Sphinx University

Faculty of Engineering Level 2

Mechatronics Department Kinematics Sheet No. (1)

1. For the mechanism shown, identify the pairing and determine the mobility:

2. For the mechanism shown, identify the pairing and determine the mobility:

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3. For the mechanism shown, identify the pairings and determine the mobility:

4. For the mechanism shown, identify the pairings and determine the mobility:

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5. For the mechanism shown, identify the pairings and determine the mobility:

6. For the mechanism shown, identify the pairings and determine the mobility:

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1- In a four-bar chain ABCD, AD is fixed and is 150 mm long. The crank AB
is 40 mm long and rotates at 120 rpm (cw) while link CD is 80 mm oscillate
about D. BC and AD are of equal length. Find the angular velocity of link
CD when angle BAD is 60o.
2- The crank and connecting rod of a theoretical steam engine are 0.5 m and 2
m long respectively. The crank makes 180 rpm in the cw direction when it
has turned 45o from the inner dead center position. Determine the velocity of
the piston and the angular velocity of the connecting rod.
1- Example 8.2. An engine mechanism is shown in Fig. 8.5. The crank CB =
100 mm and the connecting rod BA = 300 mm with centre of gravity G, 100
mm from B. In the position shown, the crankshaft has a speed of 75 rad/s
and an angular acceleration of 1200 rad/s 2. Find:1. velocity of G and
angular velocity of AB, and 2. acceleration of G and angular acceleration of
AB.
 Sphinx University
Faculty of Engineering Kinematics
Mechatronics Department Level 2 Sheet No. (5)

1- Locate all the instantaneous centres of the slider crank mechanism as shown in Figure.
The lengths of crank OB and connecting rod AB are 100 mm and 400 mm
respectively. If the crank rotates clockwise with an angular velocity of 10 rad/s, find:
1. Velocity of the slider A,
2. Angular velocity of the connecting rod AB.

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2. Crank O2A of a four bar mechanism rotates at a constant angular velocity of 50 rad/s in the
clockwise sense. The mechanism is drawn to a scale of 1mm = 10mm. From the velocity
analysis, the angular velocities of links 3 and 4 were found to be 36.80 rad/s (CW) and 45.03
rad/s (CW), respectively.
a) Draw the acceleration polygon to a scale of 1 cm = 250 m/s 2.
b) Determine the angular accelerations of the coupler AB and the drag-link O4B

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3. Link 2 of the mechanism shown is to be driven at constant angular velocity ω2=900 rpm
CCW. Link 2 is in a horizontal position and it is balanced so that its center of mass is at the
pivot O2. The mechanism moves in
the horizontal plane, and friction may be neglected. The space scale is 1mm = 10mm.
1. Construct the velocity polygon using a scale of 1mm = 0.5m/s
2. Construct the acceleration polygon using a scale of 1mm = 50m/s2

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 Sphinx University
Faculty of Engineering Kinematics
Mechatronics Department Level 2 Sheet No. (6)

(1) A cam is to give the following motion to a knife-edged follower : 1. Outstroke during 60°
of cam rotation ; 2. Dwell for the next 30° of cam rotation ; 3. Return stroke during next
60° of cam rotation, and 4. Dwell for the remaining 210° of cam rotation. The stroke of
the follower is 40 mm and the minimum radius of the cam is 50 mm. The follower moves
with uniform velocity during both the outstroke and return strokes. Draw the displacement
diagram.

(2) A cam is to be designed for a knife edge follower with the following data :
1. Cam lift = 40 mm during 90° of cam rotation with simple harmonic motion.
2. Dwell for the next 30°.
3. During the next 60° of cam rotation, the follower returns to its original position with
simple harmonic motion.
4. Dwell during the remaining 180°. Draw the displacement diagram. Determine the
maximum velocity and acceleration of the follower during its ascent and descent, if the
cam rotates at 240 r.p.m.

(3) A cam drives a flat reciprocating follower in the following manner : During first 120°
rotation of the cam, follower moves outwards through a distance of 20 mm with simple
harmonic motion. The follower dwells during next 30° of cam rotation. During next 120°
of cam rotation, the follower moves inwards with simple harmonic motion. The follower
dwells for the next 90° of cam rotation. The minimum radius of the cam is 25 mm. Draw
the profile of the cam.

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 Sphinx University
Faculty of Engineering Kinematics
Mechatronics Department Level 2 Sheet No. (6)

1- In an epicyclic gear train, as shown in Fig.13.33, the number of teeth on wheels A, B and
C are 48, 24 and 50 respectively. If the arm rotates at 400 r.p.m., clockwise, find : 1.
Speed of wheel C when A is fixed, and 2. Speed of wheel A when C is fixed.

2- In an epicyclic gear train, as shown in Fig. 13.34, the wheel C is keyed to the shaft B and
wheel F is keyed to shaft A. The wheels D and E rotate together on a pin fixed to the arm
G. The number of teeth on wheels C, D, E and F are 35, 65, 32 and 68 respectively. If
the shaft A rotates at 60 r.p.m. and the shaft B rotates at 28 r.p.m. in the opposite
direction, find the speed and direction of arm G.
3- An epicyclic gear train, as shown in Fig. 13.35, is composed of a fixed annular wheel A
having 150 teeth. The wheel A is meshing with wheel B which drives wheel D through
an idle wheel C, D being concentric with A. The wheels B and C are carried on an arm
which revolves clockwise at 100 r.p.m. about the axis of A and D. If the wheels B and D
have 25 teeth and 40 teeth respectively, find the number of teeth on C and the speed and
sense of rotation of C.

4- Fig. 13.24 shows a differential gear used in a motor car. The pinion A on the propeller
shaft has 12 teeth and gears with the crown gear B which has 60 teeth. The shafts P and Q
form the rear axles to which the road wheels are attached. If the propeller shaft rotates at
1000 r.p.m. and the road wheel attached to axle Q has a speed of 210 r.p.m. while taking
a turn, find the speed of road wheel attached to axle P.