ME8511- KINEMATICS AND DYNAMICS LABORATORY

WHIRLING SPEED OF SHAFT

Ex. no: 1
Date:

AIM
To determine the critical speed of shaft of various sizes and to compare it with the theoretical
values
APPARATUS REQUIRED
1. Power source
2. Tachometer (Noncontact type)
3. Vernier caliper
4. Scale
5. Shaft

TECHNICAL SPECIFICATIONS
1. Shaft diameter (d) = 4 mm, 6 mm, 8 mm
2. Length of shaft between ends (l) = 800 mm
3. Density of material of shaft (&) = 8000 kg/m3
4. Young’s modulus(E) = 2.1 x 1011 N/m2

FORMULAE
1. Moment of inertia of shaft
'(
$= )
(mm4)

Where,
d= diameter of the shaft (m)
2. Mass of shaft per meter length
* = + × - × &
Where,
A= area of shaft (m2)
'.
+= 
(mm2)

l = length of shaft (m)

& = density of shaft material (kg/m3)

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 3. Static deflection due to mass of shaft
/(
 = . (m)
012

Where,
W – Weight of the shaft (N)

4. Frequency
.
 = . Hz
3
 4
5..6

5. Whirling speed of shaft

Ncr = frequency of shaft in rps
6. Efficiency of whirling shaft
+89:;- 8<=9=8;- >?@@A
7= × 100
Bℎ@<C9=8;- >?@@A

PROCEDURE
1. Take the shaft of difference diameter as 4, 6 and 8 mm
2. To fix the shaft at both ends
3. Switch on the motor and increase the speed
4. Note down the speed at which the vibration is maximum using tachometer
5. This speed is known as critical speed (or) wire ling speed
6. Repeat the same procedure for all shaft
7. Tabulate the readings and calculate the theoretical value
8. Compare the experimental value with theoretical value

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DIAGRAM

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TABULATION

Diameter of shaft both 2

Diameter of the shaft
ends Actual Deflection Theoretical critical Efficiency
critical speed
S. No
speed (Ncr)
Rpm m rpm %

mm m mm m

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RESULT
Thus the actual critical speed of the shaft is found out by tachometer and compared with the
theoretical speed and the efficiency of whirling of shaft is obtained.

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 VIBRATING TABLE
Ex. no: 2
Date:

AIM
To determine the transmissibility of forced vibrations and to analyses all types of vibrations
with its frequency and amplitude.
APPARATUS REQUIRED
1. Vibrating table setup
2. Dimmer set with speedometer
3. Stopwatch
4. Recorder

TECHNICAL SPECIFICATION
Mass of beam = 1.6 kg
Total length of beam [L] =1m
Mass of the exciter [M] = 5.4 kg
Stiffness of spring [k] = 1.968 N/m
Radius of the exciter [r] = 0.07 m

FORMULA
1. Frequency
  FGHF
 =
HFI HGJ
. Hz

2. Natural frequency

 .
K =  =


. Hz
√

where,
 = maximum deflection in m
3. Maximum force transmitted
LM = >9=NNO@>> CN 9ℎ@ >?<=OP × max A@N-@89=CO

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 4. Maximum impressed force
 = %T  < (N)
Where,
m = mass of beam + mass of exciter
m = M + me
r = radius of exciter
U = angular velocity
5. Transmissibility
LM
∈=

Where,
FTR = Maximum force transmitted (N)
F = Maximum impressed force (N)

PROCEDURE
1. Attach the vibrating recorder at suitable position with the pen or pencil holder slightly pressing
paper.
2. Attach the damper with unit to stud.
3. Start the exciter motor and set at required speed and start the recorder motor
4. Now vibrations are recorded over the vibration recorder. Increase the speed and note the
vibration.
5. At the resonance speed the amplitude of vibrations may be recorded as merged one another.
6. Hold the system and cross the speed little more than the response speed.
7. Analyse the recorded frequency and amplitude for both damped and undamped force
vibrations.

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DIAGRAM

Vibrating table

GRAPH
1. Speed vs Transmissibility
2. Speed vs Natural frequency

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TABUALTION

Maximum Maximum
Speed of Time taken for Maximum Natural
S. Frequency force impressed
motor 10 oscillations amplitude frequency Transmissibility
No (Hz) transmitted force
n (rpm) (Sec) (m) (Hz)
(N) (N)

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RESULT
Thus the transmissibility of forced vibrations and types of vibrations with its frequency of
amplitude are analysed.

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 MOTORIZED GYROSCOPE
Ex. no: 3
Date:

AIM
To determine the gyroscopic couple of rotating masses and to verify the gyroscope rules of a
plane rotating disc.
APPARATUS REQUIRED
1. Tachometer (contact type)
2. Set of weights
3. Dimmer set and power supply
4. Stop watch

TECHNICAL SPECIFICATIONS
Mass of the rotor =7 kg
Rotor diameter (D) = 300 mm
Rotor thickness (t) = 8 mm
Bolt size = MI 08
FORMULAE
1. Angle of precision
X
W=W×
180
Where,
W = Angle of precision (degrees)
2. Angular velocity of precision
'[ [
TZ = = rad/s
'H H

3. Angular velocity

U= rad/s
)

Where,
N = Speed of the motor (rpm)

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 4. Moment of inertia of disc
I\ .
$= 
kgm2

Where,
m = mass of the disc (kg)
r = radius of disc (m)
5. Gyroscopic couple (N-m)
] = $UUZ (Nm)

PROCEDURE
1. Switch on the supply
2. Set the required speed by the regulator at constant
3. Add the load viz ½ kg, 1 kg,…
4. Loose the lock screw, start the stopwatch and note down.
5. Watch the angular displacement at particular time interval.
6. Take the readings for different loads.

DIAGRAM

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TABULATION

Time taken for Gyroscopic couple

Speed of motor Weight applied Angle of precision Angular velocity
S. No precision C
(rpm) (N) of precision (Wp)
(Sec) Degree Rad (Nm)

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RESULT
Thus the value of gyroscopic couple of rotating masses and gyroscopic rules of a plane rotating
disc was verified.

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 WATT GOVERNOR
Ex. no:4
Date:

AIM
To determine the stability and controlling force of watt governor
APPARATUS REQUIRED
1. Governor setup
2. Speed regulator
3. Tachometer
4. Dead weight

OBSERVATION
Length of upper arm L1 =
Length of lower arm L2 =
Weight of ball Wb =
Weight of sleeve Ws =
FORMULA
1. Angular velocity

U= rad/s
)

2. Height of the sleeve

ℎ = ^. (m)

Where,
g = acceleration due to gravity (m/s2)
3. Theoretical speed

KH_ =  _
(rpm)

4. Centrifugal force
I \
` = (N)
_

Where,
m = mass of the ball = 0.31 kg
r = radius of sleeve (m)

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PROCEDURE
1. Switch on the motor in the dimmer setup.
2. Increase the speed slowly till the sleeve just begins in test.
3. This corresponds to the minimum speed of governor.
4. Also measure the correspond radius of rotation of ball.
5. Measure the speed of rotation such that sleeve touches it’s top most position.
6. Note the speed and corresponding radius this corresponds to the maximum governor speed.
7. Repeat the procedure again

DIAGRAM

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TABULATION

Lift Theoretical speed

S. No Observed speed Sleeve radius (r) Sleeve height (h) Centrifugal force (F)
(m) (rpm)

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RESULT
Thus the stability and controlling force of watt governor was determined.

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 PORTER GOVERNOR
Ex. no: 5
Date:

AIM
To determine the stability and controlling force of the porter governor
APPARATUS REQUIRED
1. Governor setup
2. Speed regulator
3. Tachometer
4. Dead weights

FORMULA USED
1. Angular velocity

U= rad/s
)

2. Height of the sleeve

Iab
ℎ= × ^. (m)
I

3. Theoretical speed
I×b 
KH_ =  + (rpm)
I _

4. Centrifugal force
` = %U < (N)
Where,
l = upper arm length (m)
r = radius (m)
m = mass of the ball = 0.31 kg
M = mass of sleeve = 1 kg
5. Range of the governor (R)
c = %;d=%:% >?@@A − %=O=%:% >?@@A
6. Sensitivity of the governor
%;d. >?@@A − %=O. >?@@A
>@O>=9=f=9g = 2 × × 100
%;d. >?@@A + %=O. >?@@A

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 7. Percentage increase in speed
K − K
]=
K
Where,
N2 = Maximum speed
N1 = Minimum speed
PROCEDURE
1. Switch on the motor in dimmer setup
2. Increase the speed slowly till the sleeve just begins in test
3. This corresponds to minimum speed of the governor
4. Also measure the corresponding radius of rotation of ball
5. Measure the speed of rotation such that the sleeve touches it’s topmost position
6. Note the speed and corresponding radius, this corresponds to the maximum governor
speed
7. Repeat the procedure again

DIAGRAM

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TABULATION

Lift Sleeve radius r Sleeve height h Theoretical speed Centrifugal force F

S. No
(M) (m) (m) (RPM) (N)

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RESULT
Thus the stability and controlling force of porter governor was determined.

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 PROELL GOVERNOR
Ex. no: 6
Date:

AIM
To determine the stability and controlling force of proell governor
APPARATUS REQUIRED
1. Governor setup
2. Speed regulator
3. Tachometer
4. Dead weights

OBSERVATION
1. Length of the upper arm L1 = 155 mm
2. Extension of the lower link = 110 mm
3. Weight of the ball Wb = 0.31 kg
4. Weight of the sleeve Ws = 1.25 kg

FORMULA USED
1. Angular velocity

U= rad/s
)

2. Theoretical speed
ib Iab k
KH_ = jb (rpm)
I _

3. Centrifugal force
` = %U < (N)
Where,
l = upper arm length (m)
r = radius (m)
m = mass of the ball = 0.31 kg
M = mass of sleeve = 1 kg
4. Range of the governor (R)
c = %;d=%:% >?@@A − %=O=%:% >?@@A

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 5. Sensitivity of the governor
%;d. >?@@A − %=O. >?@@A
>@O>=9=f=9g = 2 × × 100
%;d. >?@@A + %=O. >?@@A
6. Percentage increase in speed
K − K
]=
K
Where,
N2 = Maximum speed
N1 = Minimum speed

PROCEDURE
1. Switch on the motor in dimmer setup
2. Increase the speed slowly till the sleeve just begins in test
3. This corresponds to minimum speed of the governor
4. Also measure the corresponding radius of rotation of ball
5. Measure the speed of rotation. Such that the sleeve touches it’s top most position
6. Note the speed and corresponding radius. This corresponds to the maximum governor speed.
7. Repeat the procedure again

DIAGRAM

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TABULATION

Lift Sleeve height h Theoretical speed Centrifugal force F

S. No Sleeve radius r (m)
(m) (m) (rpm) (N)

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RESULT
Thus the stability and controlling force of the proell governor was determined.

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 HARTNELL GOVERNOR
Ex. no: 7
Date:

AIM
To determine the stability and controlling forces of hartnell governor
APPARATUS REQUIRED
1. Governor setup
2. Speed regulator
3. Tachometer
4. Dead weight

OBSERVATION
Length of Horizontal arm Y = 160 mm
Length of vertical arm X = 200 mm
Mass of the Ball (m) = 0.311 kg
FORMULA USED
1. Angular velocity

U= rad/s
)

2. Height of sleeve (h)

g
ℎ = (< − < )( nd) m
where,
x = length of vertical arm (m)
y = length of horizontal arm (m)
3. Centrifugal force (Fc)
` = %U < (N)
4. Spring force for lowest position
p
o = 2` ×  (N)

5. Spring force for highest position

p
o = 2` × (N)


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 6. Stiffness of spring (S)
q. rq5
o= _
(N/m)

PROCEDURE
1. Switch on the motor in dimmer setup
2. Increase the speed slowly till the sleeve just begins in test
3. This corresponds to minimum speed of the governor
4. Also measure the corresponding radius of rotation of ball
5. Measure the speed of rotation. Such that the sleeve touches it’s top most position
6. Note the speed and corresponding radius. This corresponds to the maximum governor speed.
7. Repeat the procedure again

DIAGRAM

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TABULATION

Lift Theoretical speed Centrifugal force F

S. No Sleeve radius (r) Sleeve height (h)
(mm) (rpm) (N)

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RESULT
Thus the stability and controlling force of the Hartnell governor was determined.

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 EXPERIMENTAL STUDY OF GEAR RATIO OF DIFFERENTIAL GEAR TRAIN
Ex. no: 8
Date:

AIM
To conduct the experimental study of gear ratio of differential gear train
APPARATUS REQUIRED
1. Differential gear train
2. Digital speed indicator
3. Speed transformer

FORMULA USED
1. Total reduction speed in
5 r.
Right Wheel (NR) =
5
× 100 in %
5 r.
Left Wheel (NL) = 5
× 100 in %

Where,
N1 = Input speed in rpm
N2 = Output speed in rpm
2. Speed ratio
Right wheel (NR) = N1/N2
Left wheel (NL) = N1/N2
PROCEDURE
1. Connect the main chord to the 230 V, 50 Hz power supply
2. Connect the sensor 1 and sensor 2 to the respective sensor sockets provided on the front
panel of electronic speed control system.
3. Connect the motor cable to the terminal socket
4. Initially keep variable speed control knob is closed position
5. Switch on the instrument
6. Adjust the speed by tuning the knob and tabulate the readings and calculate.

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GRAPH
Input Speed vs Output speed

Differential gear train

RESULT
Thus the gear ratio of a differential gear train is carried out and the graph is plotted.

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 EXPERIMENTAL STUDY OF SPEED RATIO OF COMPOUND GEAR TRAIN
Ex. no: 9
Date:

AIM
To conduct the experimental study of speed ratio of an compound gear train
APPARATUS REQUIRED
- Compound gear train
- Digital speed indicator
- Speed transformer

FORMULA USED
1. Total reduction speed (N)
K − K
K= × 100 %
K
Where,
N1 = Input speed in rpm
N2 = Output speed in rpm
2. Speed ratio = N1/N2

PROCEDURE
1. Connect the main chord to the 230 V, 50 Hz power supply
2. Connect the sensor 1 and sensor 2 to the respective sensor sockets provided on the front
panel of electronic speed control system.
3. Connect the motor cable to the terminal socket
4. Initially keep variable speed control knob is closed position
5. Switch on the instrument
6. Adjust the speed by tuning the knob and tabulate the readings and calculate.

GRAPH
Input speed vs Output speed

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DIAGRAM

Compound gear train

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RESULT
Thus the speed ratio of an compound gear reducer is carried out and the graph is plotted.

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 EXPERIMENTAL STUDY OF SPEED RATIO OF AN EPICYCLIC GEAR TRAIN
Ex. no: 10
Date:

AIM
To conduct the experimental study of speed ratio of an epicyclic gear train
APPARATUS REQUIRED
- Epicyclic gear train
- Digital speed indicator
- Speed transformer

FORMULA USED
1. Total reduction speed (N)
K − K
K= × 100 %
K
Where,
N1 = Input speed in rpm
N2 = Output speed in rpm
2. Speed ratio = N1/N2

PROCEDURE
1. Connect the main chord to the 230 V, 50 Hz power supply
2. Connect the sensor 1 and sensor 2 to the respective sensor sockets provided on the front
panel of electronic speed control system.
3. Connect the motor cable to the terminal socket
4. Initially keep variable speed control knob is closed position
5. Switch on the instrument
6. Adjust the speed by tuning the knob and tabulate the readings and calculate.

GRAPH
Input speed vs Output speed

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DIAGRAM

RESULT
Thus the speed ratio of an epicyclic gear reducer is carried out and the graph is plotted.

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 BALANCING OF ROTATING MASSES
Ex. no: 11
Date:

AIM
To balance the given rotor system dynamically with the aid of the force polygon and the couple
polygon
APPARATUS REQUIRED
- Rotor system
- Weight
- Steel rule

FORMULA
1. Centrifugal force =m×r (N)
2. Couple =m×r×l (Nm)

PROCEDURE
1. Fix the unbalanced masses as per the given conditions, radius, angular position and plane of
masses
2. Find out the balancing masses and angular positions using force polygon and couple polygon
3. Fix the balancing masses (calculated masses) at the respective radii and angular position
4. Run the system at certain speeds and check that the balancing is done effectively
5. If the rotor system rotates smoothly, without considerable vibrations means the system is
dynamically balanced.

DIAGRAM
1. Plane of mass
2. Angular position of the masses
3. Force polygon

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TABULATION

Mass Radius
Centrifugal force Distance from reference plane
S. No Planes of mass ‘m’ ‘r’ Couple
N ‘l’ (m)
Kg m

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DIAGRAM

Angular position of the masses

Plane of mass

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 Force polygon

Couple polygon

RESULT
The given rotor system has been dynamically balanced with the aid of force polygon and
couple polygon.

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 STUDY THE PROFILE AND JUMP PHENOMENON OF CAM
Ex. no: 12
Date:

AIM
To study the profile of given cam using cam analysis system and to draw the displacement
diagram for the follower and the cam profile. Also to study the jump speed characteristics of the cam
follower mechanism
APPARATUS REQUIRED
Cam analysis system & dial gauge
DESCRIPTION
A cam is a machine element such as a cylinder or any other solid with surface of contact so
designed as to give a predetermined motion to another element called the follower. A cam is a rotating
body importing oscillating motor to the follower. All cam mechanisms are composed of at least there
links viz.
1. Cam
2. Follower
3. Frame which guides follower cam

GRAPH
Displacement diagram and also the cam profile is drawn using a polar graph chart. The
velocity vs acceleration curve is drawn.
PROCEDURE
Cam analysis system consists of cam roller, follower, pull load and guide of pull rod.
1. Set the cam at 00 and note down the projected length of the pull rod.
2. Rotate the cam through 100 and note down the projected length of the pull rod above the guide
3. Note down the corresponding displacement of the follower

JUMP SPEED
1. The cam is run at gradually increasing speeds, and the speed at which the follower jumps off is
observed
2. This jump speed is observed for different loads on the follower.

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DIAGRAM

Cam and follower

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TABULATION

Forward stroke Return stroke

S. No Description Dwell Dwell

Start End Start End

1 Angle in degree

2 Followed lift in ‘mm’

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RESULT
Thus the profile of cam is drawn and the jump phenomenon is studied.

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