MECHANICAL

ENGINEERING

Theory of
Machines

Comprehensive Theory
with Solved Examples and Practice Questions

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First Edition : 2015

Theory of Machines Second Edition : 2016

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 Theory of Machines
CHAPTER 1 CHAPTER 3

Simple Mechanisms........................................ 1-36 Mechanisms with Lower Pairs..................... 65-82

1.1 Introduction................................................................................. 1 3.1 Introduction...............................................................................65
1.2 Elements or Links........................................................................ 1
3.2 Pantograph.................................................................................65
1.3 Types of Constrained Motion................................................. 2
3.3 Straight Line Mechanisms.....................................................66
1.4 Kinematic Joint............................................................................ 2
3.4 Intermittent Motion Mechanism........................................67
1.5 Kinematic Pair.............................................................................. 3
1.6 Degrees of Freedom (DOF)..................................................... 5 3.5 Automobile Steering Mechanism.......................................68

1.7 Machine, Mechanism and Kinematic Chain...................... 5 3.6 Hooke’s Joint or Universal Coupling..................................71
1.8 Mobility of Mechanism............................................................. 8 3.7 Double Hooke’s Joint..............................................................74
1.9 Gruebler Paradoxes..................................................................12
Objective Brain Teasers.............................................................79
1.10 Four Bar Chain...........................................................................13
Conventional Brain Teasers.....................................................81
1.11 Grashof’s Law.............................................................................13
1.12 Transmission Angle..................................................................17
1.13 The Slider Crank Chain............................................................19
CHAPTER 4
1.14 Double Slider-Crank Chain....................................................23
Cam Design..................................................83-119
1.15 Mechanical Advantage...........................................................24
4.1 Introduction...............................................................................83
1.16 Toggle mechanism...................................................................25
Objective Brain Teasers.............................................................26 4.2 Classification of Cams.............................................................83

Conventional Brain Teasers.....................................................32 4.3 Types of Followers....................................................................88

4.4 Cam Nomenclature..................................................................89

CHAPTER 2 4.5 Derivatives of follower motion............................................90

Kinematic Analysis of Plane Mechanisms.... 37-64 4.6 Motion Events............................................................................91

2.1 Introduction...............................................................................37 4.7 High Speed Cams and Undercutting................................92

2.2 Definition of Velocity and Acceleration............................37 4.8 Motions of The Follower........................................................93
2.3 Graphical Velocity and Acceleration Analysis................39
4.9 Analytical Methods............................................................... 102
2.4 Instantaneous Centre of Velocity........................................45
4.10 Analysis of a rigid eccentric cam...................................... 106
2.5 Aronhold - Kennedy theorem of three centres
(Kennedy’s Theorem)..............................................................47 4.11 Determination of basic dimensions................................ 108

2.6 Coriolis acceleration................................................................50 Objective Brain Teasers.......................................................... 115

2.7 Klein’s construction..................................................................51 Conventional Brain Teasers.................................................. 118
Objective Brain Teasers.............................................................53
Conventional Brain Teasers.....................................................59
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 Theory of Machines

CHAPTER 5 7.3 Laws of Motion and D’Alembert’s Principle................. 187

7.4 Equivalent Offset Inertia Force......................................... 188

Gears.......................................................... 120-162
7.5 Dynamics of Slider-Crank Mechanism........................... 188
5.1 Introduction............................................................................ 120
5.2 Classification of Gears.......................................................... 121 7.6 Angular velocity and angular Acceleration of

5.3 Advantages and Disadvantages of Gear Drive........... 124 Connecting Rod..................................................................... 191
5.4 Gear Terminology.................................................................. 125 7.7 Engine Force Analysis.......................................................... 193
5.5 Fundamental Law of Toothed Gearing.......................... 130
7.8 Dynamically Equivalent System....................................... 195
5.6 Velocity of Sliding.................................................................. 132
7.9 Inertia of the Connecting Rod.......................................... 196
5.7 Conjugate Teeth..................................................................... 132
5.8 Forms of Gear Tooth............................................................. 133 7.10 Turning Moment Diagram................................................. 208

5.9 Meshing of Involute Teeth.................................................. 135 7.11 Fluctuation of Energy........................................................... 210

5.10 Comparison of Cycloidal & Involute Tooth forms...... 136 7.12 Flywheels.................................................................................. 211
5.11 Path of Contact....................................................................... 136
7.13 Dimensions of Flywheel Rim............................................. 221
5.12 Interference and Undercutting........................................ 141
7.14 Punching Presses................................................................... 226
5.13 Methods to prevent interference.................................... 142
5.14 Minimum Number of Teeth............................................... 143 Objective Brain Teasers.......................................................... 230
5.15 Gear Standardization........................................................... 145 Conventional Brain Teasers.................................................. 231
5.16 Interference between Rack and Pinion......................... 145
5.17 Helical and Spiral Gears ...................................................... 146
CHAPTER 8
Objective Brain Teasers.......................................................... 154
Conventional Brain Teasers.................................................. 157 Balancing................................................... 244-302
8.1 Introduction............................................................................ 244
CHAPTER 6 8.2 Static and Dynamic Balancing.......................................... 245

Gear Trains................................................ 163-185 8.3 Balancing of Rotating Masses........................................... 246

6.1 Introduction............................................................................ 163 8.4 Balancing of Reciprocating Masses................................. 262

6.2 Simple Gear Train................................................................... 163 8.5 Primary and Secondary Unbalanced force of
6.3 Compound Gear Train.......................................................... 165 Reciprocating Masses.......................................................... 263
6.4 Reverted Gear Train.............................................................. 166
8.6 Partial Balancing of unbalanced Primary Force in
6.5 Epicyclic Gear Train............................................................... 167
Reciprocating Engine........................................................... 264
6.6 Analysis of Epicyclic Gear Train......................................... 168
8.7 Partial Balancing of Locomotives.................................... 265
6.7 Torques in Epicyclic Gear Trains....................................... 176
6.8 Differential............................................................................... 179 8.8 Effects of Partial Balancing in Locomotives................. 266
Objective Brain Teasers.......................................................... 181 8.9 Secondary Balancing............................................................ 269
Conventional Brain Teasers.................................................. 183 8.10 Balancing of In-line Engines.............................................. 270

8.11 Balancing of V-Engines........................................................ 274

CHAPTER 7 8.12 Balancing of W, V-8 and V-12 Engines............................ 276

Dynamics of Machines, Turning Moment and 8.13 Balancing of Radial Engines............................................... 279
Flywheel..................................................... 186-243 Objective Brain Teasers.......................................................... 289
7.1 Introduction............................................................................ 186 Conventional Brain Teasers.................................................. 292
7.2 Inertia Force and Couple..................................................... 186

iv
 Theory of Machines

CHAPTER 9 10.8 Solution Methods of Longitudinal Vibrations and

Transverse Vibrations........................................................... 353
Governors.................................................. 303-345 10.9 Natural Frequency of a Spring Mass System If
9.1 Introduction............................................................................ 303 The Spring Has some Mass................................................ 355
9.2 Types of Governors............................................................... 303 10.10 Springs in Combination...................................................... 355
9.3 Terminology............................................................................ 305 10.11 Transverse Vibrations........................................................... 357
9.4 Watt Governor (Simple Conical Governor)................... 306 10.12 Damped Vibrations............................................................... 374
9.5 Porter Governor (Dead Weight Governor).................... 309 10.13 Logarithmic Decrement...................................................... 380
9.6 Proell Governor (Dead Weight Governor)..................... 311 10.14 Harmonically Excited Vibration........................................ 385
9.7 Hartnell Governor (Spring-Controlled Governor)...... 313 10.15 Equation of Motion for Forced Damped Vibration.... 386
9.8 Hartung Governor (Spring-Controlled Governor)..... 315 10.16 Response of a Forced Damped Vibrations.................... 387
9.9 Wilson-Hartnell Governor 10.17 Response of a Damped System under the
(Spring-Controlled Governor)........................................... 315 Harmonic Motion of the Base........................................... 390
9.10 Pickering Governor (Spring-Controlled Governor)........ 318 10.18 Response of a Damped System under Rotating
9.11 Inertia Governor..................................................................... 319 Unbalance................................................................................ 394
9.12 Sensitiveness of a Governor.............................................. 320 10.19 Vibration Isolation and Transmissibility......................... 400
9.13 Hunting..................................................................................... 321 10.20 Whirling of Rotating Shafts................................................ 403
9.14 Isochronism............................................................................. 321 10.21 Torsional Vibration................................................................ 407
9.15 Stability..................................................................................... 322 10.22 Torsionally Equivalent Shaft.............................................. 410
9.16 Sensitivity of Governor........................................................ 322 Objective Brain Teasers.......................................................... 413
9.17 Effort of a Governor.............................................................. 322 Conventional Brain Teasers.................................................. 415
9.18 Power of a Governor............................................................. 324
9.19 Controlling Force................................................................... 325
CHAPTER 11
9.20 Effect of friction on Governor........................................... 326
9.21 Coefficient of Insensitiveness............................................ 326 Gyroscope and Gyroscopic Effects.........423-447
Objective Brain Teasers.......................................................... 334 11.1 Introduction............................................................................ 423
Conventional Brain Teasers.................................................. 336 11.2 Angular Acceleration............................................................ 425

11.3 Gyroscopic Couple................................................................ 425

CHAPTER 10 11.4 Gyroscopic Effect on Aeroplanes..................................... 428

11.5 Gyroscopic Effect on Naval Ships.................................... 429

Mechanical Vibrations............................. 346-422
11.6 Stability of an Automobile................................................. 431
10.1 Introduction............................................................................ 346
11.7 Stability of a two-wheel Vehicle....................................... 434
10.2 Steps Involved in a Vibration Problem........................... 347
11.8 Effect of Gyroscopic Couple on a Disc Fixed
10.3 Definitions & Classification................................................ 348
Rigidly at a Certain Angle to a Rotating Shaft............. 435
10.4 Types of Vibrations................................................................ 348
10.5 Simple Harmonic Motion................................................... 349 Objective Brain Teasers.......................................................... 443

10.6 Elements of Vibratory System........................................... 350 Conventional Brain Teasers................................................ 444

10.7 Degrees of Freedom............................................................. 352 nnnn