WEEKS 2-3

Dynamics of Machinery

• References
• Theory of Machines and Mechanisms, J.J.
Uicker, G.R.Pennock ve J.E. Shigley, 2003
• Makine Dinamiği, Prof. Dr. Eres SÖYLEMEZ,
2013
• Uygulamalı Makine Dinamiği, Jeremy
Hirschhorn, Çeviri: Prof.Dr. Mustafa SABUNCU,
2014

Prof.Dr.Hasan ÖZTÜRK 1
Example:This slider-crank mechanism is in static equilibrium in the shown configuration. A known force F
acts on the slider block in the direction shown. An unknown torque acts on the crank. Our objective is to
determine the magnitude and the direction of this torque in order to keep the system in static equilibrium.

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2

F32y
F32x F34y
F23x F34x
F23y F43y
F12x T12 F14=F14y T14
F43x
F12y
F12 x + F32 x =
0 − F23 x + F43 x =
0 − F34 x + F =
0
F12 y + F32 y =
0 − F23 y + F43 y =
0 − F34 y + F14 =
0
−aF32 x + bF32 y + T12 =
0 cF43 x + dF43 y =
0 T14 = 0
(Sum of moments about O 2 ) (Sum of moments about A ) (Sum of moments about
2 B)
Prof.Dr.Hasan ÖZTÜRK
Numerical values for the link lengths are L2 = 2 m and L3 = 4 m. From the figures we extract the
following measurements: a = 1.8 m , b = 1 m , c = 2 m , d = 3.6 m. Assume the applied force is
given to be F = 10 N in the negative direction.
F12 x = −10 N F43 x = 10 N
F12 y = 5.56 N F43 y = −5.56 N
F32 x = 10 N F14 = −5.56 N
F32 y = −5.56 T14 = 0
T12 = 23.55 N
Simplified FBD method:
The connecting rod of this mechanism is a two-force member. The reaction forces at A and B must be equal
but in opposite directions. These reaction forces are named F2 3 and F 43 , and given arbitrary directions

A
F32 F23
T2 2 A

3
F12x

F12y F43
F34 B 4 F B

F14 3
Prof.Dr.Hasan ÖZTÜRK
Graphical:

 ∑ Fx = 0

∑ F = 0 
∑ Fy = 0

  
F + F14 + F34 =
0

 
F23 = − F43

 
F32 = − F12

∑ F= 0⇒
∑M O2 =0 ⇒ T2 − h.F32 =0
T2 = h.F32

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Prof.Dr.Hasan ÖZTÜRK
 Coulomb Friction: Coulomb friction can be included between two contacting surfaces in a static force
analysis. Given the static coefficient of friction, μ (s) , the friction force can be described as the product of the
coefficient of friction and the reaction force normal to the contacting surfaces. The friction force must act in
the opposite direction of the tendency of any motion.

VB

Ffriction=µ F14

F12 x + F32 x = − F23 x + F43 x =

0
0 − F34 x + F + Ffric. =
0
F12 y + F32 y =
0 − F23 y + F43 y =
0
− F34 y + F14 =
0
−aF32 x + bF32 y + T12 =
0 cF43 x + dF43 y =
0
(Sum of moments about O 2 ) (Sum of moments about A )

Prof.Dr.Hasan ÖZTÜRK 5
Example: An external force of 10 N is acting horizontally on the rocker link, 30
mm from the point D. Find the amount of torque to be applied to the crank AB to
keep the mechanism in static equilibrium. [ME 302 DYNAMICS OF
MACHINERY, Prof. Dr. Sadettin KAPUCU]

=θ 60
= 0
, b 20.02=
0
, φ 89.860

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Prof.Dr.Hasan ÖZTÜRK

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Graphical method:

F14 & F34 are measured

directly from the scaled
force polygon.

10 N stands for 50 mm

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Example: Onto link 6 of the mechanism given, a 100 N vertical force acting.
Calculate the amount of the torque required on the crank AB to keep the
mechanism in static equilibrium, using the graphical approach. [ME 302
DYNAMICS OF MACHINERY, Prof. Dr. Sadettin KAPUCU]

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 GEAR KINEMATICS

The kinematic function of gears is to transfer rotational motion from one shaft
to another. Since these shafts may be parallel, perpendicular, or at any other
angle with respect to each other, gears designed for any of these cases take
different forms and have different names: spur, helical, bevel, worm, etc.

Vt1 = Vt 2
ω1 .r1 = ( − ) ω2 .r2 pitch diameter

ω1 .D1 = ( − ) ω2 .D2
N1 .D1 = ( − )N 2 .D2 , N : rpm
2πN
ω=
number of teeth
,rad / sn
60
N1 .( m1 .z1 ) =( − )N 2 .( m2 .z2 ) , D = m.z
*****m1 =
m2 ⇒ N1 .z1 =
( − )N 2 .z2

at1 = at 2 tangential acceleration

module
Kinematics of meshing gears.
α1 .r1 = ( − ) α 2 .r2
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Spur Gear Force Analysis (Static):

The reaction forces between the

teeth occur along the pressure line
AB, tipped by the pressure angle,
tipped by the pressure angle φ from
the common tangent to the pitch
circles.

F32r =
− F23r =
radial force component
F32t =
− F23t =
transmitted force component

F32r F32t tan ( φ )

In applications involving gears, the power transmitted and the shaft speeds are often specified.
remembering that power is the product of force times velocity or torque times angular velocity, we can
find the relation between power and the transmitted force. Using the symbol P to denote power, we
obtain

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Spur Gear Force Analysis (Dynamic):

The reaction forces between the

teeth occur along the pressure line
AB, tipped by the pressure angle,
tipped by the pressure angle φ from
the common tangent to the pitch
circles.

F32r =
− F23r =
radial force component
F32t =
− F23t =
transmitted force component

F32r F32t tan ( φ )

=

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Example (Midterm 1-2015): Find all the pin (joint) forces and the external torque (T5) that must be applied
to gear 5 of the mechanism by using the analytical method. Neglecting friction.

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 A

∑M = 0⇒
O3

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∑M = 0⇒
O4

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Helical Gears

Fa: axial,
Fr: radial
Ft: tangential
φt: transverse pressure angle
ψ: helix angle

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Straight Bevel Gears

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Dynamic Force Analysis

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Sometimes it is convenient to arrange these mass moments of inertia and mass products of inertia into a
symmetric square array or matrix format called the inertia tensor of the body:

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Dynamic Force Analysis
D'Alembertls principle: The vector sum of all external forces and inertia forces
acting upon a system of rigid bodies is zero. The vector sum of all external moments
and inertia torques acting upon a system of rigid bodies is also separately zero.

 i  
∑ F +=
∑ F 0 or ∑ F=− maG 0
inertia force
Fi has the same line of action of aG but is in opposite
direction

 i  
∑ M=+ ∑ T 0 or ∑ M= − I Gα 0
inertia torque

Ti is in opposite sense of the angular

acceleration a
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Slider –Crank Mechanism
external force and torque,
F4 and T2

All frictions are neglected

except for the friction at
joint 14

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 EXAMPLE
We use the four-bar linkage of the below Figure. The required data, based on a
complete kinematic analysis, are illustrated in the Figure and in the legend. At the crank
angle shown and assuming that gravity and friction effects are negligible, determine all
the constraint forces and the driving torque required to produce the acceleration
conditions specifıed.

Prof.Dr.Hasan ÖZTÜRK
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We start with the following kinematic information.

Next we calculate the inertia forces and inertia torques. Because the solution is analytical, we
do not need to calculate offset distances nor do we replace the inertia torques by couples. The
six equations are

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Considering the free-body diagram of link 4 alone, we formulate the summation of
moments about point 04:

Also, considering the free-body diagram of link 3 alone, we formulate the

summation of moments about point A:

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 PRINCIPLE OF SUPERPOSITION

Linear systems are those in which effect is proportional to cause. This

means that the response or output of a linear system is directly proportional
to the drive or input to the system. An example of a linear system is a spring,
where the deflection (output) is directly proportional to the force (input) exerted on
the spring.

The principle of superposition may be used to solve problems involving linear

systems by considering each of the inputs to the system separately. If the
system is linear, the responses to each of these inputs can be summed or
superposed on each other to determine the total response of the system.
Thus, the principle of superposition states that for a linear system the individual
responses to several disturbances, or driving functions, can be superposed on each
other to obtain the total response of the system.

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  
∑ F = maG
PLANAR ROTATION ABOUT A FIXED CENTER

Application of the parallel-axis

For fixed-axis rotation, it is generally useful to apply a moment theorem for mass moments of
equation directly about the rotation axis O. inertia

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Center of percussion

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 SHAKING FORCES AND MOMENTS
Of special interest to the designer are the forces transmitted to the frame or foundation of a machine owing to
the inertia of the moving links. When these forces vary in magnitude or direction, they tend to shake or vibrate
the machine (and the frame); consequently, such effects are called shaking forces and shaking moments.
If we consider some machine, say a four-bar linkage for example, with links 2,3, and 4 as the moving members
and link I as the frame, then taking the entire group of moving parts as a system, not including the frame, and
draw a free-body diagram, we can immediately write

This makes sense because if we consider a free-body diagram ofthe entiremachine including the frame, all other applied and
constraint forces have equal and opposite reaction forces and these cancel within the free-body system. Only the inertia forces,
having no reactions, are ultimately extemal to the system and remain unbalanced. These are not balanced by reaction forces and
produce unbalanced shaking effects between the frame and whatever bench or other surface on which it is mounted. These are
the forces that require that the machine be fastened down to prevent it from moving.
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Prof.Dr.Hasan ÖZTÜRK
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 Force Analysis using the method of
Virtual Work
1. If a rigid body is in equilibrium under the action of external
forces, the total work done by these forces is zero for a small
displacement of the body.
2. Work:
∫
W = F ⋅ dx, W = T ⋅ dθ ∫
1. With F, x, T, q, vectors and W a scalar.
2. To indicate that we are dealing with infinitesimal displacements
(virtual displacements), use the notation:
δW = F ⋅ δx δW = T ⋅ δθ
3. Now apply the virtual work definition:

δW = ∑ Fi ⋅ δx i + ∑ T j ⋅ δθ j =0
i j

Prof.Dr.Hasan ÖZTÜRK 54
 Virtual Work (cont.)

4. If we divide the virtual work by a small time step,

   
we get:

F v  i
T 
i  0 j j
i j

5. These are all external torques and forces on the

body, and include inertial forces and gravity.
Rewrite, to clearly show this as:
    i  i 
∑ Fexternal,friction,weight ⋅ v + ∑ Texternal,friction ⋅ ω + ∑ F ⋅ v G + ∑ T ⋅ ω =0

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 Example (2015-Midterm 1). Neglect the gravity force for the mechanism shown in the Figure. Links 2 and 3 are
uniform. E and D points are the centroids of the triangles. All frictions are neglected.
a) Find all the pin (joint) forces and the external torque that must be applied to link 2 of the mechanism by using the
analytical method.
b) Find the external torque that must be applied to link 2 of the mechanism by using the Virtual Work method.

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Prof.Dr.Hasan ÖZTÜRK
ANSWER- a):

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 Prof.Dr.Hasan ÖZTÜRK

 
( F43 = − F34 )

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ANSWER- b) Virtual Work method :

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Example (2010-Midterm 1): For the mechanism shown in the figure, Links 2 and 3 are uniform. All
frictions and mass of link 2 are neglected. Link 4 can rotate about its axis. Find all the pin (joint)
forces and the external torque that must be applied to link 2 of the mechanism by using the grapical
method.

α3=545 r/s2
g

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Free Body Diagram

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    F12 F12
F + F43 + F23 =
0 O
F23 = F12
0.1 cm
O
T2
F = 13.37 N
T2

F23
F43 A
1 cm: 5 N
A
F32
=
F43 4.2cm =
× 5 21 N F32

F = 13.37 N

F23
0.1
F43
∑ M O =0 ⇒ T2 + 100
× F32 =0

=
F23 3.28cm=
× 5 16.4 N T2 =
−
0.1
×16.4 N =
−0.0164 Nm
100
Prof.Dr.Hasan ÖZTÜRK 68
Example (2011-Final): For the mechanism shown in the figure, Links 2 and 3 are uniform. All
frictions (except for 3-4) and mass of link 2 are neglected. Link 4 can rotate about its axis. Find all the
pin (joint) forces and the external torque that must be applied to link 2 of the mechanism by using
the grapical method.

α3=545 r/s2
g

µ=0.5
V34

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 tan φ = µ ⇒ φ = 26.560
F23
A

B
FR43
26.560
F23
G3 58.80
A
220
F43
d
B Ffric 0.227 Nm =d ×13.74 × cos(53.20 )
α3
=d 0.0275 m= ⇒ d 27.5 mm
13.37 N
=
F i m=
C
3 aG 3 12.4 N G3 aG 3 = 24.8 m / s 2

= G 3α 3
T3i I= 0.227 Nm

m3g=5 N

C
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 A
F23 F = 13.37 N
F23
B
FR43
FR43
26.560
G3 58.80

220

d F = 13.37 N
F23
13.37 N
C FR43
A

B
FR43
V34 26.560

F43 Ffric
G3
Ffric

C Prof.Dr.Hasan ÖZTÜRK 71
 A 1 cm: 5 N
R
F = 13.37 N
F 43

F23 F = 13.37 N
B
F23
26.56 0 FR43
G3 58.80

220 F23
FR43
d
 R  F=
R
43 4.3cm ×
= 5 21.5 N
13.37 N F + F 43 + F23 =
0
C
=
F23 4.7cm =
× 5 23.5 N
F12
F12
1.5 cm
O
O
1.5
T2 T2 ∑ M O =0 ⇒ T2 − 100 × F32 =0
1.5
T2 = × 23.5 N = 0.3525 Nm
A
100
A
F32
F32
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