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129 views43 pagesDynamic Force Analysis
Lecture note of DDOM
Uploaded by
Jinto Joy ManjalyCopyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF or read online on Scribd
/ 43
DYNAMIC FORCE
ANALYSIS
Introduction
Dynamic forces are associated with accelerating masses. Asall machines have some accelerating parts, dynamic forces
‘are always present when the machines operate. In situations where dynamic forces are dominant or comparable with
magnitudes of external forces and operating speeds are high, dynamic analysis has to be carried out. For example,
incase of rotors which rotate at speeds more than 0 000 rpm, even the slightest eccentricity of the centre of mass
from the axis of rotation produces very high dynamic forces. This may lead to vibrations, wear, noise or even machine
failure
13.1 D'ALEMBERT’S PRINCIPLE
D’Alembert’s principle states that the inertia forces and couples, and the external forces and torques on
body together give statical equilibrium.
Inertia is a property of matter by virtue of which a body resists any change in velocity
mf, (3.1)
Inertia force F,
where ‘m= mass of body
f, = acceleration of centre of mass of the body
‘The negative sign indicates that the force acts in the opposite direction to that of the acceleration, The
force acts through the centre of mass of the body.
Similarly, an inertia couple resists any change in the angular velocity.
Inertia couple,
Tyee (3.2)
where
= moment of inertia about an axis passing through the centre of mass G and perpendicular
to plane of rotation of the body
= angular acceleration of the body
Let EF=F,, F;, Fy, etc. = external forces on the body
and ET=T,1, Ty2, Tas, ete. = external torques on the body about the centre of mass G.
According to D’ Alember’s principle, the vector sum of forces and torques (or couples) has to be zero,
IF+R,=0 (3.3)
and Dynamic Force Analysis 435
ET +C,=0 (13.4)
‘These equations are similar to the equation of a body in static equilibrium, i., ZF = 0 and DT = 0.
This suggests that first the magnitudes and the directions of inertia forces and couples can be determined,
after which they can be treated just like static loads on the mechanism. Thus, a dynamic analysis problem is
reduced to one requiring static analysis.
13.2. EQUIVALENT OFFSET INERTIA FORCE
In plane motions involving accelerations, the inertia force acts on a body through its centre of mass. However,
if the body is acted upon by forces such that their resultant does not pass through the centre of mass, a couple
also acts on the body. In graphical solutions, it is possible to replace inertia force and inertia couple by an
‘equivalent offset inertia force which can account for both. This is done by displacing the line of action of the
inertia force from the centre of mass. The perpendicular displacement h of the force from the centre of mass
is such that the torque so produced is equal to the inertia couple acting on the body,
ie TG,
or Fxh=C
or (3.3)
‘nis taken in such a way thatthe force produces a moment about the centre of mass, which is opposite in sense
to the angular acceleration
13.3. DYNAMIC ANALYSIS OF FOUR-LINK MECHANISMS
For dynamic analysis of four-link mechanisms, the following procedure may be adopted:
1. Draw the velocity and acceleration diagrams of the mechanism from the configuration diagram by
usual methods,
2. Determine the linear acceleration of the centres of masses of various links, and also the angular
accelerations of the links.
3. Calculate the inertia forces and inertia couples from the relations F, = -mf, and C,= ~/,@
4. Replace F, with equivalent offset inertia force to take into account Fas well as C,,
5. Assume equivalent offset inertia forces on the links as static forces and analyse the mechanism by any
of the methods outlined in Chapter 12,
Example 13.1 The dimensions of a four-link The mass of the links BC and CD is 4.2 kg/
‘mechanism are m length. The link AB has a mass of 3.54 kg.
AB = 500 mm, BC = 660 the centre of which lies at 200 man from A and a
‘mm, CD = 560 mm and AD = ‘moment of inertia of 88.500 kxamm
1000 mm. Neglecting gravity and friction effects,
The link AB has an angular velocity of determine the instantaneous value of the drive
10.5 radis counter-clockwise and an angular torque required to be applied on AB to overcome
retardation of 26 rads? at the instant when it the inertia forces
‘makes an angle of 60° with AD, the fixed link 436 Theory of Machines
@) ®
Fig. 13.1
Solution Draw the configuration diagram ABCD
of the mechanism to a suitable scale (Fig.13.1(a)]
The velocity and acceleration diagrams of the same
have been shown in Figs 13.1 (b) and (c).
From the velocity diagram,
V5 0F ab = Gy, X AB = 10.5 x 0.5 = 5.25 mis
yeg0t be=3.4 mis andy, or de=3.9 mis
From the acceleration diagram,
(aby? _ (5.25)?
fs 5.1 mis?
fag "0s
fig =x AB = 260513 mis?
(e _ 84? sy 5 mg?
BC 0.66
ane
"CN 37.3 mis?
DC 056
Mass ofthe links
m= 3.54 ke
66 x 4.2 = 2.77 kg
mg = 0.56 x 4.2 = 2.35 kg
Let G,, G; and G, denote the centres of masses
of links 4B, BC and CD respectively. G; lies at 200
mm from A, and G; and G, at the midpoints of BC
and CD respectively. Locate these points in the
acceleration diagram, Measure the accelerations of
Gy, G, and Gy
Fy= 22.6 mis? 253.5°
52.0 mis? 238°
47 25.7 mis? 222°
Now find the inertia on the links. These act
through their respective centres of mass in the
directions opposite to that of accelerations.
F)= mafg= 80 N 273.5° (253.5° ~ 180°)
Fy= mafia 144N 258° (238° 180°)
Fy=mafa=60N 42° (222° 180°)
To determine the inertia couples, angular
accelerations of the links are to be found,
6 rad/s? clockwise
& 2 = 34.1 rad/scounter-clockwise
Fei. 43 «79,1 sadis?counter clockwise
cD 056
Then C,= I,
However, the inertia couples can be taken
into account by replacing the inertia forces with
equivalent offset inertia forces.
Now,
2_ Je _ 88 500
Apes 15.00 mm?
im 334
Links 3 and 4 have uniform cross sections,
ahve
R 660)" = 36 300 mm?
“IR 12 a= 2 SOF 96193 mm?
ran
A
andy = EA - 25.000%26 _ 5 am
Ta oO
fy 28838 a gm
32000
261335791 64 mm
“73700 —
‘Abo,
ry = 200+ 288-395 mm
aaa
1 =330-238_ = 997 mm
465°
Dynamic Force Analysis 437!
n= 280+ 203
73 mm.
sin 60°
An inertia couple acts in a direction opposite to
that of the angular acceleration. Thus, offsets hi
and hare to be such that the required inertia couples,
are set up. For example, the angular acceleration of
the link is clockwise (being retardation), Therefore,
inertia couple must be counter-clockwise. Links
2 and 3 have counter-clockwise accelerations and
Thus, the inertia couples are to be clockwise.
Now, assume equivalent offset inertia forces on
the links as static forces and solve. This has been
done in Examples 12.9 and 12.12.
The required input torque 23.5 N.m_ (counter-
clockwise)
13.4 DYNAMIC ANALYSIS OF SLIDER-CRANK MECHANISMS
‘The steps outlined for dynamic analysis ofa four-link mechanism also hold good fora slider-crank mechanism
and the analysis can be carried out in exactly the same manner.
However, an analytical approach is also being described in detail in the following sections.
13.5 VELOCITY AND ACCELERATION OF A PISTON
Figure 13.2 shows a slider-
crank mechanism in which
the crank O4 rotates in
the clockwise direction. 1
and rare the lengths of the
connecting rod and the crank
respectively.
Let x = displacement of
piston from inner-dead centre
‘At the moment when the
crank has turned through
angle 8 from the inner-dead centre,
B,B= BO -B,O
BO~(B,A, + 4,0)
= (47) — (Leos + cos 8)
inr +1) — (nr cos B+ c0s 8)
r[(n+ 1) ~(n cos B+ cos 6)]
(taking Ur =n)
(3.6)
where cos B = yl—sin’ B
fa
oe
=a 438 Theory of Machines
x =r {(n+1)= (Wn? ~ sin? @ +008)
= r[(1—cos6)+ (n= vn? ~sin? 6)] (13.7)
Ifthe connecting rod is very large as compared to the crank, n? will be large and the maximum value of
sin?@ can be unity, Then Jy? — gin? @ Will be approaching Yn? or n, and
(eos (13.8)
‘This is the expression for a simple harmonic motion. Thus, the piston executes a simple harmonic motion
when the connecting rod is large.
Velocity of Piston
d 2 sin? 2) 22
= Sirk —cos0)-+n— (0? —sin? 9999)
= r{(0-+ sin 8) +0~ > (n? —sin® 6)'/?(-2sin Bcos JO
in26
= rofsnos nt ano)
If is large compared to sin? 8,
ve ral sina ast
sin 20
If —,,~ ean be neglected (when m is quite large),
v=resin@ (3.11)
Acceleration of Piston
pat ded
“dt dOdt Dynamic Force Analysis 439
d [ ( we)!
==) ral sina + lo
6 2n
= raf sora + 2920)
Qn
( 20)
= ro’ | cosO + (13.12)
If mis very very large,
{f= ro? cos 0 as in case of SHM (13.13)
1
When 00°, ie., at IDC, SF re*(1+4)
1
When 6 = 180°, ie., at ODC, sorat(-1e4)
At @= 180°, when the direction of motion is reversed,
ce?!
fre (: 7 (13.14
"Note that this expression of acceleration has been obtained by differentiating the approximate expression
for the velocity. tis, usually, very cumbersome to differentiate the exact expression for velocity. However,
this gives satisfactory result,
13.6 ANGULAR VELOCITY AND ANGULAR ACCELERATION OF
CONNECTING ROD
As y=Tsin B= rsin 0
sinp = 28 (n=l)
Differentiating with respect to time,
05 p 2B = | oo, 9 4
an a
4B _ cos
dt cos
or
cos 0
Vn? sin? @ (03.15)
where © is the angular velocity of the connecting rod.
cos 6
Let ingular acceleration of the connecting rod 440 Theory of Machines
do, _ do, a0
a dO dt
d 2 2 gy-t/2-
= @—[cos 6 (n° - sin’ 8)
or" 6 yo
2 1 ot sin? oy??? 2 sin? ay"
= [cos (n? ~ sin? 6)-(-2sin 0 cos) + (n? —sin? 8)""/?(~sin)]
29 tnt sin?
=o? sino 8-(n' aie 2|
(13.16)
‘The negative sign indicates that the sense of angular acceleration of the rod is such that it tends to reduce
the angle B. Thus, in the given case, the angular acceleration of the connecting rod is clockwise.
13.7. ENGINE FORCE ANALYSIS
‘An engine is acted upon by various forces such as weight of reciprocating masses and connecting rod, gas
forces, forces due to friction and inertia forces due to acceleration and retardation of engine elements, the last
bbeing dynamic in nature. In this section, the analysis is made of the forces neglecting the effect of the weight
and the inertia effect of the connecting rod
(i) Piston Effort (Effective Driving Force)
‘The piston effort is termed as the net or effective force applied on the piston. In reciprocating engines, the
reciprocating masses accelerate during the first half of the stroke and the inertia force tends to resist the same.
Thus, the net force on the piston is decreased. During the later half of the stroke, the reciprocating masses
decelerate and the inertia force opposes this deceleration or acts in the direction of the applied gas pressure
and thus, increases the effective force on the piston,
Ina vertical engine, the weight of the reciprocating masses assists the piston during the outstroke (down
stroke), thus, increasing the piston effort by an amount equal to the weight of the piston. During the instroke
(upstroke), the piston effort is decreased by the same amount.
Let A ~ area of the cover end
A= area of the piston rod end
P, = pressure on the cover end
isa, =n = (snd 2) es.
‘which isin the opposite direction to that of the acceleration of the piston
Net (effective) force on the piston, F =F, ~ Fy (13.19)
In case friction resistance Fis also taken into account,
Force on the piston, F = F, —F,—Fy
In case of vertical engines, the weight of the piston or reciprocating parts also acts as force and thus
force on the piston, F = F, + mg — Fy ~ Fy Dynamic Force Analysis 441
(ii) Force (thrust) along the Connecting Rod
Let F, = Force in the connecting rod
(Fig. 13.3)
‘Then equating the horizontal components
of forces,
eo
Fx cos B=F or F.= og
| He.133|
(iii) Thrust on the Sides of Cylinder
Itis the normal reaction on the cylinder walls.
F,>F, sin B= F tan B
(iv) Crank Effort
Forceis exerted on the crankpin as a result of the force on the piston. Crank effortis the net effort (force) applied
at the crankpin perpendicular to the crank which gives the required turning moment on the crankshaft.
Let F,= crank effort
As
Fy i a
and my.b= mgd i i
ip-b = my wo |
From (i) and i
8 c DA
———
fe p+ g | Ms
my ; na
C} Dynamic Force Analysis 487
(2) _
or m|—7- Jam
_d
or memes
Similarly,
Also,
bon
— d’
bea
b+d
= moa bd)
m (5 + 3)
=mbd (13.23)
Let = radius of gyration ofthe connecting rod about an axis through the centre of mass G perpendicular
to the plane of motion.
‘Then
or (13.24)
This result can be compared with that of an equivalent length of a simple pendulum in the following
‘The equivalent length of a simple pendulum is given by
e e
Tabs =e
prendtb ( pod
where b is the distance of the point of suspension from the centre of mass of the body and & is the radius of
‘gyration. Thus, in the present case, d + 6 (= L) is the equivalent length if the rod is suspended from the point
B, and D is the centre of oscillation or percussion.
However, in the analysis of the connecting rod, it is much more convenient if the two point masses are
considered to be located at the centre of the two end bearings, ie., at A and B.
Let m,=mass at 4, distance AG = a
Then m+ my=m
L
(= length of rod)
my =m
I= mab
Assuming a> d,I’ >I 445 Theory of Machines
‘This means that by considering the two masses at 4 and B instead of at D and B, the inertia torque is
increased from the actual value (T'= /a,). The error is corrected by incorporating a correction couple.
Then,
correction couple, AT
(mab — mbd)
= mba. (a—d)
mbar, [(a + b)—(b + d))
‘mba, (1 L) (aking b + d= L) (13.25)
‘This correction couple must be applied in the
‘opposite direction to that of the applied inertia
torque. As the direction of the applied inertia _
foe
torque is always opposite to the direction of
the angular acceleration, the direction of the {f a
correction couple will be the same as that of ir”
angular acceleration, ie, in the direction of the S25
decreasing angle B. {
‘Thecorrection couple willbe producedby two
‘equal, parallel and opposite forces F,, acting at Fy 5
the gudgen pin and crankpin ends perpendicular
to the line of stroke (Fig. 13.8). The force at B is -——— fo ——tail
taken by the reaction of guides.
‘Turning moment at crankshaft due to force at Hig. 138
A or correction torque,
he
fxr cos 0
reos@ (VAT = Flos,
Teosp*""° eee
AT 058
iv) cos B
cos
= are
nn? sin? @
cos0
ee 13.26)
vn? sin? @ i
This correction torque isto be deducted from the inertia torque acting on the crankshaft.
‘Also, due to the weight ofthe mass at 4, a torque is exerted on the crankshaft which is given by
T,= (m,g)r 0s 8 (1327)
In case of vertical engines, a torque is also exerted on the crankshaft due to the weight of mass at B and
the expression will be similar to Eq, (13.21), ic.
20
(13.28)
Nn? = sin? 8
‘The net torque or turning moment on the crankshaft will be the algebraic sum of the
(i) turing moment due to the force of gas pressure (7)
(Gi) inertia torque due to the inertia force at the piston as a result of inertia of the reciprocating mass
including the mass of the portion of the connecting rod (7)
Teton snos Dynamic Force Analysis 449
(ii) inertia torque due to the weight (force) of the mass at the crank pin which is the portion of the mass
of the connecting rod taken at the crank pin (7,).
(iv) inertia torque due to the correction couple (T.)
(v) turning moment due to the weight (force) of the piston in case of vertical engines
Usually, itis convenient to combine the forces at the piston occurring in (ii) and (¥),
13.10 INERTIA FORCE IN RECIPROCATING ENGINES (GRAPHICAL METHOD)
‘The inertia forces in reciprocating
engines can be obtained graphically
as follows (Fig. 13.9).
1. Draw the acceleration
diagram by Klein’s
construction (refer Section
3.8). Remember that the
acceleration diagram is
tured through 180° from
the actual diagram and
therefore, the directions of
accelerations are towards O
(Fig.13.9(a)}
2. Replace the mass of
the connecting rod by a
dynamically equivalent
system of two masses. If
fone mass is placed at B,
the other will be at D given
by d = K/b, where k is the
radius of gyration and 6 and
d are the distances of the
centre of mass from B and Ay
D respectively.
Point D can also be
obtained graphically. Draw e a
GE 1 ABatGandtake GE = Ww >
k. Make ZBED=90°, and o
obtain the point D on AB.
3. Obtain the accelerations of | Fig. 139 |
points G and D from the
acceleration diagram by locating the points g, and d on Ab, which represents the total acceleration
of the connecting rod
As Ady/AD and Ag /AG are equal to Aby/AB, Dd, and Gg, can be drawn parallel to OB. Thus, dyO
and gO represent accelerations of points D and G respectively.
4, The acceleration of the mass at B is along BO and in the direction B to O. Therefore, the inertia force
due to this mass acts in the opposite direction.
Fi
Fr 4650, Theory of Machines
5. ‘The acceleration of the mass at D is parallel to d,0 and in the direction d, to O, therefore, the inertia
force due to this mass acts in the opposite direction through D. Draw a line parallel to Od, through D
to represent the direction of the inertia force.
Let the lines of action of the two inertia forces due to masses at B and D meet at L. Then the resultant of
the forces which is the total inertia force of the connecting rod and is parallel to Og, must also pass through
the point L. Therefore, draw a line parallel to Og, through L to represent the direction of the inertia force of
the connecting rod.
‘Now, the connecting rod is under the action of the following forces:
‘+ Inertia force of reciprocating part F,, along OB
‘The reaction of the guide F,, (magnitude and direction sense unknown)
Inertia force of the connecting rod F;
‘The weight of the connecting rod W (= mg)
‘Tangential force F,at the crank pin (to be found)
Radial force F, at the crank pin along OA (magnitude and direction sense unknown),
Produce the lines of action of F,and F, to meet at /, the instantaneous centre of the connecting rod. Draw
IP and 1Q perpendicular to the lines of action of F, and the weight W respectively.
For the equilibrium of the connecting rod, taking moments about /,
F,x1A = Fx IB + F, XIP + mg x 10 (13.29)
Obtain the value of F; from it and draw the force polygon to find the magnitudes and directions of forces
Fand F, (Fig. 13.9(b)].
In the above equation, F, is the force required for the static equilibrium of the mechanism or it i the force
required at the crank pin to overcome the inertia of the reciprocating parts and of the connecting rod. If it
indicates a clockwise torque, then
Inertia torque on the crankshaft =
Fx OA counter-clockwise
Example 13.6 The following data relate
to the connecting rod of a
reciprocating engine
Mass = 50kg
Distance between bearing centres = 900 mm a
Diameter of big end bearing 100 mm
Diameter of small end bearing = 80 mm
Time of oscillation when the connecting rod is 4
suspended from a] |
big end = 1.7 D
small end = 1.85 a
Determine the
(9) radius of gyration k of the rod about an
axis through centre of mass perpendicular
10 the plane of oscillation,
(ii) moment of inertia of the rod about the
same axis, and
(iii) dynamically equivalent system of the
connecting rod comprising two masses,
‘one at the small end-bearing centre.
}100 mm
Fig. 13.10 Solution Refer Fig. 13.10.
Let L., = length of equivalent simple pendulum
when suspended from the top of the big end bearing
1, = length of equivalent simple pendulum
‘when suspended from the top of the small
‘end bearing
a = distance of the centre of mass G from top
of big-end bearing
b_ = distance of the centre of mass G from top
of small-end bearing
=n [ana
g
or asa fe and
g
or L,=0.7181m and L,=0.8505 m
1, =2n,
1.85 = 2a,
2 2
op ee Z cont ant te! =o8ss
or = 0.7181a—a? = 0.85056 — 6? @
pu +6 =900+ 28690 mm = 099:
099-5
(i becomes 0.7181(0.99 5) ~ (0.99 — 5)?
= 0.85056 — 6?
or 0.7109 ~ 0.7181 — (0.9801 + B ~ 1.986)
= 85056 — 6
or 0.41156 = 0.2692
or b= 0.654 m
a= 0.990.654 = 0.336 m
= 0.8505 x 0.654 — (0.654)? = 0.1286
or k=0.358m
MOI, I= mk? = 50 x (0.358)? = 6.4 kg.
The distance of centre of mass of the connecting
rod from the centre of the small end bearing,
B= 654 — (80/2)= 614 mm
Let the second mass be placed at D.
Take GD = d and m,= mass at D
‘Then
# _ 0.1285
E0185 0.209 m
Fos 2"
mxb’__50x0.614
ma
“Bd 061440209
50-373 =12.7 kg
(nv’y=mass at the small end-bearing centre)
Dynamic Force Analysis 451
Example 13,7 The following data relate to
@ horizontal reciprocating
engine:
Mass of reciprocating parts
Crank length
Engine speed
Connecting rod:
Mass
Length between centres
Distance of centre of mass
from big end centre = 180mm
Radius of gyration about an
axis through centre of mass = 150 mm
Find the magnitude and the direction of the
inertia torque on the crankshaft when the crank
has turned 30° from the inner-dead centre.
Solution It is required to find the inertia torque, or
turning moment, on the crankshaft due to the inertia
of the piston as well as of the connecting rod. This
can be obtained by analytical or graphical methods.
Analytical Method
BEN 28600 69 8 mals
60 60
Divide the mass of the connecting rod into two
parts (Refer Fig. 13.11).
Fig. 13.11
Mass at crank pin,
ma, =90x( S01) - S4kg
450
Mass at gudgeon pin, m,= 90 - $4 = 36 kg
Total mass of reciprocating parts, m = 120 + 36
= 156 kg
Acceleration of the reciprocating parts,
28)
f = mra* (cosas 452 Theory of Machines
AS is less than 90°, it is towards the right and
‘Thus, the inertia force is towards lef.
Ine fess Fy = mf = mr (os +
cos o)
cost)
n
= 156 x 0.09 x (62.8)° {cossors
= 53490
Inertia torque due to reciprocating parts
% p[ soos sin20
avn? sin? @
[Eq. (13.21)}
= snc somes
60"
2y(5)? =|
= 2826 N.m
(counter-clockwise as inertia force is towards left)
Correction couple due to assumed second mass
of connecting rod at A,
AT = ma,b(!~ L) [q. (13.25)]
where b= 450— 180 = 270 mm
50 mm
i 50)" = 353.3 mm
b=b+% 2270400
and b 270
-o sin] Jes (13.16)}
(n° = sin? 0"
= ? sin3o] =}
= 384.7 rad/s?
AT = 90 x (-384.7) x 0.27 x (0.45 — 0.3533)
903.97 Nm
‘The direction of the correction couple will be
the same as that of angular acceleration, i.e., in the
direction of the decreasing angle i as discussed in
Section 13.9. Thus, it is clockwise.
correction torque on the crankshaft,
cosO
At
. Ih? si
"0
030°
v5 — sin? 30°
=-1574 Nm
Correction torque is 10 be deducted from the
inertia torque on the crankshaft or as the force F,
= -903.97%
due to AT (which is clockwise) is towards left of
the crankshaft, the correction torque is counter-
clockwise.
Torque due to weight of mass at 4,
T, = (m,g) rc0s 8
549.81 x 0.09 x cos 30°
41.3 N.m counter-clockwise
total inertia torque on the crankshaft
=1,-T.+T,
2826 — (157.4) + 41.3,
= 3024.7 N. m counter-clockwise
Graphical Method
Draw the configuration diagram OB of the engine
mechanism to a convenient scale (Fig. 13.12) and
its velocity and acceleration diagrams by Klein's
construction (refer Section 13.10).
Fig. 13.12
j= OF = 62.8 X 0.09 = 5.65 m/s
L_= Or = (62.8)? X 0.09 = 355 mis?
Locate points 6, and g; in the acceleration diagram
to find the accelerations of points B and G. Measure
4,0 and g,0. As the length OA in the diagram represents the acceleration of 4 relative to O, ie,
355 mis, therefore, f, can be obtained from
length }O-
So= 355% Tength OA
It is found to be f,= 343.2 mis
Similarly,
F.= mx f,= 90 x 345 = 31050 N
Complete the diagram of Fig. 13.12(a) as
discussed in Section 13.10. Taking moments about /,
F,XIA = FyX B+ Fx IP +mgx1Q
F, x 515 = 41 186 x 300 +31 050 x 152 +90
9.81 x 268
F,= 36155N.m
T= F.xr=33615.5 x 0.9 = 3025.4 Nm
Instead of taking moments about the I-centre,
the principle of virtual work can also be applied to
‘obtain the torque as follows:
‘On the velocity diagram (Fig. 13.12(b)], locate
the points b, h and g corresponding to B, H and G
respectively and take the components of velocities
in the directions of forces F,, F;, and mg. In Klein’s
construction, the velocity diagram in turned through
90°, Then
Tx @= FX vy + FX vp t mex vy
Tx 62.8= 41 186 x 3.29 +31 050 x 1.67 +90 x
9.81 x 2.94
T= 2157.6 + 825.7 41.3
= 3024.6 Nm
Ifitisdesiredtofind theresultantforceonthecrank,
‘complete the force diagram as shown in Fig. 13.12(c).
Resultant force on the crank pin, R= 70000N at 0°
The connecting rod of a
vertical reciprocating engine
is 2 m long between centres
and weighs 250 kg. The mass
centre is 800 mm from the big
end bearing. When suspended as a pendulum
from the gudgeon pin axis, it makes 8 complete
‘oscillations in 22 seconds. Calculate the radius
of gyration of the rod about an axis through
its mass centre. The crank is 400 mm long and
rotates at 200 rpm. Find the inertia torque
exerted on the crankshaft when the crank has
turned through 40° from the top dead centre and
the piston is moving downwards.
Example 13.8
Dynamic Force Analysis 453
Solution
Analytical method
Divide the mass of the rod into two parts (Fig.
13.13),
Mass atthe crank pin,
2.
OF
im, =250% 50 ke
20
Mass at the gudgeon pin,
50 — 150= 100 kg
ow28)
n
F=mra*[cos0-+
= 109 04x ( 22%200) {cossor
60
= 100.x 0.4 x 438.6% 0.8
= 14049 N
Ast isa vertical engine, the weight (force) of the
portion of the connecting rod at the piston pin also
can be combined with this force, ie.,
sit")
2/04
Net force = 14 049 ~ 100981 = 13 068 N
(upwards)
Fr| sing +3028 __
Ayn? sin?
Fe
8
Ww
b|
Wy (omg)
Fig. 13.13 454 Theory of Machines
sin 80°
2v25~ sin? 40°
= 13068 x 0.4 x 0.7421
= 3879.1 N.m counter-clockwise
We have,
3068 x 0.4] sin 40°+
where b = 2.0 —0.8 = 1.2 mand L can be found
from
2 eon | 4
8 V5,
or
124% 188
x 12
or R=0816
or k= 0,903
or radius of gyration = 903 mm
> n-t
1. = —0” sin | ——"
[= sin? )?
25-1
= ~438,6sin aoe] ——25-1__
lz = sin” |
= 250 x (-55.5) x 1.2 x (2.0 ~ 1.88)
1998 Num
The direction of the correction couple will be
in the direction of decreasing angle as discussed
earlier. Thus, itis clockwise.
‘The correction torque on the crankshaft,
cos
An? -sin? @
05 40°
25 -sin? 40°
=~ 308.7 Nm
Correction torque is to be deducted from the
inertia torque on the crankshaft or as the force F,
due to AT (which is clockwise) is towards left on
the upper side of crankshaft, the correction torque is
counterclockwise.
T.=aT
1998
Torque due to weight of mass at 4,
T,=mggrsin 0
150 x 9.81 x 0.4 sin 40°
= 378.3 N.m clockwise
Total inertia torque on crankshaft = 7,7. + T,
= 3879.1 — (308.7) 378.3
3809.5 Num
Graphical Method
Fig. 13.14
Draw the configuration diagram OAB of the
engine mechanism to a convenient scale (Fig.
13.14) and its velocity and acceleration diagrams by
Klein's construction (refer Section 3.8).
2nN _ 2x x200
6060
f,= Wr = (20,94)? x04 = 175.4 mis?
Complete the diagram of Fig. 13.14 as discussed
in Section 13.10. Locate points b, and g, in the
acceleration diagram to find the accelerations of
points B and G. Measure b,0 and g,0. As the length
(OA in the diagram represents the acceleration of A
relative to O, ic., 175.4 mis?, therefore, f, can be
obtained from
10.94 rad/s
,_ Hnath 40
So SAX Tenth Od
Itis found to be 143.8 ms?
Similarly, 153.4 m/s? However, in this problem as the mass of the
reciprocating parts is not given, inertia force due to
the same is not to be calculated and Thus, fis not
required.
Now, F\= mx f, = 250 x 153.4 = 38 350 N
Taking moments about /
IP —mgx1Q
=38 350% 76.2 — 2509.81 x 176
F,x r= 9546 x 0.4 = 3818 Nm
Example 13.9 For Example 13.8, determine
the turning moment on the
crankshaft if the bore of the
oylinder is 700 mm and the
gas pressure is 600 kN/n?.
Also, consider the mass of the piston which is
120kg.
Solution Total reciprocating mass at B = 100+ 120
=220 kg
;
posnoxoan( 22220) (ce
= 220 x 0.4 x 438.6 x 0.8
=30877N
Net force on the piston = 30 877 ~
29.896
Inertia torque
cutee)
2/04
100 x 9.81 =
= 29 604{ sna snr —)
2y25—sin? 40°
= 29 896 x 0.4 x 0.7421
= 8874.3. Nm
Net inertia torque on crankshaft
=8874,3—(-308.7)-378,3=8804.7N.m=8,8047
‘Now area of the cylinder bore = Fo 7°
= 0.384 85 m?
Gas force = 0.384 85 x 600 = 230.9 KN
‘Turning moment = 230.9 x 0.4 x 0.7421
= 68.54Nm
‘Therefore, turning moment available at the crank
shaft = 68.54 ~ 8.8047
= 39.735 KNm
Dynamic Force Analysis 455
Example 13.10 The piston diameter of an
internal combustion engine
is 125 mm and the stroke is
220mm. The connecting rodis
4.5 times the crank length and
has amass of 0kg. The mass ofthe reciprocating
parts is 30kg. Thecentreofmassoftheconnecting
rod is 170 mm from the crank-pin centre and the
radius of gyration about an axis through the
centre of mass is 148 mm. The engine runs at
320 rpm. Find the magnitude and the direction
of the inertia force and the corresponding torque
on the crankshaft when the angle turned by
the erank is 140° from the inner dead centre.
Solution
Analytical Method
r=220/2=110 mm N= 320 rpm
= 125 mm. 10x 4,5 = 495 mm
2RN _ 28 x320 455 aay
60 60
Fig. 13.15
Divide the mass of the connecting rod into two
parts (refer Fig. 13.15).
(% = 17)
(495-170
495
2.83 kg
Mass at gudgeon pin, m,= 50 ~ 32.83
Total mass of reciprocating parts, m
=47.1T kg
Acceleration of the reciprocating parts,
1 = mre? cos0+ 28)
As 0 is more than 90°, itis negative or towards
left and thus, the inertia force is towards right.
Mass at crank pin, m,
TAT kg
0+ 17.17
08 20
Inertia force, Fj, = mf = mr? {cosa 5 )
=47.170.11x G35) {costanr £8280")
=-4236.N 456 Theory of Machines
Inertia torque due to reciprocating parts
es] (Eq. (13.219)
2Nn? -sin? @
sin 280°
2y(4.5)* ~sin? 140°
=-248 Nm
(clockwise as inertia force is towards left)
Correction couple due to assumed second mass
of connecting rod at 4,
The sin e+
(Eq. (13.25)]
(Eq, (13.16)]
;
=-03 sinter] |
(4.5 -sin? 140°Y
= =157.17 rad/s?
‘AT=803(-187.17) 0325 x(0495~0.3928)
oSea04 Nm
The direction of the correction couple will be
the same as that of the angular acceleration, i.e, in
the direction of decreasing angle fas discussed in
Section 13.6. Thus, it is clockwise.
correction torque on the crankshaft,
paar ese
© vn =sin?@
~ 260/04 «08140
140°
las
= 45.07 Nm
‘The correction torque is to be deducted from the
inertia torque on the crankshaft or as the force F,
due to AT (which is clockwise) is towards right of
the crankshaft, the correction torque is clockwise.
Torque due to weight of mass at 4,
(mg) r-cos 8
32/83 x 9.81 x 0.11 x cos 140°
=-27.14 N.m counter-clockwise
- total inertia torque on the cranksha
248 — 45.07 -27.14
= 320.2 clockwise
Graphical Method
Draw the configuration diagram OAB of the engine
mechanism to a convenient scale (Fig. 13.16) and
its velocity and acceleration diagrams by Klein's
construction
Fig. 13.16
2nN _2nx320
= 3.5 mds
60 60.
r= 33.5 x 0.11 = 3.685 m/s
Sa= Wr = (33.5) XO.11 = 123.4 m/s?
‘Locate points by and g; in the acceleration diagram
to find the accelerations of points B and G. Measure
4,0 and g,0. As the length O4 in the diagram
represents the acceleration of A relative to 0, ie,
123.4 mis?, therefore, f, can be ae from
Spo 12340
It is found to be f= 89.6 mis
Similarly, f= 106.7 mis*
ey F y= m,XSy= 30% 89.6 2688 N
Fem," 50% 106.7= 5335 N
Complete the diagram of Fig. 13.16 as discussed
in Section 13.10. Taking moments about /,
F,XIA= FyX IB + FX IP + mgx1O
F, 0.64 = 2688 x 0.340 + 5335 x 0.138 + 50%
9.81 x 0.322
825.1 N
Fx r= 2825.1 x O.11 = 310.7 Nam ‘The difference of results by analytical and
‘raphical methods can be due to practical error in
drawing the Klein’s construction andalso because the
equation used in analytical solution for acceleration
are only approximate,
Example 13.11 Figure 13.17(a) shows the link
‘mechanism of a quick-return
‘mechanism of the slotted
lever type with the following
dimensions:
OA = 40 mm, OP = 20 mm, AR = 70 mm,
RS = 30mm.
The crank OA rotates at 210 rpm. The centres
of mass of the links AR and RS are at their
respective midpoints. The mass of the link AR
is 15 kg and the radius of gyration is 265 mm
about the centre of mass. The mass of the link RS
is 6 kg and the radius of gyration is 90 mm about
the centre of mass. The reciprocating mass is 5
kg at the slider S. Determine the torque required
10 be applied on the crank OP to overcome the
inertia forces on the mechanism.
Dynamic Force Analysis 457
Solution First of all, draw the configuration
diagram to some suitable scale and find the dynamic
equivalent masses on links AR and RS.
Link AR
m=15kg, 1=700mm, &=265 mm
Placing one dynamic mass at A and the other at D
where D is located by
265?
350
Now, mass at D is calculated from,
myx AD = mx GD
or m,x350.6= 15 x350
50+
or my=9.54kg and m,=15—9.54=5.46 kg.
Link RS
m=6kg, 1=300mm, &=90mm
Placing one dynamic mass at S and the other at E
where £ is located by
se=so’+ #1504
SG’ 150
Now, mass at £ is calculated from,
im, x SE=mx SG
or m,x204=6x 150
or m,=44lkg and m,
Total mass at S, m,= 1.59 +
159 kg
6.59 kg
Velocity and Acceleration Diagrams
Draw the velocity and acceleration diagrams as
shown in Fig. 13.17. The procedure has been
described in Example 3.7. Locate points d and e in
the velocity diagram corresponding to points D and
E respectively in the configuration diagram and in a
similar way d, and e, in the acceleration diagram.
Acceleration of D = ayd, = 36.1 m/s
Inertia force of mass at D = 9.54 x 36.1 = 344.8N
Velocity of D = ad
Taking its components along and. to the inertia.
force at D,
Component along the force = 2.76 m/s
Work done = 344.8 x 2.76 = 952 N.m
Acceleration of £ = 36.63 mis?
Inertia force of mass at E=4.41 x36.63=161.2N
Velocity of E = oe
Taking its components along and to inertia
force at B,
Component along the force = 4.12 m/s 458 Theory of Machines
Work done = 161.2 x 4.12 = 664 N.m
Acceleration of $= 32.8 m/s?
Inertia force of mass at S= 6.59 x 32.8 = 216 N
2589 N.m (i)
This work must be equal to the torque to be
applied to the crankshaft.
Let F,, be the force applied by the slider on the
link AR Which is L to AR.
Velocity of E = op
Its components along the force = 0g = 3.26 m/s
Work done by F, = (F, x 3.26) di)
Equating (i) and (i),
FX 3.26 = 2589
2 FL=T94N
Thus, the required torque = F, x
h = 149.8 mm (on meastirement from the
configuration diagram)
T= 568 x 0.1498 = 119 Nam
13.11 TURNING-MOMENT DIAGRAMS
During one revolution of the crankshaft of a steam engine or IC engine, the torque on it varies and is given by
T=Fyxr
sin20 )
avn? sin?
‘where F isthe net piston effort
‘A plot of Tvs. @is known as the ‘urning-moment diagram, The inertia effect of the connecting rod is,
usually ignored while drawing these diagrams, but can be taken into account if desired.
‘As T= F, xr, plot of F, vs. 8 (known as crank effort diagram) is identical to a turning-moment
diagram,
The tumning-moment diagrams for different types of engines are being given below:
+[sinae (fer By 321)
1. Single-cylinder Double-acting Steam Engine
Figure 13.18 shows a turning-moment diagram for a single-cylinder double-acting steam engine. The crank
angle 0 is represented along the x-axis and the tuming-moment along the y-axis. It can be observed that
during the outstroke (ogp) the turning moment is maximum when the crank angle is alittle less than 90° and
zero when the crank angle is zero and 180°. A somewhat similar turning-moment diagram is obtained during,
the instroke (pkg).
"Note that the area of the turning-moment diagram is proportional to the work done per revolution as the
work is the product of the tuming-moment and the angle tuned,
‘The mean torque against which the engine works
is given by
__ Area ogpkp
Qn
where oe is the mean torque and is the mean height of
the turning-moment diagram.
‘When the crank turns from the angle 0a to ob (Fis
13.18), the work done by the engine is represented by
the area afghb. But the work done against the resisting
torque is represented by the area ajhb. Thus, the engine
has done more work than what has been taken from it.
Turning moment Dynamic Force Analysis 459
‘The excess work is represented by the area fgh. This excess work increases the speed of the engine and is
stored in the flywheel,
During the crank travel from ob or oc, the work needed for the external resistance is proportional to bhjc
‘whereas the work produced by the engine is represented by the area under hpj. Thus, during this period, more
‘work has been taken from the engine that is produced, The loss is made up by the flywheel which gives up
some of its energy and the speed decreases during this period
Similarly, during the period of crank travel from oc to od, excess work is again developed and is stored in
the flywheel and the speed of the engine increases. During the crank travel from od to oa, the loss of work is
‘made up by the flywheel and the speed again decreases.
‘The areas fh, hpj, jk! and lgf represent fluctuations of energy of the flywheel. When the crank is at b, the
flywheel has absorbed energy while the crank has moved from a to b and thereby, the speed of the engine is
‘maximum. At, the flywheel has given out energy while the crank has moved from b to c and thus the engine
‘has a minimum speed, Similarly, the engine speed is again maximum at d and minimum at a. Thus, there are
‘two maximum and two minimum speeds for the turning-moment diagram.
‘The greatest speed is the greater of the two maximum speeds and the least speed is the lesser of the two
‘minimum speeds
‘The difference between the greatest and the least speeds of the engine over one revolution is known as the
fluctuation of speed.
2. Single-Cylinder Four-stroke Engine
In case of a four-stroke internal combustion engine,
the diagram repeats itself after every two revolutions
instead of one revolution as for a steam engine. It can
be seen from the diagram (Fig. 13.19) that for the
majority of the suction stroke, the turning moment
is negative but becomes positive after the point p.
During the compression stroke, itis totally negative. It
is positive throughout the expansion stroke and again Fig. 13.19
negative for most of the exhaust stroke.
Tuning moment
Crank angle
‘Suction Compression| Expansion! Exhaust
3. Multi-Cylinder Engines
‘As observed in the foregoing paragraphs, the turning-moment diagram for a single-cylinder engine varies
considerably and a greater variation of the same is observed in case of a four-stroke, single-cylinder engine.
For engines with more than one cylinder, the total crankshaft torque at any instant is given by the sum of the
torques developed by each cylinder at the instant.
For example, if an engine has two cylinders
with cranks at 90°, the resultant tuming moment RSI NI
diagram has a less variation than that for a single Ne’
cylinder. In a three-cylinder engine having its
cranks at 120°, the variation is stil less.
Figure 13.20 shows the tuming-moment
diagram for a multicylinder engine. The mean
torque line ab intersects the turning moment curve
atc, de, fg and h. The area under the wavy curve
is equal to the area oabk. As discussed earlier, the Fig. 13.20
Tuning moment
Grankangle 460, Theory of Machines
speed of the engine will be maximum when the crank positions correspond to d, f and /, and minimum
corresponding to c, ¢ and g.
13.12. FLUCTUATION OF ENERGY
Let ay,as,and a be the areas in work units of the portions above the mean torque ab of the turning-moment
diagram (Fig. 13.20). These areas represent quantities of energies added to the flywheel. Similarly, areas ay,
ayand ag below ab represent quantities of energies taken from the flywheel.
‘The energies of the flywheel corresponding to positions of the crank are as follows:
Crank position Flywheel energy
¢ E
a Eta
e E+a-a;
f E+a-a,ta,
8 E+ay-a;,tay-ay
h E+ ay~a;+ay~ ay +s
e E+ ay~ayt ay~ ay tsa
From the two values of the energies of the flywheel corresponding to the position ¢,
ay a+ a4 + a5 a5 = 0
‘The greatest ofthese energies isthe maximum kinetic energy of the flywheel and forthe comresponding
rank position, the speed is maximum,
‘The least ofthese energies is the last kinetic energy ofthe flywheel and forthe corresponding crank
positon, the speed is minimum.
‘The difference betveen the maximum and minimum kinetic energies of the fywhee! is known asthe
‘maximum ficuaton of energy wherets the rato of this maximum Muctuation of energy tothe work done per
cycle is defined as the coefficient of fluctuation of energy.
‘The difference between the greatest speed and the least speed is known asthe maximum fluctuation of
speed and the rato ofthe maximum fluctuation of speed to the mean speed isthe coeficint of lucmation of
speed
13.13 FLYWHEELS
‘A flywheel is used to control the variations in speed during each cycle of an engine. A flywheel of suitable
dimensions attached to the crankshaft, makes the moment of inertia of the rotating parts quite large and thus,
acts as a reservoir of energy. During the periods when the supply of energy is more than required, it stores
‘energy and during the periods the requirements is more than the supply, it releases energy.
Let = moment of inertia of the flywheel
@, = maximum speed
@; = minimum speed
‘@ = mean speed
E = kinetic energy of the flywheel at mean speed. Dynamic Force Analysis 461
€ = maximum fluctuation of energy
ey
K = coefficient of fluctuation of speed = =>
@
1
Maximum fluctuation of energy, ¢ plot ~ ho}
or
Example 13.12. A flywheel with a mass of 3
KN has a radius of gyration of
1.6 m. Find the energy stored
in the fiywheel when its speed
increases from 315 rpm 10 340
rpm.
Solution
2nx315
and
60
‘Additional energy stored
1009 = 03) = 5 mk? (w? - 03)
3000 x 1.6? x (35.6? = 337)
= 684 900 N.m or 684.9 kN.m
or 684.9 KI
Example 1313 ffywheel absorbs 24 ky
speed of 210 rpm to 214 rpm.
Determine its kinetic energy
Solution Additional energy stored,
‘at 250 rpm.
(13.30)
4 000 = 5 (0? - 02)
2
or 24.000 = Emi ( 2 @ie-210) — @
2 Go
Kinetic energy at 250 rpm,
;
poh =tm? (2) 20° a
2
oo E_ 230?
Dividing i by (@. 35-909 7 ya? 310
184 430 N.m or 884.43 KN.m or 884.43 kI
or:
Example 13.14 A double-acting steam engine
develops 56 KW of power at
210 rpm. The maximum and
‘minimum speeds do not vary
‘more than 1% of the mean speed and the excess
energy is 30% of the indicated work per stroke.
Determine the mass of the fiywheel if the radius
of gyration of the flywheel is 500 mm.
Solution Work done per second = 56 000 W
= 56 000 N.m
For a double-acting engine, the number of
working strokes per minute = 2.x 210 = 420 462 Theory of Machines
Work done /stroke
Work done per second
‘Number of working strokes/second
56000
~ 420/60
Fluctuation of energy = 8000 x 0.3 = 2400 N.m
Ka M12 _ 1L0lo- 0.990
= 8000 N.m
Also, K
mero”
2400
mx 0.5 x22"
or m=992kg
or 0.02 =
Example 13.15 A flywheel fitted to a steam
engine has a mass of 800 kg.
Its radius of gyration is 360
‘mm. The starting torque of the
engine is 580 N.m and may be assumed constant.
Find the kinetic energy of the flywheel after 12
seconds.
Solution Angular acceleration,
T_T 580
=————__, = 5.59 rad/s*
800% 0.36
oT nk
0, = 0, +a! =04+539%12 = 6708 ads
Kinetic nerey
aig? =!
zl0=>
= 233 270 Nmor283.27kI
Example 13.16 The turning-moment diagram
{for a petrol engine is drawn to
‘vertical scale of! mm = 500
Nim and a horizontal scale
of Imm = 3° The turning-moment diagram
repeats itself after every half revolution of
the crankshaft. The areas above and below
the mean torque line are 260, 580, 80, -380,
870, and -250 mm. The rotating parts have a
‘mass of 55 kg and radius of gyration of 2.1 m.
If the engine speed is 1600 rpm, determine the
coefficient of fluctuation of speed.
Solution Let flywheel KE at a= E
(refer Fig. 13.21)
370
Crank angle ——>
Fig. 13.21
at b = E +260
atc = E +260 ~ $80 = E~320
at d = E320 + 80= E240
ate = E- 240 —380= E ~ 620
at f= E 620 + 870 = E+ 250
at g = E+ 250-250=E
Maximum energy = £ + 260 (atb)
Minimum energy = E - 620 (ate)
Maximum fluctuation of energy,
enax = (E + 260) ~ (E- 620) x Hor. scale
:
=ti0s( sso
55x21 x (23)
3
K =0,0034 or 0.34%
Example 13.17 A three-cylinder single-acting
engine has its cranks at 120°.
The turning-moment diagram
{for each cycle is a triangle
{for the power stroke with a
‘maximum torque of 60 N.m at 60° after the dead
centre of the corresponding crank. There is no
torque on the return stroke. The engine runs at
400 rpm. Determine the
() power developed (ii) coefficient of fluctuation of speed if the
‘mass of the flywheel is 10 kg and radius of
‘gyration is 88 mm
(iti) coefficient of fluctuation of energy
(iv) maximum angular acceleration of fywheel
Solution The tuming-moment diagram for each
cylinder is shown in Fig. 13.22(a) and the resultant-
turning moment diagram for the three combined
cylinders is shown in Fig. 13.22(b).
(i) Work done/cycle = Area of three triangles
= 3x (60x n/2)= 90
Work done /eyele _ 90
Mean torque = ~“Anste tamed ~~ 2g 745m
2n x 400
P=Tw=45x = 1885 W
60
or 1.885 kW.
(ii) As the area above or below the mean torque
line is the maximum fluctuation of energy,
guy — oe (60-45) x4
ma 180 2
=2.52Nm
Cylinder Cylinder Cylnder
1 ae
#
'
IPVIAVIAY:
20 ! ,
Turing !
moment !
wm) '
orga 120" 180" B40" G00" 860"
Ccank angle ——>
al
“fro f
ap ' '
, ' '
tuning | | ' 1
momen | | ! rt
wm) | ' if
t I
OF 60" 120" 180" 240" 300" 360"
(Crank angle»
oO)
Fig. 13.22
Dynamic Force Analysis 463
mka?
2s
100.088" (==)
0
= 0.0578 or 5.18%
ii) Coefficient of fluctuation of energy,
‘Maximum fluctuation of energy
‘work done/eycle
25m
On
0.0278
(iv) Maximum fluctuation of torque
= 60-45 =15N.m
AT=15N.m
or [a= mk a= 15
or 10> (0.088)? x a= 15
or a= 193.7 radis?
Example 13.18 In a single-acting four-stroke
engine, the work done by the
gases during the expansion
stroke is three times the work
done during the compression
The work done during the suction
and exhaust strokes is negligible. The engine
develops 14 KW at 280 rpm. The fluctuation of
speed is limited to 1.3% of the mean speed on
either side. The turning-moment diagram during
the compression and the expansion strokes may
be assumed to be triangular in shape, Determine
stroke.
the inertia ofthe wheel.
Solution
P= 14 KW, N= 280 rpm, K=1.5%,
= 2EN _ 28280 _ 99 39 rads
60 60
It is a four-stroke engine, Thus, a cycle is
completed in 47 radians. Thus the number of
working strokes per minute is half the rpm, ie.,
140. The turning-moment diagram is shown in Fig.
13.23. 464 Theory of Machines
Tmax
|
Tuming
moment
wm)
Tmeen|
©
‘Suction Compression Expansion Exhaust
Crank angle ———>
Fig. 13.23,
Net energy produced/s = 14 000 Nm
Net energy produced/minute = 14 000 x 60 N.m
14 000 x 60
140
= 6 000.N.m.
Now, during the compression stroke, the energy
is absorbed whereas during the expansion stroke, it
is produced
‘Thus if £ is the energy produced during the
expansion stroke,
Net energy produced/eyck
E
Then E-= 6000 or E = 9000 Nim
Tax XE
Also 5730.Nm
2
and TryeanX 42° = 6000 5 2+ Tran = 477.5 Nom
In triangle ABE,
CD _ BG _ 5730-4775 _ 5252.5
AB EF 5730-5730
= 0.9167
or CD=0.9167x = 2.88 rad
and maximum fluctuation of energy,
CDXEG _ 2.88x5252.5
1564
5 or =293.3 kgm?
e
To? 98 * F293
Example 13.19 The turning-moment diagram
of a four-stroke engine is
assumed to be represented
by four triangles, the areas
of which from the line of zero
pressure are
Suction stroke = 440 mm?
Compression stroke = 1600 mm?
Expansion stroke = 7200 mm?
Exhaust stroke = 660mm?
Each mm? of area represents 3 N.m of energy.
If the resisting torque is uniform, determine the
mass of the rim of a fiywheel to keep the speed
between 218 and 222 rpm when the mean radius
of the rim is 10 be 1.25 m.
Solution It is a four-stroke engine, Thus, a cycle
is completed in 4x radians. The turing moment
diagram is shown in Fig. 13.24
’
Trnac
I
Turing
moment
(Nim)
Trnean
q
uation Compression Expansion Exhaust
Crank angle ———>
Fig. 13.24
The energy is produced only in the expansion
stroke whereas in the other three strokes, itis spent
only.
Net energy produced in one eyele
= [7200 — (440 + 1600 + 660)] x 3
ASO TrpgagX 4%
or Tren
Energy produced during expansion stroke = Area
x Energy/mm? = 7200 x 3 = 21 600 N.m AS the area of the turning-moment diagram
during the expansion stroke indicates the energy
produced during the expansion stroke,
or Tyg, = 13 751 Nm
In triangle ABE,
CD _ EG _ 13751-1074 _ 12.677
ABOCEF 1375113 751.
=0.9219
or CD =09219 x x= 2.896 rad
and maximum fluctuation of energy,
CDXEG _ 2.896%12 677
2 2
e= Area CDE
=18356Nm
Now,e =31(0? 03)
18 386= Lk? (0? -03)
2
= hxmxias* (2) (2222 -218*)
2 60
= 15.0786 m
m= 121748
Example 13.20. The torque delivered by a two-
stroke engine is represented by
T= (1000 + 300 sin 2
= 500 cos 26) N.m
where 8 is the angle turned by the crank from the
inner-dead centre. The engine speed is 250 rpm.
The mass of the f»wheel is 400 kg and radius of
‘gyration 400 mm. Determine the
(power developed
(i) total percentage fluctuation of speed
(ii) angular acceleration of flywheel when the
‘erank has rotated through an angle of 60°
from the inner-dead centre
(iy) maximum angular acceleration and retarda-
tion of the flywheel
Solution For the expression for torque being a
function of 26, the cycle is repeated every 180° of
the crank rotation (Fig. 13.25).
Dynamic Force Analysis 465
i
( Trean aD
1
+ ](4000+ 300sin 20 - 500c0s20) 40
°
{10000 = cos 20 - nao
[0002 ~150-0)- (0-150-0)]
z
= 1000 Nm
P= 10 = 10003 247250 96180 w
or 26.18 kW
$00 cos 20
~ 00 sin20-500c0s28
Turning
moment
(Nm)
* 30" 60" 90" 120° 150° 180"
Crank angle >
Fig. 13.25
(ii) Atany instant, AT = T Tine
= (1000 + 300 sin 20-00 c
= 300 sin 20— 500 cos 20
AT is zero, when 300 sin 20-500 cos 20= 0
or 300 sin 26= 500 cos 20
26)— 1000
or tan20=
or 20=59° or
9 = 29.5° or 119.5°
has?
J arae
as
uss
= J G00sin26- 50005266
aise
239° 466 Theory of Machines
= [-150cos 26 ~ 250 sin 26}!!352
mn
400% (04)? x{ 280)
60
01329 or 1.329%
(iii) Acceleration or deceleration is produced by
excess or deficit torque than the mean value
at any instant.
300sin 20 500cos 26
60°,
259.8 ~ (~ 250) = 509.8 Nm
or [a= mk a= 509.8
or 400 x (0.4? x @= 509.8
or a= 7.966 rad/s?
(iv) For AT pax and AT pi,
£ (ar = £ G00sin 26 -500.c0826) = 0
do 10
or 2x 300.cos 20+ 2.x 500 sin20= 0
or 1000 sin 26
or
or = 74.52" and 164.52°
when 20= 149.04°, 7'= 1583.1 Num,
AT=583.1 Nm
when 20=329.04°, T= 416.9 N.m,
AT=~583.1 Nam
As values of AT’ at maximum and minimum
torque 7 are same, maximum acceleration is equal
to maximum retardation,
or AT=mBa= 583.1
or 400 x (0.4)? x a= 583.1
Maximum acceleration or retardation, «= 9.11
nds?
Example 13.21 A machine is coupled oa two-
stroke engine which produces
a torque of (800 +180 sin 36)
Nam, where 0 is the crank
angle. The mean engine speed is 400 rpm. The
flywheel and the other rotating parts attached to
the engine have a mass of 350 kg at a radius of
gyration of 220 mm. Calculate the
(power of the engine
(i) ‘total fluctuation of speed of the flywheel
when the
(a) resisting torque is constant
(b) resisting torque is (800 + 80 sin 8) N.m
Solution
m=350kg N= 400 1pm
ke220mm 0 = 2240 41 9 ras
For the expression for torque being a function
of 36, the cycle is repeated after every 120° of the
crank rotation (Fig. 13.26).
1 283
igs |
ana
3
1 e00+180sin30)<0
3
= 3 [s000 —S c0s30
an 3
= 800 Nm
P= Tw= 800 x 41.89= 33 512 W
( Tcan =
180 sin 30
Turning
moment
(im)
o> 30° 60 90" 120° 1
Crank angle >
Fig. 13.26
ii) (@) Atany instant, AT = T— Tran
= 800 + 180 sin 3-800
= 180 sin 30 AT is zero when 180 sin 30= 0
or when sin 30=0
or 30=0° or 180°
or = 0° or 60°
= J (80sin30)40
ta
_ [sey
3
= 120N.m
e 120
ka? 350° (0.22)" (41.89)
.00404 or 0.404%
(b) AT= Tof engine - T of machine
= ( 800 + 180 sin 38) — (800 + 80 sind)
= 180 sin 36 80 sin @
AT is zero when 180 sin 36 — 80 sin 0= 0
or 180 sin 3= 80 sin @
or 180 (3 sin @~4 sin? 6) =80 sin 8
he
K
29. 80
or 3—4sin? @= T= 0.4444
or sin?@=0.639
or sin @=+0.799
or @=+53° and 127°
or ar
Caan = J ATAO= f (180sin30~80sin8)d0
a &
vr
[ 18020822 sco]
law
— 60 cos 381° + 80 cos 127° + 60 cos
159° 80 cos 53°
=-208.3 Num
e 208.3
mk*@* 350 x(0.22)" x (41.89)
0.007
0.7%
Dynamic Force Analysis 467
Example 13.22 The torque delivered by a two-
stroke engines represented by
210 sin 20 + 2Isin 38) Nm
where @ is the angle turned by the crank from
the inner-dead centre. The engine speed is 210
rpm. Determine the power of the engine and the
minimum mass of the fiywheel if its radius of
gyration is 800 mm and the maximum fluctuation
of speed is to be + 1.5% of the mean.
Solution
k= 800 mm
K=0015 + 0.015 = 0.03
The expression for torque being a function of 8,
20 and 36 the cycle is repeated after every 360° of
the crank rotation (Fig. 13.27).
@ Tan = rao
°
N=210 rpm
om
i ieee
© 2a 4 +210sin 20 + 21sin 30) 40
12000 +1400cos@ [
10
| +28 cos 20+ 200838
2 2
Ltre4o0n +1400+105+10.5)
2n
= (0+1400 +105 +10.5)]
= 1200 Nm
2nx210
P=To=1200x 26 390 W
or 26,39 kW
(i) Atany instant, AT= T~ Trey
= (1200 + 1400 sind 210 sin 20+
2sin 30) -1200
= 1400 sind +210 sin 20 + 21sin 30
ATis zero when
1400 sin® + 210 sin 20 + 21sin 30=0
This will be so when @ is 180° or 360°. This can
be easily seen from the plot of the tuming moment
diagram. 465 Theory of Machines
1400 sind 210 sin 20421 sin 90
2 |e 60 90° 120° 150" 180° 210"
Crank angie >
Fig. 13.27
+210sin 26 + 21sin 36) d0
=|1400c0s 0+ 22 0s 20 + 2ooe20]
lb
[(-1400 +105 ~10.5)— (400+ 105+ 10.5)
= 2821 Nam
k=
Now, K = aay
2821
oes 2n x21
mx (0.8)? x{ 2=%210"
on
2821
0.03 © 153.095
m = 303.8 ki
Example 13.23 In a machine, the inter-
mittent operations demand
the torque to be applied as
follows:
‘© During the first half-revolution, the torque
increasesuniformlyfrom800N.mto3000N.m
‘© During the next one revolution, the torque
remains constant
‘© During the next one revolution, the torque
decreasesuniformlyfrom3000N.mto800N.m
‘© During lasthalf-revolution, the torque remains
constant.
Thus, a cycle is completed in 4 revolutions. The
motor to which the machine is coupled exerts a
constant torque at a mean speed of 250 rpm. A
flywheel of mass 1800 kg and radius of gyration
‘of 500 mm is fitted to the shaft. Determine the
(9) power of the motor
(ii) total fluctuation of speed of the machine
shaft
Solution
m= 1800 kg
k= 500 mm
(@) Refer Fig. 13.28,
N=250 rpm
“Turning moment
Crank angle
Fig. 13.28
‘Torque for one complete cycle, T= area OABCDEF
or T= Area OAEF + Area ABL + Area LBCM +
‘Area MCD
= 84x 800+ 2% 2200 4 99 29904 222200
=14 1002 Nam
Tay = 10 = 1762.5.
er
P= Tyo = 1762.5 x 22250 - 46 142.
Ors IRM saan
Be 000 - 1762.5
fi) JG = AL x BS = pp 3000-17825
oy BL 3000-800
= 1.767
m= Mp x thw yp 3000-11825
cM 3000-800
=3.5¢
The fluctuation of energy is equal to the area
above the mean torque line.
e= AreaJBCK=areaJBG+areaGBCH+areaHCK Dynmic Foe Analyis 68]
11055
2xx280)
60
= (000-1702.
1800 (05) x(
1055 Nm
x=—! = 0.0358 or 3.58%
mika?
13.14 DIMENSIONS OF FLYWHEEL RIMS
‘The inertia of a flywheel is provided by the hub, spokes and the
rim. However, asthe inertia due to the hub and the spokes is very
small, usually it is ignored. In case it is known, it can be taken
into account.
Consider a rim of the flywheel as shown in Fig. 13.29.
Let @ = angular velocity
r= mean radius
thickness ofthe rim
1p = density of the material of the rim
Consider an element of the rim,
Centrifugal force on the element/unit length = [p(r.d0)1]r0
Total vertical force/unit length
- Fes 401.007 sin 8 = pr? 10? | sino.do
= pr? 4.07 (—c0s6) § = 2pr?4.0"
Let o= circumferential stress induced in the rim
(Circumferential stress is also known as hoop stress.)
‘Then for equilibrium, 0(21).1 = 2p? 4.0”
o=pre=py (13.31)
‘The above relation provides the limiting tangential
velocity at the mean radius of the rim of the flywheel.
‘Then the diameter can be calculated from the relation,
v= rdN160.
‘Also, mass= density volume = density circumference
x cross-sectional area
or m=padbt (13.32)
The relation can be used to find the width and the
thickness of the rim.
Example 13.24 The turning-moment diagram for
a multicylinder engine has been
drawn to a vertical scale of I mm
= 650 N.m and a horizontal seale
Flyzoheel ofa diesel engine 470 Theory of Machines
of 1 mm = 4.5°. The areas above and below
the mean torque line are ~28, + 380, ~260, +
310, ~300, +242, -380, +265 and -229 mm?.
The fluctuation of speed is limited to * 1.8%
of the mean speed which is 400 rpm. The density
of the rim material is 7000 kg/m? and width of
the rim is 4.5 times its thickness. The centrifugal
stress (hoop stress) in the rim material is limited
0.6 Nimm’, Neglecting the effect of the boss and
‘arms, determine the diameter and cross section
of the flywheel rim.
Solution
p= 7000kg/m? = o=6 x 10°N/m*
N=400spm O18 +0018 0.036
ba4sr
Now,
o= py (Eq. 13.31)
6 x 10°= 7000 x 7
992928 mis
60 60,
ee d= 1398m
ates 2 1g HAI a
Be mo SA
B !
€ {
o ‘Crank angle an
Fig. 1390
Refer the turning-moment diagram of Fig. 13.30,
Let the flywheel KE at a= E
ath = £-28
atc = E-28+380=£+352
atd = E+352-260=E+92
ate = E+92+310=£+402
E+402-300-£+102
E+102+242=£4344
ath = E+344-380=£-36
at j= E-36+265=E+229
£4229-209=E
Maximum energy = E+ 402 (ate)
Minimum energy = £ -36 (ath)
Maximum fluctuation of energy,
max = (E+ 402) —(E-36)x hor, scale x vert. scale
=438x( 45% )xos0
180
= 22360 Nm
mio
22360
al! 398) (2rxaoo
2 60
m= 724.5 ke
or density x volume = 724.5
or px (nd) x 1% 4.5t= 724.5
or 7000 x mx 1.398 x 1% 4.5¢= 724.5
or 1=0.0512 mor 512mm
b=45x51.2=230.3 mm
Example 13.25 The speed variation of an Otto
rim material is 7300 kg/m*, The turning-moment
diagram during the expansion stroke may be
assumed to be triangular in shape. Solution As the number of explosions are half the
speed of the engine, it is a four-stroke engine and
the cycle is completed in 47 radians. The turning-
‘moment diagram is shown in Fig. 13.31.
:
.
.
(
1
ge
Troe!
‘Suction Compression Expansion Exhaust
Crank angle
{rie 1321]
OF Tyg £29382 Nm
or Energy produced per eycle = 2938.2 x 4x
= 36923 Nm
Energy produced during expansion stroke
= 36923 x 1.5 = 55385 Nm
‘The work done or the energy produced during the
power stroke =
OF Tyg = 35259 Nm
In triangle ABE
13.15 PUNCHING PRESSES
Dynamic Force Analysis 471
CD _ EG _ 35259-2938.2
AB) EF 35259
or CD= 0.9167 1=2.88 rad
and maximum fluctuation of energy,
CDXEG _ 288x32 3208
2 2
= 46542 Nm
From strength considerations, the hoop stress,
= pv or 35 x 10°= 7000 xv or v= 22.36 m/s
ndN _nxdx130
60 60
or = d=3.285m
or = 22.36
Energy stored in the rim = 46 $42/1.1
= 42311 Nm
Now, K ==,
or — density x volume = 5289
or px (nd) x 1x 4.5t= 5289
or 7300 x mx 3.285 x 1x 31= 5289
or 153m or 153 mm
and b= 3x 153-459 mm
From the previous discussion, it can be observed that when the load on the crankshaft is constant or varies
and the input torque varies continuously during a cycle, a flywheel is used to reduce the fluctuations
of speed. A flywheel can perform the same purpose in a punching press or a riveting machine in which 472 Theory of Machines
the torque available is constant but the load varies during the cycle.
Figure 13.32 shows the sketch of a punching press. Itis a slider-crank
mechanism in which a punch replaces the slider. A motor provides
constant torque to the crankshaft through a flywheel. It may be
observed that the actual punching process is performed only during
the downward stroke of the punch and that also for a limiting period
when the punch travels through the thickness of the plate, Thus, the
load is applied during the actual punching process only and during
the rest of the downward stroke and the return stroke, there is no load
on the crankshaft. In the absence of a flywheel, the decrease in the
speed of the crankshaft will be very large during the actual punching
period whereas it will increase to a much higher value during the
no-load period as the motor will continue to supply the energy all
Motr
Flywheel
Crank
J Die
the time.
Example 13.26 riveting machine is driven
‘by a motor of 3 kW. The actual
time to complete one riveting
‘operation is 1.5 seconds and
it absorbs 12 kN.m of energy.
The moving parts including the fiywheel are
equivalent to 220 kg at 0.5 m radius. Determine
the speed of the fiywheel immediately after
riveting ifitis 360 rpm before riveting. Also, find
the number of rivets closed per minute
Solution
P=3kW, m=220kg, k= 0.5m,
2AN _ 20 x360
Co
Energy required/tiveting = 12 000 Nm
Energy supplied by the motor in 1 seconds
000 Nam
‘= energy supplied by the motor in 1.5 seconds
= 3000 x 1.5 = 4500 N.m
Energy supplied by the flywheel
e= energy required/hole — energy supplied by the
motor in 1.5.5
37.7 radls
12000 ~ 4500 = 7500 N.m
Also
1 @? 02) = mk? (2 02
1(@} -@3) = + mk? (@? -
Zi (oF 08) = mk? (a? — 03)
1
or 7500
220x027. 02)
2
or 37.7? a} =272.7 of «= 33.89 rads
Fig. 13.32
33.89x 60
On
Now, energy supplied by the motor in one minute
= 3000 x 60 N.m
Energy requirediriveting = 12 000 N.m
:. number of rivets closed /minute
3000 x 60
aexet eis
12.000
or 323.6 rpm
Example 13.27. A punching machine carries
out 6 holes per minute. Each
hole of 40-mm diameter in 35-
‘mm thick plate requires 8 N.m
of energy/mm? of the sheared area. The punch
has a stroke of 95 mm. Find the power of the
motorrequiredifthe mean speed ofthe flywheels
20 mh. If total fluctuation of speed is not to
exceed 3% of the mean speed, determine the
mass of he flywheel.
Solution
d=40mm K=0.03
1=35mm Stroke = 95 mm
v=20 mis
As 6 holes are punched in one minute, time
required to punch one hole is 10 s,
Energy required/hole or energy supplied by the
motor in 10 seconds
= area of hole x energy required /mm?
= mdtx8 = 35 186.N.m
<. energy supplied by the motor in 1 seconds
197 3518.6.Nm
Power of the motor, P = 3518.6 W or 3,5186 kW.
‘The punch travels a distance of 190 mm (upstroke
+ downstroke) in 10 seconds (6 holes are punched
in 1 minute).
Actual time required to punch a hole in 35-mm.
10
ick plate = x35 = 1.8425
thick plate = 755
Energy supplied by the motor in 1.842 s
= 3518.6 x 1.842 = 6481 Nm
Energy supplied by the flywheel
= energy required/hole ~ energy supplied by the
motor in 1.8425
= 35 186 ~ 6481 = 28 705 N.m
or 2KE = 28705
20.03 x E
or E=478417
8 705
dmv? = 478 417
o 5
or Fm(20)? = 478 417
or m= 2392 kg
Example 13.28 A punching machine punches
20 holes of 30-mm diameter
in 20-mm thick plates per
‘minute, The actual punching
‘operation is done in 1/10th of a revolution of
the crankshaft. Ultimate shear strength of the
steel plates is 280 Nimm?. The coefficient of
fluctuation of speed is 0.12. The flywheel with a
‘maximum diameter of 1.6 m rotates at 12 times
the speed of the crankshaft. Determine the
@ power of the motor assuming the
‘mechanical efficiency to be 92%
(ii) cross section of the fiywheel rim if width is
twice the thickness
The flywheel is of cast iron with a working tensile
stress of 6 N/mm? and a density of 7000 kg/m’.
The hub and the spokes of the flywheel may be
assumed 10 deliver 8% of the rotational inertia
of the wheel.
Dynamic Force Analysis 473
Solution d= 30 mm, t= 20 mm, t, = 280 Nimm?,
n=20, =0.92, K=0.12, p= 7000 kg/m’, D= 1.6m,
DI2=08m
Maximum shear force required/punching
= area x ultimate shear stress
1X 30 x 20 x 280 = 527 800 N
Energy required per punching or stroke
= Average shear force x displacement (thickness)
527 800
0,02 5278 Nam
Energy required per second = Energy per stroke
XNo. of strokes per second
20
=5278x ==
5p 717593
Power of the motor
= Energy required per second/Efficiency
1759.3
092
AAs the actual punching is done in 1/10th of a
cycle, the energy is stored in the flywheel during the
9/10th of the eycle.
maximum fluctuation of energy = energy
stored in the flywheel/stroke
= 5278 x 0.9 = 4750 Nam
Since the hub and the spokes of the flywheel
delivers 8% of the rotational inertia of the wheel,
‘maximum fluctuation of energy provided by the rim
= 4750 x 0.8 = 4370 Nam
Mean angular speed of the flywheel
912 W or 1.912 kW
2n(20%12)
= 25.1
a 5.13 radis
K=~,-—£~
1a mea
or 0.12= 87
mx 0.8 x 25.13"
or m=90kg
or Density x volume = 90
or px (nD) x1x4.51= 90
or 7000 mx 1.6x4%21=90
0.0358 m or 35.8 mm_
2x 35.8=71.6mm
or 74
Theory of Machines
Summary
Dynamic forces are associated with accelerating
masses. As all machines have some accelerating
parts, dynamic forces are always present when the
‘machines operate
D’Alember's principle states that the inertia forces
tod coupes, apd the exeral forces and torques 30.
oma body together gv sttiealequlbiom
In graphical sobtions, ls pose to replace
inertia force and inertia couple by an equivalent
tffet neta force which an account for both This
is done by displacing the line of action of the inertia
fore om the centre of mass
‘Theserse ofangularacelerationof the connecting
rodissuchthat tends to reduce the angle of the.
Connecting rod with the ine of stoke,
The pitonefortsthe net or fective force applied
nthe piston
Inertia force onthe piston, =
(ecco <0828
fe nf at (cxd 28) >
Crank efor is the net effort ore) applied atthe
crankpin perpendicular tothe crank which gies
the equiced tuning momenton the crankshaft 24
Turing moment due to force Fonthe piston
5.
6.
A dynamicaly equivalent system means that
the rid tak ceplaced by & ink wth two point
Exercises
State and explain d'Alembert’ principe 8
What do you mean by equivalent oft inertia
force? Ext
Derive an expression forthe anguar acceleration 9,
ofthe connecting red of recorocsing engine
‘What smeant by piston efort ond crank efor?
Deve relation for the turning moment atthe 20,
crankshaft in terms of piston effort and the angle
turned by the cork a
What do you mean by dynamical equivalent
system? Explain. =
Inwhot wayistheinertaoftheconecingrodofa 33
reciprocating engine taken into account?
‘masses in such a way that it has the same motion
as the rigid link when subjected to the same force,
i.e, the centre of mass of the equivalent link has
the same linear acceleration and the link has the
same angular acceleration.
The distributed mass of a rod can be replaced by
two point masses to have the same dynamical
properties if the sum of the two masses is equal
to the total mass, the combined centre of mass
coincides with that of the rod and the moment of
inertia oftwo point masses aboutthe perpendicular
axisthrough their combined centre of massis equal
totthat ofthe rod.
Inthe analysis of the connecting rod, the two point
masses are considered to be located at the centre
of the two end bearings and then a correction is
applied forthe error involved.
A plot of Tvs. 8s known as the turning-moment
diagram,
The difference between the maximum and
‘minimum kinetic energies ofthe flywheel is known
as the maximum fluctuation of energy.
The difference between the greatest speed andthe
least speed is known as the maximum fluctuation of
speed.
{A flywheel is used to control the variations in speed
during each cycle of an engine.
Coefficient of fluctuation of speed is given by
Kee
When and why isthe correction couple applied
Mle considering the inertia the connecting rod
of reciprocating engine?
Bescbe the graphical method of considering the
inertia ofthe connecting vod oF 8 reciprocating
What ae tuning-moment diagrams? Why are
they erawn?
Define the tems coefficient of fuctuation of
energy and coeicent of fuctation of peed
Whats yee? Whetisitsuse?
Finda relation for the coefcent of fctuaton of
speed interns of maximum Ructuation of energy 4.
45
36.
7.
38
land the kinetic energy of the flywheel at mean
speed.
Ina fourlink mechanism ABCD, the link AB revolves
with an angular velocity of 20 radis and angular
acceleration of 25 rads? at the instant when it
‘makes an angle of 45° with AD, the fixed link. The
lengths ofthe links are
AB = CD = B00 mm, BC = 1000 mm, and AD =
3500mm
‘The mass of the links is 4 kgim length. Determine
the torque required to overcome the inertia forces,
neglecting the gravitational effects, Assume all
links to be of uniform cross-sections.
(82.2 Nm)
The following data relate to a fourlink
mechanism:
Link Length Mass Mol about an
axis through
centre of mass
AB Gomm 0.2kg Bo kg.mm?
BC 200mm o.4kg 3600 kg.mmm*
CD 200mm o.6kg 400. kg.mm?
AD -a4omm
‘AD is the fixed link. The centres of mass for the
links BC and CD lie at their midpoints whereas
the centre of mass for link AB lies at A. Find the
drive torque on the link AB at the instant when it
rotates at an angular velocity of 47.5 radi counter-
clockwise and 2DAB 35°. Neglect gravity effects.
(@.96 N.m clockwise)
The effective steam pressure on the piston of
2 vertical steam engine is 200 kN/m* when the
‘rank is 40° from the inner-dead centre on the