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TECHNOLOGICAL UNIVERSITY OF THE PHILIPPINES VISAYAS

Capt. Sabi St., City of Talisay, Negros Occidental

College of Engineering Technology

Office of the Program Coordinator

LEARNING MODULE

MXT 213
KINEMATICSOF
MACHINES 1
(forward kinematics)
MECHATRONICS ENGINEERING TECHNOLOGY DEPARTMENT

COMPILED BY:

DARYL P. AMODIA

2020

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 1

VISION

The Technological University of the Philippines shall be the premier state university
with recognized excellence in engineering and technology at par with leading universities in
the ASEAN region.

MISSION

The University shall provide higher and advanced vocational, technical, industrial,
technological and professional education and training in industries and technology, and in
practical arts leading to certificates, diplomas and degrees.
It shall provide progressive leadership in applied research, developmental studies in
technical, industrial, and technological fields and production using indigenous materials; effect
technology transfer in the countryside; and assist in the development of small-and-medium
scale industries in identified growth center. (Reference: P.D. No. 1518, Section 2)

QUALITY POLICY

The Technological University of the Philippines shall commit to provide quality higher
and advanced technological education; conduct relevant research and extension projects;
continually improve its value to customers through enhancement of personnel competence and
effective quality management system compliant to statutory and regulatory requirements; and
adhere to its core values.

CORE VALUES

T - Transparent and participatory governance

U - Unity in the pursuit of TUP mission, goals, and objectives
P - Professionalism in the discharge of quality service
I - Integrity and commitment to maintain the good name of the University
A - Accountability for individual and organizational quality performance
N - Nationalism through tangible contribution to the rapid economic growth of the
country
S - Shared responsibility, hard work, and resourcefulness in compliance to the mandates
of the university

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 2

TABLE OF CONTENTS
Page Numbers
TUP Vision, Mission, Quality Policy, and Core Values………………………1
Table of Contents………………………………………………………………..2
Course Description……………………………………………………….3
Learning Outcomes…………………………………………………………
General Guidelines/Class Rules……………………………………………
Grading System……………………………………………………………
Learning Guide (Week No. 1) …………………………………………….
Topic/s………………………………………………………………
Expected Competencies…………………………………………………
Content/Technical Information………………………………………
Progress Check…… ………………………………………………..
References…………………………………………………………
Learning Guide (Week No. 2) ……………………………………………
Topic/s………………………………………………………………
Expected Competencies…………………………………………………
Content/Technical Information ……………………………………
Progress Check…… ………………………………………………..
References…………………………………………………………
Learning Guide (Week No. 3)………………………………………………
Topic/s………………………………………………………………
Expected Competencies……………………………………………………
Content/Technical Information……………………………………
Progress Check…… ………………………………………………..
References…………………………………………………………
Learning Guide (Week No. 4) ……………………………………………
Topic/s………………………………………………………………
Expected Competencies………………………………………………
Content/Technical Information……………………………………
Progress Check…… ………………………………………………..
References…………………………………………………………
List of References………………………………………………
About the Author/s……………………………………………………………..

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
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COURSE DESCRIPTION

The subject deals with the parts, movements and manner of support for mechanisms
generally used in the industry. The subject mainly involves the study of motions and
accelerations of particles at any given instant.

Kinematics is a subfield of classical mechanics that describes the motion of points,

bodies (objects), and systems of bodies (groups of objects) without considering the forces that
cause them to move. Kinematics, as a field of study, is often referred to as the "geometry of
motion" and is occasionally seen as a branch of mathematics. A kinematics problem begins by
describing the geometry of the system and declaring the initial conditions of any known values
of position, velocity and/or acceleration of points within the system. Then, using arguments
from geometry, the position, velocity and acceleration of any unknown parts of the system can
be determined.

LEARNING OUTCOMES

LO1: Explain how principles of mechanism work.

LO2: State the principle involved in the mechanics of mechanisms,

LO3: Classify and distinguish the kind of motions and accelerations of particles at a given
instant.

LO4: Identify correct principles in the identification and solution of problems involving
movements of particles.

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
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GENERAL GUIDELINES/CLASS RULES

1. Make-up exams and quizzes will be given only with prior approval of the instructor
and under exceptional circumstances. For excused absences during the exam, the
university policy will be followed.

2. Students are not allowed to leave the classroom once the class has started, unless
extremely necessary. Students who leave the classroom without any valid reason will
be marked absent.

3. Students are expected to comply strictly with the university rule on dress code, class
tardiness and attendance.

4. Cell phones or any e-gadgets must be switched off or put in a silent mode during class
hours, except when allowed by the instructor for activities that require use of such
gadgets.

5. Homework’s or projects submitted later than the two-week allowance or more on

exceptional cases will not anymore be accepted. Students are expected to maintain
complete honesty and integrity in their academic work. Acts of academic dishonesty,
such as cheating, plagiarism, or inappropriately using the work of others to satisfy
course requirements, will not be tolerated and may result in failure of the affected
assignments and/or failure of this class.

Students with Special Needs:

A student with special medical needs, is advised to inform the instructor as to

how he/she can best assist him/her. All information related to such medical needs will
be considered confidential.

GRADING SYSTEM

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
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LEARNING GUIDE

Week No.: __1__

TOPIC/S:

INTRODUCTION TO SCIENCE OF MECHANISM

KINEMATIC PAIRS AND

KINEMATIC DIAGRAM

DEFINITION OF TERM

EXPECTED COMPETENCIES:

Upon completing this Learning Module, you will be able to:

1. Define Science of Mechanism

2. Determine the two divisions of science of mechanism
3. Discuss the different terms uses in kinematics

CONTENT/TECHNICAL INFORMATION

The subject Kinematics of Machines also known as KOM is a very special course for the
Mechanical Engineers. This course tells us about the distinctive features of the machines. This
tells us how the machine works. In this course, we will study about the working of the
machines. How they work? What would be the speed of output is some input speed is given.

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
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INTRODUCTION TO THE SCIENCE OF MECHANISM

The SCIENCE OF MECHANISM treats of the laws governing the motion of the parts
of a machine and the forces transmitted by these parts.

In engineering, a mechanism is a device that transforms input forces and movement

into a desired set of output forces and movement. Mechanisms generally consist of moving
components that can include:

Gears and gear trains

Belt and chain drives

Cam and followers

Linkage

Friction devices, such as brakes and clutches

Structural components such as a frame, fasteners, bearings, springs, lubricants

Various machine elements, such as splines, pins, and keys.

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 7

The German scientist Reuleaux provides the definition "a machine is a combination of
resistant bodies so arranged that by their means the mechanical forces of nature can be
compelled to do work accompanied by certain determinate motion." In this context, his use of
machine is generally interpreted to mean mechanism.

The combination of force and movement defines power, and a mechanism manages
power to achieve a desired set of forces and movement.

A mechanism is usually a piece of a larger process or mechanical system. Sometimes

an entire machine may be referred to as a mechanism. Examples are the steering mechanism in
a car, or the winding mechanism of a wristwatch. Multiple mechanisms are machines.

In designing a machine or in studying the design of an existing machine, two distinct

but closely related divisions of the problem present themselves:

1. Machine parts must be proportioned and so related to one another that each has the
proper motion.

2. Each part must adapted to withstand the forces impose upon it.

Division of the Science of mechanism

1. Pure Mechanism (Kinematics of machines)

Treats of the motion and forms of the parts of the machine, and the manner of
supporting and guiding them, independent of their strength.

2. Constructive Mechanism (Machine design)

Involves the calculation of forces acting on different parts of the machine; the
selection of the materials on the basis of strength, durability, and other physical
properties in order to withstand these forces, the convenience for repairs and the
facilities for manufacture is also taken into account.

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 8

KINEMATIC PAIRS

Kinematic pair is defined as the two links or elements of a machine when in contact
with each other are said to form a pair. If the relative motion between them is completely or
successfully constrained in a definite direction, the pair is known as Kinematic pair.

According to the following consideration, this has been classified into three types:

1. Types of relative motion

2. Contact and
3. Types of mechanical constraint or Type of closure.

Kinematics pair:

1. According to types relative motion:

Relative Motion types categorized into 5 parts which are,

a. Sliding,
b. Turning,
c. Rolling,
d. Screw
e. Spherical Pair.

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
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a. Sliding Pair:
This consists of two elements connected in such a manner that one is constrained to have sliding
motion relative to another.

Example: Rectangular bar in a rectangular hole

Square bar in the square hole
Piston and cylinder of an Internal combustion engine.
Tail-stock and lathe bed, etc.

b. Turning Pair:
This consists of two elements connected in such a manner that one is constrained to turn or
revolve about a fixed axis of another element.

Example: Shaft with a collar at both ends revolving in a circular hole.

The crankshaft of an Ic engine turning in a bearing.
Cycle wheel revolving about there axles.

c. Rolling Pair:
This consists of two elements connected in such a manner that one is constrained to roll in
another element which is fixed.

Example: Ball and roller bearings.

Wheel rolling on a flat surface.
Marble rolling on a flat surface.

d. Screw Pair:
This consists of two elements connected in such a manner that one element turns about the
other element by means of threads. The motion, in this case, is a combination of sliding and
turning.

Example: The lead screw of a lathe and nut.

Nut and bolt combination
Screw with nut of screw jack.

e. Spherical Pair:
This consists of two elements connected in such a manner that one element in the form of a
sphere turns about the other fixed element.

Example: Ball and socket joint.

Pen stand
Minor attachment of vehicles.

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for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 10

2. According to the type of contact:

Types of contact classified as

a. Lower pair and

b. Higher Pair.
Lower pair:

When the two elements of a pair have surface contact when relative motion takes place and the
surface of one element slides over the surface of another element, the pair formed as lower pair.

Example: All sliding, Turning and Screw pairs are lower pair.
Nut turning in a screw.
shaft rotating in a bearing.
Universal joint
All pairs of slider-crank mechanism.

Higher Pair:

When the two elements of a pair have line contact or point contact when relative motion takes
place and the motion between the two elements is partly turning, sliding then the pair is known
as higher pair.

Example: Toothed gearing

Belt and rope drives
Ball and roller bearings
Cam and follower.

3. According to the type of Mechanical constraint / Types of closure:

Types of Mechanical Constraint classified into two types,

a. Self closed pair

b. Force closed pair.
These are further classified as Self closed pair or closed pair and Force closed pair or Un-
closed pair.

a. Self closed pair or closed pair:

whenever two elements of pair are held together mechanically in such a way that only
required the type of relative motion occurs called Self closed pair or closed pair.

Example: All lower pairs.

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for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
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b. Force closed pair or Unclosed pair:

whenever two elements of pair are not held together mechanically but are kept in contact
by the action of external forces the pair is said to be Force closed pair or Un-closed pair.

Example: Cam and spring-loaded follower pair.

KINEMATIC DIAGRAM

A kinematic diagram reduces the machine components to a skeleton diagram that

emphasizes the joints and reduces the links to simple geometric elements. This diagram can
also be formulated as a graph by representing the links of the mechanism as vertices and the
joints as edges of the graph. This version of the kinematic diagram has proven effective in
enumerating kinematic structures in the process of machine design.[1]

An important consideration in this design process is the degree of freedom of the system
of links and joints, which is determined using the Chebychev–Grübler–Kutzbach criterion.

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
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Definition of terms

MECHANISM – a combination of rigid bodies so arranged that the motion of one compels the
motion of the others, according to a law depending on the nature of combination

MACHINE – a combination of resistant bodies so arranged that by their means the mechanical
forces of nature can compelled to produce some effect or work accompanied with certain
determinate motions.

STRUCTURE – a combination of resistant bodies capable of transmitting forces or carrying

loads but having no relative motion between parts.

FRAME – a structure that support the moving parts and regulates the path or the kind of
motion, of many parts.

PARTICLE – an infinitesimal part of the body. It may be presented on a drawing by a point

and is often referred to as appoint.

RIGID BODY – is one whose component particles remain at constant distance from one
another that is, the body is assumed not to suffer any distortion by the forces that may act on
it.

FLEXIBLE BODY – is one whose component particles move with respect to the forces applied
to it.

DRIVER – a piece of mechanism which causes motion to the part connected to it.

FOLLOWER – a piece of mechanism whose motion is effected by the driver.

BEARING – is applied, in general, to the surfaces of contact between two pieces that have
relative motion, one of which supports or partially supports the other. One of the pieces may
be stationary, in which case the bearing may be called a stationery bearing; or both pieces may
be moving.

Classes of Bearing

may be arranged, according to the relative motions they will allow, in three classes:

FOR STRAIGHT TRANSLATION

- the bearing must have plane or cylindrical surfaces, cylindrical being

understood in its most general senses. If one piece is fixed, the surfaces of the moving pieces
are called slide; those of the fixed pieces, slides or guides.

ROTATION OR TURNING

- the bearings must have surfaces of circular cylinders, cones conoids, or flat
disks. The surface of the solid or full piece is called journal, neck, spindle or pivot; that of a
hollow or open pieces, a bearing, gudgeon, pedestal, plumber-block, pillow-block, bush or step.

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TRANSLATION AND ROTATION COMBINED (HELICAL)

- They must have helical or screw shape profile. The full piece is called screw
and the open piece is nut.

CRANK – an arm rotating or oscillating about an axis.

LEVER – is a term applied to two cranks rigidly connected on the same axis, particularly when
the motion is oscillating over a relatively small angle. Two arms of a lever may make an angle
with each other from 180º down to 0º.

Bell crank – make an angle less than 90º

Rocker – make an angle more than 90º

LINK – a rigid piece or non-elastic substance which serves to transmit force from one piece to
another or to cause or control motion.

LINKAGE – consist of a number of pairs of elements connected by links. If the combination

is such that relative motion of the links is possible, and the motion of each piece relative to the
others is definite, the linkage becomes a kinematic chain. If the links of a kinematic chain is
fixed, then the chain becomes a mechanism.

REFERENCES
Text book/s

Doughtie, James. (1954) Elements of Mechanism, John Wiley & Sons, Inc. New York

Faires. V. M. (1968), Machine Design 4th Ed. Mc Millan Publishing Company, Inc.
New York, USA

Norton, Robert L., 2013, Kinematics and Dynamics of Machinery

On-Line References

: http://www.sk4education.com/enggnotes/linematics_of_machinery/2016
retrieved: July 9, 2018

http://www.allaboutmetallurgy.cimy/wp/wp2016/Theory_of_machines
retrieved: July 9, 2018

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 14

LEARNING GUIDE

Week No.: __2__

TOPIC/S

MOTION

LINEAR VELOCITY

ANGULAR VELOCITY

DEFINITION OF TERM

EXPECTED COMPETENCIES:

Upon completing this Learning Module, you will be able to:

1. Define Science of Mechanism

2. Determine the two divisions of science of mechanism
3. Discuss the different terms uses in kinematics

CONTENT/TECHNICAL INFORMATION

MOTION
Motion is change of position. Motion and rest are necessarily relative terms within the
limits of our knowledge. A body may be conceived to be fixed in space, but it is not known
that there is One so fixed. If two bodies, both moving in space, remain in the same position
relative to each other, they are said to be at rest, one relatively to the other; if they do not, either
may be said to be in motion relative to the other. Motion may thus be either relative, or it may
be absolute, provided that some point is assumed as fixed. Ordinarily, the earth is assumed to
be at rest and motions referred to it are considered as absolute.

PATH
A point moving in space describes a line called its path, which may be rectilinear or
curvilinear. The motion of a body is determined by the paths of three of its points not on a
straight line. If the motion is in a plane, two points suffice, and, if rectilinear, one point suffices,
to determine the motion.

DIRECTION AND SENSE

If a point is moving along a straight path the direction of its motion is along the line
which constitutes its path; motion toward one end of the line being assumed as having positive

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for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 15

direction and indicated by a (+) sign, the motion toward the other end would be negative and
indicated by a (-) sign.

Continuous Motion
When a point continues to move in-definitely in a given path in the same sense, its
motion is said to be 19 continuous. In this case the path must return on itself, as a circle or other
closed curve. A wheel turning on its bearings affords an example of this motion.

Reciprocating Motion
When a point traverses the same path and reverses its motion at the ends of such path,
the motion is said to be reciprocating.

Oscillation
is a term applied to reciprocating circular motion, as that of a pendulum. Intermittent
Motion. When the motion of a point is inter-rupted by periods of rest, its motion is said to be
intermittent.

Revolution and Rotation.

A point is said to revolve about an axis when it describes a circle of which the center
is in the axis and of which the plane is perpendicular to that axis. When all the points of a
body thus move, the body is said to revolve about the axis. If this axis passes through the
body, as in a wheel, the word rotation is used synonymously with revolution. The word turn
is often used synonymously with revolution and rotation. It frequently occurs that a body not
only rotates about an axis passing through itself, but also moves in an orbit about another
axis.

An axis of rotation or revolution

is a line whose direction is not changed by the rotation; a fixed axis is one whose
position as well as direction remains unchanged.

A plane of rotation or revolution

is a plane perpendicular to the axis of rotation or revolution.

Direction of rotation or revolution

is defined by giving the direction of the axis, and the sense is given by stating whether
the turning is right handed (clockwise) or left handed (counterclock-wise), when viewed from
a specified side of the plane of motion.

Coplanar Motion
A body, or a series of bodies, may be said to have coplanar motion when all their
component particles are moving in the same plane or in parallel planes.

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for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 16

Cycle of Motions
When a mechanism is set in, motion and its parts go through a series of movements
that are repeated over and over, the relations between and order of the different divisions of
the series being the, same for each repetition, one of these series is called a cycle of motions
or kinematic cycle. For example, one revolution of the crank of a gasoline engine causes a
series of different positions of the piston, and this series of positions is repeated over and over
for each revolution of the crank.

Period of motion
is the time occupied in completing one cycle.

Linear speed
is the time rate of motion of a point along its path, or the rate at which a point is
approaching or receding from another point in its path. If the point to which the motion of the
moving point is referred is fixed, the speed is the absolute speed of the point. If the reference
point is itself in motion the speed of the point in question is relative. Linear speed is
expressed in linear units per unit of time.

Angular speed
is the time rate of turning of a body about an axis, or the rate at which a line on a revolving
body is changing direction, and is expressed in angular units per unit of time. If a body is
revolving about an axis, any point in the body has only linear speed; but a line, real or
imaginary, joining the point to the axis of revolution has angular speed; also a line joining
any two points on the body has angular speed.

Uniform and Variable Speed

Speed is uniform when equal spaces are passed over in equal times, however small
the intervals into which the time is divided. Speed is variable when unequal spaces are passed
over in equal intervals of time.

Velocity
is a word often used synonymously with speed. This is incorrect, since velocity
includes direction and sense as well as speed. The linear velocity of a point is not fully
defined unless the direction and sense in which it is moving and the rate at which it is moving
are known. The angular velocity of a line would be defined by stating its angular speed, the
direction of the perpendicular to the plane in which the line is turning, and the sense of the
motion.

Linear acceleration
is the time rate of change of linear velocity. Since velocity involves direction as well
as rate of motion, linear acceleration may involve a change in speed or direction, or both.
Any change in the speed takes place in a direction tangent to the path of the point and is
called tangential acceleration; a change in direction takes place normal to the path and is

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 17

called normal acceleration. Acceleration may be either positive or negative. If the speed is
increasing the acceleration is positive; if the speed is de-creasing the acceleration is negative
and is called retardation or deceleration. If the speed changes by the same amount during all
equal time intervals the acceleration is uniform, but if the speed changes by different amounts
during equal intervals of time the acceleration is variable.

Angular acceleration
is the time rate of change of angular velocity. As in linear acceleration, a change in
either speed or direction of rotation, or both, may be involved. For example, if a line is
turning in a plane with a varying angular speed it has angular acceleration which may be
positive or negative; or, if the direction of the plane of rotation is changing, the line also has
angular acceleration. Unless otherwise stated, angular acceleration in this book will be
understood to refer to change in angular speed. Angular accel-eration is expressed in angular
units change of speed per unit time (such as radians, degrees, or revolutions per minute each
minute).

Translation
A body is said to have motion of translation when all its component particles have the
same velocity, as regards both speed and direction; that is, all points on the body are, for the
instant at least, moving in the same direction with equal speeds. If all the particles move in
straight lines, as in the piston of an engine, the body has rectilinear translation, and if they
move in curved paths, as in the motion of the parallel rod of a locomotive, the body has
curvilinear translation.

Turning Bodies
All motion consists of translation, turning about an axis, or a combination of the two.
It is customary to refer to motion of turning as revolving or rotating. These terms are used
more or less interchangeably although sometimes a distinction is made.

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for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 18

ANGULAR SPEED

A circular cylinder or wheel, supported on a shaft which in turn is supported in fixed

bearings, may be made fast to the shaft and the two turn as a unit as in Fig. 2-1, or the shaft
may be held stationary and the wheel turn on it as in Fig. 2-2. The speed at which the wheel
turns is the rate at which any line on it (radial or otherwise) changes direction. If the wheel
makes N complete turns in 1 minute its angular speed is N revolution per minute (written N
rpm).

In many computations it is necessary to use as a unit of angular motion the radian,

which is the angle subtended by the arc of a circle equal in length to its radius. Since the
radius is contained in the circumference 2π times there must be 2π radians in 360°, or 1
radian is equal to 57.296°. If N represents the angular speed in revolutions per unit of time
and W the angular speed in radians per same unit of time then
W = 2πN

LINEAR SPEED OF A POINT ON A REVOLVING BODY

Consider a particle A on the circumference of the wheel in Fig. 2-1. For every revolution of
the wheel, A moves over the circumference of a circle of radius Ra, so that for N turns A
moves a distance of 2,77-RaN linear units. Let Va = linear speed of A. Then
Va = 2πRaN (2)
From equation 1, w = 2πN, or N = w/2π. By substituting this value of N in equation 2,
Va = wra (3)
Consider another point B at distance Rb from the axis. Let Vb represent its speed. Then
Vb = WRb
or
Vb/Va = Rb/Ra (4)

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 19

The linear speed of a point on the circumference of a revolving wheel is often referred to as
the periphery speed or surface speed.
Take another case, that of two wheels fast to the same shaft, as shown in Fig.ure. The weight
P is supposed to be hung from a very thin steel band which is wound on the outside of wheel
A and the weight W from another steel band wound on the outside of wheel B. Suppose that
the shaft starts to turn in the direction shown by the arrow. Then the band which supports P in
Figure. will unwind at a speed equal to the periphery speed of A, and the weight P will
descend at that speed. At the same time, the other band will be winding onto the wheel B and
the weight W will be rising at a speed equal to the periphery speed of B. If N represents the
number of turns per unit of time of the shaft, Ra the radius of A, and Rb the radius of B, then
Vp, = 2πRaN and Vw = 2πRbN, or Vp/Vw = Ra/Rb
which is the same equation found when both points were on the same wheel.

REFERENCES
Text book/s

Doughtie, James. (1954) Elements of Mechanism, John Wiley & Sons, Inc. New York

Faires. V. M. (1968), Machine Design 4th Ed. Mc Millan Publishing Company, Inc.
New York, USA

Norton, Robert L., 2013, Kinematics and Dynamics of Machinery

On-Line References

: http://www.sk4education.com/enggnotes/linematics_of_machinery/2016
retrieved: July 9, 2018

http://www.allaboutmetallurgy.cimy/wp/wp2016/Theory_of_machines
retrieved: July 9, 2018

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 20

LEARNING GUIDE

Week No.: __3__

TOPIC/S

VELOCITY ANALYSIS

VECTORS

SCALES

EXPECTED COMPETENCIES:

Upon completing this Learning Module, you will be able to:

1. Define Science of Mechanism

2. Determine the two divisions of science of mechanism
3. Discuss the different terms uses in kinematics

CONTENT/TECHNICAL INFORMATION

VELOCITY ANALYSIS
VELOCITIES IN MACHINES

The velocities of all particles composing the body are equal and parallel; hence it is necessary to
know the velocity of only one particle in order to find the velocity of any particle.

Four commonly methods for obtaining velocities

1. Resolution and Composition
2. Instantaneous axis of velocity
3. Centro
4. Relative Velocity or Velocity Polygon

Vectors – a line that represents a vector quantity.

A scalar quantity has magnitude only such as 1ft, 2 lbs.

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 21

A Vector Quantity has magnitude, direction, and sense, such as force, velocity, acceleration.
Magnitude - is the length of the line drawn at any convenient scale.

Resultant – is the sum of the two vector quantities whose effect is the same as combined effect of
the two original quantities. Its vector is called Resultant Vector.

In figure: Aa is the Resultant Vector of Component Ab and Ac.

Vector composition – the process of obtaining the resultant of any

number of the vector.

Vector Resolution – Reversed process of braking up a vector into

components.

Scales – Designated as (K8).

it is graphical representation of a machine full scale into a smaller scale or larger scale in
order to solve the problem in an easier way.

The space scale represented three ways:

1. Proportionate size : (¼ scale, one forth size)
2. The number of inches equal to 1 foot on the machine: (3in = 1 ft)
3. The number of inches in the drawing equal to many foot: ( 1in = ¾ ft)

Velocity Scale, (Kv)

– The linear velocity in distance unit per unit of time represented by 1in. on the drawing.
Ex. If the linear velocity of a point is 5 fps and the Kv Scale is 5, then Kv = 5 fps.

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for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 22

Sample of a Kinematic Diagram:

Q₂-Q4 = 4.0 in.; Q₂A = 2.0 in.;

Q4B = 3.0in. ; Q C = 11/2 in.; AB = 2 1/2 in.; BD = 2.0in.; AB = 1.0in.; CF=4.0 in.
The angular Velocity of the crank Q₂A = 180 rpm counterclockwise.
Scales: K8=Full size; Kv=120fpm. Find the velocity of A, B, C, D, and E.

Based on the dixcription above. It is converted into a kinematic diagram as shown below:

After a Kinematic Diagram had been define, it is being analyzed based on the requirement or
on the motion applied to the kinematic chain. The picture below shows the analysis with a
given vector on the corresponding particle.

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 23

REFERENCES

Text book/s

Doughtie, James. (1954) Elements of Mechanism, John Wiley & Sons, Inc. New York

Faires. V. M. (1968), Machine Design 4th Ed. Mc Millan Publishing Company, Inc.
New York, USA

Norton, Robert L., 2013, Kinematics and Dynamics of Machinery

On-Line References

: http://www.sk4education.com/enggnotes/linematics_of_machinery/2016
retrieved: July 9, 2018

http://www.allaboutmetallurgy.cimy/wp/wp2016/Theory_of_machines
retrieved: July 9, 2018

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 24

LEARNING GUIDE

Week No.: __4__

TOPIC/S

FOUR BAR LINKAGE

STRAIGHT LINE MECHANISM

SAMPLES OF SLM

EXPECTED COMPETENCIES:

Upon completing this Learning Module, you will be able to:

1. Define Science of Mechanism

2. Determine the two divisions of science of mechanism
3. Discuss the different terms uses in kinematics

CONTENT/TECHNICAL INFORMATION

Four Bar Linkages Preferred in Design

Four bar linkages are most preferred machine components as they have a large number
of dimensions to be varied which allows for more flexibility in design and these dimensions
can be varied to fit the design constraints of machines. But with flexibility in design comes the
complexity, this results in complicated design techniques. The design techniques become
simpler if one or more slider joints are included in the mechanisms.

he exact desired motion is very rare to be produced by using four bar linkages. By using
four bar linkages synthesis techniques we can obtain approximate desired motions. With
increase in the level of accuracy required for the desired motion, the complexity of computation
increases greatly.

Approaches to Four Bar Linkage Synthesis

Mechanisms are required to follow the specified path and pass through the desired points as
closely as possible. For some mechanisms it is more desirable that they should pass through
the specified points and for some other mechanisms following the path is more important.
There are two approaches to four bar linkage synthesis.

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 25

1. Precision Position Approach: In this approach the position through which the
mechanism is desired to pass are selected and in the solution mechanism is compelled
to exactly pass through these positions. In this approach it is difficult to control the path
of mechanism between the specified points. The precision position approach generally
employ graphical methods of synthesis. If the design positions are more than three than
the solutions become complex and computer program is used for synthesis.
2. Path Optimization Approach: In this approach a large number of design positions are
selected and the overall deviation of mechanism from these design points is minimized.
For this approach numerical optimization techniques are employed using computers.

Four Bar Linkage Synthesis Problems

There are infinite synthesis problems. The common classes of problems with practical
importance are:

1. The Double Rocker Problem: It is desired to design a four bar linkage such that if the
input link moves through certain angle the output link should move through a specified
angle.
2. The Motion Generation Problem: For this problem the motion of coupler is specified
and a linkage mechanism is to be synthesized such that it’s coupler has the desired
motion.
3. The Function Generation Problem: The mechanism is to be designed such that the two
cranks follow a required functional relationship, that is, for a set of angles of one crank
the other crank should move to the angles specified in the other set.
4. The Rocker Amplitude Problem: In this case a crank-rocker linkage is to be designed
such that for the continuous rotation of the driving crank the output link oscillates
through a specified angular amplitude.
5. The Point Path Problem: A four bar linkage is to be synthesized such that a point on the
coupler follows a specified path.

Some mechanisms have special motion characteristics different from those of generic
mechanisms. These mechanisms are used for special purposes and few particular categories of
motion. These mechanisms are unusual enough to be called as Special Mechanisms. Some
common needs of mechanical engineering practice are:

 Generation of a straight line motion by linkage mechanism.

 Reproduction of a path traced by one point at another tracing point with a change in
scale.
 Transfer of torque and motion between non-coaxial shafts with changing relative
alignment.
 Automotive steering mechanisms and suspension mechanisms.
 Indexing: Intermittent timed motion.

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 26

Straight Line Mechanisms

Generation of straight line motion using linkage mechanisms has always been a
common requirement in machine design practice. Although exact straight line cannot be
generated using simple mechanisms though some simple mechanisms are designed such that
they can produce approximate straight lines for short range of motion. These approximate
straight line mechanisms has important applications in machine design. These mechanisms
were used extensively in classical machines such as steam engines. Perfect straight lines can
also be generated using linkage mechanisms but those are relatively complex mechanisms.

There are two classes of straight line mechanisms:

1. Approximate Straight Line Mechanisms

2. Exact Straight Line Mechanisms

The straight line mechanisms were mostly developed in industrial revolution days when
many machines required straight line paths in their operations, whether it was guiding the
piston of engines or for operating valves. Straight line mechanisms were developed by
continuous effort in trail and error process with making intelligent variations in linkage
mechanisms.

Approximate Straight Line Mechanisms:

Watt’s Straight Line Mechanism

Approximate straight line mechanisms can generate straight line motion to a good deal of
accuracy for short range. Such mechanisms are generally four bar linkage mechanisms. The
straight line mechanism developed by James Watt, to guide the piston of steam engines through
a straight line path, is considered to be as the best and simplest mechanism able to generate
close to straight line motion for considerable distance. This mechanism is called as Watt’s
straight line mechanism or simply Watt’s Linkage.

Watt’s linkage is a simple four bar mechanism of double-rocker type with the two rockers
connected through a coupler. When the two rockers move the mid-point of the coupler moves
in an almost straight line path for the motion close to coupler’s mean position. If something is
hinged to the middle point of the coupler of Watt’s linkage it will be constrained to move in
straight line path close to the coupler’s mean position.

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 27

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 28

Chebyshev’s Straight Line Mechanism

The Chebyshev approximate straight line mechanism is also a four bar linkage
mechanism that is both historically important and also of practical importance. After the
invention of steam engine and straight line mechanism by Watt a range of straight line
mechanisms were designed. Chebyshev’s mechanism is the first mechanism to be designed
after Watt’s linkage by a Russian Mathematician Pafnuty Chebyshev. This mechanism was
invariable used for linear guidance of the piston and valves.

Like the Watt’s Linkage Chebyshev’s straight line mechanism is simple in construction.
It is a double rocker and the mid point of the coupler is the point tracing the approximate linear
path. Chebyshev’s mechanism has two critical advantages over Watt’s linkage, viz, a very long
segment of the path of the coupler midpoint is approximately linear and both fixed points of
the linkage are on the same side of the linear path, which in case of Watt’s linkage are on
opposite sides. The required proportions of the length of members of the linkage are a = 1, b =
2.5 and c = 2.

Robert’s Straight Line Mechanism

Like the Chebyshev’s mechanism Robert’s approximate straight line mechanism is a
symmetrical four bar linkage. The construction of Robert’s mechanism is different from the
approximate straight line mechanisms discussed so far, in the sense that, this mechanism has
an extension to the coupler at the coupler mid point. this extension is perpendicular to the line
joining the two adjacent joints. The end point of the coupler extension generates an
approximate straight line for the motion between the fixed pivots.

This mechanism designed by Richard Robert has the proportions of lengths of members of the
linkage as, a = 1, b = 1.2, c = 2 and d = 1.09. This approximate straight line mechanism is
generally used for linear guidance of the tracing point. The point required to traverse on straight
line is constrained to the end point of the coupler extension. Robert’s straight line mechanism
is normally used in the coupler driven mode, that is, the mechanism is not driven by either of
the cranks or rockers instead the coupler extension is used to just guide the requisite point along
an approximate straight line.

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 29

Exact Straight Line Mechanisms:

As detailed, there are many four bar linkage based mechanisms which can generate
straight lines. These mechanisms are simple linkage mechanisms with revolute joints, but they
can only generate approximate straight lines and that too only for short lengths. In certain
design requirements such as design of production machinery it is desirable to have more
accurate straight line paths or sometimes it becomes inevitable to have exact straight line
trajectories of mechanisms.
Perfect straight lines can also be generated using a linkage mechanism. When linkage
mechanisms are designed to generate exact straight lines the level of complexity increases as
compared to the mechanisms designed to generate approximate straight line paths. The first
exact straight line generating mechanism was invented by a French army officer Charles
Nicolas Peaucellier in 1864. This mechanism is called as Peaucellier Exact Straight Line
Mechanism and commonly more as Peaucellier’s linkage. There are many mechanisms based
on slider crank linkage which can generate exact straight lines for limited intervals.

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 30

Peaucellier Exact Straight Line Mechanism

Peaucellier linkage can convert an input circular motion to the exact straight line
motion. The construction of this mechanism is such that the point which is connected to the
crank moves in a circular path and the point traversing the straight line is selected as the output
point. The linkage has a rhombic loop formed of the equal lenght members, 5, 6, 7 and 8. Two
equal length length links are connected to the opposite corners of the rhombus at one end and
to a common fixed point at the other ends. The point A of the rhombus is connect to fixed point
O2 through the link 2. The length of the link 2 is equal to the distance between points O2 and
O4. By the constraints of the geometry point A moves in a circular path and as the point A
moves in a circle point P traverses an exact straight line path normal to the line joining O2 and
O4.

From the construction of the Peaucellier linkage it is clear that this is a much more complex
mechanism than the mechanisms generating approximate straight lines, which were simple four
bar linkages. This mechanism has eight members and six joints.

Scott-Russell Exact Straight Line Mechanism

The complexity of the mechanisms to generate exact straight lines can be reduced by
introduction of one or more slider crank linkages. It is possible to generate an exact straight
line using the slider crank mechanism but the range of motion is limited. One such example is
Scott-Russell Mechanism as shown in the figure. Based on the geometry of the linkage the
output motion is a simple sine function of the drive link or a simple harmonic motion. It is
evident from the figure that this mechanism is made up of isosceles triangles, AB, AC and AO2
are of equal lengths.

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 31

REFERENCES
Text book/s

Doughtie, James. (1954) Elements of Mechanism, John Wiley & Sons, Inc. New York

Faires. V. M. (1968), Machine Design 4th Ed. Mc Millan Publishing Company, Inc.
New York, USA

Norton, Robert L., 2013, Kinematics and Dynamics of Machinery

On-Line References
: http://www.sk4education.com/enggnotes/linematics_of_machinery/2016
retrieved: July 9, 2018

http://www.allaboutmetallurgy.cimy/wp/wp2016/Theory_of_machines
retrieved: July 9, 2018

https://www.brighthubengineering.com/machine-design/10374-four-bar-
linkages-in-machine-design/

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.
 32

LIST OF REFERENCES

Text book/s

Doughtie, James. (1954) Elements of Mechanism, John Wiley & Sons, Inc. New York

Faires. V. M. (1968), Machine Design 4th Ed. Mc Millan Publishing Company, Inc.
New York, USA

Norton, Robert L., 2013, Kinematics and Dynamics of Machinery

On-Line References
: http://www.sk4education.com/enggnotes/linematics_of_machinery/2016
retrieved: July 9, 2018

http://www.allaboutmetallurgy.cimy/wp/wp2016/Theory_of_machines
retrieved: July 9, 2018

https://www.brighthubengineering.com/machine-design/10374-four-bar-
linkages-in-machine-design/

This module is a property of Technological University of the Philippines Visayas and intended
for EDUCATIONAL PURPOSES ONLY and is NOT FOR SALE NOR FOR REPRODUCTION.