Visit https://ebooknice.

com to download the full version and

explore more ebooks

(Ebook) Theory of Machines by B.V.R. Gupta ISBN

9789389447941, 9389447941

_____ Click the link below to download _____

https://ebooknice.com/product/theory-of-
machines-44511966

Explore and download more ebooks at ebooknice.com

Here are some recommended products that might interest you.
You can download now and explore!

(Ebook) Fluid Mechanics and Hydraulic Machines by S. C. Gupta ISBN

9788177583649, 8177583646

https://ebooknice.com/product/fluid-mechanics-and-hydraulic-
machines-44479574

ebooknice.com

(Ebook) Biota Grow 2C gather 2C cook by Loucas, Jason; Viles, James

ISBN 9781459699816, 9781743365571, 9781925268492, 1459699815,
1743365578, 1925268497

https://ebooknice.com/product/biota-grow-2c-gather-2c-cook-6661374

ebooknice.com

(Ebook) Theory of Machines by R. K. Bansal ISBN 9788170084181,

8170084180

https://ebooknice.com/product/theory-of-machines-44512128

ebooknice.com

(Ebook) Theory of Machines and Mechanisms by Shishir Kumar ISBN

9386835571

https://ebooknice.com/product/theory-of-machines-and-
mechanisms-44507556

ebooknice.com
(Ebook) Theory of Machines: Kinematics and Dynamics by Sadhu Singh
ISBN 9788131760697, 8131760693

https://ebooknice.com/product/theory-of-machines-kinematics-and-
dynamics-10889024

ebooknice.com

(Ebook) Theory of Mechanisms and Machines by C.S. Sharma and Kamlesh

Purohit ISBN 9788120329010, 8120329015

https://ebooknice.com/product/theory-of-mechanisms-and-
machines-44508464

ebooknice.com

(Ebook) Theory of Machines: A Text-book for Engineering Students by

Thomas Bevan ISBN 9788131729656, 8131729656

https://ebooknice.com/product/theory-of-machines-a-text-book-for-
engineering-students-44705722

ebooknice.com

(Ebook) Macroeconomics: Theory and Applications by G.S. Gupta ISBN

9789339214364, 9339214366

https://ebooknice.com/product/macroeconomics-theory-and-
applications-10954858

ebooknice.com

(Ebook) Languages and Machines: An Introduction to the Theory of

Computer Science by Thomas A. Sudkamp ISBN 9788131714751, 8131714756

https://ebooknice.com/product/languages-and-machines-an-introduction-
to-the-theory-of-computer-science-7008978

ebooknice.com
 .43
TECHSAR

Theory of
Machines
Kinematics and Dynamics
THEORY OF
THEORY OF MACHINES
MACHINES
Kinematics and
Kinematics and Dynamics
Dynamics
THEORY OF MACHINES
Kinematics and Dynamics

B.V.R. GUPTA
Principal
Simhadhri Educational Society
Group of Institutions
&
Formerly Professor & Dean
Faculty of Engineering
Andhra University
Visakhapatnam, A.P.
©Copyright 2019 I.K. International Pvt. Ltd., New Delhi-110002.

This book may not be duplicated in any way without the express written consent of the publisher,
except in the form of brief excerpts or quotations for the purposes of review. The information
contained herein is for the personal use of the reader and may not be incorporated in any commercial
programs, other books, databases, or any kind of software without written consent of the publisher.
Making copies of this book or any portion for any purpose other than your own is a violation of
copyright laws.

Limits of Liability/disclaimer of Warranty: The author and publisher have used their best efforts in
preparing this book. The author make no representation or warranties with respect to the accuracy or
completeness of the contents of this book, and specifically disclaim any implied warranties of
merchantability or fitness of any particular purpose. There are no warranties which extend beyond the
descriptions contained in this paragraph. No warranty may be created or extended by sales
representatives or written sales materials. The accuracy and completeness of the information provided
herein and the opinions stated herein are not guaranteed or warranted to produce any particulars
results, and the advice and strategies contained herein may not be suitable for every individual.
Neither Dreamtech Press nor author shall be liable for any loss of profit or any other commercial
damages, including but not limited to special, incidental, consequential, or other damages.

Trademarks: All brand names and product names used in this book are trademarks, registered
trademarks, or trade names of their respective holders. Dreamtech Press is not associated with any
product or vendor mentioned in this book.

ISBN: 978-93-89447-94-1

EISBN: 978-93-89583-86-1

Edition: 2019
 Dedication

I dedicate this book on THEORY OF MACHINES to my beloved brother.

Sri B.P. Gupta

He is responsible for what I am today. He wrote books on mathematics for engineering students
in late fifties when I was very young. His motivation and encouragement helped me in all my
endeavours including writing books. I present this book and my previous book on ENGINEERING
DRAWING to my beloved student community of past, present and future.
 Preface

Theory of machines is an important subject not only to mechanical engineering discipline, but
also to other engineering disciplines. All products whether they are mechanicat electrical, civit
computers or electronics, are designed, manufactured and maintained by mechanicals only. This
is one of the interesting and useful subject which deals with the mechanisms and machines. The
book covers both kinematics and dynamics of machines. The book will be useful not only to degree
level students of mechanical engineering but also to those preparing for AMIE and various other
competitive examinations.
Chapter 1 introduces the concepts of mechanisms and machines. In Chapter 2 various mecha­
nisms consisting of lower pairs are discussed. Chapter 3 deals with the analysis of their motions
such as velocities and accelerations of various mechanisms using different methods. Chapter 4 deals
with the study of kinetics, the time-varying forces in machines such as torque and power. Chapter 5
gives turning moment diagram and design of flywheels. Chapter 6 gives about friction and its effect
on mechanical efficiency. The friction effects on bearings and its uses in power transmission. In
Chapter 7, types of governors for speed regulation are presented. Chapter 8 deals with transmission
of power using belts, ropes and chains. Chapter 9 deals with gyroscopic effects on the vehicles such
as two wheelers, four wheelers, aeroplanes and ship. Chapter 10 gives about different types of cams
and their design. Chapter 11 deals with gears and their types. Chapter 12 gives the application of
gears used for transmission of power. Chapter 13 and Chapter 14 deal with balancing of rotating
masses and reciprocating masses. Chapter 15 and Chapter 16 are on the study of longitudinat
transverse and torsional vibrations.
Generally in many books, several examples will be given but in this book a few common
examples are shown for different methods. This will enable students or new faculty to understand
the relative merits and demerits of the methods. This will help them in choosing the right method
for the given problem and the time it requires. For example, in the velocity and accelerations,
whether to use instantaneous centre method or relative velocity method and in the governors,
whether to use analytical or graphical method, etc. are given so that the students will not try in the
examination time or new faculty in the classrooms while teaching.
Another highlight of this book is unlike other books where different problems are shown for
different parameters whereas in this book, the same problem has been shown by changing each
time one parameter. This will give a clear idea to students the effect of that particular parameter.
For example in cams, the effect of follower, motion, whether it is offset or radial cam on its profile.
In governors, Porter or Proell, unequal or equal arms, pivoted on the spindle or away from the
spindle, etc. Students should not attempt by trial and error way especially in the examinations
time.
viii Preface

The author has written this book by his forty years of teaching experience. This book will help
not only to students but also to new faculty members for preparing well in all the above aspects
with confidence. The international System of Units (SI) has been adopted throughout the book. The
author thanks all those who influenced him in writing this book.
B.V.R. GUPTA
'HARINIVAS'
D.No. 4-50-6, Lawsons Bay Colony,
Visakhapatnam-530 017.
 Acknowledgements

I thank my teachers who taught me this subject and inspired me. The doubts I got during the
student days and later as a faculty member while teaching this subject has made me to write this
book. Many books are available but they lack proper information from the student's point of view
and junior faculty members. I must thank one most important person, Prof. S. Tiruvengalum,
Professor of Electrical Engineering (Retd.), JNTU Engineering College, Anantapur for his blessings
and encouragement right from my student days till now. I also must thank my teacher and colleague
Prof. N. L. N. Rao, Professor of Mechanical Engineering, Andhra University College of Engineering,
Visakhapatnam for his wonderful guidance throughout my career. My thanks to my mentors,
Prof. N. Ganesan and Prof. S. Narayanan, Mechanical Department, I.LT., Madras under whom I
did my Ph.D. in Dynamics.
I thank the Hon'ble Vice-Chancellors of Andhra University, JNTU, Kakinada and Anantapur for
their encouragement in writing the book.
I also thank Head of the Department of Mechanical Engineering, Head of the Department of
Marine Engineering, Andhra University and Head of the Department of Mechanical Engineering,
Govt. Polytechnic, Visakhapatnam for their advices and good support.
I must thank my sons Mr. Yoganand and Mr. Hari Kishan, Engineers for their guidance in
computer usage in preparing the manuscript. My thanks to Mr. G. Mahesh, son of my classmate
Mr. G. Mohan Krishna, E.E. (R&B), Retd. for his guidance in Auto CAD.
I must thank my wife, daughter-in-laws and grandchildren, Chy. Samanvitha, Chy. Akhil and
Chy. Gayatri for providing peaceful atmosphere throughout the preparation of this book.
Lastly, I must thank Mr. Krishan Makhijani, Managing Director, I.K. International Publishing
House Pvt. Ltd., New Delhi for his support and coming forward to publish my book.
B.V.R. GUPTA
'HARINIVAS'
D.No. 4-50-6, Lawsons Bay Colony,
Visakhapatnam-530 017.
 Machine Design Section
Department of Mechanical Engineering
Indian Institute of Technology (Madras) Chennai-600036

Foreword
Theory of Machines and. Mechanisms also known as Kinematics and Dynamics of Machinery
is one of the most important core subjects taught to Mechanical Engineering undergraduate
students all over the world. This subject is a natural sequel to the study of the basic courses in
Engineering Mechanics, Statics and Dynamics. This subject introduces the student to different types
of mechanisms, their motions and their analysis and synthesis and forms an essential pre-requisite
for leading the student to the concepts and processes of Machine Design. It is also important
to other engineering disciplines like Aerospace Engineering, Applied Mechanics and Engineering
Design. With the advent of Micro Electronic Mechanical Systems (MEMS), Mechatronic devices and
Robotics in various applications, the importance of the subject extends to other multidisciplinary
areas.
Though there are many textbooks written by a number of authors giving emphasis to different
aspects of the subject, the present book "Theory of Machines" Kinematics and Dynamics written
by Prof. B.V.R. Gupta, Principal of Simhadhri Educational Society Group of Institutions, Andhra
University College of Engineering, Visakhapatnam brings to fore his rich and long years of
experience of teaching this course to several batches of Mechanical Engineering students in his
college and elsewhere. Another feature of this book is that when different methods of solution are
available the same example problem is considered to illustrate the working of the different methods
and bring out the similarity and differences between them.
I know Prof. B.V.R. Gupta for more than three decades now. He was my doctoral student at
IIT Madras. He is known for his excellent teaching and profound knowledge of the subject. This
book is the result of his careful and meticulous attention to details and concepts and hard work.
This book is written to all Mechanical Engineering undergraduate students in the country and the
curriculum of all Universities and Autonomous Institutions in mind. I am certain that this book
will be an important and useful addition to the number of books on this subject. I recommend this
book for adoption by the students and the institutions.
Dr. S. Narayanan
Professor Emeritus,
(Formerly Dean Academic Research),
Department of Mechanical Engineering,
IIT Madras,
Chennai-600 036.
 13th March 2010
G.M.Rao
Group Chairman
GMR Group
IBC Knowledge Park, Phase 2, D Block, 11th Floor
4/1. Bannerghatta Road,
Bangalore.

Message

Dear Dr. Gupta garu,

I am very happy to know that you have written yet another book titled Theory of Machines. Please
accept my heartiest best wishes on this occasion and I am confident, this book would be of great
help to the engineering students and also a good reference work for the faculty. This is my message
for your great book launch.
Warm regards,
G M Rao
N. Sambasiva Rao, I.P.S. © 0891-2562709, 2562763 (0)
Commissioner of Police
Visakhapatnam City
Date: ../.8/.:3//0„..

Message

I am glad that my professor Dr. B.V.R. Gupta, Retired from Andhra University, Engineering College,
Visakhapatnam has written a book on "THEORY OF MACHINES". I have gone through the book
and it has reminded me my student days. He has presented the subject in the same manner he
taught us. I did my project work also under his guidance. The concepts are well presented in simple
words along with figures wherever possible. It is easy for any student to follow on his own. The
book covers both KINEMATICS AND DYNAMICS OF MACHINES. The book gives clarifications
to all doubts that the students get. The application of different methods and which method the
student has to choose during the examination time has been well explained.
This is his second book. The first book he wrote is on "ENGINEERING DRAWING" which is
an important subject to all branches of students. In a short period the book has become so popular
and it has prescribed in most of the universities in Andhra Pradesh. He is a well known teacher for
these two subjects.
I am sure that these two books will be made use by all students of both B.Tech/B.E and Diploma
in all the colleges in the country.

t iUk tAAA)
(N. SAMBASIVA RAO)
 ANDHRA UNIVERSITY
Prof B.S.K. Sundara Siva Rao
PhD, FIE,CE Department of Mechanical Engineering
Head of the Department & Visakhapatnam 530003
Chairman Board of Examiners Email: [email protected]
Tel. (0) 0891-2844804 Fax (0) 0891-2747969
Cell 9848186121

Message

It gives me great pleasure to introduce this textbook 'THEORY OF MACHINES' by Prof. B.

V. R. Gupta. Prof. Gupta is my teacher and senior colleague in the Department of Mechanical
Engineering, Andhra University. The author has been teaching this subject for the last forty years
to both U.G. and P.G. students. The students used to express their appreciation for the way he deals
with the subject.
In addition to the basic engineering subjects like Engineering Drawing, Engineering Mechanics
etc., the subject Theory of Machines is an important subject for Mechanical Engineers.
This book covers the syllabus usually prescribed for the Diploma courses conducted by various
boards, Undergraduate courses in Universities and various Institutions of Engineers.
This book is written in a simple, lucid way with the average student in mind. The pictures
provided in the book gives students a proper understanding and feel for practical applications of
components.
The multiple choice questions, short answer questions given at the end of each chapter are useful
for the students appearing for their university examinations and competitive examinations.
My Best Wishes to author Prof. B.V.R. Gupta and students who are going to make use of this
Textbook.

28-03-2010
Visakhapatnam (Dr. B.S.K. Sundara Siva Rao)
 ANDHRA UNIVERSITY: COLLEGE OF ENGINEERING
DEPARTMENT OF MARINE ENGINEERING

Prof. T.V.K. Bhanuprakash April 4, 2010

B.E.(AU), M.Tech ( IIT-Kgp), Ph.D(U Miami, USA)
Dept. of Marine Engineering
College of Engineering
Andhra University
Visakhapatnam - 530 003.

Message
I am very happy to know that my Prof. B.V.R. Gupta has brought out a new book in Theory of
Machines. I believed that only a good teacher can write a good book and the present book is a
classic example of that. Though there are many books on Theory of Machines, this particular book
is written specially keeping the student in mind. Theory has been presented clearly and worked out
examples are solved with many different techniques and the student can now choose the technique
that suits him best. Figures are clear and the presentation is simple. End of the book exercises, short
questions and multiple-choice questions help the student to better understand the subject.
I am sure that this beautiful book will enhance the understanding of the subject of Theory of
Machines and will remain as a book with long standing patronage. I once again congratulate the
author Prof. B.V.R. Gupta for this excellent work and wish him all the best in his future endeavours.

(T.V.K. Bhanuprakash)
 KVA RAO MARINE
TECHNOCRATS (P) LTD
111

24-4-7. Harbour Road. Visakhapatnam - 530 001.

Message
I am very glad to know that Prof. B.V.R. Gupta, my teacher, when I was a student (1970-75) of
Mechanical Engineering with Marine as an elective subject from College of Engineering - Andhra
University, has recently written another important book on THEORY OF MACHINES. He taught
us this subject and also ENGINEERING DRAWING (his first book) in our first year. I was one of
the top few students to obtain good percentage of marks in both these subjects. Prof. Gupta has
presented in such a way that each student not only understands clearly the subject but also faces
the examinations with ease. He clearly explained the mistakes which students are often prone to
commit in examinations. These two books are the outcome of his keen interest on these subjects.
I congratulate him for his efforts in bringing out this present book with illustrious pictures for good
comprehension even by an average student and I am sure all the engineering students will get
immense benefit from these two books.

K. Bimdhu Mohan, BE(Mech-Marine), FIMarE, FIE., C. Engr,

Chief Engineer,
Chairman & Managing Director
KVA Rao Marine Technocrats (P) Ltd., Vizag.
 CONTENTS

Preface vii
Acknowledgements lX

Foreword Xl

Units and their Values xxxiii

Abbreviations, Notations and Symbols XXXV

1. Simple Mechanisms 1

1.1 Introduction 3
1.2 Kinematic Link or Element 3
1.3 Kinematic Pair 5
1.3.1 Nature of Relative Motion between the Elements 5
1.3.2 Nature of Contact between the Elements 5
1.3.3 Nature of the Mechanical Arrangement for Complete or
Successful Constraint between the Elements 6
1.4 Kinematic Chain 7
1.4.1 First Equation Using Pairs 8
1.4.2 Second Equation Using Joints 9
1.4.3 According to the Type of Closure between Elements 10
1.4.4 Degrees of Freedom 11
1.5 Mechanism 11
1.6 Inversion 12
1.6.1 Single Slider Crank Chain 12
1.6.2 Double Slider Crank Chain 15
1.6.3 Four-Bar Mechanisms 17
1.7 Exercise 20
1.7.1 Short Answer Questions 20
1.7.2 Problems 22
1.7.3 Multiple Choice Questions 22
xx Contents

2. Mechanisms with Lower Pairs 25

2.1 Introduction 27
2.2 Pantograph 27
2.3 Mechanisms for Straight Line Motions 28
2.3.1 Peaucellier Mechanism 29
2.3.2 Hart Mechanism 29
2.3.3 Scott-Russell Mechanism 30
2.4 Approximate Straight Line Mechanism 31
2.4.1 Watt Mechanism 31
2.4.2 Grasshopper Mechanism 32
2.4.3 Tchebicheff Straight Line Motion 32
2.4.4 Roberts Mechanism 33
2.5 Steering Gear Mechanism 33
2.5.1 Davis Steering Gear (Exact) 34
2.5.2 Ackermann Steering Gear (Approximate) 35
2.6 Hooke's Joint (or) Universal Joint 36
2.7 Double Hooke's Joint 41
2.8 Exercise 43
2.8.1 Short Answer Questions 43
2.8.2 Problems 45
2.8.3 Multiple Choice Questions 46

3. Velocities and Accelerations in Mechanisms 49

3.1 Introduction 51
3.2 Motion 51
3.2.1 Translatory Motion 51
3.2.2 Rotary Motion 51
3.2.3 Speed 51
3.2.4 Angular Displacement (6) 52
3.2.5 Radian 52
3.2.6 Angular Velocity (w) 52
3.2.7 Relation between Linear Velocity and Angular Velocity 53
3.3 Instantaneous Centre Method 53
3.3.1 Properties of Instantaneous Centres 54
3.3.2 Number of Instantaneous Centres in a Mechanism 55
3.3.3 Types of Instantaneous Centres 55
 Contents xxi

3.3.4 Location of Instantaneous Centres 55

3.3.5 Kennedy's Theorem or Three-centres-in-line Theorem 56
3.3.6 Application of Instantaneous Centre to Any Mechanism 57
3.3.7 Steps in Determining the Unknown Instantaneous Centres 57
3.4 Relative Velocity Method 64
3.5 Acceleration in Mechanisms 70
3.5.1 Introduction 70
3.5.2 Angular Acceleration 70
3.5.3 Vector form between Linear and Angular Acceleration 70
3.5.4 Various Steps to be Followed in the Acceleration Analysis 71
3.6 Coriolis Component of Acceleration 78
3.7 Exercise 83
3.7.1 Short Answer Questions 83
3.7.2 Problems 83
3.7.3 Multiple Choice Questions 88

4. Inertia Forces in Reciprocating Parts 91

4.1 Introduction 93
4.1.1 Terms Used in Static 93
4.1.2 D-Alembert's Principle 94
4.2 Analytical Method for Reciprocating Mechanism 95
4.2.1 Displacement of Piston (Xp) 96
4.2.2 Velocity of Piston (vp) 97
4.2.3 Acceleration of Piston (ap) 97
4.2.4 Angular Velocity of Connecting Rod (cot) 98
4.2.5 Angular Acceleration (ac) 98
4.3 Klien's Construction for Reciprocating Mechanisms 100
4.3.1 Klien's Velocity Diagram 100
4.3.2 Klien's Acceleration Diagram 101
4.4 Forces on the Reciprocating parts of an Engine 104
4.4.1 Neglecting the Weight of the Connecting Rod 104
4.4.2 Considering the Weight of the Connecting Rod 109
4.5 Equivalent Dynamical System 110
4.5.1 Dynamically Equivalent System 110
4.5.2 Determination of Dynamically Equivalent System of Two Masses Placed
Arbitrarily (Analytically) 111
xxii Contents

4.5.3 Determination of Dynamically Equivalent System of Two Masses Placed

Arbitrarily (Graphically) 112
4.6 Inertia Forces in a Reciprocating Engine 113
4.6.1 Graphical Method 113
4.6.2 Analytical Method 114
4.7 Exercise 120
4.7.1 Short Answer Questions 120
4.7.2 Problems 120
4.7.3 Multiple Choice Questions 122

5. Turning Moment Diagrams and Design of Flywheel 125

5.1 Introduction 127
5.2 Single-Cylinder Double-Acting Steam Engine 127
5.3 Four-Stroke Cycle Internal Combustion Engine 128
5.3.1 Fluctuation of Energy 129
5.4 Flywheel 130
5.4.1 Coefficient of Fluctuation of Speed 131
5.4.2 Energy Stored in the Flywheel (E) 131
5.4.3 Design of Flywheel 132
5.5 Typical Worked Examples 133
5.6 Flywheel in Punching Press 141
5.7 Exercise 144
5.7.1 Short Answer Questions 144
5.7.2 Problems 144
5.7.3 Multiple Choice Questions 145

6. Friction 147
6.1 Introduction 149
6.2 Laws of Friction 150
6.2.1 Friction between Dry Surfaces 151
6.2.2 Friction between Rough Surfaces 151
6.2.3 Friction is Self Adjusting 151
6.2.4 Angle of Friction (0) 151
6.2.5 Rolling Friction 152
6.3 Equilibrium of Body on a Rough Inclined Plane 153
6.3.1 Motion Up the Plane 154
 Contents xxiii

6.3.2 Motion Down the Plane 154

6.3.3 Maximum Efficiency 155
6.4 Screw Friction 156
6.4.1 Square Thread 156
6.4.2 Relation Between Effort and Weight Lifted by a Screw Jack 157
6.4.3 V-Thread 158
6.4.4 Mechanical Advantage 158
6.5 Pivot and Collar Friction 159
6.5.1 Uniform Intensity of Pressure 161
6.5.2 Uniform Rate of Wear 162
6.6 Clutches 164
6.6.1 Single-plate Clutch 165
6.6.2 Multi-plate Clutch 165
6.6.3 Cone Clutch 166
6.7 Brakes and Dynamometers 168
6.7.1 Introduction 168
6.7.2 Types of Brakes 168
6.7.3 Dynamometers 176
6.7.4 Types of Frictions 178
6.8 Exercise 181
6.8.1 Short Answer Questions 181
6.8.2 Problems 182
6.8.3 Multiple Choice Questions 185

7. Governors 187
7.1 Introduction 189
7.2 Centrifugal Governors 189
7.3 Various Parts and Terms Used in Governors 191
7.3.1 Height of the Governor (h) 191
7.3.2 Equilibrium Speed 191
7.3.3 Sleeve Lift 191
7.4 Simple Watt Governor 191
7.4.1 Analytical Method 192
7.4.2 Graphical Method 193
7.5 Porter Governor 194
7.5.1 Analytical Method 195
7.5.2 Graphical Method 197
xxiv Contents

7.6 Proell Governor 197

7.6.1 Analytical Method 198
7.6.2 Graphical Method 199
7.6.3 Comparison between Flywheel and Governor 209
7.7 Hartnell Governor 209
7.8 Hartung Governor 213
7.9 Definitions 218
7.9.1 Sensitiveness 218
7.9.2 Stable and Unstable 218
7.9.3 Isochronous/Isochronism 218
7.9.4 Hunting 218
7.9.5 Effort 218
7.9.6 Power 218
7.9.7 Controlling Force 218
7.9.8 Coefficient of Insensitiveness 219
7.10 Wilson-Hartnell Governor 219
7.11 Exercise 221
7.11.1 Short Answer Questions 221
7.11.2 Problems 221
7.11.3 Multiple Choice Questions 223

8. Belt, Rope and Chain Drives 225

8.1 Introduction 227

8.2 Types of Belts 227
8.2.1 Flat Belt 228
8.2.2 V-belt 228
8.2.3 Circular Belt or Rope 229
8.3 Types of Belt Drives 230
8.3.1 Compound Belt Drives 231
8.3.2 Stepped or Cone Pulley 232
8.4 Speed Ratio or Velocity Ratio of a Belt Drive 232
8.4.1 Velocity Ratio of a Compound Belt Drive 233
8.4.2 Slip of the Belt 234
8.4.3 Effect of Creep on Velocity Ratio 235
8.5 Length of an Open Belt 235
8.6 Length of a Crossed Belt 237
8.7 Ratio of Tensions 239
 Contents xxv

8.7.1 Power Transmitted by a Belt 241

8.7.2 Effect of Centrifugal Tension Tc on Power Transmitted 241
8.7.3 Condition for Maximum Power 242
8.7.4 Effect of Initial Tension (To) 243
8.8 Rope Drive 243
8.8.1 Ratio of Tensions 243
8.9 Chain Drives 245
8.9.1 Types of Chains 246
8.10 Exercise 248
8.10.1 Short Answer Questions 248
8.10.2 Problems 249
8.10.3 Multiple Choice Questions 251

9. Gyroscope 255

9.1 Introduction 257

9.2 Gyroscopic Couple and its Effect 258
9.3 Effect of Gyroscopic Couple on an Aeroplane 259
9.4 Special Terms Used in Ships 263
9.4.1 Effect of Gyroscopic Couple on the Ship During Steering 264
9.4.2 Effect of Gyroscopic Couple on the Ship During Pitching 265
9.4.3 Effect of Gyroscopic Couple on the Ship During Rolling 266
9.5 Stability of Four-Wheeler 268
9.5.1 Effect of the Gyroscopic Couple 269
9.5.2 Effects of the Centrifugal Couple 270
9.6 Stability of a Two-wheeler 273
9.6.1 Effect of the Gyroscopic Couple 274
9.6.2 Effects of the Centrifugal Couple 275
9.7 Exercise 278
9.7.1 Short Answer Questions 278
9.7.2 Problems 279
9.7.3 Multiple Choice Questions 280

10. Cams 283

10.1 Introduction 285
10.2 Classification of Followers 286
10.2.1 Based on the Surface in Contact 287
xxvi Contents

10.2.2 Based on the Type of Movement of the Follower 287

10.2.3 Based on the Line of Motion of Follower 287
10.2.4 Based on the Desired Mathematical Motions 288
10.3 Types of Cams 288
10.3.1 Based on Follower Motion 288
10.3.2 Based on the Shape of the Cam 288
10.4 Terminology 289
10.4.1 Cam Profile 289
10.4.2 Base Circle 289
10.4.3 Trace Point 289
10.4.4 Pitch Curve 290
10.4.5 Prime Circle 290
10.4.6 Pressure Angle 290
10.4.7 Cam Angle 290
10.4.8 Pitch Point 290
10.4.9 Lift or Stroke(s) 290
10.4.10 Pitch Circle 291
10.5 Analysis of Motion of the Follower 291
10.5.1 Uniform Velocity 292
10.5.2 Simple Harmonic Motion (SHM) 294
10.5.3 Uniform Acceleration and Retardation 296
10.5.4 Cycloidal Motion 297
10.6 Construction of Displacement Diagrams 299
10.6.1 Displacement Diagram for Uniform Velocity 300
10.6.2 Displacement Diagram for Simple Harmonic Motion (SHM) 300
10.6.3 Displacement diagram for Uniform Acceleration and Retardation (UAR) 301
10.6.4 Displacement Diagram for Cycloidal Motion 302
10.7 Construction of Cam Profiles 303
10.7.1 Cam Profile with Radial Knife Edge Follower Having Outward Cycloidal
Motion and Return Uniform Velocity Motion 303
10.7.2 Cam Profile with a Radial Knife Edge Follower Having Outward SHM and
Return Uniform Acceleration and Retardation (UAR) 305
10.7.3 Cam Profile with an Offset Knife Edge Follower Having Outward SHM and
Return UAR 305
10.7.4 Cam Profile with the Radial Roller Follower with Outward Cycloidal Motion
and Return Uniform Velocity 306
10.7.5 Cam Profile with an Offset Roller Follower with Outward Cycloidal Motion
and Return with Uniform Velocity 308
 Contents xxvii

10.7.6 Cam Profile for Radial Flat Faced Radial Follower with Outward Cycloidal
Motion and Return Uniform Velocity 309
10.8 Cams with Specified Contours 312
10.8.1 Circular Arc Cam with Flat-faced Reciprocating Follower 312
10.8.2 Tangent Cam with Reciprocating Roller Follower 315
10.9 Exercise 318
10.9.1 Short Answer Questions 318
10.9.2 Problems 319
10.9.3 Multiple Choice Questions 320

11. Toothed Gearing 323

11.1 Introduction 325
11.2 Classification of Toothed Gearing 325
11.2.1 According to Axes 325
11.2.2 According to the Range of Peripheral Velocity 326
11.2.3 According to Position of Teeth on the Gear Surface 326
11.2.4 According to Type of Gearing 327
11.2.5 According to Materials Used for Gears 328
11.3 Terminology Used in Gears 328
11.3.1 Pitch Circle 328
11.3.2 Addendum (a) 329
11.3.3 Addendum Circle 329
11.3.4 Dedendum (d) 330
11.3.5 Dedendum Circle 330
11.3.6 Clearance 330
11.3.7 Face 330
11.3.8 Flank 330
11.3.9 Face Width 331
11.3.10 Top Land 331
11.3.11 Tooth Profile 331
11.3.12 Circular Pitch (Pa) 331
11.3.13 Pitch Point (P) 331
11.3.14 Diametral Pitch (Pa) 331
11.3.15 Module (m) 331
11.3.16 Pressure Angle or Obliquity (p) 332
11.3.17 Path of Contact 332
11.3.18 Length of Path of Contact 332
xxviii Contents

11.3.19 Arc of Contact 332

11.4 Condition for Constant Velocity Ratio or Law of Gearing 332
11.5 Length of the Arc of Contact 335
11.6 Minimum Number of Teeth on the Pinion to Avoid Interference 340
11.7 Interference in Involute Gears 344
11.8 Methods of Avoiding Interference 344
11.9 Forms of Teeth 344
11.9.1 Cycloidal Teeth 345
11.9.2 Involute Tooth 346
11.10 Helical Gears 346
11.11 Bevel Gears 347
11.12 Spiral Gears 348
11.13 Exercise 348
11.13.1 Short Answer Questions 348
11.13.2 Problems 349
11.13.3 Multiple Choice Questions 351

12. Gear Trains 353

12.1 Introduction 355
12.2 Simple Gear Train or Simple Gear Drive 355
12.2.1 Speed Value or Speed Ratio or Velocity Ratio (VR) 356
12.2.2 Train Value 356
12.2.3 Power Transmitted by a Simple Gear Train 357
12.3 Compound Gear Train 358
12.4 Reverted Gear Train 359
12.5 Epicyclic Gear Train 362
12.6 Torque in Epicyclic Gear Trains 369
12.7 Compound Epicyclic Gear Train 371
12.8 Epicyclic Gear Trains with Bevel Gears 375
12.9 Exercise 380
12.9.1 Short Answer Questions 380
12.9.2 Problems 382
12.9.3 Multiple Choice Questions 386
 Contents xxix

13. Balancing of Rotating Masses 389

13.1 Introduction 391
13.2 Checking of a Rotating Element 391
13.3 Types of Balancing of Rotating Elements 392
13.3.1 Balancing of a Single Unbalanced Rotating Mass 392
13.3.2 Balancing of Several Unbalanced Rotating Masses 392
13.4 Balancing of a Single Unbalanced Rotating Mass 393
13.4.1 By a Single Balancing Mass Rotating in the Same Plane 393
13.4.2 By Two Balancing Masses in Two Different Planes 394
13.5 Balancing of Several Unbalanced Masses Rotating in the Same Plane 399
13.5.1 Analytical Method 400
13.5.2 Graphical Method 400
13.6 Balancing of Several Unbalanced Masses Rotating in Several Planes 402
13.7 Exercise 410
13.7.1 Short Answer Questions 410
13.7.2 Problems 410
13.7.3 Multiple Choice Questions 412

14. Balancing of Reciprocating Masses 413

14.1 Introduction 415
14.2 Partial Balancing 416
14.3 Effect of Partial Balancing in Two-Cylinder Locomotives 417
14.3.1 Tractive Force (FT) 418
14.3.2 Swaying Couple 419
14.3.3 Hammer Blow 419
14.3.4 Types of Locomotives 420
14.4 Multi-cylinder In-line Engines 428
14.5 Radial Engines 434
14.5.1 Direct and Reverse Crank Method 435
14.5.2 Analytical Method 436
14.6 V-Engines 439
14.6.1 Analytical Method 440
14.6.2 Direct and Reverse Crank Method 441
14.7 Exercise 443
14.7.1 Short Answer Questions 443
14.7.2 Problems 443
14.7.3 Multiple Choice Questions 445
xxx Contents

15. Longitudinal and Transverse Vibrations 447

15.1 Introduction 449

15.2 Basic Elements of Any Vibratory System 449
15.2.1 Inertial Element or Mass 449
15.2.2 Restoring Element or Spring 449
15.2.3 Damping Elements or Damper 450
15.3 Various Terms Used in Vibration and their Meanings 450
15.3.1 Period 450
15.3.2 Cycle 450
15.3.3 Frequency 450
15.3.4 Resonance 450
15.4 Types of Vibrations 450
15.4.1 Free or Natural Vibrations 450
15.4.2 Forced Vibrations 450
15.4.3 Damped Vibrations 450
15.5 Types of Vibrations Based on the Deflection 451
15.5.1 Longitudinal Vibrations 451
15.5.2 Transverse Vibrations 451
15.5.3 Torsional Vibrations 451
15.6 Natural Frequency of Free Longitudinal Vibrations 451
15.6.1 Equilibrium Method 452
15.6.2 Energy Method 453
15.6.3 Rayleigh's Method 454
15.7 Natural Frequency of Free Transverse Vibrations 459
15.7.1 Energy (Rayleigh's) Method of a Shaft Subjected to Number of Point Loads 464
15.7.2 Dunkerley's Method for a Shaft Subjected to a Number of Point Loads 464
15.8 Critical Speed or Whirling Speed of a Shaft 468
15.9 Frequency of Free Damped Vibrations (Viscous Damping) 471
15.9.1 When the Roots are Real (Overdamping or Large Damping) 473
15.9.2 When the Roots are Equal (Critical Damping) 473
15.9.3 When the Roots are Complex Conjugate (Underdamping or Small Damping) 473
15.9.4 Logarithmic Decrement 474
15.10 Frequency of Forced Damped Vibration 476
15.10.1 Magnification Factor or Dynamic Magnifier (D) 478
15.11 Exercise 480
15.11.1 Short Answer Questions 480
15.11.2 Problems 481
15.11.3 Multiple Choice Questions 483
 Contents xxxi

16. Torsional Vibrations 485

16.1 Introduction 487

16.2 Natural Frequency of Free Torsional Vibrations 487
16.3 Torsional Vibrations of a Shaft with Number of Rotors 488
16.3.1 Free Torsional Vibrations of a Single Rotor System 488
16.3.2 Free Torsional Vibrations of a Two-Rotor System 490
16.3.3 Free Torsional Vibrations of a Three Rotor System 493
16.4 Torsionally Equivalent Shaft 499
16.5 Free Torsional Vibrations of a Geared System 505
16.6 Exercise 509
16.6.1 Short Answer Questions 509
16.6.2 Problems 509
16.6.3 Multiple Choice Questions 510

Bibliography 513

Index 515
 Units and their Values
Standard SI Prefixes

I. Prefixes used in basic units

Factor by which the unit Standard form Prefix Abbreviation

is multiplied

1 000 000 000 000 1012 tera T

1 000 000 000 109 giga G
1 000 000 106 mega M
1 000 103 kilo k
100 102 hecto h
10 101 deca da
0.1 10-1 deci d
0.01 10-2 centi c
0.001 10-3 milli m
0.000 001 10-6 micro 1.1
0.000 000 001 10-9 nano n
0.000 000 000 001 10-12 pico p

II. The follozving derived units will be used in this book

Density (or Mass density) kg/m3

Force (in Newtons)
Pressure N/mm2 or N/m2
Work done (in Joules) J = N-m
Power (in Watts) W = J/s
xxxiv Units and their Values

III. Fundamental units in S.I. system and their standard abbreviations, which are internationally
recognised, are as given below:

m: for metre or metres; km: for kilometre or kilometres

kg: for kilogram or kilograms; t: for tonne or tonnes
s: for second or seconds; min: for minute or minutes
N: for newton or newtons; N-m: for newton metre (i.e., work done)
kN-m: for kilonewton x metres; rad: for radian or radians

IV. The units and their values to represent the units as per recommendations of ISO and BSO as
follows

7500 not 7 500 or 7,500

86 589 000 not 86589000 or 8,65,89,000
0.015 22 not 0.01522 or 0.01522
40 x 106 not 4,00,00,000 or 4 x 107
 Abbreviations, Notations and Symbols

a—area, acceleration, addendum, distance between pivots, track

acw—anticlockwise
A—area, amplitude
b—breadth or width
B—breadth
c—damping coefficient, connecting rod
cw—clockwise
ccw—counterclockwise
C—couple, coefficient
CG—centre of gravity
D, d—diameter, dedendum
e—eccentricity, offset
E—Young's modulus, energy
Eq—equivalent
Ex—example
f—force, frequency
F—force, friction
g—acceleration due to gravity
G—geat ratio, modulus of rigidity, centre of mass
h—height, lift
H—height
I—mass moment of inertia, instantaneous centre
IDC—inner dead centre
j—polar moment of inertia, number of joints
k—radius of gyration
K—coefficient of fluctuation of speed, ratio
KE -kinetic energy
/—length
L—length, lead, links
m—mass, metre
M—mass
MA—mechanical advantage
Max, Min—maximum, minimum
L
n—number, (— ) ratio, degrees of freedom, number of links
r
N—rotational speed in rpm, Newtons
xxxvi Abbreviations, Notations and Symbols

ODC-outer dead centre

p-pitch, pressure, circular pitch, pairs
P-power, pressure, diametral pitch, number of pairs, piston
PE-potential energy
Pic-picture
q-torsional stiffness
r-radius
r.p.m.-revolutions per minute
R-reaction, radius
Ref-reference plane
s-displacement, stiffness
S-slip, length of lever
SE-strain energy
SHM-simple harmonic function
t-thickness, time
T-teeth, torque, tension, Table
v-velocity
V-velocity, volume
VR-velocity ratio
w-width, weight, wheel base
W-weight
W E-worked example
x-displacement
X-displacement, amplitude
y-deflection
x, y, z-Cartesian coordinates
0-angle
a-angular acceleration, angle
a-angle
tp-pitch angle
6-angle, increment, logarithmic decrement
y-coefficient of friction
co-angular velocity (rad/sec)
p-mass density
A-angle
e-transmissibility
(-damping factor
(1)-angle, pressure angle, angle of friction
n-3.1416
77-efficiency
t, a-hoop stress
E-sum of quantities
A-displacement
 Abbreviations, Notations and Symbols xxxvii

Subscripts:
b-balancing
cor-coriolis
c-circular pitch, connecting rod, centrifugal
d-diametral pitch
i-input, inertia
min, max-minimum and maximum
n-nose, normal
o-output
p-pair
r-radial
t-tangential
Superscripts:
c-centripetal
t-tangential
s-sliding
 R.

M-Wheel; a-Crank; b-Connecting rod; c-Pedal

 Simple Mechanisms
1.1 INTRODUCTION
This chapter deals with machines and mechanisms. A machine is an apparatus which receives
energy in some available form and uses it to do some particular kind of work. A mechanism is a
combination of different parts assembled in such a way that the motion of one causes predictable
motion to others. So a machine is a mechanism or a combination of mechanisms which apart from
imparting definite motions to the parts, also transmits and modifies the available mechanical energy
into some kind of desired work.
Examples: Punching machine, typewriters, clocks, watches, toys made of springs, petrol engine,
lathe machine, etc.
The theory of machines is an applied science which is used to understand the relationships
between the geometry and motions of the parts of a machine or mechanism and the forces which
produce these motions. Hence, it comprises the study of relative motion between the various parts
of a machine and the study of the forces that act on those parts.
The study of relative motion between the parts is called kinematics of a machine while the
study of the forces which act on the parts is called as dynamics of a machine.
Statics deals with the analysis of stationary systems, i.e., those in which time is not a factor, and
dynamics deals with systems which change with time. Kinetics deals with the parts in motion due
to the application of forces. Therefore, the subject 'Theory of Machines' comprises the study of
both kinematics and dynamics of machines.

1.2 KINEMATIC LINK OR ELEMENT

The word link is used to designate a machine part or a component of a mechanism. A machine
consists of several resistant bodies or parts which are said to be rigid. A body is said to be rigid
when it does not suffer any distortion or in other words the distance between any two points does
not change. Each rigid body of a machine which has motion relative to some other rigid body is
termed kinematic link or element or simply a link.
Kinematic link or element may consist of several parts which are manufactured as separate units
and assembled. There will not be any relative motion between the parts of the same link or element.
The picture of the reciprocating engine is shown in Pic. 1.1 and the various parts of the reciprocating
engine are shown in the line diagram in Fig. 1.1.
1. Piston, piston rod and crosshead are rigidly fastened with no relative motion between them.
All the three parts together is called a link or element.
2. Similarly, connecting rod with big and small ends together is called a link or element.
3. Crankshaft, crankpin and flywheel together is called a link or element.
4. Cylinder head, bed plate and main bearings of the crankshaft together is called a link or
element.
4 Theory of Machines

Flywheel

Big end Cylinder

Crank Piston

Engine frame

Crankshaft Piston rod

Fig. 1.1 Reciprocating engine.

Pic. 1.1

Link need not necessarily be a rigid body, but it must be a resistant body, i.e., it must be capable
of transmitting the required motion and force with negligible deformation.
For example:

(a) Chain or belt or rope, which are resistant to tensile forces called semi-rigid bodies used for
transmitting motion and force.
(b) Fluids, which are resistant to compressive forces are also used as links in hydraulic presses,
hydraulic brakes and hydraulic jacks, etc.
Links can be classified into binary, ternary and quarternary, etc. depending upon its ends on
which revolving or turning pairs can be placed. They are rigid links as shown in Fig. 1.1(a). There
will be no relative motion between the joints within the link, i.e. the lengths between the joints
remain constant in (i) between two points 1 and 2, in (ii) between the three points 1, 2 and 3, in
(iii) between the four points 1, 2, 3 and 4.
 Simple Mechanisms 5

(I) (ii)

Fig. 1.1(a) Types of links.

1.3 KINEMATIC PAIR

The links of a mechanism must be connected together in such a manner that these transmit motion
from the driver link or input link to the follower link or output link. Two elements or links which
are connected or joined together in such a way that their relative motion is completely constrained
forms a kinematic pair. Constraint means definite predictable relative motion between the two
links. Accordingly, the kinematic pairs are classified on the following considerations:

(a) Nature of relative motion between the elements.

(b) Nature of contact between the elements.
(c) Nature of the mechanical arrangement for complete or successful constraint between the
elements.

1.3.1 Nature of Relative Motion between the Elements

There are five types of kinematic pairs depending upon the relative motion between the elements
and they are named accordingly as given below:

1. Turning pair called pin joint — Crankshaft in a bearing.

2. Sliding pair — Piston in a cylinder.
3. Rolling pair — Gear wheel and pinion wheel.
4. Spherical pair — Ball in a socket.
5. *Screw pair or helical pair — Bolt and nut.

*This pair has only one degree of freedom because the sliding and rotational motions are related
by the helix angle of the thread. If the helix angle is made zero, the screw pair becomes a turning
pair and if it is made 90°, the screw pair becomes a sliding pair.

1.3.2 Nature of Contact between the Elements

There are two types of kinematic pairs according to the nature of contact between the elements as
given below:
1. Higher pairs: A pair of links having a point or line contact between the members is called
a higher pair. For example, contact between cam and follower, contact between two mating
gears, a wheel rolling on a rail and a ball rolling on a flat surface, etc. Figure 1.2(a) shown
below are two discs having line contact used to transmit motion using friction. Figure 1.2(b)
shown below is a cam and follower with line contact also used to transmit motion.
6 Theory of Machines

(a) Two discs (b) Cam and follower

Fig. 1.2 Higher pair.

2. Lower pairs: A pair of links having a surface or area contact between the members. For
example, shaft turning in a bearing, piston sliding in a cylinder, etc., various examples are
shown in Fig. 1.3(a, b, c, d) having surface contacts.

1.3.3 Nature of the Mechanical Arrangement for Complete or

Successful Constraint between the Elements
The relative motion between the two elements of a pair having a definite motion irrespective of
the direction of the forces applied on them is called constrained motion. There are three types of
constraints as follows:
1. Completely constrained: The motion between the two elements may be only either sliding
or rotary motion.

A
A
B

(a) (b)
Turning pairs

Square hole Square bar

•
(d) Sliding pair (d) Screw pair

Fig. 1.3(a, b, c, d) Completely constrained.

 Simple Mechanisms 7

In Fig. 1.3(a) and (b), the motion between the two elements—A shaft and B bearing is purely a
rotation. In Fig. 1.3(c), the motion between the two elements—square bar in a square bearing
is purely a sliding motion. In Fig. 1.3(d), the motion between the two elements is purely a
screw motion.
2. Incompletely constrained motion: The motion between the two links is not having a definite
motion as it is possible to have two types of motions, i.e. sliding as well as rotary as shown in
Fig. 1.3(e) below a shaft in a bearing.
Round hole Shaft

Fig. 1.3(e) Incompletely constrained.

3. Successfully constrained: The examples for successfully constrained pairs are cam and
follower and the piston in a cylinder as shown in Fig. 1.3(f) and (g).

Cylider

Piston

(f) Cam and follower (g) Piston in cylinder

Fig. 1.3(f, g) Successfully constrained.

1.4 KINEMATIC CHAIN

When several links are movably connected together by joints, they are said to form a kinematic
chain. A kinematic chain is a combination of kinematic pairs in which each element or link forms
part of two pairs and the relative motion is completely constrained.
The various combinations of turning pairs are shown in Fig. 1.4. Each element forms part of
two turning pairs as per the definition of a kinematic chain in all the three arrangements.
8 Theory of Machines

C
B

(a) Three links (b) Four links

E
(c) Five links
Fig. 1.4 Kinematic chains with turning pairs.
In Fig. 1.4(a), with three pin-jointed links forms a rigid frame with no relative motion between
them. In Fig. 1.4(b), with four pin-jointed links, the relative motion is completely constrained by
fixing the link AD. Definite rotation given to AB, the resulting displacements of the remaining two
links BC and CD are perfectly definite and predictable as shown by the dotted lines. With five
pin-jointed links as shown at Fig. 1.4(c), the relative motion is not completely constrained. By fixing
AE and when AB is displaced, the resulting displacements of the remaining links BC, CD and DE
are not predictable as shown by the dotted lines. The links BC, CD and DE can take two different
positions. Hence, only the arrangement shown in Fig. 1.4(b) constitutes a kinematic chain.
There are two ways to determine whether the given arrangement constitutes a kinematic chain
or not from the number of links or pairs given by using two different equations as follows.

1.4.1 First Equation Using Pairs

The equation L = 2P — 4 where L represents number of links and P represents number of pairs. If
the equation is satisfied, then that arrangement can be called a kinematic chain.
W E 1.1: Let us apply this equation to three different kinematic chains shown in Fig. 1.4(a),(b)
and (c).
In Fig. 1.4(a): Links L = 3 and pairs P = 3, therefore, applying equation 3 = 2 x 3 — 4 gives 2. The
equation is not satisfied. Hence, it is not a kinematic chain. It is called a structure as there is no
relative motion between links.
In Fig. 1.4(b): Links L = 4 and pairs P = 4, therefore, 4 = 2 x 4 — 4 gives 4. The equation is satisfied.
Hence, it is a kinematic chain.
In Fig. 1.4(c): Links L = 5 and pairs P = 5, therefore, 5 = 2 x 5 — 4 gives 6. The equation is not
satisfied. Hence, it is not a kinematic chain.
 Simple Mechanisms 9

1.4.2 Second Equation Using Joints

+ 2)
The equation L = 2(I 3 where L represents the number of links and J represents the number of
joints. If the equation is satisfied, then that arrangement can be called a kinematic chain.
W E 1.2: Let us apply this equation again to three different kinematic chains shown in Fig. 1.4(a),
(b) and (c).
(3 + 2) 10
In Fig. 1.4(a): Links L = 3 and joints J = 3, therefore, 3 = - 2 gives — The equation is not
3 3•
satisfied. Hence, it is not a kinematic chain.
2(4 + 2)
In Fig. 1.4(b): Links L = 4 and joints J = 4, therefore, 4 = gives 4. The equation is satisfied.
3
Hence, it is a kinematic chain.
+ 14
In Fig. 1.4(c): Links L = 5 and joints J = 5, therefore, 5 = 2(5 2) gives The equation is not
3 3
satisfied. Hence, it is not a kinematic chain.
The chains which satisfy the above two equations are called the constrained kinematic chains.
The above two equations only apply to kinematic chains in which the lower pairs are used. In case
the above two equations are applied to kinematic chains in which the higher pairs are used, then
each higher pair must be taken as equivalent to two lower pairs plus an additional link or element.
Thus, one higher pair is equivalent to two lower pairs plus an additional link.

Fig. 1.5 Kinematic chain with three links.

For example, there are only three links in the kinematic chain, i.e. two wheels as shown in
Fig. 1.5. This kinematic chain consists of two lower pairs (turning pairs) having surface contacts
between links 1-2 and between links 1-3. There is one higher pair (rolling pair) having a line contact
between links 2-3 which is equivalent to two lower pairs plus one additional link. Therefore, the
total number of pairs (P) in the kinematic chain is now four and the total number of links (L) is four.
Therefore, applying the first equation, L = 2P — 4; 4 = 2 x 4 — 4 gives 4. The equation is satisfied
and hence it is a kinematic chain.
10 Theory of Machines

1.4.3 According to the Type of Closure between Elements

There are two types of pairs as given below:
(i) Self-closed pair: Example: Cam and follower mechanism and a reciprocating mechanism with
a roller shown in Fig. 1.6(a) are the examples for self-closed pair. These are also examples for
mechanisms having one higher pair. Between 2 and 3 in one figure and 1 and 4 in the other figure
as the contact is a line contact.

1
Fig. 1.6(a) Self-closed pairs.
(ii) Forced closed pair: Here the elements are kept closed by the forces exerted due to spring force
or gravitational forces. Example: The foot step bearing shown in Fig. 1.6(b) uses gravitational force.

Shaft

\ Foot step bearing

Fig. 1.6(b) Forced closed pair.

The examples of kinematic chains having three lower pairs are shown in Fig. 1.7. In both the
mechanisms, there are only three links. The links A and B are sliders and link C is the frame as
shown in the mechanism in Fig. 1.7(a). The three links form three sliding pairs with A-B, B-C and
C-A. The three links A, B and C shown in a pressing machine in Fig. 1.7(b) have three different lower
pairs. The three links A is the slider, B is the screw and C is the frame and A-B forms a turning, B-C
forms a screw pair and C-A forms a sliding pair.
 Simple Mechanisms 11

ANP

(a) All sliding pairs. (b) Sliding, turning and screw pairs.

Fig. 1.7 Kinematic chain with three lower pairs.

1.4.4 Degrees of Freedom

One of the first concerns in either design or the analysis of a mechanism is the number of degrees
of freedom, also called the mobility of the device. The mobility of a mechanism is the number
of input parameters which must be controlled independently in order to bring the device into a
particular position. The mobility of the mechanism can be determined from the number of links
and the number of joints which it includes.
An unconstrained rigid body can describe translational motion and rotational motions about
three mutually perpendicular axes. Therefore, the degrees of freedom means the number of
independent relative motions a pair can have. The equation to determine the degrees of freedom
of a given mechanism is [3(L — 1) — 2Lp — Hp] where L is the number of links, 4, is number of lower
pairs and Hp is the number of higher pairs.

W E 1.3: Let us apply this to four-bar mechanism shown at Fig. 1.4(b) where L = 4; Li, = 4; Hp = 0.
Therefore, applying the equation [3(4 — 1) — 2 x 4 — 0] gives 1 indicating single degree of freedom.
Let us apply this equation to the mechanism given in Fig. 1.4(c) where L = 5; Lp = 5; Hp = 0.
Therefore, the number of degrees of freedom of the mechanism [3(5 — 1) — 2 x 5 — 0] gives 2
indicating two degrees of freedom. Thus, the link D can have two positions for every position of
link B.

1.5 MECHANISM

The purpose of any mechanism is only the transformation of motion. There are several mechanisms
such as indexing mechanism, oscillating mechanism and reciprocating mechanisms, etc. In many
applications, mechanisms are used to perform repetitive operations such as pushing parts along an
assembly line, clamping parts together while they are welded and folding cardboard boxes in an
automated packaging machine, etc.
When one element or link of a kinematic chain is fixed, then that chain may be used for
transmitting or transforming motion from one element to another. It is then termed a 'Mechanism'.
12 Theory of Machines

There are two types of mechanisms:

1. Simple mechanisms: Kinematic chains having 4 links are called simple mechanisms.
2. Compound mechanisms: Kinematic chains having more than 4 links are called compound
mechanisms.

1.6 INVERSION
A mechanism is defined as a kinematic chain with one link fixed. The fixed link is also called the
frame. When different links are chosen as a frame in a given kinematic chain, the relative motions
between the various links are not altered much but their absolute motions (those measured with
respect to the frame link) may change drastically. The process of choosing different links of a chain
as a frame is known as kinematic inversion or simply inversion.
In a kinematic chain with L number of links, choosing each link in turn as the frame yields L
distinct inversions of the chain and hence L different mechanisms. Each mechanism is termed inver-
sion of the original kinematic chain. As an example, the inversions of three different mechanisms
having four links are explained below.
1.6.1 Single Slider Crank Chain
This mechanism consists of four links with three turning pairs and one sliding pair. The various
inversions are shown in Fig. 1.8(a) to (e). The corresponding pairs are indicated by the same letter
in each inversion, so that there should be no difficulty in recognising each mechanism based on the
same kinematic chain.
(a) Reciprocating Mechanism
This is the most usual form in which the single slider crank mechanism appears which is called
reciprocating engine mechanism where the frame and cylinder represented by OQ is fixed as shown
in Fig. 1.8(a). As crank OC rotates, the piston P reciprocates in the stationary cylinder.

Fig. 1.8(a) Reciprocating engine mechanism.

(b) Oscillating Cylinder Mechanism

This inversion is derived from the slider crank chain by fixing the connecting rod CP as shown in
Fig. 1.8 (b). As the crank OC rotates about an axis through C, the slotted link (cylinder) is pivoted
to the fixed link at P. The actual form of the mechanism is used in the oscillating cylinder engine
shown on the right side. The cylinder is pivoted at P, and as the piston slides inside the cylinder
when the crank revolves and the cylinder oscillates about the axis of the pivot. The picture of the
oscillating cylinder is shown in Pic. 1.2.
 Simple Mechanisms 13

Fig. 1.8(b) Oscillating cylinder engine.

Pic. 1.2 Oscillating cylinder engine.

(c) Crank and Slotted Lever Quick-Return Mechanism

This inversion is obtained by fixing the link (crank) OC. This inversion is known as Whitworth
quick-return motion and is used in slotting and shaping machines. The driving crank CP rotates
at uniform velocity, the die block attached to the crankpin P, slides along the slotted link OQ and
causes this link to oscillate about 0 with a variable angular velocity. From the pin Q on the slotted
link, a connecting rod passes to a pin R on the ram which carries the tool box, and R reciprocates
along a line of stroke normal to OC as shown in Fig. 1.8(c).

Fig. 1.8(c) Crank and slotted lever quick-return motion.

14 Theory of Machines

The two extreme positions of the ram corresponding to the two positions of the slotted link are
indicated by 1 and 2, while the crank CP revolves clockwise about the centre C. The ratio of the time
taken by the ram during advance called cutting stroke or advance, i.e. from 1 to 2 and return stroke
called idle stroke (not cutting), i.e. from 2 to 1 is given by the ratio (360° — 20)/20 or (180° — 0)10
as shown in Fig. 1.8 (c). The ratio of the time taken by the ram to complete the cutting and return
strokes is given by the ratio of the angles (180° — 0)/0.
This ratio can also be found by knowing the crank length CP or C1 or C2 and the distance
between 0 and C. Either by drawing or by calculations, the ratio can be determined. Then angle 0
can be determined as LO1C or LO2C is 90°. Once 0 is known, the ratio can be calculated.
The quick-return mechanism with higher ratio is desirable for such repetitive operations than
one in which this ratio is lower. The mechanisms for which the ratio of advance to return is greater
than unity are called quick-return mechanisms. Another example is the Whitworth mechanism
also called crank-shaper mechanism. It is the kinematic property of the mechanism found from the
geometry of the device.
Another example is the rotary internal combustion engine used in aircraft where a single crank
is connected to different pistons through different connecting rods as shown in Fig. 1.8(d). OC the
crank is fixed. The complete assembly of cylinders and crankcase rotate about the centre 0 and the
pistons reciprocate along their respective cylinders.

Fig. 1.8(d) Rotary I.C. engine.

(d) Bull Engine or Pendulum Engine

A fourth inversion of the slider crank chain shown in Fig. 1.8(e) is obtained by fixing the die block.
It is then possible for the slotted link OQ to reciprocate along a vertical straight line. At the same
time OC rotates while CP oscillates about the pin P attached to the fixed block. This is not of much
practical use. The mechanism of the pendulum pump or Bull engine is based on this. This is shown
diametrically on the right side.
 Simple Mechanisms 15

,..,

Fig. 1.8(e) Bull engine or pendulum engine.

1.6.2 Double Slider Crank Chain

This kinematic chain consists of two turning and two sliding pairs. Two die blocks slide along two
slots at 90° in a frame and the pins P and Q on the die blocks are connected by the link PQ. Each
of the die block forms a sliding pair with the frame and a turning pair with the link PQ. There are
three inversions as shown below in Fig. 1.9(a, b, c).
(a) Ellipse Trammels
Sliding connectors are used when one slider (the input) to drive another slider (output). The two
sliders operate in the same plane but in different directions. As shown in the Fig. 1.9(a), the slotted
frame is fixed. Any point S on the link PQ except the midpoint will trace an ellipse as the blocks P
and Q slide along their respective slots. The QS and PS represent the semi-major and semi-minor
axes of the ellipse. This inversion is known as the ellipse trammels.

Fig. 1.9(a) Ellipse trammels.

16 Theory of Machines

Suppose 0 is the angle made by the link QPS with the major axis, i.e. x-axis. x = QS cos 0
2 2
Y
and y = PS sin 0. Therefore, (cost 0 + sin2 0) = 1, i.e. (—
x + (—) = 1 represents the equation
QS PS
for ellipse. In case, S happens to be the midpoint of PQ, then PS = QS = PQ • The equation
2
pn 2
x2 + y2 = ('''' ) represents the circle.
2
(b) Scotch Yoke Mechanism
Here, one of the two blocks is fixed (say P) so that PQ can rotate about P as centre and thus cause
the frame to reciprocate. The fixed block P guides the frame. The Scotch yoke mechanism shown in
Fig. 1.9(b) is the inversion of the double slider crank chain. It is used for converting rotary motion
into reciprocating motion as shown in Pic. 1.3.

Fig. 1.9(b) Scotch yoke mechanism.

Pic. 1.3 Scotch yoke mechanism.

(c) Oldham Coupling

Couplings are used to transmit motion between two parallel shafts. The third inversion is obtained
by fixing the link PQ. Each of the two die blocks may then turn about the pins P and Q. If one
block is turned through a definite angle, the frame and the block turn through the same angle.
 Simple Mechanisms 17

As rotation takes place, the frame will slide relative to each of the two blocks. The Oldham shaft
coupling is an example of this inversion shown in Fig. 1.9(c). A circular disc D, with a tongue
passing diametrically across the face and two tongues set at right angles to each other, is placed
between the two half couplings, so that each tongue fits into its corresponding grooves in one of
the half couplings. The tongues are a sliding fit in their grooves. This is used to transmit power
between two parallel shafts.
The midpoint of the disc D describes a circle with distance between the axes as radius 'd'. The
maximum sliding velocity of each tongue in the slot will be the peripheral velocity of the midpoint
of the disc along the circular path.

Maximum sliding velocity = peripheral velocity along the circular path = angular velocity of shaft
x distance between the shafts.

Fig. 1.9(c) Oldham coupling.

W E 1.4: The distance between two parallel shafts is 20 mm and they are connected by an Oldham's
coupling. The driving shaft revolves at 150 r.p.m. What will be the maximum speed of sliding of
the tongue (disc) of the intermediate piece along its groove?
Given:

Distance between the shafts (d) = 20 mm = 0.02 m

N = 150 r.p.m.
_ 27-/N
and hence co
— 60
27T150 ,,
= — = 15.72 ma's.
60
Maximum velocity of sliding = co x d
= 15.72 x 20
= 31.42 mm/s or 0.03142 m/s.

1.6.3 Four-Bar Mechanisms

Figure 1.4(b) is called the four-bar mechanism. All the four pairs are turning pairs. All the four
inversions also become four different mechanisms with links having different lengths. The practical
application of this mechanism depends solely upon the relative lengths of the four elements or
links. Some of the applications are shown in Fig. 1.10.
18 Theory of Machines

(a) Coupling Rod of a Locomotive

This is as shown in Fig. 1.10(a). In this inversion, the opposite links are equal in length. Links AB
and CD can rotate and so they are called cranks. Hence, this inversion is also called double cranks
or crank-crank or rotary-rotary or double rotary mechanism.

Fig. 1.10(a) Coupling rod of a locomotive.

(b) Beam Engine

Part of the mechanism of a beam engine is as shown in Fig. 1.10(b) where AB rotates about the fixed
centre A, while the beam CDE oscillates about the fixed centre D. Here in this inversion only AB
can rotate and CD can only oscillate. Hence, AB is called a crank and CD as a rocker. Hence, this
inversion is called a crank-rocker mechanism.

Fig. 1.10(b) Beam engine.

(c)Ackermann Steering Gear

The mechanism of the Ackermann steering gear of an automobile is shown in Fig. 1.10(c and d).
In this inversion, the two short links are equal in length, while the longer links are unequal in
length. When the vehicle is moving along a straight path, the long links AD and AE are parallel as
shown at Fig. 1.10(c). When the vehicle moves along a curved path, the mechanism takes up the
 Simple Mechanisms 19

position shown in Fig. 1.10(d). The proportion of the links are such that the axes of all four wheels
intersect at the same point I. This ensures that the relative motion between the tyres and the road
surface shall be of pure rolling. Here AB and CD links only oscillate and this inversion is also called
rocker-rocker mechanism or double rocker mechanism.

Note: The Pic. 1.4 and Pic 1.5 show the Ackermann steering gear and pressing machine. The Pic.
1.6 and Pic. 1.7 are the foot operated air pump and weight lifting jack made of simple mechanisms.

(c) (d)

Fig. 1.10(c, d) Ackermann steering gear.

or

Centre for
turning circle

Pic. 1.4 Pic. 1.5

Exploring the Variety of Random
Documents with Different Content
The Project Gutenberg eBook of Judith och
Holofernes
This ebook is for the use of anyone anywhere in the United States
and most other parts of the world at no cost and with almost no
restrictions whatsoever. You may copy it, give it away or re-use it
under the terms of the Project Gutenberg License included with this
ebook or online at www.gutenberg.org. If you are not located in the
United States, you will have to check the laws of the country where
you are located before using this eBook.

Title: Judith och Holofernes

Historiskt skådespel i 4 akter och 8 tablåer

Author: August Tavaststjerna

Release date: July 20, 2024 [eBook #74078]

Language: Swedish

Original publication: Helsingfors: G. W. Edlunds Förlag, 1880

Credits: Jari Koivisto

*** START OF THE PROJECT GUTENBERG EBOOK JUDITH OCH

HOLOFERNES ***
JUDITH OCH HOLOFERNES

Historiskt skådespel i 4 akter

Af

AUGUST TAVASTSTJERNA.

Helsingfors, G. W. Edlunds Förlag, 1880.

PERSONERNA:

Holofernes, Konung Nebucadnezars fältherre. Judith, Judinna, ung

enka. Abra, Judiths tjenarinna. Osias, Öfversteprest i Jerusalem.
Bagoa, Holofernes’ kammartjenare, f.d. furste af Ragau. Achior,
Ammoniternas öfverste. Ahalibama, Hans Dotter, Holofernes’
slafvinna. Saphan, en krigare hos Holofernes. En hednisk offerprest.
Tvenne judiska skyttar. En judisk qvinna. Hedniska krigare, judiska
borgare och judinnor.

Scenen försiggår i Bethulia samt i lägret utanför staden.

FÖRSTA AKTEN.

Första Tablån.

Holofernes' läger. I fonden en förgyld afgudabild, föreställande

Nebucadnezar. Krigare omringa bilden, för hvilken de under sång
knäböja. En offerhärd, framför hvilken synes en hednisk prest.
Ahalibama, fastbunden vid ett träd, bestämd till offer. På afstånd
synes Bethulia.

Första scen.

Bagoa, Saphan, en hednisk offerprest, krigare, Ahalibama.

CHÖR AF KRIGARE.

Nebucadnezar,
Du stolte furste,
Du kungars konung,
Du hjeltars hjelte,
Hör oss!
 Andra scen (melodram).

Holofernes inkommer. Sången tystnar. Presten lemnar

offerhärden och följer Holofernes fram på scenen. Bagoa och
Saphan äfvenså.

PRESTEN.

På din befallning, höge Holofernes,

I dag vi offra åt Nebucadnezar
Den skönsta qvinnan af Ammoniens döttrar.

HOLOFERNES.

Så är Nebucadnezars höga vilja.

Förbrännas skola alla andra gudar.

PRESTEN (sång).

Förbränd är Baal, förbränd är Moloch,

Och guldet flöt från deras gyllne kronor
I klara vågor ned i Jordans böljor.

CHÖR.

Förbränd är Baal, förbränd är Baal!

HOLOFERNES (melodram).

Det första offret för Nebucadnezar

Jag sjelf vill döda. Gif mig offerknifven?

AHALIBAMA (sång).
 O ve mig arma, — skall jag då dö den fasansfulla döden.

CHÖR.

Till offerhärden!

PRESTEN.

Till offerhärden!

AHALIBAMA.

Farväl du jord.

Under sången betraktar Holofernes Ahalibama med hänförelse.

HOLOFERNES (afsides).

Ha, hon är skön! — för skön för offerhärden; —

Förbrännas må hon hellre af den glöd,
Som lågar i mitt bröst. Nebucadnezar!
Hon offras ej åt dig. — Hon tillhör mig! (Högt.)
Tag knifven, prest; — den qvinnan slagtas ej!
Hon är för ung, — för ung för nya gudar—.
För Moloch och den gamle skurken Baal
Var barnablod en värdig offerlåga;
Men för Nebucadnezar duger blott
Det blod, som gjuts ur tappra krigarhjertan.
Befrien henne! Hon är min slafvinna;
Gån! — Böjen er i stoftet, usle slafvar,
Och vågen ej att edra blickar höja
Till eder herrskarinna! — Gån!
 AHALIBAMA. (Sedan hon blifvit lösbunden, framträder befriad på
scenen. Krigarne försvinna, — endast Bagoa qvarstannar i fonden.
Holofernes betraktar Ahalibama på afstånd.)

Tredje scen.

Holofernes, Alialibaina, Bagoa i fonden.

Ahalibama. Recit. och Aria.

Ha, jag är fri, — jag får då lefva, är det en dröm, jag får då lefva,
är jag ej död ännu, nej, nej, nej, jag andas åter.

Rysligt det är att se, när bödeln sänker

I offrets bröst sitt skarpa svärd,
Rysligt det är att se, hur stålet blänker,
Att dödad bli på offerhärd.
Rysligt det är!

Hemsk och förfärlig nalkas dödsminuten,

Då mörkrets gud sitt offer tar;
Kinden är blek och ögats låga bruten.
Af lifvets eld är askan qvar.
Rysligt det är!

Ha, der kommer döden åter,

Ve mig, ve mig, Ahalibama är ej mer!

Under slutet af sången närmar sig Holofernes obemärkt

Ahalibama och lägger sin hand på hennes skuldra.

HOLOFERNES.
 Ditt namn?

AHALIBAMA (med stolthet).

Ahalibama!

HOLOFERNES.

Din blick är stolt. Godt. Jag är van att möta

Pilspetsar ur två fylda koger. Fortfar!

AHALIBAMA.

Jag är en furstedotter!

HOLOFERNES.

Och hvad mer?

Jag är din herre.

AHALIBAMA.

Höge Holofernes,
Jag beder dig vid våra gudars aska:
Var mild, och döda ej för andra gången
Det värdelösa lif du återgaf!
Är jag ditt offer, led mig då till bålet,
Men jag vill icke bära ditt förakt;
Jag är ej sämre, jag, än du.

HOLOFERNES.
 Förmätna!
Hvad vet du om den eld, som bor i mig?
Betrakta mig! — Jag är den Holofernes,
Som badar hvarje dag i blod och vällust
Och som ej aktar någonting på jorden,
Ej engång qvinnotårar.

AHALIBAMA.

Gråter jag?
Så torr är ingen sand i Ammons öknar,
Som mina ögonlock.

HOLOFERNES.

Ahalibama!
Din stolthet räddat dig. — Jag svär vid Baal
Att aldrig kyssa dina sköna lockar,
Förr än du sjelfmant sagt mig: Holofernes,
Jag älskar dig!! — Hit Bagoa!

BAGOA.

Min herre!
Hvad har du att befalla?

HOLOFERNES.

Min slafvinna
Jag lemnar i din värd. Gif henne allt
Hvad hon begär. Det bästa tält i lägret
Du pryda skall som för en konungs dotter
Och gifva henne. Gå! Låt Saphan komma!

(Bagoa går med Ahalibama.)

Fjerde scen.

Holofernes (ensam).

HOLOFERNES.

Att krossa folk, att ödelägga länder,

Att vada genom strömmar utaf blod,
Att se beständigt slafvar vid sin fot,
Det är dock intet! Men att tämja hat
Och vända det till kärlek, — det är något!
Mig älskar ingen på den vida jorden:
Det var min största njutning härintills,
Men det blir tröttsamt. Evigt enahanda
Förlamar tidens flygt och själens nerf.
Att vara älskad, det är piltars nöje,
Att vara fruktad, det är männers lust;
Men ombyte förnöjer—. Saphan!

(Saphan inkommer med Bagoa.)

Femte scen.

Holofernes, Saphan, Bagoa.

SAPHAN.
 Här är din slaf! — Hvad har du att befalla?

HOLOFERNES.

Hvad nytt i dag ifrån Bethuliens berg?

Man trotsar mig?

SAPHAN.

Så är det, höge herre!

Man öfverallt befästar bergens höjder
Och reder sig till motstånd. Nya murar
Uppstå som vålnader i nattens mörker.
Bethulia tages icke lätt.

HOLOFERNES.

Välan,
An hafva våra pilar skärpa nog.
De trotsa mig. De trotsa Holofernes!
De dårarne! — De vilja trotsa hafvet
Med vallar utaf vass. Jag icke glömt,
Hur dessa judar djerfdes hålla fångne
Nebucadnezars sändebud hos sig
I trenne dygn. — Och ville de försona
Hvart dygn med trettitusen offers blod,
Det vor’ för litet! — Samla mina härar!
I morgon blir Bethulias sista dag.
Gör allt i ordning. Innan solen sänker
Sitt sista skimmer uti vesterhafvet,
Fins en stad mindre uti detta land.
Låt kalla ACHIOR. Han skall säga mig,
Hvad för ett folk det är, som bor på bergen.

(Saphan går.)

Sjette scen.

Holofernes, Bagoa.

BAGOA (närmande sig Holofernes).

Tillåt din slaf, o store Holofernes,

Att i sin enfald gifva dig ett råd!

HOLOFERNES.

Din herre, Bagoa, begär ej råd;

Han rådgör med sig sjelf och ej med andra.
Dock låt mig höra!

BAGOA.

Herre, må din skugga

Förlängas öfver hela jordens rymd.
Förr än du sänder dina tappra härar
I dödlig kamp och till en oviss seger
Mot dessa usla myrors lilla stack,
Så låt dem hellre törsta och förtvina.
Vi spärra vattenledningen till staden.
Då får man se, hur länge fogeln flaxar
Uti sitt bo på torra hälleberget.
HOLOFERNES.

Den väntan blir för lång.

BAGOA.

Blott tretio dagar.

På mindre tid förtorka deras strupar
Som ökensand.

HOLOFERNES.

Med hvad vill Bagoa

Sin herres tid i tretio dar fördrifva?

BAGOA.

Med vin och kärlek! -— Har ej Holofernes

I dag en ny och tjusande slafvinna,
De Ammoniters sköna furstedotter?
Och har ej Bagoa den gyllne bägar’n
Med ljufva drycken, som ditt sinne gläder?

HOLOFERNES.

Ja, du har rätt! Ditt gamla vin är godt.

Ahalibama är uti mitt våld;
Jag dödar henne, om så lyster mig,
Men hon skall älska mig. Det är min vilja.

BAGOA.
 Slafvinnor älska? Herre, du är munter.
Men om du så befaller, hvarför icke?
Hon måste lyda. Qvinnor finnas nog.
Befall! — och Bagoa bland Juda döttrar
Uppsöker snart åt dig en annan perla
Af större glans.

HOLOFERNES.

Behåll ditt köpta kram!

Ahalibama skall af egen vilja
Min egen vilja underdånig bli.
Förstår du, slaf, att blott en sådan qvinna
Är värd att offras gudarne och mig!

Sjunde scen.

Achior, Saphan, de förre.

SAPHAN.

De Ammoniters öfverste!

HOLOFERNES.

Han komme.

ACHIOR.

Du kallat mig?

HOLOFERNES.
 Ja, jag har kallat dig.

ACHIOR.

Att återgifva mig min arma dotter,

Mitt enda barn?

HOLOFERNES.

Var lugn. Hon tillhör mig,

Jag räddat hennes lif från offerhärden,
Ej något ondt skall henne vederfaras.

ACHIOR.

Tag, höge herre, alla mina skatter,

Jag äger gnid och gömda ädelstenar,
Men gif min dotter åter.

HOLOFERNES.

Spar ditt guld!

Och tacka dina gudar att du än
Din tunga har att gäcka Holofernes!

ACHIOR.

Jag äger intet mer! — Du tog min fröjd,

Mitt hopp, min glädje, — min AHALIBAMA.
Hon var min enda rikdom. Jag förbannar
De falske gudar, som dig makten skänkt
Att allt förstöra. Jag förbannar dem,
Ty de förtrampa sina egna lagar.

HOLOFERNES.

Och om jag hängde dig i första träd?

Hvad? Hädar du vår gud? Gå, böj ditt knä
För bilden der! — Han är den ende guden.

(Saphan för Achior till Nebucadnezars bild, för hvilken

den förre böjer knä, medan Achior står upprätt.)

Du böjer ej ditt knä? Nåväl, låt vara!

Törhända jag förlåter dig, om du
Vill köpa lifvet med att tala sanning. (Listigt.)
Jag kallat dig, att du må säga mig
Hvad folk det är, som krälar der på bergen.
Så säg mig, hvad du vet om Israel.

ACHIOR.

Hvad folk det är? Du herre frågar det:

Så vill jag säga dig hvad folk det är,
Och må du döma mig, när du mig hört.
Det är ett folk, som trotsar dina gudar
Af sten och marmor, och föraktar dem.
Det folket tror uppå en enda gud,
Som skapat himmelen och skapat jorden,
Som fört det genom öknens heta sand
Till Canaans land, — till stranden af Jordan.
Han skyddat dem mot hedningarnas våld,
Och gör det än, om de blott icke syndat.
Ej något strå på deras hjessa skall
Af dig beröras, om ej denne gud
Det vill; — ty han är maktens gud.

(Pekar på Nebucadnezars bild.)

Se der din gud, som sjelf du format har

Af sten, af guld, af tråd och af juveler!
Men det är Israels gud, som skapat stenen,
Som gaf dig guldet, — som dig visat vägen
I dolda djup till perlan och juvelen.
Allt är ju hans! Ja, hör mig Holofernes;
Din arm är stark, — din makt är obegränsad,
Du äger mer än någon hittills ägt.
Men all din makt och rikdom är ett stoft
Inför den mäktige, som bor i höjden.
Ditt stål förrostar, dina pilar murkna,
Och bäfva skola både jord och himmel
Engång för Israels gud!

HOLOFERNES.

Är det ditt svar?

Eländige! — Uti ditt vanvett har du
Ditt usla lif förspillt. Du är den förste,
Som vågat tala så till HOLOFERNES.
Jag svär vid himlens sol, och alla gudar,
Att jag dig slagta skall på offerhärden,
Som jag vill resa upp för Israels folk. —
Ha, bleka judar på Bethuliens höjder,
I hafven i Jerusalem ett tempel,
I bedjen till en gud, sum dold bland molnen
I aldrig sett och aldrig skolen se.
Jag trotsar honom, som jag trotsar er.
Och jag vill hämnas. Dessa hundars blod
Skall strömma öfver Molochs offerflamma.
(Till SAPHAN.)
För honom genast till Bethulias murar;
Bind honom der vid första, närmsta träd.
Lät juden taga honom.
(Till Achior.)
Der vill jag
Förgöra dig med hela judesvärmen
I deras kupa.

(Achior föres bort af SAPHAN.)

Åttonde scen.

Holofernes, Bagoa.

HOLOFERNES.

Nu jag följer
Ditt råd. Bevaka brunnarna vid staden!
Förstör all vattenledning. Ej en droppe
Af källans helsodryck skall mera svalka
Det törstande Bethulia. Slaf, se till,
Att ej Ahalibama flyr från lägret!
Du med ditt hufvud svarar mig för henne.
Märk väl: ditt hufvud. (Går.)
 Nionde scen.

Bagoa (ensam).

BAGOA.

Stolte Holofernes,
Jag är din slaf, — förtrampa mig i stoft,
Förakta skorpionen, tryck din fot
På krypets hjessa, du! Men akta dig,
Han har en gadd, han kunde stinga dig
Den uslingen, som krälar der i mullen;
Hans lynne är att döda när han kryper.
Du följde dock mitt råd; — jag vunnit tid,
Jag vill betänka mig. Kryp ännu mask
Och låt din herre frossa uti kärlek;
Hans älskarinna vill jag troget vårda —
För hvem? För hvad? Det vet jag ej ännu.
Hon är mitt vapen, är det gröna blad,
Som ger sitt gift åt skorpionens gadd.
Vid hennes åsyn minnes jag min maka, —
Ja, hon var lika skön. Det tycks mig stundom,
Som vore anletsdragen ock desamma,
Som hörde jag den silfverklara rösten.
Då tycks mig min förflutna glädje nära.
Hvar är min maka, Holofernes? — Ha,
Det vet blott bödelns svärd och Euphrats djup.
Hvar är mitt barn? — Den usle slafven frågar. —
Han vågar tänka, minnas och förtvifla.
Han vågar ropa på de döde. Ja,
Du segrare vid Ragau, jag mins,
Hur jorden var betäckt af blod och lik;
Du segrade dock ej med egna krafter,
De fega folken ifrån Euphrats stränder,
Från Tigris och Hydaspes, hulpo dig.
Förskingrad och förjagad var vår här,
Och våra byar, våra städer brunno.
Bland gvinnoskrik och barnajemmer stod du.

Som segrade och hånade de döde.

I kolsvart natt, belyst af stridens lågor,
Jag sökte i förtviflan, blödande,
Mitt hus, min hustru och mitt barn. Då såg jag
Min trogna maka i mordbrännarns armar,
Såg, huru barnet slets från modrens famn;
Jag föll vanmäktig mot den hårda klippan.
Men hämnden gaf mig lif. Jag andas än,
Och följer dig, du mördare och bödel.
Jag är din slaf, din onda skugga är jag,
Som större blir, ju mer din sol sig sänker.

Aria.

Hatets gudinna, hör hvad jag beder,

Tänd i mitt hjerta din flammande gnista;
Döda jag vill den giftiga ormen,
Gif mig ditt gift, ditt svärd och din bila!
Hatets gudinna, hör hvad jag beder,
Döda jag vill den giftiga ormen,
Hatets gudinna, o, hör min bön!
Må med tusende marter han pinas,
Dväljas i plågor, hör hvad jag beder.
Afgrundens andar, tagen hans lemmar
Neder till eder, hör hvad jag beder,
Hatets gudinna, o, hör min bön.

Slut på första tablån.

Andra Tablån.

Ahalibamas tält till venster, i hvilket hon sitter sorgsen och

drömmande. I fonden synas 2;ne vakthafvande krigare.

Första scen.

Entreakt.
Ahalibama (ensam).

AHALIBAMA

Aria.

Milde gudar, skydden mig,

Följen mig på farans stig!
Kärlekens vilda makt mitt sinne berusar,
Hur skall jag arma fly den orm, som mig tjusar?
Jag vill ej lefva mer,
Död, som emot mig ler,
Tag mitt hjerta, o, tag mitt hjerta
O, tag mig ned till dig!

(Under sängen inkommer Bago a och lyssnar pä afständ.)

 Duo (mellan Bagoa och Ahalibama, som träder ut från tältet).

BAGOA.

Ahalibama, lugna ditt sorgsna sinne,

Lugna dig, lugna ditt sinne.
Lifvet emot dig ler, lugna dig i din smärta,
Öppna för mig ditt hjerta,
Milde gudar skydda dig.

AHALIBAMA.

Bagoa, hur kan jag vara lugn med döden i mitt hjerta?
Se, jag förgås af qval uti min vilda smärta.
Jag vill ej lefva mer; nej, du skall döda mig,
Förbarma dig, gif mig ditt svärd, din dolk och döda mig. Gudar,
skydden mig!

AHALIBAMA (talar).

Hvad har min herres skugga att förkunna

Hans skuggas skugga? Är det ord af tröst?

BAGOA.

Ett sådant ord är ej sä lätt att finna

Der Holofernes andas. Hvad vet jag?
Han har befallt att du skall älska honom.
Sin herre bör man lyda.

AHALIBAMA.
 Rädda mig!
Hans kärlek är hvar dag för mig en pläga.
Den blick, som flammar ur hans herrskaröga,
Förbränner mig till aska, Bagoa!

BAGOA.

Bah, aska! Om du icke älskar honom,

Är du förlorad. Om du älskar honom,
Än säkrare är du förlorad då,
Ty Holofernes dödar den han älskat.
Det är ett muntert val: Dö, om du lyder.
Och om du icke lyder, dö ändå!

AHALIBAMA.

Ve mig! Ahalibama måste dö!

Min kraft försvinner, mina sinnen bländas;
Jag vill ej dö och kan dock icke lefva.
En orm mig tjusar, rädda, rädda mig!

BAGOA.

Jag kunde rädda dig, ahalibama.

Hvad gifver du mig, om jag räddar dig?

AHALIBAMA.

O, Bagoa, hvad kan du väl begära

Utaf slafvinnan, som ej äger mer
An sina tårar och sitt brustna hjerta?
 BAGOA (med låg röst).

Hör, och begraf mitt ord! Vet, äfven jag

Ett hjerta har, som brustit af förtviflan.
Jag blef ej född till slaf; — Ett oblidt öde
Mig kastade i Holofernes’ väg;
Till sin liftjenare han valde mig.
Med hycklad trohet följer jag den grymme
Och är den ende, som hans ynnest har.
Det tycks mig stundom, som en röst mig sade:
Lägg gift i vinet! Rädda dina bröder!
Det är blott ur din hand han tager bägarn.

AHALIBAMA.

Hvad? döda honom! Du, en usel slaf.

Och han, så stolt, så furstligt hög och herrlig!
Han får ej dö; — hans varma krigarhjerta
Får icke kallna af ett svekfullt gift.

BAGOA.

Och om jag ville rädda så ditt lif?

AHALIBAMA.

Mitt lif, — ja, du hur rätt, — jag vill ej dö;

Ej nu—. men fins ej någon annan väg
Till räddning?

BAGOA.
 Jo, ännu en väg jag har.

AHALIBAMA.

Så säg mig den!

BAGOA.

Skall jag dig säga den?

Välan, sä hör mig. Du är ung och skön:
Kan du din bödel tjusa, är du räddad.
Delila var ej skönare än du,
Och hon besegrade den starke Simson,
De Philisteers grymme fiende.
Kan ej Ahalibamas öga tämja
En listig leopard? Ditt öga kan det!
Jag ser det i den eld, som lågar derutur.
Gör honom tam och spak, och när han ligger
Vid dina fötter, när hans tunga slickar
Din hvita hand, och han af vällust sluter
Sin druckna blick, — så drag din dolk och —.

AHALIBAMA.

Döda!
Jag skulle döda honom? Aldrig! aldrig!

BAGOA.

Då kunna gudarne ej rädda dig.

Du dör, Ahalibama, — ja, du är förlorad,
Som alla, dem han före dig har älskat.
Har skändat och förkrossat. Innan kort
Har han en annan kärlek — — —

EN KRIGARE (ropar firån höjden).

Holofernes! (Bagoa akyndar emot honom.)

AHALIBAMA.

Annan kärlek?
O gudar, skydden mig! Då kunde jag—.

(Går in i teltet.)

Andra scen.

Holofernes, Bagoa (qvarstannar i fonden), Ahalibama.

HOLOFERNES (afsides).

Hvad vill det säga: en osynlig gud?

Ar han så stor och mäktig, som man sagt mig,
Så borde han doek synas! Är han åter
En fjerran stjema blott på himlahvalfvet,
Så slocknar han som hon, och dunstar bort—. .
Och för en sådan gud Bethuliens folk
Ett tempel bygt och häda vill de gudar.
Som vi oss skapat af det finsta guld——
Att söka honom i den höga rymden
Är blott förlorad tid, förlorad möda. —
Han är en skugga! — men på spöken tror
Ej Holofernes, — fruktar dem ej heller. —
Jag är min egen gud, — och mig tillbedja
De tusen folk jag kufvat och besegrat.
Fins än en annan gud, så må han då
Mig vägen spärra på min krigarbana,
Och för hvar droppe blod, som jag förspilt,
Med tusen marter mig tillintetgöra.
En sådan gud är Holofernes’ gud,
Ty blott den starkare kan jag tillbedja.

(Ahalibama visar sig i tältets dörr.)

Ahalibama! Du är min gudinna.

Är det ej så?

AHALIBAMA.

Nej, din slafvinna är jag!

HOLOFERNES.

Men har ej Holofernes gifvit dig

Mer än en konungs dotter önska kan?
Har lian ej tålamod ined dina nycker?

AHALIBAMA.

Ja, höge herre! — ja, det har du väl,

Men ack, så länge för din blick jag bäfvar,
Jag vågar ej dig älska—.

HOLOFERNES.
Welcome to our website – the ideal destination for book lovers and
knowledge seekers. With a mission to inspire endlessly, we offer a
vast collection of books, ranging from classic literary works to
specialized publications, self-development books, and children's
literature. Each book is a new journey of discovery, expanding
knowledge and enriching the soul of the reade

Our website is not just a platform for buying books, but a bridge
connecting readers to the timeless values of culture and wisdom. With
an elegant, user-friendly interface and an intelligent search system,
we are committed to providing a quick and convenient shopping
experience. Additionally, our special promotions and home delivery
services ensure that you save time and fully enjoy the joy of reading.

Let us accompany you on the journey of exploring knowledge and

personal growth!

ebooknice.com