GOVERNMENT COLLEGE OF ENGINEERING

TIRUNELVELI – 627 007

ME 8594 DYNAMICS OF MACHINES

Prepared by

S.Sankar Ganesh
Assistant Professor
Department of Mechanical
Engineering
Government College of Engineering
Tirunelveli – 627 007 1
 Unit I
FORCE ANALYSIS

Dynamic force analysis – Inertia force and

Inertia torque– D Alembert’s principle –
Dynamic Analysis in reciprocating engines –
Gas forces – Inertia effect of connecting rod–
Bearing loads – Crankshaft torque – Turning
moment diagrams –Fly Wheels – Flywheels of
punching presses- Dynamics of Cam- follower
mechanism.

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 KINEMATICS AND
DYNAMICS
Kinematics
It is that branch of Theory of Machines
which deals with the relative motion between
the various parts of the machines.

Dynamics
It is that branch of Theory of Machines
which deals with the forces and their effects,
while acting upon the machine parts in motion.

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Static force analysis:
When the inertia effect due to the mass
of the machine components are
neglected in the analysis of the
mechanism

Dynamic force analysis:

When the inertia forces are considered
in the analysis of the mechanism

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 Inertia Force

The inertia force is an imaginary force,

which when acts upon a rigid body, brings
it in an equilibrium position. It is
numerically equal to the accelerating force
in magnitude, but opposite in direction.
Mathematically,
Inertia force = – m x a

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 Inertia Torque
The inertia torque is an imaginary
torque, which when applied upon the rigid
body, brings it in equilibrium position. It is
equal to the accelerating couple in
magnitude but opposite in direction.

Inertia Torque = -I x α

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 D-Alembert’s principle

D-Alembert’s principle states that the

resultant force acting on a body together
with the reversed effective force (or inertia
force), are in equilibrium.

٤F = 0

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Dynamic Analysis in Reciprocating
engines
The velocity and acceleration of the
reciprocating parts of the steam engine or internal
combustion engine may be determined by
graphical method or analytical method.
The velocity and acceleration, by graphical
method, may be determined by one of the following
constructions:
1. Klien’s construction,
2. Ritterhaus’s construction, and
3. Bennett’s construction.

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Dynamic Analysis in Reciprocating
engines - Analytical Method
Consider the motion of a crank and connecting rod
of a reciprocating steam engine as shown in
Figure.

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 Dynamic Analysis in Reciprocating
engines - Analytical Method
Let
l = Length of connecting rod between the
centres,
r = Radius of crank or crank pin circle,
φ = Inclination of connecting rod to the line
of stroke PO
n = Ratio of length of connecting rod to the
radius of crank = l/r.

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 Dynamic Analysis in Reciprocating
engines - Analytical Method
Velocity of the piston

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Dynamic Analysis in Reciprocating
engines - Analytical Method

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Dynamic Analysis in Reciprocating
engines - Analytical Method

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Dynamic Analysis in Reciprocating
engines - Analytical Method

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Dynamic Analysis in Reciprocating
engines - Analytical Method

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Problem 1
If the crank and the connecting rod are 300 mm and 1 m long
respectively and the crank rotates at a constant speed of 200 r.p.m.,
Determine:
1. The crank angle at which the maximum velocity occurs, and
2. Maximum velocity of the piston.

Given data:
r = 300 mm = 0.3 m ;
L=1m;
N = 200 r.p.m.
ω = 2 π × 200/60 = 20.95 rad/s

Solution:
1. Crank angle at which maximum velocity occurs:

n = L/ r = 1/0.3 = 3.33

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Problem 1 Cont..

n = 3.33
Velocity of piston is given by

For maximum velocity to occur

ϴ = 75° 17
Problem 1 Cont..
2.Maximum Velocity of Piston:

Maximum velocity occurs at ϴ = 75 °

Maximum velocity of piston Vp max = 6.54 m/s

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Forces on the Reciprocating Parts of an
Engine

FP - Force acting on the piston

FQ- Force acting on the connecting rod
FN –Normal reaction on guide bars
FT- Crank Pin effort
FB- Thrust on Crank shaft bearings
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Forces on the Reciprocating Parts of an
Engine
1. Piston effort
It is the net force acting on the piston or
crosshead pin, along the line of stroke. It is
denoted by FP.

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Forces on the Reciprocating Parts of an
Engine

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Forces on the Reciprocating Parts of an
Engine
2. Force acting along the connecting rod, FQ

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Forces on the Reciprocating Parts of an
Engine
3.Thrust on the sides of the cylinder walls (or)
normal reaction on the guide bars, FN

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Forces on the Reciprocating Parts of an
Engine
4. Crank-pin effort, FT

5. Thrust on crank shaft bearings, FB

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Forces on the Reciprocating Parts of an
Engine
6. Crank effort or turning moment or torque on
the crank shaft.
The product of the crankpin effort (FT) and
the crank pin radius (r) is known as crank
effort or turning moment or torque on the
crank shaft.
T = FT × r

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Problem 2
The crank-pin circle radius of a horizontal engine is 300 mm. The
mass of the reciprocating parts is 250 kg. When the crank has
travelled 60° from I.D.C., the difference between the driving and the
back pressures is 0.35 N/mm2. The connecting rod length between
centres is 1.2 m and the cylinder bore is 0.5 m. If the engine runs at
250 r.p.m. and if the effect of piston rod diameter is neglected,
calculate :
1. pressure on slide bars,
2. thrust in the connecting rod,
3. tangential force on the crank-pin, and
4. turning moment on the crank shaft.

Given data:
r = 300 mm = 0.3 m
mR = 250 kg
θ = 60°
p1 – p2 = 0.35 N/mm2
l = 1.2 m
D = 0.5 m = 500 mm 26
N = 250 r.p.m. ω = 2 π × 250/60 = 26.2 rad/s
Problem 2 Cont..
Solution:

FL= (P1 – P2) * Π/4 * D2

FL = 68730 N

Ratio of length of connecting rod and crank n =L/r = 1.2/0.3 = 4

Inertia forces on reciprocating parts

Piston effort FP = FL – FI

FP = 68370 – 19306 = 49424 N

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Problem 2 Cont..
 1. Pressure on Slide Bars

FN = FP tan φ

sin φ = sin ϴ /n φ = 12.5°

Pressure on Slide Bars = 49424 tan 12.5

FN = 10.96 KN

2. Thrust in Connecting Rod

FQ = FP / cosφ = 50.62 KN

3. Tangential force on crank pin

FT = FQ sin (θ + φ) = 48.28 KN

4. Turning moment on the crank shaft

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 Turning moment diagram

The turning moment diagram (also

known as crank effort diagram) is the
graphical representation of the turning
moment or crank- effort for various
positions of the crank. It is plotted on
cartesian co-ordinates, in which the
turning moment is taken as the ordinate
and crank angle as abscissa.

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Turning moment diagram – Single
cylinder engine

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Turning moment diagram – IC engine

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 Fluctuation of Energy

The variations of energy above and below the

mean resisting torque line are called fluctuations of
energy.
The difference between the maximum and the
minimum energies is known as maximum
fluctuation of energy.
Maximum fluctuation of energy,
E = Maximum energy – Minimum energy

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Coefficient of Fluctuation of Energy

It may be defined as the ratio of the

maximum fluctuation of energy to the work
done per cycle.
CE= Maximum fluctuation of energy
/ Work done per cycle

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 Work done per cycle

The work done per cycle (in N-m or

joules) may be obtained by using the
following two relations :

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Work done per cycle

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 Flywheel

A flywheel used in machines serves as a

reservoir, which stores energy during the
period when the supply of energy is more
than the requirement, and releases it
during the period when the requirement of
energy is more than the supply.

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 Energy Stored in a Flywheel

Energy stored, E = mk2ω2CS = mv2CS

m = Mass of the flywheel in kg,
k = Radius of gyration of the flywheel in metres ω =
angular speed in rad/s2
Cs = Coefficient of Fluctuation of Speed v =
Mean linear velocity

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Coefficient of Fluctuation of Speed

The difference between themaximum

minimum and speeds during a cycle is
maximum called
fluctuationtheof speed. The ratio of
the maximum fluctuation of speed to the mean speed
is
called the coefficient of fluctuation of speed.

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 Dimensions of the Flywheel Rim

Tensile stress or hoop stress,σ = ρR2ω2 = ρv2

ρ = Density of rim material in kg/m3,
N = Speed of the flywheel in r.p.m.,
ω = Angular velocity of the flywheel in rad/s,
v = Linear velocity at the mean radius in m/s
=ωR= DN/60

Mass of the rim m= volume x density

m=ρxv
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Problem 3
The turning moment diagram for a petrol engine is drawn to
the following scales : Turning moment, 1 mm = 5 N-m ; crank
angle, 1 mm = 1°. The turning moment diagram repeats itself
at every half revolution of the engine and the areas above and
below the mean turning moment line taken in order are 295,
685, 40, 340, 960, 270 mm2. The rotating parts are
equivalent to a mass of 36 kg at a radius of gyration of 150
mm. Determine the coefficient of fluctuation of speed when
the engine runs at 1800 r.p.m.

Given data:

m = 36 kg
k = 150 mm = 0.15 m
N = 1800 r.p.m.
ω = 2 π × 1800/60 = 188.52 rad /s

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Problem 3 Cont..

Turning moment scale is 1 mm = 5 N-m and

crank angle scale is 1 mm = 1° = π /180 rad,
therefore, 1 mm2 on turning moment diagram is 5 * π/180

= π/36 N.m

Let the total energy at A = E, then referring to above figure,

Energy at B = E + 295 ... (Maximum energy)
Energy at C = E + 295 – 685 = E – 390
Energy at D = E – 390 + 40 = E – 350
Energy at E = E – 350 – 340 = E – 690 ...(Minimum energy)
Energy at F = E – 690 + 960 = E + 270
Energy at G = E + 270 – 270 = E = Energy at A 41
Problem 3 Cont..
Maximum fluctuation of energy = Maximum energy – Minimum energy

= (E+295) – (E-690)
ΔE = 985 mm2

ΔE = 985 * π/36 = 86 N.m

w.k.t Maximum fluctuation of energy ΔE = mk2ω2Cs

985 = 36 * 0.152 * 188.522* Cs

Coefficient of fluctuation of speed Cs = 0.003 (0.3%)

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