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vi Preface
The use of these volumes, along with the chapter references, has the ability to dramatically
enhance a student’s knowledge base.
• An elementary treatment of residual stresses is included in Chapter 4. An understanding of the
basic concepts involved is vital to modern stress analysis, particularly when fatigue is present.
• Castigliano’s method for determining elastic deflections and redundant reactions is included in
Chapter 5. This method permits a ready solution to many problems not amenable to traditional
elementary methods.
• Chapter 6 on Failure Theories, Safety Factors, Stress Intensity Factors, and Reliability includes
introductory treatments of fracture mechanics and interference theory of statistical reliability
prediction.
• Chapter 7 focuses on impact, which is also called shock, sudden, or impulsive loading.
• Chapter 8 contains a simplified, condensed, and introductory version of Fatigue Design and
Fatigue Crack Growth. This chapter is particularly important, and represents primarily new
material for most students.
• Chapter 9 deals with the various kinds of surface deterioration experienced by machine com-
ponents. This is of great importance because more machine parts “fail” (cease to be suitable
for performing their intended function) because of surface damage than from actual breakage.
Part II—APPLICATIONS
k Part II is concerned with the application of the fundamentals to specific machine components. k
In engineering practice, problems involving the design, analysis, or application of machine
members can seldom be solved by applying the fundamentals alone. As critically important as
a knowledge of the underlying sciences is, it is seldom sufficient. Almost always some empirical
information must be used, and good engineering judgment brought to bear. Actual engineering
design problems seldom have only one correct answer. For example, engineering staffs of
competing companies arrive at different product designs as solutions to the same problem. And
these solutions change as new technology, new materials, new manufacturing methods, and new
marketing conditions prevail. For many students, the course based on this text will provide their
first experience in dealing with these kinds of professional engineering problems.
Most engineers find that this aspect of engineering adds to the interest and excitement of their
profession. There is a close parallel between engineers and medical doctors in this respect: Both
must solve real-life problems now, making full use of the best available scientific information.
Engineers must design engines and build electronic apparatus even though scientists are still seek-
ing a more complete knowledge of combustion and electricity. Similarly, medical doctors cannot
tell their patients to await treatment until more research has been completed.
Even though the fundamentals treated in Part I are seldom sufficient for solving engineering
problems relating to machine components, it is important that they be applied fully and
consistently. In particular, a special effort has been made in Part II to deal with fatigue and
surface considerations in a manner consistent with the treatment given in Chapters 8 and 9. This
sometimes results in the development of procedures that vary in detail from those given in the
specialized literature, but this discrepancy is not of major importance. What is of major impor-
tance is helping the student learn to approach engineering problems by applying the fundamentals
and other scientific knowledge as extensively as possible, and then supplementing these with
empirical data and judgment as required to get good solutions within available time limitations.
Few engineering schools allot sufficient time to cover all the machine components treated in
Part II. In addition, many components are not treated in the book, and even more are not yet in
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Preface vii
existence. For these reasons, each component is treated not only as an end in itself, but also as
a representative example of applying basic fundamentals and necessary empirical information to
solve practical engineering problems.
Throughout Part II, the reader will find numerous instances in which ingenuity, insight, and
imagination are called for in order to deal effectively with engineering problems associated with
an individual machine component. The next step in the study of Mechanical Engineering Design
usually involves the conception and design of a complete machine. As an introduction to this next
step, the final two chapters of the book (Chapters 21 and 22), present (1) a case study of the design
of the first commercially successful automotive automatic transmission, and (2) a case study of
the design of the mechanical systems for a remote control vehicle. Here, as with numerous other
designs of complete machines, one cannot help being impressed and inspired by the insights,
ingenuity, and imagination (as well as the prolonged diligent effort) displayed by engineers and
engineering students. Also illustrated in these case studies is the way that the design of any one
component is often influenced by the design of related parts.
Because engineers will inevitably need to continue to deal with SI, British gravitational, and
English engineering units, all three systems are used in the text and problems. Recalling the
NASA/JPL Mars Climate Orbiter, where the root cause of the loss of the Orbiter spacecraft was the
failed translation of English units into metric units in a segment of ground-base, navigation-related
mission software, should help to remind the student just how important it is to understand and
apply units properly.
Robert C. Juvinall
Kurt M. Marshek
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ACKNOWLEDGMENTS
It is impossible to give adequate recognition to the many individuals who have contributed
substantially to our own professional thinking reflected in this book. Five of the earliest of
this distinguished group are Professor Robert R. Slaymaker and Professor Daniel K. Wright
of Case Western Reserve University, Professor Ralph I. Stephens of the University of Iowa,
Professor Ali Seireg of the University of Wisconsin–Madison, and Professor Walter L. Starkey
of Ohio State University. We have often wondered how strongly our gravitating to the area of
mechanical engineering design was influenced by the fact that we first studied the subject under
outstanding engineers, superb teachers, and gentlemen whom we greatly admired. (Those of us
in engineering education easily forget how much students are influenced by the character and
the professional attitudes and practices of their instructors.)
We would like to recognize with sincere thanks the several engineering authorities who
reviewed individual chapters of the first edition and offered valuable suggestions. Among these
are Joseph Datsko (University of Michigan), Robert J. Finkelston (Standard Pressed Steel Co.),
Robert Frayer (Federal Mogul Corp.), Alex Gomza (Grumman Aerospace Corp.), Evan L. Jones
(Chrysler Corp.), Vern A. Phelps (University of Michigan), Robert R. Slaymaker (Case Western
k Reserve University), Gus S. Tayeh (New Departure Hyatt Bearings), Paul R. Trumpler (Trumpler k
Associates), Lew Wallace (Gleason Machine Div.), James E. West (FAG Bearings Corp.),
Charles Williams (Federal Mogul Corp.), Ward O. Winer (Georgia Institute of Technology), and
William Wood (Associated Spring Barnes Group). In addition to expressing our deep gratitude
to these individuals, we would like to state clearly that the responsibility for each chapter is
solely ours. If the reader finds errors, or points of view with which he or she disagrees, there
should be no inference that these are due to anyone except the authors. Moreover, we would like
to state that, while every effort has been made to ensure the accuracy and conformity with good
engineering practice of all the material contained in this book, there is no guarantee, stated or
implied, that mechanical components designed on the basis of this text will in all instances be
proper and safe. Mechanical engineering design is sufficiently complex that its actual practice
should always take advantage of the specialized literature in the area involved, the background of
experience with related components, and, most importantly, appropriate tests to establish proper
and safe performance in critical cases.
We would also like to express appreciation to Professors James Barber, Panos Papalambros,
and Mohammed Zarrugh at the University of Michigan who made valuable suggestions as a result
of teaching from preliminary versions of the first edition. Our thanks go as well to their stu-
dents and to our students, who contributed important improvements. We would like to express
particular thanks to Professor Emeritus Herbert H. Alvord of the University of Michigan who
generously permitted us the use of his extensive collection of problems, which he developed for
his own classes.
We also thank Professors J. Darrell Gibson (Rose Hulman Institute of Technology), Donald A.
Smith (University of Wyoming), and Petru-Aurelian Simionescu (Texas A&M—CC), and
Professors Michael D. Bryant, Eric P. Fahrenthold, Kristin L. Wood, and Rui Huang at the
University of Texas who offered valuable suggestions.
Appreciation is expressed to those who have reviewed previous editions: Kuang-Hua Chang,
University of Oklahoma, Tim Dalrymple, University of Florida, Hamid Davoodi, North Carolina
ix
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x Acknowledgments
State University, Thomas Grimm, Michigan Technological University, Thomas Haas, Virginia
Commonwealth University, Liwei Lin, University of California at Berkeley, Frank Owen,
California Polytechnic State University, San Luis Obispo, Wendy Reffeor, Grand Valley State
University, John Schueller, University of Florida, William Semke, University of North Dakota,
Albert Shih, University of Michigan, John Thacker, University of Virginia, and Raymond
Yee, San Jose State University, Steve Daniewicz, Mississippi State University, Richard Englund,
Penn State University, Ernst Kiesling, Texas Tech University, Edward R. Evans Jr., Penn State
Erie, The Behrend College, Dennis Hong, Virginia Polytechnic Institute and State University,
E. William Jones, Mississippi State University, Gloria Starns, Iowa State University, and Andreas
Polycarpou, University of Illinois at Urbana–Champaign.
We would like to personally thank Professor Roger Bradshaw, University of Louisville, for
contributing Appendix F as well as related sets of homework problems, and Professor Krishnan
Suresh, University of Wisconsin–Madison, for contributing Appendices G, H, I, and J.
Special thanks also to Professor Michael Cullian, the University of Texas at Austin, for
authoring Chapter 20 and Chapter 22.
Finally, we deeply appreciate the understanding and encouragement of our wives, Arleene and
Linda, during the preparation of this book, which preempted time belonging, by all reasonable
standards, to important family and social activities.
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CONTENTS
Preface v
Acknowledgments ix
Symbols xix
PART 1 FUNDAMENTALS 1
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xvi Contents
A Units A-1
A-1a Conversion Factors for British Gravitational, English, and SI Units A-1
A-1b Conversion Factor Equalities Listed by Physical Quantity A-2
A-2a Standard SI Prefixes A-4
A-2b SI Units and Symbols A-5
A-3 Suggested SI Prefixes for Stress Calculations A-6
A-4 Suggested SI Prefixes for Linear-Deflection Calculations A-6
A-5 Suggested SI Prefixes for Angular-Deflection Calculations A-6
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SYMBOLS
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xx Symbols
Fcy compression yield strength KIc critical stress intensity factor for tensile
Fe equivalent radial load, equivalent static loading (mode I)
force, external force Ka application factor
Fext external force vector applied on a member KB constant of proportionality
Fga gear axial force kb spring constant for the bolt
Fgr gear radial force Kc fracture toughness or critical stress intensity
Fgt gear tangential force factor
Fi initial tensile force, initial clamping force kc spring constant for clamped members
Fint internal force vector at a cross-section KE kinetic energy
Fn normal force Kf fatigue stress concentration factor
fn natural frequency Ki curvature factor for inner fiber, effective
Fr radial load, radial force stress concentration factor for impact
Fs strength capacity loading, constant used for calculating initial
Fsolid force when solid bolt-tightening force
Fsu shear ultimate strength Km mounting factor
Ft thrust force, tendon force, tangential force, Kmax stress intensity factor at 𝜎max
thrust load Kmin stress intensity factor at 𝜎min
Ftu tensile ultimate strength kms mean stress factor
Fty tensile yield strength Ko curvature factor for outer fiber, overload
Fw wear capacity factor, critical stress intensity factor for
Fwa worm axial force infinite plate with central crack in uniaxial
Fwr worm radial force tension
Fwt worm tangential force Kr life adjustment reliability factor
G torsional or shear modulus of elasticity kr reliability factor
k g gravitational acceleration or acceleration of Ks stress concentration factor for static loading k
gravity, grip length Kt theoretical or geometric stress concentration
gc constant of proportionality, factor
32.2 lbm-ft∕lb-s2 kt temperature factor
H surface hardness, time rate of heat K𝑣 velocity or dynamic factor
dissipation Kw Wahl factor, material and geometry factor
h section depth, height of fall, leg length, weld L length, contact length measured parallel to
size, film thickness, height the axis of contacting cylinder, lead, length
h0 minimum film thickness of weld, life corresponding to radial load Fr ,
HB Brinell hardness number or life required by the application, pitch cone
I polar moment of inertia, moment of inertia, length
geometry factor, stress invariant L0 original unloaded length
i integer Le equivalent length
Ix moment of inertia about x-axis Lf final length, free length
J polar moment of inertia, spur gear geometry LR life corresponding to rated capacity
factor Ls solid height
K curvature factor, spring rate for angular L, ST, LT longitudinal direction, short transverse
deflection, stress intensity factor, wear direction, long transverse direction
coefficient M moment, internal bending moment, bending
k spring rate, thermal conductivity, spring rate moment
for linear deflection, number of standard M0 redundant moment
deviations, shaft spring rate m mass, strain-hardening exponent, module
K thermal conductivity (used only with SI or metric units)
K′ section property m′ mass per unit length of belt
KI stress intensity factor for tensile loading Mext external moment vector applied on a member
(mode I) Mf moment of friction forces
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Hem gaat, zonder dat Hij ophoudt de Eeuwige te zijn, die
werkzaamheid uit, welke door den mensch als rechtvaardiging uit
het geloof ontvangen en genoten wordt. De toepassing is evengoed
als de verwerving des heils van oogenblik tot oogenblik eene
werkzaamheid Gods, van den Vader, den Zoon en den H. Geest.
Ook in de rechtvaardigmaking uit het geloof zijn alle drie personen
betrokken. Het is de Vader, die door den Zoon en in den Geest den
zondaar rechtvaardigt, Rom. 8:33, 34, 1 Cor. 6:11. Paulus denkt er
niet aan, om hier scheiding te maken en de rechtvaardigmaking door
den Vader in de eeuwigheid, die van den Zoon in de opstanding, en
die van den H. Geest in het bewustzijn van den mensch te
verleggen. Maar gelijk zij alle drie saamwerkten in de verwerving,
zoo werken zij ook saam in de toepassing der zaligheid. In gene
werd de schuld en straf weggenomen en het leven verworven; in
deze wordt de mensch door God ook van zijne zijde en subjectief in
die verhouding geplaatst, waarin hij objectief reeds stond in Christus
als zijn borg en middelaar. Gelijk de wedergeboorte in subjectieven
zin van de smet der zonde bevrijdt, zoo neemt de rechtvaardiging de
schuld der zonde weg. Beide zijn even noodzakelijk, even reëel,
evenzeer gegrond in de offerande van Christus, maar ook in de
toepassing van eene zelfde hooge beteekenis.
Deze rechtvaardigmaking gaat daarom niet buiten den mensch
om maar geschiedt uit en door het geloof. De Schrift denkt daarbij
ongetwijfeld meestentijds aan het geloof als actus. Maar natuurlijk is
daardoor het geloof als habitus niet uitgesloten; wedergeboren
kinderkens en volwassen geloovigen hebben en houden in dezen
habitus fidei de vrijspraak Gods, de getuigenis des H. Geestes, dat
zij kinderen Gods zijn, ook al getuigt hun geest niet altijd mede. Maar
verder stelt de Schrift deze rechtvaardigmaking uit het geloof scherp
en streng tegen die uit de werken over. Deze tegenstelling wil echter
niet zeggen, dat het geloof geen werk is en geen beginsel van goede
werken. Zij dwingt ons niet, om zoolang te zoeken totdat wij in de
innerlijke natuur des geloofs iets vinden, dat geen werk, geen daad
maar enkel passiviteit is, De tegenstelling, die de Schrift en
inzonderheid Paulus maakt, is deze, dat de rechtvaardigmaking niet
tot stand komt door de werken der wet, d. i. niet in zulke werken haar
grond, haar causa meritoria heeft. Immers heeft God in Christus
eene andere, betere δικαιοσυνη gegeven, dan die zondige werken
kunnen bieden; en die δικαιοσυνη dat is Christus, is de eenige en
genoegzame grond onzer rechtvaardigmaking. In de tegenstelling
οὐκ ἐξ ἐργων ἀλλ’ εκ πιστεως heeft de praepositie ἐκ dus beide
malen eene verschillende beteekenis. In het eerste lid geeft zij te
kennen, dat werken der wet niet de δικαιοσυνη kunnen zijn, op grond
waarvan God ons vrijspreken kan; maar in het tweede lid duidt zij
aan, niet dat het geloof zelf wel die gerechtigheid kan zijn, maar dat
het die gerechtigheid, welke noodig is om gerechtvaardigd te
worden, juist niet bij den mensch in zijne werken, maar buiten hem in
Christus zoekt. De tegenstelling luidt dus zuiver aldus: niet de eigen
gerechtigheid der werken, maar de gerechtigheid Gods in Christus.
Ofschoon deze gerechtigheid nu volkomen door Christus verworven
is en in Hem gereedligt, ofschoon zij in de vocatio interna en dus in
logischen zin vóór de wedergeboorte en het geloof toegerekend en
geschonken wordt, zij wordt toch van ’s menschen zijde eerst
aanvaard in het geloof (habitus of actus fidei) en wordt dan eerst de
grond, waarop hij zelf persoonlijk door God, in bovengenoemden zin
gerechtvaardigd wordt. Het geloof is daarom geen causa materialis
of formalis, het is zelfs geen conditio of instrumentum (causa
instrumentalis) van de rechtvaardigmaking; want het staat tot deze
niet als bijv. het oog tot het zien of het oor tot het hooren; het is geen
voorwaarde, waarop en geen instrument, waardoor wij de
rechtvaardigmaking ontvangen, maar het is de daad van het
aannemen van Christus zelf en wel van Christus, gelijk Hij zich
inwendig door den Geest en uitwendig door het Woord aan ons
geeft, en dus de vaste, zekere bewustheid dat Hij mijn Heer is en ik
zijn eigendom ben. Het geloof is geen instrument, waarmede de
mensch Christus aanneemt, maar veel meer een middel des H.
Geestes, waardoor Hij den mensch Christus aannemen en zijn geest
met zichzelven getuigen doet, dat hij een kind Gods is, Calvijn, Inst.
III 11, 5. Heid. Cat. vr. 61. Ned. Gel. art. 22. Witsius, Misc. S. II 792.
797 sq. Trigland, Antapol. p. 515. Mastricht, VI 6, 28. Owen, De
rechtv. uit het geloof c. 3. Moor IV 695. M. Vitringa III 295. Jon.
Edwards bij Dorner II 752. Daarom staat het geloof niet in elk opzicht
tegen alle werk over. Het staat tegen de werken der wet over in
dubbelen zin, n.l. daarin dat zij noch de causa materialis noch de
causa instrumentalis der rechtvaardiging kunnen zijn. Het staat ook
tegen de werken des geloofs (justitia infusa, obedientia, caritas)
over, zoodra deze ook maar eenigermate beschouwd worden als
grond der rechtvaardiging, als geheel of ten deele die gerechtigheid
vormende, op grond waarvan God ons rechtvaardigt; want dat is
Christus en Christus alleen; het geloof is zelf geen grond der
rechtvaardiging en dus ook niet de goede werken, die er uit
voortkomen. Maar het geloof staat niet tegen de werken des geloofs
over, inzoover deze, als vruchten des geloofs, door den H. Geest als
middel gebezigd worden, om den geloovige van de oprechtheid zijns
geloofs, en alzoo van zijne zaligheid te verzekeren, Heid. Cat. vr. 86.
In dezen zin is het geloof zelf een werk, Joh. 6:29, het beste werk en
beginsel aller goede werken, het eenige werk, waardoor God ons
hier op aarde van onze schuld bevrijden en van onze gerechtigheid
in Christus verzekeren kan. Daarom zeiden de Gereformeerden dan
ook, dat het wel is fides sola, quae justificat, fides tamen, quae
justificat non est sola, Calvijn, C. R. 7, 477. Inst. III 11, 20, en
spraken zij na de justificatio peccatoris ook nog van eene justificatio
justi. In dezen zin zijn ook Paulus en Jacobus niet met elkander in
tegenspraak. Wel is het niet juist, te zeggen, dat Paulus alleen van
de justificatio peccatoris en Jacobus van de justificatio justi spreekt.
Maar beiden ontkennen, dat de grond der rechtvaardigmaking ligt in
de werken der wet, en beiden erkennen, dat het geloof, het levend
geloof, het geloof, dat goede werken insluit en voortbrengt, het
middel is, waardoor de H. Geest ons van onze gerechtigheid in
Christus verzekert. Daarbij is er alleen dit verschil, dat Paulus strijd
voert tegen doode werken en Jacobus ijvert tegen een dood geloof.
Het geloof, dat rechtvaardigt, is de door den H. Geest in ons hart
gewerkte zekerheid van onze gerechtigheid in Christus. En daarom,
niet hoe lijdelijker, maar hoe levendiger en hoe krachtiger het is, des
te meer rechtvaardigt het ons. Het geloof werkt mede met de werken
en wordt volmaakt uit de werken, Jak. 2:22. Cf. over Jacobus en
Paulus: Calvijn, Inst. III 17, 11 sq. Comm. op Jac. 2. Turretinus, de
concordia Pauli et Jacobi, de satisf. 384 sq. Trigland, Antapol. c. 21.
Witsius, Oec. foed. III 8, 21-26. M. Vitringa III 317. James Buchanan,
The doctrine of justification, Edinb. 1867 p. 491. Usteri, Stud. u. Krit.
1889, 2tes Heft. Schwarz ib. 1891, 4tes Heft. Böhmer, Neue kirchl.
Zeits. 1898 S. 251-256.
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