 shows a mechanism in which crank OA is rotating clockwise at 240 rpm. At the instant shown,
locate all ICRs for the mechanism and find out the velocity of slider E as well as the angular velocity of link BC
using ICR method.
bl o n
Pu K
ch

Fig. P. 3.12.26

Soln. :
From Fig. P. 3.12.26
Te

(I12 I26) = 0,

(I12 I24) = 0
 VE = V6
= 2 (I12 I26)

= 2 mm/sec …Ans.

I12 I24
= I I =0
14 24

 4 = BC = 0 rad/s. …Ans.

 Kinematics of Machinery (MU) 3-45 Velocity and Acceleration Analysis of Mechanisms

ns e
io dg
at le
ic w
bl o n
Pu K
ch

Fig. P. 3.12.26(a)

Ex. 3.12.27 : A horizontal link AB is 20 cm long. The direction of VA is at 330 from positive X direction and that of VB is at 60
from positive X direction. If VB is 80 cm/sec, find VA.
Soln. :
Te

1. First method : By Relative velocity

Fig. P. 3.12.27
 Kinematics of Machinery (MU) 3-46 Velocity and Acceleration Analysis of Mechanisms

First draw the position of link AB horizontal, then draw the direction of VA and VB as per given angular position as
shown in configuration diagram Fig. P. 3.12.27(a).
Velocity diagram :

(i) Fig. P. 3.12.27(b) shows velocity diagram, let ‘O’ represent the zero velocity point in velocity diagram.

Draw ob = 80 cm/sec along direction of VB by suitable scale.
 

ns e
(ii) Draw second vector oa along the direction of VA and draw vector ba perpendicular to link AB from point b (i.e.

vertically). These two vectors intersect at point a. Vector ba represent velocity of link AB from velocity diagram,

io dg
From velocity diagram,

VA = oa = 50 cm/sec …Ans.

also VBA = ba = BA  BA
 96 = BA  20

2.

at le  BA = 4.8 cm/sec

Second method : By Instantaneous centre method :
…Ans.
ic w
First draw the position of link AB horizontal, then draw the direction of VA and VB as per given angular position as
shown in Fig. P. 3.12.27(c).
Instantaneous centre method :
bl o
(i) Draw two lines perpendicular to VA and VB. Both lines will intersect at point I. Which is called instantaneous centre of
rotation of link AB.
n
Pu K
ch

Fig. P. 3.12.27

(ii) Measure distance IA and IB

Te

 IA = 10.5 cm and IB = 17 cm
Now, VA = BA  IA …(i)
VB = BA  IB …(ii)
Dividing Equation (i) by Equation (ii)
VA BA  IA IA 10.5
 V = =  VA = 80  17 = 49.41
B BA  IB IB
 VA  50 cm/sec …Ans.
Put this value in Equation (i) we get
50 = BA  10.5
 BA = 4.76 cm/sec …Ans.
 Kinematics of Machinery (MU) 3-47 Velocity and Acceleration Analysis of Mechanisms

3.17 Outline Procedure of Drawing the Acceleration Diagram of

a Mechanism

Ex. 3.17.9 : The dimensions of the differential stroke engine mechanism are shown in Fig. P. 3.17.9(a).OA = 90 mm,
QB = 42 mm, AC = BC = 180 mm, CP = 120 mm OA and QB are geared together so that QB turns at twice the
speed of OA and in opposite direction of OA. Find for the given configuration, velocity, acceleration of piston
and angular velocity, angular acceleration of CP if OA turns with a speed of 720 rpm in clockwise direction.

ns e
io dg
at le
ic w
bl o
Fig. P. 3.17.9(a)
n

Soln. :
Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in
Pu K

Fig. P. 3.17.9(a).
Step 2 : Calculate velocity of input link.
Speed of gear OA is,
ch

NAO = 720 rpm

 Angular velocity of gear OA is,
2  NAO 2   720
 AO = 60 = 60 = 75.39 rad/sec
Te

 Velocity of gear OA is, VAO = AO  AO = 75.39  90 = 6785.1 mm/sec

Since gear QB turns twice the speed of gear OA, therefore
BQ = 2 AO = 2  75.39 = 150.78 rad/sec
and velocity of gear BQ is, VBQ = BQ  BQ = 150.78  42 = 6332.76 mm/sec
Step 3 : Draw velocity diagram for the given mechanism by relative velocity method.
Velocity diagram :

(1) Draw a line from pole ‘o’ a vector oa to represent VAO = 6785.1 mm/sec in the direction of rotation and perpendicular
to link OA.

(2) Draw a line from pole ‘q’ a vector qb to represent VBQ = 6332.76 mm/sec in the direction of rotation and perpendicular
to link QB.
 Kinematics of Machinery (MU) 3-48 Velocity and Acceleration Analysis of Mechanisms

(3) Draw a line from point ‘a’, to represent VCA in the direction perpendicular to link AC, magnitude is not known. Draw
another line from point ‘b’, to represent VCB in the direction perpendicular to link BC, magnitude is not known.
Intersection of these lines will locate point ‘c’.
(4) Draw a line from point ‘c’, to represent VPC in the direction perpendicular to link PC, magnitude is not known. Draw
another line from pole ‘o’, to represent VP in the direction of line of reciprocation of slider P, magnitude is not known.
Intersection of these lines will locate point p.

ns e
io dg
at le
ic w
Fig. P. 3.17.9
bl o
Step 4 : Find out the velocity of various links by measurement of respective vectors from the velocity diagram.
n

By measurement :

Velocity of slider P is, VP = op = 700 mm/sec …Ans.
Pu K

Step 5 : Draw the acceleration diagram for a given mechanism by a relative acceleration method.
Acceleration diagram :
ch

The centripetal and tangential component acceleration of various links are calculated and shown in the Table P. 3.17.9.
Table P. 3.17.9
t
Link Length Velocity (m/sec) from c v2 f =  · length (m/sec2)
f = length (m/sec2)
m velocity diagram
OA 0.090 6.7851 511.528 Zero, since link rotates at uniform angular
Te

speed.
BQ 0.042 6.3327 954.853 Zero, since link rotates at uniform angular
speed.
AC 0.18 12 800 Magnitude is not known, direction
perpendicular to link AC.
CB 0.18 2.2 8.240 Magnitude is not known direction
perpendicular to link CB.
CP 0.12 6.8 385.33 Magnitude is not known direction
perpendicular to link CP.
Slider  0.7 Zero since straight Magnitude is not known but act in vertical
P line motion direction.
 Kinematics of Machinery (MU) 3-49 Velocity and Acceleration Analysis of Mechanisms

 c
(1) Draw a line from pole ‘o’, a vector oa to represent fAO = 511.528 m/sec2 in the direction parallel to link OA by some
t
suitable scale. It also represents total acceleration fAO since tangential component of acceleration fAO is zero.
 c
(2) Draw a line from pole ‘q’, a vector qb to represent fBQ = 954.853 m/sec2 in the direction parallel to link BQ by same
t
suitable scale. It also represents total acceleration fBQ. Since tangential component of acceleration fBQ is zero.

(3) Draw a line from point ‘a’, a vector ac to represent fCA = 800 m/sec2 in the direction parallel to link AC.
c

ns e

(4) Draw a line from point ‘b’, a vector bc to represent fCB = 8.240 m/sec2 in the direction parallel to link BC.
c

io dg
(5) Draw a line from point c, to represent fCA in the direction perpendicular to link AC, magnitude is not known. Draw an
t

other line from c, to represent fCB in the direction perpendicular to link BC, magnitude is not known. Intersection of
t

these lines will locate point ‘c’.


(6) Join ac, it represent total acceleration of link AC i.e. fCA.

at le

(7) Join bc, it represent total acceleration of link BC i.e. fCB.

(8) Draw a line from ‘c’, a vector cp to represent fPC = 385.33 m/sec2 in the direction parallel to link CP.
c
ic w
c
(9) Draw a line from ‘p’, to represent fPC in the direction perpendicular to link CP, magnitude is not known. Draw a line
from pole ‘o’, to represent fP in vertical direction i.e. along the line of reciprocation of slider P. Intersection of these
bl o
lines will locate point p.
(10) Join CP, it represent total acceleration of link CP i.e. fPC.
n

Step 6 : Find out the acceleration a various links by measurement of respective vectors from the acceleration diagram.
By measurement :
Pu K


Acceleration of piston P is, fP = op = 840 m/sec2 …Ans.
t –
fPC p p 480
Angular acceleration of link CP is, PC = PC = PC = 120
ch

= 4000 rad/sec2 (anticlockwise about C) …Ans.


VCP pc 6800
CP = CP = PC = 120
Te

= 56.66 rad/sec (anticlockwise about P) …Ans.

Ex. 3.17.10 : In the mechanism shown in Fig. P. 3.17.10(a), the slider E is constrained to move along the horizontal path. If
the link OA rotates at 60 rpm in the anticlockwise direction, find for the position shown
(i) Velocity and acceleration of point E.
(ii) Velocity and acceleration of point D.
(iii) The angular velocity and angular acceleration of link BDE.
Soln. :
Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in
Fig. P. 3.17.10(a).
 Kinematics of Machinery (MU) 3-50 Velocity and Acceleration Analysis of Mechanisms

ns e
io dg
Fig. P. 3.17.10

at le
ic w
bl o n
Pu K

Fig. P. 3.17.10
ch

Step 2 : Calculate velocity of input link.

Speed of link OA is, NAO = 60 rpm
2  NAO 2   60
 Angular velocity of link AO is, AO = 60 = 60 = 6.28 rad/sec

 Velocity of link AO is, VAO = AO  AO VAO = 6.28  180 = 1130.4 m/sec
Te

Step 3 : Draw velocity diagram for the given mechanism by relative velocity method.
Velocity diagram :

(1) Draw a line from pole ‘o’, a vector oa to represent VAO = 1130.4 mm/sec in the direction of rotation and perpendicular
to link OA.
(2) Draw a line from pole ‘c’, to represent VBC in the direction perpendicular to link BC, magnitude is not known. Draw
another line from point ‘a’, to represent VBA in the direction perpendicular to link BA, magnitude is not known.
Intersection of these lines will locate point ‘b’.
(3) Draw a line from point ‘b’, to represent VEB in the direction perpendicular to link BE, magnitude is not known. Draw
another line from pole ‘o’, to represent VE in the direction of line of reciprocation of slider E, magnitude is not known
Intersection of these lines will locate point ‘e’.
 Kinematics of Machinery (MU) 3-51 Velocity and Acceleration Analysis of Mechanisms

(4) Draw a line from point ‘b’, to represent VDB in the direction perpendicular to link BD, magnitude is not known. Draw
another line from point ‘e’, to represent VDE in the direction perpendicular to link DE, magnitude is not known,
Intersection of these lines will locate point ‘d’.
Step 4 : Find out the velocity of various links by measurement of respective vectors from the velocity diagram.
By measurement :

Velocity of slider E is, VE = oe = 400 mm/sec …Ans.

ns e

Velocity of point D is, VD = od = 775 mm/sec …Ans.
Angular velocity of link BDE,

io dg

VBE eb 975
BDE = BE = BE = 540 = 1.80 rad/sec (clockwise about B) …Ans.

Step 5 : Draw the acceleration diagram for a given mechanism by a relative acceleration method.
Acceleration diagram :

at le
The centripetal and tangential component of acceleration of various links are calculated and shown in the
Table P. 3.17.10.
Table P. 3.17.10
ic w
t
Link Length Velocity (mm/sec) from c v2 f =  · length (mm/sec2)
f = length (mm/sec2)
mm velocity diagram
bl o
OA 180 1130.4 7098.91 Zero, since link rotates at uniform
angular speed.
AB 360 250 173.61 Magnitude is not known, direction
n

perpendicular to link AB.

BC 240 1000 4166.66 Magnitude is not known direction
Pu K

perpendicular to link BC.

BE 540 975 1760.41 Magnitude is not known direction
perpendicular to link BE.
ch

Slider E  400 Zero, since straight line motion. Magnitude is not known but act in
horizontal direction.
BD 120 275 630.20 Magnitude is not known direction
perpendicular to link BD.
Te

DE 480 825 1417.96 Magnitude is not known direction

perpendicular to link DE.
 c
(1) Draw a line from pole ‘o’, a vector oa to represent fAO = 7098.91 mm/sec2 in the direction parallel to link OA by some
t
suitable scale. It also represents total acceleration fAO since tangential component of acceleration fAO is zero.

(2) Draw a line from point ‘a’, a vector ab to represent fBA = 173.61 mm/sec2 in the direction parallel to link AB.
c


(3) Draw a line from pole ‘c’, a vector cb to represent fBC = 4166.66 mm/sec2 in the direction parallel to link BC.
c

(4) Draw a line from point b, to represent fBA in the direction perpendicular to link BA, magnitude is not known. Draw
t

another line from b, to represent fBC in the direction perpendicular to link BC, magnitude is not known. Intersection of
c

these lines will locate point ‘b’.

 Kinematics of Machinery (MU) 3-52 Velocity and Acceleration Analysis of Mechanisms


(5) Join ab, it represent total acceleration of link AB i.e. fBA.

(6) Join cb, it represent total acceleration of link BC i.e. fBC.

(7) Draw a line from point ‘b’, a vector be to represent fEB = 1760.41 mm/sec2 in the direction parallel to link EB.
c

(8) Draw a line from e, to represent fEB in the direction perpendicular to link EB, magnitude is not known. Draw a line
t

from pole ‘o’, to represent fE in horizontal direction i.e. along the line of reciprocation of slider E. Intersection of these

ns e
lines will locate point e.


io dg
(9) Join eb, it represents total acceleration of link EB, i.e. fEB.

(10) Draw a line from point ‘b’ a vector bd to represent fDB = 630.20 mm/sec2 in the direction parallel to link DB.
c


(11) Draw a line from point ‘e’ a vector ed to represent fDE = 1417.96 mm/sec2 in the direction parallel to link DE.
c

(12) Draw a line from point d, to represent fDB in the direction perpendicular to link DB, magnitude is not known. Draw a
t

at le
line from point d, to represent fDE in the direction perpendicular to link DE, magnitude is not known. Intersection of
t

these lines will locate point d.

ic w

(13) Join bd, it represent total acceleration of link BD i.e. fDB.

(14) Joint ed, it represent total acceleration of link DE i.e. fDE.
bl o
Step 6 : Find out the acceleration a various links by measurement of respective vectors from the acceleration diagram.
By measurement :
n


Acceleration of slider E is, fE = oe = 4300 mm/sec2 …Ans.

Pu K

Acceleration of point D is, fD = od = 5500 mm/sec2 …Ans.

Angular acceleration of link BDE is,
t 
fBE
ee 3300
ch

BDE = BE = BE = 540 = 6.11 rad/sec2 (anticlockwise about B) …Ans.

Ex. 3.17.11 : In the mechanism shown in Fig. P. 3.17.11(a) the crank OA rotates at 60 rpm Determine :
(i) The linear acceleration of the slider at B.
Te

(ii) The angular accelerations of the links AC, CQD and BD.
Soln. :
Step 1 : Draw the configuration diagram as per the dimensions of a given mechanism on suitable scale as shown in
Fig. P. 3.17.11(a).
Step 2 : Calculate velocity of input link.
Speed of link AO, NAO = 60 rpm
2  NAO 2   60
 AO = 60 = 60 = 6.28 rad/sec.

Velocity of link AO is, VAO = AO  AO = 6.28  0.150 = 0.942 m/sec.

Step 3 : Draw velocity diagram for the given mechanism by relative velocity method.
 Kinematics of Machinery (MU) 3-53 Velocity and Acceleration Analysis of Mechanisms

Velocity diagram :

(1) Draw a line from pole ‘o’, a vector oa to represent VAO = 0.942 m/sec in the direction of rotation and perpendicular to
link OA on some suitable scale.
(2) Draw a line from ‘a’, to represent VCA in the direction perpendicular to link CA, magnitude is not known. Draw another
line from pole ‘q’ to represent VCQ in the direction perpendicular to link QC, magnitude is not known. Intersection of
these lines will locate point c.

ns e
io dg
at le
ic w
bl o n
Pu K
ch
Te

Fig. P. 3.17.11

(3) Draw a line from ‘c’, to represent VDC in the direction perpendicular to DC, magnitude is not known. Draw another line
from pole ‘q’ to represent VDQ in the direction perpendicular to DQ, magnitude is not known. Intersection of these lines
will locate point d.
 Kinematics of Machinery (MU) 3-54 Velocity and Acceleration Analysis of Mechanisms

(4) Draw a line from ‘d’, to represent VBD in the direction perpendicular to link BD, magnitude is not known. Draw another
line from pole ‘o’ horizontally to represent VG i.e. velocity of slider G intersection of these lines will locate the point b.
Step 4 : Find out the velocity of various links by measurement of respective vectors from the velocity diagram.
By measurement :

Velocity of link AC, VAC = ac = 0.96 m/sec.

Velocity of link QC, VQC = qc = 1.04 m/sec.

ns e

Velocity of link CD, VCD = cd = 0.82 m/sec.

io dg

Velocity of link DQ, VDQ = dq = 1.04 m/sec.

Velocity of link BD, VBD = bd = 0.6 m/sec.
Step 5 : Draw the acceleration diagram for a given mechanism by a relative acceleration method.
Acceleration diagram :

at le
The centripetal and tangential component of acceleration of various links are calculated and shown in the
Table P. 3.17.11.
Table P. 3.17.11
ic w
t
Link Length Velocity (m/sec) from c v2 f =  · length (m/sec2)
f = length (m/sec2)
(mm) velocity diagram
AO 0.150 0.942 5.91 Zero, since link rotates at uniform angular
bl o
speed.
AC 0.6 0.96 1.53 Magnitude is not known, direction
n

perpendicular to link AC.

QC 0.145 1.04 7.45 Magnitude is not known, direction
Pu K

perpendicular to link QC.

CD 0.125 0.82 5.37 Magnitude is not known, direction
perpendicular to link CD.
ch

DQ 0.145 1.04 7.45 Magnitude is not known, direction

perpendicular to link DQ.
BD 0.5 0.6 0.72 Magnitude is not known, direction
perpendicular to link BD.
Te

Slider G   Zero, since straight line Magnitude is not known, but acts
motion horizontal direction.
 C
(1) Draw a line from pole o, a vector oa to represent fAO = 5.91 m/sec2 in the direction parallel to link AO by some suitable
t
scale. It also represents total acceleration fAO, since tangential component fAO is zero.

(2) Draw a line from point ‘a’, a vector ac to represent fCA = 1.53 m/sec2 in the direction parallel to link CA.
C

(3) Draw a line from point c, to represent fCA in the direction perpendicular to link CA, magnitude is not known.
t


(4) Draw a line from pole ‘q’, a vector qc to represent fCQ = 7.45 m/sec2 in the direction parallel to link CQ.
C

(5) Draw a line from c, to represent fCA in the direction perpendicular to link CQ, magnitude is not known. Intersection of
t

t t
fCQ and fCQ will locate point ‘c’.
 Kinematics of Machinery (MU) 3-55 Velocity and Acceleration Analysis of Mechanisms


(6) Join ac, it represents total acceleration of link CA i.e. fCA.

(7) Join qc, it represents total acceleration of link CQ i.e. fCQ.

(8) Draw a line from ‘c’, a vector cd to represent fDC = 5.37 m/sec2 in the direction parallel to link DC.
c

(9) Draw a line from point d, to represent fDC in the direction perpendicular to link DC, magnitude is not known.
t

ns e
(10) Draw a line from pole ‘q’, a vector qd to represent fDQ = 7.45 m/sec2 in the direction parallel to link DQ.
c

(11) Draw a line from d, to represent fDQ in the direction perpendicular to link DQ, magnitude is not known. Intersection of
t

io dg
t t
fDC and fDQ will locate point ‘d’.

(12) Join cd, it represents total acceleration of link DC i.e. fDC.

(13) Joint qd, it represents total acceleration of link DQ i.e. fDQ.

at le

(14) Draw a line from point ‘d’, a vector db to represent fBD = 0.72 m/sec2 in the direction parallel to link BD.
c

(15) Draw a line from point b, to represent fBD in the direction perpendicular to link BD, magnitude is not known. Draw
t
ic w
another line from pole ‘O’ horizontally, to represents fG i.e. acceleration of slider G. Intersection of these lines will
locate the point b.
Step 6 : Find out the acceleration a various links by measurement of respective vectors from the acceleration diagram.
bl o
By measurement :

Linear acceleration of slider G at B is, FG = ob = 8.40 m/sec2 …Ans.
n

t
FCA
cc 14.2
Angular acceleration of link AC is, AC = AC = AC = 0.6 = 23.66 rad/sec
2
(anticlockwise about A) …Ans.
Pu K

t 
fCQ
cc 4.5
Angular acceleration of link CQD is, CQD = CQ = CQ = 0.145 = 31.03 rad/sec2 (anticlockwise about Q) …Ans.
ch

t 
fBD
bb 3.2
Angular acceleration of link BD is, BD = BD = BD = 0.5 = 6.4 rad/sec2 (clockwise about D) …Ans.

Ex. 3.17.12 : Fig. P. 3.17.12 Shows a crossed bar linkage. If link OA rotates at 1 rad/s anticlockwise, find instantaneous
velocities and acceleration of points P and Q.
Te

Fig. P. 3.17.12
 Kinematics of Machinery (MU) 3-56 Velocity and Acceleration Analysis of Mechanisms

Soln. :

ns e
io dg
Fig. P. 3.17.12

From velocity diagram, Vp = 400 mm/s …Ans.

Vq = 340 mm/s …Ans.

at le
From acceleration diagram, fq = 595 mm/sec2 …Ans.
2
fp = 540 mm/sec …Ans.
ic w
Ex. 3.17.13 : For a stone crusher mechanism as shown in Fig. P. 3.17.13, determine the angular velocity of link 5 and 6.
Also determine the velocity and acceleration of point “P” in link 6. Assume crank 2 is rotating at constant speed
of 100 rpm anticlockwise. Use relative velocity and relative acceleration method.
bl o n
Pu K
ch
Te

Fig. P. 3.17.13

Soln. :
From velocity diagram :
5 = CD = 1.25 rad/sec
6 = 0.41 rad/sec
p = 0.144 m/s …Ans.
 Kinematics of Machinery (MU) 3-57 Velocity and Acceleration Analysis of Mechanisms

From acceleration diagram :

fp = 0.984 m/s2 …Ans.

ns e
io dg
at le
ic w
bl o
Fig. P. 3.17.13
n

Ex. 3.17.14 : The dimensions of the differential stroke engine mechanism are shown in Fig. P. 3.17.14 and other are
OA = 75 mm, QB = 35 mm, AC = BC = 150 mm, CP = 100 mm, OA and QB are geared together so that QB
turns at twice the speed of OA and in opposite direction of OA. For the given configuration, find velocity,
Pu K

acceleration of piston and angular velocity, angular acceleration of CP if OA turns with a speed of 700 rpm in
clockwise direction.
ch
Te

Fig. P. 3.17.14
 Kinematics of Machinery (MU) 3-58 Velocity and Acceleration Analysis of Mechanisms

Soln. :

ns e
io dg
at le (a) Velocity polygon
Fig. P. 3.17.14
(b) Acceleration polygon
ic w
From velocity diagram,
Vp = 1500 mm/sec. ...Ans.
pc = 58 rad/sec. ...Ans.
bl o
From Acceleration diagram,
fp = 730 m/sec2 ...Ans.
n

pc = 1400 rad/sec2 ...Ans.

Pu K

Ex. 3.17.15 : Fig. P. 3.17.15 shows a mechanism in which crank OA is rotating anticlockwise at 20 rad/s. At the instant
shown, find out the velocity and acceleration of sliders B and D as well as the angular acceleration of link AB
using relative method (polygon method). (Use scale 1 mm = 10 mm/s for the velocity polygon and
2
ch

1 mm = 200 mm/s for the acceleration polygon).

Te

Fig. P. 3.17.15
 Kinematics of Machinery (MU) 3-59 Velocity and Acceleration Analysis of Mechanisms

Soln. :

ns e
io dg
at le
ic w
(a) Velocity diagram
Fig. P. 3.17.15


bl o
From velocity diagram, VB = ob = 800 mm/sec

VD = od = 730 mm/sec
n

From acceleration diagram,

c
Since fBA is too small so its vector not appears in acceleration diagram.
Pu K


fB = ob = 9200 mm/sec2

fD = od = 42000 mm/sec2
ch

t 
f AB ob
AB = AB = AB = 222.22 rad/sec2 (clockwise @ B)

Ex. 3.17.16 : In the mechanism shown in Fig. P. 3.17.16, determine the acceleration of the slider C. O1A = 100 mm,
Te

AB = 105 mm, O2B = 150 mm and BC = 300 mm. Crank O1A rotates at 180 rpm. Use relative method of finding
velocity and acceleration.

Fig. P. 3.17.16
 Kinematics of Machinery (MU) 3-60 Velocity and Acceleration Analysis of Mechanisms

Soln. :

ns e
io dg
at le
Fig. P. 3.17.16

2  180
o1A = 60 = 18.84 rad/sec
ic w
Vo1A = 0.100  18.84 = 1.8 m/sec

From velocity diagram,

Vc = 0.25 m/sec ...Ans.
bl o
From acceleration diagram,
fc = 60 m/sec ...Ans.
n

Ex. 3.17.17 : In a mechanism as shown in Fig. P. 3.17.17, link AB rotates clockwise at a speed of 240 r.p.m. At the instant
shown, find velocity and acceleration of slider C as well as those of slider E. Link lengths are, AB = 50 mm,
Pu K

BC = 120 mm, BD = DC = 60 mm and DE = 80 mm.

ch
Te

Fig. P. 3.17.17
 Kinematics of Machinery (MU) 3-61 Velocity and Acceleration Analysis of Mechanisms

Soln. :

ns e
io dg
Fig. P. 3.17.17

2  240
BA = = 25.13 rad/sec.

at le
60
VBA = 0.05  25.13 = 1.25 m/sec.
Form velocity diagram,
ic w
Vc = 1.15 m/sec ...Ans.
VE = 0.15 m/sec ...Ans.
From acceleration diagram,
bl o
fc = 22 m/sec ...Ans.
fE = 33 m/sec ...Ans.
n

Ex. 3.17.18 : In the Toggle mechanism shown in Fig. P. 3.17.18, the slider D is constrained to move on a Horizontal path.
The crank OA is rotating in the counter clockwise direction at a speed of 180 r.p.m increasing at the rate of
Pu K

2
50 rad/s . The dimensions of the various links are as follows : OA = 180 mm, CB = 240 mm, AB = 360 mm and
BD = 540 mm.
For the given configuration,
ch

Find :
(i) Velocity of slider D
(ii) Angular velocity of BD, AB, CB.
(iii) Acceleration of slider D
Te

(iv) Angular acceleration of BD.

Fig. P. 3.17.18
 Kinematics of Machinery (MU) 3-62 Velocity and Acceleration Analysis of Mechanisms

Soln. :

ns e
io dg
(a) Velocity Diagram
Fig. P. 3.17.18

NOA = 180 rpm

2   180

at le
AO = 60 = 18.85 r/s

VAO = AO  OA = 18.85  180 = 3393 mm/s = 3.393 m/s

1. Velocity of slider : VD = Od  scale = 4.1  0.5 = 2.05 m/s …Ans.
ic w
VBA ab  scale 1.8  0.5
2. Angular velocity of BD, AB, CB. AB = AB = AB = 0.36 = 2.5 r/s …Ans.

VBC 5.6  0.5

bl o
CB = CB = 0.24 = 11.6667 r/s …Ans.

4.8  0.5
BD = 0.54 = 4.4444 r/s …Ans.
n


3. Acceleration of slider D, fD = dO = 13.3 m/s2
Pu K

t
___
fBD dd 38.5
4. Angular acceleration of BD, BD = BD = BD = 0.54 = 71.3 rad/s2 (clockwise)
ch
Te

(b)
Fig. P. 3.17.18
 Kinematics of Machinery (MU) 3-63 Velocity and Acceleration Analysis of Mechanisms

Ex. 3.17.19 : Crank OA of a compound slider crank mechanism, as shown in Fig. P. 3.17.19, rotates at 20 r.p.m.
anticlockwise and gives motion to sliding blocks B and D. The dimensions of various links are OA = 300 mm,
AB = 1200 mm, BC = 450 mm and CD = 450 mm. Determine the linear acceleration of block D.

ns e
io dg
Fig. P. 3.17.19

Soln. :

at le
ic w
bl o n
Pu K

Fig. P. 3.17.19

From acceleration diagram,

ch

Acceleration of block D = 1 m/sec2 …Ans.

Ex. 3.17.20 : For the mechanism shown in Fig. P. 3.17.20, the various
dimensions are :

OA = 50 mm, AB = 200 mm,

Te

QC = QB = 110 mm and CD = 100 mm.

The crank OA rotates uniformly at 50 rad/sec. Clockwise

For the configuration shown in the figure, find :

(a) Velocity and acceleration of slider D.

(b) Angular acceleration of link DC.

(c) Angular velocity and angular acceleration of

link BQC.

Use Relative velocity and Relative acceleration method.

Fig. P. 3.17.20
 Kinematics of Machinery (MU) 3-64 Velocity and Acceleration Analysis of Mechanisms

Soln. :

ns e
io dg
at le
ic w
Fig. P. 3.17.20
bl o
VAO = AO  AO = 50  0.05 = 2.5 m/sec

From velocity diagram,

n


Velocity of slider D, VD = od = 2.5 m/sec ...Ans.
Pu K

Angular velocity of link BQC,


VBQC VBQ VQC
qb 2.5
BQC = BQC or BQ or QC = QB = 0.055 = 45.45 rad/sec …Ans.
ch

From Acceleration diagram,

C C
Since value of fBA and fDC is too small so its vector not appear in acceleration diagram,

Acceleration of slider D, fD = od = 42.5 m/sec2. ...Ans.
Te

Angular acceleration of DC,

t
fDCdc 112.5
DC = DC = DC = 0.1 = 1125 rad/sec2 ...Ans.

Angular acceleration of link BQC,

t 
fBQ bb 25
BQC = BQ = BQ = 0.055 = 454.54 rad/sec2 …Ans.

3.18 Coriolis Component of Acceleration

Ex. 3.18.14 : Fig. P. 3.18.14 shows a mechanism in which crank OA is rotating clockwise at 20 rad/s. Determine the angular
velocity and angular acceleration of link BC and DE at the instant shown.
 Kinematics of Machinery (MU) 3-65 Velocity and Acceleration Analysis of Mechanisms

ns e
io dg
at le
Soln. :
Fig. P. 3.18.14
ic w
From acceleration diagram,
BC = 8.2 rad/sec (clockwise) …Ans.
DE = 22.85 rad/sec (clockwise) …Ans.
bl o
BC = 22.95 rad/sec (clockwise)
2
…Ans.
DE = 344.82 rad/sec (anticlockwise)
2
…Ans.
n
Pu K
ch
Te

Fig. P. 3.18.14

Ex. 3.18.15 : The kinematic diagram of one of the cylinders of a rotary engine is shown in Fig. P. 3.18.15. The crank OA
which is vertical and fixed, is 50 mm long. The length of the connecting rod is 125 mm. The line of the stroke
OB is inclined at 50 to the vertical. The cylinders are rotating at a uniform speed of 300 rpm in a clockwise
direction, about the fixed centre O. Determine :
(1) Acceleration of the piston inside the cylinder
(2) Angular acceleration of the connecting rod. MU : Dec. 13, 12 Marks
 Kinematics of Machinery (MU) 3-66 Velocity and Acceleration Analysis of Mechanisms

ns e
io dg
at le
Fig. P. 3.18.15
(All dimensions are in mm)

Soln. :
ic w
Given : AB = 125 mm = 0.125 m
NCO = 300 rpm
CO = 2   300 / 60 = 31.4 rad/s
bl o n
Pu K
ch
Te

(a) Velocity diagram (b) Acceleration diagram

Fig. P. 3.18.15

VCO = OC  CO = 31.4  0.85 = 2.7 m/s

VBC = Vector cb = 0.85 m/s
VBA = Vector ab = 2.85 m/s
2
VCO
r (2.7)2
aCO = OC = 0.085 = 85.76 m/s2
CC
fBC = 2 CO  VBC = 2  31.4  0.85 = 53.4 m/s2
2
VBA
C (2.85)2
fBA = AB = 0.125 = 65 m/s2
 Kinematics of Machinery (MU) 3-67 Velocity and Acceleration Analysis of Mechanisms
C
fCO = 85.76 m/s2

fBC = vector c b = 73.2 m/s2 …Ans.

t
fBA = vector y b = 37.6 m/s2 …Ans.

Ex. 3.18.16 : Fig. P. 3.18.16 shows a mechanism in which crank OA is rotating anticlockwise at 10 rad/sec. DE is an
oscillating lever pivoted at D and it passes through cylinder pivoted to crank OA at point A. The coupler CF
drives slider F as shown. For the instant shown, using Polygon method, find out :

ns e
(i) Angular acceleration of lever DE.
(ii) Acceleration of slider F.

io dg
2
(Use scale 1 mm = 3 mm/s for velocity polygon and 1 mm = 30 mm/s for acceleration polygon).

at le
ic w
bl o n
Pu K

Fig. P. 3.18.16
ch

Soln. :
Te

(a) Velocity polygon (b) Acceleration polygon (c) : Direction of coriolis component
Fig. P. 3.18.16
 Kinematics of Machinery (MU) 3-68 Velocity and Acceleration Analysis of Mechanisms

From acceleration diagram,

(i) DE = 84 rad/sec2 …Ans.
(ii) fF = 3640 mm/sec2 …Ans.

Ex. 3.18.17 : Fig. P. 3.18.17 shows a mechanism in which crank OA is rotating clockwise at 30 rad/s. Cylinder pivoted at A
slides along rod BP. Link PBC is a rigid bell crank lever pivoted at B. Branch BC of the lever is connected to
piston D via connecting rod CD. At the instant shown the piston D is moving towards right with the velocity 240

ns e
mm/s. Find out :
(i) Length of link DC.

io dg
(ii) Instantaneous acceleration of piston D.
(iii) Instantaneous angular acceleration of bell crank lever.

at le
ic w
bl o n
Pu K

Fig. P. 3.18.17
ch

Soln. :
Te

Fig. P. 3.18.17
 Kinematics of Machinery (MU) 3-69 Velocity and Acceleration Analysis of Mechanisms

ns e
io dg
Fig. P. 3.18.17

at le
From acceleration diagram,
Acceleration of piston, fD = 35172 mm/sec2. …Ans.
Angular acceleration of bell crank lever,  = 788.5 rad/sec2. …Ans.
ic w
Ex. 3.18.18 : Fig. P. 3.18.18 shows a Scotch-Yoke mechanism. At the instant, shown in Fig. P. 3.18.18, the crank OP has an
2
angular velocity of 10 rad/sec. and angular acceleration of 30 rad/sec . Determine the acceleration of slider ‘P’
bl o
in the guide and the horizontal acceleration of the guide. Use relative velocity and relative acceleration method
n
Pu K
ch

Fig. P. 3.18.18

Soln. :
Te

(a) Velocity diagram (b) Acceleration diagram

Fig. P. 3.18.18
 Kinematics of Machinery (MU) 3-70 Velocity and Acceleration Analysis of Mechanisms

Since slotted lever (Guide) has no angular

Velocity, therefore coriolis component of PQ,
fcc = zero
From Acceleration diagram,
Acceleration of piston is,
–––
fp = p1 q1 = 4.75 m/sec2 ...Ans.

ns e
Horizontal Acceleration of guide is,
––– 2
fc = o1 c1 = 20.5 m/sec ...Ans.

io dg
Ex. 3.18.19 : The Fig. P. 3.18.19 shows a mechanism in which crank OA is rotating clockwise at 10 rad/s. Slider pivoted at A
slides along the rod BC. Link BCD is a rigid bell crank lever pivoted at C. At the instant shown, determine :
(i) Acceleration of point D
(ii) Instantaneous angular acceleration of bell crank lever BCD.

at le
ic w
bl o
Fig. P. 3.18.19
n

Soln. :
Pu K
ch

(a) Configuration diagram

Te

(b) Velocity diagram (c) Direction of coriolis component (d) Acceleration diagram
Fig. P. 3.18.19
 Kinematics of Machinery (MU) 3-71 Velocity and Acceleration Analysis of Mechanisms


From Acceleration diagram, fD = dc = 650 mm/sec2 ...Ans.
t 
f a1a
A1C
BCD = A C = A C = 7.33 rad/sec2 ...Ans.
1 1

Ex. 3.18.20 : The Fig. P. 3.18.20 shows a mechanism in which crank OA is rotating clockwise at 10 rad/s. At the instant
shown, the coupler AC is horizontal and freely slides in a slotted trunnion B. The slotted trunnion is carried on

ns e
the second link EF which is freely slides vertically in the guides. Hence determine :
(i) linear velocity and acceleration of link EF.

io dg
(ii) angular velocity and angular acceleration of the trunnion.

at le
ic w
bl o n
Pu K
ch

Fig. P. 3.18.20

Soln. :
Te

Fig. P. 3.18.20
 Kinematics of Machinery (MU) 3-72 Velocity and Acceleration Analysis of Mechanisms

From velocity diagram, VEF = 0 mm/sec ...Ans.


From Acceleration diagram, fEF = db = 750 mm/sec2 ...Ans.

Ex. 3.18.21 : Fig. P. 3.18.21 shows a mechanism in which crank AP is rotating clockwise at 20 rad/s. At the instant shown
determine angular acceleration of 90 bell crank lever COD.
2
If the instantaneous linear acceleration of piston E is 15000 mm/ s towards left, find out the length of link DE.

ns e
io dg
at le Fig. P. 3.18.21
ic w
Soln. :
bl o n
Pu K
ch

Fig. P. 3.18.21
Te

Fig. P. 3.18.21

COD = 352 mm/sec2 …Ans.

(VDE )2
Length of link DE = c = 18.5 mm …Ans.
fDE
 Kinematics of Machinery (MU) 3-73 Velocity and Acceleration Analysis of Mechanisms

Ex. 3.18.22 : Fig. P. 3.18.22 shows a quick return mechanism used in reciprocating machine tools. Dimensions of various
links are, OP = 85 mm, CR = 75 mm, RS = 405 mm, OC = 150 mm.
The crank OP rotates at 18 rad/sec counter clockwise uniformly. For the given configuration, determine
(a) Velocity and acceleration of slider S.
(b) Angular acceleration of link RS.
[Find the required quantities in magnitude and directions]

ns e
io dg
at le
ic w
Fig. P. 3.18.22
bl o
Soln. :
n
Pu K
ch
Te

Fig. P. 3.18.22
 Kinematics of Machinery (MU) 3-74 Velocity and Acceleration Analysis of Mechanisms

From velocity diagram,

Velocity of slider S, VS = 0.3 m/sec ...Ans.
From acceleration diagram,
Acceleration of slider S,
fS = 5.5 m/sec2 ...Ans.
Angular acceleration of link RS,

ns e
t
fRS 3
RS = RS = 0.405 = 7.40 rad/sec2 ...Ans.

io dg
Ex. 3.18.23 : End A of a bar AB moves along a vertical path AD. The bar passes through a swivel bearing pivoted at point E.
Which is 40 cm from the vertical AD. At the instant when the bar is 30 from horizontal, the end A is moving
vertically at 3 m/sec. Such that the inclination of AB with horizontal decreases. This velocity of the end A
decreases at the rate 1500 m/s per minute uniformly.
Draw the velocity and acceleration diagrams and find :

at le
(i) Relative velocity between the bar and swivel.
(ii) Sliding acceleration of the bar w.r.t. swivel.
(iii) Angular velocity of the bar.
ic w
(iv) Angular acceleration of the bar.
bl o n
Pu K

Fig. P. 3.18.23
ch

Soln. :
Te

Fig. P. 3.18.23
 Kinematics of Machinery (MU) 3-75 Velocity and Acceleration Analysis of Mechanisms

ns e
io dg
at le
From configuration diagram,
Fig. P. 3.18.23
ic w
AC = 0.48 m
From velocity diagram,
S
Relative velocity between bar and swivel joint, VCE = 2 m/sec ...Ans.
bl o

VCA ca 2.5
Angular velocity of Bar, CA = CA = CA = 0.48 = 5.20 rad/sec ...Ans.
n

From acceleration diagram,

Sliding acceleration of the bar w.r.t. swivel,
Pu K

C
fCE = 2.5 m/sec2 ...Ans.
t 
fCA cc 42
ch

Angular acceleration of the bar, CA = CA = CA = 0.48 = 87.5 rad/sec2 …Ans.

‰‰‰
Te
 4
Module - 4
CAM MECHANISMS

ns e
io dg
Syllabus

4.1 Cam and its Classification based on shape, follower movement, and manner of constraint of
follower; Followers and its Classification based on shape, movement, and location of line of

at le
movement; Cam and follower terminology
4.2 Motions of the follower: SHM, Constant acceleration and deceleration (parabolic), Constant
velocity, Cycloidal; Introduction to cam profiles (No problems on this point)
ic w
4.10 Determination of Cam Profile for a given Follower Motions
bl o
Ex. 4.10.7 : Draw the profile of a cam operating a knife edge follower from the following data :
(i) Follower to move outward through a distance of 20 mm during = 120.
n

(ii) Follower to dwell for the next = 60.

(iii) Follower to return to its initial position during = 90
Pu K

(iv) Follower to dwell for the remaining 90 of cam rotation.

The cam is rotating clockwise at a uniform speed of 500 rpm.
The minimum radius of the cam is 40 mm and the line of stroke of the follower is offset 15 mm from the axis of
ch

the cam and displacement of the follower is to take place with uniform and equal acceleration and retardation
both the inward and return stroke.
Determine :
(i) The maximum acceleration during outward and return stroke.
Soln. : Given :
Te

N = 500 rpm ,
3
S = 20 mm = 20  10 m,
0 = 2.094 ,
R = 1.5707
2N rad
 = 60 = 52.35 s

Please refer Fig. P. 4.10.7.

The maximum acceleration of follower during outstroke

3
42 S 4  (52.35)2  20  10 rad
a0 = = = 50
20 (2.094) 2
s2
 Kinematics of Machinery (MU) 4-2 CAM Mechanisms

ns e
io dg
at le
ic w
bl o n
Pu K
ch

Fig. P. 4.10.7
3
42 S 4  (52.35)2  20  10
aR = = = 88.86 rad/sec …Ans.
R2 (1.5707)2
Te

Ex. 4.10.8 : The following data relate to a cam profile which operates a roller follower rising with SHM motion and lowering
with uniform-acceleration retardation.
Minimum radius of cam : 30 mm
Radius of roller : 10 mm
Lift of follower : 45 mm
Offset of follower axis : 12 mm towards left
Angle of ascent : 70
Angle of descent : 120
Angle of dwell in highest position of follower : 45
Speed of cam : 200 rpm
Draw the profile of the cam and determine the maximum velocity and acceleration during the left and return of
follower.Also comment on where this cam profile can be used.
 Kinematics of Machinery (MU) 4-3 CAM Mechanisms

Soln. :
Given : rb = 30 mm , rr = 10 mm , S = 45 mm,
E = 12 mm 0 = 70 , r = 120 ,
2 N
d = 45 , N = 200 rpm  = 60 = 20.94 rad/sec
Maximum velocity of follower during lift is,
 S  45
v0 (max) = =  2  (20.94)
0 2 ⎛  ⎞

ns e
⎝70  180⎠
v0 (max) = 1211.52 mm/sec

io dg
Maximum acceleration of follower during lift is,
2 S 2  45
f0 (max) =  2 2
 =  2  (20.94)2
0 ⎛70  ⎞
⎝ 180⎠
f0 (max) = 65235.62 mm/s2

at le
ic w
bl o

Fig. P. 4.10.8(a)
n
Pu K
ch
Te

Fig. P. 4.10.8(b)
 Kinematics of Machinery (MU) 4-4 CAM Mechanisms

Ex. 4.10.9 : The following data refers a cam profile used to lift a knife edge follower through 25 mm. The follower gets lifted
to its maximum position for 60 of cam rotation. Then it remains in lifted position for next 45 of cam rotation and
retains its original position during next 75 of cam rotation. Follower is required to be lifted with uniform
acceleration whereas during return, it is expected to follow simple Harmonic Motion. Draw the cam profile and
find :
i) Maximum velocity during lift of follower
ii) Maximum acceleration during return of follower if minimum radius of cam is 30 mm, and follower axis is

ns e
eccentric by 6 mm towards right and cam is rotating uniformly with 250 rpm.
Soln. : Max velocity during lift of follower
25 

io dg
2  25  26.18
V0 = =
0 60  /180
(V0)max = 1250 mm/sec
Max acceleration during return of follower
 2 S  2 25

at le
2  = + (75  /180)2 2  (26.18)
2 2
fr = +
2r

(fr)max = + 49348.25 mm/sec2
ic w
bl o n
Pu K
ch
Te

Fig. P. 4.10.9(b)
 Kinematics of Machinery (MU) 4-5 CAM Mechanisms

Ex. 4.10.10 : A cam operate a flat faced follower which moves with cycloidal motion during ascent and descent :
The minimum radius of cam = 30 mm
Lift of follower = 40 mm
Angle of ascent = 120
Angle of dwell = 60
Angle of descent = 90

ns e
Speed of cam = 320 r.p.m.
Draw the cam profile and find the maximum velocity and acceleration of the follower during ascent and descent.

io dg
Soln. : For cam profile : Refer P. 4.10.10

at le
ic w
bl o n
Pu K
ch
Te

Fig. P. 4.10.10
 Kinematics of Machinery (MU) 4-6 CAM Mechanisms

S 20
Radius of cycloid r = =
2 2

= 6.36 mm
2N 2  320
 = 60 = 60

= 33.51 rad/sec

Maximum velocity of follower during ascent

ns e
2S   2  40  33.51
(V0)max = =
0 (120   / 180)

io dg
= 1279.98 mm/sec

Maximum acceleration of follower during ascent

2 S2
(f0)max = 
02

at le
2  40  (33.51)2
= 
(120   / 180)2

(f0)max = 64338.58 mm/sec2

ic w
Maximum velocity of follower during descent
 2 S 
(Vr)max =
r
bl o
 2  40  33.51
=
(90   / 180)
n

=  1706.65 mm/sec

Maximum acceleration of follower during descent

Pu K

 2 S 2
(fr)max = +
(r)2
2  40  (33.51)2
ch

= ∓
(90   / 180)2

(fr) = + 114379.7 mm/sec2 …Ans.

Ex. 4.10.11 : The following data relate to a cam profile in which the follower moves with uniform acceleration and
Te

deacceleration during ascent and descent.

Minimum radius of cam = 25 mm
Roller diameter = 7.5 mm
Lift = 28 mm
Offset of follower axis = 12 mm towards right
Angle of ascent = 60
Angle of descent = 90
Angle of dwell between ascent and descent = 45
Speed of cam = 200 rpm
Draw the profile of the cam and determine the maximum velocity and the uniform acceleration of the follower
during the outstroke and the return stroke.
 Kinematics of Machinery (MU) 4-7 CAM Mechanisms

Soln. :

ns e
io dg
at le
ic w
bl o n
Pu K
ch

Fig. P. 4.10.11

2  N 2  200
Now,  = 60 = 60 = 20.94 rad/sec
Te

2s 2
Vo(max) = =  28  20.94 = 1120 mm/sec
0 
60  180

 4S 2  4  28  20.942
fo(max) = + =+ 2 = 44800 mm/sec2
20 ⎛60 +  ⎞
⎝ 180⎠
2 2
Vr(max) = S =  28  20.94 = 747 mm/sec
r 
90  180

 4S 2  4  28  20.942
fr(max) = + =+ 2 = 19900 mm/sec2 ...Ans.
2r ⎛40 +  ⎞
⎝ 180⎠
‰‰‰
 6
Module - 6
GEARS AND GEAR TRAINS

ns e
Syllabus

io dg
6.1 Gears : Introduction, Types, Law of gearing, Forms of teeth, Details of gear terminology, Path of
contact, Arc of contact, Contact ratio, Interference in involutes gears, Minimum number of teeth
for interference free motion, Methods to control interference in involutes gears, Static force
analysis in gears - spur, helical, bevel, worm & worm wheel (No problems on this point)

at le
6.2 Gear Trains : Kinematics and dynamic analysis of simple and compound gear trains, reverted
gear trains, epi-cycle gear trains with spur or bevel gear combination.
ic w
6.33 Design of Spur Gear Trains
bl o
Ex. 6.33.9 : In a reverted gear train shown in Fig. P. 6.33.9 having two shafts A and B are in same straight line and are
geared together with intermediate shaft C. The gears connecting shaft A and C have a module of 2 mm and
n

those connecting shaft C and B have a module of 4.5 mm. The speed of shaft A is to be about but greater than
12 times the speed of shaft B, and the ratio at each reduction is same. Find suitable number of teeth for gears.
The number of teeth of each gear is to be a minimum but not less than 16. Also find the exact velocity ratio and
Pu K

the distance of shaft C from A and B.

ch
Te

Fig. P. 6.33.9

Soln. :
N1
Given : N4 = 12, m1 = m2 = 2 mm, m3 = m4 = 4.5 mm
N1 N1 N3
Now, N4 = N2  N4 = 12

N1 ⎡ N1 N3⎤
 N = 12  12 = 12 …⎢∵ N = N ⎥
4 ⎣ 2 4⎦

N1 N3
 N = N = 12 = 3.464
2 4
 Kinematics of Machinery (MU) 6-2 Gears and Gear Trains

t2 t4
 t1 = t3 = 3.464 …(i)

The minimum teeth should not be less than 16, so taking minimum teeth on gear 3 is 16.
 t3 = 16
 t4 = 3.464  16 = 55.42  56
But, r 3 + r4 = x

ns e
m3 t3 m4 t4
2 + 2 = x

io dg
4.5  16 4.5  56
 2 + 2 = x

 x = 162 mm ….Ans.
Now, r1 + r2 = x = 162 mm
m1 t1 m2 t2

at le
 2 + 2 = x = 162
2 t1 2 t2
 2 + 2 = 162
ic w
 t1 + t2 = 162 …(ii)

From equation (i) and (ii) we get,

t1 + 3.464 t1 = 162
bl o
4.464 t1 = 162
n

 t1 = 36.29  37
 t2 = 3.464  37 = 165.16  166
Pu K

N1 N1 N3 t2 t4 166 56
The exact velocity ratio is, N4 = N2  N4 = t1  t3 = 37  16 = 15.70 …Ans.

6.36 Epicyclic Gear Train with Bevel Gears

ch

Ex. 6.36.15 : In an epicyclic gear train, an arm carries two gears 1 and 2 having 40 and 50 teeth, respectively. The arm
rotates at 160 r.p.m. counter clockwise about the centre of gear 1, which is fixed. Determine the speed of the
gear 2. sketch the arrangement.
Soln. :
Te

Given : NC = + 160 r.p.m. ; tA = 40; tB = 50

Fig. P. 6.36.15

The relative speed of gears are shown in table.

 Kinematics of Machinery (MU) 6-3 Gears and Gear Trains

Steps Operation Revolutions of elements (N)

Arm C Gear A (tA = 40) Gear B ( tB = 50 )

1. Fix the arm and give + 1 revolution to A. 0 +1 tA

–t
B

2. Multiply ‘m’. 0 +m tA
–mt
B

ns e
3. Add ‘n’ revolution to all elements n +n n
tA

io dg
4. Total motion n m+n
–mt +n
B

NA = 0; NC = 160 r.p.m.

 NC = n = 160 r.p.m.

at le
NA = m + n = 0 r.p.m.

 m = – 160 r.p.m.
tA
Hence, NB = – m  t + n
ic w
B

40
 NB = – (– 160) 50 + 160
bl o
 NB = 288 r.p.m. (clockwise) ...Ans.

Ex. 6.36.16 : A epicyclic train is composed of a fixed annular wheel A having 150 teeth. Meshing with A is a wheel B, which
n

drives wheel D through an idle wheel C, D being concentric with A. Wheels B and C are carried on an arm
which revolves clockwise at 200 r.p.m. about the axis of A and D. If the wheels B and D have 25 and 40 teeth
respectively, find
Pu K

(i) The number of teeth on C

(ii) Speed and sense of rotation of C.
Soln. :
ch

Given data :
Speed of gear A, NA = 0

Number of teeth on gear A, tA = 150

Te

Speed of arm E, NE = 100 r.p.m.

Number of teeth on gear B, tB = 25

Number of teeth on gear D, tD = 40

DD + 2DC + 2DB = DA

Number of teeth is proportional to the pitch circle diameter

Fig. P. 6.36.16
tD + 2tC + 2tB = tA

40 + 2tC + 2  25 = 150

 tC = 30 teeth
 Kinematics of Machinery (MU) 6-4 Gears and Gear Trains

Sr. Operation Revolution of element

No
Arm E Gear D (tD = 40) Gear C (tC = 30) Gear B (tB = 25) Gear A (tA = 150)

1. Fix the arm and 0 +1  tD tD t C tD tD tC tB tD


tC tB = tB tC tB  tA = tA

give 1 rev to gear D. tC

2. Multiply m 0 m tD tD tD
m t mt mt
C B A

ns e
3. Add n rev to all n n n n n
elements

io dg
4. Total motion n m+n tD tD tD
m t +n m t +n m t +n
C B A

NE = n = 200 r.p.m.
mtD 40

at le
NA = 0 = t + n = m  150 + 200
A

m =  750 r.p.m.
tD 40
ic w
Speed of gear C, NC = m t + n =  750  30 + 200
C

 NC = – 800 r.p.m. …Ans.

bl o
Ex. 6.36.17 : In the epicyclic gear train of sun and planet type, the pitch circle diameter of the internally toothed ring (annulus)
is to be 22.5 cm and the teeth are to have a diametral pitch of 0.24. When the ring is stationary the spider,
which carries three planet wheels of equal size, is to make one revolution for every five revolutions of the
n

driving spindle. Determine the suitable number of teeth for all the wheels and the exact circle diameter of the
ring.
Pu K

Soln. :
Given data : Pitch circle diameter of internal gear,
DA = 22.5 cm = 225 mm,
ch

Diametrical pitch Pd = 0.24.

5 N speed of arm NC = 5  Speed of sunwheel (NS)
 N S = 5 NC
Number of teeth on planet wheel tP = ?
Te

Number of teeth on sun wheel tS = ?

Number of teeth on internal gear tA = ?
Exact pitch circle diameter DA = ?
RA = RS + DP
 DA = DS + 2DP
··· Number of teeth is proportional to their pitch circle diameter

 tA = tS + 2tP
tA = Pd  DA = 0.24  225
tA = 54
 Kinematics of Machinery (MU) 6-5 Gears and Gear Trains

ns e
io dg
Fig. P. 6.36.17

Step Operation Revolution of elements

Arm C Gear S Gear P Internal gear A

at le
1. Fix the arm C and give 1 revolution to S 0 1  tS  tS
tP tA
ic w
2. Multiply ‘m’ 0 m  m tS  m tS
tP tA

3. Add n to all elements n n n n

bl o
4. Total motion n m+n  m tS  m tS
tP +n tA +n
n

NS = 5NC
 NC = 1 = n
Pu K

NS = 5 = m + n = 1 + m
m = 4
ch

 mtS
NA = 0 = tA +n

 4 tS
 0 = tA +1

tA 54
Te

tS = 4 = 4 = 13.5

 Since we cannot have fraction of teeth

 tS = 13 or 14
then tA = 52 or 56 teeth
If tS = 13
then tA = 13  4 = 52
 tA = tS + 2tP
 52 = 13 + 2tP
 tP = 19.5 …This is not possible.
If tS = 14
 Kinematics of Machinery (MU) 6-6 Gears and Gear Trains

then tA = 14  4 = 56 = tS + 2tP
 56 = 14 + 2 tP
 tP = 21
Hence the number of teeth required as
tA = 56. tS = 14, tP = 21
Exact pitch circle diameter of ring A,

ns e
tA 56
DA = P = 0.24
d

io dg
DA = 233.33 mm …Ans.

Ex. 6.36.18 : In an Epicyclic gear of the sun and planet type, the pitch circle diameter of the annular wheel ‘A’ is to be nearly
equal to 216 mm and the module is 4 mm. When the annular wheel is stationary, the spider which carries three
planet gears ‘P’ of equal size has to make one revolution for every five revolutions of the driving spindle
carrying ‘S’ gear. Determine the number of teeth on all the wheels and also the exact pitch circle diameter of ‘A’.

at le
Sketch the arrangement on the basis of given data.
Soln.
Data :
ic w
Diameter of annular wheel A, DA = 216 mm

Module m = 4 mm
bl o
Speed of planet gear (Np) = 5  Speed of sun gear (Ns)
Number of teeth on annular wheel tA = ?
n

Number of teeth on planet gears tp = ?

Number of teeth on run gear ts = ?
Pu K

Exact pitch diameter of A, (DA)exact = ?

rs + Dp = rA
Ds + 2 Dp = dA
ch

Fig. P. 6.36.18
Since number of teeth are proportional to their pitch circle diameter.
ts + 2 tp = tA
diameter of annular wheel 216
tA = module = 4 = 54
Te

Step Operation Revolution of elements

Arm C Gear S Gear P Internal gear A

1. Fix the arm C and give 1 revolution to S 0 1  tS  tS

tP tA

2. Multiply ‘m’ 0 m  m tS  m tS
tP tA

3. Add n to all elements n m n n

4. Total motion n m+n  m tS  m tS

tP +n tA +n
 Kinematics of Machinery (MU) 6-7 Gears and Gear Trains

NP = 5 NS = 1 = m
NS = 5 = m + n
m+n = 5
n = 4
tS tS
NA = 0 =  m t + n =  1 t + 4
A A

ns e
tS = 4 tA = 54/4 = 13.5
··· tS cannot be fraction

io dg
tS = 13 or 14
then tA = 52 or 56
If tS = 13, tA = 52 tP = 19.5 (not possible)
If tS = 14, tA = 56 tP = 21 teeth (possible)

at le
Hence the number of teeth required are
tA = 56 tS = 14 tP = 21
Exact pitch circle diameter
ic w
DA = tA .m = 56  4
DA = 224 mm …Ans.
bl o
Ex. 6.36.19 : The pitch circle diameter of annular gear in the epicyclic gear train shown in Fig. P. 6.36.19 is 425 mm and the
module is 5 mm. When the annular gear 3 is stationary, the spindle A makes one revolutions in the same sense
as the sun gear 1 for every 6 revolutions of the driving spindle carrying the sun gear. All the planet gears are of
n

the same size. Determine the number of teeth on all the gears.
Pu K
ch
Te

Fig. P. 6.36.19

Soln. :
Data :
Diameter of annular wheel 3, D3 = 425 mm
Module m = 5 mm
Speed of planet gear (N2) = 6  Speed of sun gear (N1)
Number of teeth on annular wheel t3 = ?
Number of teeth on planet gears t2 = ?
Number of teeth on run gear t1 = ?
 Kinematics of Machinery (MU) 6-8 Gears and Gear Trains

From Fig P. 6.36.19, r1 + D2 = r3

 D1 + 2 D2 = d3
Since number of teeth are proportional to their pitch circle diameter.
t1 + 2 t2 = t3 …(i)
diameter of annular wheel 425
Now, t3 = module = 6 = 70.83

ns e
Step Operation Revolution of elements

Arm A Gear 1 Gear 2 Internal gear 3

io dg
1. Fix the arm A and give 1 revolution to gear 1 0 1  t1  t1
t2 t3

2. Multiply ‘m’ 0 m  m t1  m t1
t2 t3

at le
3. Add n to all elements N n n n

4. Total motion N m+n  m t1  m t1

t2 + n t3 + n
ic w
When spider A make are revolution, gear 1 makes 6 revolution,
 n = 1 and m + n = 6
bl o
 m = 5
t1 t1
N3 = 0 =  m t + n =  5 t + 4
n

3 3

t1 = t3/5 = 70.83/5 = 14.16

··· t1 cannot be fraction t1 = 15 …Ans.
Pu K

then t3 = 75 …Ans.
Put this value in Equation (i)
ch

 15 + 2t2 = 75
t2 = 30 ...Ans.

Ex. 6.36.20 : An epicyclic gear train is shown in Fig. P. 6.36.20. The gear G is held stationary by the shaft B and the arm (C)
rotates at 200 r.p.m. The gears F (20 teeth) and E (40 teeth) are compounded and rotate freely on the pin
Te

carried by the arm. The gear D (30 teeth) is rigidly attached to the shaft A. Find the speed of the shaft A and its
relative direction to shaft B.

Fig. P. 6.36.20
 Kinematics of Machinery (MU) 6-9 Gears and Gear Trains

Soln. : Refer to Fig. P. 6.36.20.

Given : Speed of arm, NC = 0; NG = 0; tF = 20; tE = 40; tD = 30.

Let , DD, DE and DG be the pitch circle diameters of gears D, E, F and G respectively. From Fig. P. 6.36.20 it follows :
rD + rE = rF + rG
or, DD + DE = DF + DG

ns e
Since, the number of teeth is proportional to their pitch circle diameters, it follows that,
tD + tE = tF + tG

io dg
30 + 40 = 20 + tG
or, tG = 50 teeth

The relative speeds of gears are shown in table.

Steps Operation Revolutions of elements (N)

at le
Arm C or shaft B Gear G Gear F – E Compound Gear D

1. Fix the arm and give on 0 1 tG tG t E

–t +t t
ic w revolution to gear G. F F D

2. Multiply ‘m’. 0 m tG tG t E
–mt +mt t
F F D
bl o
3. Add ‘n’ revolution to all n n n n
elements
n

4. Total motion n m+n tG tG tE

–mt +n +mt t +n
F F D
Pu K

Since, NB = n = 200 r.p.m.

and, NA = m + n = 0
ch

 m = – 200 r.p.m
 Speed of shaft A = Speed of gear D
t G tE 50 40
 NA = – m  t  t + n = – 200  20  30 + 200
F D
Te

 NA = – 466.7 r.p.m (anticlockwise) ...Ans.

Since NB is positive and NA is negative, it shows that the speed of shaft A or gear D is opposite to shaft B.

Ex. 6.36.21 : In the epicyclic gear train shown in Fig. P. 6.36.21, the internal wheels A and F and the compound wheel C-D
rotate independently about the axis O. The wheels B and E rotate on pins fixed to the arm. All the wheels have
the same pitch and the number of teeth of wheels are as follows :
tB = tE = 18; tC = 28; tD = 26
The arm L makes 150 r.p.m. clockwise. Find the speed of F when the wheel A makes 15 r.p.m. counter
clockwise.
 Kinematics of Machinery (MU) 6-10 Gears and Gear Trains

ns e
io dg
Fig. P. 6.36.21

Soln. :
Given : tB = tE = 18; tC = 28; tD = 26

at le
NL = 150 r.p.m.; NA = – 15 r.p.m.
Since the diametral pitch is same for all the wheels, from Fig. P. 6.36.21, it follows that :
DA = DC + 2 DB
ic w
or tA = tC + 2 tB = 28 + 2  18 = 64 teeth
and, DF = DD +2 DE
or tF = tD + 2 tE = 26 + 2  18 = 62 teeth
bl o
The required speeds can be worked out from the following table :
n

Steps Operation Revolutions of elements (N)

Arm Gear Gear B Gear C – D Gear E Gear F

Pu K

L A compound

1. Fix the arm 0 +1 tA tA tB tA tA tD tA tD tE tA tD

+t –t t =–t +t t +t t t =t t
and give + 1 B B C C C E C E F C E
ch

revolution to
wheel A

2. Multiply ‘m’ 0 m tA tA tA tD tA tD
mt –mt mt t mt t
B C C E C F
Te

3. Add ‘n’ n n n n n tD
nt
revolutions to F

all elements

4. Total motion n m+n tA tA tA tD tA tD

mt +n –mt +n mt t +n mt t +n
B C C F C F

Since, NL = n = 150 r.p.m. and NA = m + n = – 15 r.p.m

 m + 150 = – 15 or, m = – 165 r.p.m
tA tD 64 26
 NF = m  t  t + n = – 165  28  52 + 150
C F

NF = – 8.156 r.p.m. (anticlockwise) ...Ans.

 Kinematics of Machinery (MU) 6-11 Gears and Gear Trains

Ex. 6.36.22: In the epicyclic gear train shown in Fig. P. 6.36.22 the gears C and E (30 teeth) are fixed to a sleeve L which is
free to rotate on spindle H. Gear D (24 teeth) and Gear B (22 teeth) are keyed to a shaft which is free to rotate
in a bearing on arm G. Gear A has 70 teeth, gear F has 15 teeth and it is mounted on a shaft J rotating at 100
r.p.m. Shaft H makes 300 r.p.m. in the same direction as shaft J. Find the speed and direction of rotation of
shaft K if all the gears have teeth of same pitch.

ns e
io dg
at le
Soln. :
Fig. P. 6.36.22
ic w
Refer Fig. P. 6.36.22.
rC + rD = rB + rA
or DC + Dd = DB + DA
bl o
Since all the teeth are of the same pitch it follows that :
tC + tD = tB + tA
n

 24 + tD = 22 + 70
 tD = 68 teeth
Pu K

It should be noted that the gear F does not form the part of epicyclic gear train since it is turning on the fixed shaft J
which is not in line with the axis of the arm G.
In this problem, we shall use the relative velocity method. Since G is the arm, we have
ch

NE – NG tA tC
NA – NG = t B  t D ...(i)

It should be noted that the speed of shaft H is same as that of arm G. i.e. NH = NG = 300 r.p.m. (given) and NA = NK. Gear F
i.e. shaft J rotates at 100 r.p.m. which drives the gear E whose speed is,
Te

NE tF
NF = – t E
tF 15
 NE = – NF  t = – 100  30 = – 50 r.p.m
E

From Equation (i), we have,

– 50 – 300 70 24
NA – 300 = 22  68
– 350
 N – 300 = + 1.123
A

Or, NA = – 311.7 + 300 = – 11.7 r.p.m (anticlockwise)

Negative sign shows that the gear A or shaft K rotates in opposite direction of shaft H at a speed of 11.7 r.p.m
 Kinematics of Machinery (MU) 6-12 Gears and Gear Trains

Ex. 6.36.23 : In an epicyclic gear train shown in Fig. P. 6.36.23 the wheel. A is fixed wheel, wheels B and C are compound
and mounted on one pin. If the arm F makes 600 r.p.m. counter clockwise find the speed and direction of
rotation of wheels D and E.

ns e
Fig. P. 6.36.23

io dg
Soln. : The required speeds can be worked out from the following table :

Steps Operation Revolutions of elements (N)

Arm (F) Gear D Gear B - C (Compound) Gear A Gear E

at le
1. Fix the arm F and give 0 +1 tD tD tC tD tC tA
+ 1 revolution to D
–t
B tB  tA –t t t
B A E

2. Multiply ‘m’ 0 m tD tD t C tD tC tA
ic w –mt mt t –mt t t
B B A B A E

3. Add ‘n’ to all elements n n n n n

bl o
4. Total motion n m+n tD tD tC tD tC tA
–mt +n mt t +n –mt t t +n
B B A B A E

3
n

Since NA = 0 = 5 m + n ...(i)

and, NF = – 600 = n ...(ii)

Pu K

 From Equations (i) and (ii), we get,

n = – 600; m = 360
 ND = m + n = 360 – 600
ch

 ND = – 240 r.p.m (anticlockwise) ...Ans.

and, NE = – m + n
 NF = – 360 – 600
 NF = – 960 r.p.m (anticlockwise) ...Ans.
Te

Ex. 6.36.24 : In a reverted epicyclic train, the arm F carries two wheels A and D and a compound wheel B-C. The wheel A
meshes with wheel B and the wheel D meshes with wheel C. The number of teeth on wheel A, D and C are 80,
48 and 72 respectively. If arm makes 200 r.p.m. and wheel A is fixed, find the speed and direction of wheel D.
Soln. :

Fig. P. 6.36.24
 Kinematics of Machinery (MU) 6-13 Gears and Gear Trains

Since modules of all gears are same,

 t A + tB = tC + tD
 80 + tB = 72 + 48
 tB = 40 teeth
Motion of various elements of the gear train is shown in Table P. 6.36.24.
Table P. 6.36.24

ns e
Steps Operation Revolution of elements (N)

io dg
Arm F Gear A Compound Gear C-B Gear D

1 Fix the arm F and given n + 1 0 +1 tA tA tC

t  t t
revolution to gear A B B D

2 Multiply by m 0 m tA tA t C
m t mt t

at le
B B D

3 Add ‘n’ revolutions to all gears n n n n

4 Total motion n m+n tA tA tC

ic w
nm t n+m t  t
B B D

Speed of arm is 200 r.p.m. clockwise


bl o
NF = n = 200 r.p.m.
wheel A is fixed,
 NA = 0,  m + n = 0
n

 m =  n =  200 r.p.m.
Now speed of gear D,
Pu K

tA tC
ND = n + m t  t
B D
ch

80 72
ND = 200 + ( 200)  40  48

ND = 200  600
ND =  400 r.p.m. clockwise
ND = 400 r.p.m. anticlockwise …Ans.
Te

Ex. 6.36.25 : In a differential gear box used for an automobile, has pinion on the propeller shaft has 12 teeth and gears has
60 teeth. The shaft ‘P’ and ‘Q’ from the rear axle to which the road wheel are attached. If the propeller shaft
rotates at 1000 r.p.m. and the load wheel attached to axle ‘Q’ has a speed of 210 r.p.m. While taking a turn find
the speed of road wheel attached to axle P.
Soln. :
Given data :
Number of teeth on pinion A on the propeller shaft,
tA = 12
Number of teeth on crown gear B,
tB = 60
 Kinematics of Machinery (MU) 6-14 Gears and Gear Trains

Speed of propeller shaft NA = 1000 r.p.m.

Speed of axle Q, NQ = 210 r.p.m.
Speed of road wheel attached to axle P,
NC = ?
Speed of the crown gear B,
tA 12
NB = NA  t = 1000  60

ns e
B

NB = 200 r.p.m.

io dg
at le
ic w
bl o
Fig. P. 6.36.25
n

The speed of gears is given as follows,

Revolution of element
Pu K

Gear B Gear C Gear E Gear D

1. Fix the gear B and gear C is given revolution 0 +1 tC  tC tE

··
t E  t D =  1 ( · tC = t D )
ch

tE

2. Multiply ‘m’ 0 +m tC m
tE  m

3. Add ‘n’ revolutions to all elements n n n n

Te

4. Total motion n m+n tC m+n

tE m + n

Speed of gear B, NB = n = 200 r.p.m.

ND = NQ = 210 r.p.m.
 m + n = 210
  m + 200 = 210
 m =  10 r.p.m.
Speed on road wheel attached to axle P,
NC = m + n =  10 + 200
NC = 190 r.p.m. ...Ans.
 Kinematics of Machinery (MU) 6-15 Gears and Gear Trains

Ex. 6.36.26 : Fig. P. 6.36.26 shows a port indicator for a twin-screw ship. Propeller shafts are attached to gears A and B
having the same number of teeth. Gear A drives the gear C and gear B drives the gear D. Gear D and G are
compound wheels and gear G drives the internal gear F through wheel H, which is connected to pointer F. The
arm E rotates attached to gear C.
(a) If propeller shafts run at the same speed it is found that pointer P is stationary and drives the gears C
and D in the same direction. If tG = 24 and tF = 50, find the required ratio of number of teeth on C to that
on D.

ns e
(b) What will be the speed of pointer P if NB = 1.05 NA and wheel C rotates at 100 r.p.m.

io dg
at le
ic w
Fig. P. 6.36.26

Soln. :
bl o
Given : tG = 24, tF = 50,
From geometry of figure,
n

rG + DH = DF
Assuming same module for all gears, then,
Pu K

tG + 2 tH = tF
 24 + 2 tH = 50
 tH = 13 teeth
ch

Speed of gears is given in the following table :

Steps Operation Revolutions of elements (N)

Gear C or arm E Compound gear Gear H Gear F or

Te

D – G (tG = 24) (tH = 13) point P

tG tG tH tG
1. Fix the arm E and give + 1 0 +1 –t  = –
H tH tF tF
revolution to gear D
tG tG
2. Multiply ‘m’ 0 m –mt –mt
H F

3. Add ‘n’ revolution to all n n n n

elements
tG tG
4. Total motion n m+n –mt +n –mt +n
H F
 Kinematics of Machinery (MU) 6-16 Gears and Gear Trains

tG 24
Since, NF = 0 = – m t + n = 0 = – 50 m + n
p

12
or n = 25  m

ND tC
Since, N = t [∵ NA = NB (given) ]
C D

12
tC ND m + n m + 25 m 37

ns e
 tD = NC = n = 12 = 12 ...Ans.
25 m

io dg
Since, NB = 1.05 NA and NC = 100 r.p.m.
NA tC
NC = tA
tC tC
i.e. NA = NC  t = 100  t ...(i)

at le
A A

tC tC
But, NB = 1.05 NA = 1.05  100  t = 105  t ...(ii)
A A
ic w
From gearing B and D,
tB ⎛ tC ⎞ tB
ND = NB  t = 105  t t
D ⎝ A ⎠ A
bl o
But, tA = tB
tC 37
 ND = 105  t = 105  12 = 323.75 r.p.m.
n

Also, ND = m + n = 323.75 ...(iii)

NC = n = 100 r.p.m.. (given)
Pu K

 m = 323.75 – 100 = 223.75 r.p.m.

Therefore the speed of point P,
ch

12 12
NP = NF = – 25 m + n = – 25  223.75 + 100

NP = – 7.4 r.p.m. ...Ans.

Since NP is negative, it implies that the pointer rotates in direction opposite to C.
Te

Ex. 6.36.27 : In the gear drive shown in Fig. P. 6.36.27, A is the driving shaft rotating at 300 r.p.m. in the direction shown and
B is driven shift. The casing C is held stationary. Wheels E and H are keyed to the central vertical spindle, F
can rotate freely on this spindle. Wheels K and L are rigidly fixed to each other and rotate together freely on a
pin fitted on the underside of F. Wheel L meshes with internal teeth on the casing C.
The diametral pitch of the teeth on H and L is 4 and teeth on wheels are
tD = 40, tE = 30, tF = 50, tH = 40, tG = 80, tK = 20, tL = 30.
Find the number of teeth on wheel C and the speed of rotation of shaft B.
 Kinematics of Machinery (MU) 6-17 Gears and Gear Trains

ns e
io dg
at le
ic w
Fig. P. 6.36.27

Soln. : Refer Fig. P. 6.36.27, the relative direction of rotation of gears is shown by arrowheads for the given direction of
bl o
rotation of shaft A as a simple or compound gear train.
In this train, the gears D and G are auxiliary gears since they do not form the part of epicyclic gear train.
Since : NA = ND = 300 r.p.m..
n

tD 40
 NE = t  ND = 30  300 = 400 r.p.m.
E
Pu K

From geometry of Fig. P. 6.36.27 the number of teeth on gear C can be calculated as follows :
1 1 1 1
tC = tH + 2 tK + 2 tK + 2 tL + 2 tL
ch

1 1 1 1
 tC = 40 + 2  20 + 2  20 + 2  30 + 2  30 = 90 teeth

In the part of epicyclic gear train, the gear F acts as the arm. The speed of various elements can be tabulated as follows :

Steps Operation Revolutions of elements

Te

Arm F (50) Gear E Gear H Compound Gear K-L Gear C (90)

(tE = 30) (tH = 40) (tK = 20) (tL = 30) (tC = 90)

1. Fix the arm and give + 1 0 +1 +1 tH t H tL

–t –t t
revolution to E K K C

2. Multiply ‘m’ 0 m m tH t H tL
–mt –mt t
K K C

3. Add ‘n’ revolutions to all n n n n n

elements

4. Total motion n m+n m+n tH t H tL

–mt +n –mt t +n
K K C
 Kinematics of Machinery (MU) 6-18 Gears and Gear Trains

Since gear C is fixed, therefore,

tH tL
NC = 0 – m t  t + n
K C

40 30
 NC = 0 = – m  20  90 + n ...(i)

NE as calculated above is 400 r.p.m.

 NE = 400 = m + n ...(ii)

ns e
On solving Equations (i) and (ii), we get,
m = 240 r.p.m. and n = 160 r.p.m.

io dg
 Speed of arm F,
NF = n = 160 r.p.m.
Since gear G is driven by F as a simple gear ratio, therefore,
tF 50

at le
NG = NF  t = 160  80 = 100 r.p.m ...Ans.
G

Since G rotates opposite to D, it implies that speed of rotation of shaft B is opposite to shaft A.
ic w
Ex. 6.36.28 : A shaft Y is driven by a co-axial shaft X by means of epicyclic gear train as shown in Fig. P. 6.36.28. Gear A is
keyed to input shaft X and gear E to driven or output shaft Y. Wheels B and D are compounded and carried on
the arm F which can turn freely on the common axis X and Y. Wheel C is fixed. If tA = 20, tB = 64, tC = 80, tD =
30 and tE = 50 and the shaft X makes 500 r.p.m., determine the speed and direction of shaft Y.
bl o n
Pu K
ch

Fig. P. 6.36.28
Te

Soln. :
Given : NC = 0, NA = NA = 500 r.p.m..
Relative direction of rotations are marked in Fig. P. 6.36.28 as simple or compound gear train.
Speed of gears is given in the table as follows :

Steps Operation Revolutions of elements

Arm G Gear A Gear B – D Gear C Gear E

(tA = 20) (tB = 64) (tD = 30) (tC = 80) (tE = 50)

1. Fix the arm G and give + 1 0 +1 tA tA tB tA tD

tB –t t –t t
revolution to gear A B C B F
 Kinematics of Machinery (MU) 6-19 Gears and Gear Trains

Steps Operation Revolutions of elements

Arm G Gear A Gear B – D Gear C Gear E

(tA = 20) (tB = 64) (tD = 30) (tC = 80) (tE = 50)

2. Multiply ‘m’ 0 m tA tA tB tA tD
mt –mt t –mt t
B B C B E

ns e
3. Add ‘n’ revolutions to all n n n n n
elements

io dg
4. Total motion n m+n tA tA tB tA tD
mt +n –mt t +n –mt t +n
B B C B E

Since, NA = NX = 500 = m + n ...(i)

tA tB
Since NC = 0 = – m t  t + n
B C

at le
tA
 n = mt
C

20 m
 n = m 80 = 4 ...(ii)
ic w
On solving Equation (i) and (ii)
m = 400 r.p.m. and n = 100 r.p.m.
bl o
Speed of gear E or shaft Y, becomes,
tA tD 20 30
NE = – m t  t + n = – 400  64  50 + 100
n

B E

 NE = – 25 r.p.m. (opposite in direction of shaft X) …Ans.

Pu K

Ex. 6.36.29 : Fig. P. 6.36.29 shows an epicyclic gear train called as Ferguson's paradox. Gear B is fixed to the frame,
therefore, it is stationary. Arm B and gears D and C are free to rotate on shaft S. Teeth on gears are tB = 100, tC
= 101 and tD = 99 teeth, these gear tooth have been cut to same pitch circle diameter from gear blanks of the
ch

same diameter. So that planet wheel P 20 teeth meshes will all the gears. If the arm A rotates at 10 r.p.m., find
the speed of gears C and D and their directions relative to arm.
Te

Fig. P. 6.36.29

Soln. :
Given : tB = 100, tC = 101, tD = 99,
tP = 20, NA = 10 r.p.m., NB = 0.
 Kinematics of Machinery (MU) 6-20 Gears and Gear Trains

Speed of gears is given in the following table :

Steps Operation Revolutions of elements (N)

Arm A Gear B (tB = 100) Gear C (tC = 101) Gear D (tD = 99)

1. Fix the arm and give + 1 0 +1 tB t p tB tB tp tB

revolution to B tp  tC = tC tp  tD = tD

tB tB

ns e
2. Multiply ‘m’ 0 m
mt mt
C D

io dg
3. Add ‘n’ revolution to all element n n n n

4. Total motion n m+n tB tB

mt +n mt +n
C D

Since, NA = n = 10

at le
And, NB = 0 = m + n
 m = – n = – 10
tB 100
 NC = t m + n = 101  (– 10) + 10 = 0.099 r.p.m ....Ans.
ic w C

tB 100
ND = t m + n = 99 (– 10) + 10 = – 0.101 r.p.m ....Ans.
D
bl o
Gear C rotates in the same sense as arm A and gear D rotates in the opposite sense of arm A at the speeds given above.

6.37 Torque and Tooth Load in Epicyclic Gear Train

n

Ex. 6.37.8 : Gear wheel A having 14 teeth is rigidly mounted on the driving shaft. It gears with compound wheel B-D. B
gears with fixed annular wheel C and D gears with annular wheel E. The compound wheel B-D, revolve freely
Pu K

on a pin. The annular wheel E is rigidly mounted on the driven shaft.

Module of all the gears is same. The driving and driven shafts and the annular wheels are coaxial. Number of
teeth on gear C, E and D are 100, 98, 41. Driving shaft rotates at 1200 r.p.m. and transmits 25 kW power.
ch

(i) Sketch the arrangement

(ii) Find the speed of driven shaft
(iii) Find the torque transmitted by the driven shaft.
Soln. :
Te

Fig. P. 6.37.8
 Kinematics of Machinery (MU) 6-21 Gears and Gear Trains

tA = 14, tC = 100, tE = 98, tD = 41

From Fig. P. 6.37.8
TC = tA + 2 tB
100 = 14 + 2 tB
tB = 43

Steps Operation Revolutions of elements (N)

ns e
Arm (F) Gear A Gear B – D Gear C Gear E
(Compound) (Internal) (Internal)

io dg
1. Fix the arm F and give + 1 0 +1 tA tA tB tA tA tD
–t –t t =–t –t t
revolution to A B B C C B E

2. Multiply ‘m’ 0 m tA tA tA tD
–mt –mt –mt t
B C B E

at le
3. Add ‘n’ to all elements n n n n n

4. Total motion n m+n tA tA tA tD

–mt +n –mt +n –mt t +n
ic w B C B E

Since, NA = 1200 r.p.m.

 m + n = 1200 …(i)
bl o
tA
and, NC = 0 = – m t + n …(ii)
C
n

From Equation (i) and (ii) we get,

m = 1052.6 and n = 147.4
tA tD
Pu K

Speed of driven shaft, NE = – m t  t + n

B E

14 41
 NE = – 1052.6  43  98 + 147.4 = – 4.02 r.p.m.
ch

NE = 4.02 r.p.m. (clockwise in the same direction as A) …Ans.

Assuming 100 % efficiency of gear train
Input power + output power = 0
25  103 + TE  E = 0
Te

25  103 + TE  4.02 = 0
TE = – 6218.90 N-m
Input power = TA A
2  1200
25  103 = TA  60
TA = 198.94 N-m
Let TC = Holding torque
For equilibrium, TA + TC + TE = 0
198.94 + TC – 6218.90 = 0
TC = 6417.84 N-m (clockwise in the same direction as A) …Ans.
 Kinematics of Machinery (MU) 6-22 Gears and Gear Trains

Ex. 6.37.9 : The manually operated hoist shown in Fig. P. 6.37.9 is based on epicyclic gear train. The sun wheel S is rigidly
connected by shaft X to the handle and the planet carrier C is rigidity connected by shaft Y to the winding drum.
The annulus A is fixed. If the annulus A is to have 100 teeth, determine the number of teeth on the sun and
planet wheels so that the tangential force on the handle is approximately 25 times less than the load being
lifted.

ns e
io dg
at le
ic w
Fig. P. 6.37.9

Soln. :
Given : tA = 100 teeth
bl o
1
Tangential force, FS on handle is 25 times the load. Since handle drives the sun wheel and shaft Y is driven by arm C.
n

 Torque on wheel S, TS = FS  0.3

0.2
Torque on arm C due to load, TC = W  radius of load = W  2 = 0.1 W
Pu K

But W = 25  FS
 TS = 0.3 FS and TC = 0.1  25 FS = 2.5 FS ...(i)
ch

Using pitch circle radius from Fig. it implies

rS + DP = rA
 DS + 2 DP = DA
or tS + 2 tP = tA = 100 ...(ii)
Te

The speeds of the gear train can be determined with the help of following table :

Steps Operations Revolution of elements (N)

Arm C Gear S (tS ) Gear P (tp) Annular Gear A ( tA )

1. Fix the arm – C and give + 1 revolution to S 0 +1 tS tS tp tS

–t –t t =–t
p p A A

2. Multiply ‘m’ 0 m tS tS
–t  m –t m
p A

3. Add ‘n’ revolution to all gear n n n n

4. Total motion n m+n tS tS

–t m + n –t m+n
p p
 Kinematics of Machinery (MU) 6-23 Gears and Gear Trains

Since A is fixed, therefore,

tS
NA = 0 = – t m + n
A

tS
or, n = t  m ...(iii)
A

tS
 Speed of C, NC = n = t  m ...(iv)
A

ns e
tS ⎛ tA + tS ⎞
Speed of wheel S, NS = m + n = m + t  m = m ...(v)
A ⎝
t A ⎠

io dg
We know that,

Input power = Output power

TS  S = TC  C
2N
Since,  = 60 , it follows that,

at le TS  N S = TC  N C

On substituting the values from Equation (i), (iv) and (v),

ic w
0.3 FS  m
⎛ tA + tS ⎞ = 2.5 F  ⎛ m  tS ⎞
⎝ tA ⎠ S
⎝ tA ⎠

 0.3 tA + 0.3 tS = 2.5 tS

bl o
But tA = 100
 0.3  100 = (2.5 – 0.3) tS
n

or, tS = 13.636 say 14 teeth ...Ans.

Pu K

From Equation (iv) 14 + 2 tp = 100

 tp = 43 teeth ...Ans.
ch

Ex. 6.37.10 : An internal wheel B with 80 teeth is keyed to a shaft F. The fixed internal wheel C with 82 is concentric with B. A
compound wheel D – E gears with two internal wheels; D has 28 teeth and gears with C, while E gears with B.
The compound wheel revolves freely on a pin which project from a disc keyed to shaft A, co-axial with shaft F.
All the wheels have same module. What will be the speed of shaft F if the shaft a rotates at 800 r.p.m. ? If the
power supplied at A is 5 kW, what is the holding torque on the internal gear C ?
Te

Soln. :
Given :

tB = 80 (internal),
tC = 82 (internal),
tD = 28,

NA = NG = 800 r.p.m. ,
NC = 0
and N F = NB ;

PG = 5 kW.
 Kinematics of Machinery (MU) 6-24 Gears and Gear Trains

ns e
io dg
Fig. P. 6.37.10

Let rB, rC, rD and rE be the pitch circle radius of wheel B, C, D and E respectively. From the geometry of the Fig. P.
6.37.10.

at le
rB – rE = rC – rD
i.e. DB – DE = DC – DD
 DE = DB – DC + DD
ic w
Since module of all the gears is same, it implies that,
tE = tB – tC + tD
bl o
 tE = 80 – 82 + 28 = 26 teeth.
Motion of various elements of the gear train is as shown in Table.
n

Steps Operation Revolution of elements (N)

Arm G or Gear B or shaft Compound Gear Gear C

Pu K

shaft A F (tB = 80) E – D (tE = 26) (tD = 28) ( tC = 82)

1. Fix the arm C and given + 0 +1 tB tB tD

1 revolution to gear B tE tE  tC
ch

2. Multiply ‘m’ 0 M tB tB tD
mt mt t
E E C

3. Add ‘n’ revolution to all n n n n

gear
Te

4. Total motion n m+n tB tB tD

mt n mt t +n
E E C

Since NC = 0 (fixed), therefore

tB tD
mt t = 0
E C

80 28
 m  26  82 + n = 0

 1.0507 m + n = 0 ...(i)
Since NA = NG = 800 = n ...(ii)
Substituting the value of n from Equation (ii) in Equation (i), we get,
 Kinematics of Machinery (MU) 6-25 Gears and Gear Trains

800
m = 1.0507 = – 761.4 r.p.m.

 Speed of shaft F i.e. NB = m + n = – 761.4 + 800

 NB = 38.6 r.p.m ...Ans.
2  38.6
 F = B = 60 = 4.0422 rad/s

2 NA 2  800
 A = G = 60 =

ns e
60 = 83.78 rad/s

Assuming 100% efficiency, then,

io dg
Input power + Output power = 0
TA  A + TF  F = 0 ...(iii)
But, P = TA  A
P 5  103
 TA = = = 59.68 N ...(iv)

at le
A 83.78

From Equation (iii)

 59.68  83.78 + TF  4.022 = 0
ic w
TF = – 1243.16 Nm
For equilibrium,
Input torque, TA + Holding torque, TC + Output torque, Tf = 0
bl o
 59.68 + TC – 1243.16 = 0
 Holding torque, TC = 1183.48 N ...Ans.
n

Ex. 6.37.11 : In an epicyclic gear train shown in Fig. P. 6.37.11, a gear C with has teeth cut internally and externally is free to
Pu K

rotate on an arm driven by shaft S1. It meshes externally with the casing D and internally with the pinion B. The
gears have following number of teeth : TB = 24, TC = 32 and 40 and TD = 48
Find the velocity ratio between :
(i) S1 and S2 when D is fixed.
ch

(ii) S1 and D when S2 is fixed.

What will be the torque required to fix the casing D if a torque of 300 Nm is applied to the shaft S1?
Te

Fig. P. 6.37.11
 Kinematics of Machinery (MU) 6-26 Gears and Gear Trains

Soln. :
Given data :
TB = 24, TCi = 32,
TCe = 40, TD = 48
Torque on shaft S1
TG1 = 3000 Nm

ns e
NS1
Velocity ratio NS2 = ? When D is fixed

NS1

io dg
Velocity ratio ND = ? when S2 fixed

Torque for casting D, TD = ?

Steps Operation Revolution of element

at le
Gear A or S1 Gear B or S2 Gear C Gear D

1. Fix the gear A and gear B is 0 1 tB tB tCe

given one revolution tCi tCi  tD
ic w
2. Multiply m 0 m tB tB tCe
mt mt  t
Ci Ci D

3. Add n revolutions to all n n n n

bl o
element

4. Total motion n m+n tB tB tCe

n

mt +n mt  t +n
Ci Ci D

tB tCe
Pu K

(i) Since, ND = 0 = m t  t + n
Ci D

24 40
0 = m  32  48 + n = 0.625 m + n
ch

orn =  0.625 m
NS1 NA n  0.625 m
 N = N =m+n=
S2 B m + ( 0.625 m)
=  1.6666 …Ans.
Te

(ii) Since NB or NS2 = 0 = m + n

 m = n
NS1 n n
 N = tB tCe = 24 40 = 2.66
D
mt  t +n  n  32  48 + n
Ci D

(iii) For equilibrium TA NA + TB NB + TD ND = 0

or TS1 NS1 + TS2 NS2 = 0 …[··· ND = 0]
NS1
TS2 = TS1 N = 300 ( 1.6666)
S2

=  500 Nm …Ans.
‰‰‰